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alfworld__pick_clean_then_place_in_recep__643
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pick_clean_then_place_in_recep-Plate-None-Microwave-7/trial_T20190907_170059_704503/game.tw-pddl
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{"pddl_domain": ";; Specification in PDDL of the Alfred domain\n;; Intended to be used with Fast Downward which supports PDDL 2.2 level 1 plus the :action-costs requirement from PDDL 3.1.\n\n(define (domain alfred)\n (:requirements\n :adl\n :action-costs\n :typing\n )\n (:types\n agent\n location\n receptacle\n object\n rtype\n otype\n )\n\n\n (:predicates\n (atLocation ?a - agent ?l - location) ; true if the agent is at the location\n (receptacleAtLocation ?r - receptacle ?l - location) ; true if the receptacle is at the location (constant)\n (objectAtLocation ?o - object ?l - location) ; true if the object is at the location\n (openable ?r - receptacle) ; true if a receptacle is openable\n (opened ?r - receptacle) ; true if a receptacle is opened\n (inReceptacle ?o - object ?r - receptacle) ; object ?o is in receptacle ?r\n (isReceptacleObject ?o - object) ; true if the object can have things put inside it\n (inReceptacleObject ?innerObject - object ?outerObject - object) ; object ?innerObject is inside object ?outerObject\n (isReceptacleObjectFull ?o - object) ; true if the receptacle object contains something\n (wasInReceptacle ?o - object ?r - receptacle) ; object ?o was or is in receptacle ?r now or some time in the past\n (checked ?r - receptacle) ; whether the receptacle has been looked inside/visited\n (examined ?l - location) ; TODO\n (receptacleType ?r - receptacle ?t - rtype) ; the type of receptacle (Cabinet vs Cabinet|01|2...)\n (canContain ?rt - rtype ?ot - otype) ; true if receptacle can hold object\n (objectType ?o - object ?t - otype) ; the type of object (Apple vs Apple|01|2...)\n (holds ?a - agent ?o - object) ; object ?o is held by agent ?a\n (holdsAny ?a - agent) ; agent ?a holds an object\n (holdsAnyReceptacleObject ?a - agent) ; agent ?a holds a receptacle object\n (full ?r - receptacle) ; true if the receptacle has no remaining space\n (isClean ?o - object) ; true if the object has been clean in sink\n (cleanable ?o - object) ; true if the object can be placed in a sink\n (isHot ?o - object) ; true if the object has been heated up\n (heatable ?o - object) ; true if the object can be heated up in a microwave\n (isCool ?o - object) ; true if the object has been cooled\n (coolable ?o - object) ; true if the object can be cooled in the fridge\n (pickupable ?o - object) ; true if the object can be picked up\n (moveable ?o - object) ; true if the object can be moved\n (toggleable ?o - object) ; true if the object can be turned on/off\n (isOn ?o - object) ; true if the object is on\n (isToggled ?o - object) ; true if the object has been toggled\n (sliceable ?o - object) ; true if the object can be sliced\n (isSliced ?o - object) ; true if the object is sliced\n )\n\n (:functions\n (distance ?from ?to)\n (total-cost) - number\n )\n\n;; All actions are specified such that the final arguments are the ones used\n;; for performing actions in Unity.\n\n\n(:action look\n :parameters (?a - agent ?l - location)\n :precondition\n (and\n (atLocation ?a ?l)\n )\n :effect\n (and\n (checked ?l)\n )\n)\n\n(:action inventory\n :parameters (?a - agent)\n :precondition\n ()\n :effect\n (and\n (checked ?a)\n )\n)\n\n(:action examineReceptacle\n :parameters (?a - agent ?r - receptacle)\n :precondition\n (and\n (exists (?l - location)\n (and\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n )\n )\n )\n :effect\n (and\n (checked ?r)\n )\n)\n\n(:action examineObject\n :parameters (?a - agent ?o - object)\n :precondition\n (or\n ;(exists (?l - location)\n ; (and\n ; (atLocation ?a ?l)\n ; (objectAtLocation ?o ?l)\n ; )\n ;)\n (exists (?l - location, ?r - receptacle)\n (and\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n ; (objectAtLocation ?o ?l)\n (inReceptacle ?o ?r)\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n )\n )\n (holds ?a ?o)\n )\n :effect\n (and\n (checked ?o)\n )\n)\n\n;; agent goes to receptacle\n (:action GotoLocation\n :parameters (?a - agent ?lStart - location ?lEnd - location ?r - receptacle)\n :precondition (and\n (atLocation ?a ?lStart)\n (receptacleAtLocation ?r ?lEnd)\n ;(exists (?r - receptacle) (receptacleAtLocation ?r ?lEnd))\n )\n :effect (and\n (not (atLocation ?a ?lStart))\n (atLocation ?a ?lEnd)\n ; (forall (?r - receptacle)\n ; (when (and (receptacleAtLocation ?r ?lEnd)\n ; (or (not (openable ?r)) (opened ?r)))\n ; (checked ?r)\n ; )\n ; )\n ; (increase (total-cost) (distance ?lStart ?lEnd))\n (increase (total-cost) 1)\n )\n )\n\n;; agent opens receptacle\n (:action OpenObject\n :parameters (?a - agent ?l - location ?r - receptacle)\n :precondition (and\n (openable ?r)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (not (opened ?r))\n )\n :effect (and\n (opened ?r)\n (checked ?r)\n (increase (total-cost) 1)\n )\n )\n;; agent closes receptacle\n (:action CloseObject\n :parameters (?a - agent ?l - location ?r - receptacle)\n :precondition (and\n (openable ?r)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (opened ?r)\n )\n :effect (and\n (not (opened ?r))\n (increase (total-cost) 1)\n )\n\n )\n\n ;; agent picks up object from a receptacle\n (:action PickupObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n :precondition\n (and\n (pickupable ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n ; (objectAtLocation ?o ?l)\n (inReceptacle ?o ?r)\n (not (holdsAny ?a)) ; agent's hands are empty.\n ;(not (holdsAnyReceptacleObject ?a))\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n ;(not (isReceptacleObject ?o))\n )\n :effect\n (and\n (not (inReceptacle ?o ?r))\n (holds ?a ?o)\n (holdsAny ?a)\n (not (objectAtLocation ?o ?l))\n ;(not (full ?r))\n (increase (total-cost) 1)\n )\n )\n\n\n; ;; agent picks up object from a receptacle\n; (:action PickupObjectFromReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?outerR - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (inReceptacle ?o ?r)\n; (pickupable ?o)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (not (isReceptacleObject ?o))\n; (isReceptacleObject ?outerR)\n; (inReceptacleObject ?o ?outerR)\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (holds ?a ?o)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n;\n; (not (inReceptacleObject ?o ?outerR))\n; (not (isReceptacleObjectFull ?outerR))\n; )\n; )\n;\n; ;; agent picks up object from a receptacle\n; (:action PickupEmptyReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; ; (objectAtLocation ?o ?l)\n; (inReceptacle ?o ?r)\n; (pickupable ?o)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (isReceptacleObject ?o)\n; (not (isReceptacleObjectFull ?o))\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (holds ?a ?o)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n; (holdsAnyReceptacleObject ?a)\n; )\n; )\n;\n; ;; agent picks up object from a receptacle\n; (:action PickupFullReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?outerR - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (inReceptacle ?outerR ?r)\n; (pickupable ?outerR)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (not (isReceptacleObject ?o))\n; (isReceptacleObject ?outerR)\n; (inReceptacleObject ?o ?outerR)\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (not (inReceptacle ?outerR ?r))\n; (holds ?a ?outerR)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (objectAtLocation ?outerR ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n; (holdsAnyReceptacleObject ?a)\n; )\n; )\n\n\n;; agent puts down an object\n (:action PutObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle ?ot - otype ?rt - rtype)\n :precondition (and\n (holds ?a ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable\n ;(not (full ?r))\n (objectType ?o ?ot)\n (receptacleType ?r ?rt)\n (canContain ?rt ?ot)\n ;(not (holdsAnyReceptacleObject ?a))\n )\n :effect (and\n (inReceptacle ?o ?r)\n (objectAtLocation ?o ?l)\n ;(full ?r)\n (not (holds ?a ?o))\n (not (holdsAny ?a))\n (increase (total-cost) 1)\n )\n )\n\n;;; agent puts down an object\n; (:action PutObjectInReceptacleObject\n; :parameters (?a - agent ?l - location ?ot - otype ?o - object ?outerO - object ?outerR - receptacle)\n; :precondition (and\n; (atLocation ?a ?l)\n; (objectAtLocation ?outerO ?l)\n; (isReceptacleObject ?outerO)\n; (not (isReceptacleObject ?o))\n; (objectType ?o ?ot)\n; (holds ?a ?o)\n; (not (holdsAnyReceptacleObject ?a))\n; (inReceptacle ?outerO ?outerR)\n; (not (isReceptacleObjectFull ?outerO))\n; )\n; :effect (and\n; (inReceptacleObject ?o ?outerO)\n; (inReceptacle ?o ?outerR)\n; (not (holds ?a ?o))\n; (not (holdsAny ?a))\n; (objectAtLocation ?o ?l)\n; (isReceptacleObjectFull ?outerO)\n; (increase (total-cost) 1)\n; )\n; )\n;\n;;; agent puts down an object\n; (:action PutEmptyReceptacleObjectinReceptacle\n; :parameters (?a - agent ?l - location ?ot - otype ?o - object ?r - receptacle)\n; :precondition (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable\n; (not (full ?r))\n; (objectType ?o ?ot)\n; (holds ?a ?o)\n; (holdsAnyReceptacleObject ?a)\n; (isReceptacleObject ?o)\n; (not (isReceptacleObjectFull ?o))\n; )\n; :effect (and\n; (inReceptacle ?o ?r)\n; (objectAtLocation ?o ?l)\n; (full ?r)\n; (not (holds ?a ?o))\n; (not (holdsAny ?a))\n; (not (holdsAnyReceptacleObject ?a))\n; (increase (total-cost) 1)\n; )\n; )\n;\n;;; agent puts down a receptacle object in a receptacle\n; (:action PutFullReceptacleObjectInReceptacle\n; :parameters (?a - agent ?l - location ?ot - otype ?innerO - object ?outerO - object ?r - receptacle) ; ?rt - rtype)\n; :precondition (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (objectType ?outerO ?ot)\n; (holds ?a ?outerO)\n; (holdsAnyReceptacleObject ?a)\n; (isReceptacleObject ?outerO)\n; (isReceptacleObjectFull ?outerO)\n; (inReceptacleObject ?innerO ?outerO)\n; )\n; :effect (and\n; (not (holdsAny ?a))\n; (not (holdsAnyReceptacleObject ?a))\n; (objectAtLocation ?outerO ?l)\n; (objectAtLocation ?innerO ?l)\n; (inReceptacle ?outerO ?r)\n; (inReceptacle ?innerO ?r)\n; (not (holds ?a ?outerO))\n; (increase (total-cost) 1)\n; )\n; )\n\n;; agent cleans some object\n (:action CleanObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (cleanable ?o)\n (or\n (receptacleType ?r SinkType)\n (receptacleType ?r SinkBasinType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isClean ?o)\n )\n )\n\n\n;; agent heats-up some object\n (:action HeatObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (heatable ?o)\n (or\n (receptacleType ?r MicrowaveType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isHot ?o)\n (not (isCool ?o))\n )\n )\n\n;; agent cools some object\n (:action CoolObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (coolable ?o)\n (or\n (receptacleType ?r FridgeType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isCool ?o)\n (not (isHot ?o))\n )\n )\n\n\n;; agent toggle object\n (:action ToggleObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n :precondition (and\n (toggleable ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (inReceptacle ?o ?r)\n )\n :effect (and\n (increase (total-cost) 5)\n (when (isOn ?o)\n (not (isOn ?o)))\n (when (not (isOn ?o))\n (isOn ?o))\n (isToggled ?o)\n )\n )\n\n\n;; agent slices some object with a knife\n (:action SliceObject\n :parameters (?a - agent ?l - location ?co - object ?ko - object)\n :precondition\n (and\n (sliceable ?co)\n (or\n (objectType ?ko KnifeType)\n (objectType ?ko ButterKnifeType)\n )\n (atLocation ?a ?l)\n (objectAtLocation ?co ?l)\n (holds ?a ?ko)\n )\n :effect (and\n (increase (total-cost) 5)\n (isSliced ?co)\n )\n )\n\n\n(:action help\n :parameters (?a - agent)\n :precondition\n ()\n :effect\n (and\n (checked ?a)\n )\n)\n)\n", "grammar": "grammar :: \"\"\"\n {\n \"intro\": [\n {\n \"rhs\": \"-= Welcome to TextWorld, ALFRED! =-\\n\\n#look.feedback#\\n\\n#task#\"\n }\n ],\n\n \"notImplemented\": [\n {\n \"rhs\": \"TODO\"\n }\n ],\n\n \"task\": [\n {\n \"rhs\": \"Your task is to: put a clean plate in 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_170059_704503)\n(:domain alfred)\n(:objects\nagent1 - agent\nSaltShaker - object\n HousePlant - object\n Candle - object\n SprayBottle - object\n Bowl - object\n Window - object\n CD - object\n Egg - object\n Glassbottle - object\n Sink - object\n Pillow - object\n Spoon - object\n SoapBottle - object\n TeddyBear - object\n ButterKnife - object\n Cup - object\n Plate - object\n RemoteControl - object\n Tomato - object\n Statue - object\n HandTowel - object\n Knife - object\n StoveKnob - object\n LightSwitch - object\n Pen - object\n Painting - object\n DishSponge - object\n Vase - object\n Mug - object\n ToiletPaper - object\n Box - object\n Mirror - object\n Ladle - object\n Fork - object\n Blinds - object\n Footstool - object\n KeyChain - object\n Cloth - object\n Laptop - object\n TissueBox - object\n PepperShaker - object\n FloorLamp - object\n WateringCan - object\n Apple - object\n Pan - object\n PaperTowel - object\n PaperTowelRoll - object\n Newspaper - object\n Television - object\n Chair - object\n CellPhone - object\n CreditCard - object\n Lettuce - object\n BasketBall - object\n Potato - object\n Curtains - object\n Boots - object\n Pencil - object\n AlarmClock - object\n ToiletPaperRoll - object\n Spatula - object\n Book - object\n Bread - object\n SoapBar - object\n Watch - object\n DeskLamp - object\n Kettle - object\n Pot - object\n ScrubBrush - object\n WineBottle - object\n ShowerDoor - object\n Bathtub - object\n LaundryHamperLid - object\n ShowerGlass - object\n Poster - object\n TennisRacket - object\n BaseballBat - object\n Towel - object\n Plunger - object\nSaltShakerType - otype\n HousePlantType - otype\n CandleType - otype\n SprayBottleType - otype\n BowlType - otype\n WindowType - otype\n CDType - otype\n EggType - otype\n GlassbottleType - otype\n SinkType - otype\n PillowType - otype\n SpoonType - otype\n SoapBottleType - otype\n TeddyBearType - otype\n ButterKnifeType - otype\n CupType - otype\n PlateType - otype\n RemoteControlType - otype\n TomatoType - otype\n StatueType - otype\n HandTowelType - otype\n KnifeType - otype\n StoveKnobType - otype\n LightSwitchType - otype\n PenType - otype\n PaintingType - otype\n DishSpongeType - otype\n VaseType - otype\n MugType - otype\n ToiletPaperType - otype\n BoxType - otype\n MirrorType - otype\n LadleType - otype\n ForkType - otype\n BlindsType - otype\n FootstoolType - otype\n KeyChainType - otype\n ClothType - otype\n LaptopType - otype\n TissueBoxType - otype\n PepperShakerType - otype\n FloorLampType - otype\n WateringCanType - otype\n AppleType - otype\n PanType - otype\n PaperTowelType - otype\n PaperTowelRollType - otype\n NewspaperType - otype\n TelevisionType - otype\n ChairType - otype\n CellPhoneType - otype\n CreditCardType - otype\n LettuceType - otype\n BasketBallType - otype\n PotatoType - otype\n CurtainsType - otype\n BootsType - otype\n PencilType - otype\n AlarmClockType - otype\n ToiletPaperRollType - otype\n SpatulaType - otype\n BookType - otype\n BreadType - otype\n SoapBarType - otype\n WatchType - otype\n DeskLampType - otype\n KettleType - otype\n PotType - otype\n ScrubBrushType - otype\n WineBottleType - otype\n ShowerDoorType - otype\n BathtubType - otype\n LaundryHamperLidType - otype\n ShowerGlassType - otype\n PosterType - otype\n TennisRacketType - otype\n BaseballBatType - otype\n TowelType - otype\n PlungerType - otype\nSafeType - rtype\n DrawerType - rtype\n CoffeeMachineType - rtype\n HandTowelHolderType - rtype\n SinkBasinType - rtype\n DresserType - rtype\n LaundryHamperType - rtype\n TVStandType - rtype\n BathtubBasinType - rtype\n CabinetType - rtype\n FridgeType - rtype\n DeskType - rtype\n ToiletType - rtype\n CartType - rtype\n SideTableType - rtype\n SofaType - rtype\n CoffeeTableType - rtype\n DiningTableType - rtype\n CounterTopType - rtype\n GarbageCanType - rtype\n ArmChairType - rtype\n ShelfType - rtype\n MicrowaveType - rtype\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_90_bar__plus_00_dot_25_bar__plus_02_dot_14 - object\n Book_bar__minus_01_dot_74_bar__plus_00_dot_91_bar__plus_00_dot_36 - object\n Bowl_bar__plus_00_dot_63_bar__plus_00_dot_11_bar__minus_01_dot_41 - object\n Bowl_bar__minus_02_dot_32_bar__plus_00_dot_88_bar__plus_03_dot_15 - object\n Bread_bar__minus_00_dot_26_bar__plus_00_dot_89_bar__plus_02_dot_19 - object\n Bread_bar__minus_02_dot_25_bar__plus_00_dot_96_bar__plus_03_dot_53 - object\n Bread_bar__minus_02_dot_58_bar__plus_00_dot_96_bar__plus_03_dot_56 - object\n ButterKnife_bar__minus_01_dot_85_bar__plus_00_dot_91_bar__minus_00_dot_29 - object\n ButterKnife_bar__minus_02_dot_73_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_06 - 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_10_bar__plus_01_dot_76_bar__minus_01_dot_56 - object\n Cup_bar__plus_03_dot_74_bar__plus_00_dot_55_bar__plus_01_dot_66 - object\n DishSponge_bar__minus_02_dot_08_bar__plus_00_dot_72_bar__minus_01_dot_44 - object\n Egg_bar__plus_00_dot_31_bar__plus_00_dot_83_bar__plus_02_dot_19 - 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_85_bar__plus_00_dot_91_bar__minus_00_dot_94 - object\n Fork_bar__minus_02_dot_15_bar__plus_00_dot_72_bar__minus_01_dot_72 - object\n Fork_bar__minus_02_dot_51_bar__plus_00_dot_88_bar__plus_02_dot_72 - object\n HousePlant_bar__minus_02_dot_74_bar__plus_00_dot_87_bar__plus_03_dot_21 - object\n Kettle_bar__plus_01_dot_33_bar__plus_00_dot_96_bar__minus_01_dot_42 - object\n Kettle_bar__minus_02_dot_66_bar__plus_00_dot_88_bar__plus_02_dot_88 - object\n Knife_bar__plus_00_dot_57_bar__plus_00_dot_93_bar__minus_01_dot_47 - object\n Knife_bar__minus_01_dot_68_bar__plus_00_dot_74_bar__minus_01_dot_07 - object\n Knife_bar__minus_02_dot_66_bar__plus_00_dot_90_bar__plus_03_dot_73 - object\n Lettuce_bar__minus_00_dot_15_bar__plus_01_dot_64_bar__plus_02_dot_04 - object\n Lettuce_bar__minus_03_dot_17_bar__plus_00_dot_94_bar__plus_03_dot_42 - 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 Pan_bar__plus_00_dot_97_bar__plus_00_dot_96_bar__minus_01_dot_43 - object\n PepperShaker_bar__minus_02_dot_81_bar__plus_00_dot_87_bar__plus_03_dot_05 - object\n PepperShaker_bar__minus_03_dot_02_bar__plus_00_dot_87_bar__plus_03_dot_58 - object\n Plate_bar__plus_00_dot_19_bar__plus_00_dot_81_bar__plus_02_dot_08 - object\n Plate_bar__minus_00_dot_89_bar__plus_01_dot_66_bar__minus_01_dot_71 - object\n Plate_bar__minus_02_dot_05_bar__plus_00_dot_12_bar__minus_01_dot_65 - object\n Potato_bar__plus_00_dot_08_bar__plus_01_dot_61_bar__plus_02_dot_22 - object\n Pot_bar__plus_00_dot_97_bar__plus_00_dot_96_bar__minus_01_dot_69 - object\n Pot_bar__plus_01_dot_33_bar__plus_00_dot_96_bar__minus_01_dot_69 - object\n SaltShaker_bar__plus_01_dot_37_bar__plus_02_dot_15_bar__minus_01_dot_68 - object\n SaltShaker_bar__minus_02_dot_49_bar__plus_00_dot_87_bar__plus_03_dot_00 - object\n Sink_bar__plus_00_dot_02_bar__plus_00_dot_77_bar__minus_01_dot_71 - object\n SoapBottle_bar__minus_03_dot_17_bar__plus_00_dot_88_bar__plus_03_dot_07 - object\n Spatula_bar__minus_01_dot_98_bar__plus_00_dot_73_bar__minus_01_dot_44 - object\n Spatula_bar__minus_02_dot_32_bar__plus_00_dot_89_bar__plus_03_dot_30 - object\n Spoon_bar__minus_01_dot_75_bar__plus_00_dot_72_bar__minus_01_dot_00 - 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_69_bar__plus_00_dot_56_bar__plus_01_dot_45 - object\n Statue_bar__minus_01_dot_63_bar__plus_00_dot_91_bar__minus_01_dot_27 - 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_53_bar__plus_00_dot_96_bar__minus_01_dot_37 - object\n Tomato_bar__minus_00_dot_04_bar__plus_00_dot_85_bar__plus_02_dot_02 - object\n Vase_bar__plus_00_dot_04_bar__plus_00_dot_12_bar__minus_01_dot_45 - object\n Vase_bar__minus_01_dot_63_bar__plus_00_dot_91_bar__plus_00_dot_04 - 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__plus_01_dot_72_bar__plus_00_dot_91_bar__minus_01_dot_44 - object\n WineBottle_bar__minus_02_dot_09_bar__plus_00_dot_12_bar__minus_01_dot_36 - 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_1_bar_5_bar_0_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_4_bar_6_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 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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 ButterKnife_bar__minus_01_dot_85_bar__plus_00_dot_91_bar__minus_00_dot_29 CounterTop_bar__minus_01_dot_87_bar__plus_00_dot_95_bar__minus_00_dot_61)\n (inReceptacle Fork_bar__minus_01_dot_85_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 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 WineBottle_bar__minus_02_dot_09_bar__plus_00_dot_12_bar__minus_01_dot_36 Cabinet_bar__minus_02_dot_22_bar__plus_00_dot_37_bar__minus_01_dot_87)\n (inReceptacle Plate_bar__minus_02_dot_05_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 Lettuce_bar__minus_03_dot_17_bar__plus_00_dot_94_bar__plus_03_dot_42 DiningTable_bar__minus_02_dot_66_bar__plus_00_dot_83_bar__plus_03_dot_21)\n (inReceptacle ButterKnife_bar__minus_02_dot_73_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 SaltShaker_bar__minus_02_dot_49_bar__plus_00_dot_87_bar__plus_03_dot_00 DiningTable_bar__minus_02_dot_66_bar__plus_00_dot_83_bar__plus_03_dot_21)\n (inReceptacle Kettle_bar__minus_02_dot_66_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 Fork_bar__minus_02_dot_51_bar__plus_00_dot_88_bar__plus_02_dot_72 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 Knife_bar__minus_02_dot_66_bar__plus_00_dot_90_bar__plus_03_dot_73 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_07 DiningTable_bar__minus_02_dot_66_bar__plus_00_dot_83_bar__plus_03_dot_21)\n (inReceptacle PepperShaker_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 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_02_dot_25_bar__plus_00_dot_96_bar__plus_03_dot_53 DiningTable_bar__minus_02_dot_66_bar__plus_00_dot_83_bar__plus_03_dot_21)\n (inReceptacle Spatula_bar__minus_02_dot_32_bar__plus_00_dot_89_bar__plus_03_dot_30 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_15 DiningTable_bar__minus_02_dot_66_bar__plus_00_dot_83_bar__plus_03_dot_21)\n (inReceptacle PepperShaker_bar__minus_02_dot_81_bar__plus_00_dot_87_bar__plus_03_dot_05 DiningTable_bar__minus_02_dot_66_bar__plus_00_dot_83_bar__plus_03_dot_21)\n (inReceptacle Bread_bar__minus_02_dot_58_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 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 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 Bowl_bar__plus_00_dot_63_bar__plus_00_dot_11_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_04_bar__plus_00_dot_12_bar__minus_01_dot_45 Cabinet_bar__plus_00_dot_38_bar__plus_00_dot_37_bar__minus_01_dot_24)\n (inReceptacle Plate_bar__minus_00_dot_89_bar__plus_01_dot_66_bar__minus_01_dot_71 Cabinet_bar__minus_00_dot_71_bar__plus_02_dot_01_bar__minus_01_dot_54)\n (inReceptacle Knife_bar__minus_01_dot_68_bar__plus_00_dot_74_bar__minus_01_dot_07 Drawer_bar__minus_01_dot_64_bar__plus_00_dot_68_bar__minus_00_dot_93)\n (inReceptacle Spoon_bar__minus_01_dot_75_bar__plus_00_dot_72_bar__minus_01_dot_00 Drawer_bar__minus_01_dot_64_bar__plus_00_dot_68_bar__minus_00_dot_93)\n (inReceptacle Pan_bar__plus_00_dot_97_bar__plus_00_dot_96_bar__minus_01_dot_43 StoveBurner_bar__plus_00_dot_97_bar__plus_00_dot_96_bar__minus_01_dot_42)\n (inReceptacle Fork_bar__minus_02_dot_15_bar__plus_00_dot_72_bar__minus_01_dot_72 Drawer_bar__minus_02_dot_06_bar__plus_00_dot_68_bar__minus_01_dot_58)\n (inReceptacle DishSponge_bar__minus_02_dot_08_bar__plus_00_dot_72_bar__minus_01_dot_44 Drawer_bar__minus_02_dot_06_bar__plus_00_dot_68_bar__minus_01_dot_58)\n (inReceptacle Spatula_bar__minus_01_dot_98_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_72_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 Statue_bar__plus_03_dot_69_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 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 Cup_bar__plus_03_dot_74_bar__plus_00_dot_55_bar__plus_01_dot_66 Shelf_bar__plus_03_dot_69_bar__plus_00_dot_54_bar__plus_01_dot_64)\n (inReceptacle Cup_bar__plus_01_dot_10_bar__plus_01_dot_76_bar__minus_01_dot_56 Microwave_bar__plus_01_dot_15_bar__plus_01_dot_65_bar__minus_01_dot_61)\n (inReceptacle Tomato_bar__minus_00_dot_04_bar__plus_00_dot_85_bar__plus_02_dot_02 Fridge_bar__minus_00_dot_04_bar__plus_00_dot_00_bar__plus_02_dot_18)\n (inReceptacle Potato_bar__plus_00_dot_08_bar__plus_01_dot_61_bar__plus_02_dot_22 Fridge_bar__minus_00_dot_04_bar__plus_00_dot_00_bar__plus_02_dot_18)\n (inReceptacle Lettuce_bar__minus_00_dot_15_bar__plus_01_dot_64_bar__plus_02_dot_04 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_19 Fridge_bar__minus_00_dot_04_bar__plus_00_dot_00_bar__plus_02_dot_18)\n (inReceptacle Bread_bar__minus_00_dot_26_bar__plus_00_dot_89_bar__plus_02_dot_19 Fridge_bar__minus_00_dot_04_bar__plus_00_dot_00_bar__plus_02_dot_18)\n (inReceptacle Apple_bar__minus_00_dot_90_bar__plus_00_dot_25_bar__plus_02_dot_14 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_32_bar__plus_00_dot_88_bar__plus_03_dot_15 loc_bar__minus_11_bar_8_bar_0_bar_30)\n (objectAtLocation 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(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 Spatula_bar__minus_01_dot_98_bar__plus_00_dot_73_bar__minus_01_dot_44 loc_bar__minus_13_bar__minus_5_bar_1_bar_45)\n (objectAtLocation Plate_bar__plus_00_dot_19_bar__plus_00_dot_81_bar__plus_02_dot_08 loc_bar_1_bar_5_bar_0_bar_45)\n (objectAtLocation WineBottle_bar__plus_01_dot_72_bar__plus_00_dot_91_bar__minus_01_dot_44 loc_bar_5_bar__minus_3_bar_2_bar_45)\n (objectAtLocation Cup_bar__plus_01_dot_10_bar__plus_01_dot_76_bar__minus_01_dot_56 loc_bar_5_bar__minus_3_bar_2_bar_0)\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 Tomato_bar__minus_00_dot_04_bar__plus_00_dot_85_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_72 loc_bar__minus_13_bar__minus_5_bar_1_bar_45)\n (objectAtLocation Bread_bar__minus_00_dot_26_bar__plus_00_dot_89_bar__plus_02_dot_19 loc_bar_0_bar_5_bar_0_bar_60)\n (objectAtLocation Knife_bar__plus_00_dot_57_bar__plus_00_dot_93_bar__minus_01_dot_47 loc_bar__minus_11_bar__minus_4_bar_1_bar_45)\n (objectAtLocation Plate_bar__minus_00_dot_89_bar__plus_01_dot_66_bar__minus_01_dot_71 loc_bar__minus_4_bar__minus_3_bar_2_bar__minus_30)\n (objectAtLocation Fork_bar__minus_01_dot_85_bar__plus_00_dot_91_bar__minus_00_dot_94 loc_bar__minus_11_bar__minus_4_bar_1_bar_45)\n (objectAtLocation Book_bar__minus_01_dot_74_bar__plus_00_dot_91_bar__plus_00_dot_36 loc_bar__minus_11_bar__minus_4_bar_1_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_02_dot_51_bar__plus_00_dot_88_bar__plus_02_dot_72 loc_bar__minus_11_bar_8_bar_0_bar_30)\n (objectAtLocation Tomato_bar__plus_00_dot_53_bar__plus_00_dot_96_bar__minus_01_dot_37 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_31_bar__plus_00_dot_83_bar__plus_02_dot_19 loc_bar_0_bar_5_bar_0_bar_60)\n (objectAtLocation Kettle_bar__minus_02_dot_66_bar__plus_00_dot_88_bar__plus_02_dot_88 loc_bar__minus_11_bar_8_bar_0_bar_30)\n (objectAtLocation Vase_bar__minus_01_dot_63_bar__plus_00_dot_91_bar__plus_00_dot_04 loc_bar__minus_11_bar__minus_4_bar_1_bar_45)\n (objectAtLocation Cup_bar__plus_03_dot_74_bar__plus_00_dot_55_bar__plus_01_dot_66 loc_bar_10_bar_4_bar_1_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_02_dot_09_bar__plus_00_dot_12_bar__minus_01_dot_36 loc_bar__minus_12_bar__minus_5_bar_1_bar_60)\n (objectAtLocation Plate_bar__minus_02_dot_05_bar__plus_00_dot_12_bar__minus_01_dot_65 loc_bar__minus_12_bar__minus_5_bar_1_bar_60)\n (objectAtLocation Spatula_bar__minus_02_dot_32_bar__plus_00_dot_89_bar__plus_03_dot_30 loc_bar__minus_11_bar_8_bar_0_bar_30)\n (objectAtLocation Potato_bar__plus_00_dot_08_bar__plus_01_dot_61_bar__plus_02_dot_22 loc_bar_0_bar_5_bar_0_bar_60)\n (objectAtLocation Pot_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 Knife_bar__minus_01_dot_68_bar__plus_00_dot_74_bar__minus_01_dot_07 loc_bar__minus_2_bar__minus_2_bar_3_bar_45)\n (objectAtLocation SaltShaker_bar__minus_02_dot_49_bar__plus_00_dot_87_bar__plus_03_dot_00 loc_bar__minus_11_bar_8_bar_0_bar_30)\n (objectAtLocation PepperShaker_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 Lettuce_bar__minus_03_dot_17_bar__plus_00_dot_94_bar__plus_03_dot_42 loc_bar__minus_11_bar_8_bar_0_bar_30)\n (objectAtLocation ButterKnife_bar__minus_01_dot_85_bar__plus_00_dot_91_bar__minus_00_dot_29 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__minus_02_dot_25_bar__plus_00_dot_96_bar__plus_03_dot_53 loc_bar__minus_11_bar_8_bar_0_bar_30)\n (objectAtLocation Chair_bar__minus_02_dot_41_bar__plus_00_dot_57_bar__plus_00_dot_06 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_04_bar__plus_00_dot_12_bar__minus_01_dot_45 loc_bar__minus_1_bar__minus_1_bar_2_bar_45)\n (objectAtLocation DishSponge_bar__minus_02_dot_08_bar__plus_00_dot_72_bar__minus_01_dot_44 loc_bar__minus_13_bar__minus_5_bar_1_bar_45)\n (objectAtLocation Apple_bar__minus_00_dot_90_bar__plus_00_dot_25_bar__plus_02_dot_14 loc_bar__minus_5_bar_9_bar_1_bar_60)\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_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_03_dot_17_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_11_bar__plus_00_dot_96_bar__minus_01_dot_48 loc_bar__minus_4_bar__minus_3_bar_2_bar_45)\n (objectAtLocation Statue_bar__plus_03_dot_69_bar__plus_00_dot_56_bar__plus_01_dot_45 loc_bar_10_bar_4_bar_1_bar_45)\n (objectAtLocation Statue_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 Bowl_bar__plus_00_dot_63_bar__plus_00_dot_11_bar__minus_01_dot_41 loc_bar_0_bar__minus_1_bar_2_bar_45)\n )\n \n\n (:goal\n (and\n (exists (?r - receptacle)\n (exists (?o - object)\n (and\n (cleanable ?o)\n (objectType ?o PlateType)\n (receptacleType ?r MicrowaveType)\n (isClean ?o)\n (inReceptacle ?o ?r)\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to cabinet 8", "open cabinet 8", "take plate 2 from cabinet 8", "go to sinkbasin 1", "clean plate 2 with sinkbasin 1", "go to microwave 1", "open microwave 1", "move plate 2 to microwave 1"]}
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alfworld__pick_two_obj_and_place__795
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pick_two_obj_and_place
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pick_two_obj_and_place-Bowl-None-Desk-327/trial_T20190908_040620_961547/game.tw-pddl
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{"pddl_domain": ";; Specification in PDDL of the Alfred domain\n;; Intended to be used with Fast Downward which supports PDDL 2.2 level 1 plus the :action-costs requirement from PDDL 3.1.\n\n(define (domain alfred)\n (:requirements\n :adl\n :action-costs\n :typing\n )\n (:types\n agent\n location\n receptacle\n object\n rtype\n otype\n )\n\n\n (:predicates\n (atLocation ?a - agent ?l - location) ; true if the agent is at the location\n (receptacleAtLocation ?r - receptacle ?l - location) ; true if the receptacle is at the location (constant)\n (objectAtLocation ?o - object ?l - location) ; true if the object is at the location\n (openable ?r - receptacle) ; true if a receptacle is openable\n (opened ?r - receptacle) ; true if a receptacle is opened\n (inReceptacle ?o - object ?r - receptacle) ; object ?o is in receptacle ?r\n (isReceptacleObject ?o - object) ; true if the object can have things put inside it\n (inReceptacleObject ?innerObject - object ?outerObject - object) ; object ?innerObject is inside object ?outerObject\n (isReceptacleObjectFull ?o - object) ; true if the receptacle object contains something\n (wasInReceptacle ?o - object ?r - receptacle) ; object ?o was or is in receptacle ?r now or some time in the past\n (checked ?r - receptacle) ; whether the receptacle has been looked inside/visited\n (examined ?l - location) ; TODO\n (receptacleType ?r - receptacle ?t - rtype) ; the type of receptacle (Cabinet vs Cabinet|01|2...)\n (canContain ?rt - rtype ?ot - otype) ; true if receptacle can hold object\n (objectType ?o - object ?t - otype) ; the type of object (Apple vs Apple|01|2...)\n (holds ?a - agent ?o - object) ; object ?o is held by agent ?a\n (holdsAny ?a - agent) ; agent ?a holds an object\n (holdsAnyReceptacleObject ?a - agent) ; agent ?a holds a receptacle object\n (full ?r - receptacle) ; true if the receptacle has no remaining space\n (isClean ?o - object) ; true if the object has been clean in sink\n (cleanable ?o - object) ; true if the object can be placed in a sink\n (isHot ?o - object) ; true if the object has been heated up\n (heatable ?o - object) ; true if the object can be heated up in a microwave\n (isCool ?o - object) ; true if the object has been cooled\n (coolable ?o - object) ; true if the object can be cooled in the fridge\n (pickupable ?o - object) ; true if the object can be picked up\n (moveable ?o - object) ; true if the object can be moved\n (toggleable ?o - object) ; true if the object can be turned on/off\n (isOn ?o - object) ; true if the object is on\n (isToggled ?o - object) ; true if the object has been toggled\n (sliceable ?o - object) ; true if the object can be sliced\n (isSliced ?o - object) ; true if the object is sliced\n )\n\n (:functions\n (distance ?from ?to)\n (total-cost) - number\n )\n\n;; All actions are specified such that the final arguments are the ones used\n;; for performing actions in Unity.\n\n\n(:action look\n :parameters (?a - agent ?l - location)\n :precondition\n (and\n (atLocation ?a ?l)\n )\n :effect\n (and\n (checked ?l)\n )\n)\n\n(:action inventory\n :parameters (?a - agent)\n :precondition\n ()\n :effect\n (and\n (checked ?a)\n )\n)\n\n(:action examineReceptacle\n :parameters (?a - agent ?r - receptacle)\n :precondition\n (and\n (exists (?l - location)\n (and\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n )\n )\n )\n :effect\n (and\n (checked ?r)\n )\n)\n\n(:action examineObject\n :parameters (?a - agent ?o - object)\n :precondition\n (or\n ;(exists (?l - location)\n ; (and\n ; (atLocation ?a ?l)\n ; (objectAtLocation ?o ?l)\n ; )\n ;)\n (exists (?l - location, ?r - receptacle)\n (and\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n ; (objectAtLocation ?o ?l)\n (inReceptacle ?o ?r)\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n )\n )\n (holds ?a ?o)\n )\n :effect\n (and\n (checked ?o)\n )\n)\n\n;; agent goes to receptacle\n (:action GotoLocation\n :parameters (?a - agent ?lStart - location ?lEnd - location ?r - receptacle)\n :precondition (and\n (atLocation ?a ?lStart)\n (receptacleAtLocation ?r ?lEnd)\n ;(exists (?r - receptacle) (receptacleAtLocation ?r ?lEnd))\n )\n :effect (and\n (not (atLocation ?a ?lStart))\n (atLocation ?a ?lEnd)\n ; (forall (?r - receptacle)\n ; (when (and (receptacleAtLocation ?r ?lEnd)\n ; (or (not (openable ?r)) (opened ?r)))\n ; (checked ?r)\n ; )\n ; )\n ; (increase (total-cost) (distance ?lStart ?lEnd))\n (increase (total-cost) 1)\n )\n )\n\n;; agent opens receptacle\n (:action OpenObject\n :parameters (?a - agent ?l - location ?r - receptacle)\n :precondition (and\n (openable ?r)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (not (opened ?r))\n )\n :effect (and\n (opened ?r)\n (checked ?r)\n (increase (total-cost) 1)\n )\n )\n;; agent closes receptacle\n (:action CloseObject\n :parameters (?a - agent ?l - location ?r - receptacle)\n :precondition (and\n (openable ?r)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (opened ?r)\n )\n :effect (and\n (not (opened ?r))\n (increase (total-cost) 1)\n )\n\n )\n\n ;; agent picks up object from a receptacle\n (:action PickupObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n :precondition\n (and\n (pickupable ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n ; (objectAtLocation ?o ?l)\n (inReceptacle ?o ?r)\n (not (holdsAny ?a)) ; agent's hands are empty.\n ;(not (holdsAnyReceptacleObject ?a))\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n ;(not (isReceptacleObject ?o))\n )\n :effect\n (and\n (not (inReceptacle ?o ?r))\n (holds ?a ?o)\n (holdsAny ?a)\n (not (objectAtLocation ?o ?l))\n ;(not (full ?r))\n (increase (total-cost) 1)\n )\n )\n\n\n; ;; agent picks up object from a receptacle\n; (:action PickupObjectFromReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?outerR - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (inReceptacle ?o ?r)\n; (pickupable ?o)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (not (isReceptacleObject ?o))\n; (isReceptacleObject ?outerR)\n; (inReceptacleObject ?o ?outerR)\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (holds ?a ?o)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n;\n; (not (inReceptacleObject ?o ?outerR))\n; (not (isReceptacleObjectFull ?outerR))\n; )\n; )\n;\n; ;; agent picks up object from a receptacle\n; (:action PickupEmptyReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; ; (objectAtLocation ?o ?l)\n; (inReceptacle ?o ?r)\n; (pickupable ?o)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (isReceptacleObject ?o)\n; (not (isReceptacleObjectFull ?o))\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (holds ?a ?o)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n; (holdsAnyReceptacleObject ?a)\n; )\n; )\n;\n; ;; agent picks up object from a receptacle\n; (:action PickupFullReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?outerR - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (inReceptacle ?outerR ?r)\n; (pickupable ?outerR)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (not (isReceptacleObject ?o))\n; (isReceptacleObject ?outerR)\n; (inReceptacleObject ?o ?outerR)\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (not (inReceptacle ?outerR ?r))\n; (holds ?a ?outerR)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (objectAtLocation ?outerR ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n; (holdsAnyReceptacleObject ?a)\n; )\n; )\n\n\n;; agent puts down an object\n (:action PutObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle ?ot - otype ?rt - rtype)\n :precondition (and\n (holds ?a ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable\n ;(not (full ?r))\n (objectType ?o ?ot)\n (receptacleType ?r ?rt)\n (canContain ?rt ?ot)\n ;(not (holdsAnyReceptacleObject ?a))\n )\n :effect (and\n (inReceptacle ?o ?r)\n (objectAtLocation ?o ?l)\n ;(full ?r)\n (not (holds ?a ?o))\n (not (holdsAny ?a))\n (increase (total-cost) 1)\n )\n )\n\n;;; agent puts down an object\n; (:action PutObjectInReceptacleObject\n; :parameters (?a - agent ?l - location ?ot - otype ?o - object ?outerO - object ?outerR - receptacle)\n; :precondition (and\n; (atLocation ?a ?l)\n; (objectAtLocation ?outerO ?l)\n; (isReceptacleObject ?outerO)\n; (not (isReceptacleObject ?o))\n; (objectType ?o ?ot)\n; (holds ?a ?o)\n; (not (holdsAnyReceptacleObject ?a))\n; (inReceptacle ?outerO ?outerR)\n; (not (isReceptacleObjectFull ?outerO))\n; )\n; :effect (and\n; (inReceptacleObject ?o ?outerO)\n; (inReceptacle ?o ?outerR)\n; (not (holds ?a ?o))\n; (not (holdsAny ?a))\n; (objectAtLocation ?o ?l)\n; (isReceptacleObjectFull ?outerO)\n; (increase (total-cost) 1)\n; )\n; )\n;\n;;; agent puts down an object\n; (:action PutEmptyReceptacleObjectinReceptacle\n; :parameters (?a - agent ?l - location ?ot - otype ?o - object ?r - receptacle)\n; :precondition (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable\n; (not (full ?r))\n; (objectType ?o ?ot)\n; (holds ?a ?o)\n; (holdsAnyReceptacleObject ?a)\n; (isReceptacleObject ?o)\n; (not (isReceptacleObjectFull ?o))\n; )\n; :effect (and\n; (inReceptacle ?o ?r)\n; (objectAtLocation ?o ?l)\n; (full ?r)\n; (not (holds ?a ?o))\n; (not (holdsAny ?a))\n; (not (holdsAnyReceptacleObject ?a))\n; (increase (total-cost) 1)\n; )\n; )\n;\n;;; agent puts down a receptacle object in a receptacle\n; (:action PutFullReceptacleObjectInReceptacle\n; :parameters (?a - agent ?l - location ?ot - otype ?innerO - object ?outerO - object ?r - receptacle) ; ?rt - rtype)\n; :precondition (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (objectType ?outerO ?ot)\n; (holds ?a ?outerO)\n; (holdsAnyReceptacleObject ?a)\n; (isReceptacleObject ?outerO)\n; (isReceptacleObjectFull ?outerO)\n; (inReceptacleObject ?innerO ?outerO)\n; )\n; :effect (and\n; (not (holdsAny ?a))\n; (not (holdsAnyReceptacleObject ?a))\n; (objectAtLocation ?outerO ?l)\n; (objectAtLocation ?innerO ?l)\n; (inReceptacle ?outerO ?r)\n; (inReceptacle ?innerO ?r)\n; (not (holds ?a ?outerO))\n; (increase (total-cost) 1)\n; )\n; )\n\n;; agent cleans some object\n (:action CleanObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (cleanable ?o)\n (or\n (receptacleType ?r SinkType)\n (receptacleType ?r SinkBasinType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isClean ?o)\n )\n )\n\n\n;; agent heats-up some object\n (:action HeatObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (heatable ?o)\n (or\n (receptacleType ?r MicrowaveType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isHot ?o)\n (not (isCool ?o))\n )\n )\n\n;; agent cools some object\n (:action CoolObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (coolable ?o)\n (or\n (receptacleType ?r FridgeType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isCool ?o)\n (not (isHot ?o))\n )\n )\n\n\n;; agent toggle object\n (:action ToggleObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n :precondition (and\n (toggleable ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (inReceptacle ?o ?r)\n )\n :effect (and\n (increase (total-cost) 5)\n (when (isOn ?o)\n (not (isOn ?o)))\n (when (not (isOn ?o))\n (isOn ?o))\n (isToggled ?o)\n )\n )\n\n\n;; agent slices some object with a knife\n (:action SliceObject\n :parameters (?a - agent ?l - location ?co - object ?ko - object)\n :precondition\n (and\n (sliceable ?co)\n (or\n (objectType ?ko KnifeType)\n (objectType ?ko ButterKnifeType)\n )\n (atLocation ?a ?l)\n (objectAtLocation ?co ?l)\n (holds ?a ?ko)\n )\n :effect (and\n (increase (total-cost) 5)\n (isSliced ?co)\n )\n )\n\n\n(:action help\n :parameters (?a - agent)\n :precondition\n ()\n :effect\n (and\n (checked ?a)\n )\n)\n)\n", "grammar": "grammar :: \"\"\"\n {\n \"intro\": [\n {\n \"rhs\": \"-= Welcome to TextWorld, ALFRED! =-\\n\\n#look.feedback#\\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 bowl and put them in desk.\"\n }\n ],\n\n \"GotoLocation.feedback\": [\n {\n \"rhs\": \"You arrive at {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"OpenObject.feedback\": [\n {\n \"rhs\": \"You open the {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"CloseObject.feedback\": [\n {\n \"rhs\": \"You close the {r.name}.\"\n }\n ],\n\n \"PickupObject.feedback\": [\n {\n \"rhs\": \"You pick up the {o.name} from the {r.name}.\"\n }\n ],\n\n \"PickupObjectFromReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupObjectFromReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupEmptyReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupEmptyReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupFullReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupFullReceptacleObject: You pick up the {outerr.name}.\"\n }\n ],\n\n \"PutObject.feedback\": [\n {\n \"rhs\": \"You move the {o.name} to the {r.name}.\"\n }\n ],\n\n \"PutObjectInReceptacleObject.feedback\": [\n {\n \"rhs\": \"PutObjectInReceptacleObject: You put the {o.name} in the {outero.name}.\"\n }\n ],\n\n \"PutEmptyReceptacleObjectinReceptacle.feedback\": [\n {\n \"rhs\": \"PutEmptyReceptacleObjectinReceptacle: You put the {o.name} in the {r.name}.\"\n }\n ],\n\n \"PutFullReceptacleObjectInReceptacle.feedback\": [\n {\n \"rhs\": \"PutFullReceptacleObjectInReceptacle: You put the {outero.name} in the {r.name}.\"\n }\n ],\n\n \"inventory.feedback\": [\n {\n \"condition\": \"holdsany(a:agent)\",\n \"rhs\": \"You are carrying: [{o.indefinite + ' ' + o.name | holds(a:agent, o:object)}].\"\n },\n {\n \"rhs\": \"You are not carrying anything.\"\n }\n ],\n\n \"examineReceptacle.feedback\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \"The {r.name} is open. In it, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \"The {r.name} is closed.\"\n },\n {\n \"rhs\": \"On the {r.name}, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n }\n ],\n\n \"examineObject.feedback\": [\n {\n \"condition\": \"isreceptacleobject(o:object)\",\n \"rhs\": \"This is a normal {o.name}. In it, you see [{o2.indefinite + ' ' + o2.name | inreceptacleobject(o2:object, o:object)}].\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a clean sliced {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot sliced {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object)\",\n \"rhs\": \"This is a hot and clean {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object)\",\n \"rhs\": \"This is a cool and clean {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object)\",\n \"rhs\": \"This is a hot {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object)\",\n \"rhs\": \"This is a clean {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object)\",\n \"rhs\": \"This is a cold {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"This {o.name} is on.\"\n },\n {\n \"condition\": \"toggleable(o:object) & not_istoggled(o:object)\",\n \"rhs\": \"This {o.name} is off.\"\n },\n {\n \"condition\": \"sliceable(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a sliced {o.name}.\"\n },\n {\n \"rhs\": \"There's nothing special about {o.name}.\"\n }\n ]\n }\n\"\"\";\n\naction GotoLocation {\n template :: \"go to [{r.name | receptacleatlocation(r:receptacle, lend:location)}]\";\n feedback :: \"#GotoLocation.feedback#\";\n}\n\naction OpenObject {\n template :: \"open {r}\";\n feedback :: \"#OpenObject.feedback#\";\n}\n\naction CloseObject {\n template :: \"close {r}\";\n feedback :: \"#CloseObject.feedback#\";\n}\n\naction PickupObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObject.feedback#\";\n}\n\naction PickupObjectFromReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObjectFromReceptacleObject.feedback#\";\n}\n\naction PickupEmptyReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupEmptyReceptacleObject.feedback#\";\n}\n\naction PickupFullReceptacleObject {\n template :: \"take {outerr} from {r}\";\n feedback :: \"#PickupFullReceptacleObject.feedback#\";\n}\n\naction PutObject {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutObject.feedback#\";\n}\n\naction PutObjectInReceptacleObject {\n template :: \"put {o} into {outero}\";\n feedback :: \"#PutObjectInReceptacleObject.feedback#\";\n}\n\naction PutEmptyReceptacleObjectinReceptacle {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutEmptyReceptacleObjectinReceptacle.feedback#\";\n}\n\naction PutFullReceptacleObjectInReceptacle {\n template :: \"put {outero} in {r}\";\n feedback :: \"#PutFullReceptacleObjectInReceptacle.feedback#\";\n}\n\naction inventory {\n template :: \"inventory\";\n feedback :: \"#inventory.feedback#\";\n}\n\naction examineReceptacle {\n template :: \"examine {r}\";\n feedback :: \"#examineReceptacle.feedback#\";\n}\n\naction examineObject {\n template :: \"examine {o}\";\n feedback :: \"#examineObject.feedback#\";\n}\n\naction ToggleObject {\n template :: \"use {o}\";\n feedback :: \"#toggleObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"toggleObject.feedback\": [\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"You turn on the {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object)\",\n \"rhs\": \"You turn off the {o.name}.\"\n },\n {\n \"rhs\": \"You don't see any switch on the {o.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction HeatObject {\n template :: \"heat {o} with {r}\";\n feedback :: \"#heatObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"heatObject.feedback\": [\n {\n \"rhs\": \"You heat the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CleanObject {\n template :: \"clean {o} with {r}\";\n feedback :: \"#cleanObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"cleanObject.feedback\": [\n {\n \"rhs\": \"You clean the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CoolObject {\n template :: \"cool {o} with {r}\";\n feedback :: \"#coolObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"coolObject.feedback\": [\n {\n \"rhs\": \"You cool the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction SliceObject {\n template :: \"slice {co} with {ko}\";\n feedback :: \"#sliceObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"sliceObject.feedback\": [\n {\n \"rhs\": \"You sliced the {co.name} with the {ko.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction look {\n template :: \"look\";\n feedback :: \"#look.feedback#\";\n\n grammar :: \"\"\"\n {\n \"look.feedback\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"#look-variations#. Next to it, you see #list_objects_on_the_floor#.\"\n },\n {\n \"rhs\": \"You are in the middle of a room. Looking quickly around you, you see #list_appliances#.\"\n }\n ],\n\n \"look-variations\": [\n {\n \"rhs\": \"You are facing the [{r.name | atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)}]\"\n }\n ],\n\n \"list_objects_on_the_floor\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)\",\n \"rhs\": \"[{#overview(o)# | atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"list_appliances\": [\n {\n \"condition\": \"receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"[{#overview(r)# | receptacleatlocation(r:receptacle, l:location)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"overview(o, r)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name} (in/on the {r.name})}\"\n }\n ],\n\n \"overview(o)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name}\"\n }\n ],\n \"overview(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}\"\n }\n ],\n \"overview_with_state(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}#overview_state(r)#\"\n }\n ],\n \"overview_state(r)\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \" (it is open)\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \" (it is closed)\"\n },\n {\n \"rhs\": \"\"\n }\n ],\n\n \"list_empty\": [\n {\n \"rhs\": \"nothing\"\n }\n ],\n \"list_separator\": [\n {\n \"rhs\": \", \"\n }\n ],\n \"list_last_separator\": [\n {\n \"rhs\": \", and \"\n }\n ]\n }\n \"\"\";\n}\n\naction help {\n template :: \"help\";\n feedback :: \"\nAvailable commands:\n look: look around your current location\n inventory: check your current inventory\n go to (receptacle): move to a receptacle\n open (receptacle): open a receptacle\n close (receptacle): close a receptacle\n take (object) from (receptacle): take an object from a receptacle\n move (object) to (receptacle): place an object in or on a receptacle\n examine (something): examine a receptacle or an object\n use (object): use an object\n heat (object) with (receptacle): heat an object using a receptacle\n clean (object) with (receptacle): clean an object using a receptacle\n cool (object) with (receptacle): cool an object using a receptacle\n slice (object) with (object): slice an object using a sharp object\n\";\n}\n", "pddl_problem": "\n(define (problem plan_trial_T20190908_040620_961547)\n(:domain alfred)\n(:objects\nagent1 - agent\nSaltShaker - object\n HousePlant - object\n Candle - object\n SprayBottle - object\n Bowl - object\n Window - object\n CD - object\n Egg - object\n Glassbottle - object\n Sink - object\n Pillow - object\n Spoon - object\n SoapBottle - object\n TeddyBear - object\n ButterKnife - object\n Cup - object\n Plate - object\n RemoteControl - object\n Tomato - object\n Statue - object\n HandTowel - object\n Knife - object\n StoveKnob - object\n LightSwitch - object\n Pen - object\n Painting - object\n DishSponge - object\n Vase - object\n Mug - object\n ToiletPaper - object\n Box - object\n Mirror - object\n Ladle - object\n Fork - object\n Blinds - object\n Footstool - object\n KeyChain - object\n Cloth - object\n Laptop - object\n TissueBox - object\n PepperShaker - object\n FloorLamp - object\n WateringCan - object\n Apple - object\n Pan - object\n PaperTowel - object\n PaperTowelRoll - object\n Newspaper - object\n Television - object\n Chair - object\n CellPhone - object\n CreditCard - object\n Lettuce - object\n BasketBall - object\n Potato - object\n Curtains - object\n Boots - object\n Pencil - object\n AlarmClock - object\n ToiletPaperRoll - object\n Spatula - object\n Book - object\n Bread - object\n SoapBar - object\n Watch - object\n DeskLamp - object\n Kettle - object\n Pot - object\n ScrubBrush - object\n WineBottle - object\n ShowerDoor - object\n Bathtub - object\n LaundryHamperLid - object\n ShowerGlass - object\n Poster - object\n TennisRacket - object\n BaseballBat - object\n Towel - object\n Plunger - object\nSaltShakerType - otype\n HousePlantType - otype\n CandleType - otype\n SprayBottleType - otype\n BowlType - otype\n WindowType - otype\n CDType - otype\n EggType - otype\n GlassbottleType - otype\n SinkType - otype\n PillowType - otype\n SpoonType - otype\n SoapBottleType - otype\n TeddyBearType - otype\n ButterKnifeType - otype\n CupType - otype\n PlateType - otype\n RemoteControlType - otype\n TomatoType - otype\n StatueType - otype\n HandTowelType - otype\n KnifeType - otype\n StoveKnobType - otype\n LightSwitchType - otype\n PenType - otype\n PaintingType - otype\n DishSpongeType - otype\n VaseType - otype\n MugType - otype\n ToiletPaperType - otype\n BoxType - otype\n MirrorType - otype\n LadleType - otype\n ForkType - otype\n BlindsType - otype\n FootstoolType - otype\n KeyChainType - otype\n ClothType - otype\n LaptopType - otype\n TissueBoxType - otype\n PepperShakerType - otype\n FloorLampType - otype\n WateringCanType - otype\n AppleType - otype\n PanType - otype\n PaperTowelType - otype\n PaperTowelRollType - otype\n NewspaperType - otype\n TelevisionType - otype\n ChairType - otype\n CellPhoneType - otype\n CreditCardType - otype\n LettuceType - otype\n BasketBallType - otype\n PotatoType - otype\n CurtainsType - otype\n BootsType - otype\n PencilType - otype\n AlarmClockType - otype\n ToiletPaperRollType - otype\n SpatulaType - otype\n BookType - otype\n BreadType - otype\n SoapBarType - otype\n WatchType - otype\n DeskLampType - otype\n KettleType - otype\n PotType - otype\n ScrubBrushType - otype\n WineBottleType - otype\n ShowerDoorType - otype\n BathtubType - otype\n LaundryHamperLidType - otype\n ShowerGlassType - otype\n PosterType - otype\n TennisRacketType - otype\n BaseballBatType - otype\n TowelType - otype\n PlungerType - otype\nSafeType - rtype\n DrawerType - rtype\n CoffeeMachineType - rtype\n HandTowelHolderType - rtype\n SinkBasinType - rtype\n DresserType - rtype\n LaundryHamperType - rtype\n TVStandType - rtype\n BathtubBasinType - rtype\n CabinetType - rtype\n FridgeType - rtype\n DeskType - rtype\n ToiletType - rtype\n CartType - rtype\n SideTableType - rtype\n SofaType - rtype\n CoffeeTableType - rtype\n DiningTableType - rtype\n CounterTopType - rtype\n GarbageCanType - rtype\n ArmChairType - rtype\n ShelfType - rtype\n MicrowaveType - rtype\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_32_bar__plus_00_dot_51_bar__minus_01_dot_98 - object\n AlarmClock_bar__minus_01_dot_33_bar__plus_00_dot_69_bar__minus_02_dot_48 - object\n AlarmClock_bar__minus_01_dot_46_bar__plus_00_dot_70_bar__minus_02_dot_19 - object\n BaseballBat_bar__plus_01_dot_44_bar__plus_00_dot_64_bar__plus_01_dot_99 - object\n BasketBall_bar__plus_01_dot_27_bar__plus_00_dot_12_bar__minus_01_dot_29 - object\n Blinds_bar__plus_00_dot_25_bar__plus_02_dot_19_bar__minus_02_dot_69 - object\n Blinds_bar__minus_00_dot_35_bar__plus_02_dot_19_bar__minus_02_dot_69 - object\n Blinds_bar__minus_00_dot_95_bar__plus_02_dot_19_bar__minus_02_dot_69 - object\n Book_bar__minus_01_dot_32_bar__plus_00_dot_61_bar__plus_00_dot_34 - object\n Boots_bar__plus_01_dot_29_bar__plus_00_dot_00_bar__minus_00_dot_96 - object\n Bowl_bar__plus_01_dot_17_bar__plus_00_dot_50_bar__minus_01_dot_82 - object\n Bowl_bar__plus_01_dot_23_bar__plus_00_dot_38_bar__plus_00_dot_05 - object\n Bowl_bar__minus_01_dot_52_bar__plus_00_dot_70_bar__minus_01_dot_61 - object\n Bowl_bar__minus_01_dot_58_bar__plus_01_dot_52_bar__minus_01_dot_57 - object\n CD_bar__minus_01_dot_43_bar__plus_00_dot_40_bar__minus_02_dot_37 - object\n CD_bar__minus_01_dot_58_bar__plus_00_dot_70_bar__minus_01_dot_76 - object\n CellPhone_bar__minus_01_dot_27_bar__plus_00_dot_70_bar__minus_02_dot_34 - object\n Chair_bar__plus_00_dot_28_bar__plus_00_dot_00_bar__minus_02_dot_26 - object\n CreditCard_bar__plus_01_dot_26_bar__plus_00_dot_38_bar__minus_00_dot_39 - object\n DeskLamp_bar__minus_01_dot_49_bar__plus_00_dot_69_bar__minus_02_dot_42 - object\n KeyChain_bar__minus_01_dot_39_bar__plus_00_dot_70_bar__minus_01_dot_61 - object\n Laptop_bar__plus_00_dot_62_bar__plus_00_dot_57_bar__minus_02_dot_48 - 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_17_bar__plus_00_dot_24_bar__minus_01_dot_67 - object\n Pencil_bar__minus_01_dot_33_bar__plus_00_dot_40_bar__minus_02_dot_15 - object\n Pen_bar__plus_00_dot_94_bar__plus_00_dot_58_bar__minus_02_dot_54 - object\n Pen_bar__plus_01_dot_16_bar__plus_00_dot_92_bar__minus_00_dot_10 - object\n Pen_bar__minus_01_dot_33_bar__plus_00_dot_71_bar__minus_01_dot_90 - object\n Pillow_bar__minus_01_dot_17_bar__plus_00_dot_68_bar__minus_00_dot_99 - object\n Window_bar__plus_00_dot_24_bar__plus_00_dot_96_bar__minus_02_dot_68 - object\n Window_bar__minus_00_dot_36_bar__plus_00_dot_96_bar__minus_02_dot_68 - object\n Window_bar__minus_00_dot_96_bar__plus_00_dot_96_bar__minus_02_dot_68 - object\n Bed_bar__minus_01_dot_21_bar__plus_00_dot_02_bar__minus_00_dot_27 - receptacle\n Desk_bar__plus_00_dot_45_bar_00_dot_00_bar__minus_02_dot_53 - receptacle\n Drawer_bar__plus_00_dot_98_bar__plus_00_dot_14_bar__minus_01_dot_64 - receptacle\n Drawer_bar__plus_00_dot_98_bar__plus_00_dot_14_bar__minus_01_dot_96 - receptacle\n Drawer_bar__plus_00_dot_98_bar__plus_00_dot_27_bar__minus_01_dot_64 - receptacle\n Drawer_bar__plus_00_dot_98_bar__plus_00_dot_27_bar__minus_01_dot_96 - receptacle\n Drawer_bar__plus_00_dot_98_bar__plus_00_dot_40_bar__minus_01_dot_64 - receptacle\n Drawer_bar__plus_00_dot_98_bar__plus_00_dot_40_bar__minus_01_dot_96 - receptacle\n Drawer_bar__minus_01_dot_35_bar__plus_00_dot_19_bar__minus_02_dot_05 - receptacle\n Drawer_bar__minus_01_dot_35_bar__plus_00_dot_48_bar__minus_02_dot_05 - receptacle\n Dresser_bar__minus_01_dot_47_bar__plus_00_dot_03_bar__minus_02_dot_05 - receptacle\n GarbageCan_bar__minus_01_dot_57_bar__plus_00_dot_00_bar__plus_01_dot_94 - receptacle\n Shelf_bar__plus_01_dot_22_bar__plus_00_dot_86_bar__minus_01_dot_80 - receptacle\n Shelf_bar__plus_01_dot_26_bar__plus_00_dot_38_bar__minus_00_dot_26 - receptacle\n Shelf_bar__plus_01_dot_26_bar__plus_00_dot_90_bar__minus_00_dot_27 - receptacle\n Shelf_bar__plus_01_dot_26_bar__plus_01_dot_40_bar__minus_00_dot_26 - receptacle\n Shelf_bar__minus_01_dot_58_bar__plus_01_dot_51_bar__minus_02_dot_03 - receptacle\n loc_bar_0_bar_0_bar_3_bar_60 - location\n loc_bar_0_bar__minus_6_bar_1_bar_60 - location\n loc_bar__minus_2_bar__minus_9_bar_2_bar__minus_30 - location\n loc_bar__minus_2_bar__minus_9_bar_2_bar_60 - location\n loc_bar_1_bar__minus_6_bar_1_bar_60 - location\n loc_bar_2_bar__minus_1_bar_1_bar_45 - location\n loc_bar_1_bar__minus_5_bar_1_bar_60 - location\n loc_bar__minus_2_bar_5_bar_3_bar_60 - location\n loc_bar_3_bar_6_bar_0_bar_15 - location\n loc_bar_2_bar__minus_6_bar_2_bar_60 - location\n loc_bar_2_bar__minus_6_bar_1_bar_45 - location\n loc_bar_4_bar_6_bar_0_bar_60 - location\n loc_bar__minus_2_bar__minus_9_bar_1_bar_45 - location\n loc_bar__minus_3_bar__minus_8_bar_3_bar_60 - location\n loc_bar__minus_1_bar__minus_7_bar_3_bar_60 - location\n loc_bar__minus_3_bar__minus_9_bar_2_bar__minus_30 - location\n loc_bar__minus_3_bar_6_bar_0_bar_45 - location\n loc_bar__minus_3_bar__minus_9_bar_2_bar_60 - location\n loc_bar_2_bar__minus_1_bar_1_bar_60 - location\n loc_bar_2_bar__minus_5_bar_1_bar_60 - location\n loc_bar_2_bar__minus_1_bar_1_bar_15 - location\n loc_bar__minus_1_bar__minus_5_bar_1_bar_45 - location\n loc_bar__minus_2_bar__minus_9_bar_1_bar_60 - location\n loc_bar_0_bar__minus_5_bar_1_bar_60 - location\n loc_bar__minus_2_bar__minus_9_bar_1_bar__minus_30 - location\n loc_bar__minus_3_bar__minus_8_bar_3_bar_15 - location\n loc_bar_3_bar__minus_4_bar_1_bar_60 - location\n loc_bar_3_bar__minus_7_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 CreditCard_bar__plus_01_dot_26_bar__plus_00_dot_38_bar__minus_00_dot_39 CreditCardType)\n (objectType AlarmClock_bar__minus_01_dot_46_bar__plus_00_dot_70_bar__minus_02_dot_19 AlarmClockType)\n (objectType CD_bar__minus_01_dot_58_bar__plus_00_dot_70_bar__minus_01_dot_76 CDType)\n (objectType Window_bar__minus_00_dot_96_bar__plus_00_dot_96_bar__minus_02_dot_68 WindowType)\n (objectType Blinds_bar__minus_00_dot_35_bar__plus_02_dot_19_bar__minus_02_dot_69 BlindsType)\n (objectType Pen_bar__plus_00_dot_94_bar__plus_00_dot_58_bar__minus_02_dot_54 PenType)\n (objectType Bowl_bar__plus_01_dot_23_bar__plus_00_dot_38_bar__plus_00_dot_05 BowlType)\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_17_bar__plus_00_dot_24_bar__minus_01_dot_67 PencilType)\n (objectType CellPhone_bar__minus_01_dot_27_bar__plus_00_dot_70_bar__minus_02_dot_34 CellPhoneType)\n (objectType AlarmClock_bar__minus_01_dot_33_bar__plus_00_dot_69_bar__minus_02_dot_48 AlarmClockType)\n (objectType KeyChain_bar__minus_01_dot_39_bar__plus_00_dot_70_bar__minus_01_dot_61 KeyChainType)\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 Pencil_bar__minus_01_dot_33_bar__plus_00_dot_40_bar__minus_02_dot_15 PencilType)\n (objectType Pen_bar__plus_01_dot_16_bar__plus_00_dot_92_bar__minus_00_dot_10 PenType)\n (objectType Window_bar__plus_00_dot_24_bar__plus_00_dot_96_bar__minus_02_dot_68 WindowType)\n (objectType AlarmClock_bar__plus_01_dot_32_bar__plus_00_dot_51_bar__minus_01_dot_98 AlarmClockType)\n (objectType BasketBall_bar__plus_01_dot_27_bar__plus_00_dot_12_bar__minus_01_dot_29 BasketBallType)\n (objectType CD_bar__minus_01_dot_43_bar__plus_00_dot_40_bar__minus_02_dot_37 CDType)\n (objectType Pillow_bar__minus_01_dot_17_bar__plus_00_dot_68_bar__minus_00_dot_99 PillowType)\n (objectType Bowl_bar__plus_01_dot_17_bar__plus_00_dot_50_bar__minus_01_dot_82 BowlType)\n (objectType Pen_bar__minus_01_dot_33_bar__plus_00_dot_71_bar__minus_01_dot_90 PenType)\n (objectType Book_bar__minus_01_dot_32_bar__plus_00_dot_61_bar__plus_00_dot_34 BookType)\n (objectType BaseballBat_bar__plus_01_dot_44_bar__plus_00_dot_64_bar__plus_01_dot_99 BaseballBatType)\n (objectType Bowl_bar__minus_01_dot_52_bar__plus_00_dot_70_bar__minus_01_dot_61 BowlType)\n (objectType Laptop_bar__plus_00_dot_62_bar__plus_00_dot_57_bar__minus_02_dot_48 LaptopType)\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 Bowl_bar__minus_01_dot_58_bar__plus_01_dot_52_bar__minus_01_dot_57 BowlType)\n (canContain DrawerType PenType)\n (canContain 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 CreditCard_bar__plus_01_dot_26_bar__plus_00_dot_38_bar__minus_00_dot_39)\n (pickupable AlarmClock_bar__minus_01_dot_46_bar__plus_00_dot_70_bar__minus_02_dot_19)\n (pickupable CD_bar__minus_01_dot_58_bar__plus_00_dot_70_bar__minus_01_dot_76)\n (pickupable Pen_bar__plus_00_dot_94_bar__plus_00_dot_58_bar__minus_02_dot_54)\n (pickupable Bowl_bar__plus_01_dot_23_bar__plus_00_dot_38_bar__plus_00_dot_05)\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_17_bar__plus_00_dot_24_bar__minus_01_dot_67)\n (pickupable CellPhone_bar__minus_01_dot_27_bar__plus_00_dot_70_bar__minus_02_dot_34)\n (pickupable 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(pickupable Bowl_bar__minus_01_dot_52_bar__plus_00_dot_70_bar__minus_01_dot_61)\n (pickupable Laptop_bar__plus_00_dot_62_bar__plus_00_dot_57_bar__minus_02_dot_48)\n (pickupable Bowl_bar__minus_01_dot_58_bar__plus_01_dot_52_bar__minus_01_dot_57)\n (isReceptacleObject Bowl_bar__plus_01_dot_23_bar__plus_00_dot_38_bar__plus_00_dot_05)\n (isReceptacleObject Bowl_bar__plus_01_dot_17_bar__plus_00_dot_50_bar__minus_01_dot_82)\n (isReceptacleObject Bowl_bar__minus_01_dot_52_bar__plus_00_dot_70_bar__minus_01_dot_61)\n (isReceptacleObject Bowl_bar__minus_01_dot_58_bar__plus_01_dot_52_bar__minus_01_dot_57)\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_3_bar__minus_7_bar_3_bar_30)\n \n (cleanable Bowl_bar__plus_01_dot_23_bar__plus_00_dot_38_bar__plus_00_dot_05)\n (cleanable Bowl_bar__plus_01_dot_17_bar__plus_00_dot_50_bar__minus_01_dot_82)\n (cleanable Bowl_bar__minus_01_dot_52_bar__plus_00_dot_70_bar__minus_01_dot_61)\n (cleanable Bowl_bar__minus_01_dot_58_bar__plus_01_dot_52_bar__minus_01_dot_57)\n \n \n (coolable Bowl_bar__plus_01_dot_23_bar__plus_00_dot_38_bar__plus_00_dot_05)\n (coolable Bowl_bar__plus_01_dot_17_bar__plus_00_dot_50_bar__minus_01_dot_82)\n (coolable Bowl_bar__minus_01_dot_52_bar__plus_00_dot_70_bar__minus_01_dot_61)\n (coolable Bowl_bar__minus_01_dot_58_bar__plus_01_dot_52_bar__minus_01_dot_57)\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 CD_bar__minus_01_dot_43_bar__plus_00_dot_40_bar__minus_02_dot_37 Drawer_bar__minus_01_dot_35_bar__plus_00_dot_48_bar__minus_02_dot_05)\n (inReceptacle Pencil_bar__minus_01_dot_33_bar__plus_00_dot_40_bar__minus_02_dot_15 Drawer_bar__minus_01_dot_35_bar__plus_00_dot_48_bar__minus_02_dot_05)\n (inReceptacle Pen_bar__plus_00_dot_94_bar__plus_00_dot_58_bar__minus_02_dot_54 Desk_bar__plus_00_dot_45_bar_00_dot_00_bar__minus_02_dot_53)\n (inReceptacle Laptop_bar__plus_00_dot_62_bar__plus_00_dot_57_bar__minus_02_dot_48 Desk_bar__plus_00_dot_45_bar_00_dot_00_bar__minus_02_dot_53)\n (inReceptacle Bowl_bar__minus_01_dot_52_bar__plus_00_dot_70_bar__minus_01_dot_61 Dresser_bar__minus_01_dot_47_bar__plus_00_dot_03_bar__minus_02_dot_05)\n (inReceptacle 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_27_bar__plus_00_dot_70_bar__minus_02_dot_34 Dresser_bar__minus_01_dot_47_bar__plus_00_dot_03_bar__minus_02_dot_05)\n (inReceptacle AlarmClock_bar__minus_01_dot_33_bar__plus_00_dot_69_bar__minus_02_dot_48 Dresser_bar__minus_01_dot_47_bar__plus_00_dot_03_bar__minus_02_dot_05)\n (inReceptacle KeyChain_bar__minus_01_dot_39_bar__plus_00_dot_70_bar__minus_01_dot_61 Dresser_bar__minus_01_dot_47_bar__plus_00_dot_03_bar__minus_02_dot_05)\n (inReceptacle CD_bar__minus_01_dot_58_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 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_33_bar__plus_00_dot_71_bar__minus_01_dot_90 Dresser_bar__minus_01_dot_47_bar__plus_00_dot_03_bar__minus_02_dot_05)\n (inReceptacle Book_bar__minus_01_dot_32_bar__plus_00_dot_61_bar__plus_00_dot_34 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 AlarmClock_bar__plus_01_dot_32_bar__plus_00_dot_51_bar__minus_01_dot_98 Shelf_bar__plus_01_dot_22_bar__plus_00_dot_86_bar__minus_01_dot_80)\n (inReceptacle Bowl_bar__plus_01_dot_17_bar__plus_00_dot_50_bar__minus_01_dot_82 Shelf_bar__plus_01_dot_22_bar__plus_00_dot_86_bar__minus_01_dot_80)\n (inReceptacle Pencil_bar__plus_01_dot_17_bar__plus_00_dot_24_bar__minus_01_dot_67 Drawer_bar__plus_00_dot_98_bar__plus_00_dot_27_bar__minus_01_dot_64)\n (inReceptacle Pen_bar__plus_01_dot_16_bar__plus_00_dot_92_bar__minus_00_dot_10 Shelf_bar__plus_01_dot_26_bar__plus_00_dot_90_bar__minus_00_dot_27)\n (inReceptacle Bowl_bar__plus_01_dot_23_bar__plus_00_dot_38_bar__plus_00_dot_05 Shelf_bar__plus_01_dot_26_bar__plus_00_dot_38_bar__minus_00_dot_26)\n (inReceptacle CreditCard_bar__plus_01_dot_26_bar__plus_00_dot_38_bar__minus_00_dot_39 Shelf_bar__plus_01_dot_26_bar__plus_00_dot_38_bar__minus_00_dot_26)\n (inReceptacle Bowl_bar__minus_01_dot_58_bar__plus_01_dot_52_bar__minus_01_dot_57 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 Bowl_bar__plus_01_dot_17_bar__plus_00_dot_50_bar__minus_01_dot_82 loc_bar_2_bar__minus_6_bar_1_bar_45)\n (objectAtLocation CD_bar__minus_01_dot_43_bar__plus_00_dot_40_bar__minus_02_dot_37 loc_bar__minus_3_bar__minus_8_bar_3_bar_60)\n (objectAtLocation AlarmClock_bar__minus_01_dot_33_bar__plus_00_dot_69_bar__minus_02_dot_48 loc_bar__minus_3_bar__minus_8_bar_3_bar_60)\n (objectAtLocation Pen_bar__plus_00_dot_94_bar__plus_00_dot_58_bar__minus_02_dot_54 loc_bar_2_bar__minus_6_bar_2_bar_60)\n (objectAtLocation Pencil_bar__plus_01_dot_17_bar__plus_00_dot_24_bar__minus_01_dot_67 loc_bar__minus_1_bar__minus_5_bar_1_bar_45)\n (objectAtLocation AlarmClock_bar__plus_01_dot_32_bar__plus_00_dot_51_bar__minus_01_dot_98 loc_bar_2_bar__minus_6_bar_1_bar_45)\n (objectAtLocation Pen_bar__plus_01_dot_16_bar__plus_00_dot_92_bar__minus_00_dot_10 loc_bar_2_bar__minus_1_bar_1_bar_45)\n (objectAtLocation Bowl_bar__plus_01_dot_23_bar__plus_00_dot_38_bar__plus_00_dot_05 loc_bar_2_bar__minus_1_bar_1_bar_60)\n (objectAtLocation Bowl_bar__minus_01_dot_52_bar__plus_00_dot_70_bar__minus_01_dot_61 loc_bar__minus_3_bar__minus_8_bar_3_bar_60)\n (objectAtLocation Book_bar__minus_01_dot_32_bar__plus_00_dot_61_bar__plus_00_dot_34 loc_bar_0_bar_0_bar_3_bar_60)\n (objectAtLocation Mirror_bar__plus_00_dot_74_bar__plus_01_dot_49_bar__plus_02_dot_10 loc_bar_3_bar_6_bar_0_bar_15)\n (objectAtLocation Chair_bar__plus_00_dot_28_bar__plus_00_dot_00_bar__minus_02_dot_26 loc_bar__minus_2_bar__minus_9_bar_1_bar_60)\n (objectAtLocation KeyChain_bar__minus_01_dot_39_bar__plus_00_dot_70_bar__minus_01_dot_61 loc_bar__minus_3_bar__minus_8_bar_3_bar_60)\n (objectAtLocation BaseballBat_bar__plus_01_dot_44_bar__plus_00_dot_64_bar__plus_01_dot_99 loc_bar_4_bar_6_bar_0_bar_60)\n (objectAtLocation BasketBall_bar__plus_01_dot_27_bar__plus_00_dot_12_bar__minus_01_dot_29 loc_bar_2_bar__minus_5_bar_1_bar_60)\n (objectAtLocation Pencil_bar__minus_01_dot_33_bar__plus_00_dot_40_bar__minus_02_dot_15 loc_bar__minus_3_bar__minus_8_bar_3_bar_60)\n (objectAtLocation CellPhone_bar__minus_01_dot_27_bar__plus_00_dot_70_bar__minus_02_dot_34 loc_bar__minus_3_bar__minus_8_bar_3_bar_60)\n (objectAtLocation CreditCard_bar__plus_01_dot_26_bar__plus_00_dot_38_bar__minus_00_dot_39 loc_bar_2_bar__minus_1_bar_1_bar_60)\n (objectAtLocation Laptop_bar__plus_00_dot_62_bar__plus_00_dot_57_bar__minus_02_dot_48 loc_bar_2_bar__minus_6_bar_2_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_33_bar__plus_00_dot_71_bar__minus_01_dot_90 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_46_bar__plus_00_dot_70_bar__minus_02_dot_19 loc_bar__minus_3_bar__minus_8_bar_3_bar_60)\n (objectAtLocation CD_bar__minus_01_dot_58_bar__plus_00_dot_70_bar__minus_01_dot_76 loc_bar__minus_3_bar__minus_8_bar_3_bar_60)\n (objectAtLocation Window_bar__plus_00_dot_24_bar__plus_00_dot_96_bar__minus_02_dot_68 loc_bar__minus_2_bar__minus_9_bar_1_bar_45)\n (objectAtLocation Window_bar__minus_00_dot_36_bar__plus_00_dot_96_bar__minus_02_dot_68 loc_bar__minus_2_bar__minus_9_bar_2_bar_60)\n (objectAtLocation Window_bar__minus_00_dot_96_bar__plus_00_dot_96_bar__minus_02_dot_68 loc_bar__minus_3_bar__minus_9_bar_2_bar_60)\n (objectAtLocation Bowl_bar__minus_01_dot_58_bar__plus_01_dot_52_bar__minus_01_dot_57 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 (?r - receptacle)\n (exists (?o1 - object)\n (and\n (objectType ?o1 BowlType)\n (receptacleType ?r DeskType)\n (inReceptacle ?o1 ?r)\n (exists (?o2 - object)\n (and\n (not (= ?o1 ?o2))\n (objectType ?o2 BowlType)\n (receptacleType ?r DeskType)\n (inReceptacle ?o2 ?r)\n )\n )\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to shelf 3", "take bowl 1 from shelf 3", "go to desk 1", "move bowl 1 to desk 1", "go to shelf 4", "take bowl 2 from shelf 4", "go to desk 1", "move bowl 2 to desk 1"]}
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alfworld__pick_two_obj_and_place__796
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pick_two_obj_and_place
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pick_two_obj_and_place-Bowl-None-Desk-327/trial_T20190908_040645_145153/game.tw-pddl
|
{"pddl_domain": ";; Specification in PDDL of the Alfred domain\n;; Intended to be used with Fast Downward which supports PDDL 2.2 level 1 plus the :action-costs requirement from PDDL 3.1.\n\n(define (domain alfred)\n (:requirements\n :adl\n :action-costs\n :typing\n )\n (:types\n agent\n location\n receptacle\n object\n rtype\n otype\n )\n\n\n (:predicates\n (atLocation ?a - agent ?l - location) ; true if the agent is at the location\n (receptacleAtLocation ?r - receptacle ?l - location) ; true if the receptacle is at the location (constant)\n (objectAtLocation ?o - object ?l - location) ; true if the object is at the location\n (openable ?r - receptacle) ; true if a receptacle is openable\n (opened ?r - receptacle) ; true if a receptacle is opened\n (inReceptacle ?o - object ?r - receptacle) ; object ?o is in receptacle ?r\n (isReceptacleObject ?o - object) ; true if the object can have things put inside it\n (inReceptacleObject ?innerObject - object ?outerObject - object) ; object ?innerObject is inside object ?outerObject\n (isReceptacleObjectFull ?o - object) ; true if the receptacle object contains something\n (wasInReceptacle ?o - object ?r - receptacle) ; object ?o was or is in receptacle ?r now or some time in the past\n (checked ?r - receptacle) ; whether the receptacle has been looked inside/visited\n (examined ?l - location) ; TODO\n (receptacleType ?r - receptacle ?t - rtype) ; the type of receptacle (Cabinet vs Cabinet|01|2...)\n (canContain ?rt - rtype ?ot - otype) ; true if receptacle can hold object\n (objectType ?o - object ?t - otype) ; the type of object (Apple vs Apple|01|2...)\n (holds ?a - agent ?o - object) ; object ?o is held by agent ?a\n (holdsAny ?a - agent) ; agent ?a holds an object\n (holdsAnyReceptacleObject ?a - agent) ; agent ?a holds a receptacle object\n (full ?r - receptacle) ; true if the receptacle has no remaining space\n (isClean ?o - object) ; true if the object has been clean in sink\n (cleanable ?o - object) ; true if the object can be placed in a sink\n (isHot ?o - object) ; true if the object has been heated up\n (heatable ?o - object) ; true if the object can be heated up in a microwave\n (isCool ?o - object) ; true if the object has been cooled\n (coolable ?o - object) ; true if the object can be cooled in the fridge\n (pickupable ?o - object) ; true if the object can be picked up\n (moveable ?o - object) ; true if the object can be moved\n (toggleable ?o - object) ; true if the object can be turned on/off\n (isOn ?o - object) ; true if the object is on\n (isToggled ?o - object) ; true if the object has been toggled\n (sliceable ?o - object) ; true if the object can be sliced\n (isSliced ?o - object) ; true if the object is sliced\n )\n\n (:functions\n (distance ?from ?to)\n (total-cost) - number\n )\n\n;; All actions are specified such that the final arguments are the ones used\n;; for performing actions in Unity.\n\n\n(:action look\n :parameters (?a - agent ?l - location)\n :precondition\n (and\n (atLocation ?a ?l)\n )\n :effect\n (and\n (checked ?l)\n )\n)\n\n(:action inventory\n :parameters (?a - agent)\n :precondition\n ()\n :effect\n (and\n (checked ?a)\n )\n)\n\n(:action examineReceptacle\n :parameters (?a - agent ?r - receptacle)\n :precondition\n (and\n (exists (?l - location)\n (and\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n )\n )\n )\n :effect\n (and\n (checked ?r)\n )\n)\n\n(:action examineObject\n :parameters (?a - agent ?o - object)\n :precondition\n (or\n ;(exists (?l - location)\n ; (and\n ; (atLocation ?a ?l)\n ; (objectAtLocation ?o ?l)\n ; )\n ;)\n (exists (?l - location, ?r - receptacle)\n (and\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n ; (objectAtLocation ?o ?l)\n (inReceptacle ?o ?r)\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n )\n )\n (holds ?a ?o)\n )\n :effect\n (and\n (checked ?o)\n )\n)\n\n;; agent goes to receptacle\n (:action GotoLocation\n :parameters (?a - agent ?lStart - location ?lEnd - location ?r - receptacle)\n :precondition (and\n (atLocation ?a ?lStart)\n (receptacleAtLocation ?r ?lEnd)\n ;(exists (?r - receptacle) (receptacleAtLocation ?r ?lEnd))\n )\n :effect (and\n (not (atLocation ?a ?lStart))\n (atLocation ?a ?lEnd)\n ; (forall (?r - receptacle)\n ; (when (and (receptacleAtLocation ?r ?lEnd)\n ; (or (not (openable ?r)) (opened ?r)))\n ; (checked ?r)\n ; )\n ; )\n ; (increase (total-cost) (distance ?lStart ?lEnd))\n (increase (total-cost) 1)\n )\n )\n\n;; agent opens receptacle\n (:action OpenObject\n :parameters (?a - agent ?l - location ?r - receptacle)\n :precondition (and\n (openable ?r)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (not (opened ?r))\n )\n :effect (and\n (opened ?r)\n (checked ?r)\n (increase (total-cost) 1)\n )\n )\n;; agent closes receptacle\n (:action CloseObject\n :parameters (?a - agent ?l - location ?r - receptacle)\n :precondition (and\n (openable ?r)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (opened ?r)\n )\n :effect (and\n (not (opened ?r))\n (increase (total-cost) 1)\n )\n\n )\n\n ;; agent picks up object from a receptacle\n (:action PickupObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n :precondition\n (and\n (pickupable ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n ; (objectAtLocation ?o ?l)\n (inReceptacle ?o ?r)\n (not (holdsAny ?a)) ; agent's hands are empty.\n ;(not (holdsAnyReceptacleObject ?a))\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n ;(not (isReceptacleObject ?o))\n )\n :effect\n (and\n (not (inReceptacle ?o ?r))\n (holds ?a ?o)\n (holdsAny ?a)\n (not (objectAtLocation ?o ?l))\n ;(not (full ?r))\n (increase (total-cost) 1)\n )\n )\n\n\n; ;; agent picks up object from a receptacle\n; (:action PickupObjectFromReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?outerR - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (inReceptacle ?o ?r)\n; (pickupable ?o)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (not (isReceptacleObject ?o))\n; (isReceptacleObject ?outerR)\n; (inReceptacleObject ?o ?outerR)\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (holds ?a ?o)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n;\n; (not (inReceptacleObject ?o ?outerR))\n; (not (isReceptacleObjectFull ?outerR))\n; )\n; )\n;\n; ;; agent picks up object from a receptacle\n; (:action PickupEmptyReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; ; (objectAtLocation ?o ?l)\n; (inReceptacle ?o ?r)\n; (pickupable ?o)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (isReceptacleObject ?o)\n; (not (isReceptacleObjectFull ?o))\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (holds ?a ?o)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n; (holdsAnyReceptacleObject ?a)\n; )\n; )\n;\n; ;; agent picks up object from a receptacle\n; (:action PickupFullReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?outerR - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (inReceptacle ?outerR ?r)\n; (pickupable ?outerR)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (not (isReceptacleObject ?o))\n; (isReceptacleObject ?outerR)\n; (inReceptacleObject ?o ?outerR)\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (not (inReceptacle ?outerR ?r))\n; (holds ?a ?outerR)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (objectAtLocation ?outerR ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n; (holdsAnyReceptacleObject ?a)\n; )\n; )\n\n\n;; agent puts down an object\n (:action PutObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle ?ot - otype ?rt - rtype)\n :precondition (and\n (holds ?a ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable\n ;(not (full ?r))\n (objectType ?o ?ot)\n (receptacleType ?r ?rt)\n (canContain ?rt ?ot)\n ;(not (holdsAnyReceptacleObject ?a))\n )\n :effect (and\n (inReceptacle ?o ?r)\n (objectAtLocation ?o ?l)\n ;(full ?r)\n (not (holds ?a ?o))\n (not (holdsAny ?a))\n (increase (total-cost) 1)\n )\n )\n\n;;; agent puts down an object\n; (:action PutObjectInReceptacleObject\n; :parameters (?a - agent ?l - location ?ot - otype ?o - object ?outerO - object ?outerR - receptacle)\n; :precondition (and\n; (atLocation ?a ?l)\n; (objectAtLocation ?outerO ?l)\n; (isReceptacleObject ?outerO)\n; (not (isReceptacleObject ?o))\n; (objectType ?o ?ot)\n; (holds ?a ?o)\n; (not (holdsAnyReceptacleObject ?a))\n; (inReceptacle ?outerO ?outerR)\n; (not (isReceptacleObjectFull ?outerO))\n; )\n; :effect (and\n; (inReceptacleObject ?o ?outerO)\n; (inReceptacle ?o ?outerR)\n; (not (holds ?a ?o))\n; (not (holdsAny ?a))\n; (objectAtLocation ?o ?l)\n; (isReceptacleObjectFull ?outerO)\n; (increase (total-cost) 1)\n; )\n; )\n;\n;;; agent puts down an object\n; (:action PutEmptyReceptacleObjectinReceptacle\n; :parameters (?a - agent ?l - location ?ot - otype ?o - object ?r - receptacle)\n; :precondition (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable\n; (not (full ?r))\n; (objectType ?o ?ot)\n; (holds ?a ?o)\n; (holdsAnyReceptacleObject ?a)\n; (isReceptacleObject ?o)\n; (not (isReceptacleObjectFull ?o))\n; )\n; :effect (and\n; (inReceptacle ?o ?r)\n; (objectAtLocation ?o ?l)\n; (full ?r)\n; (not (holds ?a ?o))\n; (not (holdsAny ?a))\n; (not (holdsAnyReceptacleObject ?a))\n; (increase (total-cost) 1)\n; )\n; )\n;\n;;; agent puts down a receptacle object in a receptacle\n; (:action PutFullReceptacleObjectInReceptacle\n; :parameters (?a - agent ?l - location ?ot - otype ?innerO - object ?outerO - object ?r - receptacle) ; ?rt - rtype)\n; :precondition (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (objectType ?outerO ?ot)\n; (holds ?a ?outerO)\n; (holdsAnyReceptacleObject ?a)\n; (isReceptacleObject ?outerO)\n; (isReceptacleObjectFull ?outerO)\n; (inReceptacleObject ?innerO ?outerO)\n; )\n; :effect (and\n; (not (holdsAny ?a))\n; (not (holdsAnyReceptacleObject ?a))\n; (objectAtLocation ?outerO ?l)\n; (objectAtLocation ?innerO ?l)\n; (inReceptacle ?outerO ?r)\n; (inReceptacle ?innerO ?r)\n; (not (holds ?a ?outerO))\n; (increase (total-cost) 1)\n; )\n; )\n\n;; agent cleans some object\n (:action CleanObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (cleanable ?o)\n (or\n (receptacleType ?r SinkType)\n (receptacleType ?r SinkBasinType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isClean ?o)\n )\n )\n\n\n;; agent heats-up some object\n (:action HeatObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (heatable ?o)\n (or\n (receptacleType ?r MicrowaveType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isHot ?o)\n (not (isCool ?o))\n )\n )\n\n;; agent cools some object\n (:action CoolObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (coolable ?o)\n (or\n (receptacleType ?r FridgeType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isCool ?o)\n (not (isHot ?o))\n )\n )\n\n\n;; agent toggle object\n (:action ToggleObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n :precondition (and\n (toggleable ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (inReceptacle ?o ?r)\n )\n :effect (and\n (increase (total-cost) 5)\n (when (isOn ?o)\n (not (isOn ?o)))\n (when (not (isOn ?o))\n (isOn ?o))\n (isToggled ?o)\n )\n )\n\n\n;; agent slices some object with a knife\n (:action SliceObject\n :parameters (?a - agent ?l - location ?co - object ?ko - object)\n :precondition\n (and\n (sliceable ?co)\n (or\n (objectType ?ko KnifeType)\n (objectType ?ko ButterKnifeType)\n )\n (atLocation ?a ?l)\n (objectAtLocation ?co ?l)\n (holds ?a ?ko)\n )\n :effect (and\n (increase (total-cost) 5)\n (isSliced ?co)\n )\n )\n\n\n(:action help\n :parameters (?a - agent)\n :precondition\n ()\n :effect\n (and\n (checked ?a)\n )\n)\n)\n", "grammar": "grammar :: \"\"\"\n {\n \"intro\": [\n {\n \"rhs\": \"-= Welcome to TextWorld, ALFRED! =-\\n\\n#look.feedback#\\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 bowl in desk.\"\n }\n ],\n\n \"GotoLocation.feedback\": [\n {\n \"rhs\": \"You arrive at {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"OpenObject.feedback\": [\n {\n \"rhs\": \"You open the {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"CloseObject.feedback\": [\n {\n \"rhs\": \"You close the {r.name}.\"\n }\n ],\n\n \"PickupObject.feedback\": [\n {\n \"rhs\": \"You pick up the {o.name} from the {r.name}.\"\n }\n ],\n\n \"PickupObjectFromReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupObjectFromReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupEmptyReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupEmptyReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupFullReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupFullReceptacleObject: You pick up the {outerr.name}.\"\n }\n ],\n\n \"PutObject.feedback\": [\n {\n \"rhs\": \"You move the {o.name} to the {r.name}.\"\n }\n ],\n\n \"PutObjectInReceptacleObject.feedback\": [\n {\n \"rhs\": \"PutObjectInReceptacleObject: You put the {o.name} in the {outero.name}.\"\n }\n ],\n\n \"PutEmptyReceptacleObjectinReceptacle.feedback\": [\n {\n \"rhs\": \"PutEmptyReceptacleObjectinReceptacle: You put the {o.name} in the {r.name}.\"\n }\n ],\n\n \"PutFullReceptacleObjectInReceptacle.feedback\": [\n {\n \"rhs\": \"PutFullReceptacleObjectInReceptacle: You put the {outero.name} in the {r.name}.\"\n }\n ],\n\n \"inventory.feedback\": [\n {\n \"condition\": \"holdsany(a:agent)\",\n \"rhs\": \"You are carrying: [{o.indefinite + ' ' + o.name | holds(a:agent, o:object)}].\"\n },\n {\n \"rhs\": \"You are not carrying anything.\"\n }\n ],\n\n \"examineReceptacle.feedback\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \"The {r.name} is open. In it, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \"The {r.name} is closed.\"\n },\n {\n \"rhs\": \"On the {r.name}, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n }\n ],\n\n \"examineObject.feedback\": [\n {\n \"condition\": \"isreceptacleobject(o:object)\",\n \"rhs\": \"This is a normal {o.name}. In it, you see [{o2.indefinite + ' ' + o2.name | inreceptacleobject(o2:object, o:object)}].\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a clean sliced {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot sliced {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object)\",\n \"rhs\": \"This is a hot and clean {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object)\",\n \"rhs\": \"This is a cool and clean {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object)\",\n \"rhs\": \"This is a hot {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object)\",\n \"rhs\": \"This is a clean {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object)\",\n \"rhs\": \"This is a cold {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"This {o.name} is on.\"\n },\n {\n \"condition\": \"toggleable(o:object) & not_istoggled(o:object)\",\n \"rhs\": \"This {o.name} is off.\"\n },\n {\n \"condition\": \"sliceable(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a sliced {o.name}.\"\n },\n {\n \"rhs\": \"There's nothing special about {o.name}.\"\n }\n ]\n }\n\"\"\";\n\naction GotoLocation {\n template :: \"go to [{r.name | receptacleatlocation(r:receptacle, lend:location)}]\";\n feedback :: \"#GotoLocation.feedback#\";\n}\n\naction OpenObject {\n template :: \"open {r}\";\n feedback :: \"#OpenObject.feedback#\";\n}\n\naction CloseObject {\n template :: \"close {r}\";\n feedback :: \"#CloseObject.feedback#\";\n}\n\naction PickupObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObject.feedback#\";\n}\n\naction PickupObjectFromReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObjectFromReceptacleObject.feedback#\";\n}\n\naction PickupEmptyReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupEmptyReceptacleObject.feedback#\";\n}\n\naction PickupFullReceptacleObject {\n template :: \"take {outerr} from {r}\";\n feedback :: \"#PickupFullReceptacleObject.feedback#\";\n}\n\naction PutObject {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutObject.feedback#\";\n}\n\naction PutObjectInReceptacleObject {\n template :: \"put {o} into {outero}\";\n feedback :: \"#PutObjectInReceptacleObject.feedback#\";\n}\n\naction PutEmptyReceptacleObjectinReceptacle {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutEmptyReceptacleObjectinReceptacle.feedback#\";\n}\n\naction PutFullReceptacleObjectInReceptacle {\n template :: \"put {outero} in {r}\";\n feedback :: \"#PutFullReceptacleObjectInReceptacle.feedback#\";\n}\n\naction inventory {\n template :: \"inventory\";\n feedback :: \"#inventory.feedback#\";\n}\n\naction examineReceptacle {\n template :: \"examine {r}\";\n feedback :: \"#examineReceptacle.feedback#\";\n}\n\naction examineObject {\n template :: \"examine {o}\";\n feedback :: \"#examineObject.feedback#\";\n}\n\naction ToggleObject {\n template :: \"use {o}\";\n feedback :: \"#toggleObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"toggleObject.feedback\": [\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"You turn on the {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object)\",\n \"rhs\": \"You turn off the {o.name}.\"\n },\n {\n \"rhs\": \"You don't see any switch on the {o.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction HeatObject {\n template :: \"heat {o} with {r}\";\n feedback :: \"#heatObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"heatObject.feedback\": [\n {\n \"rhs\": \"You heat the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CleanObject {\n template :: \"clean {o} with {r}\";\n feedback :: \"#cleanObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"cleanObject.feedback\": [\n {\n \"rhs\": \"You clean the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CoolObject {\n template :: \"cool {o} with {r}\";\n feedback :: \"#coolObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"coolObject.feedback\": [\n {\n \"rhs\": \"You cool the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction SliceObject {\n template :: \"slice {co} with {ko}\";\n feedback :: \"#sliceObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"sliceObject.feedback\": [\n {\n \"rhs\": \"You sliced the {co.name} with the {ko.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction look {\n template :: \"look\";\n feedback :: \"#look.feedback#\";\n\n grammar :: \"\"\"\n {\n \"look.feedback\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"#look-variations#. Next to it, you see #list_objects_on_the_floor#.\"\n },\n {\n \"rhs\": \"You are in the middle of a room. Looking quickly around you, you see #list_appliances#.\"\n }\n ],\n\n \"look-variations\": [\n {\n \"rhs\": \"You are facing the [{r.name | atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)}]\"\n }\n ],\n\n \"list_objects_on_the_floor\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)\",\n \"rhs\": \"[{#overview(o)# | atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"list_appliances\": [\n {\n \"condition\": \"receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"[{#overview(r)# | receptacleatlocation(r:receptacle, l:location)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"overview(o, r)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name} (in/on the {r.name})}\"\n }\n ],\n\n \"overview(o)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name}\"\n }\n ],\n \"overview(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}\"\n }\n ],\n \"overview_with_state(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}#overview_state(r)#\"\n }\n ],\n \"overview_state(r)\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \" (it is open)\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \" (it is closed)\"\n },\n {\n \"rhs\": \"\"\n }\n ],\n\n \"list_empty\": [\n {\n \"rhs\": \"nothing\"\n }\n ],\n \"list_separator\": [\n {\n \"rhs\": \", \"\n }\n ],\n \"list_last_separator\": [\n {\n \"rhs\": \", and \"\n }\n ]\n }\n \"\"\";\n}\n\naction help {\n template :: \"help\";\n feedback :: \"\nAvailable commands:\n look: look around your current location\n inventory: check your current inventory\n go to (receptacle): move to a receptacle\n open (receptacle): open a receptacle\n close (receptacle): close a receptacle\n take (object) from (receptacle): take an object from a receptacle\n move (object) to (receptacle): place an object in or on a receptacle\n examine (something): examine a receptacle or an object\n use (object): use an object\n heat (object) with (receptacle): heat an object using a receptacle\n clean (object) with (receptacle): clean an object using a receptacle\n cool (object) with (receptacle): cool an object using a receptacle\n slice (object) with (object): slice an object using a sharp object\n\";\n}\n", "pddl_problem": "\n(define (problem plan_trial_T20190908_040645_145153)\n(:domain alfred)\n(:objects\nagent1 - agent\nSaltShaker - object\n HousePlant - object\n Candle - object\n SprayBottle - object\n Bowl - object\n Window - object\n CD - object\n Egg - object\n Glassbottle - object\n Sink - object\n Pillow - object\n Spoon - object\n SoapBottle - object\n TeddyBear - object\n ButterKnife - object\n Cup - object\n Plate - object\n RemoteControl - object\n Tomato - object\n Statue - object\n HandTowel - object\n Knife - object\n StoveKnob - object\n LightSwitch - object\n Pen - object\n Painting - object\n DishSponge - object\n Vase - object\n Mug - object\n ToiletPaper - object\n Box - object\n Mirror - object\n Ladle - object\n Fork - object\n Blinds - object\n Footstool - object\n KeyChain - object\n Cloth - object\n Laptop - object\n TissueBox - object\n PepperShaker - object\n FloorLamp - object\n WateringCan - object\n Apple - object\n Pan - object\n PaperTowel - object\n PaperTowelRoll - object\n Newspaper - object\n Television - object\n Chair - object\n CellPhone - object\n CreditCard - object\n Lettuce - object\n BasketBall - object\n Potato - object\n Curtains - object\n Boots - object\n Pencil - object\n AlarmClock - object\n ToiletPaperRoll - object\n Spatula - object\n Book - object\n Bread - object\n SoapBar - object\n Watch - object\n DeskLamp - object\n Kettle - object\n Pot - object\n ScrubBrush - object\n WineBottle - object\n ShowerDoor - object\n Bathtub - object\n LaundryHamperLid - object\n ShowerGlass - object\n Poster - object\n TennisRacket - object\n BaseballBat - object\n Towel - object\n Plunger - object\nSaltShakerType - otype\n HousePlantType - otype\n CandleType - otype\n SprayBottleType - otype\n BowlType - otype\n WindowType - otype\n CDType - otype\n EggType - otype\n GlassbottleType - otype\n SinkType - otype\n PillowType - otype\n SpoonType - otype\n SoapBottleType - otype\n TeddyBearType - otype\n ButterKnifeType - otype\n CupType - otype\n PlateType - otype\n RemoteControlType - otype\n TomatoType - otype\n StatueType - otype\n HandTowelType - otype\n KnifeType - otype\n StoveKnobType - otype\n LightSwitchType - otype\n PenType - otype\n PaintingType - otype\n DishSpongeType - otype\n VaseType - otype\n MugType - otype\n ToiletPaperType - otype\n BoxType - otype\n MirrorType - otype\n LadleType - otype\n ForkType - otype\n BlindsType - otype\n FootstoolType - otype\n KeyChainType - otype\n ClothType - otype\n LaptopType - otype\n TissueBoxType - otype\n PepperShakerType - otype\n FloorLampType - otype\n WateringCanType - otype\n AppleType - otype\n PanType - otype\n PaperTowelType - otype\n PaperTowelRollType - otype\n NewspaperType - otype\n TelevisionType - otype\n ChairType - otype\n CellPhoneType - otype\n CreditCardType - otype\n LettuceType - otype\n BasketBallType - otype\n PotatoType - otype\n CurtainsType - otype\n BootsType - otype\n PencilType - otype\n AlarmClockType - otype\n ToiletPaperRollType - otype\n SpatulaType - otype\n BookType - otype\n BreadType - otype\n SoapBarType - otype\n WatchType - otype\n DeskLampType - otype\n KettleType - otype\n PotType - otype\n ScrubBrushType - otype\n WineBottleType - otype\n ShowerDoorType - otype\n BathtubType - otype\n LaundryHamperLidType - otype\n ShowerGlassType - otype\n PosterType - otype\n TennisRacketType - otype\n BaseballBatType - otype\n TowelType - otype\n PlungerType - otype\nSafeType - rtype\n DrawerType - rtype\n CoffeeMachineType - rtype\n HandTowelHolderType - rtype\n SinkBasinType - rtype\n DresserType - rtype\n LaundryHamperType - rtype\n TVStandType - rtype\n BathtubBasinType - rtype\n CabinetType - rtype\n FridgeType - rtype\n DeskType - rtype\n ToiletType - rtype\n CartType - rtype\n SideTableType - rtype\n SofaType - rtype\n CoffeeTableType - rtype\n DiningTableType - rtype\n CounterTopType - rtype\n GarbageCanType - rtype\n ArmChairType - rtype\n ShelfType - rtype\n MicrowaveType - rtype\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_12_bar__plus_00_dot_51_bar__minus_01_dot_98 - 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_33_bar__plus_00_dot_70_bar__minus_02_dot_19 - object\n Bowl_bar__minus_01_dot_46_bar__plus_00_dot_70_bar__minus_01_dot_76 - object\n CD_bar__plus_01_dot_33_bar__plus_00_dot_91_bar__minus_00_dot_25 - object\n CD_bar__minus_01_dot_39_bar__plus_00_dot_70_bar__minus_01_dot_90 - object\n CD_bar__minus_01_dot_43_bar__plus_00_dot_10_bar__minus_02_dot_05 - object\n CellPhone_bar__plus_00_dot_15_bar__plus_00_dot_58_bar__minus_02_dot_54 - object\n CellPhone_bar__minus_01_dot_40_bar__plus_00_dot_10_bar__minus_01_dot_83 - object\n Chair_bar__plus_00_dot_28_bar__plus_00_dot_00_bar__minus_02_dot_26 - object\n CreditCard_bar__plus_01_dot_07_bar__plus_00_dot_50_bar__minus_02_dot_09 - object\n CreditCard_bar__minus_01_dot_40_bar__plus_00_dot_40_bar__minus_01_dot_94 - object\n DeskLamp_bar__minus_01_dot_49_bar__plus_00_dot_69_bar__minus_02_dot_42 - object\n KeyChain_bar__plus_01_dot_12_bar__plus_00_dot_51_bar__minus_01_dot_82 - object\n KeyChain_bar__plus_01_dot_37_bar__plus_00_dot_51_bar__minus_02_dot_09 - object\n Laptop_bar__minus_00_dot_96_bar__plus_00_dot_61_bar__minus_00_dot_22 - 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_29_bar__plus_00_dot_92_bar__plus_00_dot_18 - object\n Pencil_bar__minus_01_dot_33_bar__plus_00_dot_11_bar__minus_02_dot_26 - object\n Pen_bar__plus_00_dot_15_bar__plus_00_dot_58_bar__minus_02_dot_32 - object\n Pen_bar__plus_00_dot_31_bar__plus_00_dot_58_bar__minus_02_dot_32 - object\n Pillow_bar__minus_01_dot_17_bar__plus_00_dot_68_bar__minus_00_dot_99 - object\n Window_bar__plus_00_dot_24_bar__plus_00_dot_96_bar__minus_02_dot_68 - object\n Window_bar__minus_00_dot_36_bar__plus_00_dot_96_bar__minus_02_dot_68 - object\n Window_bar__minus_00_dot_96_bar__plus_00_dot_96_bar__minus_02_dot_68 - object\n Bed_bar__minus_01_dot_21_bar__plus_00_dot_02_bar__minus_00_dot_27 - receptacle\n Desk_bar__plus_00_dot_45_bar_00_dot_00_bar__minus_02_dot_53 - receptacle\n Drawer_bar__plus_00_dot_98_bar__plus_00_dot_14_bar__minus_01_dot_64 - receptacle\n Drawer_bar__plus_00_dot_98_bar__plus_00_dot_14_bar__minus_01_dot_96 - receptacle\n Drawer_bar__plus_00_dot_98_bar__plus_00_dot_27_bar__minus_01_dot_64 - receptacle\n Drawer_bar__plus_00_dot_98_bar__plus_00_dot_27_bar__minus_01_dot_96 - receptacle\n Drawer_bar__plus_00_dot_98_bar__plus_00_dot_40_bar__minus_01_dot_64 - receptacle\n Drawer_bar__plus_00_dot_98_bar__plus_00_dot_40_bar__minus_01_dot_96 - receptacle\n Drawer_bar__minus_01_dot_35_bar__plus_00_dot_19_bar__minus_02_dot_05 - receptacle\n Drawer_bar__minus_01_dot_35_bar__plus_00_dot_48_bar__minus_02_dot_05 - receptacle\n Dresser_bar__minus_01_dot_47_bar__plus_00_dot_03_bar__minus_02_dot_05 - receptacle\n GarbageCan_bar__minus_01_dot_57_bar__plus_00_dot_00_bar__plus_01_dot_94 - receptacle\n Shelf_bar__plus_01_dot_22_bar__plus_00_dot_86_bar__minus_01_dot_80 - receptacle\n Shelf_bar__plus_01_dot_26_bar__plus_00_dot_38_bar__minus_00_dot_26 - receptacle\n Shelf_bar__plus_01_dot_26_bar__plus_00_dot_90_bar__minus_00_dot_27 - receptacle\n Shelf_bar__plus_01_dot_26_bar__plus_01_dot_40_bar__minus_00_dot_26 - receptacle\n Shelf_bar__minus_01_dot_58_bar__plus_01_dot_51_bar__minus_02_dot_03 - receptacle\n loc_bar_0_bar_0_bar_3_bar_60 - location\n loc_bar_0_bar__minus_6_bar_1_bar_60 - location\n loc_bar__minus_2_bar__minus_9_bar_2_bar__minus_30 - location\n loc_bar__minus_2_bar__minus_9_bar_2_bar_60 - location\n loc_bar_1_bar__minus_6_bar_1_bar_60 - location\n loc_bar_2_bar__minus_1_bar_1_bar_45 - location\n loc_bar_1_bar__minus_5_bar_1_bar_60 - location\n loc_bar__minus_2_bar_5_bar_3_bar_60 - location\n loc_bar_3_bar_6_bar_0_bar_15 - location\n loc_bar_2_bar__minus_6_bar_2_bar_60 - location\n loc_bar_2_bar__minus_6_bar_1_bar_45 - location\n loc_bar_4_bar_6_bar_0_bar_60 - location\n loc_bar__minus_2_bar__minus_9_bar_1_bar_45 - location\n loc_bar__minus_3_bar__minus_8_bar_3_bar_60 - location\n loc_bar__minus_1_bar__minus_7_bar_3_bar_60 - location\n loc_bar__minus_3_bar__minus_9_bar_2_bar__minus_30 - location\n loc_bar__minus_3_bar_6_bar_0_bar_45 - location\n loc_bar__minus_3_bar__minus_9_bar_2_bar_60 - location\n loc_bar_2_bar__minus_1_bar_1_bar_60 - location\n loc_bar_2_bar__minus_5_bar_1_bar_60 - location\n loc_bar_2_bar__minus_1_bar_1_bar_15 - location\n loc_bar__minus_1_bar__minus_5_bar_1_bar_45 - location\n loc_bar__minus_2_bar__minus_9_bar_1_bar_60 - location\n loc_bar_0_bar__minus_5_bar_1_bar_60 - location\n loc_bar__minus_2_bar__minus_9_bar_1_bar__minus_30 - location\n loc_bar__minus_3_bar__minus_8_bar_3_bar_15 - location\n loc_bar_3_bar__minus_4_bar_1_bar_60 - location\n loc_bar_2_bar__minus_4_bar_0_bar_30 - location\n )\n \n\n(:init\n\n\n (receptacleType Drawer_bar__plus_00_dot_98_bar__plus_00_dot_40_bar__minus_01_dot_64 DrawerType)\n (receptacleType Shelf_bar__minus_01_dot_58_bar__plus_01_dot_51_bar__minus_02_dot_03 ShelfType)\n (receptacleType Dresser_bar__minus_01_dot_47_bar__plus_00_dot_03_bar__minus_02_dot_05 DresserType)\n (receptacleType Drawer_bar__minus_01_dot_35_bar__plus_00_dot_19_bar__minus_02_dot_05 DrawerType)\n (receptacleType Drawer_bar__plus_00_dot_98_bar__plus_00_dot_14_bar__minus_01_dot_64 DrawerType)\n (receptacleType Shelf_bar__plus_01_dot_26_bar__plus_01_dot_40_bar__minus_00_dot_26 ShelfType)\n (receptacleType Drawer_bar__plus_00_dot_98_bar__plus_00_dot_14_bar__minus_01_dot_96 DrawerType)\n (receptacleType Drawer_bar__plus_00_dot_98_bar__plus_00_dot_27_bar__minus_01_dot_64 DrawerType)\n (receptacleType Shelf_bar__plus_01_dot_26_bar__plus_00_dot_38_bar__minus_00_dot_26 ShelfType)\n (receptacleType GarbageCan_bar__minus_01_dot_57_bar__plus_00_dot_00_bar__plus_01_dot_94 GarbageCanType)\n (receptacleType Drawer_bar__plus_00_dot_98_bar__plus_00_dot_27_bar__minus_01_dot_96 DrawerType)\n (receptacleType Shelf_bar__plus_01_dot_22_bar__plus_00_dot_86_bar__minus_01_dot_80 ShelfType)\n (receptacleType Drawer_bar__plus_00_dot_98_bar__plus_00_dot_40_bar__minus_01_dot_96 DrawerType)\n (receptacleType Shelf_bar__plus_01_dot_26_bar__plus_00_dot_90_bar__minus_00_dot_27 ShelfType)\n (receptacleType Desk_bar__plus_00_dot_45_bar_00_dot_00_bar__minus_02_dot_53 DeskType)\n (receptacleType Bed_bar__minus_01_dot_21_bar__plus_00_dot_02_bar__minus_00_dot_27 BedType)\n (receptacleType Drawer_bar__minus_01_dot_35_bar__plus_00_dot_48_bar__minus_02_dot_05 DrawerType)\n (objectType Bowl_bar__minus_01_dot_33_bar__plus_00_dot_70_bar__minus_02_dot_19 BowlType)\n (objectType KeyChain_bar__plus_01_dot_12_bar__plus_00_dot_51_bar__minus_01_dot_82 KeyChainType)\n (objectType Window_bar__minus_00_dot_96_bar__plus_00_dot_96_bar__minus_02_dot_68 WindowType)\n (objectType CellPhone_bar__plus_00_dot_15_bar__plus_00_dot_58_bar__minus_02_dot_54 CellPhoneType)\n (objectType Blinds_bar__minus_00_dot_35_bar__plus_02_dot_19_bar__minus_02_dot_69 BlindsType)\n (objectType CreditCard_bar__plus_01_dot_07_bar__plus_00_dot_50_bar__minus_02_dot_09 CreditCardType)\n (objectType CD_bar__minus_01_dot_43_bar__plus_00_dot_10_bar__minus_02_dot_05 CDType)\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 Pen_bar__plus_00_dot_31_bar__plus_00_dot_58_bar__minus_02_dot_32 PenType)\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 Pencil_bar__minus_01_dot_33_bar__plus_00_dot_11_bar__minus_02_dot_26 PencilType)\n (objectType CreditCard_bar__minus_01_dot_40_bar__plus_00_dot_40_bar__minus_01_dot_94 CreditCardType)\n (objectType Book_bar__plus_00_dot_62_bar__plus_00_dot_57_bar__minus_02_dot_47 BookType)\n (objectType Pencil_bar__plus_01_dot_29_bar__plus_00_dot_92_bar__plus_00_dot_18 PencilType)\n (objectType Window_bar__plus_00_dot_24_bar__plus_00_dot_96_bar__minus_02_dot_68 WindowType)\n (objectType KeyChain_bar__plus_01_dot_37_bar__plus_00_dot_51_bar__minus_02_dot_09 KeyChainType)\n (objectType BasketBall_bar__plus_01_dot_27_bar__plus_00_dot_12_bar__minus_01_dot_29 BasketBallType)\n (objectType Laptop_bar__minus_00_dot_96_bar__plus_00_dot_61_bar__minus_00_dot_22 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 Bowl_bar__minus_01_dot_46_bar__plus_00_dot_70_bar__minus_01_dot_76 BowlType)\n (objectType CD_bar__plus_01_dot_33_bar__plus_00_dot_91_bar__minus_00_dot_25 CDType)\n (objectType Window_bar__minus_00_dot_36_bar__plus_00_dot_96_bar__minus_02_dot_68 WindowType)\n (objectType Pen_bar__plus_00_dot_15_bar__plus_00_dot_58_bar__minus_02_dot_32 PenType)\n (objectType CellPhone_bar__minus_01_dot_40_bar__plus_00_dot_10_bar__minus_01_dot_83 CellPhoneType)\n (objectType Mirror_bar__plus_00_dot_74_bar__plus_01_dot_49_bar__plus_02_dot_10 MirrorType)\n (objectType AlarmClock_bar__plus_01_dot_12_bar__plus_00_dot_51_bar__minus_01_dot_98 AlarmClockType)\n (objectType LightSwitch_bar__minus_00_dot_76_bar__plus_01_dot_18_bar__plus_02_dot_10 LightSwitchType)\n (objectType CD_bar__minus_01_dot_39_bar__plus_00_dot_70_bar__minus_01_dot_90 CDType)\n (canContain DrawerType PenType)\n (canContain DrawerType BookType)\n (canContain DrawerType CDType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType PencilType)\n (canContain 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 Bowl_bar__minus_01_dot_33_bar__plus_00_dot_70_bar__minus_02_dot_19)\n (pickupable KeyChain_bar__plus_01_dot_12_bar__plus_00_dot_51_bar__minus_01_dot_82)\n (pickupable CellPhone_bar__plus_00_dot_15_bar__plus_00_dot_58_bar__minus_02_dot_54)\n (pickupable CreditCard_bar__plus_01_dot_07_bar__plus_00_dot_50_bar__minus_02_dot_09)\n (pickupable CD_bar__minus_01_dot_43_bar__plus_00_dot_10_bar__minus_02_dot_05)\n (pickupable Boots_bar__plus_01_dot_29_bar__plus_00_dot_00_bar__minus_00_dot_96)\n (pickupable Pen_bar__plus_00_dot_31_bar__plus_00_dot_58_bar__minus_02_dot_32)\n (pickupable Pencil_bar__minus_01_dot_33_bar__plus_00_dot_11_bar__minus_02_dot_26)\n (pickupable CreditCard_bar__minus_01_dot_40_bar__plus_00_dot_40_bar__minus_01_dot_94)\n (pickupable Book_bar__plus_00_dot_62_bar__plus_00_dot_57_bar__minus_02_dot_47)\n (pickupable Pencil_bar__plus_01_dot_29_bar__plus_00_dot_92_bar__plus_00_dot_18)\n (pickupable KeyChain_bar__plus_01_dot_37_bar__plus_00_dot_51_bar__minus_02_dot_09)\n (pickupable BasketBall_bar__plus_01_dot_27_bar__plus_00_dot_12_bar__minus_01_dot_29)\n (pickupable Laptop_bar__minus_00_dot_96_bar__plus_00_dot_61_bar__minus_00_dot_22)\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 Bowl_bar__minus_01_dot_46_bar__plus_00_dot_70_bar__minus_01_dot_76)\n (pickupable CD_bar__plus_01_dot_33_bar__plus_00_dot_91_bar__minus_00_dot_25)\n (pickupable Pen_bar__plus_00_dot_15_bar__plus_00_dot_58_bar__minus_02_dot_32)\n (pickupable CellPhone_bar__minus_01_dot_40_bar__plus_00_dot_10_bar__minus_01_dot_83)\n (pickupable AlarmClock_bar__plus_01_dot_12_bar__plus_00_dot_51_bar__minus_01_dot_98)\n (pickupable CD_bar__minus_01_dot_39_bar__plus_00_dot_70_bar__minus_01_dot_90)\n (isReceptacleObject Bowl_bar__minus_01_dot_33_bar__plus_00_dot_70_bar__minus_02_dot_19)\n (isReceptacleObject Bowl_bar__minus_01_dot_46_bar__plus_00_dot_70_bar__minus_01_dot_76)\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_2_bar__minus_4_bar_0_bar_30)\n \n (cleanable Bowl_bar__minus_01_dot_33_bar__plus_00_dot_70_bar__minus_02_dot_19)\n (cleanable Bowl_bar__minus_01_dot_46_bar__plus_00_dot_70_bar__minus_01_dot_76)\n \n \n (coolable Bowl_bar__minus_01_dot_33_bar__plus_00_dot_70_bar__minus_02_dot_19)\n (coolable Bowl_bar__minus_01_dot_46_bar__plus_00_dot_70_bar__minus_01_dot_76)\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 CreditCard_bar__minus_01_dot_40_bar__plus_00_dot_40_bar__minus_01_dot_94 Drawer_bar__minus_01_dot_35_bar__plus_00_dot_48_bar__minus_02_dot_05)\n (inReceptacle Pen_bar__plus_00_dot_15_bar__plus_00_dot_58_bar__minus_02_dot_32 Desk_bar__plus_00_dot_45_bar_00_dot_00_bar__minus_02_dot_53)\n (inReceptacle Pen_bar__plus_00_dot_31_bar__plus_00_dot_58_bar__minus_02_dot_32 Desk_bar__plus_00_dot_45_bar_00_dot_00_bar__minus_02_dot_53)\n (inReceptacle CellPhone_bar__plus_00_dot_15_bar__plus_00_dot_58_bar__minus_02_dot_54 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 CD_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 Bowl_bar__minus_01_dot_46_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 Bowl_bar__minus_01_dot_33_bar__plus_00_dot_70_bar__minus_02_dot_19 Dresser_bar__minus_01_dot_47_bar__plus_00_dot_03_bar__minus_02_dot_05)\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 Laptop_bar__minus_00_dot_96_bar__plus_00_dot_61_bar__minus_00_dot_22 Bed_bar__minus_01_dot_21_bar__plus_00_dot_02_bar__minus_00_dot_27)\n (inReceptacle Pillow_bar__minus_01_dot_17_bar__plus_00_dot_68_bar__minus_00_dot_99 Bed_bar__minus_01_dot_21_bar__plus_00_dot_02_bar__minus_00_dot_27)\n (inReceptacle CellPhone_bar__minus_01_dot_40_bar__plus_00_dot_10_bar__minus_01_dot_83 Drawer_bar__minus_01_dot_35_bar__plus_00_dot_19_bar__minus_02_dot_05)\n (inReceptacle Pencil_bar__minus_01_dot_33_bar__plus_00_dot_11_bar__minus_02_dot_26 Drawer_bar__minus_01_dot_35_bar__plus_00_dot_19_bar__minus_02_dot_05)\n (inReceptacle CD_bar__minus_01_dot_43_bar__plus_00_dot_10_bar__minus_02_dot_05 Drawer_bar__minus_01_dot_35_bar__plus_00_dot_19_bar__minus_02_dot_05)\n (inReceptacle CreditCard_bar__plus_01_dot_07_bar__plus_00_dot_50_bar__minus_02_dot_09 Shelf_bar__plus_01_dot_22_bar__plus_00_dot_86_bar__minus_01_dot_80)\n (inReceptacle AlarmClock_bar__plus_01_dot_12_bar__plus_00_dot_51_bar__minus_01_dot_98 Shelf_bar__plus_01_dot_22_bar__plus_00_dot_86_bar__minus_01_dot_80)\n (inReceptacle KeyChain_bar__plus_01_dot_12_bar__plus_00_dot_51_bar__minus_01_dot_82 Shelf_bar__plus_01_dot_22_bar__plus_00_dot_86_bar__minus_01_dot_80)\n (inReceptacle KeyChain_bar__plus_01_dot_37_bar__plus_00_dot_51_bar__minus_02_dot_09 Shelf_bar__plus_01_dot_22_bar__plus_00_dot_86_bar__minus_01_dot_80)\n (inReceptacle Pencil_bar__plus_01_dot_29_bar__plus_00_dot_92_bar__plus_00_dot_18 Shelf_bar__plus_01_dot_26_bar__plus_00_dot_90_bar__minus_00_dot_27)\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 Bowl_bar__minus_01_dot_33_bar__plus_00_dot_70_bar__minus_02_dot_19 loc_bar__minus_3_bar__minus_8_bar_3_bar_60)\n (objectAtLocation CD_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 Pen_bar__plus_00_dot_15_bar__plus_00_dot_58_bar__minus_02_dot_32 loc_bar_2_bar__minus_6_bar_2_bar_60)\n (objectAtLocation CreditCard_bar__minus_01_dot_40_bar__plus_00_dot_40_bar__minus_01_dot_94 loc_bar__minus_3_bar__minus_8_bar_3_bar_60)\n (objectAtLocation CellPhone_bar__plus_00_dot_15_bar__plus_00_dot_58_bar__minus_02_dot_54 loc_bar_2_bar__minus_6_bar_2_bar_60)\n (objectAtLocation Pencil_bar__minus_01_dot_33_bar__plus_00_dot_11_bar__minus_02_dot_26 loc_bar__minus_1_bar__minus_7_bar_3_bar_60)\n (objectAtLocation KeyChain_bar__plus_01_dot_12_bar__plus_00_dot_51_bar__minus_01_dot_82 loc_bar_2_bar__minus_6_bar_1_bar_45)\n (objectAtLocation CD_bar__plus_01_dot_33_bar__plus_00_dot_91_bar__minus_00_dot_25 loc_bar_2_bar__minus_1_bar_1_bar_45)\n (objectAtLocation Book_bar__plus_00_dot_62_bar__plus_00_dot_57_bar__minus_02_dot_47 loc_bar_2_bar__minus_6_bar_2_bar_60)\n (objectAtLocation Mirror_bar__plus_00_dot_74_bar__plus_01_dot_49_bar__plus_02_dot_10 loc_bar_3_bar_6_bar_0_bar_15)\n (objectAtLocation Chair_bar__plus_00_dot_28_bar__plus_00_dot_00_bar__minus_02_dot_26 loc_bar__minus_2_bar__minus_9_bar_1_bar_60)\n (objectAtLocation KeyChain_bar__plus_01_dot_37_bar__plus_00_dot_51_bar__minus_02_dot_09 loc_bar_2_bar__minus_6_bar_1_bar_45)\n (objectAtLocation BaseballBat_bar__plus_01_dot_44_bar__plus_00_dot_64_bar__plus_01_dot_99 loc_bar_4_bar_6_bar_0_bar_60)\n (objectAtLocation BasketBall_bar__plus_01_dot_27_bar__plus_00_dot_12_bar__minus_01_dot_29 loc_bar_2_bar__minus_5_bar_1_bar_60)\n (objectAtLocation Pencil_bar__plus_01_dot_29_bar__plus_00_dot_92_bar__plus_00_dot_18 loc_bar_2_bar__minus_1_bar_1_bar_45)\n (objectAtLocation CellPhone_bar__minus_01_dot_40_bar__plus_00_dot_10_bar__minus_01_dot_83 loc_bar__minus_1_bar__minus_7_bar_3_bar_60)\n (objectAtLocation CreditCard_bar__plus_01_dot_07_bar__plus_00_dot_50_bar__minus_02_dot_09 loc_bar_2_bar__minus_6_bar_1_bar_45)\n (objectAtLocation Laptop_bar__minus_00_dot_96_bar__plus_00_dot_61_bar__minus_00_dot_22 loc_bar_0_bar_0_bar_3_bar_60)\n (objectAtLocation Pillow_bar__minus_01_dot_17_bar__plus_00_dot_68_bar__minus_00_dot_99 loc_bar_0_bar_0_bar_3_bar_60)\n (objectAtLocation LightSwitch_bar__minus_00_dot_76_bar__plus_01_dot_18_bar__plus_02_dot_10 loc_bar__minus_3_bar_6_bar_0_bar_45)\n (objectAtLocation Boots_bar__plus_01_dot_29_bar__plus_00_dot_00_bar__minus_00_dot_96 loc_bar_3_bar__minus_4_bar_1_bar_60)\n (objectAtLocation Pen_bar__plus_00_dot_31_bar__plus_00_dot_58_bar__minus_02_dot_32 loc_bar_2_bar__minus_6_bar_2_bar_60)\n (objectAtLocation DeskLamp_bar__minus_01_dot_49_bar__plus_00_dot_69_bar__minus_02_dot_42 loc_bar__minus_3_bar__minus_8_bar_3_bar_60)\n (objectAtLocation AlarmClock_bar__plus_01_dot_12_bar__plus_00_dot_51_bar__minus_01_dot_98 loc_bar_2_bar__minus_6_bar_1_bar_45)\n (objectAtLocation CD_bar__minus_01_dot_43_bar__plus_00_dot_10_bar__minus_02_dot_05 loc_bar__minus_1_bar__minus_7_bar_3_bar_60)\n (objectAtLocation Window_bar__plus_00_dot_24_bar__plus_00_dot_96_bar__minus_02_dot_68 loc_bar__minus_2_bar__minus_9_bar_1_bar_45)\n (objectAtLocation Window_bar__minus_00_dot_36_bar__plus_00_dot_96_bar__minus_02_dot_68 loc_bar__minus_2_bar__minus_9_bar_2_bar_60)\n (objectAtLocation Window_bar__minus_00_dot_96_bar__plus_00_dot_96_bar__minus_02_dot_68 loc_bar__minus_3_bar__minus_9_bar_2_bar_60)\n (objectAtLocation Bowl_bar__minus_01_dot_46_bar__plus_00_dot_70_bar__minus_01_dot_76 loc_bar__minus_3_bar__minus_8_bar_3_bar_60)\n (objectAtLocation Blinds_bar__minus_00_dot_35_bar__plus_02_dot_19_bar__minus_02_dot_69 loc_bar__minus_2_bar__minus_9_bar_2_bar__minus_30)\n (objectAtLocation Blinds_bar__plus_00_dot_25_bar__plus_02_dot_19_bar__minus_02_dot_69 loc_bar__minus_2_bar__minus_9_bar_1_bar__minus_30)\n (objectAtLocation Blinds_bar__minus_00_dot_95_bar__plus_02_dot_19_bar__minus_02_dot_69 loc_bar__minus_3_bar__minus_9_bar_2_bar__minus_30)\n )\n \n\n (:goal\n (and\n (exists (?r - receptacle)\n (exists (?o1 - object)\n (and\n (objectType ?o1 BowlType)\n (receptacleType ?r DeskType)\n (inReceptacle ?o1 ?r)\n (exists (?o2 - object)\n (and\n (not (= ?o1 ?o2))\n (objectType ?o2 BowlType)\n (receptacleType ?r DeskType)\n (inReceptacle ?o2 ?r)\n )\n )\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to drawer 7", "take bowl 2 from dresser 1", "go to desk 1", "move bowl 2 to desk 1", "go to drawer 7", "take bowl 1 from dresser 1", "go to desk 1", "move bowl 1 to desk 1"]}
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alfworld__pick_two_obj_and_place__797
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pick_two_obj_and_place
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pick_two_obj_and_place-Bowl-None-Desk-327/trial_T20190908_040715_288858/game.tw-pddl
|
{"pddl_domain": ";; Specification in PDDL of the Alfred domain\n;; Intended to be used with Fast Downward which supports PDDL 2.2 level 1 plus the :action-costs requirement from PDDL 3.1.\n\n(define (domain alfred)\n (:requirements\n :adl\n :action-costs\n :typing\n )\n (:types\n agent\n location\n receptacle\n object\n rtype\n otype\n )\n\n\n (:predicates\n (atLocation ?a - agent ?l - location) ; true if the agent is at the location\n (receptacleAtLocation ?r - receptacle ?l - location) ; true if the receptacle is at the location (constant)\n (objectAtLocation ?o - object ?l - location) ; true if the object is at the location\n (openable ?r - receptacle) ; true if a receptacle is openable\n (opened ?r - receptacle) ; true if a receptacle is opened\n (inReceptacle ?o - object ?r - receptacle) ; object ?o is in receptacle ?r\n (isReceptacleObject ?o - object) ; true if the object can have things put inside it\n (inReceptacleObject ?innerObject - object ?outerObject - object) ; object ?innerObject is inside object ?outerObject\n (isReceptacleObjectFull ?o - object) ; true if the receptacle object contains something\n (wasInReceptacle ?o - object ?r - receptacle) ; object ?o was or is in receptacle ?r now or some time in the past\n (checked ?r - receptacle) ; whether the receptacle has been looked inside/visited\n (examined ?l - location) ; TODO\n (receptacleType ?r - receptacle ?t - rtype) ; the type of receptacle (Cabinet vs Cabinet|01|2...)\n (canContain ?rt - rtype ?ot - otype) ; true if receptacle can hold object\n (objectType ?o - object ?t - otype) ; the type of object (Apple vs Apple|01|2...)\n (holds ?a - agent ?o - object) ; object ?o is held by agent ?a\n (holdsAny ?a - agent) ; agent ?a holds an object\n (holdsAnyReceptacleObject ?a - agent) ; agent ?a holds a receptacle object\n (full ?r - receptacle) ; true if the receptacle has no remaining space\n (isClean ?o - object) ; true if the object has been clean in sink\n (cleanable ?o - object) ; true if the object can be placed in a sink\n (isHot ?o - object) ; true if the object has been heated up\n (heatable ?o - object) ; true if the object can be heated up in a microwave\n (isCool ?o - object) ; true if the object has been cooled\n (coolable ?o - object) ; true if the object can be cooled in the fridge\n (pickupable ?o - object) ; true if the object can be picked up\n (moveable ?o - object) ; true if the object can be moved\n (toggleable ?o - object) ; true if the object can be turned on/off\n (isOn ?o - object) ; true if the object is on\n (isToggled ?o - object) ; true if the object has been toggled\n (sliceable ?o - object) ; true if the object can be sliced\n (isSliced ?o - object) ; true if the object is sliced\n )\n\n (:functions\n (distance ?from ?to)\n (total-cost) - number\n )\n\n;; All actions are specified such that the final arguments are the ones used\n;; for performing actions in Unity.\n\n\n(:action look\n :parameters (?a - agent ?l - location)\n :precondition\n (and\n (atLocation ?a ?l)\n )\n :effect\n (and\n (checked ?l)\n )\n)\n\n(:action inventory\n :parameters (?a - agent)\n :precondition\n ()\n :effect\n (and\n (checked ?a)\n )\n)\n\n(:action examineReceptacle\n :parameters (?a - agent ?r - receptacle)\n :precondition\n (and\n (exists (?l - location)\n (and\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n )\n )\n )\n :effect\n (and\n (checked ?r)\n )\n)\n\n(:action examineObject\n :parameters (?a - agent ?o - object)\n :precondition\n (or\n ;(exists (?l - location)\n ; (and\n ; (atLocation ?a ?l)\n ; (objectAtLocation ?o ?l)\n ; )\n ;)\n (exists (?l - location, ?r - receptacle)\n (and\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n ; (objectAtLocation ?o ?l)\n (inReceptacle ?o ?r)\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n )\n )\n (holds ?a ?o)\n )\n :effect\n (and\n (checked ?o)\n )\n)\n\n;; agent goes to receptacle\n (:action GotoLocation\n :parameters (?a - agent ?lStart - location ?lEnd - location ?r - receptacle)\n :precondition (and\n (atLocation ?a ?lStart)\n (receptacleAtLocation ?r ?lEnd)\n ;(exists (?r - receptacle) (receptacleAtLocation ?r ?lEnd))\n )\n :effect (and\n (not (atLocation ?a ?lStart))\n (atLocation ?a ?lEnd)\n ; (forall (?r - receptacle)\n ; (when (and (receptacleAtLocation ?r ?lEnd)\n ; (or (not (openable ?r)) (opened ?r)))\n ; (checked ?r)\n ; )\n ; )\n ; (increase (total-cost) (distance ?lStart ?lEnd))\n (increase (total-cost) 1)\n )\n )\n\n;; agent opens receptacle\n (:action OpenObject\n :parameters (?a - agent ?l - location ?r - receptacle)\n :precondition (and\n (openable ?r)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (not (opened ?r))\n )\n :effect (and\n (opened ?r)\n (checked ?r)\n (increase (total-cost) 1)\n )\n )\n;; agent closes receptacle\n (:action CloseObject\n :parameters (?a - agent ?l - location ?r - receptacle)\n :precondition (and\n (openable ?r)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (opened ?r)\n )\n :effect (and\n (not (opened ?r))\n (increase (total-cost) 1)\n )\n\n )\n\n ;; agent picks up object from a receptacle\n (:action PickupObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n :precondition\n (and\n (pickupable ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n ; (objectAtLocation ?o ?l)\n (inReceptacle ?o ?r)\n (not (holdsAny ?a)) ; agent's hands are empty.\n ;(not (holdsAnyReceptacleObject ?a))\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n ;(not (isReceptacleObject ?o))\n )\n :effect\n (and\n (not (inReceptacle ?o ?r))\n (holds ?a ?o)\n (holdsAny ?a)\n (not (objectAtLocation ?o ?l))\n ;(not (full ?r))\n (increase (total-cost) 1)\n )\n )\n\n\n; ;; agent picks up object from a receptacle\n; (:action PickupObjectFromReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?outerR - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (inReceptacle ?o ?r)\n; (pickupable ?o)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (not (isReceptacleObject ?o))\n; (isReceptacleObject ?outerR)\n; (inReceptacleObject ?o ?outerR)\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (holds ?a ?o)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n;\n; (not (inReceptacleObject ?o ?outerR))\n; (not (isReceptacleObjectFull ?outerR))\n; )\n; )\n;\n; ;; agent picks up object from a receptacle\n; (:action PickupEmptyReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; ; (objectAtLocation ?o ?l)\n; (inReceptacle ?o ?r)\n; (pickupable ?o)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (isReceptacleObject ?o)\n; (not (isReceptacleObjectFull ?o))\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (holds ?a ?o)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n; (holdsAnyReceptacleObject ?a)\n; )\n; )\n;\n; ;; agent picks up object from a receptacle\n; (:action PickupFullReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?outerR - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (inReceptacle ?outerR ?r)\n; (pickupable ?outerR)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (not (isReceptacleObject ?o))\n; (isReceptacleObject ?outerR)\n; (inReceptacleObject ?o ?outerR)\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (not (inReceptacle ?outerR ?r))\n; (holds ?a ?outerR)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (objectAtLocation ?outerR ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n; (holdsAnyReceptacleObject ?a)\n; )\n; )\n\n\n;; agent puts down an object\n (:action PutObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle ?ot - otype ?rt - rtype)\n :precondition (and\n (holds ?a ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable\n ;(not (full ?r))\n (objectType ?o ?ot)\n (receptacleType ?r ?rt)\n (canContain ?rt ?ot)\n ;(not (holdsAnyReceptacleObject ?a))\n )\n :effect (and\n (inReceptacle ?o ?r)\n (objectAtLocation ?o ?l)\n ;(full ?r)\n (not (holds ?a ?o))\n (not (holdsAny ?a))\n (increase (total-cost) 1)\n )\n )\n\n;;; agent puts down an object\n; (:action PutObjectInReceptacleObject\n; :parameters (?a - agent ?l - location ?ot - otype ?o - object ?outerO - object ?outerR - receptacle)\n; :precondition (and\n; (atLocation ?a ?l)\n; (objectAtLocation ?outerO ?l)\n; (isReceptacleObject ?outerO)\n; (not (isReceptacleObject ?o))\n; (objectType ?o ?ot)\n; (holds ?a ?o)\n; (not (holdsAnyReceptacleObject ?a))\n; (inReceptacle ?outerO ?outerR)\n; (not (isReceptacleObjectFull ?outerO))\n; )\n; :effect (and\n; (inReceptacleObject ?o ?outerO)\n; (inReceptacle ?o ?outerR)\n; (not (holds ?a ?o))\n; (not (holdsAny ?a))\n; (objectAtLocation ?o ?l)\n; (isReceptacleObjectFull ?outerO)\n; (increase (total-cost) 1)\n; )\n; )\n;\n;;; agent puts down an object\n; (:action PutEmptyReceptacleObjectinReceptacle\n; :parameters (?a - agent ?l - location ?ot - otype ?o - object ?r - receptacle)\n; :precondition (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable\n; (not (full ?r))\n; (objectType ?o ?ot)\n; (holds ?a ?o)\n; (holdsAnyReceptacleObject ?a)\n; (isReceptacleObject ?o)\n; (not (isReceptacleObjectFull ?o))\n; )\n; :effect (and\n; (inReceptacle ?o ?r)\n; (objectAtLocation ?o ?l)\n; (full ?r)\n; (not (holds ?a ?o))\n; (not (holdsAny ?a))\n; (not (holdsAnyReceptacleObject ?a))\n; (increase (total-cost) 1)\n; )\n; )\n;\n;;; agent puts down a receptacle object in a receptacle\n; (:action PutFullReceptacleObjectInReceptacle\n; :parameters (?a - agent ?l - location ?ot - otype ?innerO - object ?outerO - object ?r - receptacle) ; ?rt - rtype)\n; :precondition (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (objectType ?outerO ?ot)\n; (holds ?a ?outerO)\n; (holdsAnyReceptacleObject ?a)\n; (isReceptacleObject ?outerO)\n; (isReceptacleObjectFull ?outerO)\n; (inReceptacleObject ?innerO ?outerO)\n; )\n; :effect (and\n; (not (holdsAny ?a))\n; (not (holdsAnyReceptacleObject ?a))\n; (objectAtLocation ?outerO ?l)\n; (objectAtLocation ?innerO ?l)\n; (inReceptacle ?outerO ?r)\n; (inReceptacle ?innerO ?r)\n; (not (holds ?a ?outerO))\n; (increase (total-cost) 1)\n; )\n; )\n\n;; agent cleans some object\n (:action CleanObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (cleanable ?o)\n (or\n (receptacleType ?r SinkType)\n (receptacleType ?r SinkBasinType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isClean ?o)\n )\n )\n\n\n;; agent heats-up some object\n (:action HeatObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (heatable ?o)\n (or\n (receptacleType ?r MicrowaveType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isHot ?o)\n (not (isCool ?o))\n )\n )\n\n;; agent cools some object\n (:action CoolObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (coolable ?o)\n (or\n (receptacleType ?r FridgeType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isCool ?o)\n (not (isHot ?o))\n )\n )\n\n\n;; agent toggle object\n (:action ToggleObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n :precondition (and\n (toggleable ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (inReceptacle ?o ?r)\n )\n :effect (and\n (increase (total-cost) 5)\n (when (isOn ?o)\n (not (isOn ?o)))\n (when (not (isOn ?o))\n (isOn ?o))\n (isToggled ?o)\n )\n )\n\n\n;; agent slices some object with a knife\n (:action SliceObject\n :parameters (?a - agent ?l - location ?co - object ?ko - object)\n :precondition\n (and\n (sliceable ?co)\n (or\n (objectType ?ko KnifeType)\n (objectType ?ko ButterKnifeType)\n )\n (atLocation ?a ?l)\n (objectAtLocation ?co ?l)\n (holds ?a ?ko)\n )\n :effect (and\n (increase (total-cost) 5)\n (isSliced ?co)\n )\n )\n\n\n(:action help\n :parameters (?a - agent)\n :precondition\n ()\n :effect\n (and\n (checked ?a)\n )\n)\n)\n", "grammar": "grammar :: \"\"\"\n {\n \"intro\": [\n {\n \"rhs\": \"-= Welcome to TextWorld, ALFRED! =-\\n\\n#look.feedback#\\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 bowl and put them in desk.\"\n }\n ],\n\n \"GotoLocation.feedback\": [\n {\n \"rhs\": \"You arrive at {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"OpenObject.feedback\": [\n {\n \"rhs\": \"You open the {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"CloseObject.feedback\": [\n {\n \"rhs\": \"You close the {r.name}.\"\n }\n ],\n\n \"PickupObject.feedback\": [\n {\n \"rhs\": \"You pick up the {o.name} from the {r.name}.\"\n }\n ],\n\n \"PickupObjectFromReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupObjectFromReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupEmptyReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupEmptyReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupFullReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupFullReceptacleObject: You pick up the {outerr.name}.\"\n }\n ],\n\n \"PutObject.feedback\": [\n {\n \"rhs\": \"You move the {o.name} to the {r.name}.\"\n }\n ],\n\n \"PutObjectInReceptacleObject.feedback\": [\n {\n \"rhs\": \"PutObjectInReceptacleObject: You put the {o.name} in the {outero.name}.\"\n }\n ],\n\n \"PutEmptyReceptacleObjectinReceptacle.feedback\": [\n {\n \"rhs\": \"PutEmptyReceptacleObjectinReceptacle: You put the {o.name} in the {r.name}.\"\n }\n ],\n\n \"PutFullReceptacleObjectInReceptacle.feedback\": [\n {\n \"rhs\": \"PutFullReceptacleObjectInReceptacle: You put the {outero.name} in the {r.name}.\"\n }\n ],\n\n \"inventory.feedback\": [\n {\n \"condition\": \"holdsany(a:agent)\",\n \"rhs\": \"You are carrying: [{o.indefinite + ' ' + o.name | holds(a:agent, o:object)}].\"\n },\n {\n \"rhs\": \"You are not carrying anything.\"\n }\n ],\n\n \"examineReceptacle.feedback\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \"The {r.name} is open. In it, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \"The {r.name} is closed.\"\n },\n {\n \"rhs\": \"On the {r.name}, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n }\n ],\n\n \"examineObject.feedback\": [\n {\n \"condition\": \"isreceptacleobject(o:object)\",\n \"rhs\": \"This is a normal {o.name}. In it, you see [{o2.indefinite + ' ' + o2.name | inreceptacleobject(o2:object, o:object)}].\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a clean sliced {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot sliced {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object)\",\n \"rhs\": \"This is a hot and clean {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object)\",\n \"rhs\": \"This is a cool and clean {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object)\",\n \"rhs\": \"This is a hot {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object)\",\n \"rhs\": \"This is a clean {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object)\",\n \"rhs\": \"This is a cold {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"This {o.name} is on.\"\n },\n {\n \"condition\": \"toggleable(o:object) & not_istoggled(o:object)\",\n \"rhs\": \"This {o.name} is off.\"\n },\n {\n \"condition\": \"sliceable(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a sliced {o.name}.\"\n },\n {\n \"rhs\": \"There's nothing special about {o.name}.\"\n }\n ]\n }\n\"\"\";\n\naction GotoLocation {\n template :: \"go to [{r.name | receptacleatlocation(r:receptacle, lend:location)}]\";\n feedback :: \"#GotoLocation.feedback#\";\n}\n\naction OpenObject {\n template :: \"open {r}\";\n feedback :: \"#OpenObject.feedback#\";\n}\n\naction CloseObject {\n template :: \"close {r}\";\n feedback :: \"#CloseObject.feedback#\";\n}\n\naction PickupObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObject.feedback#\";\n}\n\naction PickupObjectFromReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObjectFromReceptacleObject.feedback#\";\n}\n\naction PickupEmptyReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupEmptyReceptacleObject.feedback#\";\n}\n\naction PickupFullReceptacleObject {\n template :: \"take {outerr} from {r}\";\n feedback :: \"#PickupFullReceptacleObject.feedback#\";\n}\n\naction PutObject {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutObject.feedback#\";\n}\n\naction PutObjectInReceptacleObject {\n template :: \"put {o} into {outero}\";\n feedback :: \"#PutObjectInReceptacleObject.feedback#\";\n}\n\naction PutEmptyReceptacleObjectinReceptacle {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutEmptyReceptacleObjectinReceptacle.feedback#\";\n}\n\naction PutFullReceptacleObjectInReceptacle {\n template :: \"put {outero} in {r}\";\n feedback :: \"#PutFullReceptacleObjectInReceptacle.feedback#\";\n}\n\naction inventory {\n template :: \"inventory\";\n feedback :: \"#inventory.feedback#\";\n}\n\naction examineReceptacle {\n template :: \"examine {r}\";\n feedback :: \"#examineReceptacle.feedback#\";\n}\n\naction examineObject {\n template :: \"examine {o}\";\n feedback :: \"#examineObject.feedback#\";\n}\n\naction ToggleObject {\n template :: \"use {o}\";\n feedback :: \"#toggleObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"toggleObject.feedback\": [\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"You turn on the {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object)\",\n \"rhs\": \"You turn off the {o.name}.\"\n },\n {\n \"rhs\": \"You don't see any switch on the {o.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction HeatObject {\n template :: \"heat {o} with {r}\";\n feedback :: \"#heatObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"heatObject.feedback\": [\n {\n \"rhs\": \"You heat the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CleanObject {\n template :: \"clean {o} with {r}\";\n feedback :: \"#cleanObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"cleanObject.feedback\": [\n {\n \"rhs\": \"You clean the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CoolObject {\n template :: \"cool {o} with {r}\";\n feedback :: \"#coolObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"coolObject.feedback\": [\n {\n \"rhs\": \"You cool the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction SliceObject {\n template :: \"slice {co} with {ko}\";\n feedback :: \"#sliceObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"sliceObject.feedback\": [\n {\n \"rhs\": \"You sliced the {co.name} with the {ko.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction look {\n template :: \"look\";\n feedback :: \"#look.feedback#\";\n\n grammar :: \"\"\"\n {\n \"look.feedback\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"#look-variations#. Next to it, you see #list_objects_on_the_floor#.\"\n },\n {\n \"rhs\": \"You are in the middle of a room. Looking quickly around you, you see #list_appliances#.\"\n }\n ],\n\n \"look-variations\": [\n {\n \"rhs\": \"You are facing the [{r.name | atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)}]\"\n }\n ],\n\n \"list_objects_on_the_floor\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)\",\n \"rhs\": \"[{#overview(o)# | atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"list_appliances\": [\n {\n \"condition\": \"receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"[{#overview(r)# | receptacleatlocation(r:receptacle, l:location)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"overview(o, r)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name} (in/on the {r.name})}\"\n }\n ],\n\n \"overview(o)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name}\"\n }\n ],\n \"overview(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}\"\n }\n ],\n \"overview_with_state(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}#overview_state(r)#\"\n }\n ],\n \"overview_state(r)\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \" (it is open)\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \" (it is closed)\"\n },\n {\n \"rhs\": \"\"\n }\n ],\n\n \"list_empty\": [\n {\n \"rhs\": \"nothing\"\n }\n ],\n \"list_separator\": [\n {\n \"rhs\": \", \"\n }\n ],\n \"list_last_separator\": [\n {\n \"rhs\": \", and \"\n }\n ]\n }\n \"\"\";\n}\n\naction help {\n template :: \"help\";\n feedback :: \"\nAvailable commands:\n look: look around your current location\n inventory: check your current inventory\n go to (receptacle): move to a receptacle\n open (receptacle): open a receptacle\n close (receptacle): close a receptacle\n take (object) from (receptacle): take an object from a receptacle\n move (object) to (receptacle): place an object in or on a receptacle\n examine (something): examine a receptacle or an object\n use (object): use an object\n heat (object) with (receptacle): heat an object using a receptacle\n clean (object) with (receptacle): clean an object using a receptacle\n cool (object) with (receptacle): cool an object using a receptacle\n slice (object) with (object): slice an object using a sharp object\n\";\n}\n", "pddl_problem": "\n(define (problem plan_trial_T20190908_040715_288858)\n(:domain alfred)\n(:objects\nagent1 - agent\nSaltShaker - object\n HousePlant - object\n Candle - object\n SprayBottle - object\n Bowl - object\n Window - object\n CD - object\n Egg - object\n Glassbottle - object\n Sink - object\n Pillow - object\n Spoon - object\n SoapBottle - object\n TeddyBear - object\n ButterKnife - object\n Cup - object\n Plate - object\n RemoteControl - object\n Tomato - object\n Statue - object\n HandTowel - object\n Knife - object\n StoveKnob - object\n LightSwitch - object\n Pen - object\n Painting - object\n DishSponge - object\n Vase - object\n Mug - object\n ToiletPaper - object\n Box - object\n Mirror - object\n Ladle - object\n Fork - object\n Blinds - object\n Footstool - object\n KeyChain - object\n Cloth - object\n Laptop - object\n TissueBox - object\n PepperShaker - object\n FloorLamp - object\n WateringCan - object\n Apple - object\n Pan - object\n PaperTowel - object\n PaperTowelRoll - object\n Newspaper - object\n Television - object\n Chair - object\n CellPhone - object\n CreditCard - object\n Lettuce - object\n BasketBall - object\n Potato - object\n Curtains - object\n Boots - object\n Pencil - object\n AlarmClock - object\n ToiletPaperRoll - object\n Spatula - object\n Book - object\n Bread - object\n SoapBar - object\n Watch - object\n DeskLamp - object\n Kettle - object\n Pot - object\n ScrubBrush - object\n WineBottle - object\n ShowerDoor - object\n Bathtub - object\n LaundryHamperLid - object\n ShowerGlass - object\n Poster - object\n TennisRacket - object\n BaseballBat - object\n Towel - object\n Plunger - object\nSaltShakerType - otype\n HousePlantType - otype\n CandleType - otype\n SprayBottleType - otype\n BowlType - otype\n WindowType - otype\n CDType - otype\n EggType - otype\n GlassbottleType - otype\n SinkType - otype\n PillowType - otype\n SpoonType - otype\n SoapBottleType - otype\n TeddyBearType - otype\n ButterKnifeType - otype\n CupType - otype\n PlateType - otype\n RemoteControlType - otype\n TomatoType - otype\n StatueType - otype\n HandTowelType - otype\n KnifeType - otype\n StoveKnobType - otype\n LightSwitchType - otype\n PenType - otype\n PaintingType - otype\n DishSpongeType - otype\n VaseType - otype\n MugType - otype\n ToiletPaperType - otype\n BoxType - otype\n MirrorType - otype\n LadleType - otype\n ForkType - otype\n BlindsType - otype\n FootstoolType - otype\n KeyChainType - otype\n ClothType - otype\n LaptopType - otype\n TissueBoxType - otype\n PepperShakerType - otype\n FloorLampType - otype\n WateringCanType - otype\n AppleType - otype\n PanType - otype\n PaperTowelType - otype\n PaperTowelRollType - otype\n NewspaperType - otype\n TelevisionType - otype\n ChairType - otype\n CellPhoneType - otype\n CreditCardType - otype\n LettuceType - otype\n BasketBallType - otype\n PotatoType - otype\n CurtainsType - otype\n BootsType - otype\n PencilType - otype\n AlarmClockType - otype\n ToiletPaperRollType - otype\n SpatulaType - otype\n BookType - otype\n BreadType - otype\n SoapBarType - otype\n WatchType - otype\n DeskLampType - otype\n KettleType - otype\n PotType - otype\n ScrubBrushType - otype\n WineBottleType - otype\n ShowerDoorType - otype\n BathtubType - otype\n LaundryHamperLidType - otype\n ShowerGlassType - otype\n PosterType - otype\n TennisRacketType - otype\n BaseballBatType - otype\n TowelType - otype\n PlungerType - otype\nSafeType - rtype\n DrawerType - rtype\n CoffeeMachineType - rtype\n HandTowelHolderType - rtype\n SinkBasinType - rtype\n DresserType - rtype\n LaundryHamperType - rtype\n TVStandType - rtype\n BathtubBasinType - rtype\n CabinetType - rtype\n FridgeType - rtype\n DeskType - rtype\n ToiletType - rtype\n CartType - rtype\n SideTableType - rtype\n SofaType - rtype\n CoffeeTableType - rtype\n DiningTableType - rtype\n CounterTopType - rtype\n GarbageCanType - rtype\n ArmChairType - rtype\n ShelfType - rtype\n MicrowaveType - rtype\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_51_bar__plus_01_dot_52_bar__minus_02_dot_29 - object\n AlarmClock_bar__minus_01_dot_54_bar__plus_01_dot_52_bar__minus_01_dot_57 - object\n BaseballBat_bar__plus_01_dot_44_bar__plus_00_dot_64_bar__plus_01_dot_99 - object\n BasketBall_bar__plus_01_dot_27_bar__plus_00_dot_12_bar__minus_01_dot_29 - object\n Blinds_bar__plus_00_dot_25_bar__plus_02_dot_19_bar__minus_02_dot_69 - object\n Blinds_bar__minus_00_dot_35_bar__plus_02_dot_19_bar__minus_02_dot_69 - object\n Blinds_bar__minus_00_dot_95_bar__plus_02_dot_19_bar__minus_02_dot_69 - object\n Book_bar__minus_01_dot_32_bar__plus_00_dot_61_bar__minus_01_dot_07 - object\n Boots_bar__plus_01_dot_29_bar__plus_00_dot_00_bar__minus_00_dot_96 - object\n Bowl_bar__plus_01_dot_26_bar__plus_00_dot_91_bar__minus_00_dot_25 - object\n Bowl_bar__plus_01_dot_27_bar__plus_00_dot_50_bar__minus_01_dot_93 - object\n Bowl_bar__minus_01_dot_33_bar__plus_00_dot_70_bar__minus_01_dot_90 - object\n Bowl_bar__minus_01_dot_58_bar__plus_00_dot_70_bar__minus_01_dot_61 - object\n CD_bar__plus_01_dot_28_bar__plus_00_dot_24_bar__minus_02_dot_03 - object\n CD_bar__minus_01_dot_33_bar__plus_00_dot_40_bar__minus_01_dot_73 - object\n CellPhone_bar__minus_01_dot_32_bar__plus_00_dot_61_bar__minus_00_dot_50 - object\n CellPhone_bar__minus_01_dot_39_bar__plus_00_dot_70_bar__minus_02_dot_19 - object\n Chair_bar__plus_00_dot_28_bar__plus_00_dot_00_bar__minus_02_dot_26 - object\n CreditCard_bar__plus_01_dot_17_bar__plus_00_dot_11_bar__minus_01_dot_71 - object\n CreditCard_bar__minus_01_dot_58_bar__plus_01_dot_52_bar__minus_01_dot_86 - object\n DeskLamp_bar__minus_01_dot_49_bar__plus_00_dot_69_bar__minus_02_dot_42 - object\n KeyChain_bar__plus_01_dot_16_bar__plus_00_dot_38_bar__plus_00_dot_05 - object\n KeyChain_bar__plus_01_dot_33_bar__plus_01_dot_41_bar__plus_00_dot_05 - object\n KeyChain_bar__minus_01_dot_64_bar__plus_01_dot_52_bar__minus_02_dot_44 - object\n Laptop_bar__plus_00_dot_08_bar__plus_00_dot_57_bar__minus_02_dot_46 - object\n Laptop_bar__minus_01_dot_32_bar__plus_00_dot_61_bar__plus_00_dot_34 - 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__minus_01_dot_58_bar__plus_00_dot_70_bar__minus_01_dot_90 - object\n Pen_bar__plus_00_dot_31_bar__plus_00_dot_58_bar__minus_02_dot_54 - object\n Pen_bar__plus_01_dot_26_bar__plus_00_dot_92_bar__minus_00_dot_54 - object\n Pillow_bar__minus_01_dot_08_bar__plus_00_dot_71_bar__minus_00_dot_22 - 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_9_bar_3_bar_15 - location\n loc_bar__minus_3_bar__minus_8_bar_3_bar_60 - location\n loc_bar__minus_1_bar__minus_7_bar_3_bar_60 - location\n loc_bar__minus_3_bar__minus_9_bar_2_bar__minus_30 - location\n loc_bar__minus_3_bar_6_bar_0_bar_45 - location\n loc_bar__minus_3_bar__minus_9_bar_2_bar_60 - location\n loc_bar_2_bar__minus_1_bar_1_bar_60 - location\n loc_bar_2_bar__minus_5_bar_1_bar_60 - location\n loc_bar_2_bar__minus_1_bar_1_bar_15 - location\n loc_bar__minus_1_bar__minus_5_bar_1_bar_45 - location\n loc_bar__minus_2_bar__minus_9_bar_1_bar_60 - location\n loc_bar_0_bar__minus_5_bar_1_bar_60 - location\n loc_bar__minus_2_bar__minus_9_bar_1_bar__minus_30 - location\n loc_bar__minus_3_bar__minus_8_bar_3_bar_15 - location\n loc_bar_3_bar__minus_4_bar_1_bar_60 - location\n loc_bar__minus_6_bar_5_bar_1_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 CreditCard_bar__plus_01_dot_17_bar__plus_00_dot_11_bar__minus_01_dot_71 CreditCardType)\n (objectType AlarmClock_bar__minus_01_dot_54_bar__plus_01_dot_52_bar__minus_01_dot_57 AlarmClockType)\n (objectType Bowl_bar__plus_01_dot_27_bar__plus_00_dot_50_bar__minus_01_dot_93 BowlType)\n (objectType KeyChain_bar__plus_01_dot_16_bar__plus_00_dot_38_bar__plus_00_dot_05 KeyChainType)\n (objectType Window_bar__minus_00_dot_96_bar__plus_00_dot_96_bar__minus_02_dot_68 WindowType)\n (objectType Book_bar__minus_01_dot_32_bar__plus_00_dot_61_bar__minus_01_dot_07 BookType)\n (objectType Blinds_bar__minus_00_dot_35_bar__plus_02_dot_19_bar__minus_02_dot_69 BlindsType)\n (objectType Laptop_bar__plus_00_dot_08_bar__plus_00_dot_57_bar__minus_02_dot_46 LaptopType)\n (objectType AlarmClock_bar__minus_01_dot_51_bar__plus_01_dot_52_bar__minus_02_dot_29 AlarmClockType)\n (objectType Boots_bar__plus_01_dot_29_bar__plus_00_dot_00_bar__minus_00_dot_96 BootsType)\n (objectType CellPhone_bar__minus_01_dot_39_bar__plus_00_dot_70_bar__minus_02_dot_19 CellPhoneType)\n (objectType KeyChain_bar__minus_01_dot_64_bar__plus_01_dot_52_bar__minus_02_dot_44 KeyChainType)\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 KeyChain_bar__plus_01_dot_33_bar__plus_01_dot_41_bar__plus_00_dot_05 KeyChainType)\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 CD_bar__plus_01_dot_28_bar__plus_00_dot_24_bar__minus_02_dot_03 CDType)\n (objectType Pillow_bar__minus_01_dot_08_bar__plus_00_dot_71_bar__minus_00_dot_22 PillowType)\n (objectType Pen_bar__plus_00_dot_31_bar__plus_00_dot_58_bar__minus_02_dot_54 PenType)\n (objectType Laptop_bar__minus_01_dot_32_bar__plus_00_dot_61_bar__plus_00_dot_34 LaptopType)\n (objectType CellPhone_bar__minus_01_dot_32_bar__plus_00_dot_61_bar__minus_00_dot_50 CellPhoneType)\n (objectType Bowl_bar__minus_01_dot_58_bar__plus_00_dot_70_bar__minus_01_dot_61 BowlType)\n (objectType Pen_bar__plus_01_dot_26_bar__plus_00_dot_92_bar__minus_00_dot_54 PenType)\n (objectType Window_bar__plus_00_dot_24_bar__plus_00_dot_96_bar__minus_02_dot_68 WindowType)\n (objectType BasketBall_bar__plus_01_dot_27_bar__plus_00_dot_12_bar__minus_01_dot_29 BasketBallType)\n (objectType Bowl_bar__minus_01_dot_33_bar__plus_00_dot_70_bar__minus_01_dot_90 BowlType)\n (objectType Pencil_bar__minus_01_dot_58_bar__plus_00_dot_70_bar__minus_01_dot_90 PencilType)\n (objectType CreditCard_bar__minus_01_dot_58_bar__plus_01_dot_52_bar__minus_01_dot_86 CreditCardType)\n (objectType BaseballBat_bar__plus_01_dot_44_bar__plus_00_dot_64_bar__plus_01_dot_99 BaseballBatType)\n (objectType CD_bar__minus_01_dot_33_bar__plus_00_dot_40_bar__minus_01_dot_73 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 Bowl_bar__plus_01_dot_26_bar__plus_00_dot_91_bar__minus_00_dot_25 BowlType)\n (objectType LightSwitch_bar__minus_00_dot_76_bar__plus_01_dot_18_bar__plus_02_dot_10 LightSwitchType)\n (canContain DrawerType PenType)\n (canContain 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 CreditCard_bar__plus_01_dot_17_bar__plus_00_dot_11_bar__minus_01_dot_71)\n (pickupable AlarmClock_bar__minus_01_dot_54_bar__plus_01_dot_52_bar__minus_01_dot_57)\n (pickupable Bowl_bar__plus_01_dot_27_bar__plus_00_dot_50_bar__minus_01_dot_93)\n (pickupable KeyChain_bar__plus_01_dot_16_bar__plus_00_dot_38_bar__plus_00_dot_05)\n (pickupable Book_bar__minus_01_dot_32_bar__plus_00_dot_61_bar__minus_01_dot_07)\n (pickupable Laptop_bar__plus_00_dot_08_bar__plus_00_dot_57_bar__minus_02_dot_46)\n (pickupable AlarmClock_bar__minus_01_dot_51_bar__plus_01_dot_52_bar__minus_02_dot_29)\n (pickupable Boots_bar__plus_01_dot_29_bar__plus_00_dot_00_bar__minus_00_dot_96)\n (pickupable CellPhone_bar__minus_01_dot_39_bar__plus_00_dot_70_bar__minus_02_dot_19)\n (pickupable KeyChain_bar__minus_01_dot_64_bar__plus_01_dot_52_bar__minus_02_dot_44)\n (pickupable KeyChain_bar__plus_01_dot_33_bar__plus_01_dot_41_bar__plus_00_dot_05)\n (pickupable CD_bar__plus_01_dot_28_bar__plus_00_dot_24_bar__minus_02_dot_03)\n (pickupable Pillow_bar__minus_01_dot_08_bar__plus_00_dot_71_bar__minus_00_dot_22)\n (pickupable Pen_bar__plus_00_dot_31_bar__plus_00_dot_58_bar__minus_02_dot_54)\n (pickupable Laptop_bar__minus_01_dot_32_bar__plus_00_dot_61_bar__plus_00_dot_34)\n (pickupable CellPhone_bar__minus_01_dot_32_bar__plus_00_dot_61_bar__minus_00_dot_50)\n (pickupable Bowl_bar__minus_01_dot_58_bar__plus_00_dot_70_bar__minus_01_dot_61)\n (pickupable Pen_bar__plus_01_dot_26_bar__plus_00_dot_92_bar__minus_00_dot_54)\n (pickupable BasketBall_bar__plus_01_dot_27_bar__plus_00_dot_12_bar__minus_01_dot_29)\n (pickupable Bowl_bar__minus_01_dot_33_bar__plus_00_dot_70_bar__minus_01_dot_90)\n (pickupable Pencil_bar__minus_01_dot_58_bar__plus_00_dot_70_bar__minus_01_dot_90)\n (pickupable CreditCard_bar__minus_01_dot_58_bar__plus_01_dot_52_bar__minus_01_dot_86)\n (pickupable BaseballBat_bar__plus_01_dot_44_bar__plus_00_dot_64_bar__plus_01_dot_99)\n (pickupable CD_bar__minus_01_dot_33_bar__plus_00_dot_40_bar__minus_01_dot_73)\n (pickupable Bowl_bar__plus_01_dot_26_bar__plus_00_dot_91_bar__minus_00_dot_25)\n (isReceptacleObject Bowl_bar__plus_01_dot_27_bar__plus_00_dot_50_bar__minus_01_dot_93)\n (isReceptacleObject Bowl_bar__minus_01_dot_58_bar__plus_00_dot_70_bar__minus_01_dot_61)\n (isReceptacleObject Bowl_bar__minus_01_dot_33_bar__plus_00_dot_70_bar__minus_01_dot_90)\n (isReceptacleObject Bowl_bar__plus_01_dot_26_bar__plus_00_dot_91_bar__minus_00_dot_25)\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_6_bar_5_bar_1_bar_30)\n \n (cleanable Bowl_bar__plus_01_dot_27_bar__plus_00_dot_50_bar__minus_01_dot_93)\n (cleanable Bowl_bar__minus_01_dot_58_bar__plus_00_dot_70_bar__minus_01_dot_61)\n (cleanable Bowl_bar__minus_01_dot_33_bar__plus_00_dot_70_bar__minus_01_dot_90)\n (cleanable Bowl_bar__plus_01_dot_26_bar__plus_00_dot_91_bar__minus_00_dot_25)\n \n \n (coolable Bowl_bar__plus_01_dot_27_bar__plus_00_dot_50_bar__minus_01_dot_93)\n (coolable Bowl_bar__minus_01_dot_58_bar__plus_00_dot_70_bar__minus_01_dot_61)\n (coolable Bowl_bar__minus_01_dot_33_bar__plus_00_dot_70_bar__minus_01_dot_90)\n (coolable Bowl_bar__plus_01_dot_26_bar__plus_00_dot_91_bar__minus_00_dot_25)\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 CD_bar__plus_01_dot_28_bar__plus_00_dot_24_bar__minus_02_dot_03 Drawer_bar__plus_00_dot_98_bar__plus_00_dot_27_bar__minus_01_dot_96)\n (inReceptacle CD_bar__minus_01_dot_33_bar__plus_00_dot_40_bar__minus_01_dot_73 Drawer_bar__minus_01_dot_35_bar__plus_00_dot_48_bar__minus_02_dot_05)\n (inReceptacle Laptop_bar__plus_00_dot_08_bar__plus_00_dot_57_bar__minus_02_dot_46 Desk_bar__plus_00_dot_45_bar_00_dot_00_bar__minus_02_dot_53)\n (inReceptacle Pen_bar__plus_00_dot_31_bar__plus_00_dot_58_bar__minus_02_dot_54 Desk_bar__plus_00_dot_45_bar_00_dot_00_bar__minus_02_dot_53)\n (inReceptacle CellPhone_bar__minus_01_dot_39_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 Bowl_bar__minus_01_dot_58_bar__plus_00_dot_70_bar__minus_01_dot_61 Dresser_bar__minus_01_dot_47_bar__plus_00_dot_03_bar__minus_02_dot_05)\n (inReceptacle Bowl_bar__minus_01_dot_33_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 Pencil_bar__minus_01_dot_58_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 Pillow_bar__minus_01_dot_08_bar__plus_00_dot_71_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_01_dot_32_bar__plus_00_dot_61_bar__minus_00_dot_50 Bed_bar__minus_01_dot_21_bar__plus_00_dot_02_bar__minus_00_dot_27)\n (inReceptacle Laptop_bar__minus_01_dot_32_bar__plus_00_dot_61_bar__plus_00_dot_34 Bed_bar__minus_01_dot_21_bar__plus_00_dot_02_bar__minus_00_dot_27)\n (inReceptacle Book_bar__minus_01_dot_32_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 Bowl_bar__plus_01_dot_27_bar__plus_00_dot_50_bar__minus_01_dot_93 Shelf_bar__plus_01_dot_22_bar__plus_00_dot_86_bar__minus_01_dot_80)\n (inReceptacle CreditCard_bar__plus_01_dot_17_bar__plus_00_dot_11_bar__minus_01_dot_71 Drawer_bar__plus_00_dot_98_bar__plus_00_dot_14_bar__minus_01_dot_64)\n (inReceptacle Bowl_bar__plus_01_dot_26_bar__plus_00_dot_91_bar__minus_00_dot_25 Shelf_bar__plus_01_dot_26_bar__plus_00_dot_90_bar__minus_00_dot_27)\n (inReceptacle Pen_bar__plus_01_dot_26_bar__plus_00_dot_92_bar__minus_00_dot_54 Shelf_bar__plus_01_dot_26_bar__plus_00_dot_90_bar__minus_00_dot_27)\n (inReceptacle KeyChain_bar__plus_01_dot_16_bar__plus_00_dot_38_bar__plus_00_dot_05 Shelf_bar__plus_01_dot_26_bar__plus_00_dot_38_bar__minus_00_dot_26)\n (inReceptacle KeyChain_bar__plus_01_dot_33_bar__plus_01_dot_41_bar__plus_00_dot_05 Shelf_bar__plus_01_dot_26_bar__plus_01_dot_40_bar__minus_00_dot_26)\n (inReceptacle AlarmClock_bar__minus_01_dot_51_bar__plus_01_dot_52_bar__minus_02_dot_29 Shelf_bar__minus_01_dot_58_bar__plus_01_dot_51_bar__minus_02_dot_03)\n (inReceptacle AlarmClock_bar__minus_01_dot_54_bar__plus_01_dot_52_bar__minus_01_dot_57 Shelf_bar__minus_01_dot_58_bar__plus_01_dot_51_bar__minus_02_dot_03)\n (inReceptacle CreditCard_bar__minus_01_dot_58_bar__plus_01_dot_52_bar__minus_01_dot_86 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 Bowl_bar__plus_01_dot_26_bar__plus_00_dot_91_bar__minus_00_dot_25 loc_bar_2_bar__minus_1_bar_1_bar_45)\n (objectAtLocation CD_bar__minus_01_dot_33_bar__plus_00_dot_40_bar__minus_01_dot_73 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_29 loc_bar__minus_3_bar__minus_8_bar_3_bar_15)\n (objectAtLocation Pen_bar__plus_01_dot_26_bar__plus_00_dot_92_bar__minus_00_dot_54 loc_bar_2_bar__minus_1_bar_1_bar_45)\n (objectAtLocation Laptop_bar__plus_00_dot_08_bar__plus_00_dot_57_bar__minus_02_dot_46 loc_bar_2_bar__minus_6_bar_2_bar_60)\n (objectAtLocation CreditCard_bar__minus_01_dot_58_bar__plus_01_dot_52_bar__minus_01_dot_86 loc_bar__minus_3_bar__minus_8_bar_3_bar_15)\n (objectAtLocation CellPhone_bar__minus_01_dot_32_bar__plus_00_dot_61_bar__minus_00_dot_50 loc_bar_0_bar_0_bar_3_bar_60)\n (objectAtLocation KeyChain_bar__plus_01_dot_33_bar__plus_01_dot_41_bar__plus_00_dot_05 loc_bar_2_bar__minus_1_bar_1_bar_15)\n (objectAtLocation KeyChain_bar__plus_01_dot_16_bar__plus_00_dot_38_bar__plus_00_dot_05 loc_bar_2_bar__minus_1_bar_1_bar_60)\n (objectAtLocation Bowl_bar__minus_01_dot_58_bar__plus_00_dot_70_bar__minus_01_dot_61 loc_bar__minus_3_bar__minus_8_bar_3_bar_60)\n (objectAtLocation Bowl_bar__minus_01_dot_33_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__minus_01_dot_32_bar__plus_00_dot_61_bar__minus_01_dot_07 loc_bar_0_bar_0_bar_3_bar_60)\n (objectAtLocation Mirror_bar__plus_00_dot_74_bar__plus_01_dot_49_bar__plus_02_dot_10 loc_bar_3_bar_6_bar_0_bar_15)\n (objectAtLocation Chair_bar__plus_00_dot_28_bar__plus_00_dot_00_bar__minus_02_dot_26 loc_bar__minus_2_bar__minus_9_bar_1_bar_60)\n (objectAtLocation KeyChain_bar__minus_01_dot_64_bar__plus_01_dot_52_bar__minus_02_dot_44 loc_bar__minus_3_bar__minus_9_bar_3_bar_15)\n (objectAtLocation BaseballBat_bar__plus_01_dot_44_bar__plus_00_dot_64_bar__plus_01_dot_99 loc_bar_4_bar_6_bar_0_bar_60)\n (objectAtLocation BasketBall_bar__plus_01_dot_27_bar__plus_00_dot_12_bar__minus_01_dot_29 loc_bar_2_bar__minus_5_bar_1_bar_60)\n (objectAtLocation Pencil_bar__minus_01_dot_58_bar__plus_00_dot_70_bar__minus_01_dot_90 loc_bar__minus_3_bar__minus_8_bar_3_bar_60)\n (objectAtLocation CellPhone_bar__minus_01_dot_39_bar__plus_00_dot_70_bar__minus_02_dot_19 loc_bar__minus_3_bar__minus_8_bar_3_bar_60)\n (objectAtLocation CreditCard_bar__plus_01_dot_17_bar__plus_00_dot_11_bar__minus_01_dot_71 loc_bar_0_bar__minus_5_bar_1_bar_60)\n (objectAtLocation Laptop_bar__minus_01_dot_32_bar__plus_00_dot_61_bar__plus_00_dot_34 loc_bar_0_bar_0_bar_3_bar_60)\n (objectAtLocation Pillow_bar__minus_01_dot_08_bar__plus_00_dot_71_bar__minus_00_dot_22 loc_bar_0_bar_0_bar_3_bar_60)\n (objectAtLocation LightSwitch_bar__minus_00_dot_76_bar__plus_01_dot_18_bar__plus_02_dot_10 loc_bar__minus_3_bar_6_bar_0_bar_45)\n (objectAtLocation Boots_bar__plus_01_dot_29_bar__plus_00_dot_00_bar__minus_00_dot_96 loc_bar_3_bar__minus_4_bar_1_bar_60)\n (objectAtLocation Pen_bar__plus_00_dot_31_bar__plus_00_dot_58_bar__minus_02_dot_54 loc_bar_2_bar__minus_6_bar_2_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_54_bar__plus_01_dot_52_bar__minus_01_dot_57 loc_bar__minus_3_bar__minus_8_bar_3_bar_15)\n (objectAtLocation CD_bar__plus_01_dot_28_bar__plus_00_dot_24_bar__minus_02_dot_03 loc_bar_0_bar__minus_6_bar_1_bar_60)\n (objectAtLocation Window_bar__plus_00_dot_24_bar__plus_00_dot_96_bar__minus_02_dot_68 loc_bar__minus_2_bar__minus_9_bar_1_bar_45)\n (objectAtLocation Window_bar__minus_00_dot_36_bar__plus_00_dot_96_bar__minus_02_dot_68 loc_bar__minus_2_bar__minus_9_bar_2_bar_60)\n (objectAtLocation Window_bar__minus_00_dot_96_bar__plus_00_dot_96_bar__minus_02_dot_68 loc_bar__minus_3_bar__minus_9_bar_2_bar_60)\n (objectAtLocation Bowl_bar__plus_01_dot_27_bar__plus_00_dot_50_bar__minus_01_dot_93 loc_bar_2_bar__minus_6_bar_1_bar_45)\n (objectAtLocation Blinds_bar__minus_00_dot_35_bar__plus_02_dot_19_bar__minus_02_dot_69 loc_bar__minus_2_bar__minus_9_bar_2_bar__minus_30)\n (objectAtLocation Blinds_bar__plus_00_dot_25_bar__plus_02_dot_19_bar__minus_02_dot_69 loc_bar__minus_2_bar__minus_9_bar_1_bar__minus_30)\n (objectAtLocation Blinds_bar__minus_00_dot_95_bar__plus_02_dot_19_bar__minus_02_dot_69 loc_bar__minus_3_bar__minus_9_bar_2_bar__minus_30)\n )\n \n\n (:goal\n (and\n (exists (?r - receptacle)\n (exists (?o1 - object)\n (and\n (objectType ?o1 BowlType)\n (receptacleType ?r DeskType)\n (inReceptacle ?o1 ?r)\n (exists (?o2 - object)\n (and\n (not (= ?o1 ?o2))\n (objectType ?o2 BowlType)\n (receptacleType ?r DeskType)\n (inReceptacle ?o2 ?r)\n )\n )\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to shelf 2", "take bowl 2 from shelf 2", "go to desk 1", "move bowl 2 to desk 1", "go to shelf 4", "take bowl 1 from shelf 4", "go to desk 1", "move bowl 1 to desk 1"]}
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alfworld__pick_heat_then_place_in_recep__450
|
pick_heat_then_place_in_recep
|
pick_heat_then_place_in_recep-Mug-None-CoffeeMachine-28/trial_T20190908_110647_024236/game.tw-pddl
|
{"pddl_domain": ";; Specification in PDDL of the Alfred domain\n;; Intended to be used with Fast Downward which supports PDDL 2.2 level 1 plus the :action-costs requirement from PDDL 3.1.\n\n(define (domain alfred)\n (:requirements\n :adl\n :action-costs\n :typing\n )\n (:types\n agent\n location\n receptacle\n object\n rtype\n otype\n )\n\n\n (:predicates\n (atLocation ?a - agent ?l - location) ; true if the agent is at the location\n (receptacleAtLocation ?r - receptacle ?l - location) ; true if the receptacle is at the location (constant)\n (objectAtLocation ?o - object ?l - location) ; true if the object is at the location\n (openable ?r - receptacle) ; true if a receptacle is openable\n (opened ?r - receptacle) ; true if a receptacle is opened\n (inReceptacle ?o - object ?r - receptacle) ; object ?o is in receptacle ?r\n (isReceptacleObject ?o - object) ; true if the object can have things put inside it\n (inReceptacleObject ?innerObject - object ?outerObject - object) ; object ?innerObject is inside object ?outerObject\n (isReceptacleObjectFull ?o - object) ; true if the receptacle object contains something\n (wasInReceptacle ?o - object ?r - receptacle) ; object ?o was or is in receptacle ?r now or some time in the past\n (checked ?r - receptacle) ; whether the receptacle has been looked inside/visited\n (examined ?l - location) ; TODO\n (receptacleType ?r - receptacle ?t - rtype) ; the type of receptacle (Cabinet vs Cabinet|01|2...)\n (canContain ?rt - rtype ?ot - otype) ; true if receptacle can hold object\n (objectType ?o - object ?t - otype) ; the type of object (Apple vs Apple|01|2...)\n (holds ?a - agent ?o - object) ; object ?o is held by agent ?a\n (holdsAny ?a - agent) ; agent ?a holds an object\n (holdsAnyReceptacleObject ?a - agent) ; agent ?a holds a receptacle object\n (full ?r - receptacle) ; true if the receptacle has no remaining space\n (isClean ?o - object) ; true if the object has been clean in sink\n (cleanable ?o - object) ; true if the object can be placed in a sink\n (isHot ?o - object) ; true if the object has been heated up\n (heatable ?o - object) ; true if the object can be heated up in a microwave\n (isCool ?o - object) ; true if the object has been cooled\n (coolable ?o - object) ; true if the object can be cooled in the fridge\n (pickupable ?o - object) ; true if the object can be picked up\n (moveable ?o - object) ; true if the object can be moved\n (toggleable ?o - object) ; true if the object can be turned on/off\n (isOn ?o - object) ; true if the object is on\n (isToggled ?o - object) ; true if the object has been toggled\n (sliceable ?o - object) ; true if the object can be sliced\n (isSliced ?o - object) ; true if the object is sliced\n )\n\n (:functions\n (distance ?from ?to)\n (total-cost) - number\n )\n\n;; All actions are specified such that the final arguments are the ones used\n;; for performing actions in Unity.\n\n\n(:action look\n :parameters (?a - agent ?l - location)\n :precondition\n (and\n (atLocation ?a ?l)\n )\n :effect\n (and\n (checked ?l)\n )\n)\n\n(:action inventory\n :parameters (?a - agent)\n :precondition\n ()\n :effect\n (and\n (checked ?a)\n )\n)\n\n(:action examineReceptacle\n :parameters (?a - agent ?r - receptacle)\n :precondition\n (and\n (exists (?l - location)\n (and\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n )\n )\n )\n :effect\n (and\n (checked ?r)\n )\n)\n\n(:action examineObject\n :parameters (?a - agent ?o - object)\n :precondition\n (or\n ;(exists (?l - location)\n ; (and\n ; (atLocation ?a ?l)\n ; (objectAtLocation ?o ?l)\n ; )\n ;)\n (exists (?l - location, ?r - receptacle)\n (and\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n ; (objectAtLocation ?o ?l)\n (inReceptacle ?o ?r)\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n )\n )\n (holds ?a ?o)\n )\n :effect\n (and\n (checked ?o)\n )\n)\n\n;; agent goes to receptacle\n (:action GotoLocation\n :parameters (?a - agent ?lStart - location ?lEnd - location ?r - receptacle)\n :precondition (and\n (atLocation ?a ?lStart)\n (receptacleAtLocation ?r ?lEnd)\n ;(exists (?r - receptacle) (receptacleAtLocation ?r ?lEnd))\n )\n :effect (and\n (not (atLocation ?a ?lStart))\n (atLocation ?a ?lEnd)\n ; (forall (?r - receptacle)\n ; (when (and (receptacleAtLocation ?r ?lEnd)\n ; (or (not (openable ?r)) (opened ?r)))\n ; (checked ?r)\n ; )\n ; )\n ; (increase (total-cost) (distance ?lStart ?lEnd))\n (increase (total-cost) 1)\n )\n )\n\n;; agent opens receptacle\n (:action OpenObject\n :parameters (?a - agent ?l - location ?r - receptacle)\n :precondition (and\n (openable ?r)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (not (opened ?r))\n )\n :effect (and\n (opened ?r)\n (checked ?r)\n (increase (total-cost) 1)\n )\n )\n;; agent closes receptacle\n (:action CloseObject\n :parameters (?a - agent ?l - location ?r - receptacle)\n :precondition (and\n (openable ?r)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (opened ?r)\n )\n :effect (and\n (not (opened ?r))\n (increase (total-cost) 1)\n )\n\n )\n\n ;; agent picks up object from a receptacle\n (:action PickupObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n :precondition\n (and\n (pickupable ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n ; (objectAtLocation ?o ?l)\n (inReceptacle ?o ?r)\n (not (holdsAny ?a)) ; agent's hands are empty.\n ;(not (holdsAnyReceptacleObject ?a))\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n ;(not (isReceptacleObject ?o))\n )\n :effect\n (and\n (not (inReceptacle ?o ?r))\n (holds ?a ?o)\n (holdsAny ?a)\n (not (objectAtLocation ?o ?l))\n ;(not (full ?r))\n (increase (total-cost) 1)\n )\n )\n\n\n; ;; agent picks up object from a receptacle\n; (:action PickupObjectFromReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?outerR - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (inReceptacle ?o ?r)\n; (pickupable ?o)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (not (isReceptacleObject ?o))\n; (isReceptacleObject ?outerR)\n; (inReceptacleObject ?o ?outerR)\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (holds ?a ?o)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n;\n; (not (inReceptacleObject ?o ?outerR))\n; (not (isReceptacleObjectFull ?outerR))\n; )\n; )\n;\n; ;; agent picks up object from a receptacle\n; (:action PickupEmptyReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; ; (objectAtLocation ?o ?l)\n; (inReceptacle ?o ?r)\n; (pickupable ?o)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (isReceptacleObject ?o)\n; (not (isReceptacleObjectFull ?o))\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (holds ?a ?o)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n; (holdsAnyReceptacleObject ?a)\n; )\n; )\n;\n; ;; agent picks up object from a receptacle\n; (:action PickupFullReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?outerR - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (inReceptacle ?outerR ?r)\n; (pickupable ?outerR)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (not (isReceptacleObject ?o))\n; (isReceptacleObject ?outerR)\n; (inReceptacleObject ?o ?outerR)\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (not (inReceptacle ?outerR ?r))\n; (holds ?a ?outerR)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (objectAtLocation ?outerR ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n; (holdsAnyReceptacleObject ?a)\n; )\n; )\n\n\n;; agent puts down an object\n (:action PutObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle ?ot - otype ?rt - rtype)\n :precondition (and\n (holds ?a ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable\n ;(not (full ?r))\n (objectType ?o ?ot)\n (receptacleType ?r ?rt)\n (canContain ?rt ?ot)\n ;(not (holdsAnyReceptacleObject ?a))\n )\n :effect (and\n (inReceptacle ?o ?r)\n (objectAtLocation ?o ?l)\n ;(full ?r)\n (not (holds ?a ?o))\n (not (holdsAny ?a))\n (increase (total-cost) 1)\n )\n )\n\n;;; agent puts down an object\n; (:action PutObjectInReceptacleObject\n; :parameters (?a - agent ?l - location ?ot - otype ?o - object ?outerO - object ?outerR - receptacle)\n; :precondition (and\n; (atLocation ?a ?l)\n; (objectAtLocation ?outerO ?l)\n; (isReceptacleObject ?outerO)\n; (not (isReceptacleObject ?o))\n; (objectType ?o ?ot)\n; (holds ?a ?o)\n; (not (holdsAnyReceptacleObject ?a))\n; (inReceptacle ?outerO ?outerR)\n; (not (isReceptacleObjectFull ?outerO))\n; )\n; :effect (and\n; (inReceptacleObject ?o ?outerO)\n; (inReceptacle ?o ?outerR)\n; (not (holds ?a ?o))\n; (not (holdsAny ?a))\n; (objectAtLocation ?o ?l)\n; (isReceptacleObjectFull ?outerO)\n; (increase (total-cost) 1)\n; )\n; )\n;\n;;; agent puts down an object\n; (:action PutEmptyReceptacleObjectinReceptacle\n; :parameters (?a - agent ?l - location ?ot - otype ?o - object ?r - receptacle)\n; :precondition (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable\n; (not (full ?r))\n; (objectType ?o ?ot)\n; (holds ?a ?o)\n; (holdsAnyReceptacleObject ?a)\n; (isReceptacleObject ?o)\n; (not (isReceptacleObjectFull ?o))\n; )\n; :effect (and\n; (inReceptacle ?o ?r)\n; (objectAtLocation ?o ?l)\n; (full ?r)\n; (not (holds ?a ?o))\n; (not (holdsAny ?a))\n; (not (holdsAnyReceptacleObject ?a))\n; (increase (total-cost) 1)\n; )\n; )\n;\n;;; agent puts down a receptacle object in a receptacle\n; (:action PutFullReceptacleObjectInReceptacle\n; :parameters (?a - agent ?l - location ?ot - otype ?innerO - object ?outerO - object ?r - receptacle) ; ?rt - rtype)\n; :precondition (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (objectType ?outerO ?ot)\n; (holds ?a ?outerO)\n; (holdsAnyReceptacleObject ?a)\n; (isReceptacleObject ?outerO)\n; (isReceptacleObjectFull ?outerO)\n; (inReceptacleObject ?innerO ?outerO)\n; )\n; :effect (and\n; (not (holdsAny ?a))\n; (not (holdsAnyReceptacleObject ?a))\n; (objectAtLocation ?outerO ?l)\n; (objectAtLocation ?innerO ?l)\n; (inReceptacle ?outerO ?r)\n; (inReceptacle ?innerO ?r)\n; (not (holds ?a ?outerO))\n; (increase (total-cost) 1)\n; )\n; )\n\n;; agent cleans some object\n (:action CleanObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (cleanable ?o)\n (or\n (receptacleType ?r SinkType)\n (receptacleType ?r SinkBasinType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isClean ?o)\n )\n )\n\n\n;; agent heats-up some object\n (:action HeatObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (heatable ?o)\n (or\n (receptacleType ?r MicrowaveType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isHot ?o)\n (not (isCool ?o))\n )\n )\n\n;; agent cools some object\n (:action CoolObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (coolable ?o)\n (or\n (receptacleType ?r FridgeType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isCool ?o)\n (not (isHot ?o))\n )\n )\n\n\n;; agent toggle object\n (:action ToggleObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n :precondition (and\n (toggleable ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (inReceptacle ?o ?r)\n )\n :effect (and\n (increase (total-cost) 5)\n (when (isOn ?o)\n (not (isOn ?o)))\n (when (not (isOn ?o))\n (isOn ?o))\n (isToggled ?o)\n )\n )\n\n\n;; agent slices some object with a knife\n (:action SliceObject\n :parameters (?a - agent ?l - location ?co - object ?ko - object)\n :precondition\n (and\n (sliceable ?co)\n (or\n (objectType ?ko KnifeType)\n (objectType ?ko ButterKnifeType)\n )\n (atLocation ?a ?l)\n (objectAtLocation ?co ?l)\n (holds ?a ?ko)\n )\n :effect (and\n (increase (total-cost) 5)\n (isSliced ?co)\n )\n )\n\n\n(:action help\n :parameters (?a - agent)\n :precondition\n ()\n :effect\n (and\n (checked ?a)\n )\n)\n)\n", "grammar": "grammar :: \"\"\"\n {\n \"intro\": [\n {\n \"rhs\": \"-= Welcome to TextWorld, ALFRED! =-\\n\\n#look.feedback#\\n\\n#task#\"\n }\n ],\n\n \"notImplemented\": [\n {\n \"rhs\": \"TODO\"\n }\n ],\n\n \"task\": [\n {\n \"rhs\": \"Your task is to: put a hot mug in coffeemachine.\"\n }\n ],\n\n \"GotoLocation.feedback\": [\n {\n \"rhs\": \"You arrive at {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"OpenObject.feedback\": [\n {\n \"rhs\": \"You open the {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"CloseObject.feedback\": [\n {\n \"rhs\": \"You close the {r.name}.\"\n }\n ],\n\n \"PickupObject.feedback\": [\n {\n \"rhs\": \"You pick up the {o.name} from the {r.name}.\"\n }\n ],\n\n \"PickupObjectFromReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupObjectFromReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupEmptyReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupEmptyReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupFullReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupFullReceptacleObject: You pick up the {outerr.name}.\"\n }\n ],\n\n \"PutObject.feedback\": [\n {\n \"rhs\": \"You move the {o.name} to the {r.name}.\"\n }\n ],\n\n \"PutObjectInReceptacleObject.feedback\": [\n {\n \"rhs\": \"PutObjectInReceptacleObject: You put the {o.name} in the {outero.name}.\"\n }\n ],\n\n \"PutEmptyReceptacleObjectinReceptacle.feedback\": [\n {\n \"rhs\": \"PutEmptyReceptacleObjectinReceptacle: You put the {o.name} in the {r.name}.\"\n }\n ],\n\n \"PutFullReceptacleObjectInReceptacle.feedback\": [\n {\n \"rhs\": \"PutFullReceptacleObjectInReceptacle: You put the {outero.name} in the {r.name}.\"\n }\n ],\n\n \"inventory.feedback\": [\n {\n \"condition\": \"holdsany(a:agent)\",\n \"rhs\": \"You are carrying: [{o.indefinite + ' ' + o.name | holds(a:agent, o:object)}].\"\n },\n {\n \"rhs\": \"You are not carrying anything.\"\n }\n ],\n\n \"examineReceptacle.feedback\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \"The {r.name} is open. In it, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \"The {r.name} is closed.\"\n },\n {\n \"rhs\": \"On the {r.name}, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n }\n ],\n\n \"examineObject.feedback\": [\n {\n \"condition\": \"isreceptacleobject(o:object)\",\n \"rhs\": \"This is a normal {o.name}. In it, you see [{o2.indefinite + ' ' + o2.name | inreceptacleobject(o2:object, o:object)}].\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a clean sliced {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot sliced {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object)\",\n \"rhs\": \"This is a hot and clean {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object)\",\n \"rhs\": \"This is a cool and clean {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object)\",\n \"rhs\": \"This is a hot {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object)\",\n \"rhs\": \"This is a clean {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object)\",\n \"rhs\": \"This is a cold {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"This {o.name} is on.\"\n },\n {\n \"condition\": \"toggleable(o:object) & not_istoggled(o:object)\",\n \"rhs\": \"This {o.name} is off.\"\n },\n {\n \"condition\": \"sliceable(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a sliced {o.name}.\"\n },\n {\n \"rhs\": \"There's nothing special about {o.name}.\"\n }\n ]\n }\n\"\"\";\n\naction GotoLocation {\n template :: \"go to [{r.name | receptacleatlocation(r:receptacle, lend:location)}]\";\n feedback :: \"#GotoLocation.feedback#\";\n}\n\naction OpenObject {\n template :: \"open {r}\";\n feedback :: \"#OpenObject.feedback#\";\n}\n\naction CloseObject {\n template :: \"close {r}\";\n feedback :: \"#CloseObject.feedback#\";\n}\n\naction PickupObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObject.feedback#\";\n}\n\naction PickupObjectFromReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObjectFromReceptacleObject.feedback#\";\n}\n\naction PickupEmptyReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupEmptyReceptacleObject.feedback#\";\n}\n\naction PickupFullReceptacleObject {\n template :: \"take {outerr} from {r}\";\n feedback :: \"#PickupFullReceptacleObject.feedback#\";\n}\n\naction PutObject {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutObject.feedback#\";\n}\n\naction PutObjectInReceptacleObject {\n template :: \"put {o} into {outero}\";\n feedback :: \"#PutObjectInReceptacleObject.feedback#\";\n}\n\naction PutEmptyReceptacleObjectinReceptacle {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutEmptyReceptacleObjectinReceptacle.feedback#\";\n}\n\naction PutFullReceptacleObjectInReceptacle {\n template :: \"put {outero} in {r}\";\n feedback :: \"#PutFullReceptacleObjectInReceptacle.feedback#\";\n}\n\naction inventory {\n template :: \"inventory\";\n feedback :: \"#inventory.feedback#\";\n}\n\naction examineReceptacle {\n template :: \"examine {r}\";\n feedback :: \"#examineReceptacle.feedback#\";\n}\n\naction examineObject {\n template :: \"examine {o}\";\n feedback :: \"#examineObject.feedback#\";\n}\n\naction ToggleObject {\n template :: \"use {o}\";\n feedback :: \"#toggleObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"toggleObject.feedback\": [\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"You turn on the {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object)\",\n \"rhs\": \"You turn off the {o.name}.\"\n },\n {\n \"rhs\": \"You don't see any switch on the {o.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction HeatObject {\n template :: \"heat {o} with {r}\";\n feedback :: \"#heatObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"heatObject.feedback\": [\n {\n \"rhs\": \"You heat the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CleanObject {\n template :: \"clean {o} with {r}\";\n feedback :: \"#cleanObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"cleanObject.feedback\": [\n {\n \"rhs\": \"You clean the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CoolObject {\n template :: \"cool {o} with {r}\";\n feedback :: \"#coolObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"coolObject.feedback\": [\n {\n \"rhs\": \"You cool the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction SliceObject {\n template :: \"slice {co} with {ko}\";\n feedback :: \"#sliceObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"sliceObject.feedback\": [\n {\n \"rhs\": \"You sliced the {co.name} with the {ko.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction look {\n template :: \"look\";\n feedback :: \"#look.feedback#\";\n\n grammar :: \"\"\"\n {\n \"look.feedback\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"#look-variations#. Next to it, you see #list_objects_on_the_floor#.\"\n },\n {\n \"rhs\": \"You are in the middle of a room. Looking quickly around you, you see #list_appliances#.\"\n }\n ],\n\n \"look-variations\": [\n {\n \"rhs\": \"You are facing the [{r.name | atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)}]\"\n }\n ],\n\n \"list_objects_on_the_floor\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)\",\n \"rhs\": \"[{#overview(o)# | atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"list_appliances\": [\n {\n \"condition\": \"receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"[{#overview(r)# | receptacleatlocation(r:receptacle, l:location)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"overview(o, r)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name} (in/on the {r.name})}\"\n }\n ],\n\n \"overview(o)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name}\"\n }\n ],\n \"overview(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}\"\n }\n ],\n \"overview_with_state(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}#overview_state(r)#\"\n }\n ],\n \"overview_state(r)\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \" (it is open)\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \" (it is closed)\"\n },\n {\n \"rhs\": \"\"\n }\n ],\n\n \"list_empty\": [\n {\n \"rhs\": \"nothing\"\n }\n ],\n \"list_separator\": [\n {\n \"rhs\": \", \"\n }\n ],\n \"list_last_separator\": [\n {\n \"rhs\": \", and \"\n }\n ]\n }\n \"\"\";\n}\n\naction help {\n template :: \"help\";\n feedback :: \"\nAvailable commands:\n look: look around your current location\n inventory: check your current inventory\n go to (receptacle): move to a receptacle\n open (receptacle): open a receptacle\n close (receptacle): close a receptacle\n take (object) from (receptacle): take an object from a receptacle\n move (object) to (receptacle): place an object in or on a receptacle\n examine (something): examine a receptacle or an object\n use (object): use an object\n heat (object) with (receptacle): heat an object using a receptacle\n clean (object) with (receptacle): clean an object using a receptacle\n cool (object) with (receptacle): cool an object using a receptacle\n slice (object) with (object): slice an object using a sharp object\n\";\n}\n", "pddl_problem": "\n(define (problem plan_trial_T20190908_110647_024236)\n(:domain alfred)\n(:objects\nagent1 - agent\nSaltShaker - object\n HousePlant - object\n Candle - object\n SprayBottle - object\n Bowl - object\n Window - object\n CD - object\n Egg - object\n Glassbottle - object\n Sink - object\n Pillow - object\n Spoon - object\n SoapBottle - object\n TeddyBear - object\n ButterKnife - object\n Cup - object\n Plate - object\n RemoteControl - object\n Tomato - object\n Statue - object\n HandTowel - object\n Knife - object\n StoveKnob - object\n LightSwitch - object\n Pen - object\n Painting - object\n DishSponge - object\n Vase - object\n Mug - object\n ToiletPaper - object\n Box - object\n Mirror - object\n Ladle - object\n Fork - object\n Blinds - object\n Footstool - object\n KeyChain - object\n Cloth - object\n Laptop - object\n TissueBox - object\n PepperShaker - object\n FloorLamp - object\n WateringCan - object\n Apple - object\n Pan - object\n PaperTowel - object\n PaperTowelRoll - object\n Newspaper - object\n Television - object\n Chair - object\n CellPhone - object\n CreditCard - object\n Lettuce - object\n BasketBall - object\n Potato - object\n Curtains - object\n Boots - object\n Pencil - object\n AlarmClock - object\n ToiletPaperRoll - object\n Spatula - object\n Book - object\n Bread - object\n SoapBar - object\n Watch - object\n DeskLamp - object\n Kettle - object\n Pot - object\n ScrubBrush - object\n WineBottle - object\n ShowerDoor - object\n Bathtub - object\n LaundryHamperLid - object\n ShowerGlass - object\n Poster - object\n TennisRacket - object\n BaseballBat - object\n Towel - object\n Plunger - object\nSaltShakerType - otype\n HousePlantType - otype\n CandleType - otype\n SprayBottleType - otype\n BowlType - otype\n WindowType - otype\n CDType - otype\n EggType - otype\n GlassbottleType - otype\n SinkType - otype\n PillowType - otype\n SpoonType - otype\n SoapBottleType - otype\n TeddyBearType - otype\n ButterKnifeType - otype\n CupType - otype\n PlateType - otype\n RemoteControlType - otype\n TomatoType - otype\n StatueType - otype\n HandTowelType - otype\n KnifeType - otype\n StoveKnobType - otype\n LightSwitchType - otype\n PenType - otype\n PaintingType - otype\n DishSpongeType - otype\n VaseType - otype\n MugType - otype\n ToiletPaperType - otype\n BoxType - otype\n MirrorType - otype\n LadleType - otype\n ForkType - otype\n BlindsType - otype\n FootstoolType - otype\n KeyChainType - otype\n ClothType - otype\n LaptopType - otype\n TissueBoxType - otype\n PepperShakerType - otype\n FloorLampType - otype\n WateringCanType - otype\n AppleType - otype\n PanType - otype\n PaperTowelType - otype\n PaperTowelRollType - otype\n NewspaperType - otype\n TelevisionType - otype\n ChairType - otype\n CellPhoneType - otype\n CreditCardType - otype\n LettuceType - otype\n BasketBallType - otype\n PotatoType - otype\n CurtainsType - otype\n BootsType - otype\n PencilType - otype\n AlarmClockType - otype\n ToiletPaperRollType - otype\n SpatulaType - otype\n BookType - otype\n BreadType - otype\n SoapBarType - otype\n WatchType - otype\n DeskLampType - otype\n KettleType - otype\n PotType - otype\n ScrubBrushType - otype\n WineBottleType - otype\n ShowerDoorType - otype\n BathtubType - otype\n LaundryHamperLidType - otype\n ShowerGlassType - otype\n PosterType - otype\n TennisRacketType - otype\n BaseballBatType - otype\n TowelType - otype\n PlungerType - otype\nSafeType - rtype\n DrawerType - rtype\n CoffeeMachineType - rtype\n HandTowelHolderType - rtype\n SinkBasinType - rtype\n DresserType - rtype\n LaundryHamperType - rtype\n TVStandType - rtype\n BathtubBasinType - rtype\n CabinetType - rtype\n FridgeType - rtype\n DeskType - rtype\n ToiletType - rtype\n CartType - rtype\n SideTableType - rtype\n SofaType - rtype\n CoffeeTableType - rtype\n DiningTableType - rtype\n CounterTopType - rtype\n GarbageCanType - rtype\n ArmChairType - rtype\n ShelfType - rtype\n MicrowaveType - rtype\n ToasterType - rtype\n BedType - rtype\n PaintingHangerType - rtype\n TowelHolderType - rtype\n ToiletPaperHangerType - rtype\n StoveBurnerType - rtype\n OttomanType - rtype\n\n\n Apple_bar__minus_03_dot_88_bar__plus_00_dot_75_bar__minus_00_dot_19 - object\n Blinds_bar__minus_01_dot_37_bar__plus_02_dot_21_bar__minus_03_dot_96 - object\n Bowl_bar__minus_03_dot_36_bar__plus_00_dot_89_bar__minus_00_dot_12 - object\n Bowl_bar__minus_04_dot_18_bar__plus_00_dot_69_bar__minus_00_dot_43 - object\n Bread_bar__minus_02_dot_36_bar__plus_00_dot_98_bar__minus_00_dot_20 - object\n Bread_bar__minus_02_dot_56_bar__plus_00_dot_98_bar__minus_00_dot_55 - object\n ButterKnife_bar__minus_04_dot_00_bar__plus_00_dot_69_bar__minus_00_dot_19 - object\n Cup_bar__minus_00_dot_40_bar__plus_01_dot_49_bar__minus_00_dot_65 - object\n DishSponge_bar__minus_00_dot_14_bar__plus_01_dot_50_bar__minus_01_dot_49 - object\n DishSponge_bar__minus_03_dot_84_bar__plus_00_dot_76_bar__minus_03_dot_57 - object\n Egg_bar__minus_00_dot_17_bar__plus_01_dot_62_bar__minus_01_dot_83 - object\n Egg_bar__minus_00_dot_24_bar__plus_00_dot_98_bar__minus_01_dot_32 - object\n Egg_bar__minus_00_dot_30_bar__plus_00_dot_98_bar__minus_03_dot_07 - object\n Faucet_bar__minus_00_dot_39_bar__plus_00_dot_93_bar__minus_03_dot_61 - object\n Fork_bar__minus_00_dot_16_bar__plus_00_dot_94_bar__minus_01_dot_49 - object\n Knife_bar__minus_00_dot_17_bar__plus_00_dot_97_bar__minus_02_dot_79 - object\n Knife_bar__minus_03_dot_16_bar__plus_00_dot_92_bar__minus_00_dot_20 - object\n Knife_bar__minus_03_dot_16_bar__plus_00_dot_92_bar__minus_00_dot_38 - object\n Lettuce_bar__minus_00_dot_64_bar__plus_00_dot_90_bar__minus_03_dot_34 - object\n LightSwitch_bar__minus_04_dot_37_bar__plus_01_dot_49_bar__minus_01_dot_03 - object\n Mug_bar__minus_04_dot_18_bar__plus_00_dot_69_bar__minus_00_dot_19 - object\n Pan_bar__minus_00_dot_22_bar__plus_00_dot_96_bar__minus_02_dot_22 - object\n PepperShaker_bar__minus_00_dot_42_bar__plus_01_dot_50_bar__minus_03_dot_49 - object\n PepperShaker_bar__minus_04_dot_12_bar__plus_00_dot_69_bar__minus_00_dot_31 - object\n Plate_bar__minus_00_dot_32_bar__plus_01_dot_50_bar__minus_00_dot_41 - object\n Plate_bar__minus_00_dot_32_bar__plus_01_dot_50_bar__minus_00_dot_88 - object\n Potato_bar__minus_00_dot_45_bar__plus_00_dot_85_bar__minus_03_dot_30 - object\n Potato_bar__minus_03_dot_35_bar__plus_00_dot_79_bar__minus_02_dot_92 - object\n Potato_bar__minus_03_dot_94_bar__plus_00_dot_72_bar__minus_00_dot_43 - object\n Pot_bar__minus_00_dot_44_bar__plus_00_dot_96_bar__minus_01_dot_85 - object\n SaltShaker_bar__minus_00_dot_55_bar__plus_00_dot_94_bar__minus_01_dot_41 - object\n SaltShaker_bar__minus_02_dot_76_bar__plus_00_dot_89_bar__minus_00_dot_29 - object\n SaltShaker_bar__minus_03_dot_76_bar__plus_00_dot_76_bar__minus_03_dot_39 - object\n Sink_bar__minus_00_dot_60_bar__plus_00_dot_93_bar__minus_03_dot_39 - object\n SoapBottle_bar__minus_00_dot_25_bar__plus_01_dot_50_bar__minus_01_dot_57 - object\n SoapBottle_bar__minus_00_dot_55_bar__plus_00_dot_94_bar__minus_02_dot_67 - object\n SoapBottle_bar__minus_00_dot_55_bar__plus_00_dot_94_bar__minus_02_dot_85 - object\n Spatula_bar__minus_02_dot_56_bar__plus_00_dot_91_bar__minus_00_dot_46 - object\n Spatula_bar__minus_03_dot_50_bar__plus_00_dot_78_bar__minus_03_dot_43 - object\n Spoon_bar__minus_00_dot_48_bar__plus_00_dot_75_bar__minus_02_dot_69 - object\n Spoon_bar__minus_03_dot_77_bar__plus_00_dot_76_bar__minus_03_dot_27 - object\n Spoon_bar__minus_04_dot_06_bar__plus_00_dot_69_bar__minus_00_dot_31 - object\n StoveKnob_bar__minus_00_dot_62_bar__plus_00_dot_90_bar__minus_01_dot_83 - object\n StoveKnob_bar__minus_00_dot_62_bar__plus_00_dot_90_bar__minus_01_dot_98 - object\n StoveKnob_bar__minus_00_dot_62_bar__plus_00_dot_90_bar__minus_02_dot_13 - object\n StoveKnob_bar__minus_00_dot_62_bar__plus_00_dot_90_bar__minus_02_dot_29 - object\n Tomato_bar__minus_00_dot_38_bar__plus_01_dot_34_bar__minus_00_dot_88 - object\n Window_bar__minus_01_dot_39_bar__plus_01_dot_61_bar__minus_04_dot_11 - object\n Cabinet_bar__minus_00_dot_33_bar__plus_01_dot_89_bar__minus_02_dot_51 - receptacle\n Cabinet_bar__minus_00_dot_34_bar__plus_01_dot_89_bar__minus_01_dot_29 - receptacle\n Cabinet_bar__minus_00_dot_34_bar__plus_02_dot_11_bar__minus_00_dot_39 - receptacle\n Cabinet_bar__minus_00_dot_34_bar__plus_02_dot_11_bar__minus_01_dot_27 - receptacle\n Cabinet_bar__minus_00_dot_34_bar__plus_02_dot_11_bar__minus_01_dot_63 - receptacle\n Cabinet_bar__minus_00_dot_34_bar__plus_02_dot_11_bar__minus_02_dot_50 - receptacle\n Cabinet_bar__minus_00_dot_35_bar__plus_01_dot_89_bar__minus_03_dot_29 - receptacle\n Cabinet_bar__minus_00_dot_63_bar__plus_00_dot_39_bar__minus_01_dot_61 - receptacle\n Cabinet_bar__minus_00_dot_63_bar__plus_00_dot_39_bar__minus_02_dot_51 - receptacle\n Cabinet_bar__minus_00_dot_63_bar__plus_00_dot_39_bar__minus_03_dot_01 - receptacle\n Cabinet_bar__minus_01_dot_01_bar__plus_00_dot_39_bar__minus_03_dot_37 - receptacle\n CoffeeMachine_bar__minus_02_dot_51_bar__plus_00_dot_93_bar__minus_03_dot_80 - receptacle\n CounterTop_bar__minus_00_dot_33_bar__plus_00_dot_98_bar__minus_01_dot_45 - receptacle\n CounterTop_bar__minus_01_dot_94_bar__plus_00_dot_98_bar__minus_03_dot_67 - receptacle\n DiningTable_bar__minus_03_dot_03_bar__plus_00_dot_00_bar__minus_00_dot_44 - receptacle\n DiningTable_bar__minus_03_dot_62_bar__plus_00_dot_67_bar__minus_03_dot_32 - receptacle\n Drawer_bar__minus_00_dot_48_bar__plus_00_dot_78_bar__minus_02_dot_74 - receptacle\n Drawer_bar__minus_00_dot_50_bar__plus_00_dot_78_bar__minus_01_dot_45 - receptacle\n Drawer_bar__minus_01_dot_15_bar__plus_00_dot_78_bar__minus_03_dot_50 - receptacle\n Fridge_bar__minus_00_dot_31_bar__plus_00_dot_00_bar__minus_00_dot_65 - receptacle\n GarbageCan_bar__minus_02_dot_42_bar__plus_00_dot_00_bar__minus_03_dot_54 - receptacle\n Microwave_bar__minus_00_dot_22_bar__plus_01_dot_47_bar__minus_02_dot_06 - receptacle\n SideTable_bar__minus_04_dot_07_bar__plus_00_dot_73_bar__minus_00_dot_31 - receptacle\n Sink_bar__minus_00_dot_60_bar__plus_00_dot_93_bar__minus_03_dot_39_bar_SinkBasin - receptacle\n StoveBurner_bar__minus_00_dot_22_bar__plus_00_dot_92_bar__minus_01_dot_85 - receptacle\n StoveBurner_bar__minus_00_dot_22_bar__plus_00_dot_92_bar__minus_02_dot_24 - receptacle\n StoveBurner_bar__minus_00_dot_44_bar__plus_00_dot_92_bar__minus_01_dot_85 - receptacle\n StoveBurner_bar__minus_00_dot_44_bar__plus_00_dot_92_bar__minus_02_dot_24 - receptacle\n Toaster_bar__minus_01_dot_97_bar__plus_00_dot_93_bar__minus_03_dot_76 - receptacle\n loc_bar__minus_6_bar__minus_12_bar_2_bar_0 - location\n loc_bar__minus_6_bar__minus_4_bar_1_bar__minus_15 - location\n loc_bar__minus_8_bar__minus_11_bar_1_bar_30 - location\n loc_bar__minus_4_bar__minus_6_bar_1_bar_45 - location\n loc_bar__minus_6_bar__minus_12_bar_2_bar_45 - location\n loc_bar__minus_5_bar__minus_3_bar_1_bar_60 - location\n loc_bar__minus_6_bar__minus_12_bar_2_bar__minus_30 - location\n loc_bar__minus_7_bar__minus_10_bar_2_bar_60 - location\n loc_bar__minus_4_bar__minus_12_bar_2_bar_60 - location\n loc_bar__minus_4_bar__minus_8_bar_1_bar_15 - location\n loc_bar__minus_12_bar__minus_5_bar_0_bar_60 - location\n loc_bar__minus_4_bar__minus_7_bar_1_bar_45 - location\n loc_bar__minus_6_bar__minus_9_bar_1_bar_60 - location\n loc_bar__minus_5_bar__minus_10_bar_1_bar_45 - location\n loc_bar__minus_14_bar__minus_9_bar_2_bar_45 - location\n loc_bar__minus_4_bar__minus_6_bar_1_bar__minus_15 - location\n loc_bar__minus_6_bar__minus_6_bar_1_bar__minus_15 - location\n loc_bar__minus_4_bar__minus_9_bar_1_bar_45 - location\n loc_bar__minus_4_bar__minus_7_bar_1_bar_60 - location\n loc_bar__minus_4_bar__minus_10_bar_1_bar__minus_30 - location\n loc_bar__minus_15_bar__minus_4_bar_3_bar_15 - location\n loc_bar__minus_8_bar__minus_12_bar_2_bar_45 - location\n loc_bar__minus_10_bar__minus_12_bar_2_bar_45 - location\n loc_bar__minus_7_bar__minus_11_bar_1_bar_45 - location\n loc_bar__minus_4_bar__minus_8_bar_1_bar_60 - location\n loc_bar__minus_4_bar__minus_9_bar_2_bar__minus_15 - location\n loc_bar__minus_4_bar__minus_7_bar_1_bar__minus_30 - location\n loc_bar__minus_15_bar__minus_5_bar_0_bar_45 - location\n loc_bar__minus_4_bar__minus_12_bar_1_bar_60 - location\n loc_bar__minus_10_bar__minus_12_bar_2_bar_60 - location\n loc_bar__minus_4_bar__minus_12_bar_1_bar__minus_15 - location\n loc_bar__minus_4_bar__minus_6_bar_1_bar_60 - location\n loc_bar__minus_4_bar__minus_9_bar_1_bar_60 - location\n loc_bar__minus_6_bar__minus_6_bar_1_bar_60 - location\n loc_bar__minus_13_bar__minus_7_bar_3_bar_30 - location\n )\n \n\n(:init\n\n\n (receptacleType CounterTop_bar__minus_01_dot_94_bar__plus_00_dot_98_bar__minus_03_dot_67 CounterTopType)\n (receptacleType SideTable_bar__minus_04_dot_07_bar__plus_00_dot_73_bar__minus_00_dot_31 SideTableType)\n (receptacleType Cabinet_bar__minus_00_dot_35_bar__plus_01_dot_89_bar__minus_03_dot_29 CabinetType)\n (receptacleType Sink_bar__minus_00_dot_60_bar__plus_00_dot_93_bar__minus_03_dot_39_bar_SinkBasin SinkBasinType)\n (receptacleType DiningTable_bar__minus_03_dot_03_bar__plus_00_dot_00_bar__minus_00_dot_44 DiningTableType)\n (receptacleType Cabinet_bar__minus_00_dot_34_bar__plus_02_dot_11_bar__minus_00_dot_39 CabinetType)\n (receptacleType Cabinet_bar__minus_00_dot_33_bar__plus_01_dot_89_bar__minus_02_dot_51 CabinetType)\n (receptacleType CoffeeMachine_bar__minus_02_dot_51_bar__plus_00_dot_93_bar__minus_03_dot_80 CoffeeMachineType)\n (receptacleType Cabinet_bar__minus_00_dot_34_bar__plus_02_dot_11_bar__minus_02_dot_50 CabinetType)\n (receptacleType CounterTop_bar__minus_00_dot_33_bar__plus_00_dot_98_bar__minus_01_dot_45 CounterTopType)\n (receptacleType Cabinet_bar__minus_00_dot_34_bar__plus_02_dot_11_bar__minus_01_dot_27 CabinetType)\n (receptacleType Cabinet_bar__minus_00_dot_63_bar__plus_00_dot_39_bar__minus_01_dot_61 CabinetType)\n (receptacleType Cabinet_bar__minus_00_dot_63_bar__plus_00_dot_39_bar__minus_03_dot_01 CabinetType)\n (receptacleType StoveBurner_bar__minus_00_dot_44_bar__plus_00_dot_92_bar__minus_01_dot_85 StoveBurnerType)\n (receptacleType Cabinet_bar__minus_00_dot_63_bar__plus_00_dot_39_bar__minus_02_dot_51 CabinetType)\n (receptacleType Drawer_bar__minus_01_dot_15_bar__plus_00_dot_78_bar__minus_03_dot_50 DrawerType)\n (receptacleType StoveBurner_bar__minus_00_dot_44_bar__plus_00_dot_92_bar__minus_02_dot_24 StoveBurnerType)\n (receptacleType Fridge_bar__minus_00_dot_31_bar__plus_00_dot_00_bar__minus_00_dot_65 FridgeType)\n (receptacleType Drawer_bar__minus_00_dot_50_bar__plus_00_dot_78_bar__minus_01_dot_45 DrawerType)\n (receptacleType Microwave_bar__minus_00_dot_22_bar__plus_01_dot_47_bar__minus_02_dot_06 MicrowaveType)\n (receptacleType Drawer_bar__minus_00_dot_48_bar__plus_00_dot_78_bar__minus_02_dot_74 DrawerType)\n (receptacleType Cabinet_bar__minus_00_dot_34_bar__plus_01_dot_89_bar__minus_01_dot_29 CabinetType)\n (receptacleType Cabinet_bar__minus_01_dot_01_bar__plus_00_dot_39_bar__minus_03_dot_37 CabinetType)\n (receptacleType StoveBurner_bar__minus_00_dot_22_bar__plus_00_dot_92_bar__minus_01_dot_85 StoveBurnerType)\n (receptacleType GarbageCan_bar__minus_02_dot_42_bar__plus_00_dot_00_bar__minus_03_dot_54 GarbageCanType)\n (receptacleType Toaster_bar__minus_01_dot_97_bar__plus_00_dot_93_bar__minus_03_dot_76 ToasterType)\n (receptacleType StoveBurner_bar__minus_00_dot_22_bar__plus_00_dot_92_bar__minus_02_dot_24 StoveBurnerType)\n (receptacleType Cabinet_bar__minus_00_dot_34_bar__plus_02_dot_11_bar__minus_01_dot_63 CabinetType)\n (receptacleType DiningTable_bar__minus_03_dot_62_bar__plus_00_dot_67_bar__minus_03_dot_32 DiningTableType)\n (objectType Egg_bar__minus_00_dot_24_bar__plus_00_dot_98_bar__minus_01_dot_32 EggType)\n (objectType Fork_bar__minus_00_dot_16_bar__plus_00_dot_94_bar__minus_01_dot_49 ForkType)\n (objectType Pot_bar__minus_00_dot_44_bar__plus_00_dot_96_bar__minus_01_dot_85 PotType)\n (objectType Bowl_bar__minus_03_dot_36_bar__plus_00_dot_89_bar__minus_00_dot_12 BowlType)\n (objectType Bowl_bar__minus_04_dot_18_bar__plus_00_dot_69_bar__minus_00_dot_43 BowlType)\n (objectType StoveKnob_bar__minus_00_dot_62_bar__plus_00_dot_90_bar__minus_02_dot_29 StoveKnobType)\n (objectType StoveKnob_bar__minus_00_dot_62_bar__plus_00_dot_90_bar__minus_01_dot_98 StoveKnobType)\n (objectType Egg_bar__minus_00_dot_30_bar__plus_00_dot_98_bar__minus_03_dot_07 EggType)\n (objectType Spatula_bar__minus_03_dot_50_bar__plus_00_dot_78_bar__minus_03_dot_43 SpatulaType)\n (objectType Lettuce_bar__minus_00_dot_64_bar__plus_00_dot_90_bar__minus_03_dot_34 LettuceType)\n (objectType StoveKnob_bar__minus_00_dot_62_bar__plus_00_dot_90_bar__minus_01_dot_83 StoveKnobType)\n (objectType Knife_bar__minus_03_dot_16_bar__plus_00_dot_92_bar__minus_00_dot_20 KnifeType)\n (objectType Spatula_bar__minus_02_dot_56_bar__plus_00_dot_91_bar__minus_00_dot_46 SpatulaType)\n (objectType SoapBottle_bar__minus_00_dot_25_bar__plus_01_dot_50_bar__minus_01_dot_57 SoapBottleType)\n (objectType Spoon_bar__minus_00_dot_48_bar__plus_00_dot_75_bar__minus_02_dot_69 SpoonType)\n (objectType 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Cabinet_bar__minus_01_dot_01_bar__plus_00_dot_39_bar__minus_03_dot_37)\n \n (atLocation agent1 loc_bar__minus_13_bar__minus_7_bar_3_bar_30)\n \n (cleanable Egg_bar__minus_00_dot_24_bar__plus_00_dot_98_bar__minus_01_dot_32)\n (cleanable Fork_bar__minus_00_dot_16_bar__plus_00_dot_94_bar__minus_01_dot_49)\n (cleanable Pot_bar__minus_00_dot_44_bar__plus_00_dot_96_bar__minus_01_dot_85)\n (cleanable Bowl_bar__minus_03_dot_36_bar__plus_00_dot_89_bar__minus_00_dot_12)\n (cleanable Bowl_bar__minus_04_dot_18_bar__plus_00_dot_69_bar__minus_00_dot_43)\n (cleanable Egg_bar__minus_00_dot_30_bar__plus_00_dot_98_bar__minus_03_dot_07)\n (cleanable Spatula_bar__minus_03_dot_50_bar__plus_00_dot_78_bar__minus_03_dot_43)\n (cleanable Lettuce_bar__minus_00_dot_64_bar__plus_00_dot_90_bar__minus_03_dot_34)\n (cleanable Knife_bar__minus_03_dot_16_bar__plus_00_dot_92_bar__minus_00_dot_20)\n (cleanable Spatula_bar__minus_02_dot_56_bar__plus_00_dot_91_bar__minus_00_dot_46)\n (cleanable Spoon_bar__minus_00_dot_48_bar__plus_00_dot_75_bar__minus_02_dot_69)\n (cleanable Spoon_bar__minus_03_dot_77_bar__plus_00_dot_76_bar__minus_03_dot_27)\n (cleanable Spoon_bar__minus_04_dot_06_bar__plus_00_dot_69_bar__minus_00_dot_31)\n (cleanable Mug_bar__minus_04_dot_18_bar__plus_00_dot_69_bar__minus_00_dot_19)\n (cleanable Potato_bar__minus_03_dot_35_bar__plus_00_dot_79_bar__minus_02_dot_92)\n (cleanable Cup_bar__minus_00_dot_40_bar__plus_01_dot_49_bar__minus_00_dot_65)\n (cleanable Plate_bar__minus_00_dot_32_bar__plus_01_dot_50_bar__minus_00_dot_88)\n (cleanable Apple_bar__minus_03_dot_88_bar__plus_00_dot_75_bar__minus_00_dot_19)\n (cleanable Plate_bar__minus_00_dot_32_bar__plus_01_dot_50_bar__minus_00_dot_41)\n (cleanable DishSponge_bar__minus_03_dot_84_bar__plus_00_dot_76_bar__minus_03_dot_57)\n (cleanable Tomato_bar__minus_00_dot_38_bar__plus_01_dot_34_bar__minus_00_dot_88)\n (cleanable ButterKnife_bar__minus_04_dot_00_bar__plus_00_dot_69_bar__minus_00_dot_19)\n (cleanable DishSponge_bar__minus_00_dot_14_bar__plus_01_dot_50_bar__minus_01_dot_49)\n (cleanable Pan_bar__minus_00_dot_22_bar__plus_00_dot_96_bar__minus_02_dot_22)\n (cleanable Knife_bar__minus_03_dot_16_bar__plus_00_dot_92_bar__minus_00_dot_38)\n (cleanable Potato_bar__minus_00_dot_45_bar__plus_00_dot_85_bar__minus_03_dot_30)\n (cleanable Knife_bar__minus_00_dot_17_bar__plus_00_dot_97_bar__minus_02_dot_79)\n (cleanable Egg_bar__minus_00_dot_17_bar__plus_01_dot_62_bar__minus_01_dot_83)\n (cleanable Potato_bar__minus_03_dot_94_bar__plus_00_dot_72_bar__minus_00_dot_43)\n \n (heatable Egg_bar__minus_00_dot_24_bar__plus_00_dot_98_bar__minus_01_dot_32)\n (heatable Egg_bar__minus_00_dot_30_bar__plus_00_dot_98_bar__minus_03_dot_07)\n (heatable Mug_bar__minus_04_dot_18_bar__plus_00_dot_69_bar__minus_00_dot_19)\n (heatable Potato_bar__minus_03_dot_35_bar__plus_00_dot_79_bar__minus_02_dot_92)\n (heatable Cup_bar__minus_00_dot_40_bar__plus_01_dot_49_bar__minus_00_dot_65)\n (heatable Plate_bar__minus_00_dot_32_bar__plus_01_dot_50_bar__minus_00_dot_88)\n (heatable Apple_bar__minus_03_dot_88_bar__plus_00_dot_75_bar__minus_00_dot_19)\n (heatable Bread_bar__minus_02_dot_36_bar__plus_00_dot_98_bar__minus_00_dot_20)\n (heatable Plate_bar__minus_00_dot_32_bar__plus_01_dot_50_bar__minus_00_dot_41)\n (heatable Tomato_bar__minus_00_dot_38_bar__plus_01_dot_34_bar__minus_00_dot_88)\n (heatable Potato_bar__minus_00_dot_45_bar__plus_00_dot_85_bar__minus_03_dot_30)\n (heatable Bread_bar__minus_02_dot_56_bar__plus_00_dot_98_bar__minus_00_dot_55)\n (heatable Egg_bar__minus_00_dot_17_bar__plus_01_dot_62_bar__minus_01_dot_83)\n (heatable Potato_bar__minus_03_dot_94_bar__plus_00_dot_72_bar__minus_00_dot_43)\n (coolable Egg_bar__minus_00_dot_24_bar__plus_00_dot_98_bar__minus_01_dot_32)\n (coolable Pot_bar__minus_00_dot_44_bar__plus_00_dot_96_bar__minus_01_dot_85)\n (coolable Bowl_bar__minus_03_dot_36_bar__plus_00_dot_89_bar__minus_00_dot_12)\n (coolable Bowl_bar__minus_04_dot_18_bar__plus_00_dot_69_bar__minus_00_dot_43)\n (coolable Egg_bar__minus_00_dot_30_bar__plus_00_dot_98_bar__minus_03_dot_07)\n (coolable Lettuce_bar__minus_00_dot_64_bar__plus_00_dot_90_bar__minus_03_dot_34)\n (coolable Mug_bar__minus_04_dot_18_bar__plus_00_dot_69_bar__minus_00_dot_19)\n (coolable Potato_bar__minus_03_dot_35_bar__plus_00_dot_79_bar__minus_02_dot_92)\n (coolable Cup_bar__minus_00_dot_40_bar__plus_01_dot_49_bar__minus_00_dot_65)\n (coolable Plate_bar__minus_00_dot_32_bar__plus_01_dot_50_bar__minus_00_dot_88)\n (coolable Apple_bar__minus_03_dot_88_bar__plus_00_dot_75_bar__minus_00_dot_19)\n (coolable Bread_bar__minus_02_dot_36_bar__plus_00_dot_98_bar__minus_00_dot_20)\n (coolable Plate_bar__minus_00_dot_32_bar__plus_01_dot_50_bar__minus_00_dot_41)\n (coolable Tomato_bar__minus_00_dot_38_bar__plus_01_dot_34_bar__minus_00_dot_88)\n (coolable Pan_bar__minus_00_dot_22_bar__plus_00_dot_96_bar__minus_02_dot_22)\n (coolable Potato_bar__minus_00_dot_45_bar__plus_00_dot_85_bar__minus_03_dot_30)\n (coolable Bread_bar__minus_02_dot_56_bar__plus_00_dot_98_bar__minus_00_dot_55)\n (coolable Egg_bar__minus_00_dot_17_bar__plus_01_dot_62_bar__minus_01_dot_83)\n (coolable Potato_bar__minus_03_dot_94_bar__plus_00_dot_72_bar__minus_00_dot_43)\n \n \n \n \n \n (sliceable Egg_bar__minus_00_dot_24_bar__plus_00_dot_98_bar__minus_01_dot_32)\n (sliceable Egg_bar__minus_00_dot_30_bar__plus_00_dot_98_bar__minus_03_dot_07)\n (sliceable Lettuce_bar__minus_00_dot_64_bar__plus_00_dot_90_bar__minus_03_dot_34)\n (sliceable Potato_bar__minus_03_dot_35_bar__plus_00_dot_79_bar__minus_02_dot_92)\n (sliceable Apple_bar__minus_03_dot_88_bar__plus_00_dot_75_bar__minus_00_dot_19)\n (sliceable Bread_bar__minus_02_dot_36_bar__plus_00_dot_98_bar__minus_00_dot_20)\n (sliceable Tomato_bar__minus_00_dot_38_bar__plus_01_dot_34_bar__minus_00_dot_88)\n (sliceable Potato_bar__minus_00_dot_45_bar__plus_00_dot_85_bar__minus_03_dot_30)\n (sliceable Bread_bar__minus_02_dot_56_bar__plus_00_dot_98_bar__minus_00_dot_55)\n (sliceable Egg_bar__minus_00_dot_17_bar__plus_01_dot_62_bar__minus_01_dot_83)\n (sliceable Potato_bar__minus_03_dot_94_bar__plus_00_dot_72_bar__minus_00_dot_43)\n \n (inReceptacle Egg_bar__minus_00_dot_30_bar__plus_00_dot_98_bar__minus_03_dot_07 CounterTop_bar__minus_01_dot_94_bar__plus_00_dot_98_bar__minus_03_dot_67)\n (inReceptacle SoapBottle_bar__minus_00_dot_55_bar__plus_00_dot_94_bar__minus_02_dot_85 CounterTop_bar__minus_01_dot_94_bar__plus_00_dot_98_bar__minus_03_dot_67)\n (inReceptacle SoapBottle_bar__minus_00_dot_55_bar__plus_00_dot_94_bar__minus_02_dot_67 CounterTop_bar__minus_01_dot_94_bar__plus_00_dot_98_bar__minus_03_dot_67)\n (inReceptacle Knife_bar__minus_00_dot_17_bar__plus_00_dot_97_bar__minus_02_dot_79 CounterTop_bar__minus_01_dot_94_bar__plus_00_dot_98_bar__minus_03_dot_67)\n (inReceptacle Spatula_bar__minus_02_dot_56_bar__plus_00_dot_91_bar__minus_00_dot_46 DiningTable_bar__minus_03_dot_03_bar__plus_00_dot_00_bar__minus_00_dot_44)\n (inReceptacle Bowl_bar__minus_03_dot_36_bar__plus_00_dot_89_bar__minus_00_dot_12 DiningTable_bar__minus_03_dot_03_bar__plus_00_dot_00_bar__minus_00_dot_44)\n (inReceptacle Bread_bar__minus_02_dot_36_bar__plus_00_dot_98_bar__minus_00_dot_20 DiningTable_bar__minus_03_dot_03_bar__plus_00_dot_00_bar__minus_00_dot_44)\n (inReceptacle Knife_bar__minus_03_dot_16_bar__plus_00_dot_92_bar__minus_00_dot_38 DiningTable_bar__minus_03_dot_03_bar__plus_00_dot_00_bar__minus_00_dot_44)\n (inReceptacle Bread_bar__minus_02_dot_56_bar__plus_00_dot_98_bar__minus_00_dot_55 DiningTable_bar__minus_03_dot_03_bar__plus_00_dot_00_bar__minus_00_dot_44)\n (inReceptacle SaltShaker_bar__minus_02_dot_76_bar__plus_00_dot_89_bar__minus_00_dot_29 DiningTable_bar__minus_03_dot_03_bar__plus_00_dot_00_bar__minus_00_dot_44)\n (inReceptacle Knife_bar__minus_03_dot_16_bar__plus_00_dot_92_bar__minus_00_dot_20 DiningTable_bar__minus_03_dot_03_bar__plus_00_dot_00_bar__minus_00_dot_44)\n (inReceptacle Spoon_bar__minus_03_dot_77_bar__plus_00_dot_76_bar__minus_03_dot_27 DiningTable_bar__minus_03_dot_62_bar__plus_00_dot_67_bar__minus_03_dot_32)\n (inReceptacle Potato_bar__minus_03_dot_35_bar__plus_00_dot_79_bar__minus_02_dot_92 DiningTable_bar__minus_03_dot_62_bar__plus_00_dot_67_bar__minus_03_dot_32)\n (inReceptacle Spatula_bar__minus_03_dot_50_bar__plus_00_dot_78_bar__minus_03_dot_43 DiningTable_bar__minus_03_dot_62_bar__plus_00_dot_67_bar__minus_03_dot_32)\n (inReceptacle SaltShaker_bar__minus_03_dot_76_bar__plus_00_dot_76_bar__minus_03_dot_39 DiningTable_bar__minus_03_dot_62_bar__plus_00_dot_67_bar__minus_03_dot_32)\n (inReceptacle DishSponge_bar__minus_03_dot_84_bar__plus_00_dot_76_bar__minus_03_dot_57 DiningTable_bar__minus_03_dot_62_bar__plus_00_dot_67_bar__minus_03_dot_32)\n (inReceptacle Pot_bar__minus_00_dot_44_bar__plus_00_dot_96_bar__minus_01_dot_85 StoveBurner_bar__minus_00_dot_44_bar__plus_00_dot_92_bar__minus_01_dot_85)\n (inReceptacle Pot_bar__minus_00_dot_44_bar__plus_00_dot_96_bar__minus_01_dot_85 StoveBurner_bar__minus_00_dot_22_bar__plus_00_dot_92_bar__minus_01_dot_85)\n (inReceptacle Pan_bar__minus_00_dot_22_bar__plus_00_dot_96_bar__minus_02_dot_22 StoveBurner_bar__minus_00_dot_44_bar__plus_00_dot_92_bar__minus_02_dot_24)\n (inReceptacle Spoon_bar__minus_00_dot_48_bar__plus_00_dot_75_bar__minus_02_dot_69 Drawer_bar__minus_00_dot_48_bar__plus_00_dot_78_bar__minus_02_dot_74)\n (inReceptacle SoapBottle_bar__minus_00_dot_25_bar__plus_01_dot_50_bar__minus_01_dot_57 Cabinet_bar__minus_00_dot_34_bar__plus_01_dot_89_bar__minus_01_dot_29)\n (inReceptacle DishSponge_bar__minus_00_dot_14_bar__plus_01_dot_50_bar__minus_01_dot_49 Cabinet_bar__minus_00_dot_34_bar__plus_01_dot_89_bar__minus_01_dot_29)\n (inReceptacle PepperShaker_bar__minus_00_dot_42_bar__plus_01_dot_50_bar__minus_03_dot_49 Cabinet_bar__minus_00_dot_35_bar__plus_01_dot_89_bar__minus_03_dot_29)\n (inReceptacle Apple_bar__minus_03_dot_88_bar__plus_00_dot_75_bar__minus_00_dot_19 SideTable_bar__minus_04_dot_07_bar__plus_00_dot_73_bar__minus_00_dot_31)\n (inReceptacle Bowl_bar__minus_04_dot_18_bar__plus_00_dot_69_bar__minus_00_dot_43 SideTable_bar__minus_04_dot_07_bar__plus_00_dot_73_bar__minus_00_dot_31)\n (inReceptacle Spoon_bar__minus_04_dot_06_bar__plus_00_dot_69_bar__minus_00_dot_31 SideTable_bar__minus_04_dot_07_bar__plus_00_dot_73_bar__minus_00_dot_31)\n (inReceptacle Mug_bar__minus_04_dot_18_bar__plus_00_dot_69_bar__minus_00_dot_19 SideTable_bar__minus_04_dot_07_bar__plus_00_dot_73_bar__minus_00_dot_31)\n (inReceptacle PepperShaker_bar__minus_04_dot_12_bar__plus_00_dot_69_bar__minus_00_dot_31 SideTable_bar__minus_04_dot_07_bar__plus_00_dot_73_bar__minus_00_dot_31)\n (inReceptacle Potato_bar__minus_03_dot_94_bar__plus_00_dot_72_bar__minus_00_dot_43 SideTable_bar__minus_04_dot_07_bar__plus_00_dot_73_bar__minus_00_dot_31)\n (inReceptacle ButterKnife_bar__minus_04_dot_00_bar__plus_00_dot_69_bar__minus_00_dot_19 SideTable_bar__minus_04_dot_07_bar__plus_00_dot_73_bar__minus_00_dot_31)\n (inReceptacle Egg_bar__minus_00_dot_24_bar__plus_00_dot_98_bar__minus_01_dot_32 CounterTop_bar__minus_00_dot_33_bar__plus_00_dot_98_bar__minus_01_dot_45)\n (inReceptacle Fork_bar__minus_00_dot_16_bar__plus_00_dot_94_bar__minus_01_dot_49 CounterTop_bar__minus_00_dot_33_bar__plus_00_dot_98_bar__minus_01_dot_45)\n (inReceptacle SaltShaker_bar__minus_00_dot_55_bar__plus_00_dot_94_bar__minus_01_dot_41 CounterTop_bar__minus_00_dot_33_bar__plus_00_dot_98_bar__minus_01_dot_45)\n (inReceptacle Pan_bar__minus_00_dot_22_bar__plus_00_dot_96_bar__minus_02_dot_22 StoveBurner_bar__minus_00_dot_22_bar__plus_00_dot_92_bar__minus_02_dot_24)\n (inReceptacle Lettuce_bar__minus_00_dot_64_bar__plus_00_dot_90_bar__minus_03_dot_34 Sink_bar__minus_00_dot_60_bar__plus_00_dot_93_bar__minus_03_dot_39_bar_SinkBasin)\n (inReceptacle Potato_bar__minus_00_dot_45_bar__plus_00_dot_85_bar__minus_03_dot_30 Sink_bar__minus_00_dot_60_bar__plus_00_dot_93_bar__minus_03_dot_39_bar_SinkBasin)\n (inReceptacle Plate_bar__minus_00_dot_32_bar__plus_01_dot_50_bar__minus_00_dot_41 Fridge_bar__minus_00_dot_31_bar__plus_00_dot_00_bar__minus_00_dot_65)\n (inReceptacle Tomato_bar__minus_00_dot_38_bar__plus_01_dot_34_bar__minus_00_dot_88 Fridge_bar__minus_00_dot_31_bar__plus_00_dot_00_bar__minus_00_dot_65)\n (inReceptacle Cup_bar__minus_00_dot_40_bar__plus_01_dot_49_bar__minus_00_dot_65 Fridge_bar__minus_00_dot_31_bar__plus_00_dot_00_bar__minus_00_dot_65)\n (inReceptacle Plate_bar__minus_00_dot_32_bar__plus_01_dot_50_bar__minus_00_dot_88 Fridge_bar__minus_00_dot_31_bar__plus_00_dot_00_bar__minus_00_dot_65)\n (inReceptacle Egg_bar__minus_00_dot_17_bar__plus_01_dot_62_bar__minus_01_dot_83 Microwave_bar__minus_00_dot_22_bar__plus_01_dot_47_bar__minus_02_dot_06)\n \n \n (receptacleAtLocation Cabinet_bar__minus_00_dot_33_bar__plus_01_dot_89_bar__minus_02_dot_51 loc_bar__minus_4_bar__minus_12_bar_1_bar__minus_15)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_34_bar__plus_01_dot_89_bar__minus_01_dot_29 loc_bar__minus_4_bar__minus_6_bar_1_bar__minus_15)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_34_bar__plus_02_dot_11_bar__minus_00_dot_39 loc_bar__minus_6_bar__minus_4_bar_1_bar__minus_15)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_34_bar__plus_02_dot_11_bar__minus_01_dot_27 loc_bar__minus_6_bar__minus_6_bar_1_bar__minus_15)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_34_bar__plus_02_dot_11_bar__minus_01_dot_63 loc_bar__minus_4_bar__minus_7_bar_1_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_34_bar__plus_02_dot_11_bar__minus_02_dot_50 loc_bar__minus_4_bar__minus_10_bar_1_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_35_bar__plus_01_dot_89_bar__minus_03_dot_29 loc_bar__minus_4_bar__minus_9_bar_2_bar__minus_15)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_63_bar__plus_00_dot_39_bar__minus_01_dot_61 loc_bar__minus_6_bar__minus_6_bar_1_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_63_bar__plus_00_dot_39_bar__minus_02_dot_51 loc_bar__minus_6_bar__minus_9_bar_1_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_63_bar__plus_00_dot_39_bar__minus_03_dot_01 loc_bar__minus_7_bar__minus_11_bar_1_bar_45)\n (receptacleAtLocation Cabinet_bar__minus_01_dot_01_bar__plus_00_dot_39_bar__minus_03_dot_37 loc_bar__minus_7_bar__minus_10_bar_2_bar_60)\n (receptacleAtLocation CoffeeMachine_bar__minus_02_dot_51_bar__plus_00_dot_93_bar__minus_03_dot_80 loc_bar__minus_10_bar__minus_12_bar_2_bar_45)\n (receptacleAtLocation CounterTop_bar__minus_00_dot_33_bar__plus_00_dot_98_bar__minus_01_dot_45 loc_bar__minus_4_bar__minus_6_bar_1_bar_45)\n (receptacleAtLocation CounterTop_bar__minus_01_dot_94_bar__plus_00_dot_98_bar__minus_03_dot_67 loc_bar__minus_6_bar__minus_12_bar_2_bar_45)\n (receptacleAtLocation DiningTable_bar__minus_03_dot_03_bar__plus_00_dot_00_bar__minus_00_dot_44 loc_bar__minus_12_bar__minus_5_bar_0_bar_60)\n (receptacleAtLocation DiningTable_bar__minus_03_dot_62_bar__plus_00_dot_67_bar__minus_03_dot_32 loc_bar__minus_14_bar__minus_9_bar_2_bar_45)\n (receptacleAtLocation Drawer_bar__minus_00_dot_48_bar__plus_00_dot_78_bar__minus_02_dot_74 loc_bar__minus_5_bar__minus_10_bar_1_bar_45)\n (receptacleAtLocation Drawer_bar__minus_00_dot_50_bar__plus_00_dot_78_bar__minus_01_dot_45 loc_bar__minus_4_bar__minus_6_bar_1_bar_60)\n (receptacleAtLocation Drawer_bar__minus_01_dot_15_bar__plus_00_dot_78_bar__minus_03_dot_50 loc_bar__minus_4_bar__minus_12_bar_2_bar_60)\n (receptacleAtLocation Fridge_bar__minus_00_dot_31_bar__plus_00_dot_00_bar__minus_00_dot_65 loc_bar__minus_5_bar__minus_3_bar_1_bar_60)\n (receptacleAtLocation GarbageCan_bar__minus_02_dot_42_bar__plus_00_dot_00_bar__minus_03_dot_54 loc_bar__minus_10_bar__minus_12_bar_2_bar_60)\n (receptacleAtLocation Microwave_bar__minus_00_dot_22_bar__plus_01_dot_47_bar__minus_02_dot_06 loc_bar__minus_4_bar__minus_8_bar_1_bar_15)\n (receptacleAtLocation SideTable_bar__minus_04_dot_07_bar__plus_00_dot_73_bar__minus_00_dot_31 loc_bar__minus_15_bar__minus_5_bar_0_bar_45)\n (receptacleAtLocation Sink_bar__minus_00_dot_60_bar__plus_00_dot_93_bar__minus_03_dot_39_bar_SinkBasin loc_bar__minus_8_bar__minus_11_bar_1_bar_30)\n (receptacleAtLocation StoveBurner_bar__minus_00_dot_22_bar__plus_00_dot_92_bar__minus_01_dot_85 loc_bar__minus_4_bar__minus_7_bar_1_bar_45)\n (receptacleAtLocation StoveBurner_bar__minus_00_dot_22_bar__plus_00_dot_92_bar__minus_02_dot_24 loc_bar__minus_4_bar__minus_9_bar_1_bar_45)\n (receptacleAtLocation StoveBurner_bar__minus_00_dot_44_bar__plus_00_dot_92_bar__minus_01_dot_85 loc_bar__minus_4_bar__minus_7_bar_1_bar_45)\n (receptacleAtLocation StoveBurner_bar__minus_00_dot_44_bar__plus_00_dot_92_bar__minus_02_dot_24 loc_bar__minus_4_bar__minus_9_bar_1_bar_45)\n (receptacleAtLocation Toaster_bar__minus_01_dot_97_bar__plus_00_dot_93_bar__minus_03_dot_76 loc_bar__minus_8_bar__minus_12_bar_2_bar_45)\n (objectAtLocation Bowl_bar__minus_03_dot_36_bar__plus_00_dot_89_bar__minus_00_dot_12 loc_bar__minus_12_bar__minus_5_bar_0_bar_60)\n (objectAtLocation Spoon_bar__minus_04_dot_06_bar__plus_00_dot_69_bar__minus_00_dot_31 loc_bar__minus_15_bar__minus_5_bar_0_bar_45)\n (objectAtLocation Egg_bar__minus_00_dot_17_bar__plus_01_dot_62_bar__minus_01_dot_83 loc_bar__minus_4_bar__minus_8_bar_1_bar_15)\n (objectAtLocation Potato_bar__minus_03_dot_94_bar__plus_00_dot_72_bar__minus_00_dot_43 loc_bar__minus_15_bar__minus_5_bar_0_bar_45)\n (objectAtLocation DishSponge_bar__minus_03_dot_84_bar__plus_00_dot_76_bar__minus_03_dot_57 loc_bar__minus_14_bar__minus_9_bar_2_bar_45)\n (objectAtLocation PepperShaker_bar__minus_04_dot_12_bar__plus_00_dot_69_bar__minus_00_dot_31 loc_bar__minus_15_bar__minus_5_bar_0_bar_45)\n (objectAtLocation SaltShaker_bar__minus_00_dot_55_bar__plus_00_dot_94_bar__minus_01_dot_41 loc_bar__minus_4_bar__minus_6_bar_1_bar_45)\n (objectAtLocation Knife_bar__minus_03_dot_16_bar__plus_00_dot_92_bar__minus_00_dot_38 loc_bar__minus_12_bar__minus_5_bar_0_bar_60)\n (objectAtLocation Spatula_bar__minus_03_dot_50_bar__plus_00_dot_78_bar__minus_03_dot_43 loc_bar__minus_14_bar__minus_9_bar_2_bar_45)\n (objectAtLocation Bread_bar__minus_02_dot_36_bar__plus_00_dot_98_bar__minus_00_dot_20 loc_bar__minus_12_bar__minus_5_bar_0_bar_60)\n (objectAtLocation Plate_bar__minus_00_dot_32_bar__plus_01_dot_50_bar__minus_00_dot_41 loc_bar__minus_5_bar__minus_3_bar_1_bar_60)\n (objectAtLocation SoapBottle_bar__minus_00_dot_25_bar__plus_01_dot_50_bar__minus_01_dot_57 loc_bar__minus_4_bar__minus_6_bar_1_bar__minus_15)\n (objectAtLocation SaltShaker_bar__minus_02_dot_76_bar__plus_00_dot_89_bar__minus_00_dot_29 loc_bar__minus_12_bar__minus_5_bar_0_bar_60)\n (objectAtLocation SoapBottle_bar__minus_00_dot_55_bar__plus_00_dot_94_bar__minus_02_dot_67 loc_bar__minus_6_bar__minus_12_bar_2_bar_45)\n (objectAtLocation Knife_bar__minus_00_dot_17_bar__plus_00_dot_97_bar__minus_02_dot_79 loc_bar__minus_6_bar__minus_12_bar_2_bar_45)\n (objectAtLocation Egg_bar__minus_00_dot_24_bar__plus_00_dot_98_bar__minus_01_dot_32 loc_bar__minus_4_bar__minus_6_bar_1_bar_45)\n (objectAtLocation Spoon_bar__minus_03_dot_77_bar__plus_00_dot_76_bar__minus_03_dot_27 loc_bar__minus_14_bar__minus_9_bar_2_bar_45)\n (objectAtLocation Potato_bar__minus_00_dot_45_bar__plus_00_dot_85_bar__minus_03_dot_30 loc_bar__minus_8_bar__minus_11_bar_1_bar_30)\n (objectAtLocation Sink_bar__minus_00_dot_60_bar__plus_00_dot_93_bar__minus_03_dot_39 loc_bar__minus_4_bar__minus_12_bar_1_bar_60)\n (objectAtLocation SoapBottle_bar__minus_00_dot_55_bar__plus_00_dot_94_bar__minus_02_dot_85 loc_bar__minus_6_bar__minus_12_bar_2_bar_45)\n (objectAtLocation Pot_bar__minus_00_dot_44_bar__plus_00_dot_96_bar__minus_01_dot_85 loc_bar__minus_4_bar__minus_7_bar_1_bar_45)\n (objectAtLocation StoveKnob_bar__minus_00_dot_62_bar__plus_00_dot_90_bar__minus_01_dot_83 loc_bar__minus_4_bar__minus_7_bar_1_bar_60)\n (objectAtLocation StoveKnob_bar__minus_00_dot_62_bar__plus_00_dot_90_bar__minus_02_dot_13 loc_bar__minus_4_bar__minus_9_bar_1_bar_60)\n (objectAtLocation StoveKnob_bar__minus_00_dot_62_bar__plus_00_dot_90_bar__minus_02_dot_29 loc_bar__minus_4_bar__minus_9_bar_1_bar_60)\n (objectAtLocation StoveKnob_bar__minus_00_dot_62_bar__plus_00_dot_90_bar__minus_01_dot_98 loc_bar__minus_4_bar__minus_8_bar_1_bar_60)\n (objectAtLocation Fork_bar__minus_00_dot_16_bar__plus_00_dot_94_bar__minus_01_dot_49 loc_bar__minus_4_bar__minus_6_bar_1_bar_45)\n (objectAtLocation Cup_bar__minus_00_dot_40_bar__plus_01_dot_49_bar__minus_00_dot_65 loc_bar__minus_5_bar__minus_3_bar_1_bar_60)\n (objectAtLocation Tomato_bar__minus_00_dot_38_bar__plus_01_dot_34_bar__minus_00_dot_88 loc_bar__minus_5_bar__minus_3_bar_1_bar_60)\n (objectAtLocation Pan_bar__minus_00_dot_22_bar__plus_00_dot_96_bar__minus_02_dot_22 loc_bar__minus_4_bar__minus_9_bar_1_bar_45)\n (objectAtLocation Plate_bar__minus_00_dot_32_bar__plus_01_dot_50_bar__minus_00_dot_88 loc_bar__minus_5_bar__minus_3_bar_1_bar_60)\n (objectAtLocation Window_bar__minus_01_dot_39_bar__plus_01_dot_61_bar__minus_04_dot_11 loc_bar__minus_6_bar__minus_12_bar_2_bar_0)\n (objectAtLocation LightSwitch_bar__minus_04_dot_37_bar__plus_01_dot_49_bar__minus_01_dot_03 loc_bar__minus_15_bar__minus_4_bar_3_bar_15)\n (objectAtLocation Bread_bar__minus_02_dot_56_bar__plus_00_dot_98_bar__minus_00_dot_55 loc_bar__minus_12_bar__minus_5_bar_0_bar_60)\n (objectAtLocation Spatula_bar__minus_02_dot_56_bar__plus_00_dot_91_bar__minus_00_dot_46 loc_bar__minus_12_bar__minus_5_bar_0_bar_60)\n (objectAtLocation Knife_bar__minus_03_dot_16_bar__plus_00_dot_92_bar__minus_00_dot_20 loc_bar__minus_12_bar__minus_5_bar_0_bar_60)\n (objectAtLocation SaltShaker_bar__minus_03_dot_76_bar__plus_00_dot_76_bar__minus_03_dot_39 loc_bar__minus_14_bar__minus_9_bar_2_bar_45)\n (objectAtLocation PepperShaker_bar__minus_00_dot_42_bar__plus_01_dot_50_bar__minus_03_dot_49 loc_bar__minus_4_bar__minus_9_bar_2_bar__minus_15)\n (objectAtLocation ButterKnife_bar__minus_04_dot_00_bar__plus_00_dot_69_bar__minus_00_dot_19 loc_bar__minus_15_bar__minus_5_bar_0_bar_45)\n (objectAtLocation Apple_bar__minus_03_dot_88_bar__plus_00_dot_75_bar__minus_00_dot_19 loc_bar__minus_15_bar__minus_5_bar_0_bar_45)\n (objectAtLocation DishSponge_bar__minus_00_dot_14_bar__plus_01_dot_50_bar__minus_01_dot_49 loc_bar__minus_4_bar__minus_6_bar_1_bar__minus_15)\n (objectAtLocation Potato_bar__minus_03_dot_35_bar__plus_00_dot_79_bar__minus_02_dot_92 loc_bar__minus_14_bar__minus_9_bar_2_bar_45)\n (objectAtLocation Egg_bar__minus_00_dot_30_bar__plus_00_dot_98_bar__minus_03_dot_07 loc_bar__minus_6_bar__minus_12_bar_2_bar_45)\n (objectAtLocation Spoon_bar__minus_00_dot_48_bar__plus_00_dot_75_bar__minus_02_dot_69 loc_bar__minus_5_bar__minus_10_bar_1_bar_45)\n (objectAtLocation Lettuce_bar__minus_00_dot_64_bar__plus_00_dot_90_bar__minus_03_dot_34 loc_bar__minus_8_bar__minus_11_bar_1_bar_30)\n (objectAtLocation Mug_bar__minus_04_dot_18_bar__plus_00_dot_69_bar__minus_00_dot_19 loc_bar__minus_15_bar__minus_5_bar_0_bar_45)\n (objectAtLocation Blinds_bar__minus_01_dot_37_bar__plus_02_dot_21_bar__minus_03_dot_96 loc_bar__minus_6_bar__minus_12_bar_2_bar__minus_30)\n (objectAtLocation Bowl_bar__minus_04_dot_18_bar__plus_00_dot_69_bar__minus_00_dot_43 loc_bar__minus_15_bar__minus_5_bar_0_bar_45)\n )\n \n\n (:goal\n (and\n (exists (?r - receptacle)\n (exists (?o - object)\n (and\n (heatable ?o)\n (objectType ?o MugType)\n (receptacleType ?r CoffeeMachineType)\n (isHot ?o)\n (inReceptacle ?o ?r)\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to sidetable 1", "take mug 1 from sidetable 1", "go to microwave 1", "heat mug 1 with microwave 1", "go to coffeemachine 1", "move mug 1 to coffeemachine 1"]}
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alfworld__pick_heat_then_place_in_recep__451
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pick_heat_then_place_in_recep
|
pick_heat_then_place_in_recep-Mug-None-CoffeeMachine-28/trial_T20190908_062730_537428/game.tw-pddl
|
{"pddl_domain": ";; Specification in PDDL of the Alfred domain\n;; Intended to be used with Fast Downward which supports PDDL 2.2 level 1 plus the :action-costs requirement from PDDL 3.1.\n\n(define (domain alfred)\n (:requirements\n :adl\n :action-costs\n :typing\n )\n (:types\n agent\n location\n receptacle\n object\n rtype\n otype\n )\n\n\n (:predicates\n (atLocation ?a - agent ?l - location) ; true if the agent is at the location\n (receptacleAtLocation ?r - receptacle ?l - location) ; true if the receptacle is at the location (constant)\n (objectAtLocation ?o - object ?l - location) ; true if the object is at the location\n (openable ?r - receptacle) ; true if a receptacle is openable\n (opened ?r - receptacle) ; true if a receptacle is opened\n (inReceptacle ?o - object ?r - receptacle) ; object ?o is in receptacle ?r\n (isReceptacleObject ?o - object) ; true if the object can have things put inside it\n (inReceptacleObject ?innerObject - object ?outerObject - object) ; object ?innerObject is inside object ?outerObject\n (isReceptacleObjectFull ?o - object) ; true if the receptacle object contains something\n (wasInReceptacle ?o - object ?r - receptacle) ; object ?o was or is in receptacle ?r now or some time in the past\n (checked ?r - receptacle) ; whether the receptacle has been looked inside/visited\n (examined ?l - location) ; TODO\n (receptacleType ?r - receptacle ?t - rtype) ; the type of receptacle (Cabinet vs Cabinet|01|2...)\n (canContain ?rt - rtype ?ot - otype) ; true if receptacle can hold object\n (objectType ?o - object ?t - otype) ; the type of object (Apple vs Apple|01|2...)\n (holds ?a - agent ?o - object) ; object ?o is held by agent ?a\n (holdsAny ?a - agent) ; agent ?a holds an object\n (holdsAnyReceptacleObject ?a - agent) ; agent ?a holds a receptacle object\n (full ?r - receptacle) ; true if the receptacle has no remaining space\n (isClean ?o - object) ; true if the object has been clean in sink\n (cleanable ?o - object) ; true if the object can be placed in a sink\n (isHot ?o - object) ; true if the object has been heated up\n (heatable ?o - object) ; true if the object can be heated up in a microwave\n (isCool ?o - object) ; true if the object has been cooled\n (coolable ?o - object) ; true if the object can be cooled in the fridge\n (pickupable ?o - object) ; true if the object can be picked up\n (moveable ?o - object) ; true if the object can be moved\n (toggleable ?o - object) ; true if the object can be turned on/off\n (isOn ?o - object) ; true if the object is on\n (isToggled ?o - object) ; true if the object has been toggled\n (sliceable ?o - object) ; true if the object can be sliced\n (isSliced ?o - object) ; true if the object is sliced\n )\n\n (:functions\n (distance ?from ?to)\n (total-cost) - number\n )\n\n;; All actions are specified such that the final arguments are the ones used\n;; for performing actions in Unity.\n\n\n(:action look\n :parameters (?a - agent ?l - location)\n :precondition\n (and\n (atLocation ?a ?l)\n )\n :effect\n (and\n (checked ?l)\n )\n)\n\n(:action inventory\n :parameters (?a - agent)\n :precondition\n ()\n :effect\n (and\n (checked ?a)\n )\n)\n\n(:action examineReceptacle\n :parameters (?a - agent ?r - receptacle)\n :precondition\n (and\n (exists (?l - location)\n (and\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n )\n )\n )\n :effect\n (and\n (checked ?r)\n )\n)\n\n(:action examineObject\n :parameters (?a - agent ?o - object)\n :precondition\n (or\n ;(exists (?l - location)\n ; (and\n ; (atLocation ?a ?l)\n ; (objectAtLocation ?o ?l)\n ; )\n ;)\n (exists (?l - location, ?r - receptacle)\n (and\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n ; (objectAtLocation ?o ?l)\n (inReceptacle ?o ?r)\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n )\n )\n (holds ?a ?o)\n )\n :effect\n (and\n (checked ?o)\n )\n)\n\n;; agent goes to receptacle\n (:action GotoLocation\n :parameters (?a - agent ?lStart - location ?lEnd - location ?r - receptacle)\n :precondition (and\n (atLocation ?a ?lStart)\n (receptacleAtLocation ?r ?lEnd)\n ;(exists (?r - receptacle) (receptacleAtLocation ?r ?lEnd))\n )\n :effect (and\n (not (atLocation ?a ?lStart))\n (atLocation ?a ?lEnd)\n ; (forall (?r - receptacle)\n ; (when (and (receptacleAtLocation ?r ?lEnd)\n ; (or (not (openable ?r)) (opened ?r)))\n ; (checked ?r)\n ; )\n ; )\n ; (increase (total-cost) (distance ?lStart ?lEnd))\n (increase (total-cost) 1)\n )\n )\n\n;; agent opens receptacle\n (:action OpenObject\n :parameters (?a - agent ?l - location ?r - receptacle)\n :precondition (and\n (openable ?r)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (not (opened ?r))\n )\n :effect (and\n (opened ?r)\n (checked ?r)\n (increase (total-cost) 1)\n )\n )\n;; agent closes receptacle\n (:action CloseObject\n :parameters (?a - agent ?l - location ?r - receptacle)\n :precondition (and\n (openable ?r)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (opened ?r)\n )\n :effect (and\n (not (opened ?r))\n (increase (total-cost) 1)\n )\n\n )\n\n ;; agent picks up object from a receptacle\n (:action PickupObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n :precondition\n (and\n (pickupable ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n ; (objectAtLocation ?o ?l)\n (inReceptacle ?o ?r)\n (not (holdsAny ?a)) ; agent's hands are empty.\n ;(not (holdsAnyReceptacleObject ?a))\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n ;(not (isReceptacleObject ?o))\n )\n :effect\n (and\n (not (inReceptacle ?o ?r))\n (holds ?a ?o)\n (holdsAny ?a)\n (not (objectAtLocation ?o ?l))\n ;(not (full ?r))\n (increase (total-cost) 1)\n )\n )\n\n\n; ;; agent picks up object from a receptacle\n; (:action PickupObjectFromReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?outerR - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (inReceptacle ?o ?r)\n; (pickupable ?o)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (not (isReceptacleObject ?o))\n; (isReceptacleObject ?outerR)\n; (inReceptacleObject ?o ?outerR)\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (holds ?a ?o)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n;\n; (not (inReceptacleObject ?o ?outerR))\n; (not (isReceptacleObjectFull ?outerR))\n; )\n; )\n;\n; ;; agent picks up object from a receptacle\n; (:action PickupEmptyReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; ; (objectAtLocation ?o ?l)\n; (inReceptacle ?o ?r)\n; (pickupable ?o)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (isReceptacleObject ?o)\n; (not (isReceptacleObjectFull ?o))\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (holds ?a ?o)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n; (holdsAnyReceptacleObject ?a)\n; )\n; )\n;\n; ;; agent picks up object from a receptacle\n; (:action PickupFullReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?outerR - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (inReceptacle ?outerR ?r)\n; (pickupable ?outerR)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (not (isReceptacleObject ?o))\n; (isReceptacleObject ?outerR)\n; (inReceptacleObject ?o ?outerR)\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (not (inReceptacle ?outerR ?r))\n; (holds ?a ?outerR)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (objectAtLocation ?outerR ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n; (holdsAnyReceptacleObject ?a)\n; )\n; )\n\n\n;; agent puts down an object\n (:action PutObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle ?ot - otype ?rt - rtype)\n :precondition (and\n (holds ?a ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable\n ;(not (full ?r))\n (objectType ?o ?ot)\n (receptacleType ?r ?rt)\n (canContain ?rt ?ot)\n ;(not (holdsAnyReceptacleObject ?a))\n )\n :effect (and\n (inReceptacle ?o ?r)\n (objectAtLocation ?o ?l)\n ;(full ?r)\n (not (holds ?a ?o))\n (not (holdsAny ?a))\n (increase (total-cost) 1)\n )\n )\n\n;;; agent puts down an object\n; (:action PutObjectInReceptacleObject\n; :parameters (?a - agent ?l - location ?ot - otype ?o - object ?outerO - object ?outerR - receptacle)\n; :precondition (and\n; (atLocation ?a ?l)\n; (objectAtLocation ?outerO ?l)\n; (isReceptacleObject ?outerO)\n; (not (isReceptacleObject ?o))\n; (objectType ?o ?ot)\n; (holds ?a ?o)\n; (not (holdsAnyReceptacleObject ?a))\n; (inReceptacle ?outerO ?outerR)\n; (not (isReceptacleObjectFull ?outerO))\n; )\n; :effect (and\n; (inReceptacleObject ?o ?outerO)\n; (inReceptacle ?o ?outerR)\n; (not (holds ?a ?o))\n; (not (holdsAny ?a))\n; (objectAtLocation ?o ?l)\n; (isReceptacleObjectFull ?outerO)\n; (increase (total-cost) 1)\n; )\n; )\n;\n;;; agent puts down an object\n; (:action PutEmptyReceptacleObjectinReceptacle\n; :parameters (?a - agent ?l - location ?ot - otype ?o - object ?r - receptacle)\n; :precondition (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable\n; (not (full ?r))\n; (objectType ?o ?ot)\n; (holds ?a ?o)\n; (holdsAnyReceptacleObject ?a)\n; (isReceptacleObject ?o)\n; (not (isReceptacleObjectFull ?o))\n; )\n; :effect (and\n; (inReceptacle ?o ?r)\n; (objectAtLocation ?o ?l)\n; (full ?r)\n; (not (holds ?a ?o))\n; (not (holdsAny ?a))\n; (not (holdsAnyReceptacleObject ?a))\n; (increase (total-cost) 1)\n; )\n; )\n;\n;;; agent puts down a receptacle object in a receptacle\n; (:action PutFullReceptacleObjectInReceptacle\n; :parameters (?a - agent ?l - location ?ot - otype ?innerO - object ?outerO - object ?r - receptacle) ; ?rt - rtype)\n; :precondition (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (objectType ?outerO ?ot)\n; (holds ?a ?outerO)\n; (holdsAnyReceptacleObject ?a)\n; (isReceptacleObject ?outerO)\n; (isReceptacleObjectFull ?outerO)\n; (inReceptacleObject ?innerO ?outerO)\n; )\n; :effect (and\n; (not (holdsAny ?a))\n; (not (holdsAnyReceptacleObject ?a))\n; (objectAtLocation ?outerO ?l)\n; (objectAtLocation ?innerO ?l)\n; (inReceptacle ?outerO ?r)\n; (inReceptacle ?innerO ?r)\n; (not (holds ?a ?outerO))\n; (increase (total-cost) 1)\n; )\n; )\n\n;; agent cleans some object\n (:action CleanObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (cleanable ?o)\n (or\n (receptacleType ?r SinkType)\n (receptacleType ?r SinkBasinType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isClean ?o)\n )\n )\n\n\n;; agent heats-up some object\n (:action HeatObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (heatable ?o)\n (or\n (receptacleType ?r MicrowaveType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isHot ?o)\n (not (isCool ?o))\n )\n )\n\n;; agent cools some object\n (:action CoolObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (coolable ?o)\n (or\n (receptacleType ?r FridgeType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isCool ?o)\n (not (isHot ?o))\n )\n )\n\n\n;; agent toggle object\n (:action ToggleObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n :precondition (and\n (toggleable ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (inReceptacle ?o ?r)\n )\n :effect (and\n (increase (total-cost) 5)\n (when (isOn ?o)\n (not (isOn ?o)))\n (when (not (isOn ?o))\n (isOn ?o))\n (isToggled ?o)\n )\n )\n\n\n;; agent slices some object with a knife\n (:action SliceObject\n :parameters (?a - agent ?l - location ?co - object ?ko - object)\n :precondition\n (and\n (sliceable ?co)\n (or\n (objectType ?ko KnifeType)\n (objectType ?ko ButterKnifeType)\n )\n (atLocation ?a ?l)\n (objectAtLocation ?co ?l)\n (holds ?a ?ko)\n )\n :effect (and\n (increase (total-cost) 5)\n (isSliced ?co)\n )\n )\n\n\n(:action help\n :parameters (?a - agent)\n :precondition\n ()\n :effect\n (and\n (checked ?a)\n )\n)\n)\n", "grammar": "grammar :: \"\"\"\n {\n \"intro\": [\n {\n \"rhs\": \"-= Welcome to TextWorld, ALFRED! =-\\n\\n#look.feedback#\\n\\n#task#\"\n }\n ],\n\n \"notImplemented\": [\n {\n \"rhs\": \"TODO\"\n }\n ],\n\n \"task\": [\n {\n \"rhs\": \"Your task is to: put a hot mug in coffeemachine.\"\n }\n ],\n\n \"GotoLocation.feedback\": [\n {\n \"rhs\": \"You arrive at {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"OpenObject.feedback\": [\n {\n \"rhs\": \"You open the {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"CloseObject.feedback\": [\n {\n \"rhs\": \"You close the {r.name}.\"\n }\n ],\n\n \"PickupObject.feedback\": [\n {\n \"rhs\": \"You pick up the {o.name} from the {r.name}.\"\n }\n ],\n\n \"PickupObjectFromReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupObjectFromReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupEmptyReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupEmptyReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupFullReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupFullReceptacleObject: You pick up the {outerr.name}.\"\n }\n ],\n\n \"PutObject.feedback\": [\n {\n \"rhs\": \"You move the {o.name} to the {r.name}.\"\n }\n ],\n\n \"PutObjectInReceptacleObject.feedback\": [\n {\n \"rhs\": \"PutObjectInReceptacleObject: You put the {o.name} in the {outero.name}.\"\n }\n ],\n\n \"PutEmptyReceptacleObjectinReceptacle.feedback\": [\n {\n \"rhs\": \"PutEmptyReceptacleObjectinReceptacle: You put the {o.name} in the {r.name}.\"\n }\n ],\n\n \"PutFullReceptacleObjectInReceptacle.feedback\": [\n {\n \"rhs\": \"PutFullReceptacleObjectInReceptacle: You put the {outero.name} in the {r.name}.\"\n }\n ],\n\n \"inventory.feedback\": [\n {\n \"condition\": \"holdsany(a:agent)\",\n \"rhs\": \"You are carrying: [{o.indefinite + ' ' + o.name | holds(a:agent, o:object)}].\"\n },\n {\n \"rhs\": \"You are not carrying anything.\"\n }\n ],\n\n \"examineReceptacle.feedback\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \"The {r.name} is open. In it, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \"The {r.name} is closed.\"\n },\n {\n \"rhs\": \"On the {r.name}, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n }\n ],\n\n \"examineObject.feedback\": [\n {\n \"condition\": \"isreceptacleobject(o:object)\",\n \"rhs\": \"This is a normal {o.name}. In it, you see [{o2.indefinite + ' ' + o2.name | inreceptacleobject(o2:object, o:object)}].\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a clean sliced {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot sliced {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object)\",\n \"rhs\": \"This is a hot and clean {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object)\",\n \"rhs\": \"This is a cool and clean {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object)\",\n \"rhs\": \"This is a hot {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object)\",\n \"rhs\": \"This is a clean {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object)\",\n \"rhs\": \"This is a cold {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"This {o.name} is on.\"\n },\n {\n \"condition\": \"toggleable(o:object) & not_istoggled(o:object)\",\n \"rhs\": \"This {o.name} is off.\"\n },\n {\n \"condition\": \"sliceable(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a sliced {o.name}.\"\n },\n {\n \"rhs\": \"There's nothing special about {o.name}.\"\n }\n ]\n }\n\"\"\";\n\naction GotoLocation {\n template :: \"go to [{r.name | receptacleatlocation(r:receptacle, lend:location)}]\";\n feedback :: \"#GotoLocation.feedback#\";\n}\n\naction OpenObject {\n template :: \"open {r}\";\n feedback :: \"#OpenObject.feedback#\";\n}\n\naction CloseObject {\n template :: \"close {r}\";\n feedback :: \"#CloseObject.feedback#\";\n}\n\naction PickupObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObject.feedback#\";\n}\n\naction PickupObjectFromReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObjectFromReceptacleObject.feedback#\";\n}\n\naction PickupEmptyReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupEmptyReceptacleObject.feedback#\";\n}\n\naction PickupFullReceptacleObject {\n template :: \"take {outerr} from {r}\";\n feedback :: \"#PickupFullReceptacleObject.feedback#\";\n}\n\naction PutObject {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutObject.feedback#\";\n}\n\naction PutObjectInReceptacleObject {\n template :: \"put {o} into {outero}\";\n feedback :: \"#PutObjectInReceptacleObject.feedback#\";\n}\n\naction PutEmptyReceptacleObjectinReceptacle {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutEmptyReceptacleObjectinReceptacle.feedback#\";\n}\n\naction PutFullReceptacleObjectInReceptacle {\n template :: \"put {outero} in {r}\";\n feedback :: \"#PutFullReceptacleObjectInReceptacle.feedback#\";\n}\n\naction inventory {\n template :: \"inventory\";\n feedback :: \"#inventory.feedback#\";\n}\n\naction examineReceptacle {\n template :: \"examine {r}\";\n feedback :: \"#examineReceptacle.feedback#\";\n}\n\naction examineObject {\n template :: \"examine {o}\";\n feedback :: \"#examineObject.feedback#\";\n}\n\naction ToggleObject {\n template :: \"use {o}\";\n feedback :: \"#toggleObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"toggleObject.feedback\": [\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"You turn on the {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object)\",\n \"rhs\": \"You turn off the {o.name}.\"\n },\n {\n \"rhs\": \"You don't see any switch on the {o.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction HeatObject {\n template :: \"heat {o} with {r}\";\n feedback :: \"#heatObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"heatObject.feedback\": [\n {\n \"rhs\": \"You heat the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CleanObject {\n template :: \"clean {o} with {r}\";\n feedback :: \"#cleanObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"cleanObject.feedback\": [\n {\n \"rhs\": \"You clean the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CoolObject {\n template :: \"cool {o} with {r}\";\n feedback :: \"#coolObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"coolObject.feedback\": [\n {\n \"rhs\": \"You cool the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction SliceObject {\n template :: \"slice {co} with {ko}\";\n feedback :: \"#sliceObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"sliceObject.feedback\": [\n {\n \"rhs\": \"You sliced the {co.name} with the {ko.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction look {\n template :: \"look\";\n feedback :: \"#look.feedback#\";\n\n grammar :: \"\"\"\n {\n \"look.feedback\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"#look-variations#. Next to it, you see #list_objects_on_the_floor#.\"\n },\n {\n \"rhs\": \"You are in the middle of a room. Looking quickly around you, you see #list_appliances#.\"\n }\n ],\n\n \"look-variations\": [\n {\n \"rhs\": \"You are facing the [{r.name | atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)}]\"\n }\n ],\n\n \"list_objects_on_the_floor\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)\",\n \"rhs\": \"[{#overview(o)# | atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"list_appliances\": [\n {\n \"condition\": \"receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"[{#overview(r)# | receptacleatlocation(r:receptacle, l:location)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"overview(o, r)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name} (in/on the {r.name})}\"\n }\n ],\n\n \"overview(o)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name}\"\n }\n ],\n \"overview(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}\"\n }\n ],\n \"overview_with_state(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}#overview_state(r)#\"\n }\n ],\n \"overview_state(r)\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \" (it is open)\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \" (it is closed)\"\n },\n {\n \"rhs\": \"\"\n }\n ],\n\n \"list_empty\": [\n {\n \"rhs\": \"nothing\"\n }\n ],\n \"list_separator\": [\n {\n \"rhs\": \", \"\n }\n ],\n \"list_last_separator\": [\n {\n \"rhs\": \", and \"\n }\n ]\n }\n \"\"\";\n}\n\naction help {\n template :: \"help\";\n feedback :: \"\nAvailable commands:\n look: look around your current location\n inventory: check your current inventory\n go to (receptacle): move to a receptacle\n open (receptacle): open a receptacle\n close (receptacle): close a receptacle\n take (object) from (receptacle): take an object from a receptacle\n move (object) to (receptacle): place an object in or on a receptacle\n examine (something): examine a receptacle or an object\n use (object): use an object\n heat (object) with (receptacle): heat an object using a receptacle\n clean (object) with (receptacle): clean an object using a receptacle\n cool (object) with (receptacle): cool an object using a receptacle\n slice (object) with (object): slice an object using a sharp object\n\";\n}\n", "pddl_problem": "\n(define (problem plan_trial_T20190908_062730_537428)\n(:domain alfred)\n(:objects\nagent1 - agent\nSaltShaker - object\n HousePlant - object\n Candle - object\n SprayBottle - object\n Bowl - object\n Window - object\n CD - object\n Egg - object\n Glassbottle - object\n Sink - object\n Pillow - object\n Spoon - object\n SoapBottle - object\n TeddyBear - object\n ButterKnife - object\n Cup - object\n Plate - object\n RemoteControl - object\n Tomato - object\n Statue - object\n HandTowel - object\n Knife - object\n StoveKnob - object\n LightSwitch - object\n Pen - object\n Painting - object\n DishSponge - object\n Vase - object\n Mug - object\n ToiletPaper - object\n Box - object\n Mirror - object\n Ladle - object\n Fork - object\n Blinds - object\n Footstool - object\n KeyChain - object\n Cloth - object\n Laptop - object\n TissueBox - object\n PepperShaker - object\n FloorLamp - object\n WateringCan - object\n Apple - object\n Pan - object\n PaperTowel - object\n PaperTowelRoll - object\n Newspaper - object\n Television - object\n Chair - object\n CellPhone - object\n CreditCard - object\n Lettuce - object\n BasketBall - object\n Potato - object\n Curtains - object\n Boots - object\n Pencil - object\n AlarmClock - object\n ToiletPaperRoll - object\n Spatula - object\n Book - object\n Bread - object\n SoapBar - object\n Watch - object\n DeskLamp - object\n Kettle - object\n Pot - object\n ScrubBrush - object\n WineBottle - object\n ShowerDoor - object\n Bathtub - object\n LaundryHamperLid - object\n ShowerGlass - object\n Poster - object\n TennisRacket - object\n BaseballBat - object\n Towel - object\n Plunger - object\nSaltShakerType - otype\n HousePlantType - otype\n CandleType - otype\n SprayBottleType - otype\n BowlType - otype\n WindowType - otype\n CDType - otype\n EggType - otype\n GlassbottleType - otype\n SinkType - otype\n PillowType - otype\n SpoonType - otype\n SoapBottleType - otype\n TeddyBearType - otype\n ButterKnifeType - otype\n CupType - otype\n PlateType - otype\n RemoteControlType - otype\n TomatoType - otype\n StatueType - otype\n HandTowelType - otype\n KnifeType - otype\n StoveKnobType - otype\n LightSwitchType - otype\n PenType - otype\n PaintingType - otype\n DishSpongeType - otype\n VaseType - otype\n MugType - otype\n ToiletPaperType - otype\n BoxType - otype\n MirrorType - otype\n LadleType - otype\n ForkType - otype\n BlindsType - otype\n FootstoolType - otype\n KeyChainType - otype\n ClothType - otype\n LaptopType - otype\n TissueBoxType - otype\n PepperShakerType - otype\n FloorLampType - otype\n WateringCanType - otype\n AppleType - otype\n PanType - otype\n PaperTowelType - otype\n PaperTowelRollType - otype\n NewspaperType - otype\n TelevisionType - otype\n ChairType - otype\n CellPhoneType - otype\n CreditCardType - otype\n LettuceType - otype\n BasketBallType - otype\n PotatoType - otype\n CurtainsType - otype\n BootsType - otype\n PencilType - otype\n AlarmClockType - otype\n ToiletPaperRollType - otype\n SpatulaType - otype\n BookType - otype\n BreadType - otype\n SoapBarType - otype\n WatchType - otype\n DeskLampType - otype\n KettleType - otype\n PotType - otype\n ScrubBrushType - otype\n WineBottleType - otype\n ShowerDoorType - otype\n BathtubType - otype\n LaundryHamperLidType - otype\n ShowerGlassType - otype\n PosterType - otype\n TennisRacketType - otype\n BaseballBatType - otype\n TowelType - otype\n PlungerType - otype\nSafeType - rtype\n DrawerType - rtype\n CoffeeMachineType - rtype\n HandTowelHolderType - rtype\n SinkBasinType - rtype\n DresserType - rtype\n LaundryHamperType - rtype\n TVStandType - rtype\n BathtubBasinType - rtype\n CabinetType - rtype\n FridgeType - rtype\n DeskType - rtype\n ToiletType - rtype\n CartType - rtype\n SideTableType - rtype\n SofaType - rtype\n CoffeeTableType - rtype\n DiningTableType - rtype\n CounterTopType - rtype\n GarbageCanType - rtype\n ArmChairType - rtype\n ShelfType - rtype\n MicrowaveType - rtype\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_13_bar__plus_01_dot_64_bar__minus_02_dot_10 - object\n Apple_bar__minus_00_dot_29_bar__plus_01_dot_35_bar__minus_00_dot_65 - object\n Apple_bar__minus_03_dot_88_bar__plus_00_dot_75_bar__minus_00_dot_25 - object\n Blinds_bar__minus_01_dot_37_bar__plus_02_dot_21_bar__minus_03_dot_96 - object\n Bowl_bar__minus_00_dot_57_bar__plus_00_dot_81_bar__minus_03_dot_42 - object\n Bread_bar__minus_02_dot_98_bar__plus_00_dot_96_bar__minus_00_dot_31 - object\n ButterKnife_bar__minus_03_dot_36_bar__plus_00_dot_89_bar__minus_00_dot_55 - object\n Cup_bar__minus_00_dot_20_bar__plus_01_dot_58_bar__minus_01_dot_94 - object\n Cup_bar__minus_00_dot_24_bar__plus_00_dot_94_bar__minus_03_dot_02 - object\n Cup_bar__minus_02_dot_36_bar__plus_00_dot_90_bar__minus_00_dot_63 - object\n DishSponge_bar__minus_02_dot_49_bar__plus_00_dot_10_bar__minus_03_dot_57 - object\n Egg_bar__minus_00_dot_28_bar__plus_01_dot_53_bar__minus_00_dot_76 - object\n Egg_bar__minus_02_dot_49_bar__plus_00_dot_14_bar__minus_03_dot_47 - object\n Egg_bar__minus_04_dot_06_bar__plus_00_dot_73_bar__minus_00_dot_19 - object\n Faucet_bar__minus_00_dot_39_bar__plus_00_dot_93_bar__minus_03_dot_61 - object\n 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SoapBottle_bar__minus_03_dot_63_bar__plus_00_dot_76_bar__minus_03_dot_15 - object\n SoapBottle_bar__minus_04_dot_12_bar__plus_00_dot_69_bar__minus_00_dot_43 - object\n Spatula_bar__minus_00_dot_44_bar__plus_00_dot_77_bar__minus_02_dot_85 - object\n Spatula_bar__minus_03_dot_36_bar__plus_00_dot_91_bar__minus_00_dot_12 - object\n Spoon_bar__minus_02_dot_36_bar__plus_00_dot_90_bar__minus_00_dot_20 - object\n Spoon_bar__minus_03_dot_35_bar__plus_00_dot_76_bar__minus_02_dot_92 - object\n Spoon_bar__minus_03_dot_94_bar__plus_00_dot_69_bar__minus_00_dot_19 - object\n StoveKnob_bar__minus_00_dot_62_bar__plus_00_dot_90_bar__minus_01_dot_83 - object\n StoveKnob_bar__minus_00_dot_62_bar__plus_00_dot_90_bar__minus_01_dot_98 - object\n StoveKnob_bar__minus_00_dot_62_bar__plus_00_dot_90_bar__minus_02_dot_13 - object\n StoveKnob_bar__minus_00_dot_62_bar__plus_00_dot_90_bar__minus_02_dot_29 - object\n Tomato_bar__minus_00_dot_33_bar__plus_01_dot_34_bar__minus_00_dot_41 - object\n 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loc_bar__minus_4_bar__minus_6_bar_1_bar_45 - location\n loc_bar__minus_6_bar__minus_12_bar_2_bar_45 - location\n loc_bar__minus_5_bar__minus_3_bar_1_bar_60 - location\n loc_bar__minus_6_bar__minus_12_bar_2_bar__minus_30 - location\n loc_bar__minus_7_bar__minus_10_bar_2_bar_60 - location\n loc_bar__minus_4_bar__minus_12_bar_2_bar_60 - location\n loc_bar__minus_4_bar__minus_8_bar_1_bar_15 - location\n loc_bar__minus_12_bar__minus_5_bar_0_bar_60 - location\n loc_bar__minus_4_bar__minus_7_bar_1_bar_45 - location\n loc_bar__minus_6_bar__minus_9_bar_1_bar_60 - location\n loc_bar__minus_5_bar__minus_10_bar_1_bar_45 - location\n loc_bar__minus_14_bar__minus_9_bar_2_bar_45 - location\n loc_bar__minus_4_bar__minus_6_bar_1_bar__minus_15 - location\n loc_bar__minus_6_bar__minus_6_bar_1_bar__minus_15 - location\n loc_bar__minus_4_bar__minus_9_bar_1_bar_45 - location\n loc_bar__minus_4_bar__minus_7_bar_1_bar_60 - location\n loc_bar__minus_4_bar__minus_10_bar_1_bar__minus_30 - location\n loc_bar__minus_15_bar__minus_4_bar_3_bar_15 - location\n loc_bar__minus_8_bar__minus_12_bar_2_bar_45 - location\n loc_bar__minus_10_bar__minus_12_bar_2_bar_45 - location\n loc_bar__minus_7_bar__minus_11_bar_1_bar_45 - location\n loc_bar__minus_4_bar__minus_8_bar_1_bar_60 - location\n loc_bar__minus_4_bar__minus_9_bar_2_bar__minus_15 - location\n loc_bar__minus_4_bar__minus_7_bar_1_bar__minus_30 - location\n loc_bar__minus_15_bar__minus_5_bar_0_bar_45 - location\n loc_bar__minus_4_bar__minus_12_bar_1_bar_60 - location\n loc_bar__minus_10_bar__minus_12_bar_2_bar_60 - location\n loc_bar__minus_4_bar__minus_12_bar_1_bar__minus_15 - location\n loc_bar__minus_4_bar__minus_6_bar_1_bar_60 - location\n loc_bar__minus_4_bar__minus_9_bar_1_bar_60 - location\n loc_bar__minus_6_bar__minus_6_bar_1_bar_60 - location\n loc_bar__minus_4_bar__minus_2_bar_3_bar_30 - location\n )\n \n\n(:init\n\n\n (receptacleType CounterTop_bar__minus_01_dot_94_bar__plus_00_dot_98_bar__minus_03_dot_67 CounterTopType)\n (receptacleType SideTable_bar__minus_04_dot_07_bar__plus_00_dot_73_bar__minus_00_dot_31 SideTableType)\n (receptacleType Cabinet_bar__minus_00_dot_35_bar__plus_01_dot_89_bar__minus_03_dot_29 CabinetType)\n (receptacleType Sink_bar__minus_00_dot_60_bar__plus_00_dot_93_bar__minus_03_dot_39_bar_SinkBasin SinkBasinType)\n (receptacleType DiningTable_bar__minus_03_dot_03_bar__plus_00_dot_00_bar__minus_00_dot_44 DiningTableType)\n (receptacleType Cabinet_bar__minus_00_dot_34_bar__plus_02_dot_11_bar__minus_00_dot_39 CabinetType)\n (receptacleType Cabinet_bar__minus_00_dot_33_bar__plus_01_dot_89_bar__minus_02_dot_51 CabinetType)\n (receptacleType CoffeeMachine_bar__minus_02_dot_51_bar__plus_00_dot_93_bar__minus_03_dot_80 CoffeeMachineType)\n (receptacleType Cabinet_bar__minus_00_dot_34_bar__plus_02_dot_11_bar__minus_02_dot_50 CabinetType)\n (receptacleType CounterTop_bar__minus_00_dot_33_bar__plus_00_dot_98_bar__minus_01_dot_45 CounterTopType)\n (receptacleType Cabinet_bar__minus_00_dot_34_bar__plus_02_dot_11_bar__minus_01_dot_27 CabinetType)\n (receptacleType Cabinet_bar__minus_00_dot_63_bar__plus_00_dot_39_bar__minus_01_dot_61 CabinetType)\n (receptacleType Cabinet_bar__minus_00_dot_63_bar__plus_00_dot_39_bar__minus_03_dot_01 CabinetType)\n (receptacleType StoveBurner_bar__minus_00_dot_44_bar__plus_00_dot_92_bar__minus_01_dot_85 StoveBurnerType)\n (receptacleType Cabinet_bar__minus_00_dot_63_bar__plus_00_dot_39_bar__minus_02_dot_51 CabinetType)\n (receptacleType Drawer_bar__minus_01_dot_15_bar__plus_00_dot_78_bar__minus_03_dot_50 DrawerType)\n (receptacleType StoveBurner_bar__minus_00_dot_44_bar__plus_00_dot_92_bar__minus_02_dot_24 StoveBurnerType)\n (receptacleType Fridge_bar__minus_00_dot_31_bar__plus_00_dot_00_bar__minus_00_dot_65 FridgeType)\n (receptacleType Drawer_bar__minus_00_dot_50_bar__plus_00_dot_78_bar__minus_01_dot_45 DrawerType)\n (receptacleType Microwave_bar__minus_00_dot_22_bar__plus_01_dot_47_bar__minus_02_dot_06 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Potato_bar__minus_00_dot_47_bar__plus_00_dot_97_bar__minus_01_dot_41)\n (coolable Egg_bar__minus_04_dot_06_bar__plus_00_dot_73_bar__minus_00_dot_19)\n (coolable Tomato_bar__minus_01_dot_08_bar__plus_00_dot_99_bar__minus_03_dot_71)\n (coolable Bread_bar__minus_02_dot_98_bar__plus_00_dot_96_bar__minus_00_dot_31)\n (coolable Lettuce_bar__minus_03_dot_36_bar__plus_00_dot_99_bar__minus_00_dot_46)\n (coolable Mug_bar__minus_00_dot_40_bar__plus_01_dot_48_bar__minus_00_dot_76)\n (coolable Cup_bar__minus_00_dot_20_bar__plus_01_dot_58_bar__minus_01_dot_94)\n (coolable Lettuce_bar__minus_03_dot_57_bar__plus_00_dot_99_bar__minus_00_dot_20)\n (coolable Egg_bar__minus_00_dot_28_bar__plus_01_dot_53_bar__minus_00_dot_76)\n (coolable Apple_bar__minus_00_dot_29_bar__plus_01_dot_35_bar__minus_00_dot_65)\n (coolable Mug_bar__minus_04_dot_00_bar__plus_00_dot_69_bar__minus_00_dot_43)\n (coolable Bowl_bar__minus_00_dot_57_bar__plus_00_dot_81_bar__minus_03_dot_42)\n (coolable Tomato_bar__minus_00_dot_42_bar__plus_01_dot_34_bar__minus_00_dot_53)\n (coolable Lettuce_bar__minus_00_dot_36_bar__plus_01_dot_58_bar__minus_00_dot_53)\n \n (isCool Mug_bar__minus_00_dot_40_bar__plus_01_dot_48_bar__minus_00_dot_76)\n \n \n \n (sliceable Apple_bar__minus_03_dot_88_bar__plus_00_dot_75_bar__minus_00_dot_25)\n (sliceable Tomato_bar__minus_00_dot_33_bar__plus_01_dot_34_bar__minus_00_dot_41)\n (sliceable Egg_bar__minus_02_dot_49_bar__plus_00_dot_14_bar__minus_03_dot_47)\n (sliceable Potato_bar__minus_00_dot_63_bar__plus_00_dot_85_bar__minus_03_dot_24)\n (sliceable Potato_bar__minus_02_dot_35_bar__plus_00_dot_13_bar__minus_03_dot_51)\n (sliceable Apple_bar__minus_00_dot_13_bar__plus_01_dot_64_bar__minus_02_dot_10)\n (sliceable Potato_bar__minus_00_dot_47_bar__plus_00_dot_97_bar__minus_01_dot_41)\n (sliceable Egg_bar__minus_04_dot_06_bar__plus_00_dot_73_bar__minus_00_dot_19)\n (sliceable Tomato_bar__minus_01_dot_08_bar__plus_00_dot_99_bar__minus_03_dot_71)\n (sliceable 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CounterTop_bar__minus_01_dot_94_bar__plus_00_dot_98_bar__minus_03_dot_67)\n (inReceptacle Lettuce_bar__minus_03_dot_57_bar__plus_00_dot_99_bar__minus_00_dot_20 DiningTable_bar__minus_03_dot_03_bar__plus_00_dot_00_bar__minus_00_dot_44)\n (inReceptacle PepperShaker_bar__minus_03_dot_16_bar__plus_00_dot_89_bar__minus_00_dot_29 DiningTable_bar__minus_03_dot_03_bar__plus_00_dot_00_bar__minus_00_dot_44)\n (inReceptacle Mug_bar__minus_03_dot_16_bar__plus_00_dot_89_bar__minus_00_dot_63 DiningTable_bar__minus_03_dot_03_bar__plus_00_dot_00_bar__minus_00_dot_44)\n (inReceptacle Cup_bar__minus_02_dot_36_bar__plus_00_dot_90_bar__minus_00_dot_63 DiningTable_bar__minus_03_dot_03_bar__plus_00_dot_00_bar__minus_00_dot_44)\n (inReceptacle Bread_bar__minus_02_dot_98_bar__plus_00_dot_96_bar__minus_00_dot_31 DiningTable_bar__minus_03_dot_03_bar__plus_00_dot_00_bar__minus_00_dot_44)\n (inReceptacle Fork_bar__minus_02_dot_76_bar__plus_00_dot_90_bar__minus_00_dot_12 DiningTable_bar__minus_03_dot_03_bar__plus_00_dot_00_bar__minus_00_dot_44)\n (inReceptacle Lettuce_bar__minus_03_dot_36_bar__plus_00_dot_99_bar__minus_00_dot_46 DiningTable_bar__minus_03_dot_03_bar__plus_00_dot_00_bar__minus_00_dot_44)\n (inReceptacle Spatula_bar__minus_03_dot_36_bar__plus_00_dot_91_bar__minus_00_dot_12 DiningTable_bar__minus_03_dot_03_bar__plus_00_dot_00_bar__minus_00_dot_44)\n (inReceptacle Knife_bar__minus_02_dot_56_bar__plus_00_dot_92_bar__minus_00_dot_38 DiningTable_bar__minus_03_dot_03_bar__plus_00_dot_00_bar__minus_00_dot_44)\n (inReceptacle Spoon_bar__minus_02_dot_36_bar__plus_00_dot_90_bar__minus_00_dot_20 DiningTable_bar__minus_03_dot_03_bar__plus_00_dot_00_bar__minus_00_dot_44)\n (inReceptacle ButterKnife_bar__minus_03_dot_36_bar__plus_00_dot_89_bar__minus_00_dot_55 DiningTable_bar__minus_03_dot_03_bar__plus_00_dot_00_bar__minus_00_dot_44)\n (inReceptacle Knife_bar__minus_03_dot_81_bar__plus_00_dot_79_bar__minus_03_dot_28 DiningTable_bar__minus_03_dot_62_bar__plus_00_dot_67_bar__minus_03_dot_32)\n (inReceptacle Knife_bar__minus_03_dot_77_bar__plus_00_dot_79_bar__minus_02_dot_88 DiningTable_bar__minus_03_dot_62_bar__plus_00_dot_67_bar__minus_03_dot_32)\n (inReceptacle SoapBottle_bar__minus_03_dot_63_bar__plus_00_dot_76_bar__minus_03_dot_15 DiningTable_bar__minus_03_dot_62_bar__plus_00_dot_67_bar__minus_03_dot_32)\n (inReceptacle Plate_bar__minus_03_dot_42_bar__plus_00_dot_77_bar__minus_03_dot_74 DiningTable_bar__minus_03_dot_62_bar__plus_00_dot_67_bar__minus_03_dot_32)\n (inReceptacle Spoon_bar__minus_03_dot_35_bar__plus_00_dot_76_bar__minus_02_dot_92 DiningTable_bar__minus_03_dot_62_bar__plus_00_dot_67_bar__minus_03_dot_32)\n (inReceptacle Pot_bar__minus_00_dot_44_bar__plus_00_dot_96_bar__minus_01_dot_85 StoveBurner_bar__minus_00_dot_44_bar__plus_00_dot_92_bar__minus_01_dot_85)\n (inReceptacle Pot_bar__minus_00_dot_44_bar__plus_00_dot_96_bar__minus_01_dot_85 StoveBurner_bar__minus_00_dot_22_bar__plus_00_dot_92_bar__minus_01_dot_85)\n (inReceptacle Pan_bar__minus_00_dot_22_bar__plus_00_dot_96_bar__minus_02_dot_24 StoveBurner_bar__minus_00_dot_44_bar__plus_00_dot_92_bar__minus_02_dot_24)\n (inReceptacle Fork_bar__minus_00_dot_44_bar__plus_00_dot_75_bar__minus_01_dot_41 Drawer_bar__minus_00_dot_50_bar__plus_00_dot_78_bar__minus_01_dot_45)\n (inReceptacle Spatula_bar__minus_00_dot_44_bar__plus_00_dot_77_bar__minus_02_dot_85 Drawer_bar__minus_00_dot_48_bar__plus_00_dot_78_bar__minus_02_dot_74)\n (inReceptacle SaltShaker_bar__minus_00_dot_25_bar__plus_01_dot_50_bar__minus_02_dot_96 Cabinet_bar__minus_00_dot_33_bar__plus_01_dot_89_bar__minus_02_dot_51)\n (inReceptacle Egg_bar__minus_04_dot_06_bar__plus_00_dot_73_bar__minus_00_dot_19 SideTable_bar__minus_04_dot_07_bar__plus_00_dot_73_bar__minus_00_dot_31)\n (inReceptacle Apple_bar__minus_03_dot_88_bar__plus_00_dot_75_bar__minus_00_dot_25 SideTable_bar__minus_04_dot_07_bar__plus_00_dot_73_bar__minus_00_dot_31)\n (inReceptacle Spoon_bar__minus_03_dot_94_bar__plus_00_dot_69_bar__minus_00_dot_19 SideTable_bar__minus_04_dot_07_bar__plus_00_dot_73_bar__minus_00_dot_31)\n (inReceptacle SaltShaker_bar__minus_04_dot_24_bar__plus_00_dot_69_bar__minus_00_dot_37 SideTable_bar__minus_04_dot_07_bar__plus_00_dot_73_bar__minus_00_dot_31)\n (inReceptacle Mug_bar__minus_04_dot_00_bar__plus_00_dot_69_bar__minus_00_dot_43 SideTable_bar__minus_04_dot_07_bar__plus_00_dot_73_bar__minus_00_dot_31)\n (inReceptacle SoapBottle_bar__minus_04_dot_12_bar__plus_00_dot_69_bar__minus_00_dot_43 SideTable_bar__minus_04_dot_07_bar__plus_00_dot_73_bar__minus_00_dot_31)\n (inReceptacle Mug_bar__minus_04_dot_12_bar__plus_00_dot_69_bar__minus_00_dot_31 SideTable_bar__minus_04_dot_07_bar__plus_00_dot_73_bar__minus_00_dot_31)\n (inReceptacle Potato_bar__minus_00_dot_47_bar__plus_00_dot_97_bar__minus_01_dot_41 CounterTop_bar__minus_00_dot_33_bar__plus_00_dot_98_bar__minus_01_dot_45)\n (inReceptacle SaltShaker_bar__minus_00_dot_39_bar__plus_00_dot_94_bar__minus_01_dot_54 CounterTop_bar__minus_00_dot_33_bar__plus_00_dot_98_bar__minus_01_dot_45)\n (inReceptacle Pan_bar__minus_00_dot_22_bar__plus_00_dot_96_bar__minus_02_dot_24 StoveBurner_bar__minus_00_dot_22_bar__plus_00_dot_92_bar__minus_02_dot_24)\n (inReceptacle Potato_bar__minus_02_dot_35_bar__plus_00_dot_13_bar__minus_03_dot_51 GarbageCan_bar__minus_02_dot_42_bar__plus_00_dot_00_bar__minus_03_dot_54)\n (inReceptacle Egg_bar__minus_02_dot_49_bar__plus_00_dot_14_bar__minus_03_dot_47 GarbageCan_bar__minus_02_dot_42_bar__plus_00_dot_00_bar__minus_03_dot_54)\n (inReceptacle Bowl_bar__minus_00_dot_57_bar__plus_00_dot_81_bar__minus_03_dot_42 Sink_bar__minus_00_dot_60_bar__plus_00_dot_93_bar__minus_03_dot_39_bar_SinkBasin)\n (inReceptacle Potato_bar__minus_00_dot_63_bar__plus_00_dot_85_bar__minus_03_dot_24 Sink_bar__minus_00_dot_60_bar__plus_00_dot_93_bar__minus_03_dot_39_bar_SinkBasin)\n (inReceptacle Egg_bar__minus_00_dot_28_bar__plus_01_dot_53_bar__minus_00_dot_76 Fridge_bar__minus_00_dot_31_bar__plus_00_dot_00_bar__minus_00_dot_65)\n (inReceptacle Apple_bar__minus_00_dot_29_bar__plus_01_dot_35_bar__minus_00_dot_65 Fridge_bar__minus_00_dot_31_bar__plus_00_dot_00_bar__minus_00_dot_65)\n (inReceptacle Tomato_bar__minus_00_dot_33_bar__plus_01_dot_34_bar__minus_00_dot_41 Fridge_bar__minus_00_dot_31_bar__plus_00_dot_00_bar__minus_00_dot_65)\n (inReceptacle Tomato_bar__minus_00_dot_42_bar__plus_01_dot_34_bar__minus_00_dot_53 Fridge_bar__minus_00_dot_31_bar__plus_00_dot_00_bar__minus_00_dot_65)\n (inReceptacle Lettuce_bar__minus_00_dot_36_bar__plus_01_dot_58_bar__minus_00_dot_53 Fridge_bar__minus_00_dot_31_bar__plus_00_dot_00_bar__minus_00_dot_65)\n (inReceptacle Mug_bar__minus_00_dot_40_bar__plus_01_dot_48_bar__minus_00_dot_76 Fridge_bar__minus_00_dot_31_bar__plus_00_dot_00_bar__minus_00_dot_65)\n (inReceptacle Cup_bar__minus_00_dot_20_bar__plus_01_dot_58_bar__minus_01_dot_94 Microwave_bar__minus_00_dot_22_bar__plus_01_dot_47_bar__minus_02_dot_06)\n (inReceptacle Apple_bar__minus_00_dot_13_bar__plus_01_dot_64_bar__minus_02_dot_10 Microwave_bar__minus_00_dot_22_bar__plus_01_dot_47_bar__minus_02_dot_06)\n \n \n (receptacleAtLocation Cabinet_bar__minus_00_dot_33_bar__plus_01_dot_89_bar__minus_02_dot_51 loc_bar__minus_4_bar__minus_12_bar_1_bar__minus_15)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_34_bar__plus_01_dot_89_bar__minus_01_dot_29 loc_bar__minus_4_bar__minus_6_bar_1_bar__minus_15)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_34_bar__plus_02_dot_11_bar__minus_00_dot_39 loc_bar__minus_6_bar__minus_4_bar_1_bar__minus_15)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_34_bar__plus_02_dot_11_bar__minus_01_dot_27 loc_bar__minus_6_bar__minus_6_bar_1_bar__minus_15)\n (receptacleAtLocation 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CoffeeMachine_bar__minus_02_dot_51_bar__plus_00_dot_93_bar__minus_03_dot_80 loc_bar__minus_10_bar__minus_12_bar_2_bar_45)\n (receptacleAtLocation CounterTop_bar__minus_00_dot_33_bar__plus_00_dot_98_bar__minus_01_dot_45 loc_bar__minus_4_bar__minus_6_bar_1_bar_45)\n (receptacleAtLocation CounterTop_bar__minus_01_dot_94_bar__plus_00_dot_98_bar__minus_03_dot_67 loc_bar__minus_6_bar__minus_12_bar_2_bar_45)\n (receptacleAtLocation DiningTable_bar__minus_03_dot_03_bar__plus_00_dot_00_bar__minus_00_dot_44 loc_bar__minus_12_bar__minus_5_bar_0_bar_60)\n (receptacleAtLocation DiningTable_bar__minus_03_dot_62_bar__plus_00_dot_67_bar__minus_03_dot_32 loc_bar__minus_14_bar__minus_9_bar_2_bar_45)\n (receptacleAtLocation Drawer_bar__minus_00_dot_48_bar__plus_00_dot_78_bar__minus_02_dot_74 loc_bar__minus_5_bar__minus_10_bar_1_bar_45)\n (receptacleAtLocation Drawer_bar__minus_00_dot_50_bar__plus_00_dot_78_bar__minus_01_dot_45 loc_bar__minus_4_bar__minus_6_bar_1_bar_60)\n (receptacleAtLocation Drawer_bar__minus_01_dot_15_bar__plus_00_dot_78_bar__minus_03_dot_50 loc_bar__minus_4_bar__minus_12_bar_2_bar_60)\n (receptacleAtLocation Fridge_bar__minus_00_dot_31_bar__plus_00_dot_00_bar__minus_00_dot_65 loc_bar__minus_5_bar__minus_3_bar_1_bar_60)\n (receptacleAtLocation GarbageCan_bar__minus_02_dot_42_bar__plus_00_dot_00_bar__minus_03_dot_54 loc_bar__minus_10_bar__minus_12_bar_2_bar_60)\n (receptacleAtLocation Microwave_bar__minus_00_dot_22_bar__plus_01_dot_47_bar__minus_02_dot_06 loc_bar__minus_4_bar__minus_8_bar_1_bar_15)\n (receptacleAtLocation SideTable_bar__minus_04_dot_07_bar__plus_00_dot_73_bar__minus_00_dot_31 loc_bar__minus_15_bar__minus_5_bar_0_bar_45)\n (receptacleAtLocation Sink_bar__minus_00_dot_60_bar__plus_00_dot_93_bar__minus_03_dot_39_bar_SinkBasin loc_bar__minus_8_bar__minus_11_bar_1_bar_30)\n (receptacleAtLocation StoveBurner_bar__minus_00_dot_22_bar__plus_00_dot_92_bar__minus_01_dot_85 loc_bar__minus_4_bar__minus_7_bar_1_bar_45)\n (receptacleAtLocation StoveBurner_bar__minus_00_dot_22_bar__plus_00_dot_92_bar__minus_02_dot_24 loc_bar__minus_4_bar__minus_9_bar_1_bar_45)\n (receptacleAtLocation StoveBurner_bar__minus_00_dot_44_bar__plus_00_dot_92_bar__minus_01_dot_85 loc_bar__minus_4_bar__minus_7_bar_1_bar_45)\n (receptacleAtLocation StoveBurner_bar__minus_00_dot_44_bar__plus_00_dot_92_bar__minus_02_dot_24 loc_bar__minus_4_bar__minus_9_bar_1_bar_45)\n (receptacleAtLocation Toaster_bar__minus_01_dot_97_bar__plus_00_dot_93_bar__minus_03_dot_76 loc_bar__minus_8_bar__minus_12_bar_2_bar_45)\n (objectAtLocation Mug_bar__minus_00_dot_40_bar__plus_01_dot_48_bar__minus_00_dot_76 loc_bar__minus_5_bar__minus_3_bar_1_bar_60)\n (objectAtLocation Lettuce_bar__minus_03_dot_57_bar__plus_00_dot_99_bar__minus_00_dot_20 loc_bar__minus_12_bar__minus_5_bar_0_bar_60)\n (objectAtLocation Spoon_bar__minus_03_dot_35_bar__plus_00_dot_76_bar__minus_02_dot_92 loc_bar__minus_14_bar__minus_9_bar_2_bar_45)\n (objectAtLocation Egg_bar__minus_02_dot_49_bar__plus_00_dot_14_bar__minus_03_dot_47 loc_bar__minus_10_bar__minus_12_bar_2_bar_60)\n (objectAtLocation Potato_bar__minus_00_dot_47_bar__plus_00_dot_97_bar__minus_01_dot_41 loc_bar__minus_4_bar__minus_6_bar_1_bar_45)\n (objectAtLocation Apple_bar__minus_03_dot_88_bar__plus_00_dot_75_bar__minus_00_dot_25 loc_bar__minus_15_bar__minus_5_bar_0_bar_45)\n (objectAtLocation SaltShaker_bar__minus_00_dot_25_bar__plus_01_dot_50_bar__minus_02_dot_96 loc_bar__minus_4_bar__minus_12_bar_1_bar__minus_15)\n (objectAtLocation Knife_bar__minus_02_dot_56_bar__plus_00_dot_92_bar__minus_00_dot_38 loc_bar__minus_12_bar__minus_5_bar_0_bar_60)\n (objectAtLocation Spatula_bar__minus_00_dot_44_bar__plus_00_dot_77_bar__minus_02_dot_85 loc_bar__minus_5_bar__minus_10_bar_1_bar_45)\n (objectAtLocation Tomato_bar__minus_01_dot_08_bar__plus_00_dot_99_bar__minus_03_dot_71 loc_bar__minus_6_bar__minus_12_bar_2_bar_45)\n (objectAtLocation Cup_bar__minus_00_dot_20_bar__plus_01_dot_58_bar__minus_01_dot_94 loc_bar__minus_4_bar__minus_8_bar_1_bar_15)\n (objectAtLocation Fork_bar__minus_00_dot_44_bar__plus_00_dot_75_bar__minus_01_dot_41 loc_bar__minus_4_bar__minus_6_bar_1_bar_60)\n (objectAtLocation SoapBottle_bar__minus_03_dot_63_bar__plus_00_dot_76_bar__minus_03_dot_15 loc_bar__minus_14_bar__minus_9_bar_2_bar_45)\n (objectAtLocation Apple_bar__minus_00_dot_29_bar__plus_01_dot_35_bar__minus_00_dot_65 loc_bar__minus_5_bar__minus_3_bar_1_bar_60)\n (objectAtLocation Mug_bar__minus_04_dot_12_bar__plus_00_dot_69_bar__minus_00_dot_31 loc_bar__minus_15_bar__minus_5_bar_0_bar_45)\n (objectAtLocation Mug_bar__minus_03_dot_16_bar__plus_00_dot_89_bar__minus_00_dot_63 loc_bar__minus_12_bar__minus_5_bar_0_bar_60)\n (objectAtLocation SaltShaker_bar__minus_04_dot_24_bar__plus_00_dot_69_bar__minus_00_dot_37 loc_bar__minus_15_bar__minus_5_bar_0_bar_45)\n (objectAtLocation Lettuce_bar__minus_00_dot_36_bar__plus_01_dot_58_bar__minus_00_dot_53 loc_bar__minus_5_bar__minus_3_bar_1_bar_60)\n (objectAtLocation Tomato_bar__minus_00_dot_33_bar__plus_01_dot_34_bar__minus_00_dot_41 loc_bar__minus_5_bar__minus_3_bar_1_bar_60)\n (objectAtLocation Knife_bar__minus_03_dot_77_bar__plus_00_dot_79_bar__minus_02_dot_88 loc_bar__minus_14_bar__minus_9_bar_2_bar_45)\n (objectAtLocation Cup_bar__minus_00_dot_24_bar__plus_00_dot_94_bar__minus_03_dot_02 loc_bar__minus_6_bar__minus_12_bar_2_bar_45)\n (objectAtLocation Egg_bar__minus_04_dot_06_bar__plus_00_dot_73_bar__minus_00_dot_19 loc_bar__minus_15_bar__minus_5_bar_0_bar_45)\n (objectAtLocation Spoon_bar__minus_02_dot_36_bar__plus_00_dot_90_bar__minus_00_dot_20 loc_bar__minus_12_bar__minus_5_bar_0_bar_60)\n (objectAtLocation Potato_bar__minus_00_dot_63_bar__plus_00_dot_85_bar__minus_03_dot_24 loc_bar__minus_8_bar__minus_11_bar_1_bar_30)\n (objectAtLocation Sink_bar__minus_00_dot_60_bar__plus_00_dot_93_bar__minus_03_dot_39 loc_bar__minus_4_bar__minus_12_bar_1_bar_60)\n (objectAtLocation SoapBottle_bar__minus_04_dot_12_bar__plus_00_dot_69_bar__minus_00_dot_43 loc_bar__minus_15_bar__minus_5_bar_0_bar_45)\n (objectAtLocation Pot_bar__minus_00_dot_44_bar__plus_00_dot_96_bar__minus_01_dot_85 loc_bar__minus_4_bar__minus_7_bar_1_bar_45)\n (objectAtLocation StoveKnob_bar__minus_00_dot_62_bar__plus_00_dot_90_bar__minus_01_dot_83 loc_bar__minus_4_bar__minus_7_bar_1_bar_60)\n (objectAtLocation StoveKnob_bar__minus_00_dot_62_bar__plus_00_dot_90_bar__minus_02_dot_13 loc_bar__minus_4_bar__minus_9_bar_1_bar_60)\n (objectAtLocation StoveKnob_bar__minus_00_dot_62_bar__plus_00_dot_90_bar__minus_02_dot_29 loc_bar__minus_4_bar__minus_9_bar_1_bar_60)\n (objectAtLocation StoveKnob_bar__minus_00_dot_62_bar__plus_00_dot_90_bar__minus_01_dot_98 loc_bar__minus_4_bar__minus_8_bar_1_bar_60)\n (objectAtLocation Fork_bar__minus_02_dot_76_bar__plus_00_dot_90_bar__minus_00_dot_12 loc_bar__minus_12_bar__minus_5_bar_0_bar_60)\n (objectAtLocation Cup_bar__minus_02_dot_36_bar__plus_00_dot_90_bar__minus_00_dot_63 loc_bar__minus_12_bar__minus_5_bar_0_bar_60)\n (objectAtLocation Tomato_bar__minus_00_dot_42_bar__plus_01_dot_34_bar__minus_00_dot_53 loc_bar__minus_5_bar__minus_3_bar_1_bar_60)\n (objectAtLocation Pan_bar__minus_00_dot_22_bar__plus_00_dot_96_bar__minus_02_dot_24 loc_bar__minus_4_bar__minus_9_bar_1_bar_45)\n (objectAtLocation Plate_bar__minus_03_dot_42_bar__plus_00_dot_77_bar__minus_03_dot_74 loc_bar__minus_14_bar__minus_9_bar_2_bar_45)\n (objectAtLocation Window_bar__minus_01_dot_39_bar__plus_01_dot_61_bar__minus_04_dot_11 loc_bar__minus_6_bar__minus_12_bar_2_bar_0)\n (objectAtLocation LightSwitch_bar__minus_04_dot_37_bar__plus_01_dot_49_bar__minus_01_dot_03 loc_bar__minus_15_bar__minus_4_bar_3_bar_15)\n (objectAtLocation Bread_bar__minus_02_dot_98_bar__plus_00_dot_96_bar__minus_00_dot_31 loc_bar__minus_12_bar__minus_5_bar_0_bar_60)\n (objectAtLocation Spatula_bar__minus_03_dot_36_bar__plus_00_dot_91_bar__minus_00_dot_12 loc_bar__minus_12_bar__minus_5_bar_0_bar_60)\n (objectAtLocation Knife_bar__minus_03_dot_81_bar__plus_00_dot_79_bar__minus_03_dot_28 loc_bar__minus_14_bar__minus_9_bar_2_bar_45)\n (objectAtLocation SaltShaker_bar__minus_00_dot_39_bar__plus_00_dot_94_bar__minus_01_dot_54 loc_bar__minus_4_bar__minus_6_bar_1_bar_45)\n (objectAtLocation PepperShaker_bar__minus_03_dot_16_bar__plus_00_dot_89_bar__minus_00_dot_29 loc_bar__minus_12_bar__minus_5_bar_0_bar_60)\n (objectAtLocation ButterKnife_bar__minus_03_dot_36_bar__plus_00_dot_89_bar__minus_00_dot_55 loc_bar__minus_12_bar__minus_5_bar_0_bar_60)\n (objectAtLocation Apple_bar__minus_00_dot_13_bar__plus_01_dot_64_bar__minus_02_dot_10 loc_bar__minus_4_bar__minus_8_bar_1_bar_15)\n (objectAtLocation DishSponge_bar__minus_02_dot_49_bar__plus_00_dot_10_bar__minus_03_dot_57 loc_bar__minus_10_bar__minus_12_bar_2_bar_60)\n (objectAtLocation Potato_bar__minus_02_dot_35_bar__plus_00_dot_13_bar__minus_03_dot_51 loc_bar__minus_10_bar__minus_12_bar_2_bar_60)\n (objectAtLocation Egg_bar__minus_00_dot_28_bar__plus_01_dot_53_bar__minus_00_dot_76 loc_bar__minus_5_bar__minus_3_bar_1_bar_60)\n (objectAtLocation Spoon_bar__minus_03_dot_94_bar__plus_00_dot_69_bar__minus_00_dot_19 loc_bar__minus_15_bar__minus_5_bar_0_bar_45)\n (objectAtLocation Lettuce_bar__minus_03_dot_36_bar__plus_00_dot_99_bar__minus_00_dot_46 loc_bar__minus_12_bar__minus_5_bar_0_bar_60)\n (objectAtLocation Mug_bar__minus_04_dot_00_bar__plus_00_dot_69_bar__minus_00_dot_43 loc_bar__minus_15_bar__minus_5_bar_0_bar_45)\n (objectAtLocation Blinds_bar__minus_01_dot_37_bar__plus_02_dot_21_bar__minus_03_dot_96 loc_bar__minus_6_bar__minus_12_bar_2_bar__minus_30)\n (objectAtLocation Bowl_bar__minus_00_dot_57_bar__plus_00_dot_81_bar__minus_03_dot_42 loc_bar__minus_8_bar__minus_11_bar_1_bar_30)\n )\n \n\n (:goal\n (and\n (exists (?r - receptacle)\n (exists (?o - object)\n (and\n (heatable ?o)\n (objectType ?o MugType)\n (receptacleType ?r CoffeeMachineType)\n (isHot ?o)\n (inReceptacle ?o ?r)\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to diningtable 2", "take mug 3 from diningtable 2", "go to microwave 1", "heat mug 3 with microwave 1", "go to coffeemachine 1", "move mug 3 to coffeemachine 1"]}
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alfworld__pick_heat_then_place_in_recep__452
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pick_heat_then_place_in_recep
|
pick_heat_then_place_in_recep-Mug-None-CoffeeMachine-28/trial_T20190907_190721_183592/game.tw-pddl
|
{"pddl_domain": ";; Specification in PDDL of the Alfred domain\n;; Intended to be used with Fast Downward which supports PDDL 2.2 level 1 plus the :action-costs requirement from PDDL 3.1.\n\n(define (domain alfred)\n (:requirements\n :adl\n :action-costs\n :typing\n )\n (:types\n agent\n location\n receptacle\n object\n rtype\n otype\n )\n\n\n (:predicates\n (atLocation ?a - agent ?l - location) ; true if the agent is at the location\n (receptacleAtLocation ?r - receptacle ?l - location) ; true if the receptacle is at the location (constant)\n (objectAtLocation ?o - object ?l - location) ; true if the object is at the location\n (openable ?r - receptacle) ; true if a receptacle is openable\n (opened ?r - receptacle) ; true if a receptacle is opened\n (inReceptacle ?o - object ?r - receptacle) ; object ?o is in receptacle ?r\n (isReceptacleObject ?o - object) ; true if the object can have things put inside it\n (inReceptacleObject ?innerObject - object ?outerObject - object) ; object ?innerObject is inside object ?outerObject\n (isReceptacleObjectFull ?o - object) ; true if the receptacle object contains something\n (wasInReceptacle ?o - object ?r - receptacle) ; object ?o was or is in receptacle ?r now or some time in the past\n (checked ?r - receptacle) ; whether the receptacle has been looked inside/visited\n (examined ?l - location) ; TODO\n (receptacleType ?r - receptacle ?t - rtype) ; the type of receptacle (Cabinet vs Cabinet|01|2...)\n (canContain ?rt - rtype ?ot - otype) ; true if receptacle can hold object\n (objectType ?o - object ?t - otype) ; the type of object (Apple vs Apple|01|2...)\n (holds ?a - agent ?o - object) ; object ?o is held by agent ?a\n (holdsAny ?a - agent) ; agent ?a holds an object\n (holdsAnyReceptacleObject ?a - agent) ; agent ?a holds a receptacle object\n (full ?r - receptacle) ; true if the receptacle has no remaining space\n (isClean ?o - object) ; true if the object has been clean in sink\n (cleanable ?o - object) ; true if the object can be placed in a sink\n (isHot ?o - object) ; true if the object has been heated up\n (heatable ?o - object) ; true if the object can be heated up in a microwave\n (isCool ?o - object) ; true if the object has been cooled\n (coolable ?o - object) ; true if the object can be cooled in the fridge\n (pickupable ?o - object) ; true if the object can be picked up\n (moveable ?o - object) ; true if the object can be moved\n (toggleable ?o - object) ; true if the object can be turned on/off\n (isOn ?o - object) ; true if the object is on\n (isToggled ?o - object) ; true if the object has been toggled\n (sliceable ?o - object) ; true if the object can be sliced\n (isSliced ?o - object) ; true if the object is sliced\n )\n\n (:functions\n (distance ?from ?to)\n (total-cost) - number\n )\n\n;; All actions are specified such that the final arguments are the ones used\n;; for performing actions in Unity.\n\n\n(:action look\n :parameters (?a - agent ?l - location)\n :precondition\n (and\n (atLocation ?a ?l)\n )\n :effect\n (and\n (checked ?l)\n )\n)\n\n(:action inventory\n :parameters (?a - agent)\n :precondition\n ()\n :effect\n (and\n (checked ?a)\n )\n)\n\n(:action examineReceptacle\n :parameters (?a - agent ?r - receptacle)\n :precondition\n (and\n (exists (?l - location)\n (and\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n )\n )\n )\n :effect\n (and\n (checked ?r)\n )\n)\n\n(:action examineObject\n :parameters (?a - agent ?o - object)\n :precondition\n (or\n ;(exists (?l - location)\n ; (and\n ; (atLocation ?a ?l)\n ; (objectAtLocation ?o ?l)\n ; )\n ;)\n (exists (?l - location, ?r - receptacle)\n (and\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n ; (objectAtLocation ?o ?l)\n (inReceptacle ?o ?r)\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n )\n )\n (holds ?a ?o)\n )\n :effect\n (and\n (checked ?o)\n )\n)\n\n;; agent goes to receptacle\n (:action GotoLocation\n :parameters (?a - agent ?lStart - location ?lEnd - location ?r - receptacle)\n :precondition (and\n (atLocation ?a ?lStart)\n (receptacleAtLocation ?r ?lEnd)\n ;(exists (?r - receptacle) (receptacleAtLocation ?r ?lEnd))\n )\n :effect (and\n (not (atLocation ?a ?lStart))\n (atLocation ?a ?lEnd)\n ; (forall (?r - receptacle)\n ; (when (and (receptacleAtLocation ?r ?lEnd)\n ; (or (not (openable ?r)) (opened ?r)))\n ; (checked ?r)\n ; )\n ; )\n ; (increase (total-cost) (distance ?lStart ?lEnd))\n (increase (total-cost) 1)\n )\n )\n\n;; agent opens receptacle\n (:action OpenObject\n :parameters (?a - agent ?l - location ?r - receptacle)\n :precondition (and\n (openable ?r)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (not (opened ?r))\n )\n :effect (and\n (opened ?r)\n (checked ?r)\n (increase (total-cost) 1)\n )\n )\n;; agent closes receptacle\n (:action CloseObject\n :parameters (?a - agent ?l - location ?r - receptacle)\n :precondition (and\n (openable ?r)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (opened ?r)\n )\n :effect (and\n (not (opened ?r))\n (increase (total-cost) 1)\n )\n\n )\n\n ;; agent picks up object from a receptacle\n (:action PickupObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n :precondition\n (and\n (pickupable ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n ; (objectAtLocation ?o ?l)\n (inReceptacle ?o ?r)\n (not (holdsAny ?a)) ; agent's hands are empty.\n ;(not (holdsAnyReceptacleObject ?a))\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n ;(not (isReceptacleObject ?o))\n )\n :effect\n (and\n (not (inReceptacle ?o ?r))\n (holds ?a ?o)\n (holdsAny ?a)\n (not (objectAtLocation ?o ?l))\n ;(not (full ?r))\n (increase (total-cost) 1)\n )\n )\n\n\n; ;; agent picks up object from a receptacle\n; (:action PickupObjectFromReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?outerR - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (inReceptacle ?o ?r)\n; (pickupable ?o)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (not (isReceptacleObject ?o))\n; (isReceptacleObject ?outerR)\n; (inReceptacleObject ?o ?outerR)\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (holds ?a ?o)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n;\n; (not (inReceptacleObject ?o ?outerR))\n; (not (isReceptacleObjectFull ?outerR))\n; )\n; )\n;\n; ;; agent picks up object from a receptacle\n; (:action PickupEmptyReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; ; (objectAtLocation ?o ?l)\n; (inReceptacle ?o ?r)\n; (pickupable ?o)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (isReceptacleObject ?o)\n; (not (isReceptacleObjectFull ?o))\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (holds ?a ?o)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n; (holdsAnyReceptacleObject ?a)\n; )\n; )\n;\n; ;; agent picks up object from a receptacle\n; (:action PickupFullReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?outerR - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (inReceptacle ?outerR ?r)\n; (pickupable ?outerR)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (not (isReceptacleObject ?o))\n; (isReceptacleObject ?outerR)\n; (inReceptacleObject ?o ?outerR)\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (not (inReceptacle ?outerR ?r))\n; (holds ?a ?outerR)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (objectAtLocation ?outerR ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n; (holdsAnyReceptacleObject ?a)\n; )\n; )\n\n\n;; agent puts down an object\n (:action PutObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle ?ot - otype ?rt - rtype)\n :precondition (and\n (holds ?a ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable\n ;(not (full ?r))\n (objectType ?o ?ot)\n (receptacleType ?r ?rt)\n (canContain ?rt ?ot)\n ;(not (holdsAnyReceptacleObject ?a))\n )\n :effect (and\n (inReceptacle ?o ?r)\n (objectAtLocation ?o ?l)\n ;(full ?r)\n (not (holds ?a ?o))\n (not (holdsAny ?a))\n (increase (total-cost) 1)\n )\n )\n\n;;; agent puts down an object\n; (:action PutObjectInReceptacleObject\n; :parameters (?a - agent ?l - location ?ot - otype ?o - object ?outerO - object ?outerR - receptacle)\n; :precondition (and\n; (atLocation ?a ?l)\n; (objectAtLocation ?outerO ?l)\n; (isReceptacleObject ?outerO)\n; (not (isReceptacleObject ?o))\n; (objectType ?o ?ot)\n; (holds ?a ?o)\n; (not (holdsAnyReceptacleObject ?a))\n; (inReceptacle ?outerO ?outerR)\n; (not (isReceptacleObjectFull ?outerO))\n; )\n; :effect (and\n; (inReceptacleObject ?o ?outerO)\n; (inReceptacle ?o ?outerR)\n; (not (holds ?a ?o))\n; (not (holdsAny ?a))\n; (objectAtLocation ?o ?l)\n; (isReceptacleObjectFull ?outerO)\n; (increase (total-cost) 1)\n; )\n; )\n;\n;;; agent puts down an object\n; (:action PutEmptyReceptacleObjectinReceptacle\n; :parameters (?a - agent ?l - location ?ot - otype ?o - object ?r - receptacle)\n; :precondition (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable\n; (not (full ?r))\n; (objectType ?o ?ot)\n; (holds ?a ?o)\n; (holdsAnyReceptacleObject ?a)\n; (isReceptacleObject ?o)\n; (not (isReceptacleObjectFull ?o))\n; )\n; :effect (and\n; (inReceptacle ?o ?r)\n; (objectAtLocation ?o ?l)\n; (full ?r)\n; (not (holds ?a ?o))\n; (not (holdsAny ?a))\n; (not (holdsAnyReceptacleObject ?a))\n; (increase (total-cost) 1)\n; )\n; )\n;\n;;; agent puts down a receptacle object in a receptacle\n; (:action PutFullReceptacleObjectInReceptacle\n; :parameters (?a - agent ?l - location ?ot - otype ?innerO - object ?outerO - object ?r - receptacle) ; ?rt - rtype)\n; :precondition (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (objectType ?outerO ?ot)\n; (holds ?a ?outerO)\n; (holdsAnyReceptacleObject ?a)\n; (isReceptacleObject ?outerO)\n; (isReceptacleObjectFull ?outerO)\n; (inReceptacleObject ?innerO ?outerO)\n; )\n; :effect (and\n; (not (holdsAny ?a))\n; (not (holdsAnyReceptacleObject ?a))\n; (objectAtLocation ?outerO ?l)\n; (objectAtLocation ?innerO ?l)\n; (inReceptacle ?outerO ?r)\n; (inReceptacle ?innerO ?r)\n; (not (holds ?a ?outerO))\n; (increase (total-cost) 1)\n; )\n; )\n\n;; agent cleans some object\n (:action CleanObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (cleanable ?o)\n (or\n (receptacleType ?r SinkType)\n (receptacleType ?r SinkBasinType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isClean ?o)\n )\n )\n\n\n;; agent heats-up some object\n (:action HeatObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (heatable ?o)\n (or\n (receptacleType ?r MicrowaveType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isHot ?o)\n (not (isCool ?o))\n )\n )\n\n;; agent cools some object\n (:action CoolObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (coolable ?o)\n (or\n (receptacleType ?r FridgeType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isCool ?o)\n (not (isHot ?o))\n )\n )\n\n\n;; agent toggle object\n (:action ToggleObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n :precondition (and\n (toggleable ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (inReceptacle ?o ?r)\n )\n :effect (and\n (increase (total-cost) 5)\n (when (isOn ?o)\n (not (isOn ?o)))\n (when (not (isOn ?o))\n (isOn ?o))\n (isToggled ?o)\n )\n )\n\n\n;; agent slices some object with a knife\n (:action SliceObject\n :parameters (?a - agent ?l - location ?co - object ?ko - object)\n :precondition\n (and\n (sliceable ?co)\n (or\n (objectType ?ko KnifeType)\n (objectType ?ko ButterKnifeType)\n )\n (atLocation ?a ?l)\n (objectAtLocation ?co ?l)\n (holds ?a ?ko)\n )\n :effect (and\n (increase (total-cost) 5)\n (isSliced ?co)\n )\n )\n\n\n(:action help\n :parameters (?a - agent)\n :precondition\n ()\n :effect\n (and\n (checked ?a)\n )\n)\n)\n", "grammar": "grammar :: \"\"\"\n {\n \"intro\": [\n {\n \"rhs\": \"-= Welcome to TextWorld, ALFRED! =-\\n\\n#look.feedback#\\n\\n#task#\"\n }\n ],\n\n \"notImplemented\": [\n {\n \"rhs\": \"TODO\"\n }\n ],\n\n \"task\": [\n {\n \"rhs\": \"Your task is to: heat some mug and put it in coffeemachine.\"\n }\n ],\n\n \"GotoLocation.feedback\": [\n {\n \"rhs\": \"You arrive at {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"OpenObject.feedback\": [\n {\n \"rhs\": \"You open the {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"CloseObject.feedback\": [\n {\n \"rhs\": \"You close the {r.name}.\"\n }\n ],\n\n \"PickupObject.feedback\": [\n {\n \"rhs\": \"You pick up the {o.name} from the {r.name}.\"\n }\n ],\n\n \"PickupObjectFromReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupObjectFromReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupEmptyReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupEmptyReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupFullReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupFullReceptacleObject: You pick up the {outerr.name}.\"\n }\n ],\n\n \"PutObject.feedback\": [\n {\n \"rhs\": \"You move the {o.name} to the {r.name}.\"\n }\n ],\n\n \"PutObjectInReceptacleObject.feedback\": [\n {\n \"rhs\": \"PutObjectInReceptacleObject: You put the {o.name} in the {outero.name}.\"\n }\n ],\n\n \"PutEmptyReceptacleObjectinReceptacle.feedback\": [\n {\n \"rhs\": \"PutEmptyReceptacleObjectinReceptacle: You put the {o.name} in the {r.name}.\"\n }\n ],\n\n \"PutFullReceptacleObjectInReceptacle.feedback\": [\n {\n \"rhs\": \"PutFullReceptacleObjectInReceptacle: You put the {outero.name} in the {r.name}.\"\n }\n ],\n\n \"inventory.feedback\": [\n {\n \"condition\": \"holdsany(a:agent)\",\n \"rhs\": \"You are carrying: [{o.indefinite + ' ' + o.name | holds(a:agent, o:object)}].\"\n },\n {\n \"rhs\": \"You are not carrying anything.\"\n }\n ],\n\n \"examineReceptacle.feedback\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \"The {r.name} is open. In it, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \"The {r.name} is closed.\"\n },\n {\n \"rhs\": \"On the {r.name}, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n }\n ],\n\n \"examineObject.feedback\": [\n {\n \"condition\": \"isreceptacleobject(o:object)\",\n \"rhs\": \"This is a normal {o.name}. In it, you see [{o2.indefinite + ' ' + o2.name | inreceptacleobject(o2:object, o:object)}].\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a clean sliced {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot sliced {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object)\",\n \"rhs\": \"This is a hot and clean {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object)\",\n \"rhs\": \"This is a cool and clean {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object)\",\n \"rhs\": \"This is a hot {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object)\",\n \"rhs\": \"This is a clean {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object)\",\n \"rhs\": \"This is a cold {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"This {o.name} is on.\"\n },\n {\n \"condition\": \"toggleable(o:object) & not_istoggled(o:object)\",\n \"rhs\": \"This {o.name} is off.\"\n },\n {\n \"condition\": \"sliceable(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a sliced {o.name}.\"\n },\n {\n \"rhs\": \"There's nothing special about {o.name}.\"\n }\n ]\n }\n\"\"\";\n\naction GotoLocation {\n template :: \"go to [{r.name | receptacleatlocation(r:receptacle, lend:location)}]\";\n feedback :: \"#GotoLocation.feedback#\";\n}\n\naction OpenObject {\n template :: \"open {r}\";\n feedback :: \"#OpenObject.feedback#\";\n}\n\naction CloseObject {\n template :: \"close {r}\";\n feedback :: \"#CloseObject.feedback#\";\n}\n\naction PickupObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObject.feedback#\";\n}\n\naction PickupObjectFromReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObjectFromReceptacleObject.feedback#\";\n}\n\naction PickupEmptyReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupEmptyReceptacleObject.feedback#\";\n}\n\naction PickupFullReceptacleObject {\n template :: \"take {outerr} from {r}\";\n feedback :: \"#PickupFullReceptacleObject.feedback#\";\n}\n\naction PutObject {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutObject.feedback#\";\n}\n\naction PutObjectInReceptacleObject {\n template :: \"put {o} into {outero}\";\n feedback :: \"#PutObjectInReceptacleObject.feedback#\";\n}\n\naction PutEmptyReceptacleObjectinReceptacle {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutEmptyReceptacleObjectinReceptacle.feedback#\";\n}\n\naction PutFullReceptacleObjectInReceptacle {\n template :: \"put {outero} in {r}\";\n feedback :: \"#PutFullReceptacleObjectInReceptacle.feedback#\";\n}\n\naction inventory {\n template :: \"inventory\";\n feedback :: \"#inventory.feedback#\";\n}\n\naction examineReceptacle {\n template :: \"examine {r}\";\n feedback :: \"#examineReceptacle.feedback#\";\n}\n\naction examineObject {\n template :: \"examine {o}\";\n feedback :: \"#examineObject.feedback#\";\n}\n\naction ToggleObject {\n template :: \"use {o}\";\n feedback :: \"#toggleObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"toggleObject.feedback\": [\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"You turn on the {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object)\",\n \"rhs\": \"You turn off the {o.name}.\"\n },\n {\n \"rhs\": \"You don't see any switch on the {o.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction HeatObject {\n template :: \"heat {o} with {r}\";\n feedback :: \"#heatObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"heatObject.feedback\": [\n {\n \"rhs\": \"You heat the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CleanObject {\n template :: \"clean {o} with {r}\";\n feedback :: \"#cleanObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"cleanObject.feedback\": [\n {\n \"rhs\": \"You clean the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CoolObject {\n template :: \"cool {o} with {r}\";\n feedback :: \"#coolObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"coolObject.feedback\": [\n {\n \"rhs\": \"You cool the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction SliceObject {\n template :: \"slice {co} with {ko}\";\n feedback :: \"#sliceObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"sliceObject.feedback\": [\n {\n \"rhs\": \"You sliced the {co.name} with the {ko.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction look {\n template :: \"look\";\n feedback :: \"#look.feedback#\";\n\n grammar :: \"\"\"\n {\n \"look.feedback\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"#look-variations#. Next to it, you see #list_objects_on_the_floor#.\"\n },\n {\n \"rhs\": \"You are in the middle of a room. Looking quickly around you, you see #list_appliances#.\"\n }\n ],\n\n \"look-variations\": [\n {\n \"rhs\": \"You are facing the [{r.name | atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)}]\"\n }\n ],\n\n \"list_objects_on_the_floor\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)\",\n \"rhs\": \"[{#overview(o)# | atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"list_appliances\": [\n {\n \"condition\": \"receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"[{#overview(r)# | receptacleatlocation(r:receptacle, l:location)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"overview(o, r)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name} (in/on the {r.name})}\"\n }\n ],\n\n \"overview(o)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name}\"\n }\n ],\n \"overview(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}\"\n }\n ],\n \"overview_with_state(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}#overview_state(r)#\"\n }\n ],\n \"overview_state(r)\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \" (it is open)\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \" (it is closed)\"\n },\n {\n \"rhs\": \"\"\n }\n ],\n\n \"list_empty\": [\n {\n \"rhs\": \"nothing\"\n }\n ],\n \"list_separator\": [\n {\n \"rhs\": \", \"\n }\n ],\n \"list_last_separator\": [\n {\n \"rhs\": \", and \"\n }\n ]\n }\n \"\"\";\n}\n\naction help {\n template :: \"help\";\n feedback :: \"\nAvailable commands:\n look: look around your current location\n inventory: check your current inventory\n go to (receptacle): move to a receptacle\n open (receptacle): open a receptacle\n close (receptacle): close a receptacle\n take (object) from (receptacle): take an object from a receptacle\n move (object) to (receptacle): place an object in or on a receptacle\n examine (something): examine a receptacle or an object\n use (object): use an object\n heat (object) with (receptacle): heat an object using a receptacle\n clean (object) with (receptacle): clean an object using a receptacle\n cool (object) with (receptacle): cool an object using a receptacle\n slice (object) with (object): slice an object using a sharp object\n\";\n}\n", "pddl_problem": "\n(define (problem plan_trial_T20190907_190721_183592)\n(:domain alfred)\n(:objects\nagent1 - agent\nSaltShaker - object\n HousePlant - object\n Candle - object\n SprayBottle - object\n Bowl - object\n Window - object\n CD - object\n Egg - object\n Glassbottle - object\n Sink - object\n Pillow - object\n Spoon - object\n SoapBottle - object\n TeddyBear - object\n ButterKnife - object\n Cup - object\n Plate - object\n RemoteControl - object\n Tomato - object\n Statue - object\n HandTowel - object\n Knife - object\n StoveKnob - object\n LightSwitch - object\n Pen - object\n Painting - object\n DishSponge - object\n Vase - object\n Mug - object\n ToiletPaper - object\n Box - object\n Mirror - object\n Ladle - object\n Fork - object\n Blinds - object\n Footstool - object\n KeyChain - object\n Cloth - object\n Laptop - object\n TissueBox - object\n PepperShaker - object\n FloorLamp - object\n WateringCan - object\n Apple - object\n Pan - object\n PaperTowel - object\n PaperTowelRoll - object\n Newspaper - object\n Television - object\n Chair - object\n CellPhone - object\n CreditCard - object\n Lettuce - object\n BasketBall - object\n Potato - object\n Curtains - object\n Boots - object\n Pencil - object\n AlarmClock - object\n ToiletPaperRoll - object\n Spatula - object\n Book - object\n Bread - object\n SoapBar - object\n Watch - object\n DeskLamp - object\n Kettle - object\n Pot - object\n ScrubBrush - object\n WineBottle - object\n ShowerDoor - object\n Bathtub - object\n LaundryHamperLid - object\n ShowerGlass - object\n Poster - object\n TennisRacket - object\n BaseballBat - object\n Towel - object\n Plunger - object\nSaltShakerType - otype\n HousePlantType - otype\n CandleType - otype\n SprayBottleType - otype\n BowlType - otype\n WindowType - otype\n CDType - otype\n EggType - otype\n GlassbottleType - otype\n SinkType - otype\n PillowType - otype\n SpoonType - otype\n SoapBottleType - otype\n TeddyBearType - otype\n ButterKnifeType - otype\n CupType - otype\n PlateType - otype\n RemoteControlType - otype\n TomatoType - otype\n StatueType - otype\n HandTowelType - otype\n KnifeType - otype\n StoveKnobType - otype\n LightSwitchType - otype\n PenType - otype\n PaintingType - otype\n DishSpongeType - otype\n VaseType - otype\n MugType - otype\n ToiletPaperType - otype\n BoxType - otype\n MirrorType - otype\n LadleType - otype\n ForkType - otype\n BlindsType - otype\n FootstoolType - otype\n KeyChainType - otype\n ClothType - otype\n LaptopType - otype\n TissueBoxType - otype\n PepperShakerType - otype\n FloorLampType - otype\n WateringCanType - otype\n AppleType - otype\n PanType - otype\n PaperTowelType - otype\n PaperTowelRollType - otype\n NewspaperType - otype\n TelevisionType - otype\n ChairType - otype\n CellPhoneType - otype\n CreditCardType - otype\n LettuceType - otype\n BasketBallType - otype\n PotatoType - otype\n CurtainsType - otype\n BootsType - otype\n PencilType - otype\n AlarmClockType - otype\n ToiletPaperRollType - otype\n SpatulaType - otype\n BookType - otype\n BreadType - otype\n SoapBarType - otype\n WatchType - otype\n DeskLampType - otype\n KettleType - otype\n PotType - otype\n ScrubBrushType - otype\n WineBottleType - otype\n ShowerDoorType - otype\n BathtubType - otype\n LaundryHamperLidType - otype\n ShowerGlassType - otype\n PosterType - otype\n TennisRacketType - otype\n BaseballBatType - otype\n TowelType - otype\n PlungerType - otype\nSafeType - rtype\n DrawerType - rtype\n CoffeeMachineType - rtype\n HandTowelHolderType - rtype\n SinkBasinType - rtype\n DresserType - rtype\n LaundryHamperType - rtype\n TVStandType - rtype\n BathtubBasinType - rtype\n CabinetType - rtype\n FridgeType - rtype\n DeskType - rtype\n ToiletType - rtype\n CartType - rtype\n SideTableType - rtype\n SofaType - rtype\n CoffeeTableType - rtype\n DiningTableType - rtype\n CounterTopType - rtype\n GarbageCanType - rtype\n ArmChairType - rtype\n ShelfType - rtype\n MicrowaveType - rtype\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_36_bar__plus_00_dot_96_bar__minus_00_dot_63 - object\n Apple_bar__minus_02_dot_56_bar__plus_00_dot_96_bar__minus_00_dot_29 - object\n Apple_bar__minus_04_dot_18_bar__plus_00_dot_75_bar__minus_00_dot_31 - object\n Blinds_bar__minus_01_dot_37_bar__plus_02_dot_21_bar__minus_03_dot_96 - object\n Bowl_bar__minus_00_dot_33_bar__plus_01_dot_28_bar__minus_00_dot_53 - object\n Bread_bar__minus_03_dot_16_bar__plus_00_dot_98_bar__minus_00_dot_20 - object\n Bread_bar__minus_03_dot_33_bar__plus_00_dot_84_bar__minus_03_dot_42 - object\n ButterKnife_bar__minus_02_dot_56_bar__plus_00_dot_89_bar__minus_00_dot_38 - object\n ButterKnife_bar__minus_03_dot_57_bar__plus_00_dot_89_bar__minus_00_dot_55 - object\n Cup_bar__minus_00_dot_39_bar__plus_00_dot_94_bar__minus_01_dot_45 - object\n Cup_bar__minus_03_dot_94_bar__plus_00_dot_69_bar__minus_00_dot_43 - object\n DishSponge_bar__minus_00_dot_10_bar__plus_01_dot_94_bar__minus_00_dot_61 - object\n DishSponge_bar__minus_00_dot_55_bar__plus_00_dot_81_bar__minus_03_dot_32 - object\n Egg_bar__minus_00_dot_38_bar__plus_01_dot_33_bar__minus_00_dot_30 - object\n Egg_bar__minus_00_dot_39_bar__plus_00_dot_98_bar__minus_01_dot_58 - object\n 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Tomato_bar__minus_01_dot_25_bar__plus_00_dot_99_bar__minus_03_dot_44 - object\n Tomato_bar__minus_03_dot_57_bar__plus_00_dot_95_bar__minus_00_dot_38 - object\n Window_bar__minus_01_dot_39_bar__plus_01_dot_61_bar__minus_04_dot_11 - object\n Cabinet_bar__minus_00_dot_33_bar__plus_01_dot_89_bar__minus_02_dot_51 - receptacle\n Cabinet_bar__minus_00_dot_34_bar__plus_01_dot_89_bar__minus_01_dot_29 - receptacle\n Cabinet_bar__minus_00_dot_34_bar__plus_02_dot_11_bar__minus_00_dot_39 - receptacle\n Cabinet_bar__minus_00_dot_34_bar__plus_02_dot_11_bar__minus_01_dot_27 - receptacle\n Cabinet_bar__minus_00_dot_34_bar__plus_02_dot_11_bar__minus_01_dot_63 - receptacle\n Cabinet_bar__minus_00_dot_34_bar__plus_02_dot_11_bar__minus_02_dot_50 - receptacle\n Cabinet_bar__minus_00_dot_35_bar__plus_01_dot_89_bar__minus_03_dot_29 - receptacle\n Cabinet_bar__minus_00_dot_63_bar__plus_00_dot_39_bar__minus_01_dot_61 - receptacle\n Cabinet_bar__minus_00_dot_63_bar__plus_00_dot_39_bar__minus_02_dot_51 - 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loc_bar__minus_4_bar__minus_6_bar_1_bar_45 - location\n loc_bar__minus_6_bar__minus_12_bar_2_bar_45 - location\n loc_bar__minus_5_bar__minus_3_bar_1_bar_60 - location\n loc_bar__minus_6_bar__minus_12_bar_2_bar__minus_30 - location\n loc_bar__minus_7_bar__minus_10_bar_2_bar_60 - location\n loc_bar__minus_4_bar__minus_12_bar_2_bar_60 - location\n loc_bar__minus_4_bar__minus_8_bar_1_bar_15 - location\n loc_bar__minus_12_bar__minus_5_bar_0_bar_60 - location\n loc_bar__minus_4_bar__minus_7_bar_1_bar_45 - location\n loc_bar__minus_6_bar__minus_9_bar_1_bar_60 - location\n loc_bar__minus_5_bar__minus_10_bar_1_bar_45 - location\n loc_bar__minus_14_bar__minus_9_bar_2_bar_45 - location\n loc_bar__minus_4_bar__minus_6_bar_1_bar__minus_15 - location\n loc_bar__minus_6_bar__minus_6_bar_1_bar__minus_15 - location\n loc_bar__minus_4_bar__minus_9_bar_1_bar_45 - location\n loc_bar__minus_4_bar__minus_7_bar_1_bar_60 - location\n loc_bar__minus_4_bar__minus_10_bar_1_bar__minus_30 - location\n loc_bar__minus_15_bar__minus_4_bar_3_bar_15 - location\n loc_bar__minus_8_bar__minus_12_bar_2_bar_45 - location\n loc_bar__minus_10_bar__minus_12_bar_2_bar_45 - location\n loc_bar__minus_7_bar__minus_11_bar_1_bar_45 - location\n loc_bar__minus_4_bar__minus_8_bar_1_bar_60 - location\n loc_bar__minus_4_bar__minus_9_bar_2_bar__minus_15 - location\n loc_bar__minus_4_bar__minus_7_bar_1_bar__minus_30 - location\n loc_bar__minus_15_bar__minus_5_bar_0_bar_45 - location\n loc_bar__minus_4_bar__minus_12_bar_1_bar_60 - location\n loc_bar__minus_10_bar__minus_12_bar_2_bar_60 - location\n loc_bar__minus_4_bar__minus_12_bar_1_bar__minus_15 - location\n loc_bar__minus_4_bar__minus_6_bar_1_bar_60 - location\n loc_bar__minus_4_bar__minus_9_bar_1_bar_60 - location\n loc_bar__minus_6_bar__minus_6_bar_1_bar_60 - location\n loc_bar__minus_10_bar__minus_7_bar_2_bar_30 - location\n )\n \n\n(:init\n\n\n (receptacleType CounterTop_bar__minus_01_dot_94_bar__plus_00_dot_98_bar__minus_03_dot_67 CounterTopType)\n 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Cabinet_bar__minus_00_dot_34_bar__plus_02_dot_11_bar__minus_01_dot_27 CabinetType)\n (receptacleType Cabinet_bar__minus_00_dot_63_bar__plus_00_dot_39_bar__minus_01_dot_61 CabinetType)\n (receptacleType Cabinet_bar__minus_00_dot_63_bar__plus_00_dot_39_bar__minus_03_dot_01 CabinetType)\n (receptacleType StoveBurner_bar__minus_00_dot_44_bar__plus_00_dot_92_bar__minus_01_dot_85 StoveBurnerType)\n (receptacleType Cabinet_bar__minus_00_dot_63_bar__plus_00_dot_39_bar__minus_02_dot_51 CabinetType)\n (receptacleType Drawer_bar__minus_01_dot_15_bar__plus_00_dot_78_bar__minus_03_dot_50 DrawerType)\n (receptacleType StoveBurner_bar__minus_00_dot_44_bar__plus_00_dot_92_bar__minus_02_dot_24 StoveBurnerType)\n (receptacleType Fridge_bar__minus_00_dot_31_bar__plus_00_dot_00_bar__minus_00_dot_65 FridgeType)\n (receptacleType Drawer_bar__minus_00_dot_50_bar__plus_00_dot_78_bar__minus_01_dot_45 DrawerType)\n (receptacleType Microwave_bar__minus_00_dot_22_bar__plus_01_dot_47_bar__minus_02_dot_06 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Mug_bar__minus_04_dot_06_bar__plus_00_dot_69_bar__minus_00_dot_19)\n (heatable Egg_bar__minus_01_dot_25_bar__plus_00_dot_98_bar__minus_03_dot_91)\n (heatable Apple_bar__minus_02_dot_36_bar__plus_00_dot_96_bar__minus_00_dot_63)\n (heatable Tomato_bar__minus_03_dot_57_bar__plus_00_dot_95_bar__minus_00_dot_38)\n (heatable Mug_bar__minus_03_dot_59_bar__plus_00_dot_76_bar__minus_02_dot_96)\n (coolable Mug_bar__minus_04_dot_18_bar__plus_00_dot_69_bar__minus_00_dot_13)\n (coolable Egg_bar__minus_00_dot_38_bar__plus_01_dot_33_bar__minus_00_dot_30)\n (coolable Apple_bar__minus_02_dot_56_bar__plus_00_dot_96_bar__minus_00_dot_29)\n (coolable Egg_bar__minus_00_dot_39_bar__plus_00_dot_98_bar__minus_01_dot_58)\n (coolable Cup_bar__minus_03_dot_94_bar__plus_00_dot_69_bar__minus_00_dot_43)\n (coolable Cup_bar__minus_00_dot_39_bar__plus_00_dot_94_bar__minus_01_dot_45)\n (coolable Mug_bar__minus_03_dot_61_bar__plus_00_dot_76_bar__minus_03_dot_49)\n (coolable Lettuce_bar__minus_01_dot_10_bar__plus_01_dot_02_bar__minus_03_dot_62)\n (coolable Bread_bar__minus_03_dot_33_bar__plus_00_dot_84_bar__minus_03_dot_42)\n (coolable Pot_bar__minus_00_dot_22_bar__plus_00_dot_96_bar__minus_01_dot_85)\n (coolable Bread_bar__minus_03_dot_16_bar__plus_00_dot_98_bar__minus_00_dot_20)\n (coolable Potato_bar__minus_02_dot_76_bar__plus_00_dot_93_bar__minus_00_dot_46)\n (coolable Plate_bar__minus_00_dot_66_bar__plus_00_dot_83_bar__minus_03_dot_43)\n (coolable Tomato_bar__minus_01_dot_25_bar__plus_00_dot_99_bar__minus_03_dot_44)\n (coolable Apple_bar__minus_04_dot_18_bar__plus_00_dot_75_bar__minus_00_dot_31)\n (coolable Mug_bar__minus_04_dot_06_bar__plus_00_dot_69_bar__minus_00_dot_19)\n (coolable Egg_bar__minus_01_dot_25_bar__plus_00_dot_98_bar__minus_03_dot_91)\n (coolable Apple_bar__minus_02_dot_36_bar__plus_00_dot_96_bar__minus_00_dot_63)\n (coolable Pan_bar__minus_00_dot_22_bar__plus_00_dot_96_bar__minus_02_dot_22)\n (coolable Tomato_bar__minus_03_dot_57_bar__plus_00_dot_95_bar__minus_00_dot_38)\n (coolable Bowl_bar__minus_00_dot_33_bar__plus_01_dot_28_bar__minus_00_dot_53)\n (coolable Mug_bar__minus_03_dot_59_bar__plus_00_dot_76_bar__minus_02_dot_96)\n \n \n \n \n \n (sliceable Egg_bar__minus_00_dot_38_bar__plus_01_dot_33_bar__minus_00_dot_30)\n (sliceable Apple_bar__minus_02_dot_56_bar__plus_00_dot_96_bar__minus_00_dot_29)\n (sliceable Egg_bar__minus_00_dot_39_bar__plus_00_dot_98_bar__minus_01_dot_58)\n (sliceable Lettuce_bar__minus_01_dot_10_bar__plus_01_dot_02_bar__minus_03_dot_62)\n (sliceable Bread_bar__minus_03_dot_33_bar__plus_00_dot_84_bar__minus_03_dot_42)\n (sliceable Bread_bar__minus_03_dot_16_bar__plus_00_dot_98_bar__minus_00_dot_20)\n (sliceable Potato_bar__minus_02_dot_76_bar__plus_00_dot_93_bar__minus_00_dot_46)\n (sliceable Tomato_bar__minus_01_dot_25_bar__plus_00_dot_99_bar__minus_03_dot_44)\n (sliceable Apple_bar__minus_04_dot_18_bar__plus_00_dot_75_bar__minus_00_dot_31)\n (sliceable 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CounterTop_bar__minus_01_dot_94_bar__plus_00_dot_98_bar__minus_03_dot_67)\n (inReceptacle Knife_bar__minus_01_dot_47_bar__plus_00_dot_97_bar__minus_03_dot_67 CounterTop_bar__minus_01_dot_94_bar__plus_00_dot_98_bar__minus_03_dot_67)\n (inReceptacle Spoon_bar__minus_00_dot_24_bar__plus_00_dot_94_bar__minus_03_dot_02 CounterTop_bar__minus_01_dot_94_bar__plus_00_dot_98_bar__minus_03_dot_67)\n (inReceptacle PepperShaker_bar__minus_01_dot_11_bar__plus_00_dot_94_bar__minus_03_dot_80 CounterTop_bar__minus_01_dot_94_bar__plus_00_dot_98_bar__minus_03_dot_67)\n (inReceptacle ButterKnife_bar__minus_02_dot_56_bar__plus_00_dot_89_bar__minus_00_dot_38 DiningTable_bar__minus_03_dot_03_bar__plus_00_dot_00_bar__minus_00_dot_44)\n (inReceptacle Apple_bar__minus_02_dot_36_bar__plus_00_dot_96_bar__minus_00_dot_63 DiningTable_bar__minus_03_dot_03_bar__plus_00_dot_00_bar__minus_00_dot_44)\n (inReceptacle Spatula_bar__minus_02_dot_96_bar__plus_00_dot_91_bar__minus_00_dot_38 DiningTable_bar__minus_03_dot_03_bar__plus_00_dot_00_bar__minus_00_dot_44)\n (inReceptacle Tomato_bar__minus_03_dot_57_bar__plus_00_dot_95_bar__minus_00_dot_38 DiningTable_bar__minus_03_dot_03_bar__plus_00_dot_00_bar__minus_00_dot_44)\n (inReceptacle Knife_bar__minus_03_dot_16_bar__plus_00_dot_92_bar__minus_00_dot_38 DiningTable_bar__minus_03_dot_03_bar__plus_00_dot_00_bar__minus_00_dot_44)\n (inReceptacle Bread_bar__minus_03_dot_16_bar__plus_00_dot_98_bar__minus_00_dot_20 DiningTable_bar__minus_03_dot_03_bar__plus_00_dot_00_bar__minus_00_dot_44)\n (inReceptacle Potato_bar__minus_02_dot_76_bar__plus_00_dot_93_bar__minus_00_dot_46 DiningTable_bar__minus_03_dot_03_bar__plus_00_dot_00_bar__minus_00_dot_44)\n (inReceptacle Fork_bar__minus_02_dot_76_bar__plus_00_dot_90_bar__minus_00_dot_20 DiningTable_bar__minus_03_dot_03_bar__plus_00_dot_00_bar__minus_00_dot_44)\n (inReceptacle Apple_bar__minus_02_dot_56_bar__plus_00_dot_96_bar__minus_00_dot_29 DiningTable_bar__minus_03_dot_03_bar__plus_00_dot_00_bar__minus_00_dot_44)\n (inReceptacle ButterKnife_bar__minus_03_dot_57_bar__plus_00_dot_89_bar__minus_00_dot_55 DiningTable_bar__minus_03_dot_03_bar__plus_00_dot_00_bar__minus_00_dot_44)\n (inReceptacle Mug_bar__minus_03_dot_61_bar__plus_00_dot_76_bar__minus_03_dot_49 DiningTable_bar__minus_03_dot_62_bar__plus_00_dot_67_bar__minus_03_dot_32)\n (inReceptacle Bread_bar__minus_03_dot_33_bar__plus_00_dot_84_bar__minus_03_dot_42 DiningTable_bar__minus_03_dot_62_bar__plus_00_dot_67_bar__minus_03_dot_32)\n (inReceptacle Fork_bar__minus_03_dot_90_bar__plus_00_dot_76_bar__minus_03_dot_46 DiningTable_bar__minus_03_dot_62_bar__plus_00_dot_67_bar__minus_03_dot_32)\n (inReceptacle Spatula_bar__minus_03_dot_81_bar__plus_00_dot_78_bar__minus_03_dot_28 DiningTable_bar__minus_03_dot_62_bar__plus_00_dot_67_bar__minus_03_dot_32)\n (inReceptacle Mug_bar__minus_03_dot_59_bar__plus_00_dot_76_bar__minus_02_dot_96 DiningTable_bar__minus_03_dot_62_bar__plus_00_dot_67_bar__minus_03_dot_32)\n (inReceptacle Pot_bar__minus_00_dot_22_bar__plus_00_dot_96_bar__minus_01_dot_85 StoveBurner_bar__minus_00_dot_44_bar__plus_00_dot_92_bar__minus_01_dot_85)\n (inReceptacle Pot_bar__minus_00_dot_22_bar__plus_00_dot_96_bar__minus_01_dot_85 StoveBurner_bar__minus_00_dot_22_bar__plus_00_dot_92_bar__minus_01_dot_85)\n (inReceptacle Pan_bar__minus_00_dot_22_bar__plus_00_dot_96_bar__minus_02_dot_22 StoveBurner_bar__minus_00_dot_44_bar__plus_00_dot_92_bar__minus_02_dot_24)\n (inReceptacle SaltShaker_bar__minus_00_dot_55_bar__plus_00_dot_74_bar__minus_01_dot_41 Drawer_bar__minus_00_dot_50_bar__plus_00_dot_78_bar__minus_01_dot_45)\n (inReceptacle Knife_bar__minus_00_dot_44_bar__plus_00_dot_78_bar__minus_02_dot_79 Drawer_bar__minus_00_dot_48_bar__plus_00_dot_78_bar__minus_02_dot_74)\n (inReceptacle Spoon_bar__minus_00_dot_58_bar__plus_00_dot_75_bar__minus_02_dot_63 Drawer_bar__minus_00_dot_48_bar__plus_00_dot_78_bar__minus_02_dot_74)\n (inReceptacle DishSponge_bar__minus_00_dot_10_bar__plus_01_dot_94_bar__minus_00_dot_61 Cabinet_bar__minus_00_dot_34_bar__plus_02_dot_11_bar__minus_00_dot_39)\n (inReceptacle Mug_bar__minus_04_dot_06_bar__plus_00_dot_69_bar__minus_00_dot_19 SideTable_bar__minus_04_dot_07_bar__plus_00_dot_73_bar__minus_00_dot_31)\n (inReceptacle SaltShaker_bar__minus_04_dot_06_bar__plus_00_dot_69_bar__minus_00_dot_37 SideTable_bar__minus_04_dot_07_bar__plus_00_dot_73_bar__minus_00_dot_31)\n (inReceptacle Mug_bar__minus_04_dot_18_bar__plus_00_dot_69_bar__minus_00_dot_13 SideTable_bar__minus_04_dot_07_bar__plus_00_dot_73_bar__minus_00_dot_31)\n (inReceptacle SoapBottle_bar__minus_04_dot_24_bar__plus_00_dot_69_bar__minus_00_dot_43 SideTable_bar__minus_04_dot_07_bar__plus_00_dot_73_bar__minus_00_dot_31)\n (inReceptacle Apple_bar__minus_04_dot_18_bar__plus_00_dot_75_bar__minus_00_dot_31 SideTable_bar__minus_04_dot_07_bar__plus_00_dot_73_bar__minus_00_dot_31)\n (inReceptacle SoapBottle_bar__minus_04_dot_06_bar__plus_00_dot_69_bar__minus_00_dot_49 SideTable_bar__minus_04_dot_07_bar__plus_00_dot_73_bar__minus_00_dot_31)\n (inReceptacle SaltShaker_bar__minus_03_dot_88_bar__plus_00_dot_69_bar__minus_00_dot_19 SideTable_bar__minus_04_dot_07_bar__plus_00_dot_73_bar__minus_00_dot_31)\n (inReceptacle Cup_bar__minus_03_dot_94_bar__plus_00_dot_69_bar__minus_00_dot_43 SideTable_bar__minus_04_dot_07_bar__plus_00_dot_73_bar__minus_00_dot_31)\n (inReceptacle Fork_bar__minus_04_dot_18_bar__plus_00_dot_69_bar__minus_00_dot_49 SideTable_bar__minus_04_dot_07_bar__plus_00_dot_73_bar__minus_00_dot_31)\n (inReceptacle Spoon_bar__minus_00_dot_47_bar__plus_00_dot_94_bar__minus_01_dot_49 CounterTop_bar__minus_00_dot_33_bar__plus_00_dot_98_bar__minus_01_dot_45)\n (inReceptacle Egg_bar__minus_00_dot_39_bar__plus_00_dot_98_bar__minus_01_dot_58 CounterTop_bar__minus_00_dot_33_bar__plus_00_dot_98_bar__minus_01_dot_45)\n (inReceptacle Cup_bar__minus_00_dot_39_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)\n (inReceptacle Pan_bar__minus_00_dot_22_bar__plus_00_dot_96_bar__minus_02_dot_22 StoveBurner_bar__minus_00_dot_22_bar__plus_00_dot_92_bar__minus_02_dot_24)\n (inReceptacle SoapBottle_bar__minus_02_dot_45_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)\n (inReceptacle Plate_bar__minus_00_dot_66_bar__plus_00_dot_83_bar__minus_03_dot_43 Sink_bar__minus_00_dot_60_bar__plus_00_dot_93_bar__minus_03_dot_39_bar_SinkBasin)\n (inReceptacle DishSponge_bar__minus_00_dot_55_bar__plus_00_dot_81_bar__minus_03_dot_32 Sink_bar__minus_00_dot_60_bar__plus_00_dot_93_bar__minus_03_dot_39_bar_SinkBasin)\n (inReceptacle Bowl_bar__minus_00_dot_33_bar__plus_01_dot_28_bar__minus_00_dot_53 Fridge_bar__minus_00_dot_31_bar__plus_00_dot_00_bar__minus_00_dot_65)\n (inReceptacle Egg_bar__minus_00_dot_38_bar__plus_01_dot_33_bar__minus_00_dot_30 Fridge_bar__minus_00_dot_31_bar__plus_00_dot_00_bar__minus_00_dot_65)\n \n \n (receptacleAtLocation Cabinet_bar__minus_00_dot_33_bar__plus_01_dot_89_bar__minus_02_dot_51 loc_bar__minus_4_bar__minus_12_bar_1_bar__minus_15)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_34_bar__plus_01_dot_89_bar__minus_01_dot_29 loc_bar__minus_4_bar__minus_6_bar_1_bar__minus_15)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_34_bar__plus_02_dot_11_bar__minus_00_dot_39 loc_bar__minus_6_bar__minus_4_bar_1_bar__minus_15)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_34_bar__plus_02_dot_11_bar__minus_01_dot_27 loc_bar__minus_6_bar__minus_6_bar_1_bar__minus_15)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_34_bar__plus_02_dot_11_bar__minus_01_dot_63 loc_bar__minus_4_bar__minus_7_bar_1_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_34_bar__plus_02_dot_11_bar__minus_02_dot_50 loc_bar__minus_4_bar__minus_10_bar_1_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_35_bar__plus_01_dot_89_bar__minus_03_dot_29 loc_bar__minus_4_bar__minus_9_bar_2_bar__minus_15)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_63_bar__plus_00_dot_39_bar__minus_01_dot_61 loc_bar__minus_6_bar__minus_6_bar_1_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_63_bar__plus_00_dot_39_bar__minus_02_dot_51 loc_bar__minus_6_bar__minus_9_bar_1_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_63_bar__plus_00_dot_39_bar__minus_03_dot_01 loc_bar__minus_7_bar__minus_11_bar_1_bar_45)\n (receptacleAtLocation Cabinet_bar__minus_01_dot_01_bar__plus_00_dot_39_bar__minus_03_dot_37 loc_bar__minus_7_bar__minus_10_bar_2_bar_60)\n (receptacleAtLocation CoffeeMachine_bar__minus_02_dot_51_bar__plus_00_dot_93_bar__minus_03_dot_80 loc_bar__minus_10_bar__minus_12_bar_2_bar_45)\n (receptacleAtLocation CounterTop_bar__minus_00_dot_33_bar__plus_00_dot_98_bar__minus_01_dot_45 loc_bar__minus_4_bar__minus_6_bar_1_bar_45)\n (receptacleAtLocation CounterTop_bar__minus_01_dot_94_bar__plus_00_dot_98_bar__minus_03_dot_67 loc_bar__minus_6_bar__minus_12_bar_2_bar_45)\n (receptacleAtLocation DiningTable_bar__minus_03_dot_03_bar__plus_00_dot_00_bar__minus_00_dot_44 loc_bar__minus_12_bar__minus_5_bar_0_bar_60)\n (receptacleAtLocation DiningTable_bar__minus_03_dot_62_bar__plus_00_dot_67_bar__minus_03_dot_32 loc_bar__minus_14_bar__minus_9_bar_2_bar_45)\n (receptacleAtLocation Drawer_bar__minus_00_dot_48_bar__plus_00_dot_78_bar__minus_02_dot_74 loc_bar__minus_5_bar__minus_10_bar_1_bar_45)\n (receptacleAtLocation Drawer_bar__minus_00_dot_50_bar__plus_00_dot_78_bar__minus_01_dot_45 loc_bar__minus_4_bar__minus_6_bar_1_bar_60)\n (receptacleAtLocation Drawer_bar__minus_01_dot_15_bar__plus_00_dot_78_bar__minus_03_dot_50 loc_bar__minus_4_bar__minus_12_bar_2_bar_60)\n (receptacleAtLocation Fridge_bar__minus_00_dot_31_bar__plus_00_dot_00_bar__minus_00_dot_65 loc_bar__minus_5_bar__minus_3_bar_1_bar_60)\n (receptacleAtLocation GarbageCan_bar__minus_02_dot_42_bar__plus_00_dot_00_bar__minus_03_dot_54 loc_bar__minus_10_bar__minus_12_bar_2_bar_60)\n (receptacleAtLocation Microwave_bar__minus_00_dot_22_bar__plus_01_dot_47_bar__minus_02_dot_06 loc_bar__minus_4_bar__minus_8_bar_1_bar_15)\n (receptacleAtLocation SideTable_bar__minus_04_dot_07_bar__plus_00_dot_73_bar__minus_00_dot_31 loc_bar__minus_15_bar__minus_5_bar_0_bar_45)\n (receptacleAtLocation Sink_bar__minus_00_dot_60_bar__plus_00_dot_93_bar__minus_03_dot_39_bar_SinkBasin loc_bar__minus_8_bar__minus_11_bar_1_bar_30)\n (receptacleAtLocation StoveBurner_bar__minus_00_dot_22_bar__plus_00_dot_92_bar__minus_01_dot_85 loc_bar__minus_4_bar__minus_7_bar_1_bar_45)\n (receptacleAtLocation StoveBurner_bar__minus_00_dot_22_bar__plus_00_dot_92_bar__minus_02_dot_24 loc_bar__minus_4_bar__minus_9_bar_1_bar_45)\n (receptacleAtLocation StoveBurner_bar__minus_00_dot_44_bar__plus_00_dot_92_bar__minus_01_dot_85 loc_bar__minus_4_bar__minus_7_bar_1_bar_45)\n (receptacleAtLocation StoveBurner_bar__minus_00_dot_44_bar__plus_00_dot_92_bar__minus_02_dot_24 loc_bar__minus_4_bar__minus_9_bar_1_bar_45)\n (receptacleAtLocation Toaster_bar__minus_01_dot_97_bar__plus_00_dot_93_bar__minus_03_dot_76 loc_bar__minus_8_bar__minus_12_bar_2_bar_45)\n (objectAtLocation Mug_bar__minus_04_dot_06_bar__plus_00_dot_69_bar__minus_00_dot_19 loc_bar__minus_15_bar__minus_5_bar_0_bar_45)\n (objectAtLocation Spoon_bar__minus_00_dot_24_bar__plus_00_dot_94_bar__minus_03_dot_02 loc_bar__minus_6_bar__minus_12_bar_2_bar_45)\n (objectAtLocation Egg_bar__minus_00_dot_38_bar__plus_01_dot_33_bar__minus_00_dot_30 loc_bar__minus_5_bar__minus_3_bar_1_bar_60)\n (objectAtLocation DishSponge_bar__minus_00_dot_10_bar__plus_01_dot_94_bar__minus_00_dot_61 loc_bar__minus_6_bar__minus_4_bar_1_bar__minus_15)\n (objectAtLocation Apple_bar__minus_02_dot_56_bar__plus_00_dot_96_bar__minus_00_dot_29 loc_bar__minus_12_bar__minus_5_bar_0_bar_60)\n (objectAtLocation ButterKnife_bar__minus_03_dot_57_bar__plus_00_dot_89_bar__minus_00_dot_55 loc_bar__minus_12_bar__minus_5_bar_0_bar_60)\n (objectAtLocation SaltShaker_bar__minus_00_dot_55_bar__plus_00_dot_74_bar__minus_01_dot_41 loc_bar__minus_4_bar__minus_6_bar_1_bar_60)\n (objectAtLocation Knife_bar__minus_01_dot_47_bar__plus_00_dot_97_bar__minus_03_dot_67 loc_bar__minus_6_bar__minus_12_bar_2_bar_45)\n (objectAtLocation Spatula_bar__minus_03_dot_81_bar__plus_00_dot_78_bar__minus_03_dot_28 loc_bar__minus_14_bar__minus_9_bar_2_bar_45)\n (objectAtLocation Bread_bar__minus_03_dot_33_bar__plus_00_dot_84_bar__minus_03_dot_42 loc_bar__minus_14_bar__minus_9_bar_2_bar_45)\n (objectAtLocation Tomato_bar__minus_01_dot_25_bar__plus_00_dot_99_bar__minus_03_dot_44 loc_bar__minus_6_bar__minus_12_bar_2_bar_45)\n (objectAtLocation Cup_bar__minus_00_dot_39_bar__plus_00_dot_94_bar__minus_01_dot_45 loc_bar__minus_4_bar__minus_6_bar_1_bar_45)\n (objectAtLocation Fork_bar__minus_03_dot_90_bar__plus_00_dot_76_bar__minus_03_dot_46 loc_bar__minus_14_bar__minus_9_bar_2_bar_45)\n (objectAtLocation SoapBottle_bar__minus_04_dot_06_bar__plus_00_dot_69_bar__minus_00_dot_49 loc_bar__minus_15_bar__minus_5_bar_0_bar_45)\n (objectAtLocation Apple_bar__minus_02_dot_36_bar__plus_00_dot_96_bar__minus_00_dot_63 loc_bar__minus_12_bar__minus_5_bar_0_bar_60)\n (objectAtLocation Mug_bar__minus_03_dot_61_bar__plus_00_dot_76_bar__minus_03_dot_49 loc_bar__minus_14_bar__minus_9_bar_2_bar_45)\n (objectAtLocation Mug_bar__minus_04_dot_18_bar__plus_00_dot_69_bar__minus_00_dot_13 loc_bar__minus_15_bar__minus_5_bar_0_bar_45)\n (objectAtLocation SaltShaker_bar__minus_04_dot_06_bar__plus_00_dot_69_bar__minus_00_dot_37 loc_bar__minus_15_bar__minus_5_bar_0_bar_45)\n (objectAtLocation SoapBottle_bar__minus_02_dot_45_bar__plus_00_dot_10_bar__minus_03_dot_51 loc_bar__minus_10_bar__minus_12_bar_2_bar_60)\n (objectAtLocation Knife_bar__minus_03_dot_16_bar__plus_00_dot_92_bar__minus_00_dot_38 loc_bar__minus_12_bar__minus_5_bar_0_bar_60)\n (objectAtLocation Egg_bar__minus_00_dot_39_bar__plus_00_dot_98_bar__minus_01_dot_58 loc_bar__minus_4_bar__minus_6_bar_1_bar_45)\n (objectAtLocation Spatula_bar__minus_02_dot_96_bar__plus_00_dot_91_bar__minus_00_dot_38 loc_bar__minus_12_bar__minus_5_bar_0_bar_60)\n (objectAtLocation Spoon_bar__minus_00_dot_58_bar__plus_00_dot_75_bar__minus_02_dot_63 loc_bar__minus_5_bar__minus_10_bar_1_bar_45)\n (objectAtLocation Fork_bar__minus_04_dot_18_bar__plus_00_dot_69_bar__minus_00_dot_49 loc_bar__minus_15_bar__minus_5_bar_0_bar_45)\n (objectAtLocation Sink_bar__minus_00_dot_60_bar__plus_00_dot_93_bar__minus_03_dot_39 loc_bar__minus_4_bar__minus_12_bar_1_bar_60)\n (objectAtLocation SoapBottle_bar__minus_04_dot_24_bar__plus_00_dot_69_bar__minus_00_dot_43 loc_bar__minus_15_bar__minus_5_bar_0_bar_45)\n (objectAtLocation Pot_bar__minus_00_dot_22_bar__plus_00_dot_96_bar__minus_01_dot_85 loc_bar__minus_4_bar__minus_7_bar_1_bar_45)\n (objectAtLocation StoveKnob_bar__minus_00_dot_62_bar__plus_00_dot_90_bar__minus_01_dot_83 loc_bar__minus_4_bar__minus_7_bar_1_bar_60)\n (objectAtLocation StoveKnob_bar__minus_00_dot_62_bar__plus_00_dot_90_bar__minus_02_dot_13 loc_bar__minus_4_bar__minus_9_bar_1_bar_60)\n (objectAtLocation StoveKnob_bar__minus_00_dot_62_bar__plus_00_dot_90_bar__minus_02_dot_29 loc_bar__minus_4_bar__minus_9_bar_1_bar_60)\n (objectAtLocation StoveKnob_bar__minus_00_dot_62_bar__plus_00_dot_90_bar__minus_01_dot_98 loc_bar__minus_4_bar__minus_8_bar_1_bar_60)\n (objectAtLocation Fork_bar__minus_02_dot_76_bar__plus_00_dot_90_bar__minus_00_dot_20 loc_bar__minus_12_bar__minus_5_bar_0_bar_60)\n (objectAtLocation Cup_bar__minus_03_dot_94_bar__plus_00_dot_69_bar__minus_00_dot_43 loc_bar__minus_15_bar__minus_5_bar_0_bar_45)\n (objectAtLocation Tomato_bar__minus_03_dot_57_bar__plus_00_dot_95_bar__minus_00_dot_38 loc_bar__minus_12_bar__minus_5_bar_0_bar_60)\n (objectAtLocation Pan_bar__minus_00_dot_22_bar__plus_00_dot_96_bar__minus_02_dot_22 loc_bar__minus_4_bar__minus_9_bar_1_bar_45)\n (objectAtLocation Plate_bar__minus_00_dot_66_bar__plus_00_dot_83_bar__minus_03_dot_43 loc_bar__minus_8_bar__minus_11_bar_1_bar_30)\n (objectAtLocation Window_bar__minus_01_dot_39_bar__plus_01_dot_61_bar__minus_04_dot_11 loc_bar__minus_6_bar__minus_12_bar_2_bar_0)\n (objectAtLocation LightSwitch_bar__minus_04_dot_37_bar__plus_01_dot_49_bar__minus_01_dot_03 loc_bar__minus_15_bar__minus_4_bar_3_bar_15)\n (objectAtLocation Bread_bar__minus_03_dot_16_bar__plus_00_dot_98_bar__minus_00_dot_20 loc_bar__minus_12_bar__minus_5_bar_0_bar_60)\n (objectAtLocation Spatula_bar__minus_00_dot_32_bar__plus_00_dot_96_bar__minus_02_dot_85 loc_bar__minus_6_bar__minus_12_bar_2_bar_45)\n (objectAtLocation Knife_bar__minus_00_dot_44_bar__plus_00_dot_78_bar__minus_02_dot_79 loc_bar__minus_5_bar__minus_10_bar_1_bar_45)\n (objectAtLocation SaltShaker_bar__minus_03_dot_88_bar__plus_00_dot_69_bar__minus_00_dot_19 loc_bar__minus_15_bar__minus_5_bar_0_bar_45)\n (objectAtLocation PepperShaker_bar__minus_01_dot_11_bar__plus_00_dot_94_bar__minus_03_dot_80 loc_bar__minus_6_bar__minus_12_bar_2_bar_45)\n (objectAtLocation ButterKnife_bar__minus_02_dot_56_bar__plus_00_dot_89_bar__minus_00_dot_38 loc_bar__minus_12_bar__minus_5_bar_0_bar_60)\n (objectAtLocation Apple_bar__minus_04_dot_18_bar__plus_00_dot_75_bar__minus_00_dot_31 loc_bar__minus_15_bar__minus_5_bar_0_bar_45)\n (objectAtLocation DishSponge_bar__minus_00_dot_55_bar__plus_00_dot_81_bar__minus_03_dot_32 loc_bar__minus_8_bar__minus_11_bar_1_bar_30)\n (objectAtLocation Potato_bar__minus_02_dot_76_bar__plus_00_dot_93_bar__minus_00_dot_46 loc_bar__minus_12_bar__minus_5_bar_0_bar_60)\n (objectAtLocation Egg_bar__minus_01_dot_25_bar__plus_00_dot_98_bar__minus_03_dot_91 loc_bar__minus_6_bar__minus_12_bar_2_bar_45)\n (objectAtLocation Spoon_bar__minus_00_dot_47_bar__plus_00_dot_94_bar__minus_01_dot_49 loc_bar__minus_4_bar__minus_6_bar_1_bar_45)\n (objectAtLocation Lettuce_bar__minus_01_dot_10_bar__plus_01_dot_02_bar__minus_03_dot_62 loc_bar__minus_6_bar__minus_12_bar_2_bar_45)\n (objectAtLocation Mug_bar__minus_03_dot_59_bar__plus_00_dot_76_bar__minus_02_dot_96 loc_bar__minus_14_bar__minus_9_bar_2_bar_45)\n (objectAtLocation Blinds_bar__minus_01_dot_37_bar__plus_02_dot_21_bar__minus_03_dot_96 loc_bar__minus_6_bar__minus_12_bar_2_bar__minus_30)\n (objectAtLocation Bowl_bar__minus_00_dot_33_bar__plus_01_dot_28_bar__minus_00_dot_53 loc_bar__minus_5_bar__minus_3_bar_1_bar_60)\n )\n \n\n (:goal\n (and\n (exists (?r - receptacle)\n (exists (?o - object)\n (and\n (heatable ?o)\n (objectType ?o MugType)\n (receptacleType ?r CoffeeMachineType)\n (isHot ?o)\n (inReceptacle ?o ?r)\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to diningtable 1", "take mug 4 from diningtable 1", "go to microwave 1", "heat mug 4 with microwave 1", "go to coffeemachine 1", "move mug 4 to coffeemachine 1"]}
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alfworld__pick_two_obj_and_place__798
|
pick_two_obj_and_place
|
pick_two_obj_and_place-Pencil-None-Shelf-301/trial_T20190909_011443_526440/game.tw-pddl
|
{"pddl_domain": ";; Specification in PDDL of the Alfred domain\n;; Intended to be used with Fast Downward which supports PDDL 2.2 level 1 plus the :action-costs requirement from PDDL 3.1.\n\n(define (domain alfred)\n (:requirements\n :adl\n :action-costs\n :typing\n )\n (:types\n agent\n location\n receptacle\n object\n rtype\n otype\n )\n\n\n (:predicates\n (atLocation ?a - agent ?l - location) ; true if the agent is at the location\n (receptacleAtLocation ?r - receptacle ?l - location) ; true if the receptacle is at the location (constant)\n (objectAtLocation ?o - object ?l - location) ; true if the object is at the location\n (openable ?r - receptacle) ; true if a receptacle is openable\n (opened ?r - receptacle) ; true if a receptacle is opened\n (inReceptacle ?o - object ?r - receptacle) ; object ?o is in receptacle ?r\n (isReceptacleObject ?o - object) ; true if the object can have things put inside it\n (inReceptacleObject ?innerObject - object ?outerObject - object) ; object ?innerObject is inside object ?outerObject\n (isReceptacleObjectFull ?o - object) ; true if the receptacle object contains something\n (wasInReceptacle ?o - object ?r - receptacle) ; object ?o was or is in receptacle ?r now or some time in the past\n (checked ?r - receptacle) ; whether the receptacle has been looked inside/visited\n (examined ?l - location) ; TODO\n (receptacleType ?r - receptacle ?t - rtype) ; the type of receptacle (Cabinet vs Cabinet|01|2...)\n (canContain ?rt - rtype ?ot - otype) ; true if receptacle can hold object\n (objectType ?o - object ?t - otype) ; the type of object (Apple vs Apple|01|2...)\n (holds ?a - agent ?o - object) ; object ?o is held by agent ?a\n (holdsAny ?a - agent) ; agent ?a holds an object\n (holdsAnyReceptacleObject ?a - agent) ; agent ?a holds a receptacle object\n (full ?r - receptacle) ; true if the receptacle has no remaining space\n (isClean ?o - object) ; true if the object has been clean in sink\n (cleanable ?o - object) ; true if the object can be placed in a sink\n (isHot ?o - object) ; true if the object has been heated up\n (heatable ?o - object) ; true if the object can be heated up in a microwave\n (isCool ?o - object) ; true if the object has been cooled\n (coolable ?o - object) ; true if the object can be cooled in the fridge\n (pickupable ?o - object) ; true if the object can be picked up\n (moveable ?o - object) ; true if the object can be moved\n (toggleable ?o - object) ; true if the object can be turned on/off\n (isOn ?o - object) ; true if the object is on\n (isToggled ?o - object) ; true if the object has been toggled\n (sliceable ?o - object) ; true if the object can be sliced\n (isSliced ?o - object) ; true if the object is sliced\n )\n\n (:functions\n (distance ?from ?to)\n (total-cost) - number\n )\n\n;; All actions are specified such that the final arguments are the ones used\n;; for performing actions in Unity.\n\n\n(:action look\n :parameters (?a - agent ?l - location)\n :precondition\n (and\n (atLocation ?a ?l)\n )\n :effect\n (and\n (checked ?l)\n )\n)\n\n(:action inventory\n :parameters (?a - agent)\n :precondition\n ()\n :effect\n (and\n (checked ?a)\n )\n)\n\n(:action examineReceptacle\n :parameters (?a - agent ?r - receptacle)\n :precondition\n (and\n (exists (?l - location)\n (and\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n )\n )\n )\n :effect\n (and\n (checked ?r)\n )\n)\n\n(:action examineObject\n :parameters (?a - agent ?o - object)\n :precondition\n (or\n ;(exists (?l - location)\n ; (and\n ; (atLocation ?a ?l)\n ; (objectAtLocation ?o ?l)\n ; )\n ;)\n (exists (?l - location, ?r - receptacle)\n (and\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n ; (objectAtLocation ?o ?l)\n (inReceptacle ?o ?r)\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n )\n )\n (holds ?a ?o)\n )\n :effect\n (and\n (checked ?o)\n )\n)\n\n;; agent goes to receptacle\n (:action GotoLocation\n :parameters (?a - agent ?lStart - location ?lEnd - location ?r - receptacle)\n :precondition (and\n (atLocation ?a ?lStart)\n (receptacleAtLocation ?r ?lEnd)\n ;(exists (?r - receptacle) (receptacleAtLocation ?r ?lEnd))\n )\n :effect (and\n (not (atLocation ?a ?lStart))\n (atLocation ?a ?lEnd)\n ; (forall (?r - receptacle)\n ; (when (and (receptacleAtLocation ?r ?lEnd)\n ; (or (not (openable ?r)) (opened ?r)))\n ; (checked ?r)\n ; )\n ; )\n ; (increase (total-cost) (distance ?lStart ?lEnd))\n (increase (total-cost) 1)\n )\n )\n\n;; agent opens receptacle\n (:action OpenObject\n :parameters (?a - agent ?l - location ?r - receptacle)\n :precondition (and\n (openable ?r)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (not (opened ?r))\n )\n :effect (and\n (opened ?r)\n (checked ?r)\n (increase (total-cost) 1)\n )\n )\n;; agent closes receptacle\n (:action CloseObject\n :parameters (?a - agent ?l - location ?r - receptacle)\n :precondition (and\n (openable ?r)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (opened ?r)\n )\n :effect (and\n (not (opened ?r))\n (increase (total-cost) 1)\n )\n\n )\n\n ;; agent picks up object from a receptacle\n (:action PickupObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n :precondition\n (and\n (pickupable ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n ; (objectAtLocation ?o ?l)\n (inReceptacle ?o ?r)\n (not (holdsAny ?a)) ; agent's hands are empty.\n ;(not (holdsAnyReceptacleObject ?a))\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n ;(not (isReceptacleObject ?o))\n )\n :effect\n (and\n (not (inReceptacle ?o ?r))\n (holds ?a ?o)\n (holdsAny ?a)\n (not (objectAtLocation ?o ?l))\n ;(not (full ?r))\n (increase (total-cost) 1)\n )\n )\n\n\n; ;; agent picks up object from a receptacle\n; (:action PickupObjectFromReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?outerR - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (inReceptacle ?o ?r)\n; (pickupable ?o)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (not (isReceptacleObject ?o))\n; (isReceptacleObject ?outerR)\n; (inReceptacleObject ?o ?outerR)\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (holds ?a ?o)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n;\n; (not (inReceptacleObject ?o ?outerR))\n; (not (isReceptacleObjectFull ?outerR))\n; )\n; )\n;\n; ;; agent picks up object from a receptacle\n; (:action PickupEmptyReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; ; (objectAtLocation ?o ?l)\n; (inReceptacle ?o ?r)\n; (pickupable ?o)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (isReceptacleObject ?o)\n; (not (isReceptacleObjectFull ?o))\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (holds ?a ?o)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n; (holdsAnyReceptacleObject ?a)\n; )\n; )\n;\n; ;; agent picks up object from a receptacle\n; (:action PickupFullReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?outerR - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (inReceptacle ?outerR ?r)\n; (pickupable ?outerR)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (not (isReceptacleObject ?o))\n; (isReceptacleObject ?outerR)\n; (inReceptacleObject ?o ?outerR)\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (not (inReceptacle ?outerR ?r))\n; (holds ?a ?outerR)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (objectAtLocation ?outerR ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n; (holdsAnyReceptacleObject ?a)\n; )\n; )\n\n\n;; agent puts down an object\n (:action PutObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle ?ot - otype ?rt - rtype)\n :precondition (and\n (holds ?a ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable\n ;(not (full ?r))\n (objectType ?o ?ot)\n (receptacleType ?r ?rt)\n (canContain ?rt ?ot)\n ;(not (holdsAnyReceptacleObject ?a))\n )\n :effect (and\n (inReceptacle ?o ?r)\n (objectAtLocation ?o ?l)\n ;(full ?r)\n (not (holds ?a ?o))\n (not (holdsAny ?a))\n (increase (total-cost) 1)\n )\n )\n\n;;; agent puts down an object\n; (:action PutObjectInReceptacleObject\n; :parameters (?a - agent ?l - location ?ot - otype ?o - object ?outerO - object ?outerR - receptacle)\n; :precondition (and\n; (atLocation ?a ?l)\n; (objectAtLocation ?outerO ?l)\n; (isReceptacleObject ?outerO)\n; (not (isReceptacleObject ?o))\n; (objectType ?o ?ot)\n; (holds ?a ?o)\n; (not (holdsAnyReceptacleObject ?a))\n; (inReceptacle ?outerO ?outerR)\n; (not (isReceptacleObjectFull ?outerO))\n; )\n; :effect (and\n; (inReceptacleObject ?o ?outerO)\n; (inReceptacle ?o ?outerR)\n; (not (holds ?a ?o))\n; (not (holdsAny ?a))\n; (objectAtLocation ?o ?l)\n; (isReceptacleObjectFull ?outerO)\n; (increase (total-cost) 1)\n; )\n; )\n;\n;;; agent puts down an object\n; (:action PutEmptyReceptacleObjectinReceptacle\n; :parameters (?a - agent ?l - location ?ot - otype ?o - object ?r - receptacle)\n; :precondition (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable\n; (not (full ?r))\n; (objectType ?o ?ot)\n; (holds ?a ?o)\n; (holdsAnyReceptacleObject ?a)\n; (isReceptacleObject ?o)\n; (not (isReceptacleObjectFull ?o))\n; )\n; :effect (and\n; (inReceptacle ?o ?r)\n; (objectAtLocation ?o ?l)\n; (full ?r)\n; (not (holds ?a ?o))\n; (not (holdsAny ?a))\n; (not (holdsAnyReceptacleObject ?a))\n; (increase (total-cost) 1)\n; )\n; )\n;\n;;; agent puts down a receptacle object in a receptacle\n; (:action PutFullReceptacleObjectInReceptacle\n; :parameters (?a - agent ?l - location ?ot - otype ?innerO - object ?outerO - object ?r - receptacle) ; ?rt - rtype)\n; :precondition (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (objectType ?outerO ?ot)\n; (holds ?a ?outerO)\n; (holdsAnyReceptacleObject ?a)\n; (isReceptacleObject ?outerO)\n; (isReceptacleObjectFull ?outerO)\n; (inReceptacleObject ?innerO ?outerO)\n; )\n; :effect (and\n; (not (holdsAny ?a))\n; (not (holdsAnyReceptacleObject ?a))\n; (objectAtLocation ?outerO ?l)\n; (objectAtLocation ?innerO ?l)\n; (inReceptacle ?outerO ?r)\n; (inReceptacle ?innerO ?r)\n; (not (holds ?a ?outerO))\n; (increase (total-cost) 1)\n; )\n; )\n\n;; agent cleans some object\n (:action CleanObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (cleanable ?o)\n (or\n (receptacleType ?r SinkType)\n (receptacleType ?r SinkBasinType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isClean ?o)\n )\n )\n\n\n;; agent heats-up some object\n (:action HeatObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (heatable ?o)\n (or\n (receptacleType ?r MicrowaveType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isHot ?o)\n (not (isCool ?o))\n )\n )\n\n;; agent cools some object\n (:action CoolObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (coolable ?o)\n (or\n (receptacleType ?r FridgeType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isCool ?o)\n (not (isHot ?o))\n )\n )\n\n\n;; agent toggle object\n (:action ToggleObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n :precondition (and\n (toggleable ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (inReceptacle ?o ?r)\n )\n :effect (and\n (increase (total-cost) 5)\n (when (isOn ?o)\n (not (isOn ?o)))\n (when (not (isOn ?o))\n (isOn ?o))\n (isToggled ?o)\n )\n )\n\n\n;; agent slices some object with a knife\n (:action SliceObject\n :parameters (?a - agent ?l - location ?co - object ?ko - object)\n :precondition\n (and\n (sliceable ?co)\n (or\n (objectType ?ko KnifeType)\n (objectType ?ko ButterKnifeType)\n )\n (atLocation ?a ?l)\n (objectAtLocation ?co ?l)\n (holds ?a ?ko)\n )\n :effect (and\n (increase (total-cost) 5)\n (isSliced ?co)\n )\n )\n\n\n(:action help\n :parameters (?a - agent)\n :precondition\n ()\n :effect\n (and\n (checked ?a)\n )\n)\n)\n", "grammar": "grammar :: \"\"\"\n {\n \"intro\": [\n {\n \"rhs\": \"-= Welcome to TextWorld, ALFRED! =-\\n\\n#look.feedback#\\n\\n#task#\"\n }\n ],\n\n \"notImplemented\": [\n {\n \"rhs\": \"TODO\"\n }\n ],\n\n \"task\": [\n {\n \"rhs\": \"Your task is to: put two pencil in shelf.\"\n }\n ],\n\n \"GotoLocation.feedback\": [\n {\n \"rhs\": \"You arrive at {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"OpenObject.feedback\": [\n {\n \"rhs\": \"You open the {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"CloseObject.feedback\": [\n {\n \"rhs\": \"You close the {r.name}.\"\n }\n ],\n\n \"PickupObject.feedback\": [\n {\n \"rhs\": \"You pick up the {o.name} from the {r.name}.\"\n }\n ],\n\n \"PickupObjectFromReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupObjectFromReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupEmptyReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupEmptyReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupFullReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupFullReceptacleObject: You pick up the {outerr.name}.\"\n }\n ],\n\n \"PutObject.feedback\": [\n {\n \"rhs\": \"You move the {o.name} to the {r.name}.\"\n }\n ],\n\n \"PutObjectInReceptacleObject.feedback\": [\n {\n \"rhs\": \"PutObjectInReceptacleObject: You put the {o.name} in the {outero.name}.\"\n }\n ],\n\n \"PutEmptyReceptacleObjectinReceptacle.feedback\": [\n {\n \"rhs\": \"PutEmptyReceptacleObjectinReceptacle: You put the {o.name} in the {r.name}.\"\n }\n ],\n\n \"PutFullReceptacleObjectInReceptacle.feedback\": [\n {\n \"rhs\": \"PutFullReceptacleObjectInReceptacle: You put the {outero.name} in the {r.name}.\"\n }\n ],\n\n \"inventory.feedback\": [\n {\n \"condition\": \"holdsany(a:agent)\",\n \"rhs\": \"You are carrying: [{o.indefinite + ' ' + o.name | holds(a:agent, o:object)}].\"\n },\n {\n \"rhs\": \"You are not carrying anything.\"\n }\n ],\n\n \"examineReceptacle.feedback\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \"The {r.name} is open. In it, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \"The {r.name} is closed.\"\n },\n {\n \"rhs\": \"On the {r.name}, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n }\n ],\n\n \"examineObject.feedback\": [\n {\n \"condition\": \"isreceptacleobject(o:object)\",\n \"rhs\": \"This is a normal {o.name}. In it, you see [{o2.indefinite + ' ' + o2.name | inreceptacleobject(o2:object, o:object)}].\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a clean sliced {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot sliced {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object)\",\n \"rhs\": \"This is a hot and clean {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object)\",\n \"rhs\": \"This is a cool and clean {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object)\",\n \"rhs\": \"This is a hot {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object)\",\n \"rhs\": \"This is a clean {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object)\",\n \"rhs\": \"This is a cold {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"This {o.name} is on.\"\n },\n {\n \"condition\": \"toggleable(o:object) & not_istoggled(o:object)\",\n \"rhs\": \"This {o.name} is off.\"\n },\n {\n \"condition\": \"sliceable(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a sliced {o.name}.\"\n },\n {\n \"rhs\": \"There's nothing special about {o.name}.\"\n }\n ]\n }\n\"\"\";\n\naction GotoLocation {\n template :: \"go to [{r.name | receptacleatlocation(r:receptacle, lend:location)}]\";\n feedback :: \"#GotoLocation.feedback#\";\n}\n\naction OpenObject {\n template :: \"open {r}\";\n feedback :: \"#OpenObject.feedback#\";\n}\n\naction CloseObject {\n template :: \"close {r}\";\n feedback :: \"#CloseObject.feedback#\";\n}\n\naction PickupObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObject.feedback#\";\n}\n\naction PickupObjectFromReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObjectFromReceptacleObject.feedback#\";\n}\n\naction PickupEmptyReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupEmptyReceptacleObject.feedback#\";\n}\n\naction PickupFullReceptacleObject {\n template :: \"take {outerr} from {r}\";\n feedback :: \"#PickupFullReceptacleObject.feedback#\";\n}\n\naction PutObject {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutObject.feedback#\";\n}\n\naction PutObjectInReceptacleObject {\n template :: \"put {o} into {outero}\";\n feedback :: \"#PutObjectInReceptacleObject.feedback#\";\n}\n\naction PutEmptyReceptacleObjectinReceptacle {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutEmptyReceptacleObjectinReceptacle.feedback#\";\n}\n\naction PutFullReceptacleObjectInReceptacle {\n template :: \"put {outero} in {r}\";\n feedback :: \"#PutFullReceptacleObjectInReceptacle.feedback#\";\n}\n\naction inventory {\n template :: \"inventory\";\n feedback :: \"#inventory.feedback#\";\n}\n\naction examineReceptacle {\n template :: \"examine {r}\";\n feedback :: \"#examineReceptacle.feedback#\";\n}\n\naction examineObject {\n template :: \"examine {o}\";\n feedback :: \"#examineObject.feedback#\";\n}\n\naction ToggleObject {\n template :: \"use {o}\";\n feedback :: \"#toggleObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"toggleObject.feedback\": [\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"You turn on the {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object)\",\n \"rhs\": \"You turn off the {o.name}.\"\n },\n {\n \"rhs\": \"You don't see any switch on the {o.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction HeatObject {\n template :: \"heat {o} with {r}\";\n feedback :: \"#heatObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"heatObject.feedback\": [\n {\n \"rhs\": \"You heat the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CleanObject {\n template :: \"clean {o} with {r}\";\n feedback :: \"#cleanObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"cleanObject.feedback\": [\n {\n \"rhs\": \"You clean the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CoolObject {\n template :: \"cool {o} with {r}\";\n feedback :: \"#coolObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"coolObject.feedback\": [\n {\n \"rhs\": \"You cool the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction SliceObject {\n template :: \"slice {co} with {ko}\";\n feedback :: \"#sliceObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"sliceObject.feedback\": [\n {\n \"rhs\": \"You sliced the {co.name} with the {ko.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction look {\n template :: \"look\";\n feedback :: \"#look.feedback#\";\n\n grammar :: \"\"\"\n {\n \"look.feedback\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"#look-variations#. Next to it, you see #list_objects_on_the_floor#.\"\n },\n {\n \"rhs\": \"You are in the middle of a room. Looking quickly around you, you see #list_appliances#.\"\n }\n ],\n\n \"look-variations\": [\n {\n \"rhs\": \"You are facing the [{r.name | atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)}]\"\n }\n ],\n\n \"list_objects_on_the_floor\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)\",\n \"rhs\": \"[{#overview(o)# | atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"list_appliances\": [\n {\n \"condition\": \"receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"[{#overview(r)# | receptacleatlocation(r:receptacle, l:location)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"overview(o, r)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name} (in/on the {r.name})}\"\n }\n ],\n\n \"overview(o)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name}\"\n }\n ],\n \"overview(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}\"\n }\n ],\n \"overview_with_state(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}#overview_state(r)#\"\n }\n ],\n \"overview_state(r)\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \" (it is open)\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \" (it is closed)\"\n },\n {\n \"rhs\": \"\"\n }\n ],\n\n \"list_empty\": [\n {\n \"rhs\": \"nothing\"\n }\n ],\n \"list_separator\": [\n {\n \"rhs\": \", \"\n }\n ],\n \"list_last_separator\": [\n {\n \"rhs\": \", and \"\n }\n ]\n }\n \"\"\";\n}\n\naction help {\n template :: \"help\";\n feedback :: \"\nAvailable commands:\n look: look around your current location\n inventory: check your current inventory\n go to (receptacle): move to a receptacle\n open (receptacle): open a receptacle\n close (receptacle): close a receptacle\n take (object) from (receptacle): take an object from a receptacle\n move (object) to (receptacle): place an object in or on a receptacle\n examine (something): examine a receptacle or an object\n use (object): use an object\n heat (object) with (receptacle): heat an object using a receptacle\n clean (object) with (receptacle): clean an object using a receptacle\n cool (object) with (receptacle): cool an object using a receptacle\n slice (object) with (object): slice an object using a sharp object\n\";\n}\n", "pddl_problem": "\n(define (problem plan_trial_T20190909_011443_526440)\n(:domain alfred)\n(:objects\nagent1 - agent\nSaltShaker - object\n HousePlant - object\n Candle - object\n SprayBottle - object\n Bowl - object\n Window - object\n CD - object\n Egg - object\n Glassbottle - object\n Sink - object\n Pillow - object\n Spoon - object\n SoapBottle - object\n TeddyBear - object\n ButterKnife - object\n Cup - object\n Plate - object\n RemoteControl - object\n Tomato - object\n Statue - object\n HandTowel - object\n Knife - object\n StoveKnob - object\n LightSwitch - object\n Pen - object\n Painting - object\n DishSponge - object\n Vase - object\n Mug - object\n ToiletPaper - object\n Box - object\n Mirror - object\n Ladle - object\n Fork - object\n Blinds - object\n Footstool - object\n KeyChain - object\n Cloth - object\n Laptop - object\n TissueBox - object\n PepperShaker - object\n FloorLamp - object\n WateringCan - object\n Apple - object\n Pan - object\n PaperTowel - object\n PaperTowelRoll - object\n Newspaper - object\n Television - object\n Chair - object\n CellPhone - object\n CreditCard - object\n Lettuce - object\n BasketBall - object\n Potato - object\n Curtains - object\n Boots - object\n Pencil - object\n AlarmClock - object\n ToiletPaperRoll - object\n Spatula - object\n Book - object\n Bread - object\n SoapBar - object\n Watch - object\n DeskLamp - object\n Kettle - object\n Pot - object\n ScrubBrush - object\n WineBottle - object\n ShowerDoor - object\n Bathtub - object\n LaundryHamperLid - object\n ShowerGlass - object\n Poster - object\n TennisRacket - object\n BaseballBat - object\n Towel - object\n Plunger - object\nSaltShakerType - otype\n HousePlantType - otype\n CandleType - otype\n SprayBottleType - otype\n BowlType - otype\n WindowType - otype\n CDType - otype\n EggType - otype\n GlassbottleType - otype\n SinkType - otype\n PillowType - otype\n SpoonType - otype\n SoapBottleType - otype\n TeddyBearType - otype\n ButterKnifeType - otype\n CupType - otype\n PlateType - otype\n RemoteControlType - otype\n TomatoType - otype\n StatueType - otype\n HandTowelType - otype\n KnifeType - otype\n StoveKnobType - otype\n LightSwitchType - otype\n PenType - otype\n PaintingType - otype\n DishSpongeType - otype\n VaseType - otype\n MugType - otype\n ToiletPaperType - otype\n BoxType - otype\n MirrorType - otype\n LadleType - otype\n ForkType - otype\n BlindsType - otype\n FootstoolType - otype\n KeyChainType - otype\n ClothType - otype\n LaptopType - otype\n TissueBoxType - otype\n PepperShakerType - otype\n FloorLampType - otype\n WateringCanType - otype\n AppleType - otype\n PanType - otype\n PaperTowelType - otype\n PaperTowelRollType - otype\n NewspaperType - otype\n TelevisionType - otype\n ChairType - otype\n CellPhoneType - otype\n CreditCardType - otype\n LettuceType - otype\n BasketBallType - otype\n PotatoType - otype\n CurtainsType - otype\n BootsType - otype\n PencilType - otype\n AlarmClockType - otype\n ToiletPaperRollType - otype\n SpatulaType - otype\n BookType - otype\n BreadType - otype\n SoapBarType - otype\n WatchType - otype\n DeskLampType - otype\n KettleType - otype\n PotType - otype\n ScrubBrushType - otype\n WineBottleType - otype\n ShowerDoorType - otype\n BathtubType - otype\n LaundryHamperLidType - otype\n ShowerGlassType - otype\n PosterType - otype\n TennisRacketType - otype\n BaseballBatType - otype\n TowelType - otype\n PlungerType - otype\nSafeType - rtype\n DrawerType - rtype\n CoffeeMachineType - rtype\n HandTowelHolderType - rtype\n SinkBasinType - rtype\n DresserType - rtype\n LaundryHamperType - rtype\n TVStandType - rtype\n BathtubBasinType - rtype\n CabinetType - rtype\n FridgeType - rtype\n DeskType - rtype\n ToiletType - rtype\n CartType - rtype\n SideTableType - rtype\n SofaType - rtype\n CoffeeTableType - rtype\n DiningTableType - rtype\n CounterTopType - rtype\n GarbageCanType - rtype\n ArmChairType - rtype\n ShelfType - rtype\n MicrowaveType - rtype\n ToasterType - rtype\n BedType - rtype\n PaintingHangerType - rtype\n TowelHolderType - rtype\n ToiletPaperHangerType - rtype\n StoveBurnerType - rtype\n OttomanType - rtype\n\n\n AlarmClock_bar__minus_01_dot_27_bar__plus_01_dot_23_bar__minus_00_dot_47 - object\n BaseballBat_bar__plus_02_dot_85_bar__plus_00_dot_64_bar__plus_01_dot_84 - object\n BasketBall_bar__plus_01_dot_02_bar__plus_00_dot_33_bar__minus_00_dot_98 - object\n Blinds_bar__plus_00_dot_11_bar__plus_02_dot_34_bar__minus_01_dot_44 - object\n Book_bar__minus_00_dot_90_bar__plus_00_dot_57_bar__plus_01_dot_18 - object\n Boots_bar__minus_01_dot_28_bar__plus_00_dot_00_bar__minus_01_dot_34 - object\n Bowl_bar__plus_02_dot_03_bar__plus_00_dot_79_bar__minus_01_dot_22 - object\n Box_bar__plus_02_dot_73_bar__plus_00_dot_20_bar__plus_00_dot_89 - object\n CD_bar__plus_01_dot_84_bar__plus_00_dot_80_bar__minus_01_dot_19 - object\n CD_bar__plus_02_dot_60_bar__plus_01_dot_28_bar__minus_01_dot_42 - object\n CellPhone_bar__minus_01_dot_28_bar__plus_01_dot_23_bar__minus_00_dot_84 - object\n Chair_bar__plus_02_dot_40_bar__plus_00_dot_00_bar__minus_01_dot_08 - object\n CreditCard_bar__plus_01_dot_96_bar__plus_00_dot_80_bar__minus_01_dot_40 - object\n DeskLamp_bar__minus_01_dot_31_bar__plus_01_dot_23_bar__minus_00_dot_99 - object\n KeyChain_bar__plus_02_dot_69_bar__plus_01_dot_04_bar__minus_01_dot_40 - object\n Laptop_bar__minus_00_dot_29_bar__plus_00_dot_56_bar__plus_01_dot_09 - object\n LightSwitch_bar__plus_02_dot_66_bar__plus_01_dot_28_bar__plus_01_dot_90 - object\n Mirror_bar__plus_01_dot_99_bar__plus_01_dot_38_bar__plus_01_dot_88 - object\n Mug_bar__plus_01_dot_65_bar__plus_00_dot_79_bar__minus_01_dot_25 - object\n Mug_bar__plus_02_dot_22_bar__plus_00_dot_79_bar__minus_01_dot_19 - object\n Pencil_bar__plus_01_dot_65_bar__plus_00_dot_80_bar__minus_01_dot_15 - object\n Pencil_bar__plus_02_dot_59_bar__plus_00_dot_80_bar__minus_01_dot_15 - object\n Pen_bar__plus_02_dot_31_bar__plus_01_dot_28_bar__minus_01_dot_37 - object\n Pen_bar__minus_01_dot_35_bar__plus_01_dot_24_bar__minus_00_dot_75 - object\n Pillow_bar__minus_00_dot_63_bar__plus_00_dot_63_bar__plus_01_dot_61 - object\n Statue_bar__plus_01_dot_82_bar__plus_01_dot_04_bar__minus_01_dot_42 - object\n TissueBox_bar__plus_01_dot_67_bar__plus_00_dot_13_bar__minus_01_dot_22 - object\n TissueBox_bar__minus_01_dot_29_bar__plus_00_dot_11_bar__minus_00_dot_58 - object\n Watch_bar__plus_02_dot_59_bar__plus_00_dot_80_bar__minus_01_dot_22 - object\n Watch_bar__minus_01_dot_35_bar__plus_01_dot_24_bar__minus_00_dot_65 - object\n Window_bar__plus_00_dot_12_bar__plus_01_dot_50_bar__minus_01_dot_59 - object\n Bed_bar__minus_00_dot_64_bar__plus_00_dot_00_bar__plus_00_dot_87 - receptacle\n Desk_bar__plus_02_dot_29_bar__plus_00_dot_01_bar__minus_01_dot_15 - receptacle\n Drawer_bar__plus_01_dot_63_bar__plus_00_dot_18_bar__minus_01_dot_21 - receptacle\n Drawer_bar__plus_01_dot_63_bar__plus_00_dot_40_bar__minus_01_dot_21 - receptacle\n Drawer_bar__plus_01_dot_63_bar__plus_00_dot_62_bar__minus_01_dot_21 - receptacle\n Drawer_bar__plus_01_dot_95_bar__plus_00_dot_18_bar__minus_01_dot_21 - receptacle\n Drawer_bar__plus_01_dot_95_bar__plus_00_dot_40_bar__minus_01_dot_21 - receptacle\n Drawer_bar__plus_01_dot_95_bar__plus_00_dot_62_bar__minus_01_dot_21 - receptacle\n Drawer_bar__plus_02_dot_82_bar__plus_00_dot_17_bar__minus_01_dot_21 - receptacle\n Drawer_bar__plus_02_dot_82_bar__plus_00_dot_40_bar__minus_01_dot_21 - receptacle\n Drawer_bar__plus_02_dot_82_bar__plus_00_dot_62_bar__minus_01_dot_21 - receptacle\n Drawer_bar__minus_01_dot_29_bar__plus_00_dot_17_bar__minus_00_dot_58 - receptacle\n Drawer_bar__minus_01_dot_29_bar__plus_00_dot_17_bar__minus_00_dot_92 - receptacle\n Drawer_bar__minus_01_dot_29_bar__plus_00_dot_44_bar__minus_00_dot_58 - receptacle\n Drawer_bar__minus_01_dot_29_bar__plus_00_dot_44_bar__minus_00_dot_92 - receptacle\n Drawer_bar__minus_01_dot_29_bar__plus_00_dot_74_bar__minus_00_dot_58 - receptacle\n Drawer_bar__minus_01_dot_29_bar__plus_00_dot_74_bar__minus_00_dot_92 - receptacle\n Drawer_bar__minus_01_dot_29_bar__plus_01_dot_02_bar__minus_00_dot_58 - receptacle\n Drawer_bar__minus_01_dot_29_bar__plus_01_dot_02_bar__minus_00_dot_92 - receptacle\n Dresser_bar__minus_01_dot_33_bar__plus_00_dot_00_bar__minus_00_dot_75 - receptacle\n GarbageCan_bar__plus_02_dot_84_bar__plus_00_dot_00_bar__plus_00_dot_22 - receptacle\n Shelf_bar__plus_01_dot_80_bar__plus_00_dot_80_bar__minus_01_dot_42 - receptacle\n Shelf_bar__plus_01_dot_80_bar__plus_01_dot_04_bar__minus_01_dot_42 - receptacle\n Shelf_bar__plus_02_dot_25_bar__plus_01_dot_27_bar__minus_01_dot_42 - receptacle\n Shelf_bar__plus_02_dot_47_bar__plus_00_dot_80_bar__minus_01_dot_41 - receptacle\n Shelf_bar__plus_02_dot_47_bar__plus_01_dot_04_bar__minus_01_dot_41 - receptacle\n Shelf_bar__plus_02_dot_70_bar__plus_01_dot_27_bar__minus_01_dot_42 - receptacle\n loc_bar_9_bar_4_bar_1_bar_60 - location\n loc_bar_10_bar__minus_2_bar_2_bar_60 - location\n loc_bar_8_bar__minus_3_bar_2_bar_45 - location\n loc_bar_8_bar__minus_2_bar_1_bar_60 - location\n loc_bar_3_bar_5_bar_3_bar_45 - location\n loc_bar_10_bar_5_bar_0_bar_30 - location\n loc_bar_3_bar__minus_2_bar_1_bar_60 - location\n loc_bar_8_bar__minus_3_bar_1_bar_45 - location\n loc_bar_0_bar__minus_4_bar_2_bar_15 - location\n loc_bar__minus_3_bar__minus_4_bar_3_bar_60 - location\n loc_bar_9_bar__minus_2_bar_2_bar_60 - location\n loc_bar_1_bar__minus_4_bar_1_bar_30 - location\n loc_bar__minus_3_bar__minus_2_bar_3_bar_45 - location\n loc_bar_0_bar__minus_4_bar_2_bar__minus_30 - location\n loc_bar__minus_3_bar__minus_3_bar_3_bar_60 - location\n loc_bar_4_bar__minus_2_bar_2_bar_60 - location\n loc_bar_10_bar_1_bar_1_bar_60 - location\n loc_bar_7_bar__minus_3_bar_2_bar_45 - location\n loc_bar__minus_3_bar__minus_2_bar_3_bar_60 - location\n loc_bar_4_bar__minus_2_bar_1_bar_60 - location\n loc_bar_8_bar_5_bar_0_bar_30 - location\n loc_bar_8_bar__minus_3_bar_2_bar_30 - location\n loc_bar_10_bar_5_bar_0_bar_60 - location\n loc_bar_8_bar__minus_3_bar_2_bar_60 - location\n loc_bar_10_bar__minus_2_bar_2_bar_45 - location\n loc_bar__minus_3_bar__minus_4_bar_3_bar_45 - location\n loc_bar_10_bar__minus_2_bar_2_bar_30 - location\n loc_bar__minus_1_bar__minus_2_bar_2_bar_30 - location\n )\n \n\n(:init\n\n\n (receptacleType Shelf_bar__plus_02_dot_25_bar__plus_01_dot_27_bar__minus_01_dot_42 ShelfType)\n (receptacleType Drawer_bar__minus_01_dot_29_bar__plus_00_dot_44_bar__minus_00_dot_92 DrawerType)\n (receptacleType Drawer_bar__minus_01_dot_29_bar__plus_00_dot_17_bar__minus_00_dot_58 DrawerType)\n (receptacleType Drawer_bar__plus_01_dot_95_bar__plus_00_dot_62_bar__minus_01_dot_21 DrawerType)\n (receptacleType Desk_bar__plus_02_dot_29_bar__plus_00_dot_01_bar__minus_01_dot_15 DeskType)\n (receptacleType Drawer_bar__minus_01_dot_29_bar__plus_01_dot_02_bar__minus_00_dot_92 DrawerType)\n (receptacleType Drawer_bar__minus_01_dot_29_bar__plus_01_dot_02_bar__minus_00_dot_58 DrawerType)\n (receptacleType Drawer_bar__plus_01_dot_63_bar__plus_00_dot_40_bar__minus_01_dot_21 DrawerType)\n (receptacleType Bed_bar__minus_00_dot_64_bar__plus_00_dot_00_bar__plus_00_dot_87 BedType)\n (receptacleType Drawer_bar__plus_01_dot_63_bar__plus_00_dot_18_bar__minus_01_dot_21 DrawerType)\n (receptacleType Drawer_bar__plus_02_dot_82_bar__plus_00_dot_62_bar__minus_01_dot_21 DrawerType)\n (receptacleType Shelf_bar__plus_02_dot_47_bar__plus_00_dot_80_bar__minus_01_dot_41 ShelfType)\n (receptacleType Drawer_bar__plus_01_dot_63_bar__plus_00_dot_62_bar__minus_01_dot_21 DrawerType)\n (receptacleType Drawer_bar__minus_01_dot_29_bar__plus_00_dot_74_bar__minus_00_dot_58 DrawerType)\n (receptacleType GarbageCan_bar__plus_02_dot_84_bar__plus_00_dot_00_bar__plus_00_dot_22 GarbageCanType)\n (receptacleType Shelf_bar__plus_01_dot_80_bar__plus_00_dot_80_bar__minus_01_dot_42 ShelfType)\n (receptacleType Shelf_bar__plus_01_dot_80_bar__plus_01_dot_04_bar__minus_01_dot_42 ShelfType)\n (receptacleType Drawer_bar__plus_01_dot_95_bar__plus_00_dot_18_bar__minus_01_dot_21 DrawerType)\n (receptacleType Drawer_bar__minus_01_dot_29_bar__plus_00_dot_74_bar__minus_00_dot_92 DrawerType)\n (receptacleType Drawer_bar__plus_02_dot_82_bar__plus_00_dot_17_bar__minus_01_dot_21 DrawerType)\n (receptacleType Shelf_bar__plus_02_dot_70_bar__plus_01_dot_27_bar__minus_01_dot_42 ShelfType)\n (receptacleType Shelf_bar__plus_02_dot_47_bar__plus_01_dot_04_bar__minus_01_dot_41 ShelfType)\n (receptacleType Drawer_bar__minus_01_dot_29_bar__plus_00_dot_44_bar__minus_00_dot_58 DrawerType)\n (receptacleType Drawer_bar__plus_01_dot_95_bar__plus_00_dot_40_bar__minus_01_dot_21 DrawerType)\n (receptacleType Dresser_bar__minus_01_dot_33_bar__plus_00_dot_00_bar__minus_00_dot_75 DresserType)\n (receptacleType Drawer_bar__minus_01_dot_29_bar__plus_00_dot_17_bar__minus_00_dot_92 DrawerType)\n (receptacleType Drawer_bar__plus_02_dot_82_bar__plus_00_dot_40_bar__minus_01_dot_21 DrawerType)\n (objectType CellPhone_bar__minus_01_dot_28_bar__plus_01_dot_23_bar__minus_00_dot_84 CellPhoneType)\n (objectType Pencil_bar__plus_02_dot_59_bar__plus_00_dot_80_bar__minus_01_dot_15 PencilType)\n (objectType CD_bar__plus_02_dot_60_bar__plus_01_dot_28_bar__minus_01_dot_42 CDType)\n (objectType Laptop_bar__minus_00_dot_29_bar__plus_00_dot_56_bar__plus_01_dot_09 LaptopType)\n (objectType CreditCard_bar__plus_01_dot_96_bar__plus_00_dot_80_bar__minus_01_dot_40 CreditCardType)\n (objectType Pen_bar__minus_01_dot_35_bar__plus_01_dot_24_bar__minus_00_dot_75 PenType)\n (objectType Pencil_bar__plus_01_dot_65_bar__plus_00_dot_80_bar__minus_01_dot_15 PencilType)\n (objectType KeyChain_bar__plus_02_dot_69_bar__plus_01_dot_04_bar__minus_01_dot_40 KeyChainType)\n (objectType AlarmClock_bar__minus_01_dot_27_bar__plus_01_dot_23_bar__minus_00_dot_47 AlarmClockType)\n (objectType BaseballBat_bar__plus_02_dot_85_bar__plus_00_dot_64_bar__plus_01_dot_84 BaseballBatType)\n (objectType Box_bar__plus_02_dot_73_bar__plus_00_dot_20_bar__plus_00_dot_89 BoxType)\n (objectType Mug_bar__plus_02_dot_22_bar__plus_00_dot_79_bar__minus_01_dot_19 MugType)\n (objectType Boots_bar__minus_01_dot_28_bar__plus_00_dot_00_bar__minus_01_dot_34 BootsType)\n (objectType Mug_bar__plus_01_dot_65_bar__plus_00_dot_79_bar__minus_01_dot_25 MugType)\n (objectType BasketBall_bar__plus_01_dot_02_bar__plus_00_dot_33_bar__minus_00_dot_98 BasketBallType)\n (objectType Window_bar__plus_00_dot_12_bar__plus_01_dot_50_bar__minus_01_dot_59 WindowType)\n (objectType Statue_bar__plus_01_dot_82_bar__plus_01_dot_04_bar__minus_01_dot_42 StatueType)\n (objectType Pen_bar__plus_02_dot_31_bar__plus_01_dot_28_bar__minus_01_dot_37 PenType)\n (objectType DeskLamp_bar__minus_01_dot_31_bar__plus_01_dot_23_bar__minus_00_dot_99 DeskLampType)\n (objectType Watch_bar__minus_01_dot_35_bar__plus_01_dot_24_bar__minus_00_dot_65 WatchType)\n (objectType LightSwitch_bar__plus_02_dot_66_bar__plus_01_dot_28_bar__plus_01_dot_90 LightSwitchType)\n (objectType Book_bar__minus_00_dot_90_bar__plus_00_dot_57_bar__plus_01_dot_18 BookType)\n (objectType CD_bar__plus_01_dot_84_bar__plus_00_dot_80_bar__minus_01_dot_19 CDType)\n (objectType Watch_bar__plus_02_dot_59_bar__plus_00_dot_80_bar__minus_01_dot_22 WatchType)\n (objectType Mirror_bar__plus_01_dot_99_bar__plus_01_dot_38_bar__plus_01_dot_88 MirrorType)\n (objectType TissueBox_bar__minus_01_dot_29_bar__plus_00_dot_11_bar__minus_00_dot_58 TissueBoxType)\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 Bowl_bar__plus_02_dot_03_bar__plus_00_dot_79_bar__minus_01_dot_22 BowlType)\n (objectType Blinds_bar__plus_00_dot_11_bar__plus_02_dot_34_bar__minus_01_dot_44 BlindsType)\n (objectType Pillow_bar__minus_00_dot_63_bar__plus_00_dot_63_bar__plus_01_dot_61 PillowType)\n (canContain ShelfType PenType)\n (canContain ShelfType BookType)\n (canContain ShelfType WatchType)\n (canContain ShelfType BowlType)\n (canContain ShelfType CDType)\n (canContain ShelfType MugType)\n (canContain ShelfType BoxType)\n (canContain ShelfType CellPhoneType)\n (canContain ShelfType KeyChainType)\n (canContain ShelfType CreditCardType)\n (canContain ShelfType PencilType)\n (canContain ShelfType TissueBoxType)\n (canContain ShelfType StatueType)\n (canContain ShelfType AlarmClockType)\n (canContain DrawerType PenType)\n (canContain DrawerType BookType)\n (canContain DrawerType WatchType)\n (canContain DrawerType CDType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType PencilType)\n (canContain DrawerType TissueBoxType)\n (canContain DrawerType PenType)\n (canContain DrawerType BookType)\n (canContain DrawerType WatchType)\n (canContain DrawerType CDType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType PencilType)\n (canContain DrawerType TissueBoxType)\n (canContain DrawerType PenType)\n (canContain DrawerType BookType)\n (canContain DrawerType WatchType)\n (canContain DrawerType CDType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType PencilType)\n (canContain DrawerType TissueBoxType)\n (canContain DeskType PenType)\n (canContain DeskType BookType)\n (canContain DeskType WatchType)\n (canContain DeskType BowlType)\n (canContain DeskType CDType)\n (canContain DeskType MugType)\n (canContain DeskType BoxType)\n (canContain DeskType CellPhoneType)\n (canContain DeskType KeyChainType)\n (canContain DeskType CreditCardType)\n (canContain DeskType BasketBallType)\n (canContain DeskType LaptopType)\n (canContain DeskType PencilType)\n (canContain DeskType TissueBoxType)\n (canContain DeskType StatueType)\n (canContain DeskType AlarmClockType)\n (canContain DrawerType PenType)\n (canContain DrawerType BookType)\n (canContain DrawerType WatchType)\n (canContain DrawerType CDType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType PencilType)\n (canContain DrawerType TissueBoxType)\n (canContain DrawerType PenType)\n (canContain DrawerType BookType)\n (canContain DrawerType WatchType)\n (canContain DrawerType CDType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType PencilType)\n (canContain DrawerType TissueBoxType)\n (canContain DrawerType PenType)\n (canContain DrawerType BookType)\n (canContain DrawerType WatchType)\n (canContain DrawerType CDType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType PencilType)\n (canContain DrawerType TissueBoxType)\n (canContain BedType BasketBallType)\n (canContain BedType BaseballBatType)\n (canContain BedType LaptopType)\n (canContain BedType BookType)\n (canContain BedType 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(canContain ShelfType KeyChainType)\n (canContain ShelfType CreditCardType)\n (canContain ShelfType PencilType)\n (canContain ShelfType TissueBoxType)\n (canContain ShelfType StatueType)\n (canContain ShelfType AlarmClockType)\n (canContain DrawerType PenType)\n (canContain DrawerType BookType)\n (canContain DrawerType WatchType)\n (canContain DrawerType CDType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType PencilType)\n (canContain DrawerType TissueBoxType)\n (canContain DrawerType PenType)\n (canContain DrawerType BookType)\n (canContain DrawerType WatchType)\n (canContain DrawerType CDType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType PencilType)\n (canContain DrawerType TissueBoxType)\n (canContain GarbageCanType PenType)\n (canContain GarbageCanType CDType)\n (canContain GarbageCanType 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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 CellPhone_bar__minus_01_dot_28_bar__plus_01_dot_23_bar__minus_00_dot_84)\n (pickupable Pencil_bar__plus_02_dot_59_bar__plus_00_dot_80_bar__minus_01_dot_15)\n (pickupable CD_bar__plus_02_dot_60_bar__plus_01_dot_28_bar__minus_01_dot_42)\n (pickupable Laptop_bar__minus_00_dot_29_bar__plus_00_dot_56_bar__plus_01_dot_09)\n (pickupable CreditCard_bar__plus_01_dot_96_bar__plus_00_dot_80_bar__minus_01_dot_40)\n (pickupable Pen_bar__minus_01_dot_35_bar__plus_01_dot_24_bar__minus_00_dot_75)\n (pickupable Pencil_bar__plus_01_dot_65_bar__plus_00_dot_80_bar__minus_01_dot_15)\n (pickupable KeyChain_bar__plus_02_dot_69_bar__plus_01_dot_04_bar__minus_01_dot_40)\n (pickupable AlarmClock_bar__minus_01_dot_27_bar__plus_01_dot_23_bar__minus_00_dot_47)\n (pickupable BaseballBat_bar__plus_02_dot_85_bar__plus_00_dot_64_bar__plus_01_dot_84)\n (pickupable Box_bar__plus_02_dot_73_bar__plus_00_dot_20_bar__plus_00_dot_89)\n (pickupable Mug_bar__plus_02_dot_22_bar__plus_00_dot_79_bar__minus_01_dot_19)\n (pickupable Boots_bar__minus_01_dot_28_bar__plus_00_dot_00_bar__minus_01_dot_34)\n (pickupable Mug_bar__plus_01_dot_65_bar__plus_00_dot_79_bar__minus_01_dot_25)\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 Pen_bar__plus_02_dot_31_bar__plus_01_dot_28_bar__minus_01_dot_37)\n (pickupable Watch_bar__minus_01_dot_35_bar__plus_01_dot_24_bar__minus_00_dot_65)\n (pickupable Book_bar__minus_00_dot_90_bar__plus_00_dot_57_bar__plus_01_dot_18)\n (pickupable CD_bar__plus_01_dot_84_bar__plus_00_dot_80_bar__minus_01_dot_19)\n (pickupable Watch_bar__plus_02_dot_59_bar__plus_00_dot_80_bar__minus_01_dot_22)\n (pickupable TissueBox_bar__minus_01_dot_29_bar__plus_00_dot_11_bar__minus_00_dot_58)\n (pickupable TissueBox_bar__plus_01_dot_67_bar__plus_00_dot_13_bar__minus_01_dot_22)\n (pickupable Bowl_bar__plus_02_dot_03_bar__plus_00_dot_79_bar__minus_01_dot_22)\n (pickupable Pillow_bar__minus_00_dot_63_bar__plus_00_dot_63_bar__plus_01_dot_61)\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_19)\n (isReceptacleObject Mug_bar__plus_01_dot_65_bar__plus_00_dot_79_bar__minus_01_dot_25)\n (isReceptacleObject Bowl_bar__plus_02_dot_03_bar__plus_00_dot_79_bar__minus_01_dot_22)\n (openable Drawer_bar__plus_01_dot_63_bar__plus_00_dot_40_bar__minus_01_dot_21)\n (openable Drawer_bar__plus_01_dot_63_bar__plus_00_dot_18_bar__minus_01_dot_21)\n (openable Drawer_bar__plus_02_dot_82_bar__plus_00_dot_62_bar__minus_01_dot_21)\n (openable Drawer_bar__plus_01_dot_63_bar__plus_00_dot_62_bar__minus_01_dot_21)\n (openable Drawer_bar__plus_01_dot_95_bar__plus_00_dot_18_bar__minus_01_dot_21)\n (openable Drawer_bar__plus_01_dot_95_bar__plus_00_dot_40_bar__minus_01_dot_21)\n (openable Drawer_bar__plus_02_dot_82_bar__plus_00_dot_40_bar__minus_01_dot_21)\n \n (atLocation agent1 loc_bar__minus_1_bar__minus_2_bar_2_bar_30)\n \n (cleanable Mug_bar__plus_02_dot_22_bar__plus_00_dot_79_bar__minus_01_dot_19)\n (cleanable Mug_bar__plus_01_dot_65_bar__plus_00_dot_79_bar__minus_01_dot_25)\n (cleanable Bowl_bar__plus_02_dot_03_bar__plus_00_dot_79_bar__minus_01_dot_22)\n \n (heatable Mug_bar__plus_02_dot_22_bar__plus_00_dot_79_bar__minus_01_dot_19)\n (heatable Mug_bar__plus_01_dot_65_bar__plus_00_dot_79_bar__minus_01_dot_25)\n (coolable Mug_bar__plus_02_dot_22_bar__plus_00_dot_79_bar__minus_01_dot_19)\n (coolable Mug_bar__plus_01_dot_65_bar__plus_00_dot_79_bar__minus_01_dot_25)\n (coolable Bowl_bar__plus_02_dot_03_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 CreditCard_bar__plus_01_dot_96_bar__plus_00_dot_80_bar__minus_01_dot_40 Shelf_bar__plus_01_dot_80_bar__plus_00_dot_80_bar__minus_01_dot_42)\n (inReceptacle CD_bar__plus_01_dot_84_bar__plus_00_dot_80_bar__minus_01_dot_19 Desk_bar__plus_02_dot_29_bar__plus_00_dot_01_bar__minus_01_dot_15)\n (inReceptacle Pencil_bar__plus_02_dot_59_bar__plus_00_dot_80_bar__minus_01_dot_15 Desk_bar__plus_02_dot_29_bar__plus_00_dot_01_bar__minus_01_dot_15)\n (inReceptacle Watch_bar__plus_02_dot_59_bar__plus_00_dot_80_bar__minus_01_dot_22 Desk_bar__plus_02_dot_29_bar__plus_00_dot_01_bar__minus_01_dot_15)\n (inReceptacle Mug_bar__plus_02_dot_22_bar__plus_00_dot_79_bar__minus_01_dot_19 Desk_bar__plus_02_dot_29_bar__plus_00_dot_01_bar__minus_01_dot_15)\n (inReceptacle Mug_bar__plus_01_dot_65_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 Bowl_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 Pencil_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 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__minus_01_dot_29_bar__plus_00_dot_11_bar__minus_00_dot_58 Drawer_bar__minus_01_dot_29_bar__plus_00_dot_17_bar__minus_00_dot_58)\n (inReceptacle CellPhone_bar__minus_01_dot_28_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 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 Watch_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 Pen_bar__minus_01_dot_35_bar__plus_01_dot_24_bar__minus_00_dot_75 Dresser_bar__minus_01_dot_33_bar__plus_00_dot_00_bar__minus_00_dot_75)\n (inReceptacle 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_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_29_bar__plus_00_dot_56_bar__plus_01_dot_09 Bed_bar__minus_00_dot_64_bar__plus_00_dot_00_bar__plus_00_dot_87)\n (inReceptacle Pillow_bar__minus_00_dot_63_bar__plus_00_dot_63_bar__plus_01_dot_61 Bed_bar__minus_00_dot_64_bar__plus_00_dot_00_bar__plus_00_dot_87)\n (inReceptacle KeyChain_bar__plus_02_dot_69_bar__plus_01_dot_04_bar__minus_01_dot_40 Shelf_bar__plus_02_dot_47_bar__plus_01_dot_04_bar__minus_01_dot_41)\n (inReceptacle Statue_bar__plus_01_dot_82_bar__plus_01_dot_04_bar__minus_01_dot_42 Shelf_bar__plus_01_dot_80_bar__plus_01_dot_04_bar__minus_01_dot_42)\n (inReceptacle Pen_bar__plus_02_dot_31_bar__plus_01_dot_28_bar__minus_01_dot_37 Shelf_bar__plus_02_dot_25_bar__plus_01_dot_27_bar__minus_01_dot_42)\n \n \n (receptacleAtLocation Bed_bar__minus_00_dot_64_bar__plus_00_dot_00_bar__plus_00_dot_87 loc_bar_3_bar_5_bar_3_bar_45)\n (receptacleAtLocation Desk_bar__plus_02_dot_29_bar__plus_00_dot_01_bar__minus_01_dot_15 loc_bar_9_bar__minus_2_bar_2_bar_60)\n (receptacleAtLocation Drawer_bar__plus_01_dot_63_bar__plus_00_dot_18_bar__minus_01_dot_21 loc_bar_3_bar__minus_2_bar_1_bar_60)\n (receptacleAtLocation Drawer_bar__plus_01_dot_63_bar__plus_00_dot_40_bar__minus_01_dot_21 loc_bar_3_bar__minus_2_bar_1_bar_60)\n (receptacleAtLocation Drawer_bar__plus_01_dot_63_bar__plus_00_dot_62_bar__minus_01_dot_21 loc_bar_1_bar__minus_4_bar_1_bar_30)\n (receptacleAtLocation Drawer_bar__plus_01_dot_95_bar__plus_00_dot_18_bar__minus_01_dot_21 loc_bar_4_bar__minus_2_bar_1_bar_60)\n (receptacleAtLocation Drawer_bar__plus_01_dot_95_bar__plus_00_dot_40_bar__minus_01_dot_21 loc_bar_4_bar__minus_2_bar_1_bar_60)\n (receptacleAtLocation Drawer_bar__plus_01_dot_95_bar__plus_00_dot_62_bar__minus_01_dot_21 loc_bar_8_bar__minus_3_bar_2_bar_60)\n (receptacleAtLocation Drawer_bar__plus_02_dot_82_bar__plus_00_dot_17_bar__minus_01_dot_21 loc_bar_10_bar__minus_2_bar_2_bar_60)\n (receptacleAtLocation Drawer_bar__plus_02_dot_82_bar__plus_00_dot_40_bar__minus_01_dot_21 loc_bar_8_bar__minus_2_bar_1_bar_60)\n (receptacleAtLocation Drawer_bar__plus_02_dot_82_bar__plus_00_dot_62_bar__minus_01_dot_21 loc_bar_8_bar__minus_3_bar_1_bar_45)\n (receptacleAtLocation Drawer_bar__minus_01_dot_29_bar__plus_00_dot_17_bar__minus_00_dot_58 loc_bar__minus_3_bar__minus_2_bar_3_bar_60)\n (receptacleAtLocation Drawer_bar__minus_01_dot_29_bar__plus_00_dot_17_bar__minus_00_dot_92 loc_bar__minus_3_bar__minus_4_bar_3_bar_60)\n (receptacleAtLocation Drawer_bar__minus_01_dot_29_bar__plus_00_dot_44_bar__minus_00_dot_58 loc_bar__minus_3_bar__minus_2_bar_3_bar_60)\n (receptacleAtLocation Drawer_bar__minus_01_dot_29_bar__plus_00_dot_44_bar__minus_00_dot_92 loc_bar__minus_3_bar__minus_4_bar_3_bar_60)\n (receptacleAtLocation Drawer_bar__minus_01_dot_29_bar__plus_00_dot_74_bar__minus_00_dot_58 loc_bar__minus_3_bar__minus_2_bar_3_bar_60)\n (receptacleAtLocation Drawer_bar__minus_01_dot_29_bar__plus_00_dot_74_bar__minus_00_dot_92 loc_bar__minus_3_bar__minus_4_bar_3_bar_60)\n (receptacleAtLocation Drawer_bar__minus_01_dot_29_bar__plus_01_dot_02_bar__minus_00_dot_58 loc_bar__minus_3_bar__minus_2_bar_3_bar_45)\n (receptacleAtLocation Drawer_bar__minus_01_dot_29_bar__plus_01_dot_02_bar__minus_00_dot_92 loc_bar__minus_3_bar__minus_4_bar_3_bar_45)\n (receptacleAtLocation Dresser_bar__minus_01_dot_33_bar__plus_00_dot_00_bar__minus_00_dot_75 loc_bar__minus_3_bar__minus_3_bar_3_bar_60)\n (receptacleAtLocation GarbageCan_bar__plus_02_dot_84_bar__plus_00_dot_00_bar__plus_00_dot_22 loc_bar_10_bar_1_bar_1_bar_60)\n (receptacleAtLocation Shelf_bar__plus_01_dot_80_bar__plus_00_dot_80_bar__minus_01_dot_42 loc_bar_8_bar__minus_3_bar_2_bar_45)\n (receptacleAtLocation Shelf_bar__plus_01_dot_80_bar__plus_01_dot_04_bar__minus_01_dot_42 loc_bar_7_bar__minus_3_bar_2_bar_45)\n (receptacleAtLocation Shelf_bar__plus_02_dot_25_bar__plus_01_dot_27_bar__minus_01_dot_42 loc_bar_8_bar__minus_3_bar_2_bar_30)\n (receptacleAtLocation Shelf_bar__plus_02_dot_47_bar__plus_00_dot_80_bar__minus_01_dot_41 loc_bar_10_bar__minus_2_bar_2_bar_45)\n (receptacleAtLocation Shelf_bar__plus_02_dot_47_bar__plus_01_dot_04_bar__minus_01_dot_41 loc_bar_10_bar__minus_2_bar_2_bar_30)\n (receptacleAtLocation Shelf_bar__plus_02_dot_70_bar__plus_01_dot_27_bar__minus_01_dot_42 loc_bar_10_bar__minus_2_bar_2_bar_30)\n (objectAtLocation Mug_bar__plus_01_dot_65_bar__plus_00_dot_79_bar__minus_01_dot_25 loc_bar_9_bar__minus_2_bar_2_bar_60)\n (objectAtLocation Pen_bar__minus_01_dot_35_bar__plus_01_dot_24_bar__minus_00_dot_75 loc_bar__minus_3_bar__minus_3_bar_3_bar_60)\n (objectAtLocation CD_bar__plus_02_dot_60_bar__plus_01_dot_28_bar__minus_01_dot_42 loc_bar_10_bar__minus_2_bar_2_bar_30)\n (objectAtLocation Watch_bar__plus_02_dot_59_bar__plus_00_dot_80_bar__minus_01_dot_22 loc_bar_9_bar__minus_2_bar_2_bar_60)\n (objectAtLocation Pencil_bar__plus_02_dot_59_bar__plus_00_dot_80_bar__minus_01_dot_15 loc_bar_9_bar__minus_2_bar_2_bar_60)\n (objectAtLocation TissueBox_bar__plus_01_dot_67_bar__plus_00_dot_13_bar__minus_01_dot_22 loc_bar_3_bar__minus_2_bar_1_bar_60)\n (objectAtLocation Book_bar__minus_00_dot_90_bar__plus_00_dot_57_bar__plus_01_dot_18 loc_bar_3_bar_5_bar_3_bar_45)\n (objectAtLocation Box_bar__plus_02_dot_73_bar__plus_00_dot_20_bar__plus_00_dot_89 loc_bar_9_bar_4_bar_1_bar_60)\n (objectAtLocation Chair_bar__plus_02_dot_40_bar__plus_00_dot_00_bar__minus_01_dot_08 loc_bar_10_bar__minus_2_bar_2_bar_60)\n (objectAtLocation Laptop_bar__minus_00_dot_29_bar__plus_00_dot_56_bar__plus_01_dot_09 loc_bar_3_bar_5_bar_3_bar_45)\n (objectAtLocation CellPhone_bar__minus_01_dot_28_bar__plus_01_dot_23_bar__minus_00_dot_84 loc_bar__minus_3_bar__minus_3_bar_3_bar_60)\n (objectAtLocation BaseballBat_bar__plus_02_dot_85_bar__plus_00_dot_64_bar__plus_01_dot_84 loc_bar_10_bar_5_bar_0_bar_60)\n (objectAtLocation DeskLamp_bar__minus_01_dot_31_bar__plus_01_dot_23_bar__minus_00_dot_99 loc_bar__minus_3_bar__minus_3_bar_3_bar_60)\n (objectAtLocation BasketBall_bar__plus_01_dot_02_bar__plus_00_dot_33_bar__minus_00_dot_98 loc_bar_4_bar__minus_2_bar_2_bar_60)\n (objectAtLocation TissueBox_bar__minus_01_dot_29_bar__plus_00_dot_11_bar__minus_00_dot_58 loc_bar__minus_3_bar__minus_2_bar_3_bar_60)\n (objectAtLocation CreditCard_bar__plus_01_dot_96_bar__plus_00_dot_80_bar__minus_01_dot_40 loc_bar_8_bar__minus_3_bar_2_bar_45)\n (objectAtLocation AlarmClock_bar__minus_01_dot_27_bar__plus_01_dot_23_bar__minus_00_dot_47 loc_bar__minus_3_bar__minus_3_bar_3_bar_60)\n (objectAtLocation Pencil_bar__plus_01_dot_65_bar__plus_00_dot_80_bar__minus_01_dot_15 loc_bar_9_bar__minus_2_bar_2_bar_60)\n (objectAtLocation Boots_bar__minus_01_dot_28_bar__plus_00_dot_00_bar__minus_01_dot_34 loc_bar__minus_3_bar__minus_4_bar_3_bar_60)\n (objectAtLocation Blinds_bar__plus_00_dot_11_bar__plus_02_dot_34_bar__minus_01_dot_44 loc_bar_0_bar__minus_4_bar_2_bar__minus_30)\n (objectAtLocation Pillow_bar__minus_00_dot_63_bar__plus_00_dot_63_bar__plus_01_dot_61 loc_bar_3_bar_5_bar_3_bar_45)\n (objectAtLocation KeyChain_bar__plus_02_dot_69_bar__plus_01_dot_04_bar__minus_01_dot_40 loc_bar_10_bar__minus_2_bar_2_bar_30)\n (objectAtLocation Bowl_bar__plus_02_dot_03_bar__plus_00_dot_79_bar__minus_01_dot_22 loc_bar_9_bar__minus_2_bar_2_bar_60)\n (objectAtLocation Watch_bar__minus_01_dot_35_bar__plus_01_dot_24_bar__minus_00_dot_65 loc_bar__minus_3_bar__minus_3_bar_3_bar_60)\n (objectAtLocation Mirror_bar__plus_01_dot_99_bar__plus_01_dot_38_bar__plus_01_dot_88 loc_bar_8_bar_5_bar_0_bar_30)\n (objectAtLocation CD_bar__plus_01_dot_84_bar__plus_00_dot_80_bar__minus_01_dot_19 loc_bar_9_bar__minus_2_bar_2_bar_60)\n (objectAtLocation Pen_bar__plus_02_dot_31_bar__plus_01_dot_28_bar__minus_01_dot_37 loc_bar_8_bar__minus_3_bar_2_bar_30)\n (objectAtLocation Window_bar__plus_00_dot_12_bar__plus_01_dot_50_bar__minus_01_dot_59 loc_bar_0_bar__minus_4_bar_2_bar_15)\n (objectAtLocation LightSwitch_bar__plus_02_dot_66_bar__plus_01_dot_28_bar__plus_01_dot_90 loc_bar_10_bar_5_bar_0_bar_30)\n (objectAtLocation Mug_bar__plus_02_dot_22_bar__plus_00_dot_79_bar__minus_01_dot_19 loc_bar_9_bar__minus_2_bar_2_bar_60)\n (objectAtLocation Statue_bar__plus_01_dot_82_bar__plus_01_dot_04_bar__minus_01_dot_42 loc_bar_7_bar__minus_3_bar_2_bar_45)\n )\n \n\n (:goal\n (and\n (exists (?r - receptacle)\n (exists (?o1 - object)\n (and\n (objectType ?o1 PencilType)\n (receptacleType ?r ShelfType)\n (inReceptacle ?o1 ?r)\n (exists (?o2 - object)\n (and\n (not (= ?o1 ?o2))\n (objectType ?o2 PencilType)\n (receptacleType ?r ShelfType)\n (inReceptacle ?o2 ?r)\n )\n )\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to desk 1", "take pencil 2 from desk 1", "go to shelf 2", "move pencil 2 to shelf 2", "go to desk 1", "take pencil 1 from desk 1", "go to shelf 2", "move pencil 1 to shelf 2"]}
|
alfworld__pick_two_obj_and_place__799
|
pick_two_obj_and_place
|
pick_two_obj_and_place-Pencil-None-Shelf-301/trial_T20190909_011323_432966/game.tw-pddl
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{"pddl_domain": ";; Specification in PDDL of the Alfred domain\n;; Intended to be used with Fast Downward which supports PDDL 2.2 level 1 plus the :action-costs requirement from PDDL 3.1.\n\n(define (domain alfred)\n (:requirements\n :adl\n :action-costs\n :typing\n )\n (:types\n agent\n location\n receptacle\n object\n rtype\n otype\n )\n\n\n (:predicates\n (atLocation ?a - agent ?l - location) ; true if the agent is at the location\n (receptacleAtLocation ?r - receptacle ?l - location) ; true if the receptacle is at the location (constant)\n (objectAtLocation ?o - object ?l - location) ; true if the object is at the location\n (openable ?r - receptacle) ; true if a receptacle is openable\n (opened ?r - receptacle) ; true if a receptacle is opened\n (inReceptacle ?o - object ?r - receptacle) ; object ?o is in receptacle ?r\n (isReceptacleObject ?o - object) ; true if the object can have things put inside it\n (inReceptacleObject ?innerObject - object ?outerObject - object) ; object ?innerObject is inside object ?outerObject\n (isReceptacleObjectFull ?o - object) ; true if the receptacle object contains something\n (wasInReceptacle ?o - object ?r - receptacle) ; object ?o was or is in receptacle ?r now or some time in the past\n (checked ?r - receptacle) ; whether the receptacle has been looked inside/visited\n (examined ?l - location) ; TODO\n (receptacleType ?r - receptacle ?t - rtype) ; the type of receptacle (Cabinet vs Cabinet|01|2...)\n (canContain ?rt - rtype ?ot - otype) ; true if receptacle can hold object\n (objectType ?o - object ?t - otype) ; the type of object (Apple vs Apple|01|2...)\n (holds ?a - agent ?o - object) ; object ?o is held by agent ?a\n (holdsAny ?a - agent) ; agent ?a holds an object\n (holdsAnyReceptacleObject ?a - agent) ; agent ?a holds a receptacle object\n (full ?r - receptacle) ; true if the receptacle has no remaining space\n (isClean ?o - object) ; true if the object has been clean in sink\n (cleanable ?o - object) ; true if the object can be placed in a sink\n (isHot ?o - object) ; true if the object has been heated up\n (heatable ?o - object) ; true if the object can be heated up in a microwave\n (isCool ?o - object) ; true if the object has been cooled\n (coolable ?o - object) ; true if the object can be cooled in the fridge\n (pickupable ?o - object) ; true if the object can be picked up\n (moveable ?o - object) ; true if the object can be moved\n (toggleable ?o - object) ; true if the object can be turned on/off\n (isOn ?o - object) ; true if the object is on\n (isToggled ?o - object) ; true if the object has been toggled\n (sliceable ?o - object) ; true if the object can be sliced\n (isSliced ?o - object) ; true if the object is sliced\n )\n\n (:functions\n (distance ?from ?to)\n (total-cost) - number\n )\n\n;; All actions are specified such that the final arguments are the ones used\n;; for performing actions in Unity.\n\n\n(:action look\n :parameters (?a - agent ?l - location)\n :precondition\n (and\n (atLocation ?a ?l)\n )\n :effect\n (and\n (checked ?l)\n )\n)\n\n(:action inventory\n :parameters (?a - agent)\n :precondition\n ()\n :effect\n (and\n (checked ?a)\n )\n)\n\n(:action examineReceptacle\n :parameters (?a - agent ?r - receptacle)\n :precondition\n (and\n (exists (?l - location)\n (and\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n )\n )\n )\n :effect\n (and\n (checked ?r)\n )\n)\n\n(:action examineObject\n :parameters (?a - agent ?o - object)\n :precondition\n (or\n ;(exists (?l - location)\n ; (and\n ; (atLocation ?a ?l)\n ; (objectAtLocation ?o ?l)\n ; )\n ;)\n (exists (?l - location, ?r - receptacle)\n (and\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n ; (objectAtLocation ?o ?l)\n (inReceptacle ?o ?r)\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n )\n )\n (holds ?a ?o)\n )\n :effect\n (and\n (checked ?o)\n )\n)\n\n;; agent goes to receptacle\n (:action GotoLocation\n :parameters (?a - agent ?lStart - location ?lEnd - location ?r - receptacle)\n :precondition (and\n (atLocation ?a ?lStart)\n (receptacleAtLocation ?r ?lEnd)\n ;(exists (?r - receptacle) (receptacleAtLocation ?r ?lEnd))\n )\n :effect (and\n (not (atLocation ?a ?lStart))\n (atLocation ?a ?lEnd)\n ; (forall (?r - receptacle)\n ; (when (and (receptacleAtLocation ?r ?lEnd)\n ; (or (not (openable ?r)) (opened ?r)))\n ; (checked ?r)\n ; )\n ; )\n ; (increase (total-cost) (distance ?lStart ?lEnd))\n (increase (total-cost) 1)\n )\n )\n\n;; agent opens receptacle\n (:action OpenObject\n :parameters (?a - agent ?l - location ?r - receptacle)\n :precondition (and\n (openable ?r)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (not (opened ?r))\n )\n :effect (and\n (opened ?r)\n (checked ?r)\n (increase (total-cost) 1)\n )\n )\n;; agent closes receptacle\n (:action CloseObject\n :parameters (?a - agent ?l - location ?r - receptacle)\n :precondition (and\n (openable ?r)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (opened ?r)\n )\n :effect (and\n (not (opened ?r))\n (increase (total-cost) 1)\n )\n\n )\n\n ;; agent picks up object from a receptacle\n (:action PickupObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n :precondition\n (and\n (pickupable ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n ; (objectAtLocation ?o ?l)\n (inReceptacle ?o ?r)\n (not (holdsAny ?a)) ; agent's hands are empty.\n ;(not (holdsAnyReceptacleObject ?a))\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n ;(not (isReceptacleObject ?o))\n )\n :effect\n (and\n (not (inReceptacle ?o ?r))\n (holds ?a ?o)\n (holdsAny ?a)\n (not (objectAtLocation ?o ?l))\n ;(not (full ?r))\n (increase (total-cost) 1)\n )\n )\n\n\n; ;; agent picks up object from a receptacle\n; (:action PickupObjectFromReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?outerR - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (inReceptacle ?o ?r)\n; (pickupable ?o)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (not (isReceptacleObject ?o))\n; (isReceptacleObject ?outerR)\n; (inReceptacleObject ?o ?outerR)\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (holds ?a ?o)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n;\n; (not (inReceptacleObject ?o ?outerR))\n; (not (isReceptacleObjectFull ?outerR))\n; )\n; )\n;\n; ;; agent picks up object from a receptacle\n; (:action PickupEmptyReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; ; (objectAtLocation ?o ?l)\n; (inReceptacle ?o ?r)\n; (pickupable ?o)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (isReceptacleObject ?o)\n; (not (isReceptacleObjectFull ?o))\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (holds ?a ?o)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n; (holdsAnyReceptacleObject ?a)\n; )\n; )\n;\n; ;; agent picks up object from a receptacle\n; (:action PickupFullReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?outerR - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (inReceptacle ?outerR ?r)\n; (pickupable ?outerR)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (not (isReceptacleObject ?o))\n; (isReceptacleObject ?outerR)\n; (inReceptacleObject ?o ?outerR)\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (not (inReceptacle ?outerR ?r))\n; (holds ?a ?outerR)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (objectAtLocation ?outerR ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n; (holdsAnyReceptacleObject ?a)\n; )\n; )\n\n\n;; agent puts down an object\n (:action PutObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle ?ot - otype ?rt - rtype)\n :precondition (and\n (holds ?a ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable\n ;(not (full ?r))\n (objectType ?o ?ot)\n (receptacleType ?r ?rt)\n (canContain ?rt ?ot)\n ;(not (holdsAnyReceptacleObject ?a))\n )\n :effect (and\n (inReceptacle ?o ?r)\n (objectAtLocation ?o ?l)\n ;(full ?r)\n (not (holds ?a ?o))\n (not (holdsAny ?a))\n (increase (total-cost) 1)\n )\n )\n\n;;; agent puts down an object\n; (:action PutObjectInReceptacleObject\n; :parameters (?a - agent ?l - location ?ot - otype ?o - object ?outerO - object ?outerR - receptacle)\n; :precondition (and\n; (atLocation ?a ?l)\n; (objectAtLocation ?outerO ?l)\n; (isReceptacleObject ?outerO)\n; (not (isReceptacleObject ?o))\n; (objectType ?o ?ot)\n; (holds ?a ?o)\n; (not (holdsAnyReceptacleObject ?a))\n; (inReceptacle ?outerO ?outerR)\n; (not (isReceptacleObjectFull ?outerO))\n; )\n; :effect (and\n; (inReceptacleObject ?o ?outerO)\n; (inReceptacle ?o ?outerR)\n; (not (holds ?a ?o))\n; (not (holdsAny ?a))\n; (objectAtLocation ?o ?l)\n; (isReceptacleObjectFull ?outerO)\n; (increase (total-cost) 1)\n; )\n; )\n;\n;;; agent puts down an object\n; (:action PutEmptyReceptacleObjectinReceptacle\n; :parameters (?a - agent ?l - location ?ot - otype ?o - object ?r - receptacle)\n; :precondition (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable\n; (not (full ?r))\n; (objectType ?o ?ot)\n; (holds ?a ?o)\n; (holdsAnyReceptacleObject ?a)\n; (isReceptacleObject ?o)\n; (not (isReceptacleObjectFull ?o))\n; )\n; :effect (and\n; (inReceptacle ?o ?r)\n; (objectAtLocation ?o ?l)\n; (full ?r)\n; (not (holds ?a ?o))\n; (not (holdsAny ?a))\n; (not (holdsAnyReceptacleObject ?a))\n; (increase (total-cost) 1)\n; )\n; )\n;\n;;; agent puts down a receptacle object in a receptacle\n; (:action PutFullReceptacleObjectInReceptacle\n; :parameters (?a - agent ?l - location ?ot - otype ?innerO - object ?outerO - object ?r - receptacle) ; ?rt - rtype)\n; :precondition (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (objectType ?outerO ?ot)\n; (holds ?a ?outerO)\n; (holdsAnyReceptacleObject ?a)\n; (isReceptacleObject ?outerO)\n; (isReceptacleObjectFull ?outerO)\n; (inReceptacleObject ?innerO ?outerO)\n; )\n; :effect (and\n; (not (holdsAny ?a))\n; (not (holdsAnyReceptacleObject ?a))\n; (objectAtLocation ?outerO ?l)\n; (objectAtLocation ?innerO ?l)\n; (inReceptacle ?outerO ?r)\n; (inReceptacle ?innerO ?r)\n; (not (holds ?a ?outerO))\n; (increase (total-cost) 1)\n; )\n; )\n\n;; agent cleans some object\n (:action CleanObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (cleanable ?o)\n (or\n (receptacleType ?r SinkType)\n (receptacleType ?r SinkBasinType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isClean ?o)\n )\n )\n\n\n;; agent heats-up some object\n (:action HeatObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (heatable ?o)\n (or\n (receptacleType ?r MicrowaveType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isHot ?o)\n (not (isCool ?o))\n )\n )\n\n;; agent cools some object\n (:action CoolObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (coolable ?o)\n (or\n (receptacleType ?r FridgeType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isCool ?o)\n (not (isHot ?o))\n )\n )\n\n\n;; agent toggle object\n (:action ToggleObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n :precondition (and\n (toggleable ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (inReceptacle ?o ?r)\n )\n :effect (and\n (increase (total-cost) 5)\n (when (isOn ?o)\n (not (isOn ?o)))\n (when (not (isOn ?o))\n (isOn ?o))\n (isToggled ?o)\n )\n )\n\n\n;; agent slices some object with a knife\n (:action SliceObject\n :parameters (?a - agent ?l - location ?co - object ?ko - object)\n :precondition\n (and\n (sliceable ?co)\n (or\n (objectType ?ko KnifeType)\n (objectType ?ko ButterKnifeType)\n )\n (atLocation ?a ?l)\n (objectAtLocation ?co ?l)\n (holds ?a ?ko)\n )\n :effect (and\n (increase (total-cost) 5)\n (isSliced ?co)\n )\n )\n\n\n(:action help\n :parameters (?a - agent)\n :precondition\n ()\n :effect\n (and\n (checked ?a)\n )\n)\n)\n", "grammar": "grammar :: \"\"\"\n {\n \"intro\": [\n {\n \"rhs\": \"-= Welcome to TextWorld, ALFRED! =-\\n\\n#look.feedback#\\n\\n#task#\"\n }\n ],\n\n \"notImplemented\": [\n {\n \"rhs\": \"TODO\"\n }\n ],\n\n \"task\": [\n {\n \"rhs\": \"Your task is to: put two pencil in shelf.\"\n }\n ],\n\n \"GotoLocation.feedback\": [\n {\n \"rhs\": \"You arrive at {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"OpenObject.feedback\": [\n {\n \"rhs\": \"You open the {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"CloseObject.feedback\": [\n {\n \"rhs\": \"You close the {r.name}.\"\n }\n ],\n\n \"PickupObject.feedback\": [\n {\n \"rhs\": \"You pick up the {o.name} from the {r.name}.\"\n }\n ],\n\n \"PickupObjectFromReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupObjectFromReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupEmptyReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupEmptyReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupFullReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupFullReceptacleObject: You pick up the {outerr.name}.\"\n }\n ],\n\n \"PutObject.feedback\": [\n {\n \"rhs\": \"You move the {o.name} to the {r.name}.\"\n }\n ],\n\n \"PutObjectInReceptacleObject.feedback\": [\n {\n \"rhs\": \"PutObjectInReceptacleObject: You put the {o.name} in the {outero.name}.\"\n }\n ],\n\n \"PutEmptyReceptacleObjectinReceptacle.feedback\": [\n {\n \"rhs\": \"PutEmptyReceptacleObjectinReceptacle: You put the {o.name} in the {r.name}.\"\n }\n ],\n\n \"PutFullReceptacleObjectInReceptacle.feedback\": [\n {\n \"rhs\": \"PutFullReceptacleObjectInReceptacle: You put the {outero.name} in the {r.name}.\"\n }\n ],\n\n \"inventory.feedback\": [\n {\n \"condition\": \"holdsany(a:agent)\",\n \"rhs\": \"You are carrying: [{o.indefinite + ' ' + o.name | holds(a:agent, o:object)}].\"\n },\n {\n \"rhs\": \"You are not carrying anything.\"\n }\n ],\n\n \"examineReceptacle.feedback\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \"The {r.name} is open. In it, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \"The {r.name} is closed.\"\n },\n {\n \"rhs\": \"On the {r.name}, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n }\n ],\n\n \"examineObject.feedback\": [\n {\n \"condition\": \"isreceptacleobject(o:object)\",\n \"rhs\": \"This is a normal {o.name}. In it, you see [{o2.indefinite + ' ' + o2.name | inreceptacleobject(o2:object, o:object)}].\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a clean sliced {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot sliced {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object)\",\n \"rhs\": \"This is a hot and clean {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object)\",\n \"rhs\": \"This is a cool and clean {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object)\",\n \"rhs\": \"This is a hot {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object)\",\n \"rhs\": \"This is a clean {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object)\",\n \"rhs\": \"This is a cold {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"This {o.name} is on.\"\n },\n {\n \"condition\": \"toggleable(o:object) & not_istoggled(o:object)\",\n \"rhs\": \"This {o.name} is off.\"\n },\n {\n \"condition\": \"sliceable(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a sliced {o.name}.\"\n },\n {\n \"rhs\": \"There's nothing special about {o.name}.\"\n }\n ]\n }\n\"\"\";\n\naction GotoLocation {\n template :: \"go to [{r.name | receptacleatlocation(r:receptacle, lend:location)}]\";\n feedback :: \"#GotoLocation.feedback#\";\n}\n\naction OpenObject {\n template :: \"open {r}\";\n feedback :: \"#OpenObject.feedback#\";\n}\n\naction CloseObject {\n template :: \"close {r}\";\n feedback :: \"#CloseObject.feedback#\";\n}\n\naction PickupObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObject.feedback#\";\n}\n\naction PickupObjectFromReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObjectFromReceptacleObject.feedback#\";\n}\n\naction PickupEmptyReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupEmptyReceptacleObject.feedback#\";\n}\n\naction PickupFullReceptacleObject {\n template :: \"take {outerr} from {r}\";\n feedback :: \"#PickupFullReceptacleObject.feedback#\";\n}\n\naction PutObject {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutObject.feedback#\";\n}\n\naction PutObjectInReceptacleObject {\n template :: \"put {o} into {outero}\";\n feedback :: \"#PutObjectInReceptacleObject.feedback#\";\n}\n\naction PutEmptyReceptacleObjectinReceptacle {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutEmptyReceptacleObjectinReceptacle.feedback#\";\n}\n\naction PutFullReceptacleObjectInReceptacle {\n template :: \"put {outero} in {r}\";\n feedback :: \"#PutFullReceptacleObjectInReceptacle.feedback#\";\n}\n\naction inventory {\n template :: \"inventory\";\n feedback :: \"#inventory.feedback#\";\n}\n\naction examineReceptacle {\n template :: \"examine {r}\";\n feedback :: \"#examineReceptacle.feedback#\";\n}\n\naction examineObject {\n template :: \"examine {o}\";\n feedback :: \"#examineObject.feedback#\";\n}\n\naction ToggleObject {\n template :: \"use {o}\";\n feedback :: \"#toggleObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"toggleObject.feedback\": [\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"You turn on the {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object)\",\n \"rhs\": \"You turn off the {o.name}.\"\n },\n {\n \"rhs\": \"You don't see any switch on the {o.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction HeatObject {\n template :: \"heat {o} with {r}\";\n feedback :: \"#heatObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"heatObject.feedback\": [\n {\n \"rhs\": \"You heat the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CleanObject {\n template :: \"clean {o} with {r}\";\n feedback :: \"#cleanObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"cleanObject.feedback\": [\n {\n \"rhs\": \"You clean the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CoolObject {\n template :: \"cool {o} with {r}\";\n feedback :: \"#coolObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"coolObject.feedback\": [\n {\n \"rhs\": \"You cool the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction SliceObject {\n template :: \"slice {co} with {ko}\";\n feedback :: \"#sliceObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"sliceObject.feedback\": [\n {\n \"rhs\": \"You sliced the {co.name} with the {ko.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction look {\n template :: \"look\";\n feedback :: \"#look.feedback#\";\n\n grammar :: \"\"\"\n {\n \"look.feedback\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"#look-variations#. Next to it, you see #list_objects_on_the_floor#.\"\n },\n {\n \"rhs\": \"You are in the middle of a room. Looking quickly around you, you see #list_appliances#.\"\n }\n ],\n\n \"look-variations\": [\n {\n \"rhs\": \"You are facing the [{r.name | atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)}]\"\n }\n ],\n\n \"list_objects_on_the_floor\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)\",\n \"rhs\": \"[{#overview(o)# | atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"list_appliances\": [\n {\n \"condition\": \"receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"[{#overview(r)# | receptacleatlocation(r:receptacle, l:location)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"overview(o, r)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name} (in/on the {r.name})}\"\n }\n ],\n\n \"overview(o)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name}\"\n }\n ],\n \"overview(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}\"\n }\n ],\n \"overview_with_state(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}#overview_state(r)#\"\n }\n ],\n \"overview_state(r)\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \" (it is open)\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \" (it is closed)\"\n },\n {\n \"rhs\": \"\"\n }\n ],\n\n \"list_empty\": [\n {\n \"rhs\": \"nothing\"\n }\n ],\n \"list_separator\": [\n {\n \"rhs\": \", \"\n }\n ],\n \"list_last_separator\": [\n {\n \"rhs\": \", and \"\n }\n ]\n }\n \"\"\";\n}\n\naction help {\n template :: \"help\";\n feedback :: \"\nAvailable commands:\n look: look around your current location\n inventory: check your current inventory\n go to (receptacle): move to a receptacle\n open (receptacle): open a receptacle\n close (receptacle): close a receptacle\n take (object) from (receptacle): take an object from a receptacle\n move (object) to (receptacle): place an object in or on a receptacle\n examine (something): examine a receptacle or an object\n use (object): use an object\n heat (object) with (receptacle): heat an object using a receptacle\n clean (object) with (receptacle): clean an object using a receptacle\n cool (object) with (receptacle): cool an object using a receptacle\n slice (object) with (object): slice an object using a sharp object\n\";\n}\n", "pddl_problem": "\n(define (problem plan_trial_T20190909_011323_432966)\n(:domain alfred)\n(:objects\nagent1 - agent\nSaltShaker - object\n HousePlant - object\n Candle - object\n SprayBottle - object\n Bowl - object\n Window - object\n CD - object\n Egg - object\n Glassbottle - object\n Sink - object\n Pillow - object\n Spoon - object\n SoapBottle - object\n TeddyBear - object\n ButterKnife - object\n Cup - object\n Plate - object\n RemoteControl - object\n Tomato - object\n Statue - object\n HandTowel - object\n Knife - object\n StoveKnob - object\n LightSwitch - object\n Pen - object\n Painting - object\n DishSponge - object\n Vase - object\n Mug - object\n ToiletPaper - object\n Box - object\n Mirror - object\n Ladle - object\n Fork - object\n Blinds - object\n Footstool - object\n KeyChain - object\n Cloth - object\n Laptop - object\n TissueBox - object\n PepperShaker - object\n FloorLamp - object\n WateringCan - object\n Apple - object\n Pan - object\n PaperTowel - object\n PaperTowelRoll - object\n Newspaper - object\n Television - object\n Chair - object\n CellPhone - object\n CreditCard - object\n Lettuce - object\n BasketBall - object\n Potato - object\n Curtains - object\n Boots - object\n Pencil - object\n AlarmClock - object\n ToiletPaperRoll - object\n Spatula - object\n Book - object\n Bread - object\n SoapBar - object\n Watch - object\n DeskLamp - object\n Kettle - object\n Pot - object\n ScrubBrush - object\n WineBottle - object\n ShowerDoor - object\n Bathtub - object\n LaundryHamperLid - object\n ShowerGlass - object\n Poster - object\n TennisRacket - object\n BaseballBat - object\n Towel - object\n Plunger - object\nSaltShakerType - otype\n HousePlantType - otype\n CandleType - otype\n SprayBottleType - otype\n BowlType - otype\n WindowType - otype\n CDType - otype\n EggType - otype\n GlassbottleType - otype\n SinkType - otype\n PillowType - otype\n SpoonType - otype\n SoapBottleType - otype\n TeddyBearType - otype\n ButterKnifeType - otype\n CupType - otype\n PlateType - otype\n RemoteControlType - otype\n TomatoType - otype\n StatueType - otype\n HandTowelType - otype\n KnifeType - otype\n StoveKnobType - otype\n LightSwitchType - otype\n PenType - otype\n PaintingType - otype\n DishSpongeType - otype\n VaseType - otype\n MugType - otype\n ToiletPaperType - otype\n BoxType - otype\n MirrorType - otype\n LadleType - otype\n ForkType - otype\n BlindsType - otype\n FootstoolType - otype\n KeyChainType - otype\n ClothType - otype\n LaptopType - otype\n TissueBoxType - otype\n PepperShakerType - otype\n FloorLampType - otype\n WateringCanType - otype\n AppleType - otype\n PanType - otype\n PaperTowelType - otype\n PaperTowelRollType - otype\n NewspaperType - otype\n TelevisionType - otype\n ChairType - otype\n CellPhoneType - otype\n CreditCardType - otype\n LettuceType - otype\n BasketBallType - otype\n PotatoType - otype\n CurtainsType - otype\n BootsType - otype\n PencilType - otype\n AlarmClockType - otype\n ToiletPaperRollType - otype\n SpatulaType - otype\n BookType - otype\n BreadType - otype\n SoapBarType - otype\n WatchType - otype\n DeskLampType - otype\n KettleType - otype\n PotType - otype\n ScrubBrushType - otype\n WineBottleType - otype\n ShowerDoorType - otype\n BathtubType - otype\n LaundryHamperLidType - otype\n ShowerGlassType - otype\n PosterType - otype\n TennisRacketType - otype\n BaseballBatType - otype\n TowelType - otype\n PlungerType - otype\nSafeType - rtype\n DrawerType - rtype\n CoffeeMachineType - rtype\n HandTowelHolderType - rtype\n SinkBasinType - rtype\n DresserType - rtype\n LaundryHamperType - rtype\n TVStandType - rtype\n BathtubBasinType - rtype\n CabinetType - rtype\n FridgeType - rtype\n DeskType - rtype\n ToiletType - rtype\n CartType - rtype\n SideTableType - rtype\n SofaType - rtype\n CoffeeTableType - rtype\n DiningTableType - rtype\n CounterTopType - rtype\n GarbageCanType - rtype\n ArmChairType - rtype\n ShelfType - rtype\n MicrowaveType - rtype\n ToasterType - rtype\n BedType - rtype\n PaintingHangerType - rtype\n TowelHolderType - rtype\n ToiletPaperHangerType - rtype\n StoveBurnerType - rtype\n OttomanType - rtype\n\n\n AlarmClock_bar__plus_01_dot_65_bar__plus_00_dot_80_bar__minus_01_dot_15 - object\n AlarmClock_bar__plus_02_dot_22_bar__plus_00_dot_80_bar__minus_01_dot_22 - object\n AlarmClock_bar__plus_02_dot_59_bar__plus_00_dot_80_bar__minus_01_dot_22 - object\n BaseballBat_bar__plus_02_dot_85_bar__plus_00_dot_64_bar__plus_01_dot_84 - object\n BasketBall_bar__plus_01_dot_02_bar__plus_00_dot_33_bar__minus_00_dot_98 - object\n Blinds_bar__plus_00_dot_11_bar__plus_02_dot_34_bar__minus_01_dot_44 - object\n Book_bar__minus_00_dot_90_bar__plus_00_dot_57_bar__plus_01_dot_18 - object\n Boots_bar__minus_01_dot_28_bar__plus_00_dot_00_bar__minus_01_dot_34 - object\n Bowl_bar__plus_02_dot_45_bar__plus_00_dot_79_bar__minus_01_dot_21 - object\n Box_bar__plus_02_dot_73_bar__plus_00_dot_20_bar__plus_00_dot_89 - object\n CD_bar__minus_01_dot_25_bar__plus_01_dot_23_bar__minus_00_dot_84 - object\n CD_bar__minus_01_dot_32_bar__plus_01_dot_23_bar__minus_00_dot_46 - object\n CellPhone_bar__plus_02_dot_79_bar__plus_00_dot_57_bar__minus_01_dot_19 - object\n CellPhone_bar__minus_00_dot_63_bar__plus_00_dot_57_bar__plus_01_dot_34 - object\n CellPhone_bar__minus_00_dot_98_bar__plus_00_dot_57_bar__plus_00_dot_11 - object\n Chair_bar__plus_02_dot_40_bar__plus_00_dot_00_bar__minus_01_dot_08 - object\n CreditCard_bar__plus_01_dot_65_bar__plus_00_dot_80_bar__minus_01_dot_28 - object\n CreditCard_bar__plus_02_dot_02_bar__plus_00_dot_35_bar__minus_01_dot_25 - object\n CreditCard_bar__minus_01_dot_27_bar__plus_00_dot_68_bar__minus_00_dot_85 - object\n DeskLamp_bar__minus_01_dot_31_bar__plus_01_dot_23_bar__minus_00_dot_99 - object\n KeyChain_bar__plus_01_dot_91_bar__plus_00_dot_80_bar__minus_01_dot_39 - object\n KeyChain_bar__plus_01_dot_96_bar__plus_01_dot_05_bar__minus_01_dot_39 - object\n Laptop_bar__minus_00_dot_46_bar__plus_00_dot_56_bar__plus_01_dot_09 - object\n Laptop_bar__minus_00_dot_98_bar__plus_00_dot_56_bar__plus_00_dot_60 - object\n LightSwitch_bar__plus_02_dot_66_bar__plus_01_dot_28_bar__plus_01_dot_90 - object\n Mirror_bar__plus_01_dot_99_bar__plus_01_dot_38_bar__plus_01_dot_88 - object\n Mug_bar__plus_02_dot_82_bar__plus_00_dot_79_bar__minus_01_dot_22 - object\n Pencil_bar__plus_01_dot_84_bar__plus_00_dot_80_bar__minus_01_dot_19 - object\n Pencil_bar__minus_01_dot_28_bar__plus_01_dot_24_bar__minus_00_dot_75 - 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_16_bar__plus_01_dot_28_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_29_bar__plus_00_dot_11_bar__minus_00_dot_54 - object\n Pillow_bar__minus_00_dot_46_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__plus_01_dot_91_bar__plus_00_dot_57_bar__minus_01_dot_22 - object\n TissueBox_bar__plus_01_dot_98_bar__plus_00_dot_13_bar__minus_01_dot_22 - object\n TissueBox_bar__minus_01_dot_29_bar__plus_00_dot_38_bar__minus_00_dot_58 - object\n Watch_bar__minus_01_dot_29_bar__plus_00_dot_68_bar__minus_00_dot_65 - object\n Watch_bar__minus_01_dot_35_bar__plus_00_dot_11_bar__minus_00_dot_88 - object\n Window_bar__plus_00_dot_12_bar__plus_01_dot_50_bar__minus_01_dot_59 - object\n Bed_bar__minus_00_dot_64_bar__plus_00_dot_00_bar__plus_00_dot_87 - receptacle\n Desk_bar__plus_02_dot_29_bar__plus_00_dot_01_bar__minus_01_dot_15 - receptacle\n Drawer_bar__plus_01_dot_63_bar__plus_00_dot_18_bar__minus_01_dot_21 - receptacle\n Drawer_bar__plus_01_dot_63_bar__plus_00_dot_40_bar__minus_01_dot_21 - receptacle\n Drawer_bar__plus_01_dot_63_bar__plus_00_dot_62_bar__minus_01_dot_21 - receptacle\n Drawer_bar__plus_01_dot_95_bar__plus_00_dot_18_bar__minus_01_dot_21 - receptacle\n Drawer_bar__plus_01_dot_95_bar__plus_00_dot_40_bar__minus_01_dot_21 - receptacle\n Drawer_bar__plus_01_dot_95_bar__plus_00_dot_62_bar__minus_01_dot_21 - receptacle\n Drawer_bar__plus_02_dot_82_bar__plus_00_dot_17_bar__minus_01_dot_21 - receptacle\n Drawer_bar__plus_02_dot_82_bar__plus_00_dot_40_bar__minus_01_dot_21 - receptacle\n Drawer_bar__plus_02_dot_82_bar__plus_00_dot_62_bar__minus_01_dot_21 - receptacle\n Drawer_bar__minus_01_dot_29_bar__plus_00_dot_17_bar__minus_00_dot_58 - receptacle\n Drawer_bar__minus_01_dot_29_bar__plus_00_dot_17_bar__minus_00_dot_92 - receptacle\n Drawer_bar__minus_01_dot_29_bar__plus_00_dot_44_bar__minus_00_dot_58 - receptacle\n Drawer_bar__minus_01_dot_29_bar__plus_00_dot_44_bar__minus_00_dot_92 - receptacle\n Drawer_bar__minus_01_dot_29_bar__plus_00_dot_74_bar__minus_00_dot_58 - receptacle\n Drawer_bar__minus_01_dot_29_bar__plus_00_dot_74_bar__minus_00_dot_92 - receptacle\n Drawer_bar__minus_01_dot_29_bar__plus_01_dot_02_bar__minus_00_dot_58 - receptacle\n Drawer_bar__minus_01_dot_29_bar__plus_01_dot_02_bar__minus_00_dot_92 - receptacle\n Dresser_bar__minus_01_dot_33_bar__plus_00_dot_00_bar__minus_00_dot_75 - receptacle\n GarbageCan_bar__plus_02_dot_84_bar__plus_00_dot_00_bar__plus_00_dot_22 - receptacle\n Shelf_bar__plus_01_dot_80_bar__plus_00_dot_80_bar__minus_01_dot_42 - receptacle\n Shelf_bar__plus_01_dot_80_bar__plus_01_dot_04_bar__minus_01_dot_42 - receptacle\n Shelf_bar__plus_02_dot_25_bar__plus_01_dot_27_bar__minus_01_dot_42 - receptacle\n Shelf_bar__plus_02_dot_47_bar__plus_00_dot_80_bar__minus_01_dot_41 - receptacle\n Shelf_bar__plus_02_dot_47_bar__plus_01_dot_04_bar__minus_01_dot_41 - receptacle\n Shelf_bar__plus_02_dot_70_bar__plus_01_dot_27_bar__minus_01_dot_42 - receptacle\n loc_bar_9_bar_4_bar_1_bar_60 - location\n loc_bar_10_bar__minus_2_bar_2_bar_60 - location\n loc_bar_8_bar__minus_3_bar_2_bar_45 - location\n loc_bar_8_bar__minus_2_bar_1_bar_60 - location\n loc_bar_3_bar_5_bar_3_bar_45 - location\n loc_bar_10_bar_5_bar_0_bar_30 - location\n loc_bar_3_bar__minus_2_bar_1_bar_60 - location\n loc_bar_8_bar__minus_3_bar_1_bar_45 - location\n loc_bar_0_bar__minus_4_bar_2_bar_15 - location\n loc_bar__minus_3_bar__minus_4_bar_3_bar_60 - location\n loc_bar_9_bar__minus_2_bar_2_bar_60 - location\n loc_bar_1_bar__minus_4_bar_1_bar_30 - location\n loc_bar__minus_3_bar__minus_2_bar_3_bar_45 - location\n loc_bar_0_bar__minus_4_bar_2_bar__minus_30 - location\n loc_bar__minus_3_bar__minus_3_bar_3_bar_60 - location\n loc_bar_4_bar__minus_2_bar_2_bar_60 - location\n loc_bar_10_bar_1_bar_1_bar_60 - location\n loc_bar_7_bar__minus_3_bar_2_bar_45 - location\n loc_bar__minus_3_bar__minus_2_bar_3_bar_60 - location\n loc_bar_4_bar__minus_2_bar_1_bar_60 - location\n loc_bar_8_bar_5_bar_0_bar_30 - location\n loc_bar_8_bar__minus_3_bar_2_bar_30 - location\n loc_bar_10_bar_5_bar_0_bar_60 - location\n loc_bar_8_bar__minus_3_bar_2_bar_60 - location\n loc_bar_10_bar__minus_2_bar_2_bar_45 - location\n loc_bar__minus_3_bar__minus_4_bar_3_bar_45 - location\n loc_bar_10_bar__minus_2_bar_2_bar_30 - location\n loc_bar_9_bar__minus_1_bar_2_bar_30 - location\n )\n \n\n(:init\n\n\n (receptacleType Shelf_bar__plus_02_dot_25_bar__plus_01_dot_27_bar__minus_01_dot_42 ShelfType)\n (receptacleType Drawer_bar__minus_01_dot_29_bar__plus_00_dot_44_bar__minus_00_dot_92 DrawerType)\n (receptacleType Drawer_bar__minus_01_dot_29_bar__plus_00_dot_17_bar__minus_00_dot_58 DrawerType)\n (receptacleType Drawer_bar__plus_01_dot_95_bar__plus_00_dot_62_bar__minus_01_dot_21 DrawerType)\n (receptacleType Desk_bar__plus_02_dot_29_bar__plus_00_dot_01_bar__minus_01_dot_15 DeskType)\n (receptacleType Drawer_bar__minus_01_dot_29_bar__plus_01_dot_02_bar__minus_00_dot_92 DrawerType)\n (receptacleType Drawer_bar__minus_01_dot_29_bar__plus_01_dot_02_bar__minus_00_dot_58 DrawerType)\n (receptacleType Drawer_bar__plus_01_dot_63_bar__plus_00_dot_40_bar__minus_01_dot_21 DrawerType)\n (receptacleType Bed_bar__minus_00_dot_64_bar__plus_00_dot_00_bar__plus_00_dot_87 BedType)\n (receptacleType Drawer_bar__plus_01_dot_63_bar__plus_00_dot_18_bar__minus_01_dot_21 DrawerType)\n (receptacleType Drawer_bar__plus_02_dot_82_bar__plus_00_dot_62_bar__minus_01_dot_21 DrawerType)\n (receptacleType Shelf_bar__plus_02_dot_47_bar__plus_00_dot_80_bar__minus_01_dot_41 ShelfType)\n (receptacleType Drawer_bar__plus_01_dot_63_bar__plus_00_dot_62_bar__minus_01_dot_21 DrawerType)\n (receptacleType Drawer_bar__minus_01_dot_29_bar__plus_00_dot_74_bar__minus_00_dot_58 DrawerType)\n (receptacleType GarbageCan_bar__plus_02_dot_84_bar__plus_00_dot_00_bar__plus_00_dot_22 GarbageCanType)\n (receptacleType Shelf_bar__plus_01_dot_80_bar__plus_00_dot_80_bar__minus_01_dot_42 ShelfType)\n (receptacleType Shelf_bar__plus_01_dot_80_bar__plus_01_dot_04_bar__minus_01_dot_42 ShelfType)\n (receptacleType Drawer_bar__plus_01_dot_95_bar__plus_00_dot_18_bar__minus_01_dot_21 DrawerType)\n (receptacleType Drawer_bar__minus_01_dot_29_bar__plus_00_dot_74_bar__minus_00_dot_92 DrawerType)\n (receptacleType Drawer_bar__plus_02_dot_82_bar__plus_00_dot_17_bar__minus_01_dot_21 DrawerType)\n (receptacleType Shelf_bar__plus_02_dot_70_bar__plus_01_dot_27_bar__minus_01_dot_42 ShelfType)\n (receptacleType Shelf_bar__plus_02_dot_47_bar__plus_01_dot_04_bar__minus_01_dot_41 ShelfType)\n (receptacleType Drawer_bar__minus_01_dot_29_bar__plus_00_dot_44_bar__minus_00_dot_58 DrawerType)\n (receptacleType Drawer_bar__plus_01_dot_95_bar__plus_00_dot_40_bar__minus_01_dot_21 DrawerType)\n (receptacleType Dresser_bar__minus_01_dot_33_bar__plus_00_dot_00_bar__minus_00_dot_75 DresserType)\n (receptacleType Drawer_bar__minus_01_dot_29_bar__plus_00_dot_17_bar__minus_00_dot_92 DrawerType)\n (receptacleType Drawer_bar__plus_02_dot_82_bar__plus_00_dot_40_bar__minus_01_dot_21 DrawerType)\n (objectType CellPhone_bar__minus_00_dot_63_bar__plus_00_dot_57_bar__plus_01_dot_34 CellPhoneType)\n (objectType CreditCard_bar__plus_01_dot_65_bar__plus_00_dot_80_bar__minus_01_dot_28 CreditCardType)\n (objectType Watch_bar__minus_01_dot_35_bar__plus_00_dot_11_bar__minus_00_dot_88 WatchType)\n (objectType CellPhone_bar__plus_02_dot_79_bar__plus_00_dot_57_bar__minus_01_dot_19 CellPhoneType)\n (objectType Watch_bar__minus_01_dot_29_bar__plus_00_dot_68_bar__minus_00_dot_65 WatchType)\n (objectType KeyChain_bar__plus_01_dot_96_bar__plus_01_dot_05_bar__minus_01_dot_39 KeyChainType)\n (objectType AlarmClock_bar__plus_02_dot_59_bar__plus_00_dot_80_bar__minus_01_dot_22 AlarmClockType)\n (objectType CD_bar__minus_01_dot_32_bar__plus_01_dot_23_bar__minus_00_dot_46 CDType)\n (objectType Bowl_bar__plus_02_dot_45_bar__plus_00_dot_79_bar__minus_01_dot_21 BowlType)\n (objectType BaseballBat_bar__plus_02_dot_85_bar__plus_00_dot_64_bar__plus_01_dot_84 BaseballBatType)\n (objectType Mug_bar__plus_02_dot_82_bar__plus_00_dot_79_bar__minus_01_dot_22 MugType)\n (objectType Box_bar__plus_02_dot_73_bar__plus_00_dot_20_bar__plus_00_dot_89 BoxType)\n (objectType AlarmClock_bar__plus_01_dot_65_bar__plus_00_dot_80_bar__minus_01_dot_15 AlarmClockType)\n (objectType CreditCard_bar__minus_01_dot_27_bar__plus_00_dot_68_bar__minus_00_dot_85 CreditCardType)\n (objectType Boots_bar__minus_01_dot_28_bar__plus_00_dot_00_bar__minus_01_dot_34 BootsType)\n (objectType BasketBall_bar__plus_01_dot_02_bar__plus_00_dot_33_bar__minus_00_dot_98 BasketBallType)\n (objectType Window_bar__plus_00_dot_12_bar__plus_01_dot_50_bar__minus_01_dot_59 WindowType)\n (objectType Statue_bar__plus_01_dot_82_bar__plus_01_dot_04_bar__minus_01_dot_42 StatueType)\n (objectType CreditCard_bar__plus_02_dot_02_bar__plus_00_dot_35_bar__minus_01_dot_25 CreditCardType)\n (objectType Laptop_bar__minus_00_dot_98_bar__plus_00_dot_56_bar__plus_00_dot_60 LaptopType)\n (objectType CellPhone_bar__minus_00_dot_98_bar__plus_00_dot_57_bar__plus_00_dot_11 CellPhoneType)\n (objectType DeskLamp_bar__minus_01_dot_31_bar__plus_01_dot_23_bar__minus_00_dot_99 DeskLampType)\n (objectType Pencil_bar__plus_01_dot_84_bar__plus_00_dot_80_bar__minus_01_dot_19 PencilType)\n (objectType TissueBox_bar__plus_01_dot_91_bar__plus_00_dot_57_bar__minus_01_dot_22 TissueBoxType)\n (objectType CD_bar__minus_01_dot_25_bar__plus_01_dot_23_bar__minus_00_dot_84 CDType)\n (objectType Pen_bar__plus_02_dot_16_bar__plus_01_dot_28_bar__minus_01_dot_37 PenType)\n (objectType Pencil_bar__minus_01_dot_28_bar__plus_01_dot_24_bar__minus_00_dot_75 PencilType)\n (objectType LightSwitch_bar__plus_02_dot_66_bar__plus_01_dot_28_bar__plus_01_dot_90 LightSwitchType)\n (objectType Book_bar__minus_00_dot_90_bar__plus_00_dot_57_bar__plus_01_dot_18 BookType)\n (objectType TissueBox_bar__plus_01_dot_98_bar__plus_00_dot_13_bar__minus_01_dot_22 TissueBoxType)\n (objectType Mirror_bar__plus_01_dot_99_bar__plus_01_dot_38_bar__plus_01_dot_88 MirrorType)\n (objectType Pen_bar__minus_01_dot_29_bar__plus_00_dot_11_bar__minus_00_dot_54 PenType)\n (objectType Laptop_bar__minus_00_dot_46_bar__plus_00_dot_56_bar__plus_01_dot_09 LaptopType)\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_46_bar__plus_00_dot_64_bar__plus_00_dot_11 PillowType)\n (objectType AlarmClock_bar__plus_02_dot_22_bar__plus_00_dot_80_bar__minus_01_dot_22 AlarmClockType)\n (objectType Pen_bar__plus_02_dot_59_bar__plus_01_dot_05_bar__minus_01_dot_37 PenType)\n (objectType KeyChain_bar__plus_01_dot_91_bar__plus_00_dot_80_bar__minus_01_dot_39 KeyChainType)\n (objectType Blinds_bar__plus_00_dot_11_bar__plus_02_dot_34_bar__minus_01_dot_44 BlindsType)\n (objectType Pencil_bar__minus_01_dot_35_bar__plus_01_dot_24_bar__minus_00_dot_65 PencilType)\n (objectType TissueBox_bar__minus_01_dot_29_bar__plus_00_dot_38_bar__minus_00_dot_58 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 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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 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(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 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(canContain DrawerType BookType)\n (canContain DrawerType WatchType)\n (canContain DrawerType CDType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType PencilType)\n (canContain DrawerType TissueBoxType)\n (canContain DrawerType PenType)\n (canContain DrawerType BookType)\n (canContain DrawerType WatchType)\n (canContain DrawerType CDType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType PencilType)\n (canContain DrawerType TissueBoxType)\n (canContain DresserType PenType)\n (canContain DresserType BookType)\n (canContain DresserType WatchType)\n (canContain DresserType BowlType)\n (canContain DresserType CDType)\n (canContain DresserType MugType)\n (canContain DresserType BoxType)\n (canContain DresserType CellPhoneType)\n (canContain DresserType KeyChainType)\n (canContain DresserType CreditCardType)\n (canContain DresserType BasketBallType)\n (canContain DresserType LaptopType)\n (canContain DresserType PencilType)\n (canContain DresserType TissueBoxType)\n (canContain DresserType StatueType)\n (canContain DresserType AlarmClockType)\n (canContain DrawerType PenType)\n (canContain DrawerType BookType)\n (canContain DrawerType WatchType)\n (canContain DrawerType CDType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType PencilType)\n (canContain DrawerType TissueBoxType)\n (canContain DrawerType PenType)\n (canContain DrawerType BookType)\n (canContain DrawerType WatchType)\n (canContain DrawerType CDType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType PencilType)\n (canContain DrawerType TissueBoxType)\n (pickupable CellPhone_bar__minus_00_dot_63_bar__plus_00_dot_57_bar__plus_01_dot_34)\n (pickupable CreditCard_bar__plus_01_dot_65_bar__plus_00_dot_80_bar__minus_01_dot_28)\n (pickupable Watch_bar__minus_01_dot_35_bar__plus_00_dot_11_bar__minus_00_dot_88)\n (pickupable CellPhone_bar__plus_02_dot_79_bar__plus_00_dot_57_bar__minus_01_dot_19)\n (pickupable Watch_bar__minus_01_dot_29_bar__plus_00_dot_68_bar__minus_00_dot_65)\n (pickupable KeyChain_bar__plus_01_dot_96_bar__plus_01_dot_05_bar__minus_01_dot_39)\n (pickupable AlarmClock_bar__plus_02_dot_59_bar__plus_00_dot_80_bar__minus_01_dot_22)\n (pickupable CD_bar__minus_01_dot_32_bar__plus_01_dot_23_bar__minus_00_dot_46)\n (pickupable Bowl_bar__plus_02_dot_45_bar__plus_00_dot_79_bar__minus_01_dot_21)\n (pickupable BaseballBat_bar__plus_02_dot_85_bar__plus_00_dot_64_bar__plus_01_dot_84)\n (pickupable Mug_bar__plus_02_dot_82_bar__plus_00_dot_79_bar__minus_01_dot_22)\n (pickupable Box_bar__plus_02_dot_73_bar__plus_00_dot_20_bar__plus_00_dot_89)\n (pickupable AlarmClock_bar__plus_01_dot_65_bar__plus_00_dot_80_bar__minus_01_dot_15)\n (pickupable CreditCard_bar__minus_01_dot_27_bar__plus_00_dot_68_bar__minus_00_dot_85)\n (pickupable Boots_bar__minus_01_dot_28_bar__plus_00_dot_00_bar__minus_01_dot_34)\n (pickupable BasketBall_bar__plus_01_dot_02_bar__plus_00_dot_33_bar__minus_00_dot_98)\n (pickupable Statue_bar__plus_01_dot_82_bar__plus_01_dot_04_bar__minus_01_dot_42)\n (pickupable CreditCard_bar__plus_02_dot_02_bar__plus_00_dot_35_bar__minus_01_dot_25)\n (pickupable Laptop_bar__minus_00_dot_98_bar__plus_00_dot_56_bar__plus_00_dot_60)\n (pickupable CellPhone_bar__minus_00_dot_98_bar__plus_00_dot_57_bar__plus_00_dot_11)\n (pickupable Pencil_bar__plus_01_dot_84_bar__plus_00_dot_80_bar__minus_01_dot_19)\n (pickupable TissueBox_bar__plus_01_dot_91_bar__plus_00_dot_57_bar__minus_01_dot_22)\n (pickupable CD_bar__minus_01_dot_25_bar__plus_01_dot_23_bar__minus_00_dot_84)\n (pickupable Pen_bar__plus_02_dot_16_bar__plus_01_dot_28_bar__minus_01_dot_37)\n (pickupable Pencil_bar__minus_01_dot_28_bar__plus_01_dot_24_bar__minus_00_dot_75)\n (pickupable Book_bar__minus_00_dot_90_bar__plus_00_dot_57_bar__plus_01_dot_18)\n (pickupable TissueBox_bar__plus_01_dot_98_bar__plus_00_dot_13_bar__minus_01_dot_22)\n (pickupable Pen_bar__minus_01_dot_29_bar__plus_00_dot_11_bar__minus_00_dot_54)\n (pickupable Laptop_bar__minus_00_dot_46_bar__plus_00_dot_56_bar__plus_01_dot_09)\n (pickupable Pillow_bar__minus_00_dot_46_bar__plus_00_dot_64_bar__plus_00_dot_11)\n (pickupable AlarmClock_bar__plus_02_dot_22_bar__plus_00_dot_80_bar__minus_01_dot_22)\n (pickupable Pen_bar__plus_02_dot_59_bar__plus_01_dot_05_bar__minus_01_dot_37)\n (pickupable KeyChain_bar__plus_01_dot_91_bar__plus_00_dot_80_bar__minus_01_dot_39)\n (pickupable Pencil_bar__minus_01_dot_35_bar__plus_01_dot_24_bar__minus_00_dot_65)\n (pickupable TissueBox_bar__minus_01_dot_29_bar__plus_00_dot_38_bar__minus_00_dot_58)\n (isReceptacleObject Bowl_bar__plus_02_dot_45_bar__plus_00_dot_79_bar__minus_01_dot_21)\n (isReceptacleObject Mug_bar__plus_02_dot_82_bar__plus_00_dot_79_bar__minus_01_dot_22)\n (isReceptacleObject Box_bar__plus_02_dot_73_bar__plus_00_dot_20_bar__plus_00_dot_89)\n (openable Drawer_bar__plus_01_dot_63_bar__plus_00_dot_40_bar__minus_01_dot_21)\n (openable Drawer_bar__plus_01_dot_63_bar__plus_00_dot_18_bar__minus_01_dot_21)\n (openable Drawer_bar__plus_02_dot_82_bar__plus_00_dot_62_bar__minus_01_dot_21)\n (openable Drawer_bar__plus_01_dot_63_bar__plus_00_dot_62_bar__minus_01_dot_21)\n (openable Drawer_bar__plus_01_dot_95_bar__plus_00_dot_18_bar__minus_01_dot_21)\n (openable Drawer_bar__plus_01_dot_95_bar__plus_00_dot_40_bar__minus_01_dot_21)\n (openable Drawer_bar__plus_02_dot_82_bar__plus_00_dot_40_bar__minus_01_dot_21)\n \n (atLocation agent1 loc_bar_9_bar__minus_1_bar_2_bar_30)\n \n (cleanable Bowl_bar__plus_02_dot_45_bar__plus_00_dot_79_bar__minus_01_dot_21)\n (cleanable Mug_bar__plus_02_dot_82_bar__plus_00_dot_79_bar__minus_01_dot_22)\n \n (heatable Mug_bar__plus_02_dot_82_bar__plus_00_dot_79_bar__minus_01_dot_22)\n (coolable Bowl_bar__plus_02_dot_45_bar__plus_00_dot_79_bar__minus_01_dot_21)\n (coolable Mug_bar__plus_02_dot_82_bar__plus_00_dot_79_bar__minus_01_dot_22)\n \n \n (toggleable DeskLamp_bar__minus_01_dot_31_bar__plus_01_dot_23_bar__minus_00_dot_99)\n \n \n \n \n (inReceptacle KeyChain_bar__plus_01_dot_91_bar__plus_00_dot_80_bar__minus_01_dot_39 Shelf_bar__plus_01_dot_80_bar__plus_00_dot_80_bar__minus_01_dot_42)\n (inReceptacle Watch_bar__minus_01_dot_35_bar__plus_00_dot_11_bar__minus_00_dot_88 Drawer_bar__minus_01_dot_29_bar__plus_00_dot_17_bar__minus_00_dot_92)\n (inReceptacle Mug_bar__plus_02_dot_82_bar__plus_00_dot_79_bar__minus_01_dot_22 Desk_bar__plus_02_dot_29_bar__plus_00_dot_01_bar__minus_01_dot_15)\n (inReceptacle AlarmClock_bar__plus_01_dot_65_bar__plus_00_dot_80_bar__minus_01_dot_15 Desk_bar__plus_02_dot_29_bar__plus_00_dot_01_bar__minus_01_dot_15)\n (inReceptacle CreditCard_bar__plus_01_dot_65_bar__plus_00_dot_80_bar__minus_01_dot_28 Desk_bar__plus_02_dot_29_bar__plus_00_dot_01_bar__minus_01_dot_15)\n (inReceptacle Pencil_bar__plus_01_dot_84_bar__plus_00_dot_80_bar__minus_01_dot_19 Desk_bar__plus_02_dot_29_bar__plus_00_dot_01_bar__minus_01_dot_15)\n (inReceptacle AlarmClock_bar__plus_02_dot_22_bar__plus_00_dot_80_bar__minus_01_dot_22 Desk_bar__plus_02_dot_29_bar__plus_00_dot_01_bar__minus_01_dot_15)\n (inReceptacle AlarmClock_bar__plus_02_dot_59_bar__plus_00_dot_80_bar__minus_01_dot_22 Desk_bar__plus_02_dot_29_bar__plus_00_dot_01_bar__minus_01_dot_15)\n (inReceptacle Bowl_bar__plus_02_dot_45_bar__plus_00_dot_79_bar__minus_01_dot_21 Desk_bar__plus_02_dot_29_bar__plus_00_dot_01_bar__minus_01_dot_15)\n (inReceptacle CreditCard_bar__minus_01_dot_27_bar__plus_00_dot_68_bar__minus_00_dot_85 Drawer_bar__minus_01_dot_29_bar__plus_00_dot_74_bar__minus_00_dot_92)\n (inReceptacle CreditCard_bar__plus_02_dot_02_bar__plus_00_dot_35_bar__minus_01_dot_25 Drawer_bar__plus_01_dot_95_bar__plus_00_dot_40_bar__minus_01_dot_21)\n (inReceptacle TissueBox_bar__minus_01_dot_29_bar__plus_00_dot_38_bar__minus_00_dot_58 Drawer_bar__minus_01_dot_29_bar__plus_00_dot_44_bar__minus_00_dot_58)\n (inReceptacle Pen_bar__minus_01_dot_29_bar__plus_00_dot_11_bar__minus_00_dot_54 Drawer_bar__minus_01_dot_29_bar__plus_00_dot_17_bar__minus_00_dot_58)\n (inReceptacle CellPhone_bar__plus_02_dot_79_bar__plus_00_dot_57_bar__minus_01_dot_19 Drawer_bar__plus_02_dot_82_bar__plus_00_dot_62_bar__minus_01_dot_21)\n (inReceptacle TissueBox_bar__plus_01_dot_98_bar__plus_00_dot_13_bar__minus_01_dot_22 Drawer_bar__plus_01_dot_95_bar__plus_00_dot_18_bar__minus_01_dot_21)\n (inReceptacle TissueBox_bar__plus_01_dot_91_bar__plus_00_dot_57_bar__minus_01_dot_22 Drawer_bar__plus_01_dot_95_bar__plus_00_dot_62_bar__minus_01_dot_21)\n (inReceptacle CD_bar__minus_01_dot_32_bar__plus_01_dot_23_bar__minus_00_dot_46 Dresser_bar__minus_01_dot_33_bar__plus_00_dot_00_bar__minus_00_dot_75)\n (inReceptacle DeskLamp_bar__minus_01_dot_31_bar__plus_01_dot_23_bar__minus_00_dot_99 Dresser_bar__minus_01_dot_33_bar__plus_00_dot_00_bar__minus_00_dot_75)\n (inReceptacle CD_bar__minus_01_dot_25_bar__plus_01_dot_23_bar__minus_00_dot_84 Dresser_bar__minus_01_dot_33_bar__plus_00_dot_00_bar__minus_00_dot_75)\n (inReceptacle Pencil_bar__minus_01_dot_35_bar__plus_01_dot_24_bar__minus_00_dot_65 Dresser_bar__minus_01_dot_33_bar__plus_00_dot_00_bar__minus_00_dot_75)\n (inReceptacle Pencil_bar__minus_01_dot_28_bar__plus_01_dot_24_bar__minus_00_dot_75 Dresser_bar__minus_01_dot_33_bar__plus_00_dot_00_bar__minus_00_dot_75)\n (inReceptacle Watch_bar__minus_01_dot_29_bar__plus_00_dot_68_bar__minus_00_dot_65 Drawer_bar__minus_01_dot_29_bar__plus_00_dot_74_bar__minus_00_dot_58)\n (inReceptacle Book_bar__minus_00_dot_90_bar__plus_00_dot_57_bar__plus_01_dot_18 Bed_bar__minus_00_dot_64_bar__plus_00_dot_00_bar__plus_00_dot_87)\n (inReceptacle CellPhone_bar__minus_00_dot_63_bar__plus_00_dot_57_bar__plus_01_dot_34 Bed_bar__minus_00_dot_64_bar__plus_00_dot_00_bar__plus_00_dot_87)\n (inReceptacle Laptop_bar__minus_00_dot_98_bar__plus_00_dot_56_bar__plus_00_dot_60 Bed_bar__minus_00_dot_64_bar__plus_00_dot_00_bar__plus_00_dot_87)\n (inReceptacle CellPhone_bar__minus_00_dot_98_bar__plus_00_dot_57_bar__plus_00_dot_11 Bed_bar__minus_00_dot_64_bar__plus_00_dot_00_bar__plus_00_dot_87)\n (inReceptacle Laptop_bar__minus_00_dot_46_bar__plus_00_dot_56_bar__plus_01_dot_09 Bed_bar__minus_00_dot_64_bar__plus_00_dot_00_bar__plus_00_dot_87)\n (inReceptacle Pillow_bar__minus_00_dot_46_bar__plus_00_dot_64_bar__plus_00_dot_11 Bed_bar__minus_00_dot_64_bar__plus_00_dot_00_bar__plus_00_dot_87)\n (inReceptacle Pen_bar__plus_02_dot_59_bar__plus_01_dot_05_bar__minus_01_dot_37 Shelf_bar__plus_02_dot_47_bar__plus_01_dot_04_bar__minus_01_dot_41)\n (inReceptacle KeyChain_bar__plus_01_dot_96_bar__plus_01_dot_05_bar__minus_01_dot_39 Shelf_bar__plus_01_dot_80_bar__plus_01_dot_04_bar__minus_01_dot_42)\n (inReceptacle Statue_bar__plus_01_dot_82_bar__plus_01_dot_04_bar__minus_01_dot_42 Shelf_bar__plus_01_dot_80_bar__plus_01_dot_04_bar__minus_01_dot_42)\n (inReceptacle Pen_bar__plus_02_dot_16_bar__plus_01_dot_28_bar__minus_01_dot_37 Shelf_bar__plus_02_dot_25_bar__plus_01_dot_27_bar__minus_01_dot_42)\n \n \n (receptacleAtLocation Bed_bar__minus_00_dot_64_bar__plus_00_dot_00_bar__plus_00_dot_87 loc_bar_3_bar_5_bar_3_bar_45)\n (receptacleAtLocation Desk_bar__plus_02_dot_29_bar__plus_00_dot_01_bar__minus_01_dot_15 loc_bar_9_bar__minus_2_bar_2_bar_60)\n (receptacleAtLocation Drawer_bar__plus_01_dot_63_bar__plus_00_dot_18_bar__minus_01_dot_21 loc_bar_3_bar__minus_2_bar_1_bar_60)\n (receptacleAtLocation Drawer_bar__plus_01_dot_63_bar__plus_00_dot_40_bar__minus_01_dot_21 loc_bar_3_bar__minus_2_bar_1_bar_60)\n (receptacleAtLocation Drawer_bar__plus_01_dot_63_bar__plus_00_dot_62_bar__minus_01_dot_21 loc_bar_1_bar__minus_4_bar_1_bar_30)\n (receptacleAtLocation Drawer_bar__plus_01_dot_95_bar__plus_00_dot_18_bar__minus_01_dot_21 loc_bar_4_bar__minus_2_bar_1_bar_60)\n (receptacleAtLocation Drawer_bar__plus_01_dot_95_bar__plus_00_dot_40_bar__minus_01_dot_21 loc_bar_4_bar__minus_2_bar_1_bar_60)\n (receptacleAtLocation Drawer_bar__plus_01_dot_95_bar__plus_00_dot_62_bar__minus_01_dot_21 loc_bar_8_bar__minus_3_bar_2_bar_60)\n (receptacleAtLocation Drawer_bar__plus_02_dot_82_bar__plus_00_dot_17_bar__minus_01_dot_21 loc_bar_10_bar__minus_2_bar_2_bar_60)\n (receptacleAtLocation Drawer_bar__plus_02_dot_82_bar__plus_00_dot_40_bar__minus_01_dot_21 loc_bar_8_bar__minus_2_bar_1_bar_60)\n (receptacleAtLocation Drawer_bar__plus_02_dot_82_bar__plus_00_dot_62_bar__minus_01_dot_21 loc_bar_8_bar__minus_3_bar_1_bar_45)\n (receptacleAtLocation Drawer_bar__minus_01_dot_29_bar__plus_00_dot_17_bar__minus_00_dot_58 loc_bar__minus_3_bar__minus_2_bar_3_bar_60)\n (receptacleAtLocation Drawer_bar__minus_01_dot_29_bar__plus_00_dot_17_bar__minus_00_dot_92 loc_bar__minus_3_bar__minus_4_bar_3_bar_60)\n (receptacleAtLocation Drawer_bar__minus_01_dot_29_bar__plus_00_dot_44_bar__minus_00_dot_58 loc_bar__minus_3_bar__minus_2_bar_3_bar_60)\n (receptacleAtLocation Drawer_bar__minus_01_dot_29_bar__plus_00_dot_44_bar__minus_00_dot_92 loc_bar__minus_3_bar__minus_4_bar_3_bar_60)\n (receptacleAtLocation Drawer_bar__minus_01_dot_29_bar__plus_00_dot_74_bar__minus_00_dot_58 loc_bar__minus_3_bar__minus_2_bar_3_bar_60)\n (receptacleAtLocation Drawer_bar__minus_01_dot_29_bar__plus_00_dot_74_bar__minus_00_dot_92 loc_bar__minus_3_bar__minus_4_bar_3_bar_60)\n (receptacleAtLocation Drawer_bar__minus_01_dot_29_bar__plus_01_dot_02_bar__minus_00_dot_58 loc_bar__minus_3_bar__minus_2_bar_3_bar_45)\n (receptacleAtLocation Drawer_bar__minus_01_dot_29_bar__plus_01_dot_02_bar__minus_00_dot_92 loc_bar__minus_3_bar__minus_4_bar_3_bar_45)\n (receptacleAtLocation Dresser_bar__minus_01_dot_33_bar__plus_00_dot_00_bar__minus_00_dot_75 loc_bar__minus_3_bar__minus_3_bar_3_bar_60)\n (receptacleAtLocation GarbageCan_bar__plus_02_dot_84_bar__plus_00_dot_00_bar__plus_00_dot_22 loc_bar_10_bar_1_bar_1_bar_60)\n (receptacleAtLocation Shelf_bar__plus_01_dot_80_bar__plus_00_dot_80_bar__minus_01_dot_42 loc_bar_8_bar__minus_3_bar_2_bar_45)\n (receptacleAtLocation Shelf_bar__plus_01_dot_80_bar__plus_01_dot_04_bar__minus_01_dot_42 loc_bar_7_bar__minus_3_bar_2_bar_45)\n (receptacleAtLocation Shelf_bar__plus_02_dot_25_bar__plus_01_dot_27_bar__minus_01_dot_42 loc_bar_8_bar__minus_3_bar_2_bar_30)\n (receptacleAtLocation Shelf_bar__plus_02_dot_47_bar__plus_00_dot_80_bar__minus_01_dot_41 loc_bar_10_bar__minus_2_bar_2_bar_45)\n (receptacleAtLocation Shelf_bar__plus_02_dot_47_bar__plus_01_dot_04_bar__minus_01_dot_41 loc_bar_10_bar__minus_2_bar_2_bar_30)\n (receptacleAtLocation Shelf_bar__plus_02_dot_70_bar__plus_01_dot_27_bar__minus_01_dot_42 loc_bar_10_bar__minus_2_bar_2_bar_30)\n (objectAtLocation Pen_bar__minus_01_dot_29_bar__plus_00_dot_11_bar__minus_00_dot_54 loc_bar__minus_3_bar__minus_2_bar_3_bar_60)\n (objectAtLocation CD_bar__minus_01_dot_32_bar__plus_01_dot_23_bar__minus_00_dot_46 loc_bar__minus_3_bar__minus_3_bar_3_bar_60)\n (objectAtLocation Watch_bar__minus_01_dot_29_bar__plus_00_dot_68_bar__minus_00_dot_65 loc_bar__minus_3_bar__minus_2_bar_3_bar_60)\n (objectAtLocation KeyChain_bar__plus_01_dot_96_bar__plus_01_dot_05_bar__minus_01_dot_39 loc_bar_7_bar__minus_3_bar_2_bar_45)\n (objectAtLocation Pencil_bar__plus_01_dot_84_bar__plus_00_dot_80_bar__minus_01_dot_19 loc_bar_9_bar__minus_2_bar_2_bar_60)\n (objectAtLocation AlarmClock_bar__plus_02_dot_22_bar__plus_00_dot_80_bar__minus_01_dot_22 loc_bar_9_bar__minus_2_bar_2_bar_60)\n (objectAtLocation CreditCard_bar__minus_01_dot_27_bar__plus_00_dot_68_bar__minus_00_dot_85 loc_bar__minus_3_bar__minus_4_bar_3_bar_60)\n (objectAtLocation TissueBox_bar__plus_01_dot_98_bar__plus_00_dot_13_bar__minus_01_dot_22 loc_bar_4_bar__minus_2_bar_1_bar_60)\n (objectAtLocation CellPhone_bar__minus_00_dot_63_bar__plus_00_dot_57_bar__plus_01_dot_34 loc_bar_3_bar_5_bar_3_bar_45)\n (objectAtLocation Laptop_bar__minus_00_dot_98_bar__plus_00_dot_56_bar__plus_00_dot_60 loc_bar_3_bar_5_bar_3_bar_45)\n (objectAtLocation AlarmClock_bar__plus_02_dot_59_bar__plus_00_dot_80_bar__minus_01_dot_22 loc_bar_9_bar__minus_2_bar_2_bar_60)\n (objectAtLocation CreditCard_bar__plus_01_dot_65_bar__plus_00_dot_80_bar__minus_01_dot_28 loc_bar_9_bar__minus_2_bar_2_bar_60)\n (objectAtLocation Pencil_bar__minus_01_dot_35_bar__plus_01_dot_24_bar__minus_00_dot_65 loc_bar__minus_3_bar__minus_3_bar_3_bar_60)\n (objectAtLocation Pen_bar__plus_02_dot_16_bar__plus_01_dot_28_bar__minus_01_dot_37 loc_bar_8_bar__minus_3_bar_2_bar_30)\n (objectAtLocation CellPhone_bar__minus_00_dot_98_bar__plus_00_dot_57_bar__plus_00_dot_11 loc_bar_3_bar_5_bar_3_bar_45)\n (objectAtLocation TissueBox_bar__minus_01_dot_29_bar__plus_00_dot_38_bar__minus_00_dot_58 loc_bar__minus_3_bar__minus_2_bar_3_bar_60)\n (objectAtLocation Book_bar__minus_00_dot_90_bar__plus_00_dot_57_bar__plus_01_dot_18 loc_bar_3_bar_5_bar_3_bar_45)\n (objectAtLocation Box_bar__plus_02_dot_73_bar__plus_00_dot_20_bar__plus_00_dot_89 loc_bar_9_bar_4_bar_1_bar_60)\n (objectAtLocation Chair_bar__plus_02_dot_40_bar__plus_00_dot_00_bar__minus_01_dot_08 loc_bar_10_bar__minus_2_bar_2_bar_60)\n (objectAtLocation Laptop_bar__minus_00_dot_46_bar__plus_00_dot_56_bar__plus_01_dot_09 loc_bar_3_bar_5_bar_3_bar_45)\n (objectAtLocation CellPhone_bar__plus_02_dot_79_bar__plus_00_dot_57_bar__minus_01_dot_19 loc_bar_8_bar__minus_3_bar_1_bar_45)\n (objectAtLocation BaseballBat_bar__plus_02_dot_85_bar__plus_00_dot_64_bar__plus_01_dot_84 loc_bar_10_bar_5_bar_0_bar_60)\n (objectAtLocation DeskLamp_bar__minus_01_dot_31_bar__plus_01_dot_23_bar__minus_00_dot_99 loc_bar__minus_3_bar__minus_3_bar_3_bar_60)\n (objectAtLocation BasketBall_bar__plus_01_dot_02_bar__plus_00_dot_33_bar__minus_00_dot_98 loc_bar_4_bar__minus_2_bar_2_bar_60)\n (objectAtLocation TissueBox_bar__plus_01_dot_91_bar__plus_00_dot_57_bar__minus_01_dot_22 loc_bar_8_bar__minus_3_bar_2_bar_60)\n (objectAtLocation CreditCard_bar__plus_02_dot_02_bar__plus_00_dot_35_bar__minus_01_dot_25 loc_bar_4_bar__minus_2_bar_1_bar_60)\n (objectAtLocation AlarmClock_bar__plus_01_dot_65_bar__plus_00_dot_80_bar__minus_01_dot_15 loc_bar_9_bar__minus_2_bar_2_bar_60)\n (objectAtLocation Pencil_bar__minus_01_dot_28_bar__plus_01_dot_24_bar__minus_00_dot_75 loc_bar__minus_3_bar__minus_3_bar_3_bar_60)\n (objectAtLocation Boots_bar__minus_01_dot_28_bar__plus_00_dot_00_bar__minus_01_dot_34 loc_bar__minus_3_bar__minus_4_bar_3_bar_60)\n (objectAtLocation Blinds_bar__plus_00_dot_11_bar__plus_02_dot_34_bar__minus_01_dot_44 loc_bar_0_bar__minus_4_bar_2_bar__minus_30)\n (objectAtLocation Pillow_bar__minus_00_dot_46_bar__plus_00_dot_64_bar__plus_00_dot_11 loc_bar_3_bar_5_bar_3_bar_45)\n (objectAtLocation KeyChain_bar__plus_01_dot_91_bar__plus_00_dot_80_bar__minus_01_dot_39 loc_bar_8_bar__minus_3_bar_2_bar_45)\n (objectAtLocation Bowl_bar__plus_02_dot_45_bar__plus_00_dot_79_bar__minus_01_dot_21 loc_bar_9_bar__minus_2_bar_2_bar_60)\n (objectAtLocation Watch_bar__minus_01_dot_35_bar__plus_00_dot_11_bar__minus_00_dot_88 loc_bar__minus_3_bar__minus_4_bar_3_bar_60)\n (objectAtLocation Mirror_bar__plus_01_dot_99_bar__plus_01_dot_38_bar__plus_01_dot_88 loc_bar_8_bar_5_bar_0_bar_30)\n (objectAtLocation CD_bar__minus_01_dot_25_bar__plus_01_dot_23_bar__minus_00_dot_84 loc_bar__minus_3_bar__minus_3_bar_3_bar_60)\n (objectAtLocation Pen_bar__plus_02_dot_59_bar__plus_01_dot_05_bar__minus_01_dot_37 loc_bar_10_bar__minus_2_bar_2_bar_30)\n (objectAtLocation Window_bar__plus_00_dot_12_bar__plus_01_dot_50_bar__minus_01_dot_59 loc_bar_0_bar__minus_4_bar_2_bar_15)\n (objectAtLocation LightSwitch_bar__plus_02_dot_66_bar__plus_01_dot_28_bar__plus_01_dot_90 loc_bar_10_bar_5_bar_0_bar_30)\n (objectAtLocation Mug_bar__plus_02_dot_82_bar__plus_00_dot_79_bar__minus_01_dot_22 loc_bar_9_bar__minus_2_bar_2_bar_60)\n (objectAtLocation Statue_bar__plus_01_dot_82_bar__plus_01_dot_04_bar__minus_01_dot_42 loc_bar_7_bar__minus_3_bar_2_bar_45)\n )\n \n\n (:goal\n (and\n (exists (?r - receptacle)\n (exists (?o1 - object)\n (and\n (objectType ?o1 PencilType)\n (receptacleType ?r ShelfType)\n (inReceptacle ?o1 ?r)\n (exists (?o2 - object)\n (and\n (not (= ?o1 ?o2))\n (objectType ?o2 PencilType)\n (receptacleType ?r ShelfType)\n (inReceptacle ?o2 ?r)\n )\n )\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to desk 1", "take pencil 1 from desk 1", "go to shelf 2", "move pencil 1 to shelf 2", "go to dresser 1", "take pencil 3 from dresser 1", "go to shelf 2", "move pencil 3 to shelf 2"]}
|
alfworld__pick_two_obj_and_place__800
|
pick_two_obj_and_place
|
pick_two_obj_and_place-Pencil-None-Shelf-301/trial_T20190909_011401_611613/game.tw-pddl
|
{"pddl_domain": ";; Specification in PDDL of the Alfred domain\n;; Intended to be used with Fast Downward which supports PDDL 2.2 level 1 plus the :action-costs requirement from PDDL 3.1.\n\n(define (domain alfred)\n (:requirements\n :adl\n :action-costs\n :typing\n )\n (:types\n agent\n location\n receptacle\n object\n rtype\n otype\n )\n\n\n (:predicates\n (atLocation ?a - agent ?l - location) ; true if the agent is at the location\n (receptacleAtLocation ?r - receptacle ?l - location) ; true if the receptacle is at the location (constant)\n (objectAtLocation ?o - object ?l - location) ; true if the object is at the location\n (openable ?r - receptacle) ; true if a receptacle is openable\n (opened ?r - receptacle) ; true if a receptacle is opened\n (inReceptacle ?o - object ?r - receptacle) ; object ?o is in receptacle ?r\n (isReceptacleObject ?o - object) ; true if the object can have things put inside it\n (inReceptacleObject ?innerObject - object ?outerObject - object) ; object ?innerObject is inside object ?outerObject\n (isReceptacleObjectFull ?o - object) ; true if the receptacle object contains something\n (wasInReceptacle ?o - object ?r - receptacle) ; object ?o was or is in receptacle ?r now or some time in the past\n (checked ?r - receptacle) ; whether the receptacle has been looked inside/visited\n (examined ?l - location) ; TODO\n (receptacleType ?r - receptacle ?t - rtype) ; the type of receptacle (Cabinet vs Cabinet|01|2...)\n (canContain ?rt - rtype ?ot - otype) ; true if receptacle can hold object\n (objectType ?o - object ?t - otype) ; the type of object (Apple vs Apple|01|2...)\n (holds ?a - agent ?o - object) ; object ?o is held by agent ?a\n (holdsAny ?a - agent) ; agent ?a holds an object\n (holdsAnyReceptacleObject ?a - agent) ; agent ?a holds a receptacle object\n (full ?r - receptacle) ; true if the receptacle has no remaining space\n (isClean ?o - object) ; true if the object has been clean in sink\n (cleanable ?o - object) ; true if the object can be placed in a sink\n (isHot ?o - object) ; true if the object has been heated up\n (heatable ?o - object) ; true if the object can be heated up in a microwave\n (isCool ?o - object) ; true if the object has been cooled\n (coolable ?o - object) ; true if the object can be cooled in the fridge\n (pickupable ?o - object) ; true if the object can be picked up\n (moveable ?o - object) ; true if the object can be moved\n (toggleable ?o - object) ; true if the object can be turned on/off\n (isOn ?o - object) ; true if the object is on\n (isToggled ?o - object) ; true if the object has been toggled\n (sliceable ?o - object) ; true if the object can be sliced\n (isSliced ?o - object) ; true if the object is sliced\n )\n\n (:functions\n (distance ?from ?to)\n (total-cost) - number\n )\n\n;; All actions are specified such that the final arguments are the ones used\n;; for performing actions in Unity.\n\n\n(:action look\n :parameters (?a - agent ?l - location)\n :precondition\n (and\n (atLocation ?a ?l)\n )\n :effect\n (and\n (checked ?l)\n )\n)\n\n(:action inventory\n :parameters (?a - agent)\n :precondition\n ()\n :effect\n (and\n (checked ?a)\n )\n)\n\n(:action examineReceptacle\n :parameters (?a - agent ?r - receptacle)\n :precondition\n (and\n (exists (?l - location)\n (and\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n )\n )\n )\n :effect\n (and\n (checked ?r)\n )\n)\n\n(:action examineObject\n :parameters (?a - agent ?o - object)\n :precondition\n (or\n ;(exists (?l - location)\n ; (and\n ; (atLocation ?a ?l)\n ; (objectAtLocation ?o ?l)\n ; )\n ;)\n (exists (?l - location, ?r - receptacle)\n (and\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n ; (objectAtLocation ?o ?l)\n (inReceptacle ?o ?r)\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n )\n )\n (holds ?a ?o)\n )\n :effect\n (and\n (checked ?o)\n )\n)\n\n;; agent goes to receptacle\n (:action GotoLocation\n :parameters (?a - agent ?lStart - location ?lEnd - location ?r - receptacle)\n :precondition (and\n (atLocation ?a ?lStart)\n (receptacleAtLocation ?r ?lEnd)\n ;(exists (?r - receptacle) (receptacleAtLocation ?r ?lEnd))\n )\n :effect (and\n (not (atLocation ?a ?lStart))\n (atLocation ?a ?lEnd)\n ; (forall (?r - receptacle)\n ; (when (and (receptacleAtLocation ?r ?lEnd)\n ; (or (not (openable ?r)) (opened ?r)))\n ; (checked ?r)\n ; )\n ; )\n ; (increase (total-cost) (distance ?lStart ?lEnd))\n (increase (total-cost) 1)\n )\n )\n\n;; agent opens receptacle\n (:action OpenObject\n :parameters (?a - agent ?l - location ?r - receptacle)\n :precondition (and\n (openable ?r)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (not (opened ?r))\n )\n :effect (and\n (opened ?r)\n (checked ?r)\n (increase (total-cost) 1)\n )\n )\n;; agent closes receptacle\n (:action CloseObject\n :parameters (?a - agent ?l - location ?r - receptacle)\n :precondition (and\n (openable ?r)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (opened ?r)\n )\n :effect (and\n (not (opened ?r))\n (increase (total-cost) 1)\n )\n\n )\n\n ;; agent picks up object from a receptacle\n (:action PickupObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n :precondition\n (and\n (pickupable ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n ; (objectAtLocation ?o ?l)\n (inReceptacle ?o ?r)\n (not (holdsAny ?a)) ; agent's hands are empty.\n ;(not (holdsAnyReceptacleObject ?a))\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n ;(not (isReceptacleObject ?o))\n )\n :effect\n (and\n (not (inReceptacle ?o ?r))\n (holds ?a ?o)\n (holdsAny ?a)\n (not (objectAtLocation ?o ?l))\n ;(not (full ?r))\n (increase (total-cost) 1)\n )\n )\n\n\n; ;; agent picks up object from a receptacle\n; (:action PickupObjectFromReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?outerR - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (inReceptacle ?o ?r)\n; (pickupable ?o)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (not (isReceptacleObject ?o))\n; (isReceptacleObject ?outerR)\n; (inReceptacleObject ?o ?outerR)\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (holds ?a ?o)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n;\n; (not (inReceptacleObject ?o ?outerR))\n; (not (isReceptacleObjectFull ?outerR))\n; )\n; )\n;\n; ;; agent picks up object from a receptacle\n; (:action PickupEmptyReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; ; (objectAtLocation ?o ?l)\n; (inReceptacle ?o ?r)\n; (pickupable ?o)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (isReceptacleObject ?o)\n; (not (isReceptacleObjectFull ?o))\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (holds ?a ?o)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n; (holdsAnyReceptacleObject ?a)\n; )\n; )\n;\n; ;; agent picks up object from a receptacle\n; (:action PickupFullReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?outerR - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (inReceptacle ?outerR ?r)\n; (pickupable ?outerR)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (not (isReceptacleObject ?o))\n; (isReceptacleObject ?outerR)\n; (inReceptacleObject ?o ?outerR)\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (not (inReceptacle ?outerR ?r))\n; (holds ?a ?outerR)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (objectAtLocation ?outerR ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n; (holdsAnyReceptacleObject ?a)\n; )\n; )\n\n\n;; agent puts down an object\n (:action PutObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle ?ot - otype ?rt - rtype)\n :precondition (and\n (holds ?a ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable\n ;(not (full ?r))\n (objectType ?o ?ot)\n (receptacleType ?r ?rt)\n (canContain ?rt ?ot)\n ;(not (holdsAnyReceptacleObject ?a))\n )\n :effect (and\n (inReceptacle ?o ?r)\n (objectAtLocation ?o ?l)\n ;(full ?r)\n (not (holds ?a ?o))\n (not (holdsAny ?a))\n (increase (total-cost) 1)\n )\n )\n\n;;; agent puts down an object\n; (:action PutObjectInReceptacleObject\n; :parameters (?a - agent ?l - location ?ot - otype ?o - object ?outerO - object ?outerR - receptacle)\n; :precondition (and\n; (atLocation ?a ?l)\n; (objectAtLocation ?outerO ?l)\n; (isReceptacleObject ?outerO)\n; (not (isReceptacleObject ?o))\n; (objectType ?o ?ot)\n; (holds ?a ?o)\n; (not (holdsAnyReceptacleObject ?a))\n; (inReceptacle ?outerO ?outerR)\n; (not (isReceptacleObjectFull ?outerO))\n; )\n; :effect (and\n; (inReceptacleObject ?o ?outerO)\n; (inReceptacle ?o ?outerR)\n; (not (holds ?a ?o))\n; (not (holdsAny ?a))\n; (objectAtLocation ?o ?l)\n; (isReceptacleObjectFull ?outerO)\n; (increase (total-cost) 1)\n; )\n; )\n;\n;;; agent puts down an object\n; (:action PutEmptyReceptacleObjectinReceptacle\n; :parameters (?a - agent ?l - location ?ot - otype ?o - object ?r - receptacle)\n; :precondition (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable\n; (not (full ?r))\n; (objectType ?o ?ot)\n; (holds ?a ?o)\n; (holdsAnyReceptacleObject ?a)\n; (isReceptacleObject ?o)\n; (not (isReceptacleObjectFull ?o))\n; )\n; :effect (and\n; (inReceptacle ?o ?r)\n; (objectAtLocation ?o ?l)\n; (full ?r)\n; (not (holds ?a ?o))\n; (not (holdsAny ?a))\n; (not (holdsAnyReceptacleObject ?a))\n; (increase (total-cost) 1)\n; )\n; )\n;\n;;; agent puts down a receptacle object in a receptacle\n; (:action PutFullReceptacleObjectInReceptacle\n; :parameters (?a - agent ?l - location ?ot - otype ?innerO - object ?outerO - object ?r - receptacle) ; ?rt - rtype)\n; :precondition (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (objectType ?outerO ?ot)\n; (holds ?a ?outerO)\n; (holdsAnyReceptacleObject ?a)\n; (isReceptacleObject ?outerO)\n; (isReceptacleObjectFull ?outerO)\n; (inReceptacleObject ?innerO ?outerO)\n; )\n; :effect (and\n; (not (holdsAny ?a))\n; (not (holdsAnyReceptacleObject ?a))\n; (objectAtLocation ?outerO ?l)\n; (objectAtLocation ?innerO ?l)\n; (inReceptacle ?outerO ?r)\n; (inReceptacle ?innerO ?r)\n; (not (holds ?a ?outerO))\n; (increase (total-cost) 1)\n; )\n; )\n\n;; agent cleans some object\n (:action CleanObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (cleanable ?o)\n (or\n (receptacleType ?r SinkType)\n (receptacleType ?r SinkBasinType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isClean ?o)\n )\n )\n\n\n;; agent heats-up some object\n (:action HeatObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (heatable ?o)\n (or\n (receptacleType ?r MicrowaveType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isHot ?o)\n (not (isCool ?o))\n )\n )\n\n;; agent cools some object\n (:action CoolObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (coolable ?o)\n (or\n (receptacleType ?r FridgeType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isCool ?o)\n (not (isHot ?o))\n )\n )\n\n\n;; agent toggle object\n (:action ToggleObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n :precondition (and\n (toggleable ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (inReceptacle ?o ?r)\n )\n :effect (and\n (increase (total-cost) 5)\n (when (isOn ?o)\n (not (isOn ?o)))\n (when (not (isOn ?o))\n (isOn ?o))\n (isToggled ?o)\n )\n )\n\n\n;; agent slices some object with a knife\n (:action SliceObject\n :parameters (?a - agent ?l - location ?co - object ?ko - object)\n :precondition\n (and\n (sliceable ?co)\n (or\n (objectType ?ko KnifeType)\n (objectType ?ko ButterKnifeType)\n )\n (atLocation ?a ?l)\n (objectAtLocation ?co ?l)\n (holds ?a ?ko)\n )\n :effect (and\n (increase (total-cost) 5)\n (isSliced ?co)\n )\n )\n\n\n(:action help\n :parameters (?a - agent)\n :precondition\n ()\n :effect\n (and\n (checked ?a)\n )\n)\n)\n", "grammar": "grammar :: \"\"\"\n {\n \"intro\": [\n {\n \"rhs\": \"-= Welcome to TextWorld, ALFRED! =-\\n\\n#look.feedback#\\n\\n#task#\"\n }\n ],\n\n \"notImplemented\": [\n {\n \"rhs\": \"TODO\"\n }\n ],\n\n \"task\": [\n {\n \"rhs\": \"Your task is to: put two pencil in shelf.\"\n }\n ],\n\n \"GotoLocation.feedback\": [\n {\n \"rhs\": \"You arrive at {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"OpenObject.feedback\": [\n {\n \"rhs\": \"You open the {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"CloseObject.feedback\": [\n {\n \"rhs\": \"You close the {r.name}.\"\n }\n ],\n\n \"PickupObject.feedback\": [\n {\n \"rhs\": \"You pick up the {o.name} from the {r.name}.\"\n }\n ],\n\n \"PickupObjectFromReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupObjectFromReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupEmptyReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupEmptyReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupFullReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupFullReceptacleObject: You pick up the {outerr.name}.\"\n }\n ],\n\n \"PutObject.feedback\": [\n {\n \"rhs\": \"You move the {o.name} to the {r.name}.\"\n }\n ],\n\n \"PutObjectInReceptacleObject.feedback\": [\n {\n \"rhs\": \"PutObjectInReceptacleObject: You put the {o.name} in the {outero.name}.\"\n }\n ],\n\n \"PutEmptyReceptacleObjectinReceptacle.feedback\": [\n {\n \"rhs\": \"PutEmptyReceptacleObjectinReceptacle: You put the {o.name} in the {r.name}.\"\n }\n ],\n\n \"PutFullReceptacleObjectInReceptacle.feedback\": [\n {\n \"rhs\": \"PutFullReceptacleObjectInReceptacle: You put the {outero.name} in the {r.name}.\"\n }\n ],\n\n \"inventory.feedback\": [\n {\n \"condition\": \"holdsany(a:agent)\",\n \"rhs\": \"You are carrying: [{o.indefinite + ' ' + o.name | holds(a:agent, o:object)}].\"\n },\n {\n \"rhs\": \"You are not carrying anything.\"\n }\n ],\n\n \"examineReceptacle.feedback\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \"The {r.name} is open. In it, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \"The {r.name} is closed.\"\n },\n {\n \"rhs\": \"On the {r.name}, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n }\n ],\n\n \"examineObject.feedback\": [\n {\n \"condition\": \"isreceptacleobject(o:object)\",\n \"rhs\": \"This is a normal {o.name}. In it, you see [{o2.indefinite + ' ' + o2.name | inreceptacleobject(o2:object, o:object)}].\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a clean sliced {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot sliced {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object)\",\n \"rhs\": \"This is a hot and clean {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object)\",\n \"rhs\": \"This is a cool and clean {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object)\",\n \"rhs\": \"This is a hot {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object)\",\n \"rhs\": \"This is a clean {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object)\",\n \"rhs\": \"This is a cold {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"This {o.name} is on.\"\n },\n {\n \"condition\": \"toggleable(o:object) & not_istoggled(o:object)\",\n \"rhs\": \"This {o.name} is off.\"\n },\n {\n \"condition\": \"sliceable(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a sliced {o.name}.\"\n },\n {\n \"rhs\": \"There's nothing special about {o.name}.\"\n }\n ]\n }\n\"\"\";\n\naction GotoLocation {\n template :: \"go to [{r.name | receptacleatlocation(r:receptacle, lend:location)}]\";\n feedback :: \"#GotoLocation.feedback#\";\n}\n\naction OpenObject {\n template :: \"open {r}\";\n feedback :: \"#OpenObject.feedback#\";\n}\n\naction CloseObject {\n template :: \"close {r}\";\n feedback :: \"#CloseObject.feedback#\";\n}\n\naction PickupObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObject.feedback#\";\n}\n\naction PickupObjectFromReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObjectFromReceptacleObject.feedback#\";\n}\n\naction PickupEmptyReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupEmptyReceptacleObject.feedback#\";\n}\n\naction PickupFullReceptacleObject {\n template :: \"take {outerr} from {r}\";\n feedback :: \"#PickupFullReceptacleObject.feedback#\";\n}\n\naction PutObject {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutObject.feedback#\";\n}\n\naction PutObjectInReceptacleObject {\n template :: \"put {o} into {outero}\";\n feedback :: \"#PutObjectInReceptacleObject.feedback#\";\n}\n\naction PutEmptyReceptacleObjectinReceptacle {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutEmptyReceptacleObjectinReceptacle.feedback#\";\n}\n\naction PutFullReceptacleObjectInReceptacle {\n template :: \"put {outero} in {r}\";\n feedback :: \"#PutFullReceptacleObjectInReceptacle.feedback#\";\n}\n\naction inventory {\n template :: \"inventory\";\n feedback :: \"#inventory.feedback#\";\n}\n\naction examineReceptacle {\n template :: \"examine {r}\";\n feedback :: \"#examineReceptacle.feedback#\";\n}\n\naction examineObject {\n template :: \"examine {o}\";\n feedback :: \"#examineObject.feedback#\";\n}\n\naction ToggleObject {\n template :: \"use {o}\";\n feedback :: \"#toggleObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"toggleObject.feedback\": [\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"You turn on the {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object)\",\n \"rhs\": \"You turn off the {o.name}.\"\n },\n {\n \"rhs\": \"You don't see any switch on the {o.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction HeatObject {\n template :: \"heat {o} with {r}\";\n feedback :: \"#heatObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"heatObject.feedback\": [\n {\n \"rhs\": \"You heat the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CleanObject {\n template :: \"clean {o} with {r}\";\n feedback :: \"#cleanObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"cleanObject.feedback\": [\n {\n \"rhs\": \"You clean the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CoolObject {\n template :: \"cool {o} with {r}\";\n feedback :: \"#coolObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"coolObject.feedback\": [\n {\n \"rhs\": \"You cool the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction SliceObject {\n template :: \"slice {co} with {ko}\";\n feedback :: \"#sliceObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"sliceObject.feedback\": [\n {\n \"rhs\": \"You sliced the {co.name} with the {ko.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction look {\n template :: \"look\";\n feedback :: \"#look.feedback#\";\n\n grammar :: \"\"\"\n {\n \"look.feedback\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"#look-variations#. Next to it, you see #list_objects_on_the_floor#.\"\n },\n {\n \"rhs\": \"You are in the middle of a room. Looking quickly around you, you see #list_appliances#.\"\n }\n ],\n\n \"look-variations\": [\n {\n \"rhs\": \"You are facing the [{r.name | atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)}]\"\n }\n ],\n\n \"list_objects_on_the_floor\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)\",\n \"rhs\": \"[{#overview(o)# | atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"list_appliances\": [\n {\n \"condition\": \"receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"[{#overview(r)# | receptacleatlocation(r:receptacle, l:location)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"overview(o, r)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name} (in/on the {r.name})}\"\n }\n ],\n\n \"overview(o)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name}\"\n }\n ],\n \"overview(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}\"\n }\n ],\n \"overview_with_state(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}#overview_state(r)#\"\n }\n ],\n \"overview_state(r)\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \" (it is open)\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \" (it is closed)\"\n },\n {\n \"rhs\": \"\"\n }\n ],\n\n \"list_empty\": [\n {\n \"rhs\": \"nothing\"\n }\n ],\n \"list_separator\": [\n {\n \"rhs\": \", \"\n }\n ],\n \"list_last_separator\": [\n {\n \"rhs\": \", and \"\n }\n ]\n }\n \"\"\";\n}\n\naction help {\n template :: \"help\";\n feedback :: \"\nAvailable commands:\n look: look around your current location\n inventory: check your current inventory\n go to (receptacle): move to a receptacle\n open (receptacle): open a receptacle\n close (receptacle): close a receptacle\n take (object) from (receptacle): take an object from a receptacle\n move (object) to (receptacle): place an object in or on a receptacle\n examine (something): examine a receptacle or an object\n use (object): use an object\n heat (object) with (receptacle): heat an object using a receptacle\n clean (object) with (receptacle): clean an object using a receptacle\n cool (object) with (receptacle): cool an object using a receptacle\n slice (object) with (object): slice an object using a sharp object\n\";\n}\n", "pddl_problem": "\n(define (problem plan_trial_T20190909_011401_611613)\n(:domain alfred)\n(:objects\nagent1 - agent\nSaltShaker - object\n HousePlant - object\n Candle - object\n SprayBottle - object\n Bowl - object\n Window - object\n CD - object\n Egg - object\n Glassbottle - object\n Sink - object\n Pillow - object\n Spoon - object\n SoapBottle - object\n TeddyBear - object\n ButterKnife - object\n Cup - object\n Plate - object\n RemoteControl - object\n Tomato - object\n Statue - object\n HandTowel - object\n Knife - object\n StoveKnob - object\n LightSwitch - object\n Pen - object\n Painting - object\n DishSponge - object\n Vase - object\n Mug - object\n ToiletPaper - object\n Box - object\n Mirror - object\n Ladle - object\n Fork - object\n Blinds - object\n Footstool - object\n KeyChain - object\n Cloth - object\n Laptop - object\n TissueBox - object\n PepperShaker - object\n FloorLamp - object\n WateringCan - object\n Apple - object\n Pan - object\n PaperTowel - object\n PaperTowelRoll - object\n Newspaper - object\n Television - object\n Chair - object\n CellPhone - object\n CreditCard - object\n Lettuce - object\n BasketBall - object\n Potato - object\n Curtains - object\n Boots - object\n Pencil - object\n AlarmClock - object\n ToiletPaperRoll - object\n Spatula - object\n Book - object\n Bread - object\n SoapBar - object\n Watch - object\n DeskLamp - object\n Kettle - object\n Pot - object\n ScrubBrush - object\n WineBottle - object\n ShowerDoor - object\n Bathtub - object\n LaundryHamperLid - object\n ShowerGlass - object\n Poster - object\n TennisRacket - object\n BaseballBat - object\n Towel - object\n Plunger - object\nSaltShakerType - otype\n HousePlantType - otype\n CandleType - otype\n SprayBottleType - otype\n BowlType - otype\n WindowType - otype\n CDType - otype\n EggType - otype\n GlassbottleType - otype\n SinkType - otype\n PillowType - otype\n SpoonType - otype\n SoapBottleType - otype\n TeddyBearType - otype\n ButterKnifeType - otype\n CupType - otype\n PlateType - otype\n RemoteControlType - otype\n TomatoType - otype\n StatueType - otype\n HandTowelType - otype\n KnifeType - otype\n StoveKnobType - otype\n LightSwitchType - otype\n PenType - otype\n PaintingType - otype\n DishSpongeType - otype\n VaseType - otype\n MugType - otype\n ToiletPaperType - otype\n BoxType - otype\n MirrorType - otype\n LadleType - otype\n ForkType - otype\n BlindsType - otype\n FootstoolType - otype\n KeyChainType - otype\n ClothType - otype\n LaptopType - otype\n TissueBoxType - otype\n PepperShakerType - otype\n FloorLampType - otype\n WateringCanType - otype\n AppleType - otype\n PanType - otype\n PaperTowelType - otype\n PaperTowelRollType - otype\n NewspaperType - otype\n TelevisionType - otype\n ChairType - otype\n CellPhoneType - otype\n CreditCardType - otype\n LettuceType - otype\n BasketBallType - otype\n PotatoType - otype\n CurtainsType - otype\n BootsType - otype\n PencilType - otype\n AlarmClockType - otype\n ToiletPaperRollType - otype\n SpatulaType - otype\n BookType - otype\n BreadType - otype\n SoapBarType - otype\n WatchType - otype\n DeskLampType - otype\n KettleType - otype\n PotType - otype\n ScrubBrushType - otype\n WineBottleType - otype\n ShowerDoorType - otype\n BathtubType - otype\n LaundryHamperLidType - otype\n ShowerGlassType - otype\n PosterType - otype\n TennisRacketType - otype\n BaseballBatType - otype\n TowelType - otype\n PlungerType - otype\nSafeType - rtype\n DrawerType - rtype\n CoffeeMachineType - rtype\n HandTowelHolderType - rtype\n SinkBasinType - rtype\n DresserType - rtype\n LaundryHamperType - rtype\n TVStandType - rtype\n BathtubBasinType - rtype\n CabinetType - rtype\n FridgeType - rtype\n DeskType - rtype\n ToiletType - rtype\n CartType - rtype\n SideTableType - rtype\n SofaType - rtype\n CoffeeTableType - rtype\n DiningTableType - rtype\n CounterTopType - rtype\n GarbageCanType - rtype\n ArmChairType - rtype\n ShelfType - rtype\n MicrowaveType - rtype\n ToasterType - rtype\n BedType - rtype\n PaintingHangerType - rtype\n TowelHolderType - rtype\n ToiletPaperHangerType - rtype\n StoveBurnerType - rtype\n OttomanType - rtype\n\n\n AlarmClock_bar__plus_02_dot_22_bar__plus_00_dot_80_bar__minus_01_dot_22 - object\n AlarmClock_bar__plus_02_dot_59_bar__plus_00_dot_80_bar__minus_01_dot_19 - object\n BaseballBat_bar__plus_02_dot_85_bar__plus_00_dot_64_bar__plus_01_dot_84 - object\n BasketBall_bar__plus_01_dot_02_bar__plus_00_dot_33_bar__minus_00_dot_98 - object\n Blinds_bar__plus_00_dot_11_bar__plus_02_dot_34_bar__minus_01_dot_44 - object\n Book_bar__minus_00_dot_98_bar__plus_00_dot_57_bar__plus_00_dot_36 - object\n Boots_bar__minus_01_dot_28_bar__plus_00_dot_00_bar__minus_01_dot_34 - object\n Bowl_bar__plus_02_dot_45_bar__plus_00_dot_79_bar__minus_01_dot_21 - object\n Box_bar__plus_02_dot_73_bar__plus_00_dot_20_bar__plus_00_dot_89 - object\n CD_bar__plus_01_dot_91_bar__plus_00_dot_13_bar__minus_01_dot_22 - object\n CD_bar__plus_02_dot_76_bar__plus_00_dot_13_bar__minus_01_dot_19 - object\n CD_bar__minus_01_dot_39_bar__plus_01_dot_23_bar__minus_00_dot_84 - object\n CellPhone_bar__minus_00_dot_29_bar__plus_00_dot_57_bar__plus_01_dot_09 - object\n CellPhone_bar__minus_01_dot_39_bar__plus_01_dot_24_bar__minus_00_dot_46 - object\n Chair_bar__plus_02_dot_40_bar__plus_00_dot_00_bar__minus_01_dot_08 - object\n CreditCard_bar__plus_02_dot_59_bar__plus_01_dot_04_bar__minus_01_dot_41 - object\n DeskLamp_bar__minus_01_dot_31_bar__plus_01_dot_23_bar__minus_00_dot_99 - object\n KeyChain_bar__plus_02_dot_26_bar__plus_01_dot_28_bar__minus_01_dot_39 - object\n Laptop_bar__minus_00_dot_50_bar__plus_00_dot_56_bar__plus_00_dot_29 - object\n LightSwitch_bar__plus_02_dot_66_bar__plus_01_dot_28_bar__plus_01_dot_90 - object\n Mirror_bar__plus_01_dot_99_bar__plus_01_dot_38_bar__plus_01_dot_88 - object\n Mug_bar__plus_01_dot_84_bar__plus_00_dot_79_bar__minus_01_dot_28 - object\n Mug_bar__plus_02_dot_82_bar__plus_00_dot_79_bar__minus_01_dot_22 - object\n Pencil_bar__plus_01_dot_84_bar__plus_00_dot_80_bar__minus_01_dot_12 - object\n Pencil_bar__minus_01_dot_35_bar__plus_01_dot_24_bar__minus_00_dot_75 - object\n Pen_bar__plus_01_dot_71_bar__plus_00_dot_81_bar__minus_01_dot_37 - object\n Pillow_bar__minus_00_dot_63_bar__plus_00_dot_63_bar__plus_01_dot_61 - object\n Statue_bar__plus_01_dot_82_bar__plus_01_dot_04_bar__minus_01_dot_42 - object\n TissueBox_bar__plus_01_dot_59_bar__plus_00_dot_13_bar__minus_01_dot_22 - object\n TissueBox_bar__minus_01_dot_29_bar__plus_00_dot_97_bar__minus_00_dot_95 - object\n Watch_bar__plus_01_dot_65_bar__plus_00_dot_80_bar__minus_01_dot_28 - object\n Watch_bar__plus_02_dot_48_bar__plus_01_dot_04_bar__minus_01_dot_38 - object\n Watch_bar__minus_01_dot_32_bar__plus_01_dot_24_bar__minus_00_dot_65 - object\n Window_bar__plus_00_dot_12_bar__plus_01_dot_50_bar__minus_01_dot_59 - object\n Bed_bar__minus_00_dot_64_bar__plus_00_dot_00_bar__plus_00_dot_87 - receptacle\n Desk_bar__plus_02_dot_29_bar__plus_00_dot_01_bar__minus_01_dot_15 - receptacle\n Drawer_bar__plus_01_dot_63_bar__plus_00_dot_18_bar__minus_01_dot_21 - receptacle\n Drawer_bar__plus_01_dot_63_bar__plus_00_dot_40_bar__minus_01_dot_21 - receptacle\n Drawer_bar__plus_01_dot_63_bar__plus_00_dot_62_bar__minus_01_dot_21 - receptacle\n Drawer_bar__plus_01_dot_95_bar__plus_00_dot_18_bar__minus_01_dot_21 - receptacle\n Drawer_bar__plus_01_dot_95_bar__plus_00_dot_40_bar__minus_01_dot_21 - receptacle\n Drawer_bar__plus_01_dot_95_bar__plus_00_dot_62_bar__minus_01_dot_21 - receptacle\n Drawer_bar__plus_02_dot_82_bar__plus_00_dot_17_bar__minus_01_dot_21 - receptacle\n Drawer_bar__plus_02_dot_82_bar__plus_00_dot_40_bar__minus_01_dot_21 - receptacle\n Drawer_bar__plus_02_dot_82_bar__plus_00_dot_62_bar__minus_01_dot_21 - receptacle\n Drawer_bar__minus_01_dot_29_bar__plus_00_dot_17_bar__minus_00_dot_58 - receptacle\n Drawer_bar__minus_01_dot_29_bar__plus_00_dot_17_bar__minus_00_dot_92 - receptacle\n Drawer_bar__minus_01_dot_29_bar__plus_00_dot_44_bar__minus_00_dot_58 - receptacle\n Drawer_bar__minus_01_dot_29_bar__plus_00_dot_44_bar__minus_00_dot_92 - receptacle\n Drawer_bar__minus_01_dot_29_bar__plus_00_dot_74_bar__minus_00_dot_58 - receptacle\n Drawer_bar__minus_01_dot_29_bar__plus_00_dot_74_bar__minus_00_dot_92 - receptacle\n Drawer_bar__minus_01_dot_29_bar__plus_01_dot_02_bar__minus_00_dot_58 - receptacle\n Drawer_bar__minus_01_dot_29_bar__plus_01_dot_02_bar__minus_00_dot_92 - receptacle\n Dresser_bar__minus_01_dot_33_bar__plus_00_dot_00_bar__minus_00_dot_75 - receptacle\n GarbageCan_bar__plus_02_dot_84_bar__plus_00_dot_00_bar__plus_00_dot_22 - receptacle\n Shelf_bar__plus_01_dot_80_bar__plus_00_dot_80_bar__minus_01_dot_42 - receptacle\n Shelf_bar__plus_01_dot_80_bar__plus_01_dot_04_bar__minus_01_dot_42 - receptacle\n Shelf_bar__plus_02_dot_25_bar__plus_01_dot_27_bar__minus_01_dot_42 - receptacle\n Shelf_bar__plus_02_dot_47_bar__plus_00_dot_80_bar__minus_01_dot_41 - receptacle\n Shelf_bar__plus_02_dot_47_bar__plus_01_dot_04_bar__minus_01_dot_41 - receptacle\n Shelf_bar__plus_02_dot_70_bar__plus_01_dot_27_bar__minus_01_dot_42 - receptacle\n loc_bar_9_bar_4_bar_1_bar_60 - location\n loc_bar_10_bar__minus_2_bar_2_bar_60 - location\n loc_bar_8_bar__minus_3_bar_2_bar_45 - location\n loc_bar_8_bar__minus_2_bar_1_bar_60 - location\n loc_bar_3_bar_5_bar_3_bar_45 - location\n loc_bar_10_bar_5_bar_0_bar_30 - location\n loc_bar_3_bar__minus_2_bar_1_bar_60 - location\n loc_bar_8_bar__minus_3_bar_1_bar_45 - location\n loc_bar_0_bar__minus_4_bar_2_bar_15 - location\n loc_bar__minus_3_bar__minus_4_bar_3_bar_60 - location\n loc_bar_9_bar__minus_2_bar_2_bar_60 - location\n loc_bar_1_bar__minus_4_bar_1_bar_30 - location\n loc_bar__minus_3_bar__minus_2_bar_3_bar_45 - location\n loc_bar_0_bar__minus_4_bar_2_bar__minus_30 - location\n loc_bar__minus_3_bar__minus_3_bar_3_bar_60 - location\n loc_bar_4_bar__minus_2_bar_2_bar_60 - location\n loc_bar_10_bar_1_bar_1_bar_60 - location\n loc_bar_7_bar__minus_3_bar_2_bar_45 - location\n loc_bar__minus_3_bar__minus_2_bar_3_bar_60 - location\n loc_bar_4_bar__minus_2_bar_1_bar_60 - location\n loc_bar_8_bar_5_bar_0_bar_30 - location\n loc_bar_8_bar__minus_3_bar_2_bar_30 - location\n loc_bar_10_bar_5_bar_0_bar_60 - location\n loc_bar_8_bar__minus_3_bar_2_bar_60 - location\n loc_bar_10_bar__minus_2_bar_2_bar_45 - location\n loc_bar__minus_3_bar__minus_4_bar_3_bar_45 - location\n loc_bar_10_bar__minus_2_bar_2_bar_30 - location\n loc_bar_1_bar__minus_4_bar_2_bar_30 - location\n )\n \n\n(:init\n\n\n (receptacleType Shelf_bar__plus_02_dot_25_bar__plus_01_dot_27_bar__minus_01_dot_42 ShelfType)\n (receptacleType Drawer_bar__minus_01_dot_29_bar__plus_00_dot_44_bar__minus_00_dot_92 DrawerType)\n (receptacleType Drawer_bar__minus_01_dot_29_bar__plus_00_dot_17_bar__minus_00_dot_58 DrawerType)\n (receptacleType Drawer_bar__plus_01_dot_95_bar__plus_00_dot_62_bar__minus_01_dot_21 DrawerType)\n (receptacleType Desk_bar__plus_02_dot_29_bar__plus_00_dot_01_bar__minus_01_dot_15 DeskType)\n (receptacleType Drawer_bar__minus_01_dot_29_bar__plus_01_dot_02_bar__minus_00_dot_92 DrawerType)\n (receptacleType Drawer_bar__minus_01_dot_29_bar__plus_01_dot_02_bar__minus_00_dot_58 DrawerType)\n (receptacleType Drawer_bar__plus_01_dot_63_bar__plus_00_dot_40_bar__minus_01_dot_21 DrawerType)\n (receptacleType Bed_bar__minus_00_dot_64_bar__plus_00_dot_00_bar__plus_00_dot_87 BedType)\n (receptacleType Drawer_bar__plus_01_dot_63_bar__plus_00_dot_18_bar__minus_01_dot_21 DrawerType)\n (receptacleType Drawer_bar__plus_02_dot_82_bar__plus_00_dot_62_bar__minus_01_dot_21 DrawerType)\n (receptacleType Shelf_bar__plus_02_dot_47_bar__plus_00_dot_80_bar__minus_01_dot_41 ShelfType)\n (receptacleType Drawer_bar__plus_01_dot_63_bar__plus_00_dot_62_bar__minus_01_dot_21 DrawerType)\n (receptacleType Drawer_bar__minus_01_dot_29_bar__plus_00_dot_74_bar__minus_00_dot_58 DrawerType)\n (receptacleType GarbageCan_bar__plus_02_dot_84_bar__plus_00_dot_00_bar__plus_00_dot_22 GarbageCanType)\n (receptacleType Shelf_bar__plus_01_dot_80_bar__plus_00_dot_80_bar__minus_01_dot_42 ShelfType)\n (receptacleType Shelf_bar__plus_01_dot_80_bar__plus_01_dot_04_bar__minus_01_dot_42 ShelfType)\n (receptacleType Drawer_bar__plus_01_dot_95_bar__plus_00_dot_18_bar__minus_01_dot_21 DrawerType)\n (receptacleType Drawer_bar__minus_01_dot_29_bar__plus_00_dot_74_bar__minus_00_dot_92 DrawerType)\n (receptacleType Drawer_bar__plus_02_dot_82_bar__plus_00_dot_17_bar__minus_01_dot_21 DrawerType)\n (receptacleType Shelf_bar__plus_02_dot_70_bar__plus_01_dot_27_bar__minus_01_dot_42 ShelfType)\n (receptacleType Shelf_bar__plus_02_dot_47_bar__plus_01_dot_04_bar__minus_01_dot_41 ShelfType)\n (receptacleType Drawer_bar__minus_01_dot_29_bar__plus_00_dot_44_bar__minus_00_dot_58 DrawerType)\n (receptacleType Drawer_bar__plus_01_dot_95_bar__plus_00_dot_40_bar__minus_01_dot_21 DrawerType)\n (receptacleType Dresser_bar__minus_01_dot_33_bar__plus_00_dot_00_bar__minus_00_dot_75 DresserType)\n (receptacleType Drawer_bar__minus_01_dot_29_bar__plus_00_dot_17_bar__minus_00_dot_92 DrawerType)\n (receptacleType Drawer_bar__plus_02_dot_82_bar__plus_00_dot_40_bar__minus_01_dot_21 DrawerType)\n (objectType Watch_bar__minus_01_dot_32_bar__plus_01_dot_24_bar__minus_00_dot_65 WatchType)\n (objectType Pen_bar__plus_01_dot_71_bar__plus_00_dot_81_bar__minus_01_dot_37 PenType)\n (objectType TissueBox_bar__minus_01_dot_29_bar__plus_00_dot_97_bar__minus_00_dot_95 TissueBoxType)\n (objectType CellPhone_bar__minus_00_dot_29_bar__plus_00_dot_57_bar__plus_01_dot_09 CellPhoneType)\n (objectType Laptop_bar__minus_00_dot_50_bar__plus_00_dot_56_bar__plus_00_dot_29 LaptopType)\n (objectType TissueBox_bar__plus_01_dot_59_bar__plus_00_dot_13_bar__minus_01_dot_22 TissueBoxType)\n (objectType Mug_bar__plus_01_dot_84_bar__plus_00_dot_79_bar__minus_01_dot_28 MugType)\n (objectType Bowl_bar__plus_02_dot_45_bar__plus_00_dot_79_bar__minus_01_dot_21 BowlType)\n (objectType Mug_bar__plus_02_dot_82_bar__plus_00_dot_79_bar__minus_01_dot_22 MugType)\n (objectType BaseballBat_bar__plus_02_dot_85_bar__plus_00_dot_64_bar__plus_01_dot_84 BaseballBatType)\n (objectType Box_bar__plus_02_dot_73_bar__plus_00_dot_20_bar__plus_00_dot_89 BoxType)\n (objectType Book_bar__minus_00_dot_98_bar__plus_00_dot_57_bar__plus_00_dot_36 BookType)\n (objectType CreditCard_bar__plus_02_dot_59_bar__plus_01_dot_04_bar__minus_01_dot_41 CreditCardType)\n (objectType Boots_bar__minus_01_dot_28_bar__plus_00_dot_00_bar__minus_01_dot_34 BootsType)\n (objectType Watch_bar__plus_02_dot_48_bar__plus_01_dot_04_bar__minus_01_dot_38 WatchType)\n (objectType BasketBall_bar__plus_01_dot_02_bar__plus_00_dot_33_bar__minus_00_dot_98 BasketBallType)\n (objectType AlarmClock_bar__plus_02_dot_59_bar__plus_00_dot_80_bar__minus_01_dot_19 AlarmClockType)\n (objectType Window_bar__plus_00_dot_12_bar__plus_01_dot_50_bar__minus_01_dot_59 WindowType)\n (objectType Watch_bar__plus_01_dot_65_bar__plus_00_dot_80_bar__minus_01_dot_28 WatchType)\n (objectType Statue_bar__plus_01_dot_82_bar__plus_01_dot_04_bar__minus_01_dot_42 StatueType)\n (objectType CD_bar__plus_01_dot_91_bar__plus_00_dot_13_bar__minus_01_dot_22 CDType)\n (objectType DeskLamp_bar__minus_01_dot_31_bar__plus_01_dot_23_bar__minus_00_dot_99 DeskLampType)\n (objectType CD_bar__plus_02_dot_76_bar__plus_00_dot_13_bar__minus_01_dot_19 CDType)\n (objectType Pencil_bar__plus_01_dot_84_bar__plus_00_dot_80_bar__minus_01_dot_12 PencilType)\n (objectType KeyChain_bar__plus_02_dot_26_bar__plus_01_dot_28_bar__minus_01_dot_39 KeyChainType)\n (objectType Pencil_bar__minus_01_dot_35_bar__plus_01_dot_24_bar__minus_00_dot_75 PencilType)\n (objectType LightSwitch_bar__plus_02_dot_66_bar__plus_01_dot_28_bar__plus_01_dot_90 LightSwitchType)\n (objectType Mirror_bar__plus_01_dot_99_bar__plus_01_dot_38_bar__plus_01_dot_88 MirrorType)\n (objectType Chair_bar__plus_02_dot_40_bar__plus_00_dot_00_bar__minus_01_dot_08 ChairType)\n (objectType CellPhone_bar__minus_01_dot_39_bar__plus_01_dot_24_bar__minus_00_dot_46 CellPhoneType)\n (objectType AlarmClock_bar__plus_02_dot_22_bar__plus_00_dot_80_bar__minus_01_dot_22 AlarmClockType)\n (objectType Blinds_bar__plus_00_dot_11_bar__plus_02_dot_34_bar__minus_01_dot_44 BlindsType)\n (objectType CD_bar__minus_01_dot_39_bar__plus_01_dot_23_bar__minus_00_dot_84 CDType)\n (objectType Pillow_bar__minus_00_dot_63_bar__plus_00_dot_63_bar__plus_01_dot_61 PillowType)\n (canContain ShelfType PenType)\n (canContain ShelfType BookType)\n (canContain ShelfType WatchType)\n (canContain ShelfType BowlType)\n (canContain ShelfType CDType)\n (canContain ShelfType MugType)\n (canContain ShelfType BoxType)\n (canContain ShelfType CellPhoneType)\n (canContain ShelfType KeyChainType)\n (canContain ShelfType CreditCardType)\n (canContain ShelfType PencilType)\n (canContain ShelfType TissueBoxType)\n (canContain ShelfType StatueType)\n (canContain ShelfType AlarmClockType)\n (canContain DrawerType PenType)\n (canContain DrawerType BookType)\n (canContain DrawerType WatchType)\n (canContain DrawerType CDType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType PencilType)\n (canContain DrawerType TissueBoxType)\n (canContain DrawerType PenType)\n (canContain DrawerType BookType)\n (canContain DrawerType WatchType)\n (canContain DrawerType CDType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType PencilType)\n (canContain DrawerType TissueBoxType)\n (canContain DrawerType PenType)\n (canContain DrawerType BookType)\n (canContain DrawerType WatchType)\n (canContain DrawerType CDType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType PencilType)\n (canContain DrawerType TissueBoxType)\n (canContain DeskType PenType)\n (canContain DeskType BookType)\n (canContain DeskType WatchType)\n (canContain DeskType BowlType)\n (canContain DeskType CDType)\n (canContain DeskType MugType)\n (canContain DeskType BoxType)\n (canContain DeskType CellPhoneType)\n (canContain DeskType KeyChainType)\n (canContain DeskType CreditCardType)\n (canContain DeskType BasketBallType)\n (canContain DeskType LaptopType)\n (canContain DeskType PencilType)\n (canContain DeskType TissueBoxType)\n (canContain DeskType StatueType)\n (canContain DeskType AlarmClockType)\n (canContain DrawerType PenType)\n (canContain DrawerType BookType)\n (canContain DrawerType WatchType)\n (canContain DrawerType CDType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType PencilType)\n (canContain DrawerType TissueBoxType)\n (canContain DrawerType PenType)\n (canContain DrawerType BookType)\n (canContain DrawerType WatchType)\n (canContain DrawerType CDType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType PencilType)\n (canContain DrawerType TissueBoxType)\n (canContain DrawerType PenType)\n (canContain DrawerType BookType)\n (canContain DrawerType WatchType)\n (canContain DrawerType CDType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType PencilType)\n (canContain DrawerType TissueBoxType)\n (canContain BedType BasketBallType)\n (canContain BedType BaseballBatType)\n (canContain BedType LaptopType)\n (canContain BedType BookType)\n (canContain BedType CellPhoneType)\n (canContain BedType PillowType)\n (canContain DrawerType PenType)\n (canContain DrawerType BookType)\n (canContain DrawerType WatchType)\n (canContain DrawerType CDType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType PencilType)\n (canContain DrawerType TissueBoxType)\n (canContain DrawerType PenType)\n (canContain DrawerType BookType)\n (canContain DrawerType WatchType)\n (canContain DrawerType CDType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType PencilType)\n (canContain DrawerType TissueBoxType)\n (canContain ShelfType PenType)\n (canContain ShelfType BookType)\n (canContain ShelfType WatchType)\n (canContain ShelfType BowlType)\n (canContain ShelfType CDType)\n (canContain ShelfType MugType)\n (canContain ShelfType BoxType)\n (canContain ShelfType CellPhoneType)\n (canContain ShelfType KeyChainType)\n (canContain ShelfType CreditCardType)\n (canContain ShelfType PencilType)\n (canContain ShelfType TissueBoxType)\n (canContain ShelfType StatueType)\n (canContain ShelfType AlarmClockType)\n (canContain DrawerType PenType)\n (canContain DrawerType BookType)\n (canContain DrawerType WatchType)\n (canContain DrawerType CDType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType PencilType)\n (canContain DrawerType TissueBoxType)\n (canContain DrawerType PenType)\n (canContain DrawerType BookType)\n (canContain DrawerType WatchType)\n (canContain DrawerType CDType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType PencilType)\n (canContain DrawerType TissueBoxType)\n (canContain GarbageCanType PenType)\n (canContain GarbageCanType CDType)\n (canContain GarbageCanType PencilType)\n (canContain GarbageCanType TissueBoxType)\n (canContain ShelfType PenType)\n (canContain ShelfType BookType)\n (canContain ShelfType WatchType)\n (canContain ShelfType BowlType)\n (canContain ShelfType CDType)\n (canContain ShelfType MugType)\n (canContain ShelfType BoxType)\n (canContain ShelfType CellPhoneType)\n (canContain ShelfType KeyChainType)\n (canContain ShelfType CreditCardType)\n (canContain ShelfType PencilType)\n (canContain ShelfType TissueBoxType)\n (canContain ShelfType StatueType)\n (canContain ShelfType AlarmClockType)\n (canContain ShelfType PenType)\n (canContain ShelfType BookType)\n (canContain ShelfType WatchType)\n (canContain ShelfType BowlType)\n (canContain ShelfType CDType)\n (canContain ShelfType MugType)\n (canContain ShelfType BoxType)\n (canContain ShelfType CellPhoneType)\n (canContain ShelfType KeyChainType)\n (canContain ShelfType CreditCardType)\n (canContain ShelfType PencilType)\n (canContain ShelfType TissueBoxType)\n (canContain ShelfType StatueType)\n (canContain ShelfType AlarmClockType)\n (canContain DrawerType PenType)\n (canContain DrawerType BookType)\n (canContain DrawerType WatchType)\n (canContain DrawerType CDType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType PencilType)\n (canContain DrawerType TissueBoxType)\n (canContain DrawerType PenType)\n (canContain DrawerType BookType)\n (canContain DrawerType WatchType)\n (canContain DrawerType CDType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType PencilType)\n (canContain DrawerType TissueBoxType)\n (canContain DrawerType PenType)\n (canContain DrawerType BookType)\n (canContain DrawerType WatchType)\n (canContain DrawerType CDType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType PencilType)\n (canContain DrawerType TissueBoxType)\n (canContain ShelfType PenType)\n (canContain ShelfType BookType)\n (canContain ShelfType WatchType)\n (canContain ShelfType BowlType)\n (canContain ShelfType CDType)\n (canContain ShelfType MugType)\n (canContain ShelfType BoxType)\n (canContain ShelfType CellPhoneType)\n (canContain ShelfType KeyChainType)\n (canContain ShelfType CreditCardType)\n (canContain ShelfType PencilType)\n (canContain ShelfType TissueBoxType)\n (canContain ShelfType StatueType)\n (canContain ShelfType AlarmClockType)\n (canContain ShelfType PenType)\n (canContain ShelfType BookType)\n (canContain ShelfType WatchType)\n (canContain ShelfType BowlType)\n (canContain ShelfType CDType)\n (canContain ShelfType MugType)\n (canContain ShelfType BoxType)\n (canContain ShelfType CellPhoneType)\n (canContain ShelfType KeyChainType)\n (canContain ShelfType CreditCardType)\n (canContain ShelfType PencilType)\n (canContain ShelfType TissueBoxType)\n (canContain ShelfType StatueType)\n (canContain ShelfType AlarmClockType)\n (canContain DrawerType PenType)\n (canContain DrawerType BookType)\n (canContain DrawerType WatchType)\n (canContain DrawerType CDType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType PencilType)\n (canContain DrawerType TissueBoxType)\n (canContain DrawerType PenType)\n (canContain DrawerType BookType)\n (canContain DrawerType WatchType)\n (canContain DrawerType CDType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType PencilType)\n (canContain DrawerType TissueBoxType)\n (canContain DresserType PenType)\n (canContain DresserType BookType)\n (canContain DresserType WatchType)\n (canContain DresserType BowlType)\n (canContain DresserType CDType)\n (canContain DresserType MugType)\n (canContain DresserType BoxType)\n (canContain DresserType CellPhoneType)\n (canContain DresserType KeyChainType)\n (canContain DresserType CreditCardType)\n (canContain DresserType BasketBallType)\n (canContain DresserType LaptopType)\n (canContain DresserType PencilType)\n (canContain DresserType TissueBoxType)\n (canContain DresserType StatueType)\n (canContain DresserType AlarmClockType)\n (canContain DrawerType PenType)\n (canContain DrawerType BookType)\n (canContain DrawerType WatchType)\n (canContain DrawerType CDType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType PencilType)\n (canContain DrawerType TissueBoxType)\n (canContain DrawerType PenType)\n (canContain DrawerType BookType)\n (canContain DrawerType WatchType)\n (canContain DrawerType CDType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType PencilType)\n (canContain DrawerType TissueBoxType)\n (pickupable Watch_bar__minus_01_dot_32_bar__plus_01_dot_24_bar__minus_00_dot_65)\n (pickupable Pen_bar__plus_01_dot_71_bar__plus_00_dot_81_bar__minus_01_dot_37)\n (pickupable TissueBox_bar__minus_01_dot_29_bar__plus_00_dot_97_bar__minus_00_dot_95)\n (pickupable CellPhone_bar__minus_00_dot_29_bar__plus_00_dot_57_bar__plus_01_dot_09)\n (pickupable Laptop_bar__minus_00_dot_50_bar__plus_00_dot_56_bar__plus_00_dot_29)\n (pickupable TissueBox_bar__plus_01_dot_59_bar__plus_00_dot_13_bar__minus_01_dot_22)\n (pickupable Mug_bar__plus_01_dot_84_bar__plus_00_dot_79_bar__minus_01_dot_28)\n (pickupable Bowl_bar__plus_02_dot_45_bar__plus_00_dot_79_bar__minus_01_dot_21)\n (pickupable Mug_bar__plus_02_dot_82_bar__plus_00_dot_79_bar__minus_01_dot_22)\n (pickupable BaseballBat_bar__plus_02_dot_85_bar__plus_00_dot_64_bar__plus_01_dot_84)\n (pickupable Box_bar__plus_02_dot_73_bar__plus_00_dot_20_bar__plus_00_dot_89)\n (pickupable Book_bar__minus_00_dot_98_bar__plus_00_dot_57_bar__plus_00_dot_36)\n (pickupable CreditCard_bar__plus_02_dot_59_bar__plus_01_dot_04_bar__minus_01_dot_41)\n (pickupable Boots_bar__minus_01_dot_28_bar__plus_00_dot_00_bar__minus_01_dot_34)\n (pickupable Watch_bar__plus_02_dot_48_bar__plus_01_dot_04_bar__minus_01_dot_38)\n (pickupable BasketBall_bar__plus_01_dot_02_bar__plus_00_dot_33_bar__minus_00_dot_98)\n (pickupable AlarmClock_bar__plus_02_dot_59_bar__plus_00_dot_80_bar__minus_01_dot_19)\n (pickupable Watch_bar__plus_01_dot_65_bar__plus_00_dot_80_bar__minus_01_dot_28)\n (pickupable Statue_bar__plus_01_dot_82_bar__plus_01_dot_04_bar__minus_01_dot_42)\n (pickupable CD_bar__plus_01_dot_91_bar__plus_00_dot_13_bar__minus_01_dot_22)\n (pickupable CD_bar__plus_02_dot_76_bar__plus_00_dot_13_bar__minus_01_dot_19)\n (pickupable Pencil_bar__plus_01_dot_84_bar__plus_00_dot_80_bar__minus_01_dot_12)\n (pickupable KeyChain_bar__plus_02_dot_26_bar__plus_01_dot_28_bar__minus_01_dot_39)\n (pickupable Pencil_bar__minus_01_dot_35_bar__plus_01_dot_24_bar__minus_00_dot_75)\n (pickupable CellPhone_bar__minus_01_dot_39_bar__plus_01_dot_24_bar__minus_00_dot_46)\n (pickupable AlarmClock_bar__plus_02_dot_22_bar__plus_00_dot_80_bar__minus_01_dot_22)\n (pickupable CD_bar__minus_01_dot_39_bar__plus_01_dot_23_bar__minus_00_dot_84)\n (pickupable Pillow_bar__minus_00_dot_63_bar__plus_00_dot_63_bar__plus_01_dot_61)\n (isReceptacleObject Mug_bar__plus_01_dot_84_bar__plus_00_dot_79_bar__minus_01_dot_28)\n (isReceptacleObject Bowl_bar__plus_02_dot_45_bar__plus_00_dot_79_bar__minus_01_dot_21)\n (isReceptacleObject Mug_bar__plus_02_dot_82_bar__plus_00_dot_79_bar__minus_01_dot_22)\n (isReceptacleObject Box_bar__plus_02_dot_73_bar__plus_00_dot_20_bar__plus_00_dot_89)\n (openable Drawer_bar__plus_01_dot_63_bar__plus_00_dot_40_bar__minus_01_dot_21)\n (openable Drawer_bar__plus_01_dot_63_bar__plus_00_dot_18_bar__minus_01_dot_21)\n (openable Drawer_bar__plus_02_dot_82_bar__plus_00_dot_62_bar__minus_01_dot_21)\n (openable Drawer_bar__plus_01_dot_63_bar__plus_00_dot_62_bar__minus_01_dot_21)\n (openable Drawer_bar__plus_01_dot_95_bar__plus_00_dot_18_bar__minus_01_dot_21)\n (openable Drawer_bar__plus_01_dot_95_bar__plus_00_dot_40_bar__minus_01_dot_21)\n (openable Drawer_bar__plus_02_dot_82_bar__plus_00_dot_40_bar__minus_01_dot_21)\n \n (atLocation agent1 loc_bar_1_bar__minus_4_bar_2_bar_30)\n \n (cleanable Mug_bar__plus_01_dot_84_bar__plus_00_dot_79_bar__minus_01_dot_28)\n (cleanable Bowl_bar__plus_02_dot_45_bar__plus_00_dot_79_bar__minus_01_dot_21)\n (cleanable Mug_bar__plus_02_dot_82_bar__plus_00_dot_79_bar__minus_01_dot_22)\n \n (heatable Mug_bar__plus_01_dot_84_bar__plus_00_dot_79_bar__minus_01_dot_28)\n (heatable Mug_bar__plus_02_dot_82_bar__plus_00_dot_79_bar__minus_01_dot_22)\n (coolable Mug_bar__plus_01_dot_84_bar__plus_00_dot_79_bar__minus_01_dot_28)\n (coolable Bowl_bar__plus_02_dot_45_bar__plus_00_dot_79_bar__minus_01_dot_21)\n (coolable Mug_bar__plus_02_dot_82_bar__plus_00_dot_79_bar__minus_01_dot_22)\n \n \n (toggleable DeskLamp_bar__minus_01_dot_31_bar__plus_01_dot_23_bar__minus_00_dot_99)\n \n \n \n \n (inReceptacle CD_bar__plus_02_dot_76_bar__plus_00_dot_13_bar__minus_01_dot_19 Drawer_bar__plus_02_dot_82_bar__plus_00_dot_17_bar__minus_01_dot_21)\n (inReceptacle Pen_bar__plus_01_dot_71_bar__plus_00_dot_81_bar__minus_01_dot_37 Shelf_bar__plus_01_dot_80_bar__plus_00_dot_80_bar__minus_01_dot_42)\n (inReceptacle Mug_bar__plus_02_dot_82_bar__plus_00_dot_79_bar__minus_01_dot_22 Desk_bar__plus_02_dot_29_bar__plus_00_dot_01_bar__minus_01_dot_15)\n (inReceptacle AlarmClock_bar__plus_02_dot_59_bar__plus_00_dot_80_bar__minus_01_dot_19 Desk_bar__plus_02_dot_29_bar__plus_00_dot_01_bar__minus_01_dot_15)\n (inReceptacle AlarmClock_bar__plus_02_dot_22_bar__plus_00_dot_80_bar__minus_01_dot_22 Desk_bar__plus_02_dot_29_bar__plus_00_dot_01_bar__minus_01_dot_15)\n (inReceptacle Pencil_bar__plus_01_dot_84_bar__plus_00_dot_80_bar__minus_01_dot_12 Desk_bar__plus_02_dot_29_bar__plus_00_dot_01_bar__minus_01_dot_15)\n (inReceptacle Mug_bar__plus_01_dot_84_bar__plus_00_dot_79_bar__minus_01_dot_28 Desk_bar__plus_02_dot_29_bar__plus_00_dot_01_bar__minus_01_dot_15)\n (inReceptacle Watch_bar__plus_01_dot_65_bar__plus_00_dot_80_bar__minus_01_dot_28 Desk_bar__plus_02_dot_29_bar__plus_00_dot_01_bar__minus_01_dot_15)\n (inReceptacle Bowl_bar__plus_02_dot_45_bar__plus_00_dot_79_bar__minus_01_dot_21 Desk_bar__plus_02_dot_29_bar__plus_00_dot_01_bar__minus_01_dot_15)\n (inReceptacle TissueBox_bar__minus_01_dot_29_bar__plus_00_dot_97_bar__minus_00_dot_95 Drawer_bar__minus_01_dot_29_bar__plus_01_dot_02_bar__minus_00_dot_92)\n (inReceptacle TissueBox_bar__plus_01_dot_59_bar__plus_00_dot_13_bar__minus_01_dot_22 Drawer_bar__plus_01_dot_63_bar__plus_00_dot_18_bar__minus_01_dot_21)\n (inReceptacle CD_bar__plus_01_dot_91_bar__plus_00_dot_13_bar__minus_01_dot_22 Drawer_bar__plus_01_dot_95_bar__plus_00_dot_18_bar__minus_01_dot_21)\n (inReceptacle Watch_bar__minus_01_dot_32_bar__plus_01_dot_24_bar__minus_00_dot_65 Dresser_bar__minus_01_dot_33_bar__plus_00_dot_00_bar__minus_00_dot_75)\n (inReceptacle DeskLamp_bar__minus_01_dot_31_bar__plus_01_dot_23_bar__minus_00_dot_99 Dresser_bar__minus_01_dot_33_bar__plus_00_dot_00_bar__minus_00_dot_75)\n (inReceptacle CellPhone_bar__minus_01_dot_39_bar__plus_01_dot_24_bar__minus_00_dot_46 Dresser_bar__minus_01_dot_33_bar__plus_00_dot_00_bar__minus_00_dot_75)\n (inReceptacle Pencil_bar__minus_01_dot_35_bar__plus_01_dot_24_bar__minus_00_dot_75 Dresser_bar__minus_01_dot_33_bar__plus_00_dot_00_bar__minus_00_dot_75)\n (inReceptacle CD_bar__minus_01_dot_39_bar__plus_01_dot_23_bar__minus_00_dot_84 Dresser_bar__minus_01_dot_33_bar__plus_00_dot_00_bar__minus_00_dot_75)\n (inReceptacle Laptop_bar__minus_00_dot_50_bar__plus_00_dot_56_bar__plus_00_dot_29 Bed_bar__minus_00_dot_64_bar__plus_00_dot_00_bar__plus_00_dot_87)\n (inReceptacle Book_bar__minus_00_dot_98_bar__plus_00_dot_57_bar__plus_00_dot_36 Bed_bar__minus_00_dot_64_bar__plus_00_dot_00_bar__plus_00_dot_87)\n (inReceptacle Pillow_bar__minus_00_dot_63_bar__plus_00_dot_63_bar__plus_01_dot_61 Bed_bar__minus_00_dot_64_bar__plus_00_dot_00_bar__plus_00_dot_87)\n (inReceptacle CellPhone_bar__minus_00_dot_29_bar__plus_00_dot_57_bar__plus_01_dot_09 Bed_bar__minus_00_dot_64_bar__plus_00_dot_00_bar__plus_00_dot_87)\n (inReceptacle Watch_bar__plus_02_dot_48_bar__plus_01_dot_04_bar__minus_01_dot_38 Shelf_bar__plus_02_dot_47_bar__plus_01_dot_04_bar__minus_01_dot_41)\n (inReceptacle CreditCard_bar__plus_02_dot_59_bar__plus_01_dot_04_bar__minus_01_dot_41 Shelf_bar__plus_02_dot_47_bar__plus_01_dot_04_bar__minus_01_dot_41)\n (inReceptacle Statue_bar__plus_01_dot_82_bar__plus_01_dot_04_bar__minus_01_dot_42 Shelf_bar__plus_01_dot_80_bar__plus_01_dot_04_bar__minus_01_dot_42)\n (inReceptacle KeyChain_bar__plus_02_dot_26_bar__plus_01_dot_28_bar__minus_01_dot_39 Shelf_bar__plus_02_dot_25_bar__plus_01_dot_27_bar__minus_01_dot_42)\n \n \n (receptacleAtLocation Bed_bar__minus_00_dot_64_bar__plus_00_dot_00_bar__plus_00_dot_87 loc_bar_3_bar_5_bar_3_bar_45)\n (receptacleAtLocation Desk_bar__plus_02_dot_29_bar__plus_00_dot_01_bar__minus_01_dot_15 loc_bar_9_bar__minus_2_bar_2_bar_60)\n (receptacleAtLocation Drawer_bar__plus_01_dot_63_bar__plus_00_dot_18_bar__minus_01_dot_21 loc_bar_3_bar__minus_2_bar_1_bar_60)\n (receptacleAtLocation Drawer_bar__plus_01_dot_63_bar__plus_00_dot_40_bar__minus_01_dot_21 loc_bar_3_bar__minus_2_bar_1_bar_60)\n (receptacleAtLocation Drawer_bar__plus_01_dot_63_bar__plus_00_dot_62_bar__minus_01_dot_21 loc_bar_1_bar__minus_4_bar_1_bar_30)\n (receptacleAtLocation Drawer_bar__plus_01_dot_95_bar__plus_00_dot_18_bar__minus_01_dot_21 loc_bar_4_bar__minus_2_bar_1_bar_60)\n (receptacleAtLocation Drawer_bar__plus_01_dot_95_bar__plus_00_dot_40_bar__minus_01_dot_21 loc_bar_4_bar__minus_2_bar_1_bar_60)\n (receptacleAtLocation Drawer_bar__plus_01_dot_95_bar__plus_00_dot_62_bar__minus_01_dot_21 loc_bar_8_bar__minus_3_bar_2_bar_60)\n (receptacleAtLocation Drawer_bar__plus_02_dot_82_bar__plus_00_dot_17_bar__minus_01_dot_21 loc_bar_10_bar__minus_2_bar_2_bar_60)\n (receptacleAtLocation Drawer_bar__plus_02_dot_82_bar__plus_00_dot_40_bar__minus_01_dot_21 loc_bar_8_bar__minus_2_bar_1_bar_60)\n (receptacleAtLocation Drawer_bar__plus_02_dot_82_bar__plus_00_dot_62_bar__minus_01_dot_21 loc_bar_8_bar__minus_3_bar_1_bar_45)\n (receptacleAtLocation Drawer_bar__minus_01_dot_29_bar__plus_00_dot_17_bar__minus_00_dot_58 loc_bar__minus_3_bar__minus_2_bar_3_bar_60)\n (receptacleAtLocation Drawer_bar__minus_01_dot_29_bar__plus_00_dot_17_bar__minus_00_dot_92 loc_bar__minus_3_bar__minus_4_bar_3_bar_60)\n (receptacleAtLocation Drawer_bar__minus_01_dot_29_bar__plus_00_dot_44_bar__minus_00_dot_58 loc_bar__minus_3_bar__minus_2_bar_3_bar_60)\n (receptacleAtLocation Drawer_bar__minus_01_dot_29_bar__plus_00_dot_44_bar__minus_00_dot_92 loc_bar__minus_3_bar__minus_4_bar_3_bar_60)\n (receptacleAtLocation Drawer_bar__minus_01_dot_29_bar__plus_00_dot_74_bar__minus_00_dot_58 loc_bar__minus_3_bar__minus_2_bar_3_bar_60)\n (receptacleAtLocation Drawer_bar__minus_01_dot_29_bar__plus_00_dot_74_bar__minus_00_dot_92 loc_bar__minus_3_bar__minus_4_bar_3_bar_60)\n (receptacleAtLocation Drawer_bar__minus_01_dot_29_bar__plus_01_dot_02_bar__minus_00_dot_58 loc_bar__minus_3_bar__minus_2_bar_3_bar_45)\n (receptacleAtLocation Drawer_bar__minus_01_dot_29_bar__plus_01_dot_02_bar__minus_00_dot_92 loc_bar__minus_3_bar__minus_4_bar_3_bar_45)\n (receptacleAtLocation Dresser_bar__minus_01_dot_33_bar__plus_00_dot_00_bar__minus_00_dot_75 loc_bar__minus_3_bar__minus_3_bar_3_bar_60)\n (receptacleAtLocation GarbageCan_bar__plus_02_dot_84_bar__plus_00_dot_00_bar__plus_00_dot_22 loc_bar_10_bar_1_bar_1_bar_60)\n (receptacleAtLocation Shelf_bar__plus_01_dot_80_bar__plus_00_dot_80_bar__minus_01_dot_42 loc_bar_8_bar__minus_3_bar_2_bar_45)\n (receptacleAtLocation Shelf_bar__plus_01_dot_80_bar__plus_01_dot_04_bar__minus_01_dot_42 loc_bar_7_bar__minus_3_bar_2_bar_45)\n (receptacleAtLocation Shelf_bar__plus_02_dot_25_bar__plus_01_dot_27_bar__minus_01_dot_42 loc_bar_8_bar__minus_3_bar_2_bar_30)\n (receptacleAtLocation Shelf_bar__plus_02_dot_47_bar__plus_00_dot_80_bar__minus_01_dot_41 loc_bar_10_bar__minus_2_bar_2_bar_45)\n (receptacleAtLocation Shelf_bar__plus_02_dot_47_bar__plus_01_dot_04_bar__minus_01_dot_41 loc_bar_10_bar__minus_2_bar_2_bar_30)\n (receptacleAtLocation Shelf_bar__plus_02_dot_70_bar__plus_01_dot_27_bar__minus_01_dot_42 loc_bar_10_bar__minus_2_bar_2_bar_30)\n (objectAtLocation Mug_bar__plus_02_dot_82_bar__plus_00_dot_79_bar__minus_01_dot_22 loc_bar_9_bar__minus_2_bar_2_bar_60)\n (objectAtLocation CD_bar__plus_01_dot_91_bar__plus_00_dot_13_bar__minus_01_dot_22 loc_bar_4_bar__minus_2_bar_1_bar_60)\n (objectAtLocation Watch_bar__minus_01_dot_32_bar__plus_01_dot_24_bar__minus_00_dot_65 loc_bar__minus_3_bar__minus_3_bar_3_bar_60)\n (objectAtLocation Pencil_bar__plus_01_dot_84_bar__plus_00_dot_80_bar__minus_01_dot_12 loc_bar_9_bar__minus_2_bar_2_bar_60)\n (objectAtLocation AlarmClock_bar__plus_02_dot_59_bar__plus_00_dot_80_bar__minus_01_dot_19 loc_bar_9_bar__minus_2_bar_2_bar_60)\n (objectAtLocation TissueBox_bar__plus_01_dot_59_bar__plus_00_dot_13_bar__minus_01_dot_22 loc_bar_3_bar__minus_2_bar_1_bar_60)\n (objectAtLocation CellPhone_bar__minus_00_dot_29_bar__plus_00_dot_57_bar__plus_01_dot_09 loc_bar_3_bar_5_bar_3_bar_45)\n (objectAtLocation CD_bar__minus_01_dot_39_bar__plus_01_dot_23_bar__minus_00_dot_84 loc_bar__minus_3_bar__minus_3_bar_3_bar_60)\n (objectAtLocation Watch_bar__plus_01_dot_65_bar__plus_00_dot_80_bar__minus_01_dot_28 loc_bar_9_bar__minus_2_bar_2_bar_60)\n (objectAtLocation Book_bar__minus_00_dot_98_bar__plus_00_dot_57_bar__plus_00_dot_36 loc_bar_3_bar_5_bar_3_bar_45)\n (objectAtLocation Box_bar__plus_02_dot_73_bar__plus_00_dot_20_bar__plus_00_dot_89 loc_bar_9_bar_4_bar_1_bar_60)\n (objectAtLocation Chair_bar__plus_02_dot_40_bar__plus_00_dot_00_bar__minus_01_dot_08 loc_bar_10_bar__minus_2_bar_2_bar_60)\n (objectAtLocation Laptop_bar__minus_00_dot_50_bar__plus_00_dot_56_bar__plus_00_dot_29 loc_bar_3_bar_5_bar_3_bar_45)\n (objectAtLocation CellPhone_bar__minus_01_dot_39_bar__plus_01_dot_24_bar__minus_00_dot_46 loc_bar__minus_3_bar__minus_3_bar_3_bar_60)\n (objectAtLocation BaseballBat_bar__plus_02_dot_85_bar__plus_00_dot_64_bar__plus_01_dot_84 loc_bar_10_bar_5_bar_0_bar_60)\n (objectAtLocation DeskLamp_bar__minus_01_dot_31_bar__plus_01_dot_23_bar__minus_00_dot_99 loc_bar__minus_3_bar__minus_3_bar_3_bar_60)\n (objectAtLocation BasketBall_bar__plus_01_dot_02_bar__plus_00_dot_33_bar__minus_00_dot_98 loc_bar_4_bar__minus_2_bar_2_bar_60)\n (objectAtLocation TissueBox_bar__minus_01_dot_29_bar__plus_00_dot_97_bar__minus_00_dot_95 loc_bar__minus_3_bar__minus_4_bar_3_bar_45)\n (objectAtLocation CreditCard_bar__plus_02_dot_59_bar__plus_01_dot_04_bar__minus_01_dot_41 loc_bar_10_bar__minus_2_bar_2_bar_30)\n (objectAtLocation AlarmClock_bar__plus_02_dot_22_bar__plus_00_dot_80_bar__minus_01_dot_22 loc_bar_9_bar__minus_2_bar_2_bar_60)\n (objectAtLocation Pencil_bar__minus_01_dot_35_bar__plus_01_dot_24_bar__minus_00_dot_75 loc_bar__minus_3_bar__minus_3_bar_3_bar_60)\n (objectAtLocation Boots_bar__minus_01_dot_28_bar__plus_00_dot_00_bar__minus_01_dot_34 loc_bar__minus_3_bar__minus_4_bar_3_bar_60)\n (objectAtLocation Blinds_bar__plus_00_dot_11_bar__plus_02_dot_34_bar__minus_01_dot_44 loc_bar_0_bar__minus_4_bar_2_bar__minus_30)\n (objectAtLocation Pillow_bar__minus_00_dot_63_bar__plus_00_dot_63_bar__plus_01_dot_61 loc_bar_3_bar_5_bar_3_bar_45)\n (objectAtLocation KeyChain_bar__plus_02_dot_26_bar__plus_01_dot_28_bar__minus_01_dot_39 loc_bar_8_bar__minus_3_bar_2_bar_30)\n (objectAtLocation Bowl_bar__plus_02_dot_45_bar__plus_00_dot_79_bar__minus_01_dot_21 loc_bar_9_bar__minus_2_bar_2_bar_60)\n (objectAtLocation Watch_bar__plus_02_dot_48_bar__plus_01_dot_04_bar__minus_01_dot_38 loc_bar_10_bar__minus_2_bar_2_bar_30)\n (objectAtLocation Mirror_bar__plus_01_dot_99_bar__plus_01_dot_38_bar__plus_01_dot_88 loc_bar_8_bar_5_bar_0_bar_30)\n (objectAtLocation CD_bar__plus_02_dot_76_bar__plus_00_dot_13_bar__minus_01_dot_19 loc_bar_10_bar__minus_2_bar_2_bar_60)\n (objectAtLocation Pen_bar__plus_01_dot_71_bar__plus_00_dot_81_bar__minus_01_dot_37 loc_bar_8_bar__minus_3_bar_2_bar_45)\n (objectAtLocation Window_bar__plus_00_dot_12_bar__plus_01_dot_50_bar__minus_01_dot_59 loc_bar_0_bar__minus_4_bar_2_bar_15)\n (objectAtLocation LightSwitch_bar__plus_02_dot_66_bar__plus_01_dot_28_bar__plus_01_dot_90 loc_bar_10_bar_5_bar_0_bar_30)\n (objectAtLocation Mug_bar__plus_01_dot_84_bar__plus_00_dot_79_bar__minus_01_dot_28 loc_bar_9_bar__minus_2_bar_2_bar_60)\n (objectAtLocation Statue_bar__plus_01_dot_82_bar__plus_01_dot_04_bar__minus_01_dot_42 loc_bar_7_bar__minus_3_bar_2_bar_45)\n )\n \n\n (:goal\n (and\n (exists (?r - receptacle)\n (exists (?o1 - object)\n (and\n (objectType ?o1 PencilType)\n (receptacleType ?r ShelfType)\n (inReceptacle ?o1 ?r)\n (exists (?o2 - object)\n (and\n (not (= ?o1 ?o2))\n (objectType ?o2 PencilType)\n (receptacleType ?r ShelfType)\n (inReceptacle ?o2 ?r)\n )\n )\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to desk 1", "take pencil 1 from desk 1", "go to shelf 2", "move pencil 1 to shelf 2", "go to dresser 1", "take pencil 2 from dresser 1", "go to shelf 2", "move pencil 2 to shelf 2"]}
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alfworld__pick_heat_then_place_in_recep__453
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pick_heat_then_place_in_recep
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pick_heat_then_place_in_recep-Cup-None-Cabinet-28/trial_T20190909_052944_317093/game.tw-pddl
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{"pddl_domain": ";; Specification in PDDL of the Alfred domain\n;; Intended to be used with Fast Downward which supports PDDL 2.2 level 1 plus the :action-costs requirement from PDDL 3.1.\n\n(define (domain alfred)\n (:requirements\n :adl\n :action-costs\n :typing\n )\n (:types\n agent\n location\n receptacle\n object\n rtype\n otype\n )\n\n\n (:predicates\n (atLocation ?a - agent ?l - location) ; true if the agent is at the location\n (receptacleAtLocation ?r - receptacle ?l - location) ; true if the receptacle is at the location (constant)\n (objectAtLocation ?o - object ?l - location) ; true if the object is at the location\n (openable ?r - receptacle) ; true if a receptacle is openable\n (opened ?r - receptacle) ; true if a receptacle is opened\n (inReceptacle ?o - object ?r - receptacle) ; object ?o is in receptacle ?r\n (isReceptacleObject ?o - object) ; true if the object can have things put inside it\n (inReceptacleObject ?innerObject - object ?outerObject - object) ; object ?innerObject is inside object ?outerObject\n (isReceptacleObjectFull ?o - object) ; true if the receptacle object contains something\n (wasInReceptacle ?o - object ?r - receptacle) ; object ?o was or is in receptacle ?r now or some time in the past\n (checked ?r - receptacle) ; whether the receptacle has been looked inside/visited\n (examined ?l - location) ; TODO\n (receptacleType ?r - receptacle ?t - rtype) ; the type of receptacle (Cabinet vs Cabinet|01|2...)\n (canContain ?rt - rtype ?ot - otype) ; true if receptacle can hold object\n (objectType ?o - object ?t - otype) ; the type of object (Apple vs Apple|01|2...)\n (holds ?a - agent ?o - object) ; object ?o is held by agent ?a\n (holdsAny ?a - agent) ; agent ?a holds an object\n (holdsAnyReceptacleObject ?a - agent) ; agent ?a holds a receptacle object\n (full ?r - receptacle) ; true if the receptacle has no remaining space\n (isClean ?o - object) ; true if the object has been clean in sink\n (cleanable ?o - object) ; true if the object can be placed in a sink\n (isHot ?o - object) ; true if the object has been heated up\n (heatable ?o - object) ; true if the object can be heated up in a microwave\n (isCool ?o - object) ; true if the object has been cooled\n (coolable ?o - object) ; true if the object can be cooled in the fridge\n (pickupable ?o - object) ; true if the object can be picked up\n (moveable ?o - object) ; true if the object can be moved\n (toggleable ?o - object) ; true if the object can be turned on/off\n (isOn ?o - object) ; true if the object is on\n (isToggled ?o - object) ; true if the object has been toggled\n (sliceable ?o - object) ; true if the object can be sliced\n (isSliced ?o - object) ; true if the object is sliced\n )\n\n (:functions\n (distance ?from ?to)\n (total-cost) - number\n )\n\n;; All actions are specified such that the final arguments are the ones used\n;; for performing actions in Unity.\n\n\n(:action look\n :parameters (?a - agent ?l - location)\n :precondition\n (and\n (atLocation ?a ?l)\n )\n :effect\n (and\n (checked ?l)\n )\n)\n\n(:action inventory\n :parameters (?a - agent)\n :precondition\n ()\n :effect\n (and\n (checked ?a)\n )\n)\n\n(:action examineReceptacle\n :parameters (?a - agent ?r - receptacle)\n :precondition\n (and\n (exists (?l - location)\n (and\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n )\n )\n )\n :effect\n (and\n (checked ?r)\n )\n)\n\n(:action examineObject\n :parameters (?a - agent ?o - object)\n :precondition\n (or\n ;(exists (?l - location)\n ; (and\n ; (atLocation ?a ?l)\n ; (objectAtLocation ?o ?l)\n ; )\n ;)\n (exists (?l - location, ?r - receptacle)\n (and\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n ; (objectAtLocation ?o ?l)\n (inReceptacle ?o ?r)\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n )\n )\n (holds ?a ?o)\n )\n :effect\n (and\n (checked ?o)\n )\n)\n\n;; agent goes to receptacle\n (:action GotoLocation\n :parameters (?a - agent ?lStart - location ?lEnd - location ?r - receptacle)\n :precondition (and\n (atLocation ?a ?lStart)\n (receptacleAtLocation ?r ?lEnd)\n ;(exists (?r - receptacle) (receptacleAtLocation ?r ?lEnd))\n )\n :effect (and\n (not (atLocation ?a ?lStart))\n (atLocation ?a ?lEnd)\n ; (forall (?r - receptacle)\n ; (when (and (receptacleAtLocation ?r ?lEnd)\n ; (or (not (openable ?r)) (opened ?r)))\n ; (checked ?r)\n ; )\n ; )\n ; (increase (total-cost) (distance ?lStart ?lEnd))\n (increase (total-cost) 1)\n )\n )\n\n;; agent opens receptacle\n (:action OpenObject\n :parameters (?a - agent ?l - location ?r - receptacle)\n :precondition (and\n (openable ?r)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (not (opened ?r))\n )\n :effect (and\n (opened ?r)\n (checked ?r)\n (increase (total-cost) 1)\n )\n )\n;; agent closes receptacle\n (:action CloseObject\n :parameters (?a - agent ?l - location ?r - receptacle)\n :precondition (and\n (openable ?r)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (opened ?r)\n )\n :effect (and\n (not (opened ?r))\n (increase (total-cost) 1)\n )\n\n )\n\n ;; agent picks up object from a receptacle\n (:action PickupObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n :precondition\n (and\n (pickupable ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n ; (objectAtLocation ?o ?l)\n (inReceptacle ?o ?r)\n (not (holdsAny ?a)) ; agent's hands are empty.\n ;(not (holdsAnyReceptacleObject ?a))\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n ;(not (isReceptacleObject ?o))\n )\n :effect\n (and\n (not (inReceptacle ?o ?r))\n (holds ?a ?o)\n (holdsAny ?a)\n (not (objectAtLocation ?o ?l))\n ;(not (full ?r))\n (increase (total-cost) 1)\n )\n )\n\n\n; ;; agent picks up object from a receptacle\n; (:action PickupObjectFromReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?outerR - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (inReceptacle ?o ?r)\n; (pickupable ?o)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (not (isReceptacleObject ?o))\n; (isReceptacleObject ?outerR)\n; (inReceptacleObject ?o ?outerR)\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (holds ?a ?o)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n;\n; (not (inReceptacleObject ?o ?outerR))\n; (not (isReceptacleObjectFull ?outerR))\n; )\n; )\n;\n; ;; agent picks up object from a receptacle\n; (:action PickupEmptyReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; ; (objectAtLocation ?o ?l)\n; (inReceptacle ?o ?r)\n; (pickupable ?o)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (isReceptacleObject ?o)\n; (not (isReceptacleObjectFull ?o))\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (holds ?a ?o)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n; (holdsAnyReceptacleObject ?a)\n; )\n; )\n;\n; ;; agent picks up object from a receptacle\n; (:action PickupFullReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?outerR - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (inReceptacle ?outerR ?r)\n; (pickupable ?outerR)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (not (isReceptacleObject ?o))\n; (isReceptacleObject ?outerR)\n; (inReceptacleObject ?o ?outerR)\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (not (inReceptacle ?outerR ?r))\n; (holds ?a ?outerR)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (objectAtLocation ?outerR ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n; (holdsAnyReceptacleObject ?a)\n; )\n; )\n\n\n;; agent puts down an object\n (:action PutObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle ?ot - otype ?rt - rtype)\n :precondition (and\n (holds ?a ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable\n ;(not (full ?r))\n (objectType ?o ?ot)\n (receptacleType ?r ?rt)\n (canContain ?rt ?ot)\n ;(not (holdsAnyReceptacleObject ?a))\n )\n :effect (and\n (inReceptacle ?o ?r)\n (objectAtLocation ?o ?l)\n ;(full ?r)\n (not (holds ?a ?o))\n (not (holdsAny ?a))\n (increase (total-cost) 1)\n )\n )\n\n;;; agent puts down an object\n; (:action PutObjectInReceptacleObject\n; :parameters (?a - agent ?l - location ?ot - otype ?o - object ?outerO - object ?outerR - receptacle)\n; :precondition (and\n; (atLocation ?a ?l)\n; (objectAtLocation ?outerO ?l)\n; (isReceptacleObject ?outerO)\n; (not (isReceptacleObject ?o))\n; (objectType ?o ?ot)\n; (holds ?a ?o)\n; (not (holdsAnyReceptacleObject ?a))\n; (inReceptacle ?outerO ?outerR)\n; (not (isReceptacleObjectFull ?outerO))\n; )\n; :effect (and\n; (inReceptacleObject ?o ?outerO)\n; (inReceptacle ?o ?outerR)\n; (not (holds ?a ?o))\n; (not (holdsAny ?a))\n; (objectAtLocation ?o ?l)\n; (isReceptacleObjectFull ?outerO)\n; (increase (total-cost) 1)\n; )\n; )\n;\n;;; agent puts down an object\n; (:action PutEmptyReceptacleObjectinReceptacle\n; :parameters (?a - agent ?l - location ?ot - otype ?o - object ?r - receptacle)\n; :precondition (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable\n; (not (full ?r))\n; (objectType ?o ?ot)\n; (holds ?a ?o)\n; (holdsAnyReceptacleObject ?a)\n; (isReceptacleObject ?o)\n; (not (isReceptacleObjectFull ?o))\n; )\n; :effect (and\n; (inReceptacle ?o ?r)\n; (objectAtLocation ?o ?l)\n; (full ?r)\n; (not (holds ?a ?o))\n; (not (holdsAny ?a))\n; (not (holdsAnyReceptacleObject ?a))\n; (increase (total-cost) 1)\n; )\n; )\n;\n;;; agent puts down a receptacle object in a receptacle\n; (:action PutFullReceptacleObjectInReceptacle\n; :parameters (?a - agent ?l - location ?ot - otype ?innerO - object ?outerO - object ?r - receptacle) ; ?rt - rtype)\n; :precondition (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (objectType ?outerO ?ot)\n; (holds ?a ?outerO)\n; (holdsAnyReceptacleObject ?a)\n; (isReceptacleObject ?outerO)\n; (isReceptacleObjectFull ?outerO)\n; (inReceptacleObject ?innerO ?outerO)\n; )\n; :effect (and\n; (not (holdsAny ?a))\n; (not (holdsAnyReceptacleObject ?a))\n; (objectAtLocation ?outerO ?l)\n; (objectAtLocation ?innerO ?l)\n; (inReceptacle ?outerO ?r)\n; (inReceptacle ?innerO ?r)\n; (not (holds ?a ?outerO))\n; (increase (total-cost) 1)\n; )\n; )\n\n;; agent cleans some object\n (:action CleanObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (cleanable ?o)\n (or\n (receptacleType ?r SinkType)\n (receptacleType ?r SinkBasinType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isClean ?o)\n )\n )\n\n\n;; agent heats-up some object\n (:action HeatObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (heatable ?o)\n (or\n (receptacleType ?r MicrowaveType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isHot ?o)\n (not (isCool ?o))\n )\n )\n\n;; agent cools some object\n (:action CoolObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (coolable ?o)\n (or\n (receptacleType ?r FridgeType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isCool ?o)\n (not (isHot ?o))\n )\n )\n\n\n;; agent toggle object\n (:action ToggleObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n :precondition (and\n (toggleable ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (inReceptacle ?o ?r)\n )\n :effect (and\n (increase (total-cost) 5)\n (when (isOn ?o)\n (not (isOn ?o)))\n (when (not (isOn ?o))\n (isOn ?o))\n (isToggled ?o)\n )\n )\n\n\n;; agent slices some object with a knife\n (:action SliceObject\n :parameters (?a - agent ?l - location ?co - object ?ko - object)\n :precondition\n (and\n (sliceable ?co)\n (or\n (objectType ?ko KnifeType)\n (objectType ?ko ButterKnifeType)\n )\n (atLocation ?a ?l)\n (objectAtLocation ?co ?l)\n (holds ?a ?ko)\n )\n :effect (and\n (increase (total-cost) 5)\n (isSliced ?co)\n )\n )\n\n\n(:action help\n :parameters (?a - agent)\n :precondition\n ()\n :effect\n (and\n (checked ?a)\n )\n)\n)\n", "grammar": "grammar :: \"\"\"\n {\n \"intro\": [\n {\n \"rhs\": \"-= Welcome to TextWorld, ALFRED! =-\\n\\n#look.feedback#\\n\\n#task#\"\n }\n ],\n\n \"notImplemented\": [\n {\n \"rhs\": \"TODO\"\n }\n ],\n\n \"task\": [\n {\n \"rhs\": \"Your task is to: heat some cup and put it in cabinet.\"\n }\n ],\n\n \"GotoLocation.feedback\": [\n {\n \"rhs\": \"You arrive at {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"OpenObject.feedback\": [\n {\n \"rhs\": \"You open the {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"CloseObject.feedback\": [\n {\n \"rhs\": \"You close the {r.name}.\"\n }\n ],\n\n \"PickupObject.feedback\": [\n {\n \"rhs\": \"You pick up the {o.name} from the {r.name}.\"\n }\n ],\n\n \"PickupObjectFromReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupObjectFromReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupEmptyReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupEmptyReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupFullReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupFullReceptacleObject: You pick up the {outerr.name}.\"\n }\n ],\n\n \"PutObject.feedback\": [\n {\n \"rhs\": \"You move the {o.name} to the {r.name}.\"\n }\n ],\n\n \"PutObjectInReceptacleObject.feedback\": [\n {\n \"rhs\": \"PutObjectInReceptacleObject: You put the {o.name} in the {outero.name}.\"\n }\n ],\n\n \"PutEmptyReceptacleObjectinReceptacle.feedback\": [\n {\n \"rhs\": \"PutEmptyReceptacleObjectinReceptacle: You put the {o.name} in the {r.name}.\"\n }\n ],\n\n \"PutFullReceptacleObjectInReceptacle.feedback\": [\n {\n \"rhs\": \"PutFullReceptacleObjectInReceptacle: You put the {outero.name} in the {r.name}.\"\n }\n ],\n\n \"inventory.feedback\": [\n {\n \"condition\": \"holdsany(a:agent)\",\n \"rhs\": \"You are carrying: [{o.indefinite + ' ' + o.name | holds(a:agent, o:object)}].\"\n },\n {\n \"rhs\": \"You are not carrying anything.\"\n }\n ],\n\n \"examineReceptacle.feedback\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \"The {r.name} is open. In it, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \"The {r.name} is closed.\"\n },\n {\n \"rhs\": \"On the {r.name}, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n }\n ],\n\n \"examineObject.feedback\": [\n {\n \"condition\": \"isreceptacleobject(o:object)\",\n \"rhs\": \"This is a normal {o.name}. In it, you see [{o2.indefinite + ' ' + o2.name | inreceptacleobject(o2:object, o:object)}].\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a clean sliced {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot sliced {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object)\",\n \"rhs\": \"This is a hot and clean {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object)\",\n \"rhs\": \"This is a cool and clean {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object)\",\n \"rhs\": \"This is a hot {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object)\",\n \"rhs\": \"This is a clean {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object)\",\n \"rhs\": \"This is a cold {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"This {o.name} is on.\"\n },\n {\n \"condition\": \"toggleable(o:object) & not_istoggled(o:object)\",\n \"rhs\": \"This {o.name} is off.\"\n },\n {\n \"condition\": \"sliceable(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a sliced {o.name}.\"\n },\n {\n \"rhs\": \"There's nothing special about {o.name}.\"\n }\n ]\n }\n\"\"\";\n\naction GotoLocation {\n template :: \"go to [{r.name | receptacleatlocation(r:receptacle, lend:location)}]\";\n feedback :: \"#GotoLocation.feedback#\";\n}\n\naction OpenObject {\n template :: \"open {r}\";\n feedback :: \"#OpenObject.feedback#\";\n}\n\naction CloseObject {\n template :: \"close {r}\";\n feedback :: \"#CloseObject.feedback#\";\n}\n\naction PickupObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObject.feedback#\";\n}\n\naction PickupObjectFromReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObjectFromReceptacleObject.feedback#\";\n}\n\naction PickupEmptyReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupEmptyReceptacleObject.feedback#\";\n}\n\naction PickupFullReceptacleObject {\n template :: \"take {outerr} from {r}\";\n feedback :: \"#PickupFullReceptacleObject.feedback#\";\n}\n\naction PutObject {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutObject.feedback#\";\n}\n\naction PutObjectInReceptacleObject {\n template :: \"put {o} into {outero}\";\n feedback :: \"#PutObjectInReceptacleObject.feedback#\";\n}\n\naction PutEmptyReceptacleObjectinReceptacle {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutEmptyReceptacleObjectinReceptacle.feedback#\";\n}\n\naction PutFullReceptacleObjectInReceptacle {\n template :: \"put {outero} in {r}\";\n feedback :: \"#PutFullReceptacleObjectInReceptacle.feedback#\";\n}\n\naction inventory {\n template :: \"inventory\";\n feedback :: \"#inventory.feedback#\";\n}\n\naction examineReceptacle {\n template :: \"examine {r}\";\n feedback :: \"#examineReceptacle.feedback#\";\n}\n\naction examineObject {\n template :: \"examine {o}\";\n feedback :: \"#examineObject.feedback#\";\n}\n\naction ToggleObject {\n template :: \"use {o}\";\n feedback :: \"#toggleObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"toggleObject.feedback\": [\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"You turn on the {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object)\",\n \"rhs\": \"You turn off the {o.name}.\"\n },\n {\n \"rhs\": \"You don't see any switch on the {o.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction HeatObject {\n template :: \"heat {o} with {r}\";\n feedback :: \"#heatObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"heatObject.feedback\": [\n {\n \"rhs\": \"You heat the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CleanObject {\n template :: \"clean {o} with {r}\";\n feedback :: \"#cleanObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"cleanObject.feedback\": [\n {\n \"rhs\": \"You clean the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CoolObject {\n template :: \"cool {o} with {r}\";\n feedback :: \"#coolObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"coolObject.feedback\": [\n {\n \"rhs\": \"You cool the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction SliceObject {\n template :: \"slice {co} with {ko}\";\n feedback :: \"#sliceObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"sliceObject.feedback\": [\n {\n \"rhs\": \"You sliced the {co.name} with the {ko.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction look {\n template :: \"look\";\n feedback :: \"#look.feedback#\";\n\n grammar :: \"\"\"\n {\n \"look.feedback\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"#look-variations#. Next to it, you see #list_objects_on_the_floor#.\"\n },\n {\n \"rhs\": \"You are in the middle of a room. Looking quickly around you, you see #list_appliances#.\"\n }\n ],\n\n \"look-variations\": [\n {\n \"rhs\": \"You are facing the [{r.name | atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)}]\"\n }\n ],\n\n \"list_objects_on_the_floor\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)\",\n \"rhs\": \"[{#overview(o)# | atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"list_appliances\": [\n {\n \"condition\": \"receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"[{#overview(r)# | receptacleatlocation(r:receptacle, l:location)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"overview(o, r)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name} (in/on the {r.name})}\"\n }\n ],\n\n \"overview(o)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name}\"\n }\n ],\n \"overview(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}\"\n }\n ],\n \"overview_with_state(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}#overview_state(r)#\"\n }\n ],\n \"overview_state(r)\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \" (it is open)\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \" (it is closed)\"\n },\n {\n \"rhs\": \"\"\n }\n ],\n\n \"list_empty\": [\n {\n \"rhs\": \"nothing\"\n }\n ],\n \"list_separator\": [\n {\n \"rhs\": \", \"\n }\n ],\n \"list_last_separator\": [\n {\n \"rhs\": \", and \"\n }\n ]\n }\n \"\"\";\n}\n\naction help {\n template :: \"help\";\n feedback :: \"\nAvailable commands:\n look: look around your current location\n inventory: check your current inventory\n go to (receptacle): move to a receptacle\n open (receptacle): open a receptacle\n close (receptacle): close a receptacle\n take (object) from (receptacle): take an object from a receptacle\n move (object) to (receptacle): place an object in or on a receptacle\n examine (something): examine a receptacle or an object\n use (object): use an object\n heat (object) with (receptacle): heat an object using a receptacle\n clean (object) with (receptacle): clean an object using a receptacle\n cool (object) with (receptacle): cool an object using a receptacle\n slice (object) with (object): slice an object using a sharp object\n\";\n}\n", "pddl_problem": "\n(define (problem plan_trial_T20190909_052944_317093)\n(:domain alfred)\n(:objects\nagent1 - agent\nSaltShaker - object\n HousePlant - object\n Candle - object\n SprayBottle - object\n Bowl - object\n Window - object\n CD - object\n Egg - object\n Glassbottle - object\n Sink - object\n Pillow - object\n Spoon - object\n SoapBottle - object\n TeddyBear - object\n ButterKnife - object\n Cup - object\n Plate - object\n RemoteControl - object\n Tomato - object\n Statue - object\n HandTowel - object\n Knife - object\n StoveKnob - object\n LightSwitch - object\n Pen - object\n Painting - object\n DishSponge - object\n Vase - object\n Mug - object\n ToiletPaper - object\n Box - object\n Mirror - object\n Ladle - object\n Fork - object\n Blinds - object\n Footstool - object\n KeyChain - object\n Cloth - object\n Laptop - object\n TissueBox - object\n PepperShaker - object\n FloorLamp - object\n WateringCan - object\n Apple - object\n Pan - object\n PaperTowel - object\n PaperTowelRoll - object\n Newspaper - object\n Television - object\n Chair - object\n CellPhone - object\n CreditCard - object\n Lettuce - object\n BasketBall - object\n Potato - object\n Curtains - object\n Boots - object\n Pencil - object\n AlarmClock - object\n ToiletPaperRoll - object\n Spatula - object\n Book - object\n Bread - object\n SoapBar - object\n Watch - object\n DeskLamp - object\n Kettle - object\n Pot - object\n ScrubBrush - object\n WineBottle - object\n ShowerDoor - object\n Bathtub - object\n LaundryHamperLid - object\n ShowerGlass - object\n Poster - object\n TennisRacket - object\n BaseballBat - object\n Towel - object\n Plunger - object\nSaltShakerType - otype\n HousePlantType - otype\n CandleType - otype\n SprayBottleType - otype\n BowlType - otype\n WindowType - otype\n CDType - otype\n EggType - otype\n GlassbottleType - otype\n SinkType - otype\n PillowType - otype\n SpoonType - otype\n SoapBottleType - otype\n TeddyBearType - otype\n ButterKnifeType - otype\n CupType - otype\n PlateType - otype\n RemoteControlType - otype\n TomatoType - otype\n StatueType - otype\n HandTowelType - otype\n KnifeType - otype\n StoveKnobType - otype\n LightSwitchType - otype\n PenType - otype\n PaintingType - otype\n DishSpongeType - otype\n VaseType - otype\n MugType - otype\n ToiletPaperType - otype\n BoxType - otype\n MirrorType - otype\n LadleType - otype\n ForkType - otype\n BlindsType - otype\n FootstoolType - otype\n KeyChainType - otype\n ClothType - otype\n LaptopType - otype\n TissueBoxType - otype\n PepperShakerType - otype\n FloorLampType - otype\n WateringCanType - otype\n AppleType - otype\n PanType - otype\n PaperTowelType - otype\n PaperTowelRollType - otype\n NewspaperType - otype\n TelevisionType - otype\n ChairType - otype\n CellPhoneType - otype\n CreditCardType - otype\n LettuceType - otype\n BasketBallType - otype\n PotatoType - otype\n CurtainsType - otype\n BootsType - otype\n PencilType - otype\n AlarmClockType - otype\n ToiletPaperRollType - otype\n SpatulaType - otype\n BookType - otype\n BreadType - otype\n SoapBarType - otype\n WatchType - otype\n DeskLampType - otype\n KettleType - otype\n PotType - otype\n ScrubBrushType - otype\n WineBottleType - otype\n ShowerDoorType - otype\n BathtubType - otype\n LaundryHamperLidType - otype\n ShowerGlassType - otype\n PosterType - otype\n TennisRacketType - otype\n BaseballBatType - otype\n TowelType - otype\n PlungerType - otype\nSafeType - rtype\n DrawerType - rtype\n CoffeeMachineType - rtype\n HandTowelHolderType - rtype\n SinkBasinType - rtype\n DresserType - rtype\n LaundryHamperType - rtype\n TVStandType - rtype\n BathtubBasinType - rtype\n CabinetType - rtype\n FridgeType - rtype\n DeskType - rtype\n ToiletType - rtype\n CartType - rtype\n SideTableType - rtype\n SofaType - rtype\n CoffeeTableType - rtype\n DiningTableType - rtype\n CounterTopType - rtype\n GarbageCanType - rtype\n ArmChairType - rtype\n ShelfType - rtype\n MicrowaveType - rtype\n ToasterType - rtype\n BedType - rtype\n PaintingHangerType - rtype\n TowelHolderType - rtype\n ToiletPaperHangerType - rtype\n StoveBurnerType - rtype\n OttomanType - rtype\n\n\n Apple_bar__minus_00_dot_33_bar__plus_01_dot_35_bar__minus_00_dot_41 - object\n Apple_bar__minus_03_dot_57_bar__plus_00_dot_96_bar__minus_00_dot_12 - object\n Apple_bar__minus_03_dot_94_bar__plus_00_dot_75_bar__minus_00_dot_49 - object\n Blinds_bar__minus_01_dot_37_bar__plus_02_dot_21_bar__minus_03_dot_96 - object\n Bowl_bar__minus_00_dot_23_bar__plus_01_dot_57_bar__minus_01_dot_94 - object\n Bowl_bar__minus_00_dot_38_bar__plus_01_dot_28_bar__minus_00_dot_65 - object\n Bread_bar__minus_02_dot_56_bar__plus_00_dot_98_bar__minus_00_dot_20 - object\n Bread_bar__minus_02_dot_56_bar__plus_00_dot_98_bar__minus_00_dot_46 - object\n Bread_bar__minus_03_dot_36_bar__plus_00_dot_98_bar__minus_00_dot_46 - object\n ButterKnife_bar__minus_02_dot_36_bar__plus_00_dot_89_bar__minus_00_dot_29 - object\n Cup_bar__minus_00_dot_13_bar__plus_01_dot_94_bar__minus_02_dot_18 - object\n Cup_bar__minus_00_dot_55_bar__plus_00_dot_94_bar__minus_01_dot_41 - object\n DishSponge_bar__minus_00_dot_39_bar__plus_00_dot_94_bar__minus_01_dot_41 - object\n Egg_bar__minus_04_dot_24_bar__plus_00_dot_73_bar__minus_00_dot_13 - object\n Faucet_bar__minus_00_dot_39_bar__plus_00_dot_93_bar__minus_03_dot_61 - object\n Fork_bar__minus_03_dot_36_bar__plus_00_dot_90_bar__minus_00_dot_38 - object\n Fork_bar__minus_03_dot_37_bar__plus_00_dot_76_bar__minus_03_dot_13 - object\n Fork_bar__minus_03_dot_57_bar__plus_00_dot_90_bar__minus_00_dot_55 - object\n Knife_bar__minus_01_dot_69_bar__plus_00_dot_97_bar__minus_03_dot_83 - object\n Knife_bar__minus_02_dot_56_bar__plus_00_dot_92_bar__minus_00_dot_29 - object\n Lettuce_bar__minus_03_dot_40_bar__plus_00_dot_85_bar__minus_03_dot_07 - object\n Lettuce_bar__minus_03_dot_71_bar__plus_00_dot_85_bar__minus_02_dot_85 - object\n Lettuce_bar__minus_04_dot_06_bar__plus_00_dot_78_bar__minus_00_dot_31 - object\n LightSwitch_bar__minus_04_dot_37_bar__plus_01_dot_49_bar__minus_01_dot_03 - object\n Mug_bar__minus_00_dot_25_bar__plus_01_dot_28_bar__minus_00_dot_88 - object\n Mug_bar__minus_00_dot_47_bar__plus_00_dot_08_bar__minus_02_dot_79 - object\n Mug_bar__minus_02_dot_51_bar__plus_00_dot_97_bar__minus_03_dot_65 - object\n Pan_bar__minus_00_dot_22_bar__plus_00_dot_96_bar__minus_01_dot_85 - object\n Pan_bar__minus_00_dot_22_bar__plus_00_dot_96_bar__minus_02_dot_24 - object\n Pan_bar__minus_02_dot_96_bar__plus_00_dot_89_bar__minus_00_dot_38 - object\n PepperShaker_bar__minus_02_dot_96_bar__plus_00_dot_89_bar__minus_00_dot_12 - object\n Plate_bar__minus_00_dot_17_bar__plus_01_dot_52_bar__minus_02_dot_70 - object\n Plate_bar__minus_00_dot_32_bar__plus_01_dot_50_bar__minus_00_dot_30 - object\n Plate_bar__minus_00_dot_40_bar__plus_00_dot_96_bar__minus_02_dot_79 - object\n Potato_bar__minus_03_dot_56_bar__plus_00_dot_79_bar__minus_03_dot_14 - object\n Potato_bar__minus_04_dot_24_bar__plus_00_dot_72_bar__minus_00_dot_49 - object\n Pot_bar__minus_00_dot_61_bar__plus_00_dot_80_bar__minus_03_dot_42 - object\n SaltShaker_bar__minus_00_dot_47_bar__plus_00_dot_74_bar__minus_01_dot_53 - object\n Sink_bar__minus_00_dot_60_bar__plus_00_dot_93_bar__minus_03_dot_39 - object\n 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loc_bar__minus_7_bar__minus_11_bar_1_bar_45 - location\n loc_bar__minus_4_bar__minus_8_bar_1_bar_60 - location\n loc_bar__minus_4_bar__minus_9_bar_2_bar__minus_15 - location\n loc_bar__minus_4_bar__minus_7_bar_1_bar__minus_30 - location\n loc_bar__minus_15_bar__minus_5_bar_0_bar_45 - location\n loc_bar__minus_4_bar__minus_12_bar_1_bar_60 - location\n loc_bar__minus_10_bar__minus_12_bar_2_bar_60 - location\n loc_bar__minus_4_bar__minus_12_bar_1_bar__minus_15 - location\n loc_bar__minus_4_bar__minus_6_bar_1_bar_60 - location\n loc_bar__minus_4_bar__minus_9_bar_1_bar_60 - location\n loc_bar__minus_6_bar__minus_6_bar_1_bar_60 - location\n loc_bar__minus_9_bar__minus_6_bar_2_bar_30 - location\n )\n \n\n(:init\n\n\n (receptacleType CounterTop_bar__minus_01_dot_94_bar__plus_00_dot_98_bar__minus_03_dot_67 CounterTopType)\n (receptacleType SideTable_bar__minus_04_dot_07_bar__plus_00_dot_73_bar__minus_00_dot_31 SideTableType)\n (receptacleType 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SaltShaker_bar__minus_00_dot_47_bar__plus_00_dot_74_bar__minus_01_dot_53 Drawer_bar__minus_00_dot_50_bar__plus_00_dot_78_bar__minus_01_dot_45)\n (inReceptacle Cup_bar__minus_00_dot_13_bar__plus_01_dot_94_bar__minus_02_dot_18 Cabinet_bar__minus_00_dot_34_bar__plus_02_dot_11_bar__minus_02_dot_50)\n (inReceptacle Mug_bar__minus_00_dot_47_bar__plus_00_dot_08_bar__minus_02_dot_79 Cabinet_bar__minus_00_dot_63_bar__plus_00_dot_39_bar__minus_02_dot_51)\n (inReceptacle Plate_bar__minus_00_dot_17_bar__plus_01_dot_52_bar__minus_02_dot_70 Cabinet_bar__minus_00_dot_33_bar__plus_01_dot_89_bar__minus_02_dot_51)\n (inReceptacle Spatula_bar__minus_03_dot_88_bar__plus_00_dot_71_bar__minus_00_dot_37 SideTable_bar__minus_04_dot_07_bar__plus_00_dot_73_bar__minus_00_dot_31)\n (inReceptacle Potato_bar__minus_04_dot_24_bar__plus_00_dot_72_bar__minus_00_dot_49 SideTable_bar__minus_04_dot_07_bar__plus_00_dot_73_bar__minus_00_dot_31)\n (inReceptacle Apple_bar__minus_03_dot_94_bar__plus_00_dot_75_bar__minus_00_dot_49 SideTable_bar__minus_04_dot_07_bar__plus_00_dot_73_bar__minus_00_dot_31)\n (inReceptacle Lettuce_bar__minus_04_dot_06_bar__plus_00_dot_78_bar__minus_00_dot_31 SideTable_bar__minus_04_dot_07_bar__plus_00_dot_73_bar__minus_00_dot_31)\n (inReceptacle Egg_bar__minus_04_dot_24_bar__plus_00_dot_73_bar__minus_00_dot_13 SideTable_bar__minus_04_dot_07_bar__plus_00_dot_73_bar__minus_00_dot_31)\n (inReceptacle Spoon_bar__minus_03_dot_94_bar__plus_00_dot_69_bar__minus_00_dot_31 SideTable_bar__minus_04_dot_07_bar__plus_00_dot_73_bar__minus_00_dot_31)\n (inReceptacle DishSponge_bar__minus_00_dot_39_bar__plus_00_dot_94_bar__minus_01_dot_41 CounterTop_bar__minus_00_dot_33_bar__plus_00_dot_98_bar__minus_01_dot_45)\n (inReceptacle Pan_bar__minus_00_dot_22_bar__plus_00_dot_96_bar__minus_01_dot_85 CounterTop_bar__minus_00_dot_33_bar__plus_00_dot_98_bar__minus_01_dot_45)\n (inReceptacle Cup_bar__minus_00_dot_55_bar__plus_00_dot_94_bar__minus_01_dot_41 CounterTop_bar__minus_00_dot_33_bar__plus_00_dot_98_bar__minus_01_dot_45)\n (inReceptacle Pan_bar__minus_00_dot_22_bar__plus_00_dot_96_bar__minus_02_dot_24 StoveBurner_bar__minus_00_dot_22_bar__plus_00_dot_92_bar__minus_02_dot_24)\n (inReceptacle Tomato_bar__minus_02_dot_35_bar__plus_00_dot_15_bar__minus_03_dot_57 GarbageCan_bar__minus_02_dot_42_bar__plus_00_dot_00_bar__minus_03_dot_54)\n (inReceptacle Mug_bar__minus_02_dot_51_bar__plus_00_dot_97_bar__minus_03_dot_65 CoffeeMachine_bar__minus_02_dot_51_bar__plus_00_dot_93_bar__minus_03_dot_80)\n (inReceptacle Pot_bar__minus_00_dot_61_bar__plus_00_dot_80_bar__minus_03_dot_42 Sink_bar__minus_00_dot_60_bar__plus_00_dot_93_bar__minus_03_dot_39_bar_SinkBasin)\n (inReceptacle Spatula_bar__minus_00_dot_74_bar__plus_00_dot_83_bar__minus_03_dot_59 Sink_bar__minus_00_dot_60_bar__plus_00_dot_93_bar__minus_03_dot_39_bar_SinkBasin)\n (inReceptacle Apple_bar__minus_00_dot_33_bar__plus_01_dot_35_bar__minus_00_dot_41 Fridge_bar__minus_00_dot_31_bar__plus_00_dot_00_bar__minus_00_dot_65)\n (inReceptacle Plate_bar__minus_00_dot_32_bar__plus_01_dot_50_bar__minus_00_dot_30 Fridge_bar__minus_00_dot_31_bar__plus_00_dot_00_bar__minus_00_dot_65)\n (inReceptacle Mug_bar__minus_00_dot_25_bar__plus_01_dot_28_bar__minus_00_dot_88 Fridge_bar__minus_00_dot_31_bar__plus_00_dot_00_bar__minus_00_dot_65)\n (inReceptacle Bowl_bar__minus_00_dot_38_bar__plus_01_dot_28_bar__minus_00_dot_65 Fridge_bar__minus_00_dot_31_bar__plus_00_dot_00_bar__minus_00_dot_65)\n (inReceptacle Tomato_bar__minus_00_dot_36_bar__plus_01_dot_54_bar__minus_00_dot_76 Fridge_bar__minus_00_dot_31_bar__plus_00_dot_00_bar__minus_00_dot_65)\n (inReceptacle Bowl_bar__minus_00_dot_23_bar__plus_01_dot_57_bar__minus_01_dot_94 Microwave_bar__minus_00_dot_22_bar__plus_01_dot_47_bar__minus_02_dot_06)\n \n \n (receptacleAtLocation 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Microwave_bar__minus_00_dot_22_bar__plus_01_dot_47_bar__minus_02_dot_06 loc_bar__minus_4_bar__minus_8_bar_1_bar_15)\n (receptacleAtLocation SideTable_bar__minus_04_dot_07_bar__plus_00_dot_73_bar__minus_00_dot_31 loc_bar__minus_15_bar__minus_5_bar_0_bar_45)\n (receptacleAtLocation Sink_bar__minus_00_dot_60_bar__plus_00_dot_93_bar__minus_03_dot_39_bar_SinkBasin loc_bar__minus_8_bar__minus_11_bar_1_bar_30)\n (receptacleAtLocation StoveBurner_bar__minus_00_dot_22_bar__plus_00_dot_92_bar__minus_01_dot_85 loc_bar__minus_4_bar__minus_7_bar_1_bar_45)\n (receptacleAtLocation StoveBurner_bar__minus_00_dot_22_bar__plus_00_dot_92_bar__minus_02_dot_24 loc_bar__minus_4_bar__minus_9_bar_1_bar_45)\n (receptacleAtLocation StoveBurner_bar__minus_00_dot_44_bar__plus_00_dot_92_bar__minus_01_dot_85 loc_bar__minus_4_bar__minus_7_bar_1_bar_45)\n (receptacleAtLocation StoveBurner_bar__minus_00_dot_44_bar__plus_00_dot_92_bar__minus_02_dot_24 loc_bar__minus_4_bar__minus_9_bar_1_bar_45)\n (receptacleAtLocation Toaster_bar__minus_01_dot_97_bar__plus_00_dot_93_bar__minus_03_dot_76 loc_bar__minus_8_bar__minus_12_bar_2_bar_45)\n (objectAtLocation Bowl_bar__minus_00_dot_23_bar__plus_01_dot_57_bar__minus_01_dot_94 loc_bar__minus_4_bar__minus_8_bar_1_bar_15)\n (objectAtLocation Mug_bar__minus_00_dot_25_bar__plus_01_dot_28_bar__minus_00_dot_88 loc_bar__minus_5_bar__minus_3_bar_1_bar_60)\n (objectAtLocation Lettuce_bar__minus_04_dot_06_bar__plus_00_dot_78_bar__minus_00_dot_31 loc_bar__minus_15_bar__minus_5_bar_0_bar_45)\n (objectAtLocation Spoon_bar__minus_03_dot_94_bar__plus_00_dot_69_bar__minus_00_dot_31 loc_bar__minus_15_bar__minus_5_bar_0_bar_45)\n (objectAtLocation Potato_bar__minus_03_dot_56_bar__plus_00_dot_79_bar__minus_03_dot_14 loc_bar__minus_14_bar__minus_9_bar_2_bar_45)\n (objectAtLocation Apple_bar__minus_00_dot_33_bar__plus_01_dot_35_bar__minus_00_dot_41 loc_bar__minus_5_bar__minus_3_bar_1_bar_60)\n (objectAtLocation Knife_bar__minus_01_dot_69_bar__plus_00_dot_97_bar__minus_03_dot_83 loc_bar__minus_6_bar__minus_12_bar_2_bar_45)\n (objectAtLocation Spatula_bar__minus_03_dot_93_bar__plus_00_dot_78_bar__minus_03_dot_28 loc_bar__minus_14_bar__minus_9_bar_2_bar_45)\n (objectAtLocation Bread_bar__minus_03_dot_36_bar__plus_00_dot_98_bar__minus_00_dot_46 loc_bar__minus_12_bar__minus_5_bar_0_bar_60)\n (objectAtLocation Plate_bar__minus_00_dot_17_bar__plus_01_dot_52_bar__minus_02_dot_70 loc_bar__minus_4_bar__minus_12_bar_1_bar__minus_15)\n (objectAtLocation Pan_bar__minus_02_dot_96_bar__plus_00_dot_89_bar__minus_00_dot_38 loc_bar__minus_12_bar__minus_5_bar_0_bar_60)\n (objectAtLocation Tomato_bar__minus_02_dot_35_bar__plus_00_dot_15_bar__minus_03_dot_57 loc_bar__minus_10_bar__minus_12_bar_2_bar_60)\n (objectAtLocation Cup_bar__minus_00_dot_55_bar__plus_00_dot_94_bar__minus_01_dot_41 loc_bar__minus_4_bar__minus_6_bar_1_bar_45)\n (objectAtLocation Fork_bar__minus_03_dot_37_bar__plus_00_dot_76_bar__minus_03_dot_13 loc_bar__minus_14_bar__minus_9_bar_2_bar_45)\n (objectAtLocation Apple_bar__minus_03_dot_57_bar__plus_00_dot_96_bar__minus_00_dot_12 loc_bar__minus_12_bar__minus_5_bar_0_bar_60)\n (objectAtLocation Mug_bar__minus_00_dot_47_bar__plus_00_dot_08_bar__minus_02_dot_79 loc_bar__minus_6_bar__minus_9_bar_1_bar_60)\n (objectAtLocation Lettuce_bar__minus_03_dot_40_bar__plus_00_dot_85_bar__minus_03_dot_07 loc_bar__minus_14_bar__minus_9_bar_2_bar_45)\n (objectAtLocation Bread_bar__minus_02_dot_56_bar__plus_00_dot_98_bar__minus_00_dot_20 loc_bar__minus_12_bar__minus_5_bar_0_bar_60)\n (objectAtLocation Plate_bar__minus_00_dot_32_bar__plus_01_dot_50_bar__minus_00_dot_30 loc_bar__minus_5_bar__minus_3_bar_1_bar_60)\n (objectAtLocation Spatula_bar__minus_00_dot_74_bar__plus_00_dot_83_bar__minus_03_dot_59 loc_bar__minus_8_bar__minus_11_bar_1_bar_30)\n (objectAtLocation Fork_bar__minus_03_dot_57_bar__plus_00_dot_90_bar__minus_00_dot_55 loc_bar__minus_12_bar__minus_5_bar_0_bar_60)\n (objectAtLocation Pan_bar__minus_00_dot_22_bar__plus_00_dot_96_bar__minus_02_dot_24 loc_bar__minus_4_bar__minus_9_bar_1_bar_45)\n (objectAtLocation Sink_bar__minus_00_dot_60_bar__plus_00_dot_93_bar__minus_03_dot_39 loc_bar__minus_4_bar__minus_12_bar_1_bar_60)\n (objectAtLocation SoapBottle_bar__minus_03_dot_88_bar__plus_00_dot_76_bar__minus_02_dot_93 loc_bar__minus_14_bar__minus_9_bar_2_bar_45)\n (objectAtLocation Pot_bar__minus_00_dot_61_bar__plus_00_dot_80_bar__minus_03_dot_42 loc_bar__minus_8_bar__minus_11_bar_1_bar_30)\n (objectAtLocation StoveKnob_bar__minus_00_dot_62_bar__plus_00_dot_90_bar__minus_01_dot_83 loc_bar__minus_4_bar__minus_7_bar_1_bar_60)\n (objectAtLocation StoveKnob_bar__minus_00_dot_62_bar__plus_00_dot_90_bar__minus_02_dot_13 loc_bar__minus_4_bar__minus_9_bar_1_bar_60)\n (objectAtLocation StoveKnob_bar__minus_00_dot_62_bar__plus_00_dot_90_bar__minus_02_dot_29 loc_bar__minus_4_bar__minus_9_bar_1_bar_60)\n (objectAtLocation StoveKnob_bar__minus_00_dot_62_bar__plus_00_dot_90_bar__minus_01_dot_98 loc_bar__minus_4_bar__minus_8_bar_1_bar_60)\n (objectAtLocation Fork_bar__minus_03_dot_36_bar__plus_00_dot_90_bar__minus_00_dot_38 loc_bar__minus_12_bar__minus_5_bar_0_bar_60)\n (objectAtLocation Cup_bar__minus_00_dot_13_bar__plus_01_dot_94_bar__minus_02_dot_18 loc_bar__minus_4_bar__minus_10_bar_1_bar__minus_30)\n (objectAtLocation Tomato_bar__minus_00_dot_36_bar__plus_01_dot_54_bar__minus_00_dot_76 loc_bar__minus_5_bar__minus_3_bar_1_bar_60)\n (objectAtLocation Pan_bar__minus_00_dot_22_bar__plus_00_dot_96_bar__minus_01_dot_85 loc_bar__minus_4_bar__minus_6_bar_1_bar_45)\n (objectAtLocation Plate_bar__minus_00_dot_40_bar__plus_00_dot_96_bar__minus_02_dot_79 loc_bar__minus_6_bar__minus_12_bar_2_bar_45)\n (objectAtLocation Window_bar__minus_01_dot_39_bar__plus_01_dot_61_bar__minus_04_dot_11 loc_bar__minus_6_bar__minus_12_bar_2_bar_0)\n (objectAtLocation LightSwitch_bar__minus_04_dot_37_bar__plus_01_dot_49_bar__minus_01_dot_03 loc_bar__minus_15_bar__minus_4_bar_3_bar_15)\n (objectAtLocation Bread_bar__minus_02_dot_56_bar__plus_00_dot_98_bar__minus_00_dot_46 loc_bar__minus_12_bar__minus_5_bar_0_bar_60)\n (objectAtLocation Spatula_bar__minus_03_dot_88_bar__plus_00_dot_71_bar__minus_00_dot_37 loc_bar__minus_15_bar__minus_5_bar_0_bar_45)\n (objectAtLocation Knife_bar__minus_02_dot_56_bar__plus_00_dot_92_bar__minus_00_dot_29 loc_bar__minus_12_bar__minus_5_bar_0_bar_60)\n (objectAtLocation SaltShaker_bar__minus_00_dot_47_bar__plus_00_dot_74_bar__minus_01_dot_53 loc_bar__minus_4_bar__minus_6_bar_1_bar_60)\n (objectAtLocation PepperShaker_bar__minus_02_dot_96_bar__plus_00_dot_89_bar__minus_00_dot_12 loc_bar__minus_12_bar__minus_5_bar_0_bar_60)\n (objectAtLocation ButterKnife_bar__minus_02_dot_36_bar__plus_00_dot_89_bar__minus_00_dot_29 loc_bar__minus_12_bar__minus_5_bar_0_bar_60)\n (objectAtLocation Apple_bar__minus_03_dot_94_bar__plus_00_dot_75_bar__minus_00_dot_49 loc_bar__minus_15_bar__minus_5_bar_0_bar_45)\n (objectAtLocation DishSponge_bar__minus_00_dot_39_bar__plus_00_dot_94_bar__minus_01_dot_41 loc_bar__minus_4_bar__minus_6_bar_1_bar_45)\n (objectAtLocation Potato_bar__minus_04_dot_24_bar__plus_00_dot_72_bar__minus_00_dot_49 loc_bar__minus_15_bar__minus_5_bar_0_bar_45)\n (objectAtLocation Egg_bar__minus_04_dot_24_bar__plus_00_dot_73_bar__minus_00_dot_13 loc_bar__minus_15_bar__minus_5_bar_0_bar_45)\n (objectAtLocation Spoon_bar__minus_01_dot_47_bar__plus_00_dot_94_bar__minus_03_dot_75 loc_bar__minus_6_bar__minus_12_bar_2_bar_45)\n (objectAtLocation Lettuce_bar__minus_03_dot_71_bar__plus_00_dot_85_bar__minus_02_dot_85 loc_bar__minus_14_bar__minus_9_bar_2_bar_45)\n (objectAtLocation Mug_bar__minus_02_dot_51_bar__plus_00_dot_97_bar__minus_03_dot_65 loc_bar__minus_10_bar__minus_12_bar_2_bar_45)\n (objectAtLocation Blinds_bar__minus_01_dot_37_bar__plus_02_dot_21_bar__minus_03_dot_96 loc_bar__minus_6_bar__minus_12_bar_2_bar__minus_30)\n (objectAtLocation Bowl_bar__minus_00_dot_38_bar__plus_01_dot_28_bar__minus_00_dot_65 loc_bar__minus_5_bar__minus_3_bar_1_bar_60)\n )\n \n\n (:goal\n (and\n (exists (?r - receptacle)\n (exists (?o - object)\n (and\n (heatable ?o)\n (objectType ?o CupType)\n (receptacleType ?r CabinetType)\n (isHot ?o)\n (inReceptacle ?o ?r)\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to cabinet 6", "take cup 2 from cabinet 6", "go to microwave 1", "heat cup 2 with microwave 1", "go to cabinet 6", "move cup 2 to cabinet 6"]}
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alfworld__pick_heat_then_place_in_recep__454
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pick_heat_then_place_in_recep
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pick_heat_then_place_in_recep-Cup-None-Cabinet-28/trial_T20190909_053018_834213/game.tw-pddl
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{"pddl_domain": ";; Specification in PDDL of the Alfred domain\n;; Intended to be used with Fast Downward which supports PDDL 2.2 level 1 plus the :action-costs requirement from PDDL 3.1.\n\n(define (domain alfred)\n (:requirements\n :adl\n :action-costs\n :typing\n )\n (:types\n agent\n location\n receptacle\n object\n rtype\n otype\n )\n\n\n (:predicates\n (atLocation ?a - agent ?l - location) ; true if the agent is at the location\n (receptacleAtLocation ?r - receptacle ?l - location) ; true if the receptacle is at the location (constant)\n (objectAtLocation ?o - object ?l - location) ; true if the object is at the location\n (openable ?r - receptacle) ; true if a receptacle is openable\n (opened ?r - receptacle) ; true if a receptacle is opened\n (inReceptacle ?o - object ?r - receptacle) ; object ?o is in receptacle ?r\n (isReceptacleObject ?o - object) ; true if the object can have things put inside it\n (inReceptacleObject ?innerObject - object ?outerObject - object) ; object ?innerObject is inside object ?outerObject\n (isReceptacleObjectFull ?o - object) ; true if the receptacle object contains something\n (wasInReceptacle ?o - object ?r - receptacle) ; object ?o was or is in receptacle ?r now or some time in the past\n (checked ?r - receptacle) ; whether the receptacle has been looked inside/visited\n (examined ?l - location) ; TODO\n (receptacleType ?r - receptacle ?t - rtype) ; the type of receptacle (Cabinet vs Cabinet|01|2...)\n (canContain ?rt - rtype ?ot - otype) ; true if receptacle can hold object\n (objectType ?o - object ?t - otype) ; the type of object (Apple vs Apple|01|2...)\n (holds ?a - agent ?o - object) ; object ?o is held by agent ?a\n (holdsAny ?a - agent) ; agent ?a holds an object\n (holdsAnyReceptacleObject ?a - agent) ; agent ?a holds a receptacle object\n (full ?r - receptacle) ; true if the receptacle has no remaining space\n (isClean ?o - object) ; true if the object has been clean in sink\n (cleanable ?o - object) ; true if the object can be placed in a sink\n (isHot ?o - object) ; true if the object has been heated up\n (heatable ?o - object) ; true if the object can be heated up in a microwave\n (isCool ?o - object) ; true if the object has been cooled\n (coolable ?o - object) ; true if the object can be cooled in the fridge\n (pickupable ?o - object) ; true if the object can be picked up\n (moveable ?o - object) ; true if the object can be moved\n (toggleable ?o - object) ; true if the object can be turned on/off\n (isOn ?o - object) ; true if the object is on\n (isToggled ?o - object) ; true if the object has been toggled\n (sliceable ?o - object) ; true if the object can be sliced\n (isSliced ?o - object) ; true if the object is sliced\n )\n\n (:functions\n (distance ?from ?to)\n (total-cost) - number\n )\n\n;; All actions are specified such that the final arguments are the ones used\n;; for performing actions in Unity.\n\n\n(:action look\n :parameters (?a - agent ?l - location)\n :precondition\n (and\n (atLocation ?a ?l)\n )\n :effect\n (and\n (checked ?l)\n )\n)\n\n(:action inventory\n :parameters (?a - agent)\n :precondition\n ()\n :effect\n (and\n (checked ?a)\n )\n)\n\n(:action examineReceptacle\n :parameters (?a - agent ?r - receptacle)\n :precondition\n (and\n (exists (?l - location)\n (and\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n )\n )\n )\n :effect\n (and\n (checked ?r)\n )\n)\n\n(:action examineObject\n :parameters (?a - agent ?o - object)\n :precondition\n (or\n ;(exists (?l - location)\n ; (and\n ; (atLocation ?a ?l)\n ; (objectAtLocation ?o ?l)\n ; )\n ;)\n (exists (?l - location, ?r - receptacle)\n (and\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n ; (objectAtLocation ?o ?l)\n (inReceptacle ?o ?r)\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n )\n )\n (holds ?a ?o)\n )\n :effect\n (and\n (checked ?o)\n )\n)\n\n;; agent goes to receptacle\n (:action GotoLocation\n :parameters (?a - agent ?lStart - location ?lEnd - location ?r - receptacle)\n :precondition (and\n (atLocation ?a ?lStart)\n (receptacleAtLocation ?r ?lEnd)\n ;(exists (?r - receptacle) (receptacleAtLocation ?r ?lEnd))\n )\n :effect (and\n (not (atLocation ?a ?lStart))\n (atLocation ?a ?lEnd)\n ; (forall (?r - receptacle)\n ; (when (and (receptacleAtLocation ?r ?lEnd)\n ; (or (not (openable ?r)) (opened ?r)))\n ; (checked ?r)\n ; )\n ; )\n ; (increase (total-cost) (distance ?lStart ?lEnd))\n (increase (total-cost) 1)\n )\n )\n\n;; agent opens receptacle\n (:action OpenObject\n :parameters (?a - agent ?l - location ?r - receptacle)\n :precondition (and\n (openable ?r)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (not (opened ?r))\n )\n :effect (and\n (opened ?r)\n (checked ?r)\n (increase (total-cost) 1)\n )\n )\n;; agent closes receptacle\n (:action CloseObject\n :parameters (?a - agent ?l - location ?r - receptacle)\n :precondition (and\n (openable ?r)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (opened ?r)\n )\n :effect (and\n (not (opened ?r))\n (increase (total-cost) 1)\n )\n\n )\n\n ;; agent picks up object from a receptacle\n (:action PickupObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n :precondition\n (and\n (pickupable ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n ; (objectAtLocation ?o ?l)\n (inReceptacle ?o ?r)\n (not (holdsAny ?a)) ; agent's hands are empty.\n ;(not (holdsAnyReceptacleObject ?a))\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n ;(not (isReceptacleObject ?o))\n )\n :effect\n (and\n (not (inReceptacle ?o ?r))\n (holds ?a ?o)\n (holdsAny ?a)\n (not (objectAtLocation ?o ?l))\n ;(not (full ?r))\n (increase (total-cost) 1)\n )\n )\n\n\n; ;; agent picks up object from a receptacle\n; (:action PickupObjectFromReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?outerR - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (inReceptacle ?o ?r)\n; (pickupable ?o)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (not (isReceptacleObject ?o))\n; (isReceptacleObject ?outerR)\n; (inReceptacleObject ?o ?outerR)\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (holds ?a ?o)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n;\n; (not (inReceptacleObject ?o ?outerR))\n; (not (isReceptacleObjectFull ?outerR))\n; )\n; )\n;\n; ;; agent picks up object from a receptacle\n; (:action PickupEmptyReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; ; (objectAtLocation ?o ?l)\n; (inReceptacle ?o ?r)\n; (pickupable ?o)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (isReceptacleObject ?o)\n; (not (isReceptacleObjectFull ?o))\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (holds ?a ?o)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n; (holdsAnyReceptacleObject ?a)\n; )\n; )\n;\n; ;; agent picks up object from a receptacle\n; (:action PickupFullReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?outerR - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (inReceptacle ?outerR ?r)\n; (pickupable ?outerR)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (not (isReceptacleObject ?o))\n; (isReceptacleObject ?outerR)\n; (inReceptacleObject ?o ?outerR)\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (not (inReceptacle ?outerR ?r))\n; (holds ?a ?outerR)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (objectAtLocation ?outerR ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n; (holdsAnyReceptacleObject ?a)\n; )\n; )\n\n\n;; agent puts down an object\n (:action PutObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle ?ot - otype ?rt - rtype)\n :precondition (and\n (holds ?a ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable\n ;(not (full ?r))\n (objectType ?o ?ot)\n (receptacleType ?r ?rt)\n (canContain ?rt ?ot)\n ;(not (holdsAnyReceptacleObject ?a))\n )\n :effect (and\n (inReceptacle ?o ?r)\n (objectAtLocation ?o ?l)\n ;(full ?r)\n (not (holds ?a ?o))\n (not (holdsAny ?a))\n (increase (total-cost) 1)\n )\n )\n\n;;; agent puts down an object\n; (:action PutObjectInReceptacleObject\n; :parameters (?a - agent ?l - location ?ot - otype ?o - object ?outerO - object ?outerR - receptacle)\n; :precondition (and\n; (atLocation ?a ?l)\n; (objectAtLocation ?outerO ?l)\n; (isReceptacleObject ?outerO)\n; (not (isReceptacleObject ?o))\n; (objectType ?o ?ot)\n; (holds ?a ?o)\n; (not (holdsAnyReceptacleObject ?a))\n; (inReceptacle ?outerO ?outerR)\n; (not (isReceptacleObjectFull ?outerO))\n; )\n; :effect (and\n; (inReceptacleObject ?o ?outerO)\n; (inReceptacle ?o ?outerR)\n; (not (holds ?a ?o))\n; (not (holdsAny ?a))\n; (objectAtLocation ?o ?l)\n; (isReceptacleObjectFull ?outerO)\n; (increase (total-cost) 1)\n; )\n; )\n;\n;;; agent puts down an object\n; (:action PutEmptyReceptacleObjectinReceptacle\n; :parameters (?a - agent ?l - location ?ot - otype ?o - object ?r - receptacle)\n; :precondition (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable\n; (not (full ?r))\n; (objectType ?o ?ot)\n; (holds ?a ?o)\n; (holdsAnyReceptacleObject ?a)\n; (isReceptacleObject ?o)\n; (not (isReceptacleObjectFull ?o))\n; )\n; :effect (and\n; (inReceptacle ?o ?r)\n; (objectAtLocation ?o ?l)\n; (full ?r)\n; (not (holds ?a ?o))\n; (not (holdsAny ?a))\n; (not (holdsAnyReceptacleObject ?a))\n; (increase (total-cost) 1)\n; )\n; )\n;\n;;; agent puts down a receptacle object in a receptacle\n; (:action PutFullReceptacleObjectInReceptacle\n; :parameters (?a - agent ?l - location ?ot - otype ?innerO - object ?outerO - object ?r - receptacle) ; ?rt - rtype)\n; :precondition (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (objectType ?outerO ?ot)\n; (holds ?a ?outerO)\n; (holdsAnyReceptacleObject ?a)\n; (isReceptacleObject ?outerO)\n; (isReceptacleObjectFull ?outerO)\n; (inReceptacleObject ?innerO ?outerO)\n; )\n; :effect (and\n; (not (holdsAny ?a))\n; (not (holdsAnyReceptacleObject ?a))\n; (objectAtLocation ?outerO ?l)\n; (objectAtLocation ?innerO ?l)\n; (inReceptacle ?outerO ?r)\n; (inReceptacle ?innerO ?r)\n; (not (holds ?a ?outerO))\n; (increase (total-cost) 1)\n; )\n; )\n\n;; agent cleans some object\n (:action CleanObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (cleanable ?o)\n (or\n (receptacleType ?r SinkType)\n (receptacleType ?r SinkBasinType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isClean ?o)\n )\n )\n\n\n;; agent heats-up some object\n (:action HeatObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (heatable ?o)\n (or\n (receptacleType ?r MicrowaveType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isHot ?o)\n (not (isCool ?o))\n )\n )\n\n;; agent cools some object\n (:action CoolObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (coolable ?o)\n (or\n (receptacleType ?r FridgeType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isCool ?o)\n (not (isHot ?o))\n )\n )\n\n\n;; agent toggle object\n (:action ToggleObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n :precondition (and\n (toggleable ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (inReceptacle ?o ?r)\n )\n :effect (and\n (increase (total-cost) 5)\n (when (isOn ?o)\n (not (isOn ?o)))\n (when (not (isOn ?o))\n (isOn ?o))\n (isToggled ?o)\n )\n )\n\n\n;; agent slices some object with a knife\n (:action SliceObject\n :parameters (?a - agent ?l - location ?co - object ?ko - object)\n :precondition\n (and\n (sliceable ?co)\n (or\n (objectType ?ko KnifeType)\n (objectType ?ko ButterKnifeType)\n )\n (atLocation ?a ?l)\n (objectAtLocation ?co ?l)\n (holds ?a ?ko)\n )\n :effect (and\n (increase (total-cost) 5)\n (isSliced ?co)\n )\n )\n\n\n(:action help\n :parameters (?a - agent)\n :precondition\n ()\n :effect\n (and\n (checked ?a)\n )\n)\n)\n", "grammar": "grammar :: \"\"\"\n {\n \"intro\": [\n {\n \"rhs\": \"-= Welcome to TextWorld, ALFRED! =-\\n\\n#look.feedback#\\n\\n#task#\"\n }\n ],\n\n \"notImplemented\": [\n {\n \"rhs\": \"TODO\"\n }\n ],\n\n \"task\": [\n {\n \"rhs\": \"Your task is to: put a hot cup in cabinet.\"\n }\n ],\n\n \"GotoLocation.feedback\": [\n {\n \"rhs\": \"You arrive at {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"OpenObject.feedback\": [\n {\n \"rhs\": \"You open the {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"CloseObject.feedback\": [\n {\n \"rhs\": \"You close the {r.name}.\"\n }\n ],\n\n \"PickupObject.feedback\": [\n {\n \"rhs\": \"You pick up the {o.name} from the {r.name}.\"\n }\n ],\n\n \"PickupObjectFromReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupObjectFromReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupEmptyReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupEmptyReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupFullReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupFullReceptacleObject: You pick up the {outerr.name}.\"\n }\n ],\n\n \"PutObject.feedback\": [\n {\n \"rhs\": \"You move the {o.name} to the {r.name}.\"\n }\n ],\n\n \"PutObjectInReceptacleObject.feedback\": [\n {\n \"rhs\": \"PutObjectInReceptacleObject: You put the {o.name} in the {outero.name}.\"\n }\n ],\n\n \"PutEmptyReceptacleObjectinReceptacle.feedback\": [\n {\n \"rhs\": \"PutEmptyReceptacleObjectinReceptacle: You put the {o.name} in the {r.name}.\"\n }\n ],\n\n \"PutFullReceptacleObjectInReceptacle.feedback\": [\n {\n \"rhs\": \"PutFullReceptacleObjectInReceptacle: You put the {outero.name} in the {r.name}.\"\n }\n ],\n\n \"inventory.feedback\": [\n {\n \"condition\": \"holdsany(a:agent)\",\n \"rhs\": \"You are carrying: [{o.indefinite + ' ' + o.name | holds(a:agent, o:object)}].\"\n },\n {\n \"rhs\": \"You are not carrying anything.\"\n }\n ],\n\n \"examineReceptacle.feedback\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \"The {r.name} is open. In it, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \"The {r.name} is closed.\"\n },\n {\n \"rhs\": \"On the {r.name}, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n }\n ],\n\n \"examineObject.feedback\": [\n {\n \"condition\": \"isreceptacleobject(o:object)\",\n \"rhs\": \"This is a normal {o.name}. In it, you see [{o2.indefinite + ' ' + o2.name | inreceptacleobject(o2:object, o:object)}].\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a clean sliced {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot sliced {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object)\",\n \"rhs\": \"This is a hot and clean {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object)\",\n \"rhs\": \"This is a cool and clean {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object)\",\n \"rhs\": \"This is a hot {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object)\",\n \"rhs\": \"This is a clean {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object)\",\n \"rhs\": \"This is a cold {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"This {o.name} is on.\"\n },\n {\n \"condition\": \"toggleable(o:object) & not_istoggled(o:object)\",\n \"rhs\": \"This {o.name} is off.\"\n },\n {\n \"condition\": \"sliceable(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a sliced {o.name}.\"\n },\n {\n \"rhs\": \"There's nothing special about {o.name}.\"\n }\n ]\n }\n\"\"\";\n\naction GotoLocation {\n template :: \"go to [{r.name | receptacleatlocation(r:receptacle, lend:location)}]\";\n feedback :: \"#GotoLocation.feedback#\";\n}\n\naction OpenObject {\n template :: \"open {r}\";\n feedback :: \"#OpenObject.feedback#\";\n}\n\naction CloseObject {\n template :: \"close {r}\";\n feedback :: \"#CloseObject.feedback#\";\n}\n\naction PickupObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObject.feedback#\";\n}\n\naction PickupObjectFromReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObjectFromReceptacleObject.feedback#\";\n}\n\naction PickupEmptyReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupEmptyReceptacleObject.feedback#\";\n}\n\naction PickupFullReceptacleObject {\n template :: \"take {outerr} from {r}\";\n feedback :: \"#PickupFullReceptacleObject.feedback#\";\n}\n\naction PutObject {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutObject.feedback#\";\n}\n\naction PutObjectInReceptacleObject {\n template :: \"put {o} into {outero}\";\n feedback :: \"#PutObjectInReceptacleObject.feedback#\";\n}\n\naction PutEmptyReceptacleObjectinReceptacle {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutEmptyReceptacleObjectinReceptacle.feedback#\";\n}\n\naction PutFullReceptacleObjectInReceptacle {\n template :: \"put {outero} in {r}\";\n feedback :: \"#PutFullReceptacleObjectInReceptacle.feedback#\";\n}\n\naction inventory {\n template :: \"inventory\";\n feedback :: \"#inventory.feedback#\";\n}\n\naction examineReceptacle {\n template :: \"examine {r}\";\n feedback :: \"#examineReceptacle.feedback#\";\n}\n\naction examineObject {\n template :: \"examine {o}\";\n feedback :: \"#examineObject.feedback#\";\n}\n\naction ToggleObject {\n template :: \"use {o}\";\n feedback :: \"#toggleObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"toggleObject.feedback\": [\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"You turn on the {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object)\",\n \"rhs\": \"You turn off the {o.name}.\"\n },\n {\n \"rhs\": \"You don't see any switch on the {o.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction HeatObject {\n template :: \"heat {o} with {r}\";\n feedback :: \"#heatObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"heatObject.feedback\": [\n {\n \"rhs\": \"You heat the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CleanObject {\n template :: \"clean {o} with {r}\";\n feedback :: \"#cleanObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"cleanObject.feedback\": [\n {\n \"rhs\": \"You clean the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CoolObject {\n template :: \"cool {o} with {r}\";\n feedback :: \"#coolObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"coolObject.feedback\": [\n {\n \"rhs\": \"You cool the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction SliceObject {\n template :: \"slice {co} with {ko}\";\n feedback :: \"#sliceObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"sliceObject.feedback\": [\n {\n \"rhs\": \"You sliced the {co.name} with the {ko.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction look {\n template :: \"look\";\n feedback :: \"#look.feedback#\";\n\n grammar :: \"\"\"\n {\n \"look.feedback\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"#look-variations#. Next to it, you see #list_objects_on_the_floor#.\"\n },\n {\n \"rhs\": \"You are in the middle of a room. Looking quickly around you, you see #list_appliances#.\"\n }\n ],\n\n \"look-variations\": [\n {\n \"rhs\": \"You are facing the [{r.name | atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)}]\"\n }\n ],\n\n \"list_objects_on_the_floor\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)\",\n \"rhs\": \"[{#overview(o)# | atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"list_appliances\": [\n {\n \"condition\": \"receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"[{#overview(r)# | receptacleatlocation(r:receptacle, l:location)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"overview(o, r)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name} (in/on the {r.name})}\"\n }\n ],\n\n \"overview(o)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name}\"\n }\n ],\n \"overview(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}\"\n }\n ],\n \"overview_with_state(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}#overview_state(r)#\"\n }\n ],\n \"overview_state(r)\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \" (it is open)\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \" (it is closed)\"\n },\n {\n \"rhs\": \"\"\n }\n ],\n\n \"list_empty\": [\n {\n \"rhs\": \"nothing\"\n }\n ],\n \"list_separator\": [\n {\n \"rhs\": \", \"\n }\n ],\n \"list_last_separator\": [\n {\n \"rhs\": \", and \"\n }\n ]\n }\n \"\"\";\n}\n\naction help {\n template :: \"help\";\n feedback :: \"\nAvailable commands:\n look: look around your current location\n inventory: check your current inventory\n go to (receptacle): move to a receptacle\n open (receptacle): open a receptacle\n close (receptacle): close a receptacle\n take (object) from (receptacle): take an object from a receptacle\n move (object) to (receptacle): place an object in or on a receptacle\n examine (something): examine a receptacle or an object\n use (object): use an object\n heat (object) with (receptacle): heat an object using a receptacle\n clean (object) with (receptacle): clean an object using a receptacle\n cool (object) with (receptacle): cool an object using a receptacle\n slice (object) with (object): slice an object using a sharp object\n\";\n}\n", "pddl_problem": "\n(define (problem plan_trial_T20190909_053018_834213)\n(:domain alfred)\n(:objects\nagent1 - agent\nSaltShaker - object\n HousePlant - object\n Candle - object\n SprayBottle - object\n Bowl - object\n Window - object\n CD - object\n Egg - object\n Glassbottle - object\n Sink - object\n Pillow - object\n Spoon - object\n SoapBottle - object\n TeddyBear - object\n ButterKnife - object\n Cup - object\n Plate - object\n RemoteControl - object\n Tomato - object\n Statue - object\n HandTowel - object\n Knife - object\n StoveKnob - object\n LightSwitch - object\n Pen - object\n Painting - object\n DishSponge - object\n Vase - object\n Mug - object\n ToiletPaper - object\n Box - object\n Mirror - object\n Ladle - object\n Fork - object\n Blinds - object\n Footstool - object\n KeyChain - object\n Cloth - object\n Laptop - object\n TissueBox - object\n PepperShaker - object\n FloorLamp - object\n WateringCan - object\n Apple - object\n Pan - object\n PaperTowel - object\n PaperTowelRoll - object\n Newspaper - object\n Television - object\n Chair - object\n CellPhone - object\n CreditCard - object\n Lettuce - object\n BasketBall - object\n Potato - object\n Curtains - object\n Boots - object\n Pencil - object\n AlarmClock - object\n ToiletPaperRoll - object\n Spatula - object\n Book - object\n Bread - object\n SoapBar - object\n Watch - object\n DeskLamp - object\n Kettle - object\n Pot - object\n ScrubBrush - object\n WineBottle - object\n ShowerDoor - object\n Bathtub - object\n LaundryHamperLid - object\n ShowerGlass - object\n Poster - object\n TennisRacket - object\n BaseballBat - object\n Towel - object\n Plunger - object\nSaltShakerType - otype\n HousePlantType - otype\n CandleType - otype\n SprayBottleType - otype\n BowlType - otype\n WindowType - otype\n CDType - otype\n EggType - otype\n GlassbottleType - otype\n SinkType - otype\n PillowType - otype\n SpoonType - otype\n SoapBottleType - otype\n TeddyBearType - otype\n ButterKnifeType - otype\n CupType - otype\n PlateType - otype\n RemoteControlType - otype\n TomatoType - otype\n StatueType - otype\n HandTowelType - otype\n KnifeType - otype\n StoveKnobType - otype\n LightSwitchType - otype\n PenType - otype\n PaintingType - otype\n DishSpongeType - otype\n VaseType - otype\n MugType - otype\n ToiletPaperType - otype\n BoxType - otype\n MirrorType - otype\n LadleType - otype\n ForkType - otype\n BlindsType - otype\n FootstoolType - otype\n KeyChainType - otype\n ClothType - otype\n LaptopType - otype\n TissueBoxType - otype\n PepperShakerType - otype\n FloorLampType - otype\n WateringCanType - otype\n AppleType - otype\n PanType - otype\n PaperTowelType - otype\n PaperTowelRollType - otype\n NewspaperType - otype\n TelevisionType - otype\n ChairType - otype\n CellPhoneType - otype\n CreditCardType - otype\n LettuceType - otype\n BasketBallType - otype\n PotatoType - otype\n CurtainsType - otype\n BootsType - otype\n PencilType - otype\n AlarmClockType - otype\n ToiletPaperRollType - otype\n SpatulaType - otype\n BookType - otype\n BreadType - otype\n SoapBarType - otype\n WatchType - otype\n DeskLampType - otype\n KettleType - otype\n PotType - otype\n ScrubBrushType - otype\n WineBottleType - otype\n ShowerDoorType - otype\n BathtubType - otype\n LaundryHamperLidType - otype\n ShowerGlassType - otype\n PosterType - otype\n TennisRacketType - otype\n BaseballBatType - otype\n TowelType - otype\n PlungerType - otype\nSafeType - rtype\n DrawerType - rtype\n CoffeeMachineType - rtype\n HandTowelHolderType - rtype\n SinkBasinType - rtype\n DresserType - rtype\n LaundryHamperType - rtype\n TVStandType - rtype\n BathtubBasinType - rtype\n CabinetType - rtype\n FridgeType - rtype\n DeskType - rtype\n ToiletType - rtype\n CartType - rtype\n SideTableType - rtype\n SofaType - rtype\n CoffeeTableType - rtype\n DiningTableType - rtype\n CounterTopType - rtype\n GarbageCanType - rtype\n ArmChairType - rtype\n ShelfType - rtype\n MicrowaveType - rtype\n ToasterType - rtype\n BedType - rtype\n PaintingHangerType - rtype\n TowelHolderType - rtype\n ToiletPaperHangerType - rtype\n StoveBurnerType - rtype\n OttomanType - rtype\n\n\n Apple_bar__minus_00_dot_40_bar__plus_01_dot_55_bar__minus_00_dot_30 - object\n Apple_bar__minus_04_dot_00_bar__plus_00_dot_75_bar__minus_00_dot_13 - object\n Blinds_bar__minus_01_dot_37_bar__plus_02_dot_21_bar__minus_03_dot_96 - object\n Bowl_bar__minus_00_dot_13_bar__plus_01_dot_94_bar__minus_02_dot_29 - object\n Bowl_bar__minus_00_dot_21_bar__plus_01_dot_50_bar__minus_02_dot_70 - object\n Bread_bar__minus_02_dot_36_bar__plus_00_dot_98_bar__minus_00_dot_20 - object\n Bread_bar__minus_03_dot_36_bar__plus_00_dot_98_bar__minus_00_dot_38 - object\n ButterKnife_bar__minus_00_dot_16_bar__plus_00_dot_94_bar__minus_01_dot_58 - object\n ButterKnife_bar__minus_02_dot_96_bar__plus_00_dot_89_bar__minus_00_dot_38 - object\n ButterKnife_bar__minus_04_dot_08_bar__plus_00_dot_76_bar__minus_03_dot_23 - object\n Cup_bar__minus_03_dot_57_bar__plus_00_dot_90_bar__minus_00_dot_20 - object\n Cup_bar__minus_03_dot_59_bar__plus_00_dot_76_bar__minus_02_dot_84 - object\n Cup_bar__minus_03_dot_60_bar__plus_00_dot_76_bar__minus_03_dot_26 - object\n Cup_bar__minus_04_dot_12_bar__plus_00_dot_69_bar__minus_00_dot_43 - object\n DishSponge_bar__minus_00_dot_10_bar__plus_01_dot_94_bar__minus_00_dot_66 - object\n DishSponge_bar__minus_00_dot_51_bar__plus_00_dot_75_bar__minus_02_dot_85 - object\n Egg_bar__minus_00_dot_24_bar__plus_00_dot_98_bar__minus_02_dot_96 - object\n Egg_bar__minus_04_dot_00_bar__plus_00_dot_73_bar__minus_00_dot_37 - object\n Egg_bar__minus_04_dot_12_bar__plus_00_dot_80_bar__minus_03_dot_35 - object\n Faucet_bar__minus_00_dot_39_bar__plus_00_dot_93_bar__minus_03_dot_61 - object\n Fork_bar__minus_00_dot_72_bar__plus_00_dot_81_bar__minus_03_dot_49 - object\n Knife_bar__minus_01_dot_47_bar__plus_00_dot_97_bar__minus_03_dot_60 - object\n Lettuce_bar__minus_00_dot_32_bar__plus_01_dot_58_bar__minus_00_dot_99 - object\n Lettuce_bar__minus_03_dot_29_bar__plus_00_dot_85_bar__minus_03_dot_30 - object\n Lettuce_bar__minus_03_dot_93_bar__plus_00_dot_85_bar__minus_03_dot_40 - object\n LightSwitch_bar__minus_04_dot_37_bar__plus_01_dot_49_bar__minus_01_dot_03 - object\n Mug_bar__minus_00_dot_36_bar__plus_01_dot_48_bar__minus_00_dot_53 - object\n Mug_bar__minus_03_dot_88_bar__plus_00_dot_69_bar__minus_00_dot_19 - object\n Mug_bar__minus_03_dot_94_bar__plus_00_dot_69_bar__minus_00_dot_49 - object\n Pan_bar__minus_00_dot_22_bar__plus_00_dot_96_bar__minus_02_dot_24 - object\n PepperShaker_bar__minus_00_dot_10_bar__plus_01_dot_94_bar__minus_00_dot_77 - object\n PepperShaker_bar__minus_01_dot_19_bar__plus_00_dot_75_bar__minus_03_dot_45 - object\n PepperShaker_bar__minus_03_dot_70_bar__plus_00_dot_76_bar__minus_03_dot_50 - object\n Plate_bar__minus_00_dot_35_bar__plus_01_dot_52_bar__minus_03_dot_47 - object\n Plate_bar__minus_04_dot_18_bar__plus_00_dot_70_bar__minus_00_dot_19 - object\n Potato_bar__minus_00_dot_32_bar__plus_01_dot_52_bar__minus_00_dot_41 - object\n Potato_bar__minus_02_dot_56_bar__plus_00_dot_93_bar__minus_00_dot_63 - object\n Potato_bar__minus_02_dot_96_bar__plus_00_dot_93_bar__minus_00_dot_12 - object\n Pot_bar__minus_00_dot_44_bar__plus_00_dot_96_bar__minus_01_dot_85 - object\n 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Apple_bar__minus_00_dot_40_bar__plus_01_dot_55_bar__minus_00_dot_30)\n (heatable Egg_bar__minus_04_dot_12_bar__plus_00_dot_80_bar__minus_03_dot_35)\n (heatable Cup_bar__minus_04_dot_12_bar__plus_00_dot_69_bar__minus_00_dot_43)\n (heatable Bread_bar__minus_02_dot_36_bar__plus_00_dot_98_bar__minus_00_dot_20)\n (heatable Tomato_bar__minus_03_dot_88_bar__plus_00_dot_74_bar__minus_00_dot_37)\n (heatable Cup_bar__minus_03_dot_60_bar__plus_00_dot_76_bar__minus_03_dot_26)\n (heatable Plate_bar__minus_00_dot_35_bar__plus_01_dot_52_bar__minus_03_dot_47)\n (heatable Plate_bar__minus_04_dot_18_bar__plus_00_dot_70_bar__minus_00_dot_19)\n (heatable Cup_bar__minus_03_dot_59_bar__plus_00_dot_76_bar__minus_02_dot_84)\n (heatable Egg_bar__minus_04_dot_00_bar__plus_00_dot_73_bar__minus_00_dot_37)\n (heatable Apple_bar__minus_04_dot_00_bar__plus_00_dot_75_bar__minus_00_dot_13)\n (heatable Potato_bar__minus_02_dot_96_bar__plus_00_dot_93_bar__minus_00_dot_12)\n (coolable Mug_bar__minus_03_dot_94_bar__plus_00_dot_69_bar__minus_00_dot_49)\n (coolable Egg_bar__minus_00_dot_24_bar__plus_00_dot_98_bar__minus_02_dot_96)\n (coolable Pot_bar__minus_00_dot_44_bar__plus_00_dot_96_bar__minus_01_dot_85)\n (coolable Mug_bar__minus_00_dot_36_bar__plus_01_dot_48_bar__minus_00_dot_53)\n (coolable Potato_bar__minus_00_dot_32_bar__plus_01_dot_52_bar__minus_00_dot_41)\n (coolable Mug_bar__minus_03_dot_88_bar__plus_00_dot_69_bar__minus_00_dot_19)\n (coolable Cup_bar__minus_03_dot_57_bar__plus_00_dot_90_bar__minus_00_dot_20)\n (coolable Bread_bar__minus_03_dot_36_bar__plus_00_dot_98_bar__minus_00_dot_38)\n (coolable Lettuce_bar__minus_03_dot_29_bar__plus_00_dot_85_bar__minus_03_dot_30)\n (coolable Tomato_bar__minus_00_dot_25_bar__plus_01_dot_34_bar__minus_00_dot_30)\n (coolable Bowl_bar__minus_00_dot_13_bar__plus_01_dot_94_bar__minus_02_dot_29)\n (coolable Tomato_bar__minus_00_dot_29_bar__plus_01_dot_34_bar__minus_00_dot_76)\n (coolable Potato_bar__minus_02_dot_56_bar__plus_00_dot_93_bar__minus_00_dot_63)\n (coolable Apple_bar__minus_00_dot_40_bar__plus_01_dot_55_bar__minus_00_dot_30)\n (coolable Egg_bar__minus_04_dot_12_bar__plus_00_dot_80_bar__minus_03_dot_35)\n (coolable Bowl_bar__minus_00_dot_21_bar__plus_01_dot_50_bar__minus_02_dot_70)\n (coolable Lettuce_bar__minus_00_dot_32_bar__plus_01_dot_58_bar__minus_00_dot_99)\n (coolable Cup_bar__minus_04_dot_12_bar__plus_00_dot_69_bar__minus_00_dot_43)\n (coolable Bread_bar__minus_02_dot_36_bar__plus_00_dot_98_bar__minus_00_dot_20)\n (coolable Tomato_bar__minus_03_dot_88_bar__plus_00_dot_74_bar__minus_00_dot_37)\n (coolable Cup_bar__minus_03_dot_60_bar__plus_00_dot_76_bar__minus_03_dot_26)\n (coolable Plate_bar__minus_00_dot_35_bar__plus_01_dot_52_bar__minus_03_dot_47)\n (coolable Plate_bar__minus_04_dot_18_bar__plus_00_dot_70_bar__minus_00_dot_19)\n (coolable Cup_bar__minus_03_dot_59_bar__plus_00_dot_76_bar__minus_02_dot_84)\n (coolable Egg_bar__minus_04_dot_00_bar__plus_00_dot_73_bar__minus_00_dot_37)\n (coolable Lettuce_bar__minus_03_dot_93_bar__plus_00_dot_85_bar__minus_03_dot_40)\n (coolable Pan_bar__minus_00_dot_22_bar__plus_00_dot_96_bar__minus_02_dot_24)\n (coolable Apple_bar__minus_04_dot_00_bar__plus_00_dot_75_bar__minus_00_dot_13)\n (coolable Potato_bar__minus_02_dot_96_bar__plus_00_dot_93_bar__minus_00_dot_12)\n \n \n \n \n \n (sliceable Egg_bar__minus_00_dot_24_bar__plus_00_dot_98_bar__minus_02_dot_96)\n (sliceable Potato_bar__minus_00_dot_32_bar__plus_01_dot_52_bar__minus_00_dot_41)\n (sliceable Bread_bar__minus_03_dot_36_bar__plus_00_dot_98_bar__minus_00_dot_38)\n (sliceable Lettuce_bar__minus_03_dot_29_bar__plus_00_dot_85_bar__minus_03_dot_30)\n (sliceable Tomato_bar__minus_00_dot_25_bar__plus_01_dot_34_bar__minus_00_dot_30)\n (sliceable Tomato_bar__minus_00_dot_29_bar__plus_01_dot_34_bar__minus_00_dot_76)\n (sliceable Potato_bar__minus_02_dot_56_bar__plus_00_dot_93_bar__minus_00_dot_63)\n (sliceable Apple_bar__minus_00_dot_40_bar__plus_01_dot_55_bar__minus_00_dot_30)\n (sliceable Egg_bar__minus_04_dot_12_bar__plus_00_dot_80_bar__minus_03_dot_35)\n (sliceable Lettuce_bar__minus_00_dot_32_bar__plus_01_dot_58_bar__minus_00_dot_99)\n (sliceable Bread_bar__minus_02_dot_36_bar__plus_00_dot_98_bar__minus_00_dot_20)\n (sliceable Tomato_bar__minus_03_dot_88_bar__plus_00_dot_74_bar__minus_00_dot_37)\n (sliceable Egg_bar__minus_04_dot_00_bar__plus_00_dot_73_bar__minus_00_dot_37)\n (sliceable Lettuce_bar__minus_03_dot_93_bar__plus_00_dot_85_bar__minus_03_dot_40)\n (sliceable Apple_bar__minus_04_dot_00_bar__plus_00_dot_75_bar__minus_00_dot_13)\n (sliceable Potato_bar__minus_02_dot_96_bar__plus_00_dot_93_bar__minus_00_dot_12)\n \n (inReceptacle Egg_bar__minus_00_dot_24_bar__plus_00_dot_98_bar__minus_02_dot_96 CounterTop_bar__minus_01_dot_94_bar__plus_00_dot_98_bar__minus_03_dot_67)\n (inReceptacle Pan_bar__minus_00_dot_22_bar__plus_00_dot_96_bar__minus_02_dot_24 CounterTop_bar__minus_01_dot_94_bar__plus_00_dot_98_bar__minus_03_dot_67)\n (inReceptacle Knife_bar__minus_01_dot_47_bar__plus_00_dot_97_bar__minus_03_dot_60 CounterTop_bar__minus_01_dot_94_bar__plus_00_dot_98_bar__minus_03_dot_67)\n (inReceptacle Bread_bar__minus_02_dot_36_bar__plus_00_dot_98_bar__minus_00_dot_20 DiningTable_bar__minus_03_dot_03_bar__plus_00_dot_00_bar__minus_00_dot_44)\n (inReceptacle Spoon_bar__minus_02_dot_76_bar__plus_00_dot_90_bar__minus_00_dot_29 DiningTable_bar__minus_03_dot_03_bar__plus_00_dot_00_bar__minus_00_dot_44)\n (inReceptacle ButterKnife_bar__minus_02_dot_96_bar__plus_00_dot_89_bar__minus_00_dot_38 DiningTable_bar__minus_03_dot_03_bar__plus_00_dot_00_bar__minus_00_dot_44)\n (inReceptacle Potato_bar__minus_02_dot_56_bar__plus_00_dot_93_bar__minus_00_dot_63 DiningTable_bar__minus_03_dot_03_bar__plus_00_dot_00_bar__minus_00_dot_44)\n (inReceptacle SaltShaker_bar__minus_02_dot_56_bar__plus_00_dot_89_bar__minus_00_dot_46 DiningTable_bar__minus_03_dot_03_bar__plus_00_dot_00_bar__minus_00_dot_44)\n (inReceptacle Cup_bar__minus_03_dot_57_bar__plus_00_dot_90_bar__minus_00_dot_20 DiningTable_bar__minus_03_dot_03_bar__plus_00_dot_00_bar__minus_00_dot_44)\n (inReceptacle Bread_bar__minus_03_dot_36_bar__plus_00_dot_98_bar__minus_00_dot_38 DiningTable_bar__minus_03_dot_03_bar__plus_00_dot_00_bar__minus_00_dot_44)\n (inReceptacle SaltShaker_bar__minus_02_dot_56_bar__plus_00_dot_89_bar__minus_00_dot_12 DiningTable_bar__minus_03_dot_03_bar__plus_00_dot_00_bar__minus_00_dot_44)\n (inReceptacle Potato_bar__minus_02_dot_96_bar__plus_00_dot_93_bar__minus_00_dot_12 DiningTable_bar__minus_03_dot_03_bar__plus_00_dot_00_bar__minus_00_dot_44)\n (inReceptacle Spatula_bar__minus_03_dot_22_bar__plus_00_dot_78_bar__minus_03_dot_59 DiningTable_bar__minus_03_dot_62_bar__plus_00_dot_67_bar__minus_03_dot_32)\n (inReceptacle ButterKnife_bar__minus_04_dot_08_bar__plus_00_dot_76_bar__minus_03_dot_23 DiningTable_bar__minus_03_dot_62_bar__plus_00_dot_67_bar__minus_03_dot_32)\n (inReceptacle Cup_bar__minus_03_dot_60_bar__plus_00_dot_76_bar__minus_03_dot_26 DiningTable_bar__minus_03_dot_62_bar__plus_00_dot_67_bar__minus_03_dot_32)\n (inReceptacle Cup_bar__minus_03_dot_59_bar__plus_00_dot_76_bar__minus_02_dot_84 DiningTable_bar__minus_03_dot_62_bar__plus_00_dot_67_bar__minus_03_dot_32)\n (inReceptacle PepperShaker_bar__minus_03_dot_70_bar__plus_00_dot_76_bar__minus_03_dot_50 DiningTable_bar__minus_03_dot_62_bar__plus_00_dot_67_bar__minus_03_dot_32)\n (inReceptacle Egg_bar__minus_04_dot_12_bar__plus_00_dot_80_bar__minus_03_dot_35 DiningTable_bar__minus_03_dot_62_bar__plus_00_dot_67_bar__minus_03_dot_32)\n (inReceptacle Lettuce_bar__minus_03_dot_29_bar__plus_00_dot_85_bar__minus_03_dot_30 DiningTable_bar__minus_03_dot_62_bar__plus_00_dot_67_bar__minus_03_dot_32)\n (inReceptacle Lettuce_bar__minus_03_dot_93_bar__plus_00_dot_85_bar__minus_03_dot_40 DiningTable_bar__minus_03_dot_62_bar__plus_00_dot_67_bar__minus_03_dot_32)\n (inReceptacle Spoon_bar__minus_04_dot_08_bar__plus_00_dot_76_bar__minus_03_dot_23 DiningTable_bar__minus_03_dot_62_bar__plus_00_dot_67_bar__minus_03_dot_32)\n (inReceptacle Pot_bar__minus_00_dot_44_bar__plus_00_dot_96_bar__minus_01_dot_85 StoveBurner_bar__minus_00_dot_44_bar__plus_00_dot_92_bar__minus_01_dot_85)\n (inReceptacle Pot_bar__minus_00_dot_44_bar__plus_00_dot_96_bar__minus_01_dot_85 StoveBurner_bar__minus_00_dot_22_bar__plus_00_dot_92_bar__minus_01_dot_85)\n (inReceptacle Pan_bar__minus_00_dot_22_bar__plus_00_dot_96_bar__minus_02_dot_24 StoveBurner_bar__minus_00_dot_44_bar__plus_00_dot_92_bar__minus_02_dot_24)\n (inReceptacle DishSponge_bar__minus_00_dot_51_bar__plus_00_dot_75_bar__minus_02_dot_85 Drawer_bar__minus_00_dot_48_bar__plus_00_dot_78_bar__minus_02_dot_74)\n (inReceptacle PepperShaker_bar__minus_01_dot_19_bar__plus_00_dot_75_bar__minus_03_dot_45 Drawer_bar__minus_01_dot_15_bar__plus_00_dot_78_bar__minus_03_dot_50)\n (inReceptacle DishSponge_bar__minus_00_dot_10_bar__plus_01_dot_94_bar__minus_00_dot_66 Cabinet_bar__minus_00_dot_34_bar__plus_02_dot_11_bar__minus_00_dot_39)\n (inReceptacle PepperShaker_bar__minus_00_dot_10_bar__plus_01_dot_94_bar__minus_00_dot_77 Cabinet_bar__minus_00_dot_34_bar__plus_02_dot_11_bar__minus_00_dot_39)\n (inReceptacle Bowl_bar__minus_00_dot_13_bar__plus_01_dot_94_bar__minus_02_dot_29 Cabinet_bar__minus_00_dot_34_bar__plus_02_dot_11_bar__minus_02_dot_50)\n (inReceptacle Plate_bar__minus_00_dot_35_bar__plus_01_dot_52_bar__minus_03_dot_47 Cabinet_bar__minus_00_dot_35_bar__plus_01_dot_89_bar__minus_03_dot_29)\n (inReceptacle Bowl_bar__minus_00_dot_21_bar__plus_01_dot_50_bar__minus_02_dot_70 Cabinet_bar__minus_00_dot_33_bar__plus_01_dot_89_bar__minus_02_dot_51)\n (inReceptacle SoapBottle_bar__minus_00_dot_06_bar__plus_01_dot_50_bar__minus_02_dot_96 Cabinet_bar__minus_00_dot_33_bar__plus_01_dot_89_bar__minus_02_dot_51)\n (inReceptacle Mug_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)\n (inReceptacle Cup_bar__minus_04_dot_12_bar__plus_00_dot_69_bar__minus_00_dot_43 SideTable_bar__minus_04_dot_07_bar__plus_00_dot_73_bar__minus_00_dot_31)\n (inReceptacle Plate_bar__minus_04_dot_18_bar__plus_00_dot_70_bar__minus_00_dot_19 SideTable_bar__minus_04_dot_07_bar__plus_00_dot_73_bar__minus_00_dot_31)\n (inReceptacle Mug_bar__minus_03_dot_88_bar__plus_00_dot_69_bar__minus_00_dot_19 SideTable_bar__minus_04_dot_07_bar__plus_00_dot_73_bar__minus_00_dot_31)\n (inReceptacle Tomato_bar__minus_03_dot_88_bar__plus_00_dot_74_bar__minus_00_dot_37 SideTable_bar__minus_04_dot_07_bar__plus_00_dot_73_bar__minus_00_dot_31)\n (inReceptacle Egg_bar__minus_04_dot_00_bar__plus_00_dot_73_bar__minus_00_dot_37 SideTable_bar__minus_04_dot_07_bar__plus_00_dot_73_bar__minus_00_dot_31)\n (inReceptacle Apple_bar__minus_04_dot_00_bar__plus_00_dot_75_bar__minus_00_dot_13 SideTable_bar__minus_04_dot_07_bar__plus_00_dot_73_bar__minus_00_dot_31)\n (inReceptacle Spoon_bar__minus_00_dot_16_bar__plus_00_dot_94_bar__minus_01_dot_54 CounterTop_bar__minus_00_dot_33_bar__plus_00_dot_98_bar__minus_01_dot_45)\n (inReceptacle ButterKnife_bar__minus_00_dot_16_bar__plus_00_dot_94_bar__minus_01_dot_58 CounterTop_bar__minus_00_dot_33_bar__plus_00_dot_98_bar__minus_01_dot_45)\n (inReceptacle Pan_bar__minus_00_dot_22_bar__plus_00_dot_96_bar__minus_02_dot_24 StoveBurner_bar__minus_00_dot_22_bar__plus_00_dot_92_bar__minus_02_dot_24)\n (inReceptacle Spatula_bar__minus_00_dot_82_bar__plus_00_dot_83_bar__minus_03_dot_51 Sink_bar__minus_00_dot_60_bar__plus_00_dot_93_bar__minus_03_dot_39_bar_SinkBasin)\n (inReceptacle Fork_bar__minus_00_dot_72_bar__plus_00_dot_81_bar__minus_03_dot_49 Sink_bar__minus_00_dot_60_bar__plus_00_dot_93_bar__minus_03_dot_39_bar_SinkBasin)\n (inReceptacle Lettuce_bar__minus_00_dot_32_bar__plus_01_dot_58_bar__minus_00_dot_99 Fridge_bar__minus_00_dot_31_bar__plus_00_dot_00_bar__minus_00_dot_65)\n (inReceptacle Tomato_bar__minus_00_dot_25_bar__plus_01_dot_34_bar__minus_00_dot_30 Fridge_bar__minus_00_dot_31_bar__plus_00_dot_00_bar__minus_00_dot_65)\n (inReceptacle Mug_bar__minus_00_dot_36_bar__plus_01_dot_48_bar__minus_00_dot_53 Fridge_bar__minus_00_dot_31_bar__plus_00_dot_00_bar__minus_00_dot_65)\n (inReceptacle Potato_bar__minus_00_dot_32_bar__plus_01_dot_52_bar__minus_00_dot_41 Fridge_bar__minus_00_dot_31_bar__plus_00_dot_00_bar__minus_00_dot_65)\n (inReceptacle Tomato_bar__minus_00_dot_29_bar__plus_01_dot_34_bar__minus_00_dot_76 Fridge_bar__minus_00_dot_31_bar__plus_00_dot_00_bar__minus_00_dot_65)\n (inReceptacle Apple_bar__minus_00_dot_40_bar__plus_01_dot_55_bar__minus_00_dot_30 Fridge_bar__minus_00_dot_31_bar__plus_00_dot_00_bar__minus_00_dot_65)\n \n \n (receptacleAtLocation Cabinet_bar__minus_00_dot_33_bar__plus_01_dot_89_bar__minus_02_dot_51 loc_bar__minus_4_bar__minus_12_bar_1_bar__minus_15)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_34_bar__plus_01_dot_89_bar__minus_01_dot_29 loc_bar__minus_4_bar__minus_6_bar_1_bar__minus_15)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_34_bar__plus_02_dot_11_bar__minus_00_dot_39 loc_bar__minus_6_bar__minus_4_bar_1_bar__minus_15)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_34_bar__plus_02_dot_11_bar__minus_01_dot_27 loc_bar__minus_6_bar__minus_6_bar_1_bar__minus_15)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_34_bar__plus_02_dot_11_bar__minus_01_dot_63 loc_bar__minus_4_bar__minus_7_bar_1_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_34_bar__plus_02_dot_11_bar__minus_02_dot_50 loc_bar__minus_4_bar__minus_10_bar_1_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_35_bar__plus_01_dot_89_bar__minus_03_dot_29 loc_bar__minus_4_bar__minus_9_bar_2_bar__minus_15)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_63_bar__plus_00_dot_39_bar__minus_01_dot_61 loc_bar__minus_6_bar__minus_6_bar_1_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_63_bar__plus_00_dot_39_bar__minus_02_dot_51 loc_bar__minus_6_bar__minus_9_bar_1_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_63_bar__plus_00_dot_39_bar__minus_03_dot_01 loc_bar__minus_7_bar__minus_11_bar_1_bar_45)\n (receptacleAtLocation Cabinet_bar__minus_01_dot_01_bar__plus_00_dot_39_bar__minus_03_dot_37 loc_bar__minus_7_bar__minus_10_bar_2_bar_60)\n (receptacleAtLocation CoffeeMachine_bar__minus_02_dot_51_bar__plus_00_dot_93_bar__minus_03_dot_80 loc_bar__minus_10_bar__minus_12_bar_2_bar_45)\n (receptacleAtLocation CounterTop_bar__minus_00_dot_33_bar__plus_00_dot_98_bar__minus_01_dot_45 loc_bar__minus_4_bar__minus_6_bar_1_bar_45)\n (receptacleAtLocation CounterTop_bar__minus_01_dot_94_bar__plus_00_dot_98_bar__minus_03_dot_67 loc_bar__minus_6_bar__minus_12_bar_2_bar_45)\n (receptacleAtLocation DiningTable_bar__minus_03_dot_03_bar__plus_00_dot_00_bar__minus_00_dot_44 loc_bar__minus_12_bar__minus_5_bar_0_bar_60)\n (receptacleAtLocation DiningTable_bar__minus_03_dot_62_bar__plus_00_dot_67_bar__minus_03_dot_32 loc_bar__minus_14_bar__minus_9_bar_2_bar_45)\n (receptacleAtLocation Drawer_bar__minus_00_dot_48_bar__plus_00_dot_78_bar__minus_02_dot_74 loc_bar__minus_5_bar__minus_10_bar_1_bar_45)\n (receptacleAtLocation Drawer_bar__minus_00_dot_50_bar__plus_00_dot_78_bar__minus_01_dot_45 loc_bar__minus_4_bar__minus_6_bar_1_bar_60)\n (receptacleAtLocation Drawer_bar__minus_01_dot_15_bar__plus_00_dot_78_bar__minus_03_dot_50 loc_bar__minus_4_bar__minus_12_bar_2_bar_60)\n (receptacleAtLocation Fridge_bar__minus_00_dot_31_bar__plus_00_dot_00_bar__minus_00_dot_65 loc_bar__minus_5_bar__minus_3_bar_1_bar_60)\n (receptacleAtLocation GarbageCan_bar__minus_02_dot_42_bar__plus_00_dot_00_bar__minus_03_dot_54 loc_bar__minus_10_bar__minus_12_bar_2_bar_60)\n (receptacleAtLocation Microwave_bar__minus_00_dot_22_bar__plus_01_dot_47_bar__minus_02_dot_06 loc_bar__minus_4_bar__minus_8_bar_1_bar_15)\n (receptacleAtLocation SideTable_bar__minus_04_dot_07_bar__plus_00_dot_73_bar__minus_00_dot_31 loc_bar__minus_15_bar__minus_5_bar_0_bar_45)\n (receptacleAtLocation Sink_bar__minus_00_dot_60_bar__plus_00_dot_93_bar__minus_03_dot_39_bar_SinkBasin loc_bar__minus_8_bar__minus_11_bar_1_bar_30)\n (receptacleAtLocation StoveBurner_bar__minus_00_dot_22_bar__plus_00_dot_92_bar__minus_01_dot_85 loc_bar__minus_4_bar__minus_7_bar_1_bar_45)\n (receptacleAtLocation StoveBurner_bar__minus_00_dot_22_bar__plus_00_dot_92_bar__minus_02_dot_24 loc_bar__minus_4_bar__minus_9_bar_1_bar_45)\n (receptacleAtLocation StoveBurner_bar__minus_00_dot_44_bar__plus_00_dot_92_bar__minus_01_dot_85 loc_bar__minus_4_bar__minus_7_bar_1_bar_45)\n (receptacleAtLocation StoveBurner_bar__minus_00_dot_44_bar__plus_00_dot_92_bar__minus_02_dot_24 loc_bar__minus_4_bar__minus_9_bar_1_bar_45)\n (receptacleAtLocation Toaster_bar__minus_01_dot_97_bar__plus_00_dot_93_bar__minus_03_dot_76 loc_bar__minus_8_bar__minus_12_bar_2_bar_45)\n (objectAtLocation Bowl_bar__minus_00_dot_21_bar__plus_01_dot_50_bar__minus_02_dot_70 loc_bar__minus_4_bar__minus_12_bar_1_bar__minus_15)\n (objectAtLocation Mug_bar__minus_03_dot_88_bar__plus_00_dot_69_bar__minus_00_dot_19 loc_bar__minus_15_bar__minus_5_bar_0_bar_45)\n (objectAtLocation Lettuce_bar__minus_03_dot_29_bar__plus_00_dot_85_bar__minus_03_dot_30 loc_bar__minus_14_bar__minus_9_bar_2_bar_45)\n (objectAtLocation Spoon_bar__minus_02_dot_76_bar__plus_00_dot_90_bar__minus_00_dot_29 loc_bar__minus_12_bar__minus_5_bar_0_bar_60)\n (objectAtLocation Egg_bar__minus_04_dot_00_bar__plus_00_dot_73_bar__minus_00_dot_37 loc_bar__minus_15_bar__minus_5_bar_0_bar_45)\n (objectAtLocation Potato_bar__minus_02_dot_96_bar__plus_00_dot_93_bar__minus_00_dot_12 loc_bar__minus_12_bar__minus_5_bar_0_bar_60)\n (objectAtLocation DishSponge_bar__minus_00_dot_10_bar__plus_01_dot_94_bar__minus_00_dot_66 loc_bar__minus_6_bar__minus_4_bar_1_bar__minus_15)\n (objectAtLocation Apple_bar__minus_00_dot_40_bar__plus_01_dot_55_bar__minus_00_dot_30 loc_bar__minus_5_bar__minus_3_bar_1_bar_60)\n (objectAtLocation ButterKnife_bar__minus_00_dot_16_bar__plus_00_dot_94_bar__minus_01_dot_58 loc_bar__minus_4_bar__minus_6_bar_1_bar_45)\n (objectAtLocation PepperShaker_bar__minus_00_dot_10_bar__plus_01_dot_94_bar__minus_00_dot_77 loc_bar__minus_6_bar__minus_4_bar_1_bar__minus_15)\n (objectAtLocation SaltShaker_bar__minus_02_dot_56_bar__plus_00_dot_89_bar__minus_00_dot_46 loc_bar__minus_12_bar__minus_5_bar_0_bar_60)\n (objectAtLocation Spatula_bar__minus_00_dot_82_bar__plus_00_dot_83_bar__minus_03_dot_51 loc_bar__minus_8_bar__minus_11_bar_1_bar_30)\n (objectAtLocation Bread_bar__minus_03_dot_36_bar__plus_00_dot_98_bar__minus_00_dot_38 loc_bar__minus_12_bar__minus_5_bar_0_bar_60)\n (objectAtLocation Plate_bar__minus_00_dot_35_bar__plus_01_dot_52_bar__minus_03_dot_47 loc_bar__minus_4_bar__minus_9_bar_2_bar__minus_15)\n (objectAtLocation Tomato_bar__minus_00_dot_29_bar__plus_01_dot_34_bar__minus_00_dot_76 loc_bar__minus_5_bar__minus_3_bar_1_bar_60)\n (objectAtLocation Cup_bar__minus_03_dot_59_bar__plus_00_dot_76_bar__minus_02_dot_84 loc_bar__minus_14_bar__minus_9_bar_2_bar_45)\n (objectAtLocation Mug_bar__minus_03_dot_94_bar__plus_00_dot_69_bar__minus_00_dot_49 loc_bar__minus_15_bar__minus_5_bar_0_bar_45)\n (objectAtLocation PepperShaker_bar__minus_03_dot_70_bar__plus_00_dot_76_bar__minus_03_dot_50 loc_bar__minus_14_bar__minus_9_bar_2_bar_45)\n (objectAtLocation Lettuce_bar__minus_03_dot_93_bar__plus_00_dot_85_bar__minus_03_dot_40 loc_bar__minus_14_bar__minus_9_bar_2_bar_45)\n (objectAtLocation Tomato_bar__minus_03_dot_88_bar__plus_00_dot_74_bar__minus_00_dot_37 loc_bar__minus_15_bar__minus_5_bar_0_bar_45)\n (objectAtLocation Cup_bar__minus_03_dot_60_bar__plus_00_dot_76_bar__minus_03_dot_26 loc_bar__minus_14_bar__minus_9_bar_2_bar_45)\n (objectAtLocation Cup_bar__minus_04_dot_12_bar__plus_00_dot_69_bar__minus_00_dot_43 loc_bar__minus_15_bar__minus_5_bar_0_bar_45)\n (objectAtLocation Egg_bar__minus_00_dot_24_bar__plus_00_dot_98_bar__minus_02_dot_96 loc_bar__minus_6_bar__minus_12_bar_2_bar_45)\n (objectAtLocation Spoon_bar__minus_00_dot_16_bar__plus_00_dot_94_bar__minus_01_dot_54 loc_bar__minus_4_bar__minus_6_bar_1_bar_45)\n (objectAtLocation ButterKnife_bar__minus_02_dot_96_bar__plus_00_dot_89_bar__minus_00_dot_38 loc_bar__minus_12_bar__minus_5_bar_0_bar_60)\n (objectAtLocation Potato_bar__minus_00_dot_32_bar__plus_01_dot_52_bar__minus_00_dot_41 loc_bar__minus_5_bar__minus_3_bar_1_bar_60)\n (objectAtLocation Sink_bar__minus_00_dot_60_bar__plus_00_dot_93_bar__minus_03_dot_39 loc_bar__minus_4_bar__minus_12_bar_1_bar_60)\n (objectAtLocation SoapBottle_bar__minus_00_dot_06_bar__plus_01_dot_50_bar__minus_02_dot_96 loc_bar__minus_4_bar__minus_12_bar_1_bar__minus_15)\n (objectAtLocation Pot_bar__minus_00_dot_44_bar__plus_00_dot_96_bar__minus_01_dot_85 loc_bar__minus_4_bar__minus_7_bar_1_bar_45)\n (objectAtLocation StoveKnob_bar__minus_00_dot_62_bar__plus_00_dot_90_bar__minus_01_dot_83 loc_bar__minus_4_bar__minus_7_bar_1_bar_60)\n (objectAtLocation StoveKnob_bar__minus_00_dot_62_bar__plus_00_dot_90_bar__minus_02_dot_13 loc_bar__minus_4_bar__minus_9_bar_1_bar_60)\n (objectAtLocation StoveKnob_bar__minus_00_dot_62_bar__plus_00_dot_90_bar__minus_02_dot_29 loc_bar__minus_4_bar__minus_9_bar_1_bar_60)\n (objectAtLocation StoveKnob_bar__minus_00_dot_62_bar__plus_00_dot_90_bar__minus_01_dot_98 loc_bar__minus_4_bar__minus_8_bar_1_bar_60)\n (objectAtLocation Fork_bar__minus_00_dot_72_bar__plus_00_dot_81_bar__minus_03_dot_49 loc_bar__minus_8_bar__minus_11_bar_1_bar_30)\n (objectAtLocation Cup_bar__minus_03_dot_57_bar__plus_00_dot_90_bar__minus_00_dot_20 loc_bar__minus_12_bar__minus_5_bar_0_bar_60)\n (objectAtLocation Tomato_bar__minus_00_dot_25_bar__plus_01_dot_34_bar__minus_00_dot_30 loc_bar__minus_5_bar__minus_3_bar_1_bar_60)\n (objectAtLocation Pan_bar__minus_00_dot_22_bar__plus_00_dot_96_bar__minus_02_dot_24 loc_bar__minus_4_bar__minus_9_bar_1_bar_45)\n (objectAtLocation Plate_bar__minus_04_dot_18_bar__plus_00_dot_70_bar__minus_00_dot_19 loc_bar__minus_15_bar__minus_5_bar_0_bar_45)\n (objectAtLocation Window_bar__minus_01_dot_39_bar__plus_01_dot_61_bar__minus_04_dot_11 loc_bar__minus_6_bar__minus_12_bar_2_bar_0)\n (objectAtLocation LightSwitch_bar__minus_04_dot_37_bar__plus_01_dot_49_bar__minus_01_dot_03 loc_bar__minus_15_bar__minus_4_bar_3_bar_15)\n (objectAtLocation Bread_bar__minus_02_dot_36_bar__plus_00_dot_98_bar__minus_00_dot_20 loc_bar__minus_12_bar__minus_5_bar_0_bar_60)\n (objectAtLocation Spatula_bar__minus_03_dot_22_bar__plus_00_dot_78_bar__minus_03_dot_59 loc_bar__minus_14_bar__minus_9_bar_2_bar_45)\n (objectAtLocation Knife_bar__minus_01_dot_47_bar__plus_00_dot_97_bar__minus_03_dot_60 loc_bar__minus_6_bar__minus_12_bar_2_bar_45)\n (objectAtLocation SaltShaker_bar__minus_02_dot_56_bar__plus_00_dot_89_bar__minus_00_dot_12 loc_bar__minus_12_bar__minus_5_bar_0_bar_60)\n (objectAtLocation PepperShaker_bar__minus_01_dot_19_bar__plus_00_dot_75_bar__minus_03_dot_45 loc_bar__minus_4_bar__minus_12_bar_2_bar_60)\n (objectAtLocation ButterKnife_bar__minus_04_dot_08_bar__plus_00_dot_76_bar__minus_03_dot_23 loc_bar__minus_14_bar__minus_9_bar_2_bar_45)\n (objectAtLocation Apple_bar__minus_04_dot_00_bar__plus_00_dot_75_bar__minus_00_dot_13 loc_bar__minus_15_bar__minus_5_bar_0_bar_45)\n (objectAtLocation DishSponge_bar__minus_00_dot_51_bar__plus_00_dot_75_bar__minus_02_dot_85 loc_bar__minus_5_bar__minus_10_bar_1_bar_45)\n (objectAtLocation Potato_bar__minus_02_dot_56_bar__plus_00_dot_93_bar__minus_00_dot_63 loc_bar__minus_12_bar__minus_5_bar_0_bar_60)\n (objectAtLocation Egg_bar__minus_04_dot_12_bar__plus_00_dot_80_bar__minus_03_dot_35 loc_bar__minus_14_bar__minus_9_bar_2_bar_45)\n (objectAtLocation Spoon_bar__minus_04_dot_08_bar__plus_00_dot_76_bar__minus_03_dot_23 loc_bar__minus_14_bar__minus_9_bar_2_bar_45)\n (objectAtLocation Lettuce_bar__minus_00_dot_32_bar__plus_01_dot_58_bar__minus_00_dot_99 loc_bar__minus_5_bar__minus_3_bar_1_bar_60)\n (objectAtLocation Mug_bar__minus_00_dot_36_bar__plus_01_dot_48_bar__minus_00_dot_53 loc_bar__minus_5_bar__minus_3_bar_1_bar_60)\n (objectAtLocation Blinds_bar__minus_01_dot_37_bar__plus_02_dot_21_bar__minus_03_dot_96 loc_bar__minus_6_bar__minus_12_bar_2_bar__minus_30)\n (objectAtLocation Bowl_bar__minus_00_dot_13_bar__plus_01_dot_94_bar__minus_02_dot_29 loc_bar__minus_4_bar__minus_10_bar_1_bar__minus_30)\n )\n \n\n (:goal\n (and\n (exists (?r - receptacle)\n (exists (?o - object)\n (and\n (heatable ?o)\n (objectType ?o CupType)\n (receptacleType ?r CabinetType)\n (isHot ?o)\n (inReceptacle ?o ?r)\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to diningtable 2", "take cup 4 from diningtable 2", "go to microwave 1", "heat cup 4 with microwave 1", "go to cabinet 6", "move cup 4 to cabinet 6"]}
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alfworld__pick_heat_then_place_in_recep__455
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pick_heat_then_place_in_recep
|
pick_heat_then_place_in_recep-Cup-None-Cabinet-28/trial_T20190909_062858_196741/game.tw-pddl
|
{"pddl_domain": ";; Specification in PDDL of the Alfred domain\n;; Intended to be used with Fast Downward which supports PDDL 2.2 level 1 plus the :action-costs requirement from PDDL 3.1.\n\n(define (domain alfred)\n (:requirements\n :adl\n :action-costs\n :typing\n )\n (:types\n agent\n location\n receptacle\n object\n rtype\n otype\n )\n\n\n (:predicates\n (atLocation ?a - agent ?l - location) ; true if the agent is at the location\n (receptacleAtLocation ?r - receptacle ?l - location) ; true if the receptacle is at the location (constant)\n (objectAtLocation ?o - object ?l - location) ; true if the object is at the location\n (openable ?r - receptacle) ; true if a receptacle is openable\n (opened ?r - receptacle) ; true if a receptacle is opened\n (inReceptacle ?o - object ?r - receptacle) ; object ?o is in receptacle ?r\n (isReceptacleObject ?o - object) ; true if the object can have things put inside it\n (inReceptacleObject ?innerObject - object ?outerObject - object) ; object ?innerObject is inside object ?outerObject\n (isReceptacleObjectFull ?o - object) ; true if the receptacle object contains something\n (wasInReceptacle ?o - object ?r - receptacle) ; object ?o was or is in receptacle ?r now or some time in the past\n (checked ?r - receptacle) ; whether the receptacle has been looked inside/visited\n (examined ?l - location) ; TODO\n (receptacleType ?r - receptacle ?t - rtype) ; the type of receptacle (Cabinet vs Cabinet|01|2...)\n (canContain ?rt - rtype ?ot - otype) ; true if receptacle can hold object\n (objectType ?o - object ?t - otype) ; the type of object (Apple vs Apple|01|2...)\n (holds ?a - agent ?o - object) ; object ?o is held by agent ?a\n (holdsAny ?a - agent) ; agent ?a holds an object\n (holdsAnyReceptacleObject ?a - agent) ; agent ?a holds a receptacle object\n (full ?r - receptacle) ; true if the receptacle has no remaining space\n (isClean ?o - object) ; true if the object has been clean in sink\n (cleanable ?o - object) ; true if the object can be placed in a sink\n (isHot ?o - object) ; true if the object has been heated up\n (heatable ?o - object) ; true if the object can be heated up in a microwave\n (isCool ?o - object) ; true if the object has been cooled\n (coolable ?o - object) ; true if the object can be cooled in the fridge\n (pickupable ?o - object) ; true if the object can be picked up\n (moveable ?o - object) ; true if the object can be moved\n (toggleable ?o - object) ; true if the object can be turned on/off\n (isOn ?o - object) ; true if the object is on\n (isToggled ?o - object) ; true if the object has been toggled\n (sliceable ?o - object) ; true if the object can be sliced\n (isSliced ?o - object) ; true if the object is sliced\n )\n\n (:functions\n (distance ?from ?to)\n (total-cost) - number\n )\n\n;; All actions are specified such that the final arguments are the ones used\n;; for performing actions in Unity.\n\n\n(:action look\n :parameters (?a - agent ?l - location)\n :precondition\n (and\n (atLocation ?a ?l)\n )\n :effect\n (and\n (checked ?l)\n )\n)\n\n(:action inventory\n :parameters (?a - agent)\n :precondition\n ()\n :effect\n (and\n (checked ?a)\n )\n)\n\n(:action examineReceptacle\n :parameters (?a - agent ?r - receptacle)\n :precondition\n (and\n (exists (?l - location)\n (and\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n )\n )\n )\n :effect\n (and\n (checked ?r)\n )\n)\n\n(:action examineObject\n :parameters (?a - agent ?o - object)\n :precondition\n (or\n ;(exists (?l - location)\n ; (and\n ; (atLocation ?a ?l)\n ; (objectAtLocation ?o ?l)\n ; )\n ;)\n (exists (?l - location, ?r - receptacle)\n (and\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n ; (objectAtLocation ?o ?l)\n (inReceptacle ?o ?r)\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n )\n )\n (holds ?a ?o)\n )\n :effect\n (and\n (checked ?o)\n )\n)\n\n;; agent goes to receptacle\n (:action GotoLocation\n :parameters (?a - agent ?lStart - location ?lEnd - location ?r - receptacle)\n :precondition (and\n (atLocation ?a ?lStart)\n (receptacleAtLocation ?r ?lEnd)\n ;(exists (?r - receptacle) (receptacleAtLocation ?r ?lEnd))\n )\n :effect (and\n (not (atLocation ?a ?lStart))\n (atLocation ?a ?lEnd)\n ; (forall (?r - receptacle)\n ; (when (and (receptacleAtLocation ?r ?lEnd)\n ; (or (not (openable ?r)) (opened ?r)))\n ; (checked ?r)\n ; )\n ; )\n ; (increase (total-cost) (distance ?lStart ?lEnd))\n (increase (total-cost) 1)\n )\n )\n\n;; agent opens receptacle\n (:action OpenObject\n :parameters (?a - agent ?l - location ?r - receptacle)\n :precondition (and\n (openable ?r)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (not (opened ?r))\n )\n :effect (and\n (opened ?r)\n (checked ?r)\n (increase (total-cost) 1)\n )\n )\n;; agent closes receptacle\n (:action CloseObject\n :parameters (?a - agent ?l - location ?r - receptacle)\n :precondition (and\n (openable ?r)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (opened ?r)\n )\n :effect (and\n (not (opened ?r))\n (increase (total-cost) 1)\n )\n\n )\n\n ;; agent picks up object from a receptacle\n (:action PickupObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n :precondition\n (and\n (pickupable ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n ; (objectAtLocation ?o ?l)\n (inReceptacle ?o ?r)\n (not (holdsAny ?a)) ; agent's hands are empty.\n ;(not (holdsAnyReceptacleObject ?a))\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n ;(not (isReceptacleObject ?o))\n )\n :effect\n (and\n (not (inReceptacle ?o ?r))\n (holds ?a ?o)\n (holdsAny ?a)\n (not (objectAtLocation ?o ?l))\n ;(not (full ?r))\n (increase (total-cost) 1)\n )\n )\n\n\n; ;; agent picks up object from a receptacle\n; (:action PickupObjectFromReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?outerR - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (inReceptacle ?o ?r)\n; (pickupable ?o)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (not (isReceptacleObject ?o))\n; (isReceptacleObject ?outerR)\n; (inReceptacleObject ?o ?outerR)\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (holds ?a ?o)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n;\n; (not (inReceptacleObject ?o ?outerR))\n; (not (isReceptacleObjectFull ?outerR))\n; )\n; )\n;\n; ;; agent picks up object from a receptacle\n; (:action PickupEmptyReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; ; (objectAtLocation ?o ?l)\n; (inReceptacle ?o ?r)\n; (pickupable ?o)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (isReceptacleObject ?o)\n; (not (isReceptacleObjectFull ?o))\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (holds ?a ?o)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n; (holdsAnyReceptacleObject ?a)\n; )\n; )\n;\n; ;; agent picks up object from a receptacle\n; (:action PickupFullReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?outerR - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (inReceptacle ?outerR ?r)\n; (pickupable ?outerR)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (not (isReceptacleObject ?o))\n; (isReceptacleObject ?outerR)\n; (inReceptacleObject ?o ?outerR)\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (not (inReceptacle ?outerR ?r))\n; (holds ?a ?outerR)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (objectAtLocation ?outerR ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n; (holdsAnyReceptacleObject ?a)\n; )\n; )\n\n\n;; agent puts down an object\n (:action PutObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle ?ot - otype ?rt - rtype)\n :precondition (and\n (holds ?a ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable\n ;(not (full ?r))\n (objectType ?o ?ot)\n (receptacleType ?r ?rt)\n (canContain ?rt ?ot)\n ;(not (holdsAnyReceptacleObject ?a))\n )\n :effect (and\n (inReceptacle ?o ?r)\n (objectAtLocation ?o ?l)\n ;(full ?r)\n (not (holds ?a ?o))\n (not (holdsAny ?a))\n (increase (total-cost) 1)\n )\n )\n\n;;; agent puts down an object\n; (:action PutObjectInReceptacleObject\n; :parameters (?a - agent ?l - location ?ot - otype ?o - object ?outerO - object ?outerR - receptacle)\n; :precondition (and\n; (atLocation ?a ?l)\n; (objectAtLocation ?outerO ?l)\n; (isReceptacleObject ?outerO)\n; (not (isReceptacleObject ?o))\n; (objectType ?o ?ot)\n; (holds ?a ?o)\n; (not (holdsAnyReceptacleObject ?a))\n; (inReceptacle ?outerO ?outerR)\n; (not (isReceptacleObjectFull ?outerO))\n; )\n; :effect (and\n; (inReceptacleObject ?o ?outerO)\n; (inReceptacle ?o ?outerR)\n; (not (holds ?a ?o))\n; (not (holdsAny ?a))\n; (objectAtLocation ?o ?l)\n; (isReceptacleObjectFull ?outerO)\n; (increase (total-cost) 1)\n; )\n; )\n;\n;;; agent puts down an object\n; (:action PutEmptyReceptacleObjectinReceptacle\n; :parameters (?a - agent ?l - location ?ot - otype ?o - object ?r - receptacle)\n; :precondition (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable\n; (not (full ?r))\n; (objectType ?o ?ot)\n; (holds ?a ?o)\n; (holdsAnyReceptacleObject ?a)\n; (isReceptacleObject ?o)\n; (not (isReceptacleObjectFull ?o))\n; )\n; :effect (and\n; (inReceptacle ?o ?r)\n; (objectAtLocation ?o ?l)\n; (full ?r)\n; (not (holds ?a ?o))\n; (not (holdsAny ?a))\n; (not (holdsAnyReceptacleObject ?a))\n; (increase (total-cost) 1)\n; )\n; )\n;\n;;; agent puts down a receptacle object in a receptacle\n; (:action PutFullReceptacleObjectInReceptacle\n; :parameters (?a - agent ?l - location ?ot - otype ?innerO - object ?outerO - object ?r - receptacle) ; ?rt - rtype)\n; :precondition (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (objectType ?outerO ?ot)\n; (holds ?a ?outerO)\n; (holdsAnyReceptacleObject ?a)\n; (isReceptacleObject ?outerO)\n; (isReceptacleObjectFull ?outerO)\n; (inReceptacleObject ?innerO ?outerO)\n; )\n; :effect (and\n; (not (holdsAny ?a))\n; (not (holdsAnyReceptacleObject ?a))\n; (objectAtLocation ?outerO ?l)\n; (objectAtLocation ?innerO ?l)\n; (inReceptacle ?outerO ?r)\n; (inReceptacle ?innerO ?r)\n; (not (holds ?a ?outerO))\n; (increase (total-cost) 1)\n; )\n; )\n\n;; agent cleans some object\n (:action CleanObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (cleanable ?o)\n (or\n (receptacleType ?r SinkType)\n (receptacleType ?r SinkBasinType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isClean ?o)\n )\n )\n\n\n;; agent heats-up some object\n (:action HeatObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (heatable ?o)\n (or\n (receptacleType ?r MicrowaveType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isHot ?o)\n (not (isCool ?o))\n )\n )\n\n;; agent cools some object\n (:action CoolObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (coolable ?o)\n (or\n (receptacleType ?r FridgeType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isCool ?o)\n (not (isHot ?o))\n )\n )\n\n\n;; agent toggle object\n (:action ToggleObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n :precondition (and\n (toggleable ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (inReceptacle ?o ?r)\n )\n :effect (and\n (increase (total-cost) 5)\n (when (isOn ?o)\n (not (isOn ?o)))\n (when (not (isOn ?o))\n (isOn ?o))\n (isToggled ?o)\n )\n )\n\n\n;; agent slices some object with a knife\n (:action SliceObject\n :parameters (?a - agent ?l - location ?co - object ?ko - object)\n :precondition\n (and\n (sliceable ?co)\n (or\n (objectType ?ko KnifeType)\n (objectType ?ko ButterKnifeType)\n )\n (atLocation ?a ?l)\n (objectAtLocation ?co ?l)\n (holds ?a ?ko)\n )\n :effect (and\n (increase (total-cost) 5)\n (isSliced ?co)\n )\n )\n\n\n(:action help\n :parameters (?a - agent)\n :precondition\n ()\n :effect\n (and\n (checked ?a)\n )\n)\n)\n", "grammar": "grammar :: \"\"\"\n {\n \"intro\": [\n {\n \"rhs\": \"-= Welcome to TextWorld, ALFRED! =-\\n\\n#look.feedback#\\n\\n#task#\"\n }\n ],\n\n \"notImplemented\": [\n {\n \"rhs\": \"TODO\"\n }\n ],\n\n \"task\": [\n {\n \"rhs\": \"Your task is to: heat some cup and put it in cabinet.\"\n }\n ],\n\n \"GotoLocation.feedback\": [\n {\n \"rhs\": \"You arrive at {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"OpenObject.feedback\": [\n {\n \"rhs\": \"You open the {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"CloseObject.feedback\": [\n {\n \"rhs\": \"You close the {r.name}.\"\n }\n ],\n\n \"PickupObject.feedback\": [\n {\n \"rhs\": \"You pick up the {o.name} from the {r.name}.\"\n }\n ],\n\n \"PickupObjectFromReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupObjectFromReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupEmptyReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupEmptyReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupFullReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupFullReceptacleObject: You pick up the {outerr.name}.\"\n }\n ],\n\n \"PutObject.feedback\": [\n {\n \"rhs\": \"You move the {o.name} to the {r.name}.\"\n }\n ],\n\n \"PutObjectInReceptacleObject.feedback\": [\n {\n \"rhs\": \"PutObjectInReceptacleObject: You put the {o.name} in the {outero.name}.\"\n }\n ],\n\n \"PutEmptyReceptacleObjectinReceptacle.feedback\": [\n {\n \"rhs\": \"PutEmptyReceptacleObjectinReceptacle: You put the {o.name} in the {r.name}.\"\n }\n ],\n\n \"PutFullReceptacleObjectInReceptacle.feedback\": [\n {\n \"rhs\": \"PutFullReceptacleObjectInReceptacle: You put the {outero.name} in the {r.name}.\"\n }\n ],\n\n \"inventory.feedback\": [\n {\n \"condition\": \"holdsany(a:agent)\",\n \"rhs\": \"You are carrying: [{o.indefinite + ' ' + o.name | holds(a:agent, o:object)}].\"\n },\n {\n \"rhs\": \"You are not carrying anything.\"\n }\n ],\n\n \"examineReceptacle.feedback\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \"The {r.name} is open. In it, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \"The {r.name} is closed.\"\n },\n {\n \"rhs\": \"On the {r.name}, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n }\n ],\n\n \"examineObject.feedback\": [\n {\n \"condition\": \"isreceptacleobject(o:object)\",\n \"rhs\": \"This is a normal {o.name}. In it, you see [{o2.indefinite + ' ' + o2.name | inreceptacleobject(o2:object, o:object)}].\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a clean sliced {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot sliced {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object)\",\n \"rhs\": \"This is a hot and clean {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object)\",\n \"rhs\": \"This is a cool and clean {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object)\",\n \"rhs\": \"This is a hot {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object)\",\n \"rhs\": \"This is a clean {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object)\",\n \"rhs\": \"This is a cold {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"This {o.name} is on.\"\n },\n {\n \"condition\": \"toggleable(o:object) & not_istoggled(o:object)\",\n \"rhs\": \"This {o.name} is off.\"\n },\n {\n \"condition\": \"sliceable(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a sliced {o.name}.\"\n },\n {\n \"rhs\": \"There's nothing special about {o.name}.\"\n }\n ]\n }\n\"\"\";\n\naction GotoLocation {\n template :: \"go to [{r.name | receptacleatlocation(r:receptacle, lend:location)}]\";\n feedback :: \"#GotoLocation.feedback#\";\n}\n\naction OpenObject {\n template :: \"open {r}\";\n feedback :: \"#OpenObject.feedback#\";\n}\n\naction CloseObject {\n template :: \"close {r}\";\n feedback :: \"#CloseObject.feedback#\";\n}\n\naction PickupObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObject.feedback#\";\n}\n\naction PickupObjectFromReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObjectFromReceptacleObject.feedback#\";\n}\n\naction PickupEmptyReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupEmptyReceptacleObject.feedback#\";\n}\n\naction PickupFullReceptacleObject {\n template :: \"take {outerr} from {r}\";\n feedback :: \"#PickupFullReceptacleObject.feedback#\";\n}\n\naction PutObject {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutObject.feedback#\";\n}\n\naction PutObjectInReceptacleObject {\n template :: \"put {o} into {outero}\";\n feedback :: \"#PutObjectInReceptacleObject.feedback#\";\n}\n\naction PutEmptyReceptacleObjectinReceptacle {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutEmptyReceptacleObjectinReceptacle.feedback#\";\n}\n\naction PutFullReceptacleObjectInReceptacle {\n template :: \"put {outero} in {r}\";\n feedback :: \"#PutFullReceptacleObjectInReceptacle.feedback#\";\n}\n\naction inventory {\n template :: \"inventory\";\n feedback :: \"#inventory.feedback#\";\n}\n\naction examineReceptacle {\n template :: \"examine {r}\";\n feedback :: \"#examineReceptacle.feedback#\";\n}\n\naction examineObject {\n template :: \"examine {o}\";\n feedback :: \"#examineObject.feedback#\";\n}\n\naction ToggleObject {\n template :: \"use {o}\";\n feedback :: \"#toggleObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"toggleObject.feedback\": [\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"You turn on the {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object)\",\n \"rhs\": \"You turn off the {o.name}.\"\n },\n {\n \"rhs\": \"You don't see any switch on the {o.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction HeatObject {\n template :: \"heat {o} with {r}\";\n feedback :: \"#heatObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"heatObject.feedback\": [\n {\n \"rhs\": \"You heat the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CleanObject {\n template :: \"clean {o} with {r}\";\n feedback :: \"#cleanObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"cleanObject.feedback\": [\n {\n \"rhs\": \"You clean the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CoolObject {\n template :: \"cool {o} with {r}\";\n feedback :: \"#coolObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"coolObject.feedback\": [\n {\n \"rhs\": \"You cool the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction SliceObject {\n template :: \"slice {co} with {ko}\";\n feedback :: \"#sliceObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"sliceObject.feedback\": [\n {\n \"rhs\": \"You sliced the {co.name} with the {ko.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction look {\n template :: \"look\";\n feedback :: \"#look.feedback#\";\n\n grammar :: \"\"\"\n {\n \"look.feedback\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"#look-variations#. Next to it, you see #list_objects_on_the_floor#.\"\n },\n {\n \"rhs\": \"You are in the middle of a room. Looking quickly around you, you see #list_appliances#.\"\n }\n ],\n\n \"look-variations\": [\n {\n \"rhs\": \"You are facing the [{r.name | atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)}]\"\n }\n ],\n\n \"list_objects_on_the_floor\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)\",\n \"rhs\": \"[{#overview(o)# | atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"list_appliances\": [\n {\n \"condition\": \"receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"[{#overview(r)# | receptacleatlocation(r:receptacle, l:location)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"overview(o, r)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name} (in/on the {r.name})}\"\n }\n ],\n\n \"overview(o)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name}\"\n }\n ],\n \"overview(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}\"\n }\n ],\n \"overview_with_state(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}#overview_state(r)#\"\n }\n ],\n \"overview_state(r)\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \" (it is open)\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \" (it is closed)\"\n },\n {\n \"rhs\": \"\"\n }\n ],\n\n \"list_empty\": [\n {\n \"rhs\": \"nothing\"\n }\n ],\n \"list_separator\": [\n {\n \"rhs\": \", \"\n }\n ],\n \"list_last_separator\": [\n {\n \"rhs\": \", and \"\n }\n ]\n }\n \"\"\";\n}\n\naction help {\n template :: \"help\";\n feedback :: \"\nAvailable commands:\n look: look around your current location\n inventory: check your current inventory\n go to (receptacle): move to a receptacle\n open (receptacle): open a receptacle\n close (receptacle): close a receptacle\n take (object) from (receptacle): take an object from a receptacle\n move (object) to (receptacle): place an object in or on a receptacle\n examine (something): examine a receptacle or an object\n use (object): use an object\n heat (object) with (receptacle): heat an object using a receptacle\n clean (object) with (receptacle): clean an object using a receptacle\n cool (object) with (receptacle): cool an object using a receptacle\n slice (object) with (object): slice an object using a sharp object\n\";\n}\n", "pddl_problem": "\n(define (problem plan_trial_T20190909_062858_196741)\n(:domain alfred)\n(:objects\nagent1 - agent\nSaltShaker - object\n HousePlant - object\n Candle - object\n SprayBottle - object\n Bowl - object\n Window - object\n CD - object\n Egg - object\n Glassbottle - object\n Sink - object\n Pillow - object\n Spoon - object\n SoapBottle - object\n TeddyBear - object\n ButterKnife - object\n Cup - object\n Plate - object\n RemoteControl - object\n Tomato - object\n Statue - object\n HandTowel - object\n Knife - object\n StoveKnob - object\n LightSwitch - object\n Pen - object\n Painting - object\n DishSponge - object\n Vase - object\n Mug - object\n ToiletPaper - object\n Box - object\n Mirror - object\n Ladle - object\n Fork - object\n Blinds - object\n Footstool - object\n KeyChain - object\n Cloth - object\n Laptop - object\n TissueBox - object\n PepperShaker - object\n FloorLamp - object\n WateringCan - object\n Apple - object\n Pan - object\n PaperTowel - object\n PaperTowelRoll - object\n Newspaper - object\n Television - object\n Chair - object\n CellPhone - object\n CreditCard - object\n Lettuce - object\n BasketBall - object\n Potato - object\n Curtains - object\n Boots - object\n Pencil - object\n AlarmClock - object\n ToiletPaperRoll - object\n Spatula - object\n Book - object\n Bread - object\n SoapBar - object\n Watch - object\n DeskLamp - object\n Kettle - object\n Pot - object\n ScrubBrush - object\n WineBottle - object\n ShowerDoor - object\n Bathtub - object\n LaundryHamperLid - object\n ShowerGlass - object\n Poster - object\n TennisRacket - object\n BaseballBat - object\n Towel - object\n Plunger - object\nSaltShakerType - otype\n HousePlantType - otype\n CandleType - otype\n SprayBottleType - otype\n BowlType - otype\n WindowType - otype\n CDType - otype\n EggType - otype\n GlassbottleType - otype\n SinkType - otype\n PillowType - otype\n SpoonType - otype\n SoapBottleType - otype\n TeddyBearType - otype\n ButterKnifeType - otype\n CupType - otype\n PlateType - otype\n RemoteControlType - otype\n TomatoType - otype\n StatueType - otype\n HandTowelType - otype\n KnifeType - otype\n StoveKnobType - otype\n LightSwitchType - otype\n PenType - otype\n PaintingType - otype\n DishSpongeType - otype\n VaseType - otype\n MugType - otype\n ToiletPaperType - otype\n BoxType - otype\n MirrorType - otype\n LadleType - otype\n ForkType - otype\n BlindsType - otype\n FootstoolType - otype\n KeyChainType - otype\n ClothType - otype\n LaptopType - otype\n TissueBoxType - otype\n PepperShakerType - otype\n FloorLampType - otype\n WateringCanType - otype\n AppleType - otype\n PanType - otype\n PaperTowelType - otype\n PaperTowelRollType - otype\n NewspaperType - otype\n TelevisionType - otype\n ChairType - otype\n CellPhoneType - otype\n CreditCardType - otype\n LettuceType - otype\n BasketBallType - otype\n PotatoType - otype\n CurtainsType - otype\n BootsType - otype\n PencilType - otype\n AlarmClockType - otype\n ToiletPaperRollType - otype\n SpatulaType - otype\n BookType - otype\n BreadType - otype\n SoapBarType - otype\n WatchType - otype\n DeskLampType - otype\n KettleType - otype\n PotType - otype\n ScrubBrushType - otype\n WineBottleType - otype\n ShowerDoorType - otype\n BathtubType - otype\n LaundryHamperLidType - otype\n ShowerGlassType - otype\n PosterType - otype\n TennisRacketType - otype\n BaseballBatType - otype\n TowelType - otype\n PlungerType - otype\nSafeType - rtype\n DrawerType - rtype\n CoffeeMachineType - rtype\n HandTowelHolderType - rtype\n SinkBasinType - rtype\n DresserType - rtype\n LaundryHamperType - rtype\n TVStandType - rtype\n BathtubBasinType - rtype\n CabinetType - rtype\n FridgeType - rtype\n DeskType - rtype\n ToiletType - rtype\n CartType - rtype\n SideTableType - rtype\n SofaType - rtype\n CoffeeTableType - rtype\n DiningTableType - rtype\n CounterTopType - rtype\n GarbageCanType - rtype\n ArmChairType - rtype\n ShelfType - rtype\n MicrowaveType - rtype\n ToasterType - rtype\n BedType - rtype\n PaintingHangerType - rtype\n TowelHolderType - rtype\n ToiletPaperHangerType - rtype\n StoveBurnerType - rtype\n OttomanType - rtype\n\n\n Apple_bar__minus_00_dot_40_bar__plus_01_dot_00_bar__minus_02_dot_67 - object\n Apple_bar__minus_01_dot_47_bar__plus_01_dot_00_bar__minus_03_dot_67 - object\n Apple_bar__minus_03_dot_12_bar__plus_00_dot_82_bar__minus_03_dot_29 - object\n 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loc_bar__minus_6_bar__minus_12_bar_2_bar__minus_30 - location\n loc_bar__minus_7_bar__minus_10_bar_2_bar_60 - location\n loc_bar__minus_4_bar__minus_12_bar_2_bar_60 - location\n loc_bar__minus_4_bar__minus_8_bar_1_bar_15 - location\n loc_bar__minus_12_bar__minus_5_bar_0_bar_60 - location\n loc_bar__minus_4_bar__minus_7_bar_1_bar_45 - location\n loc_bar__minus_6_bar__minus_9_bar_1_bar_60 - location\n loc_bar__minus_5_bar__minus_10_bar_1_bar_45 - location\n loc_bar__minus_14_bar__minus_9_bar_2_bar_45 - location\n loc_bar__minus_4_bar__minus_6_bar_1_bar__minus_15 - location\n loc_bar__minus_6_bar__minus_6_bar_1_bar__minus_15 - location\n loc_bar__minus_4_bar__minus_9_bar_1_bar_45 - location\n loc_bar__minus_4_bar__minus_7_bar_1_bar_60 - location\n loc_bar__minus_4_bar__minus_10_bar_1_bar__minus_30 - location\n loc_bar__minus_15_bar__minus_4_bar_3_bar_15 - location\n loc_bar__minus_8_bar__minus_12_bar_2_bar_45 - location\n loc_bar__minus_10_bar__minus_12_bar_2_bar_45 - location\n loc_bar__minus_7_bar__minus_11_bar_1_bar_45 - location\n loc_bar__minus_4_bar__minus_8_bar_1_bar_60 - location\n loc_bar__minus_4_bar__minus_9_bar_2_bar__minus_15 - location\n loc_bar__minus_4_bar__minus_7_bar_1_bar__minus_30 - location\n loc_bar__minus_15_bar__minus_5_bar_0_bar_45 - location\n loc_bar__minus_4_bar__minus_12_bar_1_bar_60 - location\n loc_bar__minus_10_bar__minus_12_bar_2_bar_60 - location\n loc_bar__minus_4_bar__minus_12_bar_1_bar__minus_15 - location\n loc_bar__minus_4_bar__minus_6_bar_1_bar_60 - location\n loc_bar__minus_4_bar__minus_9_bar_1_bar_60 - location\n loc_bar__minus_6_bar__minus_6_bar_1_bar_60 - location\n loc_bar__minus_5_bar__minus_4_bar_1_bar_30 - location\n )\n \n\n(:init\n\n\n (receptacleType CounterTop_bar__minus_01_dot_94_bar__plus_00_dot_98_bar__minus_03_dot_67 CounterTopType)\n (receptacleType SideTable_bar__minus_04_dot_07_bar__plus_00_dot_73_bar__minus_00_dot_31 SideTableType)\n (receptacleType 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Apple_bar__minus_03_dot_12_bar__plus_00_dot_82_bar__minus_03_dot_29)\n (heatable Mug_bar__minus_00_dot_38_bar__plus_01_dot_28_bar__minus_00_dot_88)\n (heatable Tomato_bar__minus_04_dot_24_bar__plus_00_dot_74_bar__minus_00_dot_37)\n (heatable Tomato_bar__minus_00_dot_39_bar__plus_00_dot_99_bar__minus_01_dot_49)\n (heatable Plate_bar__minus_00_dot_36_bar__plus_01_dot_50_bar__minus_00_dot_65)\n (heatable Egg_bar__minus_00_dot_70_bar__plus_00_dot_85_bar__minus_03_dot_63)\n (heatable Plate_bar__minus_03_dot_46_bar__plus_00_dot_77_bar__minus_03_dot_05)\n (heatable Apple_bar__minus_01_dot_47_bar__plus_01_dot_00_bar__minus_03_dot_67)\n (heatable Tomato_bar__minus_03_dot_88_bar__plus_00_dot_74_bar__minus_00_dot_19)\n (heatable Apple_bar__minus_00_dot_40_bar__plus_01_dot_00_bar__minus_02_dot_67)\n (heatable Egg_bar__minus_04_dot_18_bar__plus_00_dot_73_bar__minus_00_dot_49)\n (coolable Pot_bar__minus_00_dot_44_bar__plus_00_dot_96_bar__minus_01_dot_85)\n (coolable Cup_bar__minus_03_dot_81_bar__plus_00_dot_76_bar__minus_03_dot_28)\n (coolable Cup_bar__minus_00_dot_40_bar__plus_01_dot_49_bar__minus_00_dot_30)\n (coolable Lettuce_bar__minus_03_dot_61_bar__plus_00_dot_85_bar__minus_03_dot_49)\n (coolable Pot_bar__minus_03_dot_57_bar__plus_00_dot_90_bar__minus_00_dot_29)\n (coolable Potato_bar__minus_03_dot_88_bar__plus_00_dot_72_bar__minus_00_dot_37)\n (coolable Cup_bar__minus_00_dot_24_bar__plus_00_dot_94_bar__minus_01_dot_54)\n (coolable Bread_bar__minus_03_dot_16_bar__plus_00_dot_98_bar__minus_00_dot_29)\n (coolable Pot_bar__minus_01_dot_25_bar__plus_00_dot_94_bar__minus_03_dot_60)\n (coolable Plate_bar__minus_01_dot_15_bar__plus_00_dot_10_bar__minus_03_dot_49)\n (coolable Lettuce_bar__minus_02_dot_56_bar__plus_00_dot_99_bar__minus_00_dot_20)\n (coolable Bread_bar__minus_04_dot_06_bar__plus_00_dot_77_bar__minus_00_dot_31)\n (coolable Apple_bar__minus_03_dot_12_bar__plus_00_dot_82_bar__minus_03_dot_29)\n (coolable Mug_bar__minus_00_dot_38_bar__plus_01_dot_28_bar__minus_00_dot_88)\n (coolable Tomato_bar__minus_04_dot_24_bar__plus_00_dot_74_bar__minus_00_dot_37)\n (coolable Tomato_bar__minus_00_dot_39_bar__plus_00_dot_99_bar__minus_01_dot_49)\n (coolable Bowl_bar__minus_03_dot_88_bar__plus_00_dot_76_bar__minus_02_dot_93)\n (coolable Plate_bar__minus_00_dot_36_bar__plus_01_dot_50_bar__minus_00_dot_65)\n (coolable Egg_bar__minus_00_dot_70_bar__plus_00_dot_85_bar__minus_03_dot_63)\n (coolable Plate_bar__minus_03_dot_46_bar__plus_00_dot_77_bar__minus_03_dot_05)\n (coolable Apple_bar__minus_01_dot_47_bar__plus_01_dot_00_bar__minus_03_dot_67)\n (coolable Tomato_bar__minus_03_dot_88_bar__plus_00_dot_74_bar__minus_00_dot_19)\n (coolable Apple_bar__minus_00_dot_40_bar__plus_01_dot_00_bar__minus_02_dot_67)\n (coolable Pan_bar__minus_00_dot_22_bar__plus_00_dot_96_bar__minus_02_dot_22)\n (coolable Lettuce_bar__minus_03_dot_23_bar__plus_00_dot_85_bar__minus_03_dot_06)\n (coolable Egg_bar__minus_04_dot_18_bar__plus_00_dot_73_bar__minus_00_dot_49)\n \n (isCool Cup_bar__minus_00_dot_40_bar__plus_01_dot_49_bar__minus_00_dot_30)\n \n \n \n (sliceable Lettuce_bar__minus_03_dot_61_bar__plus_00_dot_85_bar__minus_03_dot_49)\n (sliceable Potato_bar__minus_03_dot_88_bar__plus_00_dot_72_bar__minus_00_dot_37)\n (sliceable Bread_bar__minus_03_dot_16_bar__plus_00_dot_98_bar__minus_00_dot_29)\n (sliceable Lettuce_bar__minus_02_dot_56_bar__plus_00_dot_99_bar__minus_00_dot_20)\n (sliceable Bread_bar__minus_04_dot_06_bar__plus_00_dot_77_bar__minus_00_dot_31)\n (sliceable Apple_bar__minus_03_dot_12_bar__plus_00_dot_82_bar__minus_03_dot_29)\n (sliceable Tomato_bar__minus_04_dot_24_bar__plus_00_dot_74_bar__minus_00_dot_37)\n (sliceable Tomato_bar__minus_00_dot_39_bar__plus_00_dot_99_bar__minus_01_dot_49)\n (sliceable Egg_bar__minus_00_dot_70_bar__plus_00_dot_85_bar__minus_03_dot_63)\n (sliceable Apple_bar__minus_01_dot_47_bar__plus_01_dot_00_bar__minus_03_dot_67)\n (sliceable Tomato_bar__minus_03_dot_88_bar__plus_00_dot_74_bar__minus_00_dot_19)\n (sliceable Apple_bar__minus_00_dot_40_bar__plus_01_dot_00_bar__minus_02_dot_67)\n (sliceable Lettuce_bar__minus_03_dot_23_bar__plus_00_dot_85_bar__minus_03_dot_06)\n (sliceable Egg_bar__minus_04_dot_18_bar__plus_00_dot_73_bar__minus_00_dot_49)\n \n (inReceptacle Spoon_bar__minus_02_dot_14_bar__plus_00_dot_94_bar__minus_03_dot_67 CounterTop_bar__minus_01_dot_94_bar__plus_00_dot_98_bar__minus_03_dot_67)\n (inReceptacle Apple_bar__minus_01_dot_47_bar__plus_01_dot_00_bar__minus_03_dot_67 CounterTop_bar__minus_01_dot_94_bar__plus_00_dot_98_bar__minus_03_dot_67)\n (inReceptacle Knife_bar__minus_00_dot_17_bar__plus_00_dot_97_bar__minus_02_dot_91 CounterTop_bar__minus_01_dot_94_bar__plus_00_dot_98_bar__minus_03_dot_67)\n (inReceptacle Apple_bar__minus_00_dot_40_bar__plus_01_dot_00_bar__minus_02_dot_67 CounterTop_bar__minus_01_dot_94_bar__plus_00_dot_98_bar__minus_03_dot_67)\n (inReceptacle Pot_bar__minus_01_dot_25_bar__plus_00_dot_94_bar__minus_03_dot_60 CounterTop_bar__minus_01_dot_94_bar__plus_00_dot_98_bar__minus_03_dot_67)\n (inReceptacle SoapBottle_bar__minus_02_dot_96_bar__plus_00_dot_89_bar__minus_00_dot_38 DiningTable_bar__minus_03_dot_03_bar__plus_00_dot_00_bar__minus_00_dot_44)\n (inReceptacle Bread_bar__minus_03_dot_16_bar__plus_00_dot_98_bar__minus_00_dot_29 DiningTable_bar__minus_03_dot_03_bar__plus_00_dot_00_bar__minus_00_dot_44)\n (inReceptacle SoapBottle_bar__minus_03_dot_57_bar__plus_00_dot_89_bar__minus_00_dot_63 DiningTable_bar__minus_03_dot_03_bar__plus_00_dot_00_bar__minus_00_dot_44)\n (inReceptacle Pot_bar__minus_03_dot_57_bar__plus_00_dot_90_bar__minus_00_dot_29 DiningTable_bar__minus_03_dot_03_bar__plus_00_dot_00_bar__minus_00_dot_44)\n (inReceptacle Lettuce_bar__minus_02_dot_56_bar__plus_00_dot_99_bar__minus_00_dot_20 DiningTable_bar__minus_03_dot_03_bar__plus_00_dot_00_bar__minus_00_dot_44)\n (inReceptacle PepperShaker_bar__minus_03_dot_36_bar__plus_00_dot_89_bar__minus_00_dot_55 DiningTable_bar__minus_03_dot_03_bar__plus_00_dot_00_bar__minus_00_dot_44)\n (inReceptacle ButterKnife_bar__minus_04_dot_06_bar__plus_00_dot_76_bar__minus_03_dot_47 DiningTable_bar__minus_03_dot_62_bar__plus_00_dot_67_bar__minus_03_dot_32)\n (inReceptacle Plate_bar__minus_03_dot_46_bar__plus_00_dot_77_bar__minus_03_dot_05 DiningTable_bar__minus_03_dot_62_bar__plus_00_dot_67_bar__minus_03_dot_32)\n (inReceptacle Spatula_bar__minus_03_dot_69_bar__plus_00_dot_78_bar__minus_03_dot_13 DiningTable_bar__minus_03_dot_62_bar__plus_00_dot_67_bar__minus_03_dot_32)\n (inReceptacle Lettuce_bar__minus_03_dot_23_bar__plus_00_dot_85_bar__minus_03_dot_06 DiningTable_bar__minus_03_dot_62_bar__plus_00_dot_67_bar__minus_03_dot_32)\n (inReceptacle Cup_bar__minus_03_dot_81_bar__plus_00_dot_76_bar__minus_03_dot_28 DiningTable_bar__minus_03_dot_62_bar__plus_00_dot_67_bar__minus_03_dot_32)\n (inReceptacle Fork_bar__minus_03_dot_26_bar__plus_00_dot_76_bar__minus_03_dot_35 DiningTable_bar__minus_03_dot_62_bar__plus_00_dot_67_bar__minus_03_dot_32)\n (inReceptacle Bowl_bar__minus_03_dot_88_bar__plus_00_dot_76_bar__minus_02_dot_93 DiningTable_bar__minus_03_dot_62_bar__plus_00_dot_67_bar__minus_03_dot_32)\n (inReceptacle Lettuce_bar__minus_03_dot_61_bar__plus_00_dot_85_bar__minus_03_dot_49 DiningTable_bar__minus_03_dot_62_bar__plus_00_dot_67_bar__minus_03_dot_32)\n (inReceptacle ButterKnife_bar__minus_04_dot_06_bar__plus_00_dot_76_bar__minus_03_dot_17 DiningTable_bar__minus_03_dot_62_bar__plus_00_dot_67_bar__minus_03_dot_32)\n (inReceptacle Apple_bar__minus_03_dot_12_bar__plus_00_dot_82_bar__minus_03_dot_29 DiningTable_bar__minus_03_dot_62_bar__plus_00_dot_67_bar__minus_03_dot_32)\n (inReceptacle Pot_bar__minus_00_dot_44_bar__plus_00_dot_96_bar__minus_01_dot_85 StoveBurner_bar__minus_00_dot_44_bar__plus_00_dot_92_bar__minus_01_dot_85)\n (inReceptacle Pot_bar__minus_00_dot_44_bar__plus_00_dot_96_bar__minus_01_dot_85 StoveBurner_bar__minus_00_dot_22_bar__plus_00_dot_92_bar__minus_01_dot_85)\n (inReceptacle Pan_bar__minus_00_dot_22_bar__plus_00_dot_96_bar__minus_02_dot_22 StoveBurner_bar__minus_00_dot_44_bar__plus_00_dot_92_bar__minus_02_dot_24)\n (inReceptacle DishSponge_bar__minus_00_dot_47_bar__plus_00_dot_75_bar__minus_01_dot_38 Drawer_bar__minus_00_dot_50_bar__plus_00_dot_78_bar__minus_01_dot_45)\n (inReceptacle SaltShaker_bar__minus_00_dot_55_bar__plus_00_dot_74_bar__minus_01_dot_34 Drawer_bar__minus_00_dot_50_bar__plus_00_dot_78_bar__minus_01_dot_45)\n (inReceptacle DishSponge_bar__minus_00_dot_44_bar__plus_00_dot_75_bar__minus_02_dot_74 Drawer_bar__minus_00_dot_48_bar__plus_00_dot_78_bar__minus_02_dot_74)\n (inReceptacle Plate_bar__minus_01_dot_15_bar__plus_00_dot_10_bar__minus_03_dot_49 Cabinet_bar__minus_01_dot_01_bar__plus_00_dot_39_bar__minus_03_dot_37)\n (inReceptacle Tomato_bar__minus_03_dot_88_bar__plus_00_dot_74_bar__minus_00_dot_19 SideTable_bar__minus_04_dot_07_bar__plus_00_dot_73_bar__minus_00_dot_31)\n (inReceptacle Tomato_bar__minus_04_dot_24_bar__plus_00_dot_74_bar__minus_00_dot_37 SideTable_bar__minus_04_dot_07_bar__plus_00_dot_73_bar__minus_00_dot_31)\n (inReceptacle Egg_bar__minus_04_dot_18_bar__plus_00_dot_73_bar__minus_00_dot_49 SideTable_bar__minus_04_dot_07_bar__plus_00_dot_73_bar__minus_00_dot_31)\n (inReceptacle Potato_bar__minus_03_dot_88_bar__plus_00_dot_72_bar__minus_00_dot_37 SideTable_bar__minus_04_dot_07_bar__plus_00_dot_73_bar__minus_00_dot_31)\n (inReceptacle PepperShaker_bar__minus_04_dot_12_bar__plus_00_dot_69_bar__minus_00_dot_19 SideTable_bar__minus_04_dot_07_bar__plus_00_dot_73_bar__minus_00_dot_31)\n (inReceptacle Bread_bar__minus_04_dot_06_bar__plus_00_dot_77_bar__minus_00_dot_31 SideTable_bar__minus_04_dot_07_bar__plus_00_dot_73_bar__minus_00_dot_31)\n (inReceptacle Fork_bar__minus_00_dot_16_bar__plus_00_dot_94_bar__minus_01_dot_49 CounterTop_bar__minus_00_dot_33_bar__plus_00_dot_98_bar__minus_01_dot_45)\n (inReceptacle SoapBottle_bar__minus_00_dot_55_bar__plus_00_dot_94_bar__minus_01_dot_41 CounterTop_bar__minus_00_dot_33_bar__plus_00_dot_98_bar__minus_01_dot_45)\n (inReceptacle DishSponge_bar__minus_00_dot_16_bar__plus_00_dot_94_bar__minus_01_dot_36 CounterTop_bar__minus_00_dot_33_bar__plus_00_dot_98_bar__minus_01_dot_45)\n (inReceptacle Tomato_bar__minus_00_dot_39_bar__plus_00_dot_99_bar__minus_01_dot_49 CounterTop_bar__minus_00_dot_33_bar__plus_00_dot_98_bar__minus_01_dot_45)\n (inReceptacle Cup_bar__minus_00_dot_24_bar__plus_00_dot_94_bar__minus_01_dot_54 CounterTop_bar__minus_00_dot_33_bar__plus_00_dot_98_bar__minus_01_dot_45)\n (inReceptacle Pan_bar__minus_00_dot_22_bar__plus_00_dot_96_bar__minus_02_dot_22 StoveBurner_bar__minus_00_dot_22_bar__plus_00_dot_92_bar__minus_02_dot_24)\n (inReceptacleObject Fork_bar__minus_00_dot_16_bar__plus_00_dot_94_bar__minus_01_dot_49 Cup_bar__minus_00_dot_24_bar__plus_00_dot_94_bar__minus_01_dot_54)\n (inReceptacle Egg_bar__minus_00_dot_70_bar__plus_00_dot_85_bar__minus_03_dot_63 Sink_bar__minus_00_dot_60_bar__plus_00_dot_93_bar__minus_03_dot_39_bar_SinkBasin)\n (inReceptacle Cup_bar__minus_00_dot_40_bar__plus_01_dot_49_bar__minus_00_dot_30 Fridge_bar__minus_00_dot_31_bar__plus_00_dot_00_bar__minus_00_dot_65)\n (inReceptacle Mug_bar__minus_00_dot_38_bar__plus_01_dot_28_bar__minus_00_dot_88 Fridge_bar__minus_00_dot_31_bar__plus_00_dot_00_bar__minus_00_dot_65)\n (inReceptacle Plate_bar__minus_00_dot_36_bar__plus_01_dot_50_bar__minus_00_dot_65 Fridge_bar__minus_00_dot_31_bar__plus_00_dot_00_bar__minus_00_dot_65)\n \n \n (receptacleAtLocation Cabinet_bar__minus_00_dot_33_bar__plus_01_dot_89_bar__minus_02_dot_51 loc_bar__minus_4_bar__minus_12_bar_1_bar__minus_15)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_34_bar__plus_01_dot_89_bar__minus_01_dot_29 loc_bar__minus_4_bar__minus_6_bar_1_bar__minus_15)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_34_bar__plus_02_dot_11_bar__minus_00_dot_39 loc_bar__minus_6_bar__minus_4_bar_1_bar__minus_15)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_34_bar__plus_02_dot_11_bar__minus_01_dot_27 loc_bar__minus_6_bar__minus_6_bar_1_bar__minus_15)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_34_bar__plus_02_dot_11_bar__minus_01_dot_63 loc_bar__minus_4_bar__minus_7_bar_1_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_34_bar__plus_02_dot_11_bar__minus_02_dot_50 loc_bar__minus_4_bar__minus_10_bar_1_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_35_bar__plus_01_dot_89_bar__minus_03_dot_29 loc_bar__minus_4_bar__minus_9_bar_2_bar__minus_15)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_63_bar__plus_00_dot_39_bar__minus_01_dot_61 loc_bar__minus_6_bar__minus_6_bar_1_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_63_bar__plus_00_dot_39_bar__minus_02_dot_51 loc_bar__minus_6_bar__minus_9_bar_1_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_63_bar__plus_00_dot_39_bar__minus_03_dot_01 loc_bar__minus_7_bar__minus_11_bar_1_bar_45)\n (receptacleAtLocation Cabinet_bar__minus_01_dot_01_bar__plus_00_dot_39_bar__minus_03_dot_37 loc_bar__minus_7_bar__minus_10_bar_2_bar_60)\n (receptacleAtLocation CoffeeMachine_bar__minus_02_dot_51_bar__plus_00_dot_93_bar__minus_03_dot_80 loc_bar__minus_10_bar__minus_12_bar_2_bar_45)\n (receptacleAtLocation CounterTop_bar__minus_00_dot_33_bar__plus_00_dot_98_bar__minus_01_dot_45 loc_bar__minus_4_bar__minus_6_bar_1_bar_45)\n (receptacleAtLocation CounterTop_bar__minus_01_dot_94_bar__plus_00_dot_98_bar__minus_03_dot_67 loc_bar__minus_6_bar__minus_12_bar_2_bar_45)\n (receptacleAtLocation DiningTable_bar__minus_03_dot_03_bar__plus_00_dot_00_bar__minus_00_dot_44 loc_bar__minus_12_bar__minus_5_bar_0_bar_60)\n (receptacleAtLocation DiningTable_bar__minus_03_dot_62_bar__plus_00_dot_67_bar__minus_03_dot_32 loc_bar__minus_14_bar__minus_9_bar_2_bar_45)\n (receptacleAtLocation Drawer_bar__minus_00_dot_48_bar__plus_00_dot_78_bar__minus_02_dot_74 loc_bar__minus_5_bar__minus_10_bar_1_bar_45)\n (receptacleAtLocation Drawer_bar__minus_00_dot_50_bar__plus_00_dot_78_bar__minus_01_dot_45 loc_bar__minus_4_bar__minus_6_bar_1_bar_60)\n (receptacleAtLocation Drawer_bar__minus_01_dot_15_bar__plus_00_dot_78_bar__minus_03_dot_50 loc_bar__minus_4_bar__minus_12_bar_2_bar_60)\n (receptacleAtLocation Fridge_bar__minus_00_dot_31_bar__plus_00_dot_00_bar__minus_00_dot_65 loc_bar__minus_5_bar__minus_3_bar_1_bar_60)\n (receptacleAtLocation GarbageCan_bar__minus_02_dot_42_bar__plus_00_dot_00_bar__minus_03_dot_54 loc_bar__minus_10_bar__minus_12_bar_2_bar_60)\n (receptacleAtLocation Microwave_bar__minus_00_dot_22_bar__plus_01_dot_47_bar__minus_02_dot_06 loc_bar__minus_4_bar__minus_8_bar_1_bar_15)\n (receptacleAtLocation SideTable_bar__minus_04_dot_07_bar__plus_00_dot_73_bar__minus_00_dot_31 loc_bar__minus_15_bar__minus_5_bar_0_bar_45)\n (receptacleAtLocation Sink_bar__minus_00_dot_60_bar__plus_00_dot_93_bar__minus_03_dot_39_bar_SinkBasin loc_bar__minus_8_bar__minus_11_bar_1_bar_30)\n (receptacleAtLocation StoveBurner_bar__minus_00_dot_22_bar__plus_00_dot_92_bar__minus_01_dot_85 loc_bar__minus_4_bar__minus_7_bar_1_bar_45)\n (receptacleAtLocation StoveBurner_bar__minus_00_dot_22_bar__plus_00_dot_92_bar__minus_02_dot_24 loc_bar__minus_4_bar__minus_9_bar_1_bar_45)\n (receptacleAtLocation StoveBurner_bar__minus_00_dot_44_bar__plus_00_dot_92_bar__minus_01_dot_85 loc_bar__minus_4_bar__minus_7_bar_1_bar_45)\n (receptacleAtLocation StoveBurner_bar__minus_00_dot_44_bar__plus_00_dot_92_bar__minus_02_dot_24 loc_bar__minus_4_bar__minus_9_bar_1_bar_45)\n (receptacleAtLocation Toaster_bar__minus_01_dot_97_bar__plus_00_dot_93_bar__minus_03_dot_76 loc_bar__minus_8_bar__minus_12_bar_2_bar_45)\n (objectAtLocation Lettuce_bar__minus_02_dot_56_bar__plus_00_dot_99_bar__minus_00_dot_20 loc_bar__minus_12_bar__minus_5_bar_0_bar_60)\n (objectAtLocation Egg_bar__minus_04_dot_18_bar__plus_00_dot_73_bar__minus_00_dot_49 loc_bar__minus_15_bar__minus_5_bar_0_bar_45)\n (objectAtLocation DishSponge_bar__minus_00_dot_44_bar__plus_00_dot_75_bar__minus_02_dot_74 loc_bar__minus_5_bar__minus_10_bar_1_bar_45)\n (objectAtLocation Apple_bar__minus_01_dot_47_bar__plus_01_dot_00_bar__minus_03_dot_67 loc_bar__minus_6_bar__minus_12_bar_2_bar_45)\n (objectAtLocation ButterKnife_bar__minus_04_dot_06_bar__plus_00_dot_76_bar__minus_03_dot_17 loc_bar__minus_14_bar__minus_9_bar_2_bar_45)\n (objectAtLocation PepperShaker_bar__minus_03_dot_36_bar__plus_00_dot_89_bar__minus_00_dot_55 loc_bar__minus_12_bar__minus_5_bar_0_bar_60)\n (objectAtLocation Bread_bar__minus_04_dot_06_bar__plus_00_dot_77_bar__minus_00_dot_31 loc_bar__minus_15_bar__minus_5_bar_0_bar_45)\n (objectAtLocation Plate_bar__minus_00_dot_36_bar__plus_01_dot_50_bar__minus_00_dot_65 loc_bar__minus_5_bar__minus_3_bar_1_bar_60)\n (objectAtLocation Tomato_bar__minus_03_dot_88_bar__plus_00_dot_74_bar__minus_00_dot_19 loc_bar__minus_15_bar__minus_5_bar_0_bar_45)\n (objectAtLocation Cup_bar__minus_00_dot_40_bar__plus_01_dot_49_bar__minus_00_dot_30 loc_bar__minus_5_bar__minus_3_bar_1_bar_60)\n (objectAtLocation Fork_bar__minus_00_dot_16_bar__plus_00_dot_94_bar__minus_01_dot_49 loc_bar__minus_4_bar__minus_6_bar_1_bar_45)\n (objectAtLocation Pot_bar__minus_01_dot_25_bar__plus_00_dot_94_bar__minus_03_dot_60 loc_bar__minus_6_bar__minus_12_bar_2_bar_45)\n (objectAtLocation SoapBottle_bar__minus_03_dot_57_bar__plus_00_dot_89_bar__minus_00_dot_63 loc_bar__minus_12_bar__minus_5_bar_0_bar_60)\n (objectAtLocation Apple_bar__minus_00_dot_40_bar__plus_01_dot_00_bar__minus_02_dot_67 loc_bar__minus_6_bar__minus_12_bar_2_bar_45)\n (objectAtLocation Lettuce_bar__minus_03_dot_61_bar__plus_00_dot_85_bar__minus_03_dot_49 loc_bar__minus_14_bar__minus_9_bar_2_bar_45)\n (objectAtLocation Tomato_bar__minus_04_dot_24_bar__plus_00_dot_74_bar__minus_00_dot_37 loc_bar__minus_15_bar__minus_5_bar_0_bar_45)\n (objectAtLocation SoapBottle_bar__minus_00_dot_55_bar__plus_00_dot_94_bar__minus_01_dot_41 loc_bar__minus_4_bar__minus_6_bar_1_bar_45)\n (objectAtLocation Plate_bar__minus_01_dot_15_bar__plus_00_dot_10_bar__minus_03_dot_49 loc_bar__minus_7_bar__minus_10_bar_2_bar_60)\n (objectAtLocation Cup_bar__minus_03_dot_81_bar__plus_00_dot_76_bar__minus_03_dot_28 loc_bar__minus_14_bar__minus_9_bar_2_bar_45)\n (objectAtLocation Pot_bar__minus_03_dot_57_bar__plus_00_dot_90_bar__minus_00_dot_29 loc_bar__minus_12_bar__minus_5_bar_0_bar_60)\n (objectAtLocation DishSponge_bar__minus_00_dot_16_bar__plus_00_dot_94_bar__minus_01_dot_36 loc_bar__minus_4_bar__minus_6_bar_1_bar_45)\n (objectAtLocation Sink_bar__minus_00_dot_60_bar__plus_00_dot_93_bar__minus_03_dot_39 loc_bar__minus_4_bar__minus_12_bar_1_bar_60)\n (objectAtLocation SoapBottle_bar__minus_02_dot_96_bar__plus_00_dot_89_bar__minus_00_dot_38 loc_bar__minus_12_bar__minus_5_bar_0_bar_60)\n (objectAtLocation Pot_bar__minus_00_dot_44_bar__plus_00_dot_96_bar__minus_01_dot_85 loc_bar__minus_4_bar__minus_7_bar_1_bar_45)\n (objectAtLocation StoveKnob_bar__minus_00_dot_62_bar__plus_00_dot_90_bar__minus_01_dot_83 loc_bar__minus_4_bar__minus_7_bar_1_bar_60)\n (objectAtLocation StoveKnob_bar__minus_00_dot_62_bar__plus_00_dot_90_bar__minus_02_dot_13 loc_bar__minus_4_bar__minus_9_bar_1_bar_60)\n (objectAtLocation StoveKnob_bar__minus_00_dot_62_bar__plus_00_dot_90_bar__minus_02_dot_29 loc_bar__minus_4_bar__minus_9_bar_1_bar_60)\n (objectAtLocation StoveKnob_bar__minus_00_dot_62_bar__plus_00_dot_90_bar__minus_01_dot_98 loc_bar__minus_4_bar__minus_8_bar_1_bar_60)\n (objectAtLocation Fork_bar__minus_03_dot_26_bar__plus_00_dot_76_bar__minus_03_dot_35 loc_bar__minus_14_bar__minus_9_bar_2_bar_45)\n (objectAtLocation Cup_bar__minus_00_dot_24_bar__plus_00_dot_94_bar__minus_01_dot_54 loc_bar__minus_4_bar__minus_6_bar_1_bar_45)\n (objectAtLocation Tomato_bar__minus_00_dot_39_bar__plus_00_dot_99_bar__minus_01_dot_49 loc_bar__minus_4_bar__minus_6_bar_1_bar_45)\n (objectAtLocation Pan_bar__minus_00_dot_22_bar__plus_00_dot_96_bar__minus_02_dot_22 loc_bar__minus_4_bar__minus_9_bar_1_bar_45)\n (objectAtLocation Plate_bar__minus_03_dot_46_bar__plus_00_dot_77_bar__minus_03_dot_05 loc_bar__minus_14_bar__minus_9_bar_2_bar_45)\n (objectAtLocation Window_bar__minus_01_dot_39_bar__plus_01_dot_61_bar__minus_04_dot_11 loc_bar__minus_6_bar__minus_12_bar_2_bar_0)\n (objectAtLocation LightSwitch_bar__minus_04_dot_37_bar__plus_01_dot_49_bar__minus_01_dot_03 loc_bar__minus_15_bar__minus_4_bar_3_bar_15)\n (objectAtLocation Bread_bar__minus_03_dot_16_bar__plus_00_dot_98_bar__minus_00_dot_29 loc_bar__minus_12_bar__minus_5_bar_0_bar_60)\n (objectAtLocation Spatula_bar__minus_03_dot_69_bar__plus_00_dot_78_bar__minus_03_dot_13 loc_bar__minus_14_bar__minus_9_bar_2_bar_45)\n (objectAtLocation Knife_bar__minus_00_dot_17_bar__plus_00_dot_97_bar__minus_02_dot_91 loc_bar__minus_6_bar__minus_12_bar_2_bar_45)\n (objectAtLocation SaltShaker_bar__minus_00_dot_55_bar__plus_00_dot_74_bar__minus_01_dot_34 loc_bar__minus_4_bar__minus_6_bar_1_bar_60)\n (objectAtLocation PepperShaker_bar__minus_04_dot_12_bar__plus_00_dot_69_bar__minus_00_dot_19 loc_bar__minus_15_bar__minus_5_bar_0_bar_45)\n (objectAtLocation ButterKnife_bar__minus_04_dot_06_bar__plus_00_dot_76_bar__minus_03_dot_47 loc_bar__minus_14_bar__minus_9_bar_2_bar_45)\n (objectAtLocation Apple_bar__minus_03_dot_12_bar__plus_00_dot_82_bar__minus_03_dot_29 loc_bar__minus_14_bar__minus_9_bar_2_bar_45)\n (objectAtLocation DishSponge_bar__minus_00_dot_47_bar__plus_00_dot_75_bar__minus_01_dot_38 loc_bar__minus_4_bar__minus_6_bar_1_bar_60)\n (objectAtLocation Potato_bar__minus_03_dot_88_bar__plus_00_dot_72_bar__minus_00_dot_37 loc_bar__minus_15_bar__minus_5_bar_0_bar_45)\n (objectAtLocation Egg_bar__minus_00_dot_70_bar__plus_00_dot_85_bar__minus_03_dot_63 loc_bar__minus_8_bar__minus_11_bar_1_bar_30)\n (objectAtLocation Spoon_bar__minus_02_dot_14_bar__plus_00_dot_94_bar__minus_03_dot_67 loc_bar__minus_6_bar__minus_12_bar_2_bar_45)\n (objectAtLocation Lettuce_bar__minus_03_dot_23_bar__plus_00_dot_85_bar__minus_03_dot_06 loc_bar__minus_14_bar__minus_9_bar_2_bar_45)\n (objectAtLocation Mug_bar__minus_00_dot_38_bar__plus_01_dot_28_bar__minus_00_dot_88 loc_bar__minus_5_bar__minus_3_bar_1_bar_60)\n (objectAtLocation Blinds_bar__minus_01_dot_37_bar__plus_02_dot_21_bar__minus_03_dot_96 loc_bar__minus_6_bar__minus_12_bar_2_bar__minus_30)\n (objectAtLocation Bowl_bar__minus_03_dot_88_bar__plus_00_dot_76_bar__minus_02_dot_93 loc_bar__minus_14_bar__minus_9_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 CupType)\n (receptacleType ?r CabinetType)\n (isHot ?o)\n (inReceptacle ?o ?r)\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to diningtable 1", "take cup 1 from diningtable 1", "go to microwave 1", "heat cup 1 with microwave 1", "go to cabinet 6", "move cup 1 to cabinet 6"]}
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alfworld__pick_and_place_simple__776
|
pick_and_place_simple
|
pick_and_place_simple-SprayBottle-None-GarbageCan-426/trial_T20190908_052125_206059/game.tw-pddl
|
{"pddl_domain": ";; Specification in PDDL of the Alfred domain\n;; Intended to be used with Fast Downward which supports PDDL 2.2 level 1 plus the :action-costs requirement from PDDL 3.1.\n\n(define (domain alfred)\n (:requirements\n :adl\n :action-costs\n :typing\n )\n (:types\n agent\n location\n receptacle\n object\n rtype\n otype\n )\n\n\n (:predicates\n (atLocation ?a - agent ?l - location) ; true if the agent is at the location\n (receptacleAtLocation ?r - receptacle ?l - location) ; true if the receptacle is at the location (constant)\n (objectAtLocation ?o - object ?l - location) ; true if the object is at the location\n (openable ?r - receptacle) ; true if a receptacle is openable\n (opened ?r - receptacle) ; true if a receptacle is opened\n (inReceptacle ?o - object ?r - receptacle) ; object ?o is in receptacle ?r\n (isReceptacleObject ?o - object) ; true if the object can have things put inside it\n (inReceptacleObject ?innerObject - object ?outerObject - object) ; object ?innerObject is inside object ?outerObject\n (isReceptacleObjectFull ?o - object) ; true if the receptacle object contains something\n (wasInReceptacle ?o - object ?r - receptacle) ; object ?o was or is in receptacle ?r now or some time in the past\n (checked ?r - receptacle) ; whether the receptacle has been looked inside/visited\n (examined ?l - location) ; TODO\n (receptacleType ?r - receptacle ?t - rtype) ; the type of receptacle (Cabinet vs Cabinet|01|2...)\n (canContain ?rt - rtype ?ot - otype) ; true if receptacle can hold object\n (objectType ?o - object ?t - otype) ; the type of object (Apple vs Apple|01|2...)\n (holds ?a - agent ?o - object) ; object ?o is held by agent ?a\n (holdsAny ?a - agent) ; agent ?a holds an object\n (holdsAnyReceptacleObject ?a - agent) ; agent ?a holds a receptacle object\n (full ?r - receptacle) ; true if the receptacle has no remaining space\n (isClean ?o - object) ; true if the object has been clean in sink\n (cleanable ?o - object) ; true if the object can be placed in a sink\n (isHot ?o - object) ; true if the object has been heated up\n (heatable ?o - object) ; true if the object can be heated up in a microwave\n (isCool ?o - object) ; true if the object has been cooled\n (coolable ?o - object) ; true if the object can be cooled in the fridge\n (pickupable ?o - object) ; true if the object can be picked up\n (moveable ?o - object) ; true if the object can be moved\n (toggleable ?o - object) ; true if the object can be turned on/off\n (isOn ?o - object) ; true if the object is on\n (isToggled ?o - object) ; true if the object has been toggled\n (sliceable ?o - object) ; true if the object can be sliced\n (isSliced ?o - object) ; true if the object is sliced\n )\n\n (:functions\n (distance ?from ?to)\n (total-cost) - number\n )\n\n;; All actions are specified such that the final arguments are the ones used\n;; for performing actions in Unity.\n\n\n(:action look\n :parameters (?a - agent ?l - location)\n :precondition\n (and\n (atLocation ?a ?l)\n )\n :effect\n (and\n (checked ?l)\n )\n)\n\n(:action inventory\n :parameters (?a - agent)\n :precondition\n ()\n :effect\n (and\n (checked ?a)\n )\n)\n\n(:action examineReceptacle\n :parameters (?a - agent ?r - receptacle)\n :precondition\n (and\n (exists (?l - location)\n (and\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n )\n )\n )\n :effect\n (and\n (checked ?r)\n )\n)\n\n(:action examineObject\n :parameters (?a - agent ?o - object)\n :precondition\n (or\n ;(exists (?l - location)\n ; (and\n ; (atLocation ?a ?l)\n ; (objectAtLocation ?o ?l)\n ; )\n ;)\n (exists (?l - location, ?r - receptacle)\n (and\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n ; (objectAtLocation ?o ?l)\n (inReceptacle ?o ?r)\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n )\n )\n (holds ?a ?o)\n )\n :effect\n (and\n (checked ?o)\n )\n)\n\n;; agent goes to receptacle\n (:action GotoLocation\n :parameters (?a - agent ?lStart - location ?lEnd - location ?r - receptacle)\n :precondition (and\n (atLocation ?a ?lStart)\n (receptacleAtLocation ?r ?lEnd)\n ;(exists (?r - receptacle) (receptacleAtLocation ?r ?lEnd))\n )\n :effect (and\n (not (atLocation ?a ?lStart))\n (atLocation ?a ?lEnd)\n ; (forall (?r - receptacle)\n ; (when (and (receptacleAtLocation ?r ?lEnd)\n ; (or (not (openable ?r)) (opened ?r)))\n ; (checked ?r)\n ; )\n ; )\n ; (increase (total-cost) (distance ?lStart ?lEnd))\n (increase (total-cost) 1)\n )\n )\n\n;; agent opens receptacle\n (:action OpenObject\n :parameters (?a - agent ?l - location ?r - receptacle)\n :precondition (and\n (openable ?r)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (not (opened ?r))\n )\n :effect (and\n (opened ?r)\n (checked ?r)\n (increase (total-cost) 1)\n )\n )\n;; agent closes receptacle\n (:action CloseObject\n :parameters (?a - agent ?l - location ?r - receptacle)\n :precondition (and\n (openable ?r)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (opened ?r)\n )\n :effect (and\n (not (opened ?r))\n (increase (total-cost) 1)\n )\n\n )\n\n ;; agent picks up object from a receptacle\n (:action PickupObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n :precondition\n (and\n (pickupable ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n ; (objectAtLocation ?o ?l)\n (inReceptacle ?o ?r)\n (not (holdsAny ?a)) ; agent's hands are empty.\n ;(not (holdsAnyReceptacleObject ?a))\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n ;(not (isReceptacleObject ?o))\n )\n :effect\n (and\n (not (inReceptacle ?o ?r))\n (holds ?a ?o)\n (holdsAny ?a)\n (not (objectAtLocation ?o ?l))\n ;(not (full ?r))\n (increase (total-cost) 1)\n )\n )\n\n\n; ;; agent picks up object from a receptacle\n; (:action PickupObjectFromReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?outerR - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (inReceptacle ?o ?r)\n; (pickupable ?o)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (not (isReceptacleObject ?o))\n; (isReceptacleObject ?outerR)\n; (inReceptacleObject ?o ?outerR)\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (holds ?a ?o)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n;\n; (not (inReceptacleObject ?o ?outerR))\n; (not (isReceptacleObjectFull ?outerR))\n; )\n; )\n;\n; ;; agent picks up object from a receptacle\n; (:action PickupEmptyReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; ; (objectAtLocation ?o ?l)\n; (inReceptacle ?o ?r)\n; (pickupable ?o)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (isReceptacleObject ?o)\n; (not (isReceptacleObjectFull ?o))\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (holds ?a ?o)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n; (holdsAnyReceptacleObject ?a)\n; )\n; )\n;\n; ;; agent picks up object from a receptacle\n; (:action PickupFullReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?outerR - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (inReceptacle ?outerR ?r)\n; (pickupable ?outerR)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (not (isReceptacleObject ?o))\n; (isReceptacleObject ?outerR)\n; (inReceptacleObject ?o ?outerR)\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (not (inReceptacle ?outerR ?r))\n; (holds ?a ?outerR)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (objectAtLocation ?outerR ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n; (holdsAnyReceptacleObject ?a)\n; )\n; )\n\n\n;; agent puts down an object\n (:action PutObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle ?ot - otype ?rt - rtype)\n :precondition (and\n (holds ?a ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable\n ;(not (full ?r))\n (objectType ?o ?ot)\n (receptacleType ?r ?rt)\n (canContain ?rt ?ot)\n ;(not (holdsAnyReceptacleObject ?a))\n )\n :effect (and\n (inReceptacle ?o ?r)\n (objectAtLocation ?o ?l)\n ;(full ?r)\n (not (holds ?a ?o))\n (not (holdsAny ?a))\n (increase (total-cost) 1)\n )\n )\n\n;;; agent puts down an object\n; (:action PutObjectInReceptacleObject\n; :parameters (?a - agent ?l - location ?ot - otype ?o - object ?outerO - object ?outerR - receptacle)\n; :precondition (and\n; (atLocation ?a ?l)\n; (objectAtLocation ?outerO ?l)\n; (isReceptacleObject ?outerO)\n; (not (isReceptacleObject ?o))\n; (objectType ?o ?ot)\n; (holds ?a ?o)\n; (not (holdsAnyReceptacleObject ?a))\n; (inReceptacle ?outerO ?outerR)\n; (not (isReceptacleObjectFull ?outerO))\n; )\n; :effect (and\n; (inReceptacleObject ?o ?outerO)\n; (inReceptacle ?o ?outerR)\n; (not (holds ?a ?o))\n; (not (holdsAny ?a))\n; (objectAtLocation ?o ?l)\n; (isReceptacleObjectFull ?outerO)\n; (increase (total-cost) 1)\n; )\n; )\n;\n;;; agent puts down an object\n; (:action PutEmptyReceptacleObjectinReceptacle\n; :parameters (?a - agent ?l - location ?ot - otype ?o - object ?r - receptacle)\n; :precondition (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable\n; (not (full ?r))\n; (objectType ?o ?ot)\n; (holds ?a ?o)\n; (holdsAnyReceptacleObject ?a)\n; (isReceptacleObject ?o)\n; (not (isReceptacleObjectFull ?o))\n; )\n; :effect (and\n; (inReceptacle ?o ?r)\n; (objectAtLocation ?o ?l)\n; (full ?r)\n; (not (holds ?a ?o))\n; (not (holdsAny ?a))\n; (not (holdsAnyReceptacleObject ?a))\n; (increase (total-cost) 1)\n; )\n; )\n;\n;;; agent puts down a receptacle object in a receptacle\n; (:action PutFullReceptacleObjectInReceptacle\n; :parameters (?a - agent ?l - location ?ot - otype ?innerO - object ?outerO - object ?r - receptacle) ; ?rt - rtype)\n; :precondition (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (objectType ?outerO ?ot)\n; (holds ?a ?outerO)\n; (holdsAnyReceptacleObject ?a)\n; (isReceptacleObject ?outerO)\n; (isReceptacleObjectFull ?outerO)\n; (inReceptacleObject ?innerO ?outerO)\n; )\n; :effect (and\n; (not (holdsAny ?a))\n; (not (holdsAnyReceptacleObject ?a))\n; (objectAtLocation ?outerO ?l)\n; (objectAtLocation ?innerO ?l)\n; (inReceptacle ?outerO ?r)\n; (inReceptacle ?innerO ?r)\n; (not (holds ?a ?outerO))\n; (increase (total-cost) 1)\n; )\n; )\n\n;; agent cleans some object\n (:action CleanObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (cleanable ?o)\n (or\n (receptacleType ?r SinkType)\n (receptacleType ?r SinkBasinType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isClean ?o)\n )\n )\n\n\n;; agent heats-up some object\n (:action HeatObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (heatable ?o)\n (or\n (receptacleType ?r MicrowaveType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isHot ?o)\n (not (isCool ?o))\n )\n )\n\n;; agent cools some object\n (:action CoolObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (coolable ?o)\n (or\n (receptacleType ?r FridgeType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isCool ?o)\n (not (isHot ?o))\n )\n )\n\n\n;; agent toggle object\n (:action ToggleObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n :precondition (and\n (toggleable ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (inReceptacle ?o ?r)\n )\n :effect (and\n (increase (total-cost) 5)\n (when (isOn ?o)\n (not (isOn ?o)))\n (when (not (isOn ?o))\n (isOn ?o))\n (isToggled ?o)\n )\n )\n\n\n;; agent slices some object with a knife\n (:action SliceObject\n :parameters (?a - agent ?l - location ?co - object ?ko - object)\n :precondition\n (and\n (sliceable ?co)\n (or\n (objectType ?ko KnifeType)\n (objectType ?ko ButterKnifeType)\n )\n (atLocation ?a ?l)\n (objectAtLocation ?co ?l)\n (holds ?a ?ko)\n )\n :effect (and\n (increase (total-cost) 5)\n (isSliced ?co)\n )\n )\n\n\n(:action help\n :parameters (?a - agent)\n :precondition\n ()\n :effect\n (and\n (checked ?a)\n )\n)\n)\n", "grammar": "grammar :: \"\"\"\n {\n \"intro\": [\n {\n \"rhs\": \"-= Welcome to TextWorld, ALFRED! =-\\n\\n#look.feedback#\\n\\n#task#\"\n }\n ],\n\n \"notImplemented\": [\n {\n \"rhs\": \"TODO\"\n }\n ],\n\n \"task\": [\n {\n \"rhs\": \"Your task is to: put a spraybottle in garbagecan.\"\n }\n ],\n\n \"GotoLocation.feedback\": [\n {\n \"rhs\": \"You arrive at {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"OpenObject.feedback\": [\n {\n \"rhs\": \"You open the {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"CloseObject.feedback\": [\n {\n \"rhs\": \"You close the {r.name}.\"\n }\n ],\n\n \"PickupObject.feedback\": [\n {\n \"rhs\": \"You pick up the {o.name} from the {r.name}.\"\n }\n ],\n\n \"PickupObjectFromReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupObjectFromReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupEmptyReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupEmptyReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupFullReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupFullReceptacleObject: You pick up the {outerr.name}.\"\n }\n ],\n\n \"PutObject.feedback\": [\n {\n \"rhs\": \"You move the {o.name} to the {r.name}.\"\n }\n ],\n\n \"PutObjectInReceptacleObject.feedback\": [\n {\n \"rhs\": \"PutObjectInReceptacleObject: You put the {o.name} in the {outero.name}.\"\n }\n ],\n\n \"PutEmptyReceptacleObjectinReceptacle.feedback\": [\n {\n \"rhs\": \"PutEmptyReceptacleObjectinReceptacle: You put the {o.name} in the {r.name}.\"\n }\n ],\n\n \"PutFullReceptacleObjectInReceptacle.feedback\": [\n {\n \"rhs\": \"PutFullReceptacleObjectInReceptacle: You put the {outero.name} in the {r.name}.\"\n }\n ],\n\n \"inventory.feedback\": [\n {\n \"condition\": \"holdsany(a:agent)\",\n \"rhs\": \"You are carrying: [{o.indefinite + ' ' + o.name | holds(a:agent, o:object)}].\"\n },\n {\n \"rhs\": \"You are not carrying anything.\"\n }\n ],\n\n \"examineReceptacle.feedback\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \"The {r.name} is open. In it, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \"The {r.name} is closed.\"\n },\n {\n \"rhs\": \"On the {r.name}, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n }\n ],\n\n \"examineObject.feedback\": [\n {\n \"condition\": \"isreceptacleobject(o:object)\",\n \"rhs\": \"This is a normal {o.name}. In it, you see [{o2.indefinite + ' ' + o2.name | inreceptacleobject(o2:object, o:object)}].\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a clean sliced {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot sliced {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object)\",\n \"rhs\": \"This is a hot and clean {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object)\",\n \"rhs\": \"This is a cool and clean {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object)\",\n \"rhs\": \"This is a hot {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object)\",\n \"rhs\": \"This is a clean {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object)\",\n \"rhs\": \"This is a cold {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"This {o.name} is on.\"\n },\n {\n \"condition\": \"toggleable(o:object) & not_istoggled(o:object)\",\n \"rhs\": \"This {o.name} is off.\"\n },\n {\n \"condition\": \"sliceable(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a sliced {o.name}.\"\n },\n {\n \"rhs\": \"There's nothing special about {o.name}.\"\n }\n ]\n }\n\"\"\";\n\naction GotoLocation {\n template :: \"go to [{r.name | receptacleatlocation(r:receptacle, lend:location)}]\";\n feedback :: \"#GotoLocation.feedback#\";\n}\n\naction OpenObject {\n template :: \"open {r}\";\n feedback :: \"#OpenObject.feedback#\";\n}\n\naction CloseObject {\n template :: \"close {r}\";\n feedback :: \"#CloseObject.feedback#\";\n}\n\naction PickupObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObject.feedback#\";\n}\n\naction PickupObjectFromReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObjectFromReceptacleObject.feedback#\";\n}\n\naction PickupEmptyReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupEmptyReceptacleObject.feedback#\";\n}\n\naction PickupFullReceptacleObject {\n template :: \"take {outerr} from {r}\";\n feedback :: \"#PickupFullReceptacleObject.feedback#\";\n}\n\naction PutObject {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutObject.feedback#\";\n}\n\naction PutObjectInReceptacleObject {\n template :: \"put {o} into {outero}\";\n feedback :: \"#PutObjectInReceptacleObject.feedback#\";\n}\n\naction PutEmptyReceptacleObjectinReceptacle {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutEmptyReceptacleObjectinReceptacle.feedback#\";\n}\n\naction PutFullReceptacleObjectInReceptacle {\n template :: \"put {outero} in {r}\";\n feedback :: \"#PutFullReceptacleObjectInReceptacle.feedback#\";\n}\n\naction inventory {\n template :: \"inventory\";\n feedback :: \"#inventory.feedback#\";\n}\n\naction examineReceptacle {\n template :: \"examine {r}\";\n feedback :: \"#examineReceptacle.feedback#\";\n}\n\naction examineObject {\n template :: \"examine {o}\";\n feedback :: \"#examineObject.feedback#\";\n}\n\naction ToggleObject {\n template :: \"use {o}\";\n feedback :: \"#toggleObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"toggleObject.feedback\": [\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"You turn on the {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object)\",\n \"rhs\": \"You turn off the {o.name}.\"\n },\n {\n \"rhs\": \"You don't see any switch on the {o.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction HeatObject {\n template :: \"heat {o} with {r}\";\n feedback :: \"#heatObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"heatObject.feedback\": [\n {\n \"rhs\": \"You heat the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CleanObject {\n template :: \"clean {o} with {r}\";\n feedback :: \"#cleanObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"cleanObject.feedback\": [\n {\n \"rhs\": \"You clean the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CoolObject {\n template :: \"cool {o} with {r}\";\n feedback :: \"#coolObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"coolObject.feedback\": [\n {\n \"rhs\": \"You cool the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction SliceObject {\n template :: \"slice {co} with {ko}\";\n feedback :: \"#sliceObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"sliceObject.feedback\": [\n {\n \"rhs\": \"You sliced the {co.name} with the {ko.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction look {\n template :: \"look\";\n feedback :: \"#look.feedback#\";\n\n grammar :: \"\"\"\n {\n \"look.feedback\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"#look-variations#. Next to it, you see #list_objects_on_the_floor#.\"\n },\n {\n \"rhs\": \"You are in the middle of a room. Looking quickly around you, you see #list_appliances#.\"\n }\n ],\n\n \"look-variations\": [\n {\n \"rhs\": \"You are facing the [{r.name | atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)}]\"\n }\n ],\n\n \"list_objects_on_the_floor\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)\",\n \"rhs\": \"[{#overview(o)# | atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"list_appliances\": [\n {\n \"condition\": \"receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"[{#overview(r)# | receptacleatlocation(r:receptacle, l:location)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"overview(o, r)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name} (in/on the {r.name})}\"\n }\n ],\n\n \"overview(o)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name}\"\n }\n ],\n \"overview(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}\"\n }\n ],\n \"overview_with_state(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}#overview_state(r)#\"\n }\n ],\n \"overview_state(r)\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \" (it is open)\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \" (it is closed)\"\n },\n {\n \"rhs\": \"\"\n }\n ],\n\n \"list_empty\": [\n {\n \"rhs\": \"nothing\"\n }\n ],\n \"list_separator\": [\n {\n \"rhs\": \", \"\n }\n ],\n \"list_last_separator\": [\n {\n \"rhs\": \", and \"\n }\n ]\n }\n \"\"\";\n}\n\naction help {\n template :: \"help\";\n feedback :: \"\nAvailable commands:\n look: look around your current location\n inventory: check your current inventory\n go to (receptacle): move to a receptacle\n open (receptacle): open a receptacle\n close (receptacle): close a receptacle\n take (object) from (receptacle): take an object from a receptacle\n move (object) to (receptacle): place an object in or on a receptacle\n examine (something): examine a receptacle or an object\n use (object): use an object\n heat (object) with (receptacle): heat an object using a receptacle\n clean (object) with (receptacle): clean an object using a receptacle\n cool (object) with (receptacle): cool an object using a receptacle\n slice (object) with (object): slice an object using a sharp object\n\";\n}\n", "pddl_problem": "\n(define (problem plan_trial_T20190908_052125_206059)\n(:domain alfred)\n(:objects\nagent1 - agent\nSaltShaker - object\n HousePlant - object\n Candle - object\n SprayBottle - object\n Bowl - object\n Window - object\n CD - object\n Egg - object\n Glassbottle - object\n Sink - object\n Pillow - object\n Spoon - object\n SoapBottle - object\n TeddyBear - object\n ButterKnife - object\n Cup - object\n Plate - object\n RemoteControl - object\n Tomato - object\n Statue - object\n HandTowel - object\n Knife - object\n StoveKnob - object\n LightSwitch - object\n Pen - object\n Painting - object\n DishSponge - object\n Vase - object\n Mug - object\n ToiletPaper - object\n Box - object\n Mirror - object\n Ladle - object\n Fork - object\n Blinds - object\n Footstool - object\n KeyChain - object\n Cloth - object\n Laptop - object\n TissueBox - object\n PepperShaker - object\n FloorLamp - object\n WateringCan - object\n Apple - object\n Pan - object\n PaperTowel - object\n PaperTowelRoll - object\n Newspaper - object\n Television - object\n Chair - object\n CellPhone - object\n CreditCard - object\n Lettuce - object\n BasketBall - object\n Potato - object\n Curtains - object\n Boots - object\n Pencil - object\n AlarmClock - object\n ToiletPaperRoll - object\n Spatula - object\n Book - object\n Bread - object\n SoapBar - object\n Watch - object\n DeskLamp - object\n Kettle - object\n Pot - object\n ScrubBrush - object\n WineBottle - object\n ShowerDoor - object\n Bathtub - object\n LaundryHamperLid - object\n ShowerGlass - object\n Poster - object\n TennisRacket - object\n BaseballBat - object\n Towel - object\n Plunger - object\nSaltShakerType - otype\n HousePlantType - otype\n CandleType - otype\n SprayBottleType - otype\n BowlType - otype\n WindowType - otype\n CDType - otype\n EggType - otype\n GlassbottleType - otype\n SinkType - otype\n PillowType - otype\n SpoonType - otype\n SoapBottleType - otype\n TeddyBearType - otype\n ButterKnifeType - otype\n CupType - otype\n PlateType - otype\n RemoteControlType - otype\n TomatoType - otype\n StatueType - otype\n HandTowelType - otype\n KnifeType - otype\n StoveKnobType - otype\n LightSwitchType - otype\n PenType - otype\n PaintingType - otype\n DishSpongeType - otype\n VaseType - otype\n MugType - otype\n ToiletPaperType - otype\n BoxType - otype\n MirrorType - otype\n LadleType - otype\n ForkType - otype\n BlindsType - otype\n FootstoolType - otype\n KeyChainType - otype\n ClothType - otype\n LaptopType - otype\n TissueBoxType - otype\n PepperShakerType - otype\n FloorLampType - otype\n WateringCanType - otype\n AppleType - otype\n PanType - otype\n PaperTowelType - otype\n PaperTowelRollType - otype\n NewspaperType - otype\n TelevisionType - otype\n ChairType - otype\n CellPhoneType - otype\n CreditCardType - otype\n LettuceType - otype\n BasketBallType - otype\n PotatoType - otype\n CurtainsType - otype\n BootsType - otype\n PencilType - otype\n AlarmClockType - otype\n ToiletPaperRollType - otype\n SpatulaType - otype\n BookType - otype\n BreadType - otype\n SoapBarType - otype\n WatchType - otype\n DeskLampType - otype\n KettleType - otype\n PotType - otype\n ScrubBrushType - otype\n WineBottleType - otype\n ShowerDoorType - otype\n BathtubType - otype\n LaundryHamperLidType - otype\n ShowerGlassType - otype\n PosterType - otype\n TennisRacketType - otype\n BaseballBatType - otype\n TowelType - otype\n PlungerType - otype\nSafeType - rtype\n DrawerType - rtype\n CoffeeMachineType - rtype\n HandTowelHolderType - rtype\n SinkBasinType - rtype\n DresserType - rtype\n LaundryHamperType - rtype\n TVStandType - rtype\n BathtubBasinType - rtype\n CabinetType - rtype\n FridgeType - rtype\n DeskType - rtype\n ToiletType - rtype\n CartType - rtype\n SideTableType - rtype\n SofaType - rtype\n CoffeeTableType - rtype\n DiningTableType - rtype\n CounterTopType - rtype\n GarbageCanType - rtype\n ArmChairType - rtype\n ShelfType - rtype\n MicrowaveType - rtype\n ToasterType - rtype\n BedType - rtype\n PaintingHangerType - rtype\n TowelHolderType - rtype\n ToiletPaperHangerType - rtype\n StoveBurnerType - rtype\n OttomanType - rtype\n\n\n Bathtub_bar__minus_03_dot_50_bar__plus_00_dot_15_bar__plus_00_dot_94 - object\n Candle_bar__minus_00_dot_81_bar__plus_00_dot_81_bar__plus_00_dot_09 - object\n Candle_bar__minus_01_dot_07_bar__plus_00_dot_81_bar__plus_00_dot_16 - object\n Candle_bar__minus_02_dot_33_bar__plus_00_dot_95_bar__plus_02_dot_64 - object\n Cloth_bar__minus_01_dot_59_bar__plus_00_dot_81_bar__plus_00_dot_42 - object\n Cloth_bar__minus_03_dot_38_bar__plus_00_dot_22_bar__plus_00_dot_94 - 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_29_bar__plus_00_dot_98_bar__plus_03_dot_18 - object\n SoapBar_bar__minus_00_dot_54_bar__plus_00_dot_81_bar__plus_00_dot_48 - object\n SoapBottle_bar__minus_01_dot_33_bar__plus_00_dot_81_bar__plus_00_dot_22 - object\n SoapBottle_bar__minus_01_dot_85_bar__plus_00_dot_81_bar__plus_00_dot_22 - object\n SprayBottle_bar__minus_01_dot_07_bar__plus_00_dot_81_bar__plus_00_dot_29 - object\n TissueBox_bar__minus_00_dot_81_bar__plus_00_dot_20_bar__plus_00_dot_24 - object\n TissueBox_bar__minus_01_dot_27_bar__plus_00_dot_20_bar__plus_00_dot_41 - object\n ToiletPaper_bar__minus_01_dot_57_bar__plus_00_dot_84_bar__plus_03_dot_22 - object\n ToiletPaper_bar__minus_02_dot_25_bar__plus_00_dot_95_bar__plus_02_dot_33 - object\n ToiletPaper_bar__minus_02_dot_30_bar__plus_00_dot_95_bar__plus_02_dot_70 - object\n Towel_bar__minus_02_dot_55_bar__plus_00_dot_87_bar__plus_00_dot_11 - object\n Towel_bar__minus_02_dot_55_bar__plus_01_dot_60_bar__plus_00_dot_11 - object\n Window_bar__minus_04_dot_08_bar__plus_01_dot_74_bar__plus_01_dot_16 - object\n Bathtub_bar__minus_03_dot_50_bar__plus_00_dot_15_bar__plus_00_dot_94_bar_BathtubBasin - receptacle\n CounterTop_bar__minus_01_dot_85_bar__plus_00_dot_00_bar__plus_00_dot_34 - receptacle\n Drawer_bar__minus_00_dot_29_bar__plus_00_dot_31_bar__plus_00_dot_31 - receptacle\n Drawer_bar__minus_00_dot_29_bar__plus_00_dot_61_bar__plus_00_dot_31 - receptacle\n Drawer_bar__minus_00_dot_81_bar__plus_00_dot_31_bar__plus_00_dot_31 - receptacle\n Drawer_bar__minus_00_dot_81_bar__plus_00_dot_61_bar__plus_00_dot_31 - receptacle\n Drawer_bar__minus_01_dot_32_bar__plus_00_dot_31_bar__plus_00_dot_31 - receptacle\n Drawer_bar__minus_01_dot_32_bar__plus_00_dot_61_bar__plus_00_dot_31 - receptacle\n Drawer_bar__minus_01_dot_84_bar__plus_00_dot_31_bar__plus_00_dot_31 - receptacle\n Drawer_bar__minus_01_dot_84_bar__plus_00_dot_61_bar__plus_00_dot_31 - receptacle\n GarbageCan_bar__minus_00_dot_85_bar__plus_00_dot_00_bar__plus_03_dot_15 - receptacle\n HandTowelHolder_bar__plus_00_dot_00_bar__plus_01_dot_78_bar__plus_02_dot_96 - receptacle\n Sink_bar__minus_00_dot_46_bar__minus_00_dot_01_bar__plus_03_dot_05_bar_SinkBasin - receptacle\n ToiletPaperHanger_bar__minus_01_dot_63_bar__plus_00_dot_84_bar__plus_03_dot_31 - receptacle\n Toilet_bar__minus_01_dot_84_bar__plus_00_dot_00_bar__plus_02_dot_50 - receptacle\n TowelHolder_bar__minus_02_dot_55_bar__plus_00_dot_86_bar__plus_00_dot_00 - receptacle\n TowelHolder_bar__minus_02_dot_55_bar__plus_01_dot_58_bar__plus_00_dot_00 - receptacle\n loc_bar__minus_3_bar_10_bar_0_bar_0 - location\n loc_bar__minus_10_bar_3_bar_2_bar_0 - location\n loc_bar__minus_7_bar_6_bar_0_bar_60 - location\n loc_bar__minus_5_bar_6_bar_2_bar_45 - location\n loc_bar__minus_6_bar_5_bar_2_bar_45 - location\n loc_bar__minus_2_bar_5_bar_2_bar_45 - location\n loc_bar__minus_5_bar_11_bar_3_bar_60 - location\n loc_bar__minus_5_bar_4_bar_2_bar_60 - location\n loc_bar__minus_3_bar_6_bar_2_bar_45 - location\n loc_bar__minus_11_bar_4_bar_3_bar_60 - location\n loc_bar__minus_5_bar_9_bar_0_bar_60 - location\n loc_bar__minus_3_bar_4_bar_3_bar_60 - location\n loc_bar__minus_4_bar_11_bar_1_bar_60 - location\n loc_bar__minus_5_bar_11_bar_0_bar_60 - location\n loc_bar__minus_2_bar_9_bar_0_bar__minus_15 - location\n loc_bar__minus_2_bar_9_bar_0_bar_60 - location\n loc_bar__minus_11_bar_5_bar_3_bar_0 - location\n loc_bar__minus_4_bar_5_bar_2_bar_45 - location\n loc_bar__minus_2_bar_8_bar_1_bar_30 - location\n loc_bar__minus_3_bar_5_bar_2_bar_45 - location\n loc_bar__minus_10_bar_3_bar_2_bar_45 - location\n loc_bar__minus_7_bar_6_bar_3_bar_30 - location\n )\n \n\n(:init\n\n\n (receptacleType Drawer_bar__minus_00_dot_81_bar__plus_00_dot_61_bar__plus_00_dot_31 DrawerType)\n (receptacleType Drawer_bar__minus_00_dot_29_bar__plus_00_dot_61_bar__plus_00_dot_31 DrawerType)\n (receptacleType Drawer_bar__minus_01_dot_32_bar__plus_00_dot_31_bar__plus_00_dot_31 DrawerType)\n (receptacleType Sink_bar__minus_00_dot_46_bar__minus_00_dot_01_bar__plus_03_dot_05_bar_SinkBasin SinkBasinType)\n (receptacleType CounterTop_bar__minus_01_dot_85_bar__plus_00_dot_00_bar__plus_00_dot_34 CounterTopType)\n (receptacleType Drawer_bar__minus_00_dot_29_bar__plus_00_dot_31_bar__plus_00_dot_31 DrawerType)\n (receptacleType Drawer_bar__minus_01_dot_32_bar__plus_00_dot_61_bar__plus_00_dot_31 DrawerType)\n (receptacleType HandTowelHolder_bar__plus_00_dot_00_bar__plus_01_dot_78_bar__plus_02_dot_96 HandTowelHolderType)\n (receptacleType GarbageCan_bar__minus_00_dot_85_bar__plus_00_dot_00_bar__plus_03_dot_15 GarbageCanType)\n (receptacleType Drawer_bar__minus_00_dot_81_bar__plus_00_dot_31_bar__plus_00_dot_31 DrawerType)\n (receptacleType Drawer_bar__minus_01_dot_84_bar__plus_00_dot_31_bar__plus_00_dot_31 DrawerType)\n (receptacleType Drawer_bar__minus_01_dot_84_bar__plus_00_dot_61_bar__plus_00_dot_31 DrawerType)\n (receptacleType TowelHolder_bar__minus_02_dot_55_bar__plus_00_dot_86_bar__plus_00_dot_00 TowelHolderType)\n (receptacleType Bathtub_bar__minus_03_dot_50_bar__plus_00_dot_15_bar__plus_00_dot_94_bar_BathtubBasin BathtubBasinType)\n (receptacleType ToiletPaperHanger_bar__minus_01_dot_63_bar__plus_00_dot_84_bar__plus_03_dot_31 ToiletPaperHangerType)\n (receptacleType TowelHolder_bar__minus_02_dot_55_bar__plus_01_dot_58_bar__plus_00_dot_00 TowelHolderType)\n (receptacleType Toilet_bar__minus_01_dot_84_bar__plus_00_dot_00_bar__plus_02_dot_50 ToiletType)\n (objectType Plunger_bar__minus_02_dot_31_bar__plus_00_dot_00_bar__plus_03_dot_23 PlungerType)\n (objectType TissueBox_bar__minus_00_dot_81_bar__plus_00_dot_20_bar__plus_00_dot_24 TissueBoxType)\n (objectType ToiletPaper_bar__minus_01_dot_57_bar__plus_00_dot_84_bar__plus_03_dot_22 ToiletPaperType)\n (objectType SprayBottle_bar__minus_01_dot_07_bar__plus_00_dot_81_bar__plus_00_dot_29 SprayBottleType)\n (objectType Towel_bar__minus_02_dot_55_bar__plus_01_dot_60_bar__plus_00_dot_11 TowelType)\n (objectType Towel_bar__minus_02_dot_55_bar__plus_00_dot_87_bar__plus_00_dot_11 TowelType)\n (objectType SoapBar_bar__minus_00_dot_29_bar__plus_00_dot_98_bar__plus_03_dot_18 SoapBarType)\n (objectType SoapBottle_bar__minus_01_dot_85_bar__plus_00_dot_81_bar__plus_00_dot_22 SoapBottleType)\n (objectType Cloth_bar__minus_03_dot_38_bar__plus_00_dot_22_bar__plus_00_dot_94 ClothType)\n (objectType Candle_bar__minus_02_dot_33_bar__plus_00_dot_95_bar__plus_02_dot_64 CandleType)\n (objectType ToiletPaper_bar__minus_02_dot_25_bar__plus_00_dot_95_bar__plus_02_dot_33 ToiletPaperType)\n (objectType Candle_bar__minus_00_dot_81_bar__plus_00_dot_81_bar__plus_00_dot_09 CandleType)\n (objectType Cloth_bar__minus_01_dot_59_bar__plus_00_dot_81_bar__plus_00_dot_42 ClothType)\n (objectType Window_bar__minus_04_dot_08_bar__plus_01_dot_74_bar__plus_01_dot_16 WindowType)\n (objectType SoapBar_bar__minus_00_dot_54_bar__plus_00_dot_81_bar__plus_00_dot_48 SoapBarType)\n (objectType HandTowel_bar__minus_00_dot_04_bar__plus_01_dot_68_bar__plus_02_dot_96 HandTowelType)\n (objectType LightSwitch_bar__plus_00_dot_00_bar__plus_01_dot_37_bar__plus_01_dot_99 LightSwitchType)\n (objectType Sink_bar__minus_00_dot_46_bar__minus_00_dot_01_bar__plus_03_dot_05 SinkType)\n (objectType TissueBox_bar__minus_01_dot_27_bar__plus_00_dot_20_bar__plus_00_dot_41 TissueBoxType)\n (objectType Bathtub_bar__minus_03_dot_50_bar__plus_00_dot_15_bar__plus_00_dot_94 BathtubType)\n (objectType ScrubBrush_bar__minus_02_dot_19_bar__plus_00_dot_00_bar__plus_03_dot_03 ScrubBrushType)\n (objectType SoapBottle_bar__minus_01_dot_33_bar__plus_00_dot_81_bar__plus_00_dot_22 SoapBottleType)\n (objectType Candle_bar__minus_01_dot_07_bar__plus_00_dot_81_bar__plus_00_dot_16 CandleType)\n (objectType ToiletPaper_bar__minus_02_dot_30_bar__plus_00_dot_95_bar__plus_02_dot_70 ToiletPaperType)\n (objectType Mirror_bar__minus_00_dot_50_bar__plus_01_dot_74_bar__plus_03_dot_30 MirrorType)\n (canContain DrawerType CandleType)\n (canContain DrawerType SoapBarType)\n (canContain DrawerType SprayBottleType)\n (canContain DrawerType ToiletPaperType)\n (canContain DrawerType SoapBottleType)\n (canContain DrawerType ClothType)\n (canContain DrawerType TissueBoxType)\n (canContain DrawerType HandTowelType)\n (canContain DrawerType CandleType)\n (canContain DrawerType SoapBarType)\n (canContain DrawerType SprayBottleType)\n (canContain DrawerType ToiletPaperType)\n (canContain DrawerType SoapBottleType)\n (canContain DrawerType ClothType)\n (canContain DrawerType TissueBoxType)\n (canContain DrawerType HandTowelType)\n (canContain DrawerType CandleType)\n (canContain DrawerType SoapBarType)\n (canContain DrawerType SprayBottleType)\n (canContain DrawerType ToiletPaperType)\n (canContain DrawerType SoapBottleType)\n (canContain DrawerType ClothType)\n (canContain DrawerType TissueBoxType)\n (canContain DrawerType HandTowelType)\n (canContain SinkBasinType SoapBarType)\n (canContain SinkBasinType ClothType)\n (canContain SinkBasinType HandTowelType)\n (canContain CounterTopType CandleType)\n (canContain CounterTopType SoapBarType)\n (canContain CounterTopType SprayBottleType)\n (canContain CounterTopType ToiletPaperType)\n (canContain CounterTopType SoapBottleType)\n (canContain CounterTopType ClothType)\n (canContain CounterTopType TissueBoxType)\n (canContain CounterTopType HandTowelType)\n (canContain DrawerType CandleType)\n (canContain DrawerType SoapBarType)\n (canContain DrawerType SprayBottleType)\n (canContain DrawerType ToiletPaperType)\n (canContain DrawerType SoapBottleType)\n (canContain DrawerType ClothType)\n (canContain DrawerType TissueBoxType)\n (canContain DrawerType HandTowelType)\n (canContain DrawerType CandleType)\n (canContain DrawerType SoapBarType)\n (canContain DrawerType SprayBottleType)\n (canContain DrawerType ToiletPaperType)\n (canContain DrawerType SoapBottleType)\n (canContain DrawerType ClothType)\n (canContain DrawerType TissueBoxType)\n (canContain DrawerType HandTowelType)\n (canContain HandTowelHolderType HandTowelType)\n (canContain GarbageCanType SoapBarType)\n (canContain GarbageCanType SprayBottleType)\n (canContain GarbageCanType ToiletPaperType)\n (canContain GarbageCanType SoapBottleType)\n (canContain GarbageCanType ClothType)\n (canContain GarbageCanType TissueBoxType)\n (canContain GarbageCanType HandTowelType)\n (canContain DrawerType CandleType)\n (canContain DrawerType SoapBarType)\n (canContain DrawerType SprayBottleType)\n (canContain DrawerType ToiletPaperType)\n (canContain DrawerType SoapBottleType)\n (canContain DrawerType ClothType)\n (canContain DrawerType TissueBoxType)\n (canContain DrawerType HandTowelType)\n (canContain DrawerType CandleType)\n (canContain DrawerType SoapBarType)\n (canContain DrawerType SprayBottleType)\n (canContain DrawerType ToiletPaperType)\n (canContain DrawerType SoapBottleType)\n (canContain DrawerType ClothType)\n (canContain DrawerType TissueBoxType)\n (canContain DrawerType HandTowelType)\n (canContain DrawerType CandleType)\n (canContain DrawerType SoapBarType)\n (canContain DrawerType SprayBottleType)\n (canContain DrawerType ToiletPaperType)\n (canContain DrawerType SoapBottleType)\n (canContain DrawerType ClothType)\n (canContain DrawerType TissueBoxType)\n (canContain DrawerType HandTowelType)\n (canContain TowelHolderType TowelType)\n (canContain BathtubBasinType ClothType)\n (canContain BathtubBasinType HandTowelType)\n (canContain BathtubBasinType SoapBarType)\n (canContain ToiletPaperHangerType ToiletPaperType)\n (canContain TowelHolderType TowelType)\n (canContain ToiletType SoapBottleType)\n (canContain ToiletType HandTowelType)\n (canContain ToiletType ToiletPaperType)\n (canContain ToiletType ClothType)\n (canContain ToiletType CandleType)\n (canContain ToiletType SoapBarType)\n (canContain ToiletType SprayBottleType)\n (canContain ToiletType TissueBoxType)\n (pickupable Plunger_bar__minus_02_dot_31_bar__plus_00_dot_00_bar__plus_03_dot_23)\n (pickupable TissueBox_bar__minus_00_dot_81_bar__plus_00_dot_20_bar__plus_00_dot_24)\n (pickupable ToiletPaper_bar__minus_01_dot_57_bar__plus_00_dot_84_bar__plus_03_dot_22)\n (pickupable SprayBottle_bar__minus_01_dot_07_bar__plus_00_dot_81_bar__plus_00_dot_29)\n (pickupable Towel_bar__minus_02_dot_55_bar__plus_01_dot_60_bar__plus_00_dot_11)\n (pickupable Towel_bar__minus_02_dot_55_bar__plus_00_dot_87_bar__plus_00_dot_11)\n (pickupable SoapBar_bar__minus_00_dot_29_bar__plus_00_dot_98_bar__plus_03_dot_18)\n (pickupable SoapBottle_bar__minus_01_dot_85_bar__plus_00_dot_81_bar__plus_00_dot_22)\n (pickupable Cloth_bar__minus_03_dot_38_bar__plus_00_dot_22_bar__plus_00_dot_94)\n (pickupable Candle_bar__minus_02_dot_33_bar__plus_00_dot_95_bar__plus_02_dot_64)\n (pickupable ToiletPaper_bar__minus_02_dot_25_bar__plus_00_dot_95_bar__plus_02_dot_33)\n (pickupable Candle_bar__minus_00_dot_81_bar__plus_00_dot_81_bar__plus_00_dot_09)\n (pickupable Cloth_bar__minus_01_dot_59_bar__plus_00_dot_81_bar__plus_00_dot_42)\n (pickupable SoapBar_bar__minus_00_dot_54_bar__plus_00_dot_81_bar__plus_00_dot_48)\n (pickupable HandTowel_bar__minus_00_dot_04_bar__plus_01_dot_68_bar__plus_02_dot_96)\n (pickupable TissueBox_bar__minus_01_dot_27_bar__plus_00_dot_20_bar__plus_00_dot_41)\n (pickupable ScrubBrush_bar__minus_02_dot_19_bar__plus_00_dot_00_bar__plus_03_dot_03)\n (pickupable SoapBottle_bar__minus_01_dot_33_bar__plus_00_dot_81_bar__plus_00_dot_22)\n (pickupable Candle_bar__minus_01_dot_07_bar__plus_00_dot_81_bar__plus_00_dot_16)\n (pickupable ToiletPaper_bar__minus_02_dot_30_bar__plus_00_dot_95_bar__plus_02_dot_70)\n \n (openable Drawer_bar__minus_00_dot_81_bar__plus_00_dot_61_bar__plus_00_dot_31)\n (openable Drawer_bar__minus_00_dot_29_bar__plus_00_dot_61_bar__plus_00_dot_31)\n (openable Drawer_bar__minus_00_dot_29_bar__plus_00_dot_31_bar__plus_00_dot_31)\n (openable Drawer_bar__minus_01_dot_32_bar__plus_00_dot_61_bar__plus_00_dot_31)\n (openable Drawer_bar__minus_00_dot_81_bar__plus_00_dot_31_bar__plus_00_dot_31)\n (openable Drawer_bar__minus_01_dot_84_bar__plus_00_dot_31_bar__plus_00_dot_31)\n (openable Drawer_bar__minus_01_dot_84_bar__plus_00_dot_61_bar__plus_00_dot_31)\n \n (atLocation agent1 loc_bar__minus_7_bar_6_bar_3_bar_30)\n \n (cleanable SoapBar_bar__minus_00_dot_29_bar__plus_00_dot_98_bar__plus_03_dot_18)\n (cleanable Cloth_bar__minus_03_dot_38_bar__plus_00_dot_22_bar__plus_00_dot_94)\n (cleanable Cloth_bar__minus_01_dot_59_bar__plus_00_dot_81_bar__plus_00_dot_42)\n (cleanable SoapBar_bar__minus_00_dot_54_bar__plus_00_dot_81_bar__plus_00_dot_48)\n \n \n \n \n \n \n \n \n \n \n (inReceptacle TissueBox_bar__minus_01_dot_27_bar__plus_00_dot_20_bar__plus_00_dot_41 Drawer_bar__minus_01_dot_32_bar__plus_00_dot_31_bar__plus_00_dot_31)\n (inReceptacle TissueBox_bar__minus_00_dot_81_bar__plus_00_dot_20_bar__plus_00_dot_24 Drawer_bar__minus_00_dot_81_bar__plus_00_dot_31_bar__plus_00_dot_31)\n (inReceptacle SoapBottle_bar__minus_01_dot_85_bar__plus_00_dot_81_bar__plus_00_dot_22 CounterTop_bar__minus_01_dot_85_bar__plus_00_dot_00_bar__plus_00_dot_34)\n (inReceptacle Candle_bar__minus_00_dot_81_bar__plus_00_dot_81_bar__plus_00_dot_09 CounterTop_bar__minus_01_dot_85_bar__plus_00_dot_00_bar__plus_00_dot_34)\n (inReceptacle SprayBottle_bar__minus_01_dot_07_bar__plus_00_dot_81_bar__plus_00_dot_29 CounterTop_bar__minus_01_dot_85_bar__plus_00_dot_00_bar__plus_00_dot_34)\n (inReceptacle Cloth_bar__minus_01_dot_59_bar__plus_00_dot_81_bar__plus_00_dot_42 CounterTop_bar__minus_01_dot_85_bar__plus_00_dot_00_bar__plus_00_dot_34)\n (inReceptacle SoapBottle_bar__minus_01_dot_33_bar__plus_00_dot_81_bar__plus_00_dot_22 CounterTop_bar__minus_01_dot_85_bar__plus_00_dot_00_bar__plus_00_dot_34)\n (inReceptacle Candle_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 SoapBar_bar__minus_00_dot_54_bar__plus_00_dot_81_bar__plus_00_dot_48 CounterTop_bar__minus_01_dot_85_bar__plus_00_dot_00_bar__plus_00_dot_34)\n (inReceptacle Towel_bar__minus_02_dot_55_bar__plus_01_dot_60_bar__plus_00_dot_11 TowelHolder_bar__minus_02_dot_55_bar__plus_01_dot_58_bar__plus_00_dot_00)\n (inReceptacle Towel_bar__minus_02_dot_55_bar__plus_00_dot_87_bar__plus_00_dot_11 TowelHolder_bar__minus_02_dot_55_bar__plus_00_dot_86_bar__plus_00_dot_00)\n (inReceptacle ToiletPaper_bar__minus_01_dot_57_bar__plus_00_dot_84_bar__plus_03_dot_22 ToiletPaperHanger_bar__minus_01_dot_63_bar__plus_00_dot_84_bar__plus_03_dot_31)\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_30_bar__plus_00_dot_95_bar__plus_02_dot_70 Toilet_bar__minus_01_dot_84_bar__plus_00_dot_00_bar__plus_02_dot_50)\n (inReceptacle ToiletPaper_bar__minus_02_dot_25_bar__plus_00_dot_95_bar__plus_02_dot_33 Toilet_bar__minus_01_dot_84_bar__plus_00_dot_00_bar__plus_02_dot_50)\n (inReceptacle Candle_bar__minus_02_dot_33_bar__plus_00_dot_95_bar__plus_02_dot_64 Toilet_bar__minus_01_dot_84_bar__plus_00_dot_00_bar__plus_02_dot_50)\n (inReceptacle Cloth_bar__minus_03_dot_38_bar__plus_00_dot_22_bar__plus_00_dot_94 Bathtub_bar__minus_03_dot_50_bar__plus_00_dot_15_bar__plus_00_dot_94_bar_BathtubBasin)\n \n \n (receptacleAtLocation Bathtub_bar__minus_03_dot_50_bar__plus_00_dot_15_bar__plus_00_dot_94_bar_BathtubBasin loc_bar__minus_11_bar_4_bar_3_bar_60)\n (receptacleAtLocation CounterTop_bar__minus_01_dot_85_bar__plus_00_dot_00_bar__plus_00_dot_34 loc_bar__minus_3_bar_4_bar_3_bar_60)\n (receptacleAtLocation Drawer_bar__minus_00_dot_29_bar__plus_00_dot_31_bar__plus_00_dot_31 loc_bar__minus_3_bar_6_bar_2_bar_45)\n (receptacleAtLocation Drawer_bar__minus_00_dot_29_bar__plus_00_dot_61_bar__plus_00_dot_31 loc_bar__minus_3_bar_5_bar_2_bar_45)\n (receptacleAtLocation Drawer_bar__minus_00_dot_81_bar__plus_00_dot_31_bar__plus_00_dot_31 loc_bar__minus_5_bar_6_bar_2_bar_45)\n (receptacleAtLocation Drawer_bar__minus_00_dot_81_bar__plus_00_dot_61_bar__plus_00_dot_31 loc_bar__minus_2_bar_5_bar_2_bar_45)\n (receptacleAtLocation Drawer_bar__minus_01_dot_32_bar__plus_00_dot_31_bar__plus_00_dot_31 loc_bar__minus_5_bar_4_bar_2_bar_60)\n (receptacleAtLocation Drawer_bar__minus_01_dot_32_bar__plus_00_dot_61_bar__plus_00_dot_31 loc_bar__minus_4_bar_5_bar_2_bar_45)\n (receptacleAtLocation Drawer_bar__minus_01_dot_84_bar__plus_00_dot_31_bar__plus_00_dot_31 loc_bar__minus_5_bar_6_bar_2_bar_45)\n (receptacleAtLocation Drawer_bar__minus_01_dot_84_bar__plus_00_dot_61_bar__plus_00_dot_31 loc_bar__minus_6_bar_5_bar_2_bar_45)\n (receptacleAtLocation GarbageCan_bar__minus_00_dot_85_bar__plus_00_dot_00_bar__plus_03_dot_15 loc_bar__minus_5_bar_9_bar_0_bar_60)\n (receptacleAtLocation HandTowelHolder_bar__plus_00_dot_00_bar__plus_01_dot_78_bar__plus_02_dot_96 loc_bar__minus_2_bar_9_bar_0_bar__minus_15)\n (receptacleAtLocation Sink_bar__minus_00_dot_46_bar__minus_00_dot_01_bar__plus_03_dot_05_bar_SinkBasin loc_bar__minus_4_bar_11_bar_1_bar_60)\n (receptacleAtLocation ToiletPaperHanger_bar__minus_01_dot_63_bar__plus_00_dot_84_bar__plus_03_dot_31 loc_bar__minus_5_bar_11_bar_0_bar_60)\n (receptacleAtLocation Toilet_bar__minus_01_dot_84_bar__plus_00_dot_00_bar__plus_02_dot_50 loc_bar__minus_7_bar_6_bar_0_bar_60)\n (receptacleAtLocation TowelHolder_bar__minus_02_dot_55_bar__plus_00_dot_86_bar__plus_00_dot_00 loc_bar__minus_10_bar_3_bar_2_bar_45)\n (receptacleAtLocation TowelHolder_bar__minus_02_dot_55_bar__plus_01_dot_58_bar__plus_00_dot_00 loc_bar__minus_10_bar_3_bar_2_bar_0)\n (objectAtLocation SoapBottle_bar__minus_01_dot_33_bar__plus_00_dot_81_bar__plus_00_dot_22 loc_bar__minus_3_bar_4_bar_3_bar_60)\n (objectAtLocation ToiletPaper_bar__minus_02_dot_25_bar__plus_00_dot_95_bar__plus_02_dot_33 loc_bar__minus_7_bar_6_bar_0_bar_60)\n (objectAtLocation TissueBox_bar__minus_01_dot_27_bar__plus_00_dot_20_bar__plus_00_dot_41 loc_bar__minus_5_bar_4_bar_2_bar_60)\n (objectAtLocation SoapBar_bar__minus_00_dot_29_bar__plus_00_dot_98_bar__plus_03_dot_18 loc_bar__minus_4_bar_11_bar_1_bar_60)\n (objectAtLocation Candle_bar__minus_01_dot_07_bar__plus_00_dot_81_bar__plus_00_dot_16 loc_bar__minus_3_bar_4_bar_3_bar_60)\n (objectAtLocation Cloth_bar__minus_03_dot_38_bar__plus_00_dot_22_bar__plus_00_dot_94 loc_bar__minus_11_bar_4_bar_3_bar_60)\n (objectAtLocation Towel_bar__minus_02_dot_55_bar__plus_00_dot_87_bar__plus_00_dot_11 loc_bar__minus_10_bar_3_bar_2_bar_45)\n (objectAtLocation Candle_bar__minus_02_dot_33_bar__plus_00_dot_95_bar__plus_02_dot_64 loc_bar__minus_7_bar_6_bar_0_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_01_dot_59_bar__plus_00_dot_81_bar__plus_00_dot_42 loc_bar__minus_3_bar_4_bar_3_bar_60)\n (objectAtLocation Candle_bar__minus_00_dot_81_bar__plus_00_dot_81_bar__plus_00_dot_09 loc_bar__minus_3_bar_4_bar_3_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_81_bar__plus_00_dot_48 loc_bar__minus_3_bar_4_bar_3_bar_60)\n (objectAtLocation ToiletPaper_bar__minus_01_dot_57_bar__plus_00_dot_84_bar__plus_03_dot_22 loc_bar__minus_5_bar_11_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_01_dot_07_bar__plus_00_dot_81_bar__plus_00_dot_29 loc_bar__minus_3_bar_4_bar_3_bar_60)\n (objectAtLocation TissueBox_bar__minus_00_dot_81_bar__plus_00_dot_20_bar__plus_00_dot_24 loc_bar__minus_5_bar_6_bar_2_bar_45)\n (objectAtLocation ToiletPaper_bar__minus_02_dot_30_bar__plus_00_dot_95_bar__plus_02_dot_70 loc_bar__minus_7_bar_6_bar_0_bar_60)\n (objectAtLocation LightSwitch_bar__plus_00_dot_00_bar__plus_01_dot_37_bar__plus_01_dot_99 loc_bar__minus_2_bar_8_bar_1_bar_30)\n (objectAtLocation Window_bar__minus_04_dot_08_bar__plus_01_dot_74_bar__plus_01_dot_16 loc_bar__minus_11_bar_5_bar_3_bar_0)\n (objectAtLocation ScrubBrush_bar__minus_02_dot_19_bar__plus_00_dot_00_bar__plus_03_dot_03 loc_bar__minus_5_bar_11_bar_3_bar_60)\n (objectAtLocation SoapBottle_bar__minus_01_dot_85_bar__plus_00_dot_81_bar__plus_00_dot_22 loc_bar__minus_3_bar_4_bar_3_bar_60)\n )\n \n\n (:goal\n (and\n (exists (?r - receptacle)\n (exists (?o - object)\n (and\n (inReceptacle ?o ?r)\n (objectType ?o SprayBottleType)\n (receptacleType ?r GarbageCanType)\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to countertop 1", "take spraybottle 1 from countertop 1", "go to garbagecan 1", "move spraybottle 1 to garbagecan 1"]}
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alfworld__pick_and_place_simple__777
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pick_and_place_simple
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pick_and_place_simple-SprayBottle-None-GarbageCan-426/trial_T20190908_052054_959981/game.tw-pddl
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{"pddl_domain": ";; Specification in PDDL of the Alfred domain\n;; Intended to be used with Fast Downward which supports PDDL 2.2 level 1 plus the :action-costs requirement from PDDL 3.1.\n\n(define (domain alfred)\n (:requirements\n :adl\n :action-costs\n :typing\n )\n (:types\n agent\n location\n receptacle\n object\n rtype\n otype\n )\n\n\n (:predicates\n (atLocation ?a - agent ?l - location) ; true if the agent is at the location\n (receptacleAtLocation ?r - receptacle ?l - location) ; true if the receptacle is at the location (constant)\n (objectAtLocation ?o - object ?l - location) ; true if the object is at the location\n (openable ?r - receptacle) ; true if a receptacle is openable\n (opened ?r - receptacle) ; true if a receptacle is opened\n (inReceptacle ?o - object ?r - receptacle) ; object ?o is in receptacle ?r\n (isReceptacleObject ?o - object) ; true if the object can have things put inside it\n (inReceptacleObject ?innerObject - object ?outerObject - object) ; object ?innerObject is inside object ?outerObject\n (isReceptacleObjectFull ?o - object) ; true if the receptacle object contains something\n (wasInReceptacle ?o - object ?r - receptacle) ; object ?o was or is in receptacle ?r now or some time in the past\n (checked ?r - receptacle) ; whether the receptacle has been looked inside/visited\n (examined ?l - location) ; TODO\n (receptacleType ?r - receptacle ?t - rtype) ; the type of receptacle (Cabinet vs Cabinet|01|2...)\n (canContain ?rt - rtype ?ot - otype) ; true if receptacle can hold object\n (objectType ?o - object ?t - otype) ; the type of object (Apple vs Apple|01|2...)\n (holds ?a - agent ?o - object) ; object ?o is held by agent ?a\n (holdsAny ?a - agent) ; agent ?a holds an object\n (holdsAnyReceptacleObject ?a - agent) ; agent ?a holds a receptacle object\n (full ?r - receptacle) ; true if the receptacle has no remaining space\n (isClean ?o - object) ; true if the object has been clean in sink\n (cleanable ?o - object) ; true if the object can be placed in a sink\n (isHot ?o - object) ; true if the object has been heated up\n (heatable ?o - object) ; true if the object can be heated up in a microwave\n (isCool ?o - object) ; true if the object has been cooled\n (coolable ?o - object) ; true if the object can be cooled in the fridge\n (pickupable ?o - object) ; true if the object can be picked up\n (moveable ?o - object) ; true if the object can be moved\n (toggleable ?o - object) ; true if the object can be turned on/off\n (isOn ?o - object) ; true if the object is on\n (isToggled ?o - object) ; true if the object has been toggled\n (sliceable ?o - object) ; true if the object can be sliced\n (isSliced ?o - object) ; true if the object is sliced\n )\n\n (:functions\n (distance ?from ?to)\n (total-cost) - number\n )\n\n;; All actions are specified such that the final arguments are the ones used\n;; for performing actions in Unity.\n\n\n(:action look\n :parameters (?a - agent ?l - location)\n :precondition\n (and\n (atLocation ?a ?l)\n )\n :effect\n (and\n (checked ?l)\n )\n)\n\n(:action inventory\n :parameters (?a - agent)\n :precondition\n ()\n :effect\n (and\n (checked ?a)\n )\n)\n\n(:action examineReceptacle\n :parameters (?a - agent ?r - receptacle)\n :precondition\n (and\n (exists (?l - location)\n (and\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n )\n )\n )\n :effect\n (and\n (checked ?r)\n )\n)\n\n(:action examineObject\n :parameters (?a - agent ?o - object)\n :precondition\n (or\n ;(exists (?l - location)\n ; (and\n ; (atLocation ?a ?l)\n ; (objectAtLocation ?o ?l)\n ; )\n ;)\n (exists (?l - location, ?r - receptacle)\n (and\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n ; (objectAtLocation ?o ?l)\n (inReceptacle ?o ?r)\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n )\n )\n (holds ?a ?o)\n )\n :effect\n (and\n (checked ?o)\n )\n)\n\n;; agent goes to receptacle\n (:action GotoLocation\n :parameters (?a - agent ?lStart - location ?lEnd - location ?r - receptacle)\n :precondition (and\n (atLocation ?a ?lStart)\n (receptacleAtLocation ?r ?lEnd)\n ;(exists (?r - receptacle) (receptacleAtLocation ?r ?lEnd))\n )\n :effect (and\n (not (atLocation ?a ?lStart))\n (atLocation ?a ?lEnd)\n ; (forall (?r - receptacle)\n ; (when (and (receptacleAtLocation ?r ?lEnd)\n ; (or (not (openable ?r)) (opened ?r)))\n ; (checked ?r)\n ; )\n ; )\n ; (increase (total-cost) (distance ?lStart ?lEnd))\n (increase (total-cost) 1)\n )\n )\n\n;; agent opens receptacle\n (:action OpenObject\n :parameters (?a - agent ?l - location ?r - receptacle)\n :precondition (and\n (openable ?r)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (not (opened ?r))\n )\n :effect (and\n (opened ?r)\n (checked ?r)\n (increase (total-cost) 1)\n )\n )\n;; agent closes receptacle\n (:action CloseObject\n :parameters (?a - agent ?l - location ?r - receptacle)\n :precondition (and\n (openable ?r)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (opened ?r)\n )\n :effect (and\n (not (opened ?r))\n (increase (total-cost) 1)\n )\n\n )\n\n ;; agent picks up object from a receptacle\n (:action PickupObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n :precondition\n (and\n (pickupable ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n ; (objectAtLocation ?o ?l)\n (inReceptacle ?o ?r)\n (not (holdsAny ?a)) ; agent's hands are empty.\n ;(not (holdsAnyReceptacleObject ?a))\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n ;(not (isReceptacleObject ?o))\n )\n :effect\n (and\n (not (inReceptacle ?o ?r))\n (holds ?a ?o)\n (holdsAny ?a)\n (not (objectAtLocation ?o ?l))\n ;(not (full ?r))\n (increase (total-cost) 1)\n )\n )\n\n\n; ;; agent picks up object from a receptacle\n; (:action PickupObjectFromReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?outerR - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (inReceptacle ?o ?r)\n; (pickupable ?o)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (not (isReceptacleObject ?o))\n; (isReceptacleObject ?outerR)\n; (inReceptacleObject ?o ?outerR)\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (holds ?a ?o)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n;\n; (not (inReceptacleObject ?o ?outerR))\n; (not (isReceptacleObjectFull ?outerR))\n; )\n; )\n;\n; ;; agent picks up object from a receptacle\n; (:action PickupEmptyReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; ; (objectAtLocation ?o ?l)\n; (inReceptacle ?o ?r)\n; (pickupable ?o)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (isReceptacleObject ?o)\n; (not (isReceptacleObjectFull ?o))\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (holds ?a ?o)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n; (holdsAnyReceptacleObject ?a)\n; )\n; )\n;\n; ;; agent picks up object from a receptacle\n; (:action PickupFullReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?outerR - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (inReceptacle ?outerR ?r)\n; (pickupable ?outerR)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (not (isReceptacleObject ?o))\n; (isReceptacleObject ?outerR)\n; (inReceptacleObject ?o ?outerR)\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (not (inReceptacle ?outerR ?r))\n; (holds ?a ?outerR)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (objectAtLocation ?outerR ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n; (holdsAnyReceptacleObject ?a)\n; )\n; )\n\n\n;; agent puts down an object\n (:action PutObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle ?ot - otype ?rt - rtype)\n :precondition (and\n (holds ?a ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable\n ;(not (full ?r))\n (objectType ?o ?ot)\n (receptacleType ?r ?rt)\n (canContain ?rt ?ot)\n ;(not (holdsAnyReceptacleObject ?a))\n )\n :effect (and\n (inReceptacle ?o ?r)\n (objectAtLocation ?o ?l)\n ;(full ?r)\n (not (holds ?a ?o))\n (not (holdsAny ?a))\n (increase (total-cost) 1)\n )\n )\n\n;;; agent puts down an object\n; (:action PutObjectInReceptacleObject\n; :parameters (?a - agent ?l - location ?ot - otype ?o - object ?outerO - object ?outerR - receptacle)\n; :precondition (and\n; (atLocation ?a ?l)\n; (objectAtLocation ?outerO ?l)\n; (isReceptacleObject ?outerO)\n; (not (isReceptacleObject ?o))\n; (objectType ?o ?ot)\n; (holds ?a ?o)\n; (not (holdsAnyReceptacleObject ?a))\n; (inReceptacle ?outerO ?outerR)\n; (not (isReceptacleObjectFull ?outerO))\n; )\n; :effect (and\n; (inReceptacleObject ?o ?outerO)\n; (inReceptacle ?o ?outerR)\n; (not (holds ?a ?o))\n; (not (holdsAny ?a))\n; (objectAtLocation ?o ?l)\n; (isReceptacleObjectFull ?outerO)\n; (increase (total-cost) 1)\n; )\n; )\n;\n;;; agent puts down an object\n; (:action PutEmptyReceptacleObjectinReceptacle\n; :parameters (?a - agent ?l - location ?ot - otype ?o - object ?r - receptacle)\n; :precondition (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable\n; (not (full ?r))\n; (objectType ?o ?ot)\n; (holds ?a ?o)\n; (holdsAnyReceptacleObject ?a)\n; (isReceptacleObject ?o)\n; (not (isReceptacleObjectFull ?o))\n; )\n; :effect (and\n; (inReceptacle ?o ?r)\n; (objectAtLocation ?o ?l)\n; (full ?r)\n; (not (holds ?a ?o))\n; (not (holdsAny ?a))\n; (not (holdsAnyReceptacleObject ?a))\n; (increase (total-cost) 1)\n; )\n; )\n;\n;;; agent puts down a receptacle object in a receptacle\n; (:action PutFullReceptacleObjectInReceptacle\n; :parameters (?a - agent ?l - location ?ot - otype ?innerO - object ?outerO - object ?r - receptacle) ; ?rt - rtype)\n; :precondition (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (objectType ?outerO ?ot)\n; (holds ?a ?outerO)\n; (holdsAnyReceptacleObject ?a)\n; (isReceptacleObject ?outerO)\n; (isReceptacleObjectFull ?outerO)\n; (inReceptacleObject ?innerO ?outerO)\n; )\n; :effect (and\n; (not (holdsAny ?a))\n; (not (holdsAnyReceptacleObject ?a))\n; (objectAtLocation ?outerO ?l)\n; (objectAtLocation ?innerO ?l)\n; (inReceptacle ?outerO ?r)\n; (inReceptacle ?innerO ?r)\n; (not (holds ?a ?outerO))\n; (increase (total-cost) 1)\n; )\n; )\n\n;; agent cleans some object\n (:action CleanObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (cleanable ?o)\n (or\n (receptacleType ?r SinkType)\n (receptacleType ?r SinkBasinType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isClean ?o)\n )\n )\n\n\n;; agent heats-up some object\n (:action HeatObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (heatable ?o)\n (or\n (receptacleType ?r MicrowaveType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isHot ?o)\n (not (isCool ?o))\n )\n )\n\n;; agent cools some object\n (:action CoolObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (coolable ?o)\n (or\n (receptacleType ?r FridgeType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isCool ?o)\n (not (isHot ?o))\n )\n )\n\n\n;; agent toggle object\n (:action ToggleObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n :precondition (and\n (toggleable ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (inReceptacle ?o ?r)\n )\n :effect (and\n (increase (total-cost) 5)\n (when (isOn ?o)\n (not (isOn ?o)))\n (when (not (isOn ?o))\n (isOn ?o))\n (isToggled ?o)\n )\n )\n\n\n;; agent slices some object with a knife\n (:action SliceObject\n :parameters (?a - agent ?l - location ?co - object ?ko - object)\n :precondition\n (and\n (sliceable ?co)\n (or\n (objectType ?ko KnifeType)\n (objectType ?ko ButterKnifeType)\n )\n (atLocation ?a ?l)\n (objectAtLocation ?co ?l)\n (holds ?a ?ko)\n )\n :effect (and\n (increase (total-cost) 5)\n (isSliced ?co)\n )\n )\n\n\n(:action help\n :parameters (?a - agent)\n :precondition\n ()\n :effect\n (and\n (checked ?a)\n )\n)\n)\n", "grammar": "grammar :: \"\"\"\n {\n \"intro\": [\n {\n \"rhs\": \"-= Welcome to TextWorld, ALFRED! =-\\n\\n#look.feedback#\\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 garbagecan.\"\n }\n ],\n\n \"GotoLocation.feedback\": [\n {\n \"rhs\": \"You arrive at {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"OpenObject.feedback\": [\n {\n \"rhs\": \"You open the {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"CloseObject.feedback\": [\n {\n \"rhs\": \"You close the {r.name}.\"\n }\n ],\n\n \"PickupObject.feedback\": [\n {\n \"rhs\": \"You pick up the {o.name} from the {r.name}.\"\n }\n ],\n\n \"PickupObjectFromReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupObjectFromReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupEmptyReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupEmptyReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupFullReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupFullReceptacleObject: You pick up the {outerr.name}.\"\n }\n ],\n\n \"PutObject.feedback\": [\n {\n \"rhs\": \"You move the {o.name} to the {r.name}.\"\n }\n ],\n\n \"PutObjectInReceptacleObject.feedback\": [\n {\n \"rhs\": \"PutObjectInReceptacleObject: You put the {o.name} in the {outero.name}.\"\n }\n ],\n\n \"PutEmptyReceptacleObjectinReceptacle.feedback\": [\n {\n \"rhs\": \"PutEmptyReceptacleObjectinReceptacle: You put the {o.name} in the {r.name}.\"\n }\n ],\n\n \"PutFullReceptacleObjectInReceptacle.feedback\": [\n {\n \"rhs\": \"PutFullReceptacleObjectInReceptacle: You put the {outero.name} in the {r.name}.\"\n }\n ],\n\n \"inventory.feedback\": [\n {\n \"condition\": \"holdsany(a:agent)\",\n \"rhs\": \"You are carrying: [{o.indefinite + ' ' + o.name | holds(a:agent, o:object)}].\"\n },\n {\n \"rhs\": \"You are not carrying anything.\"\n }\n ],\n\n \"examineReceptacle.feedback\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \"The {r.name} is open. In it, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \"The {r.name} is closed.\"\n },\n {\n \"rhs\": \"On the {r.name}, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n }\n ],\n\n \"examineObject.feedback\": [\n {\n \"condition\": \"isreceptacleobject(o:object)\",\n \"rhs\": \"This is a normal {o.name}. In it, you see [{o2.indefinite + ' ' + o2.name | inreceptacleobject(o2:object, o:object)}].\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a clean sliced {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot sliced {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object)\",\n \"rhs\": \"This is a hot and clean {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object)\",\n \"rhs\": \"This is a cool and clean {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object)\",\n \"rhs\": \"This is a hot {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object)\",\n \"rhs\": \"This is a clean {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object)\",\n \"rhs\": \"This is a cold {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"This {o.name} is on.\"\n },\n {\n \"condition\": \"toggleable(o:object) & not_istoggled(o:object)\",\n \"rhs\": \"This {o.name} is off.\"\n },\n {\n \"condition\": \"sliceable(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a sliced {o.name}.\"\n },\n {\n \"rhs\": \"There's nothing special about {o.name}.\"\n }\n ]\n }\n\"\"\";\n\naction GotoLocation {\n template :: \"go to [{r.name | receptacleatlocation(r:receptacle, lend:location)}]\";\n feedback :: \"#GotoLocation.feedback#\";\n}\n\naction OpenObject {\n template :: \"open {r}\";\n feedback :: \"#OpenObject.feedback#\";\n}\n\naction CloseObject {\n template :: \"close {r}\";\n feedback :: \"#CloseObject.feedback#\";\n}\n\naction PickupObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObject.feedback#\";\n}\n\naction PickupObjectFromReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObjectFromReceptacleObject.feedback#\";\n}\n\naction PickupEmptyReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupEmptyReceptacleObject.feedback#\";\n}\n\naction PickupFullReceptacleObject {\n template :: \"take {outerr} from {r}\";\n feedback :: \"#PickupFullReceptacleObject.feedback#\";\n}\n\naction PutObject {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutObject.feedback#\";\n}\n\naction PutObjectInReceptacleObject {\n template :: \"put {o} into {outero}\";\n feedback :: \"#PutObjectInReceptacleObject.feedback#\";\n}\n\naction PutEmptyReceptacleObjectinReceptacle {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutEmptyReceptacleObjectinReceptacle.feedback#\";\n}\n\naction PutFullReceptacleObjectInReceptacle {\n template :: \"put {outero} in {r}\";\n feedback :: \"#PutFullReceptacleObjectInReceptacle.feedback#\";\n}\n\naction inventory {\n template :: \"inventory\";\n feedback :: \"#inventory.feedback#\";\n}\n\naction examineReceptacle {\n template :: \"examine {r}\";\n feedback :: \"#examineReceptacle.feedback#\";\n}\n\naction examineObject {\n template :: \"examine {o}\";\n feedback :: \"#examineObject.feedback#\";\n}\n\naction ToggleObject {\n template :: \"use {o}\";\n feedback :: \"#toggleObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"toggleObject.feedback\": [\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"You turn on the {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object)\",\n \"rhs\": \"You turn off the {o.name}.\"\n },\n {\n \"rhs\": \"You don't see any switch on the {o.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction HeatObject {\n template :: \"heat {o} with {r}\";\n feedback :: \"#heatObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"heatObject.feedback\": [\n {\n \"rhs\": \"You heat the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CleanObject {\n template :: \"clean {o} with {r}\";\n feedback :: \"#cleanObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"cleanObject.feedback\": [\n {\n \"rhs\": \"You clean the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CoolObject {\n template :: \"cool {o} with {r}\";\n feedback :: \"#coolObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"coolObject.feedback\": [\n {\n \"rhs\": \"You cool the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction SliceObject {\n template :: \"slice {co} with {ko}\";\n feedback :: \"#sliceObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"sliceObject.feedback\": [\n {\n \"rhs\": \"You sliced the {co.name} with the {ko.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction look {\n template :: \"look\";\n feedback :: \"#look.feedback#\";\n\n grammar :: \"\"\"\n {\n \"look.feedback\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"#look-variations#. Next to it, you see #list_objects_on_the_floor#.\"\n },\n {\n \"rhs\": \"You are in the middle of a room. Looking quickly around you, you see #list_appliances#.\"\n }\n ],\n\n \"look-variations\": [\n {\n \"rhs\": \"You are facing the [{r.name | atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)}]\"\n }\n ],\n\n \"list_objects_on_the_floor\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)\",\n \"rhs\": \"[{#overview(o)# | atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"list_appliances\": [\n {\n \"condition\": \"receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"[{#overview(r)# | receptacleatlocation(r:receptacle, l:location)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"overview(o, r)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name} (in/on the {r.name})}\"\n }\n ],\n\n \"overview(o)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name}\"\n }\n ],\n \"overview(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}\"\n }\n ],\n \"overview_with_state(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}#overview_state(r)#\"\n }\n ],\n \"overview_state(r)\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \" (it is open)\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \" (it is closed)\"\n },\n {\n \"rhs\": \"\"\n }\n ],\n\n \"list_empty\": [\n {\n \"rhs\": \"nothing\"\n }\n ],\n \"list_separator\": [\n {\n \"rhs\": \", \"\n }\n ],\n \"list_last_separator\": [\n {\n \"rhs\": \", and \"\n }\n ]\n }\n \"\"\";\n}\n\naction help {\n template :: \"help\";\n feedback :: \"\nAvailable commands:\n look: look around your current location\n inventory: check your current inventory\n go to (receptacle): move to a receptacle\n open (receptacle): open a receptacle\n close (receptacle): close a receptacle\n take (object) from (receptacle): take an object from a receptacle\n move (object) to (receptacle): place an object in or on a receptacle\n examine (something): examine a receptacle or an object\n use (object): use an object\n heat (object) with (receptacle): heat an object using a receptacle\n clean (object) with (receptacle): clean an object using a receptacle\n cool (object) with (receptacle): cool an object using a receptacle\n slice (object) with (object): slice an object using a sharp object\n\";\n}\n", "pddl_problem": "\n(define (problem plan_trial_T20190908_052054_959981)\n(:domain alfred)\n(:objects\nagent1 - agent\nSaltShaker - object\n HousePlant - object\n Candle - object\n SprayBottle - object\n Bowl - object\n Window - object\n CD - object\n Egg - object\n Glassbottle - object\n Sink - object\n Pillow - object\n Spoon - object\n SoapBottle - object\n TeddyBear - object\n ButterKnife - object\n Cup - object\n Plate - object\n RemoteControl - object\n Tomato - object\n Statue - object\n HandTowel - object\n Knife - object\n StoveKnob - object\n LightSwitch - object\n Pen - object\n Painting - object\n DishSponge - object\n Vase - object\n Mug - object\n ToiletPaper - object\n Box - object\n Mirror - object\n Ladle - object\n Fork - object\n Blinds - object\n Footstool - object\n KeyChain - object\n Cloth - object\n Laptop - object\n TissueBox - object\n PepperShaker - object\n FloorLamp - object\n WateringCan - object\n Apple - object\n Pan - object\n PaperTowel - object\n PaperTowelRoll - object\n Newspaper - object\n Television - object\n Chair - object\n CellPhone - object\n CreditCard - object\n Lettuce - object\n BasketBall - object\n Potato - object\n Curtains - object\n Boots - object\n Pencil - object\n AlarmClock - object\n ToiletPaperRoll - object\n Spatula - object\n Book - object\n Bread - object\n SoapBar - object\n Watch - object\n DeskLamp - object\n Kettle - object\n Pot - object\n ScrubBrush - object\n WineBottle - object\n ShowerDoor - object\n Bathtub - object\n LaundryHamperLid - object\n ShowerGlass - object\n Poster - object\n TennisRacket - object\n BaseballBat - object\n Towel - object\n Plunger - object\nSaltShakerType - otype\n HousePlantType - otype\n CandleType - otype\n SprayBottleType - otype\n BowlType - otype\n WindowType - otype\n CDType - otype\n EggType - otype\n GlassbottleType - otype\n SinkType - otype\n PillowType - otype\n SpoonType - otype\n SoapBottleType - otype\n TeddyBearType - otype\n ButterKnifeType - otype\n CupType - otype\n PlateType - otype\n RemoteControlType - otype\n TomatoType - otype\n StatueType - otype\n HandTowelType - otype\n KnifeType - otype\n StoveKnobType - otype\n LightSwitchType - otype\n PenType - otype\n PaintingType - otype\n DishSpongeType - otype\n VaseType - otype\n MugType - otype\n ToiletPaperType - otype\n BoxType - otype\n MirrorType - otype\n LadleType - otype\n ForkType - otype\n BlindsType - otype\n FootstoolType - otype\n KeyChainType - otype\n ClothType - otype\n LaptopType - otype\n TissueBoxType - otype\n PepperShakerType - otype\n FloorLampType - otype\n WateringCanType - otype\n AppleType - otype\n PanType - otype\n PaperTowelType - otype\n PaperTowelRollType - otype\n NewspaperType - otype\n TelevisionType - otype\n ChairType - otype\n CellPhoneType - otype\n CreditCardType - otype\n LettuceType - otype\n BasketBallType - otype\n PotatoType - otype\n CurtainsType - otype\n BootsType - otype\n PencilType - otype\n AlarmClockType - otype\n ToiletPaperRollType - otype\n SpatulaType - otype\n BookType - otype\n BreadType - otype\n SoapBarType - otype\n WatchType - otype\n DeskLampType - otype\n KettleType - otype\n PotType - otype\n ScrubBrushType - otype\n WineBottleType - otype\n ShowerDoorType - otype\n BathtubType - otype\n LaundryHamperLidType - otype\n ShowerGlassType - otype\n PosterType - otype\n TennisRacketType - otype\n BaseballBatType - otype\n TowelType - otype\n PlungerType - otype\nSafeType - rtype\n DrawerType - rtype\n CoffeeMachineType - rtype\n HandTowelHolderType - rtype\n SinkBasinType - rtype\n DresserType - rtype\n LaundryHamperType - rtype\n TVStandType - rtype\n BathtubBasinType - rtype\n CabinetType - rtype\n FridgeType - rtype\n DeskType - rtype\n ToiletType - rtype\n CartType - rtype\n SideTableType - rtype\n SofaType - rtype\n CoffeeTableType - rtype\n DiningTableType - rtype\n CounterTopType - rtype\n GarbageCanType - rtype\n ArmChairType - rtype\n ShelfType - rtype\n MicrowaveType - rtype\n ToasterType - rtype\n BedType - rtype\n PaintingHangerType - rtype\n TowelHolderType - rtype\n ToiletPaperHangerType - rtype\n StoveBurnerType - rtype\n OttomanType - rtype\n\n\n Bathtub_bar__minus_03_dot_50_bar__plus_00_dot_15_bar__plus_00_dot_94 - object\n Candle_bar__minus_00_dot_97_bar__plus_00_dot_51_bar__plus_00_dot_13 - object\n Cloth_bar__minus_01_dot_27_bar__plus_00_dot_20_bar__plus_00_dot_18 - object\n Cloth_bar__minus_01_dot_38_bar__plus_00_dot_20_bar__plus_00_dot_41 - 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_31_bar__plus_00_dot_90_bar__plus_03_dot_04 - object\n SoapBar_bar__minus_01_dot_07_bar__plus_00_dot_81_bar__plus_00_dot_48 - object\n SoapBottle_bar__minus_00_dot_54_bar__plus_00_dot_81_bar__plus_00_dot_42 - object\n SoapBottle_bar__minus_01_dot_33_bar__plus_00_dot_81_bar__plus_00_dot_29 - object\n SoapBottle_bar__minus_01_dot_85_bar__plus_00_dot_81_bar__plus_00_dot_16 - object\n SprayBottle_bar__minus_00_dot_28_bar__plus_00_dot_81_bar__plus_00_dot_29 - object\n SprayBottle_bar__minus_00_dot_54_bar__plus_00_dot_81_bar__plus_00_dot_22 - object\n SprayBottle_bar__minus_02_dot_25_bar__plus_00_dot_95_bar__plus_02_dot_45 - object\n TissueBox_bar__minus_01_dot_32_bar__plus_00_dot_51_bar__plus_00_dot_29 - object\n TissueBox_bar__minus_01_dot_59_bar__plus_00_dot_81_bar__plus_00_dot_22 - object\n ToiletPaper_bar__minus_01_dot_57_bar__plus_00_dot_84_bar__plus_03_dot_22 - 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_00_dot_87_bar__plus_00_dot_11 - object\n Towel_bar__minus_02_dot_55_bar__plus_01_dot_60_bar__plus_00_dot_11 - object\n Window_bar__minus_04_dot_08_bar__plus_01_dot_74_bar__plus_01_dot_16 - object\n Bathtub_bar__minus_03_dot_50_bar__plus_00_dot_15_bar__plus_00_dot_94_bar_BathtubBasin - receptacle\n CounterTop_bar__minus_01_dot_85_bar__plus_00_dot_00_bar__plus_00_dot_34 - receptacle\n Drawer_bar__minus_00_dot_29_bar__plus_00_dot_31_bar__plus_00_dot_31 - receptacle\n Drawer_bar__minus_00_dot_29_bar__plus_00_dot_61_bar__plus_00_dot_31 - receptacle\n Drawer_bar__minus_00_dot_81_bar__plus_00_dot_31_bar__plus_00_dot_31 - receptacle\n Drawer_bar__minus_00_dot_81_bar__plus_00_dot_61_bar__plus_00_dot_31 - receptacle\n Drawer_bar__minus_01_dot_32_bar__plus_00_dot_31_bar__plus_00_dot_31 - receptacle\n Drawer_bar__minus_01_dot_32_bar__plus_00_dot_61_bar__plus_00_dot_31 - receptacle\n Drawer_bar__minus_01_dot_84_bar__plus_00_dot_31_bar__plus_00_dot_31 - receptacle\n Drawer_bar__minus_01_dot_84_bar__plus_00_dot_61_bar__plus_00_dot_31 - receptacle\n GarbageCan_bar__minus_00_dot_85_bar__plus_00_dot_00_bar__plus_03_dot_15 - receptacle\n HandTowelHolder_bar__plus_00_dot_00_bar__plus_01_dot_78_bar__plus_02_dot_96 - receptacle\n Sink_bar__minus_00_dot_46_bar__minus_00_dot_01_bar__plus_03_dot_05_bar_SinkBasin - receptacle\n ToiletPaperHanger_bar__minus_01_dot_63_bar__plus_00_dot_84_bar__plus_03_dot_31 - receptacle\n Toilet_bar__minus_01_dot_84_bar__plus_00_dot_00_bar__plus_02_dot_50 - receptacle\n TowelHolder_bar__minus_02_dot_55_bar__plus_00_dot_86_bar__plus_00_dot_00 - receptacle\n TowelHolder_bar__minus_02_dot_55_bar__plus_01_dot_58_bar__plus_00_dot_00 - receptacle\n loc_bar__minus_3_bar_10_bar_0_bar_0 - location\n loc_bar__minus_10_bar_3_bar_2_bar_0 - location\n loc_bar__minus_7_bar_6_bar_0_bar_60 - location\n loc_bar__minus_5_bar_6_bar_2_bar_45 - location\n loc_bar__minus_6_bar_5_bar_2_bar_45 - location\n loc_bar__minus_2_bar_5_bar_2_bar_45 - location\n loc_bar__minus_5_bar_11_bar_3_bar_60 - location\n loc_bar__minus_5_bar_4_bar_2_bar_60 - location\n loc_bar__minus_3_bar_6_bar_2_bar_45 - location\n loc_bar__minus_11_bar_4_bar_3_bar_60 - location\n loc_bar__minus_5_bar_9_bar_0_bar_60 - location\n loc_bar__minus_3_bar_4_bar_3_bar_60 - location\n loc_bar__minus_4_bar_11_bar_1_bar_60 - location\n loc_bar__minus_5_bar_11_bar_0_bar_60 - location\n loc_bar__minus_2_bar_9_bar_0_bar__minus_15 - location\n loc_bar__minus_2_bar_9_bar_0_bar_60 - location\n loc_bar__minus_11_bar_5_bar_3_bar_0 - location\n loc_bar__minus_4_bar_5_bar_2_bar_45 - location\n loc_bar__minus_2_bar_8_bar_1_bar_30 - location\n loc_bar__minus_3_bar_5_bar_2_bar_45 - location\n loc_bar__minus_10_bar_3_bar_2_bar_45 - location\n loc_bar__minus_9_bar_4_bar_2_bar_30 - location\n )\n \n\n(:init\n\n\n (receptacleType Drawer_bar__minus_00_dot_81_bar__plus_00_dot_61_bar__plus_00_dot_31 DrawerType)\n (receptacleType Drawer_bar__minus_00_dot_29_bar__plus_00_dot_61_bar__plus_00_dot_31 DrawerType)\n (receptacleType Drawer_bar__minus_01_dot_32_bar__plus_00_dot_31_bar__plus_00_dot_31 DrawerType)\n (receptacleType Sink_bar__minus_00_dot_46_bar__minus_00_dot_01_bar__plus_03_dot_05_bar_SinkBasin SinkBasinType)\n (receptacleType CounterTop_bar__minus_01_dot_85_bar__plus_00_dot_00_bar__plus_00_dot_34 CounterTopType)\n (receptacleType Drawer_bar__minus_00_dot_29_bar__plus_00_dot_31_bar__plus_00_dot_31 DrawerType)\n (receptacleType Drawer_bar__minus_01_dot_32_bar__plus_00_dot_61_bar__plus_00_dot_31 DrawerType)\n (receptacleType HandTowelHolder_bar__plus_00_dot_00_bar__plus_01_dot_78_bar__plus_02_dot_96 HandTowelHolderType)\n (receptacleType GarbageCan_bar__minus_00_dot_85_bar__plus_00_dot_00_bar__plus_03_dot_15 GarbageCanType)\n (receptacleType Drawer_bar__minus_00_dot_81_bar__plus_00_dot_31_bar__plus_00_dot_31 DrawerType)\n (receptacleType Drawer_bar__minus_01_dot_84_bar__plus_00_dot_31_bar__plus_00_dot_31 DrawerType)\n (receptacleType Drawer_bar__minus_01_dot_84_bar__plus_00_dot_61_bar__plus_00_dot_31 DrawerType)\n (receptacleType TowelHolder_bar__minus_02_dot_55_bar__plus_00_dot_86_bar__plus_00_dot_00 TowelHolderType)\n (receptacleType Bathtub_bar__minus_03_dot_50_bar__plus_00_dot_15_bar__plus_00_dot_94_bar_BathtubBasin BathtubBasinType)\n (receptacleType ToiletPaperHanger_bar__minus_01_dot_63_bar__plus_00_dot_84_bar__plus_03_dot_31 ToiletPaperHangerType)\n (receptacleType TowelHolder_bar__minus_02_dot_55_bar__plus_01_dot_58_bar__plus_00_dot_00 TowelHolderType)\n (receptacleType Toilet_bar__minus_01_dot_84_bar__plus_00_dot_00_bar__plus_02_dot_50 ToiletType)\n (objectType TissueBox_bar__minus_01_dot_32_bar__plus_00_dot_51_bar__plus_00_dot_29 TissueBoxType)\n (objectType TissueBox_bar__minus_01_dot_59_bar__plus_00_dot_81_bar__plus_00_dot_22 TissueBoxType)\n (objectType Plunger_bar__minus_02_dot_31_bar__plus_00_dot_00_bar__plus_03_dot_23 PlungerType)\n (objectType ToiletPaper_bar__minus_01_dot_57_bar__plus_00_dot_84_bar__plus_03_dot_22 ToiletPaperType)\n (objectType Towel_bar__minus_02_dot_55_bar__plus_01_dot_60_bar__plus_00_dot_11 TowelType)\n (objectType Towel_bar__minus_02_dot_55_bar__plus_00_dot_87_bar__plus_00_dot_11 TowelType)\n (objectType Candle_bar__minus_00_dot_97_bar__plus_00_dot_51_bar__plus_00_dot_13 CandleType)\n (objectType SoapBottle_bar__minus_00_dot_54_bar__plus_00_dot_81_bar__plus_00_dot_42 SoapBottleType)\n (objectType ToiletPaper_bar__minus_02_dot_25_bar__plus_00_dot_95_bar__plus_02_dot_67 ToiletPaperType)\n (objectType SoapBar_bar__minus_00_dot_31_bar__plus_00_dot_90_bar__plus_03_dot_04 SoapBarType)\n (objectType SprayBottle_bar__minus_00_dot_28_bar__plus_00_dot_81_bar__plus_00_dot_29 SprayBottleType)\n (objectType SoapBottle_bar__minus_01_dot_85_bar__plus_00_dot_81_bar__plus_00_dot_16 SoapBottleType)\n (objectType Window_bar__minus_04_dot_08_bar__plus_01_dot_74_bar__plus_01_dot_16 WindowType)\n (objectType Cloth_bar__minus_01_dot_27_bar__plus_00_dot_20_bar__plus_00_dot_18 ClothType)\n (objectType HandTowel_bar__minus_00_dot_04_bar__plus_01_dot_68_bar__plus_02_dot_96 HandTowelType)\n (objectType SprayBottle_bar__minus_02_dot_25_bar__plus_00_dot_95_bar__plus_02_dot_45 SprayBottleType)\n (objectType Cloth_bar__minus_01_dot_38_bar__plus_00_dot_20_bar__plus_00_dot_41 ClothType)\n (objectType SoapBar_bar__minus_01_dot_07_bar__plus_00_dot_81_bar__plus_00_dot_48 SoapBarType)\n (objectType LightSwitch_bar__plus_00_dot_00_bar__plus_01_dot_37_bar__plus_01_dot_99 LightSwitchType)\n (objectType Sink_bar__minus_00_dot_46_bar__minus_00_dot_01_bar__plus_03_dot_05 SinkType)\n (objectType Bathtub_bar__minus_03_dot_50_bar__plus_00_dot_15_bar__plus_00_dot_94 BathtubType)\n (objectType ScrubBrush_bar__minus_02_dot_19_bar__plus_00_dot_00_bar__plus_03_dot_03 ScrubBrushType)\n (objectType SoapBottle_bar__minus_01_dot_33_bar__plus_00_dot_81_bar__plus_00_dot_29 SoapBottleType)\n (objectType SprayBottle_bar__minus_00_dot_54_bar__plus_00_dot_81_bar__plus_00_dot_22 SprayBottleType)\n (objectType Mirror_bar__minus_00_dot_50_bar__plus_01_dot_74_bar__plus_03_dot_30 MirrorType)\n (canContain DrawerType CandleType)\n (canContain DrawerType SoapBarType)\n (canContain DrawerType SprayBottleType)\n (canContain DrawerType ToiletPaperType)\n (canContain DrawerType SoapBottleType)\n (canContain DrawerType ClothType)\n (canContain DrawerType TissueBoxType)\n (canContain DrawerType HandTowelType)\n (canContain DrawerType CandleType)\n (canContain DrawerType SoapBarType)\n (canContain DrawerType SprayBottleType)\n (canContain DrawerType ToiletPaperType)\n (canContain DrawerType SoapBottleType)\n (canContain DrawerType ClothType)\n (canContain DrawerType TissueBoxType)\n (canContain DrawerType HandTowelType)\n (canContain DrawerType CandleType)\n (canContain DrawerType SoapBarType)\n (canContain DrawerType SprayBottleType)\n (canContain DrawerType ToiletPaperType)\n (canContain DrawerType SoapBottleType)\n (canContain DrawerType ClothType)\n (canContain DrawerType TissueBoxType)\n (canContain DrawerType HandTowelType)\n (canContain SinkBasinType SoapBarType)\n (canContain SinkBasinType ClothType)\n (canContain SinkBasinType HandTowelType)\n (canContain CounterTopType CandleType)\n (canContain CounterTopType SoapBarType)\n (canContain CounterTopType SprayBottleType)\n (canContain CounterTopType ToiletPaperType)\n (canContain CounterTopType SoapBottleType)\n (canContain CounterTopType ClothType)\n (canContain CounterTopType TissueBoxType)\n (canContain CounterTopType HandTowelType)\n (canContain DrawerType CandleType)\n (canContain DrawerType SoapBarType)\n (canContain DrawerType SprayBottleType)\n (canContain DrawerType ToiletPaperType)\n (canContain DrawerType SoapBottleType)\n (canContain DrawerType ClothType)\n (canContain DrawerType TissueBoxType)\n (canContain DrawerType HandTowelType)\n (canContain DrawerType CandleType)\n (canContain DrawerType SoapBarType)\n (canContain DrawerType SprayBottleType)\n (canContain DrawerType ToiletPaperType)\n (canContain DrawerType SoapBottleType)\n (canContain DrawerType ClothType)\n (canContain DrawerType TissueBoxType)\n (canContain DrawerType HandTowelType)\n (canContain HandTowelHolderType HandTowelType)\n (canContain GarbageCanType SoapBarType)\n (canContain GarbageCanType SprayBottleType)\n (canContain GarbageCanType ToiletPaperType)\n (canContain GarbageCanType SoapBottleType)\n (canContain GarbageCanType ClothType)\n (canContain GarbageCanType TissueBoxType)\n (canContain GarbageCanType HandTowelType)\n (canContain DrawerType CandleType)\n (canContain DrawerType SoapBarType)\n (canContain DrawerType SprayBottleType)\n (canContain DrawerType ToiletPaperType)\n (canContain DrawerType SoapBottleType)\n (canContain DrawerType ClothType)\n (canContain DrawerType TissueBoxType)\n (canContain DrawerType HandTowelType)\n (canContain DrawerType CandleType)\n (canContain DrawerType SoapBarType)\n (canContain DrawerType SprayBottleType)\n (canContain DrawerType ToiletPaperType)\n (canContain DrawerType SoapBottleType)\n (canContain DrawerType ClothType)\n (canContain DrawerType TissueBoxType)\n (canContain DrawerType HandTowelType)\n (canContain DrawerType CandleType)\n (canContain DrawerType SoapBarType)\n (canContain DrawerType SprayBottleType)\n (canContain DrawerType ToiletPaperType)\n (canContain DrawerType SoapBottleType)\n (canContain DrawerType ClothType)\n (canContain DrawerType TissueBoxType)\n (canContain DrawerType HandTowelType)\n (canContain TowelHolderType TowelType)\n (canContain BathtubBasinType ClothType)\n (canContain BathtubBasinType HandTowelType)\n (canContain BathtubBasinType SoapBarType)\n (canContain ToiletPaperHangerType ToiletPaperType)\n (canContain TowelHolderType TowelType)\n (canContain ToiletType SoapBottleType)\n (canContain ToiletType HandTowelType)\n (canContain ToiletType ToiletPaperType)\n (canContain ToiletType ClothType)\n (canContain ToiletType CandleType)\n (canContain ToiletType SoapBarType)\n (canContain ToiletType SprayBottleType)\n (canContain ToiletType TissueBoxType)\n (pickupable TissueBox_bar__minus_01_dot_32_bar__plus_00_dot_51_bar__plus_00_dot_29)\n (pickupable TissueBox_bar__minus_01_dot_59_bar__plus_00_dot_81_bar__plus_00_dot_22)\n (pickupable Plunger_bar__minus_02_dot_31_bar__plus_00_dot_00_bar__plus_03_dot_23)\n (pickupable ToiletPaper_bar__minus_01_dot_57_bar__plus_00_dot_84_bar__plus_03_dot_22)\n (pickupable Towel_bar__minus_02_dot_55_bar__plus_01_dot_60_bar__plus_00_dot_11)\n (pickupable Towel_bar__minus_02_dot_55_bar__plus_00_dot_87_bar__plus_00_dot_11)\n (pickupable Candle_bar__minus_00_dot_97_bar__plus_00_dot_51_bar__plus_00_dot_13)\n (pickupable SoapBottle_bar__minus_00_dot_54_bar__plus_00_dot_81_bar__plus_00_dot_42)\n (pickupable ToiletPaper_bar__minus_02_dot_25_bar__plus_00_dot_95_bar__plus_02_dot_67)\n (pickupable SoapBar_bar__minus_00_dot_31_bar__plus_00_dot_90_bar__plus_03_dot_04)\n (pickupable SprayBottle_bar__minus_00_dot_28_bar__plus_00_dot_81_bar__plus_00_dot_29)\n (pickupable SoapBottle_bar__minus_01_dot_85_bar__plus_00_dot_81_bar__plus_00_dot_16)\n (pickupable Cloth_bar__minus_01_dot_27_bar__plus_00_dot_20_bar__plus_00_dot_18)\n (pickupable HandTowel_bar__minus_00_dot_04_bar__plus_01_dot_68_bar__plus_02_dot_96)\n (pickupable SprayBottle_bar__minus_02_dot_25_bar__plus_00_dot_95_bar__plus_02_dot_45)\n (pickupable Cloth_bar__minus_01_dot_38_bar__plus_00_dot_20_bar__plus_00_dot_41)\n (pickupable SoapBar_bar__minus_01_dot_07_bar__plus_00_dot_81_bar__plus_00_dot_48)\n (pickupable ScrubBrush_bar__minus_02_dot_19_bar__plus_00_dot_00_bar__plus_03_dot_03)\n (pickupable SoapBottle_bar__minus_01_dot_33_bar__plus_00_dot_81_bar__plus_00_dot_29)\n (pickupable SprayBottle_bar__minus_00_dot_54_bar__plus_00_dot_81_bar__plus_00_dot_22)\n \n (openable Drawer_bar__minus_00_dot_81_bar__plus_00_dot_61_bar__plus_00_dot_31)\n (openable Drawer_bar__minus_00_dot_29_bar__plus_00_dot_61_bar__plus_00_dot_31)\n (openable Drawer_bar__minus_00_dot_29_bar__plus_00_dot_31_bar__plus_00_dot_31)\n (openable Drawer_bar__minus_01_dot_32_bar__plus_00_dot_61_bar__plus_00_dot_31)\n (openable Drawer_bar__minus_00_dot_81_bar__plus_00_dot_31_bar__plus_00_dot_31)\n (openable Drawer_bar__minus_01_dot_84_bar__plus_00_dot_31_bar__plus_00_dot_31)\n (openable Drawer_bar__minus_01_dot_84_bar__plus_00_dot_61_bar__plus_00_dot_31)\n \n (atLocation agent1 loc_bar__minus_9_bar_4_bar_2_bar_30)\n \n (cleanable SoapBar_bar__minus_00_dot_31_bar__plus_00_dot_90_bar__plus_03_dot_04)\n (cleanable Cloth_bar__minus_01_dot_27_bar__plus_00_dot_20_bar__plus_00_dot_18)\n (cleanable Cloth_bar__minus_01_dot_38_bar__plus_00_dot_20_bar__plus_00_dot_41)\n (cleanable SoapBar_bar__minus_01_dot_07_bar__plus_00_dot_81_bar__plus_00_dot_48)\n \n \n \n \n \n \n \n \n \n \n (inReceptacle Cloth_bar__minus_01_dot_38_bar__plus_00_dot_20_bar__plus_00_dot_41 Drawer_bar__minus_01_dot_32_bar__plus_00_dot_31_bar__plus_00_dot_31)\n (inReceptacle Cloth_bar__minus_01_dot_27_bar__plus_00_dot_20_bar__plus_00_dot_18 Drawer_bar__minus_01_dot_32_bar__plus_00_dot_31_bar__plus_00_dot_31)\n (inReceptacle Candle_bar__minus_00_dot_97_bar__plus_00_dot_51_bar__plus_00_dot_13 Drawer_bar__minus_00_dot_81_bar__plus_00_dot_61_bar__plus_00_dot_31)\n (inReceptacle SoapBottle_bar__minus_01_dot_85_bar__plus_00_dot_81_bar__plus_00_dot_16 CounterTop_bar__minus_01_dot_85_bar__plus_00_dot_00_bar__plus_00_dot_34)\n (inReceptacle SoapBottle_bar__minus_01_dot_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_22 CounterTop_bar__minus_01_dot_85_bar__plus_00_dot_00_bar__plus_00_dot_34)\n (inReceptacle SprayBottle_bar__minus_00_dot_28_bar__plus_00_dot_81_bar__plus_00_dot_29 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_22 CounterTop_bar__minus_01_dot_85_bar__plus_00_dot_00_bar__plus_00_dot_34)\n (inReceptacle SoapBottle_bar__minus_00_dot_54_bar__plus_00_dot_81_bar__plus_00_dot_42 CounterTop_bar__minus_01_dot_85_bar__plus_00_dot_00_bar__plus_00_dot_34)\n (inReceptacle SoapBar_bar__minus_01_dot_07_bar__plus_00_dot_81_bar__plus_00_dot_48 CounterTop_bar__minus_01_dot_85_bar__plus_00_dot_00_bar__plus_00_dot_34)\n (inReceptacle TissueBox_bar__minus_01_dot_32_bar__plus_00_dot_51_bar__plus_00_dot_29 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 Towel_bar__minus_02_dot_55_bar__plus_00_dot_87_bar__plus_00_dot_11 TowelHolder_bar__minus_02_dot_55_bar__plus_00_dot_86_bar__plus_00_dot_00)\n (inReceptacle HandTowel_bar__minus_00_dot_04_bar__plus_01_dot_68_bar__plus_02_dot_96 HandTowelHolder_bar__plus_00_dot_00_bar__plus_01_dot_78_bar__plus_02_dot_96)\n (inReceptacle ToiletPaper_bar__minus_02_dot_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 SprayBottle_bar__minus_02_dot_25_bar__plus_00_dot_95_bar__plus_02_dot_45 Toilet_bar__minus_01_dot_84_bar__plus_00_dot_00_bar__plus_02_dot_50)\n (inReceptacle SoapBar_bar__minus_00_dot_31_bar__plus_00_dot_90_bar__plus_03_dot_04 Sink_bar__minus_00_dot_46_bar__minus_00_dot_01_bar__plus_03_dot_05_bar_SinkBasin)\n \n \n (receptacleAtLocation Bathtub_bar__minus_03_dot_50_bar__plus_00_dot_15_bar__plus_00_dot_94_bar_BathtubBasin loc_bar__minus_11_bar_4_bar_3_bar_60)\n (receptacleAtLocation CounterTop_bar__minus_01_dot_85_bar__plus_00_dot_00_bar__plus_00_dot_34 loc_bar__minus_3_bar_4_bar_3_bar_60)\n (receptacleAtLocation Drawer_bar__minus_00_dot_29_bar__plus_00_dot_31_bar__plus_00_dot_31 loc_bar__minus_3_bar_6_bar_2_bar_45)\n (receptacleAtLocation Drawer_bar__minus_00_dot_29_bar__plus_00_dot_61_bar__plus_00_dot_31 loc_bar__minus_3_bar_5_bar_2_bar_45)\n (receptacleAtLocation Drawer_bar__minus_00_dot_81_bar__plus_00_dot_31_bar__plus_00_dot_31 loc_bar__minus_5_bar_6_bar_2_bar_45)\n (receptacleAtLocation Drawer_bar__minus_00_dot_81_bar__plus_00_dot_61_bar__plus_00_dot_31 loc_bar__minus_2_bar_5_bar_2_bar_45)\n (receptacleAtLocation Drawer_bar__minus_01_dot_32_bar__plus_00_dot_31_bar__plus_00_dot_31 loc_bar__minus_5_bar_4_bar_2_bar_60)\n (receptacleAtLocation Drawer_bar__minus_01_dot_32_bar__plus_00_dot_61_bar__plus_00_dot_31 loc_bar__minus_4_bar_5_bar_2_bar_45)\n (receptacleAtLocation Drawer_bar__minus_01_dot_84_bar__plus_00_dot_31_bar__plus_00_dot_31 loc_bar__minus_5_bar_6_bar_2_bar_45)\n (receptacleAtLocation Drawer_bar__minus_01_dot_84_bar__plus_00_dot_61_bar__plus_00_dot_31 loc_bar__minus_6_bar_5_bar_2_bar_45)\n (receptacleAtLocation GarbageCan_bar__minus_00_dot_85_bar__plus_00_dot_00_bar__plus_03_dot_15 loc_bar__minus_5_bar_9_bar_0_bar_60)\n (receptacleAtLocation HandTowelHolder_bar__plus_00_dot_00_bar__plus_01_dot_78_bar__plus_02_dot_96 loc_bar__minus_2_bar_9_bar_0_bar__minus_15)\n (receptacleAtLocation Sink_bar__minus_00_dot_46_bar__minus_00_dot_01_bar__plus_03_dot_05_bar_SinkBasin loc_bar__minus_4_bar_11_bar_1_bar_60)\n (receptacleAtLocation ToiletPaperHanger_bar__minus_01_dot_63_bar__plus_00_dot_84_bar__plus_03_dot_31 loc_bar__minus_5_bar_11_bar_0_bar_60)\n (receptacleAtLocation Toilet_bar__minus_01_dot_84_bar__plus_00_dot_00_bar__plus_02_dot_50 loc_bar__minus_7_bar_6_bar_0_bar_60)\n (receptacleAtLocation TowelHolder_bar__minus_02_dot_55_bar__plus_00_dot_86_bar__plus_00_dot_00 loc_bar__minus_10_bar_3_bar_2_bar_45)\n (receptacleAtLocation TowelHolder_bar__minus_02_dot_55_bar__plus_01_dot_58_bar__plus_00_dot_00 loc_bar__minus_10_bar_3_bar_2_bar_0)\n (objectAtLocation SoapBottle_bar__minus_01_dot_85_bar__plus_00_dot_81_bar__plus_00_dot_16 loc_bar__minus_3_bar_4_bar_3_bar_60)\n (objectAtLocation TissueBox_bar__minus_01_dot_59_bar__plus_00_dot_81_bar__plus_00_dot_22 loc_bar__minus_3_bar_4_bar_3_bar_60)\n (objectAtLocation SprayBottle_bar__minus_02_dot_25_bar__plus_00_dot_95_bar__plus_02_dot_45 loc_bar__minus_7_bar_6_bar_0_bar_60)\n (objectAtLocation SoapBar_bar__minus_00_dot_31_bar__plus_00_dot_90_bar__plus_03_dot_04 loc_bar__minus_4_bar_11_bar_1_bar_60)\n (objectAtLocation Cloth_bar__minus_01_dot_38_bar__plus_00_dot_20_bar__plus_00_dot_41 loc_bar__minus_5_bar_4_bar_2_bar_60)\n (objectAtLocation Towel_bar__minus_02_dot_55_bar__plus_00_dot_87_bar__plus_00_dot_11 loc_bar__minus_10_bar_3_bar_2_bar_45)\n (objectAtLocation SoapBottle_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 SprayBottle_bar__minus_00_dot_54_bar__plus_00_dot_81_bar__plus_00_dot_22 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_01_dot_27_bar__plus_00_dot_20_bar__plus_00_dot_18 loc_bar__minus_5_bar_4_bar_2_bar_60)\n (objectAtLocation Candle_bar__minus_00_dot_97_bar__plus_00_dot_51_bar__plus_00_dot_13 loc_bar__minus_2_bar_5_bar_2_bar_45)\n (objectAtLocation HandTowel_bar__minus_00_dot_04_bar__plus_01_dot_68_bar__plus_02_dot_96 loc_bar__minus_2_bar_9_bar_0_bar__minus_15)\n (objectAtLocation SoapBar_bar__minus_01_dot_07_bar__plus_00_dot_81_bar__plus_00_dot_48 loc_bar__minus_3_bar_4_bar_3_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_28_bar__plus_00_dot_81_bar__plus_00_dot_29 loc_bar__minus_3_bar_4_bar_3_bar_60)\n (objectAtLocation TissueBox_bar__minus_01_dot_32_bar__plus_00_dot_51_bar__plus_00_dot_29 loc_bar__minus_4_bar_5_bar_2_bar_45)\n (objectAtLocation ToiletPaper_bar__minus_01_dot_57_bar__plus_00_dot_84_bar__plus_03_dot_22 loc_bar__minus_5_bar_11_bar_0_bar_60)\n (objectAtLocation LightSwitch_bar__plus_00_dot_00_bar__plus_01_dot_37_bar__plus_01_dot_99 loc_bar__minus_2_bar_8_bar_1_bar_30)\n (objectAtLocation Window_bar__minus_04_dot_08_bar__plus_01_dot_74_bar__plus_01_dot_16 loc_bar__minus_11_bar_5_bar_3_bar_0)\n (objectAtLocation ScrubBrush_bar__minus_02_dot_19_bar__plus_00_dot_00_bar__plus_03_dot_03 loc_bar__minus_5_bar_11_bar_3_bar_60)\n (objectAtLocation SoapBottle_bar__minus_00_dot_54_bar__plus_00_dot_81_bar__plus_00_dot_42 loc_bar__minus_3_bar_4_bar_3_bar_60)\n )\n \n\n (:goal\n (and\n (exists (?r - receptacle)\n (exists (?o - object)\n (and\n (inReceptacle ?o ?r)\n (objectType ?o SprayBottleType)\n (receptacleType ?r GarbageCanType)\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to countertop 1", "take spraybottle 3 from countertop 1", "go to garbagecan 1", "move spraybottle 3 to garbagecan 1"]}
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alfworld__pick_and_place_simple__778
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pick_and_place_simple
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pick_and_place_simple-SprayBottle-None-GarbageCan-426/trial_T20190908_052109_948840/game.tw-pddl
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{"pddl_domain": ";; Specification in PDDL of the Alfred domain\n;; Intended to be used with Fast Downward which supports PDDL 2.2 level 1 plus the :action-costs requirement from PDDL 3.1.\n\n(define (domain alfred)\n (:requirements\n :adl\n :action-costs\n :typing\n )\n (:types\n agent\n location\n receptacle\n object\n rtype\n otype\n )\n\n\n (:predicates\n (atLocation ?a - agent ?l - location) ; true if the agent is at the location\n (receptacleAtLocation ?r - receptacle ?l - location) ; true if the receptacle is at the location (constant)\n (objectAtLocation ?o - object ?l - location) ; true if the object is at the location\n (openable ?r - receptacle) ; true if a receptacle is openable\n (opened ?r - receptacle) ; true if a receptacle is opened\n (inReceptacle ?o - object ?r - receptacle) ; object ?o is in receptacle ?r\n (isReceptacleObject ?o - object) ; true if the object can have things put inside it\n (inReceptacleObject ?innerObject - object ?outerObject - object) ; object ?innerObject is inside object ?outerObject\n (isReceptacleObjectFull ?o - object) ; true if the receptacle object contains something\n (wasInReceptacle ?o - object ?r - receptacle) ; object ?o was or is in receptacle ?r now or some time in the past\n (checked ?r - receptacle) ; whether the receptacle has been looked inside/visited\n (examined ?l - location) ; TODO\n (receptacleType ?r - receptacle ?t - rtype) ; the type of receptacle (Cabinet vs Cabinet|01|2...)\n (canContain ?rt - rtype ?ot - otype) ; true if receptacle can hold object\n (objectType ?o - object ?t - otype) ; the type of object (Apple vs Apple|01|2...)\n (holds ?a - agent ?o - object) ; object ?o is held by agent ?a\n (holdsAny ?a - agent) ; agent ?a holds an object\n (holdsAnyReceptacleObject ?a - agent) ; agent ?a holds a receptacle object\n (full ?r - receptacle) ; true if the receptacle has no remaining space\n (isClean ?o - object) ; true if the object has been clean in sink\n (cleanable ?o - object) ; true if the object can be placed in a sink\n (isHot ?o - object) ; true if the object has been heated up\n (heatable ?o - object) ; true if the object can be heated up in a microwave\n (isCool ?o - object) ; true if the object has been cooled\n (coolable ?o - object) ; true if the object can be cooled in the fridge\n (pickupable ?o - object) ; true if the object can be picked up\n (moveable ?o - object) ; true if the object can be moved\n (toggleable ?o - object) ; true if the object can be turned on/off\n (isOn ?o - object) ; true if the object is on\n (isToggled ?o - object) ; true if the object has been toggled\n (sliceable ?o - object) ; true if the object can be sliced\n (isSliced ?o - object) ; true if the object is sliced\n )\n\n (:functions\n (distance ?from ?to)\n (total-cost) - number\n )\n\n;; All actions are specified such that the final arguments are the ones used\n;; for performing actions in Unity.\n\n\n(:action look\n :parameters (?a - agent ?l - location)\n :precondition\n (and\n (atLocation ?a ?l)\n )\n :effect\n (and\n (checked ?l)\n )\n)\n\n(:action inventory\n :parameters (?a - agent)\n :precondition\n ()\n :effect\n (and\n (checked ?a)\n )\n)\n\n(:action examineReceptacle\n :parameters (?a - agent ?r - receptacle)\n :precondition\n (and\n (exists (?l - location)\n (and\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n )\n )\n )\n :effect\n (and\n (checked ?r)\n )\n)\n\n(:action examineObject\n :parameters (?a - agent ?o - object)\n :precondition\n (or\n ;(exists (?l - location)\n ; (and\n ; (atLocation ?a ?l)\n ; (objectAtLocation ?o ?l)\n ; )\n ;)\n (exists (?l - location, ?r - receptacle)\n (and\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n ; (objectAtLocation ?o ?l)\n (inReceptacle ?o ?r)\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n )\n )\n (holds ?a ?o)\n )\n :effect\n (and\n (checked ?o)\n )\n)\n\n;; agent goes to receptacle\n (:action GotoLocation\n :parameters (?a - agent ?lStart - location ?lEnd - location ?r - receptacle)\n :precondition (and\n (atLocation ?a ?lStart)\n (receptacleAtLocation ?r ?lEnd)\n ;(exists (?r - receptacle) (receptacleAtLocation ?r ?lEnd))\n )\n :effect (and\n (not (atLocation ?a ?lStart))\n (atLocation ?a ?lEnd)\n ; (forall (?r - receptacle)\n ; (when (and (receptacleAtLocation ?r ?lEnd)\n ; (or (not (openable ?r)) (opened ?r)))\n ; (checked ?r)\n ; )\n ; )\n ; (increase (total-cost) (distance ?lStart ?lEnd))\n (increase (total-cost) 1)\n )\n )\n\n;; agent opens receptacle\n (:action OpenObject\n :parameters (?a - agent ?l - location ?r - receptacle)\n :precondition (and\n (openable ?r)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (not (opened ?r))\n )\n :effect (and\n (opened ?r)\n (checked ?r)\n (increase (total-cost) 1)\n )\n )\n;; agent closes receptacle\n (:action CloseObject\n :parameters (?a - agent ?l - location ?r - receptacle)\n :precondition (and\n (openable ?r)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (opened ?r)\n )\n :effect (and\n (not (opened ?r))\n (increase (total-cost) 1)\n )\n\n )\n\n ;; agent picks up object from a receptacle\n (:action PickupObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n :precondition\n (and\n (pickupable ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n ; (objectAtLocation ?o ?l)\n (inReceptacle ?o ?r)\n (not (holdsAny ?a)) ; agent's hands are empty.\n ;(not (holdsAnyReceptacleObject ?a))\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n ;(not (isReceptacleObject ?o))\n )\n :effect\n (and\n (not (inReceptacle ?o ?r))\n (holds ?a ?o)\n (holdsAny ?a)\n (not (objectAtLocation ?o ?l))\n ;(not (full ?r))\n (increase (total-cost) 1)\n )\n )\n\n\n; ;; agent picks up object from a receptacle\n; (:action PickupObjectFromReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?outerR - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (inReceptacle ?o ?r)\n; (pickupable ?o)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (not (isReceptacleObject ?o))\n; (isReceptacleObject ?outerR)\n; (inReceptacleObject ?o ?outerR)\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (holds ?a ?o)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n;\n; (not (inReceptacleObject ?o ?outerR))\n; (not (isReceptacleObjectFull ?outerR))\n; )\n; )\n;\n; ;; agent picks up object from a receptacle\n; (:action PickupEmptyReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; ; (objectAtLocation ?o ?l)\n; (inReceptacle ?o ?r)\n; (pickupable ?o)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (isReceptacleObject ?o)\n; (not (isReceptacleObjectFull ?o))\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (holds ?a ?o)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n; (holdsAnyReceptacleObject ?a)\n; )\n; )\n;\n; ;; agent picks up object from a receptacle\n; (:action PickupFullReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?outerR - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (inReceptacle ?outerR ?r)\n; (pickupable ?outerR)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (not (isReceptacleObject ?o))\n; (isReceptacleObject ?outerR)\n; (inReceptacleObject ?o ?outerR)\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (not (inReceptacle ?outerR ?r))\n; (holds ?a ?outerR)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (objectAtLocation ?outerR ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n; (holdsAnyReceptacleObject ?a)\n; )\n; )\n\n\n;; agent puts down an object\n (:action PutObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle ?ot - otype ?rt - rtype)\n :precondition (and\n (holds ?a ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable\n ;(not (full ?r))\n (objectType ?o ?ot)\n (receptacleType ?r ?rt)\n (canContain ?rt ?ot)\n ;(not (holdsAnyReceptacleObject ?a))\n )\n :effect (and\n (inReceptacle ?o ?r)\n (objectAtLocation ?o ?l)\n ;(full ?r)\n (not (holds ?a ?o))\n (not (holdsAny ?a))\n (increase (total-cost) 1)\n )\n )\n\n;;; agent puts down an object\n; (:action PutObjectInReceptacleObject\n; :parameters (?a - agent ?l - location ?ot - otype ?o - object ?outerO - object ?outerR - receptacle)\n; :precondition (and\n; (atLocation ?a ?l)\n; (objectAtLocation ?outerO ?l)\n; (isReceptacleObject ?outerO)\n; (not (isReceptacleObject ?o))\n; (objectType ?o ?ot)\n; (holds ?a ?o)\n; (not (holdsAnyReceptacleObject ?a))\n; (inReceptacle ?outerO ?outerR)\n; (not (isReceptacleObjectFull ?outerO))\n; )\n; :effect (and\n; (inReceptacleObject ?o ?outerO)\n; (inReceptacle ?o ?outerR)\n; (not (holds ?a ?o))\n; (not (holdsAny ?a))\n; (objectAtLocation ?o ?l)\n; (isReceptacleObjectFull ?outerO)\n; (increase (total-cost) 1)\n; )\n; )\n;\n;;; agent puts down an object\n; (:action PutEmptyReceptacleObjectinReceptacle\n; :parameters (?a - agent ?l - location ?ot - otype ?o - object ?r - receptacle)\n; :precondition (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable\n; (not (full ?r))\n; (objectType ?o ?ot)\n; (holds ?a ?o)\n; (holdsAnyReceptacleObject ?a)\n; (isReceptacleObject ?o)\n; (not (isReceptacleObjectFull ?o))\n; )\n; :effect (and\n; (inReceptacle ?o ?r)\n; (objectAtLocation ?o ?l)\n; (full ?r)\n; (not (holds ?a ?o))\n; (not (holdsAny ?a))\n; (not (holdsAnyReceptacleObject ?a))\n; (increase (total-cost) 1)\n; )\n; )\n;\n;;; agent puts down a receptacle object in a receptacle\n; (:action PutFullReceptacleObjectInReceptacle\n; :parameters (?a - agent ?l - location ?ot - otype ?innerO - object ?outerO - object ?r - receptacle) ; ?rt - rtype)\n; :precondition (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (objectType ?outerO ?ot)\n; (holds ?a ?outerO)\n; (holdsAnyReceptacleObject ?a)\n; (isReceptacleObject ?outerO)\n; (isReceptacleObjectFull ?outerO)\n; (inReceptacleObject ?innerO ?outerO)\n; )\n; :effect (and\n; (not (holdsAny ?a))\n; (not (holdsAnyReceptacleObject ?a))\n; (objectAtLocation ?outerO ?l)\n; (objectAtLocation ?innerO ?l)\n; (inReceptacle ?outerO ?r)\n; (inReceptacle ?innerO ?r)\n; (not (holds ?a ?outerO))\n; (increase (total-cost) 1)\n; )\n; )\n\n;; agent cleans some object\n (:action CleanObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (cleanable ?o)\n (or\n (receptacleType ?r SinkType)\n (receptacleType ?r SinkBasinType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isClean ?o)\n )\n )\n\n\n;; agent heats-up some object\n (:action HeatObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (heatable ?o)\n (or\n (receptacleType ?r MicrowaveType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isHot ?o)\n (not (isCool ?o))\n )\n )\n\n;; agent cools some object\n (:action CoolObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (coolable ?o)\n (or\n (receptacleType ?r FridgeType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isCool ?o)\n (not (isHot ?o))\n )\n )\n\n\n;; agent toggle object\n (:action ToggleObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n :precondition (and\n (toggleable ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (inReceptacle ?o ?r)\n )\n :effect (and\n (increase (total-cost) 5)\n (when (isOn ?o)\n (not (isOn ?o)))\n (when (not (isOn ?o))\n (isOn ?o))\n (isToggled ?o)\n )\n )\n\n\n;; agent slices some object with a knife\n (:action SliceObject\n :parameters (?a - agent ?l - location ?co - object ?ko - object)\n :precondition\n (and\n (sliceable ?co)\n (or\n (objectType ?ko KnifeType)\n (objectType ?ko ButterKnifeType)\n )\n (atLocation ?a ?l)\n (objectAtLocation ?co ?l)\n (holds ?a ?ko)\n )\n :effect (and\n (increase (total-cost) 5)\n (isSliced ?co)\n )\n )\n\n\n(:action help\n :parameters (?a - agent)\n :precondition\n ()\n :effect\n (and\n (checked ?a)\n )\n)\n)\n", "grammar": "grammar :: \"\"\"\n {\n \"intro\": [\n {\n \"rhs\": \"-= Welcome to TextWorld, ALFRED! =-\\n\\n#look.feedback#\\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 garbagecan.\"\n }\n ],\n\n \"GotoLocation.feedback\": [\n {\n \"rhs\": \"You arrive at {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"OpenObject.feedback\": [\n {\n \"rhs\": \"You open the {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"CloseObject.feedback\": [\n {\n \"rhs\": \"You close the {r.name}.\"\n }\n ],\n\n \"PickupObject.feedback\": [\n {\n \"rhs\": \"You pick up the {o.name} from the {r.name}.\"\n }\n ],\n\n \"PickupObjectFromReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupObjectFromReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupEmptyReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupEmptyReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupFullReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupFullReceptacleObject: You pick up the {outerr.name}.\"\n }\n ],\n\n \"PutObject.feedback\": [\n {\n \"rhs\": \"You move the {o.name} to the {r.name}.\"\n }\n ],\n\n \"PutObjectInReceptacleObject.feedback\": [\n {\n \"rhs\": \"PutObjectInReceptacleObject: You put the {o.name} in the {outero.name}.\"\n }\n ],\n\n \"PutEmptyReceptacleObjectinReceptacle.feedback\": [\n {\n \"rhs\": \"PutEmptyReceptacleObjectinReceptacle: You put the {o.name} in the {r.name}.\"\n }\n ],\n\n \"PutFullReceptacleObjectInReceptacle.feedback\": [\n {\n \"rhs\": \"PutFullReceptacleObjectInReceptacle: You put the {outero.name} in the {r.name}.\"\n }\n ],\n\n \"inventory.feedback\": [\n {\n \"condition\": \"holdsany(a:agent)\",\n \"rhs\": \"You are carrying: [{o.indefinite + ' ' + o.name | holds(a:agent, o:object)}].\"\n },\n {\n \"rhs\": \"You are not carrying anything.\"\n }\n ],\n\n \"examineReceptacle.feedback\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \"The {r.name} is open. In it, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \"The {r.name} is closed.\"\n },\n {\n \"rhs\": \"On the {r.name}, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n }\n ],\n\n \"examineObject.feedback\": [\n {\n \"condition\": \"isreceptacleobject(o:object)\",\n \"rhs\": \"This is a normal {o.name}. In it, you see [{o2.indefinite + ' ' + o2.name | inreceptacleobject(o2:object, o:object)}].\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a clean sliced {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot sliced {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object)\",\n \"rhs\": \"This is a hot and clean {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object)\",\n \"rhs\": \"This is a cool and clean {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object)\",\n \"rhs\": \"This is a hot {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object)\",\n \"rhs\": \"This is a clean {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object)\",\n \"rhs\": \"This is a cold {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"This {o.name} is on.\"\n },\n {\n \"condition\": \"toggleable(o:object) & not_istoggled(o:object)\",\n \"rhs\": \"This {o.name} is off.\"\n },\n {\n \"condition\": \"sliceable(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a sliced {o.name}.\"\n },\n {\n \"rhs\": \"There's nothing special about {o.name}.\"\n }\n ]\n }\n\"\"\";\n\naction GotoLocation {\n template :: \"go to [{r.name | receptacleatlocation(r:receptacle, lend:location)}]\";\n feedback :: \"#GotoLocation.feedback#\";\n}\n\naction OpenObject {\n template :: \"open {r}\";\n feedback :: \"#OpenObject.feedback#\";\n}\n\naction CloseObject {\n template :: \"close {r}\";\n feedback :: \"#CloseObject.feedback#\";\n}\n\naction PickupObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObject.feedback#\";\n}\n\naction PickupObjectFromReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObjectFromReceptacleObject.feedback#\";\n}\n\naction PickupEmptyReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupEmptyReceptacleObject.feedback#\";\n}\n\naction PickupFullReceptacleObject {\n template :: \"take {outerr} from {r}\";\n feedback :: \"#PickupFullReceptacleObject.feedback#\";\n}\n\naction PutObject {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutObject.feedback#\";\n}\n\naction PutObjectInReceptacleObject {\n template :: \"put {o} into {outero}\";\n feedback :: \"#PutObjectInReceptacleObject.feedback#\";\n}\n\naction PutEmptyReceptacleObjectinReceptacle {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutEmptyReceptacleObjectinReceptacle.feedback#\";\n}\n\naction PutFullReceptacleObjectInReceptacle {\n template :: \"put {outero} in {r}\";\n feedback :: \"#PutFullReceptacleObjectInReceptacle.feedback#\";\n}\n\naction inventory {\n template :: \"inventory\";\n feedback :: \"#inventory.feedback#\";\n}\n\naction examineReceptacle {\n template :: \"examine {r}\";\n feedback :: \"#examineReceptacle.feedback#\";\n}\n\naction examineObject {\n template :: \"examine {o}\";\n feedback :: \"#examineObject.feedback#\";\n}\n\naction ToggleObject {\n template :: \"use {o}\";\n feedback :: \"#toggleObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"toggleObject.feedback\": [\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"You turn on the {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object)\",\n \"rhs\": \"You turn off the {o.name}.\"\n },\n {\n \"rhs\": \"You don't see any switch on the {o.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction HeatObject {\n template :: \"heat {o} with {r}\";\n feedback :: \"#heatObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"heatObject.feedback\": [\n {\n \"rhs\": \"You heat the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CleanObject {\n template :: \"clean {o} with {r}\";\n feedback :: \"#cleanObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"cleanObject.feedback\": [\n {\n \"rhs\": \"You clean the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CoolObject {\n template :: \"cool {o} with {r}\";\n feedback :: \"#coolObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"coolObject.feedback\": [\n {\n \"rhs\": \"You cool the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction SliceObject {\n template :: \"slice {co} with {ko}\";\n feedback :: \"#sliceObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"sliceObject.feedback\": [\n {\n \"rhs\": \"You sliced the {co.name} with the {ko.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction look {\n template :: \"look\";\n feedback :: \"#look.feedback#\";\n\n grammar :: \"\"\"\n {\n \"look.feedback\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"#look-variations#. Next to it, you see #list_objects_on_the_floor#.\"\n },\n {\n \"rhs\": \"You are in the middle of a room. Looking quickly around you, you see #list_appliances#.\"\n }\n ],\n\n \"look-variations\": [\n {\n \"rhs\": \"You are facing the [{r.name | atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)}]\"\n }\n ],\n\n \"list_objects_on_the_floor\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)\",\n \"rhs\": \"[{#overview(o)# | atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"list_appliances\": [\n {\n \"condition\": \"receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"[{#overview(r)# | receptacleatlocation(r:receptacle, l:location)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"overview(o, r)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name} (in/on the {r.name})}\"\n }\n ],\n\n \"overview(o)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name}\"\n }\n ],\n \"overview(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}\"\n }\n ],\n \"overview_with_state(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}#overview_state(r)#\"\n }\n ],\n \"overview_state(r)\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \" (it is open)\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \" (it is closed)\"\n },\n {\n \"rhs\": \"\"\n }\n ],\n\n \"list_empty\": [\n {\n \"rhs\": \"nothing\"\n }\n ],\n \"list_separator\": [\n {\n \"rhs\": \", \"\n }\n ],\n \"list_last_separator\": [\n {\n \"rhs\": \", and \"\n }\n ]\n }\n \"\"\";\n}\n\naction help {\n template :: \"help\";\n feedback :: \"\nAvailable commands:\n look: look around your current location\n inventory: check your current inventory\n go to (receptacle): move to a receptacle\n open (receptacle): open a receptacle\n close (receptacle): close a receptacle\n take (object) from (receptacle): take an object from a receptacle\n move (object) to (receptacle): place an object in or on a receptacle\n examine (something): examine a receptacle or an object\n use (object): use an object\n heat (object) with (receptacle): heat an object using a receptacle\n clean (object) with (receptacle): clean an object using a receptacle\n cool (object) with (receptacle): cool an object using a receptacle\n slice (object) with (object): slice an object using a sharp object\n\";\n}\n", "pddl_problem": "\n(define (problem plan_trial_T20190908_052109_948840)\n(:domain alfred)\n(:objects\nagent1 - agent\nSaltShaker - object\n HousePlant - object\n Candle - object\n SprayBottle - object\n Bowl - object\n Window - object\n CD - object\n Egg - object\n Glassbottle - object\n Sink - object\n Pillow - object\n Spoon - object\n SoapBottle - object\n TeddyBear - object\n ButterKnife - object\n Cup - object\n Plate - object\n RemoteControl - object\n Tomato - object\n Statue - object\n HandTowel - object\n Knife - object\n StoveKnob - object\n LightSwitch - object\n Pen - object\n Painting - object\n DishSponge - object\n Vase - object\n Mug - object\n ToiletPaper - object\n Box - object\n Mirror - object\n Ladle - object\n Fork - object\n Blinds - object\n Footstool - object\n KeyChain - object\n Cloth - object\n Laptop - object\n TissueBox - object\n PepperShaker - object\n FloorLamp - object\n WateringCan - object\n Apple - object\n Pan - object\n PaperTowel - object\n PaperTowelRoll - object\n Newspaper - object\n Television - object\n Chair - object\n CellPhone - object\n CreditCard - object\n Lettuce - object\n BasketBall - object\n Potato - object\n Curtains - object\n Boots - object\n Pencil - object\n AlarmClock - object\n ToiletPaperRoll - object\n Spatula - object\n Book - object\n Bread - object\n SoapBar - object\n Watch - object\n DeskLamp - object\n Kettle - object\n Pot - object\n ScrubBrush - object\n WineBottle - object\n ShowerDoor - object\n Bathtub - object\n LaundryHamperLid - object\n ShowerGlass - object\n Poster - object\n TennisRacket - object\n BaseballBat - object\n Towel - object\n Plunger - object\nSaltShakerType - otype\n HousePlantType - otype\n CandleType - otype\n SprayBottleType - otype\n BowlType - otype\n WindowType - otype\n CDType - otype\n EggType - otype\n GlassbottleType - otype\n SinkType - otype\n PillowType - otype\n SpoonType - otype\n SoapBottleType - otype\n TeddyBearType - otype\n ButterKnifeType - otype\n CupType - otype\n PlateType - otype\n RemoteControlType - otype\n TomatoType - otype\n StatueType - otype\n HandTowelType - otype\n KnifeType - otype\n StoveKnobType - otype\n LightSwitchType - otype\n PenType - otype\n PaintingType - otype\n DishSpongeType - otype\n VaseType - otype\n MugType - otype\n ToiletPaperType - otype\n BoxType - otype\n MirrorType - otype\n LadleType - otype\n ForkType - otype\n BlindsType - otype\n FootstoolType - otype\n KeyChainType - otype\n ClothType - otype\n LaptopType - otype\n TissueBoxType - otype\n PepperShakerType - otype\n FloorLampType - otype\n WateringCanType - otype\n AppleType - otype\n PanType - otype\n PaperTowelType - otype\n PaperTowelRollType - otype\n NewspaperType - otype\n TelevisionType - otype\n ChairType - otype\n CellPhoneType - otype\n CreditCardType - otype\n LettuceType - otype\n BasketBallType - otype\n PotatoType - otype\n CurtainsType - otype\n BootsType - otype\n PencilType - otype\n AlarmClockType - otype\n ToiletPaperRollType - otype\n SpatulaType - otype\n BookType - otype\n BreadType - otype\n SoapBarType - otype\n WatchType - otype\n DeskLampType - otype\n KettleType - otype\n PotType - otype\n ScrubBrushType - otype\n WineBottleType - otype\n ShowerDoorType - otype\n BathtubType - otype\n LaundryHamperLidType - otype\n ShowerGlassType - otype\n PosterType - otype\n TennisRacketType - otype\n BaseballBatType - otype\n TowelType - otype\n PlungerType - otype\nSafeType - rtype\n DrawerType - rtype\n CoffeeMachineType - rtype\n HandTowelHolderType - rtype\n SinkBasinType - rtype\n DresserType - rtype\n LaundryHamperType - rtype\n TVStandType - rtype\n BathtubBasinType - rtype\n CabinetType - rtype\n FridgeType - rtype\n DeskType - rtype\n ToiletType - rtype\n CartType - rtype\n SideTableType - rtype\n SofaType - rtype\n CoffeeTableType - rtype\n DiningTableType - rtype\n CounterTopType - rtype\n GarbageCanType - rtype\n ArmChairType - rtype\n ShelfType - rtype\n MicrowaveType - rtype\n ToasterType - rtype\n BedType - rtype\n PaintingHangerType - rtype\n TowelHolderType - rtype\n ToiletPaperHangerType - rtype\n StoveBurnerType - rtype\n OttomanType - rtype\n\n\n Bathtub_bar__minus_03_dot_50_bar__plus_00_dot_15_bar__plus_00_dot_94 - object\n Candle_bar__minus_03_dot_09_bar__plus_00_dot_69_bar__plus_00_dot_94 - object\n Cloth_bar__minus_03_dot_38_bar__plus_00_dot_22_bar__plus_01_dot_50 - 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_46_bar__plus_00_dot_90_bar__plus_03_dot_04 - object\n SoapBottle_bar__minus_01_dot_85_bar__plus_00_dot_81_bar__plus_00_dot_16 - object\n SoapBottle_bar__minus_01_dot_85_bar__plus_00_dot_81_bar__plus_00_dot_42 - object\n SoapBottle_bar__minus_02_dot_27_bar__plus_00_dot_96_bar__plus_02_dot_33 - object\n SprayBottle_bar__minus_00_dot_54_bar__plus_00_dot_81_bar__plus_00_dot_42 - object\n SprayBottle_bar__minus_02_dot_25_bar__plus_00_dot_95_bar__plus_02_dot_45 - object\n TissueBox_bar__minus_00_dot_70_bar__plus_00_dot_20_bar__plus_00_dot_41 - object\n TissueBox_bar__minus_01_dot_59_bar__plus_00_dot_81_bar__plus_00_dot_22 - object\n TissueBox_bar__minus_01_dot_78_bar__plus_00_dot_20_bar__plus_00_dot_24 - object\n ToiletPaper_bar__minus_01_dot_73_bar__plus_00_dot_50_bar__plus_00_dot_18 - object\n ToiletPaper_bar__minus_03_dot_06_bar__plus_00_dot_69_bar__plus_01_dot_45 - 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_5_bar_9_bar_0_bar_30 - location\n )\n \n\n(:init\n\n\n (receptacleType Drawer_bar__minus_00_dot_81_bar__plus_00_dot_61_bar__plus_00_dot_31 DrawerType)\n (receptacleType Drawer_bar__minus_00_dot_29_bar__plus_00_dot_61_bar__plus_00_dot_31 DrawerType)\n (receptacleType Drawer_bar__minus_01_dot_32_bar__plus_00_dot_31_bar__plus_00_dot_31 DrawerType)\n (receptacleType Sink_bar__minus_00_dot_46_bar__minus_00_dot_01_bar__plus_03_dot_05_bar_SinkBasin SinkBasinType)\n (receptacleType CounterTop_bar__minus_01_dot_85_bar__plus_00_dot_00_bar__plus_00_dot_34 CounterTopType)\n (receptacleType Drawer_bar__minus_00_dot_29_bar__plus_00_dot_31_bar__plus_00_dot_31 DrawerType)\n (receptacleType Drawer_bar__minus_01_dot_32_bar__plus_00_dot_61_bar__plus_00_dot_31 DrawerType)\n (receptacleType HandTowelHolder_bar__plus_00_dot_00_bar__plus_01_dot_78_bar__plus_02_dot_96 HandTowelHolderType)\n (receptacleType GarbageCan_bar__minus_00_dot_85_bar__plus_00_dot_00_bar__plus_03_dot_15 GarbageCanType)\n (receptacleType Drawer_bar__minus_00_dot_81_bar__plus_00_dot_31_bar__plus_00_dot_31 DrawerType)\n (receptacleType Drawer_bar__minus_01_dot_84_bar__plus_00_dot_31_bar__plus_00_dot_31 DrawerType)\n (receptacleType Drawer_bar__minus_01_dot_84_bar__plus_00_dot_61_bar__plus_00_dot_31 DrawerType)\n (receptacleType TowelHolder_bar__minus_02_dot_55_bar__plus_00_dot_86_bar__plus_00_dot_00 TowelHolderType)\n (receptacleType Bathtub_bar__minus_03_dot_50_bar__plus_00_dot_15_bar__plus_00_dot_94_bar_BathtubBasin BathtubBasinType)\n (receptacleType ToiletPaperHanger_bar__minus_01_dot_63_bar__plus_00_dot_84_bar__plus_03_dot_31 ToiletPaperHangerType)\n (receptacleType TowelHolder_bar__minus_02_dot_55_bar__plus_01_dot_58_bar__plus_00_dot_00 TowelHolderType)\n (receptacleType Toilet_bar__minus_01_dot_84_bar__plus_00_dot_00_bar__plus_02_dot_50 ToiletType)\n (objectType ToiletPaper_bar__minus_01_dot_73_bar__plus_00_dot_50_bar__plus_00_dot_18 ToiletPaperType)\n (objectType Cloth_bar__minus_03_dot_38_bar__plus_00_dot_22_bar__plus_01_dot_50 ClothType)\n (objectType TissueBox_bar__minus_01_dot_59_bar__plus_00_dot_81_bar__plus_00_dot_22 TissueBoxType)\n (objectType Plunger_bar__minus_02_dot_31_bar__plus_00_dot_00_bar__plus_03_dot_23 PlungerType)\n (objectType Towel_bar__minus_02_dot_55_bar__plus_01_dot_60_bar__plus_00_dot_11 TowelType)\n (objectType SoapBar_bar__minus_00_dot_46_bar__plus_00_dot_90_bar__plus_03_dot_04 SoapBarType)\n (objectType TissueBox_bar__minus_00_dot_70_bar__plus_00_dot_20_bar__plus_00_dot_41 TissueBoxType)\n (objectType Candle_bar__minus_03_dot_09_bar__plus_00_dot_69_bar__plus_00_dot_94 CandleType)\n (objectType SoapBottle_bar__minus_01_dot_85_bar__plus_00_dot_81_bar__plus_00_dot_42 SoapBottleType)\n (objectType SprayBottle_bar__minus_00_dot_54_bar__plus_00_dot_81_bar__plus_00_dot_42 SprayBottleType)\n (objectType SoapBottle_bar__minus_02_dot_27_bar__plus_00_dot_96_bar__plus_02_dot_33 SoapBottleType)\n (objectType SoapBottle_bar__minus_01_dot_85_bar__plus_00_dot_81_bar__plus_00_dot_16 SoapBottleType)\n (objectType ToiletPaper_bar__minus_03_dot_06_bar__plus_00_dot_69_bar__plus_01_dot_45 ToiletPaperType)\n (objectType TissueBox_bar__minus_01_dot_78_bar__plus_00_dot_20_bar__plus_00_dot_24 TissueBoxType)\n (objectType Window_bar__minus_04_dot_08_bar__plus_01_dot_74_bar__plus_01_dot_16 WindowType)\n (objectType HandTowel_bar__minus_00_dot_04_bar__plus_01_dot_68_bar__plus_02_dot_96 HandTowelType)\n (objectType SprayBottle_bar__minus_02_dot_25_bar__plus_00_dot_95_bar__plus_02_dot_45 SprayBottleType)\n (objectType LightSwitch_bar__plus_00_dot_00_bar__plus_01_dot_37_bar__plus_01_dot_99 LightSwitchType)\n (objectType Sink_bar__minus_00_dot_46_bar__minus_00_dot_01_bar__plus_03_dot_05 SinkType)\n (objectType Bathtub_bar__minus_03_dot_50_bar__plus_00_dot_15_bar__plus_00_dot_94 BathtubType)\n (objectType ScrubBrush_bar__minus_02_dot_19_bar__plus_00_dot_00_bar__plus_03_dot_03 ScrubBrushType)\n (objectType Mirror_bar__minus_00_dot_50_bar__plus_01_dot_74_bar__plus_03_dot_30 MirrorType)\n (canContain DrawerType CandleType)\n (canContain DrawerType SoapBarType)\n (canContain DrawerType SprayBottleType)\n (canContain DrawerType ToiletPaperType)\n (canContain DrawerType SoapBottleType)\n (canContain DrawerType ClothType)\n (canContain DrawerType TissueBoxType)\n (canContain DrawerType HandTowelType)\n (canContain DrawerType CandleType)\n (canContain DrawerType SoapBarType)\n (canContain DrawerType SprayBottleType)\n (canContain DrawerType ToiletPaperType)\n (canContain DrawerType SoapBottleType)\n (canContain DrawerType ClothType)\n (canContain DrawerType TissueBoxType)\n (canContain DrawerType HandTowelType)\n (canContain DrawerType CandleType)\n (canContain DrawerType SoapBarType)\n (canContain DrawerType SprayBottleType)\n (canContain DrawerType ToiletPaperType)\n (canContain DrawerType SoapBottleType)\n (canContain DrawerType ClothType)\n (canContain DrawerType TissueBoxType)\n (canContain DrawerType HandTowelType)\n (canContain SinkBasinType SoapBarType)\n (canContain SinkBasinType ClothType)\n (canContain SinkBasinType HandTowelType)\n (canContain CounterTopType CandleType)\n (canContain CounterTopType SoapBarType)\n (canContain CounterTopType SprayBottleType)\n (canContain CounterTopType ToiletPaperType)\n (canContain CounterTopType SoapBottleType)\n (canContain CounterTopType ClothType)\n (canContain CounterTopType TissueBoxType)\n (canContain CounterTopType HandTowelType)\n (canContain DrawerType CandleType)\n (canContain DrawerType SoapBarType)\n (canContain DrawerType SprayBottleType)\n (canContain DrawerType ToiletPaperType)\n (canContain DrawerType SoapBottleType)\n (canContain DrawerType ClothType)\n (canContain DrawerType TissueBoxType)\n (canContain DrawerType HandTowelType)\n (canContain DrawerType CandleType)\n (canContain DrawerType SoapBarType)\n (canContain DrawerType SprayBottleType)\n (canContain DrawerType ToiletPaperType)\n (canContain DrawerType SoapBottleType)\n (canContain DrawerType ClothType)\n (canContain DrawerType TissueBoxType)\n (canContain DrawerType HandTowelType)\n (canContain HandTowelHolderType HandTowelType)\n (canContain GarbageCanType SoapBarType)\n (canContain GarbageCanType SprayBottleType)\n (canContain GarbageCanType ToiletPaperType)\n (canContain GarbageCanType SoapBottleType)\n (canContain GarbageCanType ClothType)\n (canContain GarbageCanType TissueBoxType)\n (canContain GarbageCanType HandTowelType)\n (canContain DrawerType CandleType)\n (canContain DrawerType SoapBarType)\n (canContain DrawerType SprayBottleType)\n (canContain DrawerType ToiletPaperType)\n (canContain DrawerType SoapBottleType)\n (canContain DrawerType ClothType)\n (canContain DrawerType TissueBoxType)\n (canContain DrawerType HandTowelType)\n (canContain DrawerType CandleType)\n (canContain DrawerType SoapBarType)\n (canContain DrawerType SprayBottleType)\n (canContain DrawerType ToiletPaperType)\n (canContain DrawerType SoapBottleType)\n (canContain DrawerType ClothType)\n (canContain DrawerType TissueBoxType)\n (canContain DrawerType HandTowelType)\n (canContain DrawerType CandleType)\n (canContain DrawerType SoapBarType)\n (canContain DrawerType SprayBottleType)\n (canContain DrawerType ToiletPaperType)\n (canContain DrawerType SoapBottleType)\n (canContain DrawerType ClothType)\n (canContain DrawerType TissueBoxType)\n (canContain DrawerType HandTowelType)\n (canContain TowelHolderType TowelType)\n (canContain BathtubBasinType ClothType)\n (canContain BathtubBasinType HandTowelType)\n (canContain BathtubBasinType SoapBarType)\n (canContain ToiletPaperHangerType ToiletPaperType)\n (canContain TowelHolderType TowelType)\n (canContain ToiletType SoapBottleType)\n (canContain ToiletType HandTowelType)\n (canContain ToiletType ToiletPaperType)\n (canContain ToiletType ClothType)\n (canContain ToiletType CandleType)\n (canContain ToiletType SoapBarType)\n (canContain ToiletType SprayBottleType)\n (canContain ToiletType TissueBoxType)\n (pickupable ToiletPaper_bar__minus_01_dot_73_bar__plus_00_dot_50_bar__plus_00_dot_18)\n (pickupable Cloth_bar__minus_03_dot_38_bar__plus_00_dot_22_bar__plus_01_dot_50)\n (pickupable TissueBox_bar__minus_01_dot_59_bar__plus_00_dot_81_bar__plus_00_dot_22)\n (pickupable Plunger_bar__minus_02_dot_31_bar__plus_00_dot_00_bar__plus_03_dot_23)\n (pickupable Towel_bar__minus_02_dot_55_bar__plus_01_dot_60_bar__plus_00_dot_11)\n (pickupable SoapBar_bar__minus_00_dot_46_bar__plus_00_dot_90_bar__plus_03_dot_04)\n (pickupable TissueBox_bar__minus_00_dot_70_bar__plus_00_dot_20_bar__plus_00_dot_41)\n (pickupable Candle_bar__minus_03_dot_09_bar__plus_00_dot_69_bar__plus_00_dot_94)\n (pickupable SoapBottle_bar__minus_01_dot_85_bar__plus_00_dot_81_bar__plus_00_dot_42)\n (pickupable SprayBottle_bar__minus_00_dot_54_bar__plus_00_dot_81_bar__plus_00_dot_42)\n (pickupable SoapBottle_bar__minus_02_dot_27_bar__plus_00_dot_96_bar__plus_02_dot_33)\n (pickupable SoapBottle_bar__minus_01_dot_85_bar__plus_00_dot_81_bar__plus_00_dot_16)\n (pickupable ToiletPaper_bar__minus_03_dot_06_bar__plus_00_dot_69_bar__plus_01_dot_45)\n (pickupable TissueBox_bar__minus_01_dot_78_bar__plus_00_dot_20_bar__plus_00_dot_24)\n (pickupable HandTowel_bar__minus_00_dot_04_bar__plus_01_dot_68_bar__plus_02_dot_96)\n (pickupable SprayBottle_bar__minus_02_dot_25_bar__plus_00_dot_95_bar__plus_02_dot_45)\n (pickupable ScrubBrush_bar__minus_02_dot_19_bar__plus_00_dot_00_bar__plus_03_dot_03)\n \n (openable Drawer_bar__minus_00_dot_81_bar__plus_00_dot_61_bar__plus_00_dot_31)\n (openable Drawer_bar__minus_00_dot_29_bar__plus_00_dot_61_bar__plus_00_dot_31)\n (openable Drawer_bar__minus_00_dot_29_bar__plus_00_dot_31_bar__plus_00_dot_31)\n (openable Drawer_bar__minus_01_dot_32_bar__plus_00_dot_61_bar__plus_00_dot_31)\n (openable Drawer_bar__minus_00_dot_81_bar__plus_00_dot_31_bar__plus_00_dot_31)\n (openable Drawer_bar__minus_01_dot_84_bar__plus_00_dot_31_bar__plus_00_dot_31)\n (openable Drawer_bar__minus_01_dot_84_bar__plus_00_dot_61_bar__plus_00_dot_31)\n \n (atLocation agent1 loc_bar__minus_5_bar_9_bar_0_bar_30)\n \n (cleanable Cloth_bar__minus_03_dot_38_bar__plus_00_dot_22_bar__plus_01_dot_50)\n (cleanable SoapBar_bar__minus_00_dot_46_bar__plus_00_dot_90_bar__plus_03_dot_04)\n \n \n \n \n \n \n \n \n \n \n (inReceptacle TissueBox_bar__minus_00_dot_70_bar__plus_00_dot_20_bar__plus_00_dot_41 Drawer_bar__minus_00_dot_81_bar__plus_00_dot_31_bar__plus_00_dot_31)\n (inReceptacle SoapBottle_bar__minus_01_dot_85_bar__plus_00_dot_81_bar__plus_00_dot_16 CounterTop_bar__minus_01_dot_85_bar__plus_00_dot_00_bar__plus_00_dot_34)\n (inReceptacle SoapBottle_bar__minus_01_dot_85_bar__plus_00_dot_81_bar__plus_00_dot_42 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_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_78_bar__plus_00_dot_20_bar__plus_00_dot_24 Drawer_bar__minus_01_dot_84_bar__plus_00_dot_31_bar__plus_00_dot_31)\n (inReceptacle ToiletPaper_bar__minus_01_dot_73_bar__plus_00_dot_50_bar__plus_00_dot_18 Drawer_bar__minus_01_dot_84_bar__plus_00_dot_61_bar__plus_00_dot_31)\n (inReceptacle Towel_bar__minus_02_dot_55_bar__plus_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 SprayBottle_bar__minus_02_dot_25_bar__plus_00_dot_95_bar__plus_02_dot_45 Toilet_bar__minus_01_dot_84_bar__plus_00_dot_00_bar__plus_02_dot_50)\n (inReceptacle SoapBottle_bar__minus_02_dot_27_bar__plus_00_dot_96_bar__plus_02_dot_33 Toilet_bar__minus_01_dot_84_bar__plus_00_dot_00_bar__plus_02_dot_50)\n (inReceptacle SoapBar_bar__minus_00_dot_46_bar__plus_00_dot_90_bar__plus_03_dot_04 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_38_bar__plus_00_dot_22_bar__plus_01_dot_50 Bathtub_bar__minus_03_dot_50_bar__plus_00_dot_15_bar__plus_00_dot_94_bar_BathtubBasin)\n \n \n (receptacleAtLocation Bathtub_bar__minus_03_dot_50_bar__plus_00_dot_15_bar__plus_00_dot_94_bar_BathtubBasin loc_bar__minus_11_bar_4_bar_3_bar_60)\n (receptacleAtLocation CounterTop_bar__minus_01_dot_85_bar__plus_00_dot_00_bar__plus_00_dot_34 loc_bar__minus_3_bar_4_bar_3_bar_60)\n (receptacleAtLocation Drawer_bar__minus_00_dot_29_bar__plus_00_dot_31_bar__plus_00_dot_31 loc_bar__minus_3_bar_6_bar_2_bar_45)\n (receptacleAtLocation Drawer_bar__minus_00_dot_29_bar__plus_00_dot_61_bar__plus_00_dot_31 loc_bar__minus_3_bar_5_bar_2_bar_45)\n (receptacleAtLocation Drawer_bar__minus_00_dot_81_bar__plus_00_dot_31_bar__plus_00_dot_31 loc_bar__minus_5_bar_6_bar_2_bar_45)\n (receptacleAtLocation Drawer_bar__minus_00_dot_81_bar__plus_00_dot_61_bar__plus_00_dot_31 loc_bar__minus_2_bar_5_bar_2_bar_45)\n (receptacleAtLocation Drawer_bar__minus_01_dot_32_bar__plus_00_dot_31_bar__plus_00_dot_31 loc_bar__minus_5_bar_4_bar_2_bar_60)\n (receptacleAtLocation Drawer_bar__minus_01_dot_32_bar__plus_00_dot_61_bar__plus_00_dot_31 loc_bar__minus_4_bar_5_bar_2_bar_45)\n (receptacleAtLocation Drawer_bar__minus_01_dot_84_bar__plus_00_dot_31_bar__plus_00_dot_31 loc_bar__minus_5_bar_6_bar_2_bar_45)\n (receptacleAtLocation Drawer_bar__minus_01_dot_84_bar__plus_00_dot_61_bar__plus_00_dot_31 loc_bar__minus_6_bar_5_bar_2_bar_45)\n (receptacleAtLocation GarbageCan_bar__minus_00_dot_85_bar__plus_00_dot_00_bar__plus_03_dot_15 loc_bar__minus_5_bar_9_bar_0_bar_60)\n (receptacleAtLocation HandTowelHolder_bar__plus_00_dot_00_bar__plus_01_dot_78_bar__plus_02_dot_96 loc_bar__minus_2_bar_9_bar_0_bar__minus_15)\n (receptacleAtLocation Sink_bar__minus_00_dot_46_bar__minus_00_dot_01_bar__plus_03_dot_05_bar_SinkBasin loc_bar__minus_4_bar_11_bar_1_bar_60)\n (receptacleAtLocation ToiletPaperHanger_bar__minus_01_dot_63_bar__plus_00_dot_84_bar__plus_03_dot_31 loc_bar__minus_5_bar_11_bar_0_bar_60)\n (receptacleAtLocation Toilet_bar__minus_01_dot_84_bar__plus_00_dot_00_bar__plus_02_dot_50 loc_bar__minus_7_bar_6_bar_0_bar_60)\n (receptacleAtLocation TowelHolder_bar__minus_02_dot_55_bar__plus_00_dot_86_bar__plus_00_dot_00 loc_bar__minus_10_bar_3_bar_2_bar_45)\n (receptacleAtLocation TowelHolder_bar__minus_02_dot_55_bar__plus_01_dot_58_bar__plus_00_dot_00 loc_bar__minus_10_bar_3_bar_2_bar_0)\n (objectAtLocation SoapBottle_bar__minus_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 TissueBox_bar__minus_00_dot_70_bar__plus_00_dot_20_bar__plus_00_dot_41 loc_bar__minus_5_bar_6_bar_2_bar_45)\n (objectAtLocation SprayBottle_bar__minus_02_dot_25_bar__plus_00_dot_95_bar__plus_02_dot_45 loc_bar__minus_7_bar_6_bar_0_bar_60)\n (objectAtLocation SoapBottle_bar__minus_02_dot_27_bar__plus_00_dot_96_bar__plus_02_dot_33 loc_bar__minus_7_bar_6_bar_0_bar_60)\n (objectAtLocation TissueBox_bar__minus_01_dot_78_bar__plus_00_dot_20_bar__plus_00_dot_24 loc_bar__minus_5_bar_6_bar_2_bar_45)\n (objectAtLocation Sink_bar__minus_00_dot_46_bar__minus_00_dot_01_bar__plus_03_dot_05 loc_bar__minus_2_bar_9_bar_0_bar_60)\n (objectAtLocation Mirror_bar__minus_00_dot_50_bar__plus_01_dot_74_bar__plus_03_dot_30 loc_bar__minus_3_bar_10_bar_0_bar_0)\n (objectAtLocation Bathtub_bar__minus_03_dot_50_bar__plus_00_dot_15_bar__plus_00_dot_94 loc_bar__minus_11_bar_4_bar_3_bar_60)\n (objectAtLocation Towel_bar__minus_02_dot_55_bar__plus_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_38_bar__plus_00_dot_22_bar__plus_01_dot_50 loc_bar__minus_11_bar_4_bar_3_bar_60)\n (objectAtLocation Candle_bar__minus_03_dot_09_bar__plus_00_dot_69_bar__plus_00_dot_94 loc_bar__minus_11_bar_4_bar_3_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_46_bar__plus_00_dot_90_bar__plus_03_dot_04 loc_bar__minus_4_bar_11_bar_1_bar_60)\n (objectAtLocation ToiletPaper_bar__minus_03_dot_06_bar__plus_00_dot_69_bar__plus_01_dot_45 loc_bar__minus_11_bar_4_bar_3_bar_60)\n (objectAtLocation Plunger_bar__minus_02_dot_31_bar__plus_00_dot_00_bar__plus_03_dot_23 loc_bar__minus_5_bar_11_bar_3_bar_60)\n (objectAtLocation SprayBottle_bar__minus_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_59_bar__plus_00_dot_81_bar__plus_00_dot_22 loc_bar__minus_3_bar_4_bar_3_bar_60)\n (objectAtLocation ToiletPaper_bar__minus_01_dot_73_bar__plus_00_dot_50_bar__plus_00_dot_18 loc_bar__minus_6_bar_5_bar_2_bar_45)\n (objectAtLocation LightSwitch_bar__plus_00_dot_00_bar__plus_01_dot_37_bar__plus_01_dot_99 loc_bar__minus_2_bar_8_bar_1_bar_30)\n (objectAtLocation Window_bar__minus_04_dot_08_bar__plus_01_dot_74_bar__plus_01_dot_16 loc_bar__minus_11_bar_5_bar_3_bar_0)\n (objectAtLocation ScrubBrush_bar__minus_02_dot_19_bar__plus_00_dot_00_bar__plus_03_dot_03 loc_bar__minus_5_bar_11_bar_3_bar_60)\n (objectAtLocation SoapBottle_bar__minus_01_dot_85_bar__plus_00_dot_81_bar__plus_00_dot_16 loc_bar__minus_3_bar_4_bar_3_bar_60)\n )\n \n\n (:goal\n (and\n (exists (?r - receptacle)\n (exists (?o - object)\n (and\n (inReceptacle ?o ?r)\n (objectType ?o SprayBottleType)\n (receptacleType ?r GarbageCanType)\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to countertop 1", "take spraybottle 2 from countertop 1", "go to garbagecan 1", "move spraybottle 2 to garbagecan 1"]}
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alfworld__look_at_obj_in_light__305
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look_at_obj_in_light
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look_at_obj_in_light-Bowl-None-DeskLamp-323/trial_T20190908_024036_061391/game.tw-pddl
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{"pddl_domain": ";; Specification in PDDL of the Alfred domain\n;; Intended to be used with Fast Downward which supports PDDL 2.2 level 1 plus the :action-costs requirement from PDDL 3.1.\n\n(define (domain alfred)\n (:requirements\n :adl\n :action-costs\n :typing\n )\n (:types\n agent\n location\n receptacle\n object\n rtype\n otype\n )\n\n\n (:predicates\n (atLocation ?a - agent ?l - location) ; true if the agent is at the location\n (receptacleAtLocation ?r - receptacle ?l - location) ; true if the receptacle is at the location (constant)\n (objectAtLocation ?o - object ?l - location) ; true if the object is at the location\n (openable ?r - receptacle) ; true if a receptacle is openable\n (opened ?r - receptacle) ; true if a receptacle is opened\n (inReceptacle ?o - object ?r - receptacle) ; object ?o is in receptacle ?r\n (isReceptacleObject ?o - object) ; true if the object can have things put inside it\n (inReceptacleObject ?innerObject - object ?outerObject - object) ; object ?innerObject is inside object ?outerObject\n (isReceptacleObjectFull ?o - object) ; true if the receptacle object contains something\n (wasInReceptacle ?o - object ?r - receptacle) ; object ?o was or is in receptacle ?r now or some time in the past\n (checked ?r - receptacle) ; whether the receptacle has been looked inside/visited\n (examined ?l - location) ; TODO\n (receptacleType ?r - receptacle ?t - rtype) ; the type of receptacle (Cabinet vs Cabinet|01|2...)\n (canContain ?rt - rtype ?ot - otype) ; true if receptacle can hold object\n (objectType ?o - object ?t - otype) ; the type of object (Apple vs Apple|01|2...)\n (holds ?a - agent ?o - object) ; object ?o is held by agent ?a\n (holdsAny ?a - agent) ; agent ?a holds an object\n (holdsAnyReceptacleObject ?a - agent) ; agent ?a holds a receptacle object\n (full ?r - receptacle) ; true if the receptacle has no remaining space\n (isClean ?o - object) ; true if the object has been clean in sink\n (cleanable ?o - object) ; true if the object can be placed in a sink\n (isHot ?o - object) ; true if the object has been heated up\n (heatable ?o - object) ; true if the object can be heated up in a microwave\n (isCool ?o - object) ; true if the object has been cooled\n (coolable ?o - object) ; true if the object can be cooled in the fridge\n (pickupable ?o - object) ; true if the object can be picked up\n (moveable ?o - object) ; true if the object can be moved\n (toggleable ?o - object) ; true if the object can be turned on/off\n (isOn ?o - object) ; true if the object is on\n (isToggled ?o - object) ; true if the object has been toggled\n (sliceable ?o - object) ; true if the object can be sliced\n (isSliced ?o - object) ; true if the object is sliced\n )\n\n (:functions\n (distance ?from ?to)\n (total-cost) - number\n )\n\n;; All actions are specified such that the final arguments are the ones used\n;; for performing actions in Unity.\n\n\n(:action look\n :parameters (?a - agent ?l - location)\n :precondition\n (and\n (atLocation ?a ?l)\n )\n :effect\n (and\n (checked ?l)\n )\n)\n\n(:action inventory\n :parameters (?a - agent)\n :precondition\n ()\n :effect\n (and\n (checked ?a)\n )\n)\n\n(:action examineReceptacle\n :parameters (?a - agent ?r - receptacle)\n :precondition\n (and\n (exists (?l - location)\n (and\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n )\n )\n )\n :effect\n (and\n (checked ?r)\n )\n)\n\n(:action examineObject\n :parameters (?a - agent ?o - object)\n :precondition\n (or\n ;(exists (?l - location)\n ; (and\n ; (atLocation ?a ?l)\n ; (objectAtLocation ?o ?l)\n ; )\n ;)\n (exists (?l - location, ?r - receptacle)\n (and\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n ; (objectAtLocation ?o ?l)\n (inReceptacle ?o ?r)\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n )\n )\n (holds ?a ?o)\n )\n :effect\n (and\n (checked ?o)\n )\n)\n\n;; agent goes to receptacle\n (:action GotoLocation\n :parameters (?a - agent ?lStart - location ?lEnd - location ?r - receptacle)\n :precondition (and\n (atLocation ?a ?lStart)\n (receptacleAtLocation ?r ?lEnd)\n ;(exists (?r - receptacle) (receptacleAtLocation ?r ?lEnd))\n )\n :effect (and\n (not (atLocation ?a ?lStart))\n (atLocation ?a ?lEnd)\n ; (forall (?r - receptacle)\n ; (when (and (receptacleAtLocation ?r ?lEnd)\n ; (or (not (openable ?r)) (opened ?r)))\n ; (checked ?r)\n ; )\n ; )\n ; (increase (total-cost) (distance ?lStart ?lEnd))\n (increase (total-cost) 1)\n )\n )\n\n;; agent opens receptacle\n (:action OpenObject\n :parameters (?a - agent ?l - location ?r - receptacle)\n :precondition (and\n (openable ?r)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (not (opened ?r))\n )\n :effect (and\n (opened ?r)\n (checked ?r)\n (increase (total-cost) 1)\n )\n )\n;; agent closes receptacle\n (:action CloseObject\n :parameters (?a - agent ?l - location ?r - receptacle)\n :precondition (and\n (openable ?r)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (opened ?r)\n )\n :effect (and\n (not (opened ?r))\n (increase (total-cost) 1)\n )\n\n )\n\n ;; agent picks up object from a receptacle\n (:action PickupObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n :precondition\n (and\n (pickupable ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n ; (objectAtLocation ?o ?l)\n (inReceptacle ?o ?r)\n (not (holdsAny ?a)) ; agent's hands are empty.\n ;(not (holdsAnyReceptacleObject ?a))\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n ;(not (isReceptacleObject ?o))\n )\n :effect\n (and\n (not (inReceptacle ?o ?r))\n (holds ?a ?o)\n (holdsAny ?a)\n (not (objectAtLocation ?o ?l))\n ;(not (full ?r))\n (increase (total-cost) 1)\n )\n )\n\n\n; ;; agent picks up object from a receptacle\n; (:action PickupObjectFromReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?outerR - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (inReceptacle ?o ?r)\n; (pickupable ?o)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (not (isReceptacleObject ?o))\n; (isReceptacleObject ?outerR)\n; (inReceptacleObject ?o ?outerR)\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (holds ?a ?o)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n;\n; (not (inReceptacleObject ?o ?outerR))\n; (not (isReceptacleObjectFull ?outerR))\n; )\n; )\n;\n; ;; agent picks up object from a receptacle\n; (:action PickupEmptyReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; ; (objectAtLocation ?o ?l)\n; (inReceptacle ?o ?r)\n; (pickupable ?o)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (isReceptacleObject ?o)\n; (not (isReceptacleObjectFull ?o))\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (holds ?a ?o)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n; (holdsAnyReceptacleObject ?a)\n; )\n; )\n;\n; ;; agent picks up object from a receptacle\n; (:action PickupFullReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?outerR - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (inReceptacle ?outerR ?r)\n; (pickupable ?outerR)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (not (isReceptacleObject ?o))\n; (isReceptacleObject ?outerR)\n; (inReceptacleObject ?o ?outerR)\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (not (inReceptacle ?outerR ?r))\n; (holds ?a ?outerR)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (objectAtLocation ?outerR ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n; (holdsAnyReceptacleObject ?a)\n; )\n; )\n\n\n;; agent puts down an object\n (:action PutObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle ?ot - otype ?rt - rtype)\n :precondition (and\n (holds ?a ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable\n ;(not (full ?r))\n (objectType ?o ?ot)\n (receptacleType ?r ?rt)\n (canContain ?rt ?ot)\n ;(not (holdsAnyReceptacleObject ?a))\n )\n :effect (and\n (inReceptacle ?o ?r)\n (objectAtLocation ?o ?l)\n ;(full ?r)\n (not (holds ?a ?o))\n (not (holdsAny ?a))\n (increase (total-cost) 1)\n )\n )\n\n;;; agent puts down an object\n; (:action PutObjectInReceptacleObject\n; :parameters (?a - agent ?l - location ?ot - otype ?o - object ?outerO - object ?outerR - receptacle)\n; :precondition (and\n; (atLocation ?a ?l)\n; (objectAtLocation ?outerO ?l)\n; (isReceptacleObject ?outerO)\n; (not (isReceptacleObject ?o))\n; (objectType ?o ?ot)\n; (holds ?a ?o)\n; (not (holdsAnyReceptacleObject ?a))\n; (inReceptacle ?outerO ?outerR)\n; (not (isReceptacleObjectFull ?outerO))\n; )\n; :effect (and\n; (inReceptacleObject ?o ?outerO)\n; (inReceptacle ?o ?outerR)\n; (not (holds ?a ?o))\n; (not (holdsAny ?a))\n; (objectAtLocation ?o ?l)\n; (isReceptacleObjectFull ?outerO)\n; (increase (total-cost) 1)\n; )\n; )\n;\n;;; agent puts down an object\n; (:action PutEmptyReceptacleObjectinReceptacle\n; :parameters (?a - agent ?l - location ?ot - otype ?o - object ?r - receptacle)\n; :precondition (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable\n; (not (full ?r))\n; (objectType ?o ?ot)\n; (holds ?a ?o)\n; (holdsAnyReceptacleObject ?a)\n; (isReceptacleObject ?o)\n; (not (isReceptacleObjectFull ?o))\n; )\n; :effect (and\n; (inReceptacle ?o ?r)\n; (objectAtLocation ?o ?l)\n; (full ?r)\n; (not (holds ?a ?o))\n; (not (holdsAny ?a))\n; (not (holdsAnyReceptacleObject ?a))\n; (increase (total-cost) 1)\n; )\n; )\n;\n;;; agent puts down a receptacle object in a receptacle\n; (:action PutFullReceptacleObjectInReceptacle\n; :parameters (?a - agent ?l - location ?ot - otype ?innerO - object ?outerO - object ?r - receptacle) ; ?rt - rtype)\n; :precondition (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (objectType ?outerO ?ot)\n; (holds ?a ?outerO)\n; (holdsAnyReceptacleObject ?a)\n; (isReceptacleObject ?outerO)\n; (isReceptacleObjectFull ?outerO)\n; (inReceptacleObject ?innerO ?outerO)\n; )\n; :effect (and\n; (not (holdsAny ?a))\n; (not (holdsAnyReceptacleObject ?a))\n; (objectAtLocation ?outerO ?l)\n; (objectAtLocation ?innerO ?l)\n; (inReceptacle ?outerO ?r)\n; (inReceptacle ?innerO ?r)\n; (not (holds ?a ?outerO))\n; (increase (total-cost) 1)\n; )\n; )\n\n;; agent cleans some object\n (:action CleanObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (cleanable ?o)\n (or\n (receptacleType ?r SinkType)\n (receptacleType ?r SinkBasinType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isClean ?o)\n )\n )\n\n\n;; agent heats-up some object\n (:action HeatObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (heatable ?o)\n (or\n (receptacleType ?r MicrowaveType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isHot ?o)\n (not (isCool ?o))\n )\n )\n\n;; agent cools some object\n (:action CoolObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (coolable ?o)\n (or\n (receptacleType ?r FridgeType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isCool ?o)\n (not (isHot ?o))\n )\n )\n\n\n;; agent toggle object\n (:action ToggleObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n :precondition (and\n (toggleable ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (inReceptacle ?o ?r)\n )\n :effect (and\n (increase (total-cost) 5)\n (when (isOn ?o)\n (not (isOn ?o)))\n (when (not (isOn ?o))\n (isOn ?o))\n (isToggled ?o)\n )\n )\n\n\n;; agent slices some object with a knife\n (:action SliceObject\n :parameters (?a - agent ?l - location ?co - object ?ko - object)\n :precondition\n (and\n (sliceable ?co)\n (or\n (objectType ?ko KnifeType)\n (objectType ?ko ButterKnifeType)\n )\n (atLocation ?a ?l)\n (objectAtLocation ?co ?l)\n (holds ?a ?ko)\n )\n :effect (and\n (increase (total-cost) 5)\n (isSliced ?co)\n )\n )\n\n\n(:action help\n :parameters (?a - agent)\n :precondition\n ()\n :effect\n (and\n (checked ?a)\n )\n)\n)\n", "grammar": "grammar :: \"\"\"\n {\n \"intro\": [\n {\n \"rhs\": \"-= Welcome to TextWorld, ALFRED! =-\\n\\n#look.feedback#\\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_T20190908_024036_061391)\n(:domain alfred)\n(:objects\nagent1 - agent\nSaltShaker - object\n HousePlant - object\n Candle - object\n SprayBottle - object\n Bowl - object\n Window - object\n CD - object\n Egg - object\n Glassbottle - object\n Sink - object\n Pillow - object\n Spoon - object\n SoapBottle - object\n TeddyBear - object\n ButterKnife - object\n Cup - object\n Plate - object\n RemoteControl - object\n Tomato - object\n Statue - object\n HandTowel - object\n Knife - object\n StoveKnob - object\n LightSwitch - object\n Pen - object\n Painting - object\n DishSponge - object\n Vase - object\n Mug - object\n ToiletPaper - object\n Box - object\n Mirror - object\n Ladle - object\n Fork - object\n Blinds - object\n Footstool - object\n KeyChain - object\n Cloth - object\n Laptop - object\n TissueBox - object\n PepperShaker - object\n FloorLamp - object\n WateringCan - object\n Apple - object\n Pan - object\n PaperTowel - object\n PaperTowelRoll - object\n Newspaper - object\n Television - object\n Chair - object\n CellPhone - object\n CreditCard - object\n Lettuce - object\n BasketBall - object\n Potato - object\n Curtains - object\n Boots - object\n Pencil - object\n AlarmClock - object\n ToiletPaperRoll - object\n Spatula - object\n Book - object\n Bread - object\n SoapBar - object\n Watch - object\n DeskLamp - object\n Kettle - object\n Pot - object\n ScrubBrush - object\n WineBottle - object\n ShowerDoor - object\n Bathtub - object\n LaundryHamperLid - object\n ShowerGlass - object\n Poster - object\n TennisRacket - object\n BaseballBat - object\n Towel - object\n Plunger - object\nSaltShakerType - otype\n HousePlantType - otype\n CandleType - otype\n SprayBottleType - otype\n BowlType - otype\n WindowType - otype\n CDType - otype\n EggType - otype\n GlassbottleType - otype\n SinkType - otype\n PillowType - otype\n SpoonType - otype\n SoapBottleType - otype\n TeddyBearType - otype\n ButterKnifeType - otype\n CupType - otype\n PlateType - otype\n RemoteControlType - otype\n TomatoType - otype\n StatueType - otype\n HandTowelType - otype\n KnifeType - otype\n StoveKnobType - otype\n LightSwitchType - otype\n PenType - otype\n PaintingType - otype\n DishSpongeType - otype\n VaseType - otype\n MugType - otype\n ToiletPaperType - otype\n BoxType - otype\n MirrorType - otype\n LadleType - otype\n ForkType - otype\n BlindsType - otype\n FootstoolType - otype\n KeyChainType - otype\n ClothType - otype\n LaptopType - otype\n TissueBoxType - otype\n PepperShakerType - otype\n FloorLampType - otype\n WateringCanType - otype\n AppleType - otype\n PanType - otype\n PaperTowelType - otype\n PaperTowelRollType - otype\n NewspaperType - otype\n TelevisionType - otype\n ChairType - otype\n CellPhoneType - otype\n CreditCardType - otype\n LettuceType - otype\n BasketBallType - otype\n PotatoType - otype\n CurtainsType - otype\n BootsType - otype\n PencilType - otype\n AlarmClockType - otype\n ToiletPaperRollType - otype\n SpatulaType - otype\n BookType - otype\n BreadType - otype\n SoapBarType - otype\n WatchType - otype\n DeskLampType - otype\n KettleType - otype\n PotType - otype\n ScrubBrushType - otype\n WineBottleType - otype\n ShowerDoorType - otype\n BathtubType - otype\n LaundryHamperLidType - otype\n ShowerGlassType - otype\n PosterType - otype\n TennisRacketType - otype\n BaseballBatType - otype\n TowelType - otype\n PlungerType - otype\nSafeType - rtype\n DrawerType - rtype\n CoffeeMachineType - rtype\n HandTowelHolderType - rtype\n SinkBasinType - rtype\n DresserType - rtype\n LaundryHamperType - rtype\n TVStandType - rtype\n BathtubBasinType - rtype\n CabinetType - rtype\n FridgeType - rtype\n DeskType - rtype\n ToiletType - rtype\n CartType - rtype\n SideTableType - rtype\n SofaType - rtype\n CoffeeTableType - rtype\n DiningTableType - rtype\n CounterTopType - rtype\n GarbageCanType - rtype\n ArmChairType - rtype\n ShelfType - rtype\n MicrowaveType - rtype\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_64_bar__plus_01_dot_23_bar__plus_01_dot_51 - object\n AlarmClock_bar__minus_02_dot_58_bar__plus_00_dot_68_bar__minus_03_dot_23 - object\n Blinds_bar__plus_02_dot_93_bar__plus_02_dot_17_bar__minus_01_dot_00 - object\n Blinds_bar__minus_00_dot_80_bar__plus_02_dot_09_bar__minus_03_dot_63 - object\n Book_bar__minus_02_dot_44_bar__plus_00_dot_62_bar__minus_01_dot_86 - object\n Bowl_bar__plus_01_dot_84_bar__plus_00_dot_89_bar__minus_03_dot_24 - object\n Bowl_bar__plus_02_dot_73_bar__plus_00_dot_90_bar__minus_03_dot_04 - object\n CD_bar__plus_01_dot_69_bar__plus_00_dot_90_bar__minus_02_dot_98 - object\n CellPhone_bar__minus_01_dot_31_bar__plus_00_dot_62_bar__minus_02_dot_06 - object\n CellPhone_bar__minus_02_dot_43_bar__plus_00_dot_37_bar__minus_00_dot_40 - object\n CellPhone_bar__minus_02_dot_58_bar__plus_00_dot_68_bar__minus_00_dot_28 - object\n Chair_bar__plus_02_dot_58_bar__plus_00_dot_00_bar__minus_02_dot_88 - object\n CreditCard_bar__minus_02_dot_48_bar__plus_00_dot_08_bar__minus_02_dot_98 - object\n CreditCard_bar__minus_02_dot_48_bar__plus_00_dot_37_bar__minus_03_dot_09 - object\n DeskLamp_bar__plus_02_dot_76_bar__plus_00_dot_89_bar__minus_03_dot_32 - object\n DeskLamp_bar__minus_02_dot_46_bar__plus_00_dot_67_bar__minus_00_dot_53 - object\n KeyChain_bar__plus_01_dot_69_bar__plus_00_dot_90_bar__minus_03_dot_39 - object\n KeyChain_bar__plus_02_dot_71_bar__plus_00_dot_09_bar__plus_01_dot_60 - object\n KeyChain_bar__plus_02_dot_74_bar__plus_01_dot_25_bar__plus_01_dot_74 - object\n Laptop_bar__minus_01_dot_31_bar__plus_00_dot_61_bar__minus_01_dot_54 - object\n Laptop_bar__minus_01_dot_59_bar__plus_00_dot_62_bar__minus_02_dot_46 - object\n LightSwitch_bar__minus_00_dot_70_bar__plus_01_dot_02_bar__plus_00_dot_33 - object\n Mirror_bar__plus_00_dot_53_bar__plus_01_dot_42_bar__plus_02_dot_00 - object\n Mug_bar__minus_02_dot_44_bar__plus_00_dot_68_bar__minus_03_dot_15 - object\n Mug_bar__minus_02_dot_53_bar__plus_00_dot_68_bar__minus_03_dot_07 - object\n Pencil_bar__minus_02_dot_62_bar__plus_00_dot_69_bar__minus_03_dot_30 - object\n Pen_bar__plus_02_dot_04_bar__plus_00_dot_90_bar__minus_03_dot_25 - object\n Pen_bar__plus_02_dot_78_bar__plus_01_dot_23_bar__plus_01_dot_40 - object\n Pillow_bar__minus_02_dot_12_bar__plus_00_dot_66_bar__minus_01_dot_52 - object\n Pillow_bar__minus_02_dot_38_bar__plus_00_dot_64_bar__minus_02_dot_33 - object\n TeddyBear_bar__minus_00_dot_67_bar__plus_00_dot_61_bar__minus_01_dot_36 - object\n Window_bar__plus_02_dot_96_bar__plus_01_dot_51_bar__minus_01_dot_02 - object\n Window_bar__minus_00_dot_84_bar__plus_01_dot_39_bar__minus_03_dot_65 - object\n Bed_bar__plus_02_dot_40_bar__plus_00_dot_01_bar__minus_00_dot_07 - receptacle\n Bed_bar__minus_01_dot_64_bar__minus_00_dot_04_bar__minus_01_dot_86 - receptacle\n Desk_bar__plus_02_dot_32_bar__minus_00_dot_01_bar__minus_03_dot_22 - receptacle\n Drawer_bar__plus_01_dot_88_bar__plus_00_dot_21_bar__minus_02_dot_96 - receptacle\n Drawer_bar__plus_01_dot_88_bar__plus_00_dot_49_bar__minus_02_dot_96 - receptacle\n Drawer_bar__plus_01_dot_88_bar__plus_00_dot_73_bar__minus_02_dot_96 - receptacle\n Drawer_bar__plus_02_dot_64_bar__plus_00_dot_16_bar__plus_01_dot_51 - receptacle\n Drawer_bar__plus_02_dot_64_bar__plus_00_dot_44_bar__plus_01_dot_51 - receptacle\n Drawer_bar__plus_02_dot_64_bar__plus_00_dot_72_bar__plus_01_dot_51 - receptacle\n Drawer_bar__plus_02_dot_64_bar__plus_00_dot_99_bar__plus_01_dot_51 - receptacle\n Drawer_bar__minus_02_dot_42_bar__plus_00_dot_17_bar__minus_00_dot_51 - receptacle\n Drawer_bar__minus_02_dot_42_bar__plus_00_dot_17_bar__minus_03_dot_15 - receptacle\n Drawer_bar__minus_02_dot_42_bar__plus_00_dot_46_bar__minus_00_dot_51 - receptacle\n Drawer_bar__minus_02_dot_42_bar__plus_00_dot_46_bar__minus_03_dot_15 - receptacle\n Dresser_bar__plus_02_dot_68_bar_00_dot_00_bar__plus_01_dot_51 - receptacle\n GarbageCan_bar__plus_01_dot_34_bar__plus_00_dot_00_bar__minus_03_dot_38 - receptacle\n Safe_bar__plus_02_dot_70_bar__plus_01_dot_23_bar__plus_01_dot_77 - receptacle\n SideTable_bar__minus_02_dot_42_bar__plus_00_dot_46_bar__minus_00_dot_51 - receptacle\n SideTable_bar__minus_02_dot_42_bar__plus_00_dot_46_bar__minus_03_dot_15 - receptacle\n loc_bar_0_bar__minus_8_bar_3_bar_45 - location\n loc_bar_7_bar_6_bar_1_bar_45 - location\n loc_bar__minus_4_bar__minus_12_bar_3_bar_45 - location\n loc_bar__minus_3_bar__minus_12_bar_2_bar__minus_30 - location\n loc_bar__minus_1_bar_1_bar_3_bar_60 - location\n loc_bar__minus_7_bar__minus_2_bar_3_bar_60 - location\n loc_bar__minus_5_bar__minus_3_bar_3_bar_45 - location\n loc_bar_9_bar_5_bar_1_bar_60 - location\n loc_bar_9_bar__minus_6_bar_1_bar_15 - location\n loc_bar_5_bar_0_bar_1_bar_60 - location\n loc_bar__minus_3_bar__minus_12_bar_2_bar_15 - location\n loc_bar_5_bar__minus_12_bar_2_bar_60 - location\n loc_bar_2_bar_6_bar_0_bar_30 - location\n loc_bar__minus_7_bar__minus_12_bar_3_bar_60 - location\n loc_bar_3_bar__minus_9_bar_1_bar_45 - location\n loc_bar_9_bar_6_bar_1_bar_45 - location\n loc_bar_4_bar__minus_10_bar_1_bar_45 - location\n loc_bar_8_bar__minus_10_bar_2_bar_60 - location\n loc_bar_6_bar_4_bar_1_bar_45 - location\n loc_bar__minus_6_bar__minus_3_bar_3_bar_45 - location\n loc_bar_9_bar__minus_6_bar_1_bar__minus_30 - location\n loc_bar_8_bar__minus_10_bar_1_bar_60 - location\n loc_bar_8_bar_6_bar_1_bar_45 - location\n loc_bar_6_bar_5_bar_1_bar_45 - location\n loc_bar__minus_5_bar__minus_12_bar_3_bar_45 - location\n loc_bar_7_bar_3_bar_3_bar_30 - location\n )\n \n\n(:init\n\n\n (receptacleType GarbageCan_bar__plus_01_dot_34_bar__plus_00_dot_00_bar__minus_03_dot_38 GarbageCanType)\n (receptacleType Safe_bar__plus_02_dot_70_bar__plus_01_dot_23_bar__plus_01_dot_77 SafeType)\n (receptacleType Drawer_bar__plus_01_dot_88_bar__plus_00_dot_73_bar__minus_02_dot_96 DrawerType)\n (receptacleType Drawer_bar__plus_01_dot_88_bar__plus_00_dot_49_bar__minus_02_dot_96 DrawerType)\n (receptacleType Drawer_bar__plus_02_dot_64_bar__plus_00_dot_16_bar__plus_01_dot_51 DrawerType)\n (receptacleType Drawer_bar__minus_02_dot_42_bar__plus_00_dot_46_bar__minus_03_dot_15 DrawerType)\n (receptacleType SideTable_bar__minus_02_dot_42_bar__plus_00_dot_46_bar__minus_00_dot_51 SideTableType)\n (receptacleType Drawer_bar__minus_02_dot_42_bar__plus_00_dot_46_bar__minus_00_dot_51 DrawerType)\n (receptacleType Drawer_bar__minus_02_dot_42_bar__plus_00_dot_17_bar__minus_00_dot_51 DrawerType)\n (receptacleType Drawer_bar__plus_02_dot_64_bar__plus_00_dot_44_bar__plus_01_dot_51 DrawerType)\n (receptacleType Bed_bar__minus_01_dot_64_bar__minus_00_dot_04_bar__minus_01_dot_86 BedType)\n (receptacleType SideTable_bar__minus_02_dot_42_bar__plus_00_dot_46_bar__minus_03_dot_15 SideTableType)\n (receptacleType Dresser_bar__plus_02_dot_68_bar_00_dot_00_bar__plus_01_dot_51 DresserType)\n (receptacleType Desk_bar__plus_02_dot_32_bar__minus_00_dot_01_bar__minus_03_dot_22 DeskType)\n (receptacleType Drawer_bar__plus_01_dot_88_bar__plus_00_dot_21_bar__minus_02_dot_96 DrawerType)\n (receptacleType Drawer_bar__plus_02_dot_64_bar__plus_00_dot_72_bar__plus_01_dot_51 DrawerType)\n (receptacleType Drawer_bar__plus_02_dot_64_bar__plus_00_dot_99_bar__plus_01_dot_51 DrawerType)\n (receptacleType Drawer_bar__minus_02_dot_42_bar__plus_00_dot_17_bar__minus_03_dot_15 DrawerType)\n (receptacleType Bed_bar__plus_02_dot_40_bar__plus_00_dot_01_bar__minus_00_dot_07 BedType)\n (objectType Laptop_bar__minus_01_dot_59_bar__plus_00_dot_62_bar__minus_02_dot_46 LaptopType)\n (objectType Pillow_bar__minus_02_dot_38_bar__plus_00_dot_64_bar__minus_02_dot_33 PillowType)\n (objectType Pencil_bar__minus_02_dot_62_bar__plus_00_dot_69_bar__minus_03_dot_30 PencilType)\n (objectType Window_bar__minus_00_dot_84_bar__plus_01_dot_39_bar__minus_03_dot_65 WindowType)\n (objectType Pillow_bar__minus_02_dot_12_bar__plus_00_dot_66_bar__minus_01_dot_52 PillowType)\n (objectType Pen_bar__plus_02_dot_04_bar__plus_00_dot_90_bar__minus_03_dot_25 PenType)\n (objectType Mirror_bar__plus_00_dot_53_bar__plus_01_dot_42_bar__plus_02_dot_00 MirrorType)\n (objectType KeyChain_bar__plus_02_dot_71_bar__plus_00_dot_09_bar__plus_01_dot_60 KeyChainType)\n (objectType Bowl_bar__plus_01_dot_84_bar__plus_00_dot_89_bar__minus_03_dot_24 BowlType)\n (objectType Pen_bar__plus_02_dot_78_bar__plus_01_dot_23_bar__plus_01_dot_40 PenType)\n (objectType Chair_bar__plus_02_dot_58_bar__plus_00_dot_00_bar__minus_02_dot_88 ChairType)\n (objectType CreditCard_bar__minus_02_dot_48_bar__plus_00_dot_08_bar__minus_02_dot_98 CreditCardType)\n (objectType KeyChain_bar__plus_02_dot_74_bar__plus_01_dot_25_bar__plus_01_dot_74 KeyChainType)\n (objectType Book_bar__minus_02_dot_44_bar__plus_00_dot_62_bar__minus_01_dot_86 BookType)\n (objectType DeskLamp_bar__minus_02_dot_46_bar__plus_00_dot_67_bar__minus_00_dot_53 DeskLampType)\n (objectType KeyChain_bar__plus_01_dot_69_bar__plus_00_dot_90_bar__minus_03_dot_39 KeyChainType)\n (objectType Laptop_bar__minus_01_dot_31_bar__plus_00_dot_61_bar__minus_01_dot_54 LaptopType)\n (objectType Blinds_bar__plus_02_dot_93_bar__plus_02_dot_17_bar__minus_01_dot_00 BlindsType)\n (objectType CellPhone_bar__minus_01_dot_31_bar__plus_00_dot_62_bar__minus_02_dot_06 CellPhoneType)\n (objectType CD_bar__plus_01_dot_69_bar__plus_00_dot_90_bar__minus_02_dot_98 CDType)\n (objectType Mug_bar__minus_02_dot_53_bar__plus_00_dot_68_bar__minus_03_dot_07 MugType)\n (objectType AlarmClock_bar__minus_02_dot_58_bar__plus_00_dot_68_bar__minus_03_dot_23 AlarmClockType)\n (objectType AlarmClock_bar__plus_02_dot_64_bar__plus_01_dot_23_bar__plus_01_dot_51 AlarmClockType)\n (objectType Mug_bar__minus_02_dot_44_bar__plus_00_dot_68_bar__minus_03_dot_15 MugType)\n (objectType CellPhone_bar__minus_02_dot_58_bar__plus_00_dot_68_bar__minus_00_dot_28 CellPhoneType)\n (objectType DeskLamp_bar__plus_02_dot_76_bar__plus_00_dot_89_bar__minus_03_dot_32 DeskLampType)\n (objectType Window_bar__plus_02_dot_96_bar__plus_01_dot_51_bar__minus_01_dot_02 WindowType)\n (objectType LightSwitch_bar__minus_00_dot_70_bar__plus_01_dot_02_bar__plus_00_dot_33 LightSwitchType)\n (objectType Blinds_bar__minus_00_dot_80_bar__plus_02_dot_09_bar__minus_03_dot_63 BlindsType)\n (objectType Bowl_bar__plus_02_dot_73_bar__plus_00_dot_90_bar__minus_03_dot_04 BowlType)\n (objectType CreditCard_bar__minus_02_dot_48_bar__plus_00_dot_37_bar__minus_03_dot_09 CreditCardType)\n (objectType TeddyBear_bar__minus_00_dot_67_bar__plus_00_dot_61_bar__minus_01_dot_36 TeddyBearType)\n (objectType CellPhone_bar__minus_02_dot_43_bar__plus_00_dot_37_bar__minus_00_dot_40 CellPhoneType)\n (canContain GarbageCanType PenType)\n (canContain GarbageCanType CDType)\n (canContain GarbageCanType PencilType)\n (canContain SafeType CellPhoneType)\n (canContain SafeType KeyChainType)\n (canContain SafeType CreditCardType)\n (canContain SafeType CDType)\n (canContain DrawerType PenType)\n (canContain DrawerType BookType)\n (canContain DrawerType CDType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType PencilType)\n (canContain DrawerType PenType)\n (canContain DrawerType BookType)\n (canContain DrawerType CDType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType PencilType)\n (canContain DrawerType PenType)\n (canContain DrawerType BookType)\n (canContain DrawerType CDType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType PencilType)\n (canContain DrawerType PenType)\n (canContain DrawerType BookType)\n (canContain DrawerType CDType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType PencilType)\n (canContain SideTableType PenType)\n (canContain SideTableType BookType)\n (canContain SideTableType BowlType)\n (canContain SideTableType CDType)\n (canContain SideTableType MugType)\n (canContain SideTableType CellPhoneType)\n (canContain SideTableType KeyChainType)\n (canContain SideTableType CreditCardType)\n (canContain SideTableType LaptopType)\n (canContain SideTableType PencilType)\n (canContain SideTableType AlarmClockType)\n (canContain DrawerType PenType)\n (canContain DrawerType BookType)\n (canContain DrawerType CDType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType PencilType)\n (canContain DrawerType PenType)\n (canContain DrawerType BookType)\n (canContain DrawerType CDType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType PencilType)\n (canContain DrawerType PenType)\n (canContain DrawerType BookType)\n (canContain DrawerType CDType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType PencilType)\n (canContain BedType LaptopType)\n (canContain BedType BookType)\n (canContain BedType CellPhoneType)\n (canContain BedType PillowType)\n (canContain SideTableType PenType)\n (canContain SideTableType BookType)\n (canContain SideTableType BowlType)\n (canContain SideTableType CDType)\n (canContain SideTableType MugType)\n (canContain SideTableType CellPhoneType)\n (canContain SideTableType KeyChainType)\n (canContain SideTableType CreditCardType)\n (canContain SideTableType LaptopType)\n (canContain SideTableType PencilType)\n (canContain SideTableType AlarmClockType)\n (canContain DresserType PenType)\n (canContain DresserType BookType)\n (canContain DresserType BowlType)\n (canContain DresserType CDType)\n (canContain DresserType MugType)\n (canContain DresserType CellPhoneType)\n (canContain DresserType KeyChainType)\n (canContain DresserType CreditCardType)\n (canContain DresserType LaptopType)\n (canContain DresserType PencilType)\n (canContain DresserType AlarmClockType)\n (canContain DeskType PenType)\n (canContain DeskType BookType)\n (canContain DeskType BowlType)\n (canContain DeskType CDType)\n (canContain DeskType MugType)\n (canContain DeskType CellPhoneType)\n (canContain DeskType KeyChainType)\n (canContain DeskType CreditCardType)\n (canContain DeskType LaptopType)\n (canContain DeskType PencilType)\n (canContain DeskType AlarmClockType)\n (canContain DrawerType PenType)\n (canContain DrawerType BookType)\n (canContain DrawerType CDType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType PencilType)\n (canContain DrawerType PenType)\n (canContain DrawerType BookType)\n (canContain DrawerType CDType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType PencilType)\n (canContain DrawerType PenType)\n (canContain DrawerType BookType)\n (canContain DrawerType CDType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType PencilType)\n (canContain DrawerType PenType)\n (canContain DrawerType BookType)\n (canContain DrawerType CDType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType PencilType)\n (canContain BedType LaptopType)\n (canContain BedType BookType)\n (canContain BedType CellPhoneType)\n (canContain BedType PillowType)\n (pickupable Laptop_bar__minus_01_dot_59_bar__plus_00_dot_62_bar__minus_02_dot_46)\n (pickupable Pillow_bar__minus_02_dot_38_bar__plus_00_dot_64_bar__minus_02_dot_33)\n (pickupable Pencil_bar__minus_02_dot_62_bar__plus_00_dot_69_bar__minus_03_dot_30)\n (pickupable Pillow_bar__minus_02_dot_12_bar__plus_00_dot_66_bar__minus_01_dot_52)\n (pickupable Pen_bar__plus_02_dot_04_bar__plus_00_dot_90_bar__minus_03_dot_25)\n (pickupable KeyChain_bar__plus_02_dot_71_bar__plus_00_dot_09_bar__plus_01_dot_60)\n (pickupable Bowl_bar__plus_01_dot_84_bar__plus_00_dot_89_bar__minus_03_dot_24)\n (pickupable Pen_bar__plus_02_dot_78_bar__plus_01_dot_23_bar__plus_01_dot_40)\n (pickupable CreditCard_bar__minus_02_dot_48_bar__plus_00_dot_08_bar__minus_02_dot_98)\n (pickupable KeyChain_bar__plus_02_dot_74_bar__plus_01_dot_25_bar__plus_01_dot_74)\n (pickupable Book_bar__minus_02_dot_44_bar__plus_00_dot_62_bar__minus_01_dot_86)\n (pickupable KeyChain_bar__plus_01_dot_69_bar__plus_00_dot_90_bar__minus_03_dot_39)\n (pickupable Laptop_bar__minus_01_dot_31_bar__plus_00_dot_61_bar__minus_01_dot_54)\n (pickupable CellPhone_bar__minus_01_dot_31_bar__plus_00_dot_62_bar__minus_02_dot_06)\n (pickupable CD_bar__plus_01_dot_69_bar__plus_00_dot_90_bar__minus_02_dot_98)\n (pickupable Mug_bar__minus_02_dot_53_bar__plus_00_dot_68_bar__minus_03_dot_07)\n (pickupable AlarmClock_bar__minus_02_dot_58_bar__plus_00_dot_68_bar__minus_03_dot_23)\n (pickupable AlarmClock_bar__plus_02_dot_64_bar__plus_01_dot_23_bar__plus_01_dot_51)\n (pickupable Mug_bar__minus_02_dot_44_bar__plus_00_dot_68_bar__minus_03_dot_15)\n (pickupable CellPhone_bar__minus_02_dot_58_bar__plus_00_dot_68_bar__minus_00_dot_28)\n (pickupable Bowl_bar__plus_02_dot_73_bar__plus_00_dot_90_bar__minus_03_dot_04)\n (pickupable CreditCard_bar__minus_02_dot_48_bar__plus_00_dot_37_bar__minus_03_dot_09)\n (pickupable TeddyBear_bar__minus_00_dot_67_bar__plus_00_dot_61_bar__minus_01_dot_36)\n (pickupable CellPhone_bar__minus_02_dot_43_bar__plus_00_dot_37_bar__minus_00_dot_40)\n (isReceptacleObject Bowl_bar__plus_01_dot_84_bar__plus_00_dot_89_bar__minus_03_dot_24)\n (isReceptacleObject Mug_bar__minus_02_dot_53_bar__plus_00_dot_68_bar__minus_03_dot_07)\n (isReceptacleObject Mug_bar__minus_02_dot_44_bar__plus_00_dot_68_bar__minus_03_dot_15)\n (isReceptacleObject Bowl_bar__plus_02_dot_73_bar__plus_00_dot_90_bar__minus_03_dot_04)\n (openable Safe_bar__plus_02_dot_70_bar__plus_01_dot_23_bar__plus_01_dot_77)\n (openable Drawer_bar__plus_01_dot_88_bar__plus_00_dot_73_bar__minus_02_dot_96)\n (openable Drawer_bar__plus_01_dot_88_bar__plus_00_dot_49_bar__minus_02_dot_96)\n (openable Drawer_bar__plus_02_dot_64_bar__plus_00_dot_16_bar__plus_01_dot_51)\n (openable Drawer_bar__minus_02_dot_42_bar__plus_00_dot_46_bar__minus_03_dot_15)\n (openable Drawer_bar__minus_02_dot_42_bar__plus_00_dot_46_bar__minus_00_dot_51)\n (openable Drawer_bar__minus_02_dot_42_bar__plus_00_dot_17_bar__minus_00_dot_51)\n (openable Drawer_bar__plus_02_dot_64_bar__plus_00_dot_44_bar__plus_01_dot_51)\n (openable Drawer_bar__plus_01_dot_88_bar__plus_00_dot_21_bar__minus_02_dot_96)\n (openable Drawer_bar__plus_02_dot_64_bar__plus_00_dot_72_bar__plus_01_dot_51)\n (openable Drawer_bar__plus_02_dot_64_bar__plus_00_dot_99_bar__plus_01_dot_51)\n (openable Drawer_bar__minus_02_dot_42_bar__plus_00_dot_17_bar__minus_03_dot_15)\n \n (atLocation agent1 loc_bar_7_bar_3_bar_3_bar_30)\n \n (cleanable Bowl_bar__plus_01_dot_84_bar__plus_00_dot_89_bar__minus_03_dot_24)\n (cleanable Mug_bar__minus_02_dot_53_bar__plus_00_dot_68_bar__minus_03_dot_07)\n (cleanable Mug_bar__minus_02_dot_44_bar__plus_00_dot_68_bar__minus_03_dot_15)\n (cleanable Bowl_bar__plus_02_dot_73_bar__plus_00_dot_90_bar__minus_03_dot_04)\n \n (heatable Mug_bar__minus_02_dot_53_bar__plus_00_dot_68_bar__minus_03_dot_07)\n (heatable Mug_bar__minus_02_dot_44_bar__plus_00_dot_68_bar__minus_03_dot_15)\n (coolable Bowl_bar__plus_01_dot_84_bar__plus_00_dot_89_bar__minus_03_dot_24)\n (coolable Mug_bar__minus_02_dot_53_bar__plus_00_dot_68_bar__minus_03_dot_07)\n (coolable Mug_bar__minus_02_dot_44_bar__plus_00_dot_68_bar__minus_03_dot_15)\n (coolable Bowl_bar__plus_02_dot_73_bar__plus_00_dot_90_bar__minus_03_dot_04)\n \n \n (toggleable DeskLamp_bar__minus_02_dot_46_bar__plus_00_dot_67_bar__minus_00_dot_53)\n (toggleable DeskLamp_bar__plus_02_dot_76_bar__plus_00_dot_89_bar__minus_03_dot_32)\n \n \n \n \n (inReceptacle Laptop_bar__minus_01_dot_59_bar__plus_00_dot_62_bar__minus_02_dot_46 Bed_bar__minus_01_dot_64_bar__minus_00_dot_04_bar__minus_01_dot_86)\n (inReceptacle Pillow_bar__minus_02_dot_38_bar__plus_00_dot_64_bar__minus_02_dot_33 Bed_bar__minus_01_dot_64_bar__minus_00_dot_04_bar__minus_01_dot_86)\n (inReceptacle CellPhone_bar__minus_01_dot_31_bar__plus_00_dot_62_bar__minus_02_dot_06 Bed_bar__minus_01_dot_64_bar__minus_00_dot_04_bar__minus_01_dot_86)\n (inReceptacle Pillow_bar__minus_02_dot_12_bar__plus_00_dot_66_bar__minus_01_dot_52 Bed_bar__minus_01_dot_64_bar__minus_00_dot_04_bar__minus_01_dot_86)\n (inReceptacle Book_bar__minus_02_dot_44_bar__plus_00_dot_62_bar__minus_01_dot_86 Bed_bar__minus_01_dot_64_bar__minus_00_dot_04_bar__minus_01_dot_86)\n (inReceptacle TeddyBear_bar__minus_00_dot_67_bar__plus_00_dot_61_bar__minus_01_dot_36 Bed_bar__minus_01_dot_64_bar__minus_00_dot_04_bar__minus_01_dot_86)\n (inReceptacle Laptop_bar__minus_01_dot_31_bar__plus_00_dot_61_bar__minus_01_dot_54 Bed_bar__minus_01_dot_64_bar__minus_00_dot_04_bar__minus_01_dot_86)\n (inReceptacle CreditCard_bar__minus_02_dot_48_bar__plus_00_dot_37_bar__minus_03_dot_09 Drawer_bar__minus_02_dot_42_bar__plus_00_dot_46_bar__minus_03_dot_15)\n (inReceptacle Mug_bar__minus_02_dot_53_bar__plus_00_dot_68_bar__minus_03_dot_07 SideTable_bar__minus_02_dot_42_bar__plus_00_dot_46_bar__minus_03_dot_15)\n (inReceptacle AlarmClock_bar__minus_02_dot_58_bar__plus_00_dot_68_bar__minus_03_dot_23 SideTable_bar__minus_02_dot_42_bar__plus_00_dot_46_bar__minus_03_dot_15)\n (inReceptacle Mug_bar__minus_02_dot_44_bar__plus_00_dot_68_bar__minus_03_dot_15 SideTable_bar__minus_02_dot_42_bar__plus_00_dot_46_bar__minus_03_dot_15)\n (inReceptacle Pencil_bar__minus_02_dot_62_bar__plus_00_dot_69_bar__minus_03_dot_30 SideTable_bar__minus_02_dot_42_bar__plus_00_dot_46_bar__minus_03_dot_15)\n (inReceptacle Bowl_bar__plus_01_dot_84_bar__plus_00_dot_89_bar__minus_03_dot_24 Desk_bar__plus_02_dot_32_bar__minus_00_dot_01_bar__minus_03_dot_22)\n (inReceptacle Bowl_bar__plus_02_dot_73_bar__plus_00_dot_90_bar__minus_03_dot_04 Desk_bar__plus_02_dot_32_bar__minus_00_dot_01_bar__minus_03_dot_22)\n (inReceptacle CD_bar__plus_01_dot_69_bar__plus_00_dot_90_bar__minus_02_dot_98 Desk_bar__plus_02_dot_32_bar__minus_00_dot_01_bar__minus_03_dot_22)\n (inReceptacle Pen_bar__plus_02_dot_04_bar__plus_00_dot_90_bar__minus_03_dot_25 Desk_bar__plus_02_dot_32_bar__minus_00_dot_01_bar__minus_03_dot_22)\n (inReceptacle DeskLamp_bar__plus_02_dot_76_bar__plus_00_dot_89_bar__minus_03_dot_32 Desk_bar__plus_02_dot_32_bar__minus_00_dot_01_bar__minus_03_dot_22)\n (inReceptacle KeyChain_bar__plus_01_dot_69_bar__plus_00_dot_90_bar__minus_03_dot_39 Desk_bar__plus_02_dot_32_bar__minus_00_dot_01_bar__minus_03_dot_22)\n (inReceptacle KeyChain_bar__plus_02_dot_71_bar__plus_00_dot_09_bar__plus_01_dot_60 Drawer_bar__plus_02_dot_64_bar__plus_00_dot_16_bar__plus_01_dot_51)\n (inReceptacle CreditCard_bar__minus_02_dot_48_bar__plus_00_dot_08_bar__minus_02_dot_98 Drawer_bar__minus_02_dot_42_bar__plus_00_dot_17_bar__minus_03_dot_15)\n (inReceptacle CellPhone_bar__minus_02_dot_43_bar__plus_00_dot_37_bar__minus_00_dot_40 Drawer_bar__minus_02_dot_42_bar__plus_00_dot_46_bar__minus_00_dot_51)\n (inReceptacle DeskLamp_bar__minus_02_dot_46_bar__plus_00_dot_67_bar__minus_00_dot_53 SideTable_bar__minus_02_dot_42_bar__plus_00_dot_46_bar__minus_00_dot_51)\n (inReceptacle CellPhone_bar__minus_02_dot_58_bar__plus_00_dot_68_bar__minus_00_dot_28 SideTable_bar__minus_02_dot_42_bar__plus_00_dot_46_bar__minus_00_dot_51)\n (inReceptacle AlarmClock_bar__plus_02_dot_64_bar__plus_01_dot_23_bar__plus_01_dot_51 Dresser_bar__plus_02_dot_68_bar_00_dot_00_bar__plus_01_dot_51)\n (inReceptacle Pen_bar__plus_02_dot_78_bar__plus_01_dot_23_bar__plus_01_dot_40 Dresser_bar__plus_02_dot_68_bar_00_dot_00_bar__plus_01_dot_51)\n (inReceptacle KeyChain_bar__plus_02_dot_74_bar__plus_01_dot_25_bar__plus_01_dot_74 Dresser_bar__plus_02_dot_68_bar_00_dot_00_bar__plus_01_dot_51)\n (inReceptacle KeyChain_bar__plus_02_dot_74_bar__plus_01_dot_25_bar__plus_01_dot_74 Safe_bar__plus_02_dot_70_bar__plus_01_dot_23_bar__plus_01_dot_77)\n \n \n (receptacleAtLocation Bed_bar__plus_02_dot_40_bar__plus_00_dot_01_bar__minus_00_dot_07 loc_bar_5_bar_0_bar_1_bar_60)\n (receptacleAtLocation Bed_bar__minus_01_dot_64_bar__minus_00_dot_04_bar__minus_01_dot_86 loc_bar_0_bar__minus_8_bar_3_bar_45)\n (receptacleAtLocation Desk_bar__plus_02_dot_32_bar__minus_00_dot_01_bar__minus_03_dot_22 loc_bar_8_bar__minus_10_bar_2_bar_60)\n (receptacleAtLocation Drawer_bar__plus_01_dot_88_bar__plus_00_dot_21_bar__minus_02_dot_96 loc_bar_3_bar__minus_9_bar_1_bar_45)\n (receptacleAtLocation Drawer_bar__plus_01_dot_88_bar__plus_00_dot_49_bar__minus_02_dot_96 loc_bar_3_bar__minus_9_bar_1_bar_45)\n (receptacleAtLocation Drawer_bar__plus_01_dot_88_bar__plus_00_dot_73_bar__minus_02_dot_96 loc_bar_4_bar__minus_10_bar_1_bar_45)\n (receptacleAtLocation Drawer_bar__plus_02_dot_64_bar__plus_00_dot_16_bar__plus_01_dot_51 loc_bar_6_bar_4_bar_1_bar_45)\n (receptacleAtLocation Drawer_bar__plus_02_dot_64_bar__plus_00_dot_44_bar__plus_01_dot_51 loc_bar_6_bar_5_bar_1_bar_45)\n (receptacleAtLocation Drawer_bar__plus_02_dot_64_bar__plus_00_dot_72_bar__plus_01_dot_51 loc_bar_7_bar_6_bar_1_bar_45)\n (receptacleAtLocation Drawer_bar__plus_02_dot_64_bar__plus_00_dot_99_bar__plus_01_dot_51 loc_bar_8_bar_6_bar_1_bar_45)\n (receptacleAtLocation Drawer_bar__minus_02_dot_42_bar__plus_00_dot_17_bar__minus_00_dot_51 loc_bar__minus_5_bar__minus_3_bar_3_bar_45)\n (receptacleAtLocation Drawer_bar__minus_02_dot_42_bar__plus_00_dot_17_bar__minus_03_dot_15 loc_bar__minus_4_bar__minus_12_bar_3_bar_45)\n (receptacleAtLocation Drawer_bar__minus_02_dot_42_bar__plus_00_dot_46_bar__minus_00_dot_51 loc_bar__minus_6_bar__minus_3_bar_3_bar_45)\n (receptacleAtLocation Drawer_bar__minus_02_dot_42_bar__plus_00_dot_46_bar__minus_03_dot_15 loc_bar__minus_5_bar__minus_12_bar_3_bar_45)\n (receptacleAtLocation Dresser_bar__plus_02_dot_68_bar_00_dot_00_bar__plus_01_dot_51 loc_bar_9_bar_5_bar_1_bar_60)\n (receptacleAtLocation GarbageCan_bar__plus_01_dot_34_bar__plus_00_dot_00_bar__minus_03_dot_38 loc_bar_5_bar__minus_12_bar_2_bar_60)\n (receptacleAtLocation Safe_bar__plus_02_dot_70_bar__plus_01_dot_23_bar__plus_01_dot_77 loc_bar_9_bar_6_bar_1_bar_45)\n (receptacleAtLocation SideTable_bar__minus_02_dot_42_bar__plus_00_dot_46_bar__minus_00_dot_51 loc_bar__minus_7_bar__minus_2_bar_3_bar_60)\n (receptacleAtLocation SideTable_bar__minus_02_dot_42_bar__plus_00_dot_46_bar__minus_03_dot_15 loc_bar__minus_7_bar__minus_12_bar_3_bar_60)\n (objectAtLocation Bowl_bar__plus_01_dot_84_bar__plus_00_dot_89_bar__minus_03_dot_24 loc_bar_8_bar__minus_10_bar_2_bar_60)\n (objectAtLocation Mug_bar__minus_02_dot_44_bar__plus_00_dot_68_bar__minus_03_dot_15 loc_bar__minus_7_bar__minus_12_bar_3_bar_60)\n (objectAtLocation KeyChain_bar__plus_02_dot_74_bar__plus_01_dot_25_bar__plus_01_dot_74 loc_bar_9_bar_6_bar_1_bar_45)\n (objectAtLocation CellPhone_bar__minus_02_dot_43_bar__plus_00_dot_37_bar__minus_00_dot_40 loc_bar__minus_6_bar__minus_3_bar_3_bar_45)\n (objectAtLocation AlarmClock_bar__plus_02_dot_64_bar__plus_01_dot_23_bar__plus_01_dot_51 loc_bar_9_bar_5_bar_1_bar_60)\n (objectAtLocation Laptop_bar__minus_01_dot_31_bar__plus_00_dot_61_bar__minus_01_dot_54 loc_bar_0_bar__minus_8_bar_3_bar_45)\n (objectAtLocation Pen_bar__plus_02_dot_04_bar__plus_00_dot_90_bar__minus_03_dot_25 loc_bar_8_bar__minus_10_bar_2_bar_60)\n (objectAtLocation CreditCard_bar__minus_02_dot_48_bar__plus_00_dot_08_bar__minus_02_dot_98 loc_bar__minus_4_bar__minus_12_bar_3_bar_45)\n (objectAtLocation KeyChain_bar__plus_01_dot_69_bar__plus_00_dot_90_bar__minus_03_dot_39 loc_bar_8_bar__minus_10_bar_2_bar_60)\n (objectAtLocation CellPhone_bar__minus_02_dot_58_bar__plus_00_dot_68_bar__minus_00_dot_28 loc_bar__minus_7_bar__minus_2_bar_3_bar_60)\n (objectAtLocation Book_bar__minus_02_dot_44_bar__plus_00_dot_62_bar__minus_01_dot_86 loc_bar_0_bar__minus_8_bar_3_bar_45)\n (objectAtLocation CreditCard_bar__minus_02_dot_48_bar__plus_00_dot_37_bar__minus_03_dot_09 loc_bar__minus_5_bar__minus_12_bar_3_bar_45)\n (objectAtLocation Pen_bar__plus_02_dot_78_bar__plus_01_dot_23_bar__plus_01_dot_40 loc_bar_9_bar_5_bar_1_bar_60)\n (objectAtLocation DeskLamp_bar__plus_02_dot_76_bar__plus_00_dot_89_bar__minus_03_dot_32 loc_bar_8_bar__minus_10_bar_2_bar_60)\n (objectAtLocation Pencil_bar__minus_02_dot_62_bar__plus_00_dot_69_bar__minus_03_dot_30 loc_bar__minus_7_bar__minus_12_bar_3_bar_60)\n (objectAtLocation DeskLamp_bar__minus_02_dot_46_bar__plus_00_dot_67_bar__minus_00_dot_53 loc_bar__minus_7_bar__minus_2_bar_3_bar_60)\n (objectAtLocation LightSwitch_bar__minus_00_dot_70_bar__plus_01_dot_02_bar__plus_00_dot_33 loc_bar__minus_1_bar_1_bar_3_bar_60)\n (objectAtLocation TeddyBear_bar__minus_00_dot_67_bar__plus_00_dot_61_bar__minus_01_dot_36 loc_bar_0_bar__minus_8_bar_3_bar_45)\n (objectAtLocation Laptop_bar__minus_01_dot_59_bar__plus_00_dot_62_bar__minus_02_dot_46 loc_bar_0_bar__minus_8_bar_3_bar_45)\n (objectAtLocation AlarmClock_bar__minus_02_dot_58_bar__plus_00_dot_68_bar__minus_03_dot_23 loc_bar__minus_7_bar__minus_12_bar_3_bar_60)\n (objectAtLocation CellPhone_bar__minus_01_dot_31_bar__plus_00_dot_62_bar__minus_02_dot_06 loc_bar_0_bar__minus_8_bar_3_bar_45)\n (objectAtLocation KeyChain_bar__plus_02_dot_71_bar__plus_00_dot_09_bar__plus_01_dot_60 loc_bar_6_bar_4_bar_1_bar_45)\n (objectAtLocation Pillow_bar__minus_02_dot_12_bar__plus_00_dot_66_bar__minus_01_dot_52 loc_bar_0_bar__minus_8_bar_3_bar_45)\n (objectAtLocation Pillow_bar__minus_02_dot_38_bar__plus_00_dot_64_bar__minus_02_dot_33 loc_bar_0_bar__minus_8_bar_3_bar_45)\n (objectAtLocation Mirror_bar__plus_00_dot_53_bar__plus_01_dot_42_bar__plus_02_dot_00 loc_bar_2_bar_6_bar_0_bar_30)\n (objectAtLocation CD_bar__plus_01_dot_69_bar__plus_00_dot_90_bar__minus_02_dot_98 loc_bar_8_bar__minus_10_bar_2_bar_60)\n (objectAtLocation Window_bar__minus_00_dot_84_bar__plus_01_dot_39_bar__minus_03_dot_65 loc_bar__minus_3_bar__minus_12_bar_2_bar_15)\n (objectAtLocation Window_bar__plus_02_dot_96_bar__plus_01_dot_51_bar__minus_01_dot_02 loc_bar_9_bar__minus_6_bar_1_bar_15)\n (objectAtLocation Chair_bar__plus_02_dot_58_bar__plus_00_dot_00_bar__minus_02_dot_88 loc_bar_8_bar__minus_10_bar_1_bar_60)\n (objectAtLocation Mug_bar__minus_02_dot_53_bar__plus_00_dot_68_bar__minus_03_dot_07 loc_bar__minus_7_bar__minus_12_bar_3_bar_60)\n (objectAtLocation Blinds_bar__minus_00_dot_80_bar__plus_02_dot_09_bar__minus_03_dot_63 loc_bar__minus_3_bar__minus_12_bar_2_bar__minus_30)\n (objectAtLocation Blinds_bar__plus_02_dot_93_bar__plus_02_dot_17_bar__minus_01_dot_00 loc_bar_9_bar__minus_6_bar_1_bar__minus_30)\n (objectAtLocation Bowl_bar__plus_02_dot_73_bar__plus_00_dot_90_bar__minus_03_dot_04 loc_bar_8_bar__minus_10_bar_2_bar_60)\n )\n \n\n (:goal\n (and\n (exists (?ot - object\n ?r - receptacle\n ?a - agent\n ?l - location)\n (and\n (objectType ?ot DeskLampType)\n (toggleable ?ot)\n (isToggled ?ot)\n (receptacleAtLocation ?r ?l)\n (atLocation ?a ?l)\n (inReceptacle ?ot ?r)\n )\n )\n (exists (?o - object\n ?a - agent)\n (and\n (objectType ?o BowlType)\n (holds ?a ?o)\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to desk 1", "use desklamp 1", "take bowl 2 from desk 1"]}
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alfworld__look_at_obj_in_light__306
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look_at_obj_in_light
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look_at_obj_in_light-Bowl-None-DeskLamp-323/trial_T20190908_024052_230550/game.tw-pddl
|
{"pddl_domain": ";; Specification in PDDL of the Alfred domain\n;; Intended to be used with Fast Downward which supports PDDL 2.2 level 1 plus the :action-costs requirement from PDDL 3.1.\n\n(define (domain alfred)\n (:requirements\n :adl\n :action-costs\n :typing\n )\n (:types\n agent\n location\n receptacle\n object\n rtype\n otype\n )\n\n\n (:predicates\n (atLocation ?a - agent ?l - location) ; true if the agent is at the location\n (receptacleAtLocation ?r - receptacle ?l - location) ; true if the receptacle is at the location (constant)\n (objectAtLocation ?o - object ?l - location) ; true if the object is at the location\n (openable ?r - receptacle) ; true if a receptacle is openable\n (opened ?r - receptacle) ; true if a receptacle is opened\n (inReceptacle ?o - object ?r - receptacle) ; object ?o is in receptacle ?r\n (isReceptacleObject ?o - object) ; true if the object can have things put inside it\n (inReceptacleObject ?innerObject - object ?outerObject - object) ; object ?innerObject is inside object ?outerObject\n (isReceptacleObjectFull ?o - object) ; true if the receptacle object contains something\n (wasInReceptacle ?o - object ?r - receptacle) ; object ?o was or is in receptacle ?r now or some time in the past\n (checked ?r - receptacle) ; whether the receptacle has been looked inside/visited\n (examined ?l - location) ; TODO\n (receptacleType ?r - receptacle ?t - rtype) ; the type of receptacle (Cabinet vs Cabinet|01|2...)\n (canContain ?rt - rtype ?ot - otype) ; true if receptacle can hold object\n (objectType ?o - object ?t - otype) ; the type of object (Apple vs Apple|01|2...)\n (holds ?a - agent ?o - object) ; object ?o is held by agent ?a\n (holdsAny ?a - agent) ; agent ?a holds an object\n (holdsAnyReceptacleObject ?a - agent) ; agent ?a holds a receptacle object\n (full ?r - receptacle) ; true if the receptacle has no remaining space\n (isClean ?o - object) ; true if the object has been clean in sink\n (cleanable ?o - object) ; true if the object can be placed in a sink\n (isHot ?o - object) ; true if the object has been heated up\n (heatable ?o - object) ; true if the object can be heated up in a microwave\n (isCool ?o - object) ; true if the object has been cooled\n (coolable ?o - object) ; true if the object can be cooled in the fridge\n (pickupable ?o - object) ; true if the object can be picked up\n (moveable ?o - object) ; true if the object can be moved\n (toggleable ?o - object) ; true if the object can be turned on/off\n (isOn ?o - object) ; true if the object is on\n (isToggled ?o - object) ; true if the object has been toggled\n (sliceable ?o - object) ; true if the object can be sliced\n (isSliced ?o - object) ; true if the object is sliced\n )\n\n (:functions\n (distance ?from ?to)\n (total-cost) - number\n )\n\n;; All actions are specified such that the final arguments are the ones used\n;; for performing actions in Unity.\n\n\n(:action look\n :parameters (?a - agent ?l - location)\n :precondition\n (and\n (atLocation ?a ?l)\n )\n :effect\n (and\n (checked ?l)\n )\n)\n\n(:action inventory\n :parameters (?a - agent)\n :precondition\n ()\n :effect\n (and\n (checked ?a)\n )\n)\n\n(:action examineReceptacle\n :parameters (?a - agent ?r - receptacle)\n :precondition\n (and\n (exists (?l - location)\n (and\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n )\n )\n )\n :effect\n (and\n (checked ?r)\n )\n)\n\n(:action examineObject\n :parameters (?a - agent ?o - object)\n :precondition\n (or\n ;(exists (?l - location)\n ; (and\n ; (atLocation ?a ?l)\n ; (objectAtLocation ?o ?l)\n ; )\n ;)\n (exists (?l - location, ?r - receptacle)\n (and\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n ; (objectAtLocation ?o ?l)\n (inReceptacle ?o ?r)\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n )\n )\n (holds ?a ?o)\n )\n :effect\n (and\n (checked ?o)\n )\n)\n\n;; agent goes to receptacle\n (:action GotoLocation\n :parameters (?a - agent ?lStart - location ?lEnd - location ?r - receptacle)\n :precondition (and\n (atLocation ?a ?lStart)\n (receptacleAtLocation ?r ?lEnd)\n ;(exists (?r - receptacle) (receptacleAtLocation ?r ?lEnd))\n )\n :effect (and\n (not (atLocation ?a ?lStart))\n (atLocation ?a ?lEnd)\n ; (forall (?r - receptacle)\n ; (when (and (receptacleAtLocation ?r ?lEnd)\n ; (or (not (openable ?r)) (opened ?r)))\n ; (checked ?r)\n ; )\n ; )\n ; (increase (total-cost) (distance ?lStart ?lEnd))\n (increase (total-cost) 1)\n )\n )\n\n;; agent opens receptacle\n (:action OpenObject\n :parameters (?a - agent ?l - location ?r - receptacle)\n :precondition (and\n (openable ?r)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (not (opened ?r))\n )\n :effect (and\n (opened ?r)\n (checked ?r)\n (increase (total-cost) 1)\n )\n )\n;; agent closes receptacle\n (:action CloseObject\n :parameters (?a - agent ?l - location ?r - receptacle)\n :precondition (and\n (openable ?r)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (opened ?r)\n )\n :effect (and\n (not (opened ?r))\n (increase (total-cost) 1)\n )\n\n )\n\n ;; agent picks up object from a receptacle\n (:action PickupObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n :precondition\n (and\n (pickupable ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n ; (objectAtLocation ?o ?l)\n (inReceptacle ?o ?r)\n (not (holdsAny ?a)) ; agent's hands are empty.\n ;(not (holdsAnyReceptacleObject ?a))\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n ;(not (isReceptacleObject ?o))\n )\n :effect\n (and\n (not (inReceptacle ?o ?r))\n (holds ?a ?o)\n (holdsAny ?a)\n (not (objectAtLocation ?o ?l))\n ;(not (full ?r))\n (increase (total-cost) 1)\n )\n )\n\n\n; ;; agent picks up object from a receptacle\n; (:action PickupObjectFromReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?outerR - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (inReceptacle ?o ?r)\n; (pickupable ?o)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (not (isReceptacleObject ?o))\n; (isReceptacleObject ?outerR)\n; (inReceptacleObject ?o ?outerR)\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (holds ?a ?o)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n;\n; (not (inReceptacleObject ?o ?outerR))\n; (not (isReceptacleObjectFull ?outerR))\n; )\n; )\n;\n; ;; agent picks up object from a receptacle\n; (:action PickupEmptyReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; ; (objectAtLocation ?o ?l)\n; (inReceptacle ?o ?r)\n; (pickupable ?o)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (isReceptacleObject ?o)\n; (not (isReceptacleObjectFull ?o))\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (holds ?a ?o)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n; (holdsAnyReceptacleObject ?a)\n; )\n; )\n;\n; ;; agent picks up object from a receptacle\n; (:action PickupFullReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?outerR - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (inReceptacle ?outerR ?r)\n; (pickupable ?outerR)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (not (isReceptacleObject ?o))\n; (isReceptacleObject ?outerR)\n; (inReceptacleObject ?o ?outerR)\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (not (inReceptacle ?outerR ?r))\n; (holds ?a ?outerR)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (objectAtLocation ?outerR ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n; (holdsAnyReceptacleObject ?a)\n; )\n; )\n\n\n;; agent puts down an object\n (:action PutObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle ?ot - otype ?rt - rtype)\n :precondition (and\n (holds ?a ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable\n ;(not (full ?r))\n (objectType ?o ?ot)\n (receptacleType ?r ?rt)\n (canContain ?rt ?ot)\n ;(not (holdsAnyReceptacleObject ?a))\n )\n :effect (and\n (inReceptacle ?o ?r)\n (objectAtLocation ?o ?l)\n ;(full ?r)\n (not (holds ?a ?o))\n (not (holdsAny ?a))\n (increase (total-cost) 1)\n )\n )\n\n;;; agent puts down an object\n; (:action PutObjectInReceptacleObject\n; :parameters (?a - agent ?l - location ?ot - otype ?o - object ?outerO - object ?outerR - receptacle)\n; :precondition (and\n; (atLocation ?a ?l)\n; (objectAtLocation ?outerO ?l)\n; (isReceptacleObject ?outerO)\n; (not (isReceptacleObject ?o))\n; (objectType ?o ?ot)\n; (holds ?a ?o)\n; (not (holdsAnyReceptacleObject ?a))\n; (inReceptacle ?outerO ?outerR)\n; (not (isReceptacleObjectFull ?outerO))\n; )\n; :effect (and\n; (inReceptacleObject ?o ?outerO)\n; (inReceptacle ?o ?outerR)\n; (not (holds ?a ?o))\n; (not (holdsAny ?a))\n; (objectAtLocation ?o ?l)\n; (isReceptacleObjectFull ?outerO)\n; (increase (total-cost) 1)\n; )\n; )\n;\n;;; agent puts down an object\n; (:action PutEmptyReceptacleObjectinReceptacle\n; :parameters (?a - agent ?l - location ?ot - otype ?o - object ?r - receptacle)\n; :precondition (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable\n; (not (full ?r))\n; (objectType ?o ?ot)\n; (holds ?a ?o)\n; (holdsAnyReceptacleObject ?a)\n; (isReceptacleObject ?o)\n; (not (isReceptacleObjectFull ?o))\n; )\n; :effect (and\n; (inReceptacle ?o ?r)\n; (objectAtLocation ?o ?l)\n; (full ?r)\n; (not (holds ?a ?o))\n; (not (holdsAny ?a))\n; (not (holdsAnyReceptacleObject ?a))\n; (increase (total-cost) 1)\n; )\n; )\n;\n;;; agent puts down a receptacle object in a receptacle\n; (:action PutFullReceptacleObjectInReceptacle\n; :parameters (?a - agent ?l - location ?ot - otype ?innerO - object ?outerO - object ?r - receptacle) ; ?rt - rtype)\n; :precondition (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (objectType ?outerO ?ot)\n; (holds ?a ?outerO)\n; (holdsAnyReceptacleObject ?a)\n; (isReceptacleObject ?outerO)\n; (isReceptacleObjectFull ?outerO)\n; (inReceptacleObject ?innerO ?outerO)\n; )\n; :effect (and\n; (not (holdsAny ?a))\n; (not (holdsAnyReceptacleObject ?a))\n; (objectAtLocation ?outerO ?l)\n; (objectAtLocation ?innerO ?l)\n; (inReceptacle ?outerO ?r)\n; (inReceptacle ?innerO ?r)\n; (not (holds ?a ?outerO))\n; (increase (total-cost) 1)\n; )\n; )\n\n;; agent cleans some object\n (:action CleanObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (cleanable ?o)\n (or\n (receptacleType ?r SinkType)\n (receptacleType ?r SinkBasinType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isClean ?o)\n )\n )\n\n\n;; agent heats-up some object\n (:action HeatObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (heatable ?o)\n (or\n (receptacleType ?r MicrowaveType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isHot ?o)\n (not (isCool ?o))\n )\n )\n\n;; agent cools some object\n (:action CoolObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (coolable ?o)\n (or\n (receptacleType ?r FridgeType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isCool ?o)\n (not (isHot ?o))\n )\n )\n\n\n;; agent toggle object\n (:action ToggleObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n :precondition (and\n (toggleable ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (inReceptacle ?o ?r)\n )\n :effect (and\n (increase (total-cost) 5)\n (when (isOn ?o)\n (not (isOn ?o)))\n (when (not (isOn ?o))\n (isOn ?o))\n (isToggled ?o)\n )\n )\n\n\n;; agent slices some object with a knife\n (:action SliceObject\n :parameters (?a - agent ?l - location ?co - object ?ko - object)\n :precondition\n (and\n (sliceable ?co)\n (or\n (objectType ?ko KnifeType)\n (objectType ?ko ButterKnifeType)\n )\n (atLocation ?a ?l)\n (objectAtLocation ?co ?l)\n (holds ?a ?ko)\n )\n :effect (and\n (increase (total-cost) 5)\n (isSliced ?co)\n )\n )\n\n\n(:action help\n :parameters (?a - agent)\n :precondition\n ()\n :effect\n (and\n (checked ?a)\n )\n)\n)\n", "grammar": "grammar :: \"\"\"\n {\n \"intro\": [\n {\n \"rhs\": \"-= Welcome to TextWorld, ALFRED! =-\\n\\n#look.feedback#\\n\\n#task#\"\n }\n ],\n\n \"notImplemented\": [\n {\n \"rhs\": \"TODO\"\n }\n ],\n\n \"task\": [\n {\n \"rhs\": \"Your task is to: look at bowl under the desklamp.\"\n }\n ],\n\n \"GotoLocation.feedback\": [\n {\n \"rhs\": \"You arrive at {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"OpenObject.feedback\": [\n {\n \"rhs\": \"You open the {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"CloseObject.feedback\": [\n {\n \"rhs\": \"You close the {r.name}.\"\n }\n ],\n\n \"PickupObject.feedback\": [\n {\n \"rhs\": \"You pick up the {o.name} from the {r.name}.\"\n }\n ],\n\n \"PickupObjectFromReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupObjectFromReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupEmptyReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupEmptyReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupFullReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupFullReceptacleObject: You pick up the {outerr.name}.\"\n }\n ],\n\n \"PutObject.feedback\": [\n {\n \"rhs\": \"You move the {o.name} to the {r.name}.\"\n }\n ],\n\n \"PutObjectInReceptacleObject.feedback\": [\n {\n \"rhs\": \"PutObjectInReceptacleObject: You put the {o.name} in the {outero.name}.\"\n }\n ],\n\n \"PutEmptyReceptacleObjectinReceptacle.feedback\": [\n {\n \"rhs\": \"PutEmptyReceptacleObjectinReceptacle: You put the {o.name} in the {r.name}.\"\n }\n ],\n\n \"PutFullReceptacleObjectInReceptacle.feedback\": [\n {\n \"rhs\": \"PutFullReceptacleObjectInReceptacle: You put the {outero.name} in the {r.name}.\"\n }\n ],\n\n \"inventory.feedback\": [\n {\n \"condition\": \"holdsany(a:agent)\",\n \"rhs\": \"You are carrying: [{o.indefinite + ' ' + o.name | holds(a:agent, o:object)}].\"\n },\n {\n \"rhs\": \"You are not carrying anything.\"\n }\n ],\n\n \"examineReceptacle.feedback\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \"The {r.name} is open. In it, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \"The {r.name} is closed.\"\n },\n {\n \"rhs\": \"On the {r.name}, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n }\n ],\n\n \"examineObject.feedback\": [\n {\n \"condition\": \"isreceptacleobject(o:object)\",\n \"rhs\": \"This is a normal {o.name}. In it, you see [{o2.indefinite + ' ' + o2.name | inreceptacleobject(o2:object, o:object)}].\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a clean sliced {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot sliced {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object)\",\n \"rhs\": \"This is a hot and clean {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object)\",\n \"rhs\": \"This is a cool and clean {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object)\",\n \"rhs\": \"This is a hot {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object)\",\n \"rhs\": \"This is a clean {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object)\",\n \"rhs\": \"This is a cold {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"This {o.name} is on.\"\n },\n {\n \"condition\": \"toggleable(o:object) & not_istoggled(o:object)\",\n \"rhs\": \"This {o.name} is off.\"\n },\n {\n \"condition\": \"sliceable(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a sliced {o.name}.\"\n },\n {\n \"rhs\": \"There's nothing special about {o.name}.\"\n }\n ]\n }\n\"\"\";\n\naction GotoLocation {\n template :: \"go to [{r.name | receptacleatlocation(r:receptacle, lend:location)}]\";\n feedback :: \"#GotoLocation.feedback#\";\n}\n\naction OpenObject {\n template :: \"open {r}\";\n feedback :: \"#OpenObject.feedback#\";\n}\n\naction CloseObject {\n template :: \"close {r}\";\n feedback :: \"#CloseObject.feedback#\";\n}\n\naction PickupObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObject.feedback#\";\n}\n\naction PickupObjectFromReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObjectFromReceptacleObject.feedback#\";\n}\n\naction PickupEmptyReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupEmptyReceptacleObject.feedback#\";\n}\n\naction PickupFullReceptacleObject {\n template :: \"take {outerr} from {r}\";\n feedback :: \"#PickupFullReceptacleObject.feedback#\";\n}\n\naction PutObject {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutObject.feedback#\";\n}\n\naction PutObjectInReceptacleObject {\n template :: \"put {o} into {outero}\";\n feedback :: \"#PutObjectInReceptacleObject.feedback#\";\n}\n\naction PutEmptyReceptacleObjectinReceptacle {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutEmptyReceptacleObjectinReceptacle.feedback#\";\n}\n\naction PutFullReceptacleObjectInReceptacle {\n template :: \"put {outero} in {r}\";\n feedback :: \"#PutFullReceptacleObjectInReceptacle.feedback#\";\n}\n\naction inventory {\n template :: \"inventory\";\n feedback :: \"#inventory.feedback#\";\n}\n\naction examineReceptacle {\n template :: \"examine {r}\";\n feedback :: \"#examineReceptacle.feedback#\";\n}\n\naction examineObject {\n template :: \"examine {o}\";\n feedback :: \"#examineObject.feedback#\";\n}\n\naction ToggleObject {\n template :: \"use {o}\";\n feedback :: \"#toggleObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"toggleObject.feedback\": [\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"You turn on the {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object)\",\n \"rhs\": \"You turn off the {o.name}.\"\n },\n {\n \"rhs\": \"You don't see any switch on the {o.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction HeatObject {\n template :: \"heat {o} with {r}\";\n feedback :: \"#heatObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"heatObject.feedback\": [\n {\n \"rhs\": \"You heat the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CleanObject {\n template :: \"clean {o} with {r}\";\n feedback :: \"#cleanObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"cleanObject.feedback\": [\n {\n \"rhs\": \"You clean the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CoolObject {\n template :: \"cool {o} with {r}\";\n feedback :: \"#coolObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"coolObject.feedback\": [\n {\n \"rhs\": \"You cool the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction SliceObject {\n template :: \"slice {co} with {ko}\";\n feedback :: \"#sliceObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"sliceObject.feedback\": [\n {\n \"rhs\": \"You sliced the {co.name} with the {ko.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction look {\n template :: \"look\";\n feedback :: \"#look.feedback#\";\n\n grammar :: \"\"\"\n {\n \"look.feedback\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"#look-variations#. Next to it, you see #list_objects_on_the_floor#.\"\n },\n {\n \"rhs\": \"You are in the middle of a room. Looking quickly around you, you see #list_appliances#.\"\n }\n ],\n\n \"look-variations\": [\n {\n \"rhs\": \"You are facing the [{r.name | atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)}]\"\n }\n ],\n\n \"list_objects_on_the_floor\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)\",\n \"rhs\": \"[{#overview(o)# | atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"list_appliances\": [\n {\n \"condition\": \"receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"[{#overview(r)# | receptacleatlocation(r:receptacle, l:location)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"overview(o, r)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name} (in/on the {r.name})}\"\n }\n ],\n\n \"overview(o)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name}\"\n }\n ],\n \"overview(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}\"\n }\n ],\n \"overview_with_state(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}#overview_state(r)#\"\n }\n ],\n \"overview_state(r)\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \" (it is open)\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \" (it is closed)\"\n },\n {\n \"rhs\": \"\"\n }\n ],\n\n \"list_empty\": [\n {\n \"rhs\": \"nothing\"\n }\n ],\n \"list_separator\": [\n {\n \"rhs\": \", \"\n }\n ],\n \"list_last_separator\": [\n {\n \"rhs\": \", and \"\n }\n ]\n }\n \"\"\";\n}\n\naction help {\n template :: \"help\";\n feedback :: \"\nAvailable commands:\n look: look around your current location\n inventory: check your current inventory\n go to (receptacle): move to a receptacle\n open (receptacle): open a receptacle\n close (receptacle): close a receptacle\n take (object) from (receptacle): take an object from a receptacle\n move (object) to (receptacle): place an object in or on a receptacle\n examine (something): examine a receptacle or an object\n use (object): use an object\n heat (object) with (receptacle): heat an object using a receptacle\n clean (object) with (receptacle): clean an object using a receptacle\n cool (object) with (receptacle): cool an object using a receptacle\n slice (object) with (object): slice an object using a sharp object\n\";\n}\n", "pddl_problem": "\n(define (problem plan_trial_T20190908_024052_230550)\n(:domain alfred)\n(:objects\nagent1 - agent\nSaltShaker - object\n HousePlant - object\n Candle - object\n SprayBottle - object\n Bowl - object\n Window - object\n CD - object\n Egg - object\n Glassbottle - object\n Sink - object\n Pillow - object\n Spoon - object\n SoapBottle - object\n TeddyBear - object\n ButterKnife - object\n Cup - object\n Plate - object\n RemoteControl - object\n Tomato - object\n Statue - object\n HandTowel - object\n Knife - object\n StoveKnob - object\n LightSwitch - object\n Pen - object\n Painting - object\n DishSponge - object\n Vase - object\n Mug - object\n ToiletPaper - object\n Box - object\n Mirror - object\n Ladle - object\n Fork - object\n Blinds - object\n Footstool - object\n KeyChain - object\n Cloth - object\n Laptop - object\n TissueBox - object\n PepperShaker - object\n FloorLamp - object\n WateringCan - object\n Apple - object\n Pan - object\n PaperTowel - object\n PaperTowelRoll - object\n Newspaper - object\n Television - object\n Chair - object\n CellPhone - object\n CreditCard - object\n Lettuce - object\n BasketBall - object\n Potato - object\n Curtains - object\n Boots - object\n Pencil - object\n AlarmClock - object\n ToiletPaperRoll - object\n Spatula - object\n Book - object\n Bread - object\n SoapBar - object\n Watch - object\n DeskLamp - object\n Kettle - object\n Pot - object\n ScrubBrush - object\n WineBottle - object\n ShowerDoor - object\n Bathtub - object\n LaundryHamperLid - object\n ShowerGlass - object\n Poster - object\n TennisRacket - object\n BaseballBat - object\n Towel - object\n Plunger - object\nSaltShakerType - otype\n HousePlantType - otype\n CandleType - otype\n SprayBottleType - otype\n BowlType - otype\n WindowType - otype\n CDType - otype\n EggType - otype\n GlassbottleType - otype\n SinkType - otype\n PillowType - otype\n SpoonType - otype\n SoapBottleType - otype\n TeddyBearType - otype\n ButterKnifeType - otype\n CupType - otype\n PlateType - otype\n RemoteControlType - otype\n TomatoType - otype\n StatueType - otype\n HandTowelType - otype\n KnifeType - otype\n StoveKnobType - otype\n LightSwitchType - otype\n PenType - otype\n PaintingType - otype\n DishSpongeType - otype\n VaseType - otype\n MugType - otype\n ToiletPaperType - otype\n BoxType - otype\n MirrorType - otype\n LadleType - otype\n ForkType - otype\n BlindsType - otype\n FootstoolType - otype\n KeyChainType - otype\n ClothType - otype\n LaptopType - otype\n TissueBoxType - otype\n PepperShakerType - otype\n FloorLampType - otype\n WateringCanType - otype\n AppleType - otype\n PanType - otype\n PaperTowelType - otype\n PaperTowelRollType - otype\n NewspaperType - otype\n TelevisionType - otype\n ChairType - otype\n CellPhoneType - otype\n CreditCardType - otype\n LettuceType - otype\n BasketBallType - otype\n PotatoType - otype\n CurtainsType - otype\n BootsType - otype\n PencilType - otype\n AlarmClockType - otype\n ToiletPaperRollType - otype\n SpatulaType - otype\n BookType - otype\n BreadType - otype\n SoapBarType - otype\n WatchType - otype\n DeskLampType - otype\n KettleType - otype\n PotType - otype\n ScrubBrushType - otype\n WineBottleType - otype\n ShowerDoorType - otype\n BathtubType - otype\n LaundryHamperLidType - otype\n ShowerGlassType - otype\n PosterType - otype\n TennisRacketType - otype\n BaseballBatType - otype\n TowelType - otype\n PlungerType - otype\nSafeType - rtype\n DrawerType - rtype\n CoffeeMachineType - rtype\n HandTowelHolderType - rtype\n SinkBasinType - rtype\n DresserType - rtype\n LaundryHamperType - rtype\n TVStandType - rtype\n BathtubBasinType - rtype\n CabinetType - rtype\n FridgeType - rtype\n DeskType - rtype\n ToiletType - rtype\n CartType - rtype\n SideTableType - rtype\n SofaType - rtype\n CoffeeTableType - rtype\n DiningTableType - rtype\n CounterTopType - rtype\n GarbageCanType - rtype\n ArmChairType - rtype\n ShelfType - rtype\n MicrowaveType - rtype\n ToasterType - rtype\n BedType - rtype\n PaintingHangerType - rtype\n TowelHolderType - rtype\n ToiletPaperHangerType - rtype\n StoveBurnerType - rtype\n OttomanType - rtype\n\n\n AlarmClock_bar__minus_02_dot_45_bar__plus_00_dot_67_bar__minus_02_dot_99 - object\n AlarmClock_bar__minus_02_dot_48_bar__plus_00_dot_68_bar__minus_03_dot_30 - object\n Blinds_bar__plus_02_dot_93_bar__plus_02_dot_17_bar__minus_01_dot_00 - object\n 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CreditCard_bar__minus_02_dot_53_bar__plus_00_dot_68_bar__minus_03_dot_15 - object\n DeskLamp_bar__plus_02_dot_76_bar__plus_00_dot_89_bar__minus_03_dot_32 - object\n DeskLamp_bar__minus_02_dot_46_bar__plus_00_dot_67_bar__minus_00_dot_53 - object\n KeyChain_bar__plus_02_dot_21_bar__plus_00_dot_90_bar__minus_03_dot_25 - object\n KeyChain_bar__plus_02_dot_54_bar__plus_01_dot_23_bar__plus_01_dot_28 - object\n KeyChain_bar__minus_02_dot_48_bar__plus_00_dot_37_bar__minus_00_dot_51 - object\n Laptop_bar__minus_01_dot_31_bar__plus_00_dot_61_bar__minus_01_dot_54 - object\n Laptop_bar__minus_01_dot_87_bar__plus_00_dot_62_bar__minus_02_dot_46 - object\n LightSwitch_bar__minus_00_dot_70_bar__plus_01_dot_02_bar__plus_00_dot_33 - object\n Mirror_bar__plus_00_dot_53_bar__plus_01_dot_42_bar__plus_02_dot_00 - object\n Mug_bar__plus_01_dot_69_bar__plus_00_dot_89_bar__minus_03_dot_18 - object\n Mug_bar__plus_01_dot_87_bar__plus_00_dot_89_bar__minus_03_dot_04 - object\n Mug_bar__minus_02_dot_39_bar__plus_00_dot_68_bar__minus_03_dot_15 - object\n Pencil_bar__plus_02_dot_69_bar__plus_01_dot_23_bar__plus_01_dot_51 - object\n Pencil_bar__minus_02_dot_58_bar__plus_00_dot_69_bar__minus_00_dot_36 - object\n Pen_bar__plus_01_dot_37_bar__plus_00_dot_03_bar__minus_03_dot_41 - object\n Pen_bar__plus_02_dot_21_bar__plus_00_dot_90_bar__minus_03_dot_11 - object\n Pillow_bar__minus_02_dot_12_bar__plus_00_dot_66_bar__minus_01_dot_52 - object\n Pillow_bar__minus_02_dot_38_bar__plus_00_dot_64_bar__minus_02_dot_33 - object\n TeddyBear_bar__minus_00_dot_67_bar__plus_00_dot_61_bar__minus_01_dot_36 - object\n Window_bar__plus_02_dot_96_bar__plus_01_dot_51_bar__minus_01_dot_02 - object\n Window_bar__minus_00_dot_84_bar__plus_01_dot_39_bar__minus_03_dot_65 - object\n Bed_bar__plus_02_dot_40_bar__plus_00_dot_01_bar__minus_00_dot_07 - receptacle\n Bed_bar__minus_01_dot_64_bar__minus_00_dot_04_bar__minus_01_dot_86 - receptacle\n Desk_bar__plus_02_dot_32_bar__minus_00_dot_01_bar__minus_03_dot_22 - receptacle\n Drawer_bar__plus_01_dot_88_bar__plus_00_dot_21_bar__minus_02_dot_96 - receptacle\n Drawer_bar__plus_01_dot_88_bar__plus_00_dot_49_bar__minus_02_dot_96 - receptacle\n Drawer_bar__plus_01_dot_88_bar__plus_00_dot_73_bar__minus_02_dot_96 - receptacle\n Drawer_bar__plus_02_dot_64_bar__plus_00_dot_16_bar__plus_01_dot_51 - receptacle\n Drawer_bar__plus_02_dot_64_bar__plus_00_dot_44_bar__plus_01_dot_51 - receptacle\n Drawer_bar__plus_02_dot_64_bar__plus_00_dot_72_bar__plus_01_dot_51 - receptacle\n Drawer_bar__plus_02_dot_64_bar__plus_00_dot_99_bar__plus_01_dot_51 - receptacle\n Drawer_bar__minus_02_dot_42_bar__plus_00_dot_17_bar__minus_00_dot_51 - receptacle\n Drawer_bar__minus_02_dot_42_bar__plus_00_dot_17_bar__minus_03_dot_15 - receptacle\n Drawer_bar__minus_02_dot_42_bar__plus_00_dot_46_bar__minus_00_dot_51 - receptacle\n Drawer_bar__minus_02_dot_42_bar__plus_00_dot_46_bar__minus_03_dot_15 - receptacle\n Dresser_bar__plus_02_dot_68_bar_00_dot_00_bar__plus_01_dot_51 - receptacle\n GarbageCan_bar__plus_01_dot_34_bar__plus_00_dot_00_bar__minus_03_dot_38 - receptacle\n Safe_bar__plus_02_dot_70_bar__plus_01_dot_23_bar__plus_01_dot_77 - receptacle\n SideTable_bar__minus_02_dot_42_bar__plus_00_dot_46_bar__minus_00_dot_51 - receptacle\n SideTable_bar__minus_02_dot_42_bar__plus_00_dot_46_bar__minus_03_dot_15 - receptacle\n loc_bar_0_bar__minus_8_bar_3_bar_45 - location\n loc_bar_7_bar_6_bar_1_bar_45 - location\n loc_bar__minus_4_bar__minus_12_bar_3_bar_45 - location\n loc_bar__minus_3_bar__minus_12_bar_2_bar__minus_30 - location\n loc_bar__minus_1_bar_1_bar_3_bar_60 - location\n loc_bar__minus_7_bar__minus_2_bar_3_bar_60 - location\n loc_bar__minus_5_bar__minus_3_bar_3_bar_45 - location\n loc_bar_9_bar_5_bar_1_bar_60 - location\n loc_bar_9_bar__minus_6_bar_1_bar_15 - location\n loc_bar_5_bar_0_bar_1_bar_60 - location\n loc_bar__minus_3_bar__minus_12_bar_2_bar_15 - location\n loc_bar_5_bar__minus_12_bar_2_bar_60 - location\n loc_bar_2_bar_6_bar_0_bar_30 - location\n loc_bar__minus_7_bar__minus_12_bar_3_bar_60 - location\n loc_bar_3_bar__minus_9_bar_1_bar_45 - location\n loc_bar_9_bar_6_bar_1_bar_45 - location\n loc_bar_4_bar__minus_10_bar_1_bar_45 - location\n loc_bar_8_bar__minus_10_bar_2_bar_60 - location\n loc_bar_6_bar_4_bar_1_bar_45 - location\n loc_bar__minus_6_bar__minus_3_bar_3_bar_45 - location\n loc_bar_9_bar__minus_6_bar_1_bar__minus_30 - location\n loc_bar_8_bar__minus_10_bar_1_bar_60 - location\n loc_bar_8_bar_6_bar_1_bar_45 - location\n loc_bar_6_bar_5_bar_1_bar_45 - location\n loc_bar__minus_5_bar__minus_12_bar_3_bar_45 - location\n loc_bar_5_bar_2_bar_1_bar_30 - location\n )\n \n\n(:init\n\n\n (receptacleType GarbageCan_bar__plus_01_dot_34_bar__plus_00_dot_00_bar__minus_03_dot_38 GarbageCanType)\n (receptacleType Safe_bar__plus_02_dot_70_bar__plus_01_dot_23_bar__plus_01_dot_77 SafeType)\n (receptacleType Drawer_bar__plus_01_dot_88_bar__plus_00_dot_73_bar__minus_02_dot_96 DrawerType)\n (receptacleType Drawer_bar__plus_01_dot_88_bar__plus_00_dot_49_bar__minus_02_dot_96 DrawerType)\n (receptacleType Drawer_bar__plus_02_dot_64_bar__plus_00_dot_16_bar__plus_01_dot_51 DrawerType)\n (receptacleType Drawer_bar__minus_02_dot_42_bar__plus_00_dot_46_bar__minus_03_dot_15 DrawerType)\n (receptacleType SideTable_bar__minus_02_dot_42_bar__plus_00_dot_46_bar__minus_00_dot_51 SideTableType)\n (receptacleType Drawer_bar__minus_02_dot_42_bar__plus_00_dot_46_bar__minus_00_dot_51 DrawerType)\n (receptacleType Drawer_bar__minus_02_dot_42_bar__plus_00_dot_17_bar__minus_00_dot_51 DrawerType)\n (receptacleType Drawer_bar__plus_02_dot_64_bar__plus_00_dot_44_bar__plus_01_dot_51 DrawerType)\n (receptacleType Bed_bar__minus_01_dot_64_bar__minus_00_dot_04_bar__minus_01_dot_86 BedType)\n (receptacleType SideTable_bar__minus_02_dot_42_bar__plus_00_dot_46_bar__minus_03_dot_15 SideTableType)\n (receptacleType Dresser_bar__plus_02_dot_68_bar_00_dot_00_bar__plus_01_dot_51 DresserType)\n (receptacleType Desk_bar__plus_02_dot_32_bar__minus_00_dot_01_bar__minus_03_dot_22 DeskType)\n (receptacleType Drawer_bar__plus_01_dot_88_bar__plus_00_dot_21_bar__minus_02_dot_96 DrawerType)\n (receptacleType Drawer_bar__plus_02_dot_64_bar__plus_00_dot_72_bar__plus_01_dot_51 DrawerType)\n (receptacleType Drawer_bar__plus_02_dot_64_bar__plus_00_dot_99_bar__plus_01_dot_51 DrawerType)\n (receptacleType Drawer_bar__minus_02_dot_42_bar__plus_00_dot_17_bar__minus_03_dot_15 DrawerType)\n (receptacleType Bed_bar__plus_02_dot_40_bar__plus_00_dot_01_bar__minus_00_dot_07 BedType)\n (objectType Pillow_bar__minus_02_dot_38_bar__plus_00_dot_64_bar__minus_02_dot_33 PillowType)\n (objectType KeyChain_bar__minus_02_dot_48_bar__plus_00_dot_37_bar__minus_00_dot_51 KeyChainType)\n (objectType Window_bar__minus_00_dot_84_bar__plus_01_dot_39_bar__minus_03_dot_65 WindowType)\n (objectType Pillow_bar__minus_02_dot_12_bar__plus_00_dot_66_bar__minus_01_dot_52 PillowType)\n (objectType CD_bar__plus_02_dot_75_bar__plus_00_dot_37_bar__plus_01_dot_76 CDType)\n (objectType Mirror_bar__plus_00_dot_53_bar__plus_01_dot_42_bar__plus_02_dot_00 MirrorType)\n (objectType Pencil_bar__minus_02_dot_58_bar__plus_00_dot_69_bar__minus_00_dot_36 PencilType)\n (objectType CD_bar__plus_02_dot_76_bar__plus_01_dot_25_bar__plus_01_dot_74 CDType)\n (objectType Mug_bar__plus_01_dot_87_bar__plus_00_dot_89_bar__minus_03_dot_04 MugType)\n (objectType Chair_bar__plus_02_dot_58_bar__plus_00_dot_00_bar__minus_02_dot_88 ChairType)\n (objectType Book_bar__plus_01_dot_93_bar__plus_00_dot_08_bar__minus_03_dot_14 BookType)\n (objectType CreditCard_bar__plus_02_dot_01_bar__plus_00_dot_36_bar__minus_03_dot_03 CreditCardType)\n (objectType AlarmClock_bar__minus_02_dot_48_bar__plus_00_dot_68_bar__minus_03_dot_30 AlarmClockType)\n (objectType CellPhone_bar__plus_02_dot_26_bar__plus_00_dot_34_bar__plus_00_dot_37 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Bowl_bar__plus_02_dot_56_bar__plus_00_dot_90_bar__minus_03_dot_11 BowlType)\n (objectType Mug_bar__plus_01_dot_69_bar__plus_00_dot_89_bar__minus_03_dot_18 MugType)\n (objectType Pen_bar__plus_01_dot_37_bar__plus_00_dot_03_bar__minus_03_dot_41 PenType)\n (objectType Book_bar__minus_00_dot_74_bar__plus_00_dot_62_bar__minus_02_dot_46 BookType)\n (objectType Laptop_bar__minus_01_dot_87_bar__plus_00_dot_62_bar__minus_02_dot_46 LaptopType)\n (objectType LightSwitch_bar__minus_00_dot_70_bar__plus_01_dot_02_bar__plus_00_dot_33 LightSwitchType)\n (objectType Window_bar__plus_02_dot_96_bar__plus_01_dot_51_bar__minus_01_dot_02 WindowType)\n (objectType Blinds_bar__minus_00_dot_80_bar__plus_02_dot_09_bar__minus_03_dot_63 BlindsType)\n (objectType CreditCard_bar__minus_02_dot_53_bar__plus_00_dot_68_bar__minus_03_dot_15 CreditCardType)\n (objectType AlarmClock_bar__minus_02_dot_45_bar__plus_00_dot_67_bar__minus_02_dot_99 AlarmClockType)\n (objectType 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(canContain DrawerType BookType)\n (canContain DrawerType CDType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType PencilType)\n (canContain BedType LaptopType)\n (canContain BedType BookType)\n (canContain BedType CellPhoneType)\n (canContain BedType PillowType)\n (pickupable Pillow_bar__minus_02_dot_38_bar__plus_00_dot_64_bar__minus_02_dot_33)\n (pickupable KeyChain_bar__minus_02_dot_48_bar__plus_00_dot_37_bar__minus_00_dot_51)\n (pickupable Pillow_bar__minus_02_dot_12_bar__plus_00_dot_66_bar__minus_01_dot_52)\n (pickupable CD_bar__plus_02_dot_75_bar__plus_00_dot_37_bar__plus_01_dot_76)\n (pickupable Pencil_bar__minus_02_dot_58_bar__plus_00_dot_69_bar__minus_00_dot_36)\n (pickupable CD_bar__plus_02_dot_76_bar__plus_01_dot_25_bar__plus_01_dot_74)\n (pickupable Mug_bar__plus_01_dot_87_bar__plus_00_dot_89_bar__minus_03_dot_04)\n (pickupable Book_bar__plus_01_dot_93_bar__plus_00_dot_08_bar__minus_03_dot_14)\n (pickupable CreditCard_bar__plus_02_dot_01_bar__plus_00_dot_36_bar__minus_03_dot_03)\n (pickupable AlarmClock_bar__minus_02_dot_48_bar__plus_00_dot_68_bar__minus_03_dot_30)\n (pickupable CellPhone_bar__plus_02_dot_26_bar__plus_00_dot_34_bar__plus_00_dot_37)\n (pickupable CellPhone_bar__plus_02_dot_71_bar__plus_00_dot_65_bar__plus_01_dot_26)\n (pickupable KeyChain_bar__plus_02_dot_54_bar__plus_01_dot_23_bar__plus_01_dot_28)\n (pickupable CD_bar__plus_02_dot_64_bar__plus_01_dot_23_bar__plus_01_dot_28)\n (pickupable Laptop_bar__minus_01_dot_31_bar__plus_00_dot_61_bar__minus_01_dot_54)\n (pickupable CreditCard_bar__plus_02_dot_04_bar__plus_00_dot_90_bar__minus_02_dot_98)\n (pickupable Mug_bar__minus_02_dot_39_bar__plus_00_dot_68_bar__minus_03_dot_15)\n (pickupable KeyChain_bar__plus_02_dot_21_bar__plus_00_dot_90_bar__minus_03_dot_25)\n (pickupable Bowl_bar__plus_02_dot_56_bar__plus_00_dot_90_bar__minus_03_dot_11)\n (pickupable Mug_bar__plus_01_dot_69_bar__plus_00_dot_89_bar__minus_03_dot_18)\n (pickupable Pen_bar__plus_01_dot_37_bar__plus_00_dot_03_bar__minus_03_dot_41)\n (pickupable Book_bar__minus_00_dot_74_bar__plus_00_dot_62_bar__minus_02_dot_46)\n (pickupable Laptop_bar__minus_01_dot_87_bar__plus_00_dot_62_bar__minus_02_dot_46)\n (pickupable CreditCard_bar__minus_02_dot_53_bar__plus_00_dot_68_bar__minus_03_dot_15)\n (pickupable AlarmClock_bar__minus_02_dot_45_bar__plus_00_dot_67_bar__minus_02_dot_99)\n (pickupable Pencil_bar__plus_02_dot_69_bar__plus_01_dot_23_bar__plus_01_dot_51)\n (pickupable TeddyBear_bar__minus_00_dot_67_bar__plus_00_dot_61_bar__minus_01_dot_36)\n (pickupable Pen_bar__plus_02_dot_21_bar__plus_00_dot_90_bar__minus_03_dot_11)\n (isReceptacleObject Mug_bar__plus_01_dot_87_bar__plus_00_dot_89_bar__minus_03_dot_04)\n (isReceptacleObject Mug_bar__minus_02_dot_39_bar__plus_00_dot_68_bar__minus_03_dot_15)\n (isReceptacleObject Bowl_bar__plus_02_dot_56_bar__plus_00_dot_90_bar__minus_03_dot_11)\n (isReceptacleObject Mug_bar__plus_01_dot_69_bar__plus_00_dot_89_bar__minus_03_dot_18)\n (openable Safe_bar__plus_02_dot_70_bar__plus_01_dot_23_bar__plus_01_dot_77)\n (openable Drawer_bar__plus_01_dot_88_bar__plus_00_dot_73_bar__minus_02_dot_96)\n (openable Drawer_bar__plus_01_dot_88_bar__plus_00_dot_49_bar__minus_02_dot_96)\n (openable Drawer_bar__plus_02_dot_64_bar__plus_00_dot_16_bar__plus_01_dot_51)\n (openable Drawer_bar__minus_02_dot_42_bar__plus_00_dot_46_bar__minus_03_dot_15)\n (openable Drawer_bar__minus_02_dot_42_bar__plus_00_dot_46_bar__minus_00_dot_51)\n (openable Drawer_bar__minus_02_dot_42_bar__plus_00_dot_17_bar__minus_00_dot_51)\n (openable Drawer_bar__plus_02_dot_64_bar__plus_00_dot_44_bar__plus_01_dot_51)\n (openable Drawer_bar__plus_01_dot_88_bar__plus_00_dot_21_bar__minus_02_dot_96)\n (openable Drawer_bar__plus_02_dot_64_bar__plus_00_dot_72_bar__plus_01_dot_51)\n (openable Drawer_bar__plus_02_dot_64_bar__plus_00_dot_99_bar__plus_01_dot_51)\n (openable Drawer_bar__minus_02_dot_42_bar__plus_00_dot_17_bar__minus_03_dot_15)\n \n (atLocation agent1 loc_bar_5_bar_2_bar_1_bar_30)\n \n (cleanable Mug_bar__plus_01_dot_87_bar__plus_00_dot_89_bar__minus_03_dot_04)\n (cleanable Mug_bar__minus_02_dot_39_bar__plus_00_dot_68_bar__minus_03_dot_15)\n (cleanable Bowl_bar__plus_02_dot_56_bar__plus_00_dot_90_bar__minus_03_dot_11)\n (cleanable Mug_bar__plus_01_dot_69_bar__plus_00_dot_89_bar__minus_03_dot_18)\n \n (heatable Mug_bar__plus_01_dot_87_bar__plus_00_dot_89_bar__minus_03_dot_04)\n (heatable Mug_bar__minus_02_dot_39_bar__plus_00_dot_68_bar__minus_03_dot_15)\n (heatable Mug_bar__plus_01_dot_69_bar__plus_00_dot_89_bar__minus_03_dot_18)\n (coolable Mug_bar__plus_01_dot_87_bar__plus_00_dot_89_bar__minus_03_dot_04)\n (coolable Mug_bar__minus_02_dot_39_bar__plus_00_dot_68_bar__minus_03_dot_15)\n (coolable Bowl_bar__plus_02_dot_56_bar__plus_00_dot_90_bar__minus_03_dot_11)\n (coolable Mug_bar__plus_01_dot_69_bar__plus_00_dot_89_bar__minus_03_dot_18)\n \n \n (toggleable DeskLamp_bar__minus_02_dot_46_bar__plus_00_dot_67_bar__minus_00_dot_53)\n (toggleable DeskLamp_bar__plus_02_dot_76_bar__plus_00_dot_89_bar__minus_03_dot_32)\n \n \n \n \n (inReceptacle Book_bar__minus_00_dot_74_bar__plus_00_dot_62_bar__minus_02_dot_46 Bed_bar__minus_01_dot_64_bar__minus_00_dot_04_bar__minus_01_dot_86)\n (inReceptacle Pillow_bar__minus_02_dot_38_bar__plus_00_dot_64_bar__minus_02_dot_33 Bed_bar__minus_01_dot_64_bar__minus_00_dot_04_bar__minus_01_dot_86)\n (inReceptacle Laptop_bar__minus_01_dot_87_bar__plus_00_dot_62_bar__minus_02_dot_46 Bed_bar__minus_01_dot_64_bar__minus_00_dot_04_bar__minus_01_dot_86)\n (inReceptacle Pillow_bar__minus_02_dot_12_bar__plus_00_dot_66_bar__minus_01_dot_52 Bed_bar__minus_01_dot_64_bar__minus_00_dot_04_bar__minus_01_dot_86)\n (inReceptacle TeddyBear_bar__minus_00_dot_67_bar__plus_00_dot_61_bar__minus_01_dot_36 Bed_bar__minus_01_dot_64_bar__minus_00_dot_04_bar__minus_01_dot_86)\n (inReceptacle Laptop_bar__minus_01_dot_31_bar__plus_00_dot_61_bar__minus_01_dot_54 Bed_bar__minus_01_dot_64_bar__minus_00_dot_04_bar__minus_01_dot_86)\n (inReceptacle CD_bar__plus_02_dot_75_bar__plus_00_dot_37_bar__plus_01_dot_76 Drawer_bar__plus_02_dot_64_bar__plus_00_dot_44_bar__plus_01_dot_51)\n (inReceptacle CreditCard_bar__minus_02_dot_53_bar__plus_00_dot_68_bar__minus_03_dot_15 SideTable_bar__minus_02_dot_42_bar__plus_00_dot_46_bar__minus_03_dot_15)\n (inReceptacle Mug_bar__minus_02_dot_39_bar__plus_00_dot_68_bar__minus_03_dot_15 SideTable_bar__minus_02_dot_42_bar__plus_00_dot_46_bar__minus_03_dot_15)\n (inReceptacle AlarmClock_bar__minus_02_dot_48_bar__plus_00_dot_68_bar__minus_03_dot_30 SideTable_bar__minus_02_dot_42_bar__plus_00_dot_46_bar__minus_03_dot_15)\n (inReceptacle AlarmClock_bar__minus_02_dot_45_bar__plus_00_dot_67_bar__minus_02_dot_99 SideTable_bar__minus_02_dot_42_bar__plus_00_dot_46_bar__minus_03_dot_15)\n (inReceptacle Mug_bar__plus_01_dot_69_bar__plus_00_dot_89_bar__minus_03_dot_18 Desk_bar__plus_02_dot_32_bar__minus_00_dot_01_bar__minus_03_dot_22)\n (inReceptacle CreditCard_bar__plus_02_dot_04_bar__plus_00_dot_90_bar__minus_02_dot_98 Desk_bar__plus_02_dot_32_bar__minus_00_dot_01_bar__minus_03_dot_22)\n (inReceptacle KeyChain_bar__plus_02_dot_21_bar__plus_00_dot_90_bar__minus_03_dot_25 Desk_bar__plus_02_dot_32_bar__minus_00_dot_01_bar__minus_03_dot_22)\n (inReceptacle DeskLamp_bar__plus_02_dot_76_bar__plus_00_dot_89_bar__minus_03_dot_32 Desk_bar__plus_02_dot_32_bar__minus_00_dot_01_bar__minus_03_dot_22)\n (inReceptacle Bowl_bar__plus_02_dot_56_bar__plus_00_dot_90_bar__minus_03_dot_11 Desk_bar__plus_02_dot_32_bar__minus_00_dot_01_bar__minus_03_dot_22)\n (inReceptacle Pen_bar__plus_02_dot_21_bar__plus_00_dot_90_bar__minus_03_dot_11 Desk_bar__plus_02_dot_32_bar__minus_00_dot_01_bar__minus_03_dot_22)\n (inReceptacle Mug_bar__plus_01_dot_87_bar__plus_00_dot_89_bar__minus_03_dot_04 Desk_bar__plus_02_dot_32_bar__minus_00_dot_01_bar__minus_03_dot_22)\n (inReceptacle KeyChain_bar__minus_02_dot_48_bar__plus_00_dot_37_bar__minus_00_dot_51 Drawer_bar__minus_02_dot_42_bar__plus_00_dot_46_bar__minus_00_dot_51)\n (inReceptacle DeskLamp_bar__minus_02_dot_46_bar__plus_00_dot_67_bar__minus_00_dot_53 SideTable_bar__minus_02_dot_42_bar__plus_00_dot_46_bar__minus_00_dot_51)\n (inReceptacle Pencil_bar__minus_02_dot_58_bar__plus_00_dot_69_bar__minus_00_dot_36 SideTable_bar__minus_02_dot_42_bar__plus_00_dot_46_bar__minus_00_dot_51)\n (inReceptacle CellPhone_bar__plus_02_dot_71_bar__plus_00_dot_65_bar__plus_01_dot_26 Drawer_bar__plus_02_dot_64_bar__plus_00_dot_72_bar__plus_01_dot_51)\n (inReceptacle Book_bar__plus_01_dot_93_bar__plus_00_dot_08_bar__minus_03_dot_14 Drawer_bar__plus_01_dot_88_bar__plus_00_dot_21_bar__minus_02_dot_96)\n (inReceptacle CD_bar__plus_02_dot_76_bar__plus_01_dot_25_bar__plus_01_dot_74 Dresser_bar__plus_02_dot_68_bar_00_dot_00_bar__plus_01_dot_51)\n (inReceptacle CD_bar__plus_02_dot_64_bar__plus_01_dot_23_bar__plus_01_dot_28 Dresser_bar__plus_02_dot_68_bar_00_dot_00_bar__plus_01_dot_51)\n (inReceptacle KeyChain_bar__plus_02_dot_54_bar__plus_01_dot_23_bar__plus_01_dot_28 Dresser_bar__plus_02_dot_68_bar_00_dot_00_bar__plus_01_dot_51)\n (inReceptacle Pencil_bar__plus_02_dot_69_bar__plus_01_dot_23_bar__plus_01_dot_51 Dresser_bar__plus_02_dot_68_bar_00_dot_00_bar__plus_01_dot_51)\n (inReceptacle CellPhone_bar__plus_02_dot_26_bar__plus_00_dot_34_bar__plus_00_dot_37 Bed_bar__plus_02_dot_40_bar__plus_00_dot_01_bar__minus_00_dot_07)\n (inReceptacle CreditCard_bar__plus_02_dot_01_bar__plus_00_dot_36_bar__minus_03_dot_03 Drawer_bar__plus_01_dot_88_bar__plus_00_dot_49_bar__minus_02_dot_96)\n (inReceptacle Pen_bar__plus_01_dot_37_bar__plus_00_dot_03_bar__minus_03_dot_41 GarbageCan_bar__plus_01_dot_34_bar__plus_00_dot_00_bar__minus_03_dot_38)\n (inReceptacle CD_bar__plus_02_dot_76_bar__plus_01_dot_25_bar__plus_01_dot_74 Safe_bar__plus_02_dot_70_bar__plus_01_dot_23_bar__plus_01_dot_77)\n \n \n (receptacleAtLocation Bed_bar__plus_02_dot_40_bar__plus_00_dot_01_bar__minus_00_dot_07 loc_bar_5_bar_0_bar_1_bar_60)\n (receptacleAtLocation Bed_bar__minus_01_dot_64_bar__minus_00_dot_04_bar__minus_01_dot_86 loc_bar_0_bar__minus_8_bar_3_bar_45)\n (receptacleAtLocation Desk_bar__plus_02_dot_32_bar__minus_00_dot_01_bar__minus_03_dot_22 loc_bar_8_bar__minus_10_bar_2_bar_60)\n (receptacleAtLocation Drawer_bar__plus_01_dot_88_bar__plus_00_dot_21_bar__minus_02_dot_96 loc_bar_3_bar__minus_9_bar_1_bar_45)\n (receptacleAtLocation Drawer_bar__plus_01_dot_88_bar__plus_00_dot_49_bar__minus_02_dot_96 loc_bar_3_bar__minus_9_bar_1_bar_45)\n (receptacleAtLocation Drawer_bar__plus_01_dot_88_bar__plus_00_dot_73_bar__minus_02_dot_96 loc_bar_4_bar__minus_10_bar_1_bar_45)\n (receptacleAtLocation Drawer_bar__plus_02_dot_64_bar__plus_00_dot_16_bar__plus_01_dot_51 loc_bar_6_bar_4_bar_1_bar_45)\n (receptacleAtLocation Drawer_bar__plus_02_dot_64_bar__plus_00_dot_44_bar__plus_01_dot_51 loc_bar_6_bar_5_bar_1_bar_45)\n (receptacleAtLocation Drawer_bar__plus_02_dot_64_bar__plus_00_dot_72_bar__plus_01_dot_51 loc_bar_7_bar_6_bar_1_bar_45)\n (receptacleAtLocation Drawer_bar__plus_02_dot_64_bar__plus_00_dot_99_bar__plus_01_dot_51 loc_bar_8_bar_6_bar_1_bar_45)\n (receptacleAtLocation Drawer_bar__minus_02_dot_42_bar__plus_00_dot_17_bar__minus_00_dot_51 loc_bar__minus_5_bar__minus_3_bar_3_bar_45)\n (receptacleAtLocation Drawer_bar__minus_02_dot_42_bar__plus_00_dot_17_bar__minus_03_dot_15 loc_bar__minus_4_bar__minus_12_bar_3_bar_45)\n (receptacleAtLocation Drawer_bar__minus_02_dot_42_bar__plus_00_dot_46_bar__minus_00_dot_51 loc_bar__minus_6_bar__minus_3_bar_3_bar_45)\n (receptacleAtLocation Drawer_bar__minus_02_dot_42_bar__plus_00_dot_46_bar__minus_03_dot_15 loc_bar__minus_5_bar__minus_12_bar_3_bar_45)\n (receptacleAtLocation Dresser_bar__plus_02_dot_68_bar_00_dot_00_bar__plus_01_dot_51 loc_bar_9_bar_5_bar_1_bar_60)\n (receptacleAtLocation GarbageCan_bar__plus_01_dot_34_bar__plus_00_dot_00_bar__minus_03_dot_38 loc_bar_5_bar__minus_12_bar_2_bar_60)\n (receptacleAtLocation Safe_bar__plus_02_dot_70_bar__plus_01_dot_23_bar__plus_01_dot_77 loc_bar_9_bar_6_bar_1_bar_45)\n (receptacleAtLocation SideTable_bar__minus_02_dot_42_bar__plus_00_dot_46_bar__minus_00_dot_51 loc_bar__minus_7_bar__minus_2_bar_3_bar_60)\n (receptacleAtLocation SideTable_bar__minus_02_dot_42_bar__plus_00_dot_46_bar__minus_03_dot_15 loc_bar__minus_7_bar__minus_12_bar_3_bar_60)\n (objectAtLocation Mug_bar__minus_02_dot_39_bar__plus_00_dot_68_bar__minus_03_dot_15 loc_bar__minus_7_bar__minus_12_bar_3_bar_60)\n (objectAtLocation CD_bar__plus_02_dot_76_bar__plus_01_dot_25_bar__plus_01_dot_74 loc_bar_9_bar_6_bar_1_bar_45)\n (objectAtLocation KeyChain_bar__minus_02_dot_48_bar__plus_00_dot_37_bar__minus_00_dot_51 loc_bar__minus_6_bar__minus_3_bar_3_bar_45)\n (objectAtLocation CellPhone_bar__plus_02_dot_26_bar__plus_00_dot_34_bar__plus_00_dot_37 loc_bar_5_bar_0_bar_1_bar_60)\n (objectAtLocation AlarmClock_bar__minus_02_dot_45_bar__plus_00_dot_67_bar__minus_02_dot_99 loc_bar__minus_7_bar__minus_12_bar_3_bar_60)\n (objectAtLocation Laptop_bar__minus_01_dot_31_bar__plus_00_dot_61_bar__minus_01_dot_54 loc_bar_0_bar__minus_8_bar_3_bar_45)\n (objectAtLocation Pencil_bar__minus_02_dot_58_bar__plus_00_dot_69_bar__minus_00_dot_36 loc_bar__minus_7_bar__minus_2_bar_3_bar_60)\n (objectAtLocation Pen_bar__plus_02_dot_21_bar__plus_00_dot_90_bar__minus_03_dot_11 loc_bar_8_bar__minus_10_bar_2_bar_60)\n (objectAtLocation CreditCard_bar__plus_02_dot_01_bar__plus_00_dot_36_bar__minus_03_dot_03 loc_bar_3_bar__minus_9_bar_1_bar_45)\n (objectAtLocation Book_bar__plus_01_dot_93_bar__plus_00_dot_08_bar__minus_03_dot_14 loc_bar_3_bar__minus_9_bar_1_bar_45)\n (objectAtLocation KeyChain_bar__plus_02_dot_54_bar__plus_01_dot_23_bar__plus_01_dot_28 loc_bar_9_bar_5_bar_1_bar_60)\n (objectAtLocation CreditCard_bar__plus_02_dot_04_bar__plus_00_dot_90_bar__minus_02_dot_98 loc_bar_8_bar__minus_10_bar_2_bar_60)\n (objectAtLocation CD_bar__plus_02_dot_75_bar__plus_00_dot_37_bar__plus_01_dot_76 loc_bar_6_bar_5_bar_1_bar_45)\n (objectAtLocation Mug_bar__plus_01_dot_87_bar__plus_00_dot_89_bar__minus_03_dot_04 loc_bar_8_bar__minus_10_bar_2_bar_60)\n (objectAtLocation Book_bar__minus_00_dot_74_bar__plus_00_dot_62_bar__minus_02_dot_46 loc_bar_0_bar__minus_8_bar_3_bar_45)\n (objectAtLocation CreditCard_bar__minus_02_dot_53_bar__plus_00_dot_68_bar__minus_03_dot_15 loc_bar__minus_7_bar__minus_12_bar_3_bar_60)\n (objectAtLocation Pen_bar__plus_01_dot_37_bar__plus_00_dot_03_bar__minus_03_dot_41 loc_bar_5_bar__minus_12_bar_2_bar_60)\n (objectAtLocation DeskLamp_bar__plus_02_dot_76_bar__plus_00_dot_89_bar__minus_03_dot_32 loc_bar_8_bar__minus_10_bar_2_bar_60)\n (objectAtLocation Pencil_bar__plus_02_dot_69_bar__plus_01_dot_23_bar__plus_01_dot_51 loc_bar_9_bar_5_bar_1_bar_60)\n (objectAtLocation DeskLamp_bar__minus_02_dot_46_bar__plus_00_dot_67_bar__minus_00_dot_53 loc_bar__minus_7_bar__minus_2_bar_3_bar_60)\n (objectAtLocation LightSwitch_bar__minus_00_dot_70_bar__plus_01_dot_02_bar__plus_00_dot_33 loc_bar__minus_1_bar_1_bar_3_bar_60)\n (objectAtLocation TeddyBear_bar__minus_00_dot_67_bar__plus_00_dot_61_bar__minus_01_dot_36 loc_bar_0_bar__minus_8_bar_3_bar_45)\n (objectAtLocation Laptop_bar__minus_01_dot_87_bar__plus_00_dot_62_bar__minus_02_dot_46 loc_bar_0_bar__minus_8_bar_3_bar_45)\n (objectAtLocation AlarmClock_bar__minus_02_dot_48_bar__plus_00_dot_68_bar__minus_03_dot_30 loc_bar__minus_7_bar__minus_12_bar_3_bar_60)\n (objectAtLocation CellPhone_bar__plus_02_dot_71_bar__plus_00_dot_65_bar__plus_01_dot_26 loc_bar_7_bar_6_bar_1_bar_45)\n (objectAtLocation KeyChain_bar__plus_02_dot_21_bar__plus_00_dot_90_bar__minus_03_dot_25 loc_bar_8_bar__minus_10_bar_2_bar_60)\n (objectAtLocation Pillow_bar__minus_02_dot_12_bar__plus_00_dot_66_bar__minus_01_dot_52 loc_bar_0_bar__minus_8_bar_3_bar_45)\n (objectAtLocation Pillow_bar__minus_02_dot_38_bar__plus_00_dot_64_bar__minus_02_dot_33 loc_bar_0_bar__minus_8_bar_3_bar_45)\n (objectAtLocation Mirror_bar__plus_00_dot_53_bar__plus_01_dot_42_bar__plus_02_dot_00 loc_bar_2_bar_6_bar_0_bar_30)\n (objectAtLocation CD_bar__plus_02_dot_64_bar__plus_01_dot_23_bar__plus_01_dot_28 loc_bar_9_bar_5_bar_1_bar_60)\n (objectAtLocation Window_bar__minus_00_dot_84_bar__plus_01_dot_39_bar__minus_03_dot_65 loc_bar__minus_3_bar__minus_12_bar_2_bar_15)\n (objectAtLocation Window_bar__plus_02_dot_96_bar__plus_01_dot_51_bar__minus_01_dot_02 loc_bar_9_bar__minus_6_bar_1_bar_15)\n (objectAtLocation Chair_bar__plus_02_dot_58_bar__plus_00_dot_00_bar__minus_02_dot_88 loc_bar_8_bar__minus_10_bar_1_bar_60)\n (objectAtLocation Mug_bar__plus_01_dot_69_bar__plus_00_dot_89_bar__minus_03_dot_18 loc_bar_8_bar__minus_10_bar_2_bar_60)\n (objectAtLocation Blinds_bar__minus_00_dot_80_bar__plus_02_dot_09_bar__minus_03_dot_63 loc_bar__minus_3_bar__minus_12_bar_2_bar__minus_30)\n (objectAtLocation Blinds_bar__plus_02_dot_93_bar__plus_02_dot_17_bar__minus_01_dot_00 loc_bar_9_bar__minus_6_bar_1_bar__minus_30)\n (objectAtLocation Bowl_bar__plus_02_dot_56_bar__plus_00_dot_90_bar__minus_03_dot_11 loc_bar_8_bar__minus_10_bar_2_bar_60)\n )\n \n\n (:goal\n (and\n (exists (?ot - object\n ?r - receptacle\n ?a - agent\n ?l - location)\n (and\n (objectType ?ot DeskLampType)\n (toggleable ?ot)\n (isToggled ?ot)\n (receptacleAtLocation ?r ?l)\n (atLocation ?a ?l)\n (inReceptacle ?ot ?r)\n )\n )\n (exists (?o - object\n ?a - agent)\n (and\n (objectType ?o BowlType)\n (holds ?a ?o)\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to desk 1", "use desklamp 1", "take bowl 1 from desk 1"]}
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alfworld__look_at_obj_in_light__307
|
look_at_obj_in_light
|
look_at_obj_in_light-Bowl-None-DeskLamp-323/trial_T20190908_024019_183353/game.tw-pddl
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{"pddl_domain": ";; Specification in PDDL of the Alfred domain\n;; Intended to be used with Fast Downward which supports PDDL 2.2 level 1 plus the :action-costs requirement from PDDL 3.1.\n\n(define (domain alfred)\n (:requirements\n :adl\n :action-costs\n :typing\n )\n (:types\n agent\n location\n receptacle\n object\n rtype\n otype\n )\n\n\n (:predicates\n (atLocation ?a - agent ?l - location) ; true if the agent is at the location\n (receptacleAtLocation ?r - receptacle ?l - location) ; true if the receptacle is at the location (constant)\n (objectAtLocation ?o - object ?l - location) ; true if the object is at the location\n (openable ?r - receptacle) ; true if a receptacle is openable\n (opened ?r - receptacle) ; true if a receptacle is opened\n (inReceptacle ?o - object ?r - receptacle) ; object ?o is in receptacle ?r\n (isReceptacleObject ?o - object) ; true if the object can have things put inside it\n (inReceptacleObject ?innerObject - object ?outerObject - object) ; object ?innerObject is inside object ?outerObject\n (isReceptacleObjectFull ?o - object) ; true if the receptacle object contains something\n (wasInReceptacle ?o - object ?r - receptacle) ; object ?o was or is in receptacle ?r now or some time in the past\n (checked ?r - receptacle) ; whether the receptacle has been looked inside/visited\n (examined ?l - location) ; TODO\n (receptacleType ?r - receptacle ?t - rtype) ; the type of receptacle (Cabinet vs Cabinet|01|2...)\n (canContain ?rt - rtype ?ot - otype) ; true if receptacle can hold object\n (objectType ?o - object ?t - otype) ; the type of object (Apple vs Apple|01|2...)\n (holds ?a - agent ?o - object) ; object ?o is held by agent ?a\n (holdsAny ?a - agent) ; agent ?a holds an object\n (holdsAnyReceptacleObject ?a - agent) ; agent ?a holds a receptacle object\n (full ?r - receptacle) ; true if the receptacle has no remaining space\n (isClean ?o - object) ; true if the object has been clean in sink\n (cleanable ?o - object) ; true if the object can be placed in a sink\n (isHot ?o - object) ; true if the object has been heated up\n (heatable ?o - object) ; true if the object can be heated up in a microwave\n (isCool ?o - object) ; true if the object has been cooled\n (coolable ?o - object) ; true if the object can be cooled in the fridge\n (pickupable ?o - object) ; true if the object can be picked up\n (moveable ?o - object) ; true if the object can be moved\n (toggleable ?o - object) ; true if the object can be turned on/off\n (isOn ?o - object) ; true if the object is on\n (isToggled ?o - object) ; true if the object has been toggled\n (sliceable ?o - object) ; true if the object can be sliced\n (isSliced ?o - object) ; true if the object is sliced\n )\n\n (:functions\n (distance ?from ?to)\n (total-cost) - number\n )\n\n;; All actions are specified such that the final arguments are the ones used\n;; for performing actions in Unity.\n\n\n(:action look\n :parameters (?a - agent ?l - location)\n :precondition\n (and\n (atLocation ?a ?l)\n )\n :effect\n (and\n (checked ?l)\n )\n)\n\n(:action inventory\n :parameters (?a - agent)\n :precondition\n ()\n :effect\n (and\n (checked ?a)\n )\n)\n\n(:action examineReceptacle\n :parameters (?a - agent ?r - receptacle)\n :precondition\n (and\n (exists (?l - location)\n (and\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n )\n )\n )\n :effect\n (and\n (checked ?r)\n )\n)\n\n(:action examineObject\n :parameters (?a - agent ?o - object)\n :precondition\n (or\n ;(exists (?l - location)\n ; (and\n ; (atLocation ?a ?l)\n ; (objectAtLocation ?o ?l)\n ; )\n ;)\n (exists (?l - location, ?r - receptacle)\n (and\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n ; (objectAtLocation ?o ?l)\n (inReceptacle ?o ?r)\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n )\n )\n (holds ?a ?o)\n )\n :effect\n (and\n (checked ?o)\n )\n)\n\n;; agent goes to receptacle\n (:action GotoLocation\n :parameters (?a - agent ?lStart - location ?lEnd - location ?r - receptacle)\n :precondition (and\n (atLocation ?a ?lStart)\n (receptacleAtLocation ?r ?lEnd)\n ;(exists (?r - receptacle) (receptacleAtLocation ?r ?lEnd))\n )\n :effect (and\n (not (atLocation ?a ?lStart))\n (atLocation ?a ?lEnd)\n ; (forall (?r - receptacle)\n ; (when (and (receptacleAtLocation ?r ?lEnd)\n ; (or (not (openable ?r)) (opened ?r)))\n ; (checked ?r)\n ; )\n ; )\n ; (increase (total-cost) (distance ?lStart ?lEnd))\n (increase (total-cost) 1)\n )\n )\n\n;; agent opens receptacle\n (:action OpenObject\n :parameters (?a - agent ?l - location ?r - receptacle)\n :precondition (and\n (openable ?r)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (not (opened ?r))\n )\n :effect (and\n (opened ?r)\n (checked ?r)\n (increase (total-cost) 1)\n )\n )\n;; agent closes receptacle\n (:action CloseObject\n :parameters (?a - agent ?l - location ?r - receptacle)\n :precondition (and\n (openable ?r)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (opened ?r)\n )\n :effect (and\n (not (opened ?r))\n (increase (total-cost) 1)\n )\n\n )\n\n ;; agent picks up object from a receptacle\n (:action PickupObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n :precondition\n (and\n (pickupable ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n ; (objectAtLocation ?o ?l)\n (inReceptacle ?o ?r)\n (not (holdsAny ?a)) ; agent's hands are empty.\n ;(not (holdsAnyReceptacleObject ?a))\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n ;(not (isReceptacleObject ?o))\n )\n :effect\n (and\n (not (inReceptacle ?o ?r))\n (holds ?a ?o)\n (holdsAny ?a)\n (not (objectAtLocation ?o ?l))\n ;(not (full ?r))\n (increase (total-cost) 1)\n )\n )\n\n\n; ;; agent picks up object from a receptacle\n; (:action PickupObjectFromReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?outerR - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (inReceptacle ?o ?r)\n; (pickupable ?o)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (not (isReceptacleObject ?o))\n; (isReceptacleObject ?outerR)\n; (inReceptacleObject ?o ?outerR)\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (holds ?a ?o)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n;\n; (not (inReceptacleObject ?o ?outerR))\n; (not (isReceptacleObjectFull ?outerR))\n; )\n; )\n;\n; ;; agent picks up object from a receptacle\n; (:action PickupEmptyReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; ; (objectAtLocation ?o ?l)\n; (inReceptacle ?o ?r)\n; (pickupable ?o)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (isReceptacleObject ?o)\n; (not (isReceptacleObjectFull ?o))\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (holds ?a ?o)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n; (holdsAnyReceptacleObject ?a)\n; )\n; )\n;\n; ;; agent picks up object from a receptacle\n; (:action PickupFullReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?outerR - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (inReceptacle ?outerR ?r)\n; (pickupable ?outerR)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (not (isReceptacleObject ?o))\n; (isReceptacleObject ?outerR)\n; (inReceptacleObject ?o ?outerR)\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (not (inReceptacle ?outerR ?r))\n; (holds ?a ?outerR)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (objectAtLocation ?outerR ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n; (holdsAnyReceptacleObject ?a)\n; )\n; )\n\n\n;; agent puts down an object\n (:action PutObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle ?ot - otype ?rt - rtype)\n :precondition (and\n (holds ?a ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable\n ;(not (full ?r))\n (objectType ?o ?ot)\n (receptacleType ?r ?rt)\n (canContain ?rt ?ot)\n ;(not (holdsAnyReceptacleObject ?a))\n )\n :effect (and\n (inReceptacle ?o ?r)\n (objectAtLocation ?o ?l)\n ;(full ?r)\n (not (holds ?a ?o))\n (not (holdsAny ?a))\n (increase (total-cost) 1)\n )\n )\n\n;;; agent puts down an object\n; (:action PutObjectInReceptacleObject\n; :parameters (?a - agent ?l - location ?ot - otype ?o - object ?outerO - object ?outerR - receptacle)\n; :precondition (and\n; (atLocation ?a ?l)\n; (objectAtLocation ?outerO ?l)\n; (isReceptacleObject ?outerO)\n; (not (isReceptacleObject ?o))\n; (objectType ?o ?ot)\n; (holds ?a ?o)\n; (not (holdsAnyReceptacleObject ?a))\n; (inReceptacle ?outerO ?outerR)\n; (not (isReceptacleObjectFull ?outerO))\n; )\n; :effect (and\n; (inReceptacleObject ?o ?outerO)\n; (inReceptacle ?o ?outerR)\n; (not (holds ?a ?o))\n; (not (holdsAny ?a))\n; (objectAtLocation ?o ?l)\n; (isReceptacleObjectFull ?outerO)\n; (increase (total-cost) 1)\n; )\n; )\n;\n;;; agent puts down an object\n; (:action PutEmptyReceptacleObjectinReceptacle\n; :parameters (?a - agent ?l - location ?ot - otype ?o - object ?r - receptacle)\n; :precondition (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable\n; (not (full ?r))\n; (objectType ?o ?ot)\n; (holds ?a ?o)\n; (holdsAnyReceptacleObject ?a)\n; (isReceptacleObject ?o)\n; (not (isReceptacleObjectFull ?o))\n; )\n; :effect (and\n; (inReceptacle ?o ?r)\n; (objectAtLocation ?o ?l)\n; (full ?r)\n; (not (holds ?a ?o))\n; (not (holdsAny ?a))\n; (not (holdsAnyReceptacleObject ?a))\n; (increase (total-cost) 1)\n; )\n; )\n;\n;;; agent puts down a receptacle object in a receptacle\n; (:action PutFullReceptacleObjectInReceptacle\n; :parameters (?a - agent ?l - location ?ot - otype ?innerO - object ?outerO - object ?r - receptacle) ; ?rt - rtype)\n; :precondition (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (objectType ?outerO ?ot)\n; (holds ?a ?outerO)\n; (holdsAnyReceptacleObject ?a)\n; (isReceptacleObject ?outerO)\n; (isReceptacleObjectFull ?outerO)\n; (inReceptacleObject ?innerO ?outerO)\n; )\n; :effect (and\n; (not (holdsAny ?a))\n; (not (holdsAnyReceptacleObject ?a))\n; (objectAtLocation ?outerO ?l)\n; (objectAtLocation ?innerO ?l)\n; (inReceptacle ?outerO ?r)\n; (inReceptacle ?innerO ?r)\n; (not (holds ?a ?outerO))\n; (increase (total-cost) 1)\n; )\n; )\n\n;; agent cleans some object\n (:action CleanObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (cleanable ?o)\n (or\n (receptacleType ?r SinkType)\n (receptacleType ?r SinkBasinType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isClean ?o)\n )\n )\n\n\n;; agent heats-up some object\n (:action HeatObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (heatable ?o)\n (or\n (receptacleType ?r MicrowaveType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isHot ?o)\n (not (isCool ?o))\n )\n )\n\n;; agent cools some object\n (:action CoolObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (coolable ?o)\n (or\n (receptacleType ?r FridgeType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isCool ?o)\n (not (isHot ?o))\n )\n )\n\n\n;; agent toggle object\n (:action ToggleObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n :precondition (and\n (toggleable ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (inReceptacle ?o ?r)\n )\n :effect (and\n (increase (total-cost) 5)\n (when (isOn ?o)\n (not (isOn ?o)))\n (when (not (isOn ?o))\n (isOn ?o))\n (isToggled ?o)\n )\n )\n\n\n;; agent slices some object with a knife\n (:action SliceObject\n :parameters (?a - agent ?l - location ?co - object ?ko - object)\n :precondition\n (and\n (sliceable ?co)\n (or\n (objectType ?ko KnifeType)\n (objectType ?ko ButterKnifeType)\n )\n (atLocation ?a ?l)\n (objectAtLocation ?co ?l)\n (holds ?a ?ko)\n )\n :effect (and\n (increase (total-cost) 5)\n (isSliced ?co)\n )\n )\n\n\n(:action help\n :parameters (?a - agent)\n :precondition\n ()\n :effect\n (and\n (checked ?a)\n )\n)\n)\n", "grammar": "grammar :: \"\"\"\n {\n \"intro\": [\n {\n \"rhs\": \"-= Welcome to TextWorld, ALFRED! =-\\n\\n#look.feedback#\\n\\n#task#\"\n }\n ],\n\n \"notImplemented\": [\n {\n \"rhs\": \"TODO\"\n }\n ],\n\n \"task\": [\n {\n \"rhs\": \"Your task is to: look at bowl under the desklamp.\"\n }\n ],\n\n \"GotoLocation.feedback\": [\n {\n \"rhs\": \"You arrive at {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"OpenObject.feedback\": [\n {\n \"rhs\": \"You open the {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"CloseObject.feedback\": [\n {\n \"rhs\": \"You close the {r.name}.\"\n }\n ],\n\n \"PickupObject.feedback\": [\n {\n \"rhs\": \"You pick up the {o.name} from the {r.name}.\"\n }\n ],\n\n \"PickupObjectFromReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupObjectFromReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupEmptyReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupEmptyReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupFullReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupFullReceptacleObject: You pick up the {outerr.name}.\"\n }\n ],\n\n \"PutObject.feedback\": [\n {\n \"rhs\": \"You move the {o.name} to the {r.name}.\"\n }\n ],\n\n \"PutObjectInReceptacleObject.feedback\": [\n {\n \"rhs\": \"PutObjectInReceptacleObject: You put the {o.name} in the {outero.name}.\"\n }\n ],\n\n \"PutEmptyReceptacleObjectinReceptacle.feedback\": [\n {\n \"rhs\": \"PutEmptyReceptacleObjectinReceptacle: You put the {o.name} in the {r.name}.\"\n }\n ],\n\n \"PutFullReceptacleObjectInReceptacle.feedback\": [\n {\n \"rhs\": \"PutFullReceptacleObjectInReceptacle: You put the {outero.name} in the {r.name}.\"\n }\n ],\n\n \"inventory.feedback\": [\n {\n \"condition\": \"holdsany(a:agent)\",\n \"rhs\": \"You are carrying: [{o.indefinite + ' ' + o.name | holds(a:agent, o:object)}].\"\n },\n {\n \"rhs\": \"You are not carrying anything.\"\n }\n ],\n\n \"examineReceptacle.feedback\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \"The {r.name} is open. In it, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \"The {r.name} is closed.\"\n },\n {\n \"rhs\": \"On the {r.name}, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n }\n ],\n\n \"examineObject.feedback\": [\n {\n \"condition\": \"isreceptacleobject(o:object)\",\n \"rhs\": \"This is a normal {o.name}. In it, you see [{o2.indefinite + ' ' + o2.name | inreceptacleobject(o2:object, o:object)}].\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a clean sliced {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot sliced {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object)\",\n \"rhs\": \"This is a hot and clean {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object)\",\n \"rhs\": \"This is a cool and clean {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object)\",\n \"rhs\": \"This is a hot {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object)\",\n \"rhs\": \"This is a clean {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object)\",\n \"rhs\": \"This is a cold {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"This {o.name} is on.\"\n },\n {\n \"condition\": \"toggleable(o:object) & not_istoggled(o:object)\",\n \"rhs\": \"This {o.name} is off.\"\n },\n {\n \"condition\": \"sliceable(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a sliced {o.name}.\"\n },\n {\n \"rhs\": \"There's nothing special about {o.name}.\"\n }\n ]\n }\n\"\"\";\n\naction GotoLocation {\n template :: \"go to [{r.name | receptacleatlocation(r:receptacle, lend:location)}]\";\n feedback :: \"#GotoLocation.feedback#\";\n}\n\naction OpenObject {\n template :: \"open {r}\";\n feedback :: \"#OpenObject.feedback#\";\n}\n\naction CloseObject {\n template :: \"close {r}\";\n feedback :: \"#CloseObject.feedback#\";\n}\n\naction PickupObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObject.feedback#\";\n}\n\naction PickupObjectFromReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObjectFromReceptacleObject.feedback#\";\n}\n\naction PickupEmptyReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupEmptyReceptacleObject.feedback#\";\n}\n\naction PickupFullReceptacleObject {\n template :: \"take {outerr} from {r}\";\n feedback :: \"#PickupFullReceptacleObject.feedback#\";\n}\n\naction PutObject {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutObject.feedback#\";\n}\n\naction PutObjectInReceptacleObject {\n template :: \"put {o} into {outero}\";\n feedback :: \"#PutObjectInReceptacleObject.feedback#\";\n}\n\naction PutEmptyReceptacleObjectinReceptacle {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutEmptyReceptacleObjectinReceptacle.feedback#\";\n}\n\naction PutFullReceptacleObjectInReceptacle {\n template :: \"put {outero} in {r}\";\n feedback :: \"#PutFullReceptacleObjectInReceptacle.feedback#\";\n}\n\naction inventory {\n template :: \"inventory\";\n feedback :: \"#inventory.feedback#\";\n}\n\naction examineReceptacle {\n template :: \"examine {r}\";\n feedback :: \"#examineReceptacle.feedback#\";\n}\n\naction examineObject {\n template :: \"examine {o}\";\n feedback :: \"#examineObject.feedback#\";\n}\n\naction ToggleObject {\n template :: \"use {o}\";\n feedback :: \"#toggleObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"toggleObject.feedback\": [\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"You turn on the {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object)\",\n \"rhs\": \"You turn off the {o.name}.\"\n },\n {\n \"rhs\": \"You don't see any switch on the {o.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction HeatObject {\n template :: \"heat {o} with {r}\";\n feedback :: \"#heatObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"heatObject.feedback\": [\n {\n \"rhs\": \"You heat the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CleanObject {\n template :: \"clean {o} with {r}\";\n feedback :: \"#cleanObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"cleanObject.feedback\": [\n {\n \"rhs\": \"You clean the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CoolObject {\n template :: \"cool {o} with {r}\";\n feedback :: \"#coolObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"coolObject.feedback\": [\n {\n \"rhs\": \"You cool the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction SliceObject {\n template :: \"slice {co} with {ko}\";\n feedback :: \"#sliceObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"sliceObject.feedback\": [\n {\n \"rhs\": \"You sliced the {co.name} with the {ko.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction look {\n template :: \"look\";\n feedback :: \"#look.feedback#\";\n\n grammar :: \"\"\"\n {\n \"look.feedback\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"#look-variations#. Next to it, you see #list_objects_on_the_floor#.\"\n },\n {\n \"rhs\": \"You are in the middle of a room. Looking quickly around you, you see #list_appliances#.\"\n }\n ],\n\n \"look-variations\": [\n {\n \"rhs\": \"You are facing the [{r.name | atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)}]\"\n }\n ],\n\n \"list_objects_on_the_floor\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)\",\n \"rhs\": \"[{#overview(o)# | atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"list_appliances\": [\n {\n \"condition\": \"receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"[{#overview(r)# | receptacleatlocation(r:receptacle, l:location)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"overview(o, r)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name} (in/on the {r.name})}\"\n }\n ],\n\n \"overview(o)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name}\"\n }\n ],\n \"overview(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}\"\n }\n ],\n \"overview_with_state(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}#overview_state(r)#\"\n }\n ],\n \"overview_state(r)\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \" (it is open)\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \" (it is closed)\"\n },\n {\n \"rhs\": \"\"\n }\n ],\n\n \"list_empty\": [\n {\n \"rhs\": \"nothing\"\n }\n ],\n \"list_separator\": [\n {\n \"rhs\": \", \"\n }\n ],\n \"list_last_separator\": [\n {\n \"rhs\": \", and \"\n }\n ]\n }\n \"\"\";\n}\n\naction help {\n template :: \"help\";\n feedback :: \"\nAvailable commands:\n look: look around your current location\n inventory: check your current inventory\n go to (receptacle): move to a receptacle\n open (receptacle): open a receptacle\n close (receptacle): close a receptacle\n take (object) from (receptacle): take an object from a receptacle\n move (object) to (receptacle): place an object in or on a receptacle\n examine (something): examine a receptacle or an object\n use (object): use an object\n heat (object) with (receptacle): heat an object using a receptacle\n clean (object) with (receptacle): clean an object using a receptacle\n cool (object) with (receptacle): cool an object using a receptacle\n slice (object) with (object): slice an object using a sharp object\n\";\n}\n", "pddl_problem": "\n(define (problem plan_trial_T20190908_024019_183353)\n(:domain alfred)\n(:objects\nagent1 - agent\nSaltShaker - object\n HousePlant - object\n Candle - object\n SprayBottle - object\n Bowl - object\n Window - object\n CD - object\n Egg - object\n Glassbottle - object\n Sink - object\n Pillow - object\n Spoon - object\n SoapBottle - object\n TeddyBear - object\n ButterKnife - object\n Cup - object\n Plate - object\n RemoteControl - object\n Tomato - object\n Statue - object\n HandTowel - object\n Knife - object\n StoveKnob - object\n LightSwitch - object\n Pen - object\n Painting - object\n DishSponge - object\n Vase - object\n Mug - object\n ToiletPaper - object\n Box - object\n Mirror - object\n Ladle - object\n Fork - object\n Blinds - object\n Footstool - object\n KeyChain - object\n Cloth - object\n Laptop - object\n TissueBox - object\n PepperShaker - object\n FloorLamp - object\n WateringCan - object\n Apple - object\n Pan - object\n PaperTowel - object\n PaperTowelRoll - object\n Newspaper - object\n Television - object\n Chair - object\n CellPhone - object\n CreditCard - object\n Lettuce - object\n BasketBall - object\n Potato - object\n Curtains - object\n Boots - object\n Pencil - object\n AlarmClock - object\n ToiletPaperRoll - object\n Spatula - object\n Book - object\n Bread - object\n SoapBar - object\n Watch - object\n DeskLamp - object\n Kettle - object\n Pot - object\n ScrubBrush - object\n WineBottle - object\n ShowerDoor - object\n Bathtub - object\n LaundryHamperLid - object\n ShowerGlass - object\n Poster - object\n TennisRacket - object\n BaseballBat - object\n Towel - object\n Plunger - object\nSaltShakerType - otype\n HousePlantType - otype\n CandleType - otype\n SprayBottleType - otype\n BowlType - otype\n WindowType - otype\n CDType - otype\n EggType - otype\n GlassbottleType - otype\n SinkType - otype\n PillowType - otype\n SpoonType - otype\n SoapBottleType - otype\n TeddyBearType - otype\n ButterKnifeType - otype\n CupType - otype\n PlateType - otype\n RemoteControlType - otype\n TomatoType - otype\n StatueType - otype\n HandTowelType - otype\n KnifeType - otype\n StoveKnobType - otype\n LightSwitchType - otype\n PenType - otype\n PaintingType - otype\n DishSpongeType - otype\n VaseType - otype\n MugType - otype\n ToiletPaperType - otype\n BoxType - otype\n MirrorType - otype\n LadleType - otype\n ForkType - otype\n BlindsType - otype\n FootstoolType - otype\n KeyChainType - otype\n ClothType - otype\n LaptopType - otype\n TissueBoxType - otype\n PepperShakerType - otype\n FloorLampType - otype\n WateringCanType - otype\n AppleType - otype\n PanType - otype\n PaperTowelType - otype\n PaperTowelRollType - otype\n NewspaperType - otype\n TelevisionType - otype\n ChairType - otype\n CellPhoneType - otype\n CreditCardType - otype\n LettuceType - otype\n BasketBallType - otype\n PotatoType - otype\n CurtainsType - otype\n BootsType - otype\n PencilType - otype\n AlarmClockType - otype\n ToiletPaperRollType - otype\n SpatulaType - otype\n BookType - otype\n BreadType - otype\n SoapBarType - otype\n WatchType - otype\n DeskLampType - otype\n KettleType - otype\n PotType - otype\n ScrubBrushType - otype\n WineBottleType - otype\n ShowerDoorType - otype\n BathtubType - otype\n LaundryHamperLidType - otype\n ShowerGlassType - otype\n PosterType - otype\n TennisRacketType - otype\n BaseballBatType - otype\n TowelType - otype\n PlungerType - otype\nSafeType - rtype\n DrawerType - rtype\n CoffeeMachineType - rtype\n HandTowelHolderType - rtype\n SinkBasinType - rtype\n DresserType - rtype\n LaundryHamperType - rtype\n TVStandType - rtype\n BathtubBasinType - rtype\n CabinetType - rtype\n FridgeType - rtype\n DeskType - rtype\n ToiletType - rtype\n CartType - rtype\n SideTableType - rtype\n SofaType - rtype\n CoffeeTableType - rtype\n DiningTableType - rtype\n CounterTopType - rtype\n GarbageCanType - rtype\n ArmChairType - rtype\n ShelfType - rtype\n MicrowaveType - rtype\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_04_bar__plus_00_dot_90_bar__minus_03_dot_25 - object\n AlarmClock_bar__minus_02_dot_39_bar__plus_00_dot_68_bar__minus_03_dot_23 - object\n Blinds_bar__plus_02_dot_93_bar__plus_02_dot_17_bar__minus_01_dot_00 - object\n Blinds_bar__minus_00_dot_80_bar__plus_02_dot_09_bar__minus_03_dot_63 - object\n Book_bar__plus_02_dot_26_bar__plus_00_dot_36_bar__minus_00_dot_30 - object\n Book_bar__minus_01_dot_87_bar__plus_00_dot_62_bar__minus_01_dot_26 - object\n Bowl_bar__plus_01_dot_84_bar__plus_00_dot_89_bar__minus_03_dot_24 - object\n Bowl_bar__plus_02_dot_38_bar__plus_00_dot_90_bar__minus_03_dot_04 - object\n CD_bar__plus_02_dot_56_bar__plus_00_dot_90_bar__minus_03_dot_11 - object\n CD_bar__minus_02_dot_39_bar__plus_00_dot_68_bar__minus_02_dot_92 - object\n CellPhone_bar__plus_02_dot_69_bar__plus_01_dot_23_bar__plus_01_dot_51 - object\n CellPhone_bar__minus_01_dot_59_bar__plus_00_dot_62_bar__minus_02_dot_06 - object\n Chair_bar__plus_02_dot_58_bar__plus_00_dot_00_bar__minus_02_dot_88 - object\n CreditCard_bar__minus_02_dot_39_bar__plus_00_dot_68_bar__minus_00_dot_75 - object\n CreditCard_bar__minus_02_dot_44_bar__plus_00_dot_68_bar__minus_03_dot_38 - object\n CreditCard_bar__minus_02_dot_53_bar__plus_00_dot_68_bar__minus_00_dot_36 - object\n DeskLamp_bar__plus_02_dot_76_bar__plus_00_dot_89_bar__minus_03_dot_32 - object\n DeskLamp_bar__minus_02_dot_46_bar__plus_00_dot_67_bar__minus_00_dot_53 - object\n KeyChain_bar__plus_01_dot_86_bar__plus_00_dot_08_bar__minus_02_dot_99 - object\n KeyChain_bar__plus_02_dot_74_bar__plus_01_dot_25_bar__plus_01_dot_74 - object\n KeyChain_bar__plus_02_dot_74_bar__plus_01_dot_25_bar__plus_01_dot_83 - object\n Laptop_bar__minus_01_dot_31_bar__plus_00_dot_61_bar__minus_01_dot_54 - object\n LightSwitch_bar__minus_00_dot_70_bar__plus_01_dot_02_bar__plus_00_dot_33 - object\n Mirror_bar__plus_00_dot_53_bar__plus_01_dot_42_bar__plus_02_dot_00 - object\n Mug_bar__minus_02_dot_39_bar__plus_00_dot_68_bar__minus_03_dot_07 - object\n Mug_bar__minus_02_dot_53_bar__plus_00_dot_68_bar__minus_03_dot_30 - object\n Pencil_bar__plus_02_dot_64_bar__plus_01_dot_23_bar__plus_01_dot_40 - object\n Pencil_bar__minus_02_dot_35_bar__plus_00_dot_69_bar__minus_00_dot_44 - object\n Pen_bar__plus_01_dot_93_bar__plus_00_dot_37_bar__minus_03_dot_14 - object\n Pillow_bar__minus_02_dot_12_bar__plus_00_dot_66_bar__minus_01_dot_52 - object\n Pillow_bar__minus_02_dot_38_bar__plus_00_dot_64_bar__minus_02_dot_33 - object\n TeddyBear_bar__minus_00_dot_67_bar__plus_00_dot_61_bar__minus_01_dot_36 - object\n Window_bar__plus_02_dot_96_bar__plus_01_dot_51_bar__minus_01_dot_02 - object\n Window_bar__minus_00_dot_84_bar__plus_01_dot_39_bar__minus_03_dot_65 - object\n Bed_bar__plus_02_dot_40_bar__plus_00_dot_01_bar__minus_00_dot_07 - receptacle\n Bed_bar__minus_01_dot_64_bar__minus_00_dot_04_bar__minus_01_dot_86 - receptacle\n Desk_bar__plus_02_dot_32_bar__minus_00_dot_01_bar__minus_03_dot_22 - receptacle\n Drawer_bar__plus_01_dot_88_bar__plus_00_dot_21_bar__minus_02_dot_96 - receptacle\n Drawer_bar__plus_01_dot_88_bar__plus_00_dot_49_bar__minus_02_dot_96 - receptacle\n Drawer_bar__plus_01_dot_88_bar__plus_00_dot_73_bar__minus_02_dot_96 - receptacle\n Drawer_bar__plus_02_dot_64_bar__plus_00_dot_16_bar__plus_01_dot_51 - receptacle\n Drawer_bar__plus_02_dot_64_bar__plus_00_dot_44_bar__plus_01_dot_51 - receptacle\n Drawer_bar__plus_02_dot_64_bar__plus_00_dot_72_bar__plus_01_dot_51 - receptacle\n Drawer_bar__plus_02_dot_64_bar__plus_00_dot_99_bar__plus_01_dot_51 - receptacle\n Drawer_bar__minus_02_dot_42_bar__plus_00_dot_17_bar__minus_00_dot_51 - receptacle\n Drawer_bar__minus_02_dot_42_bar__plus_00_dot_17_bar__minus_03_dot_15 - receptacle\n Drawer_bar__minus_02_dot_42_bar__plus_00_dot_46_bar__minus_00_dot_51 - receptacle\n Drawer_bar__minus_02_dot_42_bar__plus_00_dot_46_bar__minus_03_dot_15 - receptacle\n Dresser_bar__plus_02_dot_68_bar_00_dot_00_bar__plus_01_dot_51 - receptacle\n GarbageCan_bar__plus_01_dot_34_bar__plus_00_dot_00_bar__minus_03_dot_38 - receptacle\n Safe_bar__plus_02_dot_70_bar__plus_01_dot_23_bar__plus_01_dot_77 - receptacle\n SideTable_bar__minus_02_dot_42_bar__plus_00_dot_46_bar__minus_00_dot_51 - receptacle\n SideTable_bar__minus_02_dot_42_bar__plus_00_dot_46_bar__minus_03_dot_15 - receptacle\n loc_bar_0_bar__minus_8_bar_3_bar_45 - location\n loc_bar_7_bar_6_bar_1_bar_45 - location\n loc_bar__minus_4_bar__minus_12_bar_3_bar_45 - location\n loc_bar__minus_3_bar__minus_12_bar_2_bar__minus_30 - location\n loc_bar__minus_1_bar_1_bar_3_bar_60 - location\n loc_bar__minus_7_bar__minus_2_bar_3_bar_60 - location\n loc_bar__minus_5_bar__minus_3_bar_3_bar_45 - location\n loc_bar_9_bar_5_bar_1_bar_60 - location\n loc_bar_9_bar__minus_6_bar_1_bar_15 - location\n loc_bar_5_bar_0_bar_1_bar_60 - location\n loc_bar__minus_3_bar__minus_12_bar_2_bar_15 - location\n loc_bar_5_bar__minus_12_bar_2_bar_60 - location\n loc_bar_2_bar_6_bar_0_bar_30 - location\n loc_bar__minus_7_bar__minus_12_bar_3_bar_60 - location\n loc_bar_3_bar__minus_9_bar_1_bar_45 - location\n loc_bar_9_bar_6_bar_1_bar_45 - location\n loc_bar_4_bar__minus_10_bar_1_bar_45 - location\n loc_bar_8_bar__minus_10_bar_2_bar_60 - location\n loc_bar_6_bar_4_bar_1_bar_45 - location\n loc_bar__minus_6_bar__minus_3_bar_3_bar_45 - location\n loc_bar_9_bar__minus_6_bar_1_bar__minus_30 - location\n loc_bar_8_bar__minus_10_bar_1_bar_60 - location\n loc_bar_8_bar_6_bar_1_bar_45 - location\n loc_bar_6_bar_5_bar_1_bar_45 - location\n loc_bar__minus_5_bar__minus_12_bar_3_bar_45 - location\n loc_bar_3_bar__minus_1_bar_0_bar_30 - location\n )\n \n\n(:init\n\n\n (receptacleType GarbageCan_bar__plus_01_dot_34_bar__plus_00_dot_00_bar__minus_03_dot_38 GarbageCanType)\n (receptacleType Safe_bar__plus_02_dot_70_bar__plus_01_dot_23_bar__plus_01_dot_77 SafeType)\n (receptacleType Drawer_bar__plus_01_dot_88_bar__plus_00_dot_73_bar__minus_02_dot_96 DrawerType)\n (receptacleType Drawer_bar__plus_01_dot_88_bar__plus_00_dot_49_bar__minus_02_dot_96 DrawerType)\n (receptacleType Drawer_bar__plus_02_dot_64_bar__plus_00_dot_16_bar__plus_01_dot_51 DrawerType)\n (receptacleType Drawer_bar__minus_02_dot_42_bar__plus_00_dot_46_bar__minus_03_dot_15 DrawerType)\n (receptacleType SideTable_bar__minus_02_dot_42_bar__plus_00_dot_46_bar__minus_00_dot_51 SideTableType)\n (receptacleType Drawer_bar__minus_02_dot_42_bar__plus_00_dot_46_bar__minus_00_dot_51 DrawerType)\n (receptacleType Drawer_bar__minus_02_dot_42_bar__plus_00_dot_17_bar__minus_00_dot_51 DrawerType)\n (receptacleType Drawer_bar__plus_02_dot_64_bar__plus_00_dot_44_bar__plus_01_dot_51 DrawerType)\n (receptacleType Bed_bar__minus_01_dot_64_bar__minus_00_dot_04_bar__minus_01_dot_86 BedType)\n (receptacleType SideTable_bar__minus_02_dot_42_bar__plus_00_dot_46_bar__minus_03_dot_15 SideTableType)\n (receptacleType Dresser_bar__plus_02_dot_68_bar_00_dot_00_bar__plus_01_dot_51 DresserType)\n (receptacleType Desk_bar__plus_02_dot_32_bar__minus_00_dot_01_bar__minus_03_dot_22 DeskType)\n (receptacleType Drawer_bar__plus_01_dot_88_bar__plus_00_dot_21_bar__minus_02_dot_96 DrawerType)\n (receptacleType Drawer_bar__plus_02_dot_64_bar__plus_00_dot_72_bar__plus_01_dot_51 DrawerType)\n (receptacleType Drawer_bar__plus_02_dot_64_bar__plus_00_dot_99_bar__plus_01_dot_51 DrawerType)\n (receptacleType Drawer_bar__minus_02_dot_42_bar__plus_00_dot_17_bar__minus_03_dot_15 DrawerType)\n (receptacleType Bed_bar__plus_02_dot_40_bar__plus_00_dot_01_bar__minus_00_dot_07 BedType)\n (objectType Pillow_bar__minus_02_dot_38_bar__plus_00_dot_64_bar__minus_02_dot_33 PillowType)\n (objectType Mug_bar__minus_02_dot_53_bar__plus_00_dot_68_bar__minus_03_dot_30 MugType)\n (objectType Window_bar__minus_00_dot_84_bar__plus_01_dot_39_bar__minus_03_dot_65 WindowType)\n (objectType KeyChain_bar__plus_01_dot_86_bar__plus_00_dot_08_bar__minus_02_dot_99 KeyChainType)\n (objectType Pillow_bar__minus_02_dot_12_bar__plus_00_dot_66_bar__minus_01_dot_52 PillowType)\n (objectType Mirror_bar__plus_00_dot_53_bar__plus_01_dot_42_bar__plus_02_dot_00 MirrorType)\n (objectType CellPhone_bar__minus_01_dot_59_bar__plus_00_dot_62_bar__minus_02_dot_06 CellPhoneType)\n (objectType Bowl_bar__plus_01_dot_84_bar__plus_00_dot_89_bar__minus_03_dot_24 BowlType)\n (objectType Chair_bar__plus_02_dot_58_bar__plus_00_dot_00_bar__minus_02_dot_88 ChairType)\n (objectType CD_bar__plus_02_dot_56_bar__plus_00_dot_90_bar__minus_03_dot_11 CDType)\n (objectType KeyChain_bar__plus_02_dot_74_bar__plus_01_dot_25_bar__plus_01_dot_74 KeyChainType)\n (objectType DeskLamp_bar__minus_02_dot_46_bar__plus_00_dot_67_bar__minus_00_dot_53 DeskLampType)\n (objectType KeyChain_bar__plus_02_dot_74_bar__plus_01_dot_25_bar__plus_01_dot_83 KeyChainType)\n (objectType AlarmClock_bar__plus_02_dot_04_bar__plus_00_dot_90_bar__minus_03_dot_25 AlarmClockType)\n (objectType Laptop_bar__minus_01_dot_31_bar__plus_00_dot_61_bar__minus_01_dot_54 LaptopType)\n (objectType Blinds_bar__plus_02_dot_93_bar__plus_02_dot_17_bar__minus_01_dot_00 BlindsType)\n (objectType CellPhone_bar__plus_02_dot_69_bar__plus_01_dot_23_bar__plus_01_dot_51 CellPhoneType)\n (objectType Book_bar__minus_01_dot_87_bar__plus_00_dot_62_bar__minus_01_dot_26 BookType)\n (objectType Pencil_bar__plus_02_dot_64_bar__plus_01_dot_23_bar__plus_01_dot_40 PencilType)\n (objectType Pencil_bar__minus_02_dot_35_bar__plus_00_dot_69_bar__minus_00_dot_44 PencilType)\n (objectType CreditCard_bar__minus_02_dot_53_bar__plus_00_dot_68_bar__minus_00_dot_36 CreditCardType)\n (objectType AlarmClock_bar__minus_02_dot_39_bar__plus_00_dot_68_bar__minus_03_dot_23 AlarmClockType)\n (objectType Book_bar__plus_02_dot_26_bar__plus_00_dot_36_bar__minus_00_dot_30 BookType)\n (objectType CD_bar__minus_02_dot_39_bar__plus_00_dot_68_bar__minus_02_dot_92 CDType)\n (objectType DeskLamp_bar__plus_02_dot_76_bar__plus_00_dot_89_bar__minus_03_dot_32 DeskLampType)\n (objectType CreditCard_bar__minus_02_dot_39_bar__plus_00_dot_68_bar__minus_00_dot_75 CreditCardType)\n (objectType Window_bar__plus_02_dot_96_bar__plus_01_dot_51_bar__minus_01_dot_02 WindowType)\n (objectType LightSwitch_bar__minus_00_dot_70_bar__plus_01_dot_02_bar__plus_00_dot_33 LightSwitchType)\n (objectType Pen_bar__plus_01_dot_93_bar__plus_00_dot_37_bar__minus_03_dot_14 PenType)\n (objectType Blinds_bar__minus_00_dot_80_bar__plus_02_dot_09_bar__minus_03_dot_63 BlindsType)\n (objectType Mug_bar__minus_02_dot_39_bar__plus_00_dot_68_bar__minus_03_dot_07 MugType)\n (objectType TeddyBear_bar__minus_00_dot_67_bar__plus_00_dot_61_bar__minus_01_dot_36 TeddyBearType)\n (objectType Bowl_bar__plus_02_dot_38_bar__plus_00_dot_90_bar__minus_03_dot_04 BowlType)\n (objectType CreditCard_bar__minus_02_dot_44_bar__plus_00_dot_68_bar__minus_03_dot_38 CreditCardType)\n (canContain GarbageCanType PenType)\n (canContain GarbageCanType CDType)\n (canContain GarbageCanType PencilType)\n (canContain SafeType CellPhoneType)\n (canContain SafeType KeyChainType)\n (canContain SafeType CreditCardType)\n (canContain SafeType CDType)\n (canContain DrawerType PenType)\n (canContain DrawerType BookType)\n (canContain DrawerType CDType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType PencilType)\n (canContain DrawerType PenType)\n (canContain DrawerType BookType)\n (canContain DrawerType CDType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType PencilType)\n (canContain DrawerType PenType)\n (canContain DrawerType BookType)\n (canContain DrawerType CDType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType PencilType)\n (canContain DrawerType PenType)\n (canContain DrawerType BookType)\n (canContain DrawerType CDType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType PencilType)\n (canContain SideTableType PenType)\n (canContain SideTableType BookType)\n (canContain SideTableType BowlType)\n (canContain SideTableType CDType)\n (canContain SideTableType MugType)\n (canContain SideTableType CellPhoneType)\n (canContain SideTableType KeyChainType)\n (canContain SideTableType CreditCardType)\n (canContain SideTableType LaptopType)\n (canContain SideTableType PencilType)\n (canContain SideTableType AlarmClockType)\n (canContain DrawerType PenType)\n (canContain DrawerType BookType)\n (canContain DrawerType CDType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType PencilType)\n (canContain DrawerType PenType)\n (canContain DrawerType BookType)\n (canContain DrawerType CDType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType PencilType)\n (canContain DrawerType PenType)\n (canContain DrawerType BookType)\n (canContain DrawerType CDType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType PencilType)\n (canContain BedType LaptopType)\n (canContain BedType BookType)\n (canContain BedType CellPhoneType)\n (canContain BedType PillowType)\n (canContain SideTableType PenType)\n (canContain SideTableType BookType)\n (canContain SideTableType BowlType)\n (canContain SideTableType CDType)\n (canContain SideTableType MugType)\n (canContain SideTableType CellPhoneType)\n (canContain SideTableType KeyChainType)\n (canContain SideTableType CreditCardType)\n (canContain SideTableType LaptopType)\n (canContain SideTableType PencilType)\n (canContain SideTableType AlarmClockType)\n (canContain DresserType PenType)\n (canContain DresserType BookType)\n (canContain DresserType BowlType)\n (canContain DresserType CDType)\n (canContain DresserType MugType)\n (canContain DresserType CellPhoneType)\n (canContain DresserType KeyChainType)\n (canContain DresserType CreditCardType)\n (canContain DresserType LaptopType)\n (canContain DresserType PencilType)\n (canContain DresserType AlarmClockType)\n (canContain DeskType PenType)\n (canContain DeskType BookType)\n (canContain DeskType BowlType)\n (canContain DeskType CDType)\n (canContain DeskType MugType)\n (canContain DeskType CellPhoneType)\n (canContain DeskType KeyChainType)\n (canContain DeskType CreditCardType)\n (canContain DeskType LaptopType)\n (canContain DeskType PencilType)\n (canContain DeskType AlarmClockType)\n (canContain DrawerType PenType)\n (canContain DrawerType BookType)\n (canContain DrawerType CDType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType PencilType)\n (canContain DrawerType PenType)\n (canContain DrawerType BookType)\n (canContain DrawerType CDType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType PencilType)\n (canContain DrawerType PenType)\n (canContain DrawerType BookType)\n (canContain DrawerType CDType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType PencilType)\n (canContain DrawerType PenType)\n (canContain DrawerType BookType)\n (canContain DrawerType CDType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType PencilType)\n (canContain BedType LaptopType)\n (canContain BedType BookType)\n (canContain BedType CellPhoneType)\n (canContain BedType PillowType)\n (pickupable Pillow_bar__minus_02_dot_38_bar__plus_00_dot_64_bar__minus_02_dot_33)\n (pickupable Mug_bar__minus_02_dot_53_bar__plus_00_dot_68_bar__minus_03_dot_30)\n (pickupable KeyChain_bar__plus_01_dot_86_bar__plus_00_dot_08_bar__minus_02_dot_99)\n (pickupable Pillow_bar__minus_02_dot_12_bar__plus_00_dot_66_bar__minus_01_dot_52)\n (pickupable CellPhone_bar__minus_01_dot_59_bar__plus_00_dot_62_bar__minus_02_dot_06)\n (pickupable Bowl_bar__plus_01_dot_84_bar__plus_00_dot_89_bar__minus_03_dot_24)\n (pickupable CD_bar__plus_02_dot_56_bar__plus_00_dot_90_bar__minus_03_dot_11)\n (pickupable KeyChain_bar__plus_02_dot_74_bar__plus_01_dot_25_bar__plus_01_dot_74)\n (pickupable KeyChain_bar__plus_02_dot_74_bar__plus_01_dot_25_bar__plus_01_dot_83)\n (pickupable AlarmClock_bar__plus_02_dot_04_bar__plus_00_dot_90_bar__minus_03_dot_25)\n (pickupable Laptop_bar__minus_01_dot_31_bar__plus_00_dot_61_bar__minus_01_dot_54)\n (pickupable CellPhone_bar__plus_02_dot_69_bar__plus_01_dot_23_bar__plus_01_dot_51)\n (pickupable Book_bar__minus_01_dot_87_bar__plus_00_dot_62_bar__minus_01_dot_26)\n (pickupable Pencil_bar__plus_02_dot_64_bar__plus_01_dot_23_bar__plus_01_dot_40)\n (pickupable Pencil_bar__minus_02_dot_35_bar__plus_00_dot_69_bar__minus_00_dot_44)\n (pickupable CreditCard_bar__minus_02_dot_53_bar__plus_00_dot_68_bar__minus_00_dot_36)\n (pickupable AlarmClock_bar__minus_02_dot_39_bar__plus_00_dot_68_bar__minus_03_dot_23)\n (pickupable Book_bar__plus_02_dot_26_bar__plus_00_dot_36_bar__minus_00_dot_30)\n (pickupable CD_bar__minus_02_dot_39_bar__plus_00_dot_68_bar__minus_02_dot_92)\n (pickupable CreditCard_bar__minus_02_dot_39_bar__plus_00_dot_68_bar__minus_00_dot_75)\n (pickupable Pen_bar__plus_01_dot_93_bar__plus_00_dot_37_bar__minus_03_dot_14)\n (pickupable Mug_bar__minus_02_dot_39_bar__plus_00_dot_68_bar__minus_03_dot_07)\n (pickupable TeddyBear_bar__minus_00_dot_67_bar__plus_00_dot_61_bar__minus_01_dot_36)\n (pickupable Bowl_bar__plus_02_dot_38_bar__plus_00_dot_90_bar__minus_03_dot_04)\n (pickupable CreditCard_bar__minus_02_dot_44_bar__plus_00_dot_68_bar__minus_03_dot_38)\n (isReceptacleObject Mug_bar__minus_02_dot_53_bar__plus_00_dot_68_bar__minus_03_dot_30)\n (isReceptacleObject Bowl_bar__plus_01_dot_84_bar__plus_00_dot_89_bar__minus_03_dot_24)\n (isReceptacleObject Mug_bar__minus_02_dot_39_bar__plus_00_dot_68_bar__minus_03_dot_07)\n (isReceptacleObject Bowl_bar__plus_02_dot_38_bar__plus_00_dot_90_bar__minus_03_dot_04)\n (openable Safe_bar__plus_02_dot_70_bar__plus_01_dot_23_bar__plus_01_dot_77)\n (openable Drawer_bar__plus_01_dot_88_bar__plus_00_dot_73_bar__minus_02_dot_96)\n (openable Drawer_bar__plus_01_dot_88_bar__plus_00_dot_49_bar__minus_02_dot_96)\n (openable Drawer_bar__plus_02_dot_64_bar__plus_00_dot_16_bar__plus_01_dot_51)\n (openable Drawer_bar__minus_02_dot_42_bar__plus_00_dot_46_bar__minus_03_dot_15)\n (openable Drawer_bar__minus_02_dot_42_bar__plus_00_dot_46_bar__minus_00_dot_51)\n (openable Drawer_bar__minus_02_dot_42_bar__plus_00_dot_17_bar__minus_00_dot_51)\n (openable Drawer_bar__plus_02_dot_64_bar__plus_00_dot_44_bar__plus_01_dot_51)\n (openable Drawer_bar__plus_01_dot_88_bar__plus_00_dot_21_bar__minus_02_dot_96)\n (openable Drawer_bar__plus_02_dot_64_bar__plus_00_dot_72_bar__plus_01_dot_51)\n (openable Drawer_bar__plus_02_dot_64_bar__plus_00_dot_99_bar__plus_01_dot_51)\n (openable Drawer_bar__minus_02_dot_42_bar__plus_00_dot_17_bar__minus_03_dot_15)\n \n (atLocation agent1 loc_bar_3_bar__minus_1_bar_0_bar_30)\n \n (cleanable Mug_bar__minus_02_dot_53_bar__plus_00_dot_68_bar__minus_03_dot_30)\n (cleanable Bowl_bar__plus_01_dot_84_bar__plus_00_dot_89_bar__minus_03_dot_24)\n (cleanable Mug_bar__minus_02_dot_39_bar__plus_00_dot_68_bar__minus_03_dot_07)\n (cleanable Bowl_bar__plus_02_dot_38_bar__plus_00_dot_90_bar__minus_03_dot_04)\n \n (heatable Mug_bar__minus_02_dot_53_bar__plus_00_dot_68_bar__minus_03_dot_30)\n (heatable Mug_bar__minus_02_dot_39_bar__plus_00_dot_68_bar__minus_03_dot_07)\n (coolable Mug_bar__minus_02_dot_53_bar__plus_00_dot_68_bar__minus_03_dot_30)\n (coolable Bowl_bar__plus_01_dot_84_bar__plus_00_dot_89_bar__minus_03_dot_24)\n (coolable Mug_bar__minus_02_dot_39_bar__plus_00_dot_68_bar__minus_03_dot_07)\n (coolable Bowl_bar__plus_02_dot_38_bar__plus_00_dot_90_bar__minus_03_dot_04)\n \n \n (toggleable DeskLamp_bar__minus_02_dot_46_bar__plus_00_dot_67_bar__minus_00_dot_53)\n (toggleable DeskLamp_bar__plus_02_dot_76_bar__plus_00_dot_89_bar__minus_03_dot_32)\n \n \n \n \n (inReceptacle Pillow_bar__minus_02_dot_38_bar__plus_00_dot_64_bar__minus_02_dot_33 Bed_bar__minus_01_dot_64_bar__minus_00_dot_04_bar__minus_01_dot_86)\n (inReceptacle Book_bar__minus_01_dot_87_bar__plus_00_dot_62_bar__minus_01_dot_26 Bed_bar__minus_01_dot_64_bar__minus_00_dot_04_bar__minus_01_dot_86)\n (inReceptacle Pillow_bar__minus_02_dot_12_bar__plus_00_dot_66_bar__minus_01_dot_52 Bed_bar__minus_01_dot_64_bar__minus_00_dot_04_bar__minus_01_dot_86)\n (inReceptacle CellPhone_bar__minus_01_dot_59_bar__plus_00_dot_62_bar__minus_02_dot_06 Bed_bar__minus_01_dot_64_bar__minus_00_dot_04_bar__minus_01_dot_86)\n (inReceptacle TeddyBear_bar__minus_00_dot_67_bar__plus_00_dot_61_bar__minus_01_dot_36 Bed_bar__minus_01_dot_64_bar__minus_00_dot_04_bar__minus_01_dot_86)\n (inReceptacle Laptop_bar__minus_01_dot_31_bar__plus_00_dot_61_bar__minus_01_dot_54 Bed_bar__minus_01_dot_64_bar__minus_00_dot_04_bar__minus_01_dot_86)\n (inReceptacle Mug_bar__minus_02_dot_53_bar__plus_00_dot_68_bar__minus_03_dot_30 SideTable_bar__minus_02_dot_42_bar__plus_00_dot_46_bar__minus_03_dot_15)\n (inReceptacle Mug_bar__minus_02_dot_39_bar__plus_00_dot_68_bar__minus_03_dot_07 SideTable_bar__minus_02_dot_42_bar__plus_00_dot_46_bar__minus_03_dot_15)\n (inReceptacle AlarmClock_bar__minus_02_dot_39_bar__plus_00_dot_68_bar__minus_03_dot_23 SideTable_bar__minus_02_dot_42_bar__plus_00_dot_46_bar__minus_03_dot_15)\n (inReceptacle CD_bar__minus_02_dot_39_bar__plus_00_dot_68_bar__minus_02_dot_92 SideTable_bar__minus_02_dot_42_bar__plus_00_dot_46_bar__minus_03_dot_15)\n (inReceptacle CreditCard_bar__minus_02_dot_44_bar__plus_00_dot_68_bar__minus_03_dot_38 SideTable_bar__minus_02_dot_42_bar__plus_00_dot_46_bar__minus_03_dot_15)\n (inReceptacle Bowl_bar__plus_01_dot_84_bar__plus_00_dot_89_bar__minus_03_dot_24 Desk_bar__plus_02_dot_32_bar__minus_00_dot_01_bar__minus_03_dot_22)\n (inReceptacle CD_bar__plus_02_dot_56_bar__plus_00_dot_90_bar__minus_03_dot_11 Desk_bar__plus_02_dot_32_bar__minus_00_dot_01_bar__minus_03_dot_22)\n (inReceptacle DeskLamp_bar__plus_02_dot_76_bar__plus_00_dot_89_bar__minus_03_dot_32 Desk_bar__plus_02_dot_32_bar__minus_00_dot_01_bar__minus_03_dot_22)\n (inReceptacle Bowl_bar__plus_02_dot_38_bar__plus_00_dot_90_bar__minus_03_dot_04 Desk_bar__plus_02_dot_32_bar__minus_00_dot_01_bar__minus_03_dot_22)\n (inReceptacle AlarmClock_bar__plus_02_dot_04_bar__plus_00_dot_90_bar__minus_03_dot_25 Desk_bar__plus_02_dot_32_bar__minus_00_dot_01_bar__minus_03_dot_22)\n (inReceptacle CreditCard_bar__minus_02_dot_39_bar__plus_00_dot_68_bar__minus_00_dot_75 SideTable_bar__minus_02_dot_42_bar__plus_00_dot_46_bar__minus_00_dot_51)\n (inReceptacle DeskLamp_bar__minus_02_dot_46_bar__plus_00_dot_67_bar__minus_00_dot_53 SideTable_bar__minus_02_dot_42_bar__plus_00_dot_46_bar__minus_00_dot_51)\n (inReceptacle CreditCard_bar__minus_02_dot_53_bar__plus_00_dot_68_bar__minus_00_dot_36 SideTable_bar__minus_02_dot_42_bar__plus_00_dot_46_bar__minus_00_dot_51)\n (inReceptacle Pencil_bar__minus_02_dot_35_bar__plus_00_dot_69_bar__minus_00_dot_44 SideTable_bar__minus_02_dot_42_bar__plus_00_dot_46_bar__minus_00_dot_51)\n (inReceptacle KeyChain_bar__plus_01_dot_86_bar__plus_00_dot_08_bar__minus_02_dot_99 Drawer_bar__plus_01_dot_88_bar__plus_00_dot_21_bar__minus_02_dot_96)\n (inReceptacle CellPhone_bar__plus_02_dot_69_bar__plus_01_dot_23_bar__plus_01_dot_51 Dresser_bar__plus_02_dot_68_bar_00_dot_00_bar__plus_01_dot_51)\n (inReceptacle Pencil_bar__plus_02_dot_64_bar__plus_01_dot_23_bar__plus_01_dot_40 Dresser_bar__plus_02_dot_68_bar_00_dot_00_bar__plus_01_dot_51)\n (inReceptacle KeyChain_bar__plus_02_dot_74_bar__plus_01_dot_25_bar__plus_01_dot_74 Dresser_bar__plus_02_dot_68_bar_00_dot_00_bar__plus_01_dot_51)\n (inReceptacle KeyChain_bar__plus_02_dot_74_bar__plus_01_dot_25_bar__plus_01_dot_83 Dresser_bar__plus_02_dot_68_bar_00_dot_00_bar__plus_01_dot_51)\n (inReceptacle Book_bar__plus_02_dot_26_bar__plus_00_dot_36_bar__minus_00_dot_30 Bed_bar__plus_02_dot_40_bar__plus_00_dot_01_bar__minus_00_dot_07)\n (inReceptacle Pen_bar__plus_01_dot_93_bar__plus_00_dot_37_bar__minus_03_dot_14 Drawer_bar__plus_01_dot_88_bar__plus_00_dot_49_bar__minus_02_dot_96)\n (inReceptacle KeyChain_bar__plus_02_dot_74_bar__plus_01_dot_25_bar__plus_01_dot_74 Safe_bar__plus_02_dot_70_bar__plus_01_dot_23_bar__plus_01_dot_77)\n (inReceptacle KeyChain_bar__plus_02_dot_74_bar__plus_01_dot_25_bar__plus_01_dot_83 Safe_bar__plus_02_dot_70_bar__plus_01_dot_23_bar__plus_01_dot_77)\n \n \n (receptacleAtLocation Bed_bar__plus_02_dot_40_bar__plus_00_dot_01_bar__minus_00_dot_07 loc_bar_5_bar_0_bar_1_bar_60)\n (receptacleAtLocation Bed_bar__minus_01_dot_64_bar__minus_00_dot_04_bar__minus_01_dot_86 loc_bar_0_bar__minus_8_bar_3_bar_45)\n (receptacleAtLocation Desk_bar__plus_02_dot_32_bar__minus_00_dot_01_bar__minus_03_dot_22 loc_bar_8_bar__minus_10_bar_2_bar_60)\n (receptacleAtLocation Drawer_bar__plus_01_dot_88_bar__plus_00_dot_21_bar__minus_02_dot_96 loc_bar_3_bar__minus_9_bar_1_bar_45)\n (receptacleAtLocation Drawer_bar__plus_01_dot_88_bar__plus_00_dot_49_bar__minus_02_dot_96 loc_bar_3_bar__minus_9_bar_1_bar_45)\n (receptacleAtLocation Drawer_bar__plus_01_dot_88_bar__plus_00_dot_73_bar__minus_02_dot_96 loc_bar_4_bar__minus_10_bar_1_bar_45)\n (receptacleAtLocation Drawer_bar__plus_02_dot_64_bar__plus_00_dot_16_bar__plus_01_dot_51 loc_bar_6_bar_4_bar_1_bar_45)\n (receptacleAtLocation Drawer_bar__plus_02_dot_64_bar__plus_00_dot_44_bar__plus_01_dot_51 loc_bar_6_bar_5_bar_1_bar_45)\n (receptacleAtLocation Drawer_bar__plus_02_dot_64_bar__plus_00_dot_72_bar__plus_01_dot_51 loc_bar_7_bar_6_bar_1_bar_45)\n (receptacleAtLocation Drawer_bar__plus_02_dot_64_bar__plus_00_dot_99_bar__plus_01_dot_51 loc_bar_8_bar_6_bar_1_bar_45)\n (receptacleAtLocation Drawer_bar__minus_02_dot_42_bar__plus_00_dot_17_bar__minus_00_dot_51 loc_bar__minus_5_bar__minus_3_bar_3_bar_45)\n (receptacleAtLocation Drawer_bar__minus_02_dot_42_bar__plus_00_dot_17_bar__minus_03_dot_15 loc_bar__minus_4_bar__minus_12_bar_3_bar_45)\n (receptacleAtLocation Drawer_bar__minus_02_dot_42_bar__plus_00_dot_46_bar__minus_00_dot_51 loc_bar__minus_6_bar__minus_3_bar_3_bar_45)\n (receptacleAtLocation Drawer_bar__minus_02_dot_42_bar__plus_00_dot_46_bar__minus_03_dot_15 loc_bar__minus_5_bar__minus_12_bar_3_bar_45)\n (receptacleAtLocation Dresser_bar__plus_02_dot_68_bar_00_dot_00_bar__plus_01_dot_51 loc_bar_9_bar_5_bar_1_bar_60)\n (receptacleAtLocation GarbageCan_bar__plus_01_dot_34_bar__plus_00_dot_00_bar__minus_03_dot_38 loc_bar_5_bar__minus_12_bar_2_bar_60)\n (receptacleAtLocation Safe_bar__plus_02_dot_70_bar__plus_01_dot_23_bar__plus_01_dot_77 loc_bar_9_bar_6_bar_1_bar_45)\n (receptacleAtLocation SideTable_bar__minus_02_dot_42_bar__plus_00_dot_46_bar__minus_00_dot_51 loc_bar__minus_7_bar__minus_2_bar_3_bar_60)\n (receptacleAtLocation SideTable_bar__minus_02_dot_42_bar__plus_00_dot_46_bar__minus_03_dot_15 loc_bar__minus_7_bar__minus_12_bar_3_bar_60)\n (objectAtLocation Bowl_bar__plus_01_dot_84_bar__plus_00_dot_89_bar__minus_03_dot_24 loc_bar_8_bar__minus_10_bar_2_bar_60)\n (objectAtLocation Mug_bar__minus_02_dot_39_bar__plus_00_dot_68_bar__minus_03_dot_07 loc_bar__minus_7_bar__minus_12_bar_3_bar_60)\n (objectAtLocation CD_bar__minus_02_dot_39_bar__plus_00_dot_68_bar__minus_02_dot_92 loc_bar__minus_7_bar__minus_12_bar_3_bar_60)\n (objectAtLocation KeyChain_bar__plus_02_dot_74_bar__plus_01_dot_25_bar__plus_01_dot_83 loc_bar_9_bar_6_bar_1_bar_45)\n (objectAtLocation CellPhone_bar__plus_02_dot_69_bar__plus_01_dot_23_bar__plus_01_dot_51 loc_bar_9_bar_5_bar_1_bar_60)\n (objectAtLocation AlarmClock_bar__plus_02_dot_04_bar__plus_00_dot_90_bar__minus_03_dot_25 loc_bar_8_bar__minus_10_bar_2_bar_60)\n (objectAtLocation Pencil_bar__plus_02_dot_64_bar__plus_01_dot_23_bar__plus_01_dot_40 loc_bar_9_bar_5_bar_1_bar_60)\n (objectAtLocation CreditCard_bar__minus_02_dot_39_bar__plus_00_dot_68_bar__minus_00_dot_75 loc_bar__minus_7_bar__minus_2_bar_3_bar_60)\n (objectAtLocation Book_bar__plus_02_dot_26_bar__plus_00_dot_36_bar__minus_00_dot_30 loc_bar_5_bar_0_bar_1_bar_60)\n (objectAtLocation KeyChain_bar__plus_02_dot_74_bar__plus_01_dot_25_bar__plus_01_dot_74 loc_bar_9_bar_6_bar_1_bar_45)\n (objectAtLocation CreditCard_bar__minus_02_dot_53_bar__plus_00_dot_68_bar__minus_00_dot_36 loc_bar__minus_7_bar__minus_2_bar_3_bar_60)\n (objectAtLocation Book_bar__minus_01_dot_87_bar__plus_00_dot_62_bar__minus_01_dot_26 loc_bar_0_bar__minus_8_bar_3_bar_45)\n (objectAtLocation CreditCard_bar__minus_02_dot_44_bar__plus_00_dot_68_bar__minus_03_dot_38 loc_bar__minus_7_bar__minus_12_bar_3_bar_60)\n (objectAtLocation Pen_bar__plus_01_dot_93_bar__plus_00_dot_37_bar__minus_03_dot_14 loc_bar_3_bar__minus_9_bar_1_bar_45)\n (objectAtLocation DeskLamp_bar__plus_02_dot_76_bar__plus_00_dot_89_bar__minus_03_dot_32 loc_bar_8_bar__minus_10_bar_2_bar_60)\n (objectAtLocation Pencil_bar__minus_02_dot_35_bar__plus_00_dot_69_bar__minus_00_dot_44 loc_bar__minus_7_bar__minus_2_bar_3_bar_60)\n (objectAtLocation DeskLamp_bar__minus_02_dot_46_bar__plus_00_dot_67_bar__minus_00_dot_53 loc_bar__minus_7_bar__minus_2_bar_3_bar_60)\n (objectAtLocation LightSwitch_bar__minus_00_dot_70_bar__plus_01_dot_02_bar__plus_00_dot_33 loc_bar__minus_1_bar_1_bar_3_bar_60)\n (objectAtLocation TeddyBear_bar__minus_00_dot_67_bar__plus_00_dot_61_bar__minus_01_dot_36 loc_bar_0_bar__minus_8_bar_3_bar_45)\n (objectAtLocation Laptop_bar__minus_01_dot_31_bar__plus_00_dot_61_bar__minus_01_dot_54 loc_bar_0_bar__minus_8_bar_3_bar_45)\n (objectAtLocation AlarmClock_bar__minus_02_dot_39_bar__plus_00_dot_68_bar__minus_03_dot_23 loc_bar__minus_7_bar__minus_12_bar_3_bar_60)\n (objectAtLocation CellPhone_bar__minus_01_dot_59_bar__plus_00_dot_62_bar__minus_02_dot_06 loc_bar_0_bar__minus_8_bar_3_bar_45)\n (objectAtLocation KeyChain_bar__plus_01_dot_86_bar__plus_00_dot_08_bar__minus_02_dot_99 loc_bar_3_bar__minus_9_bar_1_bar_45)\n (objectAtLocation Pillow_bar__minus_02_dot_12_bar__plus_00_dot_66_bar__minus_01_dot_52 loc_bar_0_bar__minus_8_bar_3_bar_45)\n (objectAtLocation Pillow_bar__minus_02_dot_38_bar__plus_00_dot_64_bar__minus_02_dot_33 loc_bar_0_bar__minus_8_bar_3_bar_45)\n (objectAtLocation Mirror_bar__plus_00_dot_53_bar__plus_01_dot_42_bar__plus_02_dot_00 loc_bar_2_bar_6_bar_0_bar_30)\n (objectAtLocation CD_bar__plus_02_dot_56_bar__plus_00_dot_90_bar__minus_03_dot_11 loc_bar_8_bar__minus_10_bar_2_bar_60)\n (objectAtLocation Window_bar__minus_00_dot_84_bar__plus_01_dot_39_bar__minus_03_dot_65 loc_bar__minus_3_bar__minus_12_bar_2_bar_15)\n (objectAtLocation Window_bar__plus_02_dot_96_bar__plus_01_dot_51_bar__minus_01_dot_02 loc_bar_9_bar__minus_6_bar_1_bar_15)\n (objectAtLocation Chair_bar__plus_02_dot_58_bar__plus_00_dot_00_bar__minus_02_dot_88 loc_bar_8_bar__minus_10_bar_1_bar_60)\n (objectAtLocation Mug_bar__minus_02_dot_53_bar__plus_00_dot_68_bar__minus_03_dot_30 loc_bar__minus_7_bar__minus_12_bar_3_bar_60)\n (objectAtLocation Blinds_bar__minus_00_dot_80_bar__plus_02_dot_09_bar__minus_03_dot_63 loc_bar__minus_3_bar__minus_12_bar_2_bar__minus_30)\n (objectAtLocation Blinds_bar__plus_02_dot_93_bar__plus_02_dot_17_bar__minus_01_dot_00 loc_bar_9_bar__minus_6_bar_1_bar__minus_30)\n (objectAtLocation Bowl_bar__plus_02_dot_38_bar__plus_00_dot_90_bar__minus_03_dot_04 loc_bar_8_bar__minus_10_bar_2_bar_60)\n )\n \n\n (:goal\n (and\n (exists (?ot - object\n ?r - receptacle\n ?a - agent\n ?l - location)\n (and\n (objectType ?ot DeskLampType)\n (toggleable ?ot)\n (isToggled ?ot)\n (receptacleAtLocation ?r ?l)\n (atLocation ?a ?l)\n (inReceptacle ?ot ?r)\n )\n )\n (exists (?o - object\n ?a - agent)\n (and\n (objectType ?o BowlType)\n (holds ?a ?o)\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to desk 1", "use desklamp 1", "take bowl 2 from desk 1"]}
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alfworld__pick_two_obj_and_place__801
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pick_two_obj_and_place
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pick_two_obj_and_place-SoapBottle-None-CounterTop-407/trial_T20190908_055536_681478/game.tw-pddl
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{"pddl_domain": ";; Specification in PDDL of the Alfred domain\n;; Intended to be used with Fast Downward which supports PDDL 2.2 level 1 plus the :action-costs requirement from PDDL 3.1.\n\n(define (domain alfred)\n (:requirements\n :adl\n :action-costs\n :typing\n )\n (:types\n agent\n location\n receptacle\n object\n rtype\n otype\n )\n\n\n (:predicates\n (atLocation ?a - agent ?l - location) ; true if the agent is at the location\n (receptacleAtLocation ?r - receptacle ?l - location) ; true if the receptacle is at the location (constant)\n (objectAtLocation ?o - object ?l - location) ; true if the object is at the location\n (openable ?r - receptacle) ; true if a receptacle is openable\n (opened ?r - receptacle) ; true if a receptacle is opened\n (inReceptacle ?o - object ?r - receptacle) ; object ?o is in receptacle ?r\n (isReceptacleObject ?o - object) ; true if the object can have things put inside it\n (inReceptacleObject ?innerObject - object ?outerObject - object) ; object ?innerObject is inside object ?outerObject\n (isReceptacleObjectFull ?o - object) ; true if the receptacle object contains something\n (wasInReceptacle ?o - object ?r - receptacle) ; object ?o was or is in receptacle ?r now or some time in the past\n (checked ?r - receptacle) ; whether the receptacle has been looked inside/visited\n (examined ?l - location) ; TODO\n (receptacleType ?r - receptacle ?t - rtype) ; the type of receptacle (Cabinet vs Cabinet|01|2...)\n (canContain ?rt - rtype ?ot - otype) ; true if receptacle can hold object\n (objectType ?o - object ?t - otype) ; the type of object (Apple vs Apple|01|2...)\n (holds ?a - agent ?o - object) ; object ?o is held by agent ?a\n (holdsAny ?a - agent) ; agent ?a holds an object\n (holdsAnyReceptacleObject ?a - agent) ; agent ?a holds a receptacle object\n (full ?r - receptacle) ; true if the receptacle has no remaining space\n (isClean ?o - object) ; true if the object has been clean in sink\n (cleanable ?o - object) ; true if the object can be placed in a sink\n (isHot ?o - object) ; true if the object has been heated up\n (heatable ?o - object) ; true if the object can be heated up in a microwave\n (isCool ?o - object) ; true if the object has been cooled\n (coolable ?o - object) ; true if the object can be cooled in the fridge\n (pickupable ?o - object) ; true if the object can be picked up\n (moveable ?o - object) ; true if the object can be moved\n (toggleable ?o - object) ; true if the object can be turned on/off\n (isOn ?o - object) ; true if the object is on\n (isToggled ?o - object) ; true if the object has been toggled\n (sliceable ?o - object) ; true if the object can be sliced\n (isSliced ?o - object) ; true if the object is sliced\n )\n\n (:functions\n (distance ?from ?to)\n (total-cost) - number\n )\n\n;; All actions are specified such that the final arguments are the ones used\n;; for performing actions in Unity.\n\n\n(:action look\n :parameters (?a - agent ?l - location)\n :precondition\n (and\n (atLocation ?a ?l)\n )\n :effect\n (and\n (checked ?l)\n )\n)\n\n(:action inventory\n :parameters (?a - agent)\n :precondition\n ()\n :effect\n (and\n (checked ?a)\n )\n)\n\n(:action examineReceptacle\n :parameters (?a - agent ?r - receptacle)\n :precondition\n (and\n (exists (?l - location)\n (and\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n )\n )\n )\n :effect\n (and\n (checked ?r)\n )\n)\n\n(:action examineObject\n :parameters (?a - agent ?o - object)\n :precondition\n (or\n ;(exists (?l - location)\n ; (and\n ; (atLocation ?a ?l)\n ; (objectAtLocation ?o ?l)\n ; )\n ;)\n (exists (?l - location, ?r - receptacle)\n (and\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n ; (objectAtLocation ?o ?l)\n (inReceptacle ?o ?r)\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n )\n )\n (holds ?a ?o)\n )\n :effect\n (and\n (checked ?o)\n )\n)\n\n;; agent goes to receptacle\n (:action GotoLocation\n :parameters (?a - agent ?lStart - location ?lEnd - location ?r - receptacle)\n :precondition (and\n (atLocation ?a ?lStart)\n (receptacleAtLocation ?r ?lEnd)\n ;(exists (?r - receptacle) (receptacleAtLocation ?r ?lEnd))\n )\n :effect (and\n (not (atLocation ?a ?lStart))\n (atLocation ?a ?lEnd)\n ; (forall (?r - receptacle)\n ; (when (and (receptacleAtLocation ?r ?lEnd)\n ; (or (not (openable ?r)) (opened ?r)))\n ; (checked ?r)\n ; )\n ; )\n ; (increase (total-cost) (distance ?lStart ?lEnd))\n (increase (total-cost) 1)\n )\n )\n\n;; agent opens receptacle\n (:action OpenObject\n :parameters (?a - agent ?l - location ?r - receptacle)\n :precondition (and\n (openable ?r)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (not (opened ?r))\n )\n :effect (and\n (opened ?r)\n (checked ?r)\n (increase (total-cost) 1)\n )\n )\n;; agent closes receptacle\n (:action CloseObject\n :parameters (?a - agent ?l - location ?r - receptacle)\n :precondition (and\n (openable ?r)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (opened ?r)\n )\n :effect (and\n (not (opened ?r))\n (increase (total-cost) 1)\n )\n\n )\n\n ;; agent picks up object from a receptacle\n (:action PickupObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n :precondition\n (and\n (pickupable ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n ; (objectAtLocation ?o ?l)\n (inReceptacle ?o ?r)\n (not (holdsAny ?a)) ; agent's hands are empty.\n ;(not (holdsAnyReceptacleObject ?a))\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n ;(not (isReceptacleObject ?o))\n )\n :effect\n (and\n (not (inReceptacle ?o ?r))\n (holds ?a ?o)\n (holdsAny ?a)\n (not (objectAtLocation ?o ?l))\n ;(not (full ?r))\n (increase (total-cost) 1)\n )\n )\n\n\n; ;; agent picks up object from a receptacle\n; (:action PickupObjectFromReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?outerR - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (inReceptacle ?o ?r)\n; (pickupable ?o)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (not (isReceptacleObject ?o))\n; (isReceptacleObject ?outerR)\n; (inReceptacleObject ?o ?outerR)\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (holds ?a ?o)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n;\n; (not (inReceptacleObject ?o ?outerR))\n; (not (isReceptacleObjectFull ?outerR))\n; )\n; )\n;\n; ;; agent picks up object from a receptacle\n; (:action PickupEmptyReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; ; (objectAtLocation ?o ?l)\n; (inReceptacle ?o ?r)\n; (pickupable ?o)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (isReceptacleObject ?o)\n; (not (isReceptacleObjectFull ?o))\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (holds ?a ?o)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n; (holdsAnyReceptacleObject ?a)\n; )\n; )\n;\n; ;; agent picks up object from a receptacle\n; (:action PickupFullReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?outerR - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (inReceptacle ?outerR ?r)\n; (pickupable ?outerR)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (not (isReceptacleObject ?o))\n; (isReceptacleObject ?outerR)\n; (inReceptacleObject ?o ?outerR)\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (not (inReceptacle ?outerR ?r))\n; (holds ?a ?outerR)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (objectAtLocation ?outerR ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n; (holdsAnyReceptacleObject ?a)\n; )\n; )\n\n\n;; agent puts down an object\n (:action PutObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle ?ot - otype ?rt - rtype)\n :precondition (and\n (holds ?a ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable\n ;(not (full ?r))\n (objectType ?o ?ot)\n (receptacleType ?r ?rt)\n (canContain ?rt ?ot)\n ;(not (holdsAnyReceptacleObject ?a))\n )\n :effect (and\n (inReceptacle ?o ?r)\n (objectAtLocation ?o ?l)\n ;(full ?r)\n (not (holds ?a ?o))\n (not (holdsAny ?a))\n (increase (total-cost) 1)\n )\n )\n\n;;; agent puts down an object\n; (:action PutObjectInReceptacleObject\n; :parameters (?a - agent ?l - location ?ot - otype ?o - object ?outerO - object ?outerR - receptacle)\n; :precondition (and\n; (atLocation ?a ?l)\n; (objectAtLocation ?outerO ?l)\n; (isReceptacleObject ?outerO)\n; (not (isReceptacleObject ?o))\n; (objectType ?o ?ot)\n; (holds ?a ?o)\n; (not (holdsAnyReceptacleObject ?a))\n; (inReceptacle ?outerO ?outerR)\n; (not (isReceptacleObjectFull ?outerO))\n; )\n; :effect (and\n; (inReceptacleObject ?o ?outerO)\n; (inReceptacle ?o ?outerR)\n; (not (holds ?a ?o))\n; (not (holdsAny ?a))\n; (objectAtLocation ?o ?l)\n; (isReceptacleObjectFull ?outerO)\n; (increase (total-cost) 1)\n; )\n; )\n;\n;;; agent puts down an object\n; (:action PutEmptyReceptacleObjectinReceptacle\n; :parameters (?a - agent ?l - location ?ot - otype ?o - object ?r - receptacle)\n; :precondition (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable\n; (not (full ?r))\n; (objectType ?o ?ot)\n; (holds ?a ?o)\n; (holdsAnyReceptacleObject ?a)\n; (isReceptacleObject ?o)\n; (not (isReceptacleObjectFull ?o))\n; )\n; :effect (and\n; (inReceptacle ?o ?r)\n; (objectAtLocation ?o ?l)\n; (full ?r)\n; (not (holds ?a ?o))\n; (not (holdsAny ?a))\n; (not (holdsAnyReceptacleObject ?a))\n; (increase (total-cost) 1)\n; )\n; )\n;\n;;; agent puts down a receptacle object in a receptacle\n; (:action PutFullReceptacleObjectInReceptacle\n; :parameters (?a - agent ?l - location ?ot - otype ?innerO - object ?outerO - object ?r - receptacle) ; ?rt - rtype)\n; :precondition (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (objectType ?outerO ?ot)\n; (holds ?a ?outerO)\n; (holdsAnyReceptacleObject ?a)\n; (isReceptacleObject ?outerO)\n; (isReceptacleObjectFull ?outerO)\n; (inReceptacleObject ?innerO ?outerO)\n; )\n; :effect (and\n; (not (holdsAny ?a))\n; (not (holdsAnyReceptacleObject ?a))\n; (objectAtLocation ?outerO ?l)\n; (objectAtLocation ?innerO ?l)\n; (inReceptacle ?outerO ?r)\n; (inReceptacle ?innerO ?r)\n; (not (holds ?a ?outerO))\n; (increase (total-cost) 1)\n; )\n; )\n\n;; agent cleans some object\n (:action CleanObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (cleanable ?o)\n (or\n (receptacleType ?r SinkType)\n (receptacleType ?r SinkBasinType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isClean ?o)\n )\n )\n\n\n;; agent heats-up some object\n (:action HeatObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (heatable ?o)\n (or\n (receptacleType ?r MicrowaveType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isHot ?o)\n (not (isCool ?o))\n )\n )\n\n;; agent cools some object\n (:action CoolObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (coolable ?o)\n (or\n (receptacleType ?r FridgeType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isCool ?o)\n (not (isHot ?o))\n )\n )\n\n\n;; agent toggle object\n (:action ToggleObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n :precondition (and\n (toggleable ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (inReceptacle ?o ?r)\n )\n :effect (and\n (increase (total-cost) 5)\n (when (isOn ?o)\n (not (isOn ?o)))\n (when (not (isOn ?o))\n (isOn ?o))\n (isToggled ?o)\n )\n )\n\n\n;; agent slices some object with a knife\n (:action SliceObject\n :parameters (?a - agent ?l - location ?co - object ?ko - object)\n :precondition\n (and\n (sliceable ?co)\n (or\n (objectType ?ko KnifeType)\n (objectType ?ko ButterKnifeType)\n )\n (atLocation ?a ?l)\n (objectAtLocation ?co ?l)\n (holds ?a ?ko)\n )\n :effect (and\n (increase (total-cost) 5)\n (isSliced ?co)\n )\n )\n\n\n(:action help\n :parameters (?a - agent)\n :precondition\n ()\n :effect\n (and\n (checked ?a)\n )\n)\n)\n", "grammar": "grammar :: \"\"\"\n {\n \"intro\": [\n {\n \"rhs\": \"-= Welcome to TextWorld, ALFRED! =-\\n\\n#look.feedback#\\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 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_055536_681478)\n(:domain alfred)\n(:objects\nagent1 - agent\nSaltShaker - object\n HousePlant - object\n Candle - object\n SprayBottle - object\n Bowl - object\n Window - object\n CD - object\n Egg - object\n Glassbottle - object\n Sink - object\n Pillow - object\n Spoon - object\n SoapBottle - object\n TeddyBear - object\n ButterKnife - object\n Cup - object\n Plate - object\n RemoteControl - object\n Tomato - object\n Statue - object\n HandTowel - object\n Knife - object\n StoveKnob - object\n LightSwitch - object\n Pen - object\n Painting - object\n DishSponge - object\n Vase - object\n Mug - object\n ToiletPaper - object\n Box - object\n Mirror - object\n Ladle - object\n Fork - object\n Blinds - object\n Footstool - object\n KeyChain - object\n Cloth - object\n Laptop - object\n TissueBox - object\n PepperShaker - object\n FloorLamp - object\n WateringCan - object\n Apple - object\n Pan - object\n PaperTowel - object\n PaperTowelRoll - object\n Newspaper - object\n Television - object\n Chair - object\n CellPhone - object\n CreditCard - object\n Lettuce - object\n BasketBall - object\n Potato - object\n Curtains - object\n Boots - object\n Pencil - object\n AlarmClock - object\n ToiletPaperRoll - object\n Spatula - object\n Book - object\n Bread - object\n SoapBar - object\n Watch - object\n DeskLamp - object\n Kettle - object\n Pot - object\n ScrubBrush - object\n WineBottle - object\n ShowerDoor - object\n Bathtub - object\n LaundryHamperLid - object\n ShowerGlass - object\n Poster - object\n TennisRacket - object\n BaseballBat - object\n Towel - object\n Plunger - object\nSaltShakerType - otype\n HousePlantType - otype\n CandleType - otype\n SprayBottleType - otype\n BowlType - otype\n WindowType - otype\n CDType - otype\n EggType - otype\n GlassbottleType - otype\n SinkType - otype\n PillowType - otype\n SpoonType - otype\n SoapBottleType - otype\n TeddyBearType - otype\n ButterKnifeType - otype\n CupType - otype\n PlateType - otype\n RemoteControlType - otype\n TomatoType - otype\n StatueType - otype\n HandTowelType - otype\n KnifeType - otype\n StoveKnobType - otype\n LightSwitchType - otype\n PenType - otype\n PaintingType - otype\n DishSpongeType - otype\n VaseType - otype\n MugType - otype\n ToiletPaperType - otype\n BoxType - otype\n MirrorType - otype\n LadleType - otype\n ForkType - otype\n BlindsType - otype\n FootstoolType - otype\n KeyChainType - otype\n ClothType - otype\n LaptopType - otype\n TissueBoxType - otype\n PepperShakerType - otype\n FloorLampType - otype\n WateringCanType - otype\n AppleType - otype\n PanType - otype\n PaperTowelType - otype\n PaperTowelRollType - otype\n NewspaperType - otype\n TelevisionType - otype\n ChairType - otype\n CellPhoneType - otype\n CreditCardType - otype\n LettuceType - otype\n BasketBallType - otype\n PotatoType - otype\n CurtainsType - otype\n BootsType - otype\n PencilType - otype\n AlarmClockType - otype\n ToiletPaperRollType - otype\n SpatulaType - otype\n BookType - otype\n BreadType - otype\n SoapBarType - otype\n WatchType - otype\n DeskLampType - otype\n KettleType - otype\n PotType - otype\n ScrubBrushType - otype\n WineBottleType - otype\n ShowerDoorType - otype\n BathtubType - otype\n LaundryHamperLidType - otype\n ShowerGlassType - otype\n PosterType - otype\n TennisRacketType - otype\n BaseballBatType - otype\n TowelType - otype\n PlungerType - otype\nSafeType - rtype\n DrawerType - rtype\n CoffeeMachineType - rtype\n HandTowelHolderType - rtype\n SinkBasinType - rtype\n DresserType - rtype\n LaundryHamperType - rtype\n TVStandType - rtype\n BathtubBasinType - rtype\n CabinetType - rtype\n FridgeType - rtype\n DeskType - rtype\n ToiletType - rtype\n CartType - rtype\n SideTableType - rtype\n SofaType - rtype\n CoffeeTableType - rtype\n DiningTableType - rtype\n CounterTopType - rtype\n GarbageCanType - rtype\n ArmChairType - rtype\n ShelfType - rtype\n MicrowaveType - rtype\n ToasterType - rtype\n BedType - rtype\n PaintingHangerType - rtype\n TowelHolderType - rtype\n ToiletPaperHangerType - rtype\n StoveBurnerType - rtype\n OttomanType - rtype\n\n\n Bathtub_bar__plus_00_dot_88_bar__plus_00_dot_39_bar__minus_01_dot_15 - object\n Candle_bar__minus_00_dot_14_bar__plus_00_dot_02_bar__minus_01_dot_49 - object\n Candle_bar__minus_01_dot_93_bar__plus_01_dot_04_bar__plus_00_dot_14 - object\n Cloth_bar__plus_00_dot_94_bar__plus_00_dot_17_bar__minus_01_dot_25 - object\n Cloth_bar__minus_00_dot_60_bar__plus_00_dot_93_bar__minus_01_dot_50 - object\n Cloth_bar__minus_01_dot_41_bar__plus_00_dot_93_bar__minus_01_dot_53 - object\n Faucet_bar__plus_00_dot_89_bar__plus_01_dot_69_bar__plus_00_dot_72 - object\n Faucet_bar__plus_00_dot_93_bar__plus_00_dot_51_bar__minus_01_dot_98 - object\n Faucet_bar__minus_00_dot_51_bar__plus_00_dot_90_bar__minus_01_dot_78 - object\n Faucet_bar__minus_01_dot_54_bar__plus_00_dot_90_bar__minus_01_dot_78 - object\n HandTowel_bar__minus_02_dot_03_bar__plus_01_dot_49_bar__minus_01_dot_48 - object\n LightSwitch_bar__plus_00_dot_23_bar__plus_01_dot_33_bar__plus_00_dot_76 - object\n Mirror_bar__minus_01_dot_02_bar__plus_01_dot_50_bar__minus_01_dot_84 - object\n Plunger_bar__minus_01_dot_89_bar_00_dot_00_bar__plus_00_dot_61 - object\n ScrubBrush_bar__minus_01_dot_65_bar_00_dot_00_bar__plus_00_dot_65 - object\n ShowerCurtain_bar__plus_00_dot_46_bar__plus_01_dot_78_bar__minus_01_dot_52 - object\n ShowerDoor_bar__plus_00_dot_45_bar__plus_00_dot_93_bar__plus_00_dot_70 - object\n ShowerGlass_bar__plus_00_dot_92_bar__plus_01_dot_42_bar__minus_00_dot_21 - object\n Sink_bar__minus_00_dot_53_bar__plus_00_dot_81_bar__minus_01_dot_60 - object\n Sink_bar__minus_01_dot_56_bar__plus_00_dot_81_bar__minus_01_dot_60 - object\n SoapBar_bar__plus_00_dot_57_bar__plus_00_dot_59_bar__minus_01_dot_75 - object\n SoapBar_bar__plus_00_dot_88_bar__plus_00_dot_17_bar__minus_01_dot_11 - object\n SoapBar_bar__minus_00_dot_12_bar__plus_00_dot_91_bar__minus_01_dot_55 - object\n SoapBottle_bar__minus_00_dot_69_bar__plus_00_dot_02_bar__minus_01_dot_44 - object\n SoapBottle_bar__minus_01_dot_87_bar__plus_01_dot_05_bar__plus_00_dot_08 - object\n SoapBottle_bar__minus_01_dot_87_bar__plus_01_dot_05_bar__plus_00_dot_34 - object\n SoapBottle_bar__minus_01_dot_99_bar__plus_01_dot_05_bar__plus_00_dot_34 - object\n SprayBottle_bar__plus_00_dot_08_bar__plus_00_dot_15_bar__minus_01_dot_60 - object\n SprayBottle_bar__minus_00_dot_95_bar__plus_00_dot_91_bar__minus_01_dot_42 - object\n SprayBottle_bar__minus_01_dot_90_bar__plus_00_dot_02_bar__minus_01_dot_59 - object\n ToiletPaper_bar__minus_00_dot_49_bar__plus_00_dot_01_bar__minus_01_dot_64 - object\n ToiletPaper_bar__minus_01_dot_20_bar__plus_00_dot_92_bar__plus_00_dot_68 - object\n ToiletPaper_bar__minus_01_dot_47_bar__plus_00_dot_01_bar__minus_01_dot_49 - object\n Towel_bar__plus_00_dot_89_bar__plus_01_dot_37_bar__minus_01_dot_76 - object\n Window_bar__plus_01_dot_53_bar__plus_01_dot_67_bar__minus_01_dot_04 - object\n Bathtub_bar__plus_00_dot_88_bar__plus_00_dot_39_bar__minus_01_dot_15_bar_BathtubBasin - receptacle\n Cabinet_bar__minus_00_dot_07_bar__plus_00_dot_34_bar__minus_01_dot_33 - receptacle\n Cabinet_bar__minus_01_dot_04_bar__plus_00_dot_34_bar__minus_01_dot_33 - receptacle\n Cabinet_bar__minus_01_dot_05_bar__plus_00_dot_34_bar__minus_01_dot_33 - receptacle\n Cabinet_bar__minus_02_dot_02_bar__plus_00_dot_34_bar__minus_01_dot_33 - receptacle\n CounterTop_bar__minus_01_dot_04_bar__plus_00_dot_88_bar__minus_01_dot_53 - receptacle\n GarbageCan_bar__plus_00_dot_10_bar_00_dot_00_bar__minus_01_dot_57 - receptacle\n HandTowelHolder_bar__minus_02_dot_07_bar__plus_01_dot_59_bar__minus_01_dot_48 - receptacle\n Sink_bar__minus_00_dot_53_bar__plus_00_dot_81_bar__minus_01_dot_60_bar_SinkBasin - receptacle\n Sink_bar__minus_01_dot_56_bar__plus_00_dot_81_bar__minus_01_dot_60_bar_SinkBasin - receptacle\n ToiletPaperHanger_bar__minus_01_dot_18_bar__plus_00_dot_92_bar__plus_00_dot_77 - receptacle\n Toilet_bar__minus_01_dot_61_bar_00_dot_00_bar__plus_00_dot_21 - receptacle\n TowelHolder_bar__plus_00_dot_89_bar__plus_01_dot_35_bar__minus_01_dot_86 - receptacle\n loc_bar__minus_3_bar_1_bar_0_bar_60 - location\n loc_bar__minus_3_bar__minus_2_bar_2_bar_60 - location\n loc_bar__minus_1_bar__minus_4_bar_1_bar_0 - location\n loc_bar__minus_1_bar__minus_4_bar_1_bar_15 - location\n loc_bar__minus_5_bar__minus_1_bar_2_bar_45 - location\n loc_bar__minus_6_bar__minus_3_bar_0_bar_60 - location\n loc_bar__minus_6_bar__minus_1_bar_0_bar_60 - location\n loc_bar__minus_2_bar__minus_4_bar_2_bar_60 - location\n loc_bar__minus_3_bar__minus_1_bar_2_bar_45 - location\n loc_bar__minus_1_bar_1_bar_0_bar_30 - location\n loc_bar__minus_1_bar_1_bar_1_bar_45 - location\n loc_bar__minus_6_bar__minus_4_bar_3_bar_0 - location\n loc_bar__minus_1_bar__minus_2_bar_2_bar_60 - location\n loc_bar__minus_6_bar__minus_3_bar_2_bar_45 - location\n loc_bar_0_bar__minus_3_bar_1_bar_60 - location\n loc_bar_0_bar__minus_1_bar_1_bar_15 - location\n loc_bar__minus_1_bar__minus_4_bar_1_bar_45 - location\n loc_bar__minus_5_bar__minus_2_bar_2_bar_60 - location\n loc_bar__minus_6_bar__minus_4_bar_2_bar_60 - location\n loc_bar__minus_2_bar_0_bar_2_bar_30 - location\n )\n \n\n(:init\n\n\n (receptacleType ToiletPaperHanger_bar__minus_01_dot_18_bar__plus_00_dot_92_bar__plus_00_dot_77 ToiletPaperHangerType)\n (receptacleType HandTowelHolder_bar__minus_02_dot_07_bar__plus_01_dot_59_bar__minus_01_dot_48 HandTowelHolderType)\n (receptacleType Bathtub_bar__plus_00_dot_88_bar__plus_00_dot_39_bar__minus_01_dot_15_bar_BathtubBasin BathtubBasinType)\n (receptacleType Sink_bar__minus_01_dot_56_bar__plus_00_dot_81_bar__minus_01_dot_60_bar_SinkBasin SinkBasinType)\n (receptacleType Cabinet_bar__minus_01_dot_04_bar__plus_00_dot_34_bar__minus_01_dot_33 CabinetType)\n (receptacleType GarbageCan_bar__plus_00_dot_10_bar_00_dot_00_bar__minus_01_dot_57 GarbageCanType)\n (receptacleType Cabinet_bar__minus_02_dot_02_bar__plus_00_dot_34_bar__minus_01_dot_33 CabinetType)\n (receptacleType Toilet_bar__minus_01_dot_61_bar_00_dot_00_bar__plus_00_dot_21 ToiletType)\n (receptacleType TowelHolder_bar__plus_00_dot_89_bar__plus_01_dot_35_bar__minus_01_dot_86 TowelHolderType)\n (receptacleType Cabinet_bar__minus_01_dot_05_bar__plus_00_dot_34_bar__minus_01_dot_33 CabinetType)\n (receptacleType Sink_bar__minus_00_dot_53_bar__plus_00_dot_81_bar__minus_01_dot_60_bar_SinkBasin SinkBasinType)\n (receptacleType Cabinet_bar__minus_00_dot_07_bar__plus_00_dot_34_bar__minus_01_dot_33 CabinetType)\n (receptacleType CounterTop_bar__minus_01_dot_04_bar__plus_00_dot_88_bar__minus_01_dot_53 CounterTopType)\n (objectType SprayBottle_bar__minus_01_dot_90_bar__plus_00_dot_02_bar__minus_01_dot_59 SprayBottleType)\n (objectType Mirror_bar__minus_01_dot_02_bar__plus_01_dot_50_bar__minus_01_dot_84 MirrorType)\n (objectType ToiletPaper_bar__minus_01_dot_20_bar__plus_00_dot_92_bar__plus_00_dot_68 ToiletPaperType)\n (objectType Candle_bar__minus_00_dot_14_bar__plus_00_dot_02_bar__minus_01_dot_49 CandleType)\n (objectType Cloth_bar__plus_00_dot_94_bar__plus_00_dot_17_bar__minus_01_dot_25 ClothType)\n (objectType SoapBottle_bar__minus_01_dot_87_bar__plus_01_dot_05_bar__plus_00_dot_34 SoapBottleType)\n (objectType ShowerDoor_bar__plus_00_dot_45_bar__plus_00_dot_93_bar__plus_00_dot_70 ShowerDoorType)\n (objectType Candle_bar__minus_01_dot_93_bar__plus_01_dot_04_bar__plus_00_dot_14 CandleType)\n (objectType SoapBottle_bar__minus_01_dot_87_bar__plus_01_dot_05_bar__plus_00_dot_08 SoapBottleType)\n (objectType Sink_bar__minus_01_dot_56_bar__plus_00_dot_81_bar__minus_01_dot_60 SinkType)\n (objectType ScrubBrush_bar__minus_01_dot_65_bar_00_dot_00_bar__plus_00_dot_65 ScrubBrushType)\n (objectType ToiletPaper_bar__minus_01_dot_47_bar__plus_00_dot_01_bar__minus_01_dot_49 ToiletPaperType)\n (objectType Cloth_bar__minus_00_dot_60_bar__plus_00_dot_93_bar__minus_01_dot_50 ClothType)\n (objectType SoapBar_bar__minus_00_dot_12_bar__plus_00_dot_91_bar__minus_01_dot_55 SoapBarType)\n (objectType Bathtub_bar__plus_00_dot_88_bar__plus_00_dot_39_bar__minus_01_dot_15 BathtubType)\n (objectType ShowerGlass_bar__plus_00_dot_92_bar__plus_01_dot_42_bar__minus_00_dot_21 ShowerGlassType)\n (objectType SprayBottle_bar__plus_00_dot_08_bar__plus_00_dot_15_bar__minus_01_dot_60 SprayBottleType)\n (objectType Window_bar__plus_01_dot_53_bar__plus_01_dot_67_bar__minus_01_dot_04 WindowType)\n (objectType Cloth_bar__minus_01_dot_41_bar__plus_00_dot_93_bar__minus_01_dot_53 ClothType)\n (objectType SoapBar_bar__plus_00_dot_57_bar__plus_00_dot_59_bar__minus_01_dot_75 SoapBarType)\n (objectType HandTowel_bar__minus_02_dot_03_bar__plus_01_dot_49_bar__minus_01_dot_48 HandTowelType)\n (objectType SoapBar_bar__plus_00_dot_88_bar__plus_00_dot_17_bar__minus_01_dot_11 SoapBarType)\n (objectType SprayBottle_bar__minus_00_dot_95_bar__plus_00_dot_91_bar__minus_01_dot_42 SprayBottleType)\n (objectType SoapBottle_bar__minus_01_dot_99_bar__plus_01_dot_05_bar__plus_00_dot_34 SoapBottleType)\n (objectType SoapBottle_bar__minus_00_dot_69_bar__plus_00_dot_02_bar__minus_01_dot_44 SoapBottleType)\n (objectType ToiletPaper_bar__minus_00_dot_49_bar__plus_00_dot_01_bar__minus_01_dot_64 ToiletPaperType)\n (objectType LightSwitch_bar__plus_00_dot_23_bar__plus_01_dot_33_bar__plus_00_dot_76 LightSwitchType)\n (objectType Plunger_bar__minus_01_dot_89_bar_00_dot_00_bar__plus_00_dot_61 PlungerType)\n (objectType Sink_bar__minus_00_dot_53_bar__plus_00_dot_81_bar__minus_01_dot_60 SinkType)\n (objectType Towel_bar__plus_00_dot_89_bar__plus_01_dot_37_bar__minus_01_dot_76 TowelType)\n (canContain ToiletPaperHangerType ToiletPaperType)\n (canContain HandTowelHolderType HandTowelType)\n (canContain BathtubBasinType ClothType)\n (canContain BathtubBasinType HandTowelType)\n (canContain BathtubBasinType SoapBarType)\n (canContain SinkBasinType SoapBarType)\n (canContain SinkBasinType ClothType)\n (canContain SinkBasinType HandTowelType)\n (canContain CabinetType CandleType)\n (canContain CabinetType SoapBarType)\n (canContain CabinetType SprayBottleType)\n (canContain CabinetType ToiletPaperType)\n (canContain CabinetType SoapBottleType)\n (canContain CabinetType ClothType)\n (canContain CabinetType HandTowelType)\n (canContain CabinetType PlungerType)\n (canContain GarbageCanType SoapBarType)\n (canContain GarbageCanType SprayBottleType)\n (canContain GarbageCanType ToiletPaperType)\n (canContain GarbageCanType SoapBottleType)\n (canContain GarbageCanType ClothType)\n (canContain GarbageCanType HandTowelType)\n (canContain CabinetType CandleType)\n (canContain CabinetType SoapBarType)\n (canContain CabinetType SprayBottleType)\n (canContain CabinetType ToiletPaperType)\n (canContain CabinetType SoapBottleType)\n (canContain CabinetType ClothType)\n (canContain CabinetType HandTowelType)\n (canContain CabinetType PlungerType)\n (canContain ToiletType SoapBottleType)\n (canContain ToiletType HandTowelType)\n (canContain ToiletType ToiletPaperType)\n (canContain ToiletType ClothType)\n (canContain ToiletType CandleType)\n (canContain ToiletType SoapBarType)\n (canContain ToiletType SprayBottleType)\n (canContain TowelHolderType TowelType)\n (canContain CabinetType CandleType)\n (canContain CabinetType SoapBarType)\n (canContain CabinetType SprayBottleType)\n (canContain CabinetType ToiletPaperType)\n (canContain CabinetType SoapBottleType)\n (canContain CabinetType ClothType)\n (canContain CabinetType HandTowelType)\n (canContain CabinetType PlungerType)\n (canContain SinkBasinType SoapBarType)\n (canContain SinkBasinType ClothType)\n (canContain SinkBasinType HandTowelType)\n (canContain CabinetType CandleType)\n (canContain CabinetType SoapBarType)\n (canContain CabinetType SprayBottleType)\n (canContain CabinetType ToiletPaperType)\n (canContain CabinetType SoapBottleType)\n (canContain CabinetType ClothType)\n (canContain CabinetType HandTowelType)\n (canContain CabinetType PlungerType)\n (canContain CounterTopType CandleType)\n (canContain CounterTopType SoapBarType)\n (canContain CounterTopType SprayBottleType)\n (canContain CounterTopType ToiletPaperType)\n (canContain CounterTopType SoapBottleType)\n (canContain CounterTopType ClothType)\n (canContain CounterTopType HandTowelType)\n (pickupable SprayBottle_bar__minus_01_dot_90_bar__plus_00_dot_02_bar__minus_01_dot_59)\n (pickupable ToiletPaper_bar__minus_01_dot_20_bar__plus_00_dot_92_bar__plus_00_dot_68)\n (pickupable Candle_bar__minus_00_dot_14_bar__plus_00_dot_02_bar__minus_01_dot_49)\n (pickupable Cloth_bar__plus_00_dot_94_bar__plus_00_dot_17_bar__minus_01_dot_25)\n (pickupable SoapBottle_bar__minus_01_dot_87_bar__plus_01_dot_05_bar__plus_00_dot_34)\n (pickupable Candle_bar__minus_01_dot_93_bar__plus_01_dot_04_bar__plus_00_dot_14)\n (pickupable SoapBottle_bar__minus_01_dot_87_bar__plus_01_dot_05_bar__plus_00_dot_08)\n (pickupable ScrubBrush_bar__minus_01_dot_65_bar_00_dot_00_bar__plus_00_dot_65)\n (pickupable ToiletPaper_bar__minus_01_dot_47_bar__plus_00_dot_01_bar__minus_01_dot_49)\n (pickupable Cloth_bar__minus_00_dot_60_bar__plus_00_dot_93_bar__minus_01_dot_50)\n (pickupable SoapBar_bar__minus_00_dot_12_bar__plus_00_dot_91_bar__minus_01_dot_55)\n (pickupable SprayBottle_bar__plus_00_dot_08_bar__plus_00_dot_15_bar__minus_01_dot_60)\n (pickupable Cloth_bar__minus_01_dot_41_bar__plus_00_dot_93_bar__minus_01_dot_53)\n (pickupable SoapBar_bar__plus_00_dot_57_bar__plus_00_dot_59_bar__minus_01_dot_75)\n (pickupable HandTowel_bar__minus_02_dot_03_bar__plus_01_dot_49_bar__minus_01_dot_48)\n (pickupable SoapBar_bar__plus_00_dot_88_bar__plus_00_dot_17_bar__minus_01_dot_11)\n (pickupable SprayBottle_bar__minus_00_dot_95_bar__plus_00_dot_91_bar__minus_01_dot_42)\n (pickupable SoapBottle_bar__minus_01_dot_99_bar__plus_01_dot_05_bar__plus_00_dot_34)\n (pickupable SoapBottle_bar__minus_00_dot_69_bar__plus_00_dot_02_bar__minus_01_dot_44)\n (pickupable ToiletPaper_bar__minus_00_dot_49_bar__plus_00_dot_01_bar__minus_01_dot_64)\n (pickupable Plunger_bar__minus_01_dot_89_bar_00_dot_00_bar__plus_00_dot_61)\n (pickupable Towel_bar__plus_00_dot_89_bar__plus_01_dot_37_bar__minus_01_dot_76)\n \n (openable Cabinet_bar__minus_01_dot_04_bar__plus_00_dot_34_bar__minus_01_dot_33)\n (openable Cabinet_bar__minus_02_dot_02_bar__plus_00_dot_34_bar__minus_01_dot_33)\n (openable Cabinet_bar__minus_01_dot_05_bar__plus_00_dot_34_bar__minus_01_dot_33)\n (openable Cabinet_bar__minus_00_dot_07_bar__plus_00_dot_34_bar__minus_01_dot_33)\n \n (atLocation agent1 loc_bar__minus_2_bar_0_bar_2_bar_30)\n \n (cleanable Cloth_bar__plus_00_dot_94_bar__plus_00_dot_17_bar__minus_01_dot_25)\n (cleanable Cloth_bar__minus_00_dot_60_bar__plus_00_dot_93_bar__minus_01_dot_50)\n (cleanable SoapBar_bar__minus_00_dot_12_bar__plus_00_dot_91_bar__minus_01_dot_55)\n (cleanable Cloth_bar__minus_01_dot_41_bar__plus_00_dot_93_bar__minus_01_dot_53)\n (cleanable SoapBar_bar__plus_00_dot_57_bar__plus_00_dot_59_bar__minus_01_dot_75)\n (cleanable SoapBar_bar__plus_00_dot_88_bar__plus_00_dot_17_bar__minus_01_dot_11)\n \n \n \n \n \n \n \n \n \n \n (inReceptacle ToiletPaper_bar__minus_01_dot_47_bar__plus_00_dot_01_bar__minus_01_dot_49 Cabinet_bar__minus_01_dot_05_bar__plus_00_dot_34_bar__minus_01_dot_33)\n (inReceptacle SoapBottle_bar__minus_00_dot_69_bar__plus_00_dot_02_bar__minus_01_dot_44 Cabinet_bar__minus_01_dot_04_bar__plus_00_dot_34_bar__minus_01_dot_33)\n (inReceptacle SprayBottle_bar__minus_00_dot_95_bar__plus_00_dot_91_bar__minus_01_dot_42 CounterTop_bar__minus_01_dot_04_bar__plus_00_dot_88_bar__minus_01_dot_53)\n (inReceptacle Mirror_bar__minus_01_dot_02_bar__plus_01_dot_50_bar__minus_01_dot_84 CounterTop_bar__minus_01_dot_04_bar__plus_00_dot_88_bar__minus_01_dot_53)\n (inReceptacle SoapBar_bar__minus_00_dot_12_bar__plus_00_dot_91_bar__minus_01_dot_55 CounterTop_bar__minus_01_dot_04_bar__plus_00_dot_88_bar__minus_01_dot_53)\n (inReceptacle Candle_bar__minus_00_dot_14_bar__plus_00_dot_02_bar__minus_01_dot_49 Cabinet_bar__minus_00_dot_07_bar__plus_00_dot_34_bar__minus_01_dot_33)\n (inReceptacle ToiletPaper_bar__minus_00_dot_49_bar__plus_00_dot_01_bar__minus_01_dot_64 Cabinet_bar__minus_00_dot_07_bar__plus_00_dot_34_bar__minus_01_dot_33)\n (inReceptacle SprayBottle_bar__minus_01_dot_90_bar__plus_00_dot_02_bar__minus_01_dot_59 Cabinet_bar__minus_02_dot_02_bar__plus_00_dot_34_bar__minus_01_dot_33)\n (inReceptacle Towel_bar__plus_00_dot_89_bar__plus_01_dot_37_bar__minus_01_dot_76 TowelHolder_bar__plus_00_dot_89_bar__plus_01_dot_35_bar__minus_01_dot_86)\n (inReceptacle ToiletPaper_bar__minus_01_dot_20_bar__plus_00_dot_92_bar__plus_00_dot_68 ToiletPaperHanger_bar__minus_01_dot_18_bar__plus_00_dot_92_bar__plus_00_dot_77)\n (inReceptacle Cloth_bar__minus_00_dot_60_bar__plus_00_dot_93_bar__minus_01_dot_50 Sink_bar__minus_00_dot_53_bar__plus_00_dot_81_bar__minus_01_dot_60_bar_SinkBasin)\n (inReceptacle SoapBar_bar__plus_00_dot_88_bar__plus_00_dot_17_bar__minus_01_dot_11 Bathtub_bar__plus_00_dot_88_bar__plus_00_dot_39_bar__minus_01_dot_15_bar_BathtubBasin)\n (inReceptacle Cloth_bar__plus_00_dot_94_bar__plus_00_dot_17_bar__minus_01_dot_25 Bathtub_bar__plus_00_dot_88_bar__plus_00_dot_39_bar__minus_01_dot_15_bar_BathtubBasin)\n (inReceptacle Cloth_bar__minus_01_dot_41_bar__plus_00_dot_93_bar__minus_01_dot_53 Sink_bar__minus_01_dot_56_bar__plus_00_dot_81_bar__minus_01_dot_60_bar_SinkBasin)\n (inReceptacle HandTowel_bar__minus_02_dot_03_bar__plus_01_dot_49_bar__minus_01_dot_48 HandTowelHolder_bar__minus_02_dot_07_bar__plus_01_dot_59_bar__minus_01_dot_48)\n (inReceptacle SprayBottle_bar__plus_00_dot_08_bar__plus_00_dot_15_bar__minus_01_dot_60 GarbageCan_bar__plus_00_dot_10_bar_00_dot_00_bar__minus_01_dot_57)\n (inReceptacle SoapBottle_bar__minus_01_dot_87_bar__plus_01_dot_05_bar__plus_00_dot_34 Toilet_bar__minus_01_dot_61_bar_00_dot_00_bar__plus_00_dot_21)\n (inReceptacle Candle_bar__minus_01_dot_93_bar__plus_01_dot_04_bar__plus_00_dot_14 Toilet_bar__minus_01_dot_61_bar_00_dot_00_bar__plus_00_dot_21)\n (inReceptacle SoapBottle_bar__minus_01_dot_99_bar__plus_01_dot_05_bar__plus_00_dot_34 Toilet_bar__minus_01_dot_61_bar_00_dot_00_bar__plus_00_dot_21)\n (inReceptacle SoapBottle_bar__minus_01_dot_87_bar__plus_01_dot_05_bar__plus_00_dot_08 Toilet_bar__minus_01_dot_61_bar_00_dot_00_bar__plus_00_dot_21)\n \n \n (receptacleAtLocation Bathtub_bar__plus_00_dot_88_bar__plus_00_dot_39_bar__minus_01_dot_15_bar_BathtubBasin loc_bar_0_bar__minus_3_bar_1_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_07_bar__plus_00_dot_34_bar__minus_01_dot_33 loc_bar__minus_3_bar__minus_2_bar_2_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_01_dot_04_bar__plus_00_dot_34_bar__minus_01_dot_33 loc_bar__minus_5_bar__minus_2_bar_2_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_01_dot_05_bar__plus_00_dot_34_bar__minus_01_dot_33 loc_bar__minus_3_bar__minus_1_bar_2_bar_45)\n (receptacleAtLocation Cabinet_bar__minus_02_dot_02_bar__plus_00_dot_34_bar__minus_01_dot_33 loc_bar__minus_5_bar__minus_1_bar_2_bar_45)\n (receptacleAtLocation CounterTop_bar__minus_01_dot_04_bar__plus_00_dot_88_bar__minus_01_dot_53 loc_bar__minus_6_bar__minus_3_bar_2_bar_45)\n (receptacleAtLocation GarbageCan_bar__plus_00_dot_10_bar_00_dot_00_bar__minus_01_dot_57 loc_bar__minus_1_bar__minus_2_bar_2_bar_60)\n (receptacleAtLocation HandTowelHolder_bar__minus_02_dot_07_bar__plus_01_dot_59_bar__minus_01_dot_48 loc_bar__minus_6_bar__minus_4_bar_3_bar_0)\n (receptacleAtLocation Sink_bar__minus_00_dot_53_bar__plus_00_dot_81_bar__minus_01_dot_60_bar_SinkBasin loc_bar__minus_2_bar__minus_4_bar_2_bar_60)\n (receptacleAtLocation Sink_bar__minus_01_dot_56_bar__plus_00_dot_81_bar__minus_01_dot_60_bar_SinkBasin loc_bar__minus_6_bar__minus_4_bar_2_bar_60)\n (receptacleAtLocation ToiletPaperHanger_bar__minus_01_dot_18_bar__plus_00_dot_92_bar__plus_00_dot_77 loc_bar__minus_3_bar_1_bar_0_bar_60)\n (receptacleAtLocation Toilet_bar__minus_01_dot_61_bar_00_dot_00_bar__plus_00_dot_21 loc_bar__minus_6_bar__minus_3_bar_0_bar_60)\n (receptacleAtLocation TowelHolder_bar__plus_00_dot_89_bar__plus_01_dot_35_bar__minus_01_dot_86 loc_bar__minus_1_bar__minus_4_bar_1_bar_15)\n (objectAtLocation SoapBottle_bar__minus_01_dot_87_bar__plus_01_dot_05_bar__plus_00_dot_08 loc_bar__minus_6_bar__minus_3_bar_0_bar_60)\n (objectAtLocation Candle_bar__minus_01_dot_93_bar__plus_01_dot_04_bar__plus_00_dot_14 loc_bar__minus_6_bar__minus_3_bar_0_bar_60)\n (objectAtLocation SprayBottle_bar__minus_01_dot_90_bar__plus_00_dot_02_bar__minus_01_dot_59 loc_bar__minus_5_bar__minus_1_bar_2_bar_45)\n (objectAtLocation Cloth_bar__plus_00_dot_94_bar__plus_00_dot_17_bar__minus_01_dot_25 loc_bar_0_bar__minus_3_bar_1_bar_60)\n (objectAtLocation ToiletPaper_bar__minus_01_dot_47_bar__plus_00_dot_01_bar__minus_01_dot_49 loc_bar__minus_3_bar__minus_1_bar_2_bar_45)\n (objectAtLocation SoapBar_bar__plus_00_dot_57_bar__plus_00_dot_59_bar__minus_01_dot_75 loc_bar_0_bar__minus_3_bar_1_bar_60)\n (objectAtLocation SoapBottle_bar__minus_01_dot_87_bar__plus_01_dot_05_bar__plus_00_dot_34 loc_bar__minus_6_bar__minus_3_bar_0_bar_60)\n (objectAtLocation SoapBottle_bar__minus_00_dot_69_bar__plus_00_dot_02_bar__minus_01_dot_44 loc_bar__minus_5_bar__minus_2_bar_2_bar_60)\n (objectAtLocation SprayBottle_bar__minus_00_dot_95_bar__plus_00_dot_91_bar__minus_01_dot_42 loc_bar__minus_6_bar__minus_3_bar_2_bar_45)\n (objectAtLocation SoapBar_bar__plus_00_dot_88_bar__plus_00_dot_17_bar__minus_01_dot_11 loc_bar_0_bar__minus_3_bar_1_bar_60)\n (objectAtLocation Cloth_bar__minus_00_dot_60_bar__plus_00_dot_93_bar__minus_01_dot_50 loc_bar__minus_2_bar__minus_4_bar_2_bar_60)\n (objectAtLocation ShowerGlass_bar__plus_00_dot_92_bar__plus_01_dot_42_bar__minus_00_dot_21 loc_bar_0_bar__minus_1_bar_1_bar_15)\n (objectAtLocation Sink_bar__minus_01_dot_56_bar__plus_00_dot_81_bar__minus_01_dot_60 loc_bar__minus_6_bar__minus_4_bar_2_bar_60)\n (objectAtLocation ShowerDoor_bar__plus_00_dot_45_bar__plus_00_dot_93_bar__plus_00_dot_70 loc_bar__minus_1_bar_1_bar_1_bar_45)\n (objectAtLocation Mirror_bar__minus_01_dot_02_bar__plus_01_dot_50_bar__minus_01_dot_84 loc_bar__minus_6_bar__minus_3_bar_2_bar_45)\n (objectAtLocation Bathtub_bar__plus_00_dot_88_bar__plus_00_dot_39_bar__minus_01_dot_15 loc_bar__minus_1_bar__minus_4_bar_1_bar_45)\n (objectAtLocation Sink_bar__minus_00_dot_53_bar__plus_00_dot_81_bar__minus_01_dot_60 loc_bar__minus_2_bar__minus_4_bar_2_bar_60)\n (objectAtLocation Window_bar__plus_01_dot_53_bar__plus_01_dot_67_bar__minus_01_dot_04 loc_bar__minus_1_bar__minus_4_bar_1_bar_0)\n (objectAtLocation Towel_bar__plus_00_dot_89_bar__plus_01_dot_37_bar__minus_01_dot_76 loc_bar__minus_1_bar__minus_4_bar_1_bar_15)\n (objectAtLocation HandTowel_bar__minus_02_dot_03_bar__plus_01_dot_49_bar__minus_01_dot_48 loc_bar__minus_6_bar__minus_4_bar_3_bar_0)\n (objectAtLocation SoapBar_bar__minus_00_dot_12_bar__plus_00_dot_91_bar__minus_01_dot_55 loc_bar__minus_6_bar__minus_3_bar_2_bar_45)\n (objectAtLocation ToiletPaper_bar__minus_01_dot_20_bar__plus_00_dot_92_bar__plus_00_dot_68 loc_bar__minus_3_bar_1_bar_0_bar_60)\n (objectAtLocation LightSwitch_bar__plus_00_dot_23_bar__plus_01_dot_33_bar__plus_00_dot_76 loc_bar__minus_1_bar_1_bar_0_bar_30)\n (objectAtLocation ToiletPaper_bar__minus_00_dot_49_bar__plus_00_dot_01_bar__minus_01_dot_64 loc_bar__minus_3_bar__minus_2_bar_2_bar_60)\n (objectAtLocation Cloth_bar__minus_01_dot_41_bar__plus_00_dot_93_bar__minus_01_dot_53 loc_bar__minus_6_bar__minus_4_bar_2_bar_60)\n (objectAtLocation SprayBottle_bar__plus_00_dot_08_bar__plus_00_dot_15_bar__minus_01_dot_60 loc_bar__minus_1_bar__minus_2_bar_2_bar_60)\n (objectAtLocation ScrubBrush_bar__minus_01_dot_65_bar_00_dot_00_bar__plus_00_dot_65 loc_bar__minus_6_bar__minus_1_bar_0_bar_60)\n (objectAtLocation Plunger_bar__minus_01_dot_89_bar_00_dot_00_bar__plus_00_dot_61 loc_bar__minus_6_bar__minus_1_bar_0_bar_60)\n (objectAtLocation Candle_bar__minus_00_dot_14_bar__plus_00_dot_02_bar__minus_01_dot_49 loc_bar__minus_3_bar__minus_2_bar_2_bar_60)\n (objectAtLocation SoapBottle_bar__minus_01_dot_99_bar__plus_01_dot_05_bar__plus_00_dot_34 loc_bar__minus_6_bar__minus_3_bar_0_bar_60)\n )\n \n\n (:goal\n (and\n (exists (?r - receptacle)\n (exists (?o1 - object)\n (and\n (objectType ?o1 SoapBottleType)\n (receptacleType ?r CounterTopType)\n (inReceptacle ?o1 ?r)\n (exists (?o2 - object)\n (and\n (not (= ?o1 ?o2))\n (objectType ?o2 SoapBottleType)\n (receptacleType ?r CounterTopType)\n (inReceptacle ?o2 ?r)\n )\n )\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to toilet 1", "take soapbottle 3 from toilet 1", "go to countertop 1", "move soapbottle 3 to countertop 1", "go to toilet 1", "take soapbottle 2 from toilet 1", "go to countertop 1", "move soapbottle 2 to countertop 1"]}
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alfworld__pick_two_obj_and_place__802
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pick_two_obj_and_place
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pick_two_obj_and_place-SoapBottle-None-CounterTop-407/trial_T20190908_055510_633308/game.tw-pddl
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{"pddl_domain": ";; Specification in PDDL of the Alfred domain\n;; Intended to be used with Fast Downward which supports PDDL 2.2 level 1 plus the :action-costs requirement from PDDL 3.1.\n\n(define (domain alfred)\n (:requirements\n :adl\n :action-costs\n :typing\n )\n (:types\n agent\n location\n receptacle\n object\n rtype\n otype\n )\n\n\n (:predicates\n (atLocation ?a - agent ?l - location) ; true if the agent is at the location\n (receptacleAtLocation ?r - receptacle ?l - location) ; true if the receptacle is at the location (constant)\n (objectAtLocation ?o - object ?l - location) ; true if the object is at the location\n (openable ?r - receptacle) ; true if a receptacle is openable\n (opened ?r - receptacle) ; true if a receptacle is opened\n (inReceptacle ?o - object ?r - receptacle) ; object ?o is in receptacle ?r\n (isReceptacleObject ?o - object) ; true if the object can have things put inside it\n (inReceptacleObject ?innerObject - object ?outerObject - object) ; object ?innerObject is inside object ?outerObject\n (isReceptacleObjectFull ?o - object) ; true if the receptacle object contains something\n (wasInReceptacle ?o - object ?r - receptacle) ; object ?o was or is in receptacle ?r now or some time in the past\n (checked ?r - receptacle) ; whether the receptacle has been looked inside/visited\n (examined ?l - location) ; TODO\n (receptacleType ?r - receptacle ?t - rtype) ; the type of receptacle (Cabinet vs Cabinet|01|2...)\n (canContain ?rt - rtype ?ot - otype) ; true if receptacle can hold object\n (objectType ?o - object ?t - otype) ; the type of object (Apple vs Apple|01|2...)\n (holds ?a - agent ?o - object) ; object ?o is held by agent ?a\n (holdsAny ?a - agent) ; agent ?a holds an object\n (holdsAnyReceptacleObject ?a - agent) ; agent ?a holds a receptacle object\n (full ?r - receptacle) ; true if the receptacle has no remaining space\n (isClean ?o - object) ; true if the object has been clean in sink\n (cleanable ?o - object) ; true if the object can be placed in a sink\n (isHot ?o - object) ; true if the object has been heated up\n (heatable ?o - object) ; true if the object can be heated up in a microwave\n (isCool ?o - object) ; true if the object has been cooled\n (coolable ?o - object) ; true if the object can be cooled in the fridge\n (pickupable ?o - object) ; true if the object can be picked up\n (moveable ?o - object) ; true if the object can be moved\n (toggleable ?o - object) ; true if the object can be turned on/off\n (isOn ?o - object) ; true if the object is on\n (isToggled ?o - object) ; true if the object has been toggled\n (sliceable ?o - object) ; true if the object can be sliced\n (isSliced ?o - object) ; true if the object is sliced\n )\n\n (:functions\n (distance ?from ?to)\n (total-cost) - number\n )\n\n;; All actions are specified such that the final arguments are the ones used\n;; for performing actions in Unity.\n\n\n(:action look\n :parameters (?a - agent ?l - location)\n :precondition\n (and\n (atLocation ?a ?l)\n )\n :effect\n (and\n (checked ?l)\n )\n)\n\n(:action inventory\n :parameters (?a - agent)\n :precondition\n ()\n :effect\n (and\n (checked ?a)\n )\n)\n\n(:action examineReceptacle\n :parameters (?a - agent ?r - receptacle)\n :precondition\n (and\n (exists (?l - location)\n (and\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n )\n )\n )\n :effect\n (and\n (checked ?r)\n )\n)\n\n(:action examineObject\n :parameters (?a - agent ?o - object)\n :precondition\n (or\n ;(exists (?l - location)\n ; (and\n ; (atLocation ?a ?l)\n ; (objectAtLocation ?o ?l)\n ; )\n ;)\n (exists (?l - location, ?r - receptacle)\n (and\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n ; (objectAtLocation ?o ?l)\n (inReceptacle ?o ?r)\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n )\n )\n (holds ?a ?o)\n )\n :effect\n (and\n (checked ?o)\n )\n)\n\n;; agent goes to receptacle\n (:action GotoLocation\n :parameters (?a - agent ?lStart - location ?lEnd - location ?r - receptacle)\n :precondition (and\n (atLocation ?a ?lStart)\n (receptacleAtLocation ?r ?lEnd)\n ;(exists (?r - receptacle) (receptacleAtLocation ?r ?lEnd))\n )\n :effect (and\n (not (atLocation ?a ?lStart))\n (atLocation ?a ?lEnd)\n ; (forall (?r - receptacle)\n ; (when (and (receptacleAtLocation ?r ?lEnd)\n ; (or (not (openable ?r)) (opened ?r)))\n ; (checked ?r)\n ; )\n ; )\n ; (increase (total-cost) (distance ?lStart ?lEnd))\n (increase (total-cost) 1)\n )\n )\n\n;; agent opens receptacle\n (:action OpenObject\n :parameters (?a - agent ?l - location ?r - receptacle)\n :precondition (and\n (openable ?r)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (not (opened ?r))\n )\n :effect (and\n (opened ?r)\n (checked ?r)\n (increase (total-cost) 1)\n )\n )\n;; agent closes receptacle\n (:action CloseObject\n :parameters (?a - agent ?l - location ?r - receptacle)\n :precondition (and\n (openable ?r)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (opened ?r)\n )\n :effect (and\n (not (opened ?r))\n (increase (total-cost) 1)\n )\n\n )\n\n ;; agent picks up object from a receptacle\n (:action PickupObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n :precondition\n (and\n (pickupable ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n ; (objectAtLocation ?o ?l)\n (inReceptacle ?o ?r)\n (not (holdsAny ?a)) ; agent's hands are empty.\n ;(not (holdsAnyReceptacleObject ?a))\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n ;(not (isReceptacleObject ?o))\n )\n :effect\n (and\n (not (inReceptacle ?o ?r))\n (holds ?a ?o)\n (holdsAny ?a)\n (not (objectAtLocation ?o ?l))\n ;(not (full ?r))\n (increase (total-cost) 1)\n )\n )\n\n\n; ;; agent picks up object from a receptacle\n; (:action PickupObjectFromReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?outerR - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (inReceptacle ?o ?r)\n; (pickupable ?o)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (not (isReceptacleObject ?o))\n; (isReceptacleObject ?outerR)\n; (inReceptacleObject ?o ?outerR)\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (holds ?a ?o)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n;\n; (not (inReceptacleObject ?o ?outerR))\n; (not (isReceptacleObjectFull ?outerR))\n; )\n; )\n;\n; ;; agent picks up object from a receptacle\n; (:action PickupEmptyReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; ; (objectAtLocation ?o ?l)\n; (inReceptacle ?o ?r)\n; (pickupable ?o)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (isReceptacleObject ?o)\n; (not (isReceptacleObjectFull ?o))\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (holds ?a ?o)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n; (holdsAnyReceptacleObject ?a)\n; )\n; )\n;\n; ;; agent picks up object from a receptacle\n; (:action PickupFullReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?outerR - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (inReceptacle ?outerR ?r)\n; (pickupable ?outerR)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (not (isReceptacleObject ?o))\n; (isReceptacleObject ?outerR)\n; (inReceptacleObject ?o ?outerR)\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (not (inReceptacle ?outerR ?r))\n; (holds ?a ?outerR)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (objectAtLocation ?outerR ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n; (holdsAnyReceptacleObject ?a)\n; )\n; )\n\n\n;; agent puts down an object\n (:action PutObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle ?ot - otype ?rt - rtype)\n :precondition (and\n (holds ?a ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable\n ;(not (full ?r))\n (objectType ?o ?ot)\n (receptacleType ?r ?rt)\n (canContain ?rt ?ot)\n ;(not (holdsAnyReceptacleObject ?a))\n )\n :effect (and\n (inReceptacle ?o ?r)\n (objectAtLocation ?o ?l)\n ;(full ?r)\n (not (holds ?a ?o))\n (not (holdsAny ?a))\n (increase (total-cost) 1)\n )\n )\n\n;;; agent puts down an object\n; (:action PutObjectInReceptacleObject\n; :parameters (?a - agent ?l - location ?ot - otype ?o - object ?outerO - object ?outerR - receptacle)\n; :precondition (and\n; (atLocation ?a ?l)\n; (objectAtLocation ?outerO ?l)\n; (isReceptacleObject ?outerO)\n; (not (isReceptacleObject ?o))\n; (objectType ?o ?ot)\n; (holds ?a ?o)\n; (not (holdsAnyReceptacleObject ?a))\n; (inReceptacle ?outerO ?outerR)\n; (not (isReceptacleObjectFull ?outerO))\n; )\n; :effect (and\n; (inReceptacleObject ?o ?outerO)\n; (inReceptacle ?o ?outerR)\n; (not (holds ?a ?o))\n; (not (holdsAny ?a))\n; (objectAtLocation ?o ?l)\n; (isReceptacleObjectFull ?outerO)\n; (increase (total-cost) 1)\n; )\n; )\n;\n;;; agent puts down an object\n; (:action PutEmptyReceptacleObjectinReceptacle\n; :parameters (?a - agent ?l - location ?ot - otype ?o - object ?r - receptacle)\n; :precondition (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable\n; (not (full ?r))\n; (objectType ?o ?ot)\n; (holds ?a ?o)\n; (holdsAnyReceptacleObject ?a)\n; (isReceptacleObject ?o)\n; (not (isReceptacleObjectFull ?o))\n; )\n; :effect (and\n; (inReceptacle ?o ?r)\n; (objectAtLocation ?o ?l)\n; (full ?r)\n; (not (holds ?a ?o))\n; (not (holdsAny ?a))\n; (not (holdsAnyReceptacleObject ?a))\n; (increase (total-cost) 1)\n; )\n; )\n;\n;;; agent puts down a receptacle object in a receptacle\n; (:action PutFullReceptacleObjectInReceptacle\n; :parameters (?a - agent ?l - location ?ot - otype ?innerO - object ?outerO - object ?r - receptacle) ; ?rt - rtype)\n; :precondition (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (objectType ?outerO ?ot)\n; (holds ?a ?outerO)\n; (holdsAnyReceptacleObject ?a)\n; (isReceptacleObject ?outerO)\n; (isReceptacleObjectFull ?outerO)\n; (inReceptacleObject ?innerO ?outerO)\n; )\n; :effect (and\n; (not (holdsAny ?a))\n; (not (holdsAnyReceptacleObject ?a))\n; (objectAtLocation ?outerO ?l)\n; (objectAtLocation ?innerO ?l)\n; (inReceptacle ?outerO ?r)\n; (inReceptacle ?innerO ?r)\n; (not (holds ?a ?outerO))\n; (increase (total-cost) 1)\n; )\n; )\n\n;; agent cleans some object\n (:action CleanObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (cleanable ?o)\n (or\n (receptacleType ?r SinkType)\n (receptacleType ?r SinkBasinType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isClean ?o)\n )\n )\n\n\n;; agent heats-up some object\n (:action HeatObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (heatable ?o)\n (or\n (receptacleType ?r MicrowaveType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isHot ?o)\n (not (isCool ?o))\n )\n )\n\n;; agent cools some object\n (:action CoolObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (coolable ?o)\n (or\n (receptacleType ?r FridgeType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isCool ?o)\n (not (isHot ?o))\n )\n )\n\n\n;; agent toggle object\n (:action ToggleObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n :precondition (and\n (toggleable ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (inReceptacle ?o ?r)\n )\n :effect (and\n (increase (total-cost) 5)\n (when (isOn ?o)\n (not (isOn ?o)))\n (when (not (isOn ?o))\n (isOn ?o))\n (isToggled ?o)\n )\n )\n\n\n;; agent slices some object with a knife\n (:action SliceObject\n :parameters (?a - agent ?l - location ?co - object ?ko - object)\n :precondition\n (and\n (sliceable ?co)\n (or\n (objectType ?ko KnifeType)\n (objectType ?ko ButterKnifeType)\n )\n (atLocation ?a ?l)\n (objectAtLocation ?co ?l)\n (holds ?a ?ko)\n )\n :effect (and\n (increase (total-cost) 5)\n (isSliced ?co)\n )\n )\n\n\n(:action help\n :parameters (?a - agent)\n :precondition\n ()\n :effect\n (and\n (checked ?a)\n )\n)\n)\n", "grammar": "grammar :: \"\"\"\n {\n \"intro\": [\n {\n \"rhs\": \"-= Welcome to TextWorld, ALFRED! =-\\n\\n#look.feedback#\\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 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_055510_633308)\n(:domain alfred)\n(:objects\nagent1 - agent\nSaltShaker - object\n HousePlant - object\n Candle - object\n SprayBottle - object\n Bowl - object\n Window - object\n CD - object\n Egg - object\n Glassbottle - object\n Sink - object\n Pillow - object\n Spoon - object\n SoapBottle - object\n TeddyBear - object\n ButterKnife - object\n Cup - object\n Plate - object\n RemoteControl - object\n Tomato - object\n Statue - object\n HandTowel - object\n Knife - object\n StoveKnob - object\n LightSwitch - object\n Pen - object\n Painting - object\n DishSponge - object\n Vase - object\n Mug - object\n ToiletPaper - object\n Box - object\n Mirror - object\n Ladle - object\n Fork - object\n Blinds - object\n Footstool - object\n KeyChain - object\n Cloth - object\n Laptop - object\n TissueBox - object\n PepperShaker - object\n FloorLamp - object\n WateringCan - object\n Apple - object\n Pan - object\n PaperTowel - object\n PaperTowelRoll - object\n Newspaper - object\n Television - object\n Chair - object\n CellPhone - object\n CreditCard - object\n Lettuce - object\n BasketBall - object\n Potato - object\n Curtains - object\n Boots - object\n Pencil - object\n AlarmClock - object\n ToiletPaperRoll - object\n Spatula - object\n Book - object\n Bread - object\n SoapBar - object\n Watch - object\n DeskLamp - object\n Kettle - object\n Pot - object\n ScrubBrush - object\n WineBottle - object\n ShowerDoor - object\n Bathtub - object\n LaundryHamperLid - object\n ShowerGlass - object\n Poster - object\n TennisRacket - object\n BaseballBat - object\n Towel - object\n Plunger - object\nSaltShakerType - otype\n HousePlantType - otype\n CandleType - otype\n SprayBottleType - otype\n BowlType - otype\n WindowType - otype\n CDType - otype\n EggType - otype\n GlassbottleType - otype\n SinkType - otype\n PillowType - otype\n SpoonType - otype\n SoapBottleType - otype\n TeddyBearType - otype\n ButterKnifeType - otype\n CupType - otype\n PlateType - otype\n RemoteControlType - otype\n TomatoType - otype\n StatueType - otype\n HandTowelType - otype\n KnifeType - otype\n StoveKnobType - otype\n LightSwitchType - otype\n PenType - otype\n PaintingType - otype\n DishSpongeType - otype\n VaseType - otype\n MugType - otype\n ToiletPaperType - otype\n BoxType - otype\n MirrorType - otype\n LadleType - otype\n ForkType - otype\n BlindsType - otype\n FootstoolType - otype\n KeyChainType - otype\n ClothType - otype\n LaptopType - otype\n TissueBoxType - otype\n PepperShakerType - otype\n FloorLampType - otype\n WateringCanType - otype\n AppleType - otype\n PanType - otype\n PaperTowelType - otype\n PaperTowelRollType - otype\n NewspaperType - otype\n TelevisionType - otype\n ChairType - otype\n CellPhoneType - otype\n CreditCardType - otype\n LettuceType - otype\n BasketBallType - otype\n PotatoType - otype\n CurtainsType - otype\n BootsType - otype\n PencilType - otype\n AlarmClockType - otype\n ToiletPaperRollType - otype\n SpatulaType - otype\n BookType - otype\n BreadType - otype\n SoapBarType - otype\n WatchType - otype\n DeskLampType - otype\n KettleType - otype\n PotType - otype\n ScrubBrushType - otype\n WineBottleType - otype\n ShowerDoorType - otype\n BathtubType - otype\n LaundryHamperLidType - otype\n ShowerGlassType - otype\n PosterType - otype\n TennisRacketType - otype\n BaseballBatType - otype\n TowelType - otype\n PlungerType - otype\nSafeType - rtype\n DrawerType - rtype\n CoffeeMachineType - rtype\n HandTowelHolderType - rtype\n SinkBasinType - rtype\n DresserType - rtype\n LaundryHamperType - rtype\n TVStandType - rtype\n BathtubBasinType - rtype\n CabinetType - rtype\n FridgeType - rtype\n DeskType - rtype\n ToiletType - rtype\n CartType - rtype\n SideTableType - rtype\n SofaType - rtype\n CoffeeTableType - rtype\n DiningTableType - rtype\n CounterTopType - rtype\n GarbageCanType - rtype\n ArmChairType - rtype\n ShelfType - rtype\n MicrowaveType - rtype\n ToasterType - rtype\n BedType - rtype\n PaintingHangerType - rtype\n TowelHolderType - rtype\n ToiletPaperHangerType - rtype\n StoveBurnerType - rtype\n OttomanType - rtype\n\n\n Bathtub_bar__plus_00_dot_88_bar__plus_00_dot_39_bar__minus_01_dot_15 - object\n Candle_bar__plus_00_dot_60_bar__plus_00_dot_59_bar__minus_00_dot_36 - object\n Candle_bar__minus_00_dot_43_bar__plus_00_dot_02_bar__minus_01_dot_49 - object\n Candle_bar__minus_02_dot_02_bar__plus_01_dot_04_bar__plus_00_dot_27 - object\n Cloth_bar__minus_00_dot_45_bar__plus_00_dot_93_bar__minus_01_dot_53 - object\n Faucet_bar__plus_00_dot_89_bar__plus_01_dot_69_bar__plus_00_dot_72 - object\n Faucet_bar__plus_00_dot_93_bar__plus_00_dot_51_bar__minus_01_dot_98 - object\n Faucet_bar__minus_00_dot_51_bar__plus_00_dot_90_bar__minus_01_dot_78 - object\n Faucet_bar__minus_01_dot_54_bar__plus_00_dot_90_bar__minus_01_dot_78 - object\n HandTowel_bar__minus_02_dot_03_bar__plus_01_dot_49_bar__minus_01_dot_48 - object\n LightSwitch_bar__plus_00_dot_23_bar__plus_01_dot_33_bar__plus_00_dot_76 - object\n Mirror_bar__minus_01_dot_02_bar__plus_01_dot_50_bar__minus_01_dot_84 - object\n Plunger_bar__minus_01_dot_89_bar_00_dot_00_bar__plus_00_dot_61 - object\n ScrubBrush_bar__minus_01_dot_65_bar_00_dot_00_bar__plus_00_dot_65 - object\n ShowerCurtain_bar__plus_00_dot_46_bar__plus_01_dot_78_bar__minus_01_dot_52 - object\n ShowerDoor_bar__plus_00_dot_45_bar__plus_00_dot_93_bar__plus_00_dot_70 - object\n ShowerGlass_bar__plus_00_dot_92_bar__plus_01_dot_42_bar__minus_00_dot_21 - object\n Sink_bar__minus_00_dot_53_bar__plus_00_dot_81_bar__minus_01_dot_60 - object\n Sink_bar__minus_01_dot_56_bar__plus_00_dot_81_bar__minus_01_dot_60 - object\n SoapBar_bar__plus_00_dot_48_bar__plus_00_dot_59_bar__minus_01_dot_64 - object\n SoapBar_bar__plus_01_dot_00_bar__plus_00_dot_17_bar__minus_00_dot_82 - object\n SoapBar_bar__minus_00_dot_98_bar__plus_00_dot_02_bar__minus_01_dot_54 - object\n SoapBottle_bar__minus_00_dot_69_bar__plus_00_dot_02_bar__minus_01_dot_54 - object\n SoapBottle_bar__minus_01_dot_87_bar__plus_01_dot_05_bar__plus_00_dot_21 - object\n SoapBottle_bar__minus_01_dot_90_bar__plus_01_dot_05_bar__plus_00_dot_34 - object\n SoapBottle_bar__minus_01_dot_99_bar__plus_01_dot_05_bar__plus_00_dot_08 - object\n SprayBottle_bar__minus_00_dot_20_bar__plus_00_dot_02_bar__minus_01_dot_49 - object\n SprayBottle_bar__minus_00_dot_86_bar__plus_00_dot_02_bar__minus_01_dot_64 - object\n SprayBottle_bar__minus_01_dot_78_bar__plus_00_dot_02_bar__minus_01_dot_64 - object\n ToiletPaper_bar__plus_00_dot_52_bar__plus_00_dot_59_bar__minus_01_dot_77 - object\n ToiletPaper_bar__minus_01_dot_95_bar__plus_00_dot_91_bar__minus_01_dot_55 - object\n Towel_bar__plus_00_dot_89_bar__plus_01_dot_37_bar__minus_01_dot_76 - object\n Window_bar__plus_01_dot_53_bar__plus_01_dot_67_bar__minus_01_dot_04 - object\n Bathtub_bar__plus_00_dot_88_bar__plus_00_dot_39_bar__minus_01_dot_15_bar_BathtubBasin - receptacle\n Cabinet_bar__minus_00_dot_07_bar__plus_00_dot_34_bar__minus_01_dot_33 - receptacle\n Cabinet_bar__minus_01_dot_04_bar__plus_00_dot_34_bar__minus_01_dot_33 - receptacle\n Cabinet_bar__minus_01_dot_05_bar__plus_00_dot_34_bar__minus_01_dot_33 - receptacle\n Cabinet_bar__minus_02_dot_02_bar__plus_00_dot_34_bar__minus_01_dot_33 - receptacle\n CounterTop_bar__minus_01_dot_04_bar__plus_00_dot_88_bar__minus_01_dot_53 - receptacle\n GarbageCan_bar__plus_00_dot_10_bar_00_dot_00_bar__minus_01_dot_57 - receptacle\n HandTowelHolder_bar__minus_02_dot_07_bar__plus_01_dot_59_bar__minus_01_dot_48 - receptacle\n Sink_bar__minus_00_dot_53_bar__plus_00_dot_81_bar__minus_01_dot_60_bar_SinkBasin - receptacle\n Sink_bar__minus_01_dot_56_bar__plus_00_dot_81_bar__minus_01_dot_60_bar_SinkBasin - receptacle\n ToiletPaperHanger_bar__minus_01_dot_18_bar__plus_00_dot_92_bar__plus_00_dot_77 - receptacle\n Toilet_bar__minus_01_dot_61_bar_00_dot_00_bar__plus_00_dot_21 - receptacle\n TowelHolder_bar__plus_00_dot_89_bar__plus_01_dot_35_bar__minus_01_dot_86 - receptacle\n loc_bar__minus_3_bar_1_bar_0_bar_60 - location\n loc_bar__minus_3_bar__minus_2_bar_2_bar_60 - location\n loc_bar__minus_1_bar__minus_4_bar_1_bar_0 - location\n loc_bar__minus_1_bar__minus_4_bar_1_bar_15 - location\n loc_bar__minus_5_bar__minus_1_bar_2_bar_45 - location\n loc_bar__minus_6_bar__minus_3_bar_0_bar_60 - location\n loc_bar__minus_6_bar__minus_1_bar_0_bar_60 - location\n loc_bar__minus_2_bar__minus_4_bar_2_bar_60 - location\n loc_bar__minus_3_bar__minus_1_bar_2_bar_45 - location\n loc_bar__minus_1_bar_1_bar_0_bar_30 - location\n loc_bar__minus_1_bar_1_bar_1_bar_45 - location\n loc_bar__minus_6_bar__minus_4_bar_3_bar_0 - location\n loc_bar__minus_1_bar__minus_2_bar_2_bar_60 - location\n loc_bar__minus_6_bar__minus_3_bar_2_bar_45 - location\n loc_bar_0_bar__minus_3_bar_1_bar_60 - location\n loc_bar_0_bar__minus_1_bar_1_bar_15 - location\n loc_bar__minus_1_bar__minus_4_bar_1_bar_45 - location\n loc_bar__minus_5_bar__minus_2_bar_2_bar_60 - location\n loc_bar__minus_6_bar__minus_4_bar_2_bar_60 - location\n loc_bar__minus_3_bar_2_bar_0_bar_30 - location\n )\n \n\n(:init\n\n\n (receptacleType ToiletPaperHanger_bar__minus_01_dot_18_bar__plus_00_dot_92_bar__plus_00_dot_77 ToiletPaperHangerType)\n (receptacleType HandTowelHolder_bar__minus_02_dot_07_bar__plus_01_dot_59_bar__minus_01_dot_48 HandTowelHolderType)\n (receptacleType Bathtub_bar__plus_00_dot_88_bar__plus_00_dot_39_bar__minus_01_dot_15_bar_BathtubBasin BathtubBasinType)\n (receptacleType Sink_bar__minus_01_dot_56_bar__plus_00_dot_81_bar__minus_01_dot_60_bar_SinkBasin SinkBasinType)\n (receptacleType Cabinet_bar__minus_01_dot_04_bar__plus_00_dot_34_bar__minus_01_dot_33 CabinetType)\n (receptacleType GarbageCan_bar__plus_00_dot_10_bar_00_dot_00_bar__minus_01_dot_57 GarbageCanType)\n (receptacleType Cabinet_bar__minus_02_dot_02_bar__plus_00_dot_34_bar__minus_01_dot_33 CabinetType)\n (receptacleType Toilet_bar__minus_01_dot_61_bar_00_dot_00_bar__plus_00_dot_21 ToiletType)\n (receptacleType TowelHolder_bar__plus_00_dot_89_bar__plus_01_dot_35_bar__minus_01_dot_86 TowelHolderType)\n (receptacleType Cabinet_bar__minus_01_dot_05_bar__plus_00_dot_34_bar__minus_01_dot_33 CabinetType)\n (receptacleType Sink_bar__minus_00_dot_53_bar__plus_00_dot_81_bar__minus_01_dot_60_bar_SinkBasin SinkBasinType)\n (receptacleType Cabinet_bar__minus_00_dot_07_bar__plus_00_dot_34_bar__minus_01_dot_33 CabinetType)\n (receptacleType CounterTop_bar__minus_01_dot_04_bar__plus_00_dot_88_bar__minus_01_dot_53 CounterTopType)\n (objectType SprayBottle_bar__minus_00_dot_86_bar__plus_00_dot_02_bar__minus_01_dot_64 SprayBottleType)\n (objectType Cloth_bar__minus_00_dot_45_bar__plus_00_dot_93_bar__minus_01_dot_53 ClothType)\n (objectType Mirror_bar__minus_01_dot_02_bar__plus_01_dot_50_bar__minus_01_dot_84 MirrorType)\n (objectType SoapBottle_bar__minus_00_dot_69_bar__plus_00_dot_02_bar__minus_01_dot_54 SoapBottleType)\n (objectType Candle_bar__minus_02_dot_02_bar__plus_01_dot_04_bar__plus_00_dot_27 CandleType)\n (objectType ShowerDoor_bar__plus_00_dot_45_bar__plus_00_dot_93_bar__plus_00_dot_70 ShowerDoorType)\n (objectType ScrubBrush_bar__minus_01_dot_65_bar_00_dot_00_bar__plus_00_dot_65 ScrubBrushType)\n (objectType Sink_bar__minus_01_dot_56_bar__plus_00_dot_81_bar__minus_01_dot_60 SinkType)\n (objectType Candle_bar__minus_00_dot_43_bar__plus_00_dot_02_bar__minus_01_dot_49 CandleType)\n (objectType SoapBar_bar__minus_00_dot_98_bar__plus_00_dot_02_bar__minus_01_dot_54 SoapBarType)\n (objectType Bathtub_bar__plus_00_dot_88_bar__plus_00_dot_39_bar__minus_01_dot_15 BathtubType)\n (objectType ShowerGlass_bar__plus_00_dot_92_bar__plus_01_dot_42_bar__minus_00_dot_21 ShowerGlassType)\n (objectType Window_bar__plus_01_dot_53_bar__plus_01_dot_67_bar__minus_01_dot_04 WindowType)\n (objectType Candle_bar__plus_00_dot_60_bar__plus_00_dot_59_bar__minus_00_dot_36 CandleType)\n (objectType SoapBar_bar__plus_00_dot_48_bar__plus_00_dot_59_bar__minus_01_dot_64 SoapBarType)\n (objectType ToiletPaper_bar__plus_00_dot_52_bar__plus_00_dot_59_bar__minus_01_dot_77 ToiletPaperType)\n (objectType SoapBottle_bar__minus_01_dot_99_bar__plus_01_dot_05_bar__plus_00_dot_08 SoapBottleType)\n (objectType SoapBottle_bar__minus_01_dot_87_bar__plus_01_dot_05_bar__plus_00_dot_21 SoapBottleType)\n (objectType HandTowel_bar__minus_02_dot_03_bar__plus_01_dot_49_bar__minus_01_dot_48 HandTowelType)\n (objectType SoapBar_bar__plus_01_dot_00_bar__plus_00_dot_17_bar__minus_00_dot_82 SoapBarType)\n (objectType SprayBottle_bar__minus_00_dot_20_bar__plus_00_dot_02_bar__minus_01_dot_49 SprayBottleType)\n (objectType SoapBottle_bar__minus_01_dot_90_bar__plus_01_dot_05_bar__plus_00_dot_34 SoapBottleType)\n (objectType ToiletPaper_bar__minus_01_dot_95_bar__plus_00_dot_91_bar__minus_01_dot_55 ToiletPaperType)\n (objectType SprayBottle_bar__minus_01_dot_78_bar__plus_00_dot_02_bar__minus_01_dot_64 SprayBottleType)\n (objectType LightSwitch_bar__plus_00_dot_23_bar__plus_01_dot_33_bar__plus_00_dot_76 LightSwitchType)\n (objectType Plunger_bar__minus_01_dot_89_bar_00_dot_00_bar__plus_00_dot_61 PlungerType)\n (objectType Sink_bar__minus_00_dot_53_bar__plus_00_dot_81_bar__minus_01_dot_60 SinkType)\n (objectType Towel_bar__plus_00_dot_89_bar__plus_01_dot_37_bar__minus_01_dot_76 TowelType)\n (canContain ToiletPaperHangerType ToiletPaperType)\n (canContain HandTowelHolderType HandTowelType)\n (canContain BathtubBasinType ClothType)\n (canContain BathtubBasinType HandTowelType)\n (canContain BathtubBasinType SoapBarType)\n (canContain SinkBasinType SoapBarType)\n (canContain SinkBasinType ClothType)\n (canContain SinkBasinType HandTowelType)\n (canContain CabinetType CandleType)\n (canContain CabinetType SoapBarType)\n (canContain CabinetType SprayBottleType)\n (canContain CabinetType ToiletPaperType)\n (canContain CabinetType SoapBottleType)\n (canContain CabinetType ClothType)\n (canContain CabinetType HandTowelType)\n (canContain CabinetType PlungerType)\n (canContain GarbageCanType SoapBarType)\n (canContain GarbageCanType SprayBottleType)\n (canContain GarbageCanType ToiletPaperType)\n (canContain GarbageCanType SoapBottleType)\n (canContain GarbageCanType ClothType)\n (canContain GarbageCanType HandTowelType)\n (canContain CabinetType CandleType)\n (canContain CabinetType SoapBarType)\n (canContain CabinetType SprayBottleType)\n (canContain CabinetType ToiletPaperType)\n (canContain CabinetType SoapBottleType)\n (canContain CabinetType ClothType)\n (canContain CabinetType HandTowelType)\n (canContain CabinetType PlungerType)\n (canContain ToiletType SoapBottleType)\n (canContain ToiletType HandTowelType)\n (canContain ToiletType ToiletPaperType)\n (canContain ToiletType ClothType)\n (canContain ToiletType CandleType)\n (canContain ToiletType SoapBarType)\n (canContain ToiletType SprayBottleType)\n (canContain TowelHolderType TowelType)\n (canContain CabinetType CandleType)\n (canContain CabinetType SoapBarType)\n (canContain CabinetType SprayBottleType)\n (canContain CabinetType ToiletPaperType)\n (canContain CabinetType SoapBottleType)\n (canContain CabinetType ClothType)\n (canContain CabinetType HandTowelType)\n (canContain CabinetType PlungerType)\n (canContain SinkBasinType SoapBarType)\n (canContain SinkBasinType ClothType)\n (canContain SinkBasinType HandTowelType)\n (canContain CabinetType CandleType)\n (canContain CabinetType SoapBarType)\n (canContain CabinetType SprayBottleType)\n (canContain CabinetType ToiletPaperType)\n (canContain CabinetType SoapBottleType)\n (canContain CabinetType ClothType)\n (canContain CabinetType HandTowelType)\n (canContain CabinetType PlungerType)\n (canContain CounterTopType CandleType)\n (canContain CounterTopType SoapBarType)\n (canContain CounterTopType SprayBottleType)\n (canContain CounterTopType ToiletPaperType)\n (canContain CounterTopType SoapBottleType)\n (canContain CounterTopType ClothType)\n (canContain CounterTopType HandTowelType)\n (pickupable SprayBottle_bar__minus_00_dot_86_bar__plus_00_dot_02_bar__minus_01_dot_64)\n (pickupable Cloth_bar__minus_00_dot_45_bar__plus_00_dot_93_bar__minus_01_dot_53)\n (pickupable SoapBottle_bar__minus_00_dot_69_bar__plus_00_dot_02_bar__minus_01_dot_54)\n (pickupable Candle_bar__minus_02_dot_02_bar__plus_01_dot_04_bar__plus_00_dot_27)\n (pickupable ScrubBrush_bar__minus_01_dot_65_bar_00_dot_00_bar__plus_00_dot_65)\n (pickupable Candle_bar__minus_00_dot_43_bar__plus_00_dot_02_bar__minus_01_dot_49)\n (pickupable SoapBar_bar__minus_00_dot_98_bar__plus_00_dot_02_bar__minus_01_dot_54)\n (pickupable Candle_bar__plus_00_dot_60_bar__plus_00_dot_59_bar__minus_00_dot_36)\n (pickupable SoapBar_bar__plus_00_dot_48_bar__plus_00_dot_59_bar__minus_01_dot_64)\n (pickupable ToiletPaper_bar__plus_00_dot_52_bar__plus_00_dot_59_bar__minus_01_dot_77)\n (pickupable SoapBottle_bar__minus_01_dot_99_bar__plus_01_dot_05_bar__plus_00_dot_08)\n (pickupable SoapBottle_bar__minus_01_dot_87_bar__plus_01_dot_05_bar__plus_00_dot_21)\n (pickupable HandTowel_bar__minus_02_dot_03_bar__plus_01_dot_49_bar__minus_01_dot_48)\n (pickupable SoapBar_bar__plus_01_dot_00_bar__plus_00_dot_17_bar__minus_00_dot_82)\n (pickupable SprayBottle_bar__minus_00_dot_20_bar__plus_00_dot_02_bar__minus_01_dot_49)\n (pickupable SoapBottle_bar__minus_01_dot_90_bar__plus_01_dot_05_bar__plus_00_dot_34)\n (pickupable ToiletPaper_bar__minus_01_dot_95_bar__plus_00_dot_91_bar__minus_01_dot_55)\n (pickupable SprayBottle_bar__minus_01_dot_78_bar__plus_00_dot_02_bar__minus_01_dot_64)\n (pickupable Plunger_bar__minus_01_dot_89_bar_00_dot_00_bar__plus_00_dot_61)\n (pickupable Towel_bar__plus_00_dot_89_bar__plus_01_dot_37_bar__minus_01_dot_76)\n \n (openable Cabinet_bar__minus_01_dot_04_bar__plus_00_dot_34_bar__minus_01_dot_33)\n (openable Cabinet_bar__minus_02_dot_02_bar__plus_00_dot_34_bar__minus_01_dot_33)\n (openable Cabinet_bar__minus_01_dot_05_bar__plus_00_dot_34_bar__minus_01_dot_33)\n (openable Cabinet_bar__minus_00_dot_07_bar__plus_00_dot_34_bar__minus_01_dot_33)\n \n (atLocation agent1 loc_bar__minus_3_bar_2_bar_0_bar_30)\n \n (cleanable Cloth_bar__minus_00_dot_45_bar__plus_00_dot_93_bar__minus_01_dot_53)\n (cleanable SoapBar_bar__minus_00_dot_98_bar__plus_00_dot_02_bar__minus_01_dot_54)\n (cleanable SoapBar_bar__plus_00_dot_48_bar__plus_00_dot_59_bar__minus_01_dot_64)\n (cleanable SoapBar_bar__plus_01_dot_00_bar__plus_00_dot_17_bar__minus_00_dot_82)\n \n \n \n \n \n \n \n \n \n \n (inReceptacle SprayBottle_bar__minus_00_dot_86_bar__plus_00_dot_02_bar__minus_01_dot_64 Cabinet_bar__minus_01_dot_04_bar__plus_00_dot_34_bar__minus_01_dot_33)\n (inReceptacle SoapBar_bar__minus_00_dot_98_bar__plus_00_dot_02_bar__minus_01_dot_54 Cabinet_bar__minus_01_dot_04_bar__plus_00_dot_34_bar__minus_01_dot_33)\n (inReceptacle SoapBottle_bar__minus_00_dot_69_bar__plus_00_dot_02_bar__minus_01_dot_54 Cabinet_bar__minus_01_dot_04_bar__plus_00_dot_34_bar__minus_01_dot_33)\n (inReceptacle ToiletPaper_bar__minus_01_dot_95_bar__plus_00_dot_91_bar__minus_01_dot_55 CounterTop_bar__minus_01_dot_04_bar__plus_00_dot_88_bar__minus_01_dot_53)\n (inReceptacle Mirror_bar__minus_01_dot_02_bar__plus_01_dot_50_bar__minus_01_dot_84 CounterTop_bar__minus_01_dot_04_bar__plus_00_dot_88_bar__minus_01_dot_53)\n (inReceptacle SprayBottle_bar__minus_00_dot_20_bar__plus_00_dot_02_bar__minus_01_dot_49 Cabinet_bar__minus_00_dot_07_bar__plus_00_dot_34_bar__minus_01_dot_33)\n (inReceptacle Candle_bar__minus_00_dot_43_bar__plus_00_dot_02_bar__minus_01_dot_49 Cabinet_bar__minus_00_dot_07_bar__plus_00_dot_34_bar__minus_01_dot_33)\n (inReceptacle SprayBottle_bar__minus_01_dot_78_bar__plus_00_dot_02_bar__minus_01_dot_64 Cabinet_bar__minus_02_dot_02_bar__plus_00_dot_34_bar__minus_01_dot_33)\n (inReceptacle Towel_bar__plus_00_dot_89_bar__plus_01_dot_37_bar__minus_01_dot_76 TowelHolder_bar__plus_00_dot_89_bar__plus_01_dot_35_bar__minus_01_dot_86)\n (inReceptacle Cloth_bar__minus_00_dot_45_bar__plus_00_dot_93_bar__minus_01_dot_53 Sink_bar__minus_00_dot_53_bar__plus_00_dot_81_bar__minus_01_dot_60_bar_SinkBasin)\n (inReceptacle SoapBar_bar__plus_01_dot_00_bar__plus_00_dot_17_bar__minus_00_dot_82 Bathtub_bar__plus_00_dot_88_bar__plus_00_dot_39_bar__minus_01_dot_15_bar_BathtubBasin)\n (inReceptacle HandTowel_bar__minus_02_dot_03_bar__plus_01_dot_49_bar__minus_01_dot_48 HandTowelHolder_bar__minus_02_dot_07_bar__plus_01_dot_59_bar__minus_01_dot_48)\n (inReceptacle SoapBottle_bar__minus_01_dot_90_bar__plus_01_dot_05_bar__plus_00_dot_34 Toilet_bar__minus_01_dot_61_bar_00_dot_00_bar__plus_00_dot_21)\n (inReceptacle Candle_bar__minus_02_dot_02_bar__plus_01_dot_04_bar__plus_00_dot_27 Toilet_bar__minus_01_dot_61_bar_00_dot_00_bar__plus_00_dot_21)\n (inReceptacle SoapBottle_bar__minus_01_dot_99_bar__plus_01_dot_05_bar__plus_00_dot_08 Toilet_bar__minus_01_dot_61_bar_00_dot_00_bar__plus_00_dot_21)\n (inReceptacle SoapBottle_bar__minus_01_dot_87_bar__plus_01_dot_05_bar__plus_00_dot_21 Toilet_bar__minus_01_dot_61_bar_00_dot_00_bar__plus_00_dot_21)\n \n \n (receptacleAtLocation Bathtub_bar__plus_00_dot_88_bar__plus_00_dot_39_bar__minus_01_dot_15_bar_BathtubBasin loc_bar_0_bar__minus_3_bar_1_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_07_bar__plus_00_dot_34_bar__minus_01_dot_33 loc_bar__minus_3_bar__minus_2_bar_2_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_01_dot_04_bar__plus_00_dot_34_bar__minus_01_dot_33 loc_bar__minus_5_bar__minus_2_bar_2_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_01_dot_05_bar__plus_00_dot_34_bar__minus_01_dot_33 loc_bar__minus_3_bar__minus_1_bar_2_bar_45)\n (receptacleAtLocation Cabinet_bar__minus_02_dot_02_bar__plus_00_dot_34_bar__minus_01_dot_33 loc_bar__minus_5_bar__minus_1_bar_2_bar_45)\n (receptacleAtLocation CounterTop_bar__minus_01_dot_04_bar__plus_00_dot_88_bar__minus_01_dot_53 loc_bar__minus_6_bar__minus_3_bar_2_bar_45)\n (receptacleAtLocation GarbageCan_bar__plus_00_dot_10_bar_00_dot_00_bar__minus_01_dot_57 loc_bar__minus_1_bar__minus_2_bar_2_bar_60)\n (receptacleAtLocation HandTowelHolder_bar__minus_02_dot_07_bar__plus_01_dot_59_bar__minus_01_dot_48 loc_bar__minus_6_bar__minus_4_bar_3_bar_0)\n (receptacleAtLocation Sink_bar__minus_00_dot_53_bar__plus_00_dot_81_bar__minus_01_dot_60_bar_SinkBasin loc_bar__minus_2_bar__minus_4_bar_2_bar_60)\n (receptacleAtLocation Sink_bar__minus_01_dot_56_bar__plus_00_dot_81_bar__minus_01_dot_60_bar_SinkBasin loc_bar__minus_6_bar__minus_4_bar_2_bar_60)\n (receptacleAtLocation ToiletPaperHanger_bar__minus_01_dot_18_bar__plus_00_dot_92_bar__plus_00_dot_77 loc_bar__minus_3_bar_1_bar_0_bar_60)\n (receptacleAtLocation Toilet_bar__minus_01_dot_61_bar_00_dot_00_bar__plus_00_dot_21 loc_bar__minus_6_bar__minus_3_bar_0_bar_60)\n (receptacleAtLocation TowelHolder_bar__plus_00_dot_89_bar__plus_01_dot_35_bar__minus_01_dot_86 loc_bar__minus_1_bar__minus_4_bar_1_bar_15)\n (objectAtLocation SoapBottle_bar__minus_01_dot_87_bar__plus_01_dot_05_bar__plus_00_dot_21 loc_bar__minus_6_bar__minus_3_bar_0_bar_60)\n (objectAtLocation Candle_bar__minus_02_dot_02_bar__plus_01_dot_04_bar__plus_00_dot_27 loc_bar__minus_6_bar__minus_3_bar_0_bar_60)\n (objectAtLocation SprayBottle_bar__minus_00_dot_20_bar__plus_00_dot_02_bar__minus_01_dot_49 loc_bar__minus_3_bar__minus_2_bar_2_bar_60)\n (objectAtLocation SoapBar_bar__minus_00_dot_98_bar__plus_00_dot_02_bar__minus_01_dot_54 loc_bar__minus_5_bar__minus_2_bar_2_bar_60)\n (objectAtLocation SoapBottle_bar__minus_00_dot_69_bar__plus_00_dot_02_bar__minus_01_dot_54 loc_bar__minus_5_bar__minus_2_bar_2_bar_60)\n (objectAtLocation SoapBottle_bar__minus_01_dot_90_bar__plus_01_dot_05_bar__plus_00_dot_34 loc_bar__minus_6_bar__minus_3_bar_0_bar_60)\n (objectAtLocation SprayBottle_bar__minus_01_dot_78_bar__plus_00_dot_02_bar__minus_01_dot_64 loc_bar__minus_5_bar__minus_1_bar_2_bar_45)\n (objectAtLocation Candle_bar__minus_00_dot_43_bar__plus_00_dot_02_bar__minus_01_dot_49 loc_bar__minus_3_bar__minus_2_bar_2_bar_60)\n (objectAtLocation SoapBar_bar__plus_00_dot_48_bar__plus_00_dot_59_bar__minus_01_dot_64 loc_bar_0_bar__minus_3_bar_1_bar_60)\n (objectAtLocation ShowerGlass_bar__plus_00_dot_92_bar__plus_01_dot_42_bar__minus_00_dot_21 loc_bar_0_bar__minus_1_bar_1_bar_15)\n (objectAtLocation Sink_bar__minus_01_dot_56_bar__plus_00_dot_81_bar__minus_01_dot_60 loc_bar__minus_6_bar__minus_4_bar_2_bar_60)\n (objectAtLocation ShowerDoor_bar__plus_00_dot_45_bar__plus_00_dot_93_bar__plus_00_dot_70 loc_bar__minus_1_bar_1_bar_1_bar_45)\n (objectAtLocation Mirror_bar__minus_01_dot_02_bar__plus_01_dot_50_bar__minus_01_dot_84 loc_bar__minus_6_bar__minus_3_bar_2_bar_45)\n (objectAtLocation Bathtub_bar__plus_00_dot_88_bar__plus_00_dot_39_bar__minus_01_dot_15 loc_bar__minus_1_bar__minus_4_bar_1_bar_45)\n (objectAtLocation Sink_bar__minus_00_dot_53_bar__plus_00_dot_81_bar__minus_01_dot_60 loc_bar__minus_2_bar__minus_4_bar_2_bar_60)\n (objectAtLocation Window_bar__plus_01_dot_53_bar__plus_01_dot_67_bar__minus_01_dot_04 loc_bar__minus_1_bar__minus_4_bar_1_bar_0)\n (objectAtLocation Towel_bar__plus_00_dot_89_bar__plus_01_dot_37_bar__minus_01_dot_76 loc_bar__minus_1_bar__minus_4_bar_1_bar_15)\n (objectAtLocation HandTowel_bar__minus_02_dot_03_bar__plus_01_dot_49_bar__minus_01_dot_48 loc_bar__minus_6_bar__minus_4_bar_3_bar_0)\n (objectAtLocation SoapBar_bar__plus_01_dot_00_bar__plus_00_dot_17_bar__minus_00_dot_82 loc_bar_0_bar__minus_3_bar_1_bar_60)\n (objectAtLocation ToiletPaper_bar__plus_00_dot_52_bar__plus_00_dot_59_bar__minus_01_dot_77 loc_bar_0_bar__minus_3_bar_1_bar_60)\n (objectAtLocation LightSwitch_bar__plus_00_dot_23_bar__plus_01_dot_33_bar__plus_00_dot_76 loc_bar__minus_1_bar_1_bar_0_bar_30)\n (objectAtLocation ToiletPaper_bar__minus_01_dot_95_bar__plus_00_dot_91_bar__minus_01_dot_55 loc_bar__minus_6_bar__minus_3_bar_2_bar_45)\n (objectAtLocation Cloth_bar__minus_00_dot_45_bar__plus_00_dot_93_bar__minus_01_dot_53 loc_bar__minus_2_bar__minus_4_bar_2_bar_60)\n (objectAtLocation SprayBottle_bar__minus_00_dot_86_bar__plus_00_dot_02_bar__minus_01_dot_64 loc_bar__minus_5_bar__minus_2_bar_2_bar_60)\n (objectAtLocation ScrubBrush_bar__minus_01_dot_65_bar_00_dot_00_bar__plus_00_dot_65 loc_bar__minus_6_bar__minus_1_bar_0_bar_60)\n (objectAtLocation Plunger_bar__minus_01_dot_89_bar_00_dot_00_bar__plus_00_dot_61 loc_bar__minus_6_bar__minus_1_bar_0_bar_60)\n (objectAtLocation Candle_bar__plus_00_dot_60_bar__plus_00_dot_59_bar__minus_00_dot_36 loc_bar_0_bar__minus_3_bar_1_bar_60)\n (objectAtLocation SoapBottle_bar__minus_01_dot_99_bar__plus_01_dot_05_bar__plus_00_dot_08 loc_bar__minus_6_bar__minus_3_bar_0_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 CounterTopType)\n (inReceptacle ?o1 ?r)\n (exists (?o2 - object)\n (and\n (not (= ?o1 ?o2))\n (objectType ?o2 SoapBottleType)\n (receptacleType ?r CounterTopType)\n (inReceptacle ?o2 ?r)\n )\n )\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to toilet 1", "take soapbottle 3 from toilet 1", "go to countertop 1", "move soapbottle 3 to countertop 1", "go to toilet 1", "take soapbottle 2 from toilet 1", "go to countertop 1", "move soapbottle 2 to countertop 1"]}
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alfworld__pick_two_obj_and_place__803
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pick_two_obj_and_place
|
pick_two_obj_and_place-SoapBottle-None-CounterTop-407/trial_T20190908_055449_353538/game.tw-pddl
|
{"pddl_domain": ";; Specification in PDDL of the Alfred domain\n;; Intended to be used with Fast Downward which supports PDDL 2.2 level 1 plus the :action-costs requirement from PDDL 3.1.\n\n(define (domain alfred)\n (:requirements\n :adl\n :action-costs\n :typing\n )\n (:types\n agent\n location\n receptacle\n object\n rtype\n otype\n )\n\n\n (:predicates\n (atLocation ?a - agent ?l - location) ; true if the agent is at the location\n (receptacleAtLocation ?r - receptacle ?l - location) ; true if the receptacle is at the location (constant)\n (objectAtLocation ?o - object ?l - location) ; true if the object is at the location\n (openable ?r - receptacle) ; true if a receptacle is openable\n (opened ?r - receptacle) ; true if a receptacle is opened\n (inReceptacle ?o - object ?r - receptacle) ; object ?o is in receptacle ?r\n (isReceptacleObject ?o - object) ; true if the object can have things put inside it\n (inReceptacleObject ?innerObject - object ?outerObject - object) ; object ?innerObject is inside object ?outerObject\n (isReceptacleObjectFull ?o - object) ; true if the receptacle object contains something\n (wasInReceptacle ?o - object ?r - receptacle) ; object ?o was or is in receptacle ?r now or some time in the past\n (checked ?r - receptacle) ; whether the receptacle has been looked inside/visited\n (examined ?l - location) ; TODO\n (receptacleType ?r - receptacle ?t - rtype) ; the type of receptacle (Cabinet vs Cabinet|01|2...)\n (canContain ?rt - rtype ?ot - otype) ; true if receptacle can hold object\n (objectType ?o - object ?t - otype) ; the type of object (Apple vs Apple|01|2...)\n (holds ?a - agent ?o - object) ; object ?o is held by agent ?a\n (holdsAny ?a - agent) ; agent ?a holds an object\n (holdsAnyReceptacleObject ?a - agent) ; agent ?a holds a receptacle object\n (full ?r - receptacle) ; true if the receptacle has no remaining space\n (isClean ?o - object) ; true if the object has been clean in sink\n (cleanable ?o - object) ; true if the object can be placed in a sink\n (isHot ?o - object) ; true if the object has been heated up\n (heatable ?o - object) ; true if the object can be heated up in a microwave\n (isCool ?o - object) ; true if the object has been cooled\n (coolable ?o - object) ; true if the object can be cooled in the fridge\n (pickupable ?o - object) ; true if the object can be picked up\n (moveable ?o - object) ; true if the object can be moved\n (toggleable ?o - object) ; true if the object can be turned on/off\n (isOn ?o - object) ; true if the object is on\n (isToggled ?o - object) ; true if the object has been toggled\n (sliceable ?o - object) ; true if the object can be sliced\n (isSliced ?o - object) ; true if the object is sliced\n )\n\n (:functions\n (distance ?from ?to)\n (total-cost) - number\n )\n\n;; All actions are specified such that the final arguments are the ones used\n;; for performing actions in Unity.\n\n\n(:action look\n :parameters (?a - agent ?l - location)\n :precondition\n (and\n (atLocation ?a ?l)\n )\n :effect\n (and\n (checked ?l)\n )\n)\n\n(:action inventory\n :parameters (?a - agent)\n :precondition\n ()\n :effect\n (and\n (checked ?a)\n )\n)\n\n(:action examineReceptacle\n :parameters (?a - agent ?r - receptacle)\n :precondition\n (and\n (exists (?l - location)\n (and\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n )\n )\n )\n :effect\n (and\n (checked ?r)\n )\n)\n\n(:action examineObject\n :parameters (?a - agent ?o - object)\n :precondition\n (or\n ;(exists (?l - location)\n ; (and\n ; (atLocation ?a ?l)\n ; (objectAtLocation ?o ?l)\n ; )\n ;)\n (exists (?l - location, ?r - receptacle)\n (and\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n ; (objectAtLocation ?o ?l)\n (inReceptacle ?o ?r)\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n )\n )\n (holds ?a ?o)\n )\n :effect\n (and\n (checked ?o)\n )\n)\n\n;; agent goes to receptacle\n (:action GotoLocation\n :parameters (?a - agent ?lStart - location ?lEnd - location ?r - receptacle)\n :precondition (and\n (atLocation ?a ?lStart)\n (receptacleAtLocation ?r ?lEnd)\n ;(exists (?r - receptacle) (receptacleAtLocation ?r ?lEnd))\n )\n :effect (and\n (not (atLocation ?a ?lStart))\n (atLocation ?a ?lEnd)\n ; (forall (?r - receptacle)\n ; (when (and (receptacleAtLocation ?r ?lEnd)\n ; (or (not (openable ?r)) (opened ?r)))\n ; (checked ?r)\n ; )\n ; )\n ; (increase (total-cost) (distance ?lStart ?lEnd))\n (increase (total-cost) 1)\n )\n )\n\n;; agent opens receptacle\n (:action OpenObject\n :parameters (?a - agent ?l - location ?r - receptacle)\n :precondition (and\n (openable ?r)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (not (opened ?r))\n )\n :effect (and\n (opened ?r)\n (checked ?r)\n (increase (total-cost) 1)\n )\n )\n;; agent closes receptacle\n (:action CloseObject\n :parameters (?a - agent ?l - location ?r - receptacle)\n :precondition (and\n (openable ?r)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (opened ?r)\n )\n :effect (and\n (not (opened ?r))\n (increase (total-cost) 1)\n )\n\n )\n\n ;; agent picks up object from a receptacle\n (:action PickupObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n :precondition\n (and\n (pickupable ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n ; (objectAtLocation ?o ?l)\n (inReceptacle ?o ?r)\n (not (holdsAny ?a)) ; agent's hands are empty.\n ;(not (holdsAnyReceptacleObject ?a))\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n ;(not (isReceptacleObject ?o))\n )\n :effect\n (and\n (not (inReceptacle ?o ?r))\n (holds ?a ?o)\n (holdsAny ?a)\n (not (objectAtLocation ?o ?l))\n ;(not (full ?r))\n (increase (total-cost) 1)\n )\n )\n\n\n; ;; agent picks up object from a receptacle\n; (:action PickupObjectFromReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?outerR - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (inReceptacle ?o ?r)\n; (pickupable ?o)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (not (isReceptacleObject ?o))\n; (isReceptacleObject ?outerR)\n; (inReceptacleObject ?o ?outerR)\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (holds ?a ?o)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n;\n; (not (inReceptacleObject ?o ?outerR))\n; (not (isReceptacleObjectFull ?outerR))\n; )\n; )\n;\n; ;; agent picks up object from a receptacle\n; (:action PickupEmptyReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; ; (objectAtLocation ?o ?l)\n; (inReceptacle ?o ?r)\n; (pickupable ?o)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (isReceptacleObject ?o)\n; (not (isReceptacleObjectFull ?o))\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (holds ?a ?o)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n; (holdsAnyReceptacleObject ?a)\n; )\n; )\n;\n; ;; agent picks up object from a receptacle\n; (:action PickupFullReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?outerR - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (inReceptacle ?outerR ?r)\n; (pickupable ?outerR)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (not (isReceptacleObject ?o))\n; (isReceptacleObject ?outerR)\n; (inReceptacleObject ?o ?outerR)\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (not (inReceptacle ?outerR ?r))\n; (holds ?a ?outerR)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (objectAtLocation ?outerR ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n; (holdsAnyReceptacleObject ?a)\n; )\n; )\n\n\n;; agent puts down an object\n (:action PutObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle ?ot - otype ?rt - rtype)\n :precondition (and\n (holds ?a ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable\n ;(not (full ?r))\n (objectType ?o ?ot)\n (receptacleType ?r ?rt)\n (canContain ?rt ?ot)\n ;(not (holdsAnyReceptacleObject ?a))\n )\n :effect (and\n (inReceptacle ?o ?r)\n (objectAtLocation ?o ?l)\n ;(full ?r)\n (not (holds ?a ?o))\n (not (holdsAny ?a))\n (increase (total-cost) 1)\n )\n )\n\n;;; agent puts down an object\n; (:action PutObjectInReceptacleObject\n; :parameters (?a - agent ?l - location ?ot - otype ?o - object ?outerO - object ?outerR - receptacle)\n; :precondition (and\n; (atLocation ?a ?l)\n; (objectAtLocation ?outerO ?l)\n; (isReceptacleObject ?outerO)\n; (not (isReceptacleObject ?o))\n; (objectType ?o ?ot)\n; (holds ?a ?o)\n; (not (holdsAnyReceptacleObject ?a))\n; (inReceptacle ?outerO ?outerR)\n; (not (isReceptacleObjectFull ?outerO))\n; )\n; :effect (and\n; (inReceptacleObject ?o ?outerO)\n; (inReceptacle ?o ?outerR)\n; (not (holds ?a ?o))\n; (not (holdsAny ?a))\n; (objectAtLocation ?o ?l)\n; (isReceptacleObjectFull ?outerO)\n; (increase (total-cost) 1)\n; )\n; )\n;\n;;; agent puts down an object\n; (:action PutEmptyReceptacleObjectinReceptacle\n; :parameters (?a - agent ?l - location ?ot - otype ?o - object ?r - receptacle)\n; :precondition (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable\n; (not (full ?r))\n; (objectType ?o ?ot)\n; (holds ?a ?o)\n; (holdsAnyReceptacleObject ?a)\n; (isReceptacleObject ?o)\n; (not (isReceptacleObjectFull ?o))\n; )\n; :effect (and\n; (inReceptacle ?o ?r)\n; (objectAtLocation ?o ?l)\n; (full ?r)\n; (not (holds ?a ?o))\n; (not (holdsAny ?a))\n; (not (holdsAnyReceptacleObject ?a))\n; (increase (total-cost) 1)\n; )\n; )\n;\n;;; agent puts down a receptacle object in a receptacle\n; (:action PutFullReceptacleObjectInReceptacle\n; :parameters (?a - agent ?l - location ?ot - otype ?innerO - object ?outerO - object ?r - receptacle) ; ?rt - rtype)\n; :precondition (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (objectType ?outerO ?ot)\n; (holds ?a ?outerO)\n; (holdsAnyReceptacleObject ?a)\n; (isReceptacleObject ?outerO)\n; (isReceptacleObjectFull ?outerO)\n; (inReceptacleObject ?innerO ?outerO)\n; )\n; :effect (and\n; (not (holdsAny ?a))\n; (not (holdsAnyReceptacleObject ?a))\n; (objectAtLocation ?outerO ?l)\n; (objectAtLocation ?innerO ?l)\n; (inReceptacle ?outerO ?r)\n; (inReceptacle ?innerO ?r)\n; (not (holds ?a ?outerO))\n; (increase (total-cost) 1)\n; )\n; )\n\n;; agent cleans some object\n (:action CleanObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (cleanable ?o)\n (or\n (receptacleType ?r SinkType)\n (receptacleType ?r SinkBasinType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isClean ?o)\n )\n )\n\n\n;; agent heats-up some object\n (:action HeatObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (heatable ?o)\n (or\n (receptacleType ?r MicrowaveType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isHot ?o)\n (not (isCool ?o))\n )\n )\n\n;; agent cools some object\n (:action CoolObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (coolable ?o)\n (or\n (receptacleType ?r FridgeType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isCool ?o)\n (not (isHot ?o))\n )\n )\n\n\n;; agent toggle object\n (:action ToggleObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n :precondition (and\n (toggleable ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (inReceptacle ?o ?r)\n )\n :effect (and\n (increase (total-cost) 5)\n (when (isOn ?o)\n (not (isOn ?o)))\n (when (not (isOn ?o))\n (isOn ?o))\n (isToggled ?o)\n )\n )\n\n\n;; agent slices some object with a knife\n (:action SliceObject\n :parameters (?a - agent ?l - location ?co - object ?ko - object)\n :precondition\n (and\n (sliceable ?co)\n (or\n (objectType ?ko KnifeType)\n (objectType ?ko ButterKnifeType)\n )\n (atLocation ?a ?l)\n (objectAtLocation ?co ?l)\n (holds ?a ?ko)\n )\n :effect (and\n (increase (total-cost) 5)\n (isSliced ?co)\n )\n )\n\n\n(:action help\n :parameters (?a - agent)\n :precondition\n ()\n :effect\n (and\n (checked ?a)\n )\n)\n)\n", "grammar": "grammar :: \"\"\"\n {\n \"intro\": [\n {\n \"rhs\": \"-= Welcome to TextWorld, ALFRED! =-\\n\\n#look.feedback#\\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 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_055449_353538)\n(:domain alfred)\n(:objects\nagent1 - agent\nSaltShaker - object\n HousePlant - object\n Candle - object\n SprayBottle - object\n Bowl - object\n Window - object\n CD - object\n Egg - object\n Glassbottle - object\n Sink - object\n Pillow - object\n Spoon - object\n SoapBottle - object\n TeddyBear - object\n ButterKnife - object\n Cup - object\n Plate - object\n RemoteControl - object\n Tomato - object\n Statue - object\n HandTowel - object\n Knife - object\n StoveKnob - object\n LightSwitch - object\n Pen - object\n Painting - object\n DishSponge - object\n Vase - object\n Mug - object\n ToiletPaper - object\n Box - object\n Mirror - object\n Ladle - object\n Fork - object\n Blinds - object\n Footstool - object\n KeyChain - object\n Cloth - object\n Laptop - object\n TissueBox - object\n PepperShaker - object\n FloorLamp - object\n WateringCan - object\n Apple - object\n Pan - object\n PaperTowel - object\n PaperTowelRoll - object\n Newspaper - object\n Television - object\n Chair - object\n CellPhone - object\n CreditCard - object\n Lettuce - object\n BasketBall - object\n Potato - object\n Curtains - object\n Boots - object\n Pencil - object\n AlarmClock - object\n ToiletPaperRoll - object\n Spatula - object\n Book - object\n Bread - object\n SoapBar - object\n Watch - object\n DeskLamp - object\n Kettle - object\n Pot - object\n ScrubBrush - object\n WineBottle - object\n ShowerDoor - object\n Bathtub - object\n LaundryHamperLid - object\n ShowerGlass - object\n Poster - object\n TennisRacket - object\n BaseballBat - object\n Towel - object\n Plunger - object\nSaltShakerType - otype\n HousePlantType - otype\n CandleType - otype\n SprayBottleType - otype\n BowlType - otype\n WindowType - otype\n CDType - otype\n EggType - otype\n GlassbottleType - otype\n SinkType - otype\n PillowType - otype\n SpoonType - otype\n SoapBottleType - otype\n TeddyBearType - otype\n ButterKnifeType - otype\n CupType - otype\n PlateType - otype\n RemoteControlType - otype\n TomatoType - otype\n StatueType - otype\n HandTowelType - otype\n KnifeType - otype\n StoveKnobType - otype\n LightSwitchType - otype\n PenType - otype\n PaintingType - otype\n DishSpongeType - otype\n VaseType - otype\n MugType - otype\n ToiletPaperType - otype\n BoxType - otype\n MirrorType - otype\n LadleType - otype\n ForkType - otype\n BlindsType - otype\n FootstoolType - otype\n KeyChainType - otype\n ClothType - otype\n LaptopType - otype\n TissueBoxType - otype\n PepperShakerType - otype\n FloorLampType - otype\n WateringCanType - otype\n AppleType - otype\n PanType - otype\n PaperTowelType - otype\n PaperTowelRollType - otype\n NewspaperType - otype\n TelevisionType - otype\n ChairType - otype\n CellPhoneType - otype\n CreditCardType - otype\n LettuceType - otype\n BasketBallType - otype\n PotatoType - otype\n CurtainsType - otype\n BootsType - otype\n PencilType - otype\n AlarmClockType - otype\n ToiletPaperRollType - otype\n SpatulaType - otype\n BookType - otype\n BreadType - otype\n SoapBarType - otype\n WatchType - otype\n DeskLampType - otype\n KettleType - otype\n PotType - otype\n ScrubBrushType - otype\n WineBottleType - otype\n ShowerDoorType - otype\n BathtubType - otype\n LaundryHamperLidType - otype\n ShowerGlassType - otype\n PosterType - otype\n TennisRacketType - otype\n BaseballBatType - otype\n TowelType - otype\n PlungerType - otype\nSafeType - rtype\n DrawerType - rtype\n CoffeeMachineType - rtype\n HandTowelHolderType - rtype\n SinkBasinType - rtype\n DresserType - rtype\n LaundryHamperType - rtype\n TVStandType - rtype\n BathtubBasinType - rtype\n CabinetType - rtype\n FridgeType - rtype\n DeskType - rtype\n ToiletType - rtype\n CartType - rtype\n SideTableType - rtype\n SofaType - rtype\n CoffeeTableType - rtype\n DiningTableType - rtype\n CounterTopType - rtype\n GarbageCanType - rtype\n ArmChairType - rtype\n ShelfType - rtype\n MicrowaveType - rtype\n ToasterType - rtype\n BedType - rtype\n PaintingHangerType - rtype\n TowelHolderType - rtype\n ToiletPaperHangerType - rtype\n StoveBurnerType - rtype\n OttomanType - rtype\n\n\n Bathtub_bar__plus_00_dot_88_bar__plus_00_dot_39_bar__minus_01_dot_15 - object\n Candle_bar__minus_01_dot_84_bar__plus_01_dot_04_bar__plus_00_dot_01 - object\n Cloth_bar__plus_00_dot_82_bar__plus_00_dot_17_bar__minus_01_dot_11 - object\n Cloth_bar__minus_00_dot_31_bar__plus_00_dot_02_bar__minus_01_dot_54 - object\n Faucet_bar__plus_00_dot_89_bar__plus_01_dot_69_bar__plus_00_dot_72 - object\n Faucet_bar__plus_00_dot_93_bar__plus_00_dot_51_bar__minus_01_dot_98 - object\n Faucet_bar__minus_00_dot_51_bar__plus_00_dot_90_bar__minus_01_dot_78 - object\n Faucet_bar__minus_01_dot_54_bar__plus_00_dot_90_bar__minus_01_dot_78 - object\n HandTowel_bar__minus_02_dot_03_bar__plus_01_dot_49_bar__minus_01_dot_48 - object\n LightSwitch_bar__plus_00_dot_23_bar__plus_01_dot_33_bar__plus_00_dot_76 - object\n Mirror_bar__minus_01_dot_02_bar__plus_01_dot_50_bar__minus_01_dot_84 - object\n Plunger_bar__minus_01_dot_89_bar_00_dot_00_bar__plus_00_dot_61 - object\n ScrubBrush_bar__minus_01_dot_65_bar_00_dot_00_bar__plus_00_dot_65 - object\n ShowerCurtain_bar__plus_00_dot_46_bar__plus_01_dot_78_bar__minus_01_dot_52 - object\n ShowerDoor_bar__plus_00_dot_45_bar__plus_00_dot_93_bar__plus_00_dot_70 - object\n ShowerGlass_bar__plus_00_dot_92_bar__plus_01_dot_42_bar__minus_00_dot_21 - object\n Sink_bar__minus_00_dot_53_bar__plus_00_dot_81_bar__minus_01_dot_60 - object\n Sink_bar__minus_01_dot_56_bar__plus_00_dot_81_bar__minus_01_dot_60 - object\n SoapBar_bar__minus_01_dot_84_bar__plus_00_dot_02_bar__minus_01_dot_49 - object\n SoapBar_bar__minus_01_dot_96_bar__plus_01_dot_04_bar__plus_00_dot_21 - object\n SoapBottle_bar__minus_01_dot_87_bar__plus_01_dot_05_bar__plus_00_dot_14 - object\n SoapBottle_bar__minus_01_dot_87_bar__plus_01_dot_05_bar__plus_00_dot_34 - object\n SprayBottle_bar__minus_00_dot_74_bar__plus_00_dot_02_bar__minus_01_dot_49 - object\n SprayBottle_bar__minus_01_dot_99_bar__plus_01_dot_05_bar__plus_00_dot_40 - object\n ToiletPaper_bar__plus_00_dot_12_bar__plus_00_dot_15_bar__minus_01_dot_60 - object\n ToiletPaper_bar__minus_01_dot_29_bar__plus_00_dot_01_bar__minus_01_dot_59 - object\n Towel_bar__plus_00_dot_89_bar__plus_01_dot_37_bar__minus_01_dot_76 - object\n Window_bar__plus_01_dot_53_bar__plus_01_dot_67_bar__minus_01_dot_04 - object\n Bathtub_bar__plus_00_dot_88_bar__plus_00_dot_39_bar__minus_01_dot_15_bar_BathtubBasin - receptacle\n Cabinet_bar__minus_00_dot_07_bar__plus_00_dot_34_bar__minus_01_dot_33 - receptacle\n Cabinet_bar__minus_01_dot_04_bar__plus_00_dot_34_bar__minus_01_dot_33 - receptacle\n Cabinet_bar__minus_01_dot_05_bar__plus_00_dot_34_bar__minus_01_dot_33 - receptacle\n Cabinet_bar__minus_02_dot_02_bar__plus_00_dot_34_bar__minus_01_dot_33 - receptacle\n CounterTop_bar__minus_01_dot_04_bar__plus_00_dot_88_bar__minus_01_dot_53 - receptacle\n GarbageCan_bar__plus_00_dot_10_bar_00_dot_00_bar__minus_01_dot_57 - receptacle\n HandTowelHolder_bar__minus_02_dot_07_bar__plus_01_dot_59_bar__minus_01_dot_48 - receptacle\n Sink_bar__minus_00_dot_53_bar__plus_00_dot_81_bar__minus_01_dot_60_bar_SinkBasin - receptacle\n Sink_bar__minus_01_dot_56_bar__plus_00_dot_81_bar__minus_01_dot_60_bar_SinkBasin - receptacle\n ToiletPaperHanger_bar__minus_01_dot_18_bar__plus_00_dot_92_bar__plus_00_dot_77 - receptacle\n Toilet_bar__minus_01_dot_61_bar_00_dot_00_bar__plus_00_dot_21 - receptacle\n TowelHolder_bar__plus_00_dot_89_bar__plus_01_dot_35_bar__minus_01_dot_86 - receptacle\n loc_bar__minus_3_bar_1_bar_0_bar_60 - location\n loc_bar__minus_3_bar__minus_2_bar_2_bar_60 - location\n loc_bar__minus_1_bar__minus_4_bar_1_bar_0 - location\n loc_bar__minus_1_bar__minus_4_bar_1_bar_15 - location\n loc_bar__minus_5_bar__minus_1_bar_2_bar_45 - location\n loc_bar__minus_6_bar__minus_3_bar_0_bar_60 - location\n loc_bar__minus_6_bar__minus_1_bar_0_bar_60 - location\n loc_bar__minus_2_bar__minus_4_bar_2_bar_60 - location\n loc_bar__minus_3_bar__minus_1_bar_2_bar_45 - location\n loc_bar__minus_1_bar_1_bar_0_bar_30 - location\n loc_bar__minus_1_bar_1_bar_1_bar_45 - location\n loc_bar__minus_6_bar__minus_4_bar_3_bar_0 - location\n loc_bar__minus_1_bar__minus_2_bar_2_bar_60 - location\n loc_bar__minus_6_bar__minus_3_bar_2_bar_45 - location\n loc_bar_0_bar__minus_3_bar_1_bar_60 - location\n loc_bar_0_bar__minus_1_bar_1_bar_15 - location\n loc_bar__minus_1_bar__minus_4_bar_1_bar_45 - location\n loc_bar__minus_5_bar__minus_2_bar_2_bar_60 - location\n loc_bar__minus_6_bar__minus_4_bar_2_bar_60 - location\n loc_bar__minus_4_bar__minus_3_bar_2_bar_30 - location\n )\n \n\n(:init\n\n\n (receptacleType ToiletPaperHanger_bar__minus_01_dot_18_bar__plus_00_dot_92_bar__plus_00_dot_77 ToiletPaperHangerType)\n (receptacleType HandTowelHolder_bar__minus_02_dot_07_bar__plus_01_dot_59_bar__minus_01_dot_48 HandTowelHolderType)\n (receptacleType Bathtub_bar__plus_00_dot_88_bar__plus_00_dot_39_bar__minus_01_dot_15_bar_BathtubBasin BathtubBasinType)\n (receptacleType Sink_bar__minus_01_dot_56_bar__plus_00_dot_81_bar__minus_01_dot_60_bar_SinkBasin SinkBasinType)\n (receptacleType Cabinet_bar__minus_01_dot_04_bar__plus_00_dot_34_bar__minus_01_dot_33 CabinetType)\n (receptacleType GarbageCan_bar__plus_00_dot_10_bar_00_dot_00_bar__minus_01_dot_57 GarbageCanType)\n (receptacleType Cabinet_bar__minus_02_dot_02_bar__plus_00_dot_34_bar__minus_01_dot_33 CabinetType)\n (receptacleType Toilet_bar__minus_01_dot_61_bar_00_dot_00_bar__plus_00_dot_21 ToiletType)\n (receptacleType TowelHolder_bar__plus_00_dot_89_bar__plus_01_dot_35_bar__minus_01_dot_86 TowelHolderType)\n (receptacleType Cabinet_bar__minus_01_dot_05_bar__plus_00_dot_34_bar__minus_01_dot_33 CabinetType)\n (receptacleType Sink_bar__minus_00_dot_53_bar__plus_00_dot_81_bar__minus_01_dot_60_bar_SinkBasin SinkBasinType)\n (receptacleType Cabinet_bar__minus_00_dot_07_bar__plus_00_dot_34_bar__minus_01_dot_33 CabinetType)\n (receptacleType CounterTop_bar__minus_01_dot_04_bar__plus_00_dot_88_bar__minus_01_dot_53 CounterTopType)\n (objectType Cloth_bar__plus_00_dot_82_bar__plus_00_dot_17_bar__minus_01_dot_11 ClothType)\n (objectType Mirror_bar__minus_01_dot_02_bar__plus_01_dot_50_bar__minus_01_dot_84 MirrorType)\n (objectType SoapBar_bar__minus_01_dot_96_bar__plus_01_dot_04_bar__plus_00_dot_21 SoapBarType)\n (objectType SoapBottle_bar__minus_01_dot_87_bar__plus_01_dot_05_bar__plus_00_dot_34 SoapBottleType)\n (objectType SoapBar_bar__minus_01_dot_84_bar__plus_00_dot_02_bar__minus_01_dot_49 SoapBarType)\n (objectType ShowerDoor_bar__plus_00_dot_45_bar__plus_00_dot_93_bar__plus_00_dot_70 ShowerDoorType)\n (objectType ScrubBrush_bar__minus_01_dot_65_bar_00_dot_00_bar__plus_00_dot_65 ScrubBrushType)\n (objectType Sink_bar__minus_01_dot_56_bar__plus_00_dot_81_bar__minus_01_dot_60 SinkType)\n (objectType SoapBottle_bar__minus_01_dot_87_bar__plus_01_dot_05_bar__plus_00_dot_14 SoapBottleType)\n (objectType SprayBottle_bar__minus_00_dot_74_bar__plus_00_dot_02_bar__minus_01_dot_49 SprayBottleType)\n (objectType ShowerGlass_bar__plus_00_dot_92_bar__plus_01_dot_42_bar__minus_00_dot_21 ShowerGlassType)\n (objectType Bathtub_bar__plus_00_dot_88_bar__plus_00_dot_39_bar__minus_01_dot_15 BathtubType)\n (objectType Candle_bar__minus_01_dot_84_bar__plus_01_dot_04_bar__plus_00_dot_01 CandleType)\n (objectType Window_bar__plus_01_dot_53_bar__plus_01_dot_67_bar__minus_01_dot_04 WindowType)\n (objectType HandTowel_bar__minus_02_dot_03_bar__plus_01_dot_49_bar__minus_01_dot_48 HandTowelType)\n (objectType Cloth_bar__minus_00_dot_31_bar__plus_00_dot_02_bar__minus_01_dot_54 ClothType)\n (objectType SprayBottle_bar__minus_01_dot_99_bar__plus_01_dot_05_bar__plus_00_dot_40 SprayBottleType)\n (objectType ToiletPaper_bar__plus_00_dot_12_bar__plus_00_dot_15_bar__minus_01_dot_60 ToiletPaperType)\n (objectType LightSwitch_bar__plus_00_dot_23_bar__plus_01_dot_33_bar__plus_00_dot_76 LightSwitchType)\n (objectType Plunger_bar__minus_01_dot_89_bar_00_dot_00_bar__plus_00_dot_61 PlungerType)\n (objectType Sink_bar__minus_00_dot_53_bar__plus_00_dot_81_bar__minus_01_dot_60 SinkType)\n (objectType Towel_bar__plus_00_dot_89_bar__plus_01_dot_37_bar__minus_01_dot_76 TowelType)\n (objectType ToiletPaper_bar__minus_01_dot_29_bar__plus_00_dot_01_bar__minus_01_dot_59 ToiletPaperType)\n (canContain ToiletPaperHangerType ToiletPaperType)\n (canContain HandTowelHolderType HandTowelType)\n (canContain BathtubBasinType ClothType)\n (canContain BathtubBasinType HandTowelType)\n (canContain BathtubBasinType SoapBarType)\n (canContain SinkBasinType SoapBarType)\n (canContain SinkBasinType ClothType)\n (canContain SinkBasinType HandTowelType)\n (canContain CabinetType CandleType)\n (canContain CabinetType SoapBarType)\n (canContain CabinetType SprayBottleType)\n (canContain CabinetType ToiletPaperType)\n (canContain CabinetType SoapBottleType)\n (canContain CabinetType ClothType)\n (canContain CabinetType HandTowelType)\n (canContain CabinetType PlungerType)\n (canContain GarbageCanType SoapBarType)\n (canContain GarbageCanType SprayBottleType)\n (canContain GarbageCanType ToiletPaperType)\n (canContain GarbageCanType SoapBottleType)\n (canContain GarbageCanType ClothType)\n (canContain GarbageCanType HandTowelType)\n (canContain CabinetType CandleType)\n (canContain CabinetType SoapBarType)\n (canContain CabinetType SprayBottleType)\n (canContain CabinetType ToiletPaperType)\n (canContain CabinetType SoapBottleType)\n (canContain CabinetType ClothType)\n (canContain CabinetType HandTowelType)\n (canContain CabinetType PlungerType)\n (canContain ToiletType SoapBottleType)\n (canContain ToiletType HandTowelType)\n (canContain ToiletType ToiletPaperType)\n (canContain ToiletType ClothType)\n (canContain ToiletType CandleType)\n (canContain ToiletType SoapBarType)\n (canContain ToiletType SprayBottleType)\n (canContain TowelHolderType TowelType)\n (canContain CabinetType CandleType)\n (canContain CabinetType SoapBarType)\n (canContain CabinetType SprayBottleType)\n (canContain CabinetType ToiletPaperType)\n (canContain CabinetType SoapBottleType)\n (canContain CabinetType ClothType)\n (canContain CabinetType HandTowelType)\n (canContain CabinetType PlungerType)\n (canContain SinkBasinType SoapBarType)\n (canContain SinkBasinType ClothType)\n (canContain SinkBasinType HandTowelType)\n (canContain CabinetType CandleType)\n (canContain CabinetType SoapBarType)\n (canContain CabinetType SprayBottleType)\n (canContain CabinetType ToiletPaperType)\n (canContain CabinetType SoapBottleType)\n (canContain CabinetType ClothType)\n (canContain CabinetType HandTowelType)\n (canContain CabinetType PlungerType)\n (canContain CounterTopType CandleType)\n (canContain CounterTopType SoapBarType)\n (canContain CounterTopType SprayBottleType)\n (canContain CounterTopType ToiletPaperType)\n (canContain CounterTopType SoapBottleType)\n (canContain CounterTopType ClothType)\n (canContain CounterTopType HandTowelType)\n (pickupable Cloth_bar__plus_00_dot_82_bar__plus_00_dot_17_bar__minus_01_dot_11)\n (pickupable SoapBar_bar__minus_01_dot_96_bar__plus_01_dot_04_bar__plus_00_dot_21)\n (pickupable SoapBottle_bar__minus_01_dot_87_bar__plus_01_dot_05_bar__plus_00_dot_34)\n (pickupable SoapBar_bar__minus_01_dot_84_bar__plus_00_dot_02_bar__minus_01_dot_49)\n (pickupable ScrubBrush_bar__minus_01_dot_65_bar_00_dot_00_bar__plus_00_dot_65)\n (pickupable SoapBottle_bar__minus_01_dot_87_bar__plus_01_dot_05_bar__plus_00_dot_14)\n (pickupable SprayBottle_bar__minus_00_dot_74_bar__plus_00_dot_02_bar__minus_01_dot_49)\n (pickupable Candle_bar__minus_01_dot_84_bar__plus_01_dot_04_bar__plus_00_dot_01)\n (pickupable HandTowel_bar__minus_02_dot_03_bar__plus_01_dot_49_bar__minus_01_dot_48)\n (pickupable Cloth_bar__minus_00_dot_31_bar__plus_00_dot_02_bar__minus_01_dot_54)\n (pickupable SprayBottle_bar__minus_01_dot_99_bar__plus_01_dot_05_bar__plus_00_dot_40)\n (pickupable ToiletPaper_bar__plus_00_dot_12_bar__plus_00_dot_15_bar__minus_01_dot_60)\n (pickupable Plunger_bar__minus_01_dot_89_bar_00_dot_00_bar__plus_00_dot_61)\n (pickupable Towel_bar__plus_00_dot_89_bar__plus_01_dot_37_bar__minus_01_dot_76)\n (pickupable ToiletPaper_bar__minus_01_dot_29_bar__plus_00_dot_01_bar__minus_01_dot_59)\n \n (openable Cabinet_bar__minus_01_dot_04_bar__plus_00_dot_34_bar__minus_01_dot_33)\n (openable Cabinet_bar__minus_02_dot_02_bar__plus_00_dot_34_bar__minus_01_dot_33)\n (openable Cabinet_bar__minus_01_dot_05_bar__plus_00_dot_34_bar__minus_01_dot_33)\n (openable Cabinet_bar__minus_00_dot_07_bar__plus_00_dot_34_bar__minus_01_dot_33)\n \n (atLocation agent1 loc_bar__minus_4_bar__minus_3_bar_2_bar_30)\n \n (cleanable Cloth_bar__plus_00_dot_82_bar__plus_00_dot_17_bar__minus_01_dot_11)\n (cleanable SoapBar_bar__minus_01_dot_96_bar__plus_01_dot_04_bar__plus_00_dot_21)\n (cleanable SoapBar_bar__minus_01_dot_84_bar__plus_00_dot_02_bar__minus_01_dot_49)\n (cleanable Cloth_bar__minus_00_dot_31_bar__plus_00_dot_02_bar__minus_01_dot_54)\n \n \n \n \n \n \n \n \n \n \n (inReceptacle ToiletPaper_bar__minus_01_dot_29_bar__plus_00_dot_01_bar__minus_01_dot_59 Cabinet_bar__minus_01_dot_05_bar__plus_00_dot_34_bar__minus_01_dot_33)\n (inReceptacle SprayBottle_bar__minus_00_dot_74_bar__plus_00_dot_02_bar__minus_01_dot_49 Cabinet_bar__minus_01_dot_04_bar__plus_00_dot_34_bar__minus_01_dot_33)\n (inReceptacle Mirror_bar__minus_01_dot_02_bar__plus_01_dot_50_bar__minus_01_dot_84 CounterTop_bar__minus_01_dot_04_bar__plus_00_dot_88_bar__minus_01_dot_53)\n (inReceptacle Cloth_bar__minus_00_dot_31_bar__plus_00_dot_02_bar__minus_01_dot_54 Cabinet_bar__minus_00_dot_07_bar__plus_00_dot_34_bar__minus_01_dot_33)\n (inReceptacle SoapBar_bar__minus_01_dot_84_bar__plus_00_dot_02_bar__minus_01_dot_49 Cabinet_bar__minus_02_dot_02_bar__plus_00_dot_34_bar__minus_01_dot_33)\n (inReceptacle Towel_bar__plus_00_dot_89_bar__plus_01_dot_37_bar__minus_01_dot_76 TowelHolder_bar__plus_00_dot_89_bar__plus_01_dot_35_bar__minus_01_dot_86)\n (inReceptacle Cloth_bar__plus_00_dot_82_bar__plus_00_dot_17_bar__minus_01_dot_11 Bathtub_bar__plus_00_dot_88_bar__plus_00_dot_39_bar__minus_01_dot_15_bar_BathtubBasin)\n (inReceptacle HandTowel_bar__minus_02_dot_03_bar__plus_01_dot_49_bar__minus_01_dot_48 HandTowelHolder_bar__minus_02_dot_07_bar__plus_01_dot_59_bar__minus_01_dot_48)\n (inReceptacle ToiletPaper_bar__plus_00_dot_12_bar__plus_00_dot_15_bar__minus_01_dot_60 GarbageCan_bar__plus_00_dot_10_bar_00_dot_00_bar__minus_01_dot_57)\n (inReceptacle SprayBottle_bar__minus_01_dot_99_bar__plus_01_dot_05_bar__plus_00_dot_40 Toilet_bar__minus_01_dot_61_bar_00_dot_00_bar__plus_00_dot_21)\n (inReceptacle SoapBottle_bar__minus_01_dot_87_bar__plus_01_dot_05_bar__plus_00_dot_14 Toilet_bar__minus_01_dot_61_bar_00_dot_00_bar__plus_00_dot_21)\n (inReceptacle SoapBottle_bar__minus_01_dot_87_bar__plus_01_dot_05_bar__plus_00_dot_34 Toilet_bar__minus_01_dot_61_bar_00_dot_00_bar__plus_00_dot_21)\n (inReceptacle Candle_bar__minus_01_dot_84_bar__plus_01_dot_04_bar__plus_00_dot_01 Toilet_bar__minus_01_dot_61_bar_00_dot_00_bar__plus_00_dot_21)\n (inReceptacle SoapBar_bar__minus_01_dot_96_bar__plus_01_dot_04_bar__plus_00_dot_21 Toilet_bar__minus_01_dot_61_bar_00_dot_00_bar__plus_00_dot_21)\n \n \n (receptacleAtLocation Bathtub_bar__plus_00_dot_88_bar__plus_00_dot_39_bar__minus_01_dot_15_bar_BathtubBasin loc_bar_0_bar__minus_3_bar_1_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_07_bar__plus_00_dot_34_bar__minus_01_dot_33 loc_bar__minus_3_bar__minus_2_bar_2_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_01_dot_04_bar__plus_00_dot_34_bar__minus_01_dot_33 loc_bar__minus_5_bar__minus_2_bar_2_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_01_dot_05_bar__plus_00_dot_34_bar__minus_01_dot_33 loc_bar__minus_3_bar__minus_1_bar_2_bar_45)\n (receptacleAtLocation Cabinet_bar__minus_02_dot_02_bar__plus_00_dot_34_bar__minus_01_dot_33 loc_bar__minus_5_bar__minus_1_bar_2_bar_45)\n (receptacleAtLocation CounterTop_bar__minus_01_dot_04_bar__plus_00_dot_88_bar__minus_01_dot_53 loc_bar__minus_6_bar__minus_3_bar_2_bar_45)\n (receptacleAtLocation GarbageCan_bar__plus_00_dot_10_bar_00_dot_00_bar__minus_01_dot_57 loc_bar__minus_1_bar__minus_2_bar_2_bar_60)\n (receptacleAtLocation HandTowelHolder_bar__minus_02_dot_07_bar__plus_01_dot_59_bar__minus_01_dot_48 loc_bar__minus_6_bar__minus_4_bar_3_bar_0)\n (receptacleAtLocation Sink_bar__minus_00_dot_53_bar__plus_00_dot_81_bar__minus_01_dot_60_bar_SinkBasin loc_bar__minus_2_bar__minus_4_bar_2_bar_60)\n (receptacleAtLocation Sink_bar__minus_01_dot_56_bar__plus_00_dot_81_bar__minus_01_dot_60_bar_SinkBasin loc_bar__minus_6_bar__minus_4_bar_2_bar_60)\n (receptacleAtLocation ToiletPaperHanger_bar__minus_01_dot_18_bar__plus_00_dot_92_bar__plus_00_dot_77 loc_bar__minus_3_bar_1_bar_0_bar_60)\n (receptacleAtLocation Toilet_bar__minus_01_dot_61_bar_00_dot_00_bar__plus_00_dot_21 loc_bar__minus_6_bar__minus_3_bar_0_bar_60)\n (receptacleAtLocation TowelHolder_bar__plus_00_dot_89_bar__plus_01_dot_35_bar__minus_01_dot_86 loc_bar__minus_1_bar__minus_4_bar_1_bar_15)\n (objectAtLocation SoapBottle_bar__minus_01_dot_87_bar__plus_01_dot_05_bar__plus_00_dot_14 loc_bar__minus_6_bar__minus_3_bar_0_bar_60)\n (objectAtLocation SprayBottle_bar__minus_01_dot_99_bar__plus_01_dot_05_bar__plus_00_dot_40 loc_bar__minus_6_bar__minus_3_bar_0_bar_60)\n (objectAtLocation Cloth_bar__plus_00_dot_82_bar__plus_00_dot_17_bar__minus_01_dot_11 loc_bar_0_bar__minus_3_bar_1_bar_60)\n (objectAtLocation SoapBar_bar__minus_01_dot_84_bar__plus_00_dot_02_bar__minus_01_dot_49 loc_bar__minus_5_bar__minus_1_bar_2_bar_45)\n (objectAtLocation ShowerGlass_bar__plus_00_dot_92_bar__plus_01_dot_42_bar__minus_00_dot_21 loc_bar_0_bar__minus_1_bar_1_bar_15)\n (objectAtLocation Sink_bar__minus_01_dot_56_bar__plus_00_dot_81_bar__minus_01_dot_60 loc_bar__minus_6_bar__minus_4_bar_2_bar_60)\n (objectAtLocation ShowerDoor_bar__plus_00_dot_45_bar__plus_00_dot_93_bar__plus_00_dot_70 loc_bar__minus_1_bar_1_bar_1_bar_45)\n (objectAtLocation Mirror_bar__minus_01_dot_02_bar__plus_01_dot_50_bar__minus_01_dot_84 loc_bar__minus_6_bar__minus_3_bar_2_bar_45)\n (objectAtLocation Bathtub_bar__plus_00_dot_88_bar__plus_00_dot_39_bar__minus_01_dot_15 loc_bar__minus_1_bar__minus_4_bar_1_bar_45)\n (objectAtLocation Sink_bar__minus_00_dot_53_bar__plus_00_dot_81_bar__minus_01_dot_60 loc_bar__minus_2_bar__minus_4_bar_2_bar_60)\n (objectAtLocation Window_bar__plus_01_dot_53_bar__plus_01_dot_67_bar__minus_01_dot_04 loc_bar__minus_1_bar__minus_4_bar_1_bar_0)\n (objectAtLocation Towel_bar__plus_00_dot_89_bar__plus_01_dot_37_bar__minus_01_dot_76 loc_bar__minus_1_bar__minus_4_bar_1_bar_15)\n (objectAtLocation HandTowel_bar__minus_02_dot_03_bar__plus_01_dot_49_bar__minus_01_dot_48 loc_bar__minus_6_bar__minus_4_bar_3_bar_0)\n (objectAtLocation SoapBar_bar__minus_01_dot_96_bar__plus_01_dot_04_bar__plus_00_dot_21 loc_bar__minus_6_bar__minus_3_bar_0_bar_60)\n (objectAtLocation ToiletPaper_bar__minus_01_dot_29_bar__plus_00_dot_01_bar__minus_01_dot_59 loc_bar__minus_3_bar__minus_1_bar_2_bar_45)\n (objectAtLocation LightSwitch_bar__plus_00_dot_23_bar__plus_01_dot_33_bar__plus_00_dot_76 loc_bar__minus_1_bar_1_bar_0_bar_30)\n (objectAtLocation ToiletPaper_bar__plus_00_dot_12_bar__plus_00_dot_15_bar__minus_01_dot_60 loc_bar__minus_1_bar__minus_2_bar_2_bar_60)\n (objectAtLocation Cloth_bar__minus_00_dot_31_bar__plus_00_dot_02_bar__minus_01_dot_54 loc_bar__minus_3_bar__minus_2_bar_2_bar_60)\n (objectAtLocation SprayBottle_bar__minus_00_dot_74_bar__plus_00_dot_02_bar__minus_01_dot_49 loc_bar__minus_5_bar__minus_2_bar_2_bar_60)\n (objectAtLocation ScrubBrush_bar__minus_01_dot_65_bar_00_dot_00_bar__plus_00_dot_65 loc_bar__minus_6_bar__minus_1_bar_0_bar_60)\n (objectAtLocation Plunger_bar__minus_01_dot_89_bar_00_dot_00_bar__plus_00_dot_61 loc_bar__minus_6_bar__minus_1_bar_0_bar_60)\n (objectAtLocation Candle_bar__minus_01_dot_84_bar__plus_01_dot_04_bar__plus_00_dot_01 loc_bar__minus_6_bar__minus_3_bar_0_bar_60)\n (objectAtLocation SoapBottle_bar__minus_01_dot_87_bar__plus_01_dot_05_bar__plus_00_dot_34 loc_bar__minus_6_bar__minus_3_bar_0_bar_60)\n )\n \n\n (:goal\n (and\n (exists (?r - receptacle)\n (exists (?o1 - object)\n (and\n (objectType ?o1 SoapBottleType)\n (receptacleType ?r CounterTopType)\n (inReceptacle ?o1 ?r)\n (exists (?o2 - object)\n (and\n (not (= ?o1 ?o2))\n (objectType ?o2 SoapBottleType)\n (receptacleType ?r CounterTopType)\n (inReceptacle ?o2 ?r)\n )\n )\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to toilet 1", "take soapbottle 2 from toilet 1", "go to countertop 1", "move soapbottle 2 to countertop 1", "go to toilet 1", "take soapbottle 1 from toilet 1", "go to countertop 1", "move soapbottle 1 to countertop 1"]}
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alfworld__pick_clean_then_place_in_recep__644
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pick_clean_then_place_in_recep
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pick_clean_then_place_in_recep-Pan-None-CounterTop-22/trial_T20190907_060222_263381/game.tw-pddl
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{"pddl_domain": ";; Specification in PDDL of the Alfred domain\n;; Intended to be used with Fast Downward which supports PDDL 2.2 level 1 plus the :action-costs requirement from PDDL 3.1.\n\n(define (domain alfred)\n (:requirements\n :adl\n :action-costs\n :typing\n )\n (:types\n agent\n location\n receptacle\n object\n rtype\n otype\n )\n\n\n (:predicates\n (atLocation ?a - agent ?l - location) ; true if the agent is at the location\n (receptacleAtLocation ?r - receptacle ?l - location) ; true if the receptacle is at the location (constant)\n (objectAtLocation ?o - object ?l - location) ; true if the object is at the location\n (openable ?r - receptacle) ; true if a receptacle is openable\n (opened ?r - receptacle) ; true if a receptacle is opened\n (inReceptacle ?o - object ?r - receptacle) ; object ?o is in receptacle ?r\n (isReceptacleObject ?o - object) ; true if the object can have things put inside it\n (inReceptacleObject ?innerObject - object ?outerObject - object) ; object ?innerObject is inside object ?outerObject\n (isReceptacleObjectFull ?o - object) ; true if the receptacle object contains something\n (wasInReceptacle ?o - object ?r - receptacle) ; object ?o was or is in receptacle ?r now or some time in the past\n (checked ?r - receptacle) ; whether the receptacle has been looked inside/visited\n (examined ?l - location) ; TODO\n (receptacleType ?r - receptacle ?t - rtype) ; the type of receptacle (Cabinet vs Cabinet|01|2...)\n (canContain ?rt - rtype ?ot - otype) ; true if receptacle can hold object\n (objectType ?o - object ?t - otype) ; the type of object (Apple vs Apple|01|2...)\n (holds ?a - agent ?o - object) ; object ?o is held by agent ?a\n (holdsAny ?a - agent) ; agent ?a holds an object\n (holdsAnyReceptacleObject ?a - agent) ; agent ?a holds a receptacle object\n (full ?r - receptacle) ; true if the receptacle has no remaining space\n (isClean ?o - object) ; true if the object has been clean in sink\n (cleanable ?o - object) ; true if the object can be placed in a sink\n (isHot ?o - object) ; true if the object has been heated up\n (heatable ?o - object) ; true if the object can be heated up in a microwave\n (isCool ?o - object) ; true if the object has been cooled\n (coolable ?o - object) ; true if the object can be cooled in the fridge\n (pickupable ?o - object) ; true if the object can be picked up\n (moveable ?o - object) ; true if the object can be moved\n (toggleable ?o - object) ; true if the object can be turned on/off\n (isOn ?o - object) ; true if the object is on\n (isToggled ?o - object) ; true if the object has been toggled\n (sliceable ?o - object) ; true if the object can be sliced\n (isSliced ?o - object) ; true if the object is sliced\n )\n\n (:functions\n (distance ?from ?to)\n (total-cost) - number\n )\n\n;; All actions are specified such that the final arguments are the ones used\n;; for performing actions in Unity.\n\n\n(:action look\n :parameters (?a - agent ?l - location)\n :precondition\n (and\n (atLocation ?a ?l)\n )\n :effect\n (and\n (checked ?l)\n )\n)\n\n(:action inventory\n :parameters (?a - agent)\n :precondition\n ()\n :effect\n (and\n (checked ?a)\n )\n)\n\n(:action examineReceptacle\n :parameters (?a - agent ?r - receptacle)\n :precondition\n (and\n (exists (?l - location)\n (and\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n )\n )\n )\n :effect\n (and\n (checked ?r)\n )\n)\n\n(:action examineObject\n :parameters (?a - agent ?o - object)\n :precondition\n (or\n ;(exists (?l - location)\n ; (and\n ; (atLocation ?a ?l)\n ; (objectAtLocation ?o ?l)\n ; )\n ;)\n (exists (?l - location, ?r - receptacle)\n (and\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n ; (objectAtLocation ?o ?l)\n (inReceptacle ?o ?r)\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n )\n )\n (holds ?a ?o)\n )\n :effect\n (and\n (checked ?o)\n )\n)\n\n;; agent goes to receptacle\n (:action GotoLocation\n :parameters (?a - agent ?lStart - location ?lEnd - location ?r - receptacle)\n :precondition (and\n (atLocation ?a ?lStart)\n (receptacleAtLocation ?r ?lEnd)\n ;(exists (?r - receptacle) (receptacleAtLocation ?r ?lEnd))\n )\n :effect (and\n (not (atLocation ?a ?lStart))\n (atLocation ?a ?lEnd)\n ; (forall (?r - receptacle)\n ; (when (and (receptacleAtLocation ?r ?lEnd)\n ; (or (not (openable ?r)) (opened ?r)))\n ; (checked ?r)\n ; )\n ; )\n ; (increase (total-cost) (distance ?lStart ?lEnd))\n (increase (total-cost) 1)\n )\n )\n\n;; agent opens receptacle\n (:action OpenObject\n :parameters (?a - agent ?l - location ?r - receptacle)\n :precondition (and\n (openable ?r)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (not (opened ?r))\n )\n :effect (and\n (opened ?r)\n (checked ?r)\n (increase (total-cost) 1)\n )\n )\n;; agent closes receptacle\n (:action CloseObject\n :parameters (?a - agent ?l - location ?r - receptacle)\n :precondition (and\n (openable ?r)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (opened ?r)\n )\n :effect (and\n (not (opened ?r))\n (increase (total-cost) 1)\n )\n\n )\n\n ;; agent picks up object from a receptacle\n (:action PickupObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n :precondition\n (and\n (pickupable ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n ; (objectAtLocation ?o ?l)\n (inReceptacle ?o ?r)\n (not (holdsAny ?a)) ; agent's hands are empty.\n ;(not (holdsAnyReceptacleObject ?a))\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n ;(not (isReceptacleObject ?o))\n )\n :effect\n (and\n (not (inReceptacle ?o ?r))\n (holds ?a ?o)\n (holdsAny ?a)\n (not (objectAtLocation ?o ?l))\n ;(not (full ?r))\n (increase (total-cost) 1)\n )\n )\n\n\n; ;; agent picks up object from a receptacle\n; (:action PickupObjectFromReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?outerR - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (inReceptacle ?o ?r)\n; (pickupable ?o)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (not (isReceptacleObject ?o))\n; (isReceptacleObject ?outerR)\n; (inReceptacleObject ?o ?outerR)\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (holds ?a ?o)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n;\n; (not (inReceptacleObject ?o ?outerR))\n; (not (isReceptacleObjectFull ?outerR))\n; )\n; )\n;\n; ;; agent picks up object from a receptacle\n; (:action PickupEmptyReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; ; (objectAtLocation ?o ?l)\n; (inReceptacle ?o ?r)\n; (pickupable ?o)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (isReceptacleObject ?o)\n; (not (isReceptacleObjectFull ?o))\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (holds ?a ?o)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n; (holdsAnyReceptacleObject ?a)\n; )\n; )\n;\n; ;; agent picks up object from a receptacle\n; (:action PickupFullReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?outerR - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (inReceptacle ?outerR ?r)\n; (pickupable ?outerR)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (not (isReceptacleObject ?o))\n; (isReceptacleObject ?outerR)\n; (inReceptacleObject ?o ?outerR)\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (not (inReceptacle ?outerR ?r))\n; (holds ?a ?outerR)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (objectAtLocation ?outerR ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n; (holdsAnyReceptacleObject ?a)\n; )\n; )\n\n\n;; agent puts down an object\n (:action PutObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle ?ot - otype ?rt - rtype)\n :precondition (and\n (holds ?a ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable\n ;(not (full ?r))\n (objectType ?o ?ot)\n (receptacleType ?r ?rt)\n (canContain ?rt ?ot)\n ;(not (holdsAnyReceptacleObject ?a))\n )\n :effect (and\n (inReceptacle ?o ?r)\n (objectAtLocation ?o ?l)\n ;(full ?r)\n (not (holds ?a ?o))\n (not (holdsAny ?a))\n (increase (total-cost) 1)\n )\n )\n\n;;; agent puts down an object\n; (:action PutObjectInReceptacleObject\n; :parameters (?a - agent ?l - location ?ot - otype ?o - object ?outerO - object ?outerR - receptacle)\n; :precondition (and\n; (atLocation ?a ?l)\n; (objectAtLocation ?outerO ?l)\n; (isReceptacleObject ?outerO)\n; (not (isReceptacleObject ?o))\n; (objectType ?o ?ot)\n; (holds ?a ?o)\n; (not (holdsAnyReceptacleObject ?a))\n; (inReceptacle ?outerO ?outerR)\n; (not (isReceptacleObjectFull ?outerO))\n; )\n; :effect (and\n; (inReceptacleObject ?o ?outerO)\n; (inReceptacle ?o ?outerR)\n; (not (holds ?a ?o))\n; (not (holdsAny ?a))\n; (objectAtLocation ?o ?l)\n; (isReceptacleObjectFull ?outerO)\n; (increase (total-cost) 1)\n; )\n; )\n;\n;;; agent puts down an object\n; (:action PutEmptyReceptacleObjectinReceptacle\n; :parameters (?a - agent ?l - location ?ot - otype ?o - object ?r - receptacle)\n; :precondition (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable\n; (not (full ?r))\n; (objectType ?o ?ot)\n; (holds ?a ?o)\n; (holdsAnyReceptacleObject ?a)\n; (isReceptacleObject ?o)\n; (not (isReceptacleObjectFull ?o))\n; )\n; :effect (and\n; (inReceptacle ?o ?r)\n; (objectAtLocation ?o ?l)\n; (full ?r)\n; (not (holds ?a ?o))\n; (not (holdsAny ?a))\n; (not (holdsAnyReceptacleObject ?a))\n; (increase (total-cost) 1)\n; )\n; )\n;\n;;; agent puts down a receptacle object in a receptacle\n; (:action PutFullReceptacleObjectInReceptacle\n; :parameters (?a - agent ?l - location ?ot - otype ?innerO - object ?outerO - object ?r - receptacle) ; ?rt - rtype)\n; :precondition (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (objectType ?outerO ?ot)\n; (holds ?a ?outerO)\n; (holdsAnyReceptacleObject ?a)\n; (isReceptacleObject ?outerO)\n; (isReceptacleObjectFull ?outerO)\n; (inReceptacleObject ?innerO ?outerO)\n; )\n; :effect (and\n; (not (holdsAny ?a))\n; (not (holdsAnyReceptacleObject ?a))\n; (objectAtLocation ?outerO ?l)\n; (objectAtLocation ?innerO ?l)\n; (inReceptacle ?outerO ?r)\n; (inReceptacle ?innerO ?r)\n; (not (holds ?a ?outerO))\n; (increase (total-cost) 1)\n; )\n; )\n\n;; agent cleans some object\n (:action CleanObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (cleanable ?o)\n (or\n (receptacleType ?r SinkType)\n (receptacleType ?r SinkBasinType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isClean ?o)\n )\n )\n\n\n;; agent heats-up some object\n (:action HeatObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (heatable ?o)\n (or\n (receptacleType ?r MicrowaveType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isHot ?o)\n (not (isCool ?o))\n )\n )\n\n;; agent cools some object\n (:action CoolObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (coolable ?o)\n (or\n (receptacleType ?r FridgeType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isCool ?o)\n (not (isHot ?o))\n )\n )\n\n\n;; agent toggle object\n (:action ToggleObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n :precondition (and\n (toggleable ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (inReceptacle ?o ?r)\n )\n :effect (and\n (increase (total-cost) 5)\n (when (isOn ?o)\n (not (isOn ?o)))\n (when (not (isOn ?o))\n (isOn ?o))\n (isToggled ?o)\n )\n )\n\n\n;; agent slices some object with a knife\n (:action SliceObject\n :parameters (?a - agent ?l - location ?co - object ?ko - object)\n :precondition\n (and\n (sliceable ?co)\n (or\n (objectType ?ko KnifeType)\n (objectType ?ko ButterKnifeType)\n )\n (atLocation ?a ?l)\n (objectAtLocation ?co ?l)\n (holds ?a ?ko)\n )\n :effect (and\n (increase (total-cost) 5)\n (isSliced ?co)\n )\n )\n\n\n(:action help\n :parameters (?a - agent)\n :precondition\n ()\n :effect\n (and\n (checked ?a)\n )\n)\n)\n", "grammar": "grammar :: \"\"\"\n {\n \"intro\": [\n {\n \"rhs\": \"-= Welcome to TextWorld, ALFRED! =-\\n\\n#look.feedback#\\n\\n#task#\"\n }\n ],\n\n \"notImplemented\": [\n {\n \"rhs\": \"TODO\"\n }\n ],\n\n \"task\": [\n {\n \"rhs\": \"Your task is to: clean some pan and put it in countertop.\"\n }\n ],\n\n \"GotoLocation.feedback\": [\n {\n \"rhs\": \"You arrive at {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"OpenObject.feedback\": [\n {\n \"rhs\": \"You open the {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"CloseObject.feedback\": [\n {\n \"rhs\": \"You close the {r.name}.\"\n }\n ],\n\n \"PickupObject.feedback\": [\n {\n \"rhs\": \"You pick up the {o.name} from the {r.name}.\"\n }\n ],\n\n \"PickupObjectFromReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupObjectFromReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupEmptyReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupEmptyReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupFullReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupFullReceptacleObject: You pick up the {outerr.name}.\"\n }\n ],\n\n \"PutObject.feedback\": [\n {\n \"rhs\": \"You move the {o.name} to the {r.name}.\"\n }\n ],\n\n \"PutObjectInReceptacleObject.feedback\": [\n {\n \"rhs\": \"PutObjectInReceptacleObject: You put the {o.name} in the {outero.name}.\"\n }\n ],\n\n \"PutEmptyReceptacleObjectinReceptacle.feedback\": [\n {\n \"rhs\": \"PutEmptyReceptacleObjectinReceptacle: You put the {o.name} in the {r.name}.\"\n }\n ],\n\n \"PutFullReceptacleObjectInReceptacle.feedback\": [\n {\n \"rhs\": \"PutFullReceptacleObjectInReceptacle: You put the {outero.name} in the {r.name}.\"\n }\n ],\n\n \"inventory.feedback\": [\n {\n \"condition\": \"holdsany(a:agent)\",\n \"rhs\": \"You are carrying: [{o.indefinite + ' ' + o.name | holds(a:agent, o:object)}].\"\n },\n {\n \"rhs\": \"You are not carrying anything.\"\n }\n ],\n\n \"examineReceptacle.feedback\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \"The {r.name} is open. In it, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \"The {r.name} is closed.\"\n },\n {\n \"rhs\": \"On the {r.name}, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n }\n ],\n\n \"examineObject.feedback\": [\n {\n \"condition\": \"isreceptacleobject(o:object)\",\n \"rhs\": \"This is a normal {o.name}. In it, you see [{o2.indefinite + ' ' + o2.name | inreceptacleobject(o2:object, o:object)}].\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a clean sliced {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot sliced {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object)\",\n \"rhs\": \"This is a hot and clean {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object)\",\n \"rhs\": \"This is a cool and clean {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object)\",\n \"rhs\": \"This is a hot {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object)\",\n \"rhs\": \"This is a clean {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object)\",\n \"rhs\": \"This is a cold {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"This {o.name} is on.\"\n },\n {\n \"condition\": \"toggleable(o:object) & not_istoggled(o:object)\",\n \"rhs\": \"This {o.name} is off.\"\n },\n {\n \"condition\": \"sliceable(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a sliced {o.name}.\"\n },\n {\n \"rhs\": \"There's nothing special about {o.name}.\"\n }\n ]\n }\n\"\"\";\n\naction GotoLocation {\n template :: \"go to [{r.name | receptacleatlocation(r:receptacle, lend:location)}]\";\n feedback :: \"#GotoLocation.feedback#\";\n}\n\naction OpenObject {\n template :: \"open {r}\";\n feedback :: \"#OpenObject.feedback#\";\n}\n\naction CloseObject {\n template :: \"close {r}\";\n feedback :: \"#CloseObject.feedback#\";\n}\n\naction PickupObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObject.feedback#\";\n}\n\naction PickupObjectFromReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObjectFromReceptacleObject.feedback#\";\n}\n\naction PickupEmptyReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupEmptyReceptacleObject.feedback#\";\n}\n\naction PickupFullReceptacleObject {\n template :: \"take {outerr} from {r}\";\n feedback :: \"#PickupFullReceptacleObject.feedback#\";\n}\n\naction PutObject {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutObject.feedback#\";\n}\n\naction PutObjectInReceptacleObject {\n template :: \"put {o} into {outero}\";\n feedback :: \"#PutObjectInReceptacleObject.feedback#\";\n}\n\naction PutEmptyReceptacleObjectinReceptacle {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutEmptyReceptacleObjectinReceptacle.feedback#\";\n}\n\naction PutFullReceptacleObjectInReceptacle {\n template :: \"put {outero} in {r}\";\n feedback :: \"#PutFullReceptacleObjectInReceptacle.feedback#\";\n}\n\naction inventory {\n template :: \"inventory\";\n feedback :: \"#inventory.feedback#\";\n}\n\naction examineReceptacle {\n template :: \"examine {r}\";\n feedback :: \"#examineReceptacle.feedback#\";\n}\n\naction examineObject {\n template :: \"examine {o}\";\n feedback :: \"#examineObject.feedback#\";\n}\n\naction ToggleObject {\n template :: \"use {o}\";\n feedback :: \"#toggleObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"toggleObject.feedback\": [\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"You turn on the {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object)\",\n \"rhs\": \"You turn off the {o.name}.\"\n },\n {\n \"rhs\": \"You don't see any switch on the {o.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction HeatObject {\n template :: \"heat {o} with {r}\";\n feedback :: \"#heatObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"heatObject.feedback\": [\n {\n \"rhs\": \"You heat the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CleanObject {\n template :: \"clean {o} with {r}\";\n feedback :: \"#cleanObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"cleanObject.feedback\": [\n {\n \"rhs\": \"You clean the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CoolObject {\n template :: \"cool {o} with {r}\";\n feedback :: \"#coolObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"coolObject.feedback\": [\n {\n \"rhs\": \"You cool the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction SliceObject {\n template :: \"slice {co} with {ko}\";\n feedback :: \"#sliceObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"sliceObject.feedback\": [\n {\n \"rhs\": \"You sliced the {co.name} with the {ko.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction look {\n template :: \"look\";\n feedback :: \"#look.feedback#\";\n\n grammar :: \"\"\"\n {\n \"look.feedback\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"#look-variations#. Next to it, you see #list_objects_on_the_floor#.\"\n },\n {\n \"rhs\": \"You are in the middle of a room. Looking quickly around you, you see #list_appliances#.\"\n }\n ],\n\n \"look-variations\": [\n {\n \"rhs\": \"You are facing the [{r.name | atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)}]\"\n }\n ],\n\n \"list_objects_on_the_floor\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)\",\n \"rhs\": \"[{#overview(o)# | atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"list_appliances\": [\n {\n \"condition\": \"receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"[{#overview(r)# | receptacleatlocation(r:receptacle, l:location)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"overview(o, r)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name} (in/on the {r.name})}\"\n }\n ],\n\n \"overview(o)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name}\"\n }\n ],\n \"overview(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}\"\n }\n ],\n \"overview_with_state(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}#overview_state(r)#\"\n }\n ],\n \"overview_state(r)\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \" (it is open)\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \" (it is closed)\"\n },\n {\n \"rhs\": \"\"\n }\n ],\n\n \"list_empty\": [\n {\n \"rhs\": \"nothing\"\n }\n ],\n \"list_separator\": [\n {\n \"rhs\": \", \"\n }\n ],\n \"list_last_separator\": [\n {\n \"rhs\": \", and \"\n }\n ]\n }\n \"\"\";\n}\n\naction help {\n template :: \"help\";\n feedback :: \"\nAvailable commands:\n look: look around your current location\n inventory: check your current inventory\n go to (receptacle): move to a receptacle\n open (receptacle): open a receptacle\n close (receptacle): close a receptacle\n take (object) from (receptacle): take an object from a receptacle\n move (object) to (receptacle): place an object in or on a receptacle\n examine (something): examine a receptacle or an object\n use (object): use an object\n heat (object) with (receptacle): heat an object using a receptacle\n clean (object) with (receptacle): clean an object using a receptacle\n cool (object) with (receptacle): cool an object using a receptacle\n slice (object) with (object): slice an object using a sharp object\n\";\n}\n", "pddl_problem": "\n(define (problem plan_trial_T20190907_060222_263381)\n(:domain alfred)\n(:objects\nagent1 - agent\nSaltShaker - object\n HousePlant - object\n Candle - object\n SprayBottle - object\n Bowl - object\n Window - object\n CD - object\n Egg - object\n Glassbottle - object\n Sink - object\n Pillow - object\n Spoon - object\n SoapBottle - object\n TeddyBear - object\n ButterKnife - object\n Cup - object\n Plate - object\n RemoteControl - object\n Tomato - object\n Statue - object\n HandTowel - object\n Knife - object\n StoveKnob - object\n LightSwitch - object\n Pen - object\n Painting - object\n DishSponge - object\n Vase - object\n Mug - object\n ToiletPaper - object\n Box - object\n Mirror - object\n Ladle - object\n Fork - object\n Blinds - object\n Footstool - object\n KeyChain - object\n Cloth - object\n Laptop - object\n TissueBox - object\n PepperShaker - object\n FloorLamp - object\n WateringCan - object\n Apple - object\n Pan - object\n PaperTowel - object\n PaperTowelRoll - object\n Newspaper - object\n Television - object\n Chair - object\n CellPhone - object\n CreditCard - object\n Lettuce - object\n BasketBall - object\n Potato - object\n Curtains - object\n Boots - object\n Pencil - object\n AlarmClock - object\n ToiletPaperRoll - object\n Spatula - object\n Book - object\n Bread - object\n SoapBar - object\n Watch - object\n DeskLamp - object\n Kettle - object\n Pot - object\n ScrubBrush - object\n WineBottle - object\n ShowerDoor - object\n Bathtub - object\n LaundryHamperLid - object\n ShowerGlass - object\n Poster - object\n TennisRacket - object\n BaseballBat - object\n Towel - object\n Plunger - object\nSaltShakerType - otype\n HousePlantType - otype\n CandleType - otype\n SprayBottleType - otype\n BowlType - otype\n WindowType - otype\n CDType - otype\n EggType - otype\n GlassbottleType - otype\n SinkType - otype\n PillowType - otype\n SpoonType - otype\n SoapBottleType - otype\n TeddyBearType - otype\n ButterKnifeType - otype\n CupType - otype\n PlateType - otype\n RemoteControlType - otype\n TomatoType - otype\n StatueType - otype\n HandTowelType - otype\n KnifeType - otype\n StoveKnobType - otype\n LightSwitchType - otype\n PenType - otype\n PaintingType - otype\n DishSpongeType - otype\n VaseType - otype\n MugType - otype\n ToiletPaperType - otype\n BoxType - otype\n MirrorType - otype\n LadleType - otype\n ForkType - otype\n BlindsType - otype\n FootstoolType - otype\n KeyChainType - otype\n ClothType - otype\n LaptopType - otype\n TissueBoxType - otype\n PepperShakerType - otype\n FloorLampType - otype\n WateringCanType - otype\n AppleType - otype\n PanType - otype\n PaperTowelType - otype\n PaperTowelRollType - otype\n NewspaperType - otype\n TelevisionType - otype\n ChairType - otype\n CellPhoneType - otype\n CreditCardType - otype\n LettuceType - otype\n BasketBallType - otype\n PotatoType - otype\n CurtainsType - otype\n BootsType - otype\n PencilType - otype\n AlarmClockType - otype\n ToiletPaperRollType - otype\n SpatulaType - otype\n BookType - otype\n BreadType - otype\n SoapBarType - otype\n WatchType - otype\n DeskLampType - otype\n KettleType - otype\n PotType - otype\n ScrubBrushType - otype\n WineBottleType - otype\n ShowerDoorType - otype\n BathtubType - otype\n LaundryHamperLidType - otype\n ShowerGlassType - otype\n PosterType - otype\n TennisRacketType - otype\n BaseballBatType - otype\n TowelType - otype\n PlungerType - otype\nSafeType - rtype\n DrawerType - rtype\n CoffeeMachineType - rtype\n HandTowelHolderType - rtype\n SinkBasinType - rtype\n DresserType - rtype\n LaundryHamperType - rtype\n TVStandType - rtype\n BathtubBasinType - rtype\n CabinetType - rtype\n FridgeType - rtype\n DeskType - rtype\n ToiletType - rtype\n CartType - rtype\n SideTableType - rtype\n SofaType - rtype\n CoffeeTableType - rtype\n DiningTableType - rtype\n CounterTopType - rtype\n GarbageCanType - rtype\n ArmChairType - rtype\n ShelfType - rtype\n MicrowaveType - rtype\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_24_bar__plus_01_dot_16_bar__plus_00_dot_79 - object\n Apple_bar__minus_02_dot_70_bar__plus_00_dot_09_bar__plus_01_dot_43 - object\n Apple_bar__minus_02_dot_79_bar__plus_00_dot_09_bar__plus_01_dot_50 - object\n Bowl_bar__minus_02_dot_05_bar__plus_00_dot_90_bar__minus_01_dot_16 - object\n Bread_bar__plus_00_dot_39_bar__plus_01_dot_17_bar__plus_01_dot_33 - object\n Bread_bar__plus_00_dot_84_bar__plus_00_dot_97_bar__minus_01_dot_28 - object\n Bread_bar__minus_02_dot_80_bar__plus_01_dot_73_bar__plus_00_dot_85 - object\n ButterKnife_bar__plus_01_dot_00_bar__plus_00_dot_91_bar__minus_01_dot_12 - object\n ButterKnife_bar__minus_02_dot_22_bar__plus_00_dot_90_bar__minus_01_dot_00 - object\n Chair_bar__plus_01_dot_07_bar__plus_00_dot_01_bar__plus_01_dot_56 - object\n Chair_bar__plus_01_dot_56_bar__plus_00_dot_01_bar__plus_01_dot_36 - object\n CreditCard_bar__plus_01_dot_00_bar__plus_00_dot_90_bar__minus_00_dot_98 - object\n Cup_bar__plus_00_dot_29_bar__plus_01_dot_00_bar__minus_01_dot_41 - object\n Cup_bar__minus_01_dot_66_bar__plus_01_dot_66_bar__minus_01_dot_44 - object\n DishSponge_bar__plus_00_dot_22_bar__plus_01_dot_11_bar__plus_01_dot_50 - object\n DishSponge_bar__minus_00_dot_99_bar__plus_01_dot_66_bar__minus_01_dot_32 - object\n DishSponge_bar__minus_02_dot_54_bar__plus_00_dot_75_bar__minus_00_dot_03 - object\n Egg_bar__plus_00_dot_14_bar__plus_01_dot_14_bar__plus_01_dot_27 - object\n Faucet_bar__minus_01_dot_39_bar__plus_01_dot_14_bar__minus_01_dot_40 - object\n Fork_bar__minus_00_dot_28_bar__plus_00_dot_90_bar__minus_01_dot_12 - object\n Fork_bar__minus_00_dot_66_bar__plus_00_dot_91_bar__minus_01_dot_37 - object\n Fork_bar__minus_02_dot_03_bar__plus_00_dot_75_bar__minus_01_dot_05 - object\n Kettle_bar__minus_02_dot_62_bar__plus_00_dot_92_bar__minus_00_dot_72 - object\n Knife_bar__minus_00_dot_08_bar__plus_01_dot_13_bar__plus_01_dot_65 - object\n Knife_bar__minus_02_dot_67_bar__plus_00_dot_77_bar__minus_00_dot_03 - object\n Lettuce_bar__minus_02_dot_66_bar__plus_00_dot_87_bar__plus_00_dot_98 - object\n Lettuce_bar__minus_02_dot_74_bar__plus_01_dot_55_bar__plus_00_dot_77 - object\n LightSwitch_bar__minus_01_dot_17_bar__plus_01_dot_31_bar__plus_03_dot_00 - object\n Mug_bar__minus_02_dot_62_bar__plus_00_dot_37_bar__plus_00_dot_77 - object\n Mug_bar__minus_02_dot_85_bar__plus_01_dot_66_bar__plus_00_dot_23 - object\n Pan_bar__minus_02_dot_59_bar__plus_00_dot_90_bar__minus_01_dot_15 - object\n PepperShaker_bar__minus_00_dot_44_bar__plus_01_dot_66_bar__minus_01_dot_36 - object\n PepperShaker_bar__minus_02_dot_24_bar__plus_00_dot_91_bar__minus_00_dot_95 - object\n PepperShaker_bar__minus_02_dot_55_bar__plus_00_dot_11_bar__minus_00_dot_11 - object\n Plate_bar__plus_00_dot_00_bar__plus_01_dot_66_bar__minus_01_dot_32 - object\n Plate_bar__plus_00_dot_31_bar__plus_00_dot_12_bar__minus_01_dot_09 - object\n Plate_bar__minus_00_dot_45_bar__plus_00_dot_91_bar__minus_01_dot_37 - object\n Potato_bar__minus_00_dot_60_bar__plus_00_dot_93_bar__minus_01_dot_12 - object\n Pot_bar__minus_02_dot_62_bar__plus_00_dot_93_bar__minus_00_dot_40 - object\n 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GarbageCan_bar__minus_02_dot_76_bar__plus_00_dot_00_bar__plus_01_dot_47 - receptacle\n Microwave_bar__plus_00_dot_28_bar__plus_00_dot_90_bar__minus_01_dot_33 - receptacle\n Sink_bar__minus_01_dot_33_bar__plus_00_dot_92_bar__minus_01_dot_23_bar_SinkBasin - receptacle\n StoveBurner_bar__minus_02_dot_62_bar__plus_00_dot_89_bar__minus_00_dot_40 - receptacle\n StoveBurner_bar__minus_02_dot_62_bar__plus_00_dot_89_bar__minus_00_dot_71 - receptacle\n StoveBurner_bar__minus_02_dot_82_bar__plus_00_dot_89_bar__minus_00_dot_40 - receptacle\n StoveBurner_bar__minus_02_dot_82_bar__plus_00_dot_89_bar__minus_00_dot_71 - receptacle\n Toaster_bar__minus_02_dot_82_bar__plus_00_dot_90_bar__plus_00_dot_25 - receptacle\n loc_bar_2_bar_0_bar_2_bar_45 - location\n loc_bar_6_bar_7_bar_2_bar_60 - location\n loc_bar__minus_6_bar__minus_1_bar_3_bar_45 - location\n loc_bar__minus_5_bar_10_bar_0_bar_30 - location\n loc_bar__minus_8_bar__minus_1_bar_2_bar_60 - location\n loc_bar__minus_6_bar__minus_2_bar_2_bar__minus_30 - location\n loc_bar__minus_8_bar_0_bar_2_bar_45 - location\n loc_bar__minus_8_bar__minus_2_bar_2_bar_60 - location\n loc_bar__minus_8_bar_0_bar_3_bar_45 - location\n loc_bar_2_bar__minus_2_bar_2_bar__minus_30 - location\n loc_bar__minus_8_bar__minus_2_bar_3_bar__minus_30 - location\n loc_bar__minus_4_bar__minus_2_bar_2_bar__minus_30 - location\n loc_bar__minus_8_bar__minus_2_bar_2_bar__minus_30 - location\n loc_bar__minus_8_bar_0_bar_3_bar__minus_30 - location\n loc_bar_0_bar__minus_2_bar_2_bar__minus_30 - location\n loc_bar__minus_8_bar_1_bar_3_bar_45 - location\n loc_bar__minus_5_bar__minus_2_bar_2_bar_45 - location\n loc_bar_4_bar_8_bar_2_bar_60 - location\n loc_bar__minus_2_bar_0_bar_2_bar_45 - location\n loc_bar__minus_8_bar__minus_1_bar_2_bar__minus_15 - location\n loc_bar__minus_7_bar_3_bar_3_bar_60 - location\n loc_bar_2_bar_0_bar_2_bar_60 - location\n loc_bar__minus_8_bar__minus_2_bar_3_bar_60 - location\n loc_bar__minus_8_bar__minus_1_bar_3_bar_60 - location\n loc_bar__minus_6_bar_7_bar_3_bar__minus_30 - location\n loc_bar__minus_6_bar__minus_2_bar_3_bar__minus_15 - location\n loc_bar__minus_3_bar__minus_2_bar_2_bar__minus_30 - location\n loc_bar__minus_6_bar_1_bar_3_bar_60 - location\n loc_bar__minus_6_bar_1_bar_3_bar__minus_30 - location\n loc_bar_1_bar__minus_2_bar_2_bar_45 - location\n loc_bar__minus_8_bar_6_bar_3_bar_60 - location\n loc_bar_2_bar_0_bar_1_bar_45 - location\n loc_bar__minus_1_bar_0_bar_2_bar_60 - location\n loc_bar__minus_8_bar__minus_2_bar_3_bar_45 - location\n loc_bar_1_bar_10_bar_0_bar_15 - location\n loc_bar_2_bar__minus_2_bar_2_bar_45 - location\n loc_bar__minus_2_bar_6_bar_1_bar_15 - location\n loc_bar__minus_4_bar_1_bar_1_bar_30 - location\n )\n \n\n(:init\n\n\n (receptacleType Cabinet_bar__minus_00_dot_77_bar__plus_02_dot_01_bar__minus_01_dot_20 CabinetType)\n (receptacleType StoveBurner_bar__minus_02_dot_82_bar__plus_00_dot_89_bar__minus_00_dot_40 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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 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 CabinetType SaltShakerType)\n (canContain CabinetType DishSpongeType)\n (canContain CabinetType BowlType)\n (canContain CabinetType KettleType)\n (canContain CabinetType PotType)\n (canContain CabinetType 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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 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 CoffeeMachineType MugType)\n (canContain CabinetType SaltShakerType)\n (canContain CabinetType DishSpongeType)\n (canContain CabinetType BowlType)\n (canContain CabinetType KettleType)\n (canContain CabinetType PotType)\n (canContain CabinetType MugType)\n (canContain CabinetType SoapBottleType)\n (canContain CabinetType CupType)\n (canContain CabinetType PlateType)\n (canContain CabinetType PepperShakerType)\n (canContain CabinetType PanType)\n (canContain FridgeType BreadType)\n (canContain FridgeType BowlType)\n (canContain FridgeType PotType)\n (canContain FridgeType MugType)\n (canContain FridgeType EggType)\n (canContain FridgeType LettuceType)\n (canContain FridgeType PotatoType)\n (canContain FridgeType CupType)\n (canContain FridgeType 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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 CreditCardType)\n (canContain DrawerType SpoonType)\n (canContain DrawerType SoapBottleType)\n (canContain DrawerType ButterKnifeType)\n (canContain DrawerType PepperShakerType)\n (canContain DrawerType KnifeType)\n (canContain DrawerType SpatulaType)\n (canContain CabinetType SaltShakerType)\n (canContain CabinetType DishSpongeType)\n (canContain CabinetType BowlType)\n (canContain CabinetType KettleType)\n (canContain CabinetType PotType)\n (canContain CabinetType MugType)\n (canContain CabinetType SoapBottleType)\n (canContain CabinetType CupType)\n (canContain CabinetType PlateType)\n (canContain CabinetType PepperShakerType)\n 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Mug_bar__minus_02_dot_62_bar__plus_00_dot_37_bar__plus_00_dot_77)\n (cleanable Plate_bar__plus_00_dot_31_bar__plus_00_dot_12_bar__minus_01_dot_09)\n (cleanable Lettuce_bar__minus_02_dot_74_bar__plus_01_dot_55_bar__plus_00_dot_77)\n (cleanable Spatula_bar__plus_00_dot_25_bar__plus_01_dot_13_bar__plus_01_dot_77)\n (cleanable Spoon_bar__plus_00_dot_01_bar__plus_01_dot_11_bar__plus_01_dot_87)\n (cleanable Apple_bar__minus_02_dot_70_bar__plus_00_dot_09_bar__plus_01_dot_43)\n (cleanable Plate_bar__minus_00_dot_45_bar__plus_00_dot_91_bar__minus_01_dot_37)\n (cleanable DishSponge_bar__minus_00_dot_99_bar__plus_01_dot_66_bar__minus_01_dot_32)\n (cleanable Spatula_bar__minus_02_dot_63_bar__plus_00_dot_76_bar__plus_00_dot_10)\n (cleanable Lettuce_bar__minus_02_dot_66_bar__plus_00_dot_87_bar__plus_00_dot_98)\n (cleanable Tomato_bar__plus_00_dot_20_bar__plus_01_dot_15_bar__plus_01_dot_06)\n (cleanable Potato_bar__minus_00_dot_60_bar__plus_00_dot_93_bar__minus_01_dot_12)\n (cleanable Cup_bar__minus_01_dot_66_bar__plus_01_dot_66_bar__minus_01_dot_44)\n (cleanable Cup_bar__plus_00_dot_29_bar__plus_01_dot_00_bar__minus_01_dot_41)\n (cleanable Fork_bar__minus_00_dot_66_bar__plus_00_dot_91_bar__minus_01_dot_37)\n (cleanable Bowl_bar__minus_02_dot_05_bar__plus_00_dot_90_bar__minus_01_dot_16)\n (cleanable Apple_bar__minus_02_dot_79_bar__plus_00_dot_09_bar__plus_01_dot_50)\n (cleanable Egg_bar__plus_00_dot_14_bar__plus_01_dot_14_bar__plus_01_dot_27)\n (cleanable Knife_bar__minus_00_dot_08_bar__plus_01_dot_13_bar__plus_01_dot_65)\n (cleanable Plate_bar__plus_00_dot_00_bar__plus_01_dot_66_bar__minus_01_dot_32)\n (cleanable DishSponge_bar__minus_02_dot_54_bar__plus_00_dot_75_bar__minus_00_dot_03)\n (cleanable Pan_bar__minus_02_dot_59_bar__plus_00_dot_90_bar__minus_01_dot_15)\n (cleanable Mug_bar__minus_02_dot_85_bar__plus_01_dot_66_bar__plus_00_dot_23)\n (cleanable ButterKnife_bar__minus_02_dot_22_bar__plus_00_dot_90_bar__minus_01_dot_00)\n \n (heatable Bread_bar__minus_02_dot_80_bar__plus_01_dot_73_bar__plus_00_dot_85)\n (heatable Bread_bar__plus_00_dot_84_bar__plus_00_dot_97_bar__minus_01_dot_28)\n (heatable Apple_bar__plus_01_dot_24_bar__plus_01_dot_16_bar__plus_00_dot_79)\n (heatable Mug_bar__minus_02_dot_62_bar__plus_00_dot_37_bar__plus_00_dot_77)\n (heatable Plate_bar__plus_00_dot_31_bar__plus_00_dot_12_bar__minus_01_dot_09)\n (heatable Bread_bar__plus_00_dot_39_bar__plus_01_dot_17_bar__plus_01_dot_33)\n (heatable Apple_bar__minus_02_dot_70_bar__plus_00_dot_09_bar__plus_01_dot_43)\n (heatable Plate_bar__minus_00_dot_45_bar__plus_00_dot_91_bar__minus_01_dot_37)\n (heatable Tomato_bar__plus_00_dot_20_bar__plus_01_dot_15_bar__plus_01_dot_06)\n (heatable Potato_bar__minus_00_dot_60_bar__plus_00_dot_93_bar__minus_01_dot_12)\n (heatable Cup_bar__minus_01_dot_66_bar__plus_01_dot_66_bar__minus_01_dot_44)\n (heatable Cup_bar__plus_00_dot_29_bar__plus_01_dot_00_bar__minus_01_dot_41)\n (heatable Apple_bar__minus_02_dot_79_bar__plus_00_dot_09_bar__plus_01_dot_50)\n (heatable Egg_bar__plus_00_dot_14_bar__plus_01_dot_14_bar__plus_01_dot_27)\n (heatable Plate_bar__plus_00_dot_00_bar__plus_01_dot_66_bar__minus_01_dot_32)\n (heatable Mug_bar__minus_02_dot_85_bar__plus_01_dot_66_bar__plus_00_dot_23)\n (coolable Pot_bar__minus_02_dot_62_bar__plus_00_dot_93_bar__minus_00_dot_40)\n (coolable Bread_bar__minus_02_dot_80_bar__plus_01_dot_73_bar__plus_00_dot_85)\n (coolable Bread_bar__plus_00_dot_84_bar__plus_00_dot_97_bar__minus_01_dot_28)\n (coolable Apple_bar__plus_01_dot_24_bar__plus_01_dot_16_bar__plus_00_dot_79)\n (coolable Mug_bar__minus_02_dot_62_bar__plus_00_dot_37_bar__plus_00_dot_77)\n (coolable Plate_bar__plus_00_dot_31_bar__plus_00_dot_12_bar__minus_01_dot_09)\n (coolable Lettuce_bar__minus_02_dot_74_bar__plus_01_dot_55_bar__plus_00_dot_77)\n (coolable Bread_bar__plus_00_dot_39_bar__plus_01_dot_17_bar__plus_01_dot_33)\n (coolable Apple_bar__minus_02_dot_70_bar__plus_00_dot_09_bar__plus_01_dot_43)\n (coolable Plate_bar__minus_00_dot_45_bar__plus_00_dot_91_bar__minus_01_dot_37)\n (coolable Lettuce_bar__minus_02_dot_66_bar__plus_00_dot_87_bar__plus_00_dot_98)\n (coolable Tomato_bar__plus_00_dot_20_bar__plus_01_dot_15_bar__plus_01_dot_06)\n (coolable Potato_bar__minus_00_dot_60_bar__plus_00_dot_93_bar__minus_01_dot_12)\n (coolable Cup_bar__minus_01_dot_66_bar__plus_01_dot_66_bar__minus_01_dot_44)\n (coolable Cup_bar__plus_00_dot_29_bar__plus_01_dot_00_bar__minus_01_dot_41)\n (coolable Bowl_bar__minus_02_dot_05_bar__plus_00_dot_90_bar__minus_01_dot_16)\n (coolable Apple_bar__minus_02_dot_79_bar__plus_00_dot_09_bar__plus_01_dot_50)\n (coolable Egg_bar__plus_00_dot_14_bar__plus_01_dot_14_bar__plus_01_dot_27)\n (coolable Plate_bar__plus_00_dot_00_bar__plus_01_dot_66_bar__minus_01_dot_32)\n (coolable Pan_bar__minus_02_dot_59_bar__plus_00_dot_90_bar__minus_01_dot_15)\n (coolable Mug_bar__minus_02_dot_85_bar__plus_01_dot_66_bar__plus_00_dot_23)\n \n \n \n \n \n (sliceable Bread_bar__minus_02_dot_80_bar__plus_01_dot_73_bar__plus_00_dot_85)\n (sliceable Bread_bar__plus_00_dot_84_bar__plus_00_dot_97_bar__minus_01_dot_28)\n (sliceable Apple_bar__plus_01_dot_24_bar__plus_01_dot_16_bar__plus_00_dot_79)\n (sliceable Lettuce_bar__minus_02_dot_74_bar__plus_01_dot_55_bar__plus_00_dot_77)\n (sliceable Bread_bar__plus_00_dot_39_bar__plus_01_dot_17_bar__plus_01_dot_33)\n (sliceable Apple_bar__minus_02_dot_70_bar__plus_00_dot_09_bar__plus_01_dot_43)\n (sliceable Lettuce_bar__minus_02_dot_66_bar__plus_00_dot_87_bar__plus_00_dot_98)\n (sliceable Tomato_bar__plus_00_dot_20_bar__plus_01_dot_15_bar__plus_01_dot_06)\n (sliceable Potato_bar__minus_00_dot_60_bar__plus_00_dot_93_bar__minus_01_dot_12)\n (sliceable Apple_bar__minus_02_dot_79_bar__plus_00_dot_09_bar__plus_01_dot_50)\n (sliceable Egg_bar__plus_00_dot_14_bar__plus_01_dot_14_bar__plus_01_dot_27)\n \n (inReceptacle SaltShaker_bar__minus_02_dot_89_bar__plus_01_dot_79_bar__minus_00_dot_31 Cabinet_bar__minus_02_dot_65_bar__plus_02_dot_08_bar__minus_00_dot_23)\n (inReceptacle Cup_bar__minus_01_dot_66_bar__plus_01_dot_66_bar__minus_01_dot_44 Cabinet_bar__minus_01_dot_77_bar__plus_02_dot_01_bar__minus_01_dot_20)\n (inReceptacle SaltShaker_bar__plus_00_dot_49_bar__plus_01_dot_66_bar__minus_01_dot_32 Cabinet_bar__plus_00_dot_24_bar__plus_02_dot_01_bar__minus_01_dot_20)\n (inReceptacle SoapBottle_bar__plus_00_dot_98_bar__plus_00_dot_12_bar__minus_01_dot_05 Cabinet_bar__plus_01_dot_13_bar__plus_00_dot_47_bar__minus_00_dot_90)\n (inReceptacle SaltShaker_bar__plus_00_dot_68_bar__plus_00_dot_11_bar__minus_01_dot_17 Cabinet_bar__plus_01_dot_13_bar__plus_00_dot_47_bar__minus_00_dot_90)\n (inReceptacle PepperShaker_bar__minus_02_dot_55_bar__plus_00_dot_11_bar__minus_00_dot_11 Cabinet_bar__minus_02_dot_39_bar__plus_00_dot_39_bar__plus_00_dot_38)\n (inReceptacle Plate_bar__plus_00_dot_31_bar__plus_00_dot_12_bar__minus_01_dot_09 Cabinet_bar__plus_00_dot_48_bar__plus_00_dot_39_bar__minus_00_dot_90)\n (inReceptacle Mug_bar__minus_02_dot_85_bar__plus_01_dot_66_bar__plus_00_dot_23 Cabinet_bar__minus_02_dot_65_bar__plus_02_dot_01_bar__plus_00_dot_36)\n (inReceptacle Plate_bar__plus_00_dot_00_bar__plus_01_dot_66_bar__minus_01_dot_32 Cabinet_bar__plus_00_dot_17_bar__plus_02_dot_01_bar__minus_01_dot_20)\n (inReceptacle PepperShaker_bar__minus_00_dot_44_bar__plus_01_dot_66_bar__minus_01_dot_36 Cabinet_bar__minus_00_dot_77_bar__plus_02_dot_01_bar__minus_01_dot_20)\n (inReceptacle DishSponge_bar__minus_00_dot_99_bar__plus_01_dot_66_bar__minus_01_dot_32 Cabinet_bar__minus_00_dot_84_bar__plus_02_dot_01_bar__minus_01_dot_20)\n (inReceptacle Kettle_bar__minus_02_dot_62_bar__plus_00_dot_92_bar__minus_00_dot_72 StoveBurner_bar__minus_02_dot_62_bar__plus_00_dot_89_bar__minus_00_dot_71)\n (inReceptacle Bread_bar__plus_00_dot_39_bar__plus_01_dot_17_bar__plus_01_dot_33 CounterTop_bar__plus_00_dot_91_bar__plus_01_dot_15_bar__plus_00_dot_79)\n (inReceptacle Spatula_bar__plus_00_dot_25_bar__plus_01_dot_13_bar__plus_01_dot_77 CounterTop_bar__plus_00_dot_91_bar__plus_01_dot_15_bar__plus_00_dot_79)\n (inReceptacle DishSponge_bar__plus_00_dot_22_bar__plus_01_dot_11_bar__plus_01_dot_50 CounterTop_bar__plus_00_dot_91_bar__plus_01_dot_15_bar__plus_00_dot_79)\n (inReceptacle Spoon_bar__plus_00_dot_01_bar__plus_01_dot_11_bar__plus_01_dot_87 CounterTop_bar__plus_00_dot_91_bar__plus_01_dot_15_bar__plus_00_dot_79)\n (inReceptacle SoapBottle_bar__minus_00_dot_15_bar__plus_01_dot_11_bar__plus_01_dot_41 CounterTop_bar__plus_00_dot_91_bar__plus_01_dot_15_bar__plus_00_dot_79)\n (inReceptacle Egg_bar__plus_00_dot_14_bar__plus_01_dot_14_bar__plus_01_dot_27 CounterTop_bar__plus_00_dot_91_bar__plus_01_dot_15_bar__plus_00_dot_79)\n (inReceptacle Knife_bar__minus_00_dot_08_bar__plus_01_dot_13_bar__plus_01_dot_65 CounterTop_bar__plus_00_dot_91_bar__plus_01_dot_15_bar__plus_00_dot_79)\n (inReceptacle Tomato_bar__plus_00_dot_20_bar__plus_01_dot_15_bar__plus_01_dot_06 CounterTop_bar__plus_00_dot_91_bar__plus_01_dot_15_bar__plus_00_dot_79)\n (inReceptacle Apple_bar__plus_01_dot_24_bar__plus_01_dot_16_bar__plus_00_dot_79 CounterTop_bar__plus_00_dot_91_bar__plus_01_dot_15_bar__plus_00_dot_79)\n (inReceptacle Pot_bar__minus_02_dot_62_bar__plus_00_dot_93_bar__minus_00_dot_40 StoveBurner_bar__minus_02_dot_62_bar__plus_00_dot_89_bar__minus_00_dot_40)\n (inReceptacle Knife_bar__minus_02_dot_67_bar__plus_00_dot_77_bar__minus_00_dot_03 Drawer_bar__minus_02_dot_57_bar__plus_00_dot_78_bar__plus_00_dot_10)\n (inReceptacle Spatula_bar__minus_02_dot_46_bar__plus_00_dot_76_bar__minus_00_dot_03 Drawer_bar__minus_02_dot_57_bar__plus_00_dot_78_bar__plus_00_dot_10)\n (inReceptacle Spatula_bar__minus_02_dot_63_bar__plus_00_dot_76_bar__plus_00_dot_10 Drawer_bar__minus_02_dot_57_bar__plus_00_dot_78_bar__plus_00_dot_10)\n (inReceptacle DishSponge_bar__minus_02_dot_54_bar__plus_00_dot_75_bar__minus_00_dot_03 Drawer_bar__minus_02_dot_57_bar__plus_00_dot_78_bar__plus_00_dot_10)\n (inReceptacle Pot_bar__minus_02_dot_62_bar__plus_00_dot_93_bar__minus_00_dot_40 StoveBurner_bar__minus_02_dot_82_bar__plus_00_dot_89_bar__minus_00_dot_40)\n (inReceptacle Spoon_bar__minus_00_dot_66_bar__plus_00_dot_91_bar__minus_01_dot_20 CounterTop_bar__plus_00_dot_07_bar__plus_00_dot_95_bar__minus_01_dot_20)\n (inReceptacle ButterKnife_bar__plus_01_dot_00_bar__plus_00_dot_91_bar__minus_01_dot_12 CounterTop_bar__plus_00_dot_07_bar__plus_00_dot_95_bar__minus_01_dot_20)\n (inReceptacle Plate_bar__minus_00_dot_45_bar__plus_00_dot_91_bar__minus_01_dot_37 CounterTop_bar__plus_00_dot_07_bar__plus_00_dot_95_bar__minus_01_dot_20)\n (inReceptacle Bowl_bar__minus_02_dot_05_bar__plus_00_dot_90_bar__minus_01_dot_16 CounterTop_bar__plus_00_dot_07_bar__plus_00_dot_95_bar__minus_01_dot_20)\n (inReceptacle Bread_bar__plus_00_dot_84_bar__plus_00_dot_97_bar__minus_01_dot_28 CounterTop_bar__plus_00_dot_07_bar__plus_00_dot_95_bar__minus_01_dot_20)\n (inReceptacle Fork_bar__minus_00_dot_28_bar__plus_00_dot_90_bar__minus_01_dot_12 CounterTop_bar__plus_00_dot_07_bar__plus_00_dot_95_bar__minus_01_dot_20)\n (inReceptacle CreditCard_bar__plus_01_dot_00_bar__plus_00_dot_90_bar__minus_00_dot_98 CounterTop_bar__plus_00_dot_07_bar__plus_00_dot_95_bar__minus_01_dot_20)\n (inReceptacle Pan_bar__minus_02_dot_59_bar__plus_00_dot_90_bar__minus_01_dot_15 CounterTop_bar__plus_00_dot_07_bar__plus_00_dot_95_bar__minus_01_dot_20)\n (inReceptacle Potato_bar__minus_00_dot_60_bar__plus_00_dot_93_bar__minus_01_dot_12 CounterTop_bar__plus_00_dot_07_bar__plus_00_dot_95_bar__minus_01_dot_20)\n (inReceptacle ButterKnife_bar__minus_02_dot_22_bar__plus_00_dot_90_bar__minus_01_dot_00 CounterTop_bar__plus_00_dot_07_bar__plus_00_dot_95_bar__minus_01_dot_20)\n (inReceptacle PepperShaker_bar__minus_02_dot_24_bar__plus_00_dot_91_bar__minus_00_dot_95 CounterTop_bar__plus_00_dot_07_bar__plus_00_dot_95_bar__minus_01_dot_20)\n (inReceptacle Fork_bar__minus_00_dot_66_bar__plus_00_dot_91_bar__minus_01_dot_37 CounterTop_bar__plus_00_dot_07_bar__plus_00_dot_95_bar__minus_01_dot_20)\n (inReceptacle Spoon_bar__plus_00_dot_31_bar__plus_00_dot_75_bar__minus_01_dot_05 Drawer_bar__plus_00_dot_26_bar__plus_00_dot_78_bar__minus_01_dot_08)\n (inReceptacle Apple_bar__minus_02_dot_79_bar__plus_00_dot_09_bar__plus_01_dot_50 GarbageCan_bar__minus_02_dot_76_bar__plus_00_dot_00_bar__plus_01_dot_47)\n (inReceptacle Apple_bar__minus_02_dot_70_bar__plus_00_dot_09_bar__plus_01_dot_43 GarbageCan_bar__minus_02_dot_76_bar__plus_00_dot_00_bar__plus_01_dot_47)\n (inReceptacle Lettuce_bar__minus_02_dot_74_bar__plus_01_dot_55_bar__plus_00_dot_77 Fridge_bar__minus_02_dot_86_bar__plus_00_dot_00_bar__plus_00_dot_85)\n (inReceptacle Bread_bar__minus_02_dot_80_bar__plus_01_dot_73_bar__plus_00_dot_85 Fridge_bar__minus_02_dot_86_bar__plus_00_dot_00_bar__plus_00_dot_85)\n (inReceptacle Mug_bar__minus_02_dot_62_bar__plus_00_dot_37_bar__plus_00_dot_77 Fridge_bar__minus_02_dot_86_bar__plus_00_dot_00_bar__plus_00_dot_85)\n (inReceptacle Lettuce_bar__minus_02_dot_66_bar__plus_00_dot_87_bar__plus_00_dot_98 Fridge_bar__minus_02_dot_86_bar__plus_00_dot_00_bar__plus_00_dot_85)\n (inReceptacle Cup_bar__plus_00_dot_29_bar__plus_01_dot_00_bar__minus_01_dot_41 Microwave_bar__plus_00_dot_28_bar__plus_00_dot_90_bar__minus_01_dot_33)\n \n \n (receptacleAtLocation Cabinet_bar__plus_00_dot_17_bar__plus_02_dot_01_bar__minus_01_dot_20 loc_bar_0_bar__minus_2_bar_2_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__plus_00_dot_24_bar__plus_02_dot_01_bar__minus_01_dot_20 loc_bar_2_bar__minus_2_bar_2_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__plus_00_dot_48_bar__plus_00_dot_39_bar__minus_00_dot_90 loc_bar__minus_1_bar_0_bar_2_bar_60)\n (receptacleAtLocation Cabinet_bar__plus_01_dot_12_bar__plus_02_dot_01_bar__minus_01_dot_20 loc_bar_2_bar__minus_2_bar_2_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__plus_01_dot_13_bar__plus_00_dot_47_bar__minus_00_dot_90 loc_bar_2_bar_0_bar_2_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_77_bar__plus_02_dot_01_bar__minus_01_dot_20 loc_bar__minus_3_bar__minus_2_bar_2_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_82_bar__plus_00_dot_47_bar__minus_00_dot_91 loc_bar__minus_2_bar_0_bar_2_bar_45)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_84_bar__plus_02_dot_01_bar__minus_01_dot_20 loc_bar__minus_4_bar__minus_2_bar_2_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_01_dot_77_bar__plus_02_dot_01_bar__minus_01_dot_20 loc_bar__minus_6_bar__minus_2_bar_2_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_01_dot_80_bar__plus_00_dot_47_bar__minus_00_dot_91 loc_bar__minus_8_bar_0_bar_2_bar_45)\n (receptacleAtLocation Cabinet_bar__minus_01_dot_84_bar__plus_02_dot_01_bar__minus_01_dot_20 loc_bar__minus_8_bar__minus_2_bar_2_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_01_dot_85_bar__plus_00_dot_39_bar__minus_00_dot_90 loc_bar__minus_8_bar__minus_1_bar_2_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_02_dot_39_bar__plus_00_dot_39_bar__plus_00_dot_38 loc_bar__minus_6_bar_1_bar_3_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_02_dot_63_bar__plus_02_dot_01_bar__minus_01_dot_20 loc_bar__minus_8_bar__minus_1_bar_2_bar__minus_15)\n (receptacleAtLocation Cabinet_bar__minus_02_dot_65_bar__plus_02_dot_01_bar__plus_00_dot_36 loc_bar__minus_8_bar_0_bar_3_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_02_dot_65_bar__plus_02_dot_01_bar__minus_00_dot_95 loc_bar__minus_6_bar__minus_2_bar_3_bar__minus_15)\n (receptacleAtLocation Cabinet_bar__minus_02_dot_65_bar__plus_02_dot_08_bar__minus_00_dot_23 loc_bar__minus_8_bar__minus_2_bar_3_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_02_dot_65_bar__plus_02_dot_08_bar__minus_00_dot_88 loc_bar__minus_8_bar__minus_2_bar_3_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_02_dot_65_bar__plus_02_dot_20_bar__plus_00_dot_43 loc_bar__minus_6_bar_1_bar_3_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_02_dot_65_bar__plus_02_dot_20_bar__plus_01_dot_67 loc_bar__minus_6_bar_7_bar_3_bar__minus_30)\n (receptacleAtLocation CoffeeMachine_bar__plus_01_dot_14_bar__plus_01_dot_10_bar__plus_00_dot_30 loc_bar_2_bar_0_bar_1_bar_45)\n (receptacleAtLocation CounterTop_bar__plus_00_dot_07_bar__plus_00_dot_95_bar__minus_01_dot_20 loc_bar_2_bar__minus_2_bar_2_bar_45)\n (receptacleAtLocation CounterTop_bar__plus_00_dot_91_bar__plus_01_dot_15_bar__plus_00_dot_79 loc_bar__minus_2_bar_6_bar_1_bar_15)\n (receptacleAtLocation CounterTop_bar__minus_02_dot_70_bar__plus_00_dot_95_bar__plus_00_dot_11 loc_bar__minus_8_bar_0_bar_3_bar_45)\n (receptacleAtLocation Drawer_bar__plus_00_dot_26_bar__plus_00_dot_78_bar__minus_01_dot_08 loc_bar_2_bar_0_bar_2_bar_45)\n (receptacleAtLocation Drawer_bar__minus_02_dot_03_bar__plus_00_dot_78_bar__minus_01_dot_08 loc_bar__minus_8_bar__minus_2_bar_2_bar_60)\n (receptacleAtLocation Drawer_bar__minus_02_dot_57_bar__plus_00_dot_78_bar__plus_00_dot_10 loc_bar__minus_6_bar__minus_1_bar_3_bar_45)\n (receptacleAtLocation Fridge_bar__minus_02_dot_86_bar__plus_00_dot_00_bar__plus_00_dot_85 loc_bar__minus_7_bar_3_bar_3_bar_60)\n (receptacleAtLocation GarbageCan_bar__minus_02_dot_76_bar__plus_00_dot_00_bar__plus_01_dot_47 loc_bar__minus_8_bar_6_bar_3_bar_60)\n (receptacleAtLocation Microwave_bar__plus_00_dot_28_bar__plus_00_dot_90_bar__minus_01_dot_33 loc_bar_1_bar__minus_2_bar_2_bar_45)\n (receptacleAtLocation Sink_bar__minus_01_dot_33_bar__plus_00_dot_92_bar__minus_01_dot_23_bar_SinkBasin loc_bar__minus_5_bar__minus_2_bar_2_bar_45)\n (receptacleAtLocation StoveBurner_bar__minus_02_dot_62_bar__plus_00_dot_89_bar__minus_00_dot_40 loc_bar__minus_8_bar__minus_2_bar_3_bar_45)\n (receptacleAtLocation StoveBurner_bar__minus_02_dot_62_bar__plus_00_dot_89_bar__minus_00_dot_71 loc_bar__minus_8_bar__minus_2_bar_3_bar_45)\n (receptacleAtLocation StoveBurner_bar__minus_02_dot_82_bar__plus_00_dot_89_bar__minus_00_dot_40 loc_bar__minus_8_bar__minus_2_bar_3_bar_45)\n (receptacleAtLocation StoveBurner_bar__minus_02_dot_82_bar__plus_00_dot_89_bar__minus_00_dot_71 loc_bar__minus_8_bar__minus_2_bar_3_bar_45)\n (receptacleAtLocation Toaster_bar__minus_02_dot_82_bar__plus_00_dot_90_bar__plus_00_dot_25 loc_bar__minus_8_bar_1_bar_3_bar_45)\n (objectAtLocation Mug_bar__minus_02_dot_85_bar__plus_01_dot_66_bar__plus_00_dot_23 loc_bar__minus_8_bar_0_bar_3_bar__minus_30)\n (objectAtLocation Cup_bar__minus_01_dot_66_bar__plus_01_dot_66_bar__minus_01_dot_44 loc_bar__minus_6_bar__minus_2_bar_2_bar__minus_30)\n (objectAtLocation Knife_bar__minus_02_dot_67_bar__plus_00_dot_77_bar__minus_00_dot_03 loc_bar__minus_6_bar__minus_1_bar_3_bar_45)\n (objectAtLocation Spoon_bar__plus_00_dot_31_bar__plus_00_dot_75_bar__minus_01_dot_05 loc_bar_2_bar_0_bar_2_bar_45)\n (objectAtLocation DishSponge_bar__minus_02_dot_54_bar__plus_00_dot_75_bar__minus_00_dot_03 loc_bar__minus_6_bar__minus_1_bar_3_bar_45)\n (objectAtLocation Potato_bar__minus_00_dot_60_bar__plus_00_dot_93_bar__minus_01_dot_12 loc_bar_2_bar__minus_2_bar_2_bar_45)\n (objectAtLocation ButterKnife_bar__minus_02_dot_22_bar__plus_00_dot_90_bar__minus_01_dot_00 loc_bar_2_bar__minus_2_bar_2_bar_45)\n (objectAtLocation PepperShaker_bar__minus_00_dot_44_bar__plus_01_dot_66_bar__minus_01_dot_36 loc_bar__minus_3_bar__minus_2_bar_2_bar__minus_30)\n (objectAtLocation SaltShaker_bar__minus_02_dot_89_bar__plus_01_dot_79_bar__minus_00_dot_31 loc_bar__minus_8_bar__minus_2_bar_3_bar__minus_30)\n (objectAtLocation Lettuce_bar__minus_02_dot_66_bar__plus_00_dot_87_bar__plus_00_dot_98 loc_bar__minus_7_bar_3_bar_3_bar_60)\n (objectAtLocation Spatula_bar__plus_00_dot_25_bar__plus_01_dot_13_bar__plus_01_dot_77 loc_bar__minus_2_bar_6_bar_1_bar_15)\n (objectAtLocation SoapBottle_bar__minus_00_dot_15_bar__plus_01_dot_11_bar__plus_01_dot_41 loc_bar__minus_2_bar_6_bar_1_bar_15)\n (objectAtLocation Plate_bar__plus_00_dot_00_bar__plus_01_dot_66_bar__minus_01_dot_32 loc_bar_0_bar__minus_2_bar_2_bar__minus_30)\n (objectAtLocation Bread_bar__plus_00_dot_84_bar__plus_00_dot_97_bar__minus_01_dot_28 loc_bar_2_bar__minus_2_bar_2_bar_45)\n (objectAtLocation Fork_bar__minus_00_dot_28_bar__plus_00_dot_90_bar__minus_01_dot_12 loc_bar_2_bar__minus_2_bar_2_bar_45)\n (objectAtLocation Apple_bar__plus_01_dot_24_bar__plus_01_dot_16_bar__plus_00_dot_79 loc_bar__minus_2_bar_6_bar_1_bar_15)\n (objectAtLocation Apple_bar__minus_02_dot_70_bar__plus_00_dot_09_bar__plus_01_dot_43 loc_bar__minus_8_bar_6_bar_3_bar_60)\n (objectAtLocation Bread_bar__plus_00_dot_39_bar__plus_01_dot_17_bar__plus_01_dot_33 loc_bar__minus_2_bar_6_bar_1_bar_15)\n (objectAtLocation SaltShaker_bar__plus_00_dot_68_bar__plus_00_dot_11_bar__minus_01_dot_17 loc_bar_2_bar_0_bar_2_bar_60)\n (objectAtLocation PepperShaker_bar__minus_02_dot_55_bar__plus_00_dot_11_bar__minus_00_dot_11 loc_bar__minus_6_bar_1_bar_3_bar_60)\n (objectAtLocation Plate_bar__plus_00_dot_31_bar__plus_00_dot_12_bar__minus_01_dot_09 loc_bar__minus_1_bar_0_bar_2_bar_60)\n (objectAtLocation Spatula_bar__minus_02_dot_63_bar__plus_00_dot_76_bar__plus_00_dot_10 loc_bar__minus_6_bar__minus_1_bar_3_bar_45)\n (objectAtLocation Fork_bar__minus_00_dot_66_bar__plus_00_dot_91_bar__minus_01_dot_37 loc_bar_2_bar__minus_2_bar_2_bar_45)\n (objectAtLocation Spoon_bar__minus_00_dot_66_bar__plus_00_dot_91_bar__minus_01_dot_20 loc_bar_2_bar__minus_2_bar_2_bar_45)\n (objectAtLocation DishSponge_bar__minus_00_dot_99_bar__plus_01_dot_66_bar__minus_01_dot_32 loc_bar__minus_4_bar__minus_2_bar_2_bar__minus_30)\n (objectAtLocation Potato_bar__minus_00_dot_60_bar__plus_00_dot_93_bar__minus_01_dot_12 loc_bar_2_bar__minus_2_bar_2_bar_45)\n (objectAtLocation Sink_bar__minus_01_dot_33_bar__plus_00_dot_92_bar__minus_01_dot_23 loc_bar__minus_5_bar__minus_2_bar_2_bar_45)\n (objectAtLocation Chair_bar__plus_01_dot_07_bar__plus_00_dot_01_bar__plus_01_dot_56 loc_bar_4_bar_8_bar_2_bar_60)\n (objectAtLocation Chair_bar__plus_01_dot_56_bar__plus_00_dot_01_bar__plus_01_dot_36 loc_bar_6_bar_7_bar_2_bar_60)\n (objectAtLocation Pan_bar__minus_02_dot_59_bar__plus_00_dot_90_bar__minus_01_dot_15 loc_bar_2_bar__minus_2_bar_2_bar_45)\n (objectAtLocation Apple_bar__minus_02_dot_79_bar__plus_00_dot_09_bar__plus_01_dot_50 loc_bar__minus_8_bar_6_bar_3_bar_60)\n (objectAtLocation LightSwitch_bar__minus_01_dot_17_bar__plus_01_dot_31_bar__plus_03_dot_00 loc_bar__minus_5_bar_10_bar_0_bar_30)\n (objectAtLocation StoveKnob_bar__minus_02_dot_43_bar__plus_00_dot_86_bar__minus_00_dot_62 loc_bar__minus_8_bar__minus_2_bar_3_bar_60)\n (objectAtLocation StoveKnob_bar__minus_02_dot_43_bar__plus_00_dot_86_bar__minus_00_dot_48 loc_bar__minus_8_bar__minus_2_bar_3_bar_60)\n (objectAtLocation StoveKnob_bar__minus_02_dot_43_bar__plus_00_dot_86_bar__minus_00_dot_78 loc_bar__minus_8_bar__minus_2_bar_3_bar_60)\n (objectAtLocation StoveKnob_bar__minus_02_dot_43_bar__plus_00_dot_86_bar__minus_00_dot_32 loc_bar__minus_8_bar__minus_1_bar_3_bar_60)\n (objectAtLocation Fork_bar__minus_02_dot_03_bar__plus_00_dot_75_bar__minus_01_dot_05 loc_bar__minus_8_bar__minus_2_bar_2_bar_60)\n (objectAtLocation Kettle_bar__minus_02_dot_62_bar__plus_00_dot_92_bar__minus_00_dot_72 loc_bar__minus_8_bar__minus_2_bar_3_bar_45)\n (objectAtLocation CreditCard_bar__plus_01_dot_00_bar__plus_00_dot_90_bar__minus_00_dot_98 loc_bar_2_bar__minus_2_bar_2_bar_45)\n (objectAtLocation Bread_bar__minus_02_dot_80_bar__plus_01_dot_73_bar__plus_00_dot_85 loc_bar__minus_7_bar_3_bar_3_bar_60)\n (objectAtLocation Plate_bar__minus_00_dot_45_bar__plus_00_dot_91_bar__minus_01_dot_37 loc_bar_2_bar__minus_2_bar_2_bar_45)\n (objectAtLocation SoapBottle_bar__plus_00_dot_98_bar__plus_00_dot_12_bar__minus_01_dot_05 loc_bar_2_bar_0_bar_2_bar_60)\n (objectAtLocation Window_bar__plus_00_dot_32_bar__plus_01_dot_45_bar__plus_03_dot_09 loc_bar_1_bar_10_bar_0_bar_15)\n (objectAtLocation Spatula_bar__minus_02_dot_46_bar__plus_00_dot_76_bar__minus_00_dot_03 loc_bar__minus_6_bar__minus_1_bar_3_bar_45)\n (objectAtLocation Lettuce_bar__minus_02_dot_74_bar__plus_01_dot_55_bar__plus_00_dot_77 loc_bar__minus_7_bar_3_bar_3_bar_60)\n (objectAtLocation SaltShaker_bar__plus_00_dot_49_bar__plus_01_dot_66_bar__minus_01_dot_32 loc_bar_2_bar__minus_2_bar_2_bar__minus_30)\n (objectAtLocation Tomato_bar__plus_00_dot_20_bar__plus_01_dot_15_bar__plus_01_dot_06 loc_bar__minus_2_bar_6_bar_1_bar_15)\n (objectAtLocation PepperShaker_bar__minus_02_dot_24_bar__plus_00_dot_91_bar__minus_00_dot_95 loc_bar_2_bar__minus_2_bar_2_bar_45)\n (objectAtLocation ButterKnife_bar__plus_01_dot_00_bar__plus_00_dot_91_bar__minus_01_dot_12 loc_bar_2_bar__minus_2_bar_2_bar_45)\n (objectAtLocation Pot_bar__minus_02_dot_62_bar__plus_00_dot_93_bar__minus_00_dot_40 loc_bar__minus_8_bar__minus_2_bar_3_bar_45)\n (objectAtLocation Potato_bar__minus_00_dot_60_bar__plus_00_dot_93_bar__minus_01_dot_12 loc_bar_2_bar__minus_2_bar_2_bar_45)\n (objectAtLocation DishSponge_bar__plus_00_dot_22_bar__plus_01_dot_11_bar__plus_01_dot_50 loc_bar__minus_2_bar_6_bar_1_bar_15)\n (objectAtLocation Egg_bar__plus_00_dot_14_bar__plus_01_dot_14_bar__plus_01_dot_27 loc_bar__minus_2_bar_6_bar_1_bar_15)\n (objectAtLocation Spoon_bar__plus_00_dot_01_bar__plus_01_dot_11_bar__plus_01_dot_87 loc_bar__minus_2_bar_6_bar_1_bar_15)\n (objectAtLocation Knife_bar__minus_00_dot_08_bar__plus_01_dot_13_bar__plus_01_dot_65 loc_bar__minus_2_bar_6_bar_1_bar_15)\n (objectAtLocation Cup_bar__plus_00_dot_29_bar__plus_01_dot_00_bar__minus_01_dot_41 loc_bar_1_bar__minus_2_bar_2_bar_45)\n (objectAtLocation Mug_bar__minus_02_dot_62_bar__plus_00_dot_37_bar__plus_00_dot_77 loc_bar__minus_7_bar_3_bar_3_bar_60)\n (objectAtLocation Bowl_bar__minus_02_dot_05_bar__plus_00_dot_90_bar__minus_01_dot_16 loc_bar_2_bar__minus_2_bar_2_bar_45)\n )\n \n\n (:goal\n (and\n (exists (?r - receptacle)\n (exists (?o - object)\n (and\n (cleanable ?o)\n (objectType ?o PanType)\n (receptacleType ?r CounterTopType)\n (isClean ?o)\n (inReceptacle ?o ?r)\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to countertop 2", "take pan 1 from countertop 2", "go to sinkbasin 1", "clean pan 1 with sinkbasin 1", "go to countertop 2", "move pan 1 to countertop 2"]}
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alfworld__pick_clean_then_place_in_recep__645
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pick_clean_then_place_in_recep
|
pick_clean_then_place_in_recep-Pan-None-CounterTop-22/trial_T20190910_161415_317849/game.tw-pddl
|
{"pddl_domain": ";; Specification in PDDL of the Alfred domain\n;; Intended to be used with Fast Downward which supports PDDL 2.2 level 1 plus the :action-costs requirement from PDDL 3.1.\n\n(define (domain alfred)\n (:requirements\n :adl\n :action-costs\n :typing\n )\n (:types\n agent\n location\n receptacle\n object\n rtype\n otype\n )\n\n\n (:predicates\n (atLocation ?a - agent ?l - location) ; true if the agent is at the location\n (receptacleAtLocation ?r - receptacle ?l - location) ; true if the receptacle is at the location (constant)\n (objectAtLocation ?o - object ?l - location) ; true if the object is at the location\n (openable ?r - receptacle) ; true if a receptacle is openable\n (opened ?r - receptacle) ; true if a receptacle is opened\n (inReceptacle ?o - object ?r - receptacle) ; object ?o is in receptacle ?r\n (isReceptacleObject ?o - object) ; true if the object can have things put inside it\n (inReceptacleObject ?innerObject - object ?outerObject - object) ; object ?innerObject is inside object ?outerObject\n (isReceptacleObjectFull ?o - object) ; true if the receptacle object contains something\n (wasInReceptacle ?o - object ?r - receptacle) ; object ?o was or is in receptacle ?r now or some time in the past\n (checked ?r - receptacle) ; whether the receptacle has been looked inside/visited\n (examined ?l - location) ; TODO\n (receptacleType ?r - receptacle ?t - rtype) ; the type of receptacle (Cabinet vs Cabinet|01|2...)\n (canContain ?rt - rtype ?ot - otype) ; true if receptacle can hold object\n (objectType ?o - object ?t - otype) ; the type of object (Apple vs Apple|01|2...)\n (holds ?a - agent ?o - object) ; object ?o is held by agent ?a\n (holdsAny ?a - agent) ; agent ?a holds an object\n (holdsAnyReceptacleObject ?a - agent) ; agent ?a holds a receptacle object\n (full ?r - receptacle) ; true if the receptacle has no remaining space\n (isClean ?o - object) ; true if the object has been clean in sink\n (cleanable ?o - object) ; true if the object can be placed in a sink\n (isHot ?o - object) ; true if the object has been heated up\n (heatable ?o - object) ; true if the object can be heated up in a microwave\n (isCool ?o - object) ; true if the object has been cooled\n (coolable ?o - object) ; true if the object can be cooled in the fridge\n (pickupable ?o - object) ; true if the object can be picked up\n (moveable ?o - object) ; true if the object can be moved\n (toggleable ?o - object) ; true if the object can be turned on/off\n (isOn ?o - object) ; true if the object is on\n (isToggled ?o - object) ; true if the object has been toggled\n (sliceable ?o - object) ; true if the object can be sliced\n (isSliced ?o - object) ; true if the object is sliced\n )\n\n (:functions\n (distance ?from ?to)\n (total-cost) - number\n )\n\n;; All actions are specified such that the final arguments are the ones used\n;; for performing actions in Unity.\n\n\n(:action look\n :parameters (?a - agent ?l - location)\n :precondition\n (and\n (atLocation ?a ?l)\n )\n :effect\n (and\n (checked ?l)\n )\n)\n\n(:action inventory\n :parameters (?a - agent)\n :precondition\n ()\n :effect\n (and\n (checked ?a)\n )\n)\n\n(:action examineReceptacle\n :parameters (?a - agent ?r - receptacle)\n :precondition\n (and\n (exists (?l - location)\n (and\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n )\n )\n )\n :effect\n (and\n (checked ?r)\n )\n)\n\n(:action examineObject\n :parameters (?a - agent ?o - object)\n :precondition\n (or\n ;(exists (?l - location)\n ; (and\n ; (atLocation ?a ?l)\n ; (objectAtLocation ?o ?l)\n ; )\n ;)\n (exists (?l - location, ?r - receptacle)\n (and\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n ; (objectAtLocation ?o ?l)\n (inReceptacle ?o ?r)\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n )\n )\n (holds ?a ?o)\n )\n :effect\n (and\n (checked ?o)\n )\n)\n\n;; agent goes to receptacle\n (:action GotoLocation\n :parameters (?a - agent ?lStart - location ?lEnd - location ?r - receptacle)\n :precondition (and\n (atLocation ?a ?lStart)\n (receptacleAtLocation ?r ?lEnd)\n ;(exists (?r - receptacle) (receptacleAtLocation ?r ?lEnd))\n )\n :effect (and\n (not (atLocation ?a ?lStart))\n (atLocation ?a ?lEnd)\n ; (forall (?r - receptacle)\n ; (when (and (receptacleAtLocation ?r ?lEnd)\n ; (or (not (openable ?r)) (opened ?r)))\n ; (checked ?r)\n ; )\n ; )\n ; (increase (total-cost) (distance ?lStart ?lEnd))\n (increase (total-cost) 1)\n )\n )\n\n;; agent opens receptacle\n (:action OpenObject\n :parameters (?a - agent ?l - location ?r - receptacle)\n :precondition (and\n (openable ?r)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (not (opened ?r))\n )\n :effect (and\n (opened ?r)\n (checked ?r)\n (increase (total-cost) 1)\n )\n )\n;; agent closes receptacle\n (:action CloseObject\n :parameters (?a - agent ?l - location ?r - receptacle)\n :precondition (and\n (openable ?r)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (opened ?r)\n )\n :effect (and\n (not (opened ?r))\n (increase (total-cost) 1)\n )\n\n )\n\n ;; agent picks up object from a receptacle\n (:action PickupObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n :precondition\n (and\n (pickupable ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n ; (objectAtLocation ?o ?l)\n (inReceptacle ?o ?r)\n (not (holdsAny ?a)) ; agent's hands are empty.\n ;(not (holdsAnyReceptacleObject ?a))\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n ;(not (isReceptacleObject ?o))\n )\n :effect\n (and\n (not (inReceptacle ?o ?r))\n (holds ?a ?o)\n (holdsAny ?a)\n (not (objectAtLocation ?o ?l))\n ;(not (full ?r))\n (increase (total-cost) 1)\n )\n )\n\n\n; ;; agent picks up object from a receptacle\n; (:action PickupObjectFromReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?outerR - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (inReceptacle ?o ?r)\n; (pickupable ?o)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (not (isReceptacleObject ?o))\n; (isReceptacleObject ?outerR)\n; (inReceptacleObject ?o ?outerR)\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (holds ?a ?o)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n;\n; (not (inReceptacleObject ?o ?outerR))\n; (not (isReceptacleObjectFull ?outerR))\n; )\n; )\n;\n; ;; agent picks up object from a receptacle\n; (:action PickupEmptyReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; ; (objectAtLocation ?o ?l)\n; (inReceptacle ?o ?r)\n; (pickupable ?o)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (isReceptacleObject ?o)\n; (not (isReceptacleObjectFull ?o))\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (holds ?a ?o)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n; (holdsAnyReceptacleObject ?a)\n; )\n; )\n;\n; ;; agent picks up object from a receptacle\n; (:action PickupFullReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?outerR - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (inReceptacle ?outerR ?r)\n; (pickupable ?outerR)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (not (isReceptacleObject ?o))\n; (isReceptacleObject ?outerR)\n; (inReceptacleObject ?o ?outerR)\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (not (inReceptacle ?outerR ?r))\n; (holds ?a ?outerR)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (objectAtLocation ?outerR ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n; (holdsAnyReceptacleObject ?a)\n; )\n; )\n\n\n;; agent puts down an object\n (:action PutObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle ?ot - otype ?rt - rtype)\n :precondition (and\n (holds ?a ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable\n ;(not (full ?r))\n (objectType ?o ?ot)\n (receptacleType ?r ?rt)\n (canContain ?rt ?ot)\n ;(not (holdsAnyReceptacleObject ?a))\n )\n :effect (and\n (inReceptacle ?o ?r)\n (objectAtLocation ?o ?l)\n ;(full ?r)\n (not (holds ?a ?o))\n (not (holdsAny ?a))\n (increase (total-cost) 1)\n )\n )\n\n;;; agent puts down an object\n; (:action PutObjectInReceptacleObject\n; :parameters (?a - agent ?l - location ?ot - otype ?o - object ?outerO - object ?outerR - receptacle)\n; :precondition (and\n; (atLocation ?a ?l)\n; (objectAtLocation ?outerO ?l)\n; (isReceptacleObject ?outerO)\n; (not (isReceptacleObject ?o))\n; (objectType ?o ?ot)\n; (holds ?a ?o)\n; (not (holdsAnyReceptacleObject ?a))\n; (inReceptacle ?outerO ?outerR)\n; (not (isReceptacleObjectFull ?outerO))\n; )\n; :effect (and\n; (inReceptacleObject ?o ?outerO)\n; (inReceptacle ?o ?outerR)\n; (not (holds ?a ?o))\n; (not (holdsAny ?a))\n; (objectAtLocation ?o ?l)\n; (isReceptacleObjectFull ?outerO)\n; (increase (total-cost) 1)\n; )\n; )\n;\n;;; agent puts down an object\n; (:action PutEmptyReceptacleObjectinReceptacle\n; :parameters (?a - agent ?l - location ?ot - otype ?o - object ?r - receptacle)\n; :precondition (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable\n; (not (full ?r))\n; (objectType ?o ?ot)\n; (holds ?a ?o)\n; (holdsAnyReceptacleObject ?a)\n; (isReceptacleObject ?o)\n; (not (isReceptacleObjectFull ?o))\n; )\n; :effect (and\n; (inReceptacle ?o ?r)\n; (objectAtLocation ?o ?l)\n; (full ?r)\n; (not (holds ?a ?o))\n; (not (holdsAny ?a))\n; (not (holdsAnyReceptacleObject ?a))\n; (increase (total-cost) 1)\n; )\n; )\n;\n;;; agent puts down a receptacle object in a receptacle\n; (:action PutFullReceptacleObjectInReceptacle\n; :parameters (?a - agent ?l - location ?ot - otype ?innerO - object ?outerO - object ?r - receptacle) ; ?rt - rtype)\n; :precondition (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (objectType ?outerO ?ot)\n; (holds ?a ?outerO)\n; (holdsAnyReceptacleObject ?a)\n; (isReceptacleObject ?outerO)\n; (isReceptacleObjectFull ?outerO)\n; (inReceptacleObject ?innerO ?outerO)\n; )\n; :effect (and\n; (not (holdsAny ?a))\n; (not (holdsAnyReceptacleObject ?a))\n; (objectAtLocation ?outerO ?l)\n; (objectAtLocation ?innerO ?l)\n; (inReceptacle ?outerO ?r)\n; (inReceptacle ?innerO ?r)\n; (not (holds ?a ?outerO))\n; (increase (total-cost) 1)\n; )\n; )\n\n;; agent cleans some object\n (:action CleanObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (cleanable ?o)\n (or\n (receptacleType ?r SinkType)\n (receptacleType ?r SinkBasinType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isClean ?o)\n )\n )\n\n\n;; agent heats-up some object\n (:action HeatObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (heatable ?o)\n (or\n (receptacleType ?r MicrowaveType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isHot ?o)\n (not (isCool ?o))\n )\n )\n\n;; agent cools some object\n (:action CoolObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (coolable ?o)\n (or\n (receptacleType ?r FridgeType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isCool ?o)\n (not (isHot ?o))\n )\n )\n\n\n;; agent toggle object\n (:action ToggleObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n :precondition (and\n (toggleable ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (inReceptacle ?o ?r)\n )\n :effect (and\n (increase (total-cost) 5)\n (when (isOn ?o)\n (not (isOn ?o)))\n (when (not (isOn ?o))\n (isOn ?o))\n (isToggled ?o)\n )\n )\n\n\n;; agent slices some object with a knife\n (:action SliceObject\n :parameters (?a - agent ?l - location ?co - object ?ko - object)\n :precondition\n (and\n (sliceable ?co)\n (or\n (objectType ?ko KnifeType)\n (objectType ?ko ButterKnifeType)\n )\n (atLocation ?a ?l)\n (objectAtLocation ?co ?l)\n (holds ?a ?ko)\n )\n :effect (and\n (increase (total-cost) 5)\n (isSliced ?co)\n )\n )\n\n\n(:action help\n :parameters (?a - agent)\n :precondition\n ()\n :effect\n (and\n (checked ?a)\n )\n)\n)\n", "grammar": "grammar :: \"\"\"\n {\n \"intro\": [\n {\n \"rhs\": \"-= Welcome to TextWorld, ALFRED! =-\\n\\n#look.feedback#\\n\\n#task#\"\n }\n ],\n\n \"notImplemented\": [\n {\n \"rhs\": \"TODO\"\n }\n ],\n\n \"task\": [\n {\n \"rhs\": \"Your task is to: put a clean pan in 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_T20190910_161415_317849)\n(:domain alfred)\n(:objects\nagent1 - agent\nSaltShaker - object\n HousePlant - object\n Candle - object\n SprayBottle - object\n Bowl - object\n Window - object\n CD - object\n Egg - object\n Glassbottle - object\n Sink - object\n Pillow - object\n Spoon - object\n SoapBottle - object\n TeddyBear - object\n ButterKnife - object\n Cup - object\n Plate - object\n RemoteControl - object\n Tomato - object\n Statue - object\n HandTowel - object\n Knife - object\n StoveKnob - object\n LightSwitch - object\n Pen - object\n Painting - object\n DishSponge - object\n Vase - object\n Mug - object\n ToiletPaper - object\n Box - object\n Mirror - object\n Ladle - object\n Fork - object\n Blinds - object\n Footstool - object\n KeyChain - object\n Cloth - object\n Laptop - object\n TissueBox - object\n PepperShaker - object\n FloorLamp - object\n WateringCan - object\n Apple - object\n Pan - object\n PaperTowel - object\n PaperTowelRoll - object\n Newspaper - object\n Television - object\n Chair - object\n CellPhone - object\n CreditCard - object\n Lettuce - object\n BasketBall - object\n Potato - object\n Curtains - object\n Boots - object\n Pencil - object\n AlarmClock - object\n ToiletPaperRoll - object\n Spatula - object\n Book - object\n Bread - object\n SoapBar - object\n Watch - object\n DeskLamp - object\n Kettle - object\n Pot - object\n ScrubBrush - object\n WineBottle - object\n ShowerDoor - object\n Bathtub - object\n LaundryHamperLid - object\n ShowerGlass - object\n Poster - object\n TennisRacket - object\n BaseballBat - object\n Towel - object\n Plunger - object\nSaltShakerType - otype\n HousePlantType - otype\n CandleType - otype\n SprayBottleType - otype\n BowlType - otype\n WindowType - otype\n CDType - otype\n EggType - otype\n GlassbottleType - otype\n SinkType - otype\n PillowType - otype\n SpoonType - otype\n SoapBottleType - otype\n TeddyBearType - otype\n ButterKnifeType - otype\n CupType - otype\n PlateType - otype\n RemoteControlType - otype\n TomatoType - otype\n StatueType - otype\n HandTowelType - otype\n KnifeType - otype\n StoveKnobType - otype\n LightSwitchType - otype\n PenType - otype\n PaintingType - otype\n DishSpongeType - otype\n VaseType - otype\n MugType - otype\n ToiletPaperType - otype\n BoxType - otype\n MirrorType - otype\n LadleType - otype\n ForkType - otype\n BlindsType - otype\n FootstoolType - otype\n KeyChainType - otype\n ClothType - otype\n LaptopType - otype\n TissueBoxType - otype\n PepperShakerType - otype\n FloorLampType - otype\n WateringCanType - otype\n AppleType - otype\n PanType - otype\n PaperTowelType - otype\n PaperTowelRollType - otype\n NewspaperType - otype\n TelevisionType - otype\n ChairType - otype\n CellPhoneType - otype\n CreditCardType - otype\n LettuceType - otype\n BasketBallType - otype\n PotatoType - otype\n CurtainsType - otype\n BootsType - otype\n PencilType - otype\n AlarmClockType - otype\n ToiletPaperRollType - otype\n SpatulaType - otype\n BookType - otype\n BreadType - otype\n SoapBarType - otype\n WatchType - otype\n DeskLampType - otype\n KettleType - otype\n PotType - otype\n ScrubBrushType - otype\n WineBottleType - otype\n ShowerDoorType - otype\n BathtubType - otype\n LaundryHamperLidType - otype\n ShowerGlassType - otype\n PosterType - otype\n TennisRacketType - otype\n BaseballBatType - otype\n TowelType - otype\n PlungerType - otype\nSafeType - 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Sink_bar__minus_01_dot_33_bar__plus_00_dot_92_bar__minus_01_dot_23 - object\n SoapBottle_bar__plus_00_dot_54_bar__plus_01_dot_66_bar__minus_01_dot_36 - object\n Spatula_bar__plus_00_dot_03_bar__plus_01_dot_13_bar__plus_01_dot_54 - object\n Spatula_bar__minus_02_dot_24_bar__plus_00_dot_93_bar__minus_01_dot_37 - object\n Spoon_bar__minus_00_dot_13_bar__plus_00_dot_91_bar__minus_01_dot_28 - object\n StoveKnob_bar__minus_02_dot_43_bar__plus_00_dot_86_bar__minus_00_dot_32 - object\n StoveKnob_bar__minus_02_dot_43_bar__plus_00_dot_86_bar__minus_00_dot_48 - object\n StoveKnob_bar__minus_02_dot_43_bar__plus_00_dot_86_bar__minus_00_dot_62 - object\n StoveKnob_bar__minus_02_dot_43_bar__plus_00_dot_86_bar__minus_00_dot_78 - object\n Tomato_bar__minus_02_dot_84_bar__plus_00_dot_96_bar__minus_01_dot_37 - object\n Tomato_bar__minus_02_dot_92_bar__plus_01_dot_52_bar__plus_00_dot_77 - object\n Window_bar__plus_00_dot_32_bar__plus_01_dot_45_bar__plus_03_dot_09 - object\n Cabinet_bar__plus_00_dot_17_bar__plus_02_dot_01_bar__minus_01_dot_20 - receptacle\n Cabinet_bar__plus_00_dot_24_bar__plus_02_dot_01_bar__minus_01_dot_20 - receptacle\n Cabinet_bar__plus_00_dot_48_bar__plus_00_dot_39_bar__minus_00_dot_90 - receptacle\n Cabinet_bar__plus_01_dot_12_bar__plus_02_dot_01_bar__minus_01_dot_20 - receptacle\n Cabinet_bar__plus_01_dot_13_bar__plus_00_dot_47_bar__minus_00_dot_90 - receptacle\n Cabinet_bar__minus_00_dot_77_bar__plus_02_dot_01_bar__minus_01_dot_20 - receptacle\n Cabinet_bar__minus_00_dot_82_bar__plus_00_dot_47_bar__minus_00_dot_91 - receptacle\n Cabinet_bar__minus_00_dot_84_bar__plus_02_dot_01_bar__minus_01_dot_20 - receptacle\n Cabinet_bar__minus_01_dot_77_bar__plus_02_dot_01_bar__minus_01_dot_20 - receptacle\n Cabinet_bar__minus_01_dot_80_bar__plus_00_dot_47_bar__minus_00_dot_91 - receptacle\n Cabinet_bar__minus_01_dot_84_bar__plus_02_dot_01_bar__minus_01_dot_20 - receptacle\n Cabinet_bar__minus_01_dot_85_bar__plus_00_dot_39_bar__minus_00_dot_90 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loc_bar__minus_8_bar_1_bar_3_bar_45 - location\n loc_bar__minus_5_bar__minus_2_bar_2_bar_45 - location\n loc_bar_4_bar_8_bar_2_bar_60 - location\n loc_bar__minus_2_bar_0_bar_2_bar_45 - location\n loc_bar__minus_8_bar__minus_1_bar_2_bar__minus_15 - location\n loc_bar__minus_7_bar_3_bar_3_bar_60 - location\n loc_bar_2_bar_0_bar_2_bar_60 - location\n loc_bar__minus_8_bar__minus_2_bar_3_bar_60 - location\n loc_bar__minus_8_bar__minus_1_bar_3_bar_60 - location\n loc_bar__minus_6_bar_7_bar_3_bar__minus_30 - location\n loc_bar__minus_6_bar__minus_2_bar_3_bar__minus_15 - location\n loc_bar__minus_3_bar__minus_2_bar_2_bar__minus_30 - location\n loc_bar__minus_6_bar_1_bar_3_bar_60 - location\n loc_bar__minus_6_bar_1_bar_3_bar__minus_30 - location\n loc_bar_1_bar__minus_2_bar_2_bar_45 - location\n loc_bar__minus_8_bar_6_bar_3_bar_60 - location\n loc_bar_2_bar_0_bar_1_bar_45 - location\n loc_bar__minus_1_bar_0_bar_2_bar_60 - location\n loc_bar__minus_8_bar__minus_2_bar_3_bar_45 - location\n loc_bar_1_bar_10_bar_0_bar_15 - location\n loc_bar_2_bar__minus_2_bar_2_bar_45 - location\n loc_bar__minus_2_bar_6_bar_1_bar_15 - location\n loc_bar__minus_7_bar_5_bar_1_bar_30 - location\n )\n \n\n(:init\n\n\n (receptacleType Cabinet_bar__minus_00_dot_77_bar__plus_02_dot_01_bar__minus_01_dot_20 CabinetType)\n (receptacleType StoveBurner_bar__minus_02_dot_82_bar__plus_00_dot_89_bar__minus_00_dot_40 StoveBurnerType)\n (receptacleType CounterTop_bar__plus_00_dot_91_bar__plus_01_dot_15_bar__plus_00_dot_79 CounterTopType)\n (receptacleType Cabinet_bar__minus_01_dot_80_bar__plus_00_dot_47_bar__minus_00_dot_91 CabinetType)\n (receptacleType Toaster_bar__minus_02_dot_82_bar__plus_00_dot_90_bar__plus_00_dot_25 ToasterType)\n (receptacleType CounterTop_bar__plus_00_dot_07_bar__plus_00_dot_95_bar__minus_01_dot_20 CounterTopType)\n (receptacleType Microwave_bar__plus_00_dot_28_bar__plus_00_dot_90_bar__minus_01_dot_33 MicrowaveType)\n (receptacleType 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Pan_bar__minus_02_dot_59_bar__plus_00_dot_90_bar__minus_01_dot_15 CounterTop_bar__plus_00_dot_07_bar__plus_00_dot_95_bar__minus_01_dot_20)\n (inReceptacle Knife_bar__plus_00_dot_84_bar__plus_00_dot_93_bar__minus_01_dot_28 CounterTop_bar__plus_00_dot_07_bar__plus_00_dot_95_bar__minus_01_dot_20)\n (inReceptacle Apple_bar__minus_02_dot_82_bar__plus_00_dot_09_bar__plus_01_dot_54 GarbageCan_bar__minus_02_dot_76_bar__plus_00_dot_00_bar__plus_01_dot_47)\n (inReceptacle Egg_bar__minus_02_dot_73_bar__plus_00_dot_07_bar__plus_01_dot_36 GarbageCan_bar__minus_02_dot_76_bar__plus_00_dot_00_bar__plus_01_dot_47)\n (inReceptacle Egg_bar__minus_02_dot_70_bar__plus_00_dot_07_bar__plus_01_dot_57 GarbageCan_bar__minus_02_dot_76_bar__plus_00_dot_00_bar__plus_01_dot_47)\n (inReceptacle Egg_bar__minus_02_dot_80_bar__plus_01_dot_51_bar__plus_00_dot_69 Fridge_bar__minus_02_dot_86_bar__plus_00_dot_00_bar__plus_00_dot_85)\n (inReceptacle Tomato_bar__minus_02_dot_92_bar__plus_01_dot_52_bar__plus_00_dot_77 Fridge_bar__minus_02_dot_86_bar__plus_00_dot_00_bar__plus_00_dot_85)\n (inReceptacle Mug_bar__minus_02_dot_74_bar__plus_01_dot_47_bar__plus_00_dot_61 Fridge_bar__minus_02_dot_86_bar__plus_00_dot_00_bar__plus_00_dot_85)\n (inReceptacle Apple_bar__minus_02_dot_80_bar__plus_01_dot_73_bar__plus_00_dot_77 Fridge_bar__minus_02_dot_86_bar__plus_00_dot_00_bar__plus_00_dot_85)\n (inReceptacle Lettuce_bar__minus_02_dot_66_bar__plus_00_dot_87_bar__plus_00_dot_98 Fridge_bar__minus_02_dot_86_bar__plus_00_dot_00_bar__plus_00_dot_85)\n (inReceptacle Lettuce_bar__minus_02_dot_68_bar__plus_00_dot_46_bar__plus_01_dot_01 Fridge_bar__minus_02_dot_86_bar__plus_00_dot_00_bar__plus_00_dot_85)\n (inReceptacle Cup_bar__minus_02_dot_92_bar__plus_01_dot_67_bar__plus_00_dot_77 Fridge_bar__minus_02_dot_86_bar__plus_00_dot_00_bar__plus_00_dot_85)\n (inReceptacle Mug_bar__plus_00_dot_24_bar__plus_01_dot_00_bar__minus_01_dot_28 Microwave_bar__plus_00_dot_28_bar__plus_00_dot_90_bar__minus_01_dot_33)\n (inReceptacle Mug_bar__plus_00_dot_45_bar__plus_01_dot_00_bar__minus_01_dot_28 Microwave_bar__plus_00_dot_28_bar__plus_00_dot_90_bar__minus_01_dot_33)\n (inReceptacle Apple_bar__plus_00_dot_35_bar__plus_01_dot_06_bar__minus_01_dot_41 Microwave_bar__plus_00_dot_28_bar__plus_00_dot_90_bar__minus_01_dot_33)\n \n \n (receptacleAtLocation Cabinet_bar__plus_00_dot_17_bar__plus_02_dot_01_bar__minus_01_dot_20 loc_bar_0_bar__minus_2_bar_2_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__plus_00_dot_24_bar__plus_02_dot_01_bar__minus_01_dot_20 loc_bar_2_bar__minus_2_bar_2_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__plus_00_dot_48_bar__plus_00_dot_39_bar__minus_00_dot_90 loc_bar__minus_1_bar_0_bar_2_bar_60)\n (receptacleAtLocation Cabinet_bar__plus_01_dot_12_bar__plus_02_dot_01_bar__minus_01_dot_20 loc_bar_2_bar__minus_2_bar_2_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__plus_01_dot_13_bar__plus_00_dot_47_bar__minus_00_dot_90 loc_bar_2_bar_0_bar_2_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_77_bar__plus_02_dot_01_bar__minus_01_dot_20 loc_bar__minus_3_bar__minus_2_bar_2_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_82_bar__plus_00_dot_47_bar__minus_00_dot_91 loc_bar__minus_2_bar_0_bar_2_bar_45)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_84_bar__plus_02_dot_01_bar__minus_01_dot_20 loc_bar__minus_4_bar__minus_2_bar_2_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_01_dot_77_bar__plus_02_dot_01_bar__minus_01_dot_20 loc_bar__minus_6_bar__minus_2_bar_2_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_01_dot_80_bar__plus_00_dot_47_bar__minus_00_dot_91 loc_bar__minus_8_bar_0_bar_2_bar_45)\n (receptacleAtLocation Cabinet_bar__minus_01_dot_84_bar__plus_02_dot_01_bar__minus_01_dot_20 loc_bar__minus_8_bar__minus_2_bar_2_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_01_dot_85_bar__plus_00_dot_39_bar__minus_00_dot_90 loc_bar__minus_8_bar__minus_1_bar_2_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_02_dot_39_bar__plus_00_dot_39_bar__plus_00_dot_38 loc_bar__minus_6_bar_1_bar_3_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_02_dot_63_bar__plus_02_dot_01_bar__minus_01_dot_20 loc_bar__minus_8_bar__minus_1_bar_2_bar__minus_15)\n (receptacleAtLocation Cabinet_bar__minus_02_dot_65_bar__plus_02_dot_01_bar__plus_00_dot_36 loc_bar__minus_8_bar_0_bar_3_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_02_dot_65_bar__plus_02_dot_01_bar__minus_00_dot_95 loc_bar__minus_6_bar__minus_2_bar_3_bar__minus_15)\n (receptacleAtLocation Cabinet_bar__minus_02_dot_65_bar__plus_02_dot_08_bar__minus_00_dot_23 loc_bar__minus_8_bar__minus_2_bar_3_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_02_dot_65_bar__plus_02_dot_08_bar__minus_00_dot_88 loc_bar__minus_8_bar__minus_2_bar_3_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_02_dot_65_bar__plus_02_dot_20_bar__plus_00_dot_43 loc_bar__minus_6_bar_1_bar_3_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_02_dot_65_bar__plus_02_dot_20_bar__plus_01_dot_67 loc_bar__minus_6_bar_7_bar_3_bar__minus_30)\n (receptacleAtLocation CoffeeMachine_bar__plus_01_dot_14_bar__plus_01_dot_10_bar__plus_00_dot_30 loc_bar_2_bar_0_bar_1_bar_45)\n (receptacleAtLocation CounterTop_bar__plus_00_dot_07_bar__plus_00_dot_95_bar__minus_01_dot_20 loc_bar_2_bar__minus_2_bar_2_bar_45)\n (receptacleAtLocation CounterTop_bar__plus_00_dot_91_bar__plus_01_dot_15_bar__plus_00_dot_79 loc_bar__minus_2_bar_6_bar_1_bar_15)\n (receptacleAtLocation CounterTop_bar__minus_02_dot_70_bar__plus_00_dot_95_bar__plus_00_dot_11 loc_bar__minus_8_bar_0_bar_3_bar_45)\n (receptacleAtLocation Drawer_bar__plus_00_dot_26_bar__plus_00_dot_78_bar__minus_01_dot_08 loc_bar_2_bar_0_bar_2_bar_45)\n (receptacleAtLocation Drawer_bar__minus_02_dot_03_bar__plus_00_dot_78_bar__minus_01_dot_08 loc_bar__minus_8_bar__minus_2_bar_2_bar_60)\n (receptacleAtLocation Drawer_bar__minus_02_dot_57_bar__plus_00_dot_78_bar__plus_00_dot_10 loc_bar__minus_6_bar__minus_1_bar_3_bar_45)\n (receptacleAtLocation Fridge_bar__minus_02_dot_86_bar__plus_00_dot_00_bar__plus_00_dot_85 loc_bar__minus_7_bar_3_bar_3_bar_60)\n (receptacleAtLocation GarbageCan_bar__minus_02_dot_76_bar__plus_00_dot_00_bar__plus_01_dot_47 loc_bar__minus_8_bar_6_bar_3_bar_60)\n (receptacleAtLocation Microwave_bar__plus_00_dot_28_bar__plus_00_dot_90_bar__minus_01_dot_33 loc_bar_1_bar__minus_2_bar_2_bar_45)\n (receptacleAtLocation Sink_bar__minus_01_dot_33_bar__plus_00_dot_92_bar__minus_01_dot_23_bar_SinkBasin loc_bar__minus_5_bar__minus_2_bar_2_bar_45)\n (receptacleAtLocation StoveBurner_bar__minus_02_dot_62_bar__plus_00_dot_89_bar__minus_00_dot_40 loc_bar__minus_8_bar__minus_2_bar_3_bar_45)\n (receptacleAtLocation StoveBurner_bar__minus_02_dot_62_bar__plus_00_dot_89_bar__minus_00_dot_71 loc_bar__minus_8_bar__minus_2_bar_3_bar_45)\n (receptacleAtLocation StoveBurner_bar__minus_02_dot_82_bar__plus_00_dot_89_bar__minus_00_dot_40 loc_bar__minus_8_bar__minus_2_bar_3_bar_45)\n (receptacleAtLocation StoveBurner_bar__minus_02_dot_82_bar__plus_00_dot_89_bar__minus_00_dot_71 loc_bar__minus_8_bar__minus_2_bar_3_bar_45)\n (receptacleAtLocation Toaster_bar__minus_02_dot_82_bar__plus_00_dot_90_bar__plus_00_dot_25 loc_bar__minus_8_bar_1_bar_3_bar_45)\n (objectAtLocation Bowl_bar__minus_02_dot_55_bar__plus_00_dot_11_bar__plus_00_dot_24 loc_bar__minus_6_bar_1_bar_3_bar_60)\n (objectAtLocation Mug_bar__plus_00_dot_45_bar__plus_01_dot_00_bar__minus_01_dot_28 loc_bar_1_bar__minus_2_bar_2_bar_45)\n (objectAtLocation Cup_bar__minus_02_dot_92_bar__plus_01_dot_67_bar__plus_00_dot_77 loc_bar__minus_7_bar_3_bar_3_bar_60)\n (objectAtLocation Knife_bar__plus_00_dot_84_bar__plus_00_dot_93_bar__minus_01_dot_28 loc_bar_2_bar__minus_2_bar_2_bar_45)\n (objectAtLocation Egg_bar__minus_02_dot_80_bar__plus_01_dot_51_bar__plus_00_dot_69 loc_bar__minus_7_bar_3_bar_3_bar_60)\n (objectAtLocation DishSponge_bar__plus_00_dot_86_bar__plus_01_dot_66_bar__minus_01_dot_40 loc_bar_2_bar__minus_2_bar_2_bar__minus_30)\n (objectAtLocation ButterKnife_bar__minus_00_dot_66_bar__plus_00_dot_91_bar__minus_01_dot_12 loc_bar_2_bar__minus_2_bar_2_bar_45)\n (objectAtLocation Tomato_bar__minus_02_dot_84_bar__plus_00_dot_96_bar__minus_01_dot_37 loc_bar_2_bar__minus_2_bar_2_bar_45)\n (objectAtLocation Lettuce_bar__minus_02_dot_66_bar__plus_00_dot_87_bar__plus_00_dot_98 loc_bar__minus_7_bar_3_bar_3_bar_60)\n (objectAtLocation Spatula_bar__minus_02_dot_24_bar__plus_00_dot_93_bar__minus_01_dot_37 loc_bar_2_bar__minus_2_bar_2_bar_45)\n (objectAtLocation CreditCard_bar__plus_00_dot_08_bar__plus_01_dot_11_bar__plus_01_dot_64 loc_bar__minus_2_bar_6_bar_1_bar_15)\n (objectAtLocation Apple_bar__minus_02_dot_80_bar__plus_01_dot_73_bar__plus_00_dot_77 loc_bar__minus_7_bar_3_bar_3_bar_60)\n (objectAtLocation Apple_bar__minus_02_dot_82_bar__plus_00_dot_09_bar__plus_01_dot_54 loc_bar__minus_8_bar_6_bar_3_bar_60)\n (objectAtLocation Mug_bar__minus_02_dot_74_bar__plus_01_dot_47_bar__plus_00_dot_61 loc_bar__minus_7_bar_3_bar_3_bar_60)\n (objectAtLocation Lettuce_bar__plus_00_dot_59_bar__plus_01_dot_19_bar__plus_00_dot_83 loc_bar__minus_2_bar_6_bar_1_bar_15)\n (objectAtLocation Knife_bar__minus_02_dot_50_bar__plus_00_dot_77_bar__plus_00_dot_23 loc_bar__minus_6_bar__minus_1_bar_3_bar_45)\n (objectAtLocation Egg_bar__minus_02_dot_73_bar__plus_00_dot_07_bar__plus_01_dot_36 loc_bar__minus_8_bar_6_bar_3_bar_60)\n (objectAtLocation ButterKnife_bar__plus_00_dot_21_bar__plus_01_dot_11_bar__plus_01_dot_81 loc_bar__minus_2_bar_6_bar_1_bar_15)\n (objectAtLocation Sink_bar__minus_01_dot_33_bar__plus_00_dot_92_bar__minus_01_dot_23 loc_bar__minus_5_bar__minus_2_bar_2_bar_45)\n (objectAtLocation Chair_bar__plus_01_dot_07_bar__plus_00_dot_01_bar__plus_01_dot_56 loc_bar_4_bar_8_bar_2_bar_60)\n (objectAtLocation Chair_bar__plus_01_dot_56_bar__plus_00_dot_01_bar__plus_01_dot_36 loc_bar_6_bar_7_bar_2_bar_60)\n (objectAtLocation Pan_bar__minus_02_dot_59_bar__plus_00_dot_90_bar__minus_01_dot_15 loc_bar_2_bar__minus_2_bar_2_bar_45)\n (objectAtLocation Apple_bar__plus_00_dot_35_bar__plus_01_dot_06_bar__minus_01_dot_41 loc_bar_1_bar__minus_2_bar_2_bar_45)\n (objectAtLocation LightSwitch_bar__minus_01_dot_17_bar__plus_01_dot_31_bar__plus_03_dot_00 loc_bar__minus_5_bar_10_bar_0_bar_30)\n (objectAtLocation StoveKnob_bar__minus_02_dot_43_bar__plus_00_dot_86_bar__minus_00_dot_62 loc_bar__minus_8_bar__minus_2_bar_3_bar_60)\n (objectAtLocation StoveKnob_bar__minus_02_dot_43_bar__plus_00_dot_86_bar__minus_00_dot_48 loc_bar__minus_8_bar__minus_2_bar_3_bar_60)\n (objectAtLocation StoveKnob_bar__minus_02_dot_43_bar__plus_00_dot_86_bar__minus_00_dot_78 loc_bar__minus_8_bar__minus_2_bar_3_bar_60)\n (objectAtLocation StoveKnob_bar__minus_02_dot_43_bar__plus_00_dot_86_bar__minus_00_dot_32 loc_bar__minus_8_bar__minus_1_bar_3_bar_60)\n (objectAtLocation Fork_bar__minus_02_dot_14_bar__plus_00_dot_75_bar__minus_01_dot_09 loc_bar__minus_8_bar__minus_2_bar_2_bar_60)\n (objectAtLocation Kettle_bar__minus_02_dot_77_bar__plus_01_dot_67_bar__plus_00_dot_17 loc_bar__minus_8_bar_0_bar_3_bar__minus_30)\n (objectAtLocation CreditCard_bar__minus_02_dot_59_bar__plus_00_dot_74_bar__plus_00_dot_16 loc_bar__minus_6_bar__minus_1_bar_3_bar_45)\n (objectAtLocation Bread_bar__minus_00_dot_40_bar__plus_00_dot_95_bar__minus_01_dot_29 loc_bar_2_bar__minus_2_bar_2_bar_45)\n (objectAtLocation Plate_bar__minus_02_dot_03_bar__plus_00_dot_12_bar__minus_01_dot_06 loc_bar__minus_8_bar__minus_1_bar_2_bar_60)\n (objectAtLocation SoapBottle_bar__plus_00_dot_54_bar__plus_01_dot_66_bar__minus_01_dot_36 loc_bar_2_bar__minus_2_bar_2_bar__minus_30)\n (objectAtLocation Window_bar__plus_00_dot_32_bar__plus_01_dot_45_bar__plus_03_dot_09 loc_bar_1_bar_10_bar_0_bar_15)\n (objectAtLocation Spatula_bar__plus_00_dot_03_bar__plus_01_dot_13_bar__plus_01_dot_54 loc_bar__minus_2_bar_6_bar_1_bar_15)\n (objectAtLocation Lettuce_bar__minus_02_dot_68_bar__plus_00_dot_46_bar__plus_01_dot_01 loc_bar__minus_7_bar_3_bar_3_bar_60)\n (objectAtLocation SaltShaker_bar__plus_01_dot_24_bar__plus_01_dot_11_bar__plus_00_dot_79 loc_bar__minus_2_bar_6_bar_1_bar_15)\n (objectAtLocation Tomato_bar__minus_02_dot_92_bar__plus_01_dot_52_bar__plus_00_dot_77 loc_bar__minus_7_bar_3_bar_3_bar_60)\n (objectAtLocation PepperShaker_bar__minus_00_dot_50_bar__plus_01_dot_66_bar__minus_01_dot_36 loc_bar__minus_3_bar__minus_2_bar_2_bar__minus_30)\n (objectAtLocation ButterKnife_bar__minus_02_dot_59_bar__plus_00_dot_75_bar__plus_00_dot_04 loc_bar__minus_6_bar__minus_1_bar_3_bar_45)\n (objectAtLocation Pot_bar__minus_02_dot_82_bar__plus_00_dot_93_bar__minus_00_dot_40 loc_bar__minus_8_bar__minus_2_bar_3_bar_45)\n (objectAtLocation Potato_bar__minus_00_dot_60_bar__plus_00_dot_93_bar__minus_01_dot_12 loc_bar_2_bar__minus_2_bar_2_bar_45)\n (objectAtLocation DishSponge_bar__plus_00_dot_77_bar__plus_00_dot_91_bar__minus_01_dot_12 loc_bar_2_bar__minus_2_bar_2_bar_45)\n (objectAtLocation Egg_bar__minus_02_dot_70_bar__plus_00_dot_07_bar__plus_01_dot_57 loc_bar__minus_8_bar_6_bar_3_bar_60)\n (objectAtLocation Spoon_bar__minus_00_dot_13_bar__plus_00_dot_91_bar__minus_01_dot_28 loc_bar_2_bar__minus_2_bar_2_bar_45)\n (objectAtLocation Knife_bar__minus_02_dot_71_bar__plus_00_dot_77_bar__plus_00_dot_04 loc_bar__minus_6_bar__minus_1_bar_3_bar_45)\n (objectAtLocation Cup_bar__plus_00_dot_30_bar__plus_01_dot_11_bar__plus_01_dot_58 loc_bar__minus_2_bar_6_bar_1_bar_15)\n (objectAtLocation Mug_bar__plus_00_dot_24_bar__plus_01_dot_00_bar__minus_01_dot_28 loc_bar_1_bar__minus_2_bar_2_bar_45)\n (objectAtLocation Bowl_bar__plus_00_dot_57_bar__plus_01_dot_11_bar__plus_01_dot_15 loc_bar__minus_2_bar_6_bar_1_bar_15)\n )\n \n\n (:goal\n (and\n (exists (?r - receptacle)\n (exists (?o - object)\n (and\n (cleanable ?o)\n (objectType ?o PanType)\n (receptacleType ?r CounterTopType)\n (isClean ?o)\n (inReceptacle ?o ?r)\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to countertop 2", "take pan 1 from countertop 2", "go to sinkbasin 1", "clean pan 1 with sinkbasin 1", "go to countertop 2", "move pan 1 to countertop 2"]}
|
alfworld__pick_clean_then_place_in_recep__646
|
pick_clean_then_place_in_recep
|
pick_clean_then_place_in_recep-Pan-None-CounterTop-22/trial_T20190910_161323_966396/game.tw-pddl
|
{"pddl_domain": ";; Specification in PDDL of the Alfred domain\n;; Intended to be used with Fast Downward which supports PDDL 2.2 level 1 plus the :action-costs requirement from PDDL 3.1.\n\n(define (domain alfred)\n (:requirements\n :adl\n :action-costs\n :typing\n )\n (:types\n agent\n location\n receptacle\n object\n rtype\n otype\n )\n\n\n (:predicates\n (atLocation ?a - agent ?l - location) ; true if the agent is at the location\n (receptacleAtLocation ?r - receptacle ?l - location) ; true if the receptacle is at the location (constant)\n (objectAtLocation ?o - object ?l - location) ; true if the object is at the location\n (openable ?r - receptacle) ; true if a receptacle is openable\n (opened ?r - receptacle) ; true if a receptacle is opened\n (inReceptacle ?o - object ?r - receptacle) ; object ?o is in receptacle ?r\n (isReceptacleObject ?o - object) ; true if the object can have things put inside it\n (inReceptacleObject ?innerObject - object ?outerObject - object) ; object ?innerObject is inside object ?outerObject\n (isReceptacleObjectFull ?o - object) ; true if the receptacle object contains something\n (wasInReceptacle ?o - object ?r - receptacle) ; object ?o was or is in receptacle ?r now or some time in the past\n (checked ?r - receptacle) ; whether the receptacle has been looked inside/visited\n (examined ?l - location) ; TODO\n (receptacleType ?r - receptacle ?t - rtype) ; the type of receptacle (Cabinet vs Cabinet|01|2...)\n (canContain ?rt - rtype ?ot - otype) ; true if receptacle can hold object\n (objectType ?o - object ?t - otype) ; the type of object (Apple vs Apple|01|2...)\n (holds ?a - agent ?o - object) ; object ?o is held by agent ?a\n (holdsAny ?a - agent) ; agent ?a holds an object\n (holdsAnyReceptacleObject ?a - agent) ; agent ?a holds a receptacle object\n (full ?r - receptacle) ; true if the receptacle has no remaining space\n (isClean ?o - object) ; true if the object has been clean in sink\n (cleanable ?o - object) ; true if the object can be placed in a sink\n (isHot ?o - object) ; true if the object has been heated up\n (heatable ?o - object) ; true if the object can be heated up in a microwave\n (isCool ?o - object) ; true if the object has been cooled\n (coolable ?o - object) ; true if the object can be cooled in the fridge\n (pickupable ?o - object) ; true if the object can be picked up\n (moveable ?o - object) ; true if the object can be moved\n (toggleable ?o - object) ; true if the object can be turned on/off\n (isOn ?o - object) ; true if the object is on\n (isToggled ?o - object) ; true if the object has been toggled\n (sliceable ?o - object) ; true if the object can be sliced\n (isSliced ?o - object) ; true if the object is sliced\n )\n\n (:functions\n (distance ?from ?to)\n (total-cost) - number\n )\n\n;; All actions are specified such that the final arguments are the ones used\n;; for performing actions in Unity.\n\n\n(:action look\n :parameters (?a - agent ?l - location)\n :precondition\n (and\n (atLocation ?a ?l)\n )\n :effect\n (and\n (checked ?l)\n )\n)\n\n(:action inventory\n :parameters (?a - agent)\n :precondition\n ()\n :effect\n (and\n (checked ?a)\n )\n)\n\n(:action examineReceptacle\n :parameters (?a - agent ?r - receptacle)\n :precondition\n (and\n (exists (?l - location)\n (and\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n )\n )\n )\n :effect\n (and\n (checked ?r)\n )\n)\n\n(:action examineObject\n :parameters (?a - agent ?o - object)\n :precondition\n (or\n ;(exists (?l - location)\n ; (and\n ; (atLocation ?a ?l)\n ; (objectAtLocation ?o ?l)\n ; )\n ;)\n (exists (?l - location, ?r - receptacle)\n (and\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n ; (objectAtLocation ?o ?l)\n (inReceptacle ?o ?r)\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n )\n )\n (holds ?a ?o)\n )\n :effect\n (and\n (checked ?o)\n )\n)\n\n;; agent goes to receptacle\n (:action GotoLocation\n :parameters (?a - agent ?lStart - location ?lEnd - location ?r - receptacle)\n :precondition (and\n (atLocation ?a ?lStart)\n (receptacleAtLocation ?r ?lEnd)\n ;(exists (?r - receptacle) (receptacleAtLocation ?r ?lEnd))\n )\n :effect (and\n (not (atLocation ?a ?lStart))\n (atLocation ?a ?lEnd)\n ; (forall (?r - receptacle)\n ; (when (and (receptacleAtLocation ?r ?lEnd)\n ; (or (not (openable ?r)) (opened ?r)))\n ; (checked ?r)\n ; )\n ; )\n ; (increase (total-cost) (distance ?lStart ?lEnd))\n (increase (total-cost) 1)\n )\n )\n\n;; agent opens receptacle\n (:action OpenObject\n :parameters (?a - agent ?l - location ?r - receptacle)\n :precondition (and\n (openable ?r)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (not (opened ?r))\n )\n :effect (and\n (opened ?r)\n (checked ?r)\n (increase (total-cost) 1)\n )\n )\n;; agent closes receptacle\n (:action CloseObject\n :parameters (?a - agent ?l - location ?r - receptacle)\n :precondition (and\n (openable ?r)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (opened ?r)\n )\n :effect (and\n (not (opened ?r))\n (increase (total-cost) 1)\n )\n\n )\n\n ;; agent picks up object from a receptacle\n (:action PickupObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n :precondition\n (and\n (pickupable ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n ; (objectAtLocation ?o ?l)\n (inReceptacle ?o ?r)\n (not (holdsAny ?a)) ; agent's hands are empty.\n ;(not (holdsAnyReceptacleObject ?a))\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n ;(not (isReceptacleObject ?o))\n )\n :effect\n (and\n (not (inReceptacle ?o ?r))\n (holds ?a ?o)\n (holdsAny ?a)\n (not (objectAtLocation ?o ?l))\n ;(not (full ?r))\n (increase (total-cost) 1)\n )\n )\n\n\n; ;; agent picks up object from a receptacle\n; (:action PickupObjectFromReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?outerR - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (inReceptacle ?o ?r)\n; (pickupable ?o)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (not (isReceptacleObject ?o))\n; (isReceptacleObject ?outerR)\n; (inReceptacleObject ?o ?outerR)\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (holds ?a ?o)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n;\n; (not (inReceptacleObject ?o ?outerR))\n; (not (isReceptacleObjectFull ?outerR))\n; )\n; )\n;\n; ;; agent picks up object from a receptacle\n; (:action PickupEmptyReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; ; (objectAtLocation ?o ?l)\n; (inReceptacle ?o ?r)\n; (pickupable ?o)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (isReceptacleObject ?o)\n; (not (isReceptacleObjectFull ?o))\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (holds ?a ?o)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n; (holdsAnyReceptacleObject ?a)\n; )\n; )\n;\n; ;; agent picks up object from a receptacle\n; (:action PickupFullReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?outerR - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (inReceptacle ?outerR ?r)\n; (pickupable ?outerR)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (not (isReceptacleObject ?o))\n; (isReceptacleObject ?outerR)\n; (inReceptacleObject ?o ?outerR)\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (not (inReceptacle ?outerR ?r))\n; (holds ?a ?outerR)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (objectAtLocation ?outerR ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n; (holdsAnyReceptacleObject ?a)\n; )\n; )\n\n\n;; agent puts down an object\n (:action PutObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle ?ot - otype ?rt - rtype)\n :precondition (and\n (holds ?a ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable\n ;(not (full ?r))\n (objectType ?o ?ot)\n (receptacleType ?r ?rt)\n (canContain ?rt ?ot)\n ;(not (holdsAnyReceptacleObject ?a))\n )\n :effect (and\n (inReceptacle ?o ?r)\n (objectAtLocation ?o ?l)\n ;(full ?r)\n (not (holds ?a ?o))\n (not (holdsAny ?a))\n (increase (total-cost) 1)\n )\n )\n\n;;; agent puts down an object\n; (:action PutObjectInReceptacleObject\n; :parameters (?a - agent ?l - location ?ot - otype ?o - object ?outerO - object ?outerR - receptacle)\n; :precondition (and\n; (atLocation ?a ?l)\n; (objectAtLocation ?outerO ?l)\n; (isReceptacleObject ?outerO)\n; (not (isReceptacleObject ?o))\n; (objectType ?o ?ot)\n; (holds ?a ?o)\n; (not (holdsAnyReceptacleObject ?a))\n; (inReceptacle ?outerO ?outerR)\n; (not (isReceptacleObjectFull ?outerO))\n; )\n; :effect (and\n; (inReceptacleObject ?o ?outerO)\n; (inReceptacle ?o ?outerR)\n; (not (holds ?a ?o))\n; (not (holdsAny ?a))\n; (objectAtLocation ?o ?l)\n; (isReceptacleObjectFull ?outerO)\n; (increase (total-cost) 1)\n; )\n; )\n;\n;;; agent puts down an object\n; (:action PutEmptyReceptacleObjectinReceptacle\n; :parameters (?a - agent ?l - location ?ot - otype ?o - object ?r - receptacle)\n; :precondition (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable\n; (not (full ?r))\n; (objectType ?o ?ot)\n; (holds ?a ?o)\n; (holdsAnyReceptacleObject ?a)\n; (isReceptacleObject ?o)\n; (not (isReceptacleObjectFull ?o))\n; )\n; :effect (and\n; (inReceptacle ?o ?r)\n; (objectAtLocation ?o ?l)\n; (full ?r)\n; (not (holds ?a ?o))\n; (not (holdsAny ?a))\n; (not (holdsAnyReceptacleObject ?a))\n; (increase (total-cost) 1)\n; )\n; )\n;\n;;; agent puts down a receptacle object in a receptacle\n; (:action PutFullReceptacleObjectInReceptacle\n; :parameters (?a - agent ?l - location ?ot - otype ?innerO - object ?outerO - object ?r - receptacle) ; ?rt - rtype)\n; :precondition (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (objectType ?outerO ?ot)\n; (holds ?a ?outerO)\n; (holdsAnyReceptacleObject ?a)\n; (isReceptacleObject ?outerO)\n; (isReceptacleObjectFull ?outerO)\n; (inReceptacleObject ?innerO ?outerO)\n; )\n; :effect (and\n; (not (holdsAny ?a))\n; (not (holdsAnyReceptacleObject ?a))\n; (objectAtLocation ?outerO ?l)\n; (objectAtLocation ?innerO ?l)\n; (inReceptacle ?outerO ?r)\n; (inReceptacle ?innerO ?r)\n; (not (holds ?a ?outerO))\n; (increase (total-cost) 1)\n; )\n; )\n\n;; agent cleans some object\n (:action CleanObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (cleanable ?o)\n (or\n (receptacleType ?r SinkType)\n (receptacleType ?r SinkBasinType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isClean ?o)\n )\n )\n\n\n;; agent heats-up some object\n (:action HeatObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (heatable ?o)\n (or\n (receptacleType ?r MicrowaveType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isHot ?o)\n (not (isCool ?o))\n )\n )\n\n;; agent cools some object\n (:action CoolObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (coolable ?o)\n (or\n (receptacleType ?r FridgeType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isCool ?o)\n (not (isHot ?o))\n )\n )\n\n\n;; agent toggle object\n (:action ToggleObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n :precondition (and\n (toggleable ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (inReceptacle ?o ?r)\n )\n :effect (and\n (increase (total-cost) 5)\n (when (isOn ?o)\n (not (isOn ?o)))\n (when (not (isOn ?o))\n (isOn ?o))\n (isToggled ?o)\n )\n )\n\n\n;; agent slices some object with a knife\n (:action SliceObject\n :parameters (?a - agent ?l - location ?co - object ?ko - object)\n :precondition\n (and\n (sliceable ?co)\n (or\n (objectType ?ko KnifeType)\n (objectType ?ko ButterKnifeType)\n )\n (atLocation ?a ?l)\n (objectAtLocation ?co ?l)\n (holds ?a ?ko)\n )\n :effect (and\n (increase (total-cost) 5)\n (isSliced ?co)\n )\n )\n\n\n(:action help\n :parameters (?a - agent)\n :precondition\n ()\n :effect\n (and\n (checked ?a)\n )\n)\n)\n", "grammar": "grammar :: \"\"\"\n {\n \"intro\": [\n {\n \"rhs\": \"-= Welcome to TextWorld, ALFRED! =-\\n\\n#look.feedback#\\n\\n#task#\"\n }\n ],\n\n \"notImplemented\": [\n {\n \"rhs\": \"TODO\"\n }\n ],\n\n \"task\": [\n {\n \"rhs\": \"Your task is to: put a clean pan in 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_T20190910_161323_966396)\n(:domain alfred)\n(:objects\nagent1 - agent\nSaltShaker - object\n HousePlant - object\n Candle - object\n SprayBottle - object\n Bowl - object\n Window - object\n CD - object\n Egg - object\n Glassbottle - object\n Sink - object\n Pillow - object\n Spoon - object\n SoapBottle - object\n TeddyBear - object\n ButterKnife - object\n Cup - object\n Plate - object\n RemoteControl - object\n Tomato - object\n Statue - object\n HandTowel - object\n Knife - object\n StoveKnob - object\n LightSwitch - object\n Pen - object\n Painting - object\n DishSponge - object\n Vase - object\n Mug - object\n ToiletPaper - object\n Box - object\n Mirror - object\n Ladle - object\n Fork - object\n Blinds - object\n Footstool - object\n KeyChain - object\n Cloth - object\n Laptop - object\n TissueBox - object\n PepperShaker - object\n FloorLamp - object\n WateringCan - object\n Apple - object\n Pan - object\n PaperTowel - object\n PaperTowelRoll - object\n Newspaper - object\n Television - object\n Chair - object\n CellPhone - object\n CreditCard - object\n Lettuce - object\n BasketBall - object\n Potato - object\n Curtains - object\n Boots - object\n Pencil - object\n AlarmClock - object\n ToiletPaperRoll - object\n Spatula - object\n Book - object\n Bread - object\n SoapBar - object\n Watch - object\n DeskLamp - object\n Kettle - object\n Pot - object\n ScrubBrush - object\n WineBottle - object\n ShowerDoor - object\n Bathtub - object\n LaundryHamperLid - object\n ShowerGlass - object\n Poster - object\n TennisRacket - object\n BaseballBat - object\n Towel - object\n Plunger - object\nSaltShakerType - otype\n HousePlantType - otype\n CandleType - otype\n SprayBottleType - otype\n BowlType - otype\n WindowType - otype\n CDType - otype\n EggType - otype\n GlassbottleType - otype\n SinkType - otype\n PillowType - otype\n SpoonType - otype\n SoapBottleType - otype\n TeddyBearType - otype\n ButterKnifeType - otype\n CupType - otype\n PlateType - otype\n RemoteControlType - otype\n TomatoType - otype\n StatueType - otype\n HandTowelType - otype\n KnifeType - otype\n StoveKnobType - otype\n LightSwitchType - otype\n PenType - otype\n PaintingType - otype\n DishSpongeType - otype\n VaseType - otype\n MugType - otype\n ToiletPaperType - otype\n BoxType - otype\n MirrorType - otype\n LadleType - otype\n ForkType - otype\n BlindsType - otype\n FootstoolType - otype\n KeyChainType - otype\n ClothType - otype\n LaptopType - otype\n TissueBoxType - otype\n PepperShakerType - otype\n FloorLampType - otype\n WateringCanType - otype\n AppleType - otype\n PanType - otype\n PaperTowelType - otype\n PaperTowelRollType - otype\n NewspaperType - otype\n TelevisionType - otype\n ChairType - otype\n CellPhoneType - otype\n CreditCardType - otype\n LettuceType - otype\n BasketBallType - otype\n PotatoType - otype\n CurtainsType - otype\n BootsType - otype\n PencilType - otype\n AlarmClockType - otype\n ToiletPaperRollType - otype\n SpatulaType - otype\n BookType - otype\n BreadType - otype\n SoapBarType - otype\n WatchType - otype\n DeskLampType - otype\n KettleType - otype\n PotType - otype\n ScrubBrushType - otype\n WineBottleType - otype\n ShowerDoorType - otype\n BathtubType - otype\n LaundryHamperLidType - otype\n ShowerGlassType - otype\n PosterType - otype\n TennisRacketType - otype\n BaseballBatType - otype\n TowelType - otype\n PlungerType - otype\nSafeType - rtype\n DrawerType - rtype\n CoffeeMachineType - rtype\n HandTowelHolderType - rtype\n SinkBasinType - rtype\n DresserType - rtype\n LaundryHamperType - rtype\n TVStandType - rtype\n BathtubBasinType - rtype\n CabinetType - rtype\n FridgeType - rtype\n DeskType - rtype\n ToiletType - rtype\n CartType - rtype\n SideTableType - rtype\n SofaType - rtype\n CoffeeTableType - rtype\n DiningTableType - rtype\n CounterTopType - rtype\n GarbageCanType - rtype\n ArmChairType - rtype\n ShelfType - rtype\n MicrowaveType - rtype\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_35_bar__plus_01_dot_06_bar__minus_01_dot_28 - object\n Apple_bar__minus_02_dot_70_bar__plus_00_dot_09_bar__plus_01_dot_40 - object\n Bowl_bar__minus_02_dot_05_bar__plus_00_dot_90_bar__minus_01_dot_16 - object\n Bread_bar__plus_00_dot_92_bar__plus_00_dot_97_bar__minus_01_dot_03 - object\n Bread_bar__minus_02_dot_74_bar__plus_01_dot_53_bar__plus_00_dot_93 - object\n ButterKnife_bar__minus_02_dot_22_bar__plus_00_dot_90_bar__minus_01_dot_00 - object\n Chair_bar__plus_01_dot_07_bar__plus_00_dot_01_bar__plus_01_dot_56 - object\n Chair_bar__plus_01_dot_56_bar__plus_00_dot_01_bar__plus_01_dot_36 - object\n CreditCard_bar__minus_02_dot_50_bar__plus_00_dot_74_bar__plus_00_dot_23 - object\n CreditCard_bar__minus_02_dot_59_bar__plus_00_dot_74_bar__minus_00_dot_03 - object\n Cup_bar__minus_02_dot_68_bar__plus_00_dot_82_bar__plus_01_dot_09 - object\n Cup_bar__minus_02_dot_92_bar__plus_01_dot_67_bar__plus_00_dot_77 - object\n DishSponge_bar__plus_00_dot_25_bar__plus_00_dot_75_bar__minus_01_dot_01 - object\n DishSponge_bar__minus_01_dot_99_bar__plus_00_dot_75_bar__minus_01_dot_05 - object\n Egg_bar__plus_00_dot_35_bar__plus_01_dot_04_bar__minus_01_dot_38 - object\n Egg_bar__plus_00_dot_45_bar__plus_01_dot_04_bar__minus_01_dot_25 - object\n Faucet_bar__minus_01_dot_39_bar__plus_01_dot_14_bar__minus_01_dot_40 - object\n Fork_bar__plus_00_dot_36_bar__plus_00_dot_75_bar__minus_01_dot_10 - object\n Fork_bar__minus_02_dot_03_bar__plus_00_dot_75_bar__minus_00_dot_97 - object\n Fork_bar__minus_02_dot_24_bar__plus_00_dot_91_bar__minus_00_dot_95 - object\n Kettle_bar__minus_00_dot_10_bar__plus_01_dot_66_bar__minus_01_dot_40 - object\n Kettle_bar__minus_02_dot_52_bar__plus_00_dot_12_bar__plus_00_dot_24 - object\n Knife_bar__plus_00_dot_06_bar__plus_01_dot_11_bar__plus_01_dot_59 - object\n Lettuce_bar__plus_00_dot_13_bar__plus_01_dot_19_bar__plus_01_dot_74 - object\n Lettuce_bar__minus_00_dot_34_bar__plus_00_dot_99_bar__minus_01_dot_37 - object\n Lettuce_bar__minus_02_dot_80_bar__plus_01_dot_75_bar__plus_01_dot_01 - object\n LightSwitch_bar__minus_01_dot_17_bar__plus_01_dot_31_bar__plus_03_dot_00 - object\n Mug_bar__plus_00_dot_37_bar__plus_01_dot_65_bar__minus_01_dot_35 - object\n Pan_bar__minus_02_dot_59_bar__plus_00_dot_90_bar__minus_01_dot_15 - object\n PepperShaker_bar__plus_00_dot_69_bar__plus_00_dot_91_bar__minus_01_dot_45 - object\n PepperShaker_bar__minus_01_dot_63_bar__plus_00_dot_11_bar__minus_01_dot_11 - object\n Plate_bar__plus_01_dot_07_bar__plus_01_dot_11_bar__plus_00_dot_96 - object\n Plate_bar__minus_02_dot_74_bar__plus_00_dot_38_bar__plus_00_dot_93 - object\n Plate_bar__minus_02_dot_84_bar__plus_00_dot_91_bar__minus_01_dot_28 - object\n Potato_bar__minus_00_dot_60_bar__plus_00_dot_93_bar__minus_01_dot_12 - object\n Pot_bar__minus_02_dot_82_bar__plus_00_dot_93_bar__minus_00_dot_40 - object\n SaltShaker_bar__plus_00_dot_11_bar__plus_01_dot_66_bar__minus_01_dot_32 - object\n SaltShaker_bar__plus_00_dot_59_bar__plus_01_dot_11_bar__plus_00_dot_83 - object\n SaltShaker_bar__minus_02_dot_70_bar__plus_01_dot_66_bar__minus_01_dot_12 - object\n Sink_bar__minus_01_dot_33_bar__plus_00_dot_92_bar__minus_01_dot_23 - object\n SoapBottle_bar__plus_00_dot_96_bar__plus_01_dot_66_bar__minus_01_dot_32 - object\n SoapBottle_bar__minus_00_dot_19_bar__plus_01_dot_11_bar__plus_01_dot_46 - object\n SoapBottle_bar__minus_02_dot_11_bar__plus_00_dot_12_bar__minus_01_dot_13 - object\n Spatula_bar__plus_01_dot_07_bar__plus_00_dot_93_bar__minus_01_dot_45 - object\n Spatula_bar__minus_00_dot_04_bar__plus_01_dot_13_bar__plus_01_dot_84 - object\n Spatula_bar__minus_02_dot_54_bar__plus_00_dot_76_bar__minus_00_dot_03 - object\n Spoon_bar__minus_00_dot_16_bar__plus_00_dot_90_bar__minus_01_dot_02 - object\n StoveKnob_bar__minus_02_dot_43_bar__plus_00_dot_86_bar__minus_00_dot_32 - object\n StoveKnob_bar__minus_02_dot_43_bar__plus_00_dot_86_bar__minus_00_dot_48 - object\n StoveKnob_bar__minus_02_dot_43_bar__plus_00_dot_86_bar__minus_00_dot_62 - object\n StoveKnob_bar__minus_02_dot_43_bar__plus_00_dot_86_bar__minus_00_dot_78 - object\n Tomato_bar__plus_00_dot_20_bar__plus_01_dot_15_bar__plus_01_dot_06 - object\n Window_bar__plus_00_dot_32_bar__plus_01_dot_45_bar__plus_03_dot_09 - object\n Cabinet_bar__plus_00_dot_17_bar__plus_02_dot_01_bar__minus_01_dot_20 - receptacle\n Cabinet_bar__plus_00_dot_24_bar__plus_02_dot_01_bar__minus_01_dot_20 - receptacle\n Cabinet_bar__plus_00_dot_48_bar__plus_00_dot_39_bar__minus_00_dot_90 - receptacle\n Cabinet_bar__plus_01_dot_12_bar__plus_02_dot_01_bar__minus_01_dot_20 - receptacle\n Cabinet_bar__plus_01_dot_13_bar__plus_00_dot_47_bar__minus_00_dot_90 - receptacle\n Cabinet_bar__minus_00_dot_77_bar__plus_02_dot_01_bar__minus_01_dot_20 - receptacle\n Cabinet_bar__minus_00_dot_82_bar__plus_00_dot_47_bar__minus_00_dot_91 - receptacle\n Cabinet_bar__minus_00_dot_84_bar__plus_02_dot_01_bar__minus_01_dot_20 - receptacle\n Cabinet_bar__minus_01_dot_77_bar__plus_02_dot_01_bar__minus_01_dot_20 - receptacle\n Cabinet_bar__minus_01_dot_80_bar__plus_00_dot_47_bar__minus_00_dot_91 - receptacle\n Cabinet_bar__minus_01_dot_84_bar__plus_02_dot_01_bar__minus_01_dot_20 - receptacle\n Cabinet_bar__minus_01_dot_85_bar__plus_00_dot_39_bar__minus_00_dot_90 - receptacle\n Cabinet_bar__minus_02_dot_39_bar__plus_00_dot_39_bar__plus_00_dot_38 - receptacle\n Cabinet_bar__minus_02_dot_63_bar__plus_02_dot_01_bar__minus_01_dot_20 - receptacle\n Cabinet_bar__minus_02_dot_65_bar__plus_02_dot_01_bar__plus_00_dot_36 - receptacle\n Cabinet_bar__minus_02_dot_65_bar__plus_02_dot_01_bar__minus_00_dot_95 - receptacle\n Cabinet_bar__minus_02_dot_65_bar__plus_02_dot_08_bar__minus_00_dot_23 - receptacle\n Cabinet_bar__minus_02_dot_65_bar__plus_02_dot_08_bar__minus_00_dot_88 - receptacle\n Cabinet_bar__minus_02_dot_65_bar__plus_02_dot_20_bar__plus_00_dot_43 - receptacle\n Cabinet_bar__minus_02_dot_65_bar__plus_02_dot_20_bar__plus_01_dot_67 - receptacle\n CoffeeMachine_bar__plus_01_dot_14_bar__plus_01_dot_10_bar__plus_00_dot_30 - receptacle\n CounterTop_bar__plus_00_dot_07_bar__plus_00_dot_95_bar__minus_01_dot_20 - receptacle\n CounterTop_bar__plus_00_dot_91_bar__plus_01_dot_15_bar__plus_00_dot_79 - receptacle\n CounterTop_bar__minus_02_dot_70_bar__plus_00_dot_95_bar__plus_00_dot_11 - receptacle\n Drawer_bar__plus_00_dot_26_bar__plus_00_dot_78_bar__minus_01_dot_08 - receptacle\n Drawer_bar__minus_02_dot_03_bar__plus_00_dot_78_bar__minus_01_dot_08 - receptacle\n Drawer_bar__minus_02_dot_57_bar__plus_00_dot_78_bar__plus_00_dot_10 - receptacle\n Fridge_bar__minus_02_dot_86_bar__plus_00_dot_00_bar__plus_00_dot_85 - receptacle\n GarbageCan_bar__minus_02_dot_76_bar__plus_00_dot_00_bar__plus_01_dot_47 - receptacle\n Microwave_bar__plus_00_dot_28_bar__plus_00_dot_90_bar__minus_01_dot_33 - receptacle\n Sink_bar__minus_01_dot_33_bar__plus_00_dot_92_bar__minus_01_dot_23_bar_SinkBasin - receptacle\n StoveBurner_bar__minus_02_dot_62_bar__plus_00_dot_89_bar__minus_00_dot_40 - receptacle\n StoveBurner_bar__minus_02_dot_62_bar__plus_00_dot_89_bar__minus_00_dot_71 - receptacle\n StoveBurner_bar__minus_02_dot_82_bar__plus_00_dot_89_bar__minus_00_dot_40 - receptacle\n StoveBurner_bar__minus_02_dot_82_bar__plus_00_dot_89_bar__minus_00_dot_71 - receptacle\n Toaster_bar__minus_02_dot_82_bar__plus_00_dot_90_bar__plus_00_dot_25 - receptacle\n loc_bar_2_bar_0_bar_2_bar_45 - location\n loc_bar_6_bar_7_bar_2_bar_60 - location\n loc_bar__minus_6_bar__minus_1_bar_3_bar_45 - location\n loc_bar__minus_5_bar_10_bar_0_bar_30 - location\n loc_bar__minus_8_bar__minus_1_bar_2_bar_60 - location\n loc_bar__minus_6_bar__minus_2_bar_2_bar__minus_30 - location\n loc_bar__minus_8_bar_0_bar_2_bar_45 - location\n loc_bar__minus_8_bar__minus_2_bar_2_bar_60 - location\n loc_bar__minus_8_bar_0_bar_3_bar_45 - location\n loc_bar_2_bar__minus_2_bar_2_bar__minus_30 - location\n loc_bar__minus_7_bar_4_bar_3_bar_60 - location\n loc_bar__minus_8_bar__minus_2_bar_3_bar__minus_30 - location\n loc_bar__minus_4_bar__minus_2_bar_2_bar__minus_30 - location\n loc_bar__minus_8_bar__minus_2_bar_2_bar__minus_30 - location\n loc_bar__minus_8_bar_0_bar_3_bar__minus_30 - location\n loc_bar_0_bar__minus_2_bar_2_bar__minus_30 - location\n loc_bar__minus_8_bar_1_bar_3_bar_45 - location\n loc_bar__minus_5_bar__minus_2_bar_2_bar_45 - location\n loc_bar_4_bar_8_bar_2_bar_60 - location\n loc_bar__minus_2_bar_0_bar_2_bar_45 - location\n loc_bar__minus_8_bar__minus_1_bar_2_bar__minus_15 - location\n loc_bar__minus_7_bar_3_bar_3_bar_60 - location\n loc_bar_2_bar_0_bar_2_bar_60 - location\n loc_bar__minus_8_bar__minus_2_bar_3_bar_60 - location\n loc_bar__minus_8_bar__minus_1_bar_3_bar_60 - location\n loc_bar__minus_6_bar_7_bar_3_bar__minus_30 - location\n loc_bar__minus_6_bar__minus_2_bar_3_bar__minus_15 - location\n loc_bar__minus_3_bar__minus_2_bar_2_bar__minus_30 - location\n loc_bar__minus_6_bar_1_bar_3_bar_60 - location\n loc_bar__minus_6_bar_1_bar_3_bar__minus_30 - location\n loc_bar_1_bar__minus_2_bar_2_bar_45 - location\n loc_bar__minus_8_bar_6_bar_3_bar_60 - location\n loc_bar_2_bar_0_bar_1_bar_45 - location\n loc_bar__minus_1_bar_0_bar_2_bar_60 - location\n loc_bar__minus_8_bar__minus_2_bar_3_bar_45 - location\n loc_bar_1_bar_10_bar_0_bar_15 - location\n loc_bar_2_bar__minus_2_bar_2_bar_45 - location\n loc_bar__minus_2_bar_6_bar_1_bar_15 - location\n loc_bar__minus_2_bar_8_bar_0_bar_30 - location\n )\n \n\n(:init\n\n\n (receptacleType Cabinet_bar__minus_00_dot_77_bar__plus_02_dot_01_bar__minus_01_dot_20 CabinetType)\n (receptacleType StoveBurner_bar__minus_02_dot_82_bar__plus_00_dot_89_bar__minus_00_dot_40 StoveBurnerType)\n (receptacleType CounterTop_bar__plus_00_dot_91_bar__plus_01_dot_15_bar__plus_00_dot_79 CounterTopType)\n (receptacleType Cabinet_bar__minus_01_dot_80_bar__plus_00_dot_47_bar__minus_00_dot_91 CabinetType)\n (receptacleType Toaster_bar__minus_02_dot_82_bar__plus_00_dot_90_bar__plus_00_dot_25 ToasterType)\n (receptacleType CounterTop_bar__plus_00_dot_07_bar__plus_00_dot_95_bar__minus_01_dot_20 CounterTopType)\n (receptacleType Microwave_bar__plus_00_dot_28_bar__plus_00_dot_90_bar__minus_01_dot_33 MicrowaveType)\n (receptacleType Cabinet_bar__minus_02_dot_39_bar__plus_00_dot_39_bar__plus_00_dot_38 CabinetType)\n (receptacleType Cabinet_bar__plus_01_dot_13_bar__plus_00_dot_47_bar__minus_00_dot_90 CabinetType)\n (receptacleType Cabinet_bar__minus_02_dot_65_bar__plus_02_dot_01_bar__plus_00_dot_36 CabinetType)\n (receptacleType Cabinet_bar__minus_02_dot_65_bar__plus_02_dot_08_bar__minus_00_dot_88 CabinetType)\n (receptacleType Drawer_bar__plus_00_dot_26_bar__plus_00_dot_78_bar__minus_01_dot_08 DrawerType)\n (receptacleType CounterTop_bar__minus_02_dot_70_bar__plus_00_dot_95_bar__plus_00_dot_11 CounterTopType)\n (receptacleType GarbageCan_bar__minus_02_dot_76_bar__plus_00_dot_00_bar__plus_01_dot_47 GarbageCanType)\n (receptacleType Cabinet_bar__minus_02_dot_63_bar__plus_02_dot_01_bar__minus_01_dot_20 CabinetType)\n (receptacleType StoveBurner_bar__minus_02_dot_62_bar__plus_00_dot_89_bar__minus_00_dot_40 StoveBurnerType)\n (receptacleType Cabinet_bar__minus_00_dot_84_bar__plus_02_dot_01_bar__minus_01_dot_20 CabinetType)\n (receptacleType Cabinet_bar__plus_00_dot_48_bar__plus_00_dot_39_bar__minus_00_dot_90 CabinetType)\n (receptacleType Cabinet_bar__minus_02_dot_65_bar__plus_02_dot_20_bar__plus_01_dot_67 CabinetType)\n (receptacleType Drawer_bar__minus_02_dot_03_bar__plus_00_dot_78_bar__minus_01_dot_08 DrawerType)\n (receptacleType Cabinet_bar__minus_01_dot_84_bar__plus_02_dot_01_bar__minus_01_dot_20 CabinetType)\n (receptacleType Cabinet_bar__minus_02_dot_65_bar__plus_02_dot_08_bar__minus_00_dot_23 CabinetType)\n (receptacleType StoveBurner_bar__minus_02_dot_82_bar__plus_00_dot_89_bar__minus_00_dot_71 StoveBurnerType)\n (receptacleType Cabinet_bar__plus_01_dot_12_bar__plus_02_dot_01_bar__minus_01_dot_20 CabinetType)\n (receptacleType 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Egg_bar__plus_00_dot_45_bar__plus_01_dot_04_bar__minus_01_dot_25)\n (pickupable Apple_bar__plus_00_dot_35_bar__plus_01_dot_06_bar__minus_01_dot_28)\n (pickupable Tomato_bar__plus_00_dot_20_bar__plus_01_dot_15_bar__plus_01_dot_06)\n (pickupable Lettuce_bar__plus_00_dot_13_bar__plus_01_dot_19_bar__plus_01_dot_74)\n (pickupable Plate_bar__minus_02_dot_84_bar__plus_00_dot_91_bar__minus_01_dot_28)\n (pickupable Potato_bar__minus_00_dot_60_bar__plus_00_dot_93_bar__minus_01_dot_12)\n (pickupable Spatula_bar__minus_02_dot_54_bar__plus_00_dot_76_bar__minus_00_dot_03)\n (pickupable Bread_bar__minus_02_dot_74_bar__plus_01_dot_53_bar__plus_00_dot_93)\n (pickupable Cup_bar__minus_02_dot_92_bar__plus_01_dot_67_bar__plus_00_dot_77)\n (pickupable Bowl_bar__minus_02_dot_05_bar__plus_00_dot_90_bar__minus_01_dot_16)\n (pickupable Lettuce_bar__minus_02_dot_80_bar__plus_01_dot_75_bar__plus_01_dot_01)\n (pickupable Bread_bar__plus_00_dot_92_bar__plus_00_dot_97_bar__minus_01_dot_03)\n (pickupable Plate_bar__minus_02_dot_74_bar__plus_00_dot_38_bar__plus_00_dot_93)\n (pickupable Egg_bar__plus_00_dot_35_bar__plus_01_dot_04_bar__minus_01_dot_38)\n (pickupable SoapBottle_bar__minus_00_dot_19_bar__plus_01_dot_11_bar__plus_01_dot_46)\n (pickupable SoapBottle_bar__minus_02_dot_11_bar__plus_00_dot_12_bar__minus_01_dot_13)\n (pickupable Pot_bar__minus_02_dot_82_bar__plus_00_dot_93_bar__minus_00_dot_40)\n (pickupable Spoon_bar__minus_00_dot_16_bar__plus_00_dot_90_bar__minus_01_dot_02)\n (pickupable Kettle_bar__minus_00_dot_10_bar__plus_01_dot_66_bar__minus_01_dot_40)\n (pickupable Pan_bar__minus_02_dot_59_bar__plus_00_dot_90_bar__minus_01_dot_15)\n (pickupable PepperShaker_bar__plus_00_dot_69_bar__plus_00_dot_91_bar__minus_01_dot_45)\n (pickupable Spatula_bar__minus_00_dot_04_bar__plus_01_dot_13_bar__plus_01_dot_84)\n (pickupable CreditCard_bar__minus_02_dot_50_bar__plus_00_dot_74_bar__plus_00_dot_23)\n (pickupable ButterKnife_bar__minus_02_dot_22_bar__plus_00_dot_90_bar__minus_01_dot_00)\n (isReceptacleObject Cup_bar__minus_02_dot_68_bar__plus_00_dot_82_bar__plus_01_dot_09)\n (isReceptacleObject Plate_bar__plus_01_dot_07_bar__plus_01_dot_11_bar__plus_00_dot_96)\n (isReceptacleObject Mug_bar__plus_00_dot_37_bar__plus_01_dot_65_bar__minus_01_dot_35)\n (isReceptacleObject Plate_bar__minus_02_dot_84_bar__plus_00_dot_91_bar__minus_01_dot_28)\n (isReceptacleObject Cup_bar__minus_02_dot_92_bar__plus_01_dot_67_bar__plus_00_dot_77)\n (isReceptacleObject Bowl_bar__minus_02_dot_05_bar__plus_00_dot_90_bar__minus_01_dot_16)\n (isReceptacleObject Plate_bar__minus_02_dot_74_bar__plus_00_dot_38_bar__plus_00_dot_93)\n (isReceptacleObject Pot_bar__minus_02_dot_82_bar__plus_00_dot_93_bar__minus_00_dot_40)\n (isReceptacleObject Pan_bar__minus_02_dot_59_bar__plus_00_dot_90_bar__minus_01_dot_15)\n (openable Cabinet_bar__minus_00_dot_77_bar__plus_02_dot_01_bar__minus_01_dot_20)\n (openable Cabinet_bar__minus_01_dot_80_bar__plus_00_dot_47_bar__minus_00_dot_91)\n (openable Microwave_bar__plus_00_dot_28_bar__plus_00_dot_90_bar__minus_01_dot_33)\n (openable Cabinet_bar__minus_02_dot_39_bar__plus_00_dot_39_bar__plus_00_dot_38)\n (openable Cabinet_bar__plus_01_dot_13_bar__plus_00_dot_47_bar__minus_00_dot_90)\n (openable Cabinet_bar__minus_02_dot_65_bar__plus_02_dot_01_bar__plus_00_dot_36)\n (openable Cabinet_bar__minus_02_dot_65_bar__plus_02_dot_08_bar__minus_00_dot_88)\n (openable Drawer_bar__plus_00_dot_26_bar__plus_00_dot_78_bar__minus_01_dot_08)\n (openable Cabinet_bar__minus_02_dot_63_bar__plus_02_dot_01_bar__minus_01_dot_20)\n (openable Cabinet_bar__minus_00_dot_84_bar__plus_02_dot_01_bar__minus_01_dot_20)\n (openable Cabinet_bar__plus_00_dot_48_bar__plus_00_dot_39_bar__minus_00_dot_90)\n (openable Cabinet_bar__minus_02_dot_65_bar__plus_02_dot_20_bar__plus_01_dot_67)\n (openable Cabinet_bar__minus_01_dot_84_bar__plus_02_dot_01_bar__minus_01_dot_20)\n (openable Cabinet_bar__minus_02_dot_65_bar__plus_02_dot_08_bar__minus_00_dot_23)\n (openable Cabinet_bar__plus_01_dot_12_bar__plus_02_dot_01_bar__minus_01_dot_20)\n (openable Cabinet_bar__minus_02_dot_65_bar__plus_02_dot_01_bar__minus_00_dot_95)\n (openable Cabinet_bar__plus_00_dot_17_bar__plus_02_dot_01_bar__minus_01_dot_20)\n (openable Cabinet_bar__plus_00_dot_24_bar__plus_02_dot_01_bar__minus_01_dot_20)\n (openable Fridge_bar__minus_02_dot_86_bar__plus_00_dot_00_bar__plus_00_dot_85)\n (openable Cabinet_bar__minus_01_dot_77_bar__plus_02_dot_01_bar__minus_01_dot_20)\n (openable Cabinet_bar__minus_00_dot_82_bar__plus_00_dot_47_bar__minus_00_dot_91)\n (openable Cabinet_bar__minus_01_dot_85_bar__plus_00_dot_39_bar__minus_00_dot_90)\n (openable Drawer_bar__minus_02_dot_57_bar__plus_00_dot_78_bar__plus_00_dot_10)\n (openable Cabinet_bar__minus_02_dot_65_bar__plus_02_dot_20_bar__plus_00_dot_43)\n \n (atLocation agent1 loc_bar__minus_2_bar_8_bar_0_bar_30)\n \n (cleanable Cup_bar__minus_02_dot_68_bar__plus_00_dot_82_bar__plus_01_dot_09)\n (cleanable Plate_bar__plus_01_dot_07_bar__plus_01_dot_11_bar__plus_00_dot_96)\n (cleanable Fork_bar__minus_02_dot_24_bar__plus_00_dot_91_bar__minus_00_dot_95)\n (cleanable Apple_bar__minus_02_dot_70_bar__plus_00_dot_09_bar__plus_01_dot_40)\n (cleanable Fork_bar__plus_00_dot_36_bar__plus_00_dot_75_bar__minus_01_dot_10)\n (cleanable Mug_bar__plus_00_dot_37_bar__plus_01_dot_65_bar__minus_01_dot_35)\n (cleanable DishSponge_bar__minus_01_dot_99_bar__plus_00_dot_75_bar__minus_01_dot_05)\n (cleanable Kettle_bar__minus_02_dot_52_bar__plus_00_dot_12_bar__plus_00_dot_24)\n (cleanable DishSponge_bar__plus_00_dot_25_bar__plus_00_dot_75_bar__minus_01_dot_01)\n (cleanable Spatula_bar__plus_01_dot_07_bar__plus_00_dot_93_bar__minus_01_dot_45)\n (cleanable Fork_bar__minus_02_dot_03_bar__plus_00_dot_75_bar__minus_00_dot_97)\n (cleanable Lettuce_bar__minus_00_dot_34_bar__plus_00_dot_99_bar__minus_01_dot_37)\n (cleanable Knife_bar__plus_00_dot_06_bar__plus_01_dot_11_bar__plus_01_dot_59)\n (cleanable Egg_bar__plus_00_dot_45_bar__plus_01_dot_04_bar__minus_01_dot_25)\n (cleanable Apple_bar__plus_00_dot_35_bar__plus_01_dot_06_bar__minus_01_dot_28)\n (cleanable Tomato_bar__plus_00_dot_20_bar__plus_01_dot_15_bar__plus_01_dot_06)\n (cleanable Lettuce_bar__plus_00_dot_13_bar__plus_01_dot_19_bar__plus_01_dot_74)\n (cleanable Plate_bar__minus_02_dot_84_bar__plus_00_dot_91_bar__minus_01_dot_28)\n (cleanable Potato_bar__minus_00_dot_60_bar__plus_00_dot_93_bar__minus_01_dot_12)\n (cleanable Spatula_bar__minus_02_dot_54_bar__plus_00_dot_76_bar__minus_00_dot_03)\n (cleanable Cup_bar__minus_02_dot_92_bar__plus_01_dot_67_bar__plus_00_dot_77)\n (cleanable Bowl_bar__minus_02_dot_05_bar__plus_00_dot_90_bar__minus_01_dot_16)\n (cleanable Lettuce_bar__minus_02_dot_80_bar__plus_01_dot_75_bar__plus_01_dot_01)\n (cleanable Plate_bar__minus_02_dot_74_bar__plus_00_dot_38_bar__plus_00_dot_93)\n (cleanable Egg_bar__plus_00_dot_35_bar__plus_01_dot_04_bar__minus_01_dot_38)\n (cleanable Pot_bar__minus_02_dot_82_bar__plus_00_dot_93_bar__minus_00_dot_40)\n (cleanable Spoon_bar__minus_00_dot_16_bar__plus_00_dot_90_bar__minus_01_dot_02)\n (cleanable Kettle_bar__minus_00_dot_10_bar__plus_01_dot_66_bar__minus_01_dot_40)\n (cleanable Pan_bar__minus_02_dot_59_bar__plus_00_dot_90_bar__minus_01_dot_15)\n (cleanable Spatula_bar__minus_00_dot_04_bar__plus_01_dot_13_bar__plus_01_dot_84)\n (cleanable ButterKnife_bar__minus_02_dot_22_bar__plus_00_dot_90_bar__minus_01_dot_00)\n \n (heatable Cup_bar__minus_02_dot_68_bar__plus_00_dot_82_bar__plus_01_dot_09)\n (heatable Plate_bar__plus_01_dot_07_bar__plus_01_dot_11_bar__plus_00_dot_96)\n (heatable Apple_bar__minus_02_dot_70_bar__plus_00_dot_09_bar__plus_01_dot_40)\n (heatable Mug_bar__plus_00_dot_37_bar__plus_01_dot_65_bar__minus_01_dot_35)\n (heatable Egg_bar__plus_00_dot_45_bar__plus_01_dot_04_bar__minus_01_dot_25)\n (heatable Apple_bar__plus_00_dot_35_bar__plus_01_dot_06_bar__minus_01_dot_28)\n (heatable Tomato_bar__plus_00_dot_20_bar__plus_01_dot_15_bar__plus_01_dot_06)\n (heatable Plate_bar__minus_02_dot_84_bar__plus_00_dot_91_bar__minus_01_dot_28)\n (heatable Potato_bar__minus_00_dot_60_bar__plus_00_dot_93_bar__minus_01_dot_12)\n (heatable Bread_bar__minus_02_dot_74_bar__plus_01_dot_53_bar__plus_00_dot_93)\n (heatable Cup_bar__minus_02_dot_92_bar__plus_01_dot_67_bar__plus_00_dot_77)\n (heatable Bread_bar__plus_00_dot_92_bar__plus_00_dot_97_bar__minus_01_dot_03)\n (heatable Plate_bar__minus_02_dot_74_bar__plus_00_dot_38_bar__plus_00_dot_93)\n (heatable Egg_bar__plus_00_dot_35_bar__plus_01_dot_04_bar__minus_01_dot_38)\n (coolable Cup_bar__minus_02_dot_68_bar__plus_00_dot_82_bar__plus_01_dot_09)\n (coolable Plate_bar__plus_01_dot_07_bar__plus_01_dot_11_bar__plus_00_dot_96)\n (coolable Apple_bar__minus_02_dot_70_bar__plus_00_dot_09_bar__plus_01_dot_40)\n (coolable Mug_bar__plus_00_dot_37_bar__plus_01_dot_65_bar__minus_01_dot_35)\n (coolable Lettuce_bar__minus_00_dot_34_bar__plus_00_dot_99_bar__minus_01_dot_37)\n (coolable Egg_bar__plus_00_dot_45_bar__plus_01_dot_04_bar__minus_01_dot_25)\n (coolable Apple_bar__plus_00_dot_35_bar__plus_01_dot_06_bar__minus_01_dot_28)\n (coolable Tomato_bar__plus_00_dot_20_bar__plus_01_dot_15_bar__plus_01_dot_06)\n (coolable Lettuce_bar__plus_00_dot_13_bar__plus_01_dot_19_bar__plus_01_dot_74)\n (coolable Plate_bar__minus_02_dot_84_bar__plus_00_dot_91_bar__minus_01_dot_28)\n (coolable Potato_bar__minus_00_dot_60_bar__plus_00_dot_93_bar__minus_01_dot_12)\n (coolable Bread_bar__minus_02_dot_74_bar__plus_01_dot_53_bar__plus_00_dot_93)\n (coolable Cup_bar__minus_02_dot_92_bar__plus_01_dot_67_bar__plus_00_dot_77)\n (coolable Bowl_bar__minus_02_dot_05_bar__plus_00_dot_90_bar__minus_01_dot_16)\n (coolable Lettuce_bar__minus_02_dot_80_bar__plus_01_dot_75_bar__plus_01_dot_01)\n (coolable Bread_bar__plus_00_dot_92_bar__plus_00_dot_97_bar__minus_01_dot_03)\n (coolable Plate_bar__minus_02_dot_74_bar__plus_00_dot_38_bar__plus_00_dot_93)\n (coolable Egg_bar__plus_00_dot_35_bar__plus_01_dot_04_bar__minus_01_dot_38)\n (coolable Pot_bar__minus_02_dot_82_bar__plus_00_dot_93_bar__minus_00_dot_40)\n (coolable Pan_bar__minus_02_dot_59_bar__plus_00_dot_90_bar__minus_01_dot_15)\n \n \n \n \n \n (sliceable Apple_bar__minus_02_dot_70_bar__plus_00_dot_09_bar__plus_01_dot_40)\n (sliceable Lettuce_bar__minus_00_dot_34_bar__plus_00_dot_99_bar__minus_01_dot_37)\n (sliceable Egg_bar__plus_00_dot_45_bar__plus_01_dot_04_bar__minus_01_dot_25)\n (sliceable Apple_bar__plus_00_dot_35_bar__plus_01_dot_06_bar__minus_01_dot_28)\n (sliceable Tomato_bar__plus_00_dot_20_bar__plus_01_dot_15_bar__plus_01_dot_06)\n (sliceable Lettuce_bar__plus_00_dot_13_bar__plus_01_dot_19_bar__plus_01_dot_74)\n (sliceable Potato_bar__minus_00_dot_60_bar__plus_00_dot_93_bar__minus_01_dot_12)\n (sliceable Bread_bar__minus_02_dot_74_bar__plus_01_dot_53_bar__plus_00_dot_93)\n (sliceable Lettuce_bar__minus_02_dot_80_bar__plus_01_dot_75_bar__plus_01_dot_01)\n (sliceable Bread_bar__plus_00_dot_92_bar__plus_00_dot_97_bar__minus_01_dot_03)\n (sliceable Egg_bar__plus_00_dot_35_bar__plus_01_dot_04_bar__minus_01_dot_38)\n \n (inReceptacle SoapBottle_bar__minus_02_dot_11_bar__plus_00_dot_12_bar__minus_01_dot_13 Cabinet_bar__minus_01_dot_85_bar__plus_00_dot_39_bar__minus_00_dot_90)\n (inReceptacle PepperShaker_bar__minus_01_dot_63_bar__plus_00_dot_11_bar__minus_01_dot_11 Cabinet_bar__minus_01_dot_80_bar__plus_00_dot_47_bar__minus_00_dot_91)\n (inReceptacle SoapBottle_bar__plus_00_dot_96_bar__plus_01_dot_66_bar__minus_01_dot_32 Cabinet_bar__plus_01_dot_12_bar__plus_02_dot_01_bar__minus_01_dot_20)\n (inReceptacle Mug_bar__plus_00_dot_37_bar__plus_01_dot_65_bar__minus_01_dot_35 Cabinet_bar__plus_00_dot_24_bar__plus_02_dot_01_bar__minus_01_dot_20)\n (inReceptacle Kettle_bar__minus_02_dot_52_bar__plus_00_dot_12_bar__plus_00_dot_24 Cabinet_bar__minus_02_dot_39_bar__plus_00_dot_39_bar__plus_00_dot_38)\n (inReceptacle SaltShaker_bar__minus_02_dot_70_bar__plus_01_dot_66_bar__minus_01_dot_12 Cabinet_bar__minus_02_dot_65_bar__plus_02_dot_01_bar__minus_00_dot_95)\n (inReceptacle SaltShaker_bar__plus_00_dot_11_bar__plus_01_dot_66_bar__minus_01_dot_32 Cabinet_bar__plus_00_dot_17_bar__plus_02_dot_01_bar__minus_01_dot_20)\n (inReceptacle Kettle_bar__minus_00_dot_10_bar__plus_01_dot_66_bar__minus_01_dot_40 Cabinet_bar__plus_00_dot_17_bar__plus_02_dot_01_bar__minus_01_dot_20)\n (inReceptacle Knife_bar__plus_00_dot_06_bar__plus_01_dot_11_bar__plus_01_dot_59 CounterTop_bar__plus_00_dot_91_bar__plus_01_dot_15_bar__plus_00_dot_79)\n (inReceptacle SoapBottle_bar__minus_00_dot_19_bar__plus_01_dot_11_bar__plus_01_dot_46 CounterTop_bar__plus_00_dot_91_bar__plus_01_dot_15_bar__plus_00_dot_79)\n (inReceptacle SaltShaker_bar__plus_00_dot_59_bar__plus_01_dot_11_bar__plus_00_dot_83 CounterTop_bar__plus_00_dot_91_bar__plus_01_dot_15_bar__plus_00_dot_79)\n (inReceptacle Plate_bar__plus_01_dot_07_bar__plus_01_dot_11_bar__plus_00_dot_96 CounterTop_bar__plus_00_dot_91_bar__plus_01_dot_15_bar__plus_00_dot_79)\n (inReceptacle Tomato_bar__plus_00_dot_20_bar__plus_01_dot_15_bar__plus_01_dot_06 CounterTop_bar__plus_00_dot_91_bar__plus_01_dot_15_bar__plus_00_dot_79)\n (inReceptacle Lettuce_bar__plus_00_dot_13_bar__plus_01_dot_19_bar__plus_01_dot_74 CounterTop_bar__plus_00_dot_91_bar__plus_01_dot_15_bar__plus_00_dot_79)\n (inReceptacle Spatula_bar__minus_00_dot_04_bar__plus_01_dot_13_bar__plus_01_dot_84 CounterTop_bar__plus_00_dot_91_bar__plus_01_dot_15_bar__plus_00_dot_79)\n (inReceptacle Pot_bar__minus_02_dot_82_bar__plus_00_dot_93_bar__minus_00_dot_40 StoveBurner_bar__minus_02_dot_62_bar__plus_00_dot_89_bar__minus_00_dot_40)\n (inReceptacle Spatula_bar__minus_02_dot_54_bar__plus_00_dot_76_bar__minus_00_dot_03 Drawer_bar__minus_02_dot_57_bar__plus_00_dot_78_bar__plus_00_dot_10)\n (inReceptacle CreditCard_bar__minus_02_dot_50_bar__plus_00_dot_74_bar__plus_00_dot_23 Drawer_bar__minus_02_dot_57_bar__plus_00_dot_78_bar__plus_00_dot_10)\n (inReceptacle CreditCard_bar__minus_02_dot_59_bar__plus_00_dot_74_bar__minus_00_dot_03 Drawer_bar__minus_02_dot_57_bar__plus_00_dot_78_bar__plus_00_dot_10)\n (inReceptacle Pot_bar__minus_02_dot_82_bar__plus_00_dot_93_bar__minus_00_dot_40 StoveBurner_bar__minus_02_dot_82_bar__plus_00_dot_89_bar__minus_00_dot_40)\n (inReceptacle Lettuce_bar__minus_00_dot_34_bar__plus_00_dot_99_bar__minus_01_dot_37 CounterTop_bar__plus_00_dot_07_bar__plus_00_dot_95_bar__minus_01_dot_20)\n (inReceptacle Bread_bar__plus_00_dot_92_bar__plus_00_dot_97_bar__minus_01_dot_03 CounterTop_bar__plus_00_dot_07_bar__plus_00_dot_95_bar__minus_01_dot_20)\n (inReceptacle Spoon_bar__minus_00_dot_16_bar__plus_00_dot_90_bar__minus_01_dot_02 CounterTop_bar__plus_00_dot_07_bar__plus_00_dot_95_bar__minus_01_dot_20)\n (inReceptacle Spatula_bar__plus_01_dot_07_bar__plus_00_dot_93_bar__minus_01_dot_45 CounterTop_bar__plus_00_dot_07_bar__plus_00_dot_95_bar__minus_01_dot_20)\n (inReceptacle Fork_bar__minus_02_dot_24_bar__plus_00_dot_91_bar__minus_00_dot_95 CounterTop_bar__plus_00_dot_07_bar__plus_00_dot_95_bar__minus_01_dot_20)\n (inReceptacle Pan_bar__minus_02_dot_59_bar__plus_00_dot_90_bar__minus_01_dot_15 CounterTop_bar__plus_00_dot_07_bar__plus_00_dot_95_bar__minus_01_dot_20)\n (inReceptacle Plate_bar__minus_02_dot_84_bar__plus_00_dot_91_bar__minus_01_dot_28 CounterTop_bar__plus_00_dot_07_bar__plus_00_dot_95_bar__minus_01_dot_20)\n (inReceptacle PepperShaker_bar__plus_00_dot_69_bar__plus_00_dot_91_bar__minus_01_dot_45 CounterTop_bar__plus_00_dot_07_bar__plus_00_dot_95_bar__minus_01_dot_20)\n (inReceptacle Potato_bar__minus_00_dot_60_bar__plus_00_dot_93_bar__minus_01_dot_12 CounterTop_bar__plus_00_dot_07_bar__plus_00_dot_95_bar__minus_01_dot_20)\n (inReceptacle ButterKnife_bar__minus_02_dot_22_bar__plus_00_dot_90_bar__minus_01_dot_00 CounterTop_bar__plus_00_dot_07_bar__plus_00_dot_95_bar__minus_01_dot_20)\n (inReceptacle Bowl_bar__minus_02_dot_05_bar__plus_00_dot_90_bar__minus_01_dot_16 CounterTop_bar__plus_00_dot_07_bar__plus_00_dot_95_bar__minus_01_dot_20)\n (inReceptacle Fork_bar__plus_00_dot_36_bar__plus_00_dot_75_bar__minus_01_dot_10 Drawer_bar__plus_00_dot_26_bar__plus_00_dot_78_bar__minus_01_dot_08)\n (inReceptacle DishSponge_bar__plus_00_dot_25_bar__plus_00_dot_75_bar__minus_01_dot_01 Drawer_bar__plus_00_dot_26_bar__plus_00_dot_78_bar__minus_01_dot_08)\n (inReceptacle Apple_bar__minus_02_dot_70_bar__plus_00_dot_09_bar__plus_01_dot_40 GarbageCan_bar__minus_02_dot_76_bar__plus_00_dot_00_bar__plus_01_dot_47)\n (inReceptacle Cup_bar__minus_02_dot_68_bar__plus_00_dot_82_bar__plus_01_dot_09 Fridge_bar__minus_02_dot_86_bar__plus_00_dot_00_bar__plus_00_dot_85)\n (inReceptacle Lettuce_bar__minus_02_dot_80_bar__plus_01_dot_75_bar__plus_01_dot_01 Fridge_bar__minus_02_dot_86_bar__plus_00_dot_00_bar__plus_00_dot_85)\n (inReceptacle Bread_bar__minus_02_dot_74_bar__plus_01_dot_53_bar__plus_00_dot_93 Fridge_bar__minus_02_dot_86_bar__plus_00_dot_00_bar__plus_00_dot_85)\n (inReceptacle Cup_bar__minus_02_dot_92_bar__plus_01_dot_67_bar__plus_00_dot_77 Fridge_bar__minus_02_dot_86_bar__plus_00_dot_00_bar__plus_00_dot_85)\n (inReceptacle Egg_bar__plus_00_dot_45_bar__plus_01_dot_04_bar__minus_01_dot_25 Microwave_bar__plus_00_dot_28_bar__plus_00_dot_90_bar__minus_01_dot_33)\n (inReceptacle Egg_bar__plus_00_dot_35_bar__plus_01_dot_04_bar__minus_01_dot_38 Microwave_bar__plus_00_dot_28_bar__plus_00_dot_90_bar__minus_01_dot_33)\n (inReceptacle Apple_bar__plus_00_dot_35_bar__plus_01_dot_06_bar__minus_01_dot_28 Microwave_bar__plus_00_dot_28_bar__plus_00_dot_90_bar__minus_01_dot_33)\n \n \n (receptacleAtLocation Cabinet_bar__plus_00_dot_17_bar__plus_02_dot_01_bar__minus_01_dot_20 loc_bar_0_bar__minus_2_bar_2_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__plus_00_dot_24_bar__plus_02_dot_01_bar__minus_01_dot_20 loc_bar_2_bar__minus_2_bar_2_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__plus_00_dot_48_bar__plus_00_dot_39_bar__minus_00_dot_90 loc_bar__minus_1_bar_0_bar_2_bar_60)\n (receptacleAtLocation Cabinet_bar__plus_01_dot_12_bar__plus_02_dot_01_bar__minus_01_dot_20 loc_bar_2_bar__minus_2_bar_2_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__plus_01_dot_13_bar__plus_00_dot_47_bar__minus_00_dot_90 loc_bar_2_bar_0_bar_2_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_77_bar__plus_02_dot_01_bar__minus_01_dot_20 loc_bar__minus_3_bar__minus_2_bar_2_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_82_bar__plus_00_dot_47_bar__minus_00_dot_91 loc_bar__minus_2_bar_0_bar_2_bar_45)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_84_bar__plus_02_dot_01_bar__minus_01_dot_20 loc_bar__minus_4_bar__minus_2_bar_2_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_01_dot_77_bar__plus_02_dot_01_bar__minus_01_dot_20 loc_bar__minus_6_bar__minus_2_bar_2_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_01_dot_80_bar__plus_00_dot_47_bar__minus_00_dot_91 loc_bar__minus_8_bar_0_bar_2_bar_45)\n (receptacleAtLocation Cabinet_bar__minus_01_dot_84_bar__plus_02_dot_01_bar__minus_01_dot_20 loc_bar__minus_8_bar__minus_2_bar_2_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_01_dot_85_bar__plus_00_dot_39_bar__minus_00_dot_90 loc_bar__minus_8_bar__minus_1_bar_2_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_02_dot_39_bar__plus_00_dot_39_bar__plus_00_dot_38 loc_bar__minus_6_bar_1_bar_3_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_02_dot_63_bar__plus_02_dot_01_bar__minus_01_dot_20 loc_bar__minus_8_bar__minus_1_bar_2_bar__minus_15)\n (receptacleAtLocation Cabinet_bar__minus_02_dot_65_bar__plus_02_dot_01_bar__plus_00_dot_36 loc_bar__minus_8_bar_0_bar_3_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_02_dot_65_bar__plus_02_dot_01_bar__minus_00_dot_95 loc_bar__minus_6_bar__minus_2_bar_3_bar__minus_15)\n (receptacleAtLocation Cabinet_bar__minus_02_dot_65_bar__plus_02_dot_08_bar__minus_00_dot_23 loc_bar__minus_8_bar__minus_2_bar_3_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_02_dot_65_bar__plus_02_dot_08_bar__minus_00_dot_88 loc_bar__minus_8_bar__minus_2_bar_3_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_02_dot_65_bar__plus_02_dot_20_bar__plus_00_dot_43 loc_bar__minus_6_bar_1_bar_3_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_02_dot_65_bar__plus_02_dot_20_bar__plus_01_dot_67 loc_bar__minus_6_bar_7_bar_3_bar__minus_30)\n (receptacleAtLocation CoffeeMachine_bar__plus_01_dot_14_bar__plus_01_dot_10_bar__plus_00_dot_30 loc_bar_2_bar_0_bar_1_bar_45)\n (receptacleAtLocation CounterTop_bar__plus_00_dot_07_bar__plus_00_dot_95_bar__minus_01_dot_20 loc_bar_2_bar__minus_2_bar_2_bar_45)\n (receptacleAtLocation CounterTop_bar__plus_00_dot_91_bar__plus_01_dot_15_bar__plus_00_dot_79 loc_bar__minus_2_bar_6_bar_1_bar_15)\n (receptacleAtLocation CounterTop_bar__minus_02_dot_70_bar__plus_00_dot_95_bar__plus_00_dot_11 loc_bar__minus_8_bar_0_bar_3_bar_45)\n (receptacleAtLocation Drawer_bar__plus_00_dot_26_bar__plus_00_dot_78_bar__minus_01_dot_08 loc_bar_2_bar_0_bar_2_bar_45)\n (receptacleAtLocation Drawer_bar__minus_02_dot_03_bar__plus_00_dot_78_bar__minus_01_dot_08 loc_bar__minus_8_bar__minus_2_bar_2_bar_60)\n (receptacleAtLocation Drawer_bar__minus_02_dot_57_bar__plus_00_dot_78_bar__plus_00_dot_10 loc_bar__minus_6_bar__minus_1_bar_3_bar_45)\n (receptacleAtLocation Fridge_bar__minus_02_dot_86_bar__plus_00_dot_00_bar__plus_00_dot_85 loc_bar__minus_7_bar_3_bar_3_bar_60)\n (receptacleAtLocation GarbageCan_bar__minus_02_dot_76_bar__plus_00_dot_00_bar__plus_01_dot_47 loc_bar__minus_8_bar_6_bar_3_bar_60)\n (receptacleAtLocation Microwave_bar__plus_00_dot_28_bar__plus_00_dot_90_bar__minus_01_dot_33 loc_bar_1_bar__minus_2_bar_2_bar_45)\n (receptacleAtLocation Sink_bar__minus_01_dot_33_bar__plus_00_dot_92_bar__minus_01_dot_23_bar_SinkBasin loc_bar__minus_5_bar__minus_2_bar_2_bar_45)\n (receptacleAtLocation StoveBurner_bar__minus_02_dot_62_bar__plus_00_dot_89_bar__minus_00_dot_40 loc_bar__minus_8_bar__minus_2_bar_3_bar_45)\n (receptacleAtLocation StoveBurner_bar__minus_02_dot_62_bar__plus_00_dot_89_bar__minus_00_dot_71 loc_bar__minus_8_bar__minus_2_bar_3_bar_45)\n (receptacleAtLocation StoveBurner_bar__minus_02_dot_82_bar__plus_00_dot_89_bar__minus_00_dot_40 loc_bar__minus_8_bar__minus_2_bar_3_bar_45)\n (receptacleAtLocation StoveBurner_bar__minus_02_dot_82_bar__plus_00_dot_89_bar__minus_00_dot_71 loc_bar__minus_8_bar__minus_2_bar_3_bar_45)\n (receptacleAtLocation Toaster_bar__minus_02_dot_82_bar__plus_00_dot_90_bar__plus_00_dot_25 loc_bar__minus_8_bar_1_bar_3_bar_45)\n (objectAtLocation Cup_bar__minus_02_dot_92_bar__plus_01_dot_67_bar__plus_00_dot_77 loc_bar__minus_7_bar_3_bar_3_bar_60)\n (objectAtLocation Egg_bar__plus_00_dot_35_bar__plus_01_dot_04_bar__minus_01_dot_38 loc_bar_1_bar__minus_2_bar_2_bar_45)\n (objectAtLocation DishSponge_bar__plus_00_dot_25_bar__plus_00_dot_75_bar__minus_01_dot_01 loc_bar_2_bar_0_bar_2_bar_45)\n (objectAtLocation Potato_bar__minus_00_dot_60_bar__plus_00_dot_93_bar__minus_01_dot_12 loc_bar_2_bar__minus_2_bar_2_bar_45)\n (objectAtLocation PepperShaker_bar__plus_00_dot_69_bar__plus_00_dot_91_bar__minus_01_dot_45 loc_bar_2_bar__minus_2_bar_2_bar_45)\n (objectAtLocation SaltShaker_bar__plus_00_dot_59_bar__plus_01_dot_11_bar__plus_00_dot_83 loc_bar__minus_2_bar_6_bar_1_bar_15)\n (objectAtLocation Lettuce_bar__minus_00_dot_34_bar__plus_00_dot_99_bar__minus_01_dot_37 loc_bar_2_bar__minus_2_bar_2_bar_45)\n (objectAtLocation Spatula_bar__plus_01_dot_07_bar__plus_00_dot_93_bar__minus_01_dot_45 loc_bar_2_bar__minus_2_bar_2_bar_45)\n (objectAtLocation SoapBottle_bar__minus_02_dot_11_bar__plus_00_dot_12_bar__minus_01_dot_13 loc_bar__minus_8_bar__minus_1_bar_2_bar_60)\n (objectAtLocation Plate_bar__plus_01_dot_07_bar__plus_01_dot_11_bar__plus_00_dot_96 loc_bar__minus_2_bar_6_bar_1_bar_15)\n (objectAtLocation Bread_bar__minus_02_dot_74_bar__plus_01_dot_53_bar__plus_00_dot_93 loc_bar__minus_7_bar_3_bar_3_bar_60)\n (objectAtLocation CreditCard_bar__minus_02_dot_50_bar__plus_00_dot_74_bar__plus_00_dot_23 loc_bar__minus_6_bar__minus_1_bar_3_bar_45)\n (objectAtLocation Kettle_bar__minus_00_dot_10_bar__plus_01_dot_66_bar__minus_01_dot_40 loc_bar_0_bar__minus_2_bar_2_bar__minus_30)\n (objectAtLocation Fork_bar__minus_02_dot_24_bar__plus_00_dot_91_bar__minus_00_dot_95 loc_bar_2_bar__minus_2_bar_2_bar_45)\n (objectAtLocation Apple_bar__minus_02_dot_70_bar__plus_00_dot_09_bar__plus_01_dot_40 loc_bar__minus_8_bar_6_bar_3_bar_60)\n (objectAtLocation SaltShaker_bar__plus_00_dot_11_bar__plus_01_dot_66_bar__minus_01_dot_32 loc_bar_0_bar__minus_2_bar_2_bar__minus_30)\n (objectAtLocation Lettuce_bar__plus_00_dot_13_bar__plus_01_dot_19_bar__plus_01_dot_74 loc_bar__minus_2_bar_6_bar_1_bar_15)\n (objectAtLocation SoapBottle_bar__plus_00_dot_96_bar__plus_01_dot_66_bar__minus_01_dot_32 loc_bar_2_bar__minus_2_bar_2_bar__minus_30)\n (objectAtLocation Plate_bar__minus_02_dot_74_bar__plus_00_dot_38_bar__plus_00_dot_93 loc_bar__minus_7_bar_4_bar_3_bar_60)\n (objectAtLocation Spatula_bar__minus_02_dot_54_bar__plus_00_dot_76_bar__minus_00_dot_03 loc_bar__minus_6_bar__minus_1_bar_3_bar_45)\n (objectAtLocation Fork_bar__plus_00_dot_36_bar__plus_00_dot_75_bar__minus_01_dot_10 loc_bar_2_bar_0_bar_2_bar_45)\n (objectAtLocation Sink_bar__minus_01_dot_33_bar__plus_00_dot_92_bar__minus_01_dot_23 loc_bar__minus_5_bar__minus_2_bar_2_bar_45)\n (objectAtLocation Chair_bar__plus_01_dot_07_bar__plus_00_dot_01_bar__plus_01_dot_56 loc_bar_4_bar_8_bar_2_bar_60)\n (objectAtLocation Chair_bar__plus_01_dot_56_bar__plus_00_dot_01_bar__plus_01_dot_36 loc_bar_6_bar_7_bar_2_bar_60)\n (objectAtLocation Pan_bar__minus_02_dot_59_bar__plus_00_dot_90_bar__minus_01_dot_15 loc_bar_2_bar__minus_2_bar_2_bar_45)\n (objectAtLocation Apple_bar__plus_00_dot_35_bar__plus_01_dot_06_bar__minus_01_dot_28 loc_bar_1_bar__minus_2_bar_2_bar_45)\n (objectAtLocation LightSwitch_bar__minus_01_dot_17_bar__plus_01_dot_31_bar__plus_03_dot_00 loc_bar__minus_5_bar_10_bar_0_bar_30)\n (objectAtLocation StoveKnob_bar__minus_02_dot_43_bar__plus_00_dot_86_bar__minus_00_dot_62 loc_bar__minus_8_bar__minus_2_bar_3_bar_60)\n (objectAtLocation StoveKnob_bar__minus_02_dot_43_bar__plus_00_dot_86_bar__minus_00_dot_48 loc_bar__minus_8_bar__minus_2_bar_3_bar_60)\n (objectAtLocation StoveKnob_bar__minus_02_dot_43_bar__plus_00_dot_86_bar__minus_00_dot_78 loc_bar__minus_8_bar__minus_2_bar_3_bar_60)\n (objectAtLocation StoveKnob_bar__minus_02_dot_43_bar__plus_00_dot_86_bar__minus_00_dot_32 loc_bar__minus_8_bar__minus_1_bar_3_bar_60)\n (objectAtLocation Fork_bar__minus_02_dot_03_bar__plus_00_dot_75_bar__minus_00_dot_97 loc_bar__minus_8_bar__minus_2_bar_2_bar_60)\n (objectAtLocation Kettle_bar__minus_02_dot_52_bar__plus_00_dot_12_bar__plus_00_dot_24 loc_bar__minus_6_bar_1_bar_3_bar_60)\n (objectAtLocation CreditCard_bar__minus_02_dot_59_bar__plus_00_dot_74_bar__minus_00_dot_03 loc_bar__minus_6_bar__minus_1_bar_3_bar_45)\n (objectAtLocation Bread_bar__plus_00_dot_92_bar__plus_00_dot_97_bar__minus_01_dot_03 loc_bar_2_bar__minus_2_bar_2_bar_45)\n (objectAtLocation Plate_bar__minus_02_dot_84_bar__plus_00_dot_91_bar__minus_01_dot_28 loc_bar_2_bar__minus_2_bar_2_bar_45)\n (objectAtLocation SoapBottle_bar__minus_00_dot_19_bar__plus_01_dot_11_bar__plus_01_dot_46 loc_bar__minus_2_bar_6_bar_1_bar_15)\n (objectAtLocation Window_bar__plus_00_dot_32_bar__plus_01_dot_45_bar__plus_03_dot_09 loc_bar_1_bar_10_bar_0_bar_15)\n (objectAtLocation Spatula_bar__minus_00_dot_04_bar__plus_01_dot_13_bar__plus_01_dot_84 loc_bar__minus_2_bar_6_bar_1_bar_15)\n (objectAtLocation Lettuce_bar__minus_02_dot_80_bar__plus_01_dot_75_bar__plus_01_dot_01 loc_bar__minus_7_bar_3_bar_3_bar_60)\n (objectAtLocation SaltShaker_bar__minus_02_dot_70_bar__plus_01_dot_66_bar__minus_01_dot_12 loc_bar__minus_6_bar__minus_2_bar_3_bar__minus_15)\n (objectAtLocation Tomato_bar__plus_00_dot_20_bar__plus_01_dot_15_bar__plus_01_dot_06 loc_bar__minus_2_bar_6_bar_1_bar_15)\n (objectAtLocation PepperShaker_bar__minus_01_dot_63_bar__plus_00_dot_11_bar__minus_01_dot_11 loc_bar__minus_8_bar_0_bar_2_bar_45)\n (objectAtLocation ButterKnife_bar__minus_02_dot_22_bar__plus_00_dot_90_bar__minus_01_dot_00 loc_bar_2_bar__minus_2_bar_2_bar_45)\n (objectAtLocation Pot_bar__minus_02_dot_82_bar__plus_00_dot_93_bar__minus_00_dot_40 loc_bar__minus_8_bar__minus_2_bar_3_bar_45)\n (objectAtLocation Potato_bar__minus_00_dot_60_bar__plus_00_dot_93_bar__minus_01_dot_12 loc_bar_2_bar__minus_2_bar_2_bar_45)\n (objectAtLocation DishSponge_bar__minus_01_dot_99_bar__plus_00_dot_75_bar__minus_01_dot_05 loc_bar__minus_8_bar__minus_2_bar_2_bar_60)\n (objectAtLocation Egg_bar__plus_00_dot_45_bar__plus_01_dot_04_bar__minus_01_dot_25 loc_bar_1_bar__minus_2_bar_2_bar_45)\n (objectAtLocation Spoon_bar__minus_00_dot_16_bar__plus_00_dot_90_bar__minus_01_dot_02 loc_bar_2_bar__minus_2_bar_2_bar_45)\n (objectAtLocation Knife_bar__plus_00_dot_06_bar__plus_01_dot_11_bar__plus_01_dot_59 loc_bar__minus_2_bar_6_bar_1_bar_15)\n (objectAtLocation Cup_bar__minus_02_dot_68_bar__plus_00_dot_82_bar__plus_01_dot_09 loc_bar__minus_7_bar_3_bar_3_bar_60)\n (objectAtLocation Mug_bar__plus_00_dot_37_bar__plus_01_dot_65_bar__minus_01_dot_35 loc_bar_2_bar__minus_2_bar_2_bar__minus_30)\n (objectAtLocation Bowl_bar__minus_02_dot_05_bar__plus_00_dot_90_bar__minus_01_dot_16 loc_bar_2_bar__minus_2_bar_2_bar_45)\n )\n \n\n (:goal\n (and\n (exists (?r - receptacle)\n (exists (?o - object)\n (and\n (cleanable ?o)\n (objectType ?o PanType)\n (receptacleType ?r CounterTopType)\n (isClean ?o)\n (inReceptacle ?o ?r)\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to countertop 2", "take pan 1 from countertop 2", "go to sinkbasin 1", "clean pan 1 with sinkbasin 1", "go to countertop 2", "move pan 1 to countertop 2"]}
|
alfworld__pick_and_place_simple__779
|
pick_and_place_simple
|
pick_and_place_simple-CellPhone-None-ArmChair-321/trial_T20190906_200534_135586/game.tw-pddl
|
{"pddl_domain": ";; Specification in PDDL of the Alfred domain\n;; Intended to be used with Fast Downward which supports PDDL 2.2 level 1 plus the :action-costs requirement from PDDL 3.1.\n\n(define (domain alfred)\n (:requirements\n :adl\n :action-costs\n :typing\n )\n (:types\n agent\n location\n receptacle\n object\n rtype\n otype\n )\n\n\n (:predicates\n (atLocation ?a - agent ?l - location) ; true if the agent is at the location\n (receptacleAtLocation ?r - receptacle ?l - location) ; true if the receptacle is at the location (constant)\n (objectAtLocation ?o - object ?l - location) ; true if the object is at the location\n (openable ?r - receptacle) ; true if a receptacle is openable\n (opened ?r - receptacle) ; true if a receptacle is opened\n (inReceptacle ?o - object ?r - receptacle) ; object ?o is in receptacle ?r\n (isReceptacleObject ?o - object) ; true if the object can have things put inside it\n (inReceptacleObject ?innerObject - object ?outerObject - object) ; object ?innerObject is inside object ?outerObject\n (isReceptacleObjectFull ?o - object) ; true if the receptacle object contains something\n (wasInReceptacle ?o - object ?r - receptacle) ; object ?o was or is in receptacle ?r now or some time in the past\n (checked ?r - receptacle) ; whether the receptacle has been looked inside/visited\n (examined ?l - location) ; TODO\n (receptacleType ?r - receptacle ?t - rtype) ; the type of receptacle (Cabinet vs Cabinet|01|2...)\n (canContain ?rt - rtype ?ot - otype) ; true if receptacle can hold object\n (objectType ?o - object ?t - otype) ; the type of object (Apple vs Apple|01|2...)\n (holds ?a - agent ?o - object) ; object ?o is held by agent ?a\n (holdsAny ?a - agent) ; agent ?a holds an object\n (holdsAnyReceptacleObject ?a - agent) ; agent ?a holds a receptacle object\n (full ?r - receptacle) ; true if the receptacle has no remaining space\n (isClean ?o - object) ; true if the object has been clean in sink\n (cleanable ?o - object) ; true if the object can be placed in a sink\n (isHot ?o - object) ; true if the object has been heated up\n (heatable ?o - object) ; true if the object can be heated up in a microwave\n (isCool ?o - object) ; true if the object has been cooled\n (coolable ?o - object) ; true if the object can be cooled in the fridge\n (pickupable ?o - object) ; true if the object can be picked up\n (moveable ?o - object) ; true if the object can be moved\n (toggleable ?o - object) ; true if the object can be turned on/off\n (isOn ?o - object) ; true if the object is on\n (isToggled ?o - object) ; true if the object has been toggled\n (sliceable ?o - object) ; true if the object can be sliced\n (isSliced ?o - object) ; true if the object is sliced\n )\n\n (:functions\n (distance ?from ?to)\n (total-cost) - number\n )\n\n;; All actions are specified such that the final arguments are the ones used\n;; for performing actions in Unity.\n\n\n(:action look\n :parameters (?a - agent ?l - location)\n :precondition\n (and\n (atLocation ?a ?l)\n )\n :effect\n (and\n (checked ?l)\n )\n)\n\n(:action inventory\n :parameters (?a - agent)\n :precondition\n ()\n :effect\n (and\n (checked ?a)\n )\n)\n\n(:action examineReceptacle\n :parameters (?a - agent ?r - receptacle)\n :precondition\n (and\n (exists (?l - location)\n (and\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n )\n )\n )\n :effect\n (and\n (checked ?r)\n )\n)\n\n(:action examineObject\n :parameters (?a - agent ?o - object)\n :precondition\n (or\n ;(exists (?l - location)\n ; (and\n ; (atLocation ?a ?l)\n ; (objectAtLocation ?o ?l)\n ; )\n ;)\n (exists (?l - location, ?r - receptacle)\n (and\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n ; (objectAtLocation ?o ?l)\n (inReceptacle ?o ?r)\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n )\n )\n (holds ?a ?o)\n )\n :effect\n (and\n (checked ?o)\n )\n)\n\n;; agent goes to receptacle\n (:action GotoLocation\n :parameters (?a - agent ?lStart - location ?lEnd - location ?r - receptacle)\n :precondition (and\n (atLocation ?a ?lStart)\n (receptacleAtLocation ?r ?lEnd)\n ;(exists (?r - receptacle) (receptacleAtLocation ?r ?lEnd))\n )\n :effect (and\n (not (atLocation ?a ?lStart))\n (atLocation ?a ?lEnd)\n ; (forall (?r - receptacle)\n ; (when (and (receptacleAtLocation ?r ?lEnd)\n ; (or (not (openable ?r)) (opened ?r)))\n ; (checked ?r)\n ; )\n ; )\n ; (increase (total-cost) (distance ?lStart ?lEnd))\n (increase (total-cost) 1)\n )\n )\n\n;; agent opens receptacle\n (:action OpenObject\n :parameters (?a - agent ?l - location ?r - receptacle)\n :precondition (and\n (openable ?r)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (not (opened ?r))\n )\n :effect (and\n (opened ?r)\n (checked ?r)\n (increase (total-cost) 1)\n )\n )\n;; agent closes receptacle\n (:action CloseObject\n :parameters (?a - agent ?l - location ?r - receptacle)\n :precondition (and\n (openable ?r)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (opened ?r)\n )\n :effect (and\n (not (opened ?r))\n (increase (total-cost) 1)\n )\n\n )\n\n ;; agent picks up object from a receptacle\n (:action PickupObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n :precondition\n (and\n (pickupable ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n ; (objectAtLocation ?o ?l)\n (inReceptacle ?o ?r)\n (not (holdsAny ?a)) ; agent's hands are empty.\n ;(not (holdsAnyReceptacleObject ?a))\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n ;(not (isReceptacleObject ?o))\n )\n :effect\n (and\n (not (inReceptacle ?o ?r))\n (holds ?a ?o)\n (holdsAny ?a)\n (not (objectAtLocation ?o ?l))\n ;(not (full ?r))\n (increase (total-cost) 1)\n )\n )\n\n\n; ;; agent picks up object from a receptacle\n; (:action PickupObjectFromReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?outerR - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (inReceptacle ?o ?r)\n; (pickupable ?o)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (not (isReceptacleObject ?o))\n; (isReceptacleObject ?outerR)\n; (inReceptacleObject ?o ?outerR)\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (holds ?a ?o)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n;\n; (not (inReceptacleObject ?o ?outerR))\n; (not (isReceptacleObjectFull ?outerR))\n; )\n; )\n;\n; ;; agent picks up object from a receptacle\n; (:action PickupEmptyReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; ; (objectAtLocation ?o ?l)\n; (inReceptacle ?o ?r)\n; (pickupable ?o)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (isReceptacleObject ?o)\n; (not (isReceptacleObjectFull ?o))\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (holds ?a ?o)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n; (holdsAnyReceptacleObject ?a)\n; )\n; )\n;\n; ;; agent picks up object from a receptacle\n; (:action PickupFullReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?outerR - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (inReceptacle ?outerR ?r)\n; (pickupable ?outerR)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (not (isReceptacleObject ?o))\n; (isReceptacleObject ?outerR)\n; (inReceptacleObject ?o ?outerR)\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (not (inReceptacle ?outerR ?r))\n; (holds ?a ?outerR)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (objectAtLocation ?outerR ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n; (holdsAnyReceptacleObject ?a)\n; )\n; )\n\n\n;; agent puts down an object\n (:action PutObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle ?ot - otype ?rt - rtype)\n :precondition (and\n (holds ?a ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable\n ;(not (full ?r))\n (objectType ?o ?ot)\n (receptacleType ?r ?rt)\n (canContain ?rt ?ot)\n ;(not (holdsAnyReceptacleObject ?a))\n )\n :effect (and\n (inReceptacle ?o ?r)\n (objectAtLocation ?o ?l)\n ;(full ?r)\n (not (holds ?a ?o))\n (not (holdsAny ?a))\n (increase (total-cost) 1)\n )\n )\n\n;;; agent puts down an object\n; (:action PutObjectInReceptacleObject\n; :parameters (?a - agent ?l - location ?ot - otype ?o - object ?outerO - object ?outerR - receptacle)\n; :precondition (and\n; (atLocation ?a ?l)\n; (objectAtLocation ?outerO ?l)\n; (isReceptacleObject ?outerO)\n; (not (isReceptacleObject ?o))\n; (objectType ?o ?ot)\n; (holds ?a ?o)\n; (not (holdsAnyReceptacleObject ?a))\n; (inReceptacle ?outerO ?outerR)\n; (not (isReceptacleObjectFull ?outerO))\n; )\n; :effect (and\n; (inReceptacleObject ?o ?outerO)\n; (inReceptacle ?o ?outerR)\n; (not (holds ?a ?o))\n; (not (holdsAny ?a))\n; (objectAtLocation ?o ?l)\n; (isReceptacleObjectFull ?outerO)\n; (increase (total-cost) 1)\n; )\n; )\n;\n;;; agent puts down an object\n; (:action PutEmptyReceptacleObjectinReceptacle\n; :parameters (?a - agent ?l - location ?ot - otype ?o - object ?r - receptacle)\n; :precondition (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable\n; (not (full ?r))\n; (objectType ?o ?ot)\n; (holds ?a ?o)\n; (holdsAnyReceptacleObject ?a)\n; (isReceptacleObject ?o)\n; (not (isReceptacleObjectFull ?o))\n; )\n; :effect (and\n; (inReceptacle ?o ?r)\n; (objectAtLocation ?o ?l)\n; (full ?r)\n; (not (holds ?a ?o))\n; (not (holdsAny ?a))\n; (not (holdsAnyReceptacleObject ?a))\n; (increase (total-cost) 1)\n; )\n; )\n;\n;;; agent puts down a receptacle object in a receptacle\n; (:action PutFullReceptacleObjectInReceptacle\n; :parameters (?a - agent ?l - location ?ot - otype ?innerO - object ?outerO - object ?r - receptacle) ; ?rt - rtype)\n; :precondition (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (objectType ?outerO ?ot)\n; (holds ?a ?outerO)\n; (holdsAnyReceptacleObject ?a)\n; (isReceptacleObject ?outerO)\n; (isReceptacleObjectFull ?outerO)\n; (inReceptacleObject ?innerO ?outerO)\n; )\n; :effect (and\n; (not (holdsAny ?a))\n; (not (holdsAnyReceptacleObject ?a))\n; (objectAtLocation ?outerO ?l)\n; (objectAtLocation ?innerO ?l)\n; (inReceptacle ?outerO ?r)\n; (inReceptacle ?innerO ?r)\n; (not (holds ?a ?outerO))\n; (increase (total-cost) 1)\n; )\n; )\n\n;; agent cleans some object\n (:action CleanObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (cleanable ?o)\n (or\n (receptacleType ?r SinkType)\n (receptacleType ?r SinkBasinType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isClean ?o)\n )\n )\n\n\n;; agent heats-up some object\n (:action HeatObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (heatable ?o)\n (or\n (receptacleType ?r MicrowaveType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isHot ?o)\n (not (isCool ?o))\n )\n )\n\n;; agent cools some object\n (:action CoolObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (coolable ?o)\n (or\n (receptacleType ?r FridgeType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isCool ?o)\n (not (isHot ?o))\n )\n )\n\n\n;; agent toggle object\n (:action ToggleObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n :precondition (and\n (toggleable ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (inReceptacle ?o ?r)\n )\n :effect (and\n (increase (total-cost) 5)\n (when (isOn ?o)\n (not (isOn ?o)))\n (when (not (isOn ?o))\n (isOn ?o))\n (isToggled ?o)\n )\n )\n\n\n;; agent slices some object with a knife\n (:action SliceObject\n :parameters (?a - agent ?l - location ?co - object ?ko - object)\n :precondition\n (and\n (sliceable ?co)\n (or\n (objectType ?ko KnifeType)\n (objectType ?ko ButterKnifeType)\n )\n (atLocation ?a ?l)\n (objectAtLocation ?co ?l)\n (holds ?a ?ko)\n )\n :effect (and\n (increase (total-cost) 5)\n (isSliced ?co)\n )\n )\n\n\n(:action help\n :parameters (?a - agent)\n :precondition\n ()\n :effect\n (and\n (checked ?a)\n )\n)\n)\n", "grammar": "grammar :: \"\"\"\n {\n \"intro\": [\n {\n \"rhs\": \"-= Welcome to TextWorld, ALFRED! =-\\n\\n#look.feedback#\\n\\n#task#\"\n }\n ],\n\n \"notImplemented\": [\n {\n \"rhs\": \"TODO\"\n }\n ],\n\n \"task\": [\n {\n \"rhs\": \"Your task is to: put some cellphone on 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_T20190906_200534_135586)\n(:domain alfred)\n(:objects\nagent1 - agent\nSaltShaker - object\n HousePlant - object\n Candle - object\n SprayBottle - object\n Bowl - object\n Window - object\n CD - object\n Egg - object\n Glassbottle - object\n Sink - object\n Pillow - object\n Spoon - object\n SoapBottle - object\n TeddyBear - object\n ButterKnife - object\n Cup - object\n Plate - object\n RemoteControl - object\n Tomato - object\n Statue - object\n HandTowel - object\n Knife - object\n StoveKnob - object\n LightSwitch - object\n Pen - object\n Painting - object\n DishSponge - object\n Vase - object\n Mug - object\n ToiletPaper - object\n Box - object\n Mirror - object\n Ladle - object\n Fork - object\n Blinds - object\n Footstool - object\n KeyChain - object\n Cloth - object\n Laptop - object\n TissueBox - object\n PepperShaker - object\n FloorLamp - object\n WateringCan - object\n Apple - object\n Pan - object\n PaperTowel - object\n PaperTowelRoll - object\n Newspaper - object\n Television - object\n Chair - object\n CellPhone - object\n CreditCard - object\n Lettuce - object\n BasketBall - object\n Potato - object\n Curtains - object\n Boots - object\n Pencil - object\n AlarmClock - object\n ToiletPaperRoll - object\n Spatula - object\n Book - object\n Bread - object\n SoapBar - object\n Watch - object\n DeskLamp - object\n Kettle - object\n Pot - object\n ScrubBrush - object\n WineBottle - object\n ShowerDoor - object\n Bathtub - object\n LaundryHamperLid - object\n ShowerGlass - object\n Poster - object\n TennisRacket - object\n BaseballBat - object\n Towel - object\n Plunger - object\nSaltShakerType - otype\n HousePlantType - otype\n CandleType - otype\n SprayBottleType - otype\n BowlType - otype\n WindowType - otype\n CDType - otype\n EggType - otype\n GlassbottleType - otype\n SinkType - otype\n PillowType - otype\n SpoonType - otype\n SoapBottleType - otype\n TeddyBearType - otype\n ButterKnifeType - otype\n CupType - otype\n PlateType - otype\n RemoteControlType - otype\n TomatoType - otype\n StatueType - otype\n HandTowelType - otype\n KnifeType - otype\n StoveKnobType - otype\n LightSwitchType - otype\n PenType - otype\n PaintingType - otype\n DishSpongeType - otype\n VaseType - otype\n MugType - otype\n ToiletPaperType - otype\n BoxType - otype\n MirrorType - otype\n LadleType - otype\n ForkType - otype\n BlindsType - otype\n FootstoolType - otype\n KeyChainType - otype\n ClothType - otype\n LaptopType - otype\n TissueBoxType - otype\n PepperShakerType - otype\n FloorLampType - otype\n WateringCanType - otype\n AppleType - otype\n PanType - otype\n PaperTowelType - otype\n PaperTowelRollType - otype\n NewspaperType - otype\n TelevisionType - otype\n ChairType - otype\n CellPhoneType - otype\n CreditCardType - otype\n LettuceType - otype\n BasketBallType - otype\n PotatoType - otype\n CurtainsType - otype\n BootsType - otype\n PencilType - otype\n AlarmClockType - otype\n ToiletPaperRollType - otype\n SpatulaType - otype\n BookType - otype\n BreadType - otype\n SoapBarType - otype\n WatchType - otype\n DeskLampType - otype\n KettleType - otype\n PotType - otype\n ScrubBrushType - otype\n WineBottleType - otype\n ShowerDoorType - otype\n BathtubType - otype\n LaundryHamperLidType - otype\n ShowerGlassType - otype\n PosterType - otype\n TennisRacketType - otype\n BaseballBatType - otype\n TowelType - otype\n PlungerType - otype\nSafeType - rtype\n DrawerType - rtype\n CoffeeMachineType - rtype\n HandTowelHolderType - rtype\n SinkBasinType - rtype\n DresserType - rtype\n LaundryHamperType - rtype\n TVStandType - rtype\n BathtubBasinType - rtype\n CabinetType - rtype\n FridgeType - rtype\n DeskType - rtype\n ToiletType - rtype\n CartType - rtype\n SideTableType - rtype\n SofaType - rtype\n CoffeeTableType - rtype\n DiningTableType - rtype\n CounterTopType - rtype\n GarbageCanType - rtype\n ArmChairType - rtype\n ShelfType - rtype\n MicrowaveType - rtype\n ToasterType - rtype\n BedType - rtype\n PaintingHangerType - rtype\n TowelHolderType - rtype\n ToiletPaperHangerType - rtype\n StoveBurnerType - rtype\n OttomanType - rtype\n\n\n AlarmClock_bar__plus_03_dot_70_bar__plus_00_dot_78_bar__minus_01_dot_86 - object\n Blinds_bar__plus_02_dot_30_bar__plus_02_dot_53_bar__minus_02_dot_89 - object\n Book_bar__plus_01_dot_37_bar__plus_00_dot_60_bar__plus_00_dot_72 - object\n Book_bar__plus_01_dot_58_bar__plus_00_dot_60_bar__minus_00_dot_43 - object\n Book_bar__plus_02_dot_96_bar__plus_00_dot_77_bar__minus_01_dot_50 - object\n CD_bar__plus_00_dot_32_bar__plus_00_dot_70_bar__minus_01_dot_19 - object\n CD_bar__plus_00_dot_33_bar__plus_00_dot_61_bar__minus_00_dot_86 - object\n CD_bar__plus_03_dot_61_bar__plus_00_dot_05_bar__minus_01_dot_04 - object\n CellPhone_bar__plus_00_dot_23_bar__plus_00_dot_71_bar__plus_01_dot_21 - object\n CellPhone_bar__plus_00_dot_23_bar__plus_00_dot_71_bar__minus_01_dot_27 - object\n CellPhone_bar__plus_01_dot_58_bar__plus_00_dot_60_bar__plus_00_dot_34 - object\n CellPhone_bar__plus_03_dot_24_bar__plus_00_dot_78_bar__minus_01_dot_50 - object\n Chair_bar__plus_03_dot_23_bar_00_dot_00_bar__minus_01_dot_87 - object\n CreditCard_bar__plus_00_dot_33_bar__plus_00_dot_62_bar__plus_01_dot_45 - object\n CreditCard_bar__plus_00_dot_33_bar__plus_00_dot_62_bar__plus_01_dot_53 - object\n CreditCard_bar__plus_03_dot_70_bar__plus_00_dot_78_bar__minus_01_dot_68 - object\n KeyChain_bar__plus_00_dot_29_bar__plus_00_dot_62_bar__minus_01_dot_09 - object\n KeyChain_bar__plus_03_dot_24_bar__plus_00_dot_78_bar__minus_01_dot_59 - object\n KeyChain_bar__plus_03_dot_55_bar__plus_00_dot_78_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_00_dot_97_bar__plus_00_dot_59_bar__minus_00_dot_43 - object\n LightSwitch_bar__plus_01_dot_81_bar__plus_01_dot_17_bar__plus_01_dot_70 - object\n Mirror_bar__plus_01_dot_08_bar__plus_01_dot_23_bar__plus_01_dot_70 - object\n Painting_bar__plus_00_dot_10_bar__plus_01_dot_43_bar__minus_02_dot_05 - object\n Pencil_bar__plus_03_dot_24_bar__plus_00_dot_78_bar__minus_01_dot_77 - object\n Pencil_bar__plus_03_dot_39_bar__plus_00_dot_78_bar__minus_01_dot_86 - object\n Pen_bar__plus_00_dot_32_bar__plus_00_dot_71_bar__plus_01_dot_21 - object\n Pen_bar__plus_03_dot_55_bar__plus_00_dot_78_bar__minus_01_dot_32 - object\n Pen_bar__plus_03_dot_55_bar__plus_00_dot_78_bar__minus_01_dot_50 - 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__minus_00_dot_05 - object\n Pillow_bar__plus_01_dot_37_bar__plus_00_dot_68_bar__plus_00_dot_15 - object\n TissueBox_bar__plus_00_dot_23_bar__plus_00_dot_71_bar__plus_01_dot_38 - object\n TissueBox_bar__plus_02_dot_78_bar__plus_00_dot_78_bar__minus_01_dot_32 - object\n TissueBox_bar__plus_03_dot_08_bar__plus_00_dot_78_bar__minus_01_dot_86 - object\n Window_bar__plus_02_dot_27_bar__plus_01_dot_55_bar__minus_02_dot_92 - object\n ArmChair_bar__plus_00_dot_70_bar__plus_00_dot_01_bar__minus_02_dot_27 - receptacle\n Bed_bar__plus_00_dot_94_bar__plus_00_dot_00_bar__plus_00_dot_15 - receptacle\n DiningTable_bar__plus_03_dot_24_bar__minus_00_dot_01_bar__minus_01_dot_59 - receptacle\n Drawer_bar__plus_00_dot_34_bar__plus_00_dot_62_bar__plus_01_dot_30 - receptacle\n Drawer_bar__plus_00_dot_34_bar__plus_00_dot_62_bar__minus_01_dot_02 - receptacle\n GarbageCan_bar__plus_03_dot_64_bar__plus_00_dot_00_bar__minus_00_dot_98 - receptacle\n SideTable_bar__plus_00_dot_28_bar__plus_00_dot_00_bar__plus_01_dot_30 - receptacle\n SideTable_bar__plus_00_dot_28_bar__plus_00_dot_00_bar__minus_01_dot_02 - receptacle\n loc_bar_4_bar__minus_4_bar_3_bar_60 - location\n loc_bar_7_bar_5_bar_3_bar_30 - location\n loc_bar_11_bar_1_bar_3_bar_45 - location\n loc_bar_3_bar_5_bar_0_bar_45 - location\n loc_bar_9_bar__minus_9_bar_2_bar__minus_30 - location\n loc_bar_9_bar__minus_9_bar_2_bar_15 - location\n loc_bar_11_bar__minus_9_bar_1_bar_60 - location\n loc_bar_13_bar__minus_3_bar_1_bar_60 - location\n loc_bar_7_bar__minus_8_bar_3_bar_60 - location\n loc_bar_3_bar_5_bar_3_bar_60 - location\n loc_bar_6_bar__minus_8_bar_3_bar_15 - location\n loc_bar_7_bar_5_bar_0_bar_45 - location\n loc_bar_13_bar__minus_3_bar_2_bar_60 - location\n loc_bar_10_bar__minus_4_bar_3_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_00_dot_33_bar__plus_00_dot_62_bar__plus_01_dot_53 CreditCardType)\n (objectType Pillow_bar__plus_00_dot_46_bar__plus_00_dot_64_bar__plus_00_dot_41 PillowType)\n (objectType KeyChain_bar__plus_03_dot_24_bar__plus_00_dot_78_bar__minus_01_dot_59 KeyChainType)\n (objectType LightSwitch_bar__plus_01_dot_81_bar__plus_01_dot_17_bar__plus_01_dot_70 LightSwitchType)\n (objectType CellPhone_bar__plus_00_dot_23_bar__plus_00_dot_71_bar__minus_01_dot_27 CellPhoneType)\n (objectType Pencil_bar__plus_03_dot_24_bar__plus_00_dot_78_bar__minus_01_dot_77 PencilType)\n (objectType CD_bar__plus_00_dot_32_bar__plus_00_dot_70_bar__minus_01_dot_19 CDType)\n (objectType KeyChain_bar__plus_00_dot_29_bar__plus_00_dot_62_bar__minus_01_dot_09 KeyChainType)\n (objectType Book_bar__plus_01_dot_37_bar__plus_00_dot_60_bar__plus_00_dot_72 BookType)\n (objectType Book_bar__plus_01_dot_58_bar__plus_00_dot_60_bar__minus_00_dot_43 BookType)\n (objectType Pen_bar__plus_03_dot_55_bar__plus_00_dot_78_bar__minus_01_dot_50 PenType)\n (objectType Mirror_bar__plus_01_dot_08_bar__plus_01_dot_23_bar__plus_01_dot_70 MirrorType)\n (objectType Chair_bar__plus_03_dot_23_bar_00_dot_00_bar__minus_01_dot_87 ChairType)\n (objectType CreditCard_bar__plus_03_dot_70_bar__plus_00_dot_78_bar__minus_01_dot_68 CreditCardType)\n (objectType CellPhone_bar__plus_01_dot_58_bar__plus_00_dot_60_bar__plus_00_dot_34 CellPhoneType)\n (objectType Pillow_bar__plus_01_dot_37_bar__plus_00_dot_68_bar__plus_00_dot_15 PillowType)\n (objectType TissueBox_bar__plus_03_dot_08_bar__plus_00_dot_78_bar__minus_01_dot_86 TissueBoxType)\n (objectType Pillow_bar__plus_00_dot_97_bar__plus_00_dot_68_bar__minus_00_dot_05 PillowType)\n (objectType Pencil_bar__plus_03_dot_39_bar__plus_00_dot_78_bar__minus_01_dot_86 PencilType)\n (objectType KeyChain_bar__plus_03_dot_55_bar__plus_00_dot_78_bar__minus_01_dot_86 KeyChainType)\n (objectType Pen_bar__plus_00_dot_32_bar__plus_00_dot_71_bar__plus_01_dot_21 PenType)\n (objectType AlarmClock_bar__plus_03_dot_70_bar__plus_00_dot_78_bar__minus_01_dot_86 AlarmClockType)\n (objectType CD_bar__plus_00_dot_33_bar__plus_00_dot_61_bar__minus_00_dot_86 CDType)\n (objectType CellPhone_bar__plus_00_dot_23_bar__plus_00_dot_71_bar__plus_01_dot_21 CellPhoneType)\n (objectType Book_bar__plus_02_dot_96_bar__plus_00_dot_77_bar__minus_01_dot_50 BookType)\n (objectType TissueBox_bar__plus_00_dot_23_bar__plus_00_dot_71_bar__plus_01_dot_38 TissueBoxType)\n (objectType Window_bar__plus_02_dot_27_bar__plus_01_dot_55_bar__minus_02_dot_92 WindowType)\n (objectType TissueBox_bar__plus_02_dot_78_bar__plus_00_dot_78_bar__minus_01_dot_32 TissueBoxType)\n (objectType Blinds_bar__plus_02_dot_30_bar__plus_02_dot_53_bar__minus_02_dot_89 BlindsType)\n (objectType Painting_bar__plus_00_dot_10_bar__plus_01_dot_43_bar__minus_02_dot_05 PaintingType)\n (objectType CellPhone_bar__plus_03_dot_24_bar__plus_00_dot_78_bar__minus_01_dot_50 CellPhoneType)\n (objectType CreditCard_bar__plus_00_dot_33_bar__plus_00_dot_62_bar__plus_01_dot_45 CreditCardType)\n (objectType CD_bar__plus_03_dot_61_bar__plus_00_dot_05_bar__minus_01_dot_04 CDType)\n (objectType Laptop_bar__plus_00_dot_97_bar__plus_00_dot_59_bar__minus_00_dot_43 LaptopType)\n (objectType Pen_bar__plus_03_dot_55_bar__plus_00_dot_78_bar__minus_01_dot_32 PenType)\n (canContain DrawerType PenType)\n (canContain DrawerType BookType)\n (canContain DrawerType CDType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType PencilType)\n (canContain 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_00_dot_33_bar__plus_00_dot_62_bar__plus_01_dot_53)\n (pickupable Pillow_bar__plus_00_dot_46_bar__plus_00_dot_64_bar__plus_00_dot_41)\n (pickupable KeyChain_bar__plus_03_dot_24_bar__plus_00_dot_78_bar__minus_01_dot_59)\n (pickupable CellPhone_bar__plus_00_dot_23_bar__plus_00_dot_71_bar__minus_01_dot_27)\n (pickupable Pencil_bar__plus_03_dot_24_bar__plus_00_dot_78_bar__minus_01_dot_77)\n (pickupable CD_bar__plus_00_dot_32_bar__plus_00_dot_70_bar__minus_01_dot_19)\n (pickupable KeyChain_bar__plus_00_dot_29_bar__plus_00_dot_62_bar__minus_01_dot_09)\n (pickupable Book_bar__plus_01_dot_37_bar__plus_00_dot_60_bar__plus_00_dot_72)\n (pickupable Book_bar__plus_01_dot_58_bar__plus_00_dot_60_bar__minus_00_dot_43)\n (pickupable Pen_bar__plus_03_dot_55_bar__plus_00_dot_78_bar__minus_01_dot_50)\n (pickupable CreditCard_bar__plus_03_dot_70_bar__plus_00_dot_78_bar__minus_01_dot_68)\n (pickupable CellPhone_bar__plus_01_dot_58_bar__plus_00_dot_60_bar__plus_00_dot_34)\n (pickupable Pillow_bar__plus_01_dot_37_bar__plus_00_dot_68_bar__plus_00_dot_15)\n (pickupable TissueBox_bar__plus_03_dot_08_bar__plus_00_dot_78_bar__minus_01_dot_86)\n (pickupable Pillow_bar__plus_00_dot_97_bar__plus_00_dot_68_bar__minus_00_dot_05)\n (pickupable Pencil_bar__plus_03_dot_39_bar__plus_00_dot_78_bar__minus_01_dot_86)\n (pickupable KeyChain_bar__plus_03_dot_55_bar__plus_00_dot_78_bar__minus_01_dot_86)\n (pickupable Pen_bar__plus_00_dot_32_bar__plus_00_dot_71_bar__plus_01_dot_21)\n (pickupable AlarmClock_bar__plus_03_dot_70_bar__plus_00_dot_78_bar__minus_01_dot_86)\n (pickupable CD_bar__plus_00_dot_33_bar__plus_00_dot_61_bar__minus_00_dot_86)\n (pickupable CellPhone_bar__plus_00_dot_23_bar__plus_00_dot_71_bar__plus_01_dot_21)\n (pickupable Book_bar__plus_02_dot_96_bar__plus_00_dot_77_bar__minus_01_dot_50)\n (pickupable TissueBox_bar__plus_00_dot_23_bar__plus_00_dot_71_bar__plus_01_dot_38)\n (pickupable TissueBox_bar__plus_02_dot_78_bar__plus_00_dot_78_bar__minus_01_dot_32)\n (pickupable CellPhone_bar__plus_03_dot_24_bar__plus_00_dot_78_bar__minus_01_dot_50)\n (pickupable CreditCard_bar__plus_00_dot_33_bar__plus_00_dot_62_bar__plus_01_dot_45)\n (pickupable CD_bar__plus_03_dot_61_bar__plus_00_dot_05_bar__minus_01_dot_04)\n (pickupable Laptop_bar__plus_00_dot_97_bar__plus_00_dot_59_bar__minus_00_dot_43)\n (pickupable Pen_bar__plus_03_dot_55_bar__plus_00_dot_78_bar__minus_01_dot_32)\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_10_bar__minus_4_bar_3_bar_30)\n \n \n \n \n \n \n \n \n \n \n \n \n (inReceptacle Pillow_bar__plus_00_dot_46_bar__plus_00_dot_64_bar__plus_00_dot_41 Bed_bar__plus_00_dot_94_bar__plus_00_dot_00_bar__plus_00_dot_15)\n (inReceptacle CellPhone_bar__plus_01_dot_58_bar__plus_00_dot_60_bar__plus_00_dot_34 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_15 Bed_bar__plus_00_dot_94_bar__plus_00_dot_00_bar__plus_00_dot_15)\n (inReceptacle Book_bar__plus_01_dot_37_bar__plus_00_dot_60_bar__plus_00_dot_72 Bed_bar__plus_00_dot_94_bar__plus_00_dot_00_bar__plus_00_dot_15)\n (inReceptacle Book_bar__plus_01_dot_58_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_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 Laptop_bar__plus_00_dot_97_bar__plus_00_dot_59_bar__minus_00_dot_43 Bed_bar__plus_00_dot_94_bar__plus_00_dot_00_bar__plus_00_dot_15)\n (inReceptacle Book_bar__plus_02_dot_96_bar__plus_00_dot_77_bar__minus_01_dot_50 DiningTable_bar__plus_03_dot_24_bar__minus_00_dot_01_bar__minus_01_dot_59)\n (inReceptacle KeyChain_bar__plus_03_dot_24_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 CreditCard_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_24_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 TissueBox_bar__plus_03_dot_08_bar__plus_00_dot_78_bar__minus_01_dot_86 DiningTable_bar__plus_03_dot_24_bar__minus_00_dot_01_bar__minus_01_dot_59)\n (inReceptacle CellPhone_bar__plus_03_dot_24_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 Pen_bar__plus_03_dot_55_bar__plus_00_dot_78_bar__minus_01_dot_50 DiningTable_bar__plus_03_dot_24_bar__minus_00_dot_01_bar__minus_01_dot_59)\n (inReceptacle AlarmClock_bar__plus_03_dot_70_bar__plus_00_dot_78_bar__minus_01_dot_86 DiningTable_bar__plus_03_dot_24_bar__minus_00_dot_01_bar__minus_01_dot_59)\n (inReceptacle Pencil_bar__plus_03_dot_39_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 KeyChain_bar__plus_03_dot_55_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_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_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 CD_bar__plus_03_dot_61_bar__plus_00_dot_05_bar__minus_01_dot_04 GarbageCan_bar__plus_03_dot_64_bar__plus_00_dot_00_bar__minus_00_dot_98)\n (inReceptacle CellPhone_bar__plus_00_dot_23_bar__plus_00_dot_71_bar__plus_01_dot_21 SideTable_bar__plus_00_dot_28_bar__plus_00_dot_00_bar__plus_01_dot_30)\n (inReceptacle TissueBox_bar__plus_00_dot_23_bar__plus_00_dot_71_bar__plus_01_dot_38 SideTable_bar__plus_00_dot_28_bar__plus_00_dot_00_bar__plus_01_dot_30)\n (inReceptacle Pen_bar__plus_00_dot_32_bar__plus_00_dot_71_bar__plus_01_dot_21 SideTable_bar__plus_00_dot_28_bar__plus_00_dot_00_bar__plus_01_dot_30)\n (inReceptacle CD_bar__plus_00_dot_32_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 CellPhone_bar__plus_00_dot_23_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 KeyChain_bar__plus_00_dot_29_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 (inReceptacle CD_bar__plus_00_dot_33_bar__plus_00_dot_61_bar__minus_00_dot_86 Drawer_bar__plus_00_dot_34_bar__plus_00_dot_62_bar__minus_01_dot_02)\n (inReceptacle CreditCard_bar__plus_00_dot_33_bar__plus_00_dot_62_bar__plus_01_dot_53 Drawer_bar__plus_00_dot_34_bar__plus_00_dot_62_bar__plus_01_dot_30)\n (inReceptacle CreditCard_bar__plus_00_dot_33_bar__plus_00_dot_62_bar__plus_01_dot_45 Drawer_bar__plus_00_dot_34_bar__plus_00_dot_62_bar__plus_01_dot_30)\n \n \n (receptacleAtLocation ArmChair_bar__plus_00_dot_70_bar__plus_00_dot_01_bar__minus_02_dot_27 loc_bar_7_bar__minus_8_bar_3_bar_60)\n (receptacleAtLocation Bed_bar__plus_00_dot_94_bar__plus_00_dot_00_bar__plus_00_dot_15 loc_bar_11_bar_1_bar_3_bar_45)\n (receptacleAtLocation DiningTable_bar__plus_03_dot_24_bar__minus_00_dot_01_bar__minus_01_dot_59 loc_bar_13_bar__minus_3_bar_2_bar_60)\n (receptacleAtLocation Drawer_bar__plus_00_dot_34_bar__plus_00_dot_62_bar__plus_01_dot_30 loc_bar_7_bar_5_bar_3_bar_30)\n (receptacleAtLocation Drawer_bar__plus_00_dot_34_bar__plus_00_dot_62_bar__minus_01_dot_02 loc_bar_4_bar__minus_4_bar_3_bar_60)\n (receptacleAtLocation GarbageCan_bar__plus_03_dot_64_bar__plus_00_dot_00_bar__minus_00_dot_98 loc_bar_13_bar__minus_3_bar_1_bar_60)\n (receptacleAtLocation SideTable_bar__plus_00_dot_28_bar__plus_00_dot_00_bar__plus_01_dot_30 loc_bar_3_bar_5_bar_3_bar_60)\n (receptacleAtLocation SideTable_bar__plus_00_dot_28_bar__plus_00_dot_00_bar__minus_01_dot_02 loc_bar_4_bar__minus_4_bar_3_bar_60)\n (objectAtLocation CD_bar__plus_03_dot_61_bar__plus_00_dot_05_bar__minus_01_dot_04 loc_bar_13_bar__minus_3_bar_1_bar_60)\n (objectAtLocation CellPhone_bar__plus_00_dot_23_bar__plus_00_dot_71_bar__minus_01_dot_27 loc_bar_4_bar__minus_4_bar_3_bar_60)\n (objectAtLocation TissueBox_bar__plus_03_dot_08_bar__plus_00_dot_78_bar__minus_01_dot_86 loc_bar_13_bar__minus_3_bar_2_bar_60)\n (objectAtLocation Pencil_bar__plus_03_dot_39_bar__plus_00_dot_78_bar__minus_01_dot_86 loc_bar_13_bar__minus_3_bar_2_bar_60)\n (objectAtLocation Pen_bar__plus_03_dot_55_bar__plus_00_dot_78_bar__minus_01_dot_50 loc_bar_13_bar__minus_3_bar_2_bar_60)\n (objectAtLocation CreditCard_bar__plus_00_dot_33_bar__plus_00_dot_62_bar__plus_01_dot_53 loc_bar_7_bar_5_bar_3_bar_30)\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 KeyChain_bar__plus_03_dot_55_bar__plus_00_dot_78_bar__minus_01_dot_86 loc_bar_13_bar__minus_3_bar_2_bar_60)\n (objectAtLocation Book_bar__plus_02_dot_96_bar__plus_00_dot_77_bar__minus_01_dot_50 loc_bar_13_bar__minus_3_bar_2_bar_60)\n (objectAtLocation Book_bar__plus_01_dot_58_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_29_bar__plus_00_dot_62_bar__minus_01_dot_09 loc_bar_4_bar__minus_4_bar_3_bar_60)\n (objectAtLocation CreditCard_bar__plus_00_dot_33_bar__plus_00_dot_62_bar__plus_01_dot_45 loc_bar_7_bar_5_bar_3_bar_30)\n (objectAtLocation Pen_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_23_bar__plus_00_dot_71_bar__plus_01_dot_21 loc_bar_3_bar_5_bar_3_bar_60)\n (objectAtLocation CellPhone_bar__plus_03_dot_24_bar__plus_00_dot_78_bar__minus_01_dot_50 loc_bar_13_bar__minus_3_bar_2_bar_60)\n (objectAtLocation CD_bar__plus_00_dot_32_bar__plus_00_dot_70_bar__minus_01_dot_19 loc_bar_4_bar__minus_4_bar_3_bar_60)\n (objectAtLocation TissueBox_bar__plus_02_dot_78_bar__plus_00_dot_78_bar__minus_01_dot_32 loc_bar_13_bar__minus_3_bar_2_bar_60)\n (objectAtLocation Mirror_bar__plus_01_dot_08_bar__plus_01_dot_23_bar__plus_01_dot_70 loc_bar_3_bar_5_bar_0_bar_45)\n (objectAtLocation Chair_bar__plus_03_dot_23_bar_00_dot_00_bar__minus_01_dot_87 loc_bar_11_bar__minus_9_bar_1_bar_60)\n (objectAtLocation Book_bar__plus_01_dot_37_bar__plus_00_dot_60_bar__plus_00_dot_72 loc_bar_11_bar_1_bar_3_bar_45)\n (objectAtLocation KeyChain_bar__plus_03_dot_24_bar__plus_00_dot_78_bar__minus_01_dot_59 loc_bar_13_bar__minus_3_bar_2_bar_60)\n (objectAtLocation Pillow_bar__plus_00_dot_46_bar__plus_00_dot_64_bar__plus_00_dot_41 loc_bar_11_bar_1_bar_3_bar_45)\n (objectAtLocation Pillow_bar__plus_01_dot_37_bar__plus_00_dot_68_bar__plus_00_dot_15 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_68 loc_bar_13_bar__minus_3_bar_2_bar_60)\n (objectAtLocation Pen_bar__plus_00_dot_32_bar__plus_00_dot_71_bar__plus_01_dot_21 loc_bar_3_bar_5_bar_3_bar_60)\n (objectAtLocation Pencil_bar__plus_03_dot_24_bar__plus_00_dot_78_bar__minus_01_dot_77 loc_bar_13_bar__minus_3_bar_2_bar_60)\n (objectAtLocation TissueBox_bar__plus_00_dot_23_bar__plus_00_dot_71_bar__plus_01_dot_38 loc_bar_3_bar_5_bar_3_bar_60)\n (objectAtLocation Laptop_bar__plus_00_dot_97_bar__plus_00_dot_59_bar__minus_00_dot_43 loc_bar_11_bar_1_bar_3_bar_45)\n (objectAtLocation CellPhone_bar__plus_01_dot_58_bar__plus_00_dot_60_bar__plus_00_dot_34 loc_bar_11_bar_1_bar_3_bar_45)\n (objectAtLocation AlarmClock_bar__plus_03_dot_70_bar__plus_00_dot_78_bar__minus_01_dot_86 loc_bar_13_bar__minus_3_bar_2_bar_60)\n (objectAtLocation Painting_bar__plus_00_dot_10_bar__plus_01_dot_43_bar__minus_02_dot_05 loc_bar_6_bar__minus_8_bar_3_bar_15)\n (objectAtLocation CD_bar__plus_00_dot_33_bar__plus_00_dot_61_bar__minus_00_dot_86 loc_bar_4_bar__minus_4_bar_3_bar_60)\n (objectAtLocation Window_bar__plus_02_dot_27_bar__plus_01_dot_55_bar__minus_02_dot_92 loc_bar_9_bar__minus_9_bar_2_bar_15)\n (objectAtLocation LightSwitch_bar__plus_01_dot_81_bar__plus_01_dot_17_bar__plus_01_dot_70 loc_bar_7_bar_5_bar_0_bar_45)\n (objectAtLocation Blinds_bar__plus_02_dot_30_bar__plus_02_dot_53_bar__minus_02_dot_89 loc_bar_9_bar__minus_9_bar_2_bar__minus_30)\n )\n \n\n (:goal\n (and\n (exists (?r - receptacle)\n (exists (?o - object)\n (and\n (inReceptacle ?o ?r)\n (objectType ?o CellPhoneType)\n (receptacleType ?r ArmChairType)\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to bed 1", "take cellphone 2 from bed 1", "go to armchair 1", "move cellphone 2 to armchair 1"]}
|
alfworld__pick_and_place_simple__780
|
pick_and_place_simple
|
pick_and_place_simple-CellPhone-None-ArmChair-321/trial_T20190906_200510_921496/game.tw-pddl
|
{"pddl_domain": ";; Specification in PDDL of the Alfred domain\n;; Intended to be used with Fast Downward which supports PDDL 2.2 level 1 plus the :action-costs requirement from PDDL 3.1.\n\n(define (domain alfred)\n (:requirements\n :adl\n :action-costs\n :typing\n )\n (:types\n agent\n location\n receptacle\n object\n rtype\n otype\n )\n\n\n (:predicates\n (atLocation ?a - agent ?l - location) ; true if the agent is at the location\n (receptacleAtLocation ?r - receptacle ?l - location) ; true if the receptacle is at the location (constant)\n (objectAtLocation ?o - object ?l - location) ; true if the object is at the location\n (openable ?r - receptacle) ; true if a receptacle is openable\n (opened ?r - receptacle) ; true if a receptacle is opened\n (inReceptacle ?o - object ?r - receptacle) ; object ?o is in receptacle ?r\n (isReceptacleObject ?o - object) ; true if the object can have things put inside it\n (inReceptacleObject ?innerObject - object ?outerObject - object) ; object ?innerObject is inside object ?outerObject\n (isReceptacleObjectFull ?o - object) ; true if the receptacle object contains something\n (wasInReceptacle ?o - object ?r - receptacle) ; object ?o was or is in receptacle ?r now or some time in the past\n (checked ?r - receptacle) ; whether the receptacle has been looked inside/visited\n (examined ?l - location) ; TODO\n (receptacleType ?r - receptacle ?t - rtype) ; the type of receptacle (Cabinet vs Cabinet|01|2...)\n (canContain ?rt - rtype ?ot - otype) ; true if receptacle can hold object\n (objectType ?o - object ?t - otype) ; the type of object (Apple vs Apple|01|2...)\n (holds ?a - agent ?o - object) ; object ?o is held by agent ?a\n (holdsAny ?a - agent) ; agent ?a holds an object\n (holdsAnyReceptacleObject ?a - agent) ; agent ?a holds a receptacle object\n (full ?r - receptacle) ; true if the receptacle has no remaining space\n (isClean ?o - object) ; true if the object has been clean in sink\n (cleanable ?o - object) ; true if the object can be placed in a sink\n (isHot ?o - object) ; true if the object has been heated up\n (heatable ?o - object) ; true if the object can be heated up in a microwave\n (isCool ?o - object) ; true if the object has been cooled\n (coolable ?o - object) ; true if the object can be cooled in the fridge\n (pickupable ?o - object) ; true if the object can be picked up\n (moveable ?o - object) ; true if the object can be moved\n (toggleable ?o - object) ; true if the object can be turned on/off\n (isOn ?o - object) ; true if the object is on\n (isToggled ?o - object) ; true if the object has been toggled\n (sliceable ?o - object) ; true if the object can be sliced\n (isSliced ?o - object) ; true if the object is sliced\n )\n\n (:functions\n (distance ?from ?to)\n (total-cost) - number\n )\n\n;; All actions are specified such that the final arguments are the ones used\n;; for performing actions in Unity.\n\n\n(:action look\n :parameters (?a - agent ?l - location)\n :precondition\n (and\n (atLocation ?a ?l)\n )\n :effect\n (and\n (checked ?l)\n )\n)\n\n(:action inventory\n :parameters (?a - agent)\n :precondition\n ()\n :effect\n (and\n (checked ?a)\n )\n)\n\n(:action examineReceptacle\n :parameters (?a - agent ?r - receptacle)\n :precondition\n (and\n (exists (?l - location)\n (and\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n )\n )\n )\n :effect\n (and\n (checked ?r)\n )\n)\n\n(:action examineObject\n :parameters (?a - agent ?o - object)\n :precondition\n (or\n ;(exists (?l - location)\n ; (and\n ; (atLocation ?a ?l)\n ; (objectAtLocation ?o ?l)\n ; )\n ;)\n (exists (?l - location, ?r - receptacle)\n (and\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n ; (objectAtLocation ?o ?l)\n (inReceptacle ?o ?r)\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n )\n )\n (holds ?a ?o)\n )\n :effect\n (and\n (checked ?o)\n )\n)\n\n;; agent goes to receptacle\n (:action GotoLocation\n :parameters (?a - agent ?lStart - location ?lEnd - location ?r - receptacle)\n :precondition (and\n (atLocation ?a ?lStart)\n (receptacleAtLocation ?r ?lEnd)\n ;(exists (?r - receptacle) (receptacleAtLocation ?r ?lEnd))\n )\n :effect (and\n (not (atLocation ?a ?lStart))\n (atLocation ?a ?lEnd)\n ; (forall (?r - receptacle)\n ; (when (and (receptacleAtLocation ?r ?lEnd)\n ; (or (not (openable ?r)) (opened ?r)))\n ; (checked ?r)\n ; )\n ; )\n ; (increase (total-cost) (distance ?lStart ?lEnd))\n (increase (total-cost) 1)\n )\n )\n\n;; agent opens receptacle\n (:action OpenObject\n :parameters (?a - agent ?l - location ?r - receptacle)\n :precondition (and\n (openable ?r)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (not (opened ?r))\n )\n :effect (and\n (opened ?r)\n (checked ?r)\n (increase (total-cost) 1)\n )\n )\n;; agent closes receptacle\n (:action CloseObject\n :parameters (?a - agent ?l - location ?r - receptacle)\n :precondition (and\n (openable ?r)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (opened ?r)\n )\n :effect (and\n (not (opened ?r))\n (increase (total-cost) 1)\n )\n\n )\n\n ;; agent picks up object from a receptacle\n (:action PickupObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n :precondition\n (and\n (pickupable ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n ; (objectAtLocation ?o ?l)\n (inReceptacle ?o ?r)\n (not (holdsAny ?a)) ; agent's hands are empty.\n ;(not (holdsAnyReceptacleObject ?a))\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n ;(not (isReceptacleObject ?o))\n )\n :effect\n (and\n (not (inReceptacle ?o ?r))\n (holds ?a ?o)\n (holdsAny ?a)\n (not (objectAtLocation ?o ?l))\n ;(not (full ?r))\n (increase (total-cost) 1)\n )\n )\n\n\n; ;; agent picks up object from a receptacle\n; (:action PickupObjectFromReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?outerR - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (inReceptacle ?o ?r)\n; (pickupable ?o)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (not (isReceptacleObject ?o))\n; (isReceptacleObject ?outerR)\n; (inReceptacleObject ?o ?outerR)\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (holds ?a ?o)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n;\n; (not (inReceptacleObject ?o ?outerR))\n; (not (isReceptacleObjectFull ?outerR))\n; )\n; )\n;\n; ;; agent picks up object from a receptacle\n; (:action PickupEmptyReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; ; (objectAtLocation ?o ?l)\n; (inReceptacle ?o ?r)\n; (pickupable ?o)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (isReceptacleObject ?o)\n; (not (isReceptacleObjectFull ?o))\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (holds ?a ?o)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n; (holdsAnyReceptacleObject ?a)\n; )\n; )\n;\n; ;; agent picks up object from a receptacle\n; (:action PickupFullReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?outerR - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (inReceptacle ?outerR ?r)\n; (pickupable ?outerR)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (not (isReceptacleObject ?o))\n; (isReceptacleObject ?outerR)\n; (inReceptacleObject ?o ?outerR)\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (not (inReceptacle ?outerR ?r))\n; (holds ?a ?outerR)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (objectAtLocation ?outerR ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n; (holdsAnyReceptacleObject ?a)\n; )\n; )\n\n\n;; agent puts down an object\n (:action PutObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle ?ot - otype ?rt - rtype)\n :precondition (and\n (holds ?a ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable\n ;(not (full ?r))\n (objectType ?o ?ot)\n (receptacleType ?r ?rt)\n (canContain ?rt ?ot)\n ;(not (holdsAnyReceptacleObject ?a))\n )\n :effect (and\n (inReceptacle ?o ?r)\n (objectAtLocation ?o ?l)\n ;(full ?r)\n (not (holds ?a ?o))\n (not (holdsAny ?a))\n (increase (total-cost) 1)\n )\n )\n\n;;; agent puts down an object\n; (:action PutObjectInReceptacleObject\n; :parameters (?a - agent ?l - location ?ot - otype ?o - object ?outerO - object ?outerR - receptacle)\n; :precondition (and\n; (atLocation ?a ?l)\n; (objectAtLocation ?outerO ?l)\n; (isReceptacleObject ?outerO)\n; (not (isReceptacleObject ?o))\n; (objectType ?o ?ot)\n; (holds ?a ?o)\n; (not (holdsAnyReceptacleObject ?a))\n; (inReceptacle ?outerO ?outerR)\n; (not (isReceptacleObjectFull ?outerO))\n; )\n; :effect (and\n; (inReceptacleObject ?o ?outerO)\n; (inReceptacle ?o ?outerR)\n; (not (holds ?a ?o))\n; (not (holdsAny ?a))\n; (objectAtLocation ?o ?l)\n; (isReceptacleObjectFull ?outerO)\n; (increase (total-cost) 1)\n; )\n; )\n;\n;;; agent puts down an object\n; (:action PutEmptyReceptacleObjectinReceptacle\n; :parameters (?a - agent ?l - location ?ot - otype ?o - object ?r - receptacle)\n; :precondition (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable\n; (not (full ?r))\n; (objectType ?o ?ot)\n; (holds ?a ?o)\n; (holdsAnyReceptacleObject ?a)\n; (isReceptacleObject ?o)\n; (not (isReceptacleObjectFull ?o))\n; )\n; :effect (and\n; (inReceptacle ?o ?r)\n; (objectAtLocation ?o ?l)\n; (full ?r)\n; (not (holds ?a ?o))\n; (not (holdsAny ?a))\n; (not (holdsAnyReceptacleObject ?a))\n; (increase (total-cost) 1)\n; )\n; )\n;\n;;; agent puts down a receptacle object in a receptacle\n; (:action PutFullReceptacleObjectInReceptacle\n; :parameters (?a - agent ?l - location ?ot - otype ?innerO - object ?outerO - object ?r - receptacle) ; ?rt - rtype)\n; :precondition (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (objectType ?outerO ?ot)\n; (holds ?a ?outerO)\n; (holdsAnyReceptacleObject ?a)\n; (isReceptacleObject ?outerO)\n; (isReceptacleObjectFull ?outerO)\n; (inReceptacleObject ?innerO ?outerO)\n; )\n; :effect (and\n; (not (holdsAny ?a))\n; (not (holdsAnyReceptacleObject ?a))\n; (objectAtLocation ?outerO ?l)\n; (objectAtLocation ?innerO ?l)\n; (inReceptacle ?outerO ?r)\n; (inReceptacle ?innerO ?r)\n; (not (holds ?a ?outerO))\n; (increase (total-cost) 1)\n; )\n; )\n\n;; agent cleans some object\n (:action CleanObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (cleanable ?o)\n (or\n (receptacleType ?r SinkType)\n (receptacleType ?r SinkBasinType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isClean ?o)\n )\n )\n\n\n;; agent heats-up some object\n (:action HeatObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (heatable ?o)\n (or\n (receptacleType ?r MicrowaveType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isHot ?o)\n (not (isCool ?o))\n )\n )\n\n;; agent cools some object\n (:action CoolObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (coolable ?o)\n (or\n (receptacleType ?r FridgeType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isCool ?o)\n (not (isHot ?o))\n )\n )\n\n\n;; agent toggle object\n (:action ToggleObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n :precondition (and\n (toggleable ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (inReceptacle ?o ?r)\n )\n :effect (and\n (increase (total-cost) 5)\n (when (isOn ?o)\n (not (isOn ?o)))\n (when (not (isOn ?o))\n (isOn ?o))\n (isToggled ?o)\n )\n )\n\n\n;; agent slices some object with a knife\n (:action SliceObject\n :parameters (?a - agent ?l - location ?co - object ?ko - object)\n :precondition\n (and\n (sliceable ?co)\n (or\n (objectType ?ko KnifeType)\n (objectType ?ko ButterKnifeType)\n )\n (atLocation ?a ?l)\n (objectAtLocation ?co ?l)\n (holds ?a ?ko)\n )\n :effect (and\n (increase (total-cost) 5)\n (isSliced ?co)\n )\n )\n\n\n(:action help\n :parameters (?a - agent)\n :precondition\n ()\n :effect\n (and\n (checked ?a)\n )\n)\n)\n", "grammar": "grammar :: \"\"\"\n {\n \"intro\": [\n {\n \"rhs\": \"-= Welcome to TextWorld, ALFRED! =-\\n\\n#look.feedback#\\n\\n#task#\"\n }\n ],\n\n \"notImplemented\": [\n {\n \"rhs\": \"TODO\"\n }\n ],\n\n \"task\": [\n {\n \"rhs\": \"Your task is to: put some cellphone on 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_T20190906_200510_921496)\n(:domain alfred)\n(:objects\nagent1 - agent\nSaltShaker - object\n HousePlant - object\n Candle - object\n SprayBottle - object\n Bowl - object\n Window - object\n CD - object\n Egg - object\n Glassbottle - object\n Sink - object\n Pillow - object\n Spoon - object\n SoapBottle - object\n TeddyBear - object\n ButterKnife - object\n Cup - object\n Plate - object\n RemoteControl - object\n Tomato - object\n Statue - object\n HandTowel - object\n Knife - object\n StoveKnob - object\n LightSwitch - object\n Pen - object\n Painting - object\n DishSponge - object\n Vase - object\n Mug - object\n ToiletPaper - object\n Box - object\n Mirror - object\n Ladle - object\n Fork - object\n Blinds - object\n Footstool - object\n KeyChain - object\n Cloth - object\n Laptop - object\n TissueBox - object\n PepperShaker - object\n FloorLamp - object\n WateringCan - object\n Apple - object\n Pan - object\n PaperTowel - object\n PaperTowelRoll - object\n Newspaper - object\n Television - object\n Chair - object\n CellPhone - object\n CreditCard - object\n Lettuce - object\n BasketBall - object\n Potato - object\n Curtains - object\n Boots - object\n Pencil - object\n AlarmClock - object\n ToiletPaperRoll - object\n Spatula - object\n Book - object\n Bread - object\n SoapBar - object\n Watch - object\n DeskLamp - object\n Kettle - object\n Pot - object\n ScrubBrush - object\n WineBottle - object\n ShowerDoor - object\n Bathtub - object\n LaundryHamperLid - object\n ShowerGlass - object\n Poster - object\n TennisRacket - object\n BaseballBat - object\n Towel - object\n Plunger - object\nSaltShakerType - otype\n HousePlantType - otype\n CandleType - otype\n SprayBottleType - otype\n BowlType - otype\n WindowType - otype\n CDType - otype\n EggType - otype\n GlassbottleType - otype\n SinkType - otype\n PillowType - otype\n SpoonType - otype\n SoapBottleType - otype\n TeddyBearType - otype\n ButterKnifeType - otype\n CupType - otype\n PlateType - otype\n RemoteControlType - otype\n TomatoType - otype\n StatueType - otype\n HandTowelType - otype\n KnifeType - otype\n StoveKnobType - otype\n LightSwitchType - otype\n PenType - otype\n PaintingType - otype\n DishSpongeType - otype\n VaseType - otype\n MugType - otype\n ToiletPaperType - otype\n BoxType - otype\n MirrorType - otype\n LadleType - otype\n ForkType - otype\n BlindsType - otype\n FootstoolType - otype\n KeyChainType - otype\n ClothType - otype\n LaptopType - otype\n TissueBoxType - otype\n PepperShakerType - otype\n FloorLampType - otype\n WateringCanType - otype\n AppleType - otype\n PanType - otype\n PaperTowelType - otype\n PaperTowelRollType - otype\n NewspaperType - otype\n TelevisionType - otype\n ChairType - otype\n CellPhoneType - otype\n CreditCardType - otype\n LettuceType - otype\n BasketBallType - otype\n PotatoType - otype\n CurtainsType - otype\n BootsType - otype\n PencilType - otype\n AlarmClockType - otype\n ToiletPaperRollType - otype\n SpatulaType - otype\n BookType - otype\n BreadType - otype\n SoapBarType - otype\n WatchType - otype\n DeskLampType - otype\n KettleType - otype\n PotType - otype\n ScrubBrushType - otype\n WineBottleType - otype\n ShowerDoorType - otype\n BathtubType - otype\n LaundryHamperLidType - otype\n ShowerGlassType - otype\n PosterType - otype\n TennisRacketType - otype\n BaseballBatType - otype\n TowelType - otype\n PlungerType - otype\nSafeType - rtype\n DrawerType - rtype\n CoffeeMachineType - rtype\n HandTowelHolderType - rtype\n SinkBasinType - rtype\n DresserType - rtype\n LaundryHamperType - rtype\n TVStandType - rtype\n BathtubBasinType - rtype\n CabinetType - rtype\n FridgeType - rtype\n DeskType - rtype\n ToiletType - rtype\n CartType - rtype\n SideTableType - rtype\n SofaType - rtype\n CoffeeTableType - rtype\n DiningTableType - rtype\n CounterTopType - rtype\n GarbageCanType - rtype\n ArmChairType - rtype\n ShelfType - rtype\n MicrowaveType - rtype\n ToasterType - rtype\n BedType - rtype\n PaintingHangerType - rtype\n TowelHolderType - rtype\n ToiletPaperHangerType - rtype\n StoveBurnerType - rtype\n OttomanType - rtype\n\n\n AlarmClock_bar__plus_03_dot_08_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_01_dot_17_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_71_bar__minus_01_dot_27 - object\n CD_bar__plus_02_dot_78_bar__plus_00_dot_78_bar__minus_01_dot_59 - object\n CellPhone_bar__plus_00_dot_33_bar__plus_00_dot_62_bar__plus_01_dot_53 - object\n CellPhone_bar__plus_00_dot_77_bar__plus_00_dot_60_bar__minus_00_dot_24 - object\n Chair_bar__plus_03_dot_23_bar_00_dot_00_bar__minus_01_dot_87 - object\n CreditCard_bar__plus_00_dot_32_bar__plus_00_dot_70_bar__plus_01_dot_38 - object\n CreditCard_bar__plus_03_dot_55_bar__plus_00_dot_78_bar__minus_01_dot_32 - object\n KeyChain_bar__plus_00_dot_35_bar__plus_00_dot_62_bar__minus_01_dot_17 - object\n KeyChain_bar__plus_00_dot_76_bar__plus_00_dot_45_bar__minus_02_dot_23 - object\n KeyChain_bar__plus_00_dot_93_bar__plus_00_dot_44_bar__minus_02_dot_35 - object\n Lamp_bar__plus_00_dot_35_bar__plus_00_dot_70_bar__minus_00_dot_98 - object\n Lamp_bar__plus_03_dot_68_bar__plus_00_dot_77_bar__minus_01_dot_39 - object\n Laptop_bar__plus_00_dot_97_bar__plus_00_dot_59_bar__minus_00_dot_24 - object\n LightSwitch_bar__plus_01_dot_81_bar__plus_01_dot_17_bar__plus_01_dot_70 - object\n Mirror_bar__plus_01_dot_08_bar__plus_01_dot_23_bar__plus_01_dot_70 - object\n Painting_bar__plus_00_dot_10_bar__plus_01_dot_43_bar__minus_02_dot_05 - object\n Pencil_bar__plus_00_dot_26_bar__plus_00_dot_71_bar__plus_01_dot_21 - object\n Pen_bar__plus_00_dot_29_bar__plus_00_dot_71_bar__plus_01_dot_46 - object\n Pen_bar__plus_02_dot_78_bar__plus_00_dot_79_bar__minus_01_dot_68 - object\n Pen_bar__plus_03_dot_70_bar__plus_00_dot_78_bar__minus_01_dot_59 - object\n Pillow_bar__plus_00_dot_46_bar__plus_00_dot_64_bar__plus_00_dot_41 - object\n Pillow_bar__plus_00_dot_54_bar__plus_00_dot_64_bar__minus_00_dot_12 - object\n TissueBox_bar__plus_03_dot_08_bar__plus_00_dot_78_bar__minus_01_dot_50 - 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_2_bar_3_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 AlarmClock_bar__plus_03_dot_08_bar__plus_00_dot_78_bar__minus_01_dot_77 AlarmClockType)\n (objectType Pillow_bar__plus_00_dot_46_bar__plus_00_dot_64_bar__plus_00_dot_41 PillowType)\n (objectType Pillow_bar__plus_00_dot_54_bar__plus_00_dot_64_bar__minus_00_dot_12 PillowType)\n (objectType LightSwitch_bar__plus_01_dot_81_bar__plus_01_dot_17_bar__plus_01_dot_70 LightSwitchType)\n (objectType Pen_bar__plus_02_dot_78_bar__plus_00_dot_79_bar__minus_01_dot_68 PenType)\n (objectType CreditCard_bar__plus_00_dot_32_bar__plus_00_dot_70_bar__plus_01_dot_38 CreditCardType)\n (objectType CD_bar__plus_02_dot_78_bar__plus_00_dot_78_bar__minus_01_dot_59 CDType)\n (objectType CreditCard_bar__plus_03_dot_55_bar__plus_00_dot_78_bar__minus_01_dot_32 CreditCardType)\n (objectType Mirror_bar__plus_01_dot_08_bar__plus_01_dot_23_bar__plus_01_dot_70 MirrorType)\n (objectType Chair_bar__plus_03_dot_23_bar_00_dot_00_bar__minus_01_dot_87 ChairType)\n (objectType CellPhone_bar__plus_00_dot_33_bar__plus_00_dot_62_bar__plus_01_dot_53 CellPhoneType)\n (objectType KeyChain_bar__plus_00_dot_93_bar__plus_00_dot_44_bar__minus_02_dot_35 KeyChainType)\n (objectType Book_bar__plus_01_dot_17_bar__plus_00_dot_60_bar__plus_00_dot_53 BookType)\n (objectType Pen_bar__plus_00_dot_29_bar__plus_00_dot_71_bar__plus_01_dot_46 PenType)\n (objectType Book_bar__plus_01_dot_58_bar__plus_00_dot_60_bar__minus_00_dot_24 BookType)\n (objectType Pen_bar__plus_03_dot_70_bar__plus_00_dot_78_bar__minus_01_dot_59 PenType)\n (objectType CellPhone_bar__plus_00_dot_77_bar__plus_00_dot_60_bar__minus_00_dot_24 CellPhoneType)\n (objectType Laptop_bar__plus_00_dot_97_bar__plus_00_dot_59_bar__minus_00_dot_24 LaptopType)\n (objectType Window_bar__plus_02_dot_27_bar__plus_01_dot_55_bar__minus_02_dot_92 WindowType)\n (objectType Blinds_bar__plus_02_dot_30_bar__plus_02_dot_53_bar__minus_02_dot_89 BlindsType)\n (objectType CD_bar__plus_00_dot_32_bar__plus_00_dot_71_bar__minus_01_dot_27 CDType)\n (objectType TissueBox_bar__plus_03_dot_08_bar__plus_00_dot_78_bar__minus_01_dot_50 TissueBoxType)\n (objectType Pencil_bar__plus_00_dot_26_bar__plus_00_dot_71_bar__plus_01_dot_21 PencilType)\n (objectType Painting_bar__plus_00_dot_10_bar__plus_01_dot_43_bar__minus_02_dot_05 PaintingType)\n (objectType KeyChain_bar__plus_00_dot_35_bar__plus_00_dot_62_bar__minus_01_dot_17 KeyChainType)\n (objectType KeyChain_bar__plus_00_dot_76_bar__plus_00_dot_45_bar__minus_02_dot_23 KeyChainType)\n (canContain DrawerType PenType)\n (canContain DrawerType BookType)\n (canContain DrawerType CDType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType PencilType)\n (canContain DrawerType 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 AlarmClock_bar__plus_03_dot_08_bar__plus_00_dot_78_bar__minus_01_dot_77)\n (pickupable Pillow_bar__plus_00_dot_46_bar__plus_00_dot_64_bar__plus_00_dot_41)\n (pickupable Pillow_bar__plus_00_dot_54_bar__plus_00_dot_64_bar__minus_00_dot_12)\n (pickupable Pen_bar__plus_02_dot_78_bar__plus_00_dot_79_bar__minus_01_dot_68)\n (pickupable CreditCard_bar__plus_00_dot_32_bar__plus_00_dot_70_bar__plus_01_dot_38)\n (pickupable CD_bar__plus_02_dot_78_bar__plus_00_dot_78_bar__minus_01_dot_59)\n (pickupable CreditCard_bar__plus_03_dot_55_bar__plus_00_dot_78_bar__minus_01_dot_32)\n (pickupable CellPhone_bar__plus_00_dot_33_bar__plus_00_dot_62_bar__plus_01_dot_53)\n (pickupable KeyChain_bar__plus_00_dot_93_bar__plus_00_dot_44_bar__minus_02_dot_35)\n (pickupable Book_bar__plus_01_dot_17_bar__plus_00_dot_60_bar__plus_00_dot_53)\n (pickupable Pen_bar__plus_00_dot_29_bar__plus_00_dot_71_bar__plus_01_dot_46)\n (pickupable Book_bar__plus_01_dot_58_bar__plus_00_dot_60_bar__minus_00_dot_24)\n (pickupable Pen_bar__plus_03_dot_70_bar__plus_00_dot_78_bar__minus_01_dot_59)\n (pickupable CellPhone_bar__plus_00_dot_77_bar__plus_00_dot_60_bar__minus_00_dot_24)\n (pickupable Laptop_bar__plus_00_dot_97_bar__plus_00_dot_59_bar__minus_00_dot_24)\n (pickupable CD_bar__plus_00_dot_32_bar__plus_00_dot_71_bar__minus_01_dot_27)\n (pickupable TissueBox_bar__plus_03_dot_08_bar__plus_00_dot_78_bar__minus_01_dot_50)\n (pickupable Pencil_bar__plus_00_dot_26_bar__plus_00_dot_71_bar__plus_01_dot_21)\n (pickupable KeyChain_bar__plus_00_dot_35_bar__plus_00_dot_62_bar__minus_01_dot_17)\n (pickupable KeyChain_bar__plus_00_dot_76_bar__plus_00_dot_45_bar__minus_02_dot_23)\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_2_bar_3_bar_30)\n \n \n \n \n \n \n \n \n \n \n \n \n (inReceptacle Book_bar__plus_01_dot_17_bar__plus_00_dot_60_bar__plus_00_dot_53 Bed_bar__plus_00_dot_94_bar__plus_00_dot_00_bar__plus_00_dot_15)\n (inReceptacle Pillow_bar__plus_00_dot_46_bar__plus_00_dot_64_bar__plus_00_dot_41 Bed_bar__plus_00_dot_94_bar__plus_00_dot_00_bar__plus_00_dot_15)\n (inReceptacle 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_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 CellPhone_bar__plus_00_dot_77_bar__plus_00_dot_60_bar__minus_00_dot_24 Bed_bar__plus_00_dot_94_bar__plus_00_dot_00_bar__plus_00_dot_15)\n (inReceptacle Laptop_bar__plus_00_dot_97_bar__plus_00_dot_59_bar__minus_00_dot_24 Bed_bar__plus_00_dot_94_bar__plus_00_dot_00_bar__plus_00_dot_15)\n (inReceptacle KeyChain_bar__plus_00_dot_93_bar__plus_00_dot_44_bar__minus_02_dot_35 ArmChair_bar__plus_00_dot_70_bar__plus_00_dot_01_bar__minus_02_dot_27)\n (inReceptacle KeyChain_bar__plus_00_dot_76_bar__plus_00_dot_45_bar__minus_02_dot_23 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_77 DiningTable_bar__plus_03_dot_24_bar__minus_00_dot_01_bar__minus_01_dot_59)\n (inReceptacle Pen_bar__plus_03_dot_70_bar__plus_00_dot_78_bar__minus_01_dot_59 DiningTable_bar__plus_03_dot_24_bar__minus_00_dot_01_bar__minus_01_dot_59)\n (inReceptacle Pen_bar__plus_02_dot_78_bar__plus_00_dot_79_bar__minus_01_dot_68 DiningTable_bar__plus_03_dot_24_bar__minus_00_dot_01_bar__minus_01_dot_59)\n (inReceptacle CD_bar__plus_02_dot_78_bar__plus_00_dot_78_bar__minus_01_dot_59 DiningTable_bar__plus_03_dot_24_bar__minus_00_dot_01_bar__minus_01_dot_59)\n (inReceptacle 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 TissueBox_bar__plus_03_dot_08_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 Pen_bar__plus_00_dot_29_bar__plus_00_dot_71_bar__plus_01_dot_46 SideTable_bar__plus_00_dot_28_bar__plus_00_dot_00_bar__plus_01_dot_30)\n (inReceptacle Pencil_bar__plus_00_dot_26_bar__plus_00_dot_71_bar__plus_01_dot_21 SideTable_bar__plus_00_dot_28_bar__plus_00_dot_00_bar__plus_01_dot_30)\n (inReceptacle CreditCard_bar__plus_00_dot_32_bar__plus_00_dot_70_bar__plus_01_dot_38 SideTable_bar__plus_00_dot_28_bar__plus_00_dot_00_bar__plus_01_dot_30)\n (inReceptacle CD_bar__plus_00_dot_32_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 KeyChain_bar__plus_00_dot_35_bar__plus_00_dot_62_bar__minus_01_dot_17 Drawer_bar__plus_00_dot_34_bar__plus_00_dot_62_bar__minus_01_dot_02)\n (inReceptacle CellPhone_bar__plus_00_dot_33_bar__plus_00_dot_62_bar__plus_01_dot_53 Drawer_bar__plus_00_dot_34_bar__plus_00_dot_62_bar__plus_01_dot_30)\n \n \n (receptacleAtLocation ArmChair_bar__plus_00_dot_70_bar__plus_00_dot_01_bar__minus_02_dot_27 loc_bar_7_bar__minus_8_bar_3_bar_60)\n (receptacleAtLocation Bed_bar__plus_00_dot_94_bar__plus_00_dot_00_bar__plus_00_dot_15 loc_bar_11_bar_1_bar_3_bar_45)\n (receptacleAtLocation DiningTable_bar__plus_03_dot_24_bar__minus_00_dot_01_bar__minus_01_dot_59 loc_bar_13_bar__minus_3_bar_2_bar_60)\n (receptacleAtLocation Drawer_bar__plus_00_dot_34_bar__plus_00_dot_62_bar__plus_01_dot_30 loc_bar_7_bar_5_bar_3_bar_30)\n (receptacleAtLocation Drawer_bar__plus_00_dot_34_bar__plus_00_dot_62_bar__minus_01_dot_02 loc_bar_4_bar__minus_4_bar_3_bar_60)\n (receptacleAtLocation GarbageCan_bar__plus_03_dot_64_bar__plus_00_dot_00_bar__minus_00_dot_98 loc_bar_13_bar__minus_3_bar_1_bar_60)\n (receptacleAtLocation SideTable_bar__plus_00_dot_28_bar__plus_00_dot_00_bar__plus_01_dot_30 loc_bar_3_bar_5_bar_3_bar_60)\n (receptacleAtLocation SideTable_bar__plus_00_dot_28_bar__plus_00_dot_00_bar__minus_01_dot_02 loc_bar_4_bar__minus_4_bar_3_bar_60)\n (objectAtLocation CD_bar__plus_00_dot_32_bar__plus_00_dot_71_bar__minus_01_dot_27 loc_bar_4_bar__minus_4_bar_3_bar_60)\n (objectAtLocation CellPhone_bar__plus_00_dot_77_bar__plus_00_dot_60_bar__minus_00_dot_24 loc_bar_11_bar_1_bar_3_bar_45)\n (objectAtLocation Pen_bar__plus_02_dot_78_bar__plus_00_dot_79_bar__minus_01_dot_68 loc_bar_13_bar__minus_3_bar_2_bar_60)\n (objectAtLocation CreditCard_bar__plus_00_dot_32_bar__plus_00_dot_70_bar__plus_01_dot_38 loc_bar_3_bar_5_bar_3_bar_60)\n (objectAtLocation KeyChain_bar__plus_00_dot_35_bar__plus_00_dot_62_bar__minus_01_dot_17 loc_bar_4_bar__minus_4_bar_3_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_93_bar__plus_00_dot_44_bar__minus_02_dot_35 loc_bar_7_bar__minus_8_bar_3_bar_60)\n (objectAtLocation Pen_bar__plus_03_dot_70_bar__plus_00_dot_78_bar__minus_01_dot_59 loc_bar_13_bar__minus_3_bar_2_bar_60)\n (objectAtLocation Mirror_bar__plus_01_dot_08_bar__plus_01_dot_23_bar__plus_01_dot_70 loc_bar_3_bar_5_bar_0_bar_45)\n (objectAtLocation Chair_bar__plus_03_dot_23_bar_00_dot_00_bar__minus_01_dot_87 loc_bar_11_bar__minus_9_bar_1_bar_60)\n (objectAtLocation Book_bar__plus_01_dot_17_bar__plus_00_dot_60_bar__plus_00_dot_53 loc_bar_11_bar_1_bar_3_bar_45)\n (objectAtLocation KeyChain_bar__plus_00_dot_76_bar__plus_00_dot_45_bar__minus_02_dot_23 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_54_bar__plus_00_dot_64_bar__minus_00_dot_12 loc_bar_11_bar_1_bar_3_bar_45)\n (objectAtLocation CreditCard_bar__plus_03_dot_55_bar__plus_00_dot_78_bar__minus_01_dot_32 loc_bar_13_bar__minus_3_bar_2_bar_60)\n (objectAtLocation Pen_bar__plus_00_dot_29_bar__plus_00_dot_71_bar__plus_01_dot_46 loc_bar_3_bar_5_bar_3_bar_60)\n (objectAtLocation Pencil_bar__plus_00_dot_26_bar__plus_00_dot_71_bar__plus_01_dot_21 loc_bar_3_bar_5_bar_3_bar_60)\n (objectAtLocation TissueBox_bar__plus_03_dot_08_bar__plus_00_dot_78_bar__minus_01_dot_50 loc_bar_13_bar__minus_3_bar_2_bar_60)\n (objectAtLocation Laptop_bar__plus_00_dot_97_bar__plus_00_dot_59_bar__minus_00_dot_24 loc_bar_11_bar_1_bar_3_bar_45)\n (objectAtLocation CellPhone_bar__plus_00_dot_33_bar__plus_00_dot_62_bar__plus_01_dot_53 loc_bar_7_bar_5_bar_3_bar_30)\n (objectAtLocation AlarmClock_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 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_02_dot_78_bar__plus_00_dot_78_bar__minus_01_dot_59 loc_bar_13_bar__minus_3_bar_2_bar_60)\n (objectAtLocation Window_bar__plus_02_dot_27_bar__plus_01_dot_55_bar__minus_02_dot_92 loc_bar_9_bar__minus_9_bar_2_bar_15)\n (objectAtLocation LightSwitch_bar__plus_01_dot_81_bar__plus_01_dot_17_bar__plus_01_dot_70 loc_bar_7_bar_5_bar_0_bar_45)\n (objectAtLocation Blinds_bar__plus_02_dot_30_bar__plus_02_dot_53_bar__minus_02_dot_89 loc_bar_9_bar__minus_9_bar_2_bar__minus_30)\n )\n \n\n (:goal\n (and\n (exists (?r - receptacle)\n (exists (?o - object)\n (and\n (inReceptacle ?o ?r)\n (objectType ?o CellPhoneType)\n (receptacleType ?r ArmChairType)\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to bed 1", "take cellphone 1 from bed 1", "go to armchair 1", "move cellphone 1 to armchair 1"]}
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alfworld__pick_and_place_simple__781
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pick_and_place_simple
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pick_and_place_simple-CellPhone-None-ArmChair-321/trial_T20190906_200553_752305/game.tw-pddl
|
{"pddl_domain": ";; Specification in PDDL of the Alfred domain\n;; Intended to be used with Fast Downward which supports PDDL 2.2 level 1 plus the :action-costs requirement from PDDL 3.1.\n\n(define (domain alfred)\n (:requirements\n :adl\n :action-costs\n :typing\n )\n (:types\n agent\n location\n receptacle\n object\n rtype\n otype\n )\n\n\n (:predicates\n (atLocation ?a - agent ?l - location) ; true if the agent is at the location\n (receptacleAtLocation ?r - receptacle ?l - location) ; true if the receptacle is at the location (constant)\n (objectAtLocation ?o - object ?l - location) ; true if the object is at the location\n (openable ?r - receptacle) ; true if a receptacle is openable\n (opened ?r - receptacle) ; true if a receptacle is opened\n (inReceptacle ?o - object ?r - receptacle) ; object ?o is in receptacle ?r\n (isReceptacleObject ?o - object) ; true if the object can have things put inside it\n (inReceptacleObject ?innerObject - object ?outerObject - object) ; object ?innerObject is inside object ?outerObject\n (isReceptacleObjectFull ?o - object) ; true if the receptacle object contains something\n (wasInReceptacle ?o - object ?r - receptacle) ; object ?o was or is in receptacle ?r now or some time in the past\n (checked ?r - receptacle) ; whether the receptacle has been looked inside/visited\n (examined ?l - location) ; TODO\n (receptacleType ?r - receptacle ?t - rtype) ; the type of receptacle (Cabinet vs Cabinet|01|2...)\n (canContain ?rt - rtype ?ot - otype) ; true if receptacle can hold object\n (objectType ?o - object ?t - otype) ; the type of object (Apple vs Apple|01|2...)\n (holds ?a - agent ?o - object) ; object ?o is held by agent ?a\n (holdsAny ?a - agent) ; agent ?a holds an object\n (holdsAnyReceptacleObject ?a - agent) ; agent ?a holds a receptacle object\n (full ?r - receptacle) ; true if the receptacle has no remaining space\n (isClean ?o - object) ; true if the object has been clean in sink\n (cleanable ?o - object) ; true if the object can be placed in a sink\n (isHot ?o - object) ; true if the object has been heated up\n (heatable ?o - object) ; true if the object can be heated up in a microwave\n (isCool ?o - object) ; true if the object has been cooled\n (coolable ?o - object) ; true if the object can be cooled in the fridge\n (pickupable ?o - object) ; true if the object can be picked up\n (moveable ?o - object) ; true if the object can be moved\n (toggleable ?o - object) ; true if the object can be turned on/off\n (isOn ?o - object) ; true if the object is on\n (isToggled ?o - object) ; true if the object has been toggled\n (sliceable ?o - object) ; true if the object can be sliced\n (isSliced ?o - object) ; true if the object is sliced\n )\n\n (:functions\n (distance ?from ?to)\n (total-cost) - number\n )\n\n;; All actions are specified such that the final arguments are the ones used\n;; for performing actions in Unity.\n\n\n(:action look\n :parameters (?a - agent ?l - location)\n :precondition\n (and\n (atLocation ?a ?l)\n )\n :effect\n (and\n (checked ?l)\n )\n)\n\n(:action inventory\n :parameters (?a - agent)\n :precondition\n ()\n :effect\n (and\n (checked ?a)\n )\n)\n\n(:action examineReceptacle\n :parameters (?a - agent ?r - receptacle)\n :precondition\n (and\n (exists (?l - location)\n (and\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n )\n )\n )\n :effect\n (and\n (checked ?r)\n )\n)\n\n(:action examineObject\n :parameters (?a - agent ?o - object)\n :precondition\n (or\n ;(exists (?l - location)\n ; (and\n ; (atLocation ?a ?l)\n ; (objectAtLocation ?o ?l)\n ; )\n ;)\n (exists (?l - location, ?r - receptacle)\n (and\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n ; (objectAtLocation ?o ?l)\n (inReceptacle ?o ?r)\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n )\n )\n (holds ?a ?o)\n )\n :effect\n (and\n (checked ?o)\n )\n)\n\n;; agent goes to receptacle\n (:action GotoLocation\n :parameters (?a - agent ?lStart - location ?lEnd - location ?r - receptacle)\n :precondition (and\n (atLocation ?a ?lStart)\n (receptacleAtLocation ?r ?lEnd)\n ;(exists (?r - receptacle) (receptacleAtLocation ?r ?lEnd))\n )\n :effect (and\n (not (atLocation ?a ?lStart))\n (atLocation ?a ?lEnd)\n ; (forall (?r - receptacle)\n ; (when (and (receptacleAtLocation ?r ?lEnd)\n ; (or (not (openable ?r)) (opened ?r)))\n ; (checked ?r)\n ; )\n ; )\n ; (increase (total-cost) (distance ?lStart ?lEnd))\n (increase (total-cost) 1)\n )\n )\n\n;; agent opens receptacle\n (:action OpenObject\n :parameters (?a - agent ?l - location ?r - receptacle)\n :precondition (and\n (openable ?r)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (not (opened ?r))\n )\n :effect (and\n (opened ?r)\n (checked ?r)\n (increase (total-cost) 1)\n )\n )\n;; agent closes receptacle\n (:action CloseObject\n :parameters (?a - agent ?l - location ?r - receptacle)\n :precondition (and\n (openable ?r)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (opened ?r)\n )\n :effect (and\n (not (opened ?r))\n (increase (total-cost) 1)\n )\n\n )\n\n ;; agent picks up object from a receptacle\n (:action PickupObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n :precondition\n (and\n (pickupable ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n ; (objectAtLocation ?o ?l)\n (inReceptacle ?o ?r)\n (not (holdsAny ?a)) ; agent's hands are empty.\n ;(not (holdsAnyReceptacleObject ?a))\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n ;(not (isReceptacleObject ?o))\n )\n :effect\n (and\n (not (inReceptacle ?o ?r))\n (holds ?a ?o)\n (holdsAny ?a)\n (not (objectAtLocation ?o ?l))\n ;(not (full ?r))\n (increase (total-cost) 1)\n )\n )\n\n\n; ;; agent picks up object from a receptacle\n; (:action PickupObjectFromReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?outerR - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (inReceptacle ?o ?r)\n; (pickupable ?o)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (not (isReceptacleObject ?o))\n; (isReceptacleObject ?outerR)\n; (inReceptacleObject ?o ?outerR)\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (holds ?a ?o)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n;\n; (not (inReceptacleObject ?o ?outerR))\n; (not (isReceptacleObjectFull ?outerR))\n; )\n; )\n;\n; ;; agent picks up object from a receptacle\n; (:action PickupEmptyReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; ; (objectAtLocation ?o ?l)\n; (inReceptacle ?o ?r)\n; (pickupable ?o)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (isReceptacleObject ?o)\n; (not (isReceptacleObjectFull ?o))\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (holds ?a ?o)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n; (holdsAnyReceptacleObject ?a)\n; )\n; )\n;\n; ;; agent picks up object from a receptacle\n; (:action PickupFullReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?outerR - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (inReceptacle ?outerR ?r)\n; (pickupable ?outerR)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (not (isReceptacleObject ?o))\n; (isReceptacleObject ?outerR)\n; (inReceptacleObject ?o ?outerR)\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (not (inReceptacle ?outerR ?r))\n; (holds ?a ?outerR)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (objectAtLocation ?outerR ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n; (holdsAnyReceptacleObject ?a)\n; )\n; )\n\n\n;; agent puts down an object\n (:action PutObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle ?ot - otype ?rt - rtype)\n :precondition (and\n (holds ?a ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable\n ;(not (full ?r))\n (objectType ?o ?ot)\n (receptacleType ?r ?rt)\n (canContain ?rt ?ot)\n ;(not (holdsAnyReceptacleObject ?a))\n )\n :effect (and\n (inReceptacle ?o ?r)\n (objectAtLocation ?o ?l)\n ;(full ?r)\n (not (holds ?a ?o))\n (not (holdsAny ?a))\n (increase (total-cost) 1)\n )\n )\n\n;;; agent puts down an object\n; (:action PutObjectInReceptacleObject\n; :parameters (?a - agent ?l - location ?ot - otype ?o - object ?outerO - object ?outerR - receptacle)\n; :precondition (and\n; (atLocation ?a ?l)\n; (objectAtLocation ?outerO ?l)\n; (isReceptacleObject ?outerO)\n; (not (isReceptacleObject ?o))\n; (objectType ?o ?ot)\n; (holds ?a ?o)\n; (not (holdsAnyReceptacleObject ?a))\n; (inReceptacle ?outerO ?outerR)\n; (not (isReceptacleObjectFull ?outerO))\n; )\n; :effect (and\n; (inReceptacleObject ?o ?outerO)\n; (inReceptacle ?o ?outerR)\n; (not (holds ?a ?o))\n; (not (holdsAny ?a))\n; (objectAtLocation ?o ?l)\n; (isReceptacleObjectFull ?outerO)\n; (increase (total-cost) 1)\n; )\n; )\n;\n;;; agent puts down an object\n; (:action PutEmptyReceptacleObjectinReceptacle\n; :parameters (?a - agent ?l - location ?ot - otype ?o - object ?r - receptacle)\n; :precondition (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable\n; (not (full ?r))\n; (objectType ?o ?ot)\n; (holds ?a ?o)\n; (holdsAnyReceptacleObject ?a)\n; (isReceptacleObject ?o)\n; (not (isReceptacleObjectFull ?o))\n; )\n; :effect (and\n; (inReceptacle ?o ?r)\n; (objectAtLocation ?o ?l)\n; (full ?r)\n; (not (holds ?a ?o))\n; (not (holdsAny ?a))\n; (not (holdsAnyReceptacleObject ?a))\n; (increase (total-cost) 1)\n; )\n; )\n;\n;;; agent puts down a receptacle object in a receptacle\n; (:action PutFullReceptacleObjectInReceptacle\n; :parameters (?a - agent ?l - location ?ot - otype ?innerO - object ?outerO - object ?r - receptacle) ; ?rt - rtype)\n; :precondition (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (objectType ?outerO ?ot)\n; (holds ?a ?outerO)\n; (holdsAnyReceptacleObject ?a)\n; (isReceptacleObject ?outerO)\n; (isReceptacleObjectFull ?outerO)\n; (inReceptacleObject ?innerO ?outerO)\n; )\n; :effect (and\n; (not (holdsAny ?a))\n; (not (holdsAnyReceptacleObject ?a))\n; (objectAtLocation ?outerO ?l)\n; (objectAtLocation ?innerO ?l)\n; (inReceptacle ?outerO ?r)\n; (inReceptacle ?innerO ?r)\n; (not (holds ?a ?outerO))\n; (increase (total-cost) 1)\n; )\n; )\n\n;; agent cleans some object\n (:action CleanObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (cleanable ?o)\n (or\n (receptacleType ?r SinkType)\n (receptacleType ?r SinkBasinType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isClean ?o)\n )\n )\n\n\n;; agent heats-up some object\n (:action HeatObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (heatable ?o)\n (or\n (receptacleType ?r MicrowaveType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isHot ?o)\n (not (isCool ?o))\n )\n )\n\n;; agent cools some object\n (:action CoolObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (coolable ?o)\n (or\n (receptacleType ?r FridgeType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isCool ?o)\n (not (isHot ?o))\n )\n )\n\n\n;; agent toggle object\n (:action ToggleObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n :precondition (and\n (toggleable ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (inReceptacle ?o ?r)\n )\n :effect (and\n (increase (total-cost) 5)\n (when (isOn ?o)\n (not (isOn ?o)))\n (when (not (isOn ?o))\n (isOn ?o))\n (isToggled ?o)\n )\n )\n\n\n;; agent slices some object with a knife\n (:action SliceObject\n :parameters (?a - agent ?l - location ?co - object ?ko - object)\n :precondition\n (and\n (sliceable ?co)\n (or\n (objectType ?ko KnifeType)\n (objectType ?ko ButterKnifeType)\n )\n (atLocation ?a ?l)\n (objectAtLocation ?co ?l)\n (holds ?a ?ko)\n )\n :effect (and\n (increase (total-cost) 5)\n (isSliced ?co)\n )\n )\n\n\n(:action help\n :parameters (?a - agent)\n :precondition\n ()\n :effect\n (and\n (checked ?a)\n )\n)\n)\n", "grammar": "grammar :: \"\"\"\n {\n \"intro\": [\n {\n \"rhs\": \"-= Welcome to TextWorld, ALFRED! =-\\n\\n#look.feedback#\\n\\n#task#\"\n }\n ],\n\n \"notImplemented\": [\n {\n \"rhs\": \"TODO\"\n }\n ],\n\n \"task\": [\n {\n \"rhs\": \"Your task is to: put a cellphone in 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_T20190906_200553_752305)\n(:domain alfred)\n(:objects\nagent1 - agent\nSaltShaker - object\n HousePlant - object\n Candle - object\n SprayBottle - object\n Bowl - object\n Window - object\n CD - object\n Egg - object\n Glassbottle - object\n Sink - object\n Pillow - object\n Spoon - object\n SoapBottle - object\n TeddyBear - object\n ButterKnife - object\n Cup - object\n Plate - object\n RemoteControl - object\n Tomato - object\n Statue - object\n HandTowel - object\n Knife - object\n StoveKnob - object\n LightSwitch - object\n Pen - object\n Painting - object\n DishSponge - object\n Vase - object\n Mug - object\n ToiletPaper - object\n Box - object\n Mirror - object\n Ladle - object\n Fork - object\n Blinds - object\n Footstool - object\n KeyChain - object\n Cloth - object\n Laptop - object\n TissueBox - object\n PepperShaker - object\n FloorLamp - object\n WateringCan - object\n Apple - object\n Pan - object\n PaperTowel - object\n PaperTowelRoll - object\n Newspaper - object\n Television - object\n Chair - object\n CellPhone - object\n CreditCard - object\n Lettuce - object\n BasketBall - object\n Potato - object\n Curtains - object\n Boots - object\n Pencil - object\n AlarmClock - object\n ToiletPaperRoll - object\n Spatula - object\n Book - object\n Bread - object\n SoapBar - object\n Watch - object\n DeskLamp - object\n Kettle - object\n Pot - object\n ScrubBrush - object\n WineBottle - object\n ShowerDoor - object\n Bathtub - object\n LaundryHamperLid - object\n ShowerGlass - object\n Poster - object\n TennisRacket - object\n BaseballBat - object\n Towel - object\n Plunger - object\nSaltShakerType - otype\n HousePlantType - otype\n CandleType - otype\n SprayBottleType - otype\n BowlType - otype\n WindowType - otype\n CDType - otype\n EggType - otype\n GlassbottleType - otype\n SinkType - otype\n PillowType - otype\n SpoonType - otype\n SoapBottleType - otype\n TeddyBearType - otype\n ButterKnifeType - otype\n CupType - otype\n PlateType - otype\n RemoteControlType - otype\n TomatoType - otype\n StatueType - otype\n HandTowelType - otype\n KnifeType - otype\n StoveKnobType - otype\n LightSwitchType - otype\n PenType - otype\n PaintingType - otype\n DishSpongeType - otype\n VaseType - otype\n MugType - otype\n ToiletPaperType - otype\n BoxType - otype\n MirrorType - otype\n LadleType - otype\n ForkType - otype\n BlindsType - otype\n FootstoolType - otype\n KeyChainType - otype\n ClothType - otype\n LaptopType - otype\n TissueBoxType - otype\n PepperShakerType - otype\n FloorLampType - otype\n WateringCanType - otype\n AppleType - otype\n PanType - otype\n PaperTowelType - otype\n PaperTowelRollType - otype\n NewspaperType - otype\n TelevisionType - otype\n ChairType - otype\n CellPhoneType - otype\n CreditCardType - otype\n LettuceType - otype\n BasketBallType - otype\n PotatoType - otype\n CurtainsType - otype\n BootsType - otype\n PencilType - otype\n AlarmClockType - otype\n ToiletPaperRollType - otype\n SpatulaType - otype\n BookType - otype\n BreadType - otype\n SoapBarType - otype\n WatchType - otype\n DeskLampType - otype\n KettleType - otype\n PotType - otype\n ScrubBrushType - otype\n WineBottleType - otype\n ShowerDoorType - otype\n BathtubType - otype\n LaundryHamperLidType - otype\n ShowerGlassType - otype\n PosterType - otype\n TennisRacketType - otype\n BaseballBatType - otype\n TowelType - otype\n PlungerType - otype\nSafeType - rtype\n DrawerType - rtype\n CoffeeMachineType - rtype\n HandTowelHolderType - rtype\n SinkBasinType - rtype\n DresserType - rtype\n LaundryHamperType - rtype\n TVStandType - rtype\n BathtubBasinType - rtype\n CabinetType - rtype\n FridgeType - rtype\n DeskType - rtype\n ToiletType - rtype\n CartType - rtype\n SideTableType - rtype\n SofaType - rtype\n CoffeeTableType - rtype\n DiningTableType - rtype\n CounterTopType - rtype\n GarbageCanType - rtype\n ArmChairType - rtype\n ShelfType - rtype\n MicrowaveType - rtype\n ToasterType - rtype\n BedType - rtype\n PaintingHangerType - rtype\n TowelHolderType - rtype\n ToiletPaperHangerType - rtype\n StoveBurnerType - rtype\n OttomanType - rtype\n\n\n AlarmClock_bar__plus_00_dot_23_bar__plus_00_dot_71_bar__plus_01_dot_46 - object\n AlarmClock_bar__plus_03_dot_70_bar__plus_00_dot_78_bar__minus_01_dot_86 - 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_36_bar__plus_00_dot_60_bar__minus_00_dot_05 - object\n CD_bar__plus_00_dot_33_bar__plus_00_dot_62_bar__minus_01_dot_25 - object\n CD_bar__plus_02_dot_78_bar__plus_00_dot_78_bar__minus_01_dot_77 - object\n CellPhone_bar__plus_03_dot_24_bar__plus_00_dot_78_bar__minus_01_dot_77 - object\n CellPhone_bar__plus_03_dot_39_bar__plus_00_dot_78_bar__minus_01_dot_41 - object\n Chair_bar__plus_03_dot_23_bar_00_dot_00_bar__minus_01_dot_87 - object\n CreditCard_bar__plus_03_dot_70_bar__plus_00_dot_78_bar__minus_01_dot_59 - object\n KeyChain_bar__plus_00_dot_76_bar__plus_00_dot_45_bar__minus_02_dot_23 - object\n KeyChain_bar__plus_03_dot_08_bar__plus_00_dot_78_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_01_dot_58_bar__plus_00_dot_59_bar__minus_00_dot_05 - object\n LightSwitch_bar__plus_01_dot_81_bar__plus_01_dot_17_bar__plus_01_dot_70 - object\n Mirror_bar__plus_01_dot_08_bar__plus_01_dot_23_bar__plus_01_dot_70 - object\n Painting_bar__plus_00_dot_10_bar__plus_01_dot_43_bar__minus_02_dot_05 - object\n Pencil_bar__plus_00_dot_29_bar__plus_00_dot_71_bar__minus_01_dot_19 - object\n Pencil_bar__plus_02_dot_78_bar__plus_00_dot_78_bar__minus_01_dot_50 - object\n Pencil_bar__plus_03_dot_64_bar__plus_00_dot_05_bar__minus_00_dot_98 - object\n Pen_bar__plus_00_dot_36_bar__plus_00_dot_71_bar__plus_01_dot_21 - object\n Pen_bar__plus_03_dot_08_bar__plus_00_dot_78_bar__minus_01_dot_68 - object\n Pen_bar__plus_03_dot_24_bar__plus_00_dot_79_bar__minus_01_dot_86 - 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__minus_00_dot_05 - object\n TissueBox_bar__plus_02_dot_93_bar__plus_00_dot_78_bar__minus_01_dot_86 - object\n TissueBox_bar__plus_03_dot_24_bar__plus_00_dot_78_bar__minus_01_dot_41 - 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_3_bar__minus_4_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 TissueBox_bar__plus_02_dot_93_bar__plus_00_dot_78_bar__minus_01_dot_86 TissueBoxType)\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 LightSwitch_bar__plus_01_dot_81_bar__plus_01_dot_17_bar__plus_01_dot_70 LightSwitchType)\n (objectType CD_bar__plus_00_dot_33_bar__plus_00_dot_62_bar__minus_01_dot_25 CDType)\n (objectType Pencil_bar__plus_02_dot_78_bar__plus_00_dot_78_bar__minus_01_dot_50 PencilType)\n (objectType CellPhone_bar__plus_03_dot_24_bar__plus_00_dot_78_bar__minus_01_dot_77 CellPhoneType)\n (objectType Pen_bar__plus_03_dot_08_bar__plus_00_dot_78_bar__minus_01_dot_68 PenType)\n (objectType Mirror_bar__plus_01_dot_08_bar__plus_01_dot_23_bar__plus_01_dot_70 MirrorType)\n (objectType Chair_bar__plus_03_dot_23_bar_00_dot_00_bar__minus_01_dot_87 ChairType)\n (objectType AlarmClock_bar__plus_00_dot_23_bar__plus_00_dot_71_bar__plus_01_dot_46 AlarmClockType)\n (objectType Pen_bar__plus_00_dot_36_bar__plus_00_dot_71_bar__plus_01_dot_21 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_03_dot_70_bar__plus_00_dot_78_bar__minus_01_dot_86 AlarmClockType)\n (objectType CD_bar__plus_02_dot_78_bar__plus_00_dot_78_bar__minus_01_dot_77 CDType)\n (objectType CellPhone_bar__plus_03_dot_39_bar__plus_00_dot_78_bar__minus_01_dot_41 CellPhoneType)\n (objectType Window_bar__plus_02_dot_27_bar__plus_01_dot_55_bar__minus_02_dot_92 WindowType)\n (objectType Pen_bar__plus_03_dot_24_bar__plus_00_dot_79_bar__minus_01_dot_86 PenType)\n (objectType Laptop_bar__plus_01_dot_58_bar__plus_00_dot_59_bar__minus_00_dot_05 LaptopType)\n (objectType Pencil_bar__plus_00_dot_29_bar__plus_00_dot_71_bar__minus_01_dot_19 PencilType)\n (objectType TissueBox_bar__plus_03_dot_24_bar__plus_00_dot_78_bar__minus_01_dot_41 TissueBoxType)\n (objectType Blinds_bar__plus_02_dot_30_bar__plus_02_dot_53_bar__minus_02_dot_89 BlindsType)\n (objectType CreditCard_bar__plus_03_dot_70_bar__plus_00_dot_78_bar__minus_01_dot_59 CreditCardType)\n (objectType Painting_bar__plus_00_dot_10_bar__plus_01_dot_43_bar__minus_02_dot_05 PaintingType)\n (objectType Book_bar__plus_00_dot_36_bar__plus_00_dot_60_bar__minus_00_dot_05 BookType)\n (objectType KeyChain_bar__plus_03_dot_08_bar__plus_00_dot_78_bar__minus_01_dot_86 KeyChainType)\n (objectType KeyChain_bar__plus_00_dot_76_bar__plus_00_dot_45_bar__minus_02_dot_23 KeyChainType)\n (canContain DrawerType PenType)\n (canContain DrawerType BookType)\n (canContain DrawerType CDType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType PencilType)\n (canContain DrawerType 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 TissueBox_bar__plus_02_dot_93_bar__plus_00_dot_78_bar__minus_01_dot_86)\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 CD_bar__plus_00_dot_33_bar__plus_00_dot_62_bar__minus_01_dot_25)\n (pickupable Pencil_bar__plus_02_dot_78_bar__plus_00_dot_78_bar__minus_01_dot_50)\n (pickupable CellPhone_bar__plus_03_dot_24_bar__plus_00_dot_78_bar__minus_01_dot_77)\n (pickupable Pen_bar__plus_03_dot_08_bar__plus_00_dot_78_bar__minus_01_dot_68)\n (pickupable AlarmClock_bar__plus_00_dot_23_bar__plus_00_dot_71_bar__plus_01_dot_46)\n (pickupable Pen_bar__plus_00_dot_36_bar__plus_00_dot_71_bar__plus_01_dot_21)\n (pickupable Pillow_bar__plus_00_dot_97_bar__plus_00_dot_68_bar__minus_00_dot_05)\n (pickupable AlarmClock_bar__plus_03_dot_70_bar__plus_00_dot_78_bar__minus_01_dot_86)\n (pickupable CD_bar__plus_02_dot_78_bar__plus_00_dot_78_bar__minus_01_dot_77)\n (pickupable CellPhone_bar__plus_03_dot_39_bar__plus_00_dot_78_bar__minus_01_dot_41)\n (pickupable Pen_bar__plus_03_dot_24_bar__plus_00_dot_79_bar__minus_01_dot_86)\n (pickupable Laptop_bar__plus_01_dot_58_bar__plus_00_dot_59_bar__minus_00_dot_05)\n (pickupable Pencil_bar__plus_00_dot_29_bar__plus_00_dot_71_bar__minus_01_dot_19)\n (pickupable TissueBox_bar__plus_03_dot_24_bar__plus_00_dot_78_bar__minus_01_dot_41)\n (pickupable CreditCard_bar__plus_03_dot_70_bar__plus_00_dot_78_bar__minus_01_dot_59)\n (pickupable Book_bar__plus_00_dot_36_bar__plus_00_dot_60_bar__minus_00_dot_05)\n (pickupable KeyChain_bar__plus_03_dot_08_bar__plus_00_dot_78_bar__minus_01_dot_86)\n (pickupable KeyChain_bar__plus_00_dot_76_bar__plus_00_dot_45_bar__minus_02_dot_23)\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_3_bar__minus_4_bar_2_bar_30)\n \n \n \n \n \n \n \n \n \n \n \n \n (inReceptacle Pillow_bar__plus_00_dot_46_bar__plus_00_dot_64_bar__plus_00_dot_41 Bed_bar__plus_00_dot_94_bar__plus_00_dot_00_bar__plus_00_dot_15)\n (inReceptacle Book_bar__plus_00_dot_36_bar__plus_00_dot_60_bar__minus_00_dot_05 Bed_bar__plus_00_dot_94_bar__plus_00_dot_00_bar__plus_00_dot_15)\n (inReceptacle Pillow_bar__plus_00_dot_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 Laptop_bar__plus_01_dot_58_bar__plus_00_dot_59_bar__minus_00_dot_05 Bed_bar__plus_00_dot_94_bar__plus_00_dot_00_bar__plus_00_dot_15)\n (inReceptacle KeyChain_bar__plus_00_dot_76_bar__plus_00_dot_45_bar__minus_02_dot_23 ArmChair_bar__plus_00_dot_70_bar__plus_00_dot_01_bar__minus_02_dot_27)\n (inReceptacle TissueBox_bar__plus_03_dot_24_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 TissueBox_bar__plus_02_dot_93_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 CellPhone_bar__plus_03_dot_39_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 CreditCard_bar__plus_03_dot_70_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 Pencil_bar__plus_02_dot_78_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 Pen_bar__plus_03_dot_24_bar__plus_00_dot_79_bar__minus_01_dot_86 DiningTable_bar__plus_03_dot_24_bar__minus_00_dot_01_bar__minus_01_dot_59)\n (inReceptacle CellPhone_bar__plus_03_dot_24_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_03_dot_70_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 KeyChain_bar__plus_03_dot_08_bar__plus_00_dot_78_bar__minus_01_dot_86 DiningTable_bar__plus_03_dot_24_bar__minus_00_dot_01_bar__minus_01_dot_59)\n (inReceptacle Pen_bar__plus_03_dot_08_bar__plus_00_dot_78_bar__minus_01_dot_68 DiningTable_bar__plus_03_dot_24_bar__minus_00_dot_01_bar__minus_01_dot_59)\n (inReceptacle CD_bar__plus_02_dot_78_bar__plus_00_dot_78_bar__minus_01_dot_77 DiningTable_bar__plus_03_dot_24_bar__minus_00_dot_01_bar__minus_01_dot_59)\n (inReceptacle Pencil_bar__plus_03_dot_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 AlarmClock_bar__plus_00_dot_23_bar__plus_00_dot_71_bar__plus_01_dot_46 SideTable_bar__plus_00_dot_28_bar__plus_00_dot_00_bar__plus_01_dot_30)\n (inReceptacle Pen_bar__plus_00_dot_36_bar__plus_00_dot_71_bar__plus_01_dot_21 SideTable_bar__plus_00_dot_28_bar__plus_00_dot_00_bar__plus_01_dot_30)\n (inReceptacle Pencil_bar__plus_00_dot_29_bar__plus_00_dot_71_bar__minus_01_dot_19 SideTable_bar__plus_00_dot_28_bar__plus_00_dot_00_bar__minus_01_dot_02)\n (inReceptacle CD_bar__plus_00_dot_33_bar__plus_00_dot_62_bar__minus_01_dot_25 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 CD_bar__plus_00_dot_33_bar__plus_00_dot_62_bar__minus_01_dot_25 loc_bar_4_bar__minus_4_bar_3_bar_60)\n (objectAtLocation AlarmClock_bar__plus_00_dot_23_bar__plus_00_dot_71_bar__plus_01_dot_46 loc_bar_3_bar_5_bar_3_bar_60)\n (objectAtLocation CellPhone_bar__plus_03_dot_39_bar__plus_00_dot_78_bar__minus_01_dot_41 loc_bar_13_bar__minus_3_bar_2_bar_60)\n (objectAtLocation TissueBox_bar__plus_02_dot_93_bar__plus_00_dot_78_bar__minus_01_dot_86 loc_bar_13_bar__minus_3_bar_2_bar_60)\n (objectAtLocation Pencil_bar__plus_00_dot_29_bar__plus_00_dot_71_bar__minus_01_dot_19 loc_bar_4_bar__minus_4_bar_3_bar_60)\n (objectAtLocation Pen_bar__plus_00_dot_36_bar__plus_00_dot_71_bar__plus_01_dot_21 loc_bar_3_bar_5_bar_3_bar_60)\n (objectAtLocation KeyChain_bar__plus_00_dot_76_bar__plus_00_dot_45_bar__minus_02_dot_23 loc_bar_7_bar__minus_8_bar_3_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 Pen_bar__plus_03_dot_08_bar__plus_00_dot_78_bar__minus_01_dot_68 loc_bar_13_bar__minus_3_bar_2_bar_60)\n (objectAtLocation 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_36_bar__plus_00_dot_60_bar__minus_00_dot_05 loc_bar_11_bar_1_bar_3_bar_45)\n (objectAtLocation KeyChain_bar__plus_03_dot_08_bar__plus_00_dot_78_bar__minus_01_dot_86 loc_bar_13_bar__minus_3_bar_2_bar_60)\n (objectAtLocation Pillow_bar__plus_00_dot_46_bar__plus_00_dot_64_bar__plus_00_dot_41 loc_bar_11_bar_1_bar_3_bar_45)\n (objectAtLocation Pillow_bar__plus_00_dot_97_bar__plus_00_dot_68_bar__minus_00_dot_05 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_59 loc_bar_13_bar__minus_3_bar_2_bar_60)\n (objectAtLocation Pen_bar__plus_03_dot_24_bar__plus_00_dot_79_bar__minus_01_dot_86 loc_bar_13_bar__minus_3_bar_2_bar_60)\n (objectAtLocation Pencil_bar__plus_02_dot_78_bar__plus_00_dot_78_bar__minus_01_dot_50 loc_bar_13_bar__minus_3_bar_2_bar_60)\n (objectAtLocation TissueBox_bar__plus_03_dot_24_bar__plus_00_dot_78_bar__minus_01_dot_41 loc_bar_13_bar__minus_3_bar_2_bar_60)\n (objectAtLocation Laptop_bar__plus_01_dot_58_bar__plus_00_dot_59_bar__minus_00_dot_05 loc_bar_11_bar_1_bar_3_bar_45)\n (objectAtLocation CellPhone_bar__plus_03_dot_24_bar__plus_00_dot_78_bar__minus_01_dot_77 loc_bar_13_bar__minus_3_bar_2_bar_60)\n (objectAtLocation AlarmClock_bar__plus_03_dot_70_bar__plus_00_dot_78_bar__minus_01_dot_86 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_02_dot_78_bar__plus_00_dot_78_bar__minus_01_dot_77 loc_bar_13_bar__minus_3_bar_2_bar_60)\n (objectAtLocation Window_bar__plus_02_dot_27_bar__plus_01_dot_55_bar__minus_02_dot_92 loc_bar_9_bar__minus_9_bar_2_bar_15)\n (objectAtLocation LightSwitch_bar__plus_01_dot_81_bar__plus_01_dot_17_bar__plus_01_dot_70 loc_bar_7_bar_5_bar_0_bar_45)\n (objectAtLocation Blinds_bar__plus_02_dot_30_bar__plus_02_dot_53_bar__minus_02_dot_89 loc_bar_9_bar__minus_9_bar_2_bar__minus_30)\n )\n \n\n (:goal\n (and\n (exists (?r - receptacle)\n (exists (?o - object)\n (and\n (inReceptacle ?o ?r)\n (objectType ?o CellPhoneType)\n (receptacleType ?r ArmChairType)\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to diningtable 1", "take cellphone 2 from diningtable 1", "go to armchair 1", "move cellphone 2 to armchair 1"]}
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alfworld__pick_cool_then_place_in_recep__531
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pick_cool_then_place_in_recep
|
pick_cool_then_place_in_recep-Pot-None-StoveBurner-7/trial_T20190907_051125_923567/game.tw-pddl
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{"pddl_domain": ";; Specification in PDDL of the Alfred domain\n;; Intended to be used with Fast Downward which supports PDDL 2.2 level 1 plus the :action-costs requirement from PDDL 3.1.\n\n(define (domain alfred)\n (:requirements\n :adl\n :action-costs\n :typing\n )\n (:types\n agent\n location\n receptacle\n object\n rtype\n otype\n )\n\n\n (:predicates\n (atLocation ?a - agent ?l - location) ; true if the agent is at the location\n (receptacleAtLocation ?r - receptacle ?l - location) ; true if the receptacle is at the location (constant)\n (objectAtLocation ?o - object ?l - location) ; true if the object is at the location\n (openable ?r - receptacle) ; true if a receptacle is openable\n (opened ?r - receptacle) ; true if a receptacle is opened\n (inReceptacle ?o - object ?r - receptacle) ; object ?o is in receptacle ?r\n (isReceptacleObject ?o - object) ; true if the object can have things put inside it\n (inReceptacleObject ?innerObject - object ?outerObject - object) ; object ?innerObject is inside object ?outerObject\n (isReceptacleObjectFull ?o - object) ; true if the receptacle object contains something\n (wasInReceptacle ?o - object ?r - receptacle) ; object ?o was or is in receptacle ?r now or some time in the past\n (checked ?r - receptacle) ; whether the receptacle has been looked inside/visited\n (examined ?l - location) ; TODO\n (receptacleType ?r - receptacle ?t - rtype) ; the type of receptacle (Cabinet vs Cabinet|01|2...)\n (canContain ?rt - rtype ?ot - otype) ; true if receptacle can hold object\n (objectType ?o - object ?t - otype) ; the type of object (Apple vs Apple|01|2...)\n (holds ?a - agent ?o - object) ; object ?o is held by agent ?a\n (holdsAny ?a - agent) ; agent ?a holds an object\n (holdsAnyReceptacleObject ?a - agent) ; agent ?a holds a receptacle object\n (full ?r - receptacle) ; true if the receptacle has no remaining space\n (isClean ?o - object) ; true if the object has been clean in sink\n (cleanable ?o - object) ; true if the object can be placed in a sink\n (isHot ?o - object) ; true if the object has been heated up\n (heatable ?o - object) ; true if the object can be heated up in a microwave\n (isCool ?o - object) ; true if the object has been cooled\n (coolable ?o - object) ; true if the object can be cooled in the fridge\n (pickupable ?o - object) ; true if the object can be picked up\n (moveable ?o - object) ; true if the object can be moved\n (toggleable ?o - object) ; true if the object can be turned on/off\n (isOn ?o - object) ; true if the object is on\n (isToggled ?o - object) ; true if the object has been toggled\n (sliceable ?o - object) ; true if the object can be sliced\n (isSliced ?o - object) ; true if the object is sliced\n )\n\n (:functions\n (distance ?from ?to)\n (total-cost) - number\n )\n\n;; All actions are specified such that the final arguments are the ones used\n;; for performing actions in Unity.\n\n\n(:action look\n :parameters (?a - agent ?l - location)\n :precondition\n (and\n (atLocation ?a ?l)\n )\n :effect\n (and\n (checked ?l)\n )\n)\n\n(:action inventory\n :parameters (?a - agent)\n :precondition\n ()\n :effect\n (and\n (checked ?a)\n )\n)\n\n(:action examineReceptacle\n :parameters (?a - agent ?r - receptacle)\n :precondition\n (and\n (exists (?l - location)\n (and\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n )\n )\n )\n :effect\n (and\n (checked ?r)\n )\n)\n\n(:action examineObject\n :parameters (?a - agent ?o - object)\n :precondition\n (or\n ;(exists (?l - location)\n ; (and\n ; (atLocation ?a ?l)\n ; (objectAtLocation ?o ?l)\n ; )\n ;)\n (exists (?l - location, ?r - receptacle)\n (and\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n ; (objectAtLocation ?o ?l)\n (inReceptacle ?o ?r)\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n )\n )\n (holds ?a ?o)\n )\n :effect\n (and\n (checked ?o)\n )\n)\n\n;; agent goes to receptacle\n (:action GotoLocation\n :parameters (?a - agent ?lStart - location ?lEnd - location ?r - receptacle)\n :precondition (and\n (atLocation ?a ?lStart)\n (receptacleAtLocation ?r ?lEnd)\n ;(exists (?r - receptacle) (receptacleAtLocation ?r ?lEnd))\n )\n :effect (and\n (not (atLocation ?a ?lStart))\n (atLocation ?a ?lEnd)\n ; (forall (?r - receptacle)\n ; (when (and (receptacleAtLocation ?r ?lEnd)\n ; (or (not (openable ?r)) (opened ?r)))\n ; (checked ?r)\n ; )\n ; )\n ; (increase (total-cost) (distance ?lStart ?lEnd))\n (increase (total-cost) 1)\n )\n )\n\n;; agent opens receptacle\n (:action OpenObject\n :parameters (?a - agent ?l - location ?r - receptacle)\n :precondition (and\n (openable ?r)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (not (opened ?r))\n )\n :effect (and\n (opened ?r)\n (checked ?r)\n (increase (total-cost) 1)\n )\n )\n;; agent closes receptacle\n (:action CloseObject\n :parameters (?a - agent ?l - location ?r - receptacle)\n :precondition (and\n (openable ?r)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (opened ?r)\n )\n :effect (and\n (not (opened ?r))\n (increase (total-cost) 1)\n )\n\n )\n\n ;; agent picks up object from a receptacle\n (:action PickupObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n :precondition\n (and\n (pickupable ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n ; (objectAtLocation ?o ?l)\n (inReceptacle ?o ?r)\n (not (holdsAny ?a)) ; agent's hands are empty.\n ;(not (holdsAnyReceptacleObject ?a))\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n ;(not (isReceptacleObject ?o))\n )\n :effect\n (and\n (not (inReceptacle ?o ?r))\n (holds ?a ?o)\n (holdsAny ?a)\n (not (objectAtLocation ?o ?l))\n ;(not (full ?r))\n (increase (total-cost) 1)\n )\n )\n\n\n; ;; agent picks up object from a receptacle\n; (:action PickupObjectFromReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?outerR - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (inReceptacle ?o ?r)\n; (pickupable ?o)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (not (isReceptacleObject ?o))\n; (isReceptacleObject ?outerR)\n; (inReceptacleObject ?o ?outerR)\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (holds ?a ?o)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n;\n; (not (inReceptacleObject ?o ?outerR))\n; (not (isReceptacleObjectFull ?outerR))\n; )\n; )\n;\n; ;; agent picks up object from a receptacle\n; (:action PickupEmptyReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; ; (objectAtLocation ?o ?l)\n; (inReceptacle ?o ?r)\n; (pickupable ?o)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (isReceptacleObject ?o)\n; (not (isReceptacleObjectFull ?o))\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (holds ?a ?o)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n; (holdsAnyReceptacleObject ?a)\n; )\n; )\n;\n; ;; agent picks up object from a receptacle\n; (:action PickupFullReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?outerR - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (inReceptacle ?outerR ?r)\n; (pickupable ?outerR)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (not (isReceptacleObject ?o))\n; (isReceptacleObject ?outerR)\n; (inReceptacleObject ?o ?outerR)\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (not (inReceptacle ?outerR ?r))\n; (holds ?a ?outerR)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (objectAtLocation ?outerR ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n; (holdsAnyReceptacleObject ?a)\n; )\n; )\n\n\n;; agent puts down an object\n (:action PutObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle ?ot - otype ?rt - rtype)\n :precondition (and\n (holds ?a ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable\n ;(not (full ?r))\n (objectType ?o ?ot)\n (receptacleType ?r ?rt)\n (canContain ?rt ?ot)\n ;(not (holdsAnyReceptacleObject ?a))\n )\n :effect (and\n (inReceptacle ?o ?r)\n (objectAtLocation ?o ?l)\n ;(full ?r)\n (not (holds ?a ?o))\n (not (holdsAny ?a))\n (increase (total-cost) 1)\n )\n )\n\n;;; agent puts down an object\n; (:action PutObjectInReceptacleObject\n; :parameters (?a - agent ?l - location ?ot - otype ?o - object ?outerO - object ?outerR - receptacle)\n; :precondition (and\n; (atLocation ?a ?l)\n; (objectAtLocation ?outerO ?l)\n; (isReceptacleObject ?outerO)\n; (not (isReceptacleObject ?o))\n; (objectType ?o ?ot)\n; (holds ?a ?o)\n; (not (holdsAnyReceptacleObject ?a))\n; (inReceptacle ?outerO ?outerR)\n; (not (isReceptacleObjectFull ?outerO))\n; )\n; :effect (and\n; (inReceptacleObject ?o ?outerO)\n; (inReceptacle ?o ?outerR)\n; (not (holds ?a ?o))\n; (not (holdsAny ?a))\n; (objectAtLocation ?o ?l)\n; (isReceptacleObjectFull ?outerO)\n; (increase (total-cost) 1)\n; )\n; )\n;\n;;; agent puts down an object\n; (:action PutEmptyReceptacleObjectinReceptacle\n; :parameters (?a - agent ?l - location ?ot - otype ?o - object ?r - receptacle)\n; :precondition (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable\n; (not (full ?r))\n; (objectType ?o ?ot)\n; (holds ?a ?o)\n; (holdsAnyReceptacleObject ?a)\n; (isReceptacleObject ?o)\n; (not (isReceptacleObjectFull ?o))\n; )\n; :effect (and\n; (inReceptacle ?o ?r)\n; (objectAtLocation ?o ?l)\n; (full ?r)\n; (not (holds ?a ?o))\n; (not (holdsAny ?a))\n; (not (holdsAnyReceptacleObject ?a))\n; (increase (total-cost) 1)\n; )\n; )\n;\n;;; agent puts down a receptacle object in a receptacle\n; (:action PutFullReceptacleObjectInReceptacle\n; :parameters (?a - agent ?l - location ?ot - otype ?innerO - object ?outerO - object ?r - receptacle) ; ?rt - rtype)\n; :precondition (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (objectType ?outerO ?ot)\n; (holds ?a ?outerO)\n; (holdsAnyReceptacleObject ?a)\n; (isReceptacleObject ?outerO)\n; (isReceptacleObjectFull ?outerO)\n; (inReceptacleObject ?innerO ?outerO)\n; )\n; :effect (and\n; (not (holdsAny ?a))\n; (not (holdsAnyReceptacleObject ?a))\n; (objectAtLocation ?outerO ?l)\n; (objectAtLocation ?innerO ?l)\n; (inReceptacle ?outerO ?r)\n; (inReceptacle ?innerO ?r)\n; (not (holds ?a ?outerO))\n; (increase (total-cost) 1)\n; )\n; )\n\n;; agent cleans some object\n (:action CleanObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (cleanable ?o)\n (or\n (receptacleType ?r SinkType)\n (receptacleType ?r SinkBasinType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isClean ?o)\n )\n )\n\n\n;; agent heats-up some object\n (:action HeatObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (heatable ?o)\n (or\n (receptacleType ?r MicrowaveType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isHot ?o)\n (not (isCool ?o))\n )\n )\n\n;; agent cools some object\n (:action CoolObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (coolable ?o)\n (or\n (receptacleType ?r FridgeType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isCool ?o)\n (not (isHot ?o))\n )\n )\n\n\n;; agent toggle object\n (:action ToggleObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n :precondition (and\n (toggleable ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (inReceptacle ?o ?r)\n )\n :effect (and\n (increase (total-cost) 5)\n (when (isOn ?o)\n (not (isOn ?o)))\n (when (not (isOn ?o))\n (isOn ?o))\n (isToggled ?o)\n )\n )\n\n\n;; agent slices some object with a knife\n (:action SliceObject\n :parameters (?a - agent ?l - location ?co - object ?ko - object)\n :precondition\n (and\n (sliceable ?co)\n (or\n (objectType ?ko KnifeType)\n (objectType ?ko ButterKnifeType)\n )\n (atLocation ?a ?l)\n (objectAtLocation ?co ?l)\n (holds ?a ?ko)\n )\n :effect (and\n (increase (total-cost) 5)\n (isSliced ?co)\n )\n )\n\n\n(:action help\n :parameters (?a - agent)\n :precondition\n ()\n :effect\n (and\n (checked ?a)\n )\n)\n)\n", "grammar": "grammar :: \"\"\"\n {\n \"intro\": [\n {\n \"rhs\": \"-= Welcome to TextWorld, ALFRED! =-\\n\\n#look.feedback#\\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 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_T20190907_051125_923567)\n(:domain alfred)\n(:objects\nagent1 - agent\nSaltShaker - object\n HousePlant - object\n Candle - object\n SprayBottle - object\n Bowl - object\n Window - object\n CD - object\n Egg - object\n Glassbottle - object\n Sink - object\n Pillow - object\n Spoon - object\n SoapBottle - object\n TeddyBear - object\n ButterKnife - object\n Cup - object\n Plate - object\n RemoteControl - object\n Tomato - object\n Statue - object\n HandTowel - object\n Knife - object\n StoveKnob - object\n LightSwitch - object\n Pen - object\n Painting - object\n DishSponge - object\n Vase - object\n Mug - object\n ToiletPaper - object\n Box - object\n Mirror - object\n Ladle - object\n Fork - object\n Blinds - object\n Footstool - object\n KeyChain - object\n Cloth - object\n Laptop - object\n TissueBox - object\n PepperShaker - object\n FloorLamp - object\n WateringCan - object\n Apple - object\n Pan - object\n PaperTowel - object\n PaperTowelRoll - object\n Newspaper - object\n Television - object\n Chair - object\n CellPhone - object\n CreditCard - object\n Lettuce - object\n BasketBall - object\n Potato - object\n Curtains - object\n Boots - object\n Pencil - object\n AlarmClock - object\n ToiletPaperRoll - object\n Spatula - object\n Book - object\n Bread - object\n SoapBar - object\n Watch - object\n DeskLamp - object\n Kettle - object\n Pot - object\n ScrubBrush - object\n WineBottle - object\n ShowerDoor - object\n Bathtub - object\n LaundryHamperLid - object\n ShowerGlass - object\n Poster - object\n TennisRacket - object\n BaseballBat - object\n Towel - object\n Plunger - object\nSaltShakerType - otype\n HousePlantType - otype\n CandleType - otype\n SprayBottleType - otype\n BowlType - otype\n WindowType - otype\n CDType - otype\n EggType - otype\n GlassbottleType - otype\n SinkType - otype\n PillowType - otype\n SpoonType - otype\n SoapBottleType - otype\n TeddyBearType - otype\n ButterKnifeType - otype\n CupType - otype\n PlateType - otype\n RemoteControlType - otype\n TomatoType - otype\n StatueType - otype\n HandTowelType - otype\n KnifeType - otype\n StoveKnobType - otype\n LightSwitchType - otype\n PenType - otype\n PaintingType - otype\n DishSpongeType - otype\n VaseType - otype\n MugType - otype\n ToiletPaperType - otype\n BoxType - otype\n MirrorType - otype\n LadleType - otype\n ForkType - otype\n BlindsType - otype\n FootstoolType - otype\n KeyChainType - otype\n ClothType - otype\n LaptopType - otype\n TissueBoxType - otype\n PepperShakerType - otype\n FloorLampType - otype\n WateringCanType - otype\n AppleType - otype\n PanType - otype\n PaperTowelType - otype\n PaperTowelRollType - otype\n NewspaperType - otype\n TelevisionType - otype\n ChairType - otype\n CellPhoneType - otype\n CreditCardType - otype\n LettuceType - otype\n BasketBallType - otype\n PotatoType - otype\n CurtainsType - otype\n BootsType - otype\n PencilType - otype\n AlarmClockType - otype\n ToiletPaperRollType - otype\n SpatulaType - otype\n BookType - otype\n BreadType - otype\n SoapBarType - otype\n WatchType - otype\n DeskLampType - otype\n KettleType - otype\n PotType - otype\n ScrubBrushType - otype\n WineBottleType - otype\n ShowerDoorType - otype\n BathtubType - otype\n LaundryHamperLidType - otype\n ShowerGlassType - otype\n PosterType - otype\n TennisRacketType - otype\n BaseballBatType - otype\n TowelType - otype\n PlungerType - otype\nSafeType - rtype\n DrawerType - rtype\n CoffeeMachineType - rtype\n HandTowelHolderType - rtype\n SinkBasinType - rtype\n DresserType - rtype\n LaundryHamperType - rtype\n TVStandType - rtype\n BathtubBasinType - rtype\n CabinetType - rtype\n FridgeType - rtype\n DeskType - rtype\n ToiletType - rtype\n CartType - rtype\n SideTableType - rtype\n SofaType - rtype\n CoffeeTableType - rtype\n DiningTableType - rtype\n CounterTopType - rtype\n GarbageCanType - rtype\n ArmChairType - rtype\n ShelfType - rtype\n MicrowaveType - rtype\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_04_bar__plus_01_dot_63_bar__plus_01_dot_98 - object\n Apple_bar__minus_02_dot_44_bar__plus_00_dot_93_bar__plus_03_dot_56 - object\n Apple_bar__minus_02_dot_95_bar__plus_00_dot_93_bar__plus_03_dot_04 - object\n Book_bar__minus_02_dot_05_bar__plus_00_dot_12_bar__minus_01_dot_43 - object\n Book_bar__minus_02_dot_25_bar__plus_00_dot_87_bar__plus_02_dot_92 - object\n Bowl_bar__plus_03_dot_64_bar__plus_00_dot_55_bar__plus_01_dot_45 - object\n Bowl_bar__minus_00_dot_33_bar__plus_00_dot_71_bar__minus_01_dot_57 - object\n Bowl_bar__minus_01_dot_96_bar__plus_00_dot_91_bar__minus_00_dot_29 - object\n Bread_bar__minus_00_dot_15_bar__plus_01_dot_23_bar__plus_02_dot_21 - object\n Bread_bar__minus_02_dot_81_bar__plus_00_dot_96_bar__plus_02_dot_72 - object\n ButterKnife_bar__minus_00_dot_04_bar__plus_00_dot_93_bar__minus_01_dot_72 - 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_01_bar__plus_00_dot_93_bar__minus_01_dot_50 - object\n Cup_bar__plus_00_dot_08_bar__plus_01_dot_14_bar__plus_02_dot_13 - object\n Cup_bar__plus_01_dot_16_bar__plus_01_dot_76_bar__minus_01_dot_56 - object\n DishSponge_bar__minus_01_dot_68_bar__plus_00_dot_72_bar__minus_01_dot_07 - object\n Egg_bar__minus_00_dot_03_bar__plus_00_dot_83_bar__plus_02_dot_19 - object\n Egg_bar__minus_00_dot_04_bar__plus_00_dot_83_bar__plus_01_dot_97 - object\n Faucet_bar__minus_00_dot_19_bar__plus_00_dot_92_bar__minus_01_dot_75 - object\n Fork_bar__plus_00_dot_07_bar__plus_00_dot_93_bar__minus_01_dot_57 - object\n Fork_bar__minus_02_dot_32_bar__plus_00_dot_88_bar__plus_03_dot_30 - object\n Fork_bar__minus_02_dot_47_bar__plus_00_dot_88_bar__plus_02_dot_93 - object\n HousePlant_bar__minus_02_dot_74_bar__plus_00_dot_87_bar__plus_03_dot_21 - object\n Kettle_bar__plus_01_dot_33_bar__plus_00_dot_96_bar__minus_01_dot_42 - object\n Knife_bar__plus_00_dot_12_bar__plus_00_dot_95_bar__minus_01_dot_36 - object\n Knife_bar__minus_02_dot_32_bar__plus_00_dot_90_bar__plus_03_dot_44 - object\n Knife_bar__minus_02_dot_49_bar__plus_00_dot_90_bar__plus_03_dot_30 - object\n Lettuce_bar__minus_00_dot_15_bar__plus_00_dot_87_bar__plus_02_dot_14 - object\n Lettuce_bar__minus_03_dot_12_bar__plus_00_dot_94_bar__plus_03_dot_48 - object\n LightSwitch_bar__plus_02_dot_83_bar__plus_01_dot_27_bar__minus_00_dot_75 - object\n Mug_bar__plus_03_dot_72_bar__plus_00_dot_88_bar__plus_01_dot_45 - object\n Pan_bar__plus_00_dot_97_bar__plus_00_dot_96_bar__minus_01_dot_69 - object\n PepperShaker_bar__plus_00_dot_68_bar__plus_00_dot_71_bar__minus_01_dot_34 - object\n PepperShaker_bar__minus_02_dot_88_bar__plus_00_dot_87_bar__plus_03_dot_56 - object\n Plate_bar__plus_00_dot_08_bar__plus_01_dot_58_bar__plus_02_dot_16 - object\n Plate_bar__plus_00_dot_19_bar__plus_00_dot_81_bar__plus_02_dot_08 - object\n Plate_bar__plus_00_dot_31_bar__plus_01_dot_58_bar__plus_02_dot_22 - object\n Potato_bar__minus_00_dot_04_bar__plus_00_dot_97_bar__minus_01_dot_65 - object\n Potato_bar__minus_00_dot_26_bar__plus_00_dot_84_bar__plus_01_dot_97 - object\n Potato_bar__minus_00_dot_38_bar__plus_01_dot_18_bar__plus_02_dot_21 - object\n Pot_bar__plus_00_dot_97_bar__plus_00_dot_96_bar__minus_01_dot_42 - object\n Pot_bar__minus_03_dot_17_bar__plus_00_dot_88_bar__plus_03_dot_22 - object\n SaltShaker_bar__minus_01_dot_65_bar__plus_00_dot_72_bar__minus_00_dot_72 - 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_05_bar__plus_01_dot_65_bar__minus_01_dot_71 - object\n SoapBottle_bar__minus_01_dot_39_bar__plus_01_dot_66_bar__minus_01_dot_78 - object\n SoapBottle_bar__minus_02_dot_15_bar__plus_00_dot_88_bar__plus_03_dot_22 - object\n Spatula_bar__minus_02_dot_11_bar__plus_00_dot_73_bar__minus_01_dot_58 - object\n Spoon_bar__plus_00_dot_29_bar__plus_00_dot_93_bar__minus_01_dot_65 - object\n Spoon_bar__plus_00_dot_56_bar__plus_00_dot_72_bar__minus_01_dot_44 - object\n Spoon_bar__plus_01_dot_76_bar__plus_00_dot_91_bar__minus_01_dot_53 - object\n Statue_bar__plus_03_dot_59_bar__plus_00_dot_56_bar__plus_01_dot_66 - object\n Statue_bar__plus_03_dot_67_bar__plus_00_dot_54_bar__plus_01_dot_80 - object\n Statue_bar__minus_01_dot_96_bar__plus_00_dot_91_bar__minus_01_dot_27 - 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_87_bar__plus_00_dot_24_bar__plus_02_dot_06 - object\n Tomato_bar__minus_02_dot_62_bar__plus_00_dot_92_bar__plus_03_dot_50 - object\n Tomato_bar__minus_02_dot_86_bar__plus_00_dot_93_bar__plus_03_dot_74 - object\n Vase_bar__minus_00_dot_40_bar__plus_00_dot_12_bar__minus_01_dot_45 - object\n Vase_bar__minus_01_dot_69_bar__plus_00_dot_12_bar__minus_00_dot_84 - object\n Vase_bar__minus_03_dot_07_bar__plus_00_dot_88_bar__plus_02_dot_92 - 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_01_dot_95_bar__plus_01_dot_66_bar__minus_01_dot_78 - object\n WineBottle_bar__minus_02_dot_13_bar__plus_00_dot_12_bar__minus_01_dot_73 - object\n WineBottle_bar__minus_02_dot_41_bar__plus_00_dot_88_bar__plus_03_dot_69 - 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_1_bar_5_bar_0_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_10_bar_6_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 CounterTop_bar__plus_01_dot_65_bar__plus_00_dot_95_bar__minus_01_dot_53 CounterTopType)\n (receptacleType Cabinet_bar__plus_01_dot_45_bar__plus_02_dot_26_bar__minus_01_dot_54 CabinetType)\n (receptacleType Cabinet_bar__minus_01_dot_67_bar__plus_02_dot_01_bar__minus_01_dot_54 CabinetType)\n (receptacleType Cabinet_bar__plus_01_dot_78_bar__plus_02_dot_01_bar__minus_01_dot_54 CabinetType)\n (receptacleType Shelf_bar__plus_03_dot_69_bar__plus_00_dot_54_bar__plus_01_dot_64 ShelfType)\n (receptacleType Sink_bar__plus_00_dot_02_bar__plus_00_dot_77_bar__minus_01_dot_71_bar_SinkBasin SinkBasinType)\n (receptacleType Drawer_bar__plus_01_dot_65_bar__plus_00_dot_68_bar__minus_01_dot_40 DrawerType)\n 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Drawer_bar__minus_01_dot_64_bar__plus_00_dot_68_bar__minus_00_dot_93 DrawerType)\n (receptacleType Cabinet_bar__minus_01_dot_48_bar__plus_00_dot_37_bar__minus_01_dot_24 CabinetType)\n (receptacleType Cabinet_bar__minus_00_dot_57_bar__plus_00_dot_37_bar__minus_01_dot_24 CabinetType)\n (receptacleType 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 Plate_bar__plus_00_dot_31_bar__plus_01_dot_58_bar__plus_02_dot_22 PlateType)\n (objectType Vase_bar__minus_00_dot_40_bar__plus_00_dot_12_bar__minus_01_dot_45 VaseType)\n (objectType Fork_bar__plus_00_dot_07_bar__plus_00_dot_93_bar__minus_01_dot_57 ForkType)\n (objectType Plate_bar__plus_00_dot_08_bar__plus_01_dot_58_bar__plus_02_dot_16 PlateType)\n (objectType Chair_bar__minus_02_dot_82_bar__plus_00_dot_00_bar__plus_02_dot_60 ChairType)\n (objectType Potato_bar__minus_00_dot_26_bar__plus_00_dot_84_bar__plus_01_dot_97 PotatoType)\n (objectType HousePlant_bar__minus_02_dot_74_bar__plus_00_dot_87_bar__plus_03_dot_21 HousePlantType)\n (objectType Fork_bar__minus_02_dot_47_bar__plus_00_dot_88_bar__plus_02_dot_93 ForkType)\n (objectType Sink_bar__plus_00_dot_02_bar__plus_00_dot_77_bar__minus_01_dot_71 SinkType)\n (objectType PepperShaker_bar__plus_00_dot_68_bar__plus_00_dot_71_bar__minus_01_dot_34 PepperShakerType)\n (objectType Egg_bar__minus_00_dot_04_bar__plus_00_dot_83_bar__plus_01_dot_97 EggType)\n (objectType PepperShaker_bar__minus_02_dot_88_bar__plus_00_dot_87_bar__plus_03_dot_56 PepperShakerType)\n (objectType Apple_bar__minus_00_dot_04_bar__plus_01_dot_63_bar__plus_01_dot_98 AppleType)\n (objectType Statue_bar__plus_03_dot_59_bar__plus_00_dot_56_bar__plus_01_dot_66 StatueType)\n (objectType Bowl_bar__minus_01_dot_96_bar__plus_00_dot_91_bar__minus_00_dot_29 BowlType)\n (objectType Chair_bar__minus_01_dot_92_bar__plus_00_dot_00_bar__plus_03_dot_47 ChairType)\n (objectType Potato_bar__minus_00_dot_04_bar__plus_00_dot_97_bar__minus_01_dot_65 PotatoType)\n (objectType Tomato_bar__minus_02_dot_86_bar__plus_00_dot_93_bar__plus_03_dot_74 TomatoType)\n (objectType Book_bar__minus_02_dot_05_bar__plus_00_dot_12_bar__minus_01_dot_43 BookType)\n (objectType StoveKnob_bar__plus_01_dot_34_bar__plus_00_dot_91_bar__minus_01_dot_24 StoveKnobType)\n (objectType Bread_bar__minus_00_dot_15_bar__plus_01_dot_23_bar__plus_02_dot_21 BreadType)\n (objectType Apple_bar__minus_02_dot_44_bar__plus_00_dot_93_bar__plus_03_dot_56 AppleType)\n (objectType Chair_bar__minus_02_dot_41_bar__plus_00_dot_57_bar__plus_00_dot_07 ChairType)\n (objectType Lettuce_bar__minus_03_dot_12_bar__plus_00_dot_94_bar__plus_03_dot_48 LettuceType)\n (objectType SoapBottle_bar__minus_02_dot_15_bar__plus_00_dot_88_bar__plus_03_dot_22 SoapBottleType)\n (objectType Pot_bar__minus_03_dot_17_bar__plus_00_dot_88_bar__plus_03_dot_22 PotType)\n (objectType Vase_bar__minus_01_dot_69_bar__plus_00_dot_12_bar__minus_00_dot_84 VaseType)\n (objectType SaltShaker_bar__minus_01_dot_65_bar__plus_00_dot_72_bar__minus_00_dot_72 SaltShakerType)\n (objectType SoapBottle_bar__minus_01_dot_39_bar__plus_01_dot_66_bar__minus_01_dot_78 SoapBottleType)\n (objectType Book_bar__minus_02_dot_25_bar__plus_00_dot_87_bar__plus_02_dot_92 BookType)\n (objectType Mug_bar__plus_03_dot_72_bar__plus_00_dot_88_bar__plus_01_dot_45 MugType)\n (objectType Egg_bar__minus_00_dot_03_bar__plus_00_dot_83_bar__plus_02_dot_19 EggType)\n (objectType StoveKnob_bar__plus_01_dot_21_bar__plus_00_dot_91_bar__minus_01_dot_24 StoveKnobType)\n (objectType StoveKnob_bar__plus_01_dot_09_bar__plus_00_dot_91_bar__minus_01_dot_24 StoveKnobType)\n (objectType Cup_bar__plus_01_dot_16_bar__plus_01_dot_76_bar__minus_01_dot_56 CupType)\n (objectType 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Tomato_bar__minus_02_dot_62_bar__plus_00_dot_92_bar__plus_03_dot_50)\n (coolable Bowl_bar__minus_00_dot_33_bar__plus_00_dot_71_bar__minus_01_dot_57)\n (coolable Bread_bar__minus_02_dot_81_bar__plus_00_dot_96_bar__plus_02_dot_72)\n (coolable Bowl_bar__plus_03_dot_64_bar__plus_00_dot_55_bar__plus_01_dot_45)\n (coolable Plate_bar__plus_00_dot_19_bar__plus_00_dot_81_bar__plus_02_dot_08)\n (coolable WineBottle_bar__minus_01_dot_95_bar__plus_01_dot_66_bar__minus_01_dot_78)\n (coolable Cup_bar__plus_00_dot_01_bar__plus_00_dot_93_bar__minus_01_dot_50)\n \n \n \n \n \n (sliceable Potato_bar__minus_00_dot_26_bar__plus_00_dot_84_bar__plus_01_dot_97)\n (sliceable Egg_bar__minus_00_dot_04_bar__plus_00_dot_83_bar__plus_01_dot_97)\n (sliceable Apple_bar__minus_00_dot_04_bar__plus_01_dot_63_bar__plus_01_dot_98)\n (sliceable Potato_bar__minus_00_dot_04_bar__plus_00_dot_97_bar__minus_01_dot_65)\n (sliceable Tomato_bar__minus_02_dot_86_bar__plus_00_dot_93_bar__plus_03_dot_74)\n (sliceable Bread_bar__minus_00_dot_15_bar__plus_01_dot_23_bar__plus_02_dot_21)\n (sliceable Apple_bar__minus_02_dot_44_bar__plus_00_dot_93_bar__plus_03_dot_56)\n (sliceable Lettuce_bar__minus_03_dot_12_bar__plus_00_dot_94_bar__plus_03_dot_48)\n (sliceable Egg_bar__minus_00_dot_03_bar__plus_00_dot_83_bar__plus_02_dot_19)\n (sliceable Tomato_bar__minus_00_dot_87_bar__plus_00_dot_24_bar__plus_02_dot_06)\n (sliceable Potato_bar__minus_00_dot_38_bar__plus_01_dot_18_bar__plus_02_dot_21)\n (sliceable Apple_bar__minus_02_dot_95_bar__plus_00_dot_93_bar__plus_03_dot_04)\n (sliceable Lettuce_bar__minus_00_dot_15_bar__plus_00_dot_87_bar__plus_02_dot_14)\n (sliceable Tomato_bar__minus_02_dot_62_bar__plus_00_dot_92_bar__plus_03_dot_50)\n (sliceable Bread_bar__minus_02_dot_81_bar__plus_00_dot_96_bar__plus_02_dot_72)\n \n (inReceptacle WineBottle_bar__minus_01_dot_95_bar__plus_01_dot_66_bar__minus_01_dot_78 Cabinet_bar__minus_02_dot_17_bar__plus_02_dot_01_bar__minus_01_dot_54)\n (inReceptacle Pan_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 Statue_bar__minus_01_dot_96_bar__plus_00_dot_91_bar__minus_01_dot_27 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 Bowl_bar__minus_01_dot_96_bar__plus_00_dot_91_bar__minus_00_dot_29 CounterTop_bar__minus_01_dot_87_bar__plus_00_dot_95_bar__minus_00_dot_61)\n (inReceptacle WineBottle_bar__minus_02_dot_13_bar__plus_00_dot_12_bar__minus_01_dot_73 Cabinet_bar__minus_02_dot_22_bar__plus_00_dot_37_bar__minus_01_dot_87)\n (inReceptacle Book_bar__minus_02_dot_05_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 Apple_bar__minus_02_dot_44_bar__plus_00_dot_93_bar__plus_03_dot_56 DiningTable_bar__minus_02_dot_66_bar__plus_00_dot_83_bar__plus_03_dot_21)\n (inReceptacle Lettuce_bar__minus_03_dot_12_bar__plus_00_dot_94_bar__plus_03_dot_48 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_22 DiningTable_bar__minus_02_dot_66_bar__plus_00_dot_83_bar__plus_03_dot_21)\n (inReceptacle Tomato_bar__minus_02_dot_62_bar__plus_00_dot_92_bar__plus_03_dot_50 DiningTable_bar__minus_02_dot_66_bar__plus_00_dot_83_bar__plus_03_dot_21)\n (inReceptacle Knife_bar__minus_02_dot_32_bar__plus_00_dot_90_bar__plus_03_dot_44 DiningTable_bar__minus_02_dot_66_bar__plus_00_dot_83_bar__plus_03_dot_21)\n (inReceptacle Pot_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 Bread_bar__minus_02_dot_81_bar__plus_00_dot_96_bar__plus_02_dot_72 DiningTable_bar__minus_02_dot_66_bar__plus_00_dot_83_bar__plus_03_dot_21)\n (inReceptacle Book_bar__minus_02_dot_25_bar__plus_00_dot_87_bar__plus_02_dot_92 DiningTable_bar__minus_02_dot_66_bar__plus_00_dot_83_bar__plus_03_dot_21)\n (inReceptacle Knife_bar__minus_02_dot_49_bar__plus_00_dot_90_bar__plus_03_dot_30 DiningTable_bar__minus_02_dot_66_bar__plus_00_dot_83_bar__plus_03_dot_21)\n (inReceptacle Vase_bar__minus_03_dot_07_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 Fork_bar__minus_02_dot_47_bar__plus_00_dot_88_bar__plus_02_dot_93 DiningTable_bar__minus_02_dot_66_bar__plus_00_dot_83_bar__plus_03_dot_21)\n (inReceptacle PepperShaker_bar__minus_02_dot_88_bar__plus_00_dot_87_bar__plus_03_dot_56 DiningTable_bar__minus_02_dot_66_bar__plus_00_dot_83_bar__plus_03_dot_21)\n (inReceptacle Apple_bar__minus_02_dot_95_bar__plus_00_dot_93_bar__plus_03_dot_04 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 WineBottle_bar__minus_02_dot_41_bar__plus_00_dot_88_bar__plus_03_dot_69 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_30 DiningTable_bar__minus_02_dot_66_bar__plus_00_dot_83_bar__plus_03_dot_21)\n (inReceptacle Tomato_bar__minus_02_dot_86_bar__plus_00_dot_93_bar__plus_03_dot_74 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 Vase_bar__minus_01_dot_69_bar__plus_00_dot_12_bar__minus_00_dot_84 Cabinet_bar__minus_01_dot_48_bar__plus_00_dot_37_bar__minus_01_dot_24)\n (inReceptacle Vase_bar__minus_00_dot_40_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 SoapBottle_bar__minus_01_dot_05_bar__plus_01_dot_65_bar__minus_01_dot_71 Cabinet_bar__minus_00_dot_71_bar__plus_02_dot_01_bar__minus_01_dot_54)\n (inReceptacle SoapBottle_bar__minus_01_dot_39_bar__plus_01_dot_66_bar__minus_01_dot_78 Cabinet_bar__minus_01_dot_67_bar__plus_02_dot_01_bar__minus_01_dot_54)\n (inReceptacle SaltShaker_bar__minus_01_dot_65_bar__plus_00_dot_72_bar__minus_00_dot_72 Drawer_bar__minus_01_dot_64_bar__plus_00_dot_68_bar__minus_00_dot_93)\n (inReceptacle DishSponge_bar__minus_01_dot_68_bar__plus_00_dot_72_bar__minus_01_dot_07 Drawer_bar__minus_01_dot_64_bar__plus_00_dot_68_bar__minus_00_dot_93)\n (inReceptacle Spoon_bar__plus_00_dot_56_bar__plus_00_dot_72_bar__minus_01_dot_44 Drawer_bar__plus_00_dot_60_bar__plus_00_dot_68_bar__minus_01_dot_40)\n (inReceptacle PepperShaker_bar__plus_00_dot_68_bar__plus_00_dot_71_bar__minus_01_dot_34 Drawer_bar__plus_00_dot_60_bar__plus_00_dot_68_bar__minus_01_dot_40)\n (inReceptacle Pot_bar__plus_00_dot_97_bar__plus_00_dot_96_bar__minus_01_dot_42 StoveBurner_bar__plus_00_dot_97_bar__plus_00_dot_96_bar__minus_01_dot_42)\n (inReceptacle Spatula_bar__minus_02_dot_11_bar__plus_00_dot_73_bar__minus_01_dot_58 Drawer_bar__minus_02_dot_06_bar__plus_00_dot_68_bar__minus_01_dot_58)\n (inReceptacle Spoon_bar__plus_01_dot_76_bar__plus_00_dot_91_bar__minus_01_dot_53 CounterTop_bar__plus_01_dot_65_bar__plus_00_dot_95_bar__minus_01_dot_53)\n (inReceptacle Mug_bar__plus_03_dot_72_bar__plus_00_dot_88_bar__plus_01_dot_45 Shelf_bar__plus_03_dot_69_bar__plus_00_dot_87_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 Bowl_bar__plus_03_dot_64_bar__plus_00_dot_55_bar__plus_01_dot_45 Shelf_bar__plus_03_dot_69_bar__plus_00_dot_54_bar__plus_01_dot_64)\n (inReceptacle Statue_bar__plus_03_dot_59_bar__plus_00_dot_56_bar__plus_01_dot_66 Shelf_bar__plus_03_dot_69_bar__plus_00_dot_54_bar__plus_01_dot_64)\n (inReceptacle Cup_bar__plus_01_dot_16_bar__plus_01_dot_76_bar__minus_01_dot_56 Microwave_bar__plus_01_dot_15_bar__plus_01_dot_65_bar__minus_01_dot_61)\n (inReceptacle Bread_bar__minus_00_dot_15_bar__plus_01_dot_23_bar__plus_02_dot_21 Fridge_bar__minus_00_dot_04_bar__plus_00_dot_00_bar__plus_02_dot_18)\n (inReceptacle Plate_bar__plus_00_dot_31_bar__plus_01_dot_58_bar__plus_02_dot_22 Fridge_bar__minus_00_dot_04_bar__plus_00_dot_00_bar__plus_02_dot_18)\n (inReceptacle Plate_bar__plus_00_dot_08_bar__plus_01_dot_58_bar__plus_02_dot_16 Fridge_bar__minus_00_dot_04_bar__plus_00_dot_00_bar__plus_02_dot_18)\n (inReceptacle Egg_bar__minus_00_dot_03_bar__plus_00_dot_83_bar__plus_02_dot_19 Fridge_bar__minus_00_dot_04_bar__plus_00_dot_00_bar__plus_02_dot_18)\n (inReceptacle Potato_bar__minus_00_dot_38_bar__plus_01_dot_18_bar__plus_02_dot_21 Fridge_bar__minus_00_dot_04_bar__plus_00_dot_00_bar__plus_02_dot_18)\n (inReceptacle Cup_bar__plus_00_dot_08_bar__plus_01_dot_14_bar__plus_02_dot_13 Fridge_bar__minus_00_dot_04_bar__plus_00_dot_00_bar__plus_02_dot_18)\n (inReceptacle Potato_bar__minus_00_dot_26_bar__plus_00_dot_84_bar__plus_01_dot_97 Fridge_bar__minus_00_dot_04_bar__plus_00_dot_00_bar__plus_02_dot_18)\n (inReceptacle Egg_bar__minus_00_dot_04_bar__plus_00_dot_83_bar__plus_01_dot_97 Fridge_bar__minus_00_dot_04_bar__plus_00_dot_00_bar__plus_02_dot_18)\n (inReceptacle Apple_bar__minus_00_dot_04_bar__plus_01_dot_63_bar__plus_01_dot_98 Fridge_bar__minus_00_dot_04_bar__plus_00_dot_00_bar__plus_02_dot_18)\n (inReceptacle Lettuce_bar__minus_00_dot_15_bar__plus_00_dot_87_bar__plus_02_dot_14 Fridge_bar__minus_00_dot_04_bar__plus_00_dot_00_bar__plus_02_dot_18)\n (inReceptacle Bowl_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 Tomato_bar__minus_00_dot_87_bar__plus_00_dot_24_bar__plus_02_dot_06 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_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 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 SoapBottle_bar__minus_01_dot_39_bar__plus_01_dot_66_bar__minus_01_dot_78 loc_bar__minus_4_bar__minus_3_bar_2_bar__minus_30)\n (objectAtLocation Spoon_bar__plus_00_dot_56_bar__plus_00_dot_72_bar__minus_01_dot_44 loc_bar_1_bar__minus_2_bar_2_bar_45)\n (objectAtLocation Apple_bar__minus_00_dot_04_bar__plus_01_dot_63_bar__plus_01_dot_98 loc_bar_0_bar_5_bar_0_bar_60)\n (objectAtLocation Vase_bar__minus_00_dot_40_bar__plus_00_dot_12_bar__minus_01_dot_45 loc_bar__minus_3_bar__minus_1_bar_2_bar_45)\n (objectAtLocation Bread_bar__minus_00_dot_15_bar__plus_01_dot_23_bar__plus_02_dot_21 loc_bar_0_bar_5_bar_0_bar_60)\n (objectAtLocation Lettuce_bar__minus_03_dot_12_bar__plus_00_dot_94_bar__plus_03_dot_48 loc_bar__minus_11_bar_8_bar_0_bar_30)\n (objectAtLocation PepperShaker_bar__plus_00_dot_68_bar__plus_00_dot_71_bar__minus_01_dot_34 loc_bar_1_bar__minus_2_bar_2_bar_45)\n (objectAtLocation Knife_bar__minus_02_dot_49_bar__plus_00_dot_90_bar__plus_03_dot_30 loc_bar__minus_11_bar_8_bar_0_bar_30)\n (objectAtLocation Pot_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 (objectAtLocation Potato_bar__minus_00_dot_04_bar__plus_00_dot_97_bar__minus_01_dot_65 loc_bar_0_bar__minus_3_bar_2_bar_45)\n (objectAtLocation Plate_bar__plus_00_dot_08_bar__plus_01_dot_58_bar__plus_02_dot_16 loc_bar_0_bar_5_bar_0_bar_60)\n (objectAtLocation WineBottle_bar__minus_01_dot_95_bar__plus_01_dot_66_bar__minus_01_dot_78 loc_bar__minus_11_bar__minus_5_bar_1_bar__minus_30)\n (objectAtLocation Cup_bar__plus_00_dot_01_bar__plus_00_dot_93_bar__minus_01_dot_50 loc_bar_0_bar__minus_3_bar_2_bar_45)\n (objectAtLocation Egg_bar__minus_00_dot_03_bar__plus_00_dot_83_bar__plus_02_dot_19 loc_bar_0_bar_5_bar_0_bar_60)\n (objectAtLocation Tomato_bar__minus_02_dot_86_bar__plus_00_dot_93_bar__plus_03_dot_74 loc_bar__minus_11_bar_8_bar_0_bar_30)\n (objectAtLocation Fork_bar__minus_02_dot_32_bar__plus_00_dot_88_bar__plus_03_dot_30 loc_bar__minus_11_bar_8_bar_0_bar_30)\n (objectAtLocation Book_bar__minus_02_dot_25_bar__plus_00_dot_87_bar__plus_02_dot_92 loc_bar__minus_11_bar_8_bar_0_bar_30)\n (objectAtLocation Apple_bar__minus_02_dot_44_bar__plus_00_dot_93_bar__plus_03_dot_56 loc_bar__minus_11_bar_8_bar_0_bar_30)\n (objectAtLocation Bowl_bar__plus_03_dot_64_bar__plus_00_dot_55_bar__plus_01_dot_45 loc_bar_10_bar_4_bar_1_bar_45)\n (objectAtLocation Tomato_bar__minus_00_dot_87_bar__plus_00_dot_24_bar__plus_02_dot_06 loc_bar__minus_5_bar_9_bar_1_bar_60)\n (objectAtLocation SoapBottle_bar__minus_02_dot_15_bar__plus_00_dot_88_bar__plus_03_dot_22 loc_bar__minus_11_bar_8_bar_0_bar_30)\n (objectAtLocation Knife_bar__minus_02_dot_32_bar__plus_00_dot_90_bar__plus_03_dot_44 loc_bar__minus_11_bar_8_bar_0_bar_30)\n (objectAtLocation Plate_bar__plus_00_dot_31_bar__plus_01_dot_58_bar__plus_02_dot_22 loc_bar_0_bar_5_bar_0_bar_60)\n (objectAtLocation Cup_bar__plus_01_dot_16_bar__plus_01_dot_76_bar__minus_01_dot_56 loc_bar_5_bar__minus_3_bar_2_bar_0)\n (objectAtLocation Spoon_bar__plus_01_dot_76_bar__plus_00_dot_91_bar__minus_01_dot_53 loc_bar_5_bar__minus_3_bar_2_bar_45)\n (objectAtLocation Fork_bar__minus_02_dot_47_bar__plus_00_dot_88_bar__plus_02_dot_93 loc_bar__minus_11_bar_8_bar_0_bar_30)\n (objectAtLocation WineBottle_bar__minus_02_dot_13_bar__plus_00_dot_12_bar__minus_01_dot_73 loc_bar__minus_12_bar__minus_5_bar_1_bar_60)\n (objectAtLocation Potato_bar__minus_00_dot_38_bar__plus_01_dot_18_bar__plus_02_dot_21 loc_bar_0_bar_5_bar_0_bar_60)\n (objectAtLocation Book_bar__minus_02_dot_05_bar__plus_00_dot_12_bar__minus_01_dot_43 loc_bar__minus_12_bar__minus_5_bar_1_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__plus_00_dot_07_bar__plus_00_dot_93_bar__minus_01_dot_57 loc_bar_0_bar__minus_3_bar_2_bar_45)\n (objectAtLocation Tomato_bar__minus_02_dot_62_bar__plus_00_dot_92_bar__plus_03_dot_50 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__minus_00_dot_04_bar__plus_00_dot_83_bar__plus_01_dot_97 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_03_dot_07_bar__plus_00_dot_88_bar__plus_02_dot_92 loc_bar__minus_11_bar_8_bar_0_bar_30)\n (objectAtLocation Cup_bar__plus_00_dot_08_bar__plus_01_dot_14_bar__plus_02_dot_13 loc_bar_0_bar_5_bar_0_bar_60)\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_02_dot_41_bar__plus_00_dot_88_bar__plus_03_dot_69 loc_bar__minus_11_bar_8_bar_0_bar_30)\n (objectAtLocation Plate_bar__plus_00_dot_19_bar__plus_00_dot_81_bar__plus_02_dot_08 loc_bar_1_bar_5_bar_0_bar_45)\n (objectAtLocation Spatula_bar__minus_02_dot_11_bar__plus_00_dot_73_bar__minus_01_dot_58 loc_bar__minus_13_bar__minus_5_bar_1_bar_45)\n (objectAtLocation Potato_bar__minus_00_dot_26_bar__plus_00_dot_84_bar__plus_01_dot_97 loc_bar_0_bar_5_bar_0_bar_60)\n (objectAtLocation Pot_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 Knife_bar__plus_00_dot_12_bar__plus_00_dot_95_bar__minus_01_dot_36 loc_bar_0_bar__minus_3_bar_2_bar_45)\n (objectAtLocation SaltShaker_bar__minus_01_dot_65_bar__plus_00_dot_72_bar__minus_00_dot_72 loc_bar__minus_2_bar__minus_2_bar_3_bar_45)\n (objectAtLocation PepperShaker_bar__minus_02_dot_88_bar__plus_00_dot_87_bar__plus_03_dot_56 loc_bar__minus_11_bar_8_bar_0_bar_30)\n (objectAtLocation Lettuce_bar__minus_00_dot_15_bar__plus_00_dot_87_bar__plus_02_dot_14 loc_bar_0_bar_5_bar_0_bar_60)\n (objectAtLocation ButterKnife_bar__minus_00_dot_04_bar__plus_00_dot_93_bar__minus_01_dot_72 loc_bar_0_bar__minus_3_bar_2_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__minus_02_dot_81_bar__plus_00_dot_96_bar__plus_02_dot_72 loc_bar__minus_11_bar_8_bar_0_bar_30)\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_01_dot_69_bar__plus_00_dot_12_bar__minus_00_dot_84 loc_bar__minus_2_bar__minus_2_bar_3_bar_60)\n (objectAtLocation DishSponge_bar__minus_01_dot_68_bar__plus_00_dot_72_bar__minus_01_dot_07 loc_bar__minus_2_bar__minus_2_bar_3_bar_45)\n (objectAtLocation Apple_bar__minus_02_dot_95_bar__plus_00_dot_93_bar__plus_03_dot_04 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_69 loc_bar_4_bar__minus_3_bar_2_bar_30)\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__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 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_05_bar__plus_01_dot_65_bar__minus_01_dot_71 loc_bar__minus_4_bar__minus_3_bar_2_bar__minus_30)\n (objectAtLocation Mug_bar__plus_03_dot_72_bar__plus_00_dot_88_bar__plus_01_dot_45 loc_bar_12_bar_2_bar_0_bar_30)\n (objectAtLocation Statue_bar__plus_03_dot_59_bar__plus_00_dot_56_bar__plus_01_dot_66 loc_bar_10_bar_4_bar_1_bar_45)\n (objectAtLocation Statue_bar__minus_01_dot_96_bar__plus_00_dot_91_bar__minus_01_dot_27 loc_bar__minus_11_bar__minus_4_bar_1_bar_45)\n (objectAtLocation Bowl_bar__minus_01_dot_96_bar__plus_00_dot_91_bar__minus_00_dot_29 loc_bar__minus_11_bar__minus_4_bar_1_bar_45)\n )\n \n\n (:goal\n (and\n (exists (?r - receptacle)\n (exists (?o - object)\n (and\n (coolable ?o)\n (objectType ?o PotType)\n (receptacleType ?r StoveBurnerType)\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 stoveburner 3", "move pot 1 to stoveburner 3"]}
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alfworld__pick_cool_then_place_in_recep__532
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pick_cool_then_place_in_recep
|
pick_cool_then_place_in_recep-Pot-None-StoveBurner-7/trial_T20190907_051334_995569/game.tw-pddl
|
{"pddl_domain": ";; Specification in PDDL of the Alfred domain\n;; Intended to be used with Fast Downward which supports PDDL 2.2 level 1 plus the :action-costs requirement from PDDL 3.1.\n\n(define (domain alfred)\n (:requirements\n :adl\n :action-costs\n :typing\n )\n (:types\n agent\n location\n receptacle\n object\n rtype\n otype\n )\n\n\n (:predicates\n (atLocation ?a - agent ?l - location) ; true if the agent is at the location\n (receptacleAtLocation ?r - receptacle ?l - location) ; true if the receptacle is at the location (constant)\n (objectAtLocation ?o - object ?l - location) ; true if the object is at the location\n (openable ?r - receptacle) ; true if a receptacle is openable\n (opened ?r - receptacle) ; true if a receptacle is opened\n (inReceptacle ?o - object ?r - receptacle) ; object ?o is in receptacle ?r\n (isReceptacleObject ?o - object) ; true if the object can have things put inside it\n (inReceptacleObject ?innerObject - object ?outerObject - object) ; object ?innerObject is inside object ?outerObject\n (isReceptacleObjectFull ?o - object) ; true if the receptacle object contains something\n (wasInReceptacle ?o - object ?r - receptacle) ; object ?o was or is in receptacle ?r now or some time in the past\n (checked ?r - receptacle) ; whether the receptacle has been looked inside/visited\n (examined ?l - location) ; TODO\n (receptacleType ?r - receptacle ?t - rtype) ; the type of receptacle (Cabinet vs Cabinet|01|2...)\n (canContain ?rt - rtype ?ot - otype) ; true if receptacle can hold object\n (objectType ?o - object ?t - otype) ; the type of object (Apple vs Apple|01|2...)\n (holds ?a - agent ?o - object) ; object ?o is held by agent ?a\n (holdsAny ?a - agent) ; agent ?a holds an object\n (holdsAnyReceptacleObject ?a - agent) ; agent ?a holds a receptacle object\n (full ?r - receptacle) ; true if the receptacle has no remaining space\n (isClean ?o - object) ; true if the object has been clean in sink\n (cleanable ?o - object) ; true if the object can be placed in a sink\n (isHot ?o - object) ; true if the object has been heated up\n (heatable ?o - object) ; true if the object can be heated up in a microwave\n (isCool ?o - object) ; true if the object has been cooled\n (coolable ?o - object) ; true if the object can be cooled in the fridge\n (pickupable ?o - object) ; true if the object can be picked up\n (moveable ?o - object) ; true if the object can be moved\n (toggleable ?o - object) ; true if the object can be turned on/off\n (isOn ?o - object) ; true if the object is on\n (isToggled ?o - object) ; true if the object has been toggled\n (sliceable ?o - object) ; true if the object can be sliced\n (isSliced ?o - object) ; true if the object is sliced\n )\n\n (:functions\n (distance ?from ?to)\n (total-cost) - number\n )\n\n;; All actions are specified such that the final arguments are the ones used\n;; for performing actions in Unity.\n\n\n(:action look\n :parameters (?a - agent ?l - location)\n :precondition\n (and\n (atLocation ?a ?l)\n )\n :effect\n (and\n (checked ?l)\n )\n)\n\n(:action inventory\n :parameters (?a - agent)\n :precondition\n ()\n :effect\n (and\n (checked ?a)\n )\n)\n\n(:action examineReceptacle\n :parameters (?a - agent ?r - receptacle)\n :precondition\n (and\n (exists (?l - location)\n (and\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n )\n )\n )\n :effect\n (and\n (checked ?r)\n )\n)\n\n(:action examineObject\n :parameters (?a - agent ?o - object)\n :precondition\n (or\n ;(exists (?l - location)\n ; (and\n ; (atLocation ?a ?l)\n ; (objectAtLocation ?o ?l)\n ; )\n ;)\n (exists (?l - location, ?r - receptacle)\n (and\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n ; (objectAtLocation ?o ?l)\n (inReceptacle ?o ?r)\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n )\n )\n (holds ?a ?o)\n )\n :effect\n (and\n (checked ?o)\n )\n)\n\n;; agent goes to receptacle\n (:action GotoLocation\n :parameters (?a - agent ?lStart - location ?lEnd - location ?r - receptacle)\n :precondition (and\n (atLocation ?a ?lStart)\n (receptacleAtLocation ?r ?lEnd)\n ;(exists (?r - receptacle) (receptacleAtLocation ?r ?lEnd))\n )\n :effect (and\n (not (atLocation ?a ?lStart))\n (atLocation ?a ?lEnd)\n ; (forall (?r - receptacle)\n ; (when (and (receptacleAtLocation ?r ?lEnd)\n ; (or (not (openable ?r)) (opened ?r)))\n ; (checked ?r)\n ; )\n ; )\n ; (increase (total-cost) (distance ?lStart ?lEnd))\n (increase (total-cost) 1)\n )\n )\n\n;; agent opens receptacle\n (:action OpenObject\n :parameters (?a - agent ?l - location ?r - receptacle)\n :precondition (and\n (openable ?r)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (not (opened ?r))\n )\n :effect (and\n (opened ?r)\n (checked ?r)\n (increase (total-cost) 1)\n )\n )\n;; agent closes receptacle\n (:action CloseObject\n :parameters (?a - agent ?l - location ?r - receptacle)\n :precondition (and\n (openable ?r)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (opened ?r)\n )\n :effect (and\n (not (opened ?r))\n (increase (total-cost) 1)\n )\n\n )\n\n ;; agent picks up object from a receptacle\n (:action PickupObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n :precondition\n (and\n (pickupable ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n ; (objectAtLocation ?o ?l)\n (inReceptacle ?o ?r)\n (not (holdsAny ?a)) ; agent's hands are empty.\n ;(not (holdsAnyReceptacleObject ?a))\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n ;(not (isReceptacleObject ?o))\n )\n :effect\n (and\n (not (inReceptacle ?o ?r))\n (holds ?a ?o)\n (holdsAny ?a)\n (not (objectAtLocation ?o ?l))\n ;(not (full ?r))\n (increase (total-cost) 1)\n )\n )\n\n\n; ;; agent picks up object from a receptacle\n; (:action PickupObjectFromReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?outerR - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (inReceptacle ?o ?r)\n; (pickupable ?o)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (not (isReceptacleObject ?o))\n; (isReceptacleObject ?outerR)\n; (inReceptacleObject ?o ?outerR)\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (holds ?a ?o)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n;\n; (not (inReceptacleObject ?o ?outerR))\n; (not (isReceptacleObjectFull ?outerR))\n; )\n; )\n;\n; ;; agent picks up object from a receptacle\n; (:action PickupEmptyReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; ; (objectAtLocation ?o ?l)\n; (inReceptacle ?o ?r)\n; (pickupable ?o)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (isReceptacleObject ?o)\n; (not (isReceptacleObjectFull ?o))\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (holds ?a ?o)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n; (holdsAnyReceptacleObject ?a)\n; )\n; )\n;\n; ;; agent picks up object from a receptacle\n; (:action PickupFullReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?outerR - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (inReceptacle ?outerR ?r)\n; (pickupable ?outerR)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (not (isReceptacleObject ?o))\n; (isReceptacleObject ?outerR)\n; (inReceptacleObject ?o ?outerR)\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (not (inReceptacle ?outerR ?r))\n; (holds ?a ?outerR)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (objectAtLocation ?outerR ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n; (holdsAnyReceptacleObject ?a)\n; )\n; )\n\n\n;; agent puts down an object\n (:action PutObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle ?ot - otype ?rt - rtype)\n :precondition (and\n (holds ?a ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable\n ;(not (full ?r))\n (objectType ?o ?ot)\n (receptacleType ?r ?rt)\n (canContain ?rt ?ot)\n ;(not (holdsAnyReceptacleObject ?a))\n )\n :effect (and\n (inReceptacle ?o ?r)\n (objectAtLocation ?o ?l)\n ;(full ?r)\n (not (holds ?a ?o))\n (not (holdsAny ?a))\n (increase (total-cost) 1)\n )\n )\n\n;;; agent puts down an object\n; (:action PutObjectInReceptacleObject\n; :parameters (?a - agent ?l - location ?ot - otype ?o - object ?outerO - object ?outerR - receptacle)\n; :precondition (and\n; (atLocation ?a ?l)\n; (objectAtLocation ?outerO ?l)\n; (isReceptacleObject ?outerO)\n; (not (isReceptacleObject ?o))\n; (objectType ?o ?ot)\n; (holds ?a ?o)\n; (not (holdsAnyReceptacleObject ?a))\n; (inReceptacle ?outerO ?outerR)\n; (not (isReceptacleObjectFull ?outerO))\n; )\n; :effect (and\n; (inReceptacleObject ?o ?outerO)\n; (inReceptacle ?o ?outerR)\n; (not (holds ?a ?o))\n; (not (holdsAny ?a))\n; (objectAtLocation ?o ?l)\n; (isReceptacleObjectFull ?outerO)\n; (increase (total-cost) 1)\n; )\n; )\n;\n;;; agent puts down an object\n; (:action PutEmptyReceptacleObjectinReceptacle\n; :parameters (?a - agent ?l - location ?ot - otype ?o - object ?r - receptacle)\n; :precondition (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable\n; (not (full ?r))\n; (objectType ?o ?ot)\n; (holds ?a ?o)\n; (holdsAnyReceptacleObject ?a)\n; (isReceptacleObject ?o)\n; (not (isReceptacleObjectFull ?o))\n; )\n; :effect (and\n; (inReceptacle ?o ?r)\n; (objectAtLocation ?o ?l)\n; (full ?r)\n; (not (holds ?a ?o))\n; (not (holdsAny ?a))\n; (not (holdsAnyReceptacleObject ?a))\n; (increase (total-cost) 1)\n; )\n; )\n;\n;;; agent puts down a receptacle object in a receptacle\n; (:action PutFullReceptacleObjectInReceptacle\n; :parameters (?a - agent ?l - location ?ot - otype ?innerO - object ?outerO - object ?r - receptacle) ; ?rt - rtype)\n; :precondition (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (objectType ?outerO ?ot)\n; (holds ?a ?outerO)\n; (holdsAnyReceptacleObject ?a)\n; (isReceptacleObject ?outerO)\n; (isReceptacleObjectFull ?outerO)\n; (inReceptacleObject ?innerO ?outerO)\n; )\n; :effect (and\n; (not (holdsAny ?a))\n; (not (holdsAnyReceptacleObject ?a))\n; (objectAtLocation ?outerO ?l)\n; (objectAtLocation ?innerO ?l)\n; (inReceptacle ?outerO ?r)\n; (inReceptacle ?innerO ?r)\n; (not (holds ?a ?outerO))\n; (increase (total-cost) 1)\n; )\n; )\n\n;; agent cleans some object\n (:action CleanObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (cleanable ?o)\n (or\n (receptacleType ?r SinkType)\n (receptacleType ?r SinkBasinType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isClean ?o)\n )\n )\n\n\n;; agent heats-up some object\n (:action HeatObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (heatable ?o)\n (or\n (receptacleType ?r MicrowaveType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isHot ?o)\n (not (isCool ?o))\n )\n )\n\n;; agent cools some object\n (:action CoolObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (coolable ?o)\n (or\n (receptacleType ?r FridgeType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isCool ?o)\n (not (isHot ?o))\n )\n )\n\n\n;; agent toggle object\n (:action ToggleObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n :precondition (and\n (toggleable ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (inReceptacle ?o ?r)\n )\n :effect (and\n (increase (total-cost) 5)\n (when (isOn ?o)\n (not (isOn ?o)))\n (when (not (isOn ?o))\n (isOn ?o))\n (isToggled ?o)\n )\n )\n\n\n;; agent slices some object with a knife\n (:action SliceObject\n :parameters (?a - agent ?l - location ?co - object ?ko - object)\n :precondition\n (and\n (sliceable ?co)\n (or\n (objectType ?ko KnifeType)\n (objectType ?ko ButterKnifeType)\n )\n (atLocation ?a ?l)\n (objectAtLocation ?co ?l)\n (holds ?a ?ko)\n )\n :effect (and\n (increase (total-cost) 5)\n (isSliced ?co)\n )\n )\n\n\n(:action help\n :parameters (?a - agent)\n :precondition\n ()\n :effect\n (and\n (checked ?a)\n )\n)\n)\n", "grammar": "grammar :: \"\"\"\n {\n \"intro\": [\n {\n \"rhs\": \"-= Welcome to TextWorld, ALFRED! =-\\n\\n#look.feedback#\\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 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_T20190907_051334_995569)\n(:domain alfred)\n(:objects\nagent1 - agent\nSaltShaker - object\n HousePlant - object\n Candle - object\n SprayBottle - object\n Bowl - object\n Window - object\n CD - object\n Egg - object\n Glassbottle - object\n Sink - object\n Pillow - object\n Spoon - object\n SoapBottle - object\n TeddyBear - object\n ButterKnife - object\n Cup - object\n Plate - object\n RemoteControl - object\n Tomato - object\n Statue - object\n HandTowel - object\n Knife - object\n StoveKnob - object\n LightSwitch - object\n Pen - object\n Painting - object\n DishSponge - object\n Vase - object\n Mug - object\n ToiletPaper - object\n Box - object\n Mirror - object\n Ladle - object\n Fork - object\n Blinds - object\n Footstool - object\n KeyChain - object\n Cloth - object\n Laptop - object\n TissueBox - object\n PepperShaker - object\n FloorLamp - object\n WateringCan - object\n Apple - object\n Pan - object\n PaperTowel - object\n PaperTowelRoll - object\n Newspaper - object\n Television - object\n Chair - object\n CellPhone - object\n CreditCard - object\n Lettuce - object\n BasketBall - object\n Potato - object\n Curtains - object\n Boots - object\n Pencil - object\n AlarmClock - object\n ToiletPaperRoll - object\n Spatula - object\n Book - object\n Bread - object\n SoapBar - object\n Watch - object\n DeskLamp - object\n Kettle - object\n Pot - object\n ScrubBrush - object\n WineBottle - object\n ShowerDoor - object\n Bathtub - object\n LaundryHamperLid - object\n ShowerGlass - object\n Poster - object\n TennisRacket - object\n BaseballBat - object\n Towel - object\n Plunger - object\nSaltShakerType - otype\n HousePlantType - otype\n CandleType - otype\n SprayBottleType - otype\n BowlType - otype\n WindowType - otype\n CDType - otype\n EggType - otype\n GlassbottleType - otype\n SinkType - otype\n PillowType - otype\n SpoonType - otype\n SoapBottleType - otype\n TeddyBearType - otype\n ButterKnifeType - otype\n CupType - otype\n PlateType - otype\n RemoteControlType - otype\n TomatoType - otype\n StatueType - otype\n HandTowelType - otype\n KnifeType - otype\n StoveKnobType - otype\n LightSwitchType - otype\n PenType - otype\n PaintingType - otype\n DishSpongeType - otype\n VaseType - otype\n MugType - otype\n ToiletPaperType - otype\n BoxType - otype\n MirrorType - otype\n LadleType - otype\n ForkType - otype\n BlindsType - otype\n FootstoolType - otype\n KeyChainType - otype\n ClothType - otype\n LaptopType - otype\n TissueBoxType - otype\n PepperShakerType - otype\n FloorLampType - otype\n WateringCanType - otype\n AppleType - otype\n PanType - otype\n PaperTowelType - otype\n PaperTowelRollType - otype\n NewspaperType - otype\n TelevisionType - otype\n ChairType - otype\n CellPhoneType - otype\n CreditCardType - otype\n LettuceType - otype\n BasketBallType - otype\n PotatoType - otype\n CurtainsType - otype\n BootsType - otype\n PencilType - otype\n AlarmClockType - otype\n ToiletPaperRollType - otype\n SpatulaType - otype\n BookType - otype\n BreadType - otype\n SoapBarType - otype\n WatchType - otype\n DeskLampType - otype\n KettleType - otype\n PotType - otype\n ScrubBrushType - otype\n WineBottleType - otype\n ShowerDoorType - otype\n BathtubType - otype\n LaundryHamperLidType - otype\n ShowerGlassType - otype\n PosterType - otype\n TennisRacketType - otype\n BaseballBatType - otype\n TowelType - otype\n PlungerType - otype\nSafeType - rtype\n DrawerType - rtype\n CoffeeMachineType - rtype\n HandTowelHolderType - rtype\n SinkBasinType - rtype\n DresserType - rtype\n LaundryHamperType - rtype\n TVStandType - rtype\n BathtubBasinType - rtype\n CabinetType - rtype\n FridgeType - rtype\n DeskType - rtype\n ToiletType - rtype\n CartType - rtype\n SideTableType - rtype\n SofaType - rtype\n CoffeeTableType - rtype\n DiningTableType - rtype\n CounterTopType - rtype\n GarbageCanType - rtype\n ArmChairType - rtype\n ShelfType - rtype\n MicrowaveType - rtype\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_84_bar__plus_00_dot_25_bar__plus_02_dot_21 - object\n Apple_bar__minus_01_dot_52_bar__plus_00_dot_97_bar__minus_00_dot_61 - object\n Book_bar__minus_01_dot_94_bar__plus_00_dot_90_bar__minus_01_dot_69 - object\n 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Tomato_bar__minus_02_dot_66_bar__plus_00_dot_93_bar__plus_03_dot_73)\n (cleanable Pan_bar__plus_01_dot_33_bar__plus_00_dot_96_bar__minus_01_dot_42)\n (cleanable Plate_bar__minus_00_dot_72_bar__plus_00_dot_92_bar__minus_01_dot_47)\n (cleanable ButterKnife_bar__minus_03_dot_12_bar__plus_00_dot_87_bar__plus_03_dot_48)\n (cleanable Apple_bar__minus_00_dot_84_bar__plus_00_dot_25_bar__plus_02_dot_21)\n (cleanable Fork_bar__minus_02_dot_58_bar__plus_00_dot_88_bar__plus_02_dot_72)\n (cleanable Knife_bar__minus_01_dot_85_bar__plus_00_dot_93_bar__minus_00_dot_61)\n (cleanable Mug_bar__plus_01_dot_26_bar__plus_01_dot_76_bar__minus_01_dot_56)\n (cleanable Lettuce_bar__minus_02_dot_70_bar__plus_00_dot_94_bar__plus_03_dot_50)\n (cleanable Bowl_bar__minus_03_dot_17_bar__plus_00_dot_88_bar__plus_03_dot_15)\n (cleanable Fork_bar__minus_01_dot_74_bar__plus_00_dot_91_bar__minus_01_dot_27)\n (cleanable Egg_bar__minus_01_dot_57_bar__plus_00_dot_93_bar__minus_00_dot_47)\n \n (heatable Apple_bar__minus_01_dot_52_bar__plus_00_dot_97_bar__minus_00_dot_61)\n (heatable Tomato_bar__minus_02_dot_32_bar__plus_00_dot_92_bar__plus_03_dot_37)\n (heatable Potato_bar__minus_02_dot_41_bar__plus_00_dot_92_bar__plus_03_dot_69)\n (heatable Mug_bar__minus_01_dot_11_bar__plus_00_dot_96_bar__minus_01_dot_48)\n (heatable Bread_bar__minus_02_dot_91_bar__plus_00_dot_96_bar__plus_03_dot_69)\n (heatable Cup_bar__plus_03_dot_69_bar__plus_00_dot_88_bar__plus_01_dot_86)\n (heatable Potato_bar__minus_00_dot_26_bar__plus_00_dot_73_bar__minus_01_dot_47)\n (heatable Tomato_bar__minus_02_dot_66_bar__plus_00_dot_93_bar__plus_03_dot_73)\n (heatable Plate_bar__minus_00_dot_72_bar__plus_00_dot_92_bar__minus_01_dot_47)\n (heatable Bread_bar__minus_02_dot_49_bar__plus_00_dot_96_bar__plus_03_dot_15)\n (heatable Apple_bar__minus_00_dot_84_bar__plus_00_dot_25_bar__plus_02_dot_21)\n (heatable Mug_bar__plus_01_dot_26_bar__plus_01_dot_76_bar__minus_01_dot_56)\n (heatable 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Tomato_bar__minus_02_dot_66_bar__plus_00_dot_93_bar__plus_03_dot_73)\n (coolable Pan_bar__plus_01_dot_33_bar__plus_00_dot_96_bar__minus_01_dot_42)\n (coolable Plate_bar__minus_00_dot_72_bar__plus_00_dot_92_bar__minus_01_dot_47)\n (coolable WineBottle_bar__minus_03_dot_07_bar__plus_00_dot_88_bar__plus_03_dot_53)\n (coolable Bread_bar__minus_02_dot_49_bar__plus_00_dot_96_bar__plus_03_dot_15)\n (coolable Apple_bar__minus_00_dot_84_bar__plus_00_dot_25_bar__plus_02_dot_21)\n (coolable Mug_bar__plus_01_dot_26_bar__plus_01_dot_76_bar__minus_01_dot_56)\n (coolable Lettuce_bar__minus_02_dot_70_bar__plus_00_dot_94_bar__plus_03_dot_50)\n (coolable Bowl_bar__minus_03_dot_17_bar__plus_00_dot_88_bar__plus_03_dot_15)\n (coolable Egg_bar__minus_01_dot_57_bar__plus_00_dot_93_bar__minus_00_dot_47)\n \n \n \n \n \n (sliceable Apple_bar__minus_01_dot_52_bar__plus_00_dot_97_bar__minus_00_dot_61)\n (sliceable Tomato_bar__minus_02_dot_32_bar__plus_00_dot_92_bar__plus_03_dot_37)\n (sliceable Potato_bar__minus_02_dot_41_bar__plus_00_dot_92_bar__plus_03_dot_69)\n (sliceable Bread_bar__minus_02_dot_91_bar__plus_00_dot_96_bar__plus_03_dot_69)\n (sliceable Potato_bar__minus_00_dot_26_bar__plus_00_dot_73_bar__minus_01_dot_47)\n (sliceable Tomato_bar__minus_02_dot_66_bar__plus_00_dot_93_bar__plus_03_dot_73)\n (sliceable Bread_bar__minus_02_dot_49_bar__plus_00_dot_96_bar__plus_03_dot_15)\n (sliceable Apple_bar__minus_00_dot_84_bar__plus_00_dot_25_bar__plus_02_dot_21)\n (sliceable Lettuce_bar__minus_02_dot_70_bar__plus_00_dot_94_bar__plus_03_dot_50)\n (sliceable Egg_bar__minus_01_dot_57_bar__plus_00_dot_93_bar__minus_00_dot_47)\n \n (inReceptacle Pan_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 Plate_bar__minus_00_dot_72_bar__plus_00_dot_92_bar__minus_01_dot_47 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 Vase_bar__minus_02_dot_07_bar__plus_00_dot_91_bar__minus_01_dot_27 CounterTop_bar__minus_01_dot_87_bar__plus_00_dot_95_bar__minus_00_dot_61)\n (inReceptacle Knife_bar__minus_01_dot_85_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 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 Apple_bar__minus_01_dot_52_bar__plus_00_dot_97_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_74_bar__plus_00_dot_91_bar__minus_01_dot_27 CounterTop_bar__minus_01_dot_87_bar__plus_00_dot_95_bar__minus_00_dot_61)\n (inReceptacle Egg_bar__minus_01_dot_57_bar__plus_00_dot_93_bar__minus_00_dot_47 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 SoapBottle_bar__plus_00_dot_66_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 Bowl_bar__minus_02_dot_05_bar__plus_00_dot_12_bar__minus_01_dot_58 Cabinet_bar__minus_02_dot_22_bar__plus_00_dot_37_bar__minus_01_dot_87)\n (inReceptacle Potato_bar__minus_02_dot_41_bar__plus_00_dot_92_bar__plus_03_dot_69 DiningTable_bar__minus_02_dot_66_bar__plus_00_dot_83_bar__plus_03_dot_21)\n (inReceptacle WineBottle_bar__minus_03_dot_07_bar__plus_00_dot_88_bar__plus_03_dot_53 DiningTable_bar__minus_02_dot_66_bar__plus_00_dot_83_bar__plus_03_dot_21)\n (inReceptacle Bread_bar__minus_02_dot_49_bar__plus_00_dot_96_bar__plus_03_dot_15 DiningTable_bar__minus_02_dot_66_bar__plus_00_dot_83_bar__plus_03_dot_21)\n (inReceptacle ButterKnife_bar__minus_03_dot_12_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 Fork_bar__minus_02_dot_58_bar__plus_00_dot_88_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_91_bar__plus_00_dot_96_bar__plus_03_dot_69 DiningTable_bar__minus_02_dot_66_bar__plus_00_dot_83_bar__plus_03_dot_21)\n (inReceptacle Spatula_bar__minus_02_dot_82_bar__plus_00_dot_89_bar__plus_03_dot_06 DiningTable_bar__minus_02_dot_66_bar__plus_00_dot_83_bar__plus_03_dot_21)\n (inReceptacle SoapBottle_bar__minus_02_dot_66_bar__plus_00_dot_88_bar__plus_02_dot_72 DiningTable_bar__minus_02_dot_66_bar__plus_00_dot_83_bar__plus_03_dot_21)\n (inReceptacle SaltShaker_bar__minus_02_dot_35_bar__plus_00_dot_87_bar__plus_02_dot_81 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_03_dot_50 DiningTable_bar__minus_02_dot_66_bar__plus_00_dot_83_bar__plus_03_dot_21)\n (inReceptacle DishSponge_bar__minus_02_dot_15_bar__plus_00_dot_88_bar__plus_03_dot_44 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 Bowl_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 SaltShaker_bar__minus_02_dot_49_bar__plus_00_dot_87_bar__plus_03_dot_29 DiningTable_bar__minus_02_dot_66_bar__plus_00_dot_83_bar__plus_03_dot_21)\n (inReceptacle Tomato_bar__minus_02_dot_66_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 Tomato_bar__minus_02_dot_32_bar__plus_00_dot_92_bar__plus_03_dot_37 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_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 Kettle_bar__minus_01_dot_69_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 PepperShaker_bar__minus_01_dot_76_bar__plus_00_dot_12_bar__minus_00_dot_77 Cabinet_bar__minus_01_dot_48_bar__plus_00_dot_37_bar__minus_01_dot_24)\n (inReceptacle PepperShaker_bar__plus_00_dot_32_bar__plus_00_dot_11_bar__minus_01_dot_38 Cabinet_bar__plus_00_dot_38_bar__plus_00_dot_37_bar__minus_01_dot_24)\n (inReceptacle WineBottle_bar__minus_00_dot_83_bar__plus_01_dot_66_bar__minus_01_dot_79 Cabinet_bar__minus_00_dot_71_bar__plus_02_dot_01_bar__minus_01_dot_54)\n (inReceptacle Knife_bar__minus_01_dot_58_bar__plus_00_dot_74_bar__minus_00_dot_79 Drawer_bar__minus_01_dot_64_bar__plus_00_dot_68_bar__minus_00_dot_93)\n (inReceptacle Pot_bar__plus_00_dot_97_bar__plus_00_dot_96_bar__minus_01_dot_42 StoveBurner_bar__plus_00_dot_97_bar__plus_00_dot_96_bar__minus_01_dot_42)\n (inReceptacle Cup_bar__plus_03_dot_69_bar__plus_00_dot_88_bar__plus_01_dot_86 Shelf_bar__plus_03_dot_69_bar__plus_00_dot_87_bar__plus_01_dot_64)\n (inReceptacle Statue_bar__plus_03_dot_69_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 Mug_bar__plus_01_dot_26_bar__plus_01_dot_76_bar__minus_01_dot_56 Microwave_bar__plus_01_dot_15_bar__plus_01_dot_65_bar__minus_01_dot_61)\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 Potato_bar__minus_00_dot_26_bar__plus_00_dot_73_bar__minus_01_dot_47 Sink_bar__plus_00_dot_02_bar__plus_00_dot_77_bar__minus_01_dot_71_bar_SinkBasin)\n (inReceptacle Spoon_bar__minus_00_dot_37_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_84_bar__plus_00_dot_25_bar__plus_02_dot_21 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_05_bar__plus_00_dot_12_bar__minus_01_dot_58 loc_bar__minus_12_bar__minus_5_bar_1_bar_60)\n (objectAtLocation Mug_bar__plus_01_dot_26_bar__plus_01_dot_76_bar__minus_01_dot_56 loc_bar_5_bar__minus_3_bar_2_bar_0)\n (objectAtLocation SoapBottle_bar__minus_02_dot_66_bar__plus_00_dot_88_bar__plus_02_dot_72 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_69 loc_bar_4_bar__minus_3_bar_2_bar_30)\n (objectAtLocation Apple_bar__minus_01_dot_52_bar__plus_00_dot_97_bar__minus_00_dot_61 loc_bar__minus_11_bar__minus_4_bar_1_bar_45)\n (objectAtLocation Bread_bar__minus_02_dot_91_bar__plus_00_dot_96_bar__plus_03_dot_69 loc_bar__minus_11_bar_8_bar_0_bar_30)\n (objectAtLocation ButterKnife_bar__plus_00_dot_01_bar__plus_00_dot_93_bar__minus_01_dot_72 loc_bar_0_bar__minus_3_bar_2_bar_45)\n (objectAtLocation PepperShaker_bar__minus_01_dot_76_bar__plus_00_dot_12_bar__minus_00_dot_77 loc_bar__minus_2_bar__minus_2_bar_3_bar_60)\n (objectAtLocation SaltShaker_bar__minus_02_dot_49_bar__plus_00_dot_87_bar__plus_03_dot_29 loc_bar__minus_11_bar_8_bar_0_bar_30)\n (objectAtLocation Knife_bar__minus_01_dot_85_bar__plus_00_dot_93_bar__minus_00_dot_61 loc_bar__minus_11_bar__minus_4_bar_1_bar_45)\n (objectAtLocation Potato_bar__minus_00_dot_26_bar__plus_00_dot_73_bar__minus_01_dot_47 loc_bar_0_bar__minus_3_bar_2_bar_45)\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 Kettle_bar__minus_01_dot_69_bar__plus_00_dot_12_bar__minus_00_dot_92 loc_bar__minus_2_bar__minus_2_bar_3_bar_60)\n (objectAtLocation Tomato_bar__minus_02_dot_32_bar__plus_00_dot_92_bar__plus_03_dot_37 loc_bar__minus_11_bar_8_bar_0_bar_30)\n (objectAtLocation Fork_bar__minus_02_dot_58_bar__plus_00_dot_88_bar__plus_02_dot_72 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 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_74_bar__plus_00_dot_91_bar__minus_01_dot_27 loc_bar__minus_11_bar__minus_4_bar_1_bar_45)\n (objectAtLocation Tomato_bar__minus_02_dot_66_bar__plus_00_dot_93_bar__plus_03_dot_73 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__minus_01_dot_57_bar__plus_00_dot_93_bar__minus_00_dot_47 loc_bar__minus_11_bar__minus_4_bar_1_bar_45)\n (objectAtLocation Kettle_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 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_03_dot_69_bar__plus_00_dot_88_bar__plus_01_dot_86 loc_bar_12_bar_2_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_83_bar__plus_01_dot_66_bar__minus_01_dot_79 loc_bar__minus_4_bar__minus_3_bar_2_bar__minus_30)\n (objectAtLocation Plate_bar__minus_00_dot_72_bar__plus_00_dot_92_bar__minus_01_dot_47 loc_bar__minus_11_bar__minus_4_bar_1_bar_45)\n (objectAtLocation Spatula_bar__minus_02_dot_82_bar__plus_00_dot_89_bar__plus_03_dot_06 loc_bar__minus_11_bar_8_bar_0_bar_30)\n (objectAtLocation Potato_bar__minus_02_dot_41_bar__plus_00_dot_92_bar__plus_03_dot_69 loc_bar__minus_11_bar_8_bar_0_bar_30)\n (objectAtLocation Pot_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 (objectAtLocation Knife_bar__minus_01_dot_58_bar__plus_00_dot_74_bar__minus_00_dot_79 loc_bar__minus_2_bar__minus_2_bar_3_bar_45)\n (objectAtLocation SaltShaker_bar__minus_02_dot_35_bar__plus_00_dot_87_bar__plus_02_dot_81 loc_bar__minus_11_bar_8_bar_0_bar_30)\n (objectAtLocation PepperShaker_bar__plus_00_dot_32_bar__plus_00_dot_11_bar__minus_01_dot_38 loc_bar__minus_1_bar__minus_1_bar_2_bar_45)\n (objectAtLocation Lettuce_bar__minus_02_dot_70_bar__plus_00_dot_94_bar__plus_03_dot_50 loc_bar__minus_11_bar_8_bar_0_bar_30)\n (objectAtLocation ButterKnife_bar__minus_03_dot_12_bar__plus_00_dot_87_bar__plus_03_dot_48 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_02_dot_49_bar__plus_00_dot_96_bar__plus_03_dot_15 loc_bar__minus_11_bar_8_bar_0_bar_30)\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_02_dot_07_bar__plus_00_dot_91_bar__minus_01_dot_27 loc_bar__minus_11_bar__minus_4_bar_1_bar_45)\n (objectAtLocation DishSponge_bar__minus_02_dot_15_bar__plus_00_dot_88_bar__plus_03_dot_44 loc_bar__minus_11_bar_8_bar_0_bar_30)\n (objectAtLocation Apple_bar__minus_00_dot_84_bar__plus_00_dot_25_bar__plus_02_dot_21 loc_bar__minus_5_bar_9_bar_1_bar_60)\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_00_dot_37_bar__plus_00_dot_71_bar__minus_01_dot_57 loc_bar_0_bar__minus_3_bar_2_bar_45)\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_66_bar__plus_00_dot_91_bar__minus_01_dot_47 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 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_69_bar__plus_00_dot_55_bar__plus_01_dot_55 loc_bar_10_bar_4_bar_1_bar_45)\n (objectAtLocation Bowl_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 )\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 StoveBurnerType)\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 stoveburner 3", "move pot 1 to stoveburner 3"]}
|
alfworld__pick_two_obj_and_place__804
|
pick_two_obj_and_place
|
pick_two_obj_and_place-CellPhone-None-Drawer-318/trial_T20190908_104510_132397/game.tw-pddl
|
{"pddl_domain": ";; Specification in PDDL of the Alfred domain\n;; Intended to be used with Fast Downward which supports PDDL 2.2 level 1 plus the :action-costs requirement from PDDL 3.1.\n\n(define (domain alfred)\n (:requirements\n :adl\n :action-costs\n :typing\n )\n (:types\n agent\n location\n receptacle\n object\n rtype\n otype\n )\n\n\n (:predicates\n (atLocation ?a - agent ?l - location) ; true if the agent is at the location\n (receptacleAtLocation ?r - receptacle ?l - location) ; true if the receptacle is at the location (constant)\n (objectAtLocation ?o - object ?l - location) ; true if the object is at the location\n (openable ?r - receptacle) ; true if a receptacle is openable\n (opened ?r - receptacle) ; true if a receptacle is opened\n (inReceptacle ?o - object ?r - receptacle) ; object ?o is in receptacle ?r\n (isReceptacleObject ?o - object) ; true if the object can have things put inside it\n (inReceptacleObject ?innerObject - object ?outerObject - object) ; object ?innerObject is inside object ?outerObject\n (isReceptacleObjectFull ?o - object) ; true if the receptacle object contains something\n (wasInReceptacle ?o - object ?r - receptacle) ; object ?o was or is in receptacle ?r now or some time in the past\n (checked ?r - receptacle) ; whether the receptacle has been looked inside/visited\n (examined ?l - location) ; TODO\n (receptacleType ?r - receptacle ?t - rtype) ; the type of receptacle (Cabinet vs Cabinet|01|2...)\n (canContain ?rt - rtype ?ot - otype) ; true if receptacle can hold object\n (objectType ?o - object ?t - otype) ; the type of object (Apple vs Apple|01|2...)\n (holds ?a - agent ?o - object) ; object ?o is held by agent ?a\n (holdsAny ?a - agent) ; agent ?a holds an object\n (holdsAnyReceptacleObject ?a - agent) ; agent ?a holds a receptacle object\n (full ?r - receptacle) ; true if the receptacle has no remaining space\n (isClean ?o - object) ; true if the object has been clean in sink\n (cleanable ?o - object) ; true if the object can be placed in a sink\n (isHot ?o - object) ; true if the object has been heated up\n (heatable ?o - object) ; true if the object can be heated up in a microwave\n (isCool ?o - object) ; true if the object has been cooled\n (coolable ?o - object) ; true if the object can be cooled in the fridge\n (pickupable ?o - object) ; true if the object can be picked up\n (moveable ?o - object) ; true if the object can be moved\n (toggleable ?o - object) ; true if the object can be turned on/off\n (isOn ?o - object) ; true if the object is on\n (isToggled ?o - object) ; true if the object has been toggled\n (sliceable ?o - object) ; true if the object can be sliced\n (isSliced ?o - object) ; true if the object is sliced\n )\n\n (:functions\n (distance ?from ?to)\n (total-cost) - number\n )\n\n;; All actions are specified such that the final arguments are the ones used\n;; for performing actions in Unity.\n\n\n(:action look\n :parameters (?a - agent ?l - location)\n :precondition\n (and\n (atLocation ?a ?l)\n )\n :effect\n (and\n (checked ?l)\n )\n)\n\n(:action inventory\n :parameters (?a - agent)\n :precondition\n ()\n :effect\n (and\n (checked ?a)\n )\n)\n\n(:action examineReceptacle\n :parameters (?a - agent ?r - receptacle)\n :precondition\n (and\n (exists (?l - location)\n (and\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n )\n )\n )\n :effect\n (and\n (checked ?r)\n )\n)\n\n(:action examineObject\n :parameters (?a - agent ?o - object)\n :precondition\n (or\n ;(exists (?l - location)\n ; (and\n ; (atLocation ?a ?l)\n ; (objectAtLocation ?o ?l)\n ; )\n ;)\n (exists (?l - location, ?r - receptacle)\n (and\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n ; (objectAtLocation ?o ?l)\n (inReceptacle ?o ?r)\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n )\n )\n (holds ?a ?o)\n )\n :effect\n (and\n (checked ?o)\n )\n)\n\n;; agent goes to receptacle\n (:action GotoLocation\n :parameters (?a - agent ?lStart - location ?lEnd - location ?r - receptacle)\n :precondition (and\n (atLocation ?a ?lStart)\n (receptacleAtLocation ?r ?lEnd)\n ;(exists (?r - receptacle) (receptacleAtLocation ?r ?lEnd))\n )\n :effect (and\n (not (atLocation ?a ?lStart))\n (atLocation ?a ?lEnd)\n ; (forall (?r - receptacle)\n ; (when (and (receptacleAtLocation ?r ?lEnd)\n ; (or (not (openable ?r)) (opened ?r)))\n ; (checked ?r)\n ; )\n ; )\n ; (increase (total-cost) (distance ?lStart ?lEnd))\n (increase (total-cost) 1)\n )\n )\n\n;; agent opens receptacle\n (:action OpenObject\n :parameters (?a - agent ?l - location ?r - receptacle)\n :precondition (and\n (openable ?r)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (not (opened ?r))\n )\n :effect (and\n (opened ?r)\n (checked ?r)\n (increase (total-cost) 1)\n )\n )\n;; agent closes receptacle\n (:action CloseObject\n :parameters (?a - agent ?l - location ?r - receptacle)\n :precondition (and\n (openable ?r)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (opened ?r)\n )\n :effect (and\n (not (opened ?r))\n (increase (total-cost) 1)\n )\n\n )\n\n ;; agent picks up object from a receptacle\n (:action PickupObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n :precondition\n (and\n (pickupable ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n ; (objectAtLocation ?o ?l)\n (inReceptacle ?o ?r)\n (not (holdsAny ?a)) ; agent's hands are empty.\n ;(not (holdsAnyReceptacleObject ?a))\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n ;(not (isReceptacleObject ?o))\n )\n :effect\n (and\n (not (inReceptacle ?o ?r))\n (holds ?a ?o)\n (holdsAny ?a)\n (not (objectAtLocation ?o ?l))\n ;(not (full ?r))\n (increase (total-cost) 1)\n )\n )\n\n\n; ;; agent picks up object from a receptacle\n; (:action PickupObjectFromReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?outerR - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (inReceptacle ?o ?r)\n; (pickupable ?o)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (not (isReceptacleObject ?o))\n; (isReceptacleObject ?outerR)\n; (inReceptacleObject ?o ?outerR)\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (holds ?a ?o)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n;\n; (not (inReceptacleObject ?o ?outerR))\n; (not (isReceptacleObjectFull ?outerR))\n; )\n; )\n;\n; ;; agent picks up object from a receptacle\n; (:action PickupEmptyReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; ; (objectAtLocation ?o ?l)\n; (inReceptacle ?o ?r)\n; (pickupable ?o)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (isReceptacleObject ?o)\n; (not (isReceptacleObjectFull ?o))\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (holds ?a ?o)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n; (holdsAnyReceptacleObject ?a)\n; )\n; )\n;\n; ;; agent picks up object from a receptacle\n; (:action PickupFullReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?outerR - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (inReceptacle ?outerR ?r)\n; (pickupable ?outerR)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (not (isReceptacleObject ?o))\n; (isReceptacleObject ?outerR)\n; (inReceptacleObject ?o ?outerR)\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (not (inReceptacle ?outerR ?r))\n; (holds ?a ?outerR)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (objectAtLocation ?outerR ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n; (holdsAnyReceptacleObject ?a)\n; )\n; )\n\n\n;; agent puts down an object\n (:action PutObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle ?ot - otype ?rt - rtype)\n :precondition (and\n (holds ?a ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable\n ;(not (full ?r))\n (objectType ?o ?ot)\n (receptacleType ?r ?rt)\n (canContain ?rt ?ot)\n ;(not (holdsAnyReceptacleObject ?a))\n )\n :effect (and\n (inReceptacle ?o ?r)\n (objectAtLocation ?o ?l)\n ;(full ?r)\n (not (holds ?a ?o))\n (not (holdsAny ?a))\n (increase (total-cost) 1)\n )\n )\n\n;;; agent puts down an object\n; (:action PutObjectInReceptacleObject\n; :parameters (?a - agent ?l - location ?ot - otype ?o - object ?outerO - object ?outerR - receptacle)\n; :precondition (and\n; (atLocation ?a ?l)\n; (objectAtLocation ?outerO ?l)\n; (isReceptacleObject ?outerO)\n; (not (isReceptacleObject ?o))\n; (objectType ?o ?ot)\n; (holds ?a ?o)\n; (not (holdsAnyReceptacleObject ?a))\n; (inReceptacle ?outerO ?outerR)\n; (not (isReceptacleObjectFull ?outerO))\n; )\n; :effect (and\n; (inReceptacleObject ?o ?outerO)\n; (inReceptacle ?o ?outerR)\n; (not (holds ?a ?o))\n; (not (holdsAny ?a))\n; (objectAtLocation ?o ?l)\n; (isReceptacleObjectFull ?outerO)\n; (increase (total-cost) 1)\n; )\n; )\n;\n;;; agent puts down an object\n; (:action PutEmptyReceptacleObjectinReceptacle\n; :parameters (?a - agent ?l - location ?ot - otype ?o - object ?r - receptacle)\n; :precondition (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable\n; (not (full ?r))\n; (objectType ?o ?ot)\n; (holds ?a ?o)\n; (holdsAnyReceptacleObject ?a)\n; (isReceptacleObject ?o)\n; (not (isReceptacleObjectFull ?o))\n; )\n; :effect (and\n; (inReceptacle ?o ?r)\n; (objectAtLocation ?o ?l)\n; (full ?r)\n; (not (holds ?a ?o))\n; (not (holdsAny ?a))\n; (not (holdsAnyReceptacleObject ?a))\n; (increase (total-cost) 1)\n; )\n; )\n;\n;;; agent puts down a receptacle object in a receptacle\n; (:action PutFullReceptacleObjectInReceptacle\n; :parameters (?a - agent ?l - location ?ot - otype ?innerO - object ?outerO - object ?r - receptacle) ; ?rt - rtype)\n; :precondition (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (objectType ?outerO ?ot)\n; (holds ?a ?outerO)\n; (holdsAnyReceptacleObject ?a)\n; (isReceptacleObject ?outerO)\n; (isReceptacleObjectFull ?outerO)\n; (inReceptacleObject ?innerO ?outerO)\n; )\n; :effect (and\n; (not (holdsAny ?a))\n; (not (holdsAnyReceptacleObject ?a))\n; (objectAtLocation ?outerO ?l)\n; (objectAtLocation ?innerO ?l)\n; (inReceptacle ?outerO ?r)\n; (inReceptacle ?innerO ?r)\n; (not (holds ?a ?outerO))\n; (increase (total-cost) 1)\n; )\n; )\n\n;; agent cleans some object\n (:action CleanObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (cleanable ?o)\n (or\n (receptacleType ?r SinkType)\n (receptacleType ?r SinkBasinType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isClean ?o)\n )\n )\n\n\n;; agent heats-up some object\n (:action HeatObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (heatable ?o)\n (or\n (receptacleType ?r MicrowaveType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isHot ?o)\n (not (isCool ?o))\n )\n )\n\n;; agent cools some object\n (:action CoolObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (coolable ?o)\n (or\n (receptacleType ?r FridgeType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isCool ?o)\n (not (isHot ?o))\n )\n )\n\n\n;; agent toggle object\n (:action ToggleObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n :precondition (and\n (toggleable ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (inReceptacle ?o ?r)\n )\n :effect (and\n (increase (total-cost) 5)\n (when (isOn ?o)\n (not (isOn ?o)))\n (when (not (isOn ?o))\n (isOn ?o))\n (isToggled ?o)\n )\n )\n\n\n;; agent slices some object with a knife\n (:action SliceObject\n :parameters (?a - agent ?l - location ?co - object ?ko - object)\n :precondition\n (and\n (sliceable ?co)\n (or\n (objectType ?ko KnifeType)\n (objectType ?ko ButterKnifeType)\n )\n (atLocation ?a ?l)\n (objectAtLocation ?co ?l)\n (holds ?a ?ko)\n )\n :effect (and\n (increase (total-cost) 5)\n (isSliced ?co)\n )\n )\n\n\n(:action help\n :parameters (?a - agent)\n :precondition\n ()\n :effect\n (and\n (checked ?a)\n )\n)\n)\n", "grammar": "grammar :: \"\"\"\n {\n \"intro\": [\n {\n \"rhs\": \"-= Welcome to TextWorld, ALFRED! =-\\n\\n#look.feedback#\\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 cellphone 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_104510_132397)\n(:domain alfred)\n(:objects\nagent1 - agent\nSaltShaker - object\n HousePlant - object\n Candle - object\n SprayBottle - object\n Bowl - object\n Window - object\n CD - object\n Egg - object\n Glassbottle - object\n Sink - object\n Pillow - object\n Spoon - object\n SoapBottle - object\n TeddyBear - object\n ButterKnife - object\n Cup - object\n Plate - object\n RemoteControl - object\n Tomato - object\n Statue - object\n HandTowel - object\n Knife - object\n StoveKnob - object\n LightSwitch - object\n Pen - object\n Painting - object\n DishSponge - object\n Vase - object\n Mug - object\n ToiletPaper - object\n Box - object\n Mirror - object\n Ladle - object\n Fork - object\n Blinds - object\n Footstool - object\n KeyChain - object\n Cloth - object\n Laptop - object\n TissueBox - object\n PepperShaker - object\n FloorLamp - object\n WateringCan - object\n Apple - object\n Pan - object\n PaperTowel - object\n PaperTowelRoll - object\n Newspaper - object\n Television - object\n Chair - object\n CellPhone - object\n CreditCard - object\n Lettuce - object\n BasketBall - object\n Potato - object\n Curtains - object\n Boots - object\n Pencil - object\n AlarmClock - object\n ToiletPaperRoll - object\n Spatula - object\n Book - object\n Bread - object\n SoapBar - object\n Watch - object\n DeskLamp - object\n Kettle - object\n Pot - object\n ScrubBrush - object\n WineBottle - object\n ShowerDoor - object\n Bathtub - object\n LaundryHamperLid - object\n ShowerGlass - object\n Poster - object\n TennisRacket - object\n BaseballBat - object\n Towel - object\n Plunger - object\nSaltShakerType - otype\n HousePlantType - otype\n CandleType - otype\n SprayBottleType - otype\n BowlType - otype\n WindowType - otype\n CDType - otype\n EggType - otype\n GlassbottleType - otype\n SinkType - otype\n PillowType - otype\n SpoonType - otype\n SoapBottleType - otype\n TeddyBearType - otype\n ButterKnifeType - otype\n CupType - otype\n PlateType - otype\n RemoteControlType - otype\n TomatoType - otype\n StatueType - otype\n HandTowelType - otype\n KnifeType - otype\n StoveKnobType - otype\n LightSwitchType - otype\n PenType - otype\n PaintingType - otype\n DishSpongeType - otype\n VaseType - otype\n MugType - otype\n ToiletPaperType - otype\n BoxType - otype\n MirrorType - otype\n LadleType - otype\n ForkType - otype\n BlindsType - otype\n FootstoolType - otype\n KeyChainType - otype\n ClothType - otype\n LaptopType - otype\n TissueBoxType - otype\n PepperShakerType - otype\n FloorLampType - otype\n WateringCanType - otype\n AppleType - otype\n PanType - otype\n PaperTowelType - otype\n PaperTowelRollType - otype\n NewspaperType - otype\n TelevisionType - otype\n ChairType - otype\n CellPhoneType - otype\n CreditCardType - otype\n LettuceType - otype\n BasketBallType - otype\n PotatoType - otype\n CurtainsType - otype\n BootsType - otype\n PencilType - otype\n AlarmClockType - otype\n ToiletPaperRollType - otype\n SpatulaType - otype\n BookType - otype\n BreadType - otype\n SoapBarType - otype\n WatchType - otype\n DeskLampType - otype\n KettleType - otype\n PotType - otype\n ScrubBrushType - otype\n WineBottleType - otype\n ShowerDoorType - otype\n BathtubType - otype\n LaundryHamperLidType - otype\n ShowerGlassType - otype\n PosterType - otype\n TennisRacketType - otype\n BaseballBatType - otype\n TowelType - otype\n PlungerType - otype\nSafeType - rtype\n DrawerType - rtype\n CoffeeMachineType - rtype\n HandTowelHolderType - rtype\n SinkBasinType - rtype\n DresserType - rtype\n LaundryHamperType - rtype\n TVStandType - rtype\n BathtubBasinType - rtype\n CabinetType - rtype\n FridgeType - rtype\n DeskType - rtype\n ToiletType - rtype\n CartType - rtype\n SideTableType - rtype\n SofaType - rtype\n CoffeeTableType - rtype\n DiningTableType - rtype\n CounterTopType - rtype\n GarbageCanType - rtype\n ArmChairType - rtype\n ShelfType - rtype\n MicrowaveType - rtype\n ToasterType - rtype\n BedType - rtype\n PaintingHangerType - rtype\n TowelHolderType - rtype\n ToiletPaperHangerType - rtype\n StoveBurnerType - rtype\n OttomanType - rtype\n\n\n AlarmClock_bar__minus_00_dot_51_bar__plus_00_dot_68_bar__plus_01_dot_62 - object\n Blinds_bar__plus_01_dot_55_bar__plus_02_dot_44_bar__minus_01_dot_89 - object\n Book_bar__plus_01_dot_71_bar__plus_00_dot_73_bar__minus_00_dot_26 - object\n Box_bar__minus_00_dot_49_bar__plus_00_dot_20_bar__minus_00_dot_29 - object\n CD_bar__plus_01_dot_91_bar__plus_00_dot_73_bar__minus_00_dot_26 - object\n CD_bar__minus_00_dot_51_bar__plus_00_dot_68_bar__plus_01_dot_25 - object\n CD_bar__minus_00_dot_67_bar__plus_00_dot_98_bar__minus_01_dot_60 - object\n CellPhone_bar__minus_00_dot_57_bar__plus_00_dot_67_bar__plus_02_dot_82 - object\n CellPhone_bar__minus_00_dot_78_bar__plus_00_dot_68_bar__plus_02_dot_36 - object\n Chair_bar__plus_01_dot_48_bar__plus_00_dot_43_bar__plus_00_dot_22 - object\n Chair_bar__minus_00_dot_25_bar__plus_00_dot_43_bar__plus_01_dot_46 - object\n CreditCard_bar__plus_01_dot_50_bar__plus_00_dot_31_bar__minus_00_dot_36 - object\n CreditCard_bar__plus_01_dot_59_bar__plus_00_dot_43_bar__plus_01_dot_33 - object\n DeskLamp_bar__plus_02_dot_01_bar__plus_00_dot_72_bar__plus_00_dot_71 - object\n KeyChain_bar__minus_00_dot_76_bar__plus_00_dot_67_bar__plus_03_dot_16 - object\n Laptop_bar__plus_01_dot_61_bar__plus_00_dot_72_bar__plus_00_dot_24 - object\n LightSwitch_bar__plus_02_dot_20_bar__plus_01_dot_26_bar__plus_01_dot_99 - object\n Mirror_bar__plus_02_dot_23_bar__plus_01_dot_26_bar__plus_02_dot_66 - object\n Mug_bar__plus_02_dot_00_bar__plus_00_dot_72_bar__minus_00_dot_01 - object\n Mug_bar__minus_00_dot_82_bar__plus_00_dot_06_bar__plus_02_dot_45 - object\n Mug_bar__minus_00_dot_96_bar__plus_00_dot_68_bar__plus_02_dot_18 - object\n Painting_bar__plus_02_dot_20_bar__plus_01_dot_77_bar__minus_00_dot_10 - object\n Pencil_bar__plus_02_dot_06_bar__plus_00_dot_07_bar__minus_01_dot_23 - object\n Pencil_bar__minus_00_dot_42_bar__plus_00_dot_68_bar__plus_02_dot_18 - object\n Pencil_bar__minus_00_dot_69_bar__plus_00_dot_68_bar__plus_02_dot_36 - object\n Pen_bar__minus_00_dot_42_bar__plus_00_dot_68_bar__plus_01_dot_43 - object\n Pen_bar__minus_00_dot_70_bar__plus_00_dot_42_bar__minus_01_dot_49 - object\n Pillow_bar__minus_00_dot_63_bar__plus_01_dot_92_bar__plus_01_dot_63 - object\n Pillow_bar__minus_00_dot_83_bar__plus_01_dot_55_bar__minus_01_dot_53 - object\n Pillow_bar__minus_01_dot_00_bar__plus_01_dot_59_bar__minus_00_dot_94 - object\n TennisRacket_bar__minus_01_dot_35_bar__plus_00_dot_29_bar__plus_00_dot_23 - object\n Window_bar__plus_01_dot_58_bar__plus_01_dot_56_bar__minus_01_dot_95 - object\n ArmChair_bar__plus_01_dot_83_bar__plus_00_dot_01_bar__plus_01_dot_61 - receptacle\n Bed_bar__minus_00_dot_87_bar__plus_00_dot_00_bar__minus_00_dot_92 - receptacle\n Bed_bar__minus_00_dot_88_bar__plus_01_dot_65_bar__plus_02_dot_17 - receptacle\n Cabinet_bar__minus_00_dot_36_bar__plus_00_dot_26_bar__plus_02_dot_53 - receptacle\n Desk_bar__plus_01_dot_81_bar__minus_00_dot_01_bar__minus_00_dot_12 - receptacle\n Desk_bar__minus_00_dot_65_bar__plus_00_dot_01_bar__plus_01_dot_80 - receptacle\n Drawer_bar__plus_01_dot_65_bar__plus_00_dot_15_bar__minus_00_dot_36 - receptacle\n Drawer_bar__plus_01_dot_65_bar__plus_00_dot_15_bar__minus_00_dot_78 - receptacle\n Drawer_bar__plus_01_dot_65_bar__plus_00_dot_36_bar__minus_00_dot_36 - receptacle\n Drawer_bar__plus_01_dot_65_bar__plus_00_dot_36_bar__minus_00_dot_78 - receptacle\n Drawer_bar__plus_01_dot_65_bar__plus_00_dot_57_bar__minus_00_dot_36 - receptacle\n Drawer_bar__plus_01_dot_65_bar__plus_00_dot_57_bar__minus_00_dot_78 - receptacle\n Drawer_bar__minus_00_dot_57_bar__plus_00_dot_57_bar__plus_02_dot_24 - receptacle\n Drawer_bar__minus_00_dot_58_bar__plus_00_dot_15_bar__plus_02_dot_96 - receptacle\n Drawer_bar__minus_00_dot_58_bar__plus_00_dot_37_bar__plus_02_dot_96 - receptacle\n Drawer_bar__minus_00_dot_58_bar__plus_00_dot_56_bar__plus_02_dot_96 - receptacle\n Drawer_bar__minus_00_dot_70_bar__plus_00_dot_22_bar__minus_01_dot_32 - receptacle\n Drawer_bar__minus_00_dot_70_bar__plus_00_dot_54_bar__minus_01_dot_32 - receptacle\n Drawer_bar__minus_00_dot_70_bar__plus_00_dot_83_bar__minus_01_dot_32 - receptacle\n Dresser_bar__minus_00_dot_66_bar__minus_00_dot_01_bar__plus_02_dot_97 - receptacle\n Dresser_bar__minus_00_dot_77_bar__minus_00_dot_01_bar__minus_01_dot_31 - receptacle\n GarbageCan_bar__plus_02_dot_03_bar__plus_00_dot_00_bar__minus_01_dot_19 - receptacle\n loc_bar_1_bar_7_bar_0_bar_45 - location\n loc_bar_2_bar__minus_4_bar_1_bar_60 - location\n loc_bar_1_bar__minus_5_bar_3_bar_60 - location\n loc_bar_1_bar__minus_1_bar_3_bar_60 - location\n loc_bar__minus_4_bar_2_bar_3_bar_60 - location\n loc_bar_2_bar__minus_1_bar_1_bar_45 - location\n loc_bar_6_bar__minus_5_bar_2_bar_15 - location\n loc_bar_3_bar__minus_3_bar_1_bar_45 - location\n loc_bar_1_bar_5_bar_0_bar_45 - location\n loc_bar_7_bar_10_bar_2_bar_45 - location\n loc_bar_4_bar_0_bar_1_bar_0 - location\n loc_bar_6_bar__minus_5_bar_2_bar__minus_30 - location\n loc_bar_2_bar_11_bar_3_bar_45 - location\n loc_bar_1_bar__minus_5_bar_3_bar_45 - location\n loc_bar_1_bar_6_bar_3_bar_60 - location\n loc_bar_4_bar_1_bar_1_bar_60 - location\n loc_bar_1_bar_7_bar_3_bar_60 - location\n loc_bar_7_bar_11_bar_1_bar_45 - location\n loc_bar_2_bar__minus_3_bar_1_bar_45 - location\n loc_bar_2_bar__minus_1_bar_1_bar_60 - location\n loc_bar_4_bar_9_bar_3_bar_0 - location\n loc_bar_4_bar_6_bar_1_bar_60 - location\n loc_bar_3_bar__minus_2_bar_1_bar_45 - location\n loc_bar_2_bar_7_bar_3_bar_60 - location\n loc_bar_1_bar_12_bar_3_bar_60 - location\n loc_bar_1_bar__minus_3_bar_3_bar_60 - location\n loc_bar_1_bar_8_bar_0_bar_60 - location\n loc_bar_6_bar__minus_5_bar_1_bar_60 - location\n loc_bar_6_bar_10_bar_0_bar_30 - location\n )\n \n\n(:init\n\n\n (receptacleType Drawer_bar__minus_00_dot_70_bar__plus_00_dot_83_bar__minus_01_dot_32 DrawerType)\n (receptacleType Drawer_bar__minus_00_dot_58_bar__plus_00_dot_37_bar__plus_02_dot_96 DrawerType)\n (receptacleType Dresser_bar__minus_00_dot_77_bar__minus_00_dot_01_bar__minus_01_dot_31 DresserType)\n (receptacleType GarbageCan_bar__plus_02_dot_03_bar__plus_00_dot_00_bar__minus_01_dot_19 GarbageCanType)\n (receptacleType Drawer_bar__plus_01_dot_65_bar__plus_00_dot_57_bar__minus_00_dot_36 DrawerType)\n (receptacleType Drawer_bar__plus_01_dot_65_bar__plus_00_dot_36_bar__minus_00_dot_78 DrawerType)\n (receptacleType Drawer_bar__minus_00_dot_57_bar__plus_00_dot_57_bar__plus_02_dot_24 DrawerType)\n (receptacleType Drawer_bar__minus_00_dot_70_bar__plus_00_dot_22_bar__minus_01_dot_32 DrawerType)\n (receptacleType Bed_bar__minus_00_dot_88_bar__plus_01_dot_65_bar__plus_02_dot_17 BedType)\n (receptacleType Dresser_bar__minus_00_dot_66_bar__minus_00_dot_01_bar__plus_02_dot_97 DresserType)\n (receptacleType Drawer_bar__plus_01_dot_65_bar__plus_00_dot_15_bar__minus_00_dot_78 DrawerType)\n (receptacleType Drawer_bar__minus_00_dot_70_bar__plus_00_dot_54_bar__minus_01_dot_32 DrawerType)\n (receptacleType Desk_bar__plus_01_dot_81_bar__minus_00_dot_01_bar__minus_00_dot_12 DeskType)\n (receptacleType Drawer_bar__plus_01_dot_65_bar__plus_00_dot_15_bar__minus_00_dot_36 DrawerType)\n (receptacleType Drawer_bar__plus_01_dot_65_bar__plus_00_dot_57_bar__minus_00_dot_78 DrawerType)\n (receptacleType Drawer_bar__minus_00_dot_58_bar__plus_00_dot_56_bar__plus_02_dot_96 DrawerType)\n (receptacleType Cabinet_bar__minus_00_dot_36_bar__plus_00_dot_26_bar__plus_02_dot_53 CabinetType)\n (receptacleType Bed_bar__minus_00_dot_87_bar__plus_00_dot_00_bar__minus_00_dot_92 BedType)\n (receptacleType Desk_bar__minus_00_dot_65_bar__plus_00_dot_01_bar__plus_01_dot_80 DeskType)\n (receptacleType Drawer_bar__plus_01_dot_65_bar__plus_00_dot_36_bar__minus_00_dot_36 DrawerType)\n (receptacleType Drawer_bar__minus_00_dot_58_bar__plus_00_dot_15_bar__plus_02_dot_96 DrawerType)\n (receptacleType ArmChair_bar__plus_01_dot_83_bar__plus_00_dot_01_bar__plus_01_dot_61 ArmChairType)\n (objectType Chair_bar__minus_00_dot_25_bar__plus_00_dot_43_bar__plus_01_dot_46 ChairType)\n (objectType CD_bar__minus_00_dot_67_bar__plus_00_dot_98_bar__minus_01_dot_60 CDType)\n (objectType Pen_bar__minus_00_dot_70_bar__plus_00_dot_42_bar__minus_01_dot_49 PenType)\n (objectType DeskLamp_bar__plus_02_dot_01_bar__plus_00_dot_72_bar__plus_00_dot_71 DeskLampType)\n (objectType CreditCard_bar__plus_01_dot_50_bar__plus_00_dot_31_bar__minus_00_dot_36 CreditCardType)\n (objectType Mug_bar__minus_00_dot_82_bar__plus_00_dot_06_bar__plus_02_dot_45 MugType)\n (objectType Pen_bar__minus_00_dot_42_bar__plus_00_dot_68_bar__plus_01_dot_43 PenType)\n (objectType Pencil_bar__minus_00_dot_69_bar__plus_00_dot_68_bar__plus_02_dot_36 PencilType)\n (objectType Pencil_bar__minus_00_dot_42_bar__plus_00_dot_68_bar__plus_02_dot_18 PencilType)\n (objectType Pillow_bar__minus_01_dot_00_bar__plus_01_dot_59_bar__minus_00_dot_94 PillowType)\n (objectType Chair_bar__plus_01_dot_48_bar__plus_00_dot_43_bar__plus_00_dot_22 ChairType)\n (objectType Window_bar__plus_01_dot_58_bar__plus_01_dot_56_bar__minus_01_dot_95 WindowType)\n (objectType Painting_bar__plus_02_dot_20_bar__plus_01_dot_77_bar__minus_00_dot_10 PaintingType)\n (objectType CD_bar__plus_01_dot_91_bar__plus_00_dot_73_bar__minus_00_dot_26 CDType)\n (objectType KeyChain_bar__minus_00_dot_76_bar__plus_00_dot_67_bar__plus_03_dot_16 KeyChainType)\n (objectType CreditCard_bar__plus_01_dot_59_bar__plus_00_dot_43_bar__plus_01_dot_33 CreditCardType)\n (objectType Laptop_bar__plus_01_dot_61_bar__plus_00_dot_72_bar__plus_00_dot_24 LaptopType)\n (objectType Pencil_bar__plus_02_dot_06_bar__plus_00_dot_07_bar__minus_01_dot_23 PencilType)\n (objectType LightSwitch_bar__plus_02_dot_20_bar__plus_01_dot_26_bar__plus_01_dot_99 LightSwitchType)\n (objectType Mug_bar__plus_02_dot_00_bar__plus_00_dot_72_bar__minus_00_dot_01 MugType)\n (objectType AlarmClock_bar__minus_00_dot_51_bar__plus_00_dot_68_bar__plus_01_dot_62 AlarmClockType)\n (objectType Pillow_bar__minus_00_dot_63_bar__plus_01_dot_92_bar__plus_01_dot_63 PillowType)\n (objectType Mirror_bar__plus_02_dot_23_bar__plus_01_dot_26_bar__plus_02_dot_66 MirrorType)\n (objectType CellPhone_bar__minus_00_dot_78_bar__plus_00_dot_68_bar__plus_02_dot_36 CellPhoneType)\n (objectType Blinds_bar__plus_01_dot_55_bar__plus_02_dot_44_bar__minus_01_dot_89 BlindsType)\n (objectType Pillow_bar__minus_00_dot_83_bar__plus_01_dot_55_bar__minus_01_dot_53 PillowType)\n (objectType TennisRacket_bar__minus_01_dot_35_bar__plus_00_dot_29_bar__plus_00_dot_23 TennisRacketType)\n (objectType CellPhone_bar__minus_00_dot_57_bar__plus_00_dot_67_bar__plus_02_dot_82 CellPhoneType)\n (objectType Box_bar__minus_00_dot_49_bar__plus_00_dot_20_bar__minus_00_dot_29 BoxType)\n (objectType CD_bar__minus_00_dot_51_bar__plus_00_dot_68_bar__plus_01_dot_25 CDType)\n (objectType Book_bar__plus_01_dot_71_bar__plus_00_dot_73_bar__minus_00_dot_26 BookType)\n (objectType Mug_bar__minus_00_dot_96_bar__plus_00_dot_68_bar__plus_02_dot_18 MugType)\n (canContain DrawerType PenType)\n (canContain DrawerType BookType)\n (canContain DrawerType CDType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType PencilType)\n (canContain DrawerType PenType)\n (canContain DrawerType BookType)\n (canContain DrawerType CDType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType PencilType)\n (canContain DresserType PenType)\n (canContain DresserType BookType)\n (canContain DresserType CDType)\n (canContain DresserType MugType)\n (canContain DresserType BoxType)\n (canContain DresserType CellPhoneType)\n (canContain DresserType KeyChainType)\n (canContain DresserType CreditCardType)\n (canContain DresserType TennisRacketType)\n (canContain DresserType LaptopType)\n (canContain DresserType PencilType)\n (canContain DresserType AlarmClockType)\n (canContain GarbageCanType PenType)\n (canContain GarbageCanType CDType)\n (canContain GarbageCanType PencilType)\n (canContain DrawerType PenType)\n (canContain DrawerType BookType)\n (canContain DrawerType CDType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType PencilType)\n (canContain DrawerType PenType)\n (canContain DrawerType BookType)\n (canContain DrawerType CDType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType PencilType)\n (canContain DrawerType PenType)\n (canContain DrawerType BookType)\n (canContain DrawerType CDType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType PencilType)\n (canContain DrawerType PenType)\n (canContain DrawerType BookType)\n (canContain DrawerType CDType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType PencilType)\n (canContain BedType TennisRacketType)\n (canContain BedType LaptopType)\n (canContain BedType BookType)\n (canContain BedType CellPhoneType)\n (canContain BedType PillowType)\n (canContain DresserType PenType)\n (canContain DresserType BookType)\n (canContain DresserType CDType)\n (canContain DresserType MugType)\n (canContain DresserType BoxType)\n (canContain DresserType CellPhoneType)\n (canContain DresserType KeyChainType)\n (canContain DresserType CreditCardType)\n (canContain DresserType TennisRacketType)\n (canContain DresserType LaptopType)\n (canContain DresserType PencilType)\n (canContain DresserType AlarmClockType)\n (canContain DrawerType PenType)\n (canContain DrawerType BookType)\n (canContain DrawerType CDType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType PencilType)\n (canContain DrawerType PenType)\n (canContain DrawerType BookType)\n (canContain DrawerType CDType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType PencilType)\n (canContain DeskType PenType)\n (canContain DeskType BookType)\n (canContain DeskType CDType)\n (canContain DeskType MugType)\n (canContain DeskType BoxType)\n (canContain DeskType CellPhoneType)\n (canContain DeskType KeyChainType)\n (canContain DeskType CreditCardType)\n (canContain DeskType TennisRacketType)\n (canContain DeskType LaptopType)\n (canContain DeskType PencilType)\n (canContain DeskType AlarmClockType)\n (canContain DrawerType PenType)\n (canContain DrawerType BookType)\n (canContain DrawerType CDType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType PencilType)\n (canContain DrawerType PenType)\n (canContain DrawerType BookType)\n (canContain DrawerType CDType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType PencilType)\n (canContain DrawerType PenType)\n (canContain DrawerType BookType)\n (canContain DrawerType CDType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType PencilType)\n (canContain CabinetType BookType)\n (canContain CabinetType CDType)\n (canContain CabinetType MugType)\n (canContain CabinetType BoxType)\n (canContain BedType TennisRacketType)\n (canContain BedType LaptopType)\n (canContain BedType BookType)\n (canContain BedType CellPhoneType)\n (canContain BedType PillowType)\n (canContain DeskType PenType)\n (canContain DeskType BookType)\n (canContain DeskType CDType)\n (canContain DeskType MugType)\n (canContain DeskType BoxType)\n (canContain DeskType CellPhoneType)\n (canContain DeskType KeyChainType)\n (canContain DeskType CreditCardType)\n (canContain DeskType TennisRacketType)\n (canContain DeskType LaptopType)\n (canContain DeskType PencilType)\n (canContain DeskType AlarmClockType)\n (canContain DrawerType PenType)\n (canContain DrawerType BookType)\n (canContain DrawerType CDType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType PencilType)\n (canContain DrawerType PenType)\n (canContain DrawerType BookType)\n (canContain DrawerType CDType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType PencilType)\n (canContain ArmChairType BoxType)\n (canContain ArmChairType LaptopType)\n (canContain ArmChairType BookType)\n (canContain ArmChairType CellPhoneType)\n (canContain ArmChairType PillowType)\n (canContain ArmChairType KeyChainType)\n (canContain ArmChairType CreditCardType)\n (pickupable CD_bar__minus_00_dot_67_bar__plus_00_dot_98_bar__minus_01_dot_60)\n (pickupable Pen_bar__minus_00_dot_70_bar__plus_00_dot_42_bar__minus_01_dot_49)\n (pickupable CreditCard_bar__plus_01_dot_50_bar__plus_00_dot_31_bar__minus_00_dot_36)\n (pickupable Mug_bar__minus_00_dot_82_bar__plus_00_dot_06_bar__plus_02_dot_45)\n (pickupable Pen_bar__minus_00_dot_42_bar__plus_00_dot_68_bar__plus_01_dot_43)\n (pickupable Pencil_bar__minus_00_dot_69_bar__plus_00_dot_68_bar__plus_02_dot_36)\n (pickupable Pencil_bar__minus_00_dot_42_bar__plus_00_dot_68_bar__plus_02_dot_18)\n (pickupable Pillow_bar__minus_01_dot_00_bar__plus_01_dot_59_bar__minus_00_dot_94)\n (pickupable CD_bar__plus_01_dot_91_bar__plus_00_dot_73_bar__minus_00_dot_26)\n (pickupable KeyChain_bar__minus_00_dot_76_bar__plus_00_dot_67_bar__plus_03_dot_16)\n (pickupable CreditCard_bar__plus_01_dot_59_bar__plus_00_dot_43_bar__plus_01_dot_33)\n (pickupable Laptop_bar__plus_01_dot_61_bar__plus_00_dot_72_bar__plus_00_dot_24)\n (pickupable Pencil_bar__plus_02_dot_06_bar__plus_00_dot_07_bar__minus_01_dot_23)\n (pickupable Mug_bar__plus_02_dot_00_bar__plus_00_dot_72_bar__minus_00_dot_01)\n (pickupable AlarmClock_bar__minus_00_dot_51_bar__plus_00_dot_68_bar__plus_01_dot_62)\n (pickupable Pillow_bar__minus_00_dot_63_bar__plus_01_dot_92_bar__plus_01_dot_63)\n (pickupable CellPhone_bar__minus_00_dot_78_bar__plus_00_dot_68_bar__plus_02_dot_36)\n (pickupable Pillow_bar__minus_00_dot_83_bar__plus_01_dot_55_bar__minus_01_dot_53)\n (pickupable TennisRacket_bar__minus_01_dot_35_bar__plus_00_dot_29_bar__plus_00_dot_23)\n (pickupable CellPhone_bar__minus_00_dot_57_bar__plus_00_dot_67_bar__plus_02_dot_82)\n (pickupable Box_bar__minus_00_dot_49_bar__plus_00_dot_20_bar__minus_00_dot_29)\n (pickupable CD_bar__minus_00_dot_51_bar__plus_00_dot_68_bar__plus_01_dot_25)\n (pickupable Book_bar__plus_01_dot_71_bar__plus_00_dot_73_bar__minus_00_dot_26)\n (pickupable Mug_bar__minus_00_dot_96_bar__plus_00_dot_68_bar__plus_02_dot_18)\n (isReceptacleObject Mug_bar__minus_00_dot_82_bar__plus_00_dot_06_bar__plus_02_dot_45)\n (isReceptacleObject Mug_bar__plus_02_dot_00_bar__plus_00_dot_72_bar__minus_00_dot_01)\n (isReceptacleObject Box_bar__minus_00_dot_49_bar__plus_00_dot_20_bar__minus_00_dot_29)\n (isReceptacleObject Mug_bar__minus_00_dot_96_bar__plus_00_dot_68_bar__plus_02_dot_18)\n (openable Drawer_bar__minus_00_dot_58_bar__plus_00_dot_37_bar__plus_02_dot_96)\n (openable Drawer_bar__plus_01_dot_65_bar__plus_00_dot_57_bar__minus_00_dot_36)\n (openable Drawer_bar__plus_01_dot_65_bar__plus_00_dot_36_bar__minus_00_dot_78)\n (openable Drawer_bar__minus_00_dot_57_bar__plus_00_dot_57_bar__plus_02_dot_24)\n (openable Drawer_bar__plus_01_dot_65_bar__plus_00_dot_15_bar__minus_00_dot_78)\n (openable Drawer_bar__plus_01_dot_65_bar__plus_00_dot_15_bar__minus_00_dot_36)\n (openable Drawer_bar__plus_01_dot_65_bar__plus_00_dot_57_bar__minus_00_dot_78)\n (openable Drawer_bar__minus_00_dot_58_bar__plus_00_dot_56_bar__plus_02_dot_96)\n (openable Cabinet_bar__minus_00_dot_36_bar__plus_00_dot_26_bar__plus_02_dot_53)\n (openable Drawer_bar__plus_01_dot_65_bar__plus_00_dot_36_bar__minus_00_dot_36)\n (openable Drawer_bar__minus_00_dot_58_bar__plus_00_dot_15_bar__plus_02_dot_96)\n \n (atLocation agent1 loc_bar_6_bar_10_bar_0_bar_30)\n \n (cleanable Mug_bar__minus_00_dot_82_bar__plus_00_dot_06_bar__plus_02_dot_45)\n (cleanable Mug_bar__plus_02_dot_00_bar__plus_00_dot_72_bar__minus_00_dot_01)\n (cleanable Mug_bar__minus_00_dot_96_bar__plus_00_dot_68_bar__plus_02_dot_18)\n \n (heatable Mug_bar__minus_00_dot_82_bar__plus_00_dot_06_bar__plus_02_dot_45)\n (heatable Mug_bar__plus_02_dot_00_bar__plus_00_dot_72_bar__minus_00_dot_01)\n (heatable Mug_bar__minus_00_dot_96_bar__plus_00_dot_68_bar__plus_02_dot_18)\n (coolable Mug_bar__minus_00_dot_82_bar__plus_00_dot_06_bar__plus_02_dot_45)\n (coolable Mug_bar__plus_02_dot_00_bar__plus_00_dot_72_bar__minus_00_dot_01)\n (coolable Mug_bar__minus_00_dot_96_bar__plus_00_dot_68_bar__plus_02_dot_18)\n \n \n (toggleable DeskLamp_bar__plus_02_dot_01_bar__plus_00_dot_72_bar__plus_00_dot_71)\n \n \n \n \n (inReceptacle CreditCard_bar__plus_01_dot_50_bar__plus_00_dot_31_bar__minus_00_dot_36 Drawer_bar__plus_01_dot_65_bar__plus_00_dot_36_bar__minus_00_dot_36)\n (inReceptacle Pillow_bar__minus_00_dot_63_bar__plus_01_dot_92_bar__plus_01_dot_63 Bed_bar__minus_00_dot_88_bar__plus_01_dot_65_bar__plus_02_dot_17)\n (inReceptacle CreditCard_bar__plus_01_dot_59_bar__plus_00_dot_43_bar__plus_01_dot_33 ArmChair_bar__plus_01_dot_83_bar__plus_00_dot_01_bar__plus_01_dot_61)\n (inReceptacle Mug_bar__minus_00_dot_82_bar__plus_00_dot_06_bar__plus_02_dot_45 Cabinet_bar__minus_00_dot_36_bar__plus_00_dot_26_bar__plus_02_dot_53)\n (inReceptacle CellPhone_bar__minus_00_dot_78_bar__plus_00_dot_68_bar__plus_02_dot_36 Desk_bar__minus_00_dot_65_bar__plus_00_dot_01_bar__plus_01_dot_80)\n (inReceptacle Pen_bar__minus_00_dot_42_bar__plus_00_dot_68_bar__plus_01_dot_43 Desk_bar__minus_00_dot_65_bar__plus_00_dot_01_bar__plus_01_dot_80)\n (inReceptacle Pencil_bar__minus_00_dot_69_bar__plus_00_dot_68_bar__plus_02_dot_36 Desk_bar__minus_00_dot_65_bar__plus_00_dot_01_bar__plus_01_dot_80)\n (inReceptacle CD_bar__minus_00_dot_51_bar__plus_00_dot_68_bar__plus_01_dot_25 Desk_bar__minus_00_dot_65_bar__plus_00_dot_01_bar__plus_01_dot_80)\n (inReceptacle Pencil_bar__minus_00_dot_42_bar__plus_00_dot_68_bar__plus_02_dot_18 Desk_bar__minus_00_dot_65_bar__plus_00_dot_01_bar__plus_01_dot_80)\n (inReceptacle Mug_bar__minus_00_dot_96_bar__plus_00_dot_68_bar__plus_02_dot_18 Desk_bar__minus_00_dot_65_bar__plus_00_dot_01_bar__plus_01_dot_80)\n (inReceptacle AlarmClock_bar__minus_00_dot_51_bar__plus_00_dot_68_bar__plus_01_dot_62 Desk_bar__minus_00_dot_65_bar__plus_00_dot_01_bar__plus_01_dot_80)\n (inReceptacle Pillow_bar__minus_00_dot_83_bar__plus_01_dot_55_bar__minus_01_dot_53 Bed_bar__minus_00_dot_87_bar__plus_00_dot_00_bar__minus_00_dot_92)\n (inReceptacle Pillow_bar__minus_01_dot_00_bar__plus_01_dot_59_bar__minus_00_dot_94 Bed_bar__minus_00_dot_87_bar__plus_00_dot_00_bar__minus_00_dot_92)\n (inReceptacle Pen_bar__minus_00_dot_70_bar__plus_00_dot_42_bar__minus_01_dot_49 Drawer_bar__minus_00_dot_70_bar__plus_00_dot_54_bar__minus_01_dot_32)\n (inReceptacle KeyChain_bar__minus_00_dot_76_bar__plus_00_dot_67_bar__plus_03_dot_16 Dresser_bar__minus_00_dot_66_bar__minus_00_dot_01_bar__plus_02_dot_97)\n (inReceptacle CellPhone_bar__minus_00_dot_57_bar__plus_00_dot_67_bar__plus_02_dot_82 Dresser_bar__minus_00_dot_66_bar__minus_00_dot_01_bar__plus_02_dot_97)\n (inReceptacle CD_bar__minus_00_dot_67_bar__plus_00_dot_98_bar__minus_01_dot_60 Dresser_bar__minus_00_dot_77_bar__minus_00_dot_01_bar__minus_01_dot_31)\n (inReceptacle DeskLamp_bar__plus_02_dot_01_bar__plus_00_dot_72_bar__plus_00_dot_71 Desk_bar__plus_01_dot_81_bar__minus_00_dot_01_bar__minus_00_dot_12)\n (inReceptacle Mug_bar__plus_02_dot_00_bar__plus_00_dot_72_bar__minus_00_dot_01 Desk_bar__plus_01_dot_81_bar__minus_00_dot_01_bar__minus_00_dot_12)\n (inReceptacle Book_bar__plus_01_dot_71_bar__plus_00_dot_73_bar__minus_00_dot_26 Desk_bar__plus_01_dot_81_bar__minus_00_dot_01_bar__minus_00_dot_12)\n (inReceptacle CD_bar__plus_01_dot_91_bar__plus_00_dot_73_bar__minus_00_dot_26 Desk_bar__plus_01_dot_81_bar__minus_00_dot_01_bar__minus_00_dot_12)\n (inReceptacle Laptop_bar__plus_01_dot_61_bar__plus_00_dot_72_bar__plus_00_dot_24 Desk_bar__plus_01_dot_81_bar__minus_00_dot_01_bar__minus_00_dot_12)\n (inReceptacle Pencil_bar__plus_02_dot_06_bar__plus_00_dot_07_bar__minus_01_dot_23 GarbageCan_bar__plus_02_dot_03_bar__plus_00_dot_00_bar__minus_01_dot_19)\n \n \n (receptacleAtLocation ArmChair_bar__plus_01_dot_83_bar__plus_00_dot_01_bar__plus_01_dot_61 loc_bar_4_bar_6_bar_1_bar_60)\n (receptacleAtLocation Bed_bar__minus_00_dot_87_bar__plus_00_dot_00_bar__minus_00_dot_92 loc_bar_1_bar__minus_3_bar_3_bar_60)\n (receptacleAtLocation Bed_bar__minus_00_dot_88_bar__plus_01_dot_65_bar__plus_02_dot_17 loc_bar_4_bar_9_bar_3_bar_0)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_36_bar__plus_00_dot_26_bar__plus_02_dot_53 loc_bar_2_bar_7_bar_3_bar_60)\n (receptacleAtLocation Desk_bar__plus_01_dot_81_bar__minus_00_dot_01_bar__minus_00_dot_12 loc_bar_4_bar_1_bar_1_bar_60)\n (receptacleAtLocation Desk_bar__minus_00_dot_65_bar__plus_00_dot_01_bar__plus_01_dot_80 loc_bar_1_bar_7_bar_3_bar_60)\n (receptacleAtLocation Drawer_bar__plus_01_dot_65_bar__plus_00_dot_15_bar__minus_00_dot_36 loc_bar_2_bar__minus_4_bar_1_bar_60)\n (receptacleAtLocation Drawer_bar__plus_01_dot_65_bar__plus_00_dot_15_bar__minus_00_dot_78 loc_bar_2_bar__minus_1_bar_1_bar_60)\n (receptacleAtLocation Drawer_bar__plus_01_dot_65_bar__plus_00_dot_36_bar__minus_00_dot_36 loc_bar_2_bar__minus_3_bar_1_bar_45)\n (receptacleAtLocation Drawer_bar__plus_01_dot_65_bar__plus_00_dot_36_bar__minus_00_dot_78 loc_bar_2_bar__minus_1_bar_1_bar_45)\n (receptacleAtLocation Drawer_bar__plus_01_dot_65_bar__plus_00_dot_57_bar__minus_00_dot_36 loc_bar_3_bar__minus_3_bar_1_bar_45)\n (receptacleAtLocation Drawer_bar__plus_01_dot_65_bar__plus_00_dot_57_bar__minus_00_dot_78 loc_bar_3_bar__minus_2_bar_1_bar_45)\n (receptacleAtLocation Drawer_bar__minus_00_dot_57_bar__plus_00_dot_57_bar__plus_02_dot_24 loc_bar_1_bar_5_bar_0_bar_45)\n (receptacleAtLocation Drawer_bar__minus_00_dot_58_bar__plus_00_dot_15_bar__plus_02_dot_96 loc_bar_1_bar_7_bar_0_bar_45)\n (receptacleAtLocation Drawer_bar__minus_00_dot_58_bar__plus_00_dot_37_bar__plus_02_dot_96 loc_bar_1_bar_8_bar_0_bar_60)\n (receptacleAtLocation Drawer_bar__minus_00_dot_58_bar__plus_00_dot_56_bar__plus_02_dot_96 loc_bar_2_bar_11_bar_3_bar_45)\n (receptacleAtLocation Drawer_bar__minus_00_dot_70_bar__plus_00_dot_22_bar__minus_01_dot_32 loc_bar_1_bar__minus_5_bar_3_bar_60)\n (receptacleAtLocation Drawer_bar__minus_00_dot_70_bar__plus_00_dot_54_bar__minus_01_dot_32 loc_bar_1_bar__minus_5_bar_3_bar_45)\n (receptacleAtLocation Drawer_bar__minus_00_dot_70_bar__plus_00_dot_83_bar__minus_01_dot_32 loc_bar_1_bar__minus_5_bar_3_bar_45)\n (receptacleAtLocation Dresser_bar__minus_00_dot_66_bar__minus_00_dot_01_bar__plus_02_dot_97 loc_bar_1_bar_12_bar_3_bar_60)\n (receptacleAtLocation Dresser_bar__minus_00_dot_77_bar__minus_00_dot_01_bar__minus_01_dot_31 loc_bar_1_bar__minus_5_bar_3_bar_60)\n (receptacleAtLocation GarbageCan_bar__plus_02_dot_03_bar__plus_00_dot_00_bar__minus_01_dot_19 loc_bar_6_bar__minus_5_bar_1_bar_60)\n (objectAtLocation Mug_bar__plus_02_dot_00_bar__plus_00_dot_72_bar__minus_00_dot_01 loc_bar_4_bar_1_bar_1_bar_60)\n (objectAtLocation Pencil_bar__minus_00_dot_69_bar__plus_00_dot_68_bar__plus_02_dot_36 loc_bar_1_bar_7_bar_3_bar_60)\n (objectAtLocation CD_bar__plus_01_dot_91_bar__plus_00_dot_73_bar__minus_00_dot_26 loc_bar_4_bar_1_bar_1_bar_60)\n (objectAtLocation CreditCard_bar__plus_01_dot_50_bar__plus_00_dot_31_bar__minus_00_dot_36 loc_bar_2_bar__minus_3_bar_1_bar_45)\n (objectAtLocation CellPhone_bar__minus_00_dot_57_bar__plus_00_dot_67_bar__plus_02_dot_82 loc_bar_1_bar_12_bar_3_bar_60)\n (objectAtLocation Pillow_bar__minus_00_dot_83_bar__plus_01_dot_55_bar__minus_01_dot_53 loc_bar_1_bar__minus_3_bar_3_bar_60)\n (objectAtLocation Pen_bar__minus_00_dot_70_bar__plus_00_dot_42_bar__minus_01_dot_49 loc_bar_1_bar__minus_5_bar_3_bar_45)\n (objectAtLocation Pencil_bar__minus_00_dot_42_bar__plus_00_dot_68_bar__plus_02_dot_18 loc_bar_1_bar_7_bar_3_bar_60)\n (objectAtLocation CD_bar__minus_00_dot_51_bar__plus_00_dot_68_bar__plus_01_dot_25 loc_bar_1_bar_7_bar_3_bar_60)\n (objectAtLocation Mug_bar__minus_00_dot_96_bar__plus_00_dot_68_bar__plus_02_dot_18 loc_bar_1_bar_7_bar_3_bar_60)\n (objectAtLocation Chair_bar__minus_00_dot_25_bar__plus_00_dot_43_bar__plus_01_dot_46 loc_bar_1_bar_6_bar_3_bar_60)\n (objectAtLocation Book_bar__plus_01_dot_71_bar__plus_00_dot_73_bar__minus_00_dot_26 loc_bar_4_bar_1_bar_1_bar_60)\n (objectAtLocation Chair_bar__plus_01_dot_48_bar__plus_00_dot_43_bar__plus_00_dot_22 loc_bar_4_bar_1_bar_1_bar_60)\n (objectAtLocation Box_bar__minus_00_dot_49_bar__plus_00_dot_20_bar__minus_00_dot_29 loc_bar_1_bar__minus_1_bar_3_bar_60)\n (objectAtLocation DeskLamp_bar__plus_02_dot_01_bar__plus_00_dot_72_bar__plus_00_dot_71 loc_bar_4_bar_1_bar_1_bar_60)\n (objectAtLocation TennisRacket_bar__minus_01_dot_35_bar__plus_00_dot_29_bar__plus_00_dot_23 loc_bar__minus_4_bar_2_bar_3_bar_60)\n (objectAtLocation Pen_bar__minus_00_dot_42_bar__plus_00_dot_68_bar__plus_01_dot_43 loc_bar_1_bar_7_bar_3_bar_60)\n (objectAtLocation AlarmClock_bar__minus_00_dot_51_bar__plus_00_dot_68_bar__plus_01_dot_62 loc_bar_1_bar_7_bar_3_bar_60)\n (objectAtLocation Pillow_bar__minus_00_dot_63_bar__plus_01_dot_92_bar__plus_01_dot_63 loc_bar_4_bar_9_bar_3_bar_0)\n (objectAtLocation Pillow_bar__minus_01_dot_00_bar__plus_01_dot_59_bar__minus_00_dot_94 loc_bar_1_bar__minus_3_bar_3_bar_60)\n (objectAtLocation CellPhone_bar__minus_00_dot_78_bar__plus_00_dot_68_bar__plus_02_dot_36 loc_bar_1_bar_7_bar_3_bar_60)\n (objectAtLocation Painting_bar__plus_02_dot_20_bar__plus_01_dot_77_bar__minus_00_dot_10 loc_bar_4_bar_0_bar_1_bar_0)\n (objectAtLocation KeyChain_bar__minus_00_dot_76_bar__plus_00_dot_67_bar__plus_03_dot_16 loc_bar_1_bar_12_bar_3_bar_60)\n (objectAtLocation CreditCard_bar__plus_01_dot_59_bar__plus_00_dot_43_bar__plus_01_dot_33 loc_bar_4_bar_6_bar_1_bar_60)\n (objectAtLocation Mirror_bar__plus_02_dot_23_bar__plus_01_dot_26_bar__plus_02_dot_66 loc_bar_7_bar_11_bar_1_bar_45)\n (objectAtLocation CD_bar__minus_00_dot_67_bar__plus_00_dot_98_bar__minus_01_dot_60 loc_bar_1_bar__minus_5_bar_3_bar_60)\n (objectAtLocation LightSwitch_bar__plus_02_dot_20_bar__plus_01_dot_26_bar__plus_01_dot_99 loc_bar_7_bar_10_bar_2_bar_45)\n (objectAtLocation Window_bar__plus_01_dot_58_bar__plus_01_dot_56_bar__minus_01_dot_95 loc_bar_6_bar__minus_5_bar_2_bar_15)\n (objectAtLocation Pencil_bar__plus_02_dot_06_bar__plus_00_dot_07_bar__minus_01_dot_23 loc_bar_6_bar__minus_5_bar_1_bar_60)\n (objectAtLocation Laptop_bar__plus_01_dot_61_bar__plus_00_dot_72_bar__plus_00_dot_24 loc_bar_4_bar_1_bar_1_bar_60)\n (objectAtLocation Mug_bar__minus_00_dot_82_bar__plus_00_dot_06_bar__plus_02_dot_45 loc_bar_2_bar_7_bar_3_bar_60)\n (objectAtLocation Blinds_bar__plus_01_dot_55_bar__plus_02_dot_44_bar__minus_01_dot_89 loc_bar_6_bar__minus_5_bar_2_bar__minus_30)\n )\n \n\n (:goal\n (and\n (exists (?r - receptacle)\n (exists (?o1 - object)\n (and\n (objectType ?o1 CellPhoneType)\n (receptacleType ?r DrawerType)\n (inReceptacle ?o1 ?r)\n (exists (?o2 - object)\n (and\n (not (= ?o1 ?o2))\n (objectType ?o2 CellPhoneType)\n (receptacleType ?r DrawerType)\n (inReceptacle ?o2 ?r)\n )\n )\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to dresser 2", "take cellphone 2 from dresser 2", "go to drawer 8", "move cellphone 2 to drawer 8", "go to desk 2", "take cellphone 1 from desk 2", "go to drawer 8", "move cellphone 1 to drawer 8"]}
|
alfworld__pick_two_obj_and_place__805
|
pick_two_obj_and_place
|
pick_two_obj_and_place-CellPhone-None-Drawer-318/trial_T20190910_054705_146286/game.tw-pddl
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{"pddl_domain": ";; Specification in PDDL of the Alfred domain\n;; Intended to be used with Fast Downward which supports PDDL 2.2 level 1 plus the :action-costs requirement from PDDL 3.1.\n\n(define (domain alfred)\n (:requirements\n :adl\n :action-costs\n :typing\n )\n (:types\n agent\n location\n receptacle\n object\n rtype\n otype\n )\n\n\n (:predicates\n (atLocation ?a - agent ?l - location) ; true if the agent is at the location\n (receptacleAtLocation ?r - receptacle ?l - location) ; true if the receptacle is at the location (constant)\n (objectAtLocation ?o - object ?l - location) ; true if the object is at the location\n (openable ?r - receptacle) ; true if a receptacle is openable\n (opened ?r - receptacle) ; true if a receptacle is opened\n (inReceptacle ?o - object ?r - receptacle) ; object ?o is in receptacle ?r\n (isReceptacleObject ?o - object) ; true if the object can have things put inside it\n (inReceptacleObject ?innerObject - object ?outerObject - object) ; object ?innerObject is inside object ?outerObject\n (isReceptacleObjectFull ?o - object) ; true if the receptacle object contains something\n (wasInReceptacle ?o - object ?r - receptacle) ; object ?o was or is in receptacle ?r now or some time in the past\n (checked ?r - receptacle) ; whether the receptacle has been looked inside/visited\n (examined ?l - location) ; TODO\n (receptacleType ?r - receptacle ?t - rtype) ; the type of receptacle (Cabinet vs Cabinet|01|2...)\n (canContain ?rt - rtype ?ot - otype) ; true if receptacle can hold object\n (objectType ?o - object ?t - otype) ; the type of object (Apple vs Apple|01|2...)\n (holds ?a - agent ?o - object) ; object ?o is held by agent ?a\n (holdsAny ?a - agent) ; agent ?a holds an object\n (holdsAnyReceptacleObject ?a - agent) ; agent ?a holds a receptacle object\n (full ?r - receptacle) ; true if the receptacle has no remaining space\n (isClean ?o - object) ; true if the object has been clean in sink\n (cleanable ?o - object) ; true if the object can be placed in a sink\n (isHot ?o - object) ; true if the object has been heated up\n (heatable ?o - object) ; true if the object can be heated up in a microwave\n (isCool ?o - object) ; true if the object has been cooled\n (coolable ?o - object) ; true if the object can be cooled in the fridge\n (pickupable ?o - object) ; true if the object can be picked up\n (moveable ?o - object) ; true if the object can be moved\n (toggleable ?o - object) ; true if the object can be turned on/off\n (isOn ?o - object) ; true if the object is on\n (isToggled ?o - object) ; true if the object has been toggled\n (sliceable ?o - object) ; true if the object can be sliced\n (isSliced ?o - object) ; true if the object is sliced\n )\n\n (:functions\n (distance ?from ?to)\n (total-cost) - number\n )\n\n;; All actions are specified such that the final arguments are the ones used\n;; for performing actions in Unity.\n\n\n(:action look\n :parameters (?a - agent ?l - location)\n :precondition\n (and\n (atLocation ?a ?l)\n )\n :effect\n (and\n (checked ?l)\n )\n)\n\n(:action inventory\n :parameters (?a - agent)\n :precondition\n ()\n :effect\n (and\n (checked ?a)\n )\n)\n\n(:action examineReceptacle\n :parameters (?a - agent ?r - receptacle)\n :precondition\n (and\n (exists (?l - location)\n (and\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n )\n )\n )\n :effect\n (and\n (checked ?r)\n )\n)\n\n(:action examineObject\n :parameters (?a - agent ?o - object)\n :precondition\n (or\n ;(exists (?l - location)\n ; (and\n ; (atLocation ?a ?l)\n ; (objectAtLocation ?o ?l)\n ; )\n ;)\n (exists (?l - location, ?r - receptacle)\n (and\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n ; (objectAtLocation ?o ?l)\n (inReceptacle ?o ?r)\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n )\n )\n (holds ?a ?o)\n )\n :effect\n (and\n (checked ?o)\n )\n)\n\n;; agent goes to receptacle\n (:action GotoLocation\n :parameters (?a - agent ?lStart - location ?lEnd - location ?r - receptacle)\n :precondition (and\n (atLocation ?a ?lStart)\n (receptacleAtLocation ?r ?lEnd)\n ;(exists (?r - receptacle) (receptacleAtLocation ?r ?lEnd))\n )\n :effect (and\n (not (atLocation ?a ?lStart))\n (atLocation ?a ?lEnd)\n ; (forall (?r - receptacle)\n ; (when (and (receptacleAtLocation ?r ?lEnd)\n ; (or (not (openable ?r)) (opened ?r)))\n ; (checked ?r)\n ; )\n ; )\n ; (increase (total-cost) (distance ?lStart ?lEnd))\n (increase (total-cost) 1)\n )\n )\n\n;; agent opens receptacle\n (:action OpenObject\n :parameters (?a - agent ?l - location ?r - receptacle)\n :precondition (and\n (openable ?r)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (not (opened ?r))\n )\n :effect (and\n (opened ?r)\n (checked ?r)\n (increase (total-cost) 1)\n )\n )\n;; agent closes receptacle\n (:action CloseObject\n :parameters (?a - agent ?l - location ?r - receptacle)\n :precondition (and\n (openable ?r)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (opened ?r)\n )\n :effect (and\n (not (opened ?r))\n (increase (total-cost) 1)\n )\n\n )\n\n ;; agent picks up object from a receptacle\n (:action PickupObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n :precondition\n (and\n (pickupable ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n ; (objectAtLocation ?o ?l)\n (inReceptacle ?o ?r)\n (not (holdsAny ?a)) ; agent's hands are empty.\n ;(not (holdsAnyReceptacleObject ?a))\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n ;(not (isReceptacleObject ?o))\n )\n :effect\n (and\n (not (inReceptacle ?o ?r))\n (holds ?a ?o)\n (holdsAny ?a)\n (not (objectAtLocation ?o ?l))\n ;(not (full ?r))\n (increase (total-cost) 1)\n )\n )\n\n\n; ;; agent picks up object from a receptacle\n; (:action PickupObjectFromReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?outerR - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (inReceptacle ?o ?r)\n; (pickupable ?o)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (not (isReceptacleObject ?o))\n; (isReceptacleObject ?outerR)\n; (inReceptacleObject ?o ?outerR)\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (holds ?a ?o)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n;\n; (not (inReceptacleObject ?o ?outerR))\n; (not (isReceptacleObjectFull ?outerR))\n; )\n; )\n;\n; ;; agent picks up object from a receptacle\n; (:action PickupEmptyReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; ; (objectAtLocation ?o ?l)\n; (inReceptacle ?o ?r)\n; (pickupable ?o)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (isReceptacleObject ?o)\n; (not (isReceptacleObjectFull ?o))\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (holds ?a ?o)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n; (holdsAnyReceptacleObject ?a)\n; )\n; )\n;\n; ;; agent picks up object from a receptacle\n; (:action PickupFullReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?outerR - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (inReceptacle ?outerR ?r)\n; (pickupable ?outerR)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (not (isReceptacleObject ?o))\n; (isReceptacleObject ?outerR)\n; (inReceptacleObject ?o ?outerR)\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (not (inReceptacle ?outerR ?r))\n; (holds ?a ?outerR)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (objectAtLocation ?outerR ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n; (holdsAnyReceptacleObject ?a)\n; )\n; )\n\n\n;; agent puts down an object\n (:action PutObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle ?ot - otype ?rt - rtype)\n :precondition (and\n (holds ?a ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable\n ;(not (full ?r))\n (objectType ?o ?ot)\n (receptacleType ?r ?rt)\n (canContain ?rt ?ot)\n ;(not (holdsAnyReceptacleObject ?a))\n )\n :effect (and\n (inReceptacle ?o ?r)\n (objectAtLocation ?o ?l)\n ;(full ?r)\n (not (holds ?a ?o))\n (not (holdsAny ?a))\n (increase (total-cost) 1)\n )\n )\n\n;;; agent puts down an object\n; (:action PutObjectInReceptacleObject\n; :parameters (?a - agent ?l - location ?ot - otype ?o - object ?outerO - object ?outerR - receptacle)\n; :precondition (and\n; (atLocation ?a ?l)\n; (objectAtLocation ?outerO ?l)\n; (isReceptacleObject ?outerO)\n; (not (isReceptacleObject ?o))\n; (objectType ?o ?ot)\n; (holds ?a ?o)\n; (not (holdsAnyReceptacleObject ?a))\n; (inReceptacle ?outerO ?outerR)\n; (not (isReceptacleObjectFull ?outerO))\n; )\n; :effect (and\n; (inReceptacleObject ?o ?outerO)\n; (inReceptacle ?o ?outerR)\n; (not (holds ?a ?o))\n; (not (holdsAny ?a))\n; (objectAtLocation ?o ?l)\n; (isReceptacleObjectFull ?outerO)\n; (increase (total-cost) 1)\n; )\n; )\n;\n;;; agent puts down an object\n; (:action PutEmptyReceptacleObjectinReceptacle\n; :parameters (?a - agent ?l - location ?ot - otype ?o - object ?r - receptacle)\n; :precondition (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable\n; (not (full ?r))\n; (objectType ?o ?ot)\n; (holds ?a ?o)\n; (holdsAnyReceptacleObject ?a)\n; (isReceptacleObject ?o)\n; (not (isReceptacleObjectFull ?o))\n; )\n; :effect (and\n; (inReceptacle ?o ?r)\n; (objectAtLocation ?o ?l)\n; (full ?r)\n; (not (holds ?a ?o))\n; (not (holdsAny ?a))\n; (not (holdsAnyReceptacleObject ?a))\n; (increase (total-cost) 1)\n; )\n; )\n;\n;;; agent puts down a receptacle object in a receptacle\n; (:action PutFullReceptacleObjectInReceptacle\n; :parameters (?a - agent ?l - location ?ot - otype ?innerO - object ?outerO - object ?r - receptacle) ; ?rt - rtype)\n; :precondition (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (objectType ?outerO ?ot)\n; (holds ?a ?outerO)\n; (holdsAnyReceptacleObject ?a)\n; (isReceptacleObject ?outerO)\n; (isReceptacleObjectFull ?outerO)\n; (inReceptacleObject ?innerO ?outerO)\n; )\n; :effect (and\n; (not (holdsAny ?a))\n; (not (holdsAnyReceptacleObject ?a))\n; (objectAtLocation ?outerO ?l)\n; (objectAtLocation ?innerO ?l)\n; (inReceptacle ?outerO ?r)\n; (inReceptacle ?innerO ?r)\n; (not (holds ?a ?outerO))\n; (increase (total-cost) 1)\n; )\n; )\n\n;; agent cleans some object\n (:action CleanObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (cleanable ?o)\n (or\n (receptacleType ?r SinkType)\n (receptacleType ?r SinkBasinType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isClean ?o)\n )\n )\n\n\n;; agent heats-up some object\n (:action HeatObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (heatable ?o)\n (or\n (receptacleType ?r MicrowaveType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isHot ?o)\n (not (isCool ?o))\n )\n )\n\n;; agent cools some object\n (:action CoolObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (coolable ?o)\n (or\n (receptacleType ?r FridgeType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isCool ?o)\n (not (isHot ?o))\n )\n )\n\n\n;; agent toggle object\n (:action ToggleObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n :precondition (and\n (toggleable ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (inReceptacle ?o ?r)\n )\n :effect (and\n (increase (total-cost) 5)\n (when (isOn ?o)\n (not (isOn ?o)))\n (when (not (isOn ?o))\n (isOn ?o))\n (isToggled ?o)\n )\n )\n\n\n;; agent slices some object with a knife\n (:action SliceObject\n :parameters (?a - agent ?l - location ?co - object ?ko - object)\n :precondition\n (and\n (sliceable ?co)\n (or\n (objectType ?ko KnifeType)\n (objectType ?ko ButterKnifeType)\n )\n (atLocation ?a ?l)\n (objectAtLocation ?co ?l)\n (holds ?a ?ko)\n )\n :effect (and\n (increase (total-cost) 5)\n (isSliced ?co)\n )\n )\n\n\n(:action help\n :parameters (?a - agent)\n :precondition\n ()\n :effect\n (and\n (checked ?a)\n )\n)\n)\n", "grammar": "grammar :: \"\"\"\n {\n \"intro\": [\n {\n \"rhs\": \"-= Welcome to TextWorld, ALFRED! =-\\n\\n#look.feedback#\\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 cellphone 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_T20190910_054705_146286)\n(:domain alfred)\n(:objects\nagent1 - agent\nSaltShaker - object\n HousePlant - object\n Candle - object\n SprayBottle - object\n Bowl - object\n Window - object\n CD - object\n Egg - object\n Glassbottle - object\n Sink - object\n Pillow - object\n Spoon - object\n SoapBottle - object\n TeddyBear - object\n ButterKnife - object\n Cup - object\n Plate - object\n RemoteControl - object\n Tomato - object\n Statue - object\n HandTowel - object\n Knife - object\n StoveKnob - object\n LightSwitch - object\n Pen - object\n Painting - object\n DishSponge - object\n Vase - object\n Mug - object\n ToiletPaper - object\n Box - object\n Mirror - object\n Ladle - object\n Fork - object\n Blinds - object\n Footstool - object\n KeyChain - object\n Cloth - object\n Laptop - object\n TissueBox - object\n PepperShaker - object\n FloorLamp - object\n WateringCan - object\n Apple - object\n Pan - object\n PaperTowel - object\n PaperTowelRoll - object\n Newspaper - object\n Television - object\n Chair - object\n CellPhone - object\n CreditCard - object\n Lettuce - object\n BasketBall - object\n Potato - object\n Curtains - object\n Boots - object\n Pencil - object\n AlarmClock - object\n ToiletPaperRoll - object\n Spatula - object\n Book - object\n Bread - object\n SoapBar - object\n Watch - object\n DeskLamp - object\n Kettle - object\n Pot - object\n ScrubBrush - object\n WineBottle - object\n ShowerDoor - object\n Bathtub - object\n LaundryHamperLid - object\n ShowerGlass - object\n Poster - object\n TennisRacket - object\n BaseballBat - object\n Towel - object\n Plunger - object\nSaltShakerType - otype\n HousePlantType - otype\n CandleType - otype\n SprayBottleType - otype\n BowlType - otype\n WindowType - otype\n CDType - otype\n EggType - otype\n GlassbottleType - otype\n SinkType - otype\n PillowType - otype\n SpoonType - otype\n SoapBottleType - otype\n TeddyBearType - otype\n ButterKnifeType - otype\n CupType - otype\n PlateType - otype\n RemoteControlType - otype\n TomatoType - otype\n StatueType - otype\n HandTowelType - otype\n KnifeType - otype\n StoveKnobType - otype\n LightSwitchType - otype\n PenType - otype\n PaintingType - otype\n DishSpongeType - otype\n VaseType - otype\n MugType - otype\n ToiletPaperType - otype\n BoxType - otype\n MirrorType - otype\n LadleType - otype\n ForkType - otype\n BlindsType - otype\n FootstoolType - otype\n KeyChainType - otype\n ClothType - otype\n LaptopType - otype\n TissueBoxType - otype\n PepperShakerType - otype\n FloorLampType - otype\n WateringCanType - otype\n AppleType - otype\n PanType - otype\n PaperTowelType - otype\n PaperTowelRollType - otype\n NewspaperType - otype\n TelevisionType - otype\n ChairType - otype\n CellPhoneType - otype\n CreditCardType - otype\n LettuceType - otype\n BasketBallType - otype\n PotatoType - otype\n CurtainsType - otype\n BootsType - otype\n PencilType - otype\n AlarmClockType - otype\n ToiletPaperRollType - otype\n SpatulaType - otype\n BookType - otype\n BreadType - otype\n SoapBarType - otype\n WatchType - otype\n DeskLampType - otype\n KettleType - otype\n PotType - otype\n ScrubBrushType - otype\n WineBottleType - otype\n ShowerDoorType - otype\n BathtubType - otype\n LaundryHamperLidType - otype\n ShowerGlassType - otype\n PosterType - otype\n TennisRacketType - otype\n BaseballBatType - otype\n TowelType - otype\n PlungerType - otype\nSafeType - rtype\n DrawerType - rtype\n CoffeeMachineType - rtype\n HandTowelHolderType - rtype\n SinkBasinType - rtype\n DresserType - rtype\n LaundryHamperType - rtype\n TVStandType - rtype\n BathtubBasinType - rtype\n CabinetType - rtype\n FridgeType - rtype\n DeskType - rtype\n ToiletType - rtype\n CartType - rtype\n SideTableType - rtype\n SofaType - rtype\n CoffeeTableType - rtype\n DiningTableType - rtype\n CounterTopType - rtype\n GarbageCanType - rtype\n ArmChairType - rtype\n ShelfType - rtype\n MicrowaveType - rtype\n ToasterType - rtype\n BedType - rtype\n PaintingHangerType - rtype\n TowelHolderType - rtype\n ToiletPaperHangerType - rtype\n StoveBurnerType - rtype\n OttomanType - rtype\n\n\n AlarmClock_bar__minus_00_dot_67_bar__plus_00_dot_67_bar__plus_02_dot_73 - object\n Blinds_bar__plus_01_dot_55_bar__plus_02_dot_44_bar__minus_01_dot_89 - object\n Book_bar__plus_01_dot_71_bar__plus_00_dot_73_bar__minus_00_dot_26 - object\n Book_bar__minus_00_dot_69_bar__plus_00_dot_68_bar__plus_01_dot_62 - object\n Box_bar__minus_00_dot_49_bar__plus_00_dot_20_bar__minus_00_dot_29 - object\n CD_bar__plus_01_dot_91_bar__plus_00_dot_73_bar__minus_00_dot_75 - object\n CD_bar__plus_02_dot_10_bar__plus_00_dot_73_bar__plus_00_dot_48 - object\n CD_bar__minus_00_dot_49_bar__plus_00_dot_50_bar__plus_02_dot_79 - object\n CellPhone_bar__plus_01_dot_91_bar__plus_00_dot_73_bar__minus_00_dot_01 - object\n CellPhone_bar__plus_02_dot_10_bar__plus_00_dot_73_bar__minus_00_dot_50 - object\n CellPhone_bar__minus_00_dot_60_bar__plus_00_dot_68_bar__plus_01_dot_25 - object\n CellPhone_bar__minus_01_dot_14_bar__plus_01_dot_50_bar__minus_00_dot_27 - object\n Chair_bar__plus_01_dot_48_bar__plus_00_dot_43_bar__plus_00_dot_22 - object\n Chair_bar__minus_00_dot_25_bar__plus_00_dot_43_bar__plus_01_dot_46 - object\n CreditCard_bar__minus_00_dot_60_bar__plus_00_dot_68_bar__plus_01_dot_43 - object\n DeskLamp_bar__plus_02_dot_01_bar__plus_00_dot_72_bar__plus_00_dot_71 - object\n KeyChain_bar__minus_00_dot_76_bar__plus_00_dot_67_bar__plus_02_dot_82 - object\n Laptop_bar__minus_00_dot_69_bar__plus_00_dot_68_bar__plus_02_dot_18 - object\n Laptop_bar__minus_00_dot_87_bar__plus_01_dot_50_bar__minus_00_dot_50 - object\n Laptop_bar__minus_01_dot_14_bar__plus_01_dot_50_bar__minus_00_dot_94 - object\n LightSwitch_bar__plus_02_dot_20_bar__plus_01_dot_26_bar__plus_01_dot_99 - object\n Mirror_bar__plus_02_dot_23_bar__plus_01_dot_26_bar__plus_02_dot_66 - object\n Mug_bar__minus_00_dot_48_bar__plus_00_dot_67_bar__plus_02_dot_90 - object\n Mug_bar__minus_00_dot_63_bar__plus_00_dot_98_bar__minus_01_dot_23 - object\n Painting_bar__plus_02_dot_20_bar__plus_01_dot_77_bar__minus_00_dot_10 - object\n Pencil_bar__plus_01_dot_61_bar__plus_00_dot_73_bar__plus_00_dot_48 - object\n Pencil_bar__minus_00_dot_75_bar__plus_00_dot_74_bar__minus_01_dot_40 - object\n Pencil_bar__minus_00_dot_96_bar__plus_00_dot_68_bar__plus_02_dot_18 - object\n Pen_bar__plus_02_dot_00_bar__plus_00_dot_73_bar__plus_00_dot_48 - object\n Pen_bar__minus_00_dot_39_bar__plus_00_dot_67_bar__plus_03_dot_08 - object\n Pillow_bar__minus_00_dot_63_bar__plus_01_dot_87_bar__plus_03_dot_05 - object\n Pillow_bar__minus_00_dot_83_bar__plus_01_dot_55_bar__minus_01_dot_53 - object\n TennisRacket_bar__minus_01_dot_35_bar__plus_00_dot_29_bar__plus_00_dot_23 - object\n Window_bar__plus_01_dot_58_bar__plus_01_dot_56_bar__minus_01_dot_95 - object\n ArmChair_bar__plus_01_dot_83_bar__plus_00_dot_01_bar__plus_01_dot_61 - receptacle\n Bed_bar__minus_00_dot_87_bar__plus_00_dot_00_bar__minus_00_dot_92 - receptacle\n Bed_bar__minus_00_dot_88_bar__plus_01_dot_65_bar__plus_02_dot_17 - receptacle\n Cabinet_bar__minus_00_dot_36_bar__plus_00_dot_26_bar__plus_02_dot_53 - receptacle\n Desk_bar__plus_01_dot_81_bar__minus_00_dot_01_bar__minus_00_dot_12 - receptacle\n Desk_bar__minus_00_dot_65_bar__plus_00_dot_01_bar__plus_01_dot_80 - receptacle\n Drawer_bar__plus_01_dot_65_bar__plus_00_dot_15_bar__minus_00_dot_36 - receptacle\n Drawer_bar__plus_01_dot_65_bar__plus_00_dot_15_bar__minus_00_dot_78 - receptacle\n Drawer_bar__plus_01_dot_65_bar__plus_00_dot_36_bar__minus_00_dot_36 - receptacle\n Drawer_bar__plus_01_dot_65_bar__plus_00_dot_36_bar__minus_00_dot_78 - receptacle\n Drawer_bar__plus_01_dot_65_bar__plus_00_dot_57_bar__minus_00_dot_36 - receptacle\n Drawer_bar__plus_01_dot_65_bar__plus_00_dot_57_bar__minus_00_dot_78 - receptacle\n Drawer_bar__minus_00_dot_57_bar__plus_00_dot_57_bar__plus_02_dot_24 - receptacle\n Drawer_bar__minus_00_dot_58_bar__plus_00_dot_15_bar__plus_02_dot_96 - receptacle\n Drawer_bar__minus_00_dot_58_bar__plus_00_dot_37_bar__plus_02_dot_96 - receptacle\n Drawer_bar__minus_00_dot_58_bar__plus_00_dot_56_bar__plus_02_dot_96 - receptacle\n Drawer_bar__minus_00_dot_70_bar__plus_00_dot_22_bar__minus_01_dot_32 - receptacle\n Drawer_bar__minus_00_dot_70_bar__plus_00_dot_54_bar__minus_01_dot_32 - receptacle\n Drawer_bar__minus_00_dot_70_bar__plus_00_dot_83_bar__minus_01_dot_32 - receptacle\n Dresser_bar__minus_00_dot_66_bar__minus_00_dot_01_bar__plus_02_dot_97 - receptacle\n Dresser_bar__minus_00_dot_77_bar__minus_00_dot_01_bar__minus_01_dot_31 - receptacle\n GarbageCan_bar__plus_02_dot_03_bar__plus_00_dot_00_bar__minus_01_dot_19 - receptacle\n loc_bar_1_bar_7_bar_0_bar_45 - location\n loc_bar_2_bar__minus_4_bar_1_bar_60 - location\n loc_bar_1_bar__minus_5_bar_3_bar_60 - location\n loc_bar_1_bar__minus_1_bar_3_bar_60 - location\n loc_bar__minus_4_bar_2_bar_3_bar_60 - location\n loc_bar_2_bar__minus_1_bar_1_bar_45 - location\n loc_bar_6_bar__minus_5_bar_2_bar_15 - location\n loc_bar_3_bar__minus_3_bar_1_bar_45 - location\n loc_bar_1_bar_5_bar_0_bar_45 - location\n loc_bar_7_bar_10_bar_2_bar_45 - location\n loc_bar_4_bar_0_bar_1_bar_0 - location\n loc_bar_6_bar__minus_5_bar_2_bar__minus_30 - location\n loc_bar_2_bar_11_bar_3_bar_45 - location\n loc_bar_1_bar__minus_5_bar_3_bar_45 - location\n loc_bar_1_bar_6_bar_3_bar_60 - location\n loc_bar_4_bar_1_bar_1_bar_60 - location\n loc_bar_1_bar_7_bar_3_bar_60 - location\n loc_bar_7_bar_11_bar_1_bar_45 - location\n loc_bar_2_bar__minus_3_bar_1_bar_45 - location\n loc_bar_2_bar__minus_1_bar_1_bar_60 - location\n loc_bar_4_bar_9_bar_3_bar_0 - location\n loc_bar_4_bar_6_bar_1_bar_60 - location\n loc_bar_3_bar__minus_2_bar_1_bar_45 - location\n loc_bar_2_bar_7_bar_3_bar_60 - location\n loc_bar_1_bar_12_bar_3_bar_60 - location\n loc_bar_1_bar__minus_3_bar_3_bar_60 - location\n loc_bar_1_bar_8_bar_0_bar_60 - location\n loc_bar_6_bar__minus_5_bar_1_bar_60 - location\n loc_bar_0_bar__minus_2_bar_1_bar_30 - location\n )\n \n\n(:init\n\n\n (receptacleType Drawer_bar__minus_00_dot_70_bar__plus_00_dot_83_bar__minus_01_dot_32 DrawerType)\n (receptacleType Drawer_bar__minus_00_dot_58_bar__plus_00_dot_37_bar__plus_02_dot_96 DrawerType)\n (receptacleType Dresser_bar__minus_00_dot_77_bar__minus_00_dot_01_bar__minus_01_dot_31 DresserType)\n (receptacleType GarbageCan_bar__plus_02_dot_03_bar__plus_00_dot_00_bar__minus_01_dot_19 GarbageCanType)\n (receptacleType Drawer_bar__plus_01_dot_65_bar__plus_00_dot_57_bar__minus_00_dot_36 DrawerType)\n (receptacleType Drawer_bar__plus_01_dot_65_bar__plus_00_dot_36_bar__minus_00_dot_78 DrawerType)\n (receptacleType Drawer_bar__minus_00_dot_57_bar__plus_00_dot_57_bar__plus_02_dot_24 DrawerType)\n (receptacleType Drawer_bar__minus_00_dot_70_bar__plus_00_dot_22_bar__minus_01_dot_32 DrawerType)\n (receptacleType Bed_bar__minus_00_dot_88_bar__plus_01_dot_65_bar__plus_02_dot_17 BedType)\n (receptacleType Dresser_bar__minus_00_dot_66_bar__minus_00_dot_01_bar__plus_02_dot_97 DresserType)\n (receptacleType Drawer_bar__plus_01_dot_65_bar__plus_00_dot_15_bar__minus_00_dot_78 DrawerType)\n (receptacleType Drawer_bar__minus_00_dot_70_bar__plus_00_dot_54_bar__minus_01_dot_32 DrawerType)\n (receptacleType Desk_bar__plus_01_dot_81_bar__minus_00_dot_01_bar__minus_00_dot_12 DeskType)\n (receptacleType Drawer_bar__plus_01_dot_65_bar__plus_00_dot_15_bar__minus_00_dot_36 DrawerType)\n (receptacleType Drawer_bar__plus_01_dot_65_bar__plus_00_dot_57_bar__minus_00_dot_78 DrawerType)\n (receptacleType Drawer_bar__minus_00_dot_58_bar__plus_00_dot_56_bar__plus_02_dot_96 DrawerType)\n (receptacleType Cabinet_bar__minus_00_dot_36_bar__plus_00_dot_26_bar__plus_02_dot_53 CabinetType)\n (receptacleType Bed_bar__minus_00_dot_87_bar__plus_00_dot_00_bar__minus_00_dot_92 BedType)\n (receptacleType Desk_bar__minus_00_dot_65_bar__plus_00_dot_01_bar__plus_01_dot_80 DeskType)\n (receptacleType Drawer_bar__plus_01_dot_65_bar__plus_00_dot_36_bar__minus_00_dot_36 DrawerType)\n (receptacleType Drawer_bar__minus_00_dot_58_bar__plus_00_dot_15_bar__plus_02_dot_96 DrawerType)\n (receptacleType ArmChair_bar__plus_01_dot_83_bar__plus_00_dot_01_bar__plus_01_dot_61 ArmChairType)\n (objectType Mug_bar__minus_00_dot_48_bar__plus_00_dot_67_bar__plus_02_dot_90 MugType)\n (objectType Laptop_bar__minus_01_dot_14_bar__plus_01_dot_50_bar__minus_00_dot_94 LaptopType)\n (objectType Laptop_bar__minus_00_dot_69_bar__plus_00_dot_68_bar__plus_02_dot_18 LaptopType)\n (objectType CD_bar__plus_01_dot_91_bar__plus_00_dot_73_bar__minus_00_dot_75 CDType)\n (objectType Pen_bar__minus_00_dot_39_bar__plus_00_dot_67_bar__plus_03_dot_08 PenType)\n (objectType Chair_bar__minus_00_dot_25_bar__plus_00_dot_43_bar__plus_01_dot_46 ChairType)\n (objectType CellPhone_bar__plus_01_dot_91_bar__plus_00_dot_73_bar__minus_00_dot_01 CellPhoneType)\n (objectType CellPhone_bar__minus_01_dot_14_bar__plus_01_dot_50_bar__minus_00_dot_27 CellPhoneType)\n (objectType Book_bar__minus_00_dot_69_bar__plus_00_dot_68_bar__plus_01_dot_62 BookType)\n (objectType DeskLamp_bar__plus_02_dot_01_bar__plus_00_dot_72_bar__plus_00_dot_71 DeskLampType)\n (objectType Pencil_bar__minus_00_dot_96_bar__plus_00_dot_68_bar__plus_02_dot_18 PencilType)\n (objectType Chair_bar__plus_01_dot_48_bar__plus_00_dot_43_bar__plus_00_dot_22 ChairType)\n (objectType Window_bar__plus_01_dot_58_bar__plus_01_dot_56_bar__minus_01_dot_95 WindowType)\n (objectType Painting_bar__plus_02_dot_20_bar__plus_01_dot_77_bar__minus_00_dot_10 PaintingType)\n (objectType Pillow_bar__minus_00_dot_63_bar__plus_01_dot_87_bar__plus_03_dot_05 PillowType)\n (objectType KeyChain_bar__minus_00_dot_76_bar__plus_00_dot_67_bar__plus_02_dot_82 KeyChainType)\n (objectType LightSwitch_bar__plus_02_dot_20_bar__plus_01_dot_26_bar__plus_01_dot_99 LightSwitchType)\n (objectType Mug_bar__minus_00_dot_63_bar__plus_00_dot_98_bar__minus_01_dot_23 MugType)\n (objectType Pencil_bar__plus_01_dot_61_bar__plus_00_dot_73_bar__plus_00_dot_48 PencilType)\n (objectType Pen_bar__plus_02_dot_00_bar__plus_00_dot_73_bar__plus_00_dot_48 PenType)\n (objectType CellPhone_bar__minus_00_dot_60_bar__plus_00_dot_68_bar__plus_01_dot_25 CellPhoneType)\n (objectType Mirror_bar__plus_02_dot_23_bar__plus_01_dot_26_bar__plus_02_dot_66 MirrorType)\n (objectType Blinds_bar__plus_01_dot_55_bar__plus_02_dot_44_bar__minus_01_dot_89 BlindsType)\n (objectType Pillow_bar__minus_00_dot_83_bar__plus_01_dot_55_bar__minus_01_dot_53 PillowType)\n (objectType TennisRacket_bar__minus_01_dot_35_bar__plus_00_dot_29_bar__plus_00_dot_23 TennisRacketType)\n (objectType Laptop_bar__minus_00_dot_87_bar__plus_01_dot_50_bar__minus_00_dot_50 LaptopType)\n (objectType Box_bar__minus_00_dot_49_bar__plus_00_dot_20_bar__minus_00_dot_29 BoxType)\n (objectType Book_bar__plus_01_dot_71_bar__plus_00_dot_73_bar__minus_00_dot_26 BookType)\n (objectType AlarmClock_bar__minus_00_dot_67_bar__plus_00_dot_67_bar__plus_02_dot_73 AlarmClockType)\n (objectType CreditCard_bar__minus_00_dot_60_bar__plus_00_dot_68_bar__plus_01_dot_43 CreditCardType)\n (objectType CD_bar__plus_02_dot_10_bar__plus_00_dot_73_bar__plus_00_dot_48 CDType)\n (objectType Pencil_bar__minus_00_dot_75_bar__plus_00_dot_74_bar__minus_01_dot_40 PencilType)\n (objectType CD_bar__minus_00_dot_49_bar__plus_00_dot_50_bar__plus_02_dot_79 CDType)\n (objectType CellPhone_bar__plus_02_dot_10_bar__plus_00_dot_73_bar__minus_00_dot_50 CellPhoneType)\n (canContain DrawerType PenType)\n (canContain DrawerType BookType)\n (canContain DrawerType CDType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType PencilType)\n (canContain DrawerType PenType)\n (canContain DrawerType BookType)\n (canContain DrawerType CDType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType PencilType)\n (canContain DresserType PenType)\n (canContain DresserType BookType)\n (canContain DresserType CDType)\n (canContain DresserType MugType)\n (canContain DresserType BoxType)\n (canContain DresserType CellPhoneType)\n (canContain DresserType KeyChainType)\n (canContain DresserType CreditCardType)\n (canContain DresserType TennisRacketType)\n (canContain DresserType LaptopType)\n (canContain DresserType PencilType)\n (canContain DresserType AlarmClockType)\n (canContain GarbageCanType PenType)\n (canContain GarbageCanType CDType)\n (canContain GarbageCanType PencilType)\n (canContain DrawerType PenType)\n (canContain DrawerType BookType)\n (canContain DrawerType CDType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType PencilType)\n (canContain DrawerType PenType)\n (canContain DrawerType BookType)\n (canContain DrawerType CDType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType PencilType)\n (canContain DrawerType PenType)\n (canContain DrawerType BookType)\n (canContain DrawerType CDType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType PencilType)\n (canContain DrawerType PenType)\n (canContain DrawerType BookType)\n (canContain DrawerType CDType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType PencilType)\n (canContain BedType TennisRacketType)\n (canContain BedType LaptopType)\n (canContain BedType BookType)\n (canContain BedType CellPhoneType)\n (canContain BedType PillowType)\n (canContain DresserType PenType)\n (canContain DresserType BookType)\n (canContain DresserType CDType)\n (canContain DresserType MugType)\n (canContain DresserType BoxType)\n (canContain DresserType CellPhoneType)\n (canContain DresserType KeyChainType)\n (canContain DresserType CreditCardType)\n (canContain DresserType TennisRacketType)\n (canContain DresserType LaptopType)\n (canContain DresserType PencilType)\n (canContain DresserType AlarmClockType)\n (canContain DrawerType PenType)\n (canContain DrawerType BookType)\n (canContain DrawerType CDType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType PencilType)\n (canContain DrawerType PenType)\n (canContain DrawerType BookType)\n (canContain DrawerType CDType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType PencilType)\n (canContain DeskType PenType)\n (canContain DeskType BookType)\n (canContain DeskType CDType)\n (canContain DeskType MugType)\n (canContain DeskType BoxType)\n (canContain DeskType CellPhoneType)\n (canContain DeskType KeyChainType)\n (canContain DeskType CreditCardType)\n (canContain DeskType TennisRacketType)\n (canContain DeskType LaptopType)\n (canContain DeskType PencilType)\n (canContain DeskType AlarmClockType)\n (canContain DrawerType PenType)\n (canContain DrawerType BookType)\n (canContain DrawerType CDType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType PencilType)\n (canContain DrawerType PenType)\n (canContain DrawerType BookType)\n (canContain DrawerType CDType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType PencilType)\n (canContain DrawerType PenType)\n (canContain DrawerType BookType)\n (canContain DrawerType CDType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType PencilType)\n (canContain CabinetType BookType)\n (canContain CabinetType CDType)\n (canContain CabinetType MugType)\n (canContain CabinetType BoxType)\n (canContain BedType TennisRacketType)\n (canContain BedType LaptopType)\n (canContain BedType BookType)\n (canContain BedType CellPhoneType)\n (canContain BedType PillowType)\n (canContain DeskType PenType)\n (canContain DeskType BookType)\n (canContain DeskType CDType)\n (canContain DeskType MugType)\n (canContain DeskType BoxType)\n (canContain DeskType CellPhoneType)\n (canContain DeskType KeyChainType)\n (canContain DeskType CreditCardType)\n (canContain DeskType TennisRacketType)\n (canContain DeskType LaptopType)\n (canContain DeskType PencilType)\n (canContain DeskType AlarmClockType)\n (canContain DrawerType PenType)\n (canContain DrawerType BookType)\n (canContain DrawerType CDType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType PencilType)\n (canContain DrawerType PenType)\n (canContain DrawerType BookType)\n (canContain DrawerType CDType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType PencilType)\n (canContain ArmChairType BoxType)\n (canContain ArmChairType LaptopType)\n (canContain ArmChairType BookType)\n (canContain ArmChairType CellPhoneType)\n (canContain ArmChairType PillowType)\n (canContain ArmChairType KeyChainType)\n (canContain ArmChairType CreditCardType)\n (pickupable Mug_bar__minus_00_dot_48_bar__plus_00_dot_67_bar__plus_02_dot_90)\n (pickupable Laptop_bar__minus_01_dot_14_bar__plus_01_dot_50_bar__minus_00_dot_94)\n (pickupable Laptop_bar__minus_00_dot_69_bar__plus_00_dot_68_bar__plus_02_dot_18)\n (pickupable CD_bar__plus_01_dot_91_bar__plus_00_dot_73_bar__minus_00_dot_75)\n (pickupable Pen_bar__minus_00_dot_39_bar__plus_00_dot_67_bar__plus_03_dot_08)\n (pickupable CellPhone_bar__plus_01_dot_91_bar__plus_00_dot_73_bar__minus_00_dot_01)\n (pickupable CellPhone_bar__minus_01_dot_14_bar__plus_01_dot_50_bar__minus_00_dot_27)\n (pickupable Book_bar__minus_00_dot_69_bar__plus_00_dot_68_bar__plus_01_dot_62)\n (pickupable Pencil_bar__minus_00_dot_96_bar__plus_00_dot_68_bar__plus_02_dot_18)\n (pickupable Pillow_bar__minus_00_dot_63_bar__plus_01_dot_87_bar__plus_03_dot_05)\n (pickupable KeyChain_bar__minus_00_dot_76_bar__plus_00_dot_67_bar__plus_02_dot_82)\n (pickupable Mug_bar__minus_00_dot_63_bar__plus_00_dot_98_bar__minus_01_dot_23)\n (pickupable Pencil_bar__plus_01_dot_61_bar__plus_00_dot_73_bar__plus_00_dot_48)\n (pickupable Pen_bar__plus_02_dot_00_bar__plus_00_dot_73_bar__plus_00_dot_48)\n (pickupable CellPhone_bar__minus_00_dot_60_bar__plus_00_dot_68_bar__plus_01_dot_25)\n (pickupable Pillow_bar__minus_00_dot_83_bar__plus_01_dot_55_bar__minus_01_dot_53)\n (pickupable TennisRacket_bar__minus_01_dot_35_bar__plus_00_dot_29_bar__plus_00_dot_23)\n (pickupable Laptop_bar__minus_00_dot_87_bar__plus_01_dot_50_bar__minus_00_dot_50)\n (pickupable Box_bar__minus_00_dot_49_bar__plus_00_dot_20_bar__minus_00_dot_29)\n (pickupable Book_bar__plus_01_dot_71_bar__plus_00_dot_73_bar__minus_00_dot_26)\n (pickupable AlarmClock_bar__minus_00_dot_67_bar__plus_00_dot_67_bar__plus_02_dot_73)\n (pickupable CreditCard_bar__minus_00_dot_60_bar__plus_00_dot_68_bar__plus_01_dot_43)\n (pickupable CD_bar__plus_02_dot_10_bar__plus_00_dot_73_bar__plus_00_dot_48)\n (pickupable Pencil_bar__minus_00_dot_75_bar__plus_00_dot_74_bar__minus_01_dot_40)\n (pickupable CD_bar__minus_00_dot_49_bar__plus_00_dot_50_bar__plus_02_dot_79)\n (pickupable CellPhone_bar__plus_02_dot_10_bar__plus_00_dot_73_bar__minus_00_dot_50)\n (isReceptacleObject Mug_bar__minus_00_dot_48_bar__plus_00_dot_67_bar__plus_02_dot_90)\n (isReceptacleObject Mug_bar__minus_00_dot_63_bar__plus_00_dot_98_bar__minus_01_dot_23)\n (isReceptacleObject Box_bar__minus_00_dot_49_bar__plus_00_dot_20_bar__minus_00_dot_29)\n (openable Drawer_bar__minus_00_dot_58_bar__plus_00_dot_37_bar__plus_02_dot_96)\n (openable Drawer_bar__plus_01_dot_65_bar__plus_00_dot_57_bar__minus_00_dot_36)\n (openable Drawer_bar__plus_01_dot_65_bar__plus_00_dot_36_bar__minus_00_dot_78)\n (openable Drawer_bar__minus_00_dot_57_bar__plus_00_dot_57_bar__plus_02_dot_24)\n (openable Drawer_bar__plus_01_dot_65_bar__plus_00_dot_15_bar__minus_00_dot_78)\n (openable Drawer_bar__plus_01_dot_65_bar__plus_00_dot_15_bar__minus_00_dot_36)\n (openable Drawer_bar__plus_01_dot_65_bar__plus_00_dot_57_bar__minus_00_dot_78)\n (openable Drawer_bar__minus_00_dot_58_bar__plus_00_dot_56_bar__plus_02_dot_96)\n (openable Cabinet_bar__minus_00_dot_36_bar__plus_00_dot_26_bar__plus_02_dot_53)\n (openable Drawer_bar__plus_01_dot_65_bar__plus_00_dot_36_bar__minus_00_dot_36)\n (openable Drawer_bar__minus_00_dot_58_bar__plus_00_dot_15_bar__plus_02_dot_96)\n \n (atLocation agent1 loc_bar_0_bar__minus_2_bar_1_bar_30)\n \n (cleanable Mug_bar__minus_00_dot_48_bar__plus_00_dot_67_bar__plus_02_dot_90)\n (cleanable Mug_bar__minus_00_dot_63_bar__plus_00_dot_98_bar__minus_01_dot_23)\n \n (heatable Mug_bar__minus_00_dot_48_bar__plus_00_dot_67_bar__plus_02_dot_90)\n (heatable Mug_bar__minus_00_dot_63_bar__plus_00_dot_98_bar__minus_01_dot_23)\n (coolable Mug_bar__minus_00_dot_48_bar__plus_00_dot_67_bar__plus_02_dot_90)\n (coolable Mug_bar__minus_00_dot_63_bar__plus_00_dot_98_bar__minus_01_dot_23)\n \n \n (toggleable DeskLamp_bar__plus_02_dot_01_bar__plus_00_dot_72_bar__plus_00_dot_71)\n \n \n \n \n (inReceptacle Pillow_bar__minus_00_dot_63_bar__plus_01_dot_87_bar__plus_03_dot_05 Bed_bar__minus_00_dot_88_bar__plus_01_dot_65_bar__plus_02_dot_17)\n (inReceptacle Pencil_bar__minus_00_dot_96_bar__plus_00_dot_68_bar__plus_02_dot_18 Desk_bar__minus_00_dot_65_bar__plus_00_dot_01_bar__plus_01_dot_80)\n (inReceptacle Laptop_bar__minus_00_dot_69_bar__plus_00_dot_68_bar__plus_02_dot_18 Desk_bar__minus_00_dot_65_bar__plus_00_dot_01_bar__plus_01_dot_80)\n (inReceptacle CreditCard_bar__minus_00_dot_60_bar__plus_00_dot_68_bar__plus_01_dot_43 Desk_bar__minus_00_dot_65_bar__plus_00_dot_01_bar__plus_01_dot_80)\n (inReceptacle CellPhone_bar__minus_00_dot_60_bar__plus_00_dot_68_bar__plus_01_dot_25 Desk_bar__minus_00_dot_65_bar__plus_00_dot_01_bar__plus_01_dot_80)\n (inReceptacle Book_bar__minus_00_dot_69_bar__plus_00_dot_68_bar__plus_01_dot_62 Desk_bar__minus_00_dot_65_bar__plus_00_dot_01_bar__plus_01_dot_80)\n (inReceptacle Laptop_bar__minus_00_dot_87_bar__plus_01_dot_50_bar__minus_00_dot_50 Bed_bar__minus_00_dot_87_bar__plus_00_dot_00_bar__minus_00_dot_92)\n (inReceptacle CellPhone_bar__minus_01_dot_14_bar__plus_01_dot_50_bar__minus_00_dot_27 Bed_bar__minus_00_dot_87_bar__plus_00_dot_00_bar__minus_00_dot_92)\n (inReceptacle Pillow_bar__minus_00_dot_83_bar__plus_01_dot_55_bar__minus_01_dot_53 Bed_bar__minus_00_dot_87_bar__plus_00_dot_00_bar__minus_00_dot_92)\n (inReceptacle Laptop_bar__minus_01_dot_14_bar__plus_01_dot_50_bar__minus_00_dot_94 Bed_bar__minus_00_dot_87_bar__plus_00_dot_00_bar__minus_00_dot_92)\n (inReceptacle Mug_bar__minus_00_dot_48_bar__plus_00_dot_67_bar__plus_02_dot_90 Dresser_bar__minus_00_dot_66_bar__minus_00_dot_01_bar__plus_02_dot_97)\n (inReceptacle KeyChain_bar__minus_00_dot_76_bar__plus_00_dot_67_bar__plus_02_dot_82 Dresser_bar__minus_00_dot_66_bar__minus_00_dot_01_bar__plus_02_dot_97)\n (inReceptacle Pen_bar__minus_00_dot_39_bar__plus_00_dot_67_bar__plus_03_dot_08 Dresser_bar__minus_00_dot_66_bar__minus_00_dot_01_bar__plus_02_dot_97)\n (inReceptacle AlarmClock_bar__minus_00_dot_67_bar__plus_00_dot_67_bar__plus_02_dot_73 Dresser_bar__minus_00_dot_66_bar__minus_00_dot_01_bar__plus_02_dot_97)\n (inReceptacle Mug_bar__minus_00_dot_63_bar__plus_00_dot_98_bar__minus_01_dot_23 Dresser_bar__minus_00_dot_77_bar__minus_00_dot_01_bar__minus_01_dot_31)\n (inReceptacle CD_bar__minus_00_dot_49_bar__plus_00_dot_50_bar__plus_02_dot_79 Drawer_bar__minus_00_dot_58_bar__plus_00_dot_56_bar__plus_02_dot_96)\n (inReceptacle DeskLamp_bar__plus_02_dot_01_bar__plus_00_dot_72_bar__plus_00_dot_71 Desk_bar__plus_01_dot_81_bar__minus_00_dot_01_bar__minus_00_dot_12)\n (inReceptacle CD_bar__plus_01_dot_91_bar__plus_00_dot_73_bar__minus_00_dot_75 Desk_bar__plus_01_dot_81_bar__minus_00_dot_01_bar__minus_00_dot_12)\n (inReceptacle Book_bar__plus_01_dot_71_bar__plus_00_dot_73_bar__minus_00_dot_26 Desk_bar__plus_01_dot_81_bar__minus_00_dot_01_bar__minus_00_dot_12)\n (inReceptacle Pencil_bar__plus_01_dot_61_bar__plus_00_dot_73_bar__plus_00_dot_48 Desk_bar__plus_01_dot_81_bar__minus_00_dot_01_bar__minus_00_dot_12)\n (inReceptacle CD_bar__plus_02_dot_10_bar__plus_00_dot_73_bar__plus_00_dot_48 Desk_bar__plus_01_dot_81_bar__minus_00_dot_01_bar__minus_00_dot_12)\n (inReceptacle Pen_bar__plus_02_dot_00_bar__plus_00_dot_73_bar__plus_00_dot_48 Desk_bar__plus_01_dot_81_bar__minus_00_dot_01_bar__minus_00_dot_12)\n (inReceptacle CellPhone_bar__plus_01_dot_91_bar__plus_00_dot_73_bar__minus_00_dot_01 Desk_bar__plus_01_dot_81_bar__minus_00_dot_01_bar__minus_00_dot_12)\n (inReceptacle CellPhone_bar__plus_02_dot_10_bar__plus_00_dot_73_bar__minus_00_dot_50 Desk_bar__plus_01_dot_81_bar__minus_00_dot_01_bar__minus_00_dot_12)\n (inReceptacle Pencil_bar__minus_00_dot_75_bar__plus_00_dot_74_bar__minus_01_dot_40 Drawer_bar__minus_00_dot_70_bar__plus_00_dot_83_bar__minus_01_dot_32)\n \n \n (receptacleAtLocation ArmChair_bar__plus_01_dot_83_bar__plus_00_dot_01_bar__plus_01_dot_61 loc_bar_4_bar_6_bar_1_bar_60)\n (receptacleAtLocation Bed_bar__minus_00_dot_87_bar__plus_00_dot_00_bar__minus_00_dot_92 loc_bar_1_bar__minus_3_bar_3_bar_60)\n (receptacleAtLocation Bed_bar__minus_00_dot_88_bar__plus_01_dot_65_bar__plus_02_dot_17 loc_bar_4_bar_9_bar_3_bar_0)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_36_bar__plus_00_dot_26_bar__plus_02_dot_53 loc_bar_2_bar_7_bar_3_bar_60)\n (receptacleAtLocation Desk_bar__plus_01_dot_81_bar__minus_00_dot_01_bar__minus_00_dot_12 loc_bar_4_bar_1_bar_1_bar_60)\n (receptacleAtLocation Desk_bar__minus_00_dot_65_bar__plus_00_dot_01_bar__plus_01_dot_80 loc_bar_1_bar_7_bar_3_bar_60)\n (receptacleAtLocation Drawer_bar__plus_01_dot_65_bar__plus_00_dot_15_bar__minus_00_dot_36 loc_bar_2_bar__minus_4_bar_1_bar_60)\n (receptacleAtLocation Drawer_bar__plus_01_dot_65_bar__plus_00_dot_15_bar__minus_00_dot_78 loc_bar_2_bar__minus_1_bar_1_bar_60)\n (receptacleAtLocation Drawer_bar__plus_01_dot_65_bar__plus_00_dot_36_bar__minus_00_dot_36 loc_bar_2_bar__minus_3_bar_1_bar_45)\n (receptacleAtLocation Drawer_bar__plus_01_dot_65_bar__plus_00_dot_36_bar__minus_00_dot_78 loc_bar_2_bar__minus_1_bar_1_bar_45)\n (receptacleAtLocation Drawer_bar__plus_01_dot_65_bar__plus_00_dot_57_bar__minus_00_dot_36 loc_bar_3_bar__minus_3_bar_1_bar_45)\n (receptacleAtLocation Drawer_bar__plus_01_dot_65_bar__plus_00_dot_57_bar__minus_00_dot_78 loc_bar_3_bar__minus_2_bar_1_bar_45)\n (receptacleAtLocation Drawer_bar__minus_00_dot_57_bar__plus_00_dot_57_bar__plus_02_dot_24 loc_bar_1_bar_5_bar_0_bar_45)\n (receptacleAtLocation Drawer_bar__minus_00_dot_58_bar__plus_00_dot_15_bar__plus_02_dot_96 loc_bar_1_bar_7_bar_0_bar_45)\n (receptacleAtLocation Drawer_bar__minus_00_dot_58_bar__plus_00_dot_37_bar__plus_02_dot_96 loc_bar_1_bar_8_bar_0_bar_60)\n (receptacleAtLocation Drawer_bar__minus_00_dot_58_bar__plus_00_dot_56_bar__plus_02_dot_96 loc_bar_2_bar_11_bar_3_bar_45)\n (receptacleAtLocation Drawer_bar__minus_00_dot_70_bar__plus_00_dot_22_bar__minus_01_dot_32 loc_bar_1_bar__minus_5_bar_3_bar_60)\n (receptacleAtLocation Drawer_bar__minus_00_dot_70_bar__plus_00_dot_54_bar__minus_01_dot_32 loc_bar_1_bar__minus_5_bar_3_bar_45)\n (receptacleAtLocation Drawer_bar__minus_00_dot_70_bar__plus_00_dot_83_bar__minus_01_dot_32 loc_bar_1_bar__minus_5_bar_3_bar_45)\n (receptacleAtLocation Dresser_bar__minus_00_dot_66_bar__minus_00_dot_01_bar__plus_02_dot_97 loc_bar_1_bar_12_bar_3_bar_60)\n (receptacleAtLocation Dresser_bar__minus_00_dot_77_bar__minus_00_dot_01_bar__minus_01_dot_31 loc_bar_1_bar__minus_5_bar_3_bar_60)\n (receptacleAtLocation GarbageCan_bar__plus_02_dot_03_bar__plus_00_dot_00_bar__minus_01_dot_19 loc_bar_6_bar__minus_5_bar_1_bar_60)\n (objectAtLocation Mug_bar__minus_00_dot_48_bar__plus_00_dot_67_bar__plus_02_dot_90 loc_bar_1_bar_12_bar_3_bar_60)\n (objectAtLocation Laptop_bar__minus_01_dot_14_bar__plus_01_dot_50_bar__minus_00_dot_94 loc_bar_1_bar__minus_3_bar_3_bar_60)\n (objectAtLocation Pencil_bar__plus_01_dot_61_bar__plus_00_dot_73_bar__plus_00_dot_48 loc_bar_4_bar_1_bar_1_bar_60)\n (objectAtLocation CD_bar__minus_00_dot_49_bar__plus_00_dot_50_bar__plus_02_dot_79 loc_bar_2_bar_11_bar_3_bar_45)\n (objectAtLocation CellPhone_bar__plus_02_dot_10_bar__plus_00_dot_73_bar__minus_00_dot_50 loc_bar_4_bar_1_bar_1_bar_60)\n (objectAtLocation Pen_bar__minus_00_dot_39_bar__plus_00_dot_67_bar__plus_03_dot_08 loc_bar_1_bar_12_bar_3_bar_60)\n (objectAtLocation Book_bar__minus_00_dot_69_bar__plus_00_dot_68_bar__plus_01_dot_62 loc_bar_1_bar_7_bar_3_bar_60)\n (objectAtLocation Laptop_bar__minus_00_dot_69_bar__plus_00_dot_68_bar__plus_02_dot_18 loc_bar_1_bar_7_bar_3_bar_60)\n (objectAtLocation Pencil_bar__minus_00_dot_75_bar__plus_00_dot_74_bar__minus_01_dot_40 loc_bar_1_bar__minus_5_bar_3_bar_45)\n (objectAtLocation CellPhone_bar__minus_01_dot_14_bar__plus_01_dot_50_bar__minus_00_dot_27 loc_bar_1_bar__minus_3_bar_3_bar_60)\n (objectAtLocation CellPhone_bar__minus_00_dot_60_bar__plus_00_dot_68_bar__plus_01_dot_25 loc_bar_1_bar_7_bar_3_bar_60)\n (objectAtLocation CD_bar__plus_02_dot_10_bar__plus_00_dot_73_bar__plus_00_dot_48 loc_bar_4_bar_1_bar_1_bar_60)\n (objectAtLocation Chair_bar__minus_00_dot_25_bar__plus_00_dot_43_bar__plus_01_dot_46 loc_bar_1_bar_6_bar_3_bar_60)\n (objectAtLocation Book_bar__plus_01_dot_71_bar__plus_00_dot_73_bar__minus_00_dot_26 loc_bar_4_bar_1_bar_1_bar_60)\n (objectAtLocation Chair_bar__plus_01_dot_48_bar__plus_00_dot_43_bar__plus_00_dot_22 loc_bar_4_bar_1_bar_1_bar_60)\n (objectAtLocation Box_bar__minus_00_dot_49_bar__plus_00_dot_20_bar__minus_00_dot_29 loc_bar_1_bar__minus_1_bar_3_bar_60)\n (objectAtLocation DeskLamp_bar__plus_02_dot_01_bar__plus_00_dot_72_bar__plus_00_dot_71 loc_bar_4_bar_1_bar_1_bar_60)\n (objectAtLocation TennisRacket_bar__minus_01_dot_35_bar__plus_00_dot_29_bar__plus_00_dot_23 loc_bar__minus_4_bar_2_bar_3_bar_60)\n (objectAtLocation Pen_bar__plus_02_dot_00_bar__plus_00_dot_73_bar__plus_00_dot_48 loc_bar_4_bar_1_bar_1_bar_60)\n (objectAtLocation AlarmClock_bar__minus_00_dot_67_bar__plus_00_dot_67_bar__plus_02_dot_73 loc_bar_1_bar_12_bar_3_bar_60)\n (objectAtLocation Pillow_bar__minus_00_dot_63_bar__plus_01_dot_87_bar__plus_03_dot_05 loc_bar_4_bar_9_bar_3_bar_0)\n (objectAtLocation Pillow_bar__minus_00_dot_83_bar__plus_01_dot_55_bar__minus_01_dot_53 loc_bar_1_bar__minus_3_bar_3_bar_60)\n (objectAtLocation CellPhone_bar__plus_01_dot_91_bar__plus_00_dot_73_bar__minus_00_dot_01 loc_bar_4_bar_1_bar_1_bar_60)\n (objectAtLocation Painting_bar__plus_02_dot_20_bar__plus_01_dot_77_bar__minus_00_dot_10 loc_bar_4_bar_0_bar_1_bar_0)\n (objectAtLocation KeyChain_bar__minus_00_dot_76_bar__plus_00_dot_67_bar__plus_02_dot_82 loc_bar_1_bar_12_bar_3_bar_60)\n (objectAtLocation CreditCard_bar__minus_00_dot_60_bar__plus_00_dot_68_bar__plus_01_dot_43 loc_bar_1_bar_7_bar_3_bar_60)\n (objectAtLocation Mirror_bar__plus_02_dot_23_bar__plus_01_dot_26_bar__plus_02_dot_66 loc_bar_7_bar_11_bar_1_bar_45)\n (objectAtLocation CD_bar__plus_01_dot_91_bar__plus_00_dot_73_bar__minus_00_dot_75 loc_bar_4_bar_1_bar_1_bar_60)\n (objectAtLocation LightSwitch_bar__plus_02_dot_20_bar__plus_01_dot_26_bar__plus_01_dot_99 loc_bar_7_bar_10_bar_2_bar_45)\n (objectAtLocation Window_bar__plus_01_dot_58_bar__plus_01_dot_56_bar__minus_01_dot_95 loc_bar_6_bar__minus_5_bar_2_bar_15)\n (objectAtLocation Pencil_bar__minus_00_dot_96_bar__plus_00_dot_68_bar__plus_02_dot_18 loc_bar_1_bar_7_bar_3_bar_60)\n (objectAtLocation Laptop_bar__minus_00_dot_87_bar__plus_01_dot_50_bar__minus_00_dot_50 loc_bar_1_bar__minus_3_bar_3_bar_60)\n (objectAtLocation Mug_bar__minus_00_dot_63_bar__plus_00_dot_98_bar__minus_01_dot_23 loc_bar_1_bar__minus_5_bar_3_bar_60)\n (objectAtLocation Blinds_bar__plus_01_dot_55_bar__plus_02_dot_44_bar__minus_01_dot_89 loc_bar_6_bar__minus_5_bar_2_bar__minus_30)\n )\n \n\n (:goal\n (and\n (exists (?r - receptacle)\n (exists (?o1 - object)\n (and\n (objectType ?o1 CellPhoneType)\n (receptacleType ?r DrawerType)\n (inReceptacle ?o1 ?r)\n (exists (?o2 - object)\n (and\n (not (= ?o1 ?o2))\n (objectType ?o2 CellPhoneType)\n (receptacleType ?r DrawerType)\n (inReceptacle ?o2 ?r)\n )\n )\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to desk 2", "take cellphone 4 from desk 2", "go to drawer 8", "move cellphone 4 to drawer 8", "go to bed 2", "take cellphone 3 from bed 2", "go to drawer 8", "move cellphone 3 to drawer 8"]}
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alfworld__pick_two_obj_and_place__806
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pick_two_obj_and_place
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pick_two_obj_and_place-Statue-None-SideTable-214/trial_T20190909_065706_103190/game.tw-pddl
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{"pddl_domain": ";; Specification in PDDL of the Alfred domain\n;; Intended to be used with Fast Downward which supports PDDL 2.2 level 1 plus the :action-costs requirement from PDDL 3.1.\n\n(define (domain alfred)\n (:requirements\n :adl\n :action-costs\n :typing\n )\n (:types\n agent\n location\n receptacle\n object\n rtype\n otype\n )\n\n\n (:predicates\n (atLocation ?a - agent ?l - location) ; true if the agent is at the location\n (receptacleAtLocation ?r - receptacle ?l - location) ; true if the receptacle is at the location (constant)\n (objectAtLocation ?o - object ?l - location) ; true if the object is at the location\n (openable ?r - receptacle) ; true if a receptacle is openable\n (opened ?r - receptacle) ; true if a receptacle is opened\n (inReceptacle ?o - object ?r - receptacle) ; object ?o is in receptacle ?r\n (isReceptacleObject ?o - object) ; true if the object can have things put inside it\n (inReceptacleObject ?innerObject - object ?outerObject - object) ; object ?innerObject is inside object ?outerObject\n (isReceptacleObjectFull ?o - object) ; true if the receptacle object contains something\n (wasInReceptacle ?o - object ?r - receptacle) ; object ?o was or is in receptacle ?r now or some time in the past\n (checked ?r - receptacle) ; whether the receptacle has been looked inside/visited\n (examined ?l - location) ; TODO\n (receptacleType ?r - receptacle ?t - rtype) ; the type of receptacle (Cabinet vs Cabinet|01|2...)\n (canContain ?rt - rtype ?ot - otype) ; true if receptacle can hold object\n (objectType ?o - object ?t - otype) ; the type of object (Apple vs Apple|01|2...)\n (holds ?a - agent ?o - object) ; object ?o is held by agent ?a\n (holdsAny ?a - agent) ; agent ?a holds an object\n (holdsAnyReceptacleObject ?a - agent) ; agent ?a holds a receptacle object\n (full ?r - receptacle) ; true if the receptacle has no remaining space\n (isClean ?o - object) ; true if the object has been clean in sink\n (cleanable ?o - object) ; true if the object can be placed in a sink\n (isHot ?o - object) ; true if the object has been heated up\n (heatable ?o - object) ; true if the object can be heated up in a microwave\n (isCool ?o - object) ; true if the object has been cooled\n (coolable ?o - object) ; true if the object can be cooled in the fridge\n (pickupable ?o - object) ; true if the object can be picked up\n (moveable ?o - object) ; true if the object can be moved\n (toggleable ?o - object) ; true if the object can be turned on/off\n (isOn ?o - object) ; true if the object is on\n (isToggled ?o - object) ; true if the object has been toggled\n (sliceable ?o - object) ; true if the object can be sliced\n (isSliced ?o - object) ; true if the object is sliced\n )\n\n (:functions\n (distance ?from ?to)\n (total-cost) - number\n )\n\n;; All actions are specified such that the final arguments are the ones used\n;; for performing actions in Unity.\n\n\n(:action look\n :parameters (?a - agent ?l - location)\n :precondition\n (and\n (atLocation ?a ?l)\n )\n :effect\n (and\n (checked ?l)\n )\n)\n\n(:action inventory\n :parameters (?a - agent)\n :precondition\n ()\n :effect\n (and\n (checked ?a)\n )\n)\n\n(:action examineReceptacle\n :parameters (?a - agent ?r - receptacle)\n :precondition\n (and\n (exists (?l - location)\n (and\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n )\n )\n )\n :effect\n (and\n (checked ?r)\n )\n)\n\n(:action examineObject\n :parameters (?a - agent ?o - object)\n :precondition\n (or\n ;(exists (?l - location)\n ; (and\n ; (atLocation ?a ?l)\n ; (objectAtLocation ?o ?l)\n ; )\n ;)\n (exists (?l - location, ?r - receptacle)\n (and\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n ; (objectAtLocation ?o ?l)\n (inReceptacle ?o ?r)\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n )\n )\n (holds ?a ?o)\n )\n :effect\n (and\n (checked ?o)\n )\n)\n\n;; agent goes to receptacle\n (:action GotoLocation\n :parameters (?a - agent ?lStart - location ?lEnd - location ?r - receptacle)\n :precondition (and\n (atLocation ?a ?lStart)\n (receptacleAtLocation ?r ?lEnd)\n ;(exists (?r - receptacle) (receptacleAtLocation ?r ?lEnd))\n )\n :effect (and\n (not (atLocation ?a ?lStart))\n (atLocation ?a ?lEnd)\n ; (forall (?r - receptacle)\n ; (when (and (receptacleAtLocation ?r ?lEnd)\n ; (or (not (openable ?r)) (opened ?r)))\n ; (checked ?r)\n ; )\n ; )\n ; (increase (total-cost) (distance ?lStart ?lEnd))\n (increase (total-cost) 1)\n )\n )\n\n;; agent opens receptacle\n (:action OpenObject\n :parameters (?a - agent ?l - location ?r - receptacle)\n :precondition (and\n (openable ?r)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (not (opened ?r))\n )\n :effect (and\n (opened ?r)\n (checked ?r)\n (increase (total-cost) 1)\n )\n )\n;; agent closes receptacle\n (:action CloseObject\n :parameters (?a - agent ?l - location ?r - receptacle)\n :precondition (and\n (openable ?r)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (opened ?r)\n )\n :effect (and\n (not (opened ?r))\n (increase (total-cost) 1)\n )\n\n )\n\n ;; agent picks up object from a receptacle\n (:action PickupObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n :precondition\n (and\n (pickupable ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n ; (objectAtLocation ?o ?l)\n (inReceptacle ?o ?r)\n (not (holdsAny ?a)) ; agent's hands are empty.\n ;(not (holdsAnyReceptacleObject ?a))\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n ;(not (isReceptacleObject ?o))\n )\n :effect\n (and\n (not (inReceptacle ?o ?r))\n (holds ?a ?o)\n (holdsAny ?a)\n (not (objectAtLocation ?o ?l))\n ;(not (full ?r))\n (increase (total-cost) 1)\n )\n )\n\n\n; ;; agent picks up object from a receptacle\n; (:action PickupObjectFromReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?outerR - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (inReceptacle ?o ?r)\n; (pickupable ?o)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (not (isReceptacleObject ?o))\n; (isReceptacleObject ?outerR)\n; (inReceptacleObject ?o ?outerR)\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (holds ?a ?o)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n;\n; (not (inReceptacleObject ?o ?outerR))\n; (not (isReceptacleObjectFull ?outerR))\n; )\n; )\n;\n; ;; agent picks up object from a receptacle\n; (:action PickupEmptyReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; ; (objectAtLocation ?o ?l)\n; (inReceptacle ?o ?r)\n; (pickupable ?o)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (isReceptacleObject ?o)\n; (not (isReceptacleObjectFull ?o))\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (holds ?a ?o)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n; (holdsAnyReceptacleObject ?a)\n; )\n; )\n;\n; ;; agent picks up object from a receptacle\n; (:action PickupFullReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?outerR - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (inReceptacle ?outerR ?r)\n; (pickupable ?outerR)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (not (isReceptacleObject ?o))\n; (isReceptacleObject ?outerR)\n; (inReceptacleObject ?o ?outerR)\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (not (inReceptacle ?outerR ?r))\n; (holds ?a ?outerR)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (objectAtLocation ?outerR ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n; (holdsAnyReceptacleObject ?a)\n; )\n; )\n\n\n;; agent puts down an object\n (:action PutObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle ?ot - otype ?rt - rtype)\n :precondition (and\n (holds ?a ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable\n ;(not (full ?r))\n (objectType ?o ?ot)\n (receptacleType ?r ?rt)\n (canContain ?rt ?ot)\n ;(not (holdsAnyReceptacleObject ?a))\n )\n :effect (and\n (inReceptacle ?o ?r)\n (objectAtLocation ?o ?l)\n ;(full ?r)\n (not (holds ?a ?o))\n (not (holdsAny ?a))\n (increase (total-cost) 1)\n )\n )\n\n;;; agent puts down an object\n; (:action PutObjectInReceptacleObject\n; :parameters (?a - agent ?l - location ?ot - otype ?o - object ?outerO - object ?outerR - receptacle)\n; :precondition (and\n; (atLocation ?a ?l)\n; (objectAtLocation ?outerO ?l)\n; (isReceptacleObject ?outerO)\n; (not (isReceptacleObject ?o))\n; (objectType ?o ?ot)\n; (holds ?a ?o)\n; (not (holdsAnyReceptacleObject ?a))\n; (inReceptacle ?outerO ?outerR)\n; (not (isReceptacleObjectFull ?outerO))\n; )\n; :effect (and\n; (inReceptacleObject ?o ?outerO)\n; (inReceptacle ?o ?outerR)\n; (not (holds ?a ?o))\n; (not (holdsAny ?a))\n; (objectAtLocation ?o ?l)\n; (isReceptacleObjectFull ?outerO)\n; (increase (total-cost) 1)\n; )\n; )\n;\n;;; agent puts down an object\n; (:action PutEmptyReceptacleObjectinReceptacle\n; :parameters (?a - agent ?l - location ?ot - otype ?o - object ?r - receptacle)\n; :precondition (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable\n; (not (full ?r))\n; (objectType ?o ?ot)\n; (holds ?a ?o)\n; (holdsAnyReceptacleObject ?a)\n; (isReceptacleObject ?o)\n; (not (isReceptacleObjectFull ?o))\n; )\n; :effect (and\n; (inReceptacle ?o ?r)\n; (objectAtLocation ?o ?l)\n; (full ?r)\n; (not (holds ?a ?o))\n; (not (holdsAny ?a))\n; (not (holdsAnyReceptacleObject ?a))\n; (increase (total-cost) 1)\n; )\n; )\n;\n;;; agent puts down a receptacle object in a receptacle\n; (:action PutFullReceptacleObjectInReceptacle\n; :parameters (?a - agent ?l - location ?ot - otype ?innerO - object ?outerO - object ?r - receptacle) ; ?rt - rtype)\n; :precondition (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (objectType ?outerO ?ot)\n; (holds ?a ?outerO)\n; (holdsAnyReceptacleObject ?a)\n; (isReceptacleObject ?outerO)\n; (isReceptacleObjectFull ?outerO)\n; (inReceptacleObject ?innerO ?outerO)\n; )\n; :effect (and\n; (not (holdsAny ?a))\n; (not (holdsAnyReceptacleObject ?a))\n; (objectAtLocation ?outerO ?l)\n; (objectAtLocation ?innerO ?l)\n; (inReceptacle ?outerO ?r)\n; (inReceptacle ?innerO ?r)\n; (not (holds ?a ?outerO))\n; (increase (total-cost) 1)\n; )\n; )\n\n;; agent cleans some object\n (:action CleanObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (cleanable ?o)\n (or\n (receptacleType ?r SinkType)\n (receptacleType ?r SinkBasinType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isClean ?o)\n )\n )\n\n\n;; agent heats-up some object\n (:action HeatObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (heatable ?o)\n (or\n (receptacleType ?r MicrowaveType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isHot ?o)\n (not (isCool ?o))\n )\n )\n\n;; agent cools some object\n (:action CoolObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (coolable ?o)\n (or\n (receptacleType ?r FridgeType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isCool ?o)\n (not (isHot ?o))\n )\n )\n\n\n;; agent toggle object\n (:action ToggleObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n :precondition (and\n (toggleable ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (inReceptacle ?o ?r)\n )\n :effect (and\n (increase (total-cost) 5)\n (when (isOn ?o)\n (not (isOn ?o)))\n (when (not (isOn ?o))\n (isOn ?o))\n (isToggled ?o)\n )\n )\n\n\n;; agent slices some object with a knife\n (:action SliceObject\n :parameters (?a - agent ?l - location ?co - object ?ko - object)\n :precondition\n (and\n (sliceable ?co)\n (or\n (objectType ?ko KnifeType)\n (objectType ?ko ButterKnifeType)\n )\n (atLocation ?a ?l)\n (objectAtLocation ?co ?l)\n (holds ?a ?ko)\n )\n :effect (and\n (increase (total-cost) 5)\n (isSliced ?co)\n )\n )\n\n\n(:action help\n :parameters (?a - agent)\n :precondition\n ()\n :effect\n (and\n (checked ?a)\n )\n)\n)\n", "grammar": "grammar :: \"\"\"\n {\n \"intro\": [\n {\n \"rhs\": \"-= Welcome to TextWorld, ALFRED! =-\\n\\n#look.feedback#\\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 statue and put them in sidetable.\"\n }\n ],\n\n \"GotoLocation.feedback\": [\n {\n \"rhs\": \"You arrive at {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"OpenObject.feedback\": [\n {\n \"rhs\": \"You open the {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"CloseObject.feedback\": [\n {\n \"rhs\": \"You close the {r.name}.\"\n }\n ],\n\n \"PickupObject.feedback\": [\n {\n \"rhs\": \"You pick up the {o.name} from the {r.name}.\"\n }\n ],\n\n \"PickupObjectFromReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupObjectFromReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupEmptyReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupEmptyReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupFullReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupFullReceptacleObject: You pick up the {outerr.name}.\"\n }\n ],\n\n \"PutObject.feedback\": [\n {\n \"rhs\": \"You move the {o.name} to the {r.name}.\"\n }\n ],\n\n \"PutObjectInReceptacleObject.feedback\": [\n {\n \"rhs\": \"PutObjectInReceptacleObject: You put the {o.name} in the {outero.name}.\"\n }\n ],\n\n \"PutEmptyReceptacleObjectinReceptacle.feedback\": [\n {\n \"rhs\": \"PutEmptyReceptacleObjectinReceptacle: You put the {o.name} in the {r.name}.\"\n }\n ],\n\n \"PutFullReceptacleObjectInReceptacle.feedback\": [\n {\n \"rhs\": \"PutFullReceptacleObjectInReceptacle: You put the {outero.name} in the {r.name}.\"\n }\n ],\n\n \"inventory.feedback\": [\n {\n \"condition\": \"holdsany(a:agent)\",\n \"rhs\": \"You are carrying: [{o.indefinite + ' ' + o.name | holds(a:agent, o:object)}].\"\n },\n {\n \"rhs\": \"You are not carrying anything.\"\n }\n ],\n\n \"examineReceptacle.feedback\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \"The {r.name} is open. In it, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \"The {r.name} is closed.\"\n },\n {\n \"rhs\": \"On the {r.name}, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n }\n ],\n\n \"examineObject.feedback\": [\n {\n \"condition\": \"isreceptacleobject(o:object)\",\n \"rhs\": \"This is a normal {o.name}. In it, you see [{o2.indefinite + ' ' + o2.name | inreceptacleobject(o2:object, o:object)}].\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a clean sliced {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot sliced {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object)\",\n \"rhs\": \"This is a hot and clean {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object)\",\n \"rhs\": \"This is a cool and clean {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object)\",\n \"rhs\": \"This is a hot {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object)\",\n \"rhs\": \"This is a clean {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object)\",\n \"rhs\": \"This is a cold {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"This {o.name} is on.\"\n },\n {\n \"condition\": \"toggleable(o:object) & not_istoggled(o:object)\",\n \"rhs\": \"This {o.name} is off.\"\n },\n {\n \"condition\": \"sliceable(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a sliced {o.name}.\"\n },\n {\n \"rhs\": \"There's nothing special about {o.name}.\"\n }\n ]\n }\n\"\"\";\n\naction GotoLocation {\n template :: \"go to [{r.name | receptacleatlocation(r:receptacle, lend:location)}]\";\n feedback :: \"#GotoLocation.feedback#\";\n}\n\naction OpenObject {\n template :: \"open {r}\";\n feedback :: \"#OpenObject.feedback#\";\n}\n\naction CloseObject {\n template :: \"close {r}\";\n feedback :: \"#CloseObject.feedback#\";\n}\n\naction PickupObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObject.feedback#\";\n}\n\naction PickupObjectFromReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObjectFromReceptacleObject.feedback#\";\n}\n\naction PickupEmptyReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupEmptyReceptacleObject.feedback#\";\n}\n\naction PickupFullReceptacleObject {\n template :: \"take {outerr} from {r}\";\n feedback :: \"#PickupFullReceptacleObject.feedback#\";\n}\n\naction PutObject {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutObject.feedback#\";\n}\n\naction PutObjectInReceptacleObject {\n template :: \"put {o} into {outero}\";\n feedback :: \"#PutObjectInReceptacleObject.feedback#\";\n}\n\naction PutEmptyReceptacleObjectinReceptacle {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutEmptyReceptacleObjectinReceptacle.feedback#\";\n}\n\naction PutFullReceptacleObjectInReceptacle {\n template :: \"put {outero} in {r}\";\n feedback :: \"#PutFullReceptacleObjectInReceptacle.feedback#\";\n}\n\naction inventory {\n template :: \"inventory\";\n feedback :: \"#inventory.feedback#\";\n}\n\naction examineReceptacle {\n template :: \"examine {r}\";\n feedback :: \"#examineReceptacle.feedback#\";\n}\n\naction examineObject {\n template :: \"examine {o}\";\n feedback :: \"#examineObject.feedback#\";\n}\n\naction ToggleObject {\n template :: \"use {o}\";\n feedback :: \"#toggleObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"toggleObject.feedback\": [\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"You turn on the {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object)\",\n \"rhs\": \"You turn off the {o.name}.\"\n },\n {\n \"rhs\": \"You don't see any switch on the {o.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction HeatObject {\n template :: \"heat {o} with {r}\";\n feedback :: \"#heatObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"heatObject.feedback\": [\n {\n \"rhs\": \"You heat the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CleanObject {\n template :: \"clean {o} with {r}\";\n feedback :: \"#cleanObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"cleanObject.feedback\": [\n {\n \"rhs\": \"You clean the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CoolObject {\n template :: \"cool {o} with {r}\";\n feedback :: \"#coolObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"coolObject.feedback\": [\n {\n \"rhs\": \"You cool the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction SliceObject {\n template :: \"slice {co} with {ko}\";\n feedback :: \"#sliceObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"sliceObject.feedback\": [\n {\n \"rhs\": \"You sliced the {co.name} with the {ko.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction look {\n template :: \"look\";\n feedback :: \"#look.feedback#\";\n\n grammar :: \"\"\"\n {\n \"look.feedback\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"#look-variations#. Next to it, you see #list_objects_on_the_floor#.\"\n },\n {\n \"rhs\": \"You are in the middle of a room. Looking quickly around you, you see #list_appliances#.\"\n }\n ],\n\n \"look-variations\": [\n {\n \"rhs\": \"You are facing the [{r.name | atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)}]\"\n }\n ],\n\n \"list_objects_on_the_floor\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)\",\n \"rhs\": \"[{#overview(o)# | atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"list_appliances\": [\n {\n \"condition\": \"receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"[{#overview(r)# | receptacleatlocation(r:receptacle, l:location)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"overview(o, r)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name} (in/on the {r.name})}\"\n }\n ],\n\n \"overview(o)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name}\"\n }\n ],\n \"overview(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}\"\n }\n ],\n \"overview_with_state(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}#overview_state(r)#\"\n }\n ],\n \"overview_state(r)\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \" (it is open)\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \" (it is closed)\"\n },\n {\n \"rhs\": \"\"\n }\n ],\n\n \"list_empty\": [\n {\n \"rhs\": \"nothing\"\n }\n ],\n \"list_separator\": [\n {\n \"rhs\": \", \"\n }\n ],\n \"list_last_separator\": [\n {\n \"rhs\": \", and \"\n }\n ]\n }\n \"\"\";\n}\n\naction help {\n template :: \"help\";\n feedback :: \"\nAvailable commands:\n look: look around your current location\n inventory: check your current inventory\n go to (receptacle): move to a receptacle\n open (receptacle): open a receptacle\n close (receptacle): close a receptacle\n take (object) from (receptacle): take an object from a receptacle\n move (object) to (receptacle): place an object in or on a receptacle\n examine (something): examine a receptacle or an object\n use (object): use an object\n heat (object) with (receptacle): heat an object using a receptacle\n clean (object) with (receptacle): clean an object using a receptacle\n cool (object) with (receptacle): cool an object using a receptacle\n slice (object) with (object): slice an object using a sharp object\n\";\n}\n", "pddl_problem": "\n(define (problem plan_trial_T20190909_065706_103190)\n(:domain alfred)\n(:objects\nagent1 - agent\nSaltShaker - object\n HousePlant - object\n Candle - object\n SprayBottle - object\n Bowl - object\n Window - object\n CD - object\n Egg - object\n Glassbottle - object\n Sink - object\n Pillow - object\n Spoon - object\n SoapBottle - object\n TeddyBear - object\n ButterKnife - object\n Cup - object\n Plate - object\n RemoteControl - object\n Tomato - object\n Statue - object\n HandTowel - object\n Knife - object\n StoveKnob - object\n LightSwitch - object\n Pen - object\n Painting - object\n DishSponge - object\n Vase - object\n Mug - object\n ToiletPaper - object\n Box - object\n Mirror - object\n Ladle - object\n Fork - object\n Blinds - object\n Footstool - object\n KeyChain - object\n Cloth - object\n Laptop - object\n TissueBox - object\n PepperShaker - object\n FloorLamp - object\n WateringCan - object\n Apple - object\n Pan - object\n PaperTowel - object\n PaperTowelRoll - object\n Newspaper - object\n Television - object\n Chair - object\n CellPhone - object\n CreditCard - object\n Lettuce - object\n BasketBall - object\n Potato - object\n Curtains - object\n Boots - object\n Pencil - object\n AlarmClock - object\n ToiletPaperRoll - object\n Spatula - object\n Book - object\n Bread - object\n SoapBar - object\n Watch - object\n DeskLamp - object\n Kettle - object\n Pot - object\n ScrubBrush - object\n WineBottle - object\n ShowerDoor - object\n Bathtub - object\n LaundryHamperLid - object\n ShowerGlass - object\n Poster - object\n TennisRacket - object\n BaseballBat - object\n Towel - object\n Plunger - object\nSaltShakerType - otype\n HousePlantType - otype\n CandleType - otype\n SprayBottleType - otype\n BowlType - otype\n WindowType - otype\n CDType - otype\n EggType - otype\n GlassbottleType - otype\n SinkType - otype\n PillowType - otype\n SpoonType - otype\n SoapBottleType - otype\n TeddyBearType - otype\n ButterKnifeType - otype\n CupType - otype\n PlateType - otype\n RemoteControlType - otype\n TomatoType - otype\n StatueType - otype\n HandTowelType - otype\n KnifeType - otype\n StoveKnobType - otype\n LightSwitchType - otype\n PenType - otype\n PaintingType - otype\n DishSpongeType - otype\n VaseType - otype\n MugType - otype\n ToiletPaperType - otype\n BoxType - otype\n MirrorType - otype\n LadleType - otype\n ForkType - otype\n BlindsType - otype\n FootstoolType - otype\n KeyChainType - otype\n ClothType - otype\n LaptopType - otype\n TissueBoxType - otype\n PepperShakerType - otype\n FloorLampType - otype\n WateringCanType - otype\n AppleType - otype\n PanType - otype\n PaperTowelType - otype\n PaperTowelRollType - otype\n NewspaperType - otype\n TelevisionType - otype\n ChairType - otype\n CellPhoneType - otype\n CreditCardType - otype\n LettuceType - otype\n BasketBallType - otype\n PotatoType - otype\n CurtainsType - otype\n BootsType - otype\n PencilType - otype\n AlarmClockType - otype\n ToiletPaperRollType - otype\n SpatulaType - otype\n BookType - otype\n BreadType - otype\n SoapBarType - otype\n WatchType - otype\n DeskLampType - otype\n KettleType - otype\n PotType - otype\n ScrubBrushType - otype\n WineBottleType - otype\n ShowerDoorType - otype\n BathtubType - otype\n LaundryHamperLidType - otype\n ShowerGlassType - otype\n PosterType - otype\n TennisRacketType - otype\n BaseballBatType - otype\n TowelType - otype\n PlungerType - otype\nSafeType - rtype\n DrawerType - rtype\n CoffeeMachineType - rtype\n HandTowelHolderType - rtype\n SinkBasinType - rtype\n DresserType - rtype\n LaundryHamperType - rtype\n TVStandType - rtype\n BathtubBasinType - rtype\n CabinetType - rtype\n FridgeType - rtype\n DeskType - rtype\n ToiletType - rtype\n CartType - rtype\n SideTableType - rtype\n SofaType - rtype\n CoffeeTableType - rtype\n DiningTableType - rtype\n CounterTopType - rtype\n GarbageCanType - rtype\n ArmChairType - rtype\n ShelfType - rtype\n MicrowaveType - rtype\n ToasterType - rtype\n BedType - rtype\n PaintingHangerType - rtype\n TowelHolderType - rtype\n ToiletPaperHangerType - rtype\n StoveBurnerType - rtype\n OttomanType - rtype\n\n\n Box_bar__minus_04_dot_39_bar__plus_00_dot_66_bar__plus_03_dot_84 - object\n CreditCard_bar__minus_00_dot_45_bar__plus_01_dot_46_bar__plus_05_dot_50 - object\n CreditCard_bar__minus_00_dot_63_bar__plus_00_dot_28_bar__plus_05_dot_26 - object\n CreditCard_bar__minus_04_dot_31_bar__plus_00_dot_46_bar__plus_06_dot_64 - object\n Curtains_bar__minus_00_dot_05_bar__plus_02_dot_48_bar__plus_02_dot_63 - object\n Curtains_bar__minus_02_dot_19_bar__plus_02_dot_47_bar__plus_00_dot_04 - object\n Curtains_bar__minus_02_dot_83_bar__plus_02_dot_47_bar__plus_00_dot_04 - object\n FloorLamp_bar__minus_04_dot_51_bar__plus_00_dot_02_bar__plus_00_dot_66 - object\n HousePlant_bar__minus_02_dot_66_bar__plus_00_dot_44_bar__plus_04_dot_17 - object\n KeyChain_bar__minus_04_dot_16_bar__plus_00_dot_54_bar__plus_03_dot_53 - object\n Lamp_bar__minus_00_dot_45_bar__plus_00_dot_61_bar__plus_00_dot_69 - object\n Laptop_bar__minus_02_dot_65_bar__plus_00_dot_45_bar__plus_04_dot_72 - object\n Laptop_bar__minus_04_dot_34_bar__plus_00_dot_52_bar__plus_02_dot_22 - object\n LightSwitch_bar__minus_05_dot_00_bar__plus_01_dot_25_bar__plus_05_dot_86 - object\n Newspaper_bar__minus_00_dot_56_bar__plus_01_dot_47_bar__plus_06_dot_24 - object\n Newspaper_bar__minus_04_dot_05_bar__plus_00_dot_55_bar__plus_02_dot_93 - object\n Newspaper_bar__minus_04_dot_51_bar__plus_00_dot_54_bar__plus_02_dot_63 - object\n Painting_bar__minus_02_dot_67_bar__plus_01_dot_57_bar__plus_07_dot_00 - object\n Pillow_bar__minus_02_dot_49_bar__plus_00_dot_61_bar__plus_00_dot_79 - object\n Plate_bar__minus_00_dot_40_bar__plus_00_dot_29_bar__plus_06_dot_49 - object\n RemoteControl_bar__minus_00_dot_60_bar__plus_01_dot_46_bar__plus_05_dot_25 - object\n Statue_bar__minus_00_dot_32_bar__plus_00_dot_29_bar__plus_06_dot_00 - object\n Statue_bar__minus_00_dot_46_bar__plus_00_dot_27_bar__plus_05_dot_70 - object\n Statue_bar__minus_00_dot_60_bar__plus_01_dot_47_bar__plus_05_dot_99 - object\n Television_bar__minus_00_dot_75_bar__plus_01_dot_66_bar__plus_03_dot_94 - object\n Vase_bar__minus_00_dot_59_bar__plus_01_dot_45_bar__plus_06_dot_43 - object\n Vase_bar__minus_00_dot_60_bar__plus_01_dot_46_bar__plus_05_dot_50 - object\n WateringCan_bar__minus_02_dot_77_bar__plus_00_dot_45_bar__plus_03_dot_84 - object\n Window_bar__minus_00_dot_01_bar__plus_01_dot_57_bar__plus_01_dot_50 - object\n Window_bar__minus_01_dot_37_bar__plus_01_dot_57_bar__plus_00_dot_01 - object\n Window_bar__minus_03_dot_73_bar__plus_01_dot_57_bar__plus_00_dot_01 - object\n ArmChair_bar__minus_04_dot_45_bar__plus_00_dot_00_bar__plus_06_dot_45 - receptacle\n CoffeeTable_bar__minus_02_dot_65_bar__plus_00_dot_02_bar__plus_04_dot_06 - receptacle\n GarbageCan_bar__minus_00_dot_52_bar__plus_00_dot_02_bar__plus_02_dot_82 - receptacle\n Shelf_bar__minus_00_dot_39_bar__plus_01_dot_45_bar__plus_05_dot_95 - receptacle\n Shelf_bar__minus_00_dot_40_bar__plus_00_dot_27_bar__plus_05_dot_96 - receptacle\n SideTable_bar__minus_00_dot_59_bar__plus_00_dot_02_bar__plus_00_dot_84 - receptacle\n Sofa_bar__minus_02_dot_49_bar__plus_00_dot_03_bar__plus_00_dot_73 - receptacle\n Sofa_bar__minus_04_dot_36_bar__plus_00_dot_03_bar__plus_02_dot_93 - receptacle\n loc_bar__minus_5_bar_6_bar_2_bar_0 - location\n loc_bar__minus_3_bar_6_bar_1_bar_15 - location\n loc_bar__minus_9_bar_6_bar_2_bar__minus_30 - location\n loc_bar__minus_11_bar_6_bar_2_bar__minus_30 - location\n loc_bar__minus_6_bar_17_bar_3_bar_60 - location\n loc_bar__minus_11_bar_8_bar_2_bar_45 - location\n loc_bar__minus_12_bar_10_bar_3_bar_45 - location\n loc_bar__minus_14_bar_14_bar_3_bar_60 - location\n loc_bar__minus_6_bar_16_bar_1_bar_0 - location\n loc_bar__minus_13_bar_25_bar_3_bar_60 - location\n loc_bar__minus_18_bar_23_bar_3_bar_45 - location\n loc_bar__minus_4_bar_8_bar_2_bar_60 - location\n loc_bar__minus_5_bar_24_bar_1_bar_15 - location\n loc_bar__minus_5_bar_10_bar_1_bar_60 - location\n loc_bar__minus_11_bar_26_bar_0_bar_15 - location\n loc_bar__minus_4_bar_11_bar_1_bar__minus_30 - location\n loc_bar__minus_14_bar_6_bar_3_bar_60 - location\n loc_bar__minus_14_bar_6_bar_2_bar_0 - location\n loc_bar__minus_6_bar_24_bar_1_bar_45 - location\n loc_bar__minus_9_bar_10_bar_0_bar_30 - location\n )\n \n\n(:init\n\n\n (receptacleType Sofa_bar__minus_04_dot_36_bar__plus_00_dot_03_bar__plus_02_dot_93 SofaType)\n (receptacleType Sofa_bar__minus_02_dot_49_bar__plus_00_dot_03_bar__plus_00_dot_73 SofaType)\n (receptacleType GarbageCan_bar__minus_00_dot_52_bar__plus_00_dot_02_bar__plus_02_dot_82 GarbageCanType)\n (receptacleType Shelf_bar__minus_00_dot_39_bar__plus_01_dot_45_bar__plus_05_dot_95 ShelfType)\n (receptacleType CoffeeTable_bar__minus_02_dot_65_bar__plus_00_dot_02_bar__plus_04_dot_06 CoffeeTableType)\n (receptacleType Shelf_bar__minus_00_dot_40_bar__plus_00_dot_27_bar__plus_05_dot_96 ShelfType)\n (receptacleType SideTable_bar__minus_00_dot_59_bar__plus_00_dot_02_bar__plus_00_dot_84 SideTableType)\n (receptacleType ArmChair_bar__minus_04_dot_45_bar__plus_00_dot_00_bar__plus_06_dot_45 ArmChairType)\n (objectType Curtains_bar__minus_02_dot_19_bar__plus_02_dot_47_bar__plus_00_dot_04 CurtainsType)\n (objectType HousePlant_bar__minus_02_dot_66_bar__plus_00_dot_44_bar__plus_04_dot_17 HousePlantType)\n (objectType Curtains_bar__minus_00_dot_05_bar__plus_02_dot_48_bar__plus_02_dot_63 CurtainsType)\n (objectType Window_bar__minus_00_dot_01_bar__plus_01_dot_57_bar__plus_01_dot_50 WindowType)\n (objectType Newspaper_bar__minus_04_dot_05_bar__plus_00_dot_55_bar__plus_02_dot_93 NewspaperType)\n (objectType CreditCard_bar__minus_04_dot_31_bar__plus_00_dot_46_bar__plus_06_dot_64 CreditCardType)\n (objectType Box_bar__minus_04_dot_39_bar__plus_00_dot_66_bar__plus_03_dot_84 BoxType)\n (objectType LightSwitch_bar__minus_05_dot_00_bar__plus_01_dot_25_bar__plus_05_dot_86 LightSwitchType)\n (objectType Vase_bar__minus_00_dot_59_bar__plus_01_dot_45_bar__plus_06_dot_43 VaseType)\n (objectType WateringCan_bar__minus_02_dot_77_bar__plus_00_dot_45_bar__plus_03_dot_84 WateringCanType)\n (objectType Laptop_bar__minus_04_dot_34_bar__plus_00_dot_52_bar__plus_02_dot_22 LaptopType)\n (objectType FloorLamp_bar__minus_04_dot_51_bar__plus_00_dot_02_bar__plus_00_dot_66 FloorLampType)\n (objectType Television_bar__minus_00_dot_75_bar__plus_01_dot_66_bar__plus_03_dot_94 TelevisionType)\n (objectType Statue_bar__minus_00_dot_60_bar__plus_01_dot_47_bar__plus_05_dot_99 StatueType)\n (objectType Window_bar__minus_01_dot_37_bar__plus_01_dot_57_bar__plus_00_dot_01 WindowType)\n (objectType Statue_bar__minus_00_dot_32_bar__plus_00_dot_29_bar__plus_06_dot_00 StatueType)\n (objectType Plate_bar__minus_00_dot_40_bar__plus_00_dot_29_bar__plus_06_dot_49 PlateType)\n (objectType CreditCard_bar__minus_00_dot_63_bar__plus_00_dot_28_bar__plus_05_dot_26 CreditCardType)\n (objectType Curtains_bar__minus_02_dot_83_bar__plus_02_dot_47_bar__plus_00_dot_04 CurtainsType)\n (objectType Vase_bar__minus_00_dot_60_bar__plus_01_dot_46_bar__plus_05_dot_50 VaseType)\n (objectType Newspaper_bar__minus_04_dot_51_bar__plus_00_dot_54_bar__plus_02_dot_63 NewspaperType)\n (objectType Window_bar__minus_03_dot_73_bar__plus_01_dot_57_bar__plus_00_dot_01 WindowType)\n (objectType Painting_bar__minus_02_dot_67_bar__plus_01_dot_57_bar__plus_07_dot_00 PaintingType)\n (objectType Statue_bar__minus_00_dot_46_bar__plus_00_dot_27_bar__plus_05_dot_70 StatueType)\n (objectType Laptop_bar__minus_02_dot_65_bar__plus_00_dot_45_bar__plus_04_dot_72 LaptopType)\n (objectType CreditCard_bar__minus_00_dot_45_bar__plus_01_dot_46_bar__plus_05_dot_50 CreditCardType)\n (objectType RemoteControl_bar__minus_00_dot_60_bar__plus_01_dot_46_bar__plus_05_dot_25 RemoteControlType)\n (objectType KeyChain_bar__minus_04_dot_16_bar__plus_00_dot_54_bar__plus_03_dot_53 KeyChainType)\n (objectType Pillow_bar__minus_02_dot_49_bar__plus_00_dot_61_bar__plus_00_dot_79 PillowType)\n (objectType Newspaper_bar__minus_00_dot_56_bar__plus_01_dot_47_bar__plus_06_dot_24 NewspaperType)\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 SofaType BoxType)\n (canContain SofaType LaptopType)\n (canContain SofaType PillowType)\n (canContain SofaType RemoteControlType)\n (canContain SofaType KeyChainType)\n (canContain SofaType NewspaperType)\n (canContain SofaType CreditCardType)\n (canContain GarbageCanType NewspaperType)\n (canContain ShelfType NewspaperType)\n (canContain ShelfType VaseType)\n (canContain ShelfType BoxType)\n (canContain ShelfType KeyChainType)\n (canContain ShelfType CreditCardType)\n (canContain ShelfType PlateType)\n (canContain ShelfType RemoteControlType)\n (canContain ShelfType StatueType)\n (canContain ShelfType WateringCanType)\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 PlateType)\n (canContain CoffeeTableType RemoteControlType)\n (canContain CoffeeTableType StatueType)\n (canContain CoffeeTableType WateringCanType)\n (canContain ShelfType NewspaperType)\n (canContain ShelfType VaseType)\n (canContain ShelfType BoxType)\n (canContain ShelfType KeyChainType)\n (canContain ShelfType CreditCardType)\n (canContain ShelfType PlateType)\n (canContain ShelfType RemoteControlType)\n (canContain ShelfType StatueType)\n (canContain ShelfType WateringCanType)\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 PlateType)\n (canContain SideTableType RemoteControlType)\n (canContain SideTableType StatueType)\n (canContain SideTableType WateringCanType)\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 (pickupable Newspaper_bar__minus_04_dot_05_bar__plus_00_dot_55_bar__plus_02_dot_93)\n (pickupable CreditCard_bar__minus_04_dot_31_bar__plus_00_dot_46_bar__plus_06_dot_64)\n (pickupable Box_bar__minus_04_dot_39_bar__plus_00_dot_66_bar__plus_03_dot_84)\n (pickupable Vase_bar__minus_00_dot_59_bar__plus_01_dot_45_bar__plus_06_dot_43)\n (pickupable WateringCan_bar__minus_02_dot_77_bar__plus_00_dot_45_bar__plus_03_dot_84)\n (pickupable Laptop_bar__minus_04_dot_34_bar__plus_00_dot_52_bar__plus_02_dot_22)\n (pickupable Statue_bar__minus_00_dot_60_bar__plus_01_dot_47_bar__plus_05_dot_99)\n (pickupable Statue_bar__minus_00_dot_32_bar__plus_00_dot_29_bar__plus_06_dot_00)\n (pickupable Plate_bar__minus_00_dot_40_bar__plus_00_dot_29_bar__plus_06_dot_49)\n (pickupable CreditCard_bar__minus_00_dot_63_bar__plus_00_dot_28_bar__plus_05_dot_26)\n (pickupable Vase_bar__minus_00_dot_60_bar__plus_01_dot_46_bar__plus_05_dot_50)\n (pickupable Newspaper_bar__minus_04_dot_51_bar__plus_00_dot_54_bar__plus_02_dot_63)\n (pickupable Statue_bar__minus_00_dot_46_bar__plus_00_dot_27_bar__plus_05_dot_70)\n (pickupable Laptop_bar__minus_02_dot_65_bar__plus_00_dot_45_bar__plus_04_dot_72)\n (pickupable CreditCard_bar__minus_00_dot_45_bar__plus_01_dot_46_bar__plus_05_dot_50)\n (pickupable RemoteControl_bar__minus_00_dot_60_bar__plus_01_dot_46_bar__plus_05_dot_25)\n (pickupable KeyChain_bar__minus_04_dot_16_bar__plus_00_dot_54_bar__plus_03_dot_53)\n (pickupable Pillow_bar__minus_02_dot_49_bar__plus_00_dot_61_bar__plus_00_dot_79)\n (pickupable Newspaper_bar__minus_00_dot_56_bar__plus_01_dot_47_bar__plus_06_dot_24)\n (isReceptacleObject Box_bar__minus_04_dot_39_bar__plus_00_dot_66_bar__plus_03_dot_84)\n (isReceptacleObject Plate_bar__minus_00_dot_40_bar__plus_00_dot_29_bar__plus_06_dot_49)\n \n \n (atLocation agent1 loc_bar__minus_9_bar_10_bar_0_bar_30)\n \n (cleanable Plate_bar__minus_00_dot_40_bar__plus_00_dot_29_bar__plus_06_dot_49)\n \n (heatable Plate_bar__minus_00_dot_40_bar__plus_00_dot_29_bar__plus_06_dot_49)\n (coolable Plate_bar__minus_00_dot_40_bar__plus_00_dot_29_bar__plus_06_dot_49)\n \n \n (toggleable FloorLamp_bar__minus_04_dot_51_bar__plus_00_dot_02_bar__plus_00_dot_66)\n \n \n \n \n (inReceptacle CreditCard_bar__minus_04_dot_31_bar__plus_00_dot_46_bar__plus_06_dot_64 ArmChair_bar__minus_04_dot_45_bar__plus_00_dot_00_bar__plus_06_dot_45)\n (inReceptacle Laptop_bar__minus_02_dot_65_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)\n (inReceptacle WateringCan_bar__minus_02_dot_77_bar__plus_00_dot_45_bar__plus_03_dot_84 CoffeeTable_bar__minus_02_dot_65_bar__plus_00_dot_02_bar__plus_04_dot_06)\n (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)\n (inReceptacle Pillow_bar__minus_02_dot_49_bar__plus_00_dot_61_bar__plus_00_dot_79 Sofa_bar__minus_02_dot_49_bar__plus_00_dot_03_bar__plus_00_dot_73)\n (inReceptacle Newspaper_bar__minus_04_dot_05_bar__plus_00_dot_55_bar__plus_02_dot_93 Sofa_bar__minus_04_dot_36_bar__plus_00_dot_03_bar__plus_02_dot_93)\n (inReceptacle Laptop_bar__minus_04_dot_34_bar__plus_00_dot_52_bar__plus_02_dot_22 Sofa_bar__minus_04_dot_36_bar__plus_00_dot_03_bar__plus_02_dot_93)\n (inReceptacle Box_bar__minus_04_dot_39_bar__plus_00_dot_66_bar__plus_03_dot_84 Sofa_bar__minus_04_dot_36_bar__plus_00_dot_03_bar__plus_02_dot_93)\n (inReceptacle Newspaper_bar__minus_04_dot_51_bar__plus_00_dot_54_bar__plus_02_dot_63 Sofa_bar__minus_04_dot_36_bar__plus_00_dot_03_bar__plus_02_dot_93)\n (inReceptacle Vase_bar__minus_00_dot_60_bar__plus_01_dot_46_bar__plus_05_dot_50 Shelf_bar__minus_00_dot_39_bar__plus_01_dot_45_bar__plus_05_dot_95)\n (inReceptacle CreditCard_bar__minus_00_dot_45_bar__plus_01_dot_46_bar__plus_05_dot_50 Shelf_bar__minus_00_dot_39_bar__plus_01_dot_45_bar__plus_05_dot_95)\n (inReceptacle Statue_bar__minus_00_dot_60_bar__plus_01_dot_47_bar__plus_05_dot_99 Shelf_bar__minus_00_dot_39_bar__plus_01_dot_45_bar__plus_05_dot_95)\n (inReceptacle RemoteControl_bar__minus_00_dot_60_bar__plus_01_dot_46_bar__plus_05_dot_25 Shelf_bar__minus_00_dot_39_bar__plus_01_dot_45_bar__plus_05_dot_95)\n (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)\n (inReceptacle Newspaper_bar__minus_00_dot_56_bar__plus_01_dot_47_bar__plus_06_dot_24 Shelf_bar__minus_00_dot_39_bar__plus_01_dot_45_bar__plus_05_dot_95)\n (inReceptacle Plate_bar__minus_00_dot_40_bar__plus_00_dot_29_bar__plus_06_dot_49 Shelf_bar__minus_00_dot_40_bar__plus_00_dot_27_bar__plus_05_dot_96)\n (inReceptacle Statue_bar__minus_00_dot_32_bar__plus_00_dot_29_bar__plus_06_dot_00 Shelf_bar__minus_00_dot_40_bar__plus_00_dot_27_bar__plus_05_dot_96)\n (inReceptacle CreditCard_bar__minus_00_dot_63_bar__plus_00_dot_28_bar__plus_05_dot_26 Shelf_bar__minus_00_dot_40_bar__plus_00_dot_27_bar__plus_05_dot_96)\n (inReceptacle Statue_bar__minus_00_dot_46_bar__plus_00_dot_27_bar__plus_05_dot_70 Shelf_bar__minus_00_dot_40_bar__plus_00_dot_27_bar__plus_05_dot_96)\n \n \n (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)\n (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)\n (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)\n (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)\n (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)\n (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)\n (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)\n (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)\n (objectAtLocation Laptop_bar__minus_04_dot_34_bar__plus_00_dot_52_bar__plus_02_dot_22 loc_bar__minus_12_bar_10_bar_3_bar_45)\n (objectAtLocation CreditCard_bar__minus_00_dot_63_bar__plus_00_dot_28_bar__plus_05_dot_26 loc_bar__minus_6_bar_24_bar_1_bar_45)\n (objectAtLocation Newspaper_bar__minus_04_dot_51_bar__plus_00_dot_54_bar__plus_02_dot_63 loc_bar__minus_12_bar_10_bar_3_bar_45)\n (objectAtLocation CreditCard_bar__minus_04_dot_31_bar__plus_00_dot_46_bar__plus_06_dot_64 loc_bar__minus_13_bar_25_bar_3_bar_60)\n (objectAtLocation Newspaper_bar__minus_04_dot_05_bar__plus_00_dot_55_bar__plus_02_dot_93 loc_bar__minus_12_bar_10_bar_3_bar_45)\n (objectAtLocation Box_bar__minus_04_dot_39_bar__plus_00_dot_66_bar__plus_03_dot_84 loc_bar__minus_12_bar_10_bar_3_bar_45)\n (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)\n (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)\n (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)\n (objectAtLocation Plate_bar__minus_00_dot_40_bar__plus_00_dot_29_bar__plus_06_dot_49 loc_bar__minus_6_bar_24_bar_1_bar_45)\n (objectAtLocation Vase_bar__minus_00_dot_60_bar__plus_01_dot_46_bar__plus_05_dot_50 loc_bar__minus_5_bar_24_bar_1_bar_15)\n (objectAtLocation WateringCan_bar__minus_02_dot_77_bar__plus_00_dot_45_bar__plus_03_dot_84 loc_bar__minus_6_bar_17_bar_3_bar_60)\n (objectAtLocation Newspaper_bar__minus_00_dot_56_bar__plus_01_dot_47_bar__plus_06_dot_24 loc_bar__minus_5_bar_24_bar_1_bar_15)\n (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)\n (objectAtLocation KeyChain_bar__minus_04_dot_16_bar__plus_00_dot_54_bar__plus_03_dot_53 loc_bar__minus_14_bar_14_bar_3_bar_60)\n (objectAtLocation Pillow_bar__minus_02_dot_49_bar__plus_00_dot_61_bar__plus_00_dot_79 loc_bar__minus_11_bar_8_bar_2_bar_45)\n (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)\n (objectAtLocation Statue_bar__minus_00_dot_46_bar__plus_00_dot_27_bar__plus_05_dot_70 loc_bar__minus_6_bar_24_bar_1_bar_45)\n (objectAtLocation RemoteControl_bar__minus_00_dot_60_bar__plus_01_dot_46_bar__plus_05_dot_25 loc_bar__minus_5_bar_24_bar_1_bar_15)\n (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)\n (objectAtLocation CreditCard_bar__minus_00_dot_45_bar__plus_01_dot_46_bar__plus_05_dot_50 loc_bar__minus_5_bar_24_bar_1_bar_15)\n (objectAtLocation Statue_bar__minus_00_dot_60_bar__plus_01_dot_47_bar__plus_05_dot_99 loc_bar__minus_5_bar_24_bar_1_bar_15)\n (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)\n (objectAtLocation Laptop_bar__minus_02_dot_65_bar__plus_00_dot_45_bar__plus_04_dot_72 loc_bar__minus_6_bar_17_bar_3_bar_60)\n (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)\n (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)\n (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)\n (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)\n (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)\n (objectAtLocation Statue_bar__minus_00_dot_32_bar__plus_00_dot_29_bar__plus_06_dot_00 loc_bar__minus_6_bar_24_bar_1_bar_45)\n )\n \n\n (:goal\n (and\n (exists (?r - receptacle)\n (exists (?o1 - object)\n (and\n (objectType ?o1 StatueType)\n (receptacleType ?r SideTableType)\n (inReceptacle ?o1 ?r)\n (exists (?o2 - object)\n (and\n (not (= ?o1 ?o2))\n (objectType ?o2 StatueType)\n (receptacleType ?r SideTableType)\n (inReceptacle ?o2 ?r)\n )\n )\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to shelf 2", "take statue 1 from shelf 2", "go to sidetable 1", "move statue 1 to sidetable 1", "go to shelf 1", "take statue 3 from shelf 1", "go to sidetable 1", "move statue 3 to sidetable 1"]}
|
alfworld__pick_two_obj_and_place__807
|
pick_two_obj_and_place
|
pick_two_obj_and_place-Statue-None-SideTable-214/trial_T20190909_065508_033151/game.tw-pddl
|
{"pddl_domain": ";; Specification in PDDL of the Alfred domain\n;; Intended to be used with Fast Downward which supports PDDL 2.2 level 1 plus the :action-costs requirement from PDDL 3.1.\n\n(define (domain alfred)\n (:requirements\n :adl\n :action-costs\n :typing\n )\n (:types\n agent\n location\n receptacle\n object\n rtype\n otype\n )\n\n\n (:predicates\n (atLocation ?a - agent ?l - location) ; true if the agent is at the location\n (receptacleAtLocation ?r - receptacle ?l - location) ; true if the receptacle is at the location (constant)\n (objectAtLocation ?o - object ?l - location) ; true if the object is at the location\n (openable ?r - receptacle) ; true if a receptacle is openable\n (opened ?r - receptacle) ; true if a receptacle is opened\n (inReceptacle ?o - object ?r - receptacle) ; object ?o is in receptacle ?r\n (isReceptacleObject ?o - object) ; true if the object can have things put inside it\n (inReceptacleObject ?innerObject - object ?outerObject - object) ; object ?innerObject is inside object ?outerObject\n (isReceptacleObjectFull ?o - object) ; true if the receptacle object contains something\n (wasInReceptacle ?o - object ?r - receptacle) ; object ?o was or is in receptacle ?r now or some time in the past\n (checked ?r - receptacle) ; whether the receptacle has been looked inside/visited\n (examined ?l - location) ; TODO\n (receptacleType ?r - receptacle ?t - rtype) ; the type of receptacle (Cabinet vs Cabinet|01|2...)\n (canContain ?rt - rtype ?ot - otype) ; true if receptacle can hold object\n (objectType ?o - object ?t - otype) ; the type of object (Apple vs Apple|01|2...)\n (holds ?a - agent ?o - object) ; object ?o is held by agent ?a\n (holdsAny ?a - agent) ; agent ?a holds an object\n (holdsAnyReceptacleObject ?a - agent) ; agent ?a holds a receptacle object\n (full ?r - receptacle) ; true if the receptacle has no remaining space\n (isClean ?o - object) ; true if the object has been clean in sink\n (cleanable ?o - object) ; true if the object can be placed in a sink\n (isHot ?o - object) ; true if the object has been heated up\n (heatable ?o - object) ; true if the object can be heated up in a microwave\n (isCool ?o - object) ; true if the object has been cooled\n (coolable ?o - object) ; true if the object can be cooled in the fridge\n (pickupable ?o - object) ; true if the object can be picked up\n (moveable ?o - object) ; true if the object can be moved\n (toggleable ?o - object) ; true if the object can be turned on/off\n (isOn ?o - object) ; true if the object is on\n (isToggled ?o - object) ; true if the object has been toggled\n (sliceable ?o - object) ; true if the object can be sliced\n (isSliced ?o - object) ; true if the object is sliced\n )\n\n (:functions\n (distance ?from ?to)\n (total-cost) - number\n )\n\n;; All actions are specified such that the final arguments are the ones used\n;; for performing actions in Unity.\n\n\n(:action look\n :parameters (?a - agent ?l - location)\n :precondition\n (and\n (atLocation ?a ?l)\n )\n :effect\n (and\n (checked ?l)\n )\n)\n\n(:action inventory\n :parameters (?a - agent)\n :precondition\n ()\n :effect\n (and\n (checked ?a)\n )\n)\n\n(:action examineReceptacle\n :parameters (?a - agent ?r - receptacle)\n :precondition\n (and\n (exists (?l - location)\n (and\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n )\n )\n )\n :effect\n (and\n (checked ?r)\n )\n)\n\n(:action examineObject\n :parameters (?a - agent ?o - object)\n :precondition\n (or\n ;(exists (?l - location)\n ; (and\n ; (atLocation ?a ?l)\n ; (objectAtLocation ?o ?l)\n ; )\n ;)\n (exists (?l - location, ?r - receptacle)\n (and\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n ; (objectAtLocation ?o ?l)\n (inReceptacle ?o ?r)\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n )\n )\n (holds ?a ?o)\n )\n :effect\n (and\n (checked ?o)\n )\n)\n\n;; agent goes to receptacle\n (:action GotoLocation\n :parameters (?a - agent ?lStart - location ?lEnd - location ?r - receptacle)\n :precondition (and\n (atLocation ?a ?lStart)\n (receptacleAtLocation ?r ?lEnd)\n ;(exists (?r - receptacle) (receptacleAtLocation ?r ?lEnd))\n )\n :effect (and\n (not (atLocation ?a ?lStart))\n (atLocation ?a ?lEnd)\n ; (forall (?r - receptacle)\n ; (when (and (receptacleAtLocation ?r ?lEnd)\n ; (or (not (openable ?r)) (opened ?r)))\n ; (checked ?r)\n ; )\n ; )\n ; (increase (total-cost) (distance ?lStart ?lEnd))\n (increase (total-cost) 1)\n )\n )\n\n;; agent opens receptacle\n (:action OpenObject\n :parameters (?a - agent ?l - location ?r - receptacle)\n :precondition (and\n (openable ?r)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (not (opened ?r))\n )\n :effect (and\n (opened ?r)\n (checked ?r)\n (increase (total-cost) 1)\n )\n )\n;; agent closes receptacle\n (:action CloseObject\n :parameters (?a - agent ?l - location ?r - receptacle)\n :precondition (and\n (openable ?r)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (opened ?r)\n )\n :effect (and\n (not (opened ?r))\n (increase (total-cost) 1)\n )\n\n )\n\n ;; agent picks up object from a receptacle\n (:action PickupObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n :precondition\n (and\n (pickupable ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n ; (objectAtLocation ?o ?l)\n (inReceptacle ?o ?r)\n (not (holdsAny ?a)) ; agent's hands are empty.\n ;(not (holdsAnyReceptacleObject ?a))\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n ;(not (isReceptacleObject ?o))\n )\n :effect\n (and\n (not (inReceptacle ?o ?r))\n (holds ?a ?o)\n (holdsAny ?a)\n (not (objectAtLocation ?o ?l))\n ;(not (full ?r))\n (increase (total-cost) 1)\n )\n )\n\n\n; ;; agent picks up object from a receptacle\n; (:action PickupObjectFromReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?outerR - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (inReceptacle ?o ?r)\n; (pickupable ?o)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (not (isReceptacleObject ?o))\n; (isReceptacleObject ?outerR)\n; (inReceptacleObject ?o ?outerR)\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (holds ?a ?o)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n;\n; (not (inReceptacleObject ?o ?outerR))\n; (not (isReceptacleObjectFull ?outerR))\n; )\n; )\n;\n; ;; agent picks up object from a receptacle\n; (:action PickupEmptyReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; ; (objectAtLocation ?o ?l)\n; (inReceptacle ?o ?r)\n; (pickupable ?o)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (isReceptacleObject ?o)\n; (not (isReceptacleObjectFull ?o))\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (holds ?a ?o)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n; (holdsAnyReceptacleObject ?a)\n; )\n; )\n;\n; ;; agent picks up object from a receptacle\n; (:action PickupFullReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?outerR - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (inReceptacle ?outerR ?r)\n; (pickupable ?outerR)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (not (isReceptacleObject ?o))\n; (isReceptacleObject ?outerR)\n; (inReceptacleObject ?o ?outerR)\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (not (inReceptacle ?outerR ?r))\n; (holds ?a ?outerR)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (objectAtLocation ?outerR ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n; (holdsAnyReceptacleObject ?a)\n; )\n; )\n\n\n;; agent puts down an object\n (:action PutObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle ?ot - otype ?rt - rtype)\n :precondition (and\n (holds ?a ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable\n ;(not (full ?r))\n (objectType ?o ?ot)\n (receptacleType ?r ?rt)\n (canContain ?rt ?ot)\n ;(not (holdsAnyReceptacleObject ?a))\n )\n :effect (and\n (inReceptacle ?o ?r)\n (objectAtLocation ?o ?l)\n ;(full ?r)\n (not (holds ?a ?o))\n (not (holdsAny ?a))\n (increase (total-cost) 1)\n )\n )\n\n;;; agent puts down an object\n; (:action PutObjectInReceptacleObject\n; :parameters (?a - agent ?l - location ?ot - otype ?o - object ?outerO - object ?outerR - receptacle)\n; :precondition (and\n; (atLocation ?a ?l)\n; (objectAtLocation ?outerO ?l)\n; (isReceptacleObject ?outerO)\n; (not (isReceptacleObject ?o))\n; (objectType ?o ?ot)\n; (holds ?a ?o)\n; (not (holdsAnyReceptacleObject ?a))\n; (inReceptacle ?outerO ?outerR)\n; (not (isReceptacleObjectFull ?outerO))\n; )\n; :effect (and\n; (inReceptacleObject ?o ?outerO)\n; (inReceptacle ?o ?outerR)\n; (not (holds ?a ?o))\n; (not (holdsAny ?a))\n; (objectAtLocation ?o ?l)\n; (isReceptacleObjectFull ?outerO)\n; (increase (total-cost) 1)\n; )\n; )\n;\n;;; agent puts down an object\n; (:action PutEmptyReceptacleObjectinReceptacle\n; :parameters (?a - agent ?l - location ?ot - otype ?o - object ?r - receptacle)\n; :precondition (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable\n; (not (full ?r))\n; (objectType ?o ?ot)\n; (holds ?a ?o)\n; (holdsAnyReceptacleObject ?a)\n; (isReceptacleObject ?o)\n; (not (isReceptacleObjectFull ?o))\n; )\n; :effect (and\n; (inReceptacle ?o ?r)\n; (objectAtLocation ?o ?l)\n; (full ?r)\n; (not (holds ?a ?o))\n; (not (holdsAny ?a))\n; (not (holdsAnyReceptacleObject ?a))\n; (increase (total-cost) 1)\n; )\n; )\n;\n;;; agent puts down a receptacle object in a receptacle\n; (:action PutFullReceptacleObjectInReceptacle\n; :parameters (?a - agent ?l - location ?ot - otype ?innerO - object ?outerO - object ?r - receptacle) ; ?rt - rtype)\n; :precondition (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (objectType ?outerO ?ot)\n; (holds ?a ?outerO)\n; (holdsAnyReceptacleObject ?a)\n; (isReceptacleObject ?outerO)\n; (isReceptacleObjectFull ?outerO)\n; (inReceptacleObject ?innerO ?outerO)\n; )\n; :effect (and\n; (not (holdsAny ?a))\n; (not (holdsAnyReceptacleObject ?a))\n; (objectAtLocation ?outerO ?l)\n; (objectAtLocation ?innerO ?l)\n; (inReceptacle ?outerO ?r)\n; (inReceptacle ?innerO ?r)\n; (not (holds ?a ?outerO))\n; (increase (total-cost) 1)\n; )\n; )\n\n;; agent cleans some object\n (:action CleanObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (cleanable ?o)\n (or\n (receptacleType ?r SinkType)\n (receptacleType ?r SinkBasinType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isClean ?o)\n )\n )\n\n\n;; agent heats-up some object\n (:action HeatObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (heatable ?o)\n (or\n (receptacleType ?r MicrowaveType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isHot ?o)\n (not (isCool ?o))\n )\n )\n\n;; agent cools some object\n (:action CoolObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (coolable ?o)\n (or\n (receptacleType ?r FridgeType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isCool ?o)\n (not (isHot ?o))\n )\n )\n\n\n;; agent toggle object\n (:action ToggleObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n :precondition (and\n (toggleable ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (inReceptacle ?o ?r)\n )\n :effect (and\n (increase (total-cost) 5)\n (when (isOn ?o)\n (not (isOn ?o)))\n (when (not (isOn ?o))\n (isOn ?o))\n (isToggled ?o)\n )\n )\n\n\n;; agent slices some object with a knife\n (:action SliceObject\n :parameters (?a - agent ?l - location ?co - object ?ko - object)\n :precondition\n (and\n (sliceable ?co)\n (or\n (objectType ?ko KnifeType)\n (objectType ?ko ButterKnifeType)\n )\n (atLocation ?a ?l)\n (objectAtLocation ?co ?l)\n (holds ?a ?ko)\n )\n :effect (and\n (increase (total-cost) 5)\n (isSliced ?co)\n )\n )\n\n\n(:action help\n :parameters (?a - agent)\n :precondition\n ()\n :effect\n (and\n (checked ?a)\n )\n)\n)\n", "grammar": "grammar :: \"\"\"\n {\n \"intro\": [\n {\n \"rhs\": \"-= Welcome to TextWorld, ALFRED! =-\\n\\n#look.feedback#\\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 statue 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_065508_033151)\n(:domain alfred)\n(:objects\nagent1 - agent\nSaltShaker - object\n HousePlant - object\n Candle - object\n SprayBottle - object\n Bowl - object\n Window - object\n CD - object\n Egg - object\n Glassbottle - object\n Sink - object\n Pillow - object\n Spoon - object\n SoapBottle - object\n TeddyBear - object\n ButterKnife - object\n Cup - object\n Plate - object\n RemoteControl - object\n Tomato - object\n Statue - object\n HandTowel - object\n Knife - object\n StoveKnob - object\n LightSwitch - object\n Pen - object\n Painting - object\n DishSponge - object\n Vase - object\n Mug - object\n ToiletPaper - object\n Box - object\n Mirror - object\n Ladle - object\n Fork - object\n Blinds - object\n Footstool - object\n KeyChain - object\n Cloth - object\n Laptop - object\n TissueBox - object\n PepperShaker - object\n FloorLamp - object\n WateringCan - object\n Apple - object\n Pan - object\n PaperTowel - object\n PaperTowelRoll - object\n Newspaper - object\n Television - object\n Chair - object\n CellPhone - object\n CreditCard - object\n Lettuce - object\n BasketBall - object\n Potato - object\n Curtains - object\n Boots - object\n Pencil - object\n AlarmClock - object\n ToiletPaperRoll - object\n Spatula - object\n Book - object\n Bread - object\n SoapBar - object\n Watch - object\n DeskLamp - object\n Kettle - object\n Pot - object\n ScrubBrush - object\n WineBottle - object\n ShowerDoor - object\n Bathtub - object\n LaundryHamperLid - object\n ShowerGlass - object\n Poster - object\n TennisRacket - object\n BaseballBat - object\n Towel - object\n Plunger - object\nSaltShakerType - otype\n HousePlantType - otype\n CandleType - otype\n SprayBottleType - otype\n BowlType - otype\n WindowType - otype\n CDType - otype\n EggType - otype\n GlassbottleType - otype\n SinkType - otype\n PillowType - otype\n SpoonType - otype\n SoapBottleType - otype\n TeddyBearType - otype\n ButterKnifeType - otype\n CupType - otype\n PlateType - otype\n RemoteControlType - otype\n TomatoType - otype\n StatueType - otype\n HandTowelType - otype\n KnifeType - otype\n StoveKnobType - otype\n LightSwitchType - otype\n PenType - otype\n PaintingType - otype\n DishSpongeType - otype\n VaseType - otype\n MugType - otype\n ToiletPaperType - otype\n BoxType - otype\n MirrorType - otype\n LadleType - otype\n ForkType - otype\n BlindsType - otype\n FootstoolType - otype\n KeyChainType - otype\n ClothType - otype\n LaptopType - otype\n TissueBoxType - otype\n PepperShakerType - otype\n FloorLampType - otype\n WateringCanType - otype\n AppleType - otype\n PanType - otype\n PaperTowelType - otype\n PaperTowelRollType - otype\n NewspaperType - otype\n TelevisionType - otype\n ChairType - otype\n CellPhoneType - otype\n CreditCardType - otype\n LettuceType - otype\n BasketBallType - otype\n PotatoType - otype\n CurtainsType - otype\n BootsType - otype\n PencilType - otype\n AlarmClockType - otype\n ToiletPaperRollType - otype\n SpatulaType - otype\n BookType - otype\n BreadType - otype\n SoapBarType - otype\n WatchType - otype\n DeskLampType - otype\n KettleType - otype\n PotType - otype\n ScrubBrushType - otype\n WineBottleType - otype\n ShowerDoorType - otype\n BathtubType - otype\n LaundryHamperLidType - otype\n ShowerGlassType - otype\n PosterType - otype\n TennisRacketType - otype\n BaseballBatType - otype\n TowelType - otype\n PlungerType - otype\nSafeType - rtype\n DrawerType - rtype\n CoffeeMachineType - rtype\n HandTowelHolderType - rtype\n SinkBasinType - rtype\n DresserType - rtype\n LaundryHamperType - rtype\n TVStandType - rtype\n BathtubBasinType - rtype\n CabinetType - rtype\n FridgeType - rtype\n DeskType - rtype\n ToiletType - rtype\n CartType - rtype\n SideTableType - rtype\n SofaType - rtype\n CoffeeTableType - rtype\n DiningTableType - rtype\n CounterTopType - rtype\n GarbageCanType - rtype\n ArmChairType - rtype\n ShelfType - rtype\n MicrowaveType - rtype\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_46_bar__plus_00_dot_40_bar__plus_06_dot_55 - object\n CreditCard_bar__minus_04_dot_39_bar__plus_00_dot_46_bar__plus_06_dot_17 - object\n Curtains_bar__minus_00_dot_05_bar__plus_02_dot_48_bar__plus_02_dot_63 - object\n Curtains_bar__minus_02_dot_19_bar__plus_02_dot_47_bar__plus_00_dot_04 - object\n Curtains_bar__minus_02_dot_83_bar__plus_02_dot_47_bar__plus_00_dot_04 - object\n FloorLamp_bar__minus_04_dot_51_bar__plus_00_dot_02_bar__plus_00_dot_66 - object\n HousePlant_bar__minus_02_dot_66_bar__plus_00_dot_44_bar__plus_04_dot_17 - object\n KeyChain_bar__minus_03_dot_10_bar__plus_00_dot_54_bar__plus_00_dot_79 - object\n Lamp_bar__minus_00_dot_45_bar__plus_00_dot_61_bar__plus_00_dot_69 - object\n Laptop_bar__minus_04_dot_34_bar__plus_00_dot_52_bar__plus_02_dot_22 - object\n LightSwitch_bar__minus_05_dot_00_bar__plus_01_dot_25_bar__plus_05_dot_86 - object\n Newspaper_bar__minus_00_dot_32_bar__plus_00_dot_29_bar__plus_06_dot_74 - object\n Newspaper_bar__minus_02_dot_80_bar__plus_00_dot_54_bar__plus_00_dot_60 - object\n Newspaper_bar__minus_04_dot_51_bar__plus_00_dot_54_bar__plus_03_dot_84 - object\n Painting_bar__minus_02_dot_67_bar__plus_01_dot_57_bar__plus_07_dot_00 - object\n Pillow_bar__minus_02_dot_49_bar__plus_00_dot_61_bar__plus_00_dot_79 - object\n Plate_bar__minus_00_dot_40_bar__plus_00_dot_29_bar__plus_06_dot_00 - object\n Plate_bar__minus_00_dot_56_bar__plus_01_dot_47_bar__plus_05_dot_50 - object\n RemoteControl_bar__minus_03_dot_02_bar__plus_00_dot_45_bar__plus_03_dot_61 - object\n Statue_bar__minus_02_dot_40_bar__plus_00_dot_45_bar__plus_04_dot_50 - object\n Statue_bar__minus_02_dot_77_bar__plus_00_dot_45_bar__plus_04_dot_72 - object\n Statue_bar__minus_02_dot_89_bar__plus_00_dot_46_bar__plus_04_dot_50 - object\n Statue_bar__minus_03_dot_02_bar__plus_00_dot_45_bar__plus_04_dot_06 - object\n Television_bar__minus_00_dot_75_bar__plus_01_dot_66_bar__plus_03_dot_94 - object\n Vase_bar__minus_00_dot_59_bar__plus_01_dot_45_bar__plus_06_dot_43 - object\n Vase_bar__minus_02_dot_40_bar__plus_00_dot_45_bar__plus_04_dot_06 - object\n WateringCan_bar__minus_02_dot_40_bar__plus_00_dot_45_bar__plus_04_dot_72 - object\n WateringCan_bar__minus_02_dot_53_bar__plus_00_dot_45_bar__plus_03_dot_84 - object\n Window_bar__minus_00_dot_01_bar__plus_01_dot_57_bar__plus_01_dot_50 - object\n Window_bar__minus_01_dot_37_bar__plus_01_dot_57_bar__plus_00_dot_01 - object\n Window_bar__minus_03_dot_73_bar__plus_01_dot_57_bar__plus_00_dot_01 - object\n ArmChair_bar__minus_04_dot_45_bar__plus_00_dot_00_bar__plus_06_dot_45 - receptacle\n CoffeeTable_bar__minus_02_dot_65_bar__plus_00_dot_02_bar__plus_04_dot_06 - receptacle\n GarbageCan_bar__minus_00_dot_52_bar__plus_00_dot_02_bar__plus_02_dot_82 - receptacle\n Shelf_bar__minus_00_dot_39_bar__plus_01_dot_45_bar__plus_05_dot_95 - receptacle\n Shelf_bar__minus_00_dot_40_bar__plus_00_dot_27_bar__plus_05_dot_96 - receptacle\n SideTable_bar__minus_00_dot_59_bar__plus_00_dot_02_bar__plus_00_dot_84 - receptacle\n Sofa_bar__minus_02_dot_49_bar__plus_00_dot_03_bar__plus_00_dot_73 - receptacle\n Sofa_bar__minus_04_dot_36_bar__plus_00_dot_03_bar__plus_02_dot_93 - receptacle\n loc_bar__minus_5_bar_6_bar_2_bar_0 - location\n loc_bar__minus_3_bar_6_bar_1_bar_15 - location\n loc_bar__minus_9_bar_6_bar_2_bar__minus_30 - location\n loc_bar__minus_11_bar_6_bar_2_bar__minus_30 - location\n loc_bar__minus_6_bar_17_bar_3_bar_60 - location\n loc_bar__minus_11_bar_8_bar_2_bar_45 - location\n loc_bar__minus_12_bar_6_bar_2_bar_60 - location\n loc_bar__minus_12_bar_10_bar_3_bar_45 - location\n loc_bar__minus_6_bar_16_bar_1_bar_0 - location\n loc_bar__minus_13_bar_25_bar_3_bar_60 - location\n loc_bar__minus_18_bar_23_bar_3_bar_45 - location\n loc_bar__minus_4_bar_8_bar_2_bar_60 - location\n loc_bar__minus_5_bar_24_bar_1_bar_15 - location\n loc_bar__minus_5_bar_10_bar_1_bar_60 - location\n loc_bar__minus_11_bar_26_bar_0_bar_15 - location\n loc_bar__minus_4_bar_11_bar_1_bar__minus_30 - location\n loc_bar__minus_14_bar_6_bar_3_bar_60 - location\n loc_bar__minus_14_bar_6_bar_2_bar_0 - location\n loc_bar__minus_6_bar_24_bar_1_bar_45 - location\n loc_bar__minus_14_bar_9_bar_1_bar_30 - location\n )\n \n\n(:init\n\n\n (receptacleType Sofa_bar__minus_04_dot_36_bar__plus_00_dot_03_bar__plus_02_dot_93 SofaType)\n (receptacleType Sofa_bar__minus_02_dot_49_bar__plus_00_dot_03_bar__plus_00_dot_73 SofaType)\n (receptacleType GarbageCan_bar__minus_00_dot_52_bar__plus_00_dot_02_bar__plus_02_dot_82 GarbageCanType)\n (receptacleType Shelf_bar__minus_00_dot_39_bar__plus_01_dot_45_bar__plus_05_dot_95 ShelfType)\n (receptacleType CoffeeTable_bar__minus_02_dot_65_bar__plus_00_dot_02_bar__plus_04_dot_06 CoffeeTableType)\n (receptacleType Shelf_bar__minus_00_dot_40_bar__plus_00_dot_27_bar__plus_05_dot_96 ShelfType)\n (receptacleType SideTable_bar__minus_00_dot_59_bar__plus_00_dot_02_bar__plus_00_dot_84 SideTableType)\n (receptacleType ArmChair_bar__minus_04_dot_45_bar__plus_00_dot_00_bar__plus_06_dot_45 ArmChairType)\n (objectType Curtains_bar__minus_02_dot_19_bar__plus_02_dot_47_bar__plus_00_dot_04 CurtainsType)\n (objectType HousePlant_bar__minus_02_dot_66_bar__plus_00_dot_44_bar__plus_04_dot_17 HousePlantType)\n (objectType Curtains_bar__minus_00_dot_05_bar__plus_02_dot_48_bar__plus_02_dot_63 CurtainsType)\n (objectType Window_bar__minus_00_dot_01_bar__plus_01_dot_57_bar__plus_01_dot_50 WindowType)\n (objectType LightSwitch_bar__minus_05_dot_00_bar__plus_01_dot_25_bar__plus_05_dot_86 LightSwitchType)\n (objectType Vase_bar__minus_00_dot_59_bar__plus_01_dot_45_bar__plus_06_dot_43 VaseType)\n (objectType Laptop_bar__minus_04_dot_34_bar__plus_00_dot_52_bar__plus_02_dot_22 LaptopType)\n (objectType FloorLamp_bar__minus_04_dot_51_bar__plus_00_dot_02_bar__plus_00_dot_66 FloorLampType)\n (objectType Plate_bar__minus_00_dot_56_bar__plus_01_dot_47_bar__plus_05_dot_50 PlateType)\n (objectType WateringCan_bar__minus_02_dot_53_bar__plus_00_dot_45_bar__plus_03_dot_84 WateringCanType)\n (objectType Statue_bar__minus_02_dot_40_bar__plus_00_dot_45_bar__plus_04_dot_50 StatueType)\n (objectType Television_bar__minus_00_dot_75_bar__plus_01_dot_66_bar__plus_03_dot_94 TelevisionType)\n (objectType Newspaper_bar__minus_04_dot_51_bar__plus_00_dot_54_bar__plus_03_dot_84 NewspaperType)\n (objectType Plate_bar__minus_00_dot_40_bar__plus_00_dot_29_bar__plus_06_dot_00 PlateType)\n (objectType CreditCard_bar__minus_04_dot_39_bar__plus_00_dot_46_bar__plus_06_dot_17 CreditCardType)\n (objectType Statue_bar__minus_02_dot_89_bar__plus_00_dot_46_bar__plus_04_dot_50 StatueType)\n (objectType KeyChain_bar__minus_03_dot_10_bar__plus_00_dot_54_bar__plus_00_dot_79 KeyChainType)\n (objectType Window_bar__minus_01_dot_37_bar__plus_01_dot_57_bar__plus_00_dot_01 WindowType)\n (objectType WateringCan_bar__minus_02_dot_40_bar__plus_00_dot_45_bar__plus_04_dot_72 WateringCanType)\n (objectType Box_bar__minus_00_dot_46_bar__plus_00_dot_40_bar__plus_06_dot_55 BoxType)\n (objectType RemoteControl_bar__minus_03_dot_02_bar__plus_00_dot_45_bar__plus_03_dot_61 RemoteControlType)\n (objectType Curtains_bar__minus_02_dot_83_bar__plus_02_dot_47_bar__plus_00_dot_04 CurtainsType)\n (objectType Vase_bar__minus_02_dot_40_bar__plus_00_dot_45_bar__plus_04_dot_06 VaseType)\n (objectType Statue_bar__minus_02_dot_77_bar__plus_00_dot_45_bar__plus_04_dot_72 StatueType)\n (objectType Window_bar__minus_03_dot_73_bar__plus_01_dot_57_bar__plus_00_dot_01 WindowType)\n (objectType Newspaper_bar__minus_00_dot_32_bar__plus_00_dot_29_bar__plus_06_dot_74 NewspaperType)\n (objectType Painting_bar__minus_02_dot_67_bar__plus_01_dot_57_bar__plus_07_dot_00 PaintingType)\n (objectType Statue_bar__minus_03_dot_02_bar__plus_00_dot_45_bar__plus_04_dot_06 StatueType)\n (objectType Newspaper_bar__minus_02_dot_80_bar__plus_00_dot_54_bar__plus_00_dot_60 NewspaperType)\n (objectType Pillow_bar__minus_02_dot_49_bar__plus_00_dot_61_bar__plus_00_dot_79 PillowType)\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 SofaType BoxType)\n (canContain SofaType LaptopType)\n (canContain SofaType PillowType)\n (canContain SofaType RemoteControlType)\n (canContain SofaType KeyChainType)\n (canContain SofaType NewspaperType)\n (canContain SofaType CreditCardType)\n (canContain GarbageCanType NewspaperType)\n (canContain ShelfType NewspaperType)\n (canContain ShelfType VaseType)\n (canContain ShelfType BoxType)\n (canContain ShelfType KeyChainType)\n (canContain ShelfType CreditCardType)\n (canContain ShelfType PlateType)\n (canContain ShelfType RemoteControlType)\n (canContain ShelfType StatueType)\n (canContain ShelfType WateringCanType)\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 PlateType)\n (canContain CoffeeTableType RemoteControlType)\n (canContain CoffeeTableType StatueType)\n (canContain CoffeeTableType WateringCanType)\n (canContain ShelfType NewspaperType)\n (canContain ShelfType VaseType)\n (canContain ShelfType BoxType)\n (canContain ShelfType KeyChainType)\n (canContain ShelfType CreditCardType)\n (canContain ShelfType PlateType)\n (canContain ShelfType RemoteControlType)\n (canContain ShelfType StatueType)\n (canContain ShelfType WateringCanType)\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 PlateType)\n (canContain SideTableType RemoteControlType)\n (canContain SideTableType StatueType)\n (canContain SideTableType WateringCanType)\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 (pickupable Vase_bar__minus_00_dot_59_bar__plus_01_dot_45_bar__plus_06_dot_43)\n (pickupable Laptop_bar__minus_04_dot_34_bar__plus_00_dot_52_bar__plus_02_dot_22)\n (pickupable Plate_bar__minus_00_dot_56_bar__plus_01_dot_47_bar__plus_05_dot_50)\n (pickupable WateringCan_bar__minus_02_dot_53_bar__plus_00_dot_45_bar__plus_03_dot_84)\n (pickupable Statue_bar__minus_02_dot_40_bar__plus_00_dot_45_bar__plus_04_dot_50)\n (pickupable Newspaper_bar__minus_04_dot_51_bar__plus_00_dot_54_bar__plus_03_dot_84)\n (pickupable Plate_bar__minus_00_dot_40_bar__plus_00_dot_29_bar__plus_06_dot_00)\n (pickupable CreditCard_bar__minus_04_dot_39_bar__plus_00_dot_46_bar__plus_06_dot_17)\n (pickupable Statue_bar__minus_02_dot_89_bar__plus_00_dot_46_bar__plus_04_dot_50)\n (pickupable KeyChain_bar__minus_03_dot_10_bar__plus_00_dot_54_bar__plus_00_dot_79)\n (pickupable WateringCan_bar__minus_02_dot_40_bar__plus_00_dot_45_bar__plus_04_dot_72)\n (pickupable Box_bar__minus_00_dot_46_bar__plus_00_dot_40_bar__plus_06_dot_55)\n (pickupable RemoteControl_bar__minus_03_dot_02_bar__plus_00_dot_45_bar__plus_03_dot_61)\n (pickupable Vase_bar__minus_02_dot_40_bar__plus_00_dot_45_bar__plus_04_dot_06)\n (pickupable Statue_bar__minus_02_dot_77_bar__plus_00_dot_45_bar__plus_04_dot_72)\n (pickupable Newspaper_bar__minus_00_dot_32_bar__plus_00_dot_29_bar__plus_06_dot_74)\n (pickupable Statue_bar__minus_03_dot_02_bar__plus_00_dot_45_bar__plus_04_dot_06)\n (pickupable Newspaper_bar__minus_02_dot_80_bar__plus_00_dot_54_bar__plus_00_dot_60)\n (pickupable Pillow_bar__minus_02_dot_49_bar__plus_00_dot_61_bar__plus_00_dot_79)\n (isReceptacleObject Plate_bar__minus_00_dot_56_bar__plus_01_dot_47_bar__plus_05_dot_50)\n (isReceptacleObject Plate_bar__minus_00_dot_40_bar__plus_00_dot_29_bar__plus_06_dot_00)\n (isReceptacleObject Box_bar__minus_00_dot_46_bar__plus_00_dot_40_bar__plus_06_dot_55)\n \n \n (atLocation agent1 loc_bar__minus_14_bar_9_bar_1_bar_30)\n \n (cleanable Plate_bar__minus_00_dot_56_bar__plus_01_dot_47_bar__plus_05_dot_50)\n (cleanable Plate_bar__minus_00_dot_40_bar__plus_00_dot_29_bar__plus_06_dot_00)\n \n (heatable Plate_bar__minus_00_dot_56_bar__plus_01_dot_47_bar__plus_05_dot_50)\n (heatable Plate_bar__minus_00_dot_40_bar__plus_00_dot_29_bar__plus_06_dot_00)\n (coolable Plate_bar__minus_00_dot_56_bar__plus_01_dot_47_bar__plus_05_dot_50)\n (coolable Plate_bar__minus_00_dot_40_bar__plus_00_dot_29_bar__plus_06_dot_00)\n \n \n (toggleable FloorLamp_bar__minus_04_dot_51_bar__plus_00_dot_02_bar__plus_00_dot_66)\n \n \n \n \n (inReceptacleObject Newspaper_bar__minus_00_dot_32_bar__plus_00_dot_29_bar__plus_06_dot_74 Box_bar__minus_00_dot_46_bar__plus_00_dot_40_bar__plus_06_dot_55)\n (inReceptacle CreditCard_bar__minus_04_dot_39_bar__plus_00_dot_46_bar__plus_06_dot_17 ArmChair_bar__minus_04_dot_45_bar__plus_00_dot_00_bar__plus_06_dot_45)\n (inReceptacle WateringCan_bar__minus_02_dot_53_bar__plus_00_dot_45_bar__plus_03_dot_84 CoffeeTable_bar__minus_02_dot_65_bar__plus_00_dot_02_bar__plus_04_dot_06)\n (inReceptacle Statue_bar__minus_02_dot_40_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)\n (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)\n (inReceptacle Statue_bar__minus_02_dot_89_bar__plus_00_dot_46_bar__plus_04_dot_50 CoffeeTable_bar__minus_02_dot_65_bar__plus_00_dot_02_bar__plus_04_dot_06)\n (inReceptacle Statue_bar__minus_03_dot_02_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)\n (inReceptacle WateringCan_bar__minus_02_dot_40_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)\n (inReceptacle RemoteControl_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)\n (inReceptacle Vase_bar__minus_02_dot_40_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)\n (inReceptacle Statue_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)\n (inReceptacle Newspaper_bar__minus_02_dot_80_bar__plus_00_dot_54_bar__plus_00_dot_60 Sofa_bar__minus_02_dot_49_bar__plus_00_dot_03_bar__plus_00_dot_73)\n (inReceptacle Pillow_bar__minus_02_dot_49_bar__plus_00_dot_61_bar__plus_00_dot_79 Sofa_bar__minus_02_dot_49_bar__plus_00_dot_03_bar__plus_00_dot_73)\n (inReceptacle Laptop_bar__minus_04_dot_34_bar__plus_00_dot_52_bar__plus_02_dot_22 Sofa_bar__minus_04_dot_36_bar__plus_00_dot_03_bar__plus_02_dot_93)\n (inReceptacle Newspaper_bar__minus_04_dot_51_bar__plus_00_dot_54_bar__plus_03_dot_84 Sofa_bar__minus_04_dot_36_bar__plus_00_dot_03_bar__plus_02_dot_93)\n (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)\n (inReceptacle Plate_bar__minus_00_dot_56_bar__plus_01_dot_47_bar__plus_05_dot_50 Shelf_bar__minus_00_dot_39_bar__plus_01_dot_45_bar__plus_05_dot_95)\n (inReceptacle Newspaper_bar__minus_00_dot_32_bar__plus_00_dot_29_bar__plus_06_dot_74 Shelf_bar__minus_00_dot_40_bar__plus_00_dot_27_bar__plus_05_dot_96)\n (inReceptacle Box_bar__minus_00_dot_46_bar__plus_00_dot_40_bar__plus_06_dot_55 Shelf_bar__minus_00_dot_40_bar__plus_00_dot_27_bar__plus_05_dot_96)\n (inReceptacle Plate_bar__minus_00_dot_40_bar__plus_00_dot_29_bar__plus_06_dot_00 Shelf_bar__minus_00_dot_40_bar__plus_00_dot_27_bar__plus_05_dot_96)\n \n \n (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)\n (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)\n (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)\n (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)\n (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)\n (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)\n (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)\n (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)\n (objectAtLocation Statue_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)\n (objectAtLocation Newspaper_bar__minus_00_dot_32_bar__plus_00_dot_29_bar__plus_06_dot_74 loc_bar__minus_6_bar_24_bar_1_bar_45)\n (objectAtLocation WateringCan_bar__minus_02_dot_40_bar__plus_00_dot_45_bar__plus_04_dot_72 loc_bar__minus_6_bar_17_bar_3_bar_60)\n (objectAtLocation Plate_bar__minus_00_dot_56_bar__plus_01_dot_47_bar__plus_05_dot_50 loc_bar__minus_5_bar_24_bar_1_bar_15)\n (objectAtLocation Newspaper_bar__minus_02_dot_80_bar__plus_00_dot_54_bar__plus_00_dot_60 loc_bar__minus_11_bar_8_bar_2_bar_45)\n (objectAtLocation Box_bar__minus_00_dot_46_bar__plus_00_dot_40_bar__plus_06_dot_55 loc_bar__minus_6_bar_24_bar_1_bar_45)\n (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)\n (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)\n (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)\n (objectAtLocation Plate_bar__minus_00_dot_40_bar__plus_00_dot_29_bar__plus_06_dot_00 loc_bar__minus_6_bar_24_bar_1_bar_45)\n (objectAtLocation Vase_bar__minus_02_dot_40_bar__plus_00_dot_45_bar__plus_04_dot_06 loc_bar__minus_6_bar_17_bar_3_bar_60)\n (objectAtLocation WateringCan_bar__minus_02_dot_53_bar__plus_00_dot_45_bar__plus_03_dot_84 loc_bar__minus_6_bar_17_bar_3_bar_60)\n (objectAtLocation Newspaper_bar__minus_04_dot_51_bar__plus_00_dot_54_bar__plus_03_dot_84 loc_bar__minus_12_bar_10_bar_3_bar_45)\n (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)\n (objectAtLocation KeyChain_bar__minus_03_dot_10_bar__plus_00_dot_54_bar__plus_00_dot_79 loc_bar__minus_12_bar_6_bar_2_bar_60)\n (objectAtLocation Pillow_bar__minus_02_dot_49_bar__plus_00_dot_61_bar__plus_00_dot_79 loc_bar__minus_11_bar_8_bar_2_bar_45)\n (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)\n (objectAtLocation Statue_bar__minus_02_dot_40_bar__plus_00_dot_45_bar__plus_04_dot_50 loc_bar__minus_6_bar_17_bar_3_bar_60)\n (objectAtLocation RemoteControl_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)\n (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)\n (objectAtLocation CreditCard_bar__minus_04_dot_39_bar__plus_00_dot_46_bar__plus_06_dot_17 loc_bar__minus_13_bar_25_bar_3_bar_60)\n (objectAtLocation Statue_bar__minus_02_dot_89_bar__plus_00_dot_46_bar__plus_04_dot_50 loc_bar__minus_6_bar_17_bar_3_bar_60)\n (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)\n (objectAtLocation Laptop_bar__minus_04_dot_34_bar__plus_00_dot_52_bar__plus_02_dot_22 loc_bar__minus_12_bar_10_bar_3_bar_45)\n (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)\n (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)\n (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)\n (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)\n (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)\n (objectAtLocation Statue_bar__minus_03_dot_02_bar__plus_00_dot_45_bar__plus_04_dot_06 loc_bar__minus_6_bar_17_bar_3_bar_60)\n )\n \n\n (:goal\n (and\n (exists (?r - receptacle)\n (exists (?o1 - object)\n (and\n (objectType ?o1 StatueType)\n (receptacleType ?r SideTableType)\n (inReceptacle ?o1 ?r)\n (exists (?o2 - object)\n (and\n (not (= ?o1 ?o2))\n (objectType ?o2 StatueType)\n (receptacleType ?r SideTableType)\n (inReceptacle ?o2 ?r)\n )\n )\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to coffeetable 1", "take statue 4 from coffeetable 1", "go to sidetable 1", "move statue 4 to sidetable 1", "go to coffeetable 1", "take statue 3 from coffeetable 1", "go to sidetable 1", "move statue 3 to sidetable 1"]}
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alfworld__pick_two_obj_and_place__808
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pick_two_obj_and_place
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pick_two_obj_and_place-Statue-None-SideTable-214/trial_T20190909_065635_751813/game.tw-pddl
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{"pddl_domain": ";; Specification in PDDL of the Alfred domain\n;; Intended to be used with Fast Downward which supports PDDL 2.2 level 1 plus the :action-costs requirement from PDDL 3.1.\n\n(define (domain alfred)\n (:requirements\n :adl\n :action-costs\n :typing\n )\n (:types\n agent\n location\n receptacle\n object\n rtype\n otype\n )\n\n\n (:predicates\n (atLocation ?a - agent ?l - location) ; true if the agent is at the location\n (receptacleAtLocation ?r - receptacle ?l - location) ; true if the receptacle is at the location (constant)\n (objectAtLocation ?o - object ?l - location) ; true if the object is at the location\n (openable ?r - receptacle) ; true if a receptacle is openable\n (opened ?r - receptacle) ; true if a receptacle is opened\n (inReceptacle ?o - object ?r - receptacle) ; object ?o is in receptacle ?r\n (isReceptacleObject ?o - object) ; true if the object can have things put inside it\n (inReceptacleObject ?innerObject - object ?outerObject - object) ; object ?innerObject is inside object ?outerObject\n (isReceptacleObjectFull ?o - object) ; true if the receptacle object contains something\n (wasInReceptacle ?o - object ?r - receptacle) ; object ?o was or is in receptacle ?r now or some time in the past\n (checked ?r - receptacle) ; whether the receptacle has been looked inside/visited\n (examined ?l - location) ; TODO\n (receptacleType ?r - receptacle ?t - rtype) ; the type of receptacle (Cabinet vs Cabinet|01|2...)\n (canContain ?rt - rtype ?ot - otype) ; true if receptacle can hold object\n (objectType ?o - object ?t - otype) ; the type of object (Apple vs Apple|01|2...)\n (holds ?a - agent ?o - object) ; object ?o is held by agent ?a\n (holdsAny ?a - agent) ; agent ?a holds an object\n (holdsAnyReceptacleObject ?a - agent) ; agent ?a holds a receptacle object\n (full ?r - receptacle) ; true if the receptacle has no remaining space\n (isClean ?o - object) ; true if the object has been clean in sink\n (cleanable ?o - object) ; true if the object can be placed in a sink\n (isHot ?o - object) ; true if the object has been heated up\n (heatable ?o - object) ; true if the object can be heated up in a microwave\n (isCool ?o - object) ; true if the object has been cooled\n (coolable ?o - object) ; true if the object can be cooled in the fridge\n (pickupable ?o - object) ; true if the object can be picked up\n (moveable ?o - object) ; true if the object can be moved\n (toggleable ?o - object) ; true if the object can be turned on/off\n (isOn ?o - object) ; true if the object is on\n (isToggled ?o - object) ; true if the object has been toggled\n (sliceable ?o - object) ; true if the object can be sliced\n (isSliced ?o - object) ; true if the object is sliced\n )\n\n (:functions\n (distance ?from ?to)\n (total-cost) - number\n )\n\n;; All actions are specified such that the final arguments are the ones used\n;; for performing actions in Unity.\n\n\n(:action look\n :parameters (?a - agent ?l - location)\n :precondition\n (and\n (atLocation ?a ?l)\n )\n :effect\n (and\n (checked ?l)\n )\n)\n\n(:action inventory\n :parameters (?a - agent)\n :precondition\n ()\n :effect\n (and\n (checked ?a)\n )\n)\n\n(:action examineReceptacle\n :parameters (?a - agent ?r - receptacle)\n :precondition\n (and\n (exists (?l - location)\n (and\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n )\n )\n )\n :effect\n (and\n (checked ?r)\n )\n)\n\n(:action examineObject\n :parameters (?a - agent ?o - object)\n :precondition\n (or\n ;(exists (?l - location)\n ; (and\n ; (atLocation ?a ?l)\n ; (objectAtLocation ?o ?l)\n ; )\n ;)\n (exists (?l - location, ?r - receptacle)\n (and\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n ; (objectAtLocation ?o ?l)\n (inReceptacle ?o ?r)\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n )\n )\n (holds ?a ?o)\n )\n :effect\n (and\n (checked ?o)\n )\n)\n\n;; agent goes to receptacle\n (:action GotoLocation\n :parameters (?a - agent ?lStart - location ?lEnd - location ?r - receptacle)\n :precondition (and\n (atLocation ?a ?lStart)\n (receptacleAtLocation ?r ?lEnd)\n ;(exists (?r - receptacle) (receptacleAtLocation ?r ?lEnd))\n )\n :effect (and\n (not (atLocation ?a ?lStart))\n (atLocation ?a ?lEnd)\n ; (forall (?r - receptacle)\n ; (when (and (receptacleAtLocation ?r ?lEnd)\n ; (or (not (openable ?r)) (opened ?r)))\n ; (checked ?r)\n ; )\n ; )\n ; (increase (total-cost) (distance ?lStart ?lEnd))\n (increase (total-cost) 1)\n )\n )\n\n;; agent opens receptacle\n (:action OpenObject\n :parameters (?a - agent ?l - location ?r - receptacle)\n :precondition (and\n (openable ?r)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (not (opened ?r))\n )\n :effect (and\n (opened ?r)\n (checked ?r)\n (increase (total-cost) 1)\n )\n )\n;; agent closes receptacle\n (:action CloseObject\n :parameters (?a - agent ?l - location ?r - receptacle)\n :precondition (and\n (openable ?r)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (opened ?r)\n )\n :effect (and\n (not (opened ?r))\n (increase (total-cost) 1)\n )\n\n )\n\n ;; agent picks up object from a receptacle\n (:action PickupObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n :precondition\n (and\n (pickupable ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n ; (objectAtLocation ?o ?l)\n (inReceptacle ?o ?r)\n (not (holdsAny ?a)) ; agent's hands are empty.\n ;(not (holdsAnyReceptacleObject ?a))\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n ;(not (isReceptacleObject ?o))\n )\n :effect\n (and\n (not (inReceptacle ?o ?r))\n (holds ?a ?o)\n (holdsAny ?a)\n (not (objectAtLocation ?o ?l))\n ;(not (full ?r))\n (increase (total-cost) 1)\n )\n )\n\n\n; ;; agent picks up object from a receptacle\n; (:action PickupObjectFromReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?outerR - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (inReceptacle ?o ?r)\n; (pickupable ?o)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (not (isReceptacleObject ?o))\n; (isReceptacleObject ?outerR)\n; (inReceptacleObject ?o ?outerR)\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (holds ?a ?o)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n;\n; (not (inReceptacleObject ?o ?outerR))\n; (not (isReceptacleObjectFull ?outerR))\n; )\n; )\n;\n; ;; agent picks up object from a receptacle\n; (:action PickupEmptyReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; ; (objectAtLocation ?o ?l)\n; (inReceptacle ?o ?r)\n; (pickupable ?o)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (isReceptacleObject ?o)\n; (not (isReceptacleObjectFull ?o))\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (holds ?a ?o)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n; (holdsAnyReceptacleObject ?a)\n; )\n; )\n;\n; ;; agent picks up object from a receptacle\n; (:action PickupFullReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?outerR - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (inReceptacle ?outerR ?r)\n; (pickupable ?outerR)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (not (isReceptacleObject ?o))\n; (isReceptacleObject ?outerR)\n; (inReceptacleObject ?o ?outerR)\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (not (inReceptacle ?outerR ?r))\n; (holds ?a ?outerR)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (objectAtLocation ?outerR ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n; (holdsAnyReceptacleObject ?a)\n; )\n; )\n\n\n;; agent puts down an object\n (:action PutObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle ?ot - otype ?rt - rtype)\n :precondition (and\n (holds ?a ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable\n ;(not (full ?r))\n (objectType ?o ?ot)\n (receptacleType ?r ?rt)\n (canContain ?rt ?ot)\n ;(not (holdsAnyReceptacleObject ?a))\n )\n :effect (and\n (inReceptacle ?o ?r)\n (objectAtLocation ?o ?l)\n ;(full ?r)\n (not (holds ?a ?o))\n (not (holdsAny ?a))\n (increase (total-cost) 1)\n )\n )\n\n;;; agent puts down an object\n; (:action PutObjectInReceptacleObject\n; :parameters (?a - agent ?l - location ?ot - otype ?o - object ?outerO - object ?outerR - receptacle)\n; :precondition (and\n; (atLocation ?a ?l)\n; (objectAtLocation ?outerO ?l)\n; (isReceptacleObject ?outerO)\n; (not (isReceptacleObject ?o))\n; (objectType ?o ?ot)\n; (holds ?a ?o)\n; (not (holdsAnyReceptacleObject ?a))\n; (inReceptacle ?outerO ?outerR)\n; (not (isReceptacleObjectFull ?outerO))\n; )\n; :effect (and\n; (inReceptacleObject ?o ?outerO)\n; (inReceptacle ?o ?outerR)\n; (not (holds ?a ?o))\n; (not (holdsAny ?a))\n; (objectAtLocation ?o ?l)\n; (isReceptacleObjectFull ?outerO)\n; (increase (total-cost) 1)\n; )\n; )\n;\n;;; agent puts down an object\n; (:action PutEmptyReceptacleObjectinReceptacle\n; :parameters (?a - agent ?l - location ?ot - otype ?o - object ?r - receptacle)\n; :precondition (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable\n; (not (full ?r))\n; (objectType ?o ?ot)\n; (holds ?a ?o)\n; (holdsAnyReceptacleObject ?a)\n; (isReceptacleObject ?o)\n; (not (isReceptacleObjectFull ?o))\n; )\n; :effect (and\n; (inReceptacle ?o ?r)\n; (objectAtLocation ?o ?l)\n; (full ?r)\n; (not (holds ?a ?o))\n; (not (holdsAny ?a))\n; (not (holdsAnyReceptacleObject ?a))\n; (increase (total-cost) 1)\n; )\n; )\n;\n;;; agent puts down a receptacle object in a receptacle\n; (:action PutFullReceptacleObjectInReceptacle\n; :parameters (?a - agent ?l - location ?ot - otype ?innerO - object ?outerO - object ?r - receptacle) ; ?rt - rtype)\n; :precondition (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (objectType ?outerO ?ot)\n; (holds ?a ?outerO)\n; (holdsAnyReceptacleObject ?a)\n; (isReceptacleObject ?outerO)\n; (isReceptacleObjectFull ?outerO)\n; (inReceptacleObject ?innerO ?outerO)\n; )\n; :effect (and\n; (not (holdsAny ?a))\n; (not (holdsAnyReceptacleObject ?a))\n; (objectAtLocation ?outerO ?l)\n; (objectAtLocation ?innerO ?l)\n; (inReceptacle ?outerO ?r)\n; (inReceptacle ?innerO ?r)\n; (not (holds ?a ?outerO))\n; (increase (total-cost) 1)\n; )\n; )\n\n;; agent cleans some object\n (:action CleanObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (cleanable ?o)\n (or\n (receptacleType ?r SinkType)\n (receptacleType ?r SinkBasinType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isClean ?o)\n )\n )\n\n\n;; agent heats-up some object\n (:action HeatObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (heatable ?o)\n (or\n (receptacleType ?r MicrowaveType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isHot ?o)\n (not (isCool ?o))\n )\n )\n\n;; agent cools some object\n (:action CoolObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (coolable ?o)\n (or\n (receptacleType ?r FridgeType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isCool ?o)\n (not (isHot ?o))\n )\n )\n\n\n;; agent toggle object\n (:action ToggleObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n :precondition (and\n (toggleable ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (inReceptacle ?o ?r)\n )\n :effect (and\n (increase (total-cost) 5)\n (when (isOn ?o)\n (not (isOn ?o)))\n (when (not (isOn ?o))\n (isOn ?o))\n (isToggled ?o)\n )\n )\n\n\n;; agent slices some object with a knife\n (:action SliceObject\n :parameters (?a - agent ?l - location ?co - object ?ko - object)\n :precondition\n (and\n (sliceable ?co)\n (or\n (objectType ?ko KnifeType)\n (objectType ?ko ButterKnifeType)\n )\n (atLocation ?a ?l)\n (objectAtLocation ?co ?l)\n (holds ?a ?ko)\n )\n :effect (and\n (increase (total-cost) 5)\n (isSliced ?co)\n )\n )\n\n\n(:action help\n :parameters (?a - agent)\n :precondition\n ()\n :effect\n (and\n (checked ?a)\n )\n)\n)\n", "grammar": "grammar :: \"\"\"\n {\n \"intro\": [\n {\n \"rhs\": \"-= Welcome to TextWorld, ALFRED! =-\\n\\n#look.feedback#\\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 statue and put them in sidetable.\"\n }\n ],\n\n \"GotoLocation.feedback\": [\n {\n \"rhs\": \"You arrive at {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"OpenObject.feedback\": [\n {\n \"rhs\": \"You open the {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"CloseObject.feedback\": [\n {\n \"rhs\": \"You close the {r.name}.\"\n }\n ],\n\n \"PickupObject.feedback\": [\n {\n \"rhs\": \"You pick up the {o.name} from the {r.name}.\"\n }\n ],\n\n \"PickupObjectFromReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupObjectFromReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupEmptyReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupEmptyReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupFullReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupFullReceptacleObject: You pick up the {outerr.name}.\"\n }\n ],\n\n \"PutObject.feedback\": [\n {\n \"rhs\": \"You move the {o.name} to the {r.name}.\"\n }\n ],\n\n \"PutObjectInReceptacleObject.feedback\": [\n {\n \"rhs\": \"PutObjectInReceptacleObject: You put the {o.name} in the {outero.name}.\"\n }\n ],\n\n \"PutEmptyReceptacleObjectinReceptacle.feedback\": [\n {\n \"rhs\": \"PutEmptyReceptacleObjectinReceptacle: You put the {o.name} in the {r.name}.\"\n }\n ],\n\n \"PutFullReceptacleObjectInReceptacle.feedback\": [\n {\n \"rhs\": \"PutFullReceptacleObjectInReceptacle: You put the {outero.name} in the {r.name}.\"\n }\n ],\n\n \"inventory.feedback\": [\n {\n \"condition\": \"holdsany(a:agent)\",\n \"rhs\": \"You are carrying: [{o.indefinite + ' ' + o.name | holds(a:agent, o:object)}].\"\n },\n {\n \"rhs\": \"You are not carrying anything.\"\n }\n ],\n\n \"examineReceptacle.feedback\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \"The {r.name} is open. In it, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \"The {r.name} is closed.\"\n },\n {\n \"rhs\": \"On the {r.name}, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n }\n ],\n\n \"examineObject.feedback\": [\n {\n \"condition\": \"isreceptacleobject(o:object)\",\n \"rhs\": \"This is a normal {o.name}. In it, you see [{o2.indefinite + ' ' + o2.name | inreceptacleobject(o2:object, o:object)}].\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a clean sliced {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot sliced {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object)\",\n \"rhs\": \"This is a hot and clean {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object)\",\n \"rhs\": \"This is a cool and clean {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object)\",\n \"rhs\": \"This is a hot {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object)\",\n \"rhs\": \"This is a clean {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object)\",\n \"rhs\": \"This is a cold {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"This {o.name} is on.\"\n },\n {\n \"condition\": \"toggleable(o:object) & not_istoggled(o:object)\",\n \"rhs\": \"This {o.name} is off.\"\n },\n {\n \"condition\": \"sliceable(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a sliced {o.name}.\"\n },\n {\n \"rhs\": \"There's nothing special about {o.name}.\"\n }\n ]\n }\n\"\"\";\n\naction GotoLocation {\n template :: \"go to [{r.name | receptacleatlocation(r:receptacle, lend:location)}]\";\n feedback :: \"#GotoLocation.feedback#\";\n}\n\naction OpenObject {\n template :: \"open {r}\";\n feedback :: \"#OpenObject.feedback#\";\n}\n\naction CloseObject {\n template :: \"close {r}\";\n feedback :: \"#CloseObject.feedback#\";\n}\n\naction PickupObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObject.feedback#\";\n}\n\naction PickupObjectFromReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObjectFromReceptacleObject.feedback#\";\n}\n\naction PickupEmptyReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupEmptyReceptacleObject.feedback#\";\n}\n\naction PickupFullReceptacleObject {\n template :: \"take {outerr} from {r}\";\n feedback :: \"#PickupFullReceptacleObject.feedback#\";\n}\n\naction PutObject {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutObject.feedback#\";\n}\n\naction PutObjectInReceptacleObject {\n template :: \"put {o} into {outero}\";\n feedback :: \"#PutObjectInReceptacleObject.feedback#\";\n}\n\naction PutEmptyReceptacleObjectinReceptacle {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutEmptyReceptacleObjectinReceptacle.feedback#\";\n}\n\naction PutFullReceptacleObjectInReceptacle {\n template :: \"put {outero} in {r}\";\n feedback :: \"#PutFullReceptacleObjectInReceptacle.feedback#\";\n}\n\naction inventory {\n template :: \"inventory\";\n feedback :: \"#inventory.feedback#\";\n}\n\naction examineReceptacle {\n template :: \"examine {r}\";\n feedback :: \"#examineReceptacle.feedback#\";\n}\n\naction examineObject {\n template :: \"examine {o}\";\n feedback :: \"#examineObject.feedback#\";\n}\n\naction ToggleObject {\n template :: \"use {o}\";\n feedback :: \"#toggleObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"toggleObject.feedback\": [\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"You turn on the {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object)\",\n \"rhs\": \"You turn off the {o.name}.\"\n },\n {\n \"rhs\": \"You don't see any switch on the {o.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction HeatObject {\n template :: \"heat {o} with {r}\";\n feedback :: \"#heatObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"heatObject.feedback\": [\n {\n \"rhs\": \"You heat the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CleanObject {\n template :: \"clean {o} with {r}\";\n feedback :: \"#cleanObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"cleanObject.feedback\": [\n {\n \"rhs\": \"You clean the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CoolObject {\n template :: \"cool {o} with {r}\";\n feedback :: \"#coolObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"coolObject.feedback\": [\n {\n \"rhs\": \"You cool the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction SliceObject {\n template :: \"slice {co} with {ko}\";\n feedback :: \"#sliceObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"sliceObject.feedback\": [\n {\n \"rhs\": \"You sliced the {co.name} with the {ko.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction look {\n template :: \"look\";\n feedback :: \"#look.feedback#\";\n\n grammar :: \"\"\"\n {\n \"look.feedback\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"#look-variations#. Next to it, you see #list_objects_on_the_floor#.\"\n },\n {\n \"rhs\": \"You are in the middle of a room. Looking quickly around you, you see #list_appliances#.\"\n }\n ],\n\n \"look-variations\": [\n {\n \"rhs\": \"You are facing the [{r.name | atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)}]\"\n }\n ],\n\n \"list_objects_on_the_floor\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)\",\n \"rhs\": \"[{#overview(o)# | atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"list_appliances\": [\n {\n \"condition\": \"receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"[{#overview(r)# | receptacleatlocation(r:receptacle, l:location)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"overview(o, r)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name} (in/on the {r.name})}\"\n }\n ],\n\n \"overview(o)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name}\"\n }\n ],\n \"overview(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}\"\n }\n ],\n \"overview_with_state(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}#overview_state(r)#\"\n }\n ],\n \"overview_state(r)\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \" (it is open)\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \" (it is closed)\"\n },\n {\n \"rhs\": \"\"\n }\n ],\n\n \"list_empty\": [\n {\n \"rhs\": \"nothing\"\n }\n ],\n \"list_separator\": [\n {\n \"rhs\": \", \"\n }\n ],\n \"list_last_separator\": [\n {\n \"rhs\": \", and \"\n }\n ]\n }\n \"\"\";\n}\n\naction help {\n template :: \"help\";\n feedback :: \"\nAvailable commands:\n look: look around your current location\n inventory: check your current inventory\n go to (receptacle): move to a receptacle\n open (receptacle): open a receptacle\n close (receptacle): close a receptacle\n take (object) from (receptacle): take an object from a receptacle\n move (object) to (receptacle): place an object in or on a receptacle\n examine (something): examine a receptacle or an object\n use (object): use an object\n heat (object) with (receptacle): heat an object using a receptacle\n clean (object) with (receptacle): clean an object using a receptacle\n cool (object) with (receptacle): cool an object using a receptacle\n slice (object) with (object): slice an object using a sharp object\n\";\n}\n", "pddl_problem": "\n(define (problem plan_trial_T20190909_065635_751813)\n(:domain alfred)\n(:objects\nagent1 - agent\nSaltShaker - object\n HousePlant - object\n Candle - object\n SprayBottle - object\n Bowl - object\n Window - object\n CD - object\n Egg - object\n Glassbottle - object\n Sink - object\n Pillow - object\n Spoon - object\n SoapBottle - object\n TeddyBear - object\n ButterKnife - object\n Cup - object\n Plate - object\n RemoteControl - object\n Tomato - object\n Statue - object\n HandTowel - object\n Knife - object\n StoveKnob - object\n LightSwitch - object\n Pen - object\n Painting - object\n DishSponge - object\n Vase - object\n Mug - object\n ToiletPaper - object\n Box - object\n Mirror - object\n Ladle - object\n Fork - object\n Blinds - object\n Footstool - object\n KeyChain - object\n Cloth - object\n Laptop - object\n TissueBox - object\n PepperShaker - object\n FloorLamp - object\n WateringCan - object\n Apple - object\n Pan - object\n PaperTowel - object\n PaperTowelRoll - object\n Newspaper - object\n Television - object\n Chair - object\n CellPhone - object\n CreditCard - object\n Lettuce - object\n BasketBall - object\n Potato - object\n Curtains - object\n Boots - object\n Pencil - object\n AlarmClock - object\n ToiletPaperRoll - object\n Spatula - object\n Book - object\n Bread - object\n SoapBar - object\n Watch - object\n DeskLamp - object\n Kettle - object\n Pot - object\n ScrubBrush - object\n WineBottle - object\n ShowerDoor - object\n Bathtub - object\n LaundryHamperLid - object\n ShowerGlass - object\n Poster - object\n TennisRacket - object\n BaseballBat - object\n Towel - object\n Plunger - object\nSaltShakerType - otype\n HousePlantType - otype\n CandleType - otype\n SprayBottleType - otype\n BowlType - otype\n WindowType - otype\n CDType - otype\n EggType - otype\n GlassbottleType - otype\n SinkType - otype\n PillowType - otype\n SpoonType - otype\n SoapBottleType - otype\n TeddyBearType - otype\n ButterKnifeType - otype\n CupType - otype\n PlateType - otype\n RemoteControlType - otype\n TomatoType - otype\n StatueType - otype\n HandTowelType - otype\n KnifeType - otype\n StoveKnobType - otype\n LightSwitchType - otype\n PenType - otype\n PaintingType - otype\n DishSpongeType - otype\n VaseType - otype\n MugType - otype\n ToiletPaperType - otype\n BoxType - otype\n MirrorType - otype\n LadleType - otype\n ForkType - otype\n BlindsType - otype\n FootstoolType - otype\n KeyChainType - otype\n ClothType - otype\n LaptopType - otype\n TissueBoxType - otype\n PepperShakerType - otype\n FloorLampType - otype\n WateringCanType - otype\n AppleType - otype\n PanType - otype\n PaperTowelType - otype\n PaperTowelRollType - otype\n NewspaperType - otype\n TelevisionType - otype\n ChairType - otype\n CellPhoneType - otype\n CreditCardType - otype\n LettuceType - otype\n BasketBallType - otype\n PotatoType - otype\n CurtainsType - otype\n BootsType - otype\n PencilType - otype\n AlarmClockType - otype\n ToiletPaperRollType - otype\n SpatulaType - otype\n BookType - otype\n BreadType - otype\n SoapBarType - otype\n WatchType - otype\n DeskLampType - otype\n KettleType - otype\n PotType - otype\n ScrubBrushType - otype\n WineBottleType - otype\n ShowerDoorType - otype\n BathtubType - otype\n LaundryHamperLidType - otype\n ShowerGlassType - otype\n PosterType - otype\n TennisRacketType - otype\n BaseballBatType - otype\n TowelType - otype\n PlungerType - otype\nSafeType - rtype\n DrawerType - rtype\n CoffeeMachineType - rtype\n HandTowelHolderType - rtype\n SinkBasinType - rtype\n DresserType - rtype\n LaundryHamperType - rtype\n TVStandType - rtype\n BathtubBasinType - rtype\n CabinetType - rtype\n FridgeType - rtype\n DeskType - rtype\n ToiletType - rtype\n CartType - rtype\n SideTableType - rtype\n SofaType - rtype\n CoffeeTableType - rtype\n DiningTableType - rtype\n CounterTopType - rtype\n GarbageCanType - rtype\n ArmChairType - rtype\n ShelfType - rtype\n MicrowaveType - rtype\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_46_bar__plus_00_dot_40_bar__plus_06_dot_55 - object\n CreditCard_bar__minus_02_dot_65_bar__plus_00_dot_45_bar__plus_03_dot_84 - object\n CreditCard_bar__minus_04_dot_39_bar__plus_00_dot_44_bar__plus_06_dot_36 - object\n Curtains_bar__minus_00_dot_05_bar__plus_02_dot_48_bar__plus_02_dot_63 - object\n Curtains_bar__minus_02_dot_19_bar__plus_02_dot_47_bar__plus_00_dot_04 - object\n Curtains_bar__minus_02_dot_83_bar__plus_02_dot_47_bar__plus_00_dot_04 - object\n FloorLamp_bar__minus_04_dot_51_bar__plus_00_dot_02_bar__plus_00_dot_66 - object\n HousePlant_bar__minus_02_dot_66_bar__plus_00_dot_44_bar__plus_04_dot_17 - object\n KeyChain_bar__minus_02_dot_40_bar__plus_00_dot_45_bar__plus_03_dot_84 - object\n KeyChain_bar__minus_03_dot_02_bar__plus_00_dot_45_bar__plus_04_dot_28 - object\n KeyChain_bar__minus_04_dot_31_bar__plus_00_dot_44_bar__plus_06_dot_45 - object\n Lamp_bar__minus_00_dot_45_bar__plus_00_dot_61_bar__plus_00_dot_69 - object\n Laptop_bar__minus_02_dot_65_bar__plus_00_dot_45_bar__plus_04_dot_72 - object\n Laptop_bar__minus_04_dot_34_bar__plus_00_dot_52_bar__plus_02_dot_22 - object\n LightSwitch_bar__minus_05_dot_00_bar__plus_01_dot_25_bar__plus_05_dot_86 - object\n Newspaper_bar__minus_00_dot_32_bar__plus_00_dot_29_bar__plus_05_dot_26 - object\n Newspaper_bar__minus_00_dot_56_bar__plus_01_dot_47_bar__plus_05_dot_99 - object\n Newspaper_bar__minus_02_dot_49_bar__plus_00_dot_55_bar__plus_00_dot_98 - object\n Painting_bar__minus_02_dot_67_bar__plus_01_dot_57_bar__plus_07_dot_00 - object\n Pillow_bar__minus_01_dot_58_bar__plus_00_dot_61_bar__plus_00_dot_67 - object\n Plate_bar__minus_00_dot_56_bar__plus_00_dot_29_bar__plus_06_dot_00 - object\n RemoteControl_bar__minus_02_dot_28_bar__plus_00_dot_45_bar__plus_04_dot_06 - object\n RemoteControl_bar__minus_02_dot_65_bar__plus_00_dot_45_bar__plus_04_dot_28 - object\n RemoteControl_bar__minus_02_dot_89_bar__plus_00_dot_45_bar__plus_03_dot_84 - object\n Statue_bar__minus_00_dot_46_bar__plus_00_dot_27_bar__plus_05_dot_70 - object\n Statue_bar__minus_00_dot_60_bar__plus_01_dot_47_bar__plus_05_dot_50 - object\n Statue_bar__minus_02_dot_28_bar__plus_00_dot_46_bar__plus_04_dot_28 - object\n Television_bar__minus_00_dot_75_bar__plus_01_dot_66_bar__plus_03_dot_94 - object\n Vase_bar__minus_00_dot_59_bar__plus_01_dot_45_bar__plus_06_dot_43 - object\n Vase_bar__minus_02_dot_53_bar__plus_00_dot_45_bar__plus_04_dot_06 - object\n WateringCan_bar__minus_00_dot_24_bar__plus_00_dot_28_bar__plus_05_dot_50 - object\n WateringCan_bar__minus_00_dot_24_bar__plus_00_dot_28_bar__plus_06_dot_00 - object\n Window_bar__minus_00_dot_01_bar__plus_01_dot_57_bar__plus_01_dot_50 - object\n Window_bar__minus_01_dot_37_bar__plus_01_dot_57_bar__plus_00_dot_01 - object\n Window_bar__minus_03_dot_73_bar__plus_01_dot_57_bar__plus_00_dot_01 - object\n ArmChair_bar__minus_04_dot_45_bar__plus_00_dot_00_bar__plus_06_dot_45 - receptacle\n CoffeeTable_bar__minus_02_dot_65_bar__plus_00_dot_02_bar__plus_04_dot_06 - receptacle\n GarbageCan_bar__minus_00_dot_52_bar__plus_00_dot_02_bar__plus_02_dot_82 - receptacle\n Shelf_bar__minus_00_dot_39_bar__plus_01_dot_45_bar__plus_05_dot_95 - receptacle\n Shelf_bar__minus_00_dot_40_bar__plus_00_dot_27_bar__plus_05_dot_96 - receptacle\n SideTable_bar__minus_00_dot_59_bar__plus_00_dot_02_bar__plus_00_dot_84 - receptacle\n Sofa_bar__minus_02_dot_49_bar__plus_00_dot_03_bar__plus_00_dot_73 - receptacle\n Sofa_bar__minus_04_dot_36_bar__plus_00_dot_03_bar__plus_02_dot_93 - receptacle\n loc_bar__minus_5_bar_6_bar_2_bar_0 - location\n loc_bar__minus_3_bar_6_bar_1_bar_15 - location\n loc_bar__minus_9_bar_6_bar_2_bar__minus_30 - location\n loc_bar__minus_11_bar_6_bar_2_bar__minus_30 - location\n loc_bar__minus_6_bar_17_bar_3_bar_60 - location\n loc_bar__minus_11_bar_8_bar_2_bar_45 - location\n loc_bar__minus_12_bar_10_bar_3_bar_45 - location\n loc_bar__minus_6_bar_16_bar_1_bar_0 - location\n loc_bar__minus_13_bar_25_bar_3_bar_60 - location\n loc_bar__minus_18_bar_23_bar_3_bar_45 - location\n loc_bar__minus_17_bar_23_bar_0_bar_60 - location\n loc_bar__minus_4_bar_8_bar_2_bar_60 - location\n loc_bar__minus_5_bar_24_bar_1_bar_15 - location\n loc_bar__minus_5_bar_10_bar_1_bar_60 - location\n loc_bar__minus_11_bar_26_bar_0_bar_15 - location\n loc_bar__minus_4_bar_11_bar_1_bar__minus_30 - location\n loc_bar__minus_14_bar_6_bar_3_bar_60 - location\n loc_bar__minus_14_bar_6_bar_2_bar_0 - location\n loc_bar__minus_6_bar_24_bar_1_bar_45 - location\n loc_bar__minus_19_bar_21_bar_1_bar_30 - location\n )\n \n\n(:init\n\n\n (receptacleType Sofa_bar__minus_04_dot_36_bar__plus_00_dot_03_bar__plus_02_dot_93 SofaType)\n (receptacleType Sofa_bar__minus_02_dot_49_bar__plus_00_dot_03_bar__plus_00_dot_73 SofaType)\n (receptacleType GarbageCan_bar__minus_00_dot_52_bar__plus_00_dot_02_bar__plus_02_dot_82 GarbageCanType)\n (receptacleType Shelf_bar__minus_00_dot_39_bar__plus_01_dot_45_bar__plus_05_dot_95 ShelfType)\n (receptacleType CoffeeTable_bar__minus_02_dot_65_bar__plus_00_dot_02_bar__plus_04_dot_06 CoffeeTableType)\n (receptacleType Shelf_bar__minus_00_dot_40_bar__plus_00_dot_27_bar__plus_05_dot_96 ShelfType)\n (receptacleType SideTable_bar__minus_00_dot_59_bar__plus_00_dot_02_bar__plus_00_dot_84 SideTableType)\n (receptacleType ArmChair_bar__minus_04_dot_45_bar__plus_00_dot_00_bar__plus_06_dot_45 ArmChairType)\n (objectType Curtains_bar__minus_02_dot_19_bar__plus_02_dot_47_bar__plus_00_dot_04 CurtainsType)\n (objectType WateringCan_bar__minus_00_dot_24_bar__plus_00_dot_28_bar__plus_06_dot_00 WateringCanType)\n (objectType HousePlant_bar__minus_02_dot_66_bar__plus_00_dot_44_bar__plus_04_dot_17 HousePlantType)\n (objectType Curtains_bar__minus_00_dot_05_bar__plus_02_dot_48_bar__plus_02_dot_63 CurtainsType)\n (objectType Window_bar__minus_00_dot_01_bar__plus_01_dot_57_bar__plus_01_dot_50 WindowType)\n (objectType Newspaper_bar__minus_00_dot_56_bar__plus_01_dot_47_bar__plus_05_dot_99 NewspaperType)\n (objectType LightSwitch_bar__minus_05_dot_00_bar__plus_01_dot_25_bar__plus_05_dot_86 LightSwitchType)\n (objectType Vase_bar__minus_00_dot_59_bar__plus_01_dot_45_bar__plus_06_dot_43 VaseType)\n (objectType Newspaper_bar__minus_02_dot_49_bar__plus_00_dot_55_bar__plus_00_dot_98 NewspaperType)\n (objectType Laptop_bar__minus_04_dot_34_bar__plus_00_dot_52_bar__plus_02_dot_22 LaptopType)\n (objectType Newspaper_bar__minus_00_dot_32_bar__plus_00_dot_29_bar__plus_05_dot_26 NewspaperType)\n (objectType RemoteControl_bar__minus_02_dot_28_bar__plus_00_dot_45_bar__plus_04_dot_06 RemoteControlType)\n (objectType FloorLamp_bar__minus_04_dot_51_bar__plus_00_dot_02_bar__plus_00_dot_66 FloorLampType)\n (objectType Television_bar__minus_00_dot_75_bar__plus_01_dot_66_bar__plus_03_dot_94 TelevisionType)\n (objectType Vase_bar__minus_02_dot_53_bar__plus_00_dot_45_bar__plus_04_dot_06 VaseType)\n (objectType KeyChain_bar__minus_03_dot_02_bar__plus_00_dot_45_bar__plus_04_dot_28 KeyChainType)\n (objectType WateringCan_bar__minus_00_dot_24_bar__plus_00_dot_28_bar__plus_05_dot_50 WateringCanType)\n (objectType Window_bar__minus_01_dot_37_bar__plus_01_dot_57_bar__plus_00_dot_01 WindowType)\n (objectType Box_bar__minus_00_dot_46_bar__plus_00_dot_40_bar__plus_06_dot_55 BoxType)\n (objectType Statue_bar__minus_02_dot_28_bar__plus_00_dot_46_bar__plus_04_dot_28 StatueType)\n (objectType Pillow_bar__minus_01_dot_58_bar__plus_00_dot_61_bar__plus_00_dot_67 PillowType)\n (objectType Curtains_bar__minus_02_dot_83_bar__plus_02_dot_47_bar__plus_00_dot_04 CurtainsType)\n (objectType KeyChain_bar__minus_04_dot_31_bar__plus_00_dot_44_bar__plus_06_dot_45 KeyChainType)\n (objectType RemoteControl_bar__minus_02_dot_89_bar__plus_00_dot_45_bar__plus_03_dot_84 RemoteControlType)\n (objectType Statue_bar__minus_00_dot_60_bar__plus_01_dot_47_bar__plus_05_dot_50 StatueType)\n (objectType Window_bar__minus_03_dot_73_bar__plus_01_dot_57_bar__plus_00_dot_01 WindowType)\n (objectType CreditCard_bar__minus_02_dot_65_bar__plus_00_dot_45_bar__plus_03_dot_84 CreditCardType)\n (objectType Painting_bar__minus_02_dot_67_bar__plus_01_dot_57_bar__plus_07_dot_00 PaintingType)\n (objectType Statue_bar__minus_00_dot_46_bar__plus_00_dot_27_bar__plus_05_dot_70 StatueType)\n (objectType Laptop_bar__minus_02_dot_65_bar__plus_00_dot_45_bar__plus_04_dot_72 LaptopType)\n (objectType Plate_bar__minus_00_dot_56_bar__plus_00_dot_29_bar__plus_06_dot_00 PlateType)\n (objectType CreditCard_bar__minus_04_dot_39_bar__plus_00_dot_44_bar__plus_06_dot_36 CreditCardType)\n (objectType KeyChain_bar__minus_02_dot_40_bar__plus_00_dot_45_bar__plus_03_dot_84 KeyChainType)\n (objectType RemoteControl_bar__minus_02_dot_65_bar__plus_00_dot_45_bar__plus_04_dot_28 RemoteControlType)\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 SofaType BoxType)\n (canContain SofaType LaptopType)\n (canContain SofaType PillowType)\n (canContain SofaType RemoteControlType)\n (canContain SofaType 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ShelfType BoxType)\n (canContain ShelfType KeyChainType)\n (canContain ShelfType CreditCardType)\n (canContain ShelfType PlateType)\n (canContain ShelfType RemoteControlType)\n (canContain ShelfType StatueType)\n (canContain ShelfType WateringCanType)\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 PlateType)\n (canContain SideTableType RemoteControlType)\n (canContain SideTableType StatueType)\n (canContain SideTableType WateringCanType)\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 (pickupable WateringCan_bar__minus_00_dot_24_bar__plus_00_dot_28_bar__plus_06_dot_00)\n (pickupable Newspaper_bar__minus_00_dot_56_bar__plus_01_dot_47_bar__plus_05_dot_99)\n (pickupable Vase_bar__minus_00_dot_59_bar__plus_01_dot_45_bar__plus_06_dot_43)\n (pickupable Newspaper_bar__minus_02_dot_49_bar__plus_00_dot_55_bar__plus_00_dot_98)\n (pickupable Laptop_bar__minus_04_dot_34_bar__plus_00_dot_52_bar__plus_02_dot_22)\n (pickupable Newspaper_bar__minus_00_dot_32_bar__plus_00_dot_29_bar__plus_05_dot_26)\n (pickupable RemoteControl_bar__minus_02_dot_28_bar__plus_00_dot_45_bar__plus_04_dot_06)\n (pickupable Vase_bar__minus_02_dot_53_bar__plus_00_dot_45_bar__plus_04_dot_06)\n (pickupable KeyChain_bar__minus_03_dot_02_bar__plus_00_dot_45_bar__plus_04_dot_28)\n (pickupable WateringCan_bar__minus_00_dot_24_bar__plus_00_dot_28_bar__plus_05_dot_50)\n (pickupable Box_bar__minus_00_dot_46_bar__plus_00_dot_40_bar__plus_06_dot_55)\n (pickupable 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(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)\n (inReceptacle Vase_bar__minus_02_dot_53_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)\n (inReceptacle Laptop_bar__minus_02_dot_65_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)\n (inReceptacle KeyChain_bar__minus_03_dot_02_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)\n (inReceptacle RemoteControl_bar__minus_02_dot_89_bar__plus_00_dot_45_bar__plus_03_dot_84 CoffeeTable_bar__minus_02_dot_65_bar__plus_00_dot_02_bar__plus_04_dot_06)\n (inReceptacle Statue_bar__minus_02_dot_28_bar__plus_00_dot_46_bar__plus_04_dot_28 CoffeeTable_bar__minus_02_dot_65_bar__plus_00_dot_02_bar__plus_04_dot_06)\n (inReceptacle KeyChain_bar__minus_02_dot_40_bar__plus_00_dot_45_bar__plus_03_dot_84 CoffeeTable_bar__minus_02_dot_65_bar__plus_00_dot_02_bar__plus_04_dot_06)\n (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)\n (inReceptacle RemoteControl_bar__minus_02_dot_28_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)\n (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)\n (inReceptacle Newspaper_bar__minus_02_dot_49_bar__plus_00_dot_55_bar__plus_00_dot_98 Sofa_bar__minus_02_dot_49_bar__plus_00_dot_03_bar__plus_00_dot_73)\n (inReceptacle Laptop_bar__minus_04_dot_34_bar__plus_00_dot_52_bar__plus_02_dot_22 Sofa_bar__minus_04_dot_36_bar__plus_00_dot_03_bar__plus_02_dot_93)\n (inReceptacle Statue_bar__minus_00_dot_60_bar__plus_01_dot_47_bar__plus_05_dot_50 Shelf_bar__minus_00_dot_39_bar__plus_01_dot_45_bar__plus_05_dot_95)\n (inReceptacle Newspaper_bar__minus_00_dot_56_bar__plus_01_dot_47_bar__plus_05_dot_99 Shelf_bar__minus_00_dot_39_bar__plus_01_dot_45_bar__plus_05_dot_95)\n (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)\n (inReceptacle WateringCan_bar__minus_00_dot_24_bar__plus_00_dot_28_bar__plus_06_dot_00 Shelf_bar__minus_00_dot_40_bar__plus_00_dot_27_bar__plus_05_dot_96)\n (inReceptacle Statue_bar__minus_00_dot_46_bar__plus_00_dot_27_bar__plus_05_dot_70 Shelf_bar__minus_00_dot_40_bar__plus_00_dot_27_bar__plus_05_dot_96)\n (inReceptacle Plate_bar__minus_00_dot_56_bar__plus_00_dot_29_bar__plus_06_dot_00 Shelf_bar__minus_00_dot_40_bar__plus_00_dot_27_bar__plus_05_dot_96)\n (inReceptacle WateringCan_bar__minus_00_dot_24_bar__plus_00_dot_28_bar__plus_05_dot_50 Shelf_bar__minus_00_dot_40_bar__plus_00_dot_27_bar__plus_05_dot_96)\n (inReceptacle Box_bar__minus_00_dot_46_bar__plus_00_dot_40_bar__plus_06_dot_55 Shelf_bar__minus_00_dot_40_bar__plus_00_dot_27_bar__plus_05_dot_96)\n (inReceptacle Newspaper_bar__minus_00_dot_32_bar__plus_00_dot_29_bar__plus_05_dot_26 Shelf_bar__minus_00_dot_40_bar__plus_00_dot_27_bar__plus_05_dot_96)\n \n \n (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)\n (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)\n (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)\n (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)\n (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)\n (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)\n (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)\n (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)\n (objectAtLocation Laptop_bar__minus_04_dot_34_bar__plus_00_dot_52_bar__plus_02_dot_22 loc_bar__minus_12_bar_10_bar_3_bar_45)\n (objectAtLocation CreditCard_bar__minus_02_dot_65_bar__plus_00_dot_45_bar__plus_03_dot_84 loc_bar__minus_6_bar_17_bar_3_bar_60)\n (objectAtLocation RemoteControl_bar__minus_02_dot_89_bar__plus_00_dot_45_bar__plus_03_dot_84 loc_bar__minus_6_bar_17_bar_3_bar_60)\n (objectAtLocation KeyChain_bar__minus_02_dot_40_bar__plus_00_dot_45_bar__plus_03_dot_84 loc_bar__minus_6_bar_17_bar_3_bar_60)\n (objectAtLocation Newspaper_bar__minus_00_dot_56_bar__plus_01_dot_47_bar__plus_05_dot_99 loc_bar__minus_5_bar_24_bar_1_bar_15)\n (objectAtLocation WateringCan_bar__minus_00_dot_24_bar__plus_00_dot_28_bar__plus_06_dot_00 loc_bar__minus_6_bar_24_bar_1_bar_45)\n (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)\n (objectAtLocation KeyChain_bar__minus_04_dot_31_bar__plus_00_dot_44_bar__plus_06_dot_45 loc_bar__minus_17_bar_23_bar_0_bar_60)\n (objectAtLocation Newspaper_bar__minus_00_dot_32_bar__plus_00_dot_29_bar__plus_05_dot_26 loc_bar__minus_6_bar_24_bar_1_bar_45)\n (objectAtLocation Box_bar__minus_00_dot_46_bar__plus_00_dot_40_bar__plus_06_dot_55 loc_bar__minus_6_bar_24_bar_1_bar_45)\n (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)\n (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)\n (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)\n (objectAtLocation Plate_bar__minus_00_dot_56_bar__plus_00_dot_29_bar__plus_06_dot_00 loc_bar__minus_6_bar_24_bar_1_bar_45)\n (objectAtLocation Vase_bar__minus_02_dot_53_bar__plus_00_dot_45_bar__plus_04_dot_06 loc_bar__minus_6_bar_17_bar_3_bar_60)\n (objectAtLocation WateringCan_bar__minus_00_dot_24_bar__plus_00_dot_28_bar__plus_05_dot_50 loc_bar__minus_6_bar_24_bar_1_bar_45)\n (objectAtLocation Newspaper_bar__minus_02_dot_49_bar__plus_00_dot_55_bar__plus_00_dot_98 loc_bar__minus_11_bar_8_bar_2_bar_45)\n (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)\n (objectAtLocation KeyChain_bar__minus_03_dot_02_bar__plus_00_dot_45_bar__plus_04_dot_28 loc_bar__minus_6_bar_17_bar_3_bar_60)\n (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)\n (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)\n (objectAtLocation Statue_bar__minus_00_dot_46_bar__plus_00_dot_27_bar__plus_05_dot_70 loc_bar__minus_6_bar_24_bar_1_bar_45)\n (objectAtLocation RemoteControl_bar__minus_02_dot_28_bar__plus_00_dot_45_bar__plus_04_dot_06 loc_bar__minus_6_bar_17_bar_3_bar_60)\n (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)\n (objectAtLocation CreditCard_bar__minus_04_dot_39_bar__plus_00_dot_44_bar__plus_06_dot_36 loc_bar__minus_13_bar_25_bar_3_bar_60)\n (objectAtLocation Statue_bar__minus_00_dot_60_bar__plus_01_dot_47_bar__plus_05_dot_50 loc_bar__minus_5_bar_24_bar_1_bar_15)\n (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)\n (objectAtLocation Laptop_bar__minus_02_dot_65_bar__plus_00_dot_45_bar__plus_04_dot_72 loc_bar__minus_6_bar_17_bar_3_bar_60)\n (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)\n (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)\n (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)\n (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)\n (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)\n (objectAtLocation Statue_bar__minus_02_dot_28_bar__plus_00_dot_46_bar__plus_04_dot_28 loc_bar__minus_6_bar_17_bar_3_bar_60)\n )\n \n\n (:goal\n (and\n (exists (?r - receptacle)\n (exists (?o1 - object)\n (and\n (objectType ?o1 StatueType)\n (receptacleType ?r SideTableType)\n (inReceptacle ?o1 ?r)\n (exists (?o2 - object)\n (and\n (not (= ?o1 ?o2))\n (objectType ?o2 StatueType)\n (receptacleType ?r SideTableType)\n (inReceptacle ?o2 ?r)\n )\n )\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to shelf 2", "take statue 2 from shelf 2", "go to sidetable 1", "move statue 2 to sidetable 1", "go to coffeetable 1", "take statue 1 from coffeetable 1", "go to sidetable 1", "move statue 1 to sidetable 1"]}
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alfworld__pick_two_obj_and_place__809
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pick_two_obj_and_place
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pick_two_obj_and_place-SoapBar-None-Cabinet-428/trial_T20190909_013318_053714/game.tw-pddl
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{"pddl_domain": ";; Specification in PDDL of the Alfred domain\n;; Intended to be used with Fast Downward which supports PDDL 2.2 level 1 plus the :action-costs requirement from PDDL 3.1.\n\n(define (domain alfred)\n (:requirements\n :adl\n :action-costs\n :typing\n )\n (:types\n agent\n location\n receptacle\n object\n rtype\n otype\n )\n\n\n (:predicates\n (atLocation ?a - agent ?l - location) ; true if the agent is at the location\n (receptacleAtLocation ?r - receptacle ?l - location) ; true if the receptacle is at the location (constant)\n (objectAtLocation ?o - object ?l - location) ; true if the object is at the location\n (openable ?r - receptacle) ; true if a receptacle is openable\n (opened ?r - receptacle) ; true if a receptacle is opened\n (inReceptacle ?o - object ?r - receptacle) ; object ?o is in receptacle ?r\n (isReceptacleObject ?o - object) ; true if the object can have things put inside it\n (inReceptacleObject ?innerObject - object ?outerObject - object) ; object ?innerObject is inside object ?outerObject\n (isReceptacleObjectFull ?o - object) ; true if the receptacle object contains something\n (wasInReceptacle ?o - object ?r - receptacle) ; object ?o was or is in receptacle ?r now or some time in the past\n (checked ?r - receptacle) ; whether the receptacle has been looked inside/visited\n (examined ?l - location) ; TODO\n (receptacleType ?r - receptacle ?t - rtype) ; the type of receptacle (Cabinet vs Cabinet|01|2...)\n (canContain ?rt - rtype ?ot - otype) ; true if receptacle can hold object\n (objectType ?o - object ?t - otype) ; the type of object (Apple vs Apple|01|2...)\n (holds ?a - agent ?o - object) ; object ?o is held by agent ?a\n (holdsAny ?a - agent) ; agent ?a holds an object\n (holdsAnyReceptacleObject ?a - agent) ; agent ?a holds a receptacle object\n (full ?r - receptacle) ; true if the receptacle has no remaining space\n (isClean ?o - object) ; true if the object has been clean in sink\n (cleanable ?o - object) ; true if the object can be placed in a sink\n (isHot ?o - object) ; true if the object has been heated up\n (heatable ?o - object) ; true if the object can be heated up in a microwave\n (isCool ?o - object) ; true if the object has been cooled\n (coolable ?o - object) ; true if the object can be cooled in the fridge\n (pickupable ?o - object) ; true if the object can be picked up\n (moveable ?o - object) ; true if the object can be moved\n (toggleable ?o - object) ; true if the object can be turned on/off\n (isOn ?o - object) ; true if the object is on\n (isToggled ?o - object) ; true if the object has been toggled\n (sliceable ?o - object) ; true if the object can be sliced\n (isSliced ?o - object) ; true if the object is sliced\n )\n\n (:functions\n (distance ?from ?to)\n (total-cost) - number\n )\n\n;; All actions are specified such that the final arguments are the ones used\n;; for performing actions in Unity.\n\n\n(:action look\n :parameters (?a - agent ?l - location)\n :precondition\n (and\n (atLocation ?a ?l)\n )\n :effect\n (and\n (checked ?l)\n )\n)\n\n(:action inventory\n :parameters (?a - agent)\n :precondition\n ()\n :effect\n (and\n (checked ?a)\n )\n)\n\n(:action examineReceptacle\n :parameters (?a - agent ?r - receptacle)\n :precondition\n (and\n (exists (?l - location)\n (and\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n )\n )\n )\n :effect\n (and\n (checked ?r)\n )\n)\n\n(:action examineObject\n :parameters (?a - agent ?o - object)\n :precondition\n (or\n ;(exists (?l - location)\n ; (and\n ; (atLocation ?a ?l)\n ; (objectAtLocation ?o ?l)\n ; )\n ;)\n (exists (?l - location, ?r - receptacle)\n (and\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n ; (objectAtLocation ?o ?l)\n (inReceptacle ?o ?r)\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n )\n )\n (holds ?a ?o)\n )\n :effect\n (and\n (checked ?o)\n )\n)\n\n;; agent goes to receptacle\n (:action GotoLocation\n :parameters (?a - agent ?lStart - location ?lEnd - location ?r - receptacle)\n :precondition (and\n (atLocation ?a ?lStart)\n (receptacleAtLocation ?r ?lEnd)\n ;(exists (?r - receptacle) (receptacleAtLocation ?r ?lEnd))\n )\n :effect (and\n (not (atLocation ?a ?lStart))\n (atLocation ?a ?lEnd)\n ; (forall (?r - receptacle)\n ; (when (and (receptacleAtLocation ?r ?lEnd)\n ; (or (not (openable ?r)) (opened ?r)))\n ; (checked ?r)\n ; )\n ; )\n ; (increase (total-cost) (distance ?lStart ?lEnd))\n (increase (total-cost) 1)\n )\n )\n\n;; agent opens receptacle\n (:action OpenObject\n :parameters (?a - agent ?l - location ?r - receptacle)\n :precondition (and\n (openable ?r)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (not (opened ?r))\n )\n :effect (and\n (opened ?r)\n (checked ?r)\n (increase (total-cost) 1)\n )\n )\n;; agent closes receptacle\n (:action CloseObject\n :parameters (?a - agent ?l - location ?r - receptacle)\n :precondition (and\n (openable ?r)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (opened ?r)\n )\n :effect (and\n (not (opened ?r))\n (increase (total-cost) 1)\n )\n\n )\n\n ;; agent picks up object from a receptacle\n (:action PickupObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n :precondition\n (and\n (pickupable ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n ; (objectAtLocation ?o ?l)\n (inReceptacle ?o ?r)\n (not (holdsAny ?a)) ; agent's hands are empty.\n ;(not (holdsAnyReceptacleObject ?a))\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n ;(not (isReceptacleObject ?o))\n )\n :effect\n (and\n (not (inReceptacle ?o ?r))\n (holds ?a ?o)\n (holdsAny ?a)\n (not (objectAtLocation ?o ?l))\n ;(not (full ?r))\n (increase (total-cost) 1)\n )\n )\n\n\n; ;; agent picks up object from a receptacle\n; (:action PickupObjectFromReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?outerR - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (inReceptacle ?o ?r)\n; (pickupable ?o)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (not (isReceptacleObject ?o))\n; (isReceptacleObject ?outerR)\n; (inReceptacleObject ?o ?outerR)\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (holds ?a ?o)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n;\n; (not (inReceptacleObject ?o ?outerR))\n; (not (isReceptacleObjectFull ?outerR))\n; )\n; )\n;\n; ;; agent picks up object from a receptacle\n; (:action PickupEmptyReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; ; (objectAtLocation ?o ?l)\n; (inReceptacle ?o ?r)\n; (pickupable ?o)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (isReceptacleObject ?o)\n; (not (isReceptacleObjectFull ?o))\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (holds ?a ?o)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n; (holdsAnyReceptacleObject ?a)\n; )\n; )\n;\n; ;; agent picks up object from a receptacle\n; (:action PickupFullReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?outerR - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (inReceptacle ?outerR ?r)\n; (pickupable ?outerR)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (not (isReceptacleObject ?o))\n; (isReceptacleObject ?outerR)\n; (inReceptacleObject ?o ?outerR)\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (not (inReceptacle ?outerR ?r))\n; (holds ?a ?outerR)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (objectAtLocation ?outerR ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n; (holdsAnyReceptacleObject ?a)\n; )\n; )\n\n\n;; agent puts down an object\n (:action PutObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle ?ot - otype ?rt - rtype)\n :precondition (and\n (holds ?a ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable\n ;(not (full ?r))\n (objectType ?o ?ot)\n (receptacleType ?r ?rt)\n (canContain ?rt ?ot)\n ;(not (holdsAnyReceptacleObject ?a))\n )\n :effect (and\n (inReceptacle ?o ?r)\n (objectAtLocation ?o ?l)\n ;(full ?r)\n (not (holds ?a ?o))\n (not (holdsAny ?a))\n (increase (total-cost) 1)\n )\n )\n\n;;; agent puts down an object\n; (:action PutObjectInReceptacleObject\n; :parameters (?a - agent ?l - location ?ot - otype ?o - object ?outerO - object ?outerR - receptacle)\n; :precondition (and\n; (atLocation ?a ?l)\n; (objectAtLocation ?outerO ?l)\n; (isReceptacleObject ?outerO)\n; (not (isReceptacleObject ?o))\n; (objectType ?o ?ot)\n; (holds ?a ?o)\n; (not (holdsAnyReceptacleObject ?a))\n; (inReceptacle ?outerO ?outerR)\n; (not (isReceptacleObjectFull ?outerO))\n; )\n; :effect (and\n; (inReceptacleObject ?o ?outerO)\n; (inReceptacle ?o ?outerR)\n; (not (holds ?a ?o))\n; (not (holdsAny ?a))\n; (objectAtLocation ?o ?l)\n; (isReceptacleObjectFull ?outerO)\n; (increase (total-cost) 1)\n; )\n; )\n;\n;;; agent puts down an object\n; (:action PutEmptyReceptacleObjectinReceptacle\n; :parameters (?a - agent ?l - location ?ot - otype ?o - object ?r - receptacle)\n; :precondition (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable\n; (not (full ?r))\n; (objectType ?o ?ot)\n; (holds ?a ?o)\n; (holdsAnyReceptacleObject ?a)\n; (isReceptacleObject ?o)\n; (not (isReceptacleObjectFull ?o))\n; )\n; :effect (and\n; (inReceptacle ?o ?r)\n; (objectAtLocation ?o ?l)\n; (full ?r)\n; (not (holds ?a ?o))\n; (not (holdsAny ?a))\n; (not (holdsAnyReceptacleObject ?a))\n; (increase (total-cost) 1)\n; )\n; )\n;\n;;; agent puts down a receptacle object in a receptacle\n; (:action PutFullReceptacleObjectInReceptacle\n; :parameters (?a - agent ?l - location ?ot - otype ?innerO - object ?outerO - object ?r - receptacle) ; ?rt - rtype)\n; :precondition (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (objectType ?outerO ?ot)\n; (holds ?a ?outerO)\n; (holdsAnyReceptacleObject ?a)\n; (isReceptacleObject ?outerO)\n; (isReceptacleObjectFull ?outerO)\n; (inReceptacleObject ?innerO ?outerO)\n; )\n; :effect (and\n; (not (holdsAny ?a))\n; (not (holdsAnyReceptacleObject ?a))\n; (objectAtLocation ?outerO ?l)\n; (objectAtLocation ?innerO ?l)\n; (inReceptacle ?outerO ?r)\n; (inReceptacle ?innerO ?r)\n; (not (holds ?a ?outerO))\n; (increase (total-cost) 1)\n; )\n; )\n\n;; agent cleans some object\n (:action CleanObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (cleanable ?o)\n (or\n (receptacleType ?r SinkType)\n (receptacleType ?r SinkBasinType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isClean ?o)\n )\n )\n\n\n;; agent heats-up some object\n (:action HeatObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (heatable ?o)\n (or\n (receptacleType ?r MicrowaveType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isHot ?o)\n (not (isCool ?o))\n )\n )\n\n;; agent cools some object\n (:action CoolObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (coolable ?o)\n (or\n (receptacleType ?r FridgeType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isCool ?o)\n (not (isHot ?o))\n )\n )\n\n\n;; agent toggle object\n (:action ToggleObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n :precondition (and\n (toggleable ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (inReceptacle ?o ?r)\n )\n :effect (and\n (increase (total-cost) 5)\n (when (isOn ?o)\n (not (isOn ?o)))\n (when (not (isOn ?o))\n (isOn ?o))\n (isToggled ?o)\n )\n )\n\n\n;; agent slices some object with a knife\n (:action SliceObject\n :parameters (?a - agent ?l - location ?co - object ?ko - object)\n :precondition\n (and\n (sliceable ?co)\n (or\n (objectType ?ko KnifeType)\n (objectType ?ko ButterKnifeType)\n )\n (atLocation ?a ?l)\n (objectAtLocation ?co ?l)\n (holds ?a ?ko)\n )\n :effect (and\n (increase (total-cost) 5)\n (isSliced ?co)\n )\n )\n\n\n(:action help\n :parameters (?a - agent)\n :precondition\n ()\n :effect\n (and\n (checked ?a)\n )\n)\n)\n", "grammar": "grammar :: \"\"\"\n {\n \"intro\": [\n {\n \"rhs\": \"-= Welcome to TextWorld, ALFRED! =-\\n\\n#look.feedback#\\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 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_013318_053714)\n(:domain alfred)\n(:objects\nagent1 - agent\nSaltShaker - object\n HousePlant - object\n Candle - object\n SprayBottle - object\n Bowl - object\n Window - object\n CD - object\n Egg - object\n Glassbottle - object\n Sink - object\n Pillow - object\n Spoon - object\n SoapBottle - object\n TeddyBear - object\n ButterKnife - object\n Cup - object\n Plate - object\n RemoteControl - object\n Tomato - object\n Statue - object\n HandTowel - object\n Knife - object\n StoveKnob - object\n LightSwitch - object\n Pen - object\n Painting - object\n DishSponge - object\n Vase - object\n Mug - object\n ToiletPaper - object\n Box - object\n Mirror - object\n Ladle - object\n Fork - object\n Blinds - object\n Footstool - object\n KeyChain - object\n Cloth - object\n Laptop - object\n TissueBox - object\n PepperShaker - object\n FloorLamp - object\n WateringCan - object\n Apple - object\n Pan - object\n PaperTowel - object\n PaperTowelRoll - object\n Newspaper - object\n Television - object\n Chair - object\n CellPhone - object\n CreditCard - object\n Lettuce - object\n BasketBall - object\n Potato - object\n Curtains - object\n Boots - object\n Pencil - object\n AlarmClock - object\n ToiletPaperRoll - object\n Spatula - object\n Book - object\n Bread - object\n SoapBar - object\n Watch - object\n DeskLamp - object\n Kettle - object\n Pot - object\n ScrubBrush - object\n WineBottle - object\n ShowerDoor - object\n Bathtub - object\n LaundryHamperLid - object\n ShowerGlass - object\n Poster - object\n TennisRacket - object\n BaseballBat - object\n Towel - object\n Plunger - object\nSaltShakerType - otype\n HousePlantType - otype\n CandleType - otype\n SprayBottleType - otype\n BowlType - otype\n WindowType - otype\n CDType - otype\n EggType - otype\n GlassbottleType - otype\n SinkType - otype\n PillowType - otype\n SpoonType - otype\n SoapBottleType - otype\n TeddyBearType - otype\n ButterKnifeType - otype\n CupType - otype\n PlateType - otype\n RemoteControlType - otype\n TomatoType - otype\n StatueType - otype\n HandTowelType - otype\n KnifeType - otype\n StoveKnobType - otype\n LightSwitchType - otype\n PenType - otype\n PaintingType - otype\n DishSpongeType - otype\n VaseType - otype\n MugType - otype\n ToiletPaperType - otype\n BoxType - otype\n MirrorType - otype\n LadleType - otype\n ForkType - otype\n BlindsType - otype\n FootstoolType - otype\n KeyChainType - otype\n ClothType - otype\n LaptopType - otype\n TissueBoxType - otype\n PepperShakerType - otype\n FloorLampType - otype\n WateringCanType - otype\n AppleType - otype\n PanType - otype\n PaperTowelType - otype\n PaperTowelRollType - otype\n NewspaperType - otype\n TelevisionType - otype\n ChairType - otype\n CellPhoneType - otype\n CreditCardType - otype\n LettuceType - otype\n BasketBallType - otype\n PotatoType - otype\n CurtainsType - otype\n BootsType - otype\n PencilType - otype\n AlarmClockType - otype\n ToiletPaperRollType - otype\n SpatulaType - otype\n BookType - otype\n BreadType - otype\n SoapBarType - otype\n WatchType - otype\n DeskLampType - otype\n KettleType - otype\n PotType - otype\n ScrubBrushType - otype\n WineBottleType - otype\n ShowerDoorType - otype\n BathtubType - otype\n LaundryHamperLidType - otype\n ShowerGlassType - otype\n PosterType - otype\n TennisRacketType - otype\n BaseballBatType - otype\n TowelType - otype\n PlungerType - otype\nSafeType - rtype\n DrawerType - rtype\n CoffeeMachineType - rtype\n HandTowelHolderType - rtype\n SinkBasinType - rtype\n DresserType - rtype\n LaundryHamperType - rtype\n TVStandType - rtype\n BathtubBasinType - rtype\n CabinetType - rtype\n FridgeType - rtype\n DeskType - rtype\n ToiletType - rtype\n CartType - rtype\n SideTableType - rtype\n SofaType - rtype\n CoffeeTableType - rtype\n DiningTableType - rtype\n CounterTopType - rtype\n GarbageCanType - rtype\n ArmChairType - rtype\n ShelfType - rtype\n MicrowaveType - rtype\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_70_bar__plus_00_dot_92_bar__plus_02_dot_38 - object\n Cloth_bar__minus_01_dot_69_bar__plus_00_dot_04_bar__plus_03_dot_72 - object\n Cloth_bar__minus_01_dot_74_bar__plus_00_dot_04_bar__plus_03_dot_32 - object\n Faucet_bar__minus_01_dot_89_bar__plus_01_dot_01_bar__plus_02_dot_73 - object\n Faucet_bar__minus_01_dot_89_bar__plus_01_dot_01_bar__plus_03_dot_56 - object\n HandTowel_bar__minus_01_dot_67_bar__plus_01_dot_50_bar__plus_03_dot_96 - object\n LightSwitch_bar__plus_01_dot_25_bar__plus_01_dot_32_bar__plus_03_dot_64 - object\n Mirror_bar__minus_01_dot_94_bar__plus_01_dot_53_bar__plus_03_dot_44 - object\n Painting_bar__minus_00_dot_57_bar__plus_01_dot_59_bar__plus_01_dot_17 - object\n Plunger_bar__minus_01_dot_88_bar__plus_00_dot_00_bar__plus_02_dot_28 - object\n ScrubBrush_bar__minus_01_dot_70_bar__plus_00_dot_00_bar__plus_02_dot_22 - object\n ShowerDoor_bar__plus_00_dot_53_bar__plus_01_dot_04_bar__plus_02_dot_10 - object\n ShowerHead_bar__plus_00_dot_87_bar__plus_01_dot_10_bar__plus_02_dot_01 - object\n Sink_bar__minus_01_dot_75_bar__plus_00_dot_88_bar__plus_02_dot_72 - object\n Sink_bar__minus_01_dot_75_bar__plus_00_dot_88_bar__plus_03_dot_55 - object\n SoapBar_bar__minus_01_dot_70_bar__plus_00_dot_92_bar__plus_03_dot_12 - object\n SoapBar_bar__minus_01_dot_94_bar__plus_00_dot_95_bar__plus_01_dot_76 - object\n SoapBar_bar__minus_01_dot_94_bar__plus_00_dot_95_bar__plus_01_dot_95 - object\n SoapBottle_bar__minus_01_dot_86_bar__plus_00_dot_95_bar__plus_01_dot_82 - object\n SprayBottle_bar__minus_01_dot_45_bar__plus_00_dot_07_bar__plus_01_dot_45 - object\n SprayBottle_bar__minus_01_dot_58_bar__plus_00_dot_92_bar__plus_03_dot_15 - object\n ToiletPaper_bar__minus_01_dot_48_bar__plus_00_dot_04_bar__plus_01_dot_37 - object\n ToiletPaper_bar__minus_01_dot_59_bar__plus_00_dot_04_bar__plus_03_dot_45 - object\n Towel_bar__plus_00_dot_83_bar__plus_01_dot_16_bar__plus_02_dot_36 - object\n Cabinet_bar__minus_01_dot_48_bar__plus_00_dot_35_bar__plus_02_dot_36 - receptacle\n Cabinet_bar__minus_01_dot_48_bar__plus_00_dot_35_bar__plus_03_dot_17 - receptacle\n Cabinet_bar__minus_01_dot_48_bar__plus_00_dot_37_bar__plus_03_dot_15 - receptacle\n Cabinet_bar__minus_01_dot_48_bar__plus_00_dot_37_bar__plus_03_dot_96 - receptacle\n CounterTop_bar__minus_01_dot_76_bar__plus_00_dot_67_bar__plus_03_dot_16 - receptacle\n GarbageCan_bar__minus_01_dot_45_bar__plus_00_dot_00_bar__plus_01_dot_40 - receptacle\n HandTowelHolder_bar__minus_01_dot_67_bar__plus_01_dot_60_bar__plus_04_dot_00 - receptacle\n Sink_bar__minus_01_dot_75_bar__plus_00_dot_88_bar__plus_02_dot_72_bar_SinkBasin - receptacle\n Sink_bar__minus_01_dot_75_bar__plus_00_dot_88_bar__plus_03_dot_55_bar_SinkBasin - receptacle\n ToiletPaperHanger_bar__minus_01_dot_20_bar__plus_01_dot_01_bar__plus_01_dot_16 - receptacle\n Toilet_bar__minus_01_dot_45_bar__plus_00_dot_00_bar__plus_01_dot_87 - receptacle\n TowelHolder_bar__plus_00_dot_83_bar__plus_01_dot_15_bar__plus_02_dot_25 - receptacle\n loc_bar__minus_3_bar_7_bar_3_bar_60 - location\n loc_bar_3_bar_11_bar_2_bar_45 - location\n loc_bar_3_bar_14_bar_1_bar_30 - location\n loc_bar__minus_5_bar_14_bar_3_bar_15 - location\n loc_bar__minus_2_bar_7_bar_2_bar_0 - location\n loc_bar__minus_2_bar_8_bar_3_bar_60 - location\n loc_bar__minus_4_bar_14_bar_3_bar_45 - location\n loc_bar_0_bar_8_bar_1_bar_45 - location\n loc_bar__minus_2_bar_13_bar_3_bar_45 - location\n loc_bar__minus_5_bar_14_bar_3_bar_60 - location\n loc_bar__minus_3_bar_7_bar_2_bar_45 - location\n loc_bar__minus_5_bar_11_bar_3_bar_60 - location\n loc_bar__minus_5_bar_14_bar_0_bar_0 - location\n loc_bar__minus_4_bar_9_bar_3_bar_60 - location\n loc_bar__minus_2_bar_14_bar_3_bar_45 - location\n loc_bar__minus_2_bar_12_bar_3_bar_60 - location\n loc_bar__minus_5_bar_10_bar_3_bar_60 - location\n loc_bar__minus_5_bar_15_bar_1_bar_30 - location\n )\n \n\n(:init\n\n\n (receptacleType Toilet_bar__minus_01_dot_45_bar__plus_00_dot_00_bar__plus_01_dot_87 ToiletType)\n (receptacleType TowelHolder_bar__plus_00_dot_83_bar__plus_01_dot_15_bar__plus_02_dot_25 TowelHolderType)\n (receptacleType ToiletPaperHanger_bar__minus_01_dot_20_bar__plus_01_dot_01_bar__plus_01_dot_16 ToiletPaperHangerType)\n (receptacleType Cabinet_bar__minus_01_dot_48_bar__plus_00_dot_35_bar__plus_03_dot_17 CabinetType)\n (receptacleType GarbageCan_bar__minus_01_dot_45_bar__plus_00_dot_00_bar__plus_01_dot_40 GarbageCanType)\n (receptacleType Sink_bar__minus_01_dot_75_bar__plus_00_dot_88_bar__plus_03_dot_55_bar_SinkBasin SinkBasinType)\n (receptacleType HandTowelHolder_bar__minus_01_dot_67_bar__plus_01_dot_60_bar__plus_04_dot_00 HandTowelHolderType)\n (receptacleType Cabinet_bar__minus_01_dot_48_bar__plus_00_dot_37_bar__plus_03_dot_15 CabinetType)\n (receptacleType Cabinet_bar__minus_01_dot_48_bar__plus_00_dot_37_bar__plus_03_dot_96 CabinetType)\n (receptacleType CounterTop_bar__minus_01_dot_76_bar__plus_00_dot_67_bar__plus_03_dot_16 CounterTopType)\n (receptacleType Sink_bar__minus_01_dot_75_bar__plus_00_dot_88_bar__plus_02_dot_72_bar_SinkBasin SinkBasinType)\n (receptacleType Cabinet_bar__minus_01_dot_48_bar__plus_00_dot_35_bar__plus_02_dot_36 CabinetType)\n (objectType ShowerDoor_bar__plus_00_dot_53_bar__plus_01_dot_04_bar__plus_02_dot_10 ShowerDoorType)\n (objectType ToiletPaper_bar__minus_01_dot_48_bar__plus_00_dot_04_bar__plus_01_dot_37 ToiletPaperType)\n (objectType Candle_bar__minus_01_dot_70_bar__plus_00_dot_92_bar__plus_02_dot_38 CandleType)\n (objectType Mirror_bar__minus_01_dot_94_bar__plus_01_dot_53_bar__plus_03_dot_44 MirrorType)\n (objectType Towel_bar__plus_00_dot_83_bar__plus_01_dot_16_bar__plus_02_dot_36 TowelType)\n (objectType SoapBar_bar__minus_01_dot_94_bar__plus_00_dot_95_bar__plus_01_dot_95 SoapBarType)\n (objectType SprayBottle_bar__minus_01_dot_58_bar__plus_00_dot_92_bar__plus_03_dot_15 SprayBottleType)\n (objectType Cloth_bar__minus_01_dot_74_bar__plus_00_dot_04_bar__plus_03_dot_32 ClothType)\n (objectType Painting_bar__minus_00_dot_57_bar__plus_01_dot_59_bar__plus_01_dot_17 PaintingType)\n (objectType HandTowel_bar__minus_01_dot_67_bar__plus_01_dot_50_bar__plus_03_dot_96 HandTowelType)\n (objectType Plunger_bar__minus_01_dot_88_bar__plus_00_dot_00_bar__plus_02_dot_28 PlungerType)\n (objectType Sink_bar__minus_01_dot_75_bar__plus_00_dot_88_bar__plus_03_dot_55 SinkType)\n (objectType SoapBottle_bar__minus_01_dot_86_bar__plus_00_dot_95_bar__plus_01_dot_82 SoapBottleType)\n (objectType ToiletPaper_bar__minus_01_dot_59_bar__plus_00_dot_04_bar__plus_03_dot_45 ToiletPaperType)\n (objectType SprayBottle_bar__minus_01_dot_45_bar__plus_00_dot_07_bar__plus_01_dot_45 SprayBottleType)\n (objectType SoapBar_bar__minus_01_dot_70_bar__plus_00_dot_92_bar__plus_03_dot_12 SoapBarType)\n (objectType Cloth_bar__minus_01_dot_69_bar__plus_00_dot_04_bar__plus_03_dot_72 ClothType)\n (objectType LightSwitch_bar__plus_01_dot_25_bar__plus_01_dot_32_bar__plus_03_dot_64 LightSwitchType)\n (objectType SoapBar_bar__minus_01_dot_94_bar__plus_00_dot_95_bar__plus_01_dot_76 SoapBarType)\n (objectType ScrubBrush_bar__minus_01_dot_70_bar__plus_00_dot_00_bar__plus_02_dot_22 ScrubBrushType)\n (objectType Sink_bar__minus_01_dot_75_bar__plus_00_dot_88_bar__plus_02_dot_72 SinkType)\n (canContain ToiletType SoapBottleType)\n (canContain ToiletType HandTowelType)\n (canContain ToiletType ToiletPaperType)\n (canContain ToiletType ClothType)\n (canContain ToiletType CandleType)\n (canContain ToiletType SoapBarType)\n (canContain ToiletType SprayBottleType)\n (canContain TowelHolderType TowelType)\n (canContain ToiletPaperHangerType ToiletPaperType)\n (canContain CabinetType CandleType)\n (canContain CabinetType SoapBarType)\n (canContain CabinetType SprayBottleType)\n (canContain CabinetType ToiletPaperType)\n (canContain CabinetType SoapBottleType)\n (canContain CabinetType ClothType)\n (canContain CabinetType HandTowelType)\n (canContain CabinetType PlungerType)\n (canContain GarbageCanType SoapBarType)\n (canContain GarbageCanType SprayBottleType)\n (canContain GarbageCanType ToiletPaperType)\n (canContain GarbageCanType SoapBottleType)\n (canContain GarbageCanType ClothType)\n (canContain GarbageCanType HandTowelType)\n (canContain SinkBasinType SoapBarType)\n (canContain SinkBasinType ClothType)\n (canContain SinkBasinType HandTowelType)\n (canContain HandTowelHolderType HandTowelType)\n (canContain CabinetType CandleType)\n (canContain CabinetType SoapBarType)\n (canContain CabinetType SprayBottleType)\n (canContain CabinetType ToiletPaperType)\n (canContain CabinetType SoapBottleType)\n (canContain CabinetType ClothType)\n (canContain CabinetType HandTowelType)\n (canContain CabinetType PlungerType)\n (canContain CabinetType CandleType)\n (canContain CabinetType SoapBarType)\n (canContain CabinetType SprayBottleType)\n (canContain CabinetType ToiletPaperType)\n (canContain CabinetType SoapBottleType)\n (canContain CabinetType ClothType)\n (canContain CabinetType HandTowelType)\n (canContain CabinetType PlungerType)\n (canContain CounterTopType CandleType)\n (canContain CounterTopType SoapBarType)\n (canContain CounterTopType SprayBottleType)\n (canContain CounterTopType ToiletPaperType)\n (canContain CounterTopType SoapBottleType)\n (canContain CounterTopType ClothType)\n (canContain CounterTopType HandTowelType)\n (canContain SinkBasinType SoapBarType)\n (canContain SinkBasinType ClothType)\n (canContain SinkBasinType HandTowelType)\n (canContain CabinetType CandleType)\n (canContain CabinetType SoapBarType)\n (canContain CabinetType SprayBottleType)\n (canContain CabinetType ToiletPaperType)\n (canContain CabinetType SoapBottleType)\n (canContain CabinetType ClothType)\n (canContain CabinetType HandTowelType)\n (canContain CabinetType PlungerType)\n (pickupable ToiletPaper_bar__minus_01_dot_48_bar__plus_00_dot_04_bar__plus_01_dot_37)\n (pickupable Candle_bar__minus_01_dot_70_bar__plus_00_dot_92_bar__plus_02_dot_38)\n (pickupable Towel_bar__plus_00_dot_83_bar__plus_01_dot_16_bar__plus_02_dot_36)\n (pickupable SoapBar_bar__minus_01_dot_94_bar__plus_00_dot_95_bar__plus_01_dot_95)\n (pickupable SprayBottle_bar__minus_01_dot_58_bar__plus_00_dot_92_bar__plus_03_dot_15)\n (pickupable Cloth_bar__minus_01_dot_74_bar__plus_00_dot_04_bar__plus_03_dot_32)\n (pickupable HandTowel_bar__minus_01_dot_67_bar__plus_01_dot_50_bar__plus_03_dot_96)\n (pickupable Plunger_bar__minus_01_dot_88_bar__plus_00_dot_00_bar__plus_02_dot_28)\n (pickupable SoapBottle_bar__minus_01_dot_86_bar__plus_00_dot_95_bar__plus_01_dot_82)\n (pickupable ToiletPaper_bar__minus_01_dot_59_bar__plus_00_dot_04_bar__plus_03_dot_45)\n (pickupable SprayBottle_bar__minus_01_dot_45_bar__plus_00_dot_07_bar__plus_01_dot_45)\n (pickupable SoapBar_bar__minus_01_dot_70_bar__plus_00_dot_92_bar__plus_03_dot_12)\n (pickupable Cloth_bar__minus_01_dot_69_bar__plus_00_dot_04_bar__plus_03_dot_72)\n (pickupable SoapBar_bar__minus_01_dot_94_bar__plus_00_dot_95_bar__plus_01_dot_76)\n (pickupable ScrubBrush_bar__minus_01_dot_70_bar__plus_00_dot_00_bar__plus_02_dot_22)\n \n (openable Cabinet_bar__minus_01_dot_48_bar__plus_00_dot_35_bar__plus_03_dot_17)\n (openable Cabinet_bar__minus_01_dot_48_bar__plus_00_dot_37_bar__plus_03_dot_15)\n (openable Cabinet_bar__minus_01_dot_48_bar__plus_00_dot_37_bar__plus_03_dot_96)\n (openable Cabinet_bar__minus_01_dot_48_bar__plus_00_dot_35_bar__plus_02_dot_36)\n \n (atLocation agent1 loc_bar__minus_5_bar_15_bar_1_bar_30)\n \n (cleanable SoapBar_bar__minus_01_dot_94_bar__plus_00_dot_95_bar__plus_01_dot_95)\n (cleanable Cloth_bar__minus_01_dot_74_bar__plus_00_dot_04_bar__plus_03_dot_32)\n (cleanable SoapBar_bar__minus_01_dot_70_bar__plus_00_dot_92_bar__plus_03_dot_12)\n (cleanable Cloth_bar__minus_01_dot_69_bar__plus_00_dot_04_bar__plus_03_dot_72)\n (cleanable SoapBar_bar__minus_01_dot_94_bar__plus_00_dot_95_bar__plus_01_dot_76)\n \n \n \n \n \n \n \n \n \n \n (inReceptacle Candle_bar__minus_01_dot_70_bar__plus_00_dot_92_bar__plus_02_dot_38 CounterTop_bar__minus_01_dot_76_bar__plus_00_dot_67_bar__plus_03_dot_16)\n (inReceptacle SprayBottle_bar__minus_01_dot_58_bar__plus_00_dot_92_bar__plus_03_dot_15 CounterTop_bar__minus_01_dot_76_bar__plus_00_dot_67_bar__plus_03_dot_16)\n (inReceptacle HandTowel_bar__minus_01_dot_67_bar__plus_01_dot_50_bar__plus_03_dot_96 CounterTop_bar__minus_01_dot_76_bar__plus_00_dot_67_bar__plus_03_dot_16)\n (inReceptacle SoapBar_bar__minus_01_dot_70_bar__plus_00_dot_92_bar__plus_03_dot_12 CounterTop_bar__minus_01_dot_76_bar__plus_00_dot_67_bar__plus_03_dot_16)\n (inReceptacle ToiletPaper_bar__minus_01_dot_59_bar__plus_00_dot_04_bar__plus_03_dot_45 Cabinet_bar__minus_01_dot_48_bar__plus_00_dot_35_bar__plus_03_dot_17)\n (inReceptacle Cloth_bar__minus_01_dot_74_bar__plus_00_dot_04_bar__plus_03_dot_32 Cabinet_bar__minus_01_dot_48_bar__plus_00_dot_35_bar__plus_03_dot_17)\n (inReceptacle Cloth_bar__minus_01_dot_69_bar__plus_00_dot_04_bar__plus_03_dot_72 Cabinet_bar__minus_01_dot_48_bar__plus_00_dot_37_bar__plus_03_dot_96)\n (inReceptacle Towel_bar__plus_00_dot_83_bar__plus_01_dot_16_bar__plus_02_dot_36 TowelHolder_bar__plus_00_dot_83_bar__plus_01_dot_15_bar__plus_02_dot_25)\n (inReceptacle HandTowel_bar__minus_01_dot_67_bar__plus_01_dot_50_bar__plus_03_dot_96 HandTowelHolder_bar__minus_01_dot_67_bar__plus_01_dot_60_bar__plus_04_dot_00)\n (inReceptacle SoapBottle_bar__minus_01_dot_86_bar__plus_00_dot_95_bar__plus_01_dot_82 Toilet_bar__minus_01_dot_45_bar__plus_00_dot_00_bar__plus_01_dot_87)\n (inReceptacle SoapBar_bar__minus_01_dot_94_bar__plus_00_dot_95_bar__plus_01_dot_95 Toilet_bar__minus_01_dot_45_bar__plus_00_dot_00_bar__plus_01_dot_87)\n (inReceptacle SoapBar_bar__minus_01_dot_94_bar__plus_00_dot_95_bar__plus_01_dot_76 Toilet_bar__minus_01_dot_45_bar__plus_00_dot_00_bar__plus_01_dot_87)\n (inReceptacle ToiletPaper_bar__minus_01_dot_48_bar__plus_00_dot_04_bar__plus_01_dot_37 GarbageCan_bar__minus_01_dot_45_bar__plus_00_dot_00_bar__plus_01_dot_40)\n (inReceptacle SprayBottle_bar__minus_01_dot_45_bar__plus_00_dot_07_bar__plus_01_dot_45 GarbageCan_bar__minus_01_dot_45_bar__plus_00_dot_00_bar__plus_01_dot_40)\n \n \n (receptacleAtLocation Cabinet_bar__minus_01_dot_48_bar__plus_00_dot_35_bar__plus_02_dot_36 loc_bar__minus_2_bar_8_bar_3_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_01_dot_48_bar__plus_00_dot_35_bar__plus_03_dot_17 loc_bar__minus_2_bar_12_bar_3_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_01_dot_48_bar__plus_00_dot_37_bar__plus_03_dot_15 loc_bar__minus_2_bar_14_bar_3_bar_45)\n (receptacleAtLocation Cabinet_bar__minus_01_dot_48_bar__plus_00_dot_37_bar__plus_03_dot_96 loc_bar__minus_2_bar_13_bar_3_bar_45)\n (receptacleAtLocation CounterTop_bar__minus_01_dot_76_bar__plus_00_dot_67_bar__plus_03_dot_16 loc_bar__minus_4_bar_14_bar_3_bar_45)\n (receptacleAtLocation GarbageCan_bar__minus_01_dot_45_bar__plus_00_dot_00_bar__plus_01_dot_40 loc_bar__minus_3_bar_7_bar_3_bar_60)\n (receptacleAtLocation HandTowelHolder_bar__minus_01_dot_67_bar__plus_01_dot_60_bar__plus_04_dot_00 loc_bar__minus_5_bar_14_bar_0_bar_0)\n (receptacleAtLocation Sink_bar__minus_01_dot_75_bar__plus_00_dot_88_bar__plus_02_dot_72_bar_SinkBasin loc_bar__minus_5_bar_11_bar_3_bar_60)\n (receptacleAtLocation Sink_bar__minus_01_dot_75_bar__plus_00_dot_88_bar__plus_03_dot_55_bar_SinkBasin loc_bar__minus_5_bar_14_bar_3_bar_60)\n (receptacleAtLocation ToiletPaperHanger_bar__minus_01_dot_20_bar__plus_01_dot_01_bar__plus_01_dot_16 loc_bar__minus_3_bar_7_bar_2_bar_45)\n (receptacleAtLocation Toilet_bar__minus_01_dot_45_bar__plus_00_dot_00_bar__plus_01_dot_87 loc_bar__minus_4_bar_9_bar_3_bar_60)\n (receptacleAtLocation TowelHolder_bar__plus_00_dot_83_bar__plus_01_dot_15_bar__plus_02_dot_25 loc_bar_3_bar_11_bar_2_bar_45)\n (objectAtLocation SprayBottle_bar__minus_01_dot_58_bar__plus_00_dot_92_bar__plus_03_dot_15 loc_bar__minus_4_bar_14_bar_3_bar_45)\n (objectAtLocation SoapBar_bar__minus_01_dot_94_bar__plus_00_dot_95_bar__plus_01_dot_95 loc_bar__minus_4_bar_9_bar_3_bar_60)\n (objectAtLocation Cloth_bar__minus_01_dot_69_bar__plus_00_dot_04_bar__plus_03_dot_72 loc_bar__minus_2_bar_13_bar_3_bar_45)\n (objectAtLocation SoapBar_bar__minus_01_dot_70_bar__plus_00_dot_92_bar__plus_03_dot_12 loc_bar__minus_4_bar_14_bar_3_bar_45)\n (objectAtLocation Sink_bar__minus_01_dot_75_bar__plus_00_dot_88_bar__plus_02_dot_72 loc_bar__minus_5_bar_11_bar_3_bar_60)\n (objectAtLocation Sink_bar__minus_01_dot_75_bar__plus_00_dot_88_bar__plus_03_dot_55 loc_bar__minus_5_bar_14_bar_3_bar_60)\n (objectAtLocation Mirror_bar__minus_01_dot_94_bar__plus_01_dot_53_bar__plus_03_dot_44 loc_bar__minus_5_bar_14_bar_3_bar_15)\n (objectAtLocation ShowerDoor_bar__plus_00_dot_53_bar__plus_01_dot_04_bar__plus_02_dot_10 loc_bar_0_bar_8_bar_1_bar_45)\n (objectAtLocation Painting_bar__minus_00_dot_57_bar__plus_01_dot_59_bar__plus_01_dot_17 loc_bar__minus_2_bar_7_bar_2_bar_0)\n (objectAtLocation Candle_bar__minus_01_dot_70_bar__plus_00_dot_92_bar__plus_02_dot_38 loc_bar__minus_4_bar_14_bar_3_bar_45)\n (objectAtLocation HandTowel_bar__minus_01_dot_67_bar__plus_01_dot_50_bar__plus_03_dot_96 loc_bar__minus_5_bar_14_bar_0_bar_0)\n (objectAtLocation SoapBottle_bar__minus_01_dot_86_bar__plus_00_dot_95_bar__plus_01_dot_82 loc_bar__minus_4_bar_9_bar_3_bar_60)\n (objectAtLocation Towel_bar__plus_00_dot_83_bar__plus_01_dot_16_bar__plus_02_dot_36 loc_bar_3_bar_11_bar_2_bar_45)\n (objectAtLocation Cloth_bar__minus_01_dot_74_bar__plus_00_dot_04_bar__plus_03_dot_32 loc_bar__minus_2_bar_12_bar_3_bar_60)\n (objectAtLocation SoapBar_bar__minus_01_dot_94_bar__plus_00_dot_95_bar__plus_01_dot_76 loc_bar__minus_4_bar_9_bar_3_bar_60)\n (objectAtLocation ToiletPaper_bar__minus_01_dot_59_bar__plus_00_dot_04_bar__plus_03_dot_45 loc_bar__minus_2_bar_12_bar_3_bar_60)\n (objectAtLocation Plunger_bar__minus_01_dot_88_bar__plus_00_dot_00_bar__plus_02_dot_28 loc_bar__minus_5_bar_10_bar_3_bar_60)\n (objectAtLocation SprayBottle_bar__minus_01_dot_45_bar__plus_00_dot_07_bar__plus_01_dot_45 loc_bar__minus_3_bar_7_bar_3_bar_60)\n (objectAtLocation ToiletPaper_bar__minus_01_dot_48_bar__plus_00_dot_04_bar__plus_01_dot_37 loc_bar__minus_3_bar_7_bar_3_bar_60)\n (objectAtLocation LightSwitch_bar__plus_01_dot_25_bar__plus_01_dot_32_bar__plus_03_dot_64 loc_bar_3_bar_14_bar_1_bar_30)\n (objectAtLocation ScrubBrush_bar__minus_01_dot_70_bar__plus_00_dot_00_bar__plus_02_dot_22 loc_bar__minus_4_bar_9_bar_3_bar_60)\n )\n \n\n (:goal\n (and\n (exists (?r - receptacle)\n (exists (?o1 - object)\n (and\n (objectType ?o1 SoapBarType)\n (receptacleType ?r CabinetType)\n (inReceptacle ?o1 ?r)\n (exists (?o2 - object)\n (and\n (not (= ?o1 ?o2))\n (objectType ?o2 SoapBarType)\n (receptacleType ?r CabinetType)\n (inReceptacle ?o2 ?r)\n )\n )\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to countertop 1", "take soapbar 3 from countertop 1", "go to cabinet 3", "open cabinet 3", "move soapbar 3 to cabinet 3", "go to toilet 1", "take soapbar 2 from toilet 1", "go to cabinet 3", "move soapbar 2 to cabinet 3"]}
|
alfworld__pick_two_obj_and_place__810
|
pick_two_obj_and_place
|
pick_two_obj_and_place-SoapBar-None-Cabinet-428/trial_T20190910_231243_446234/game.tw-pddl
|
{"pddl_domain": ";; Specification in PDDL of the Alfred domain\n;; Intended to be used with Fast Downward which supports PDDL 2.2 level 1 plus the :action-costs requirement from PDDL 3.1.\n\n(define (domain alfred)\n (:requirements\n :adl\n :action-costs\n :typing\n )\n (:types\n agent\n location\n receptacle\n object\n rtype\n otype\n )\n\n\n (:predicates\n (atLocation ?a - agent ?l - location) ; true if the agent is at the location\n (receptacleAtLocation ?r - receptacle ?l - location) ; true if the receptacle is at the location (constant)\n (objectAtLocation ?o - object ?l - location) ; true if the object is at the location\n (openable ?r - receptacle) ; true if a receptacle is openable\n (opened ?r - receptacle) ; true if a receptacle is opened\n (inReceptacle ?o - object ?r - receptacle) ; object ?o is in receptacle ?r\n (isReceptacleObject ?o - object) ; true if the object can have things put inside it\n (inReceptacleObject ?innerObject - object ?outerObject - object) ; object ?innerObject is inside object ?outerObject\n (isReceptacleObjectFull ?o - object) ; true if the receptacle object contains something\n (wasInReceptacle ?o - object ?r - receptacle) ; object ?o was or is in receptacle ?r now or some time in the past\n (checked ?r - receptacle) ; whether the receptacle has been looked inside/visited\n (examined ?l - location) ; TODO\n (receptacleType ?r - receptacle ?t - rtype) ; the type of receptacle (Cabinet vs Cabinet|01|2...)\n (canContain ?rt - rtype ?ot - otype) ; true if receptacle can hold object\n (objectType ?o - object ?t - otype) ; the type of object (Apple vs Apple|01|2...)\n (holds ?a - agent ?o - object) ; object ?o is held by agent ?a\n (holdsAny ?a - agent) ; agent ?a holds an object\n (holdsAnyReceptacleObject ?a - agent) ; agent ?a holds a receptacle object\n (full ?r - receptacle) ; true if the receptacle has no remaining space\n (isClean ?o - object) ; true if the object has been clean in sink\n (cleanable ?o - object) ; true if the object can be placed in a sink\n (isHot ?o - object) ; true if the object has been heated up\n (heatable ?o - object) ; true if the object can be heated up in a microwave\n (isCool ?o - object) ; true if the object has been cooled\n (coolable ?o - object) ; true if the object can be cooled in the fridge\n (pickupable ?o - object) ; true if the object can be picked up\n (moveable ?o - object) ; true if the object can be moved\n (toggleable ?o - object) ; true if the object can be turned on/off\n (isOn ?o - object) ; true if the object is on\n (isToggled ?o - object) ; true if the object has been toggled\n (sliceable ?o - object) ; true if the object can be sliced\n (isSliced ?o - object) ; true if the object is sliced\n )\n\n (:functions\n (distance ?from ?to)\n (total-cost) - number\n )\n\n;; All actions are specified such that the final arguments are the ones used\n;; for performing actions in Unity.\n\n\n(:action look\n :parameters (?a - agent ?l - location)\n :precondition\n (and\n (atLocation ?a ?l)\n )\n :effect\n (and\n (checked ?l)\n )\n)\n\n(:action inventory\n :parameters (?a - agent)\n :precondition\n ()\n :effect\n (and\n (checked ?a)\n )\n)\n\n(:action examineReceptacle\n :parameters (?a - agent ?r - receptacle)\n :precondition\n (and\n (exists (?l - location)\n (and\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n )\n )\n )\n :effect\n (and\n (checked ?r)\n )\n)\n\n(:action examineObject\n :parameters (?a - agent ?o - object)\n :precondition\n (or\n ;(exists (?l - location)\n ; (and\n ; (atLocation ?a ?l)\n ; (objectAtLocation ?o ?l)\n ; )\n ;)\n (exists (?l - location, ?r - receptacle)\n (and\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n ; (objectAtLocation ?o ?l)\n (inReceptacle ?o ?r)\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n )\n )\n (holds ?a ?o)\n )\n :effect\n (and\n (checked ?o)\n )\n)\n\n;; agent goes to receptacle\n (:action GotoLocation\n :parameters (?a - agent ?lStart - location ?lEnd - location ?r - receptacle)\n :precondition (and\n (atLocation ?a ?lStart)\n (receptacleAtLocation ?r ?lEnd)\n ;(exists (?r - receptacle) (receptacleAtLocation ?r ?lEnd))\n )\n :effect (and\n (not (atLocation ?a ?lStart))\n (atLocation ?a ?lEnd)\n ; (forall (?r - receptacle)\n ; (when (and (receptacleAtLocation ?r ?lEnd)\n ; (or (not (openable ?r)) (opened ?r)))\n ; (checked ?r)\n ; )\n ; )\n ; (increase (total-cost) (distance ?lStart ?lEnd))\n (increase (total-cost) 1)\n )\n )\n\n;; agent opens receptacle\n (:action OpenObject\n :parameters (?a - agent ?l - location ?r - receptacle)\n :precondition (and\n (openable ?r)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (not (opened ?r))\n )\n :effect (and\n (opened ?r)\n (checked ?r)\n (increase (total-cost) 1)\n )\n )\n;; agent closes receptacle\n (:action CloseObject\n :parameters (?a - agent ?l - location ?r - receptacle)\n :precondition (and\n (openable ?r)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (opened ?r)\n )\n :effect (and\n (not (opened ?r))\n (increase (total-cost) 1)\n )\n\n )\n\n ;; agent picks up object from a receptacle\n (:action PickupObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n :precondition\n (and\n (pickupable ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n ; (objectAtLocation ?o ?l)\n (inReceptacle ?o ?r)\n (not (holdsAny ?a)) ; agent's hands are empty.\n ;(not (holdsAnyReceptacleObject ?a))\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n ;(not (isReceptacleObject ?o))\n )\n :effect\n (and\n (not (inReceptacle ?o ?r))\n (holds ?a ?o)\n (holdsAny ?a)\n (not (objectAtLocation ?o ?l))\n ;(not (full ?r))\n (increase (total-cost) 1)\n )\n )\n\n\n; ;; agent picks up object from a receptacle\n; (:action PickupObjectFromReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?outerR - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (inReceptacle ?o ?r)\n; (pickupable ?o)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (not (isReceptacleObject ?o))\n; (isReceptacleObject ?outerR)\n; (inReceptacleObject ?o ?outerR)\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (holds ?a ?o)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n;\n; (not (inReceptacleObject ?o ?outerR))\n; (not (isReceptacleObjectFull ?outerR))\n; )\n; )\n;\n; ;; agent picks up object from a receptacle\n; (:action PickupEmptyReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; ; (objectAtLocation ?o ?l)\n; (inReceptacle ?o ?r)\n; (pickupable ?o)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (isReceptacleObject ?o)\n; (not (isReceptacleObjectFull ?o))\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (holds ?a ?o)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n; (holdsAnyReceptacleObject ?a)\n; )\n; )\n;\n; ;; agent picks up object from a receptacle\n; (:action PickupFullReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?outerR - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (inReceptacle ?outerR ?r)\n; (pickupable ?outerR)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (not (isReceptacleObject ?o))\n; (isReceptacleObject ?outerR)\n; (inReceptacleObject ?o ?outerR)\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (not (inReceptacle ?outerR ?r))\n; (holds ?a ?outerR)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (objectAtLocation ?outerR ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n; (holdsAnyReceptacleObject ?a)\n; )\n; )\n\n\n;; agent puts down an object\n (:action PutObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle ?ot - otype ?rt - rtype)\n :precondition (and\n (holds ?a ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable\n ;(not (full ?r))\n (objectType ?o ?ot)\n (receptacleType ?r ?rt)\n (canContain ?rt ?ot)\n ;(not (holdsAnyReceptacleObject ?a))\n )\n :effect (and\n (inReceptacle ?o ?r)\n (objectAtLocation ?o ?l)\n ;(full ?r)\n (not (holds ?a ?o))\n (not (holdsAny ?a))\n (increase (total-cost) 1)\n )\n )\n\n;;; agent puts down an object\n; (:action PutObjectInReceptacleObject\n; :parameters (?a - agent ?l - location ?ot - otype ?o - object ?outerO - object ?outerR - receptacle)\n; :precondition (and\n; (atLocation ?a ?l)\n; (objectAtLocation ?outerO ?l)\n; (isReceptacleObject ?outerO)\n; (not (isReceptacleObject ?o))\n; (objectType ?o ?ot)\n; (holds ?a ?o)\n; (not (holdsAnyReceptacleObject ?a))\n; (inReceptacle ?outerO ?outerR)\n; (not (isReceptacleObjectFull ?outerO))\n; )\n; :effect (and\n; (inReceptacleObject ?o ?outerO)\n; (inReceptacle ?o ?outerR)\n; (not (holds ?a ?o))\n; (not (holdsAny ?a))\n; (objectAtLocation ?o ?l)\n; (isReceptacleObjectFull ?outerO)\n; (increase (total-cost) 1)\n; )\n; )\n;\n;;; agent puts down an object\n; (:action PutEmptyReceptacleObjectinReceptacle\n; :parameters (?a - agent ?l - location ?ot - otype ?o - object ?r - receptacle)\n; :precondition (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable\n; (not (full ?r))\n; (objectType ?o ?ot)\n; (holds ?a ?o)\n; (holdsAnyReceptacleObject ?a)\n; (isReceptacleObject ?o)\n; (not (isReceptacleObjectFull ?o))\n; )\n; :effect (and\n; (inReceptacle ?o ?r)\n; (objectAtLocation ?o ?l)\n; (full ?r)\n; (not (holds ?a ?o))\n; (not (holdsAny ?a))\n; (not (holdsAnyReceptacleObject ?a))\n; (increase (total-cost) 1)\n; )\n; )\n;\n;;; agent puts down a receptacle object in a receptacle\n; (:action PutFullReceptacleObjectInReceptacle\n; :parameters (?a - agent ?l - location ?ot - otype ?innerO - object ?outerO - object ?r - receptacle) ; ?rt - rtype)\n; :precondition (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (objectType ?outerO ?ot)\n; (holds ?a ?outerO)\n; (holdsAnyReceptacleObject ?a)\n; (isReceptacleObject ?outerO)\n; (isReceptacleObjectFull ?outerO)\n; (inReceptacleObject ?innerO ?outerO)\n; )\n; :effect (and\n; (not (holdsAny ?a))\n; (not (holdsAnyReceptacleObject ?a))\n; (objectAtLocation ?outerO ?l)\n; (objectAtLocation ?innerO ?l)\n; (inReceptacle ?outerO ?r)\n; (inReceptacle ?innerO ?r)\n; (not (holds ?a ?outerO))\n; (increase (total-cost) 1)\n; )\n; )\n\n;; agent cleans some object\n (:action CleanObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (cleanable ?o)\n (or\n (receptacleType ?r SinkType)\n (receptacleType ?r SinkBasinType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isClean ?o)\n )\n )\n\n\n;; agent heats-up some object\n (:action HeatObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (heatable ?o)\n (or\n (receptacleType ?r MicrowaveType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isHot ?o)\n (not (isCool ?o))\n )\n )\n\n;; agent cools some object\n (:action CoolObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (coolable ?o)\n (or\n (receptacleType ?r FridgeType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isCool ?o)\n (not (isHot ?o))\n )\n )\n\n\n;; agent toggle object\n (:action ToggleObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n :precondition (and\n (toggleable ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (inReceptacle ?o ?r)\n )\n :effect (and\n (increase (total-cost) 5)\n (when (isOn ?o)\n (not (isOn ?o)))\n (when (not (isOn ?o))\n (isOn ?o))\n (isToggled ?o)\n )\n )\n\n\n;; agent slices some object with a knife\n (:action SliceObject\n :parameters (?a - agent ?l - location ?co - object ?ko - object)\n :precondition\n (and\n (sliceable ?co)\n (or\n (objectType ?ko KnifeType)\n (objectType ?ko ButterKnifeType)\n )\n (atLocation ?a ?l)\n (objectAtLocation ?co ?l)\n (holds ?a ?ko)\n )\n :effect (and\n (increase (total-cost) 5)\n (isSliced ?co)\n )\n )\n\n\n(:action help\n :parameters (?a - agent)\n :precondition\n ()\n :effect\n (and\n (checked ?a)\n )\n)\n)\n", "grammar": "grammar :: \"\"\"\n {\n \"intro\": [\n {\n \"rhs\": \"-= Welcome to TextWorld, ALFRED! =-\\n\\n#look.feedback#\\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 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_T20190910_231243_446234)\n(:domain alfred)\n(:objects\nagent1 - agent\nSaltShaker - object\n HousePlant - object\n Candle - object\n SprayBottle - object\n Bowl - object\n Window - object\n CD - object\n Egg - object\n Glassbottle - object\n Sink - object\n Pillow - object\n Spoon - object\n SoapBottle - object\n TeddyBear - object\n ButterKnife - object\n Cup - object\n Plate - object\n RemoteControl - object\n Tomato - object\n Statue - object\n HandTowel - object\n Knife - object\n StoveKnob - object\n LightSwitch - object\n Pen - object\n Painting - object\n DishSponge - object\n Vase - object\n Mug - object\n ToiletPaper - object\n Box - object\n Mirror - object\n Ladle - object\n Fork - object\n Blinds - object\n Footstool - object\n KeyChain - object\n Cloth - object\n Laptop - object\n TissueBox - object\n PepperShaker - object\n FloorLamp - object\n WateringCan - object\n Apple - object\n Pan - object\n PaperTowel - object\n PaperTowelRoll - object\n Newspaper - object\n Television - object\n Chair - object\n CellPhone - object\n CreditCard - object\n Lettuce - object\n BasketBall - object\n Potato - object\n Curtains - object\n Boots - object\n Pencil - object\n AlarmClock - object\n ToiletPaperRoll - object\n Spatula - object\n Book - object\n Bread - object\n SoapBar - object\n Watch - object\n DeskLamp - object\n Kettle - object\n Pot - object\n ScrubBrush - object\n WineBottle - object\n ShowerDoor - object\n Bathtub - object\n LaundryHamperLid - object\n ShowerGlass - object\n Poster - object\n TennisRacket - object\n BaseballBat - object\n Towel - object\n Plunger - object\nSaltShakerType - otype\n HousePlantType - otype\n CandleType - otype\n SprayBottleType - otype\n BowlType - otype\n WindowType - otype\n CDType - otype\n EggType - otype\n GlassbottleType - otype\n SinkType - otype\n PillowType - otype\n SpoonType - otype\n SoapBottleType - otype\n TeddyBearType - otype\n ButterKnifeType - otype\n CupType - otype\n PlateType - otype\n RemoteControlType - otype\n TomatoType - otype\n StatueType - otype\n HandTowelType - otype\n KnifeType - otype\n StoveKnobType - otype\n LightSwitchType - otype\n PenType - otype\n PaintingType - otype\n DishSpongeType - otype\n VaseType - otype\n MugType - otype\n ToiletPaperType - otype\n BoxType - otype\n MirrorType - otype\n LadleType - otype\n ForkType - otype\n BlindsType - otype\n FootstoolType - otype\n KeyChainType - otype\n ClothType - otype\n LaptopType - otype\n TissueBoxType - otype\n PepperShakerType - otype\n FloorLampType - otype\n WateringCanType - otype\n AppleType - otype\n PanType - otype\n PaperTowelType - otype\n PaperTowelRollType - otype\n NewspaperType - otype\n TelevisionType - otype\n ChairType - otype\n CellPhoneType - otype\n CreditCardType - otype\n LettuceType - otype\n BasketBallType - otype\n PotatoType - otype\n CurtainsType - otype\n BootsType - otype\n PencilType - otype\n AlarmClockType - otype\n ToiletPaperRollType - otype\n SpatulaType - otype\n BookType - otype\n BreadType - otype\n SoapBarType - otype\n WatchType - otype\n DeskLampType - otype\n KettleType - otype\n PotType - otype\n ScrubBrushType - otype\n WineBottleType - otype\n ShowerDoorType - otype\n BathtubType - otype\n LaundryHamperLidType - otype\n ShowerGlassType - otype\n PosterType - otype\n TennisRacketType - otype\n BaseballBatType - otype\n TowelType - otype\n PlungerType - otype\nSafeType - rtype\n DrawerType - rtype\n CoffeeMachineType - rtype\n HandTowelHolderType - rtype\n SinkBasinType - rtype\n DresserType - rtype\n LaundryHamperType - rtype\n TVStandType - rtype\n BathtubBasinType - rtype\n CabinetType - rtype\n FridgeType - rtype\n DeskType - rtype\n ToiletType - rtype\n CartType - rtype\n SideTableType - rtype\n SofaType - rtype\n CoffeeTableType - rtype\n DiningTableType - rtype\n CounterTopType - rtype\n GarbageCanType - rtype\n ArmChairType - rtype\n ShelfType - rtype\n MicrowaveType - rtype\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_97_bar__plus_00_dot_95_bar__plus_01_dot_70 - object\n Cloth_bar__minus_01_dot_69_bar__plus_00_dot_04_bar__plus_03_dot_77 - object\n Faucet_bar__minus_01_dot_89_bar__plus_01_dot_01_bar__plus_02_dot_73 - object\n Faucet_bar__minus_01_dot_89_bar__plus_01_dot_01_bar__plus_03_dot_56 - object\n HandTowel_bar__minus_01_dot_67_bar__plus_01_dot_50_bar__plus_03_dot_96 - object\n LightSwitch_bar__plus_01_dot_25_bar__plus_01_dot_32_bar__plus_03_dot_64 - object\n Mirror_bar__minus_01_dot_94_bar__plus_01_dot_53_bar__plus_03_dot_44 - object\n Painting_bar__minus_00_dot_57_bar__plus_01_dot_59_bar__plus_01_dot_17 - object\n Plunger_bar__minus_01_dot_88_bar__plus_00_dot_00_bar__plus_02_dot_28 - object\n ScrubBrush_bar__minus_01_dot_70_bar__plus_00_dot_00_bar__plus_02_dot_22 - object\n ShowerDoor_bar__plus_00_dot_53_bar__plus_01_dot_04_bar__plus_02_dot_10 - object\n ShowerHead_bar__plus_00_dot_87_bar__plus_01_dot_10_bar__plus_02_dot_01 - object\n Sink_bar__minus_01_dot_75_bar__plus_00_dot_88_bar__plus_02_dot_72 - object\n Sink_bar__minus_01_dot_75_bar__plus_00_dot_88_bar__plus_03_dot_55 - object\n SoapBar_bar__minus_01_dot_83_bar__plus_00_dot_95_bar__plus_02_dot_07 - object\n SoapBar_bar__minus_01_dot_91_bar__plus_00_dot_95_bar__plus_01_dot_88 - object\n SoapBottle_bar__minus_01_dot_52_bar__plus_00_dot_92_bar__plus_03_dot_10 - object\n SoapBottle_bar__minus_01_dot_64_bar__plus_00_dot_04_bar__plus_03_dot_63 - object\n SprayBottle_bar__minus_01_dot_70_bar__plus_00_dot_92_bar__plus_03_dot_17 - object\n SprayBottle_bar__minus_01_dot_74_bar__plus_00_dot_04_bar__plus_03_dot_32 - object\n ToiletPaper_bar__minus_01_dot_14_bar__plus_01_dot_01_bar__plus_01_dot_26 - object\n ToiletPaper_bar__minus_01_dot_48_bar__plus_00_dot_04_bar__plus_01_dot_37 - object\n Towel_bar__plus_00_dot_83_bar__plus_01_dot_16_bar__plus_02_dot_36 - object\n Cabinet_bar__minus_01_dot_48_bar__plus_00_dot_35_bar__plus_02_dot_36 - receptacle\n Cabinet_bar__minus_01_dot_48_bar__plus_00_dot_35_bar__plus_03_dot_17 - receptacle\n Cabinet_bar__minus_01_dot_48_bar__plus_00_dot_37_bar__plus_03_dot_15 - receptacle\n Cabinet_bar__minus_01_dot_48_bar__plus_00_dot_37_bar__plus_03_dot_96 - receptacle\n CounterTop_bar__minus_01_dot_76_bar__plus_00_dot_67_bar__plus_03_dot_16 - receptacle\n GarbageCan_bar__minus_01_dot_45_bar__plus_00_dot_00_bar__plus_01_dot_40 - receptacle\n HandTowelHolder_bar__minus_01_dot_67_bar__plus_01_dot_60_bar__plus_04_dot_00 - receptacle\n Sink_bar__minus_01_dot_75_bar__plus_00_dot_88_bar__plus_02_dot_72_bar_SinkBasin - receptacle\n Sink_bar__minus_01_dot_75_bar__plus_00_dot_88_bar__plus_03_dot_55_bar_SinkBasin - receptacle\n ToiletPaperHanger_bar__minus_01_dot_20_bar__plus_01_dot_01_bar__plus_01_dot_16 - receptacle\n Toilet_bar__minus_01_dot_45_bar__plus_00_dot_00_bar__plus_01_dot_87 - receptacle\n TowelHolder_bar__plus_00_dot_83_bar__plus_01_dot_15_bar__plus_02_dot_25 - receptacle\n loc_bar__minus_3_bar_7_bar_3_bar_60 - location\n loc_bar_3_bar_11_bar_2_bar_45 - location\n loc_bar_3_bar_14_bar_1_bar_30 - location\n loc_bar__minus_5_bar_14_bar_3_bar_15 - location\n loc_bar__minus_2_bar_7_bar_2_bar_0 - location\n loc_bar__minus_2_bar_8_bar_3_bar_60 - location\n loc_bar__minus_4_bar_14_bar_3_bar_45 - location\n loc_bar_0_bar_8_bar_1_bar_45 - location\n loc_bar__minus_2_bar_13_bar_3_bar_45 - location\n loc_bar__minus_5_bar_14_bar_3_bar_60 - location\n loc_bar__minus_3_bar_7_bar_2_bar_45 - location\n loc_bar__minus_5_bar_11_bar_3_bar_60 - location\n loc_bar__minus_5_bar_14_bar_0_bar_0 - location\n loc_bar__minus_4_bar_9_bar_3_bar_60 - location\n loc_bar__minus_2_bar_14_bar_3_bar_45 - location\n loc_bar__minus_2_bar_12_bar_3_bar_60 - location\n loc_bar__minus_5_bar_10_bar_3_bar_60 - location\n loc_bar__minus_5_bar_14_bar_2_bar_30 - location\n )\n \n\n(:init\n\n\n (receptacleType Toilet_bar__minus_01_dot_45_bar__plus_00_dot_00_bar__plus_01_dot_87 ToiletType)\n (receptacleType TowelHolder_bar__plus_00_dot_83_bar__plus_01_dot_15_bar__plus_02_dot_25 TowelHolderType)\n (receptacleType ToiletPaperHanger_bar__minus_01_dot_20_bar__plus_01_dot_01_bar__plus_01_dot_16 ToiletPaperHangerType)\n (receptacleType Cabinet_bar__minus_01_dot_48_bar__plus_00_dot_35_bar__plus_03_dot_17 CabinetType)\n (receptacleType GarbageCan_bar__minus_01_dot_45_bar__plus_00_dot_00_bar__plus_01_dot_40 GarbageCanType)\n (receptacleType Sink_bar__minus_01_dot_75_bar__plus_00_dot_88_bar__plus_03_dot_55_bar_SinkBasin SinkBasinType)\n (receptacleType HandTowelHolder_bar__minus_01_dot_67_bar__plus_01_dot_60_bar__plus_04_dot_00 HandTowelHolderType)\n (receptacleType Cabinet_bar__minus_01_dot_48_bar__plus_00_dot_37_bar__plus_03_dot_15 CabinetType)\n (receptacleType Cabinet_bar__minus_01_dot_48_bar__plus_00_dot_37_bar__plus_03_dot_96 CabinetType)\n (receptacleType CounterTop_bar__minus_01_dot_76_bar__plus_00_dot_67_bar__plus_03_dot_16 CounterTopType)\n (receptacleType Sink_bar__minus_01_dot_75_bar__plus_00_dot_88_bar__plus_02_dot_72_bar_SinkBasin SinkBasinType)\n (receptacleType Cabinet_bar__minus_01_dot_48_bar__plus_00_dot_35_bar__plus_02_dot_36 CabinetType)\n (objectType ShowerDoor_bar__plus_00_dot_53_bar__plus_01_dot_04_bar__plus_02_dot_10 ShowerDoorType)\n (objectType SprayBottle_bar__minus_01_dot_74_bar__plus_00_dot_04_bar__plus_03_dot_32 SprayBottleType)\n (objectType ToiletPaper_bar__minus_01_dot_48_bar__plus_00_dot_04_bar__plus_01_dot_37 ToiletPaperType)\n (objectType Mirror_bar__minus_01_dot_94_bar__plus_01_dot_53_bar__plus_03_dot_44 MirrorType)\n (objectType Towel_bar__plus_00_dot_83_bar__plus_01_dot_16_bar__plus_02_dot_36 TowelType)\n (objectType Cloth_bar__minus_01_dot_69_bar__plus_00_dot_04_bar__plus_03_dot_77 ClothType)\n (objectType SoapBar_bar__minus_01_dot_91_bar__plus_00_dot_95_bar__plus_01_dot_88 SoapBarType)\n (objectType Painting_bar__minus_00_dot_57_bar__plus_01_dot_59_bar__plus_01_dot_17 PaintingType)\n (objectType HandTowel_bar__minus_01_dot_67_bar__plus_01_dot_50_bar__plus_03_dot_96 HandTowelType)\n (objectType SprayBottle_bar__minus_01_dot_70_bar__plus_00_dot_92_bar__plus_03_dot_17 SprayBottleType)\n (objectType Plunger_bar__minus_01_dot_88_bar__plus_00_dot_00_bar__plus_02_dot_28 PlungerType)\n (objectType Sink_bar__minus_01_dot_75_bar__plus_00_dot_88_bar__plus_03_dot_55 SinkType)\n (objectType SoapBottle_bar__minus_01_dot_52_bar__plus_00_dot_92_bar__plus_03_dot_10 SoapBottleType)\n (objectType SoapBar_bar__minus_01_dot_83_bar__plus_00_dot_95_bar__plus_02_dot_07 SoapBarType)\n (objectType ToiletPaper_bar__minus_01_dot_14_bar__plus_01_dot_01_bar__plus_01_dot_26 ToiletPaperType)\n (objectType LightSwitch_bar__plus_01_dot_25_bar__plus_01_dot_32_bar__plus_03_dot_64 LightSwitchType)\n (objectType SoapBottle_bar__minus_01_dot_64_bar__plus_00_dot_04_bar__plus_03_dot_63 SoapBottleType)\n (objectType ScrubBrush_bar__minus_01_dot_70_bar__plus_00_dot_00_bar__plus_02_dot_22 ScrubBrushType)\n (objectType Candle_bar__minus_01_dot_97_bar__plus_00_dot_95_bar__plus_01_dot_70 CandleType)\n (objectType Sink_bar__minus_01_dot_75_bar__plus_00_dot_88_bar__plus_02_dot_72 SinkType)\n (canContain ToiletType SoapBottleType)\n (canContain ToiletType HandTowelType)\n (canContain ToiletType ToiletPaperType)\n (canContain ToiletType ClothType)\n (canContain ToiletType CandleType)\n (canContain ToiletType SoapBarType)\n (canContain ToiletType SprayBottleType)\n (canContain TowelHolderType TowelType)\n (canContain ToiletPaperHangerType ToiletPaperType)\n (canContain CabinetType CandleType)\n (canContain CabinetType SoapBarType)\n (canContain CabinetType SprayBottleType)\n (canContain CabinetType ToiletPaperType)\n (canContain CabinetType SoapBottleType)\n (canContain CabinetType ClothType)\n (canContain CabinetType HandTowelType)\n (canContain CabinetType PlungerType)\n (canContain GarbageCanType SoapBarType)\n (canContain GarbageCanType SprayBottleType)\n (canContain GarbageCanType ToiletPaperType)\n (canContain GarbageCanType SoapBottleType)\n (canContain GarbageCanType ClothType)\n (canContain GarbageCanType HandTowelType)\n (canContain SinkBasinType SoapBarType)\n (canContain SinkBasinType ClothType)\n (canContain SinkBasinType HandTowelType)\n (canContain HandTowelHolderType HandTowelType)\n (canContain CabinetType CandleType)\n (canContain CabinetType SoapBarType)\n (canContain CabinetType SprayBottleType)\n (canContain CabinetType ToiletPaperType)\n (canContain CabinetType SoapBottleType)\n (canContain CabinetType ClothType)\n (canContain CabinetType HandTowelType)\n (canContain CabinetType PlungerType)\n (canContain CabinetType CandleType)\n (canContain CabinetType SoapBarType)\n (canContain CabinetType SprayBottleType)\n (canContain CabinetType ToiletPaperType)\n (canContain CabinetType SoapBottleType)\n (canContain CabinetType ClothType)\n (canContain CabinetType HandTowelType)\n (canContain CabinetType PlungerType)\n (canContain CounterTopType CandleType)\n (canContain CounterTopType SoapBarType)\n (canContain CounterTopType SprayBottleType)\n (canContain CounterTopType ToiletPaperType)\n (canContain CounterTopType SoapBottleType)\n (canContain CounterTopType ClothType)\n (canContain CounterTopType HandTowelType)\n (canContain SinkBasinType SoapBarType)\n (canContain SinkBasinType ClothType)\n (canContain SinkBasinType HandTowelType)\n (canContain CabinetType CandleType)\n (canContain CabinetType SoapBarType)\n (canContain CabinetType SprayBottleType)\n (canContain CabinetType ToiletPaperType)\n (canContain CabinetType SoapBottleType)\n (canContain CabinetType ClothType)\n (canContain CabinetType HandTowelType)\n (canContain CabinetType PlungerType)\n (pickupable SprayBottle_bar__minus_01_dot_74_bar__plus_00_dot_04_bar__plus_03_dot_32)\n (pickupable ToiletPaper_bar__minus_01_dot_48_bar__plus_00_dot_04_bar__plus_01_dot_37)\n (pickupable Towel_bar__plus_00_dot_83_bar__plus_01_dot_16_bar__plus_02_dot_36)\n (pickupable Cloth_bar__minus_01_dot_69_bar__plus_00_dot_04_bar__plus_03_dot_77)\n (pickupable SoapBar_bar__minus_01_dot_91_bar__plus_00_dot_95_bar__plus_01_dot_88)\n (pickupable HandTowel_bar__minus_01_dot_67_bar__plus_01_dot_50_bar__plus_03_dot_96)\n (pickupable SprayBottle_bar__minus_01_dot_70_bar__plus_00_dot_92_bar__plus_03_dot_17)\n (pickupable Plunger_bar__minus_01_dot_88_bar__plus_00_dot_00_bar__plus_02_dot_28)\n (pickupable SoapBottle_bar__minus_01_dot_52_bar__plus_00_dot_92_bar__plus_03_dot_10)\n (pickupable SoapBar_bar__minus_01_dot_83_bar__plus_00_dot_95_bar__plus_02_dot_07)\n (pickupable ToiletPaper_bar__minus_01_dot_14_bar__plus_01_dot_01_bar__plus_01_dot_26)\n (pickupable SoapBottle_bar__minus_01_dot_64_bar__plus_00_dot_04_bar__plus_03_dot_63)\n (pickupable ScrubBrush_bar__minus_01_dot_70_bar__plus_00_dot_00_bar__plus_02_dot_22)\n (pickupable Candle_bar__minus_01_dot_97_bar__plus_00_dot_95_bar__plus_01_dot_70)\n \n (openable Cabinet_bar__minus_01_dot_48_bar__plus_00_dot_35_bar__plus_03_dot_17)\n (openable Cabinet_bar__minus_01_dot_48_bar__plus_00_dot_37_bar__plus_03_dot_15)\n (openable Cabinet_bar__minus_01_dot_48_bar__plus_00_dot_37_bar__plus_03_dot_96)\n (openable Cabinet_bar__minus_01_dot_48_bar__plus_00_dot_35_bar__plus_02_dot_36)\n \n (atLocation agent1 loc_bar__minus_5_bar_14_bar_2_bar_30)\n \n (cleanable Cloth_bar__minus_01_dot_69_bar__plus_00_dot_04_bar__plus_03_dot_77)\n (cleanable SoapBar_bar__minus_01_dot_91_bar__plus_00_dot_95_bar__plus_01_dot_88)\n (cleanable SoapBar_bar__minus_01_dot_83_bar__plus_00_dot_95_bar__plus_02_dot_07)\n \n \n \n \n \n \n \n \n \n \n (inReceptacle SoapBottle_bar__minus_01_dot_52_bar__plus_00_dot_92_bar__plus_03_dot_10 CounterTop_bar__minus_01_dot_76_bar__plus_00_dot_67_bar__plus_03_dot_16)\n (inReceptacle HandTowel_bar__minus_01_dot_67_bar__plus_01_dot_50_bar__plus_03_dot_96 CounterTop_bar__minus_01_dot_76_bar__plus_00_dot_67_bar__plus_03_dot_16)\n (inReceptacle SprayBottle_bar__minus_01_dot_70_bar__plus_00_dot_92_bar__plus_03_dot_17 CounterTop_bar__minus_01_dot_76_bar__plus_00_dot_67_bar__plus_03_dot_16)\n (inReceptacle SprayBottle_bar__minus_01_dot_74_bar__plus_00_dot_04_bar__plus_03_dot_32 Cabinet_bar__minus_01_dot_48_bar__plus_00_dot_35_bar__plus_03_dot_17)\n (inReceptacle Cloth_bar__minus_01_dot_69_bar__plus_00_dot_04_bar__plus_03_dot_77 Cabinet_bar__minus_01_dot_48_bar__plus_00_dot_37_bar__plus_03_dot_96)\n (inReceptacle SoapBottle_bar__minus_01_dot_64_bar__plus_00_dot_04_bar__plus_03_dot_63 Cabinet_bar__minus_01_dot_48_bar__plus_00_dot_37_bar__plus_03_dot_96)\n (inReceptacle Towel_bar__plus_00_dot_83_bar__plus_01_dot_16_bar__plus_02_dot_36 TowelHolder_bar__plus_00_dot_83_bar__plus_01_dot_15_bar__plus_02_dot_25)\n (inReceptacle ToiletPaper_bar__minus_01_dot_14_bar__plus_01_dot_01_bar__plus_01_dot_26 ToiletPaperHanger_bar__minus_01_dot_20_bar__plus_01_dot_01_bar__plus_01_dot_16)\n (inReceptacle HandTowel_bar__minus_01_dot_67_bar__plus_01_dot_50_bar__plus_03_dot_96 HandTowelHolder_bar__minus_01_dot_67_bar__plus_01_dot_60_bar__plus_04_dot_00)\n (inReceptacle SoapBar_bar__minus_01_dot_91_bar__plus_00_dot_95_bar__plus_01_dot_88 Toilet_bar__minus_01_dot_45_bar__plus_00_dot_00_bar__plus_01_dot_87)\n (inReceptacle SoapBar_bar__minus_01_dot_83_bar__plus_00_dot_95_bar__plus_02_dot_07 Toilet_bar__minus_01_dot_45_bar__plus_00_dot_00_bar__plus_01_dot_87)\n (inReceptacle Candle_bar__minus_01_dot_97_bar__plus_00_dot_95_bar__plus_01_dot_70 Toilet_bar__minus_01_dot_45_bar__plus_00_dot_00_bar__plus_01_dot_87)\n (inReceptacle ToiletPaper_bar__minus_01_dot_48_bar__plus_00_dot_04_bar__plus_01_dot_37 GarbageCan_bar__minus_01_dot_45_bar__plus_00_dot_00_bar__plus_01_dot_40)\n \n \n (receptacleAtLocation Cabinet_bar__minus_01_dot_48_bar__plus_00_dot_35_bar__plus_02_dot_36 loc_bar__minus_2_bar_8_bar_3_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_01_dot_48_bar__plus_00_dot_35_bar__plus_03_dot_17 loc_bar__minus_2_bar_12_bar_3_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_01_dot_48_bar__plus_00_dot_37_bar__plus_03_dot_15 loc_bar__minus_2_bar_14_bar_3_bar_45)\n (receptacleAtLocation Cabinet_bar__minus_01_dot_48_bar__plus_00_dot_37_bar__plus_03_dot_96 loc_bar__minus_2_bar_13_bar_3_bar_45)\n (receptacleAtLocation CounterTop_bar__minus_01_dot_76_bar__plus_00_dot_67_bar__plus_03_dot_16 loc_bar__minus_4_bar_14_bar_3_bar_45)\n (receptacleAtLocation GarbageCan_bar__minus_01_dot_45_bar__plus_00_dot_00_bar__plus_01_dot_40 loc_bar__minus_3_bar_7_bar_3_bar_60)\n (receptacleAtLocation HandTowelHolder_bar__minus_01_dot_67_bar__plus_01_dot_60_bar__plus_04_dot_00 loc_bar__minus_5_bar_14_bar_0_bar_0)\n (receptacleAtLocation Sink_bar__minus_01_dot_75_bar__plus_00_dot_88_bar__plus_02_dot_72_bar_SinkBasin loc_bar__minus_5_bar_11_bar_3_bar_60)\n (receptacleAtLocation Sink_bar__minus_01_dot_75_bar__plus_00_dot_88_bar__plus_03_dot_55_bar_SinkBasin loc_bar__minus_5_bar_14_bar_3_bar_60)\n (receptacleAtLocation ToiletPaperHanger_bar__minus_01_dot_20_bar__plus_01_dot_01_bar__plus_01_dot_16 loc_bar__minus_3_bar_7_bar_2_bar_45)\n (receptacleAtLocation Toilet_bar__minus_01_dot_45_bar__plus_00_dot_00_bar__plus_01_dot_87 loc_bar__minus_4_bar_9_bar_3_bar_60)\n (receptacleAtLocation TowelHolder_bar__plus_00_dot_83_bar__plus_01_dot_15_bar__plus_02_dot_25 loc_bar_3_bar_11_bar_2_bar_45)\n (objectAtLocation SprayBottle_bar__minus_01_dot_70_bar__plus_00_dot_92_bar__plus_03_dot_17 loc_bar__minus_4_bar_14_bar_3_bar_45)\n (objectAtLocation SoapBar_bar__minus_01_dot_83_bar__plus_00_dot_95_bar__plus_02_dot_07 loc_bar__minus_4_bar_9_bar_3_bar_60)\n (objectAtLocation SoapBottle_bar__minus_01_dot_52_bar__plus_00_dot_92_bar__plus_03_dot_10 loc_bar__minus_4_bar_14_bar_3_bar_45)\n (objectAtLocation Sink_bar__minus_01_dot_75_bar__plus_00_dot_88_bar__plus_02_dot_72 loc_bar__minus_5_bar_11_bar_3_bar_60)\n (objectAtLocation Sink_bar__minus_01_dot_75_bar__plus_00_dot_88_bar__plus_03_dot_55 loc_bar__minus_5_bar_14_bar_3_bar_60)\n (objectAtLocation Mirror_bar__minus_01_dot_94_bar__plus_01_dot_53_bar__plus_03_dot_44 loc_bar__minus_5_bar_14_bar_3_bar_15)\n (objectAtLocation ShowerDoor_bar__plus_00_dot_53_bar__plus_01_dot_04_bar__plus_02_dot_10 loc_bar_0_bar_8_bar_1_bar_45)\n (objectAtLocation Painting_bar__minus_00_dot_57_bar__plus_01_dot_59_bar__plus_01_dot_17 loc_bar__minus_2_bar_7_bar_2_bar_0)\n (objectAtLocation Candle_bar__minus_01_dot_97_bar__plus_00_dot_95_bar__plus_01_dot_70 loc_bar__minus_4_bar_9_bar_3_bar_60)\n (objectAtLocation HandTowel_bar__minus_01_dot_67_bar__plus_01_dot_50_bar__plus_03_dot_96 loc_bar__minus_5_bar_14_bar_0_bar_0)\n (objectAtLocation SoapBottle_bar__minus_01_dot_64_bar__plus_00_dot_04_bar__plus_03_dot_63 loc_bar__minus_2_bar_13_bar_3_bar_45)\n (objectAtLocation Towel_bar__plus_00_dot_83_bar__plus_01_dot_16_bar__plus_02_dot_36 loc_bar_3_bar_11_bar_2_bar_45)\n (objectAtLocation Cloth_bar__minus_01_dot_69_bar__plus_00_dot_04_bar__plus_03_dot_77 loc_bar__minus_2_bar_13_bar_3_bar_45)\n (objectAtLocation SoapBar_bar__minus_01_dot_91_bar__plus_00_dot_95_bar__plus_01_dot_88 loc_bar__minus_4_bar_9_bar_3_bar_60)\n (objectAtLocation ToiletPaper_bar__minus_01_dot_14_bar__plus_01_dot_01_bar__plus_01_dot_26 loc_bar__minus_3_bar_7_bar_2_bar_45)\n (objectAtLocation Plunger_bar__minus_01_dot_88_bar__plus_00_dot_00_bar__plus_02_dot_28 loc_bar__minus_5_bar_10_bar_3_bar_60)\n (objectAtLocation SprayBottle_bar__minus_01_dot_74_bar__plus_00_dot_04_bar__plus_03_dot_32 loc_bar__minus_2_bar_12_bar_3_bar_60)\n (objectAtLocation ToiletPaper_bar__minus_01_dot_48_bar__plus_00_dot_04_bar__plus_01_dot_37 loc_bar__minus_3_bar_7_bar_3_bar_60)\n (objectAtLocation LightSwitch_bar__plus_01_dot_25_bar__plus_01_dot_32_bar__plus_03_dot_64 loc_bar_3_bar_14_bar_1_bar_30)\n (objectAtLocation ScrubBrush_bar__minus_01_dot_70_bar__plus_00_dot_00_bar__plus_02_dot_22 loc_bar__minus_4_bar_9_bar_3_bar_60)\n )\n \n\n (:goal\n (and\n (exists (?r - receptacle)\n (exists (?o1 - object)\n (and\n (objectType ?o1 SoapBarType)\n (receptacleType ?r CabinetType)\n (inReceptacle ?o1 ?r)\n (exists (?o2 - object)\n (and\n (not (= ?o1 ?o2))\n (objectType ?o2 SoapBarType)\n (receptacleType ?r CabinetType)\n (inReceptacle ?o2 ?r)\n )\n )\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to toilet 1", "take soapbar 2 from toilet 1", "go to cabinet 3", "open cabinet 3", "move soapbar 2 to cabinet 3", "go to toilet 1", "take soapbar 1 from toilet 1", "go to cabinet 3", "move soapbar 1 to cabinet 3"]}
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alfworld__pick_and_place_simple__782
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pick_and_place_simple
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pick_and_place_simple-Candle-None-CounterTop-411/trial_T20190906_200827_470056/game.tw-pddl
|
{"pddl_domain": ";; Specification in PDDL of the Alfred domain\n;; Intended to be used with Fast Downward which supports PDDL 2.2 level 1 plus the :action-costs requirement from PDDL 3.1.\n\n(define (domain alfred)\n (:requirements\n :adl\n :action-costs\n :typing\n )\n (:types\n agent\n location\n receptacle\n object\n rtype\n otype\n )\n\n\n (:predicates\n (atLocation ?a - agent ?l - location) ; true if the agent is at the location\n (receptacleAtLocation ?r - receptacle ?l - location) ; true if the receptacle is at the location (constant)\n (objectAtLocation ?o - object ?l - location) ; true if the object is at the location\n (openable ?r - receptacle) ; true if a receptacle is openable\n (opened ?r - receptacle) ; true if a receptacle is opened\n (inReceptacle ?o - object ?r - receptacle) ; object ?o is in receptacle ?r\n (isReceptacleObject ?o - object) ; true if the object can have things put inside it\n (inReceptacleObject ?innerObject - object ?outerObject - object) ; object ?innerObject is inside object ?outerObject\n (isReceptacleObjectFull ?o - object) ; true if the receptacle object contains something\n (wasInReceptacle ?o - object ?r - receptacle) ; object ?o was or is in receptacle ?r now or some time in the past\n (checked ?r - receptacle) ; whether the receptacle has been looked inside/visited\n (examined ?l - location) ; TODO\n (receptacleType ?r - receptacle ?t - rtype) ; the type of receptacle (Cabinet vs Cabinet|01|2...)\n (canContain ?rt - rtype ?ot - otype) ; true if receptacle can hold object\n (objectType ?o - object ?t - otype) ; the type of object (Apple vs Apple|01|2...)\n (holds ?a - agent ?o - object) ; object ?o is held by agent ?a\n (holdsAny ?a - agent) ; agent ?a holds an object\n (holdsAnyReceptacleObject ?a - agent) ; agent ?a holds a receptacle object\n (full ?r - receptacle) ; true if the receptacle has no remaining space\n (isClean ?o - object) ; true if the object has been clean in sink\n (cleanable ?o - object) ; true if the object can be placed in a sink\n (isHot ?o - object) ; true if the object has been heated up\n (heatable ?o - object) ; true if the object can be heated up in a microwave\n (isCool ?o - object) ; true if the object has been cooled\n (coolable ?o - object) ; true if the object can be cooled in the fridge\n (pickupable ?o - object) ; true if the object can be picked up\n (moveable ?o - object) ; true if the object can be moved\n (toggleable ?o - object) ; true if the object can be turned on/off\n (isOn ?o - object) ; true if the object is on\n (isToggled ?o - object) ; true if the object has been toggled\n (sliceable ?o - object) ; true if the object can be sliced\n (isSliced ?o - object) ; true if the object is sliced\n )\n\n (:functions\n (distance ?from ?to)\n (total-cost) - number\n )\n\n;; All actions are specified such that the final arguments are the ones used\n;; for performing actions in Unity.\n\n\n(:action look\n :parameters (?a - agent ?l - location)\n :precondition\n (and\n (atLocation ?a ?l)\n )\n :effect\n (and\n (checked ?l)\n )\n)\n\n(:action inventory\n :parameters (?a - agent)\n :precondition\n ()\n :effect\n (and\n (checked ?a)\n )\n)\n\n(:action examineReceptacle\n :parameters (?a - agent ?r - receptacle)\n :precondition\n (and\n (exists (?l - location)\n (and\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n )\n )\n )\n :effect\n (and\n (checked ?r)\n )\n)\n\n(:action examineObject\n :parameters (?a - agent ?o - object)\n :precondition\n (or\n ;(exists (?l - location)\n ; (and\n ; (atLocation ?a ?l)\n ; (objectAtLocation ?o ?l)\n ; )\n ;)\n (exists (?l - location, ?r - receptacle)\n (and\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n ; (objectAtLocation ?o ?l)\n (inReceptacle ?o ?r)\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n )\n )\n (holds ?a ?o)\n )\n :effect\n (and\n (checked ?o)\n )\n)\n\n;; agent goes to receptacle\n (:action GotoLocation\n :parameters (?a - agent ?lStart - location ?lEnd - location ?r - receptacle)\n :precondition (and\n (atLocation ?a ?lStart)\n (receptacleAtLocation ?r ?lEnd)\n ;(exists (?r - receptacle) (receptacleAtLocation ?r ?lEnd))\n )\n :effect (and\n (not (atLocation ?a ?lStart))\n (atLocation ?a ?lEnd)\n ; (forall (?r - receptacle)\n ; (when (and (receptacleAtLocation ?r ?lEnd)\n ; (or (not (openable ?r)) (opened ?r)))\n ; (checked ?r)\n ; )\n ; )\n ; (increase (total-cost) (distance ?lStart ?lEnd))\n (increase (total-cost) 1)\n )\n )\n\n;; agent opens receptacle\n (:action OpenObject\n :parameters (?a - agent ?l - location ?r - receptacle)\n :precondition (and\n (openable ?r)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (not (opened ?r))\n )\n :effect (and\n (opened ?r)\n (checked ?r)\n (increase (total-cost) 1)\n )\n )\n;; agent closes receptacle\n (:action CloseObject\n :parameters (?a - agent ?l - location ?r - receptacle)\n :precondition (and\n (openable ?r)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (opened ?r)\n )\n :effect (and\n (not (opened ?r))\n (increase (total-cost) 1)\n )\n\n )\n\n ;; agent picks up object from a receptacle\n (:action PickupObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n :precondition\n (and\n (pickupable ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n ; (objectAtLocation ?o ?l)\n (inReceptacle ?o ?r)\n (not (holdsAny ?a)) ; agent's hands are empty.\n ;(not (holdsAnyReceptacleObject ?a))\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n ;(not (isReceptacleObject ?o))\n )\n :effect\n (and\n (not (inReceptacle ?o ?r))\n (holds ?a ?o)\n (holdsAny ?a)\n (not (objectAtLocation ?o ?l))\n ;(not (full ?r))\n (increase (total-cost) 1)\n )\n )\n\n\n; ;; agent picks up object from a receptacle\n; (:action PickupObjectFromReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?outerR - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (inReceptacle ?o ?r)\n; (pickupable ?o)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (not (isReceptacleObject ?o))\n; (isReceptacleObject ?outerR)\n; (inReceptacleObject ?o ?outerR)\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (holds ?a ?o)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n;\n; (not (inReceptacleObject ?o ?outerR))\n; (not (isReceptacleObjectFull ?outerR))\n; )\n; )\n;\n; ;; agent picks up object from a receptacle\n; (:action PickupEmptyReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; ; (objectAtLocation ?o ?l)\n; (inReceptacle ?o ?r)\n; (pickupable ?o)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (isReceptacleObject ?o)\n; (not (isReceptacleObjectFull ?o))\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (holds ?a ?o)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n; (holdsAnyReceptacleObject ?a)\n; )\n; )\n;\n; ;; agent picks up object from a receptacle\n; (:action PickupFullReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?outerR - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (inReceptacle ?outerR ?r)\n; (pickupable ?outerR)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (not (isReceptacleObject ?o))\n; (isReceptacleObject ?outerR)\n; (inReceptacleObject ?o ?outerR)\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (not (inReceptacle ?outerR ?r))\n; (holds ?a ?outerR)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (objectAtLocation ?outerR ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n; (holdsAnyReceptacleObject ?a)\n; )\n; )\n\n\n;; agent puts down an object\n (:action PutObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle ?ot - otype ?rt - rtype)\n :precondition (and\n (holds ?a ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable\n ;(not (full ?r))\n (objectType ?o ?ot)\n (receptacleType ?r ?rt)\n (canContain ?rt ?ot)\n ;(not (holdsAnyReceptacleObject ?a))\n )\n :effect (and\n (inReceptacle ?o ?r)\n (objectAtLocation ?o ?l)\n ;(full ?r)\n (not (holds ?a ?o))\n (not (holdsAny ?a))\n (increase (total-cost) 1)\n )\n )\n\n;;; agent puts down an object\n; (:action PutObjectInReceptacleObject\n; :parameters (?a - agent ?l - location ?ot - otype ?o - object ?outerO - object ?outerR - receptacle)\n; :precondition (and\n; (atLocation ?a ?l)\n; (objectAtLocation ?outerO ?l)\n; (isReceptacleObject ?outerO)\n; (not (isReceptacleObject ?o))\n; (objectType ?o ?ot)\n; (holds ?a ?o)\n; (not (holdsAnyReceptacleObject ?a))\n; (inReceptacle ?outerO ?outerR)\n; (not (isReceptacleObjectFull ?outerO))\n; )\n; :effect (and\n; (inReceptacleObject ?o ?outerO)\n; (inReceptacle ?o ?outerR)\n; (not (holds ?a ?o))\n; (not (holdsAny ?a))\n; (objectAtLocation ?o ?l)\n; (isReceptacleObjectFull ?outerO)\n; (increase (total-cost) 1)\n; )\n; )\n;\n;;; agent puts down an object\n; (:action PutEmptyReceptacleObjectinReceptacle\n; :parameters (?a - agent ?l - location ?ot - otype ?o - object ?r - receptacle)\n; :precondition (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable\n; (not (full ?r))\n; (objectType ?o ?ot)\n; (holds ?a ?o)\n; (holdsAnyReceptacleObject ?a)\n; (isReceptacleObject ?o)\n; (not (isReceptacleObjectFull ?o))\n; )\n; :effect (and\n; (inReceptacle ?o ?r)\n; (objectAtLocation ?o ?l)\n; (full ?r)\n; (not (holds ?a ?o))\n; (not (holdsAny ?a))\n; (not (holdsAnyReceptacleObject ?a))\n; (increase (total-cost) 1)\n; )\n; )\n;\n;;; agent puts down a receptacle object in a receptacle\n; (:action PutFullReceptacleObjectInReceptacle\n; :parameters (?a - agent ?l - location ?ot - otype ?innerO - object ?outerO - object ?r - receptacle) ; ?rt - rtype)\n; :precondition (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (objectType ?outerO ?ot)\n; (holds ?a ?outerO)\n; (holdsAnyReceptacleObject ?a)\n; (isReceptacleObject ?outerO)\n; (isReceptacleObjectFull ?outerO)\n; (inReceptacleObject ?innerO ?outerO)\n; )\n; :effect (and\n; (not (holdsAny ?a))\n; (not (holdsAnyReceptacleObject ?a))\n; (objectAtLocation ?outerO ?l)\n; (objectAtLocation ?innerO ?l)\n; (inReceptacle ?outerO ?r)\n; (inReceptacle ?innerO ?r)\n; (not (holds ?a ?outerO))\n; (increase (total-cost) 1)\n; )\n; )\n\n;; agent cleans some object\n (:action CleanObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (cleanable ?o)\n (or\n (receptacleType ?r SinkType)\n (receptacleType ?r SinkBasinType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isClean ?o)\n )\n )\n\n\n;; agent heats-up some object\n (:action HeatObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (heatable ?o)\n (or\n (receptacleType ?r MicrowaveType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isHot ?o)\n (not (isCool ?o))\n )\n )\n\n;; agent cools some object\n (:action CoolObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (coolable ?o)\n (or\n (receptacleType ?r FridgeType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isCool ?o)\n (not (isHot ?o))\n )\n )\n\n\n;; agent toggle object\n (:action ToggleObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n :precondition (and\n (toggleable ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (inReceptacle ?o ?r)\n )\n :effect (and\n (increase (total-cost) 5)\n (when (isOn ?o)\n (not (isOn ?o)))\n (when (not (isOn ?o))\n (isOn ?o))\n (isToggled ?o)\n )\n )\n\n\n;; agent slices some object with a knife\n (:action SliceObject\n :parameters (?a - agent ?l - location ?co - object ?ko - object)\n :precondition\n (and\n (sliceable ?co)\n (or\n (objectType ?ko KnifeType)\n (objectType ?ko ButterKnifeType)\n )\n (atLocation ?a ?l)\n (objectAtLocation ?co ?l)\n (holds ?a ?ko)\n )\n :effect (and\n (increase (total-cost) 5)\n (isSliced ?co)\n )\n )\n\n\n(:action help\n :parameters (?a - agent)\n :precondition\n ()\n :effect\n (and\n (checked ?a)\n )\n)\n)\n", "grammar": "grammar :: \"\"\"\n {\n \"intro\": [\n {\n \"rhs\": \"-= Welcome to TextWorld, ALFRED! =-\\n\\n#look.feedback#\\n\\n#task#\"\n }\n ],\n\n \"notImplemented\": [\n {\n \"rhs\": \"TODO\"\n }\n ],\n\n \"task\": [\n {\n \"rhs\": \"Your task is to: put a candle in 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_T20190906_200827_470056)\n(:domain alfred)\n(:objects\nagent1 - agent\nSaltShaker - object\n HousePlant - object\n Candle - object\n SprayBottle - object\n Bowl - object\n Window - object\n CD - object\n Egg - object\n Glassbottle - object\n Sink - object\n Pillow - object\n Spoon - object\n SoapBottle - object\n TeddyBear - object\n ButterKnife - object\n Cup - object\n Plate - object\n RemoteControl - object\n Tomato - object\n Statue - object\n HandTowel - object\n Knife - object\n StoveKnob - object\n LightSwitch - object\n Pen - object\n Painting - object\n DishSponge - object\n Vase - object\n Mug - object\n ToiletPaper - object\n Box - object\n Mirror - object\n Ladle - object\n Fork - object\n Blinds - object\n Footstool - object\n KeyChain - object\n Cloth - object\n Laptop - object\n TissueBox - object\n PepperShaker - object\n FloorLamp - object\n WateringCan - object\n Apple - object\n Pan - object\n PaperTowel - object\n PaperTowelRoll - object\n Newspaper - object\n Television - object\n Chair - object\n CellPhone - object\n CreditCard - object\n Lettuce - object\n BasketBall - object\n Potato - object\n Curtains - object\n Boots - object\n Pencil - object\n AlarmClock - object\n ToiletPaperRoll - object\n Spatula - object\n Book - object\n Bread - object\n SoapBar - object\n Watch - object\n DeskLamp - object\n Kettle - object\n Pot - object\n ScrubBrush - object\n WineBottle - object\n ShowerDoor - object\n Bathtub - object\n LaundryHamperLid - object\n ShowerGlass - object\n Poster - object\n TennisRacket - object\n BaseballBat - object\n Towel - object\n Plunger - object\nSaltShakerType - otype\n HousePlantType - otype\n CandleType - otype\n SprayBottleType - otype\n BowlType - otype\n WindowType - otype\n CDType - otype\n EggType - otype\n GlassbottleType - otype\n SinkType - otype\n PillowType - otype\n SpoonType - otype\n SoapBottleType - otype\n TeddyBearType - otype\n ButterKnifeType - otype\n CupType - otype\n PlateType - otype\n RemoteControlType - otype\n TomatoType - otype\n StatueType - otype\n HandTowelType - otype\n KnifeType - otype\n StoveKnobType - otype\n LightSwitchType - otype\n PenType - otype\n PaintingType - otype\n DishSpongeType - otype\n VaseType - otype\n MugType - otype\n ToiletPaperType - otype\n BoxType - otype\n MirrorType - otype\n LadleType - otype\n ForkType - otype\n BlindsType - otype\n FootstoolType - otype\n KeyChainType - otype\n ClothType - otype\n LaptopType - otype\n TissueBoxType - otype\n PepperShakerType - otype\n FloorLampType - otype\n WateringCanType - otype\n AppleType - otype\n PanType - otype\n PaperTowelType - otype\n PaperTowelRollType - otype\n NewspaperType - otype\n TelevisionType - otype\n ChairType - otype\n CellPhoneType - otype\n CreditCardType - otype\n LettuceType - otype\n BasketBallType - otype\n PotatoType - otype\n CurtainsType - otype\n BootsType - otype\n PencilType - otype\n AlarmClockType - otype\n ToiletPaperRollType - otype\n SpatulaType - otype\n BookType - otype\n BreadType - otype\n SoapBarType - otype\n WatchType - otype\n DeskLampType - otype\n KettleType - otype\n PotType - otype\n ScrubBrushType - otype\n WineBottleType - otype\n ShowerDoorType - otype\n BathtubType - otype\n LaundryHamperLidType - otype\n ShowerGlassType - otype\n PosterType - otype\n TennisRacketType - otype\n BaseballBatType - otype\n TowelType - otype\n PlungerType - otype\nSafeType - rtype\n DrawerType - rtype\n CoffeeMachineType - rtype\n HandTowelHolderType - rtype\n SinkBasinType - rtype\n DresserType - rtype\n LaundryHamperType - rtype\n TVStandType - rtype\n BathtubBasinType - rtype\n CabinetType - rtype\n FridgeType - rtype\n DeskType - rtype\n ToiletType - rtype\n CartType - rtype\n SideTableType - rtype\n SofaType - rtype\n CoffeeTableType - rtype\n DiningTableType - rtype\n CounterTopType - rtype\n GarbageCanType - rtype\n ArmChairType - rtype\n ShelfType - rtype\n MicrowaveType - rtype\n ToasterType - rtype\n BedType - rtype\n PaintingHangerType - rtype\n TowelHolderType - rtype\n ToiletPaperHangerType - rtype\n StoveBurnerType - rtype\n OttomanType - rtype\n\n\n Bathtub_bar__minus_01_dot_06_bar__plus_00_dot_30_bar__plus_00_dot_43 - object\n Candle_bar__plus_00_dot_69_bar__plus_00_dot_25_bar__plus_02_dot_42 - object\n Candle_bar__minus_02_dot_62_bar__plus_01_dot_04_bar__plus_01_dot_76 - object\n Cloth_bar__plus_00_dot_68_bar__plus_00_dot_83_bar__plus_01_dot_95 - object\n Cloth_bar__minus_02_dot_10_bar__plus_00_dot_59_bar__plus_00_dot_60 - object\n Cloth_bar__minus_02_dot_46_bar__plus_00_dot_59_bar__plus_00_dot_48 - object\n Faucet_bar__plus_00_dot_32_bar__plus_00_dot_63_bar__plus_00_dot_48 - object\n Faucet_bar__plus_01_dot_05_bar__plus_01_dot_04_bar__plus_01_dot_92 - object\n Faucet_bar__minus_02_dot_62_bar__plus_01_dot_82_bar__plus_03_dot_36 - object\n HandTowel_bar__plus_01_dot_03_bar__plus_01_dot_67_bar__plus_03_dot_13 - object\n LightSwitch_bar__plus_00_dot_22_bar__plus_01_dot_42_bar__plus_04_dot_00 - object\n Mirror_bar__plus_00_dot_99_bar__plus_01_dot_68_bar__plus_01_dot_90 - object\n Plunger_bar__minus_02_dot_57_bar__plus_00_dot_00_bar__plus_01_dot_99 - object\n ScrubBrush_bar__minus_02_dot_56_bar__plus_00_dot_00_bar__plus_02_dot_20 - object\n ShowerDoor_bar__minus_02_dot_67_bar__plus_01_dot_00_bar__plus_02_dot_80 - object\n ShowerGlass_bar__minus_01_dot_71_bar__plus_01_dot_28_bar__plus_03_dot_30 - object\n Sink_bar__plus_00_dot_81_bar__plus_00_dot_70_bar__plus_01_dot_92 - object\n SoapBar_bar__plus_00_dot_73_bar__plus_00_dot_74_bar__plus_01_dot_30 - object\n SoapBar_bar__minus_01_dot_08_bar__plus_00_dot_18_bar__plus_00_dot_39 - object\n SoapBottle_bar__plus_00_dot_76_bar__plus_00_dot_12_bar__plus_03_dot_06 - object\n SoapBottle_bar__minus_02_dot_56_bar__plus_01_dot_05_bar__plus_01_dot_43 - object\n SprayBottle_bar__plus_00_dot_58_bar__plus_00_dot_74_bar__plus_01_dot_51 - object\n SprayBottle_bar__minus_01_dot_86_bar__plus_00_dot_59_bar__plus_00_dot_13 - object\n SprayBottle_bar__minus_02_dot_10_bar__plus_00_dot_59_bar__plus_00_dot_37 - object\n ToiletPaper_bar__plus_00_dot_58_bar__plus_00_dot_74_bar__plus_01_dot_37 - object\n ToiletPaper_bar__plus_00_dot_62_bar__plus_00_dot_58_bar__plus_00_dot_13 - object\n ToiletPaper_bar__plus_00_dot_65_bar__plus_00_dot_49_bar__plus_02_dot_42 - object\n Towel_bar__plus_00_dot_47_bar__plus_01_dot_18_bar__plus_00_dot_13 - object\n Towel_bar__plus_00_dot_93_bar__plus_01_dot_19_bar__plus_00_dot_50 - object\n Window_bar__minus_00_dot_96_bar__plus_01_dot_56_bar__minus_00_dot_06 - object\n Window_bar__minus_02_dot_81_bar__plus_00_dot_96_bar__plus_00_dot_51 - object\n Bathtub_bar__minus_01_dot_06_bar__plus_00_dot_30_bar__plus_00_dot_43_bar_BathtubBasin - receptacle\n CounterTop_bar__plus_00_dot_73_bar__plus_00_dot_70_bar__plus_01_dot_96 - receptacle\n CounterTop_bar__minus_00_dot_30_bar__plus_00_dot_16_bar__plus_00_dot_53 - receptacle\n Drawer_bar__plus_00_dot_41_bar__plus_00_dot_32_bar__plus_01_dot_49 - receptacle\n Drawer_bar__plus_00_dot_41_bar__plus_00_dot_32_bar__plus_02_dot_42 - receptacle\n Drawer_bar__plus_00_dot_41_bar__plus_00_dot_55_bar__plus_01_dot_49 - receptacle\n Drawer_bar__plus_00_dot_41_bar__plus_00_dot_55_bar__plus_02_dot_42 - receptacle\n GarbageCan_bar__plus_00_dot_78_bar__plus_00_dot_07_bar__plus_03_dot_04 - receptacle\n HandTowelHolder_bar__plus_01_dot_07_bar__plus_01_dot_77_bar__plus_03_dot_13 - receptacle\n Sink_bar__plus_00_dot_81_bar__plus_00_dot_70_bar__plus_01_dot_92_bar_SinkBasin - receptacle\n ToiletPaperHanger_bar__minus_02_dot_70_bar__plus_00_dot_93_bar__plus_01_dot_20 - receptacle\n Toilet_bar__minus_02_dot_23_bar__plus_00_dot_00_bar__plus_01_dot_63 - receptacle\n TowelHolder_bar__plus_00_dot_47_bar__plus_01_dot_17_bar__plus_00_dot_03 - receptacle\n TowelHolder_bar__plus_01_dot_04_bar__plus_01_dot_18_bar__plus_00_dot_50 - receptacle\n loc_bar__minus_3_bar_6_bar_2_bar_60 - location\n loc_bar_0_bar_8_bar_1_bar_0 - location\n loc_bar__minus_9_bar_9_bar_0_bar_45 - location\n loc_bar__minus_4_bar_5_bar_2_bar_0 - location\n loc_bar_1_bar_13_bar_1_bar__minus_15 - location\n loc_bar__minus_9_bar_9_bar_2_bar_60 - location\n loc_bar__minus_3_bar_5_bar_1_bar_45 - location\n loc_bar_0_bar_5_bar_2_bar_15 - location\n loc_bar__minus_3_bar_9_bar_1_bar_45 - location\n loc_bar__minus_6_bar_5_bar_3_bar_30 - location\n loc_bar__minus_4_bar_13_bar_3_bar_30 - location\n loc_bar__minus_3_bar_8_bar_1_bar_45 - location\n loc_bar__minus_1_bar_8_bar_1_bar_45 - location\n loc_bar_0_bar_5_bar_1_bar_30 - location\n loc_bar_1_bar_13_bar_1_bar_60 - location\n loc_bar_0_bar_6_bar_1_bar_45 - location\n loc_bar__minus_7_bar_9_bar_2_bar_45 - location\n loc_bar__minus_9_bar_9_bar_3_bar_60 - location\n loc_bar_1_bar_14_bar_0_bar_30 - location\n loc_bar__minus_4_bar_6_bar_1_bar_45 - location\n loc_bar__minus_1_bar_14_bar_3_bar_30 - location\n )\n \n\n(:init\n\n\n (receptacleType ToiletPaperHanger_bar__minus_02_dot_70_bar__plus_00_dot_93_bar__plus_01_dot_20 ToiletPaperHangerType)\n (receptacleType Drawer_bar__plus_00_dot_41_bar__plus_00_dot_32_bar__plus_02_dot_42 DrawerType)\n (receptacleType Drawer_bar__plus_00_dot_41_bar__plus_00_dot_55_bar__plus_01_dot_49 DrawerType)\n (receptacleType CounterTop_bar__minus_00_dot_30_bar__plus_00_dot_16_bar__plus_00_dot_53 CounterTopType)\n (receptacleType Drawer_bar__plus_00_dot_41_bar__plus_00_dot_55_bar__plus_02_dot_42 DrawerType)\n (receptacleType TowelHolder_bar__plus_01_dot_04_bar__plus_01_dot_18_bar__plus_00_dot_50 TowelHolderType)\n (receptacleType GarbageCan_bar__plus_00_dot_78_bar__plus_00_dot_07_bar__plus_03_dot_04 GarbageCanType)\n (receptacleType Toilet_bar__minus_02_dot_23_bar__plus_00_dot_00_bar__plus_01_dot_63 ToiletType)\n (receptacleType Bathtub_bar__minus_01_dot_06_bar__plus_00_dot_30_bar__plus_00_dot_43_bar_BathtubBasin BathtubBasinType)\n (receptacleType Drawer_bar__plus_00_dot_41_bar__plus_00_dot_32_bar__plus_01_dot_49 DrawerType)\n (receptacleType TowelHolder_bar__plus_00_dot_47_bar__plus_01_dot_17_bar__plus_00_dot_03 TowelHolderType)\n (receptacleType CounterTop_bar__plus_00_dot_73_bar__plus_00_dot_70_bar__plus_01_dot_96 CounterTopType)\n (receptacleType HandTowelHolder_bar__plus_01_dot_07_bar__plus_01_dot_77_bar__plus_03_dot_13 HandTowelHolderType)\n (receptacleType Sink_bar__plus_00_dot_81_bar__plus_00_dot_70_bar__plus_01_dot_92_bar_SinkBasin SinkBasinType)\n (objectType Bathtub_bar__minus_01_dot_06_bar__plus_00_dot_30_bar__plus_00_dot_43 BathtubType)\n (objectType SprayBottle_bar__plus_00_dot_58_bar__plus_00_dot_74_bar__plus_01_dot_51 SprayBottleType)\n (objectType SoapBar_bar__minus_01_dot_08_bar__plus_00_dot_18_bar__plus_00_dot_39 SoapBarType)\n (objectType Mirror_bar__plus_00_dot_99_bar__plus_01_dot_68_bar__plus_01_dot_90 MirrorType)\n (objectType Candle_bar__plus_00_dot_69_bar__plus_00_dot_25_bar__plus_02_dot_42 CandleType)\n (objectType HandTowel_bar__plus_01_dot_03_bar__plus_01_dot_67_bar__plus_03_dot_13 HandTowelType)\n (objectType ToiletPaper_bar__plus_00_dot_65_bar__plus_00_dot_49_bar__plus_02_dot_42 ToiletPaperType)\n (objectType Cloth_bar__minus_02_dot_10_bar__plus_00_dot_59_bar__plus_00_dot_60 ClothType)\n (objectType SprayBottle_bar__minus_01_dot_86_bar__plus_00_dot_59_bar__plus_00_dot_13 SprayBottleType)\n (objectType ToiletPaper_bar__plus_00_dot_58_bar__plus_00_dot_74_bar__plus_01_dot_37 ToiletPaperType)\n (objectType Cloth_bar__minus_02_dot_46_bar__plus_00_dot_59_bar__plus_00_dot_48 ClothType)\n (objectType ShowerGlass_bar__minus_01_dot_71_bar__plus_01_dot_28_bar__plus_03_dot_30 ShowerGlassType)\n (objectType Window_bar__minus_00_dot_96_bar__plus_01_dot_56_bar__minus_00_dot_06 WindowType)\n (objectType ShowerDoor_bar__minus_02_dot_67_bar__plus_01_dot_00_bar__plus_02_dot_80 ShowerDoorType)\n (objectType Cloth_bar__plus_00_dot_68_bar__plus_00_dot_83_bar__plus_01_dot_95 ClothType)\n (objectType SoapBottle_bar__plus_00_dot_76_bar__plus_00_dot_12_bar__plus_03_dot_06 SoapBottleType)\n (objectType SoapBar_bar__plus_00_dot_73_bar__plus_00_dot_74_bar__plus_01_dot_30 SoapBarType)\n (objectType Towel_bar__plus_00_dot_93_bar__plus_01_dot_19_bar__plus_00_dot_50 TowelType)\n (objectType SoapBottle_bar__minus_02_dot_56_bar__plus_01_dot_05_bar__plus_01_dot_43 SoapBottleType)\n (objectType Window_bar__minus_02_dot_81_bar__plus_00_dot_96_bar__plus_00_dot_51 WindowType)\n (objectType Sink_bar__plus_00_dot_81_bar__plus_00_dot_70_bar__plus_01_dot_92 SinkType)\n (objectType LightSwitch_bar__plus_00_dot_22_bar__plus_01_dot_42_bar__plus_04_dot_00 LightSwitchType)\n (objectType ScrubBrush_bar__minus_02_dot_56_bar__plus_00_dot_00_bar__plus_02_dot_20 ScrubBrushType)\n (objectType SprayBottle_bar__minus_02_dot_10_bar__plus_00_dot_59_bar__plus_00_dot_37 SprayBottleType)\n (objectType Candle_bar__minus_02_dot_62_bar__plus_01_dot_04_bar__plus_01_dot_76 CandleType)\n (objectType ToiletPaper_bar__plus_00_dot_62_bar__plus_00_dot_58_bar__plus_00_dot_13 ToiletPaperType)\n (objectType Towel_bar__plus_00_dot_47_bar__plus_01_dot_18_bar__plus_00_dot_13 TowelType)\n (objectType Plunger_bar__minus_02_dot_57_bar__plus_00_dot_00_bar__plus_01_dot_99 PlungerType)\n (canContain ToiletPaperHangerType ToiletPaperType)\n (canContain DrawerType CandleType)\n (canContain DrawerType SoapBarType)\n (canContain DrawerType SprayBottleType)\n (canContain DrawerType ToiletPaperType)\n (canContain DrawerType SoapBottleType)\n (canContain DrawerType ClothType)\n (canContain DrawerType HandTowelType)\n (canContain DrawerType CandleType)\n (canContain DrawerType SoapBarType)\n (canContain DrawerType SprayBottleType)\n (canContain DrawerType ToiletPaperType)\n (canContain DrawerType SoapBottleType)\n (canContain DrawerType ClothType)\n (canContain DrawerType HandTowelType)\n (canContain CounterTopType CandleType)\n (canContain CounterTopType SoapBarType)\n (canContain CounterTopType SprayBottleType)\n (canContain CounterTopType ToiletPaperType)\n (canContain CounterTopType SoapBottleType)\n (canContain CounterTopType ClothType)\n (canContain CounterTopType HandTowelType)\n (canContain DrawerType CandleType)\n (canContain DrawerType SoapBarType)\n (canContain DrawerType SprayBottleType)\n (canContain DrawerType ToiletPaperType)\n (canContain DrawerType SoapBottleType)\n (canContain DrawerType ClothType)\n (canContain DrawerType HandTowelType)\n (canContain TowelHolderType TowelType)\n (canContain GarbageCanType SoapBarType)\n (canContain GarbageCanType SprayBottleType)\n (canContain GarbageCanType ToiletPaperType)\n (canContain GarbageCanType SoapBottleType)\n (canContain GarbageCanType ClothType)\n (canContain GarbageCanType HandTowelType)\n (canContain ToiletType SoapBottleType)\n (canContain ToiletType HandTowelType)\n (canContain ToiletType ToiletPaperType)\n (canContain ToiletType ClothType)\n (canContain ToiletType CandleType)\n (canContain ToiletType SoapBarType)\n (canContain ToiletType SprayBottleType)\n (canContain BathtubBasinType ClothType)\n (canContain BathtubBasinType HandTowelType)\n (canContain BathtubBasinType SoapBarType)\n (canContain DrawerType CandleType)\n (canContain DrawerType SoapBarType)\n (canContain DrawerType SprayBottleType)\n (canContain DrawerType ToiletPaperType)\n (canContain DrawerType SoapBottleType)\n (canContain DrawerType ClothType)\n (canContain DrawerType HandTowelType)\n (canContain TowelHolderType TowelType)\n (canContain CounterTopType CandleType)\n (canContain CounterTopType SoapBarType)\n (canContain CounterTopType SprayBottleType)\n (canContain CounterTopType ToiletPaperType)\n (canContain CounterTopType SoapBottleType)\n (canContain CounterTopType ClothType)\n (canContain CounterTopType HandTowelType)\n (canContain HandTowelHolderType HandTowelType)\n (canContain SinkBasinType SoapBarType)\n (canContain SinkBasinType ClothType)\n (canContain SinkBasinType HandTowelType)\n (pickupable SprayBottle_bar__plus_00_dot_58_bar__plus_00_dot_74_bar__plus_01_dot_51)\n (pickupable SoapBar_bar__minus_01_dot_08_bar__plus_00_dot_18_bar__plus_00_dot_39)\n (pickupable Candle_bar__plus_00_dot_69_bar__plus_00_dot_25_bar__plus_02_dot_42)\n (pickupable HandTowel_bar__plus_01_dot_03_bar__plus_01_dot_67_bar__plus_03_dot_13)\n (pickupable ToiletPaper_bar__plus_00_dot_65_bar__plus_00_dot_49_bar__plus_02_dot_42)\n (pickupable Cloth_bar__minus_02_dot_10_bar__plus_00_dot_59_bar__plus_00_dot_60)\n (pickupable SprayBottle_bar__minus_01_dot_86_bar__plus_00_dot_59_bar__plus_00_dot_13)\n (pickupable ToiletPaper_bar__plus_00_dot_58_bar__plus_00_dot_74_bar__plus_01_dot_37)\n (pickupable Cloth_bar__minus_02_dot_46_bar__plus_00_dot_59_bar__plus_00_dot_48)\n (pickupable Cloth_bar__plus_00_dot_68_bar__plus_00_dot_83_bar__plus_01_dot_95)\n (pickupable SoapBottle_bar__plus_00_dot_76_bar__plus_00_dot_12_bar__plus_03_dot_06)\n (pickupable SoapBar_bar__plus_00_dot_73_bar__plus_00_dot_74_bar__plus_01_dot_30)\n (pickupable Towel_bar__plus_00_dot_93_bar__plus_01_dot_19_bar__plus_00_dot_50)\n (pickupable SoapBottle_bar__minus_02_dot_56_bar__plus_01_dot_05_bar__plus_01_dot_43)\n (pickupable ScrubBrush_bar__minus_02_dot_56_bar__plus_00_dot_00_bar__plus_02_dot_20)\n (pickupable SprayBottle_bar__minus_02_dot_10_bar__plus_00_dot_59_bar__plus_00_dot_37)\n (pickupable Candle_bar__minus_02_dot_62_bar__plus_01_dot_04_bar__plus_01_dot_76)\n (pickupable ToiletPaper_bar__plus_00_dot_62_bar__plus_00_dot_58_bar__plus_00_dot_13)\n (pickupable Towel_bar__plus_00_dot_47_bar__plus_01_dot_18_bar__plus_00_dot_13)\n (pickupable Plunger_bar__minus_02_dot_57_bar__plus_00_dot_00_bar__plus_01_dot_99)\n \n (openable Drawer_bar__plus_00_dot_41_bar__plus_00_dot_32_bar__plus_02_dot_42)\n (openable Drawer_bar__plus_00_dot_41_bar__plus_00_dot_55_bar__plus_01_dot_49)\n (openable Drawer_bar__plus_00_dot_41_bar__plus_00_dot_55_bar__plus_02_dot_42)\n (openable Drawer_bar__plus_00_dot_41_bar__plus_00_dot_32_bar__plus_01_dot_49)\n \n (atLocation agent1 loc_bar__minus_1_bar_14_bar_3_bar_30)\n \n (cleanable SoapBar_bar__minus_01_dot_08_bar__plus_00_dot_18_bar__plus_00_dot_39)\n (cleanable Cloth_bar__minus_02_dot_10_bar__plus_00_dot_59_bar__plus_00_dot_60)\n (cleanable Cloth_bar__minus_02_dot_46_bar__plus_00_dot_59_bar__plus_00_dot_48)\n (cleanable Cloth_bar__plus_00_dot_68_bar__plus_00_dot_83_bar__plus_01_dot_95)\n (cleanable SoapBar_bar__plus_00_dot_73_bar__plus_00_dot_74_bar__plus_01_dot_30)\n \n \n \n \n \n \n \n \n \n \n (inReceptacle SprayBottle_bar__plus_00_dot_58_bar__plus_00_dot_74_bar__plus_01_dot_51 CounterTop_bar__plus_00_dot_73_bar__plus_00_dot_70_bar__plus_01_dot_96)\n (inReceptacle ToiletPaper_bar__plus_00_dot_58_bar__plus_00_dot_74_bar__plus_01_dot_37 CounterTop_bar__plus_00_dot_73_bar__plus_00_dot_70_bar__plus_01_dot_96)\n (inReceptacle SoapBar_bar__plus_00_dot_73_bar__plus_00_dot_74_bar__plus_01_dot_30 CounterTop_bar__plus_00_dot_73_bar__plus_00_dot_70_bar__plus_01_dot_96)\n (inReceptacle Candle_bar__plus_00_dot_69_bar__plus_00_dot_25_bar__plus_02_dot_42 Drawer_bar__plus_00_dot_41_bar__plus_00_dot_32_bar__plus_02_dot_42)\n (inReceptacle SprayBottle_bar__minus_02_dot_10_bar__plus_00_dot_59_bar__plus_00_dot_37 CounterTop_bar__minus_00_dot_30_bar__plus_00_dot_16_bar__plus_00_dot_53)\n (inReceptacle Cloth_bar__minus_02_dot_10_bar__plus_00_dot_59_bar__plus_00_dot_60 CounterTop_bar__minus_00_dot_30_bar__plus_00_dot_16_bar__plus_00_dot_53)\n (inReceptacle SprayBottle_bar__minus_01_dot_86_bar__plus_00_dot_59_bar__plus_00_dot_13 CounterTop_bar__minus_00_dot_30_bar__plus_00_dot_16_bar__plus_00_dot_53)\n (inReceptacle Cloth_bar__minus_02_dot_46_bar__plus_00_dot_59_bar__plus_00_dot_48 CounterTop_bar__minus_00_dot_30_bar__plus_00_dot_16_bar__plus_00_dot_53)\n (inReceptacle ToiletPaper_bar__plus_00_dot_62_bar__plus_00_dot_58_bar__plus_00_dot_13 CounterTop_bar__minus_00_dot_30_bar__plus_00_dot_16_bar__plus_00_dot_53)\n (inReceptacle Towel_bar__plus_00_dot_47_bar__plus_01_dot_18_bar__plus_00_dot_13 CounterTop_bar__minus_00_dot_30_bar__plus_00_dot_16_bar__plus_00_dot_53)\n (inReceptacle ToiletPaper_bar__plus_00_dot_65_bar__plus_00_dot_49_bar__plus_02_dot_42 Drawer_bar__plus_00_dot_41_bar__plus_00_dot_55_bar__plus_02_dot_42)\n (inReceptacle Towel_bar__plus_00_dot_93_bar__plus_01_dot_19_bar__plus_00_dot_50 TowelHolder_bar__plus_01_dot_04_bar__plus_01_dot_18_bar__plus_00_dot_50)\n (inReceptacle Towel_bar__plus_00_dot_47_bar__plus_01_dot_18_bar__plus_00_dot_13 TowelHolder_bar__plus_00_dot_47_bar__plus_01_dot_17_bar__plus_00_dot_03)\n (inReceptacle SoapBottle_bar__plus_00_dot_76_bar__plus_00_dot_12_bar__plus_03_dot_06 GarbageCan_bar__plus_00_dot_78_bar__plus_00_dot_07_bar__plus_03_dot_04)\n (inReceptacle Cloth_bar__plus_00_dot_68_bar__plus_00_dot_83_bar__plus_01_dot_95 Sink_bar__plus_00_dot_81_bar__plus_00_dot_70_bar__plus_01_dot_92_bar_SinkBasin)\n (inReceptacle Sink_bar__plus_00_dot_81_bar__plus_00_dot_70_bar__plus_01_dot_92 Sink_bar__plus_00_dot_81_bar__plus_00_dot_70_bar__plus_01_dot_92_bar_SinkBasin)\n (inReceptacle SoapBar_bar__minus_01_dot_08_bar__plus_00_dot_18_bar__plus_00_dot_39 Bathtub_bar__minus_01_dot_06_bar__plus_00_dot_30_bar__plus_00_dot_43_bar_BathtubBasin)\n (inReceptacle Bathtub_bar__minus_01_dot_06_bar__plus_00_dot_30_bar__plus_00_dot_43 Bathtub_bar__minus_01_dot_06_bar__plus_00_dot_30_bar__plus_00_dot_43_bar_BathtubBasin)\n (inReceptacle HandTowel_bar__plus_01_dot_03_bar__plus_01_dot_67_bar__plus_03_dot_13 HandTowelHolder_bar__plus_01_dot_07_bar__plus_01_dot_77_bar__plus_03_dot_13)\n (inReceptacle SoapBottle_bar__minus_02_dot_56_bar__plus_01_dot_05_bar__plus_01_dot_43 Toilet_bar__minus_02_dot_23_bar__plus_00_dot_00_bar__plus_01_dot_63)\n (inReceptacle Candle_bar__minus_02_dot_62_bar__plus_01_dot_04_bar__plus_01_dot_76 Toilet_bar__minus_02_dot_23_bar__plus_00_dot_00_bar__plus_01_dot_63)\n \n \n (receptacleAtLocation Bathtub_bar__minus_01_dot_06_bar__plus_00_dot_30_bar__plus_00_dot_43_bar_BathtubBasin loc_bar__minus_3_bar_6_bar_2_bar_60)\n (receptacleAtLocation CounterTop_bar__plus_00_dot_73_bar__plus_00_dot_70_bar__plus_01_dot_96 loc_bar__minus_1_bar_8_bar_1_bar_45)\n (receptacleAtLocation CounterTop_bar__minus_00_dot_30_bar__plus_00_dot_16_bar__plus_00_dot_53 loc_bar__minus_7_bar_9_bar_2_bar_45)\n (receptacleAtLocation Drawer_bar__plus_00_dot_41_bar__plus_00_dot_32_bar__plus_01_dot_49 loc_bar__minus_4_bar_6_bar_1_bar_45)\n (receptacleAtLocation Drawer_bar__plus_00_dot_41_bar__plus_00_dot_32_bar__plus_02_dot_42 loc_bar__minus_3_bar_8_bar_1_bar_45)\n (receptacleAtLocation Drawer_bar__plus_00_dot_41_bar__plus_00_dot_55_bar__plus_01_dot_49 loc_bar__minus_3_bar_5_bar_1_bar_45)\n (receptacleAtLocation Drawer_bar__plus_00_dot_41_bar__plus_00_dot_55_bar__plus_02_dot_42 loc_bar__minus_3_bar_9_bar_1_bar_45)\n (receptacleAtLocation GarbageCan_bar__plus_00_dot_78_bar__plus_00_dot_07_bar__plus_03_dot_04 loc_bar_1_bar_13_bar_1_bar_60)\n (receptacleAtLocation HandTowelHolder_bar__plus_01_dot_07_bar__plus_01_dot_77_bar__plus_03_dot_13 loc_bar_1_bar_13_bar_1_bar__minus_15)\n (receptacleAtLocation Sink_bar__plus_00_dot_81_bar__plus_00_dot_70_bar__plus_01_dot_92_bar_SinkBasin loc_bar_0_bar_6_bar_1_bar_45)\n (receptacleAtLocation ToiletPaperHanger_bar__minus_02_dot_70_bar__plus_00_dot_93_bar__plus_01_dot_20 loc_bar__minus_6_bar_5_bar_3_bar_30)\n (receptacleAtLocation Toilet_bar__minus_02_dot_23_bar__plus_00_dot_00_bar__plus_01_dot_63 loc_bar__minus_9_bar_9_bar_2_bar_60)\n (receptacleAtLocation TowelHolder_bar__plus_00_dot_47_bar__plus_01_dot_17_bar__plus_00_dot_03 loc_bar_0_bar_5_bar_2_bar_15)\n (receptacleAtLocation TowelHolder_bar__plus_01_dot_04_bar__plus_01_dot_18_bar__plus_00_dot_50 loc_bar_0_bar_5_bar_1_bar_30)\n (objectAtLocation SprayBottle_bar__minus_01_dot_86_bar__plus_00_dot_59_bar__plus_00_dot_13 loc_bar__minus_7_bar_9_bar_2_bar_45)\n (objectAtLocation Candle_bar__plus_00_dot_69_bar__plus_00_dot_25_bar__plus_02_dot_42 loc_bar__minus_3_bar_8_bar_1_bar_45)\n (objectAtLocation Cloth_bar__minus_02_dot_10_bar__plus_00_dot_59_bar__plus_00_dot_60 loc_bar__minus_7_bar_9_bar_2_bar_45)\n (objectAtLocation SoapBottle_bar__minus_02_dot_56_bar__plus_01_dot_05_bar__plus_01_dot_43 loc_bar__minus_9_bar_9_bar_2_bar_60)\n (objectAtLocation ToiletPaper_bar__plus_00_dot_58_bar__plus_00_dot_74_bar__plus_01_dot_37 loc_bar__minus_1_bar_8_bar_1_bar_45)\n (objectAtLocation SoapBar_bar__minus_01_dot_08_bar__plus_00_dot_18_bar__plus_00_dot_39 loc_bar__minus_3_bar_6_bar_2_bar_60)\n (objectAtLocation Towel_bar__plus_00_dot_47_bar__plus_01_dot_18_bar__plus_00_dot_13 loc_bar_0_bar_5_bar_2_bar_15)\n (objectAtLocation SprayBottle_bar__minus_02_dot_10_bar__plus_00_dot_59_bar__plus_00_dot_37 loc_bar__minus_7_bar_9_bar_2_bar_45)\n (objectAtLocation Cloth_bar__minus_02_dot_46_bar__plus_00_dot_59_bar__plus_00_dot_48 loc_bar__minus_7_bar_9_bar_2_bar_45)\n (objectAtLocation Window_bar__minus_02_dot_81_bar__plus_00_dot_96_bar__plus_00_dot_51 loc_bar__minus_6_bar_5_bar_3_bar_30)\n (objectAtLocation Bathtub_bar__minus_01_dot_06_bar__plus_00_dot_30_bar__plus_00_dot_43 loc_bar__minus_3_bar_6_bar_2_bar_60)\n (objectAtLocation Mirror_bar__plus_00_dot_99_bar__plus_01_dot_68_bar__plus_01_dot_90 loc_bar_0_bar_8_bar_1_bar_0)\n (objectAtLocation ShowerDoor_bar__minus_02_dot_67_bar__plus_01_dot_00_bar__plus_02_dot_80 loc_bar__minus_9_bar_9_bar_0_bar_45)\n (objectAtLocation ShowerGlass_bar__minus_01_dot_71_bar__plus_01_dot_28_bar__plus_03_dot_30 loc_bar__minus_4_bar_13_bar_3_bar_30)\n (objectAtLocation Sink_bar__plus_00_dot_81_bar__plus_00_dot_70_bar__plus_01_dot_92 loc_bar_0_bar_6_bar_1_bar_45)\n (objectAtLocation Window_bar__minus_00_dot_96_bar__plus_01_dot_56_bar__minus_00_dot_06 loc_bar__minus_4_bar_5_bar_2_bar_0)\n (objectAtLocation HandTowel_bar__plus_01_dot_03_bar__plus_01_dot_67_bar__plus_03_dot_13 loc_bar_1_bar_13_bar_1_bar__minus_15)\n (objectAtLocation Towel_bar__plus_00_dot_93_bar__plus_01_dot_19_bar__plus_00_dot_50 loc_bar_0_bar_5_bar_1_bar_30)\n (objectAtLocation SoapBar_bar__plus_00_dot_73_bar__plus_00_dot_74_bar__plus_01_dot_30 loc_bar__minus_1_bar_8_bar_1_bar_45)\n (objectAtLocation ToiletPaper_bar__plus_00_dot_62_bar__plus_00_dot_58_bar__plus_00_dot_13 loc_bar__minus_7_bar_9_bar_2_bar_45)\n (objectAtLocation SoapBottle_bar__plus_00_dot_76_bar__plus_00_dot_12_bar__plus_03_dot_06 loc_bar_1_bar_13_bar_1_bar_60)\n (objectAtLocation LightSwitch_bar__plus_00_dot_22_bar__plus_01_dot_42_bar__plus_04_dot_00 loc_bar_1_bar_14_bar_0_bar_30)\n (objectAtLocation ToiletPaper_bar__plus_00_dot_65_bar__plus_00_dot_49_bar__plus_02_dot_42 loc_bar__minus_3_bar_9_bar_1_bar_45)\n (objectAtLocation ScrubBrush_bar__minus_02_dot_56_bar__plus_00_dot_00_bar__plus_02_dot_20 loc_bar__minus_9_bar_9_bar_3_bar_60)\n (objectAtLocation Plunger_bar__minus_02_dot_57_bar__plus_00_dot_00_bar__plus_01_dot_99 loc_bar__minus_9_bar_9_bar_3_bar_60)\n (objectAtLocation Cloth_bar__plus_00_dot_68_bar__plus_00_dot_83_bar__plus_01_dot_95 loc_bar_0_bar_6_bar_1_bar_45)\n (objectAtLocation Candle_bar__minus_02_dot_62_bar__plus_01_dot_04_bar__plus_01_dot_76 loc_bar__minus_9_bar_9_bar_2_bar_60)\n (objectAtLocation SprayBottle_bar__plus_00_dot_58_bar__plus_00_dot_74_bar__plus_01_dot_51 loc_bar__minus_1_bar_8_bar_1_bar_45)\n )\n \n\n (:goal\n (and\n (exists (?r - receptacle)\n (exists (?o - object)\n (and\n (inReceptacle ?o ?r)\n (objectType ?o CandleType)\n (receptacleType ?r CounterTopType)\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to toilet 1", "take candle 2 from toilet 1", "go to countertop 1", "move candle 2 to countertop 1"]}
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alfworld__pick_and_place_simple__783
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pick_and_place_simple
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pick_and_place_simple-Candle-None-CounterTop-411/trial_T20190906_200812_843662/game.tw-pddl
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{"pddl_domain": ";; Specification in PDDL of the Alfred domain\n;; Intended to be used with Fast Downward which supports PDDL 2.2 level 1 plus the :action-costs requirement from PDDL 3.1.\n\n(define (domain alfred)\n (:requirements\n :adl\n :action-costs\n :typing\n )\n (:types\n agent\n location\n receptacle\n object\n rtype\n otype\n )\n\n\n (:predicates\n (atLocation ?a - agent ?l - location) ; true if the agent is at the location\n (receptacleAtLocation ?r - receptacle ?l - location) ; true if the receptacle is at the location (constant)\n (objectAtLocation ?o - object ?l - location) ; true if the object is at the location\n (openable ?r - receptacle) ; true if a receptacle is openable\n (opened ?r - receptacle) ; true if a receptacle is opened\n (inReceptacle ?o - object ?r - receptacle) ; object ?o is in receptacle ?r\n (isReceptacleObject ?o - object) ; true if the object can have things put inside it\n (inReceptacleObject ?innerObject - object ?outerObject - object) ; object ?innerObject is inside object ?outerObject\n (isReceptacleObjectFull ?o - object) ; true if the receptacle object contains something\n (wasInReceptacle ?o - object ?r - receptacle) ; object ?o was or is in receptacle ?r now or some time in the past\n (checked ?r - receptacle) ; whether the receptacle has been looked inside/visited\n (examined ?l - location) ; TODO\n (receptacleType ?r - receptacle ?t - rtype) ; the type of receptacle (Cabinet vs Cabinet|01|2...)\n (canContain ?rt - rtype ?ot - otype) ; true if receptacle can hold object\n (objectType ?o - object ?t - otype) ; the type of object (Apple vs Apple|01|2...)\n (holds ?a - agent ?o - object) ; object ?o is held by agent ?a\n (holdsAny ?a - agent) ; agent ?a holds an object\n (holdsAnyReceptacleObject ?a - agent) ; agent ?a holds a receptacle object\n (full ?r - receptacle) ; true if the receptacle has no remaining space\n (isClean ?o - object) ; true if the object has been clean in sink\n (cleanable ?o - object) ; true if the object can be placed in a sink\n (isHot ?o - object) ; true if the object has been heated up\n (heatable ?o - object) ; true if the object can be heated up in a microwave\n (isCool ?o - object) ; true if the object has been cooled\n (coolable ?o - object) ; true if the object can be cooled in the fridge\n (pickupable ?o - object) ; true if the object can be picked up\n (moveable ?o - object) ; true if the object can be moved\n (toggleable ?o - object) ; true if the object can be turned on/off\n (isOn ?o - object) ; true if the object is on\n (isToggled ?o - object) ; true if the object has been toggled\n (sliceable ?o - object) ; true if the object can be sliced\n (isSliced ?o - object) ; true if the object is sliced\n )\n\n (:functions\n (distance ?from ?to)\n (total-cost) - number\n )\n\n;; All actions are specified such that the final arguments are the ones used\n;; for performing actions in Unity.\n\n\n(:action look\n :parameters (?a - agent ?l - location)\n :precondition\n (and\n (atLocation ?a ?l)\n )\n :effect\n (and\n (checked ?l)\n )\n)\n\n(:action inventory\n :parameters (?a - agent)\n :precondition\n ()\n :effect\n (and\n (checked ?a)\n )\n)\n\n(:action examineReceptacle\n :parameters (?a - agent ?r - receptacle)\n :precondition\n (and\n (exists (?l - location)\n (and\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n )\n )\n )\n :effect\n (and\n (checked ?r)\n )\n)\n\n(:action examineObject\n :parameters (?a - agent ?o - object)\n :precondition\n (or\n ;(exists (?l - location)\n ; (and\n ; (atLocation ?a ?l)\n ; (objectAtLocation ?o ?l)\n ; )\n ;)\n (exists (?l - location, ?r - receptacle)\n (and\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n ; (objectAtLocation ?o ?l)\n (inReceptacle ?o ?r)\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n )\n )\n (holds ?a ?o)\n )\n :effect\n (and\n (checked ?o)\n )\n)\n\n;; agent goes to receptacle\n (:action GotoLocation\n :parameters (?a - agent ?lStart - location ?lEnd - location ?r - receptacle)\n :precondition (and\n (atLocation ?a ?lStart)\n (receptacleAtLocation ?r ?lEnd)\n ;(exists (?r - receptacle) (receptacleAtLocation ?r ?lEnd))\n )\n :effect (and\n (not (atLocation ?a ?lStart))\n (atLocation ?a ?lEnd)\n ; (forall (?r - receptacle)\n ; (when (and (receptacleAtLocation ?r ?lEnd)\n ; (or (not (openable ?r)) (opened ?r)))\n ; (checked ?r)\n ; )\n ; )\n ; (increase (total-cost) (distance ?lStart ?lEnd))\n (increase (total-cost) 1)\n )\n )\n\n;; agent opens receptacle\n (:action OpenObject\n :parameters (?a - agent ?l - location ?r - receptacle)\n :precondition (and\n (openable ?r)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (not (opened ?r))\n )\n :effect (and\n (opened ?r)\n (checked ?r)\n (increase (total-cost) 1)\n )\n )\n;; agent closes receptacle\n (:action CloseObject\n :parameters (?a - agent ?l - location ?r - receptacle)\n :precondition (and\n (openable ?r)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (opened ?r)\n )\n :effect (and\n (not (opened ?r))\n (increase (total-cost) 1)\n )\n\n )\n\n ;; agent picks up object from a receptacle\n (:action PickupObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n :precondition\n (and\n (pickupable ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n ; (objectAtLocation ?o ?l)\n (inReceptacle ?o ?r)\n (not (holdsAny ?a)) ; agent's hands are empty.\n ;(not (holdsAnyReceptacleObject ?a))\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n ;(not (isReceptacleObject ?o))\n )\n :effect\n (and\n (not (inReceptacle ?o ?r))\n (holds ?a ?o)\n (holdsAny ?a)\n (not (objectAtLocation ?o ?l))\n ;(not (full ?r))\n (increase (total-cost) 1)\n )\n )\n\n\n; ;; agent picks up object from a receptacle\n; (:action PickupObjectFromReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?outerR - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (inReceptacle ?o ?r)\n; (pickupable ?o)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (not (isReceptacleObject ?o))\n; (isReceptacleObject ?outerR)\n; (inReceptacleObject ?o ?outerR)\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (holds ?a ?o)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n;\n; (not (inReceptacleObject ?o ?outerR))\n; (not (isReceptacleObjectFull ?outerR))\n; )\n; )\n;\n; ;; agent picks up object from a receptacle\n; (:action PickupEmptyReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; ; (objectAtLocation ?o ?l)\n; (inReceptacle ?o ?r)\n; (pickupable ?o)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (isReceptacleObject ?o)\n; (not (isReceptacleObjectFull ?o))\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (holds ?a ?o)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n; (holdsAnyReceptacleObject ?a)\n; )\n; )\n;\n; ;; agent picks up object from a receptacle\n; (:action PickupFullReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?outerR - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (inReceptacle ?outerR ?r)\n; (pickupable ?outerR)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (not (isReceptacleObject ?o))\n; (isReceptacleObject ?outerR)\n; (inReceptacleObject ?o ?outerR)\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (not (inReceptacle ?outerR ?r))\n; (holds ?a ?outerR)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (objectAtLocation ?outerR ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n; (holdsAnyReceptacleObject ?a)\n; )\n; )\n\n\n;; agent puts down an object\n (:action PutObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle ?ot - otype ?rt - rtype)\n :precondition (and\n (holds ?a ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable\n ;(not (full ?r))\n (objectType ?o ?ot)\n (receptacleType ?r ?rt)\n (canContain ?rt ?ot)\n ;(not (holdsAnyReceptacleObject ?a))\n )\n :effect (and\n (inReceptacle ?o ?r)\n (objectAtLocation ?o ?l)\n ;(full ?r)\n (not (holds ?a ?o))\n (not (holdsAny ?a))\n (increase (total-cost) 1)\n )\n )\n\n;;; agent puts down an object\n; (:action PutObjectInReceptacleObject\n; :parameters (?a - agent ?l - location ?ot - otype ?o - object ?outerO - object ?outerR - receptacle)\n; :precondition (and\n; (atLocation ?a ?l)\n; (objectAtLocation ?outerO ?l)\n; (isReceptacleObject ?outerO)\n; (not (isReceptacleObject ?o))\n; (objectType ?o ?ot)\n; (holds ?a ?o)\n; (not (holdsAnyReceptacleObject ?a))\n; (inReceptacle ?outerO ?outerR)\n; (not (isReceptacleObjectFull ?outerO))\n; )\n; :effect (and\n; (inReceptacleObject ?o ?outerO)\n; (inReceptacle ?o ?outerR)\n; (not (holds ?a ?o))\n; (not (holdsAny ?a))\n; (objectAtLocation ?o ?l)\n; (isReceptacleObjectFull ?outerO)\n; (increase (total-cost) 1)\n; )\n; )\n;\n;;; agent puts down an object\n; (:action PutEmptyReceptacleObjectinReceptacle\n; :parameters (?a - agent ?l - location ?ot - otype ?o - object ?r - receptacle)\n; :precondition (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable\n; (not (full ?r))\n; (objectType ?o ?ot)\n; (holds ?a ?o)\n; (holdsAnyReceptacleObject ?a)\n; (isReceptacleObject ?o)\n; (not (isReceptacleObjectFull ?o))\n; )\n; :effect (and\n; (inReceptacle ?o ?r)\n; (objectAtLocation ?o ?l)\n; (full ?r)\n; (not (holds ?a ?o))\n; (not (holdsAny ?a))\n; (not (holdsAnyReceptacleObject ?a))\n; (increase (total-cost) 1)\n; )\n; )\n;\n;;; agent puts down a receptacle object in a receptacle\n; (:action PutFullReceptacleObjectInReceptacle\n; :parameters (?a - agent ?l - location ?ot - otype ?innerO - object ?outerO - object ?r - receptacle) ; ?rt - rtype)\n; :precondition (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (objectType ?outerO ?ot)\n; (holds ?a ?outerO)\n; (holdsAnyReceptacleObject ?a)\n; (isReceptacleObject ?outerO)\n; (isReceptacleObjectFull ?outerO)\n; (inReceptacleObject ?innerO ?outerO)\n; )\n; :effect (and\n; (not (holdsAny ?a))\n; (not (holdsAnyReceptacleObject ?a))\n; (objectAtLocation ?outerO ?l)\n; (objectAtLocation ?innerO ?l)\n; (inReceptacle ?outerO ?r)\n; (inReceptacle ?innerO ?r)\n; (not (holds ?a ?outerO))\n; (increase (total-cost) 1)\n; )\n; )\n\n;; agent cleans some object\n (:action CleanObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (cleanable ?o)\n (or\n (receptacleType ?r SinkType)\n (receptacleType ?r SinkBasinType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isClean ?o)\n )\n )\n\n\n;; agent heats-up some object\n (:action HeatObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (heatable ?o)\n (or\n (receptacleType ?r MicrowaveType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isHot ?o)\n (not (isCool ?o))\n )\n )\n\n;; agent cools some object\n (:action CoolObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (coolable ?o)\n (or\n (receptacleType ?r FridgeType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isCool ?o)\n (not (isHot ?o))\n )\n )\n\n\n;; agent toggle object\n (:action ToggleObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n :precondition (and\n (toggleable ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (inReceptacle ?o ?r)\n )\n :effect (and\n (increase (total-cost) 5)\n (when (isOn ?o)\n (not (isOn ?o)))\n (when (not (isOn ?o))\n (isOn ?o))\n (isToggled ?o)\n )\n )\n\n\n;; agent slices some object with a knife\n (:action SliceObject\n :parameters (?a - agent ?l - location ?co - object ?ko - object)\n :precondition\n (and\n (sliceable ?co)\n (or\n (objectType ?ko KnifeType)\n (objectType ?ko ButterKnifeType)\n )\n (atLocation ?a ?l)\n (objectAtLocation ?co ?l)\n (holds ?a ?ko)\n )\n :effect (and\n (increase (total-cost) 5)\n (isSliced ?co)\n )\n )\n\n\n(:action help\n :parameters (?a - agent)\n :precondition\n ()\n :effect\n (and\n (checked ?a)\n )\n)\n)\n", "grammar": "grammar :: \"\"\"\n {\n \"intro\": [\n {\n \"rhs\": \"-= Welcome to TextWorld, ALFRED! =-\\n\\n#look.feedback#\\n\\n#task#\"\n }\n ],\n\n \"notImplemented\": [\n {\n \"rhs\": \"TODO\"\n }\n ],\n\n \"task\": [\n {\n \"rhs\": \"Your task is to: put some candle on 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_T20190906_200812_843662)\n(:domain alfred)\n(:objects\nagent1 - agent\nSaltShaker - object\n HousePlant - object\n Candle - object\n SprayBottle - object\n Bowl - object\n Window - object\n CD - object\n Egg - object\n Glassbottle - object\n Sink - object\n Pillow - object\n Spoon - object\n SoapBottle - object\n TeddyBear - object\n ButterKnife - object\n Cup - object\n Plate - object\n RemoteControl - object\n Tomato - object\n Statue - object\n HandTowel - object\n Knife - object\n StoveKnob - object\n LightSwitch - object\n Pen - object\n Painting - object\n DishSponge - object\n Vase - object\n Mug - object\n ToiletPaper - object\n Box - object\n Mirror - object\n Ladle - object\n Fork - object\n Blinds - object\n Footstool - object\n KeyChain - object\n Cloth - object\n Laptop - object\n TissueBox - object\n PepperShaker - object\n FloorLamp - object\n WateringCan - object\n Apple - object\n Pan - object\n PaperTowel - object\n PaperTowelRoll - object\n Newspaper - object\n Television - object\n Chair - object\n CellPhone - object\n CreditCard - object\n Lettuce - object\n BasketBall - object\n Potato - object\n Curtains - object\n Boots - object\n Pencil - object\n AlarmClock - object\n ToiletPaperRoll - object\n Spatula - object\n Book - object\n Bread - object\n SoapBar - object\n Watch - object\n DeskLamp - object\n Kettle - object\n Pot - object\n ScrubBrush - object\n WineBottle - object\n ShowerDoor - object\n Bathtub - object\n LaundryHamperLid - object\n ShowerGlass - object\n Poster - object\n TennisRacket - object\n BaseballBat - object\n Towel - object\n Plunger - object\nSaltShakerType - otype\n HousePlantType - otype\n CandleType - otype\n SprayBottleType - otype\n BowlType - otype\n WindowType - otype\n CDType - otype\n EggType - otype\n GlassbottleType - otype\n SinkType - otype\n PillowType - otype\n SpoonType - otype\n SoapBottleType - otype\n TeddyBearType - otype\n ButterKnifeType - otype\n CupType - otype\n PlateType - otype\n RemoteControlType - otype\n TomatoType - otype\n StatueType - otype\n HandTowelType - otype\n KnifeType - otype\n StoveKnobType - otype\n LightSwitchType - otype\n PenType - otype\n PaintingType - otype\n DishSpongeType - otype\n VaseType - otype\n MugType - otype\n ToiletPaperType - otype\n BoxType - otype\n MirrorType - otype\n LadleType - otype\n ForkType - otype\n BlindsType - otype\n FootstoolType - otype\n KeyChainType - otype\n ClothType - otype\n LaptopType - otype\n TissueBoxType - otype\n PepperShakerType - otype\n FloorLampType - otype\n WateringCanType - otype\n AppleType - otype\n PanType - otype\n PaperTowelType - otype\n PaperTowelRollType - otype\n NewspaperType - otype\n TelevisionType - otype\n ChairType - otype\n CellPhoneType - otype\n CreditCardType - otype\n LettuceType - otype\n BasketBallType - otype\n PotatoType - otype\n CurtainsType - otype\n BootsType - otype\n PencilType - otype\n AlarmClockType - otype\n ToiletPaperRollType - otype\n SpatulaType - otype\n BookType - otype\n BreadType - otype\n SoapBarType - otype\n WatchType - otype\n DeskLampType - otype\n KettleType - otype\n PotType - otype\n ScrubBrushType - otype\n WineBottleType - otype\n ShowerDoorType - otype\n BathtubType - otype\n LaundryHamperLidType - otype\n ShowerGlassType - otype\n PosterType - otype\n TennisRacketType - otype\n BaseballBatType - otype\n TowelType - otype\n PlungerType - otype\nSafeType - rtype\n DrawerType - rtype\n CoffeeMachineType - rtype\n HandTowelHolderType - rtype\n SinkBasinType - rtype\n DresserType - rtype\n LaundryHamperType - rtype\n TVStandType - rtype\n BathtubBasinType - rtype\n CabinetType - rtype\n FridgeType - rtype\n DeskType - rtype\n ToiletType - rtype\n CartType - rtype\n SideTableType - rtype\n SofaType - rtype\n CoffeeTableType - rtype\n DiningTableType - rtype\n CounterTopType - rtype\n GarbageCanType - rtype\n ArmChairType - rtype\n ShelfType - rtype\n MicrowaveType - rtype\n ToasterType - rtype\n BedType - rtype\n PaintingHangerType - rtype\n TowelHolderType - rtype\n ToiletPaperHangerType - rtype\n StoveBurnerType - rtype\n OttomanType - rtype\n\n\n Bathtub_bar__minus_01_dot_06_bar__plus_00_dot_30_bar__plus_00_dot_43 - object\n Candle_bar__plus_00_dot_65_bar__plus_00_dot_25_bar__plus_01_dot_18 - object\n Candle_bar__minus_02_dot_59_bar__plus_01_dot_04_bar__plus_01_dot_82 - object\n Candle_bar__minus_02_dot_65_bar__plus_01_dot_04_bar__plus_01_dot_63 - object\n Cloth_bar__minus_01_dot_98_bar__plus_00_dot_59_bar__plus_00_dot_84 - object\n Cloth_bar__minus_02_dot_10_bar__plus_00_dot_59_bar__plus_00_dot_60 - object\n Faucet_bar__plus_00_dot_32_bar__plus_00_dot_63_bar__plus_00_dot_48 - object\n Faucet_bar__plus_01_dot_05_bar__plus_01_dot_04_bar__plus_01_dot_92 - object\n Faucet_bar__minus_02_dot_62_bar__plus_01_dot_82_bar__plus_03_dot_36 - object\n HandTowel_bar__plus_01_dot_03_bar__plus_01_dot_67_bar__plus_03_dot_13 - object\n LightSwitch_bar__plus_00_dot_22_bar__plus_01_dot_42_bar__plus_04_dot_00 - object\n Mirror_bar__plus_00_dot_99_bar__plus_01_dot_68_bar__plus_01_dot_90 - object\n Plunger_bar__minus_02_dot_57_bar__plus_00_dot_00_bar__plus_01_dot_99 - object\n ScrubBrush_bar__minus_02_dot_56_bar__plus_00_dot_00_bar__plus_02_dot_20 - object\n ShowerDoor_bar__minus_02_dot_67_bar__plus_01_dot_00_bar__plus_02_dot_80 - object\n ShowerGlass_bar__minus_01_dot_71_bar__plus_01_dot_28_bar__plus_03_dot_30 - object\n Sink_bar__plus_00_dot_81_bar__plus_00_dot_70_bar__plus_01_dot_92 - object\n SoapBar_bar__plus_00_dot_52_bar__plus_00_dot_25_bar__plus_02_dot_42 - object\n SoapBar_bar__minus_02_dot_59_bar__plus_01_dot_05_bar__plus_01_dot_56 - object\n SoapBottle_bar__plus_00_dot_73_bar__plus_00_dot_74_bar__plus_02_dot_49 - object\n SoapBottle_bar__minus_02_dot_49_bar__plus_01_dot_05_bar__plus_01_dot_49 - object\n SoapBottle_bar__minus_02_dot_52_bar__plus_01_dot_05_bar__plus_01_dot_76 - object\n SprayBottle_bar__plus_00_dot_68_bar__plus_00_dot_59_bar__plus_00_dot_25 - object\n ToiletPaper_bar__plus_00_dot_56_bar__plus_00_dot_49_bar__plus_01_dot_59 - object\n ToiletPaper_bar__plus_00_dot_66_bar__plus_00_dot_74_bar__plus_02_dot_65 - object\n ToiletPaper_bar__minus_02_dot_63_bar__plus_00_dot_79_bar__plus_01_dot_24 - object\n Towel_bar__plus_00_dot_47_bar__plus_01_dot_18_bar__plus_00_dot_13 - object\n Window_bar__minus_00_dot_96_bar__plus_01_dot_56_bar__minus_00_dot_06 - object\n Window_bar__minus_02_dot_81_bar__plus_00_dot_96_bar__plus_00_dot_51 - object\n Bathtub_bar__minus_01_dot_06_bar__plus_00_dot_30_bar__plus_00_dot_43_bar_BathtubBasin - receptacle\n CounterTop_bar__plus_00_dot_73_bar__plus_00_dot_70_bar__plus_01_dot_96 - receptacle\n CounterTop_bar__minus_00_dot_30_bar__plus_00_dot_16_bar__plus_00_dot_53 - receptacle\n Drawer_bar__plus_00_dot_41_bar__plus_00_dot_32_bar__plus_01_dot_49 - receptacle\n Drawer_bar__plus_00_dot_41_bar__plus_00_dot_32_bar__plus_02_dot_42 - receptacle\n Drawer_bar__plus_00_dot_41_bar__plus_00_dot_55_bar__plus_01_dot_49 - receptacle\n Drawer_bar__plus_00_dot_41_bar__plus_00_dot_55_bar__plus_02_dot_42 - receptacle\n GarbageCan_bar__plus_00_dot_78_bar__plus_00_dot_07_bar__plus_03_dot_04 - receptacle\n HandTowelHolder_bar__plus_01_dot_07_bar__plus_01_dot_77_bar__plus_03_dot_13 - receptacle\n Sink_bar__plus_00_dot_81_bar__plus_00_dot_70_bar__plus_01_dot_92_bar_SinkBasin - receptacle\n ToiletPaperHanger_bar__minus_02_dot_70_bar__plus_00_dot_93_bar__plus_01_dot_20 - receptacle\n Toilet_bar__minus_02_dot_23_bar__plus_00_dot_00_bar__plus_01_dot_63 - receptacle\n TowelHolder_bar__plus_00_dot_47_bar__plus_01_dot_17_bar__plus_00_dot_03 - receptacle\n TowelHolder_bar__plus_01_dot_04_bar__plus_01_dot_18_bar__plus_00_dot_50 - receptacle\n loc_bar__minus_3_bar_6_bar_2_bar_60 - location\n loc_bar_0_bar_8_bar_1_bar_0 - location\n loc_bar__minus_9_bar_9_bar_0_bar_45 - location\n loc_bar__minus_4_bar_5_bar_2_bar_0 - location\n loc_bar_1_bar_13_bar_1_bar__minus_15 - location\n loc_bar__minus_9_bar_9_bar_2_bar_60 - location\n loc_bar__minus_3_bar_5_bar_1_bar_45 - location\n loc_bar_0_bar_5_bar_2_bar_15 - location\n loc_bar__minus_6_bar_5_bar_3_bar_60 - location\n loc_bar__minus_3_bar_9_bar_1_bar_45 - location\n loc_bar__minus_6_bar_5_bar_3_bar_30 - location\n loc_bar__minus_4_bar_13_bar_3_bar_30 - location\n loc_bar__minus_3_bar_8_bar_1_bar_45 - location\n loc_bar__minus_1_bar_8_bar_1_bar_45 - location\n loc_bar_0_bar_5_bar_1_bar_30 - location\n loc_bar_1_bar_13_bar_1_bar_60 - location\n loc_bar_0_bar_6_bar_1_bar_45 - location\n loc_bar__minus_7_bar_9_bar_2_bar_45 - location\n loc_bar__minus_9_bar_9_bar_3_bar_60 - location\n loc_bar_1_bar_14_bar_0_bar_30 - location\n loc_bar__minus_4_bar_6_bar_1_bar_45 - location\n loc_bar_3_bar_14_bar_1_bar_30 - location\n )\n \n\n(:init\n\n\n (receptacleType ToiletPaperHanger_bar__minus_02_dot_70_bar__plus_00_dot_93_bar__plus_01_dot_20 ToiletPaperHangerType)\n (receptacleType Drawer_bar__plus_00_dot_41_bar__plus_00_dot_32_bar__plus_02_dot_42 DrawerType)\n (receptacleType Drawer_bar__plus_00_dot_41_bar__plus_00_dot_55_bar__plus_01_dot_49 DrawerType)\n (receptacleType CounterTop_bar__minus_00_dot_30_bar__plus_00_dot_16_bar__plus_00_dot_53 CounterTopType)\n (receptacleType Drawer_bar__plus_00_dot_41_bar__plus_00_dot_55_bar__plus_02_dot_42 DrawerType)\n (receptacleType TowelHolder_bar__plus_01_dot_04_bar__plus_01_dot_18_bar__plus_00_dot_50 TowelHolderType)\n (receptacleType GarbageCan_bar__plus_00_dot_78_bar__plus_00_dot_07_bar__plus_03_dot_04 GarbageCanType)\n (receptacleType Toilet_bar__minus_02_dot_23_bar__plus_00_dot_00_bar__plus_01_dot_63 ToiletType)\n (receptacleType Bathtub_bar__minus_01_dot_06_bar__plus_00_dot_30_bar__plus_00_dot_43_bar_BathtubBasin BathtubBasinType)\n (receptacleType Drawer_bar__plus_00_dot_41_bar__plus_00_dot_32_bar__plus_01_dot_49 DrawerType)\n (receptacleType TowelHolder_bar__plus_00_dot_47_bar__plus_01_dot_17_bar__plus_00_dot_03 TowelHolderType)\n (receptacleType CounterTop_bar__plus_00_dot_73_bar__plus_00_dot_70_bar__plus_01_dot_96 CounterTopType)\n (receptacleType HandTowelHolder_bar__plus_01_dot_07_bar__plus_01_dot_77_bar__plus_03_dot_13 HandTowelHolderType)\n (receptacleType Sink_bar__plus_00_dot_81_bar__plus_00_dot_70_bar__plus_01_dot_92_bar_SinkBasin SinkBasinType)\n (objectType SoapBottle_bar__plus_00_dot_73_bar__plus_00_dot_74_bar__plus_02_dot_49 SoapBottleType)\n (objectType ToiletPaper_bar__plus_00_dot_56_bar__plus_00_dot_49_bar__plus_01_dot_59 ToiletPaperType)\n (objectType Bathtub_bar__minus_01_dot_06_bar__plus_00_dot_30_bar__plus_00_dot_43 BathtubType)\n (objectType SoapBar_bar__plus_00_dot_52_bar__plus_00_dot_25_bar__plus_02_dot_42 SoapBarType)\n (objectType SoapBottle_bar__minus_02_dot_52_bar__plus_01_dot_05_bar__plus_01_dot_76 SoapBottleType)\n (objectType Mirror_bar__plus_00_dot_99_bar__plus_01_dot_68_bar__plus_01_dot_90 MirrorType)\n (objectType ToiletPaper_bar__plus_00_dot_66_bar__plus_00_dot_74_bar__plus_02_dot_65 ToiletPaperType)\n (objectType HandTowel_bar__plus_01_dot_03_bar__plus_01_dot_67_bar__plus_03_dot_13 HandTowelType)\n (objectType Candle_bar__minus_02_dot_65_bar__plus_01_dot_04_bar__plus_01_dot_63 CandleType)\n (objectType SoapBar_bar__minus_02_dot_59_bar__plus_01_dot_05_bar__plus_01_dot_56 SoapBarType)\n (objectType Candle_bar__minus_02_dot_59_bar__plus_01_dot_04_bar__plus_01_dot_82 CandleType)\n (objectType Cloth_bar__minus_02_dot_10_bar__plus_00_dot_59_bar__plus_00_dot_60 ClothType)\n (objectType ShowerGlass_bar__minus_01_dot_71_bar__plus_01_dot_28_bar__plus_03_dot_30 ShowerGlassType)\n (objectType Window_bar__minus_00_dot_96_bar__plus_01_dot_56_bar__minus_00_dot_06 WindowType)\n (objectType Candle_bar__plus_00_dot_65_bar__plus_00_dot_25_bar__plus_01_dot_18 CandleType)\n (objectType ShowerDoor_bar__minus_02_dot_67_bar__plus_01_dot_00_bar__plus_02_dot_80 ShowerDoorType)\n (objectType SoapBottle_bar__minus_02_dot_49_bar__plus_01_dot_05_bar__plus_01_dot_49 SoapBottleType)\n (objectType SprayBottle_bar__plus_00_dot_68_bar__plus_00_dot_59_bar__plus_00_dot_25 SprayBottleType)\n (objectType ToiletPaper_bar__minus_02_dot_63_bar__plus_00_dot_79_bar__plus_01_dot_24 ToiletPaperType)\n (objectType Cloth_bar__minus_01_dot_98_bar__plus_00_dot_59_bar__plus_00_dot_84 ClothType)\n (objectType Sink_bar__plus_00_dot_81_bar__plus_00_dot_70_bar__plus_01_dot_92 SinkType)\n (objectType Window_bar__minus_02_dot_81_bar__plus_00_dot_96_bar__plus_00_dot_51 WindowType)\n (objectType LightSwitch_bar__plus_00_dot_22_bar__plus_01_dot_42_bar__plus_04_dot_00 LightSwitchType)\n (objectType ScrubBrush_bar__minus_02_dot_56_bar__plus_00_dot_00_bar__plus_02_dot_20 ScrubBrushType)\n (objectType Towel_bar__plus_00_dot_47_bar__plus_01_dot_18_bar__plus_00_dot_13 TowelType)\n (objectType Plunger_bar__minus_02_dot_57_bar__plus_00_dot_00_bar__plus_01_dot_99 PlungerType)\n (canContain ToiletPaperHangerType ToiletPaperType)\n (canContain DrawerType CandleType)\n (canContain DrawerType SoapBarType)\n (canContain DrawerType SprayBottleType)\n (canContain DrawerType ToiletPaperType)\n (canContain DrawerType SoapBottleType)\n (canContain DrawerType ClothType)\n (canContain DrawerType HandTowelType)\n (canContain DrawerType CandleType)\n (canContain DrawerType SoapBarType)\n (canContain DrawerType SprayBottleType)\n (canContain DrawerType ToiletPaperType)\n (canContain DrawerType SoapBottleType)\n (canContain DrawerType ClothType)\n (canContain DrawerType HandTowelType)\n (canContain CounterTopType CandleType)\n (canContain CounterTopType SoapBarType)\n (canContain CounterTopType SprayBottleType)\n (canContain CounterTopType ToiletPaperType)\n (canContain CounterTopType SoapBottleType)\n (canContain CounterTopType ClothType)\n (canContain CounterTopType HandTowelType)\n (canContain DrawerType CandleType)\n (canContain DrawerType SoapBarType)\n (canContain DrawerType SprayBottleType)\n (canContain DrawerType ToiletPaperType)\n (canContain DrawerType SoapBottleType)\n (canContain DrawerType ClothType)\n (canContain DrawerType HandTowelType)\n (canContain TowelHolderType TowelType)\n (canContain GarbageCanType SoapBarType)\n (canContain GarbageCanType SprayBottleType)\n (canContain GarbageCanType ToiletPaperType)\n (canContain GarbageCanType SoapBottleType)\n (canContain GarbageCanType ClothType)\n (canContain GarbageCanType HandTowelType)\n (canContain ToiletType SoapBottleType)\n (canContain ToiletType HandTowelType)\n (canContain ToiletType ToiletPaperType)\n (canContain ToiletType ClothType)\n (canContain ToiletType CandleType)\n (canContain ToiletType SoapBarType)\n (canContain ToiletType SprayBottleType)\n (canContain BathtubBasinType ClothType)\n (canContain BathtubBasinType HandTowelType)\n (canContain BathtubBasinType SoapBarType)\n (canContain DrawerType CandleType)\n (canContain DrawerType SoapBarType)\n (canContain DrawerType SprayBottleType)\n (canContain DrawerType ToiletPaperType)\n (canContain DrawerType SoapBottleType)\n (canContain DrawerType ClothType)\n (canContain DrawerType HandTowelType)\n (canContain TowelHolderType TowelType)\n (canContain CounterTopType CandleType)\n (canContain CounterTopType SoapBarType)\n (canContain CounterTopType SprayBottleType)\n (canContain CounterTopType ToiletPaperType)\n (canContain CounterTopType SoapBottleType)\n (canContain CounterTopType ClothType)\n (canContain CounterTopType HandTowelType)\n (canContain HandTowelHolderType HandTowelType)\n (canContain SinkBasinType SoapBarType)\n (canContain SinkBasinType ClothType)\n (canContain SinkBasinType HandTowelType)\n (pickupable SoapBottle_bar__plus_00_dot_73_bar__plus_00_dot_74_bar__plus_02_dot_49)\n (pickupable ToiletPaper_bar__plus_00_dot_56_bar__plus_00_dot_49_bar__plus_01_dot_59)\n (pickupable SoapBar_bar__plus_00_dot_52_bar__plus_00_dot_25_bar__plus_02_dot_42)\n (pickupable SoapBottle_bar__minus_02_dot_52_bar__plus_01_dot_05_bar__plus_01_dot_76)\n (pickupable ToiletPaper_bar__plus_00_dot_66_bar__plus_00_dot_74_bar__plus_02_dot_65)\n (pickupable HandTowel_bar__plus_01_dot_03_bar__plus_01_dot_67_bar__plus_03_dot_13)\n (pickupable Candle_bar__minus_02_dot_65_bar__plus_01_dot_04_bar__plus_01_dot_63)\n (pickupable SoapBar_bar__minus_02_dot_59_bar__plus_01_dot_05_bar__plus_01_dot_56)\n (pickupable Candle_bar__minus_02_dot_59_bar__plus_01_dot_04_bar__plus_01_dot_82)\n (pickupable Cloth_bar__minus_02_dot_10_bar__plus_00_dot_59_bar__plus_00_dot_60)\n (pickupable Candle_bar__plus_00_dot_65_bar__plus_00_dot_25_bar__plus_01_dot_18)\n (pickupable SoapBottle_bar__minus_02_dot_49_bar__plus_01_dot_05_bar__plus_01_dot_49)\n (pickupable SprayBottle_bar__plus_00_dot_68_bar__plus_00_dot_59_bar__plus_00_dot_25)\n (pickupable ToiletPaper_bar__minus_02_dot_63_bar__plus_00_dot_79_bar__plus_01_dot_24)\n (pickupable Cloth_bar__minus_01_dot_98_bar__plus_00_dot_59_bar__plus_00_dot_84)\n (pickupable ScrubBrush_bar__minus_02_dot_56_bar__plus_00_dot_00_bar__plus_02_dot_20)\n (pickupable Towel_bar__plus_00_dot_47_bar__plus_01_dot_18_bar__plus_00_dot_13)\n (pickupable Plunger_bar__minus_02_dot_57_bar__plus_00_dot_00_bar__plus_01_dot_99)\n \n (openable Drawer_bar__plus_00_dot_41_bar__plus_00_dot_32_bar__plus_02_dot_42)\n (openable Drawer_bar__plus_00_dot_41_bar__plus_00_dot_55_bar__plus_01_dot_49)\n (openable Drawer_bar__plus_00_dot_41_bar__plus_00_dot_55_bar__plus_02_dot_42)\n (openable Drawer_bar__plus_00_dot_41_bar__plus_00_dot_32_bar__plus_01_dot_49)\n \n (atLocation agent1 loc_bar_3_bar_14_bar_1_bar_30)\n \n (cleanable SoapBar_bar__plus_00_dot_52_bar__plus_00_dot_25_bar__plus_02_dot_42)\n (cleanable SoapBar_bar__minus_02_dot_59_bar__plus_01_dot_05_bar__plus_01_dot_56)\n (cleanable Cloth_bar__minus_02_dot_10_bar__plus_00_dot_59_bar__plus_00_dot_60)\n (cleanable Cloth_bar__minus_01_dot_98_bar__plus_00_dot_59_bar__plus_00_dot_84)\n \n \n \n \n \n \n \n \n \n \n (inReceptacle ToiletPaper_bar__plus_00_dot_56_bar__plus_00_dot_49_bar__plus_01_dot_59 Drawer_bar__plus_00_dot_41_bar__plus_00_dot_55_bar__plus_01_dot_49)\n (inReceptacle SoapBottle_bar__plus_00_dot_73_bar__plus_00_dot_74_bar__plus_02_dot_49 CounterTop_bar__plus_00_dot_73_bar__plus_00_dot_70_bar__plus_01_dot_96)\n (inReceptacle ToiletPaper_bar__plus_00_dot_66_bar__plus_00_dot_74_bar__plus_02_dot_65 CounterTop_bar__plus_00_dot_73_bar__plus_00_dot_70_bar__plus_01_dot_96)\n (inReceptacle SoapBar_bar__plus_00_dot_52_bar__plus_00_dot_25_bar__plus_02_dot_42 Drawer_bar__plus_00_dot_41_bar__plus_00_dot_32_bar__plus_02_dot_42)\n (inReceptacle Cloth_bar__minus_02_dot_10_bar__plus_00_dot_59_bar__plus_00_dot_60 CounterTop_bar__minus_00_dot_30_bar__plus_00_dot_16_bar__plus_00_dot_53)\n (inReceptacle Cloth_bar__minus_01_dot_98_bar__plus_00_dot_59_bar__plus_00_dot_84 CounterTop_bar__minus_00_dot_30_bar__plus_00_dot_16_bar__plus_00_dot_53)\n (inReceptacle Towel_bar__plus_00_dot_47_bar__plus_01_dot_18_bar__plus_00_dot_13 CounterTop_bar__minus_00_dot_30_bar__plus_00_dot_16_bar__plus_00_dot_53)\n (inReceptacle SprayBottle_bar__plus_00_dot_68_bar__plus_00_dot_59_bar__plus_00_dot_25 CounterTop_bar__minus_00_dot_30_bar__plus_00_dot_16_bar__plus_00_dot_53)\n (inReceptacle Candle_bar__plus_00_dot_65_bar__plus_00_dot_25_bar__plus_01_dot_18 Drawer_bar__plus_00_dot_41_bar__plus_00_dot_32_bar__plus_01_dot_49)\n (inReceptacle Towel_bar__plus_00_dot_47_bar__plus_01_dot_18_bar__plus_00_dot_13 TowelHolder_bar__plus_00_dot_47_bar__plus_01_dot_17_bar__plus_00_dot_03)\n (inReceptacle Sink_bar__plus_00_dot_81_bar__plus_00_dot_70_bar__plus_01_dot_92 Sink_bar__plus_00_dot_81_bar__plus_00_dot_70_bar__plus_01_dot_92_bar_SinkBasin)\n (inReceptacle Bathtub_bar__minus_01_dot_06_bar__plus_00_dot_30_bar__plus_00_dot_43 Bathtub_bar__minus_01_dot_06_bar__plus_00_dot_30_bar__plus_00_dot_43_bar_BathtubBasin)\n (inReceptacle HandTowel_bar__plus_01_dot_03_bar__plus_01_dot_67_bar__plus_03_dot_13 HandTowelHolder_bar__plus_01_dot_07_bar__plus_01_dot_77_bar__plus_03_dot_13)\n (inReceptacle Candle_bar__minus_02_dot_65_bar__plus_01_dot_04_bar__plus_01_dot_63 Toilet_bar__minus_02_dot_23_bar__plus_00_dot_00_bar__plus_01_dot_63)\n (inReceptacle SoapBottle_bar__minus_02_dot_49_bar__plus_01_dot_05_bar__plus_01_dot_49 Toilet_bar__minus_02_dot_23_bar__plus_00_dot_00_bar__plus_01_dot_63)\n (inReceptacle SoapBar_bar__minus_02_dot_59_bar__plus_01_dot_05_bar__plus_01_dot_56 Toilet_bar__minus_02_dot_23_bar__plus_00_dot_00_bar__plus_01_dot_63)\n (inReceptacle Candle_bar__minus_02_dot_59_bar__plus_01_dot_04_bar__plus_01_dot_82 Toilet_bar__minus_02_dot_23_bar__plus_00_dot_00_bar__plus_01_dot_63)\n (inReceptacle SoapBottle_bar__minus_02_dot_52_bar__plus_01_dot_05_bar__plus_01_dot_76 Toilet_bar__minus_02_dot_23_bar__plus_00_dot_00_bar__plus_01_dot_63)\n \n \n (receptacleAtLocation Bathtub_bar__minus_01_dot_06_bar__plus_00_dot_30_bar__plus_00_dot_43_bar_BathtubBasin loc_bar__minus_3_bar_6_bar_2_bar_60)\n (receptacleAtLocation CounterTop_bar__plus_00_dot_73_bar__plus_00_dot_70_bar__plus_01_dot_96 loc_bar__minus_1_bar_8_bar_1_bar_45)\n (receptacleAtLocation CounterTop_bar__minus_00_dot_30_bar__plus_00_dot_16_bar__plus_00_dot_53 loc_bar__minus_7_bar_9_bar_2_bar_45)\n (receptacleAtLocation Drawer_bar__plus_00_dot_41_bar__plus_00_dot_32_bar__plus_01_dot_49 loc_bar__minus_4_bar_6_bar_1_bar_45)\n (receptacleAtLocation Drawer_bar__plus_00_dot_41_bar__plus_00_dot_32_bar__plus_02_dot_42 loc_bar__minus_3_bar_8_bar_1_bar_45)\n (receptacleAtLocation Drawer_bar__plus_00_dot_41_bar__plus_00_dot_55_bar__plus_01_dot_49 loc_bar__minus_3_bar_5_bar_1_bar_45)\n (receptacleAtLocation Drawer_bar__plus_00_dot_41_bar__plus_00_dot_55_bar__plus_02_dot_42 loc_bar__minus_3_bar_9_bar_1_bar_45)\n (receptacleAtLocation GarbageCan_bar__plus_00_dot_78_bar__plus_00_dot_07_bar__plus_03_dot_04 loc_bar_1_bar_13_bar_1_bar_60)\n (receptacleAtLocation HandTowelHolder_bar__plus_01_dot_07_bar__plus_01_dot_77_bar__plus_03_dot_13 loc_bar_1_bar_13_bar_1_bar__minus_15)\n (receptacleAtLocation Sink_bar__plus_00_dot_81_bar__plus_00_dot_70_bar__plus_01_dot_92_bar_SinkBasin loc_bar_0_bar_6_bar_1_bar_45)\n (receptacleAtLocation ToiletPaperHanger_bar__minus_02_dot_70_bar__plus_00_dot_93_bar__plus_01_dot_20 loc_bar__minus_6_bar_5_bar_3_bar_30)\n (receptacleAtLocation Toilet_bar__minus_02_dot_23_bar__plus_00_dot_00_bar__plus_01_dot_63 loc_bar__minus_9_bar_9_bar_2_bar_60)\n (receptacleAtLocation TowelHolder_bar__plus_00_dot_47_bar__plus_01_dot_17_bar__plus_00_dot_03 loc_bar_0_bar_5_bar_2_bar_15)\n (receptacleAtLocation TowelHolder_bar__plus_01_dot_04_bar__plus_01_dot_18_bar__plus_00_dot_50 loc_bar_0_bar_5_bar_1_bar_30)\n (objectAtLocation Candle_bar__minus_02_dot_59_bar__plus_01_dot_04_bar__plus_01_dot_82 loc_bar__minus_9_bar_9_bar_2_bar_60)\n (objectAtLocation Cloth_bar__minus_01_dot_98_bar__plus_00_dot_59_bar__plus_00_dot_84 loc_bar__minus_7_bar_9_bar_2_bar_45)\n (objectAtLocation SoapBottle_bar__minus_02_dot_52_bar__plus_01_dot_05_bar__plus_01_dot_76 loc_bar__minus_9_bar_9_bar_2_bar_60)\n (objectAtLocation ToiletPaper_bar__plus_00_dot_56_bar__plus_00_dot_49_bar__plus_01_dot_59 loc_bar__minus_3_bar_5_bar_1_bar_45)\n (objectAtLocation SoapBar_bar__plus_00_dot_52_bar__plus_00_dot_25_bar__plus_02_dot_42 loc_bar__minus_3_bar_8_bar_1_bar_45)\n (objectAtLocation SoapBottle_bar__minus_02_dot_49_bar__plus_01_dot_05_bar__plus_01_dot_49 loc_bar__minus_9_bar_9_bar_2_bar_60)\n (objectAtLocation Candle_bar__minus_02_dot_65_bar__plus_01_dot_04_bar__plus_01_dot_63 loc_bar__minus_9_bar_9_bar_2_bar_60)\n (objectAtLocation Window_bar__minus_02_dot_81_bar__plus_00_dot_96_bar__plus_00_dot_51 loc_bar__minus_6_bar_5_bar_3_bar_30)\n (objectAtLocation Bathtub_bar__minus_01_dot_06_bar__plus_00_dot_30_bar__plus_00_dot_43 loc_bar__minus_3_bar_6_bar_2_bar_60)\n (objectAtLocation Mirror_bar__plus_00_dot_99_bar__plus_01_dot_68_bar__plus_01_dot_90 loc_bar_0_bar_8_bar_1_bar_0)\n (objectAtLocation ShowerDoor_bar__minus_02_dot_67_bar__plus_01_dot_00_bar__plus_02_dot_80 loc_bar__minus_9_bar_9_bar_0_bar_45)\n (objectAtLocation ShowerGlass_bar__minus_01_dot_71_bar__plus_01_dot_28_bar__plus_03_dot_30 loc_bar__minus_4_bar_13_bar_3_bar_30)\n (objectAtLocation Sink_bar__plus_00_dot_81_bar__plus_00_dot_70_bar__plus_01_dot_92 loc_bar_0_bar_6_bar_1_bar_45)\n (objectAtLocation Window_bar__minus_00_dot_96_bar__plus_01_dot_56_bar__minus_00_dot_06 loc_bar__minus_4_bar_5_bar_2_bar_0)\n (objectAtLocation HandTowel_bar__plus_01_dot_03_bar__plus_01_dot_67_bar__plus_03_dot_13 loc_bar_1_bar_13_bar_1_bar__minus_15)\n (objectAtLocation Towel_bar__plus_00_dot_47_bar__plus_01_dot_18_bar__plus_00_dot_13 loc_bar_0_bar_5_bar_2_bar_15)\n (objectAtLocation SoapBar_bar__minus_02_dot_59_bar__plus_01_dot_05_bar__plus_01_dot_56 loc_bar__minus_9_bar_9_bar_2_bar_60)\n (objectAtLocation ToiletPaper_bar__plus_00_dot_66_bar__plus_00_dot_74_bar__plus_02_dot_65 loc_bar__minus_1_bar_8_bar_1_bar_45)\n (objectAtLocation SoapBottle_bar__plus_00_dot_73_bar__plus_00_dot_74_bar__plus_02_dot_49 loc_bar__minus_1_bar_8_bar_1_bar_45)\n (objectAtLocation LightSwitch_bar__plus_00_dot_22_bar__plus_01_dot_42_bar__plus_04_dot_00 loc_bar_1_bar_14_bar_0_bar_30)\n (objectAtLocation ToiletPaper_bar__minus_02_dot_63_bar__plus_00_dot_79_bar__plus_01_dot_24 loc_bar__minus_6_bar_5_bar_3_bar_60)\n (objectAtLocation ScrubBrush_bar__minus_02_dot_56_bar__plus_00_dot_00_bar__plus_02_dot_20 loc_bar__minus_9_bar_9_bar_3_bar_60)\n (objectAtLocation Plunger_bar__minus_02_dot_57_bar__plus_00_dot_00_bar__plus_01_dot_99 loc_bar__minus_9_bar_9_bar_3_bar_60)\n (objectAtLocation Cloth_bar__minus_02_dot_10_bar__plus_00_dot_59_bar__plus_00_dot_60 loc_bar__minus_7_bar_9_bar_2_bar_45)\n (objectAtLocation Candle_bar__plus_00_dot_65_bar__plus_00_dot_25_bar__plus_01_dot_18 loc_bar__minus_4_bar_6_bar_1_bar_45)\n (objectAtLocation SprayBottle_bar__plus_00_dot_68_bar__plus_00_dot_59_bar__plus_00_dot_25 loc_bar__minus_7_bar_9_bar_2_bar_45)\n )\n \n\n (:goal\n (and\n (exists (?r - receptacle)\n (exists (?o - object)\n (and\n (inReceptacle ?o ?r)\n (objectType ?o CandleType)\n (receptacleType ?r CounterTopType)\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to toilet 1", "take candle 2 from toilet 1", "go to countertop 1", "move candle 2 to countertop 1"]}
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alfworld__pick_and_place_simple__784
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pick_and_place_simple
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pick_and_place_simple-Candle-None-CounterTop-411/trial_T20190906_200853_771692/game.tw-pddl
|
{"pddl_domain": ";; Specification in PDDL of the Alfred domain\n;; Intended to be used with Fast Downward which supports PDDL 2.2 level 1 plus the :action-costs requirement from PDDL 3.1.\n\n(define (domain alfred)\n (:requirements\n :adl\n :action-costs\n :typing\n )\n (:types\n agent\n location\n receptacle\n object\n rtype\n otype\n )\n\n\n (:predicates\n (atLocation ?a - agent ?l - location) ; true if the agent is at the location\n (receptacleAtLocation ?r - receptacle ?l - location) ; true if the receptacle is at the location (constant)\n (objectAtLocation ?o - object ?l - location) ; true if the object is at the location\n (openable ?r - receptacle) ; true if a receptacle is openable\n (opened ?r - receptacle) ; true if a receptacle is opened\n (inReceptacle ?o - object ?r - receptacle) ; object ?o is in receptacle ?r\n (isReceptacleObject ?o - object) ; true if the object can have things put inside it\n (inReceptacleObject ?innerObject - object ?outerObject - object) ; object ?innerObject is inside object ?outerObject\n (isReceptacleObjectFull ?o - object) ; true if the receptacle object contains something\n (wasInReceptacle ?o - object ?r - receptacle) ; object ?o was or is in receptacle ?r now or some time in the past\n (checked ?r - receptacle) ; whether the receptacle has been looked inside/visited\n (examined ?l - location) ; TODO\n (receptacleType ?r - receptacle ?t - rtype) ; the type of receptacle (Cabinet vs Cabinet|01|2...)\n (canContain ?rt - rtype ?ot - otype) ; true if receptacle can hold object\n (objectType ?o - object ?t - otype) ; the type of object (Apple vs Apple|01|2...)\n (holds ?a - agent ?o - object) ; object ?o is held by agent ?a\n (holdsAny ?a - agent) ; agent ?a holds an object\n (holdsAnyReceptacleObject ?a - agent) ; agent ?a holds a receptacle object\n (full ?r - receptacle) ; true if the receptacle has no remaining space\n (isClean ?o - object) ; true if the object has been clean in sink\n (cleanable ?o - object) ; true if the object can be placed in a sink\n (isHot ?o - object) ; true if the object has been heated up\n (heatable ?o - object) ; true if the object can be heated up in a microwave\n (isCool ?o - object) ; true if the object has been cooled\n (coolable ?o - object) ; true if the object can be cooled in the fridge\n (pickupable ?o - object) ; true if the object can be picked up\n (moveable ?o - object) ; true if the object can be moved\n (toggleable ?o - object) ; true if the object can be turned on/off\n (isOn ?o - object) ; true if the object is on\n (isToggled ?o - object) ; true if the object has been toggled\n (sliceable ?o - object) ; true if the object can be sliced\n (isSliced ?o - object) ; true if the object is sliced\n )\n\n (:functions\n (distance ?from ?to)\n (total-cost) - number\n )\n\n;; All actions are specified such that the final arguments are the ones used\n;; for performing actions in Unity.\n\n\n(:action look\n :parameters (?a - agent ?l - location)\n :precondition\n (and\n (atLocation ?a ?l)\n )\n :effect\n (and\n (checked ?l)\n )\n)\n\n(:action inventory\n :parameters (?a - agent)\n :precondition\n ()\n :effect\n (and\n (checked ?a)\n )\n)\n\n(:action examineReceptacle\n :parameters (?a - agent ?r - receptacle)\n :precondition\n (and\n (exists (?l - location)\n (and\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n )\n )\n )\n :effect\n (and\n (checked ?r)\n )\n)\n\n(:action examineObject\n :parameters (?a - agent ?o - object)\n :precondition\n (or\n ;(exists (?l - location)\n ; (and\n ; (atLocation ?a ?l)\n ; (objectAtLocation ?o ?l)\n ; )\n ;)\n (exists (?l - location, ?r - receptacle)\n (and\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n ; (objectAtLocation ?o ?l)\n (inReceptacle ?o ?r)\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n )\n )\n (holds ?a ?o)\n )\n :effect\n (and\n (checked ?o)\n )\n)\n\n;; agent goes to receptacle\n (:action GotoLocation\n :parameters (?a - agent ?lStart - location ?lEnd - location ?r - receptacle)\n :precondition (and\n (atLocation ?a ?lStart)\n (receptacleAtLocation ?r ?lEnd)\n ;(exists (?r - receptacle) (receptacleAtLocation ?r ?lEnd))\n )\n :effect (and\n (not (atLocation ?a ?lStart))\n (atLocation ?a ?lEnd)\n ; (forall (?r - receptacle)\n ; (when (and (receptacleAtLocation ?r ?lEnd)\n ; (or (not (openable ?r)) (opened ?r)))\n ; (checked ?r)\n ; )\n ; )\n ; (increase (total-cost) (distance ?lStart ?lEnd))\n (increase (total-cost) 1)\n )\n )\n\n;; agent opens receptacle\n (:action OpenObject\n :parameters (?a - agent ?l - location ?r - receptacle)\n :precondition (and\n (openable ?r)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (not (opened ?r))\n )\n :effect (and\n (opened ?r)\n (checked ?r)\n (increase (total-cost) 1)\n )\n )\n;; agent closes receptacle\n (:action CloseObject\n :parameters (?a - agent ?l - location ?r - receptacle)\n :precondition (and\n (openable ?r)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (opened ?r)\n )\n :effect (and\n (not (opened ?r))\n (increase (total-cost) 1)\n )\n\n )\n\n ;; agent picks up object from a receptacle\n (:action PickupObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n :precondition\n (and\n (pickupable ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n ; (objectAtLocation ?o ?l)\n (inReceptacle ?o ?r)\n (not (holdsAny ?a)) ; agent's hands are empty.\n ;(not (holdsAnyReceptacleObject ?a))\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n ;(not (isReceptacleObject ?o))\n )\n :effect\n (and\n (not (inReceptacle ?o ?r))\n (holds ?a ?o)\n (holdsAny ?a)\n (not (objectAtLocation ?o ?l))\n ;(not (full ?r))\n (increase (total-cost) 1)\n )\n )\n\n\n; ;; agent picks up object from a receptacle\n; (:action PickupObjectFromReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?outerR - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (inReceptacle ?o ?r)\n; (pickupable ?o)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (not (isReceptacleObject ?o))\n; (isReceptacleObject ?outerR)\n; (inReceptacleObject ?o ?outerR)\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (holds ?a ?o)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n;\n; (not (inReceptacleObject ?o ?outerR))\n; (not (isReceptacleObjectFull ?outerR))\n; )\n; )\n;\n; ;; agent picks up object from a receptacle\n; (:action PickupEmptyReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; ; (objectAtLocation ?o ?l)\n; (inReceptacle ?o ?r)\n; (pickupable ?o)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (isReceptacleObject ?o)\n; (not (isReceptacleObjectFull ?o))\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (holds ?a ?o)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n; (holdsAnyReceptacleObject ?a)\n; )\n; )\n;\n; ;; agent picks up object from a receptacle\n; (:action PickupFullReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?outerR - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (inReceptacle ?outerR ?r)\n; (pickupable ?outerR)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (not (isReceptacleObject ?o))\n; (isReceptacleObject ?outerR)\n; (inReceptacleObject ?o ?outerR)\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (not (inReceptacle ?outerR ?r))\n; (holds ?a ?outerR)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (objectAtLocation ?outerR ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n; (holdsAnyReceptacleObject ?a)\n; )\n; )\n\n\n;; agent puts down an object\n (:action PutObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle ?ot - otype ?rt - rtype)\n :precondition (and\n (holds ?a ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable\n ;(not (full ?r))\n (objectType ?o ?ot)\n (receptacleType ?r ?rt)\n (canContain ?rt ?ot)\n ;(not (holdsAnyReceptacleObject ?a))\n )\n :effect (and\n (inReceptacle ?o ?r)\n (objectAtLocation ?o ?l)\n ;(full ?r)\n (not (holds ?a ?o))\n (not (holdsAny ?a))\n (increase (total-cost) 1)\n )\n )\n\n;;; agent puts down an object\n; (:action PutObjectInReceptacleObject\n; :parameters (?a - agent ?l - location ?ot - otype ?o - object ?outerO - object ?outerR - receptacle)\n; :precondition (and\n; (atLocation ?a ?l)\n; (objectAtLocation ?outerO ?l)\n; (isReceptacleObject ?outerO)\n; (not (isReceptacleObject ?o))\n; (objectType ?o ?ot)\n; (holds ?a ?o)\n; (not (holdsAnyReceptacleObject ?a))\n; (inReceptacle ?outerO ?outerR)\n; (not (isReceptacleObjectFull ?outerO))\n; )\n; :effect (and\n; (inReceptacleObject ?o ?outerO)\n; (inReceptacle ?o ?outerR)\n; (not (holds ?a ?o))\n; (not (holdsAny ?a))\n; (objectAtLocation ?o ?l)\n; (isReceptacleObjectFull ?outerO)\n; (increase (total-cost) 1)\n; )\n; )\n;\n;;; agent puts down an object\n; (:action PutEmptyReceptacleObjectinReceptacle\n; :parameters (?a - agent ?l - location ?ot - otype ?o - object ?r - receptacle)\n; :precondition (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable\n; (not (full ?r))\n; (objectType ?o ?ot)\n; (holds ?a ?o)\n; (holdsAnyReceptacleObject ?a)\n; (isReceptacleObject ?o)\n; (not (isReceptacleObjectFull ?o))\n; )\n; :effect (and\n; (inReceptacle ?o ?r)\n; (objectAtLocation ?o ?l)\n; (full ?r)\n; (not (holds ?a ?o))\n; (not (holdsAny ?a))\n; (not (holdsAnyReceptacleObject ?a))\n; (increase (total-cost) 1)\n; )\n; )\n;\n;;; agent puts down a receptacle object in a receptacle\n; (:action PutFullReceptacleObjectInReceptacle\n; :parameters (?a - agent ?l - location ?ot - otype ?innerO - object ?outerO - object ?r - receptacle) ; ?rt - rtype)\n; :precondition (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (objectType ?outerO ?ot)\n; (holds ?a ?outerO)\n; (holdsAnyReceptacleObject ?a)\n; (isReceptacleObject ?outerO)\n; (isReceptacleObjectFull ?outerO)\n; (inReceptacleObject ?innerO ?outerO)\n; )\n; :effect (and\n; (not (holdsAny ?a))\n; (not (holdsAnyReceptacleObject ?a))\n; (objectAtLocation ?outerO ?l)\n; (objectAtLocation ?innerO ?l)\n; (inReceptacle ?outerO ?r)\n; (inReceptacle ?innerO ?r)\n; (not (holds ?a ?outerO))\n; (increase (total-cost) 1)\n; )\n; )\n\n;; agent cleans some object\n (:action CleanObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (cleanable ?o)\n (or\n (receptacleType ?r SinkType)\n (receptacleType ?r SinkBasinType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isClean ?o)\n )\n )\n\n\n;; agent heats-up some object\n (:action HeatObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (heatable ?o)\n (or\n (receptacleType ?r MicrowaveType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isHot ?o)\n (not (isCool ?o))\n )\n )\n\n;; agent cools some object\n (:action CoolObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (coolable ?o)\n (or\n (receptacleType ?r FridgeType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isCool ?o)\n (not (isHot ?o))\n )\n )\n\n\n;; agent toggle object\n (:action ToggleObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n :precondition (and\n (toggleable ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (inReceptacle ?o ?r)\n )\n :effect (and\n (increase (total-cost) 5)\n (when (isOn ?o)\n (not (isOn ?o)))\n (when (not (isOn ?o))\n (isOn ?o))\n (isToggled ?o)\n )\n )\n\n\n;; agent slices some object with a knife\n (:action SliceObject\n :parameters (?a - agent ?l - location ?co - object ?ko - object)\n :precondition\n (and\n (sliceable ?co)\n (or\n (objectType ?ko KnifeType)\n (objectType ?ko ButterKnifeType)\n )\n (atLocation ?a ?l)\n (objectAtLocation ?co ?l)\n (holds ?a ?ko)\n )\n :effect (and\n (increase (total-cost) 5)\n (isSliced ?co)\n )\n )\n\n\n(:action help\n :parameters (?a - agent)\n :precondition\n ()\n :effect\n (and\n (checked ?a)\n )\n)\n)\n", "grammar": "grammar :: \"\"\"\n {\n \"intro\": [\n {\n \"rhs\": \"-= Welcome to TextWorld, ALFRED! =-\\n\\n#look.feedback#\\n\\n#task#\"\n }\n ],\n\n \"notImplemented\": [\n {\n \"rhs\": \"TODO\"\n }\n ],\n\n \"task\": [\n {\n \"rhs\": \"Your task is to: put some candle on 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_T20190906_200853_771692)\n(:domain alfred)\n(:objects\nagent1 - agent\nSaltShaker - object\n HousePlant - object\n Candle - object\n SprayBottle - object\n Bowl - object\n Window - object\n CD - object\n Egg - object\n Glassbottle - object\n Sink - object\n Pillow - object\n Spoon - object\n SoapBottle - object\n TeddyBear - object\n ButterKnife - object\n Cup - object\n Plate - object\n RemoteControl - object\n Tomato - object\n Statue - object\n HandTowel - object\n Knife - object\n StoveKnob - object\n LightSwitch - object\n Pen - object\n Painting - object\n DishSponge - object\n Vase - object\n Mug - object\n ToiletPaper - object\n Box - object\n Mirror - object\n Ladle - object\n Fork - object\n Blinds - object\n Footstool - object\n KeyChain - object\n Cloth - object\n Laptop - object\n TissueBox - object\n PepperShaker - object\n FloorLamp - object\n WateringCan - object\n Apple - object\n Pan - object\n PaperTowel - object\n PaperTowelRoll - object\n Newspaper - object\n Television - object\n Chair - object\n CellPhone - object\n CreditCard - object\n Lettuce - object\n BasketBall - object\n Potato - object\n Curtains - object\n Boots - object\n Pencil - object\n AlarmClock - object\n ToiletPaperRoll - object\n Spatula - object\n Book - object\n Bread - object\n SoapBar - object\n Watch - object\n DeskLamp - object\n Kettle - object\n Pot - object\n ScrubBrush - object\n WineBottle - object\n ShowerDoor - object\n Bathtub - object\n LaundryHamperLid - object\n ShowerGlass - object\n Poster - object\n TennisRacket - object\n BaseballBat - object\n Towel - object\n Plunger - object\nSaltShakerType - otype\n HousePlantType - otype\n CandleType - otype\n SprayBottleType - otype\n BowlType - otype\n WindowType - otype\n CDType - otype\n EggType - otype\n GlassbottleType - otype\n SinkType - otype\n PillowType - otype\n SpoonType - otype\n SoapBottleType - otype\n TeddyBearType - otype\n ButterKnifeType - otype\n CupType - otype\n PlateType - otype\n RemoteControlType - otype\n TomatoType - otype\n StatueType - otype\n HandTowelType - otype\n KnifeType - otype\n StoveKnobType - otype\n LightSwitchType - otype\n PenType - otype\n PaintingType - otype\n DishSpongeType - otype\n VaseType - otype\n MugType - otype\n ToiletPaperType - otype\n BoxType - otype\n MirrorType - otype\n LadleType - otype\n ForkType - otype\n BlindsType - otype\n FootstoolType - otype\n KeyChainType - otype\n ClothType - otype\n LaptopType - otype\n TissueBoxType - otype\n PepperShakerType - otype\n FloorLampType - otype\n WateringCanType - otype\n AppleType - otype\n PanType - otype\n PaperTowelType - otype\n PaperTowelRollType - otype\n NewspaperType - otype\n TelevisionType - otype\n ChairType - otype\n CellPhoneType - otype\n CreditCardType - otype\n LettuceType - otype\n BasketBallType - otype\n PotatoType - otype\n CurtainsType - otype\n BootsType - otype\n PencilType - otype\n AlarmClockType - otype\n ToiletPaperRollType - otype\n SpatulaType - otype\n BookType - otype\n BreadType - otype\n SoapBarType - otype\n WatchType - otype\n DeskLampType - otype\n KettleType - otype\n PotType - otype\n ScrubBrushType - otype\n WineBottleType - otype\n ShowerDoorType - otype\n BathtubType - otype\n LaundryHamperLidType - otype\n ShowerGlassType - otype\n PosterType - otype\n TennisRacketType - otype\n BaseballBatType - otype\n TowelType - otype\n PlungerType - otype\nSafeType - rtype\n DrawerType - rtype\n CoffeeMachineType - rtype\n HandTowelHolderType - rtype\n SinkBasinType - rtype\n DresserType - rtype\n LaundryHamperType - rtype\n TVStandType - rtype\n BathtubBasinType - rtype\n CabinetType - rtype\n FridgeType - rtype\n DeskType - rtype\n ToiletType - rtype\n CartType - rtype\n SideTableType - rtype\n SofaType - rtype\n CoffeeTableType - rtype\n DiningTableType - rtype\n CounterTopType - rtype\n GarbageCanType - rtype\n ArmChairType - rtype\n ShelfType - rtype\n MicrowaveType - rtype\n ToasterType - rtype\n BedType - rtype\n PaintingHangerType - rtype\n TowelHolderType - rtype\n ToiletPaperHangerType - rtype\n StoveBurnerType - rtype\n OttomanType - rtype\n\n\n Bathtub_bar__minus_01_dot_06_bar__plus_00_dot_30_bar__plus_00_dot_43 - object\n Candle_bar__plus_00_dot_56_bar__plus_00_dot_49_bar__plus_02_dot_32 - object\n Candle_bar__minus_02_dot_49_bar__plus_01_dot_04_bar__plus_01_dot_56 - object\n Candle_bar__minus_02_dot_56_bar__plus_01_dot_04_bar__plus_01_dot_63 - object\n Cloth_bar__plus_00_dot_63_bar__plus_00_dot_84_bar__plus_01_dot_90 - object\n Cloth_bar__plus_00_dot_73_bar__plus_00_dot_74_bar__plus_01_dot_23 - object\n Cloth_bar__minus_00_dot_89_bar__plus_00_dot_18_bar__plus_00_dot_43 - object\n Faucet_bar__plus_00_dot_32_bar__plus_00_dot_63_bar__plus_00_dot_48 - object\n Faucet_bar__plus_01_dot_05_bar__plus_01_dot_04_bar__plus_01_dot_92 - object\n Faucet_bar__minus_02_dot_62_bar__plus_01_dot_82_bar__plus_03_dot_36 - object\n HandTowel_bar__plus_01_dot_03_bar__plus_01_dot_67_bar__plus_03_dot_13 - object\n LightSwitch_bar__plus_00_dot_22_bar__plus_01_dot_42_bar__plus_04_dot_00 - object\n Mirror_bar__plus_00_dot_99_bar__plus_01_dot_68_bar__plus_01_dot_90 - object\n Plunger_bar__minus_02_dot_57_bar__plus_00_dot_00_bar__plus_01_dot_99 - object\n ScrubBrush_bar__minus_02_dot_56_bar__plus_00_dot_00_bar__plus_02_dot_20 - object\n ShowerDoor_bar__minus_02_dot_67_bar__plus_01_dot_00_bar__plus_02_dot_80 - object\n ShowerGlass_bar__minus_01_dot_71_bar__plus_01_dot_28_bar__plus_03_dot_30 - object\n Sink_bar__plus_00_dot_81_bar__plus_00_dot_70_bar__plus_01_dot_92 - object\n SoapBar_bar__plus_00_dot_77_bar__plus_00_dot_81_bar__plus_01_dot_75 - object\n SoapBottle_bar__plus_00_dot_55_bar__plus_00_dot_59_bar__plus_00_dot_48 - object\n SoapBottle_bar__plus_00_dot_73_bar__plus_00_dot_11_bar__plus_03_dot_04 - object\n SoapBottle_bar__minus_02_dot_34_bar__plus_00_dot_59_bar__plus_00_dot_72 - object\n SprayBottle_bar__minus_02_dot_46_bar__plus_01_dot_05_bar__plus_01_dot_82 - object\n SprayBottle_bar__minus_02_dot_49_bar__plus_01_dot_05_bar__plus_01_dot_69 - object\n ToiletPaper_bar__minus_02_dot_60_bar__plus_01_dot_04_bar__plus_01_dot_51 - object\n ToiletPaper_bar__minus_02_dot_63_bar__plus_00_dot_79_bar__plus_01_dot_24 - object\n Towel_bar__plus_00_dot_47_bar__plus_01_dot_18_bar__plus_00_dot_13 - object\n Window_bar__minus_00_dot_96_bar__plus_01_dot_56_bar__minus_00_dot_06 - object\n Window_bar__minus_02_dot_81_bar__plus_00_dot_96_bar__plus_00_dot_51 - object\n Bathtub_bar__minus_01_dot_06_bar__plus_00_dot_30_bar__plus_00_dot_43_bar_BathtubBasin - receptacle\n CounterTop_bar__plus_00_dot_73_bar__plus_00_dot_70_bar__plus_01_dot_96 - receptacle\n CounterTop_bar__minus_00_dot_30_bar__plus_00_dot_16_bar__plus_00_dot_53 - receptacle\n Drawer_bar__plus_00_dot_41_bar__plus_00_dot_32_bar__plus_01_dot_49 - receptacle\n Drawer_bar__plus_00_dot_41_bar__plus_00_dot_32_bar__plus_02_dot_42 - receptacle\n Drawer_bar__plus_00_dot_41_bar__plus_00_dot_55_bar__plus_01_dot_49 - receptacle\n Drawer_bar__plus_00_dot_41_bar__plus_00_dot_55_bar__plus_02_dot_42 - receptacle\n GarbageCan_bar__plus_00_dot_78_bar__plus_00_dot_07_bar__plus_03_dot_04 - receptacle\n HandTowelHolder_bar__plus_01_dot_07_bar__plus_01_dot_77_bar__plus_03_dot_13 - receptacle\n Sink_bar__plus_00_dot_81_bar__plus_00_dot_70_bar__plus_01_dot_92_bar_SinkBasin - receptacle\n ToiletPaperHanger_bar__minus_02_dot_70_bar__plus_00_dot_93_bar__plus_01_dot_20 - receptacle\n Toilet_bar__minus_02_dot_23_bar__plus_00_dot_00_bar__plus_01_dot_63 - receptacle\n TowelHolder_bar__plus_00_dot_47_bar__plus_01_dot_17_bar__plus_00_dot_03 - receptacle\n TowelHolder_bar__plus_01_dot_04_bar__plus_01_dot_18_bar__plus_00_dot_50 - receptacle\n loc_bar__minus_3_bar_6_bar_2_bar_60 - location\n loc_bar_0_bar_8_bar_1_bar_0 - location\n loc_bar__minus_9_bar_9_bar_0_bar_45 - location\n loc_bar__minus_4_bar_5_bar_2_bar_0 - location\n loc_bar_1_bar_13_bar_1_bar__minus_15 - location\n loc_bar__minus_9_bar_9_bar_2_bar_60 - location\n loc_bar__minus_3_bar_5_bar_1_bar_45 - location\n loc_bar_0_bar_5_bar_2_bar_15 - location\n loc_bar__minus_3_bar_9_bar_1_bar_45 - location\n loc_bar__minus_6_bar_5_bar_3_bar_30 - location\n loc_bar__minus_4_bar_13_bar_3_bar_30 - location\n loc_bar__minus_3_bar_8_bar_1_bar_45 - location\n loc_bar__minus_1_bar_8_bar_1_bar_45 - location\n loc_bar_0_bar_5_bar_1_bar_30 - location\n loc_bar_1_bar_13_bar_1_bar_60 - location\n loc_bar_0_bar_6_bar_1_bar_45 - location\n loc_bar__minus_7_bar_9_bar_2_bar_45 - location\n loc_bar__minus_9_bar_9_bar_3_bar_60 - location\n loc_bar_1_bar_14_bar_0_bar_30 - location\n loc_bar__minus_4_bar_6_bar_1_bar_45 - location\n loc_bar__minus_1_bar_5_bar_1_bar_30 - location\n )\n \n\n(:init\n\n\n (receptacleType ToiletPaperHanger_bar__minus_02_dot_70_bar__plus_00_dot_93_bar__plus_01_dot_20 ToiletPaperHangerType)\n (receptacleType Drawer_bar__plus_00_dot_41_bar__plus_00_dot_32_bar__plus_02_dot_42 DrawerType)\n (receptacleType Drawer_bar__plus_00_dot_41_bar__plus_00_dot_55_bar__plus_01_dot_49 DrawerType)\n (receptacleType CounterTop_bar__minus_00_dot_30_bar__plus_00_dot_16_bar__plus_00_dot_53 CounterTopType)\n (receptacleType Drawer_bar__plus_00_dot_41_bar__plus_00_dot_55_bar__plus_02_dot_42 DrawerType)\n (receptacleType TowelHolder_bar__plus_01_dot_04_bar__plus_01_dot_18_bar__plus_00_dot_50 TowelHolderType)\n (receptacleType GarbageCan_bar__plus_00_dot_78_bar__plus_00_dot_07_bar__plus_03_dot_04 GarbageCanType)\n (receptacleType Toilet_bar__minus_02_dot_23_bar__plus_00_dot_00_bar__plus_01_dot_63 ToiletType)\n (receptacleType Bathtub_bar__minus_01_dot_06_bar__plus_00_dot_30_bar__plus_00_dot_43_bar_BathtubBasin BathtubBasinType)\n (receptacleType Drawer_bar__plus_00_dot_41_bar__plus_00_dot_32_bar__plus_01_dot_49 DrawerType)\n (receptacleType TowelHolder_bar__plus_00_dot_47_bar__plus_01_dot_17_bar__plus_00_dot_03 TowelHolderType)\n (receptacleType CounterTop_bar__plus_00_dot_73_bar__plus_00_dot_70_bar__plus_01_dot_96 CounterTopType)\n (receptacleType HandTowelHolder_bar__plus_01_dot_07_bar__plus_01_dot_77_bar__plus_03_dot_13 HandTowelHolderType)\n (receptacleType Sink_bar__plus_00_dot_81_bar__plus_00_dot_70_bar__plus_01_dot_92_bar_SinkBasin SinkBasinType)\n (objectType Bathtub_bar__minus_01_dot_06_bar__plus_00_dot_30_bar__plus_00_dot_43 BathtubType)\n (objectType Cloth_bar__plus_00_dot_73_bar__plus_00_dot_74_bar__plus_01_dot_23 ClothType)\n (objectType SprayBottle_bar__minus_02_dot_49_bar__plus_01_dot_05_bar__plus_01_dot_69 SprayBottleType)\n (objectType Mirror_bar__plus_00_dot_99_bar__plus_01_dot_68_bar__plus_01_dot_90 MirrorType)\n (objectType HandTowel_bar__plus_01_dot_03_bar__plus_01_dot_67_bar__plus_03_dot_13 HandTowelType)\n (objectType Cloth_bar__plus_00_dot_63_bar__plus_00_dot_84_bar__plus_01_dot_90 ClothType)\n (objectType Cloth_bar__minus_00_dot_89_bar__plus_00_dot_18_bar__plus_00_dot_43 ClothType)\n (objectType Candle_bar__minus_02_dot_49_bar__plus_01_dot_04_bar__plus_01_dot_56 CandleType)\n (objectType ShowerGlass_bar__minus_01_dot_71_bar__plus_01_dot_28_bar__plus_03_dot_30 ShowerGlassType)\n (objectType Window_bar__minus_00_dot_96_bar__plus_01_dot_56_bar__minus_00_dot_06 WindowType)\n (objectType Candle_bar__plus_00_dot_56_bar__plus_00_dot_49_bar__plus_02_dot_32 CandleType)\n (objectType SoapBottle_bar__minus_02_dot_34_bar__plus_00_dot_59_bar__plus_00_dot_72 SoapBottleType)\n (objectType ShowerDoor_bar__minus_02_dot_67_bar__plus_01_dot_00_bar__plus_02_dot_80 ShowerDoorType)\n (objectType ToiletPaper_bar__minus_02_dot_63_bar__plus_00_dot_79_bar__plus_01_dot_24 ToiletPaperType)\n (objectType Window_bar__minus_02_dot_81_bar__plus_00_dot_96_bar__plus_00_dot_51 WindowType)\n (objectType Sink_bar__plus_00_dot_81_bar__plus_00_dot_70_bar__plus_01_dot_92 SinkType)\n (objectType SoapBar_bar__plus_00_dot_77_bar__plus_00_dot_81_bar__plus_01_dot_75 SoapBarType)\n (objectType LightSwitch_bar__plus_00_dot_22_bar__plus_01_dot_42_bar__plus_04_dot_00 LightSwitchType)\n (objectType SprayBottle_bar__minus_02_dot_46_bar__plus_01_dot_05_bar__plus_01_dot_82 SprayBottleType)\n (objectType ScrubBrush_bar__minus_02_dot_56_bar__plus_00_dot_00_bar__plus_02_dot_20 ScrubBrushType)\n (objectType SoapBottle_bar__plus_00_dot_55_bar__plus_00_dot_59_bar__plus_00_dot_48 SoapBottleType)\n (objectType SoapBottle_bar__plus_00_dot_73_bar__plus_00_dot_11_bar__plus_03_dot_04 SoapBottleType)\n (objectType Candle_bar__minus_02_dot_56_bar__plus_01_dot_04_bar__plus_01_dot_63 CandleType)\n (objectType Towel_bar__plus_00_dot_47_bar__plus_01_dot_18_bar__plus_00_dot_13 TowelType)\n (objectType ToiletPaper_bar__minus_02_dot_60_bar__plus_01_dot_04_bar__plus_01_dot_51 ToiletPaperType)\n (objectType Plunger_bar__minus_02_dot_57_bar__plus_00_dot_00_bar__plus_01_dot_99 PlungerType)\n (canContain ToiletPaperHangerType ToiletPaperType)\n (canContain DrawerType CandleType)\n (canContain DrawerType SoapBarType)\n (canContain DrawerType SprayBottleType)\n (canContain DrawerType ToiletPaperType)\n (canContain DrawerType SoapBottleType)\n (canContain DrawerType ClothType)\n (canContain DrawerType HandTowelType)\n (canContain DrawerType CandleType)\n (canContain DrawerType SoapBarType)\n (canContain DrawerType SprayBottleType)\n (canContain DrawerType ToiletPaperType)\n (canContain DrawerType SoapBottleType)\n (canContain DrawerType ClothType)\n (canContain DrawerType HandTowelType)\n (canContain CounterTopType CandleType)\n (canContain CounterTopType SoapBarType)\n (canContain CounterTopType SprayBottleType)\n (canContain CounterTopType ToiletPaperType)\n (canContain CounterTopType SoapBottleType)\n (canContain CounterTopType ClothType)\n (canContain CounterTopType HandTowelType)\n (canContain DrawerType CandleType)\n (canContain DrawerType SoapBarType)\n (canContain DrawerType SprayBottleType)\n (canContain DrawerType ToiletPaperType)\n (canContain DrawerType SoapBottleType)\n (canContain DrawerType ClothType)\n (canContain DrawerType HandTowelType)\n (canContain TowelHolderType TowelType)\n (canContain GarbageCanType SoapBarType)\n (canContain GarbageCanType SprayBottleType)\n (canContain GarbageCanType ToiletPaperType)\n (canContain GarbageCanType SoapBottleType)\n (canContain GarbageCanType ClothType)\n (canContain GarbageCanType HandTowelType)\n (canContain ToiletType SoapBottleType)\n (canContain ToiletType HandTowelType)\n (canContain ToiletType ToiletPaperType)\n (canContain ToiletType ClothType)\n (canContain ToiletType CandleType)\n (canContain ToiletType SoapBarType)\n (canContain ToiletType SprayBottleType)\n (canContain BathtubBasinType ClothType)\n (canContain BathtubBasinType HandTowelType)\n (canContain BathtubBasinType SoapBarType)\n (canContain DrawerType CandleType)\n (canContain DrawerType SoapBarType)\n (canContain DrawerType SprayBottleType)\n (canContain DrawerType ToiletPaperType)\n (canContain DrawerType SoapBottleType)\n (canContain DrawerType ClothType)\n (canContain DrawerType HandTowelType)\n (canContain TowelHolderType TowelType)\n (canContain CounterTopType CandleType)\n (canContain CounterTopType SoapBarType)\n (canContain CounterTopType SprayBottleType)\n (canContain CounterTopType ToiletPaperType)\n (canContain CounterTopType SoapBottleType)\n (canContain CounterTopType ClothType)\n (canContain CounterTopType HandTowelType)\n (canContain HandTowelHolderType HandTowelType)\n (canContain SinkBasinType SoapBarType)\n (canContain SinkBasinType ClothType)\n (canContain SinkBasinType HandTowelType)\n (pickupable Cloth_bar__plus_00_dot_73_bar__plus_00_dot_74_bar__plus_01_dot_23)\n (pickupable SprayBottle_bar__minus_02_dot_49_bar__plus_01_dot_05_bar__plus_01_dot_69)\n (pickupable HandTowel_bar__plus_01_dot_03_bar__plus_01_dot_67_bar__plus_03_dot_13)\n (pickupable Cloth_bar__plus_00_dot_63_bar__plus_00_dot_84_bar__plus_01_dot_90)\n (pickupable Cloth_bar__minus_00_dot_89_bar__plus_00_dot_18_bar__plus_00_dot_43)\n (pickupable Candle_bar__minus_02_dot_49_bar__plus_01_dot_04_bar__plus_01_dot_56)\n (pickupable Candle_bar__plus_00_dot_56_bar__plus_00_dot_49_bar__plus_02_dot_32)\n (pickupable SoapBottle_bar__minus_02_dot_34_bar__plus_00_dot_59_bar__plus_00_dot_72)\n (pickupable ToiletPaper_bar__minus_02_dot_63_bar__plus_00_dot_79_bar__plus_01_dot_24)\n (pickupable SoapBar_bar__plus_00_dot_77_bar__plus_00_dot_81_bar__plus_01_dot_75)\n (pickupable SprayBottle_bar__minus_02_dot_46_bar__plus_01_dot_05_bar__plus_01_dot_82)\n (pickupable ScrubBrush_bar__minus_02_dot_56_bar__plus_00_dot_00_bar__plus_02_dot_20)\n (pickupable SoapBottle_bar__plus_00_dot_55_bar__plus_00_dot_59_bar__plus_00_dot_48)\n (pickupable SoapBottle_bar__plus_00_dot_73_bar__plus_00_dot_11_bar__plus_03_dot_04)\n (pickupable Candle_bar__minus_02_dot_56_bar__plus_01_dot_04_bar__plus_01_dot_63)\n (pickupable Towel_bar__plus_00_dot_47_bar__plus_01_dot_18_bar__plus_00_dot_13)\n (pickupable ToiletPaper_bar__minus_02_dot_60_bar__plus_01_dot_04_bar__plus_01_dot_51)\n (pickupable Plunger_bar__minus_02_dot_57_bar__plus_00_dot_00_bar__plus_01_dot_99)\n \n (openable Drawer_bar__plus_00_dot_41_bar__plus_00_dot_32_bar__plus_02_dot_42)\n (openable Drawer_bar__plus_00_dot_41_bar__plus_00_dot_55_bar__plus_01_dot_49)\n (openable Drawer_bar__plus_00_dot_41_bar__plus_00_dot_55_bar__plus_02_dot_42)\n (openable Drawer_bar__plus_00_dot_41_bar__plus_00_dot_32_bar__plus_01_dot_49)\n \n (atLocation agent1 loc_bar__minus_1_bar_5_bar_1_bar_30)\n \n (cleanable Cloth_bar__plus_00_dot_73_bar__plus_00_dot_74_bar__plus_01_dot_23)\n (cleanable Cloth_bar__plus_00_dot_63_bar__plus_00_dot_84_bar__plus_01_dot_90)\n (cleanable Cloth_bar__minus_00_dot_89_bar__plus_00_dot_18_bar__plus_00_dot_43)\n (cleanable SoapBar_bar__plus_00_dot_77_bar__plus_00_dot_81_bar__plus_01_dot_75)\n \n \n \n \n \n \n \n \n \n \n (inReceptacle Cloth_bar__plus_00_dot_73_bar__plus_00_dot_74_bar__plus_01_dot_23 CounterTop_bar__plus_00_dot_73_bar__plus_00_dot_70_bar__plus_01_dot_96)\n (inReceptacle SoapBottle_bar__minus_02_dot_34_bar__plus_00_dot_59_bar__plus_00_dot_72 CounterTop_bar__minus_00_dot_30_bar__plus_00_dot_16_bar__plus_00_dot_53)\n (inReceptacle Towel_bar__plus_00_dot_47_bar__plus_01_dot_18_bar__plus_00_dot_13 CounterTop_bar__minus_00_dot_30_bar__plus_00_dot_16_bar__plus_00_dot_53)\n (inReceptacle SoapBottle_bar__plus_00_dot_55_bar__plus_00_dot_59_bar__plus_00_dot_48 CounterTop_bar__minus_00_dot_30_bar__plus_00_dot_16_bar__plus_00_dot_53)\n (inReceptacle Candle_bar__plus_00_dot_56_bar__plus_00_dot_49_bar__plus_02_dot_32 Drawer_bar__plus_00_dot_41_bar__plus_00_dot_55_bar__plus_02_dot_42)\n (inReceptacle Towel_bar__plus_00_dot_47_bar__plus_01_dot_18_bar__plus_00_dot_13 TowelHolder_bar__plus_00_dot_47_bar__plus_01_dot_17_bar__plus_00_dot_03)\n (inReceptacle ToiletPaper_bar__minus_02_dot_63_bar__plus_00_dot_79_bar__plus_01_dot_24 ToiletPaperHanger_bar__minus_02_dot_70_bar__plus_00_dot_93_bar__plus_01_dot_20)\n (inReceptacle SoapBottle_bar__plus_00_dot_73_bar__plus_00_dot_11_bar__plus_03_dot_04 GarbageCan_bar__plus_00_dot_78_bar__plus_00_dot_07_bar__plus_03_dot_04)\n (inReceptacle Cloth_bar__plus_00_dot_63_bar__plus_00_dot_84_bar__plus_01_dot_90 Sink_bar__plus_00_dot_81_bar__plus_00_dot_70_bar__plus_01_dot_92_bar_SinkBasin)\n (inReceptacle Sink_bar__plus_00_dot_81_bar__plus_00_dot_70_bar__plus_01_dot_92 Sink_bar__plus_00_dot_81_bar__plus_00_dot_70_bar__plus_01_dot_92_bar_SinkBasin)\n (inReceptacle SoapBar_bar__plus_00_dot_77_bar__plus_00_dot_81_bar__plus_01_dot_75 Sink_bar__plus_00_dot_81_bar__plus_00_dot_70_bar__plus_01_dot_92_bar_SinkBasin)\n (inReceptacle Cloth_bar__minus_00_dot_89_bar__plus_00_dot_18_bar__plus_00_dot_43 Bathtub_bar__minus_01_dot_06_bar__plus_00_dot_30_bar__plus_00_dot_43_bar_BathtubBasin)\n (inReceptacle Bathtub_bar__minus_01_dot_06_bar__plus_00_dot_30_bar__plus_00_dot_43 Bathtub_bar__minus_01_dot_06_bar__plus_00_dot_30_bar__plus_00_dot_43_bar_BathtubBasin)\n (inReceptacle HandTowel_bar__plus_01_dot_03_bar__plus_01_dot_67_bar__plus_03_dot_13 HandTowelHolder_bar__plus_01_dot_07_bar__plus_01_dot_77_bar__plus_03_dot_13)\n (inReceptacle SprayBottle_bar__minus_02_dot_46_bar__plus_01_dot_05_bar__plus_01_dot_82 Toilet_bar__minus_02_dot_23_bar__plus_00_dot_00_bar__plus_01_dot_63)\n (inReceptacle SprayBottle_bar__minus_02_dot_49_bar__plus_01_dot_05_bar__plus_01_dot_69 Toilet_bar__minus_02_dot_23_bar__plus_00_dot_00_bar__plus_01_dot_63)\n (inReceptacle Candle_bar__minus_02_dot_49_bar__plus_01_dot_04_bar__plus_01_dot_56 Toilet_bar__minus_02_dot_23_bar__plus_00_dot_00_bar__plus_01_dot_63)\n (inReceptacle Candle_bar__minus_02_dot_56_bar__plus_01_dot_04_bar__plus_01_dot_63 Toilet_bar__minus_02_dot_23_bar__plus_00_dot_00_bar__plus_01_dot_63)\n (inReceptacle ToiletPaper_bar__minus_02_dot_60_bar__plus_01_dot_04_bar__plus_01_dot_51 Toilet_bar__minus_02_dot_23_bar__plus_00_dot_00_bar__plus_01_dot_63)\n \n \n (receptacleAtLocation Bathtub_bar__minus_01_dot_06_bar__plus_00_dot_30_bar__plus_00_dot_43_bar_BathtubBasin loc_bar__minus_3_bar_6_bar_2_bar_60)\n (receptacleAtLocation CounterTop_bar__plus_00_dot_73_bar__plus_00_dot_70_bar__plus_01_dot_96 loc_bar__minus_1_bar_8_bar_1_bar_45)\n (receptacleAtLocation CounterTop_bar__minus_00_dot_30_bar__plus_00_dot_16_bar__plus_00_dot_53 loc_bar__minus_7_bar_9_bar_2_bar_45)\n (receptacleAtLocation Drawer_bar__plus_00_dot_41_bar__plus_00_dot_32_bar__plus_01_dot_49 loc_bar__minus_4_bar_6_bar_1_bar_45)\n (receptacleAtLocation Drawer_bar__plus_00_dot_41_bar__plus_00_dot_32_bar__plus_02_dot_42 loc_bar__minus_3_bar_8_bar_1_bar_45)\n (receptacleAtLocation Drawer_bar__plus_00_dot_41_bar__plus_00_dot_55_bar__plus_01_dot_49 loc_bar__minus_3_bar_5_bar_1_bar_45)\n (receptacleAtLocation Drawer_bar__plus_00_dot_41_bar__plus_00_dot_55_bar__plus_02_dot_42 loc_bar__minus_3_bar_9_bar_1_bar_45)\n (receptacleAtLocation GarbageCan_bar__plus_00_dot_78_bar__plus_00_dot_07_bar__plus_03_dot_04 loc_bar_1_bar_13_bar_1_bar_60)\n (receptacleAtLocation HandTowelHolder_bar__plus_01_dot_07_bar__plus_01_dot_77_bar__plus_03_dot_13 loc_bar_1_bar_13_bar_1_bar__minus_15)\n (receptacleAtLocation Sink_bar__plus_00_dot_81_bar__plus_00_dot_70_bar__plus_01_dot_92_bar_SinkBasin loc_bar_0_bar_6_bar_1_bar_45)\n (receptacleAtLocation ToiletPaperHanger_bar__minus_02_dot_70_bar__plus_00_dot_93_bar__plus_01_dot_20 loc_bar__minus_6_bar_5_bar_3_bar_30)\n (receptacleAtLocation Toilet_bar__minus_02_dot_23_bar__plus_00_dot_00_bar__plus_01_dot_63 loc_bar__minus_9_bar_9_bar_2_bar_60)\n (receptacleAtLocation TowelHolder_bar__plus_00_dot_47_bar__plus_01_dot_17_bar__plus_00_dot_03 loc_bar_0_bar_5_bar_2_bar_15)\n (receptacleAtLocation TowelHolder_bar__plus_01_dot_04_bar__plus_01_dot_18_bar__plus_00_dot_50 loc_bar_0_bar_5_bar_1_bar_30)\n (objectAtLocation SprayBottle_bar__minus_02_dot_49_bar__plus_01_dot_05_bar__plus_01_dot_69 loc_bar__minus_9_bar_9_bar_2_bar_60)\n (objectAtLocation Candle_bar__minus_02_dot_49_bar__plus_01_dot_04_bar__plus_01_dot_56 loc_bar__minus_9_bar_9_bar_2_bar_60)\n (objectAtLocation Cloth_bar__plus_00_dot_63_bar__plus_00_dot_84_bar__plus_01_dot_90 loc_bar_0_bar_6_bar_1_bar_45)\n (objectAtLocation SoapBottle_bar__plus_00_dot_55_bar__plus_00_dot_59_bar__plus_00_dot_48 loc_bar__minus_7_bar_9_bar_2_bar_45)\n (objectAtLocation SoapBottle_bar__minus_02_dot_34_bar__plus_00_dot_59_bar__plus_00_dot_72 loc_bar__minus_7_bar_9_bar_2_bar_45)\n (objectAtLocation Candle_bar__plus_00_dot_56_bar__plus_00_dot_49_bar__plus_02_dot_32 loc_bar__minus_3_bar_9_bar_1_bar_45)\n (objectAtLocation Cloth_bar__minus_00_dot_89_bar__plus_00_dot_18_bar__plus_00_dot_43 loc_bar__minus_3_bar_6_bar_2_bar_60)\n (objectAtLocation Window_bar__minus_02_dot_81_bar__plus_00_dot_96_bar__plus_00_dot_51 loc_bar__minus_6_bar_5_bar_3_bar_30)\n (objectAtLocation Bathtub_bar__minus_01_dot_06_bar__plus_00_dot_30_bar__plus_00_dot_43 loc_bar__minus_3_bar_6_bar_2_bar_60)\n (objectAtLocation Mirror_bar__plus_00_dot_99_bar__plus_01_dot_68_bar__plus_01_dot_90 loc_bar_0_bar_8_bar_1_bar_0)\n (objectAtLocation ShowerDoor_bar__minus_02_dot_67_bar__plus_01_dot_00_bar__plus_02_dot_80 loc_bar__minus_9_bar_9_bar_0_bar_45)\n (objectAtLocation ShowerGlass_bar__minus_01_dot_71_bar__plus_01_dot_28_bar__plus_03_dot_30 loc_bar__minus_4_bar_13_bar_3_bar_30)\n (objectAtLocation Sink_bar__plus_00_dot_81_bar__plus_00_dot_70_bar__plus_01_dot_92 loc_bar_0_bar_6_bar_1_bar_45)\n (objectAtLocation Window_bar__minus_00_dot_96_bar__plus_01_dot_56_bar__minus_00_dot_06 loc_bar__minus_4_bar_5_bar_2_bar_0)\n (objectAtLocation HandTowel_bar__plus_01_dot_03_bar__plus_01_dot_67_bar__plus_03_dot_13 loc_bar_1_bar_13_bar_1_bar__minus_15)\n (objectAtLocation Towel_bar__plus_00_dot_47_bar__plus_01_dot_18_bar__plus_00_dot_13 loc_bar_0_bar_5_bar_2_bar_15)\n (objectAtLocation SoapBar_bar__plus_00_dot_77_bar__plus_00_dot_81_bar__plus_01_dot_75 loc_bar_0_bar_6_bar_1_bar_45)\n (objectAtLocation ToiletPaper_bar__minus_02_dot_63_bar__plus_00_dot_79_bar__plus_01_dot_24 loc_bar__minus_6_bar_5_bar_3_bar_30)\n (objectAtLocation SoapBottle_bar__plus_00_dot_73_bar__plus_00_dot_11_bar__plus_03_dot_04 loc_bar_1_bar_13_bar_1_bar_60)\n (objectAtLocation LightSwitch_bar__plus_00_dot_22_bar__plus_01_dot_42_bar__plus_04_dot_00 loc_bar_1_bar_14_bar_0_bar_30)\n (objectAtLocation ToiletPaper_bar__minus_02_dot_60_bar__plus_01_dot_04_bar__plus_01_dot_51 loc_bar__minus_9_bar_9_bar_2_bar_60)\n (objectAtLocation ScrubBrush_bar__minus_02_dot_56_bar__plus_00_dot_00_bar__plus_02_dot_20 loc_bar__minus_9_bar_9_bar_3_bar_60)\n (objectAtLocation Plunger_bar__minus_02_dot_57_bar__plus_00_dot_00_bar__plus_01_dot_99 loc_bar__minus_9_bar_9_bar_3_bar_60)\n (objectAtLocation Cloth_bar__plus_00_dot_73_bar__plus_00_dot_74_bar__plus_01_dot_23 loc_bar__minus_1_bar_8_bar_1_bar_45)\n (objectAtLocation Candle_bar__minus_02_dot_56_bar__plus_01_dot_04_bar__plus_01_dot_63 loc_bar__minus_9_bar_9_bar_2_bar_60)\n (objectAtLocation SprayBottle_bar__minus_02_dot_46_bar__plus_01_dot_05_bar__plus_01_dot_82 loc_bar__minus_9_bar_9_bar_2_bar_60)\n )\n \n\n (:goal\n (and\n (exists (?r - receptacle)\n (exists (?o - object)\n (and\n (inReceptacle ?o ?r)\n (objectType ?o CandleType)\n (receptacleType ?r CounterTopType)\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to toilet 1", "take candle 2 from toilet 1", "go to countertop 1", "move candle 2 to countertop 1"]}
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alfworld__pick_heat_then_place_in_recep__456
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pick_heat_then_place_in_recep
|
pick_heat_then_place_in_recep-Egg-None-CounterTop-12/trial_T20190908_215527_416490/game.tw-pddl
|
{"pddl_domain": ";; Specification in PDDL of the Alfred domain\n;; Intended to be used with Fast Downward which supports PDDL 2.2 level 1 plus the :action-costs requirement from PDDL 3.1.\n\n(define (domain alfred)\n (:requirements\n :adl\n :action-costs\n :typing\n )\n (:types\n agent\n location\n receptacle\n object\n rtype\n otype\n )\n\n\n (:predicates\n (atLocation ?a - agent ?l - location) ; true if the agent is at the location\n (receptacleAtLocation ?r - receptacle ?l - location) ; true if the receptacle is at the location (constant)\n (objectAtLocation ?o - object ?l - location) ; true if the object is at the location\n (openable ?r - receptacle) ; true if a receptacle is openable\n (opened ?r - receptacle) ; true if a receptacle is opened\n (inReceptacle ?o - object ?r - receptacle) ; object ?o is in receptacle ?r\n (isReceptacleObject ?o - object) ; true if the object can have things put inside it\n (inReceptacleObject ?innerObject - object ?outerObject - object) ; object ?innerObject is inside object ?outerObject\n (isReceptacleObjectFull ?o - object) ; true if the receptacle object contains something\n (wasInReceptacle ?o - object ?r - receptacle) ; object ?o was or is in receptacle ?r now or some time in the past\n (checked ?r - receptacle) ; whether the receptacle has been looked inside/visited\n (examined ?l - location) ; TODO\n (receptacleType ?r - receptacle ?t - rtype) ; the type of receptacle (Cabinet vs Cabinet|01|2...)\n (canContain ?rt - rtype ?ot - otype) ; true if receptacle can hold object\n (objectType ?o - object ?t - otype) ; the type of object (Apple vs Apple|01|2...)\n (holds ?a - agent ?o - object) ; object ?o is held by agent ?a\n (holdsAny ?a - agent) ; agent ?a holds an object\n (holdsAnyReceptacleObject ?a - agent) ; agent ?a holds a receptacle object\n (full ?r - receptacle) ; true if the receptacle has no remaining space\n (isClean ?o - object) ; true if the object has been clean in sink\n (cleanable ?o - object) ; true if the object can be placed in a sink\n (isHot ?o - object) ; true if the object has been heated up\n (heatable ?o - object) ; true if the object can be heated up in a microwave\n (isCool ?o - object) ; true if the object has been cooled\n (coolable ?o - object) ; true if the object can be cooled in the fridge\n (pickupable ?o - object) ; true if the object can be picked up\n (moveable ?o - object) ; true if the object can be moved\n (toggleable ?o - object) ; true if the object can be turned on/off\n (isOn ?o - object) ; true if the object is on\n (isToggled ?o - object) ; true if the object has been toggled\n (sliceable ?o - object) ; true if the object can be sliced\n (isSliced ?o - object) ; true if the object is sliced\n )\n\n (:functions\n (distance ?from ?to)\n (total-cost) - number\n )\n\n;; All actions are specified such that the final arguments are the ones used\n;; for performing actions in Unity.\n\n\n(:action look\n :parameters (?a - agent ?l - location)\n :precondition\n (and\n (atLocation ?a ?l)\n )\n :effect\n (and\n (checked ?l)\n )\n)\n\n(:action inventory\n :parameters (?a - agent)\n :precondition\n ()\n :effect\n (and\n (checked ?a)\n )\n)\n\n(:action examineReceptacle\n :parameters (?a - agent ?r - receptacle)\n :precondition\n (and\n (exists (?l - location)\n (and\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n )\n )\n )\n :effect\n (and\n (checked ?r)\n )\n)\n\n(:action examineObject\n :parameters (?a - agent ?o - object)\n :precondition\n (or\n ;(exists (?l - location)\n ; (and\n ; (atLocation ?a ?l)\n ; (objectAtLocation ?o ?l)\n ; )\n ;)\n (exists (?l - location, ?r - receptacle)\n (and\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n ; (objectAtLocation ?o ?l)\n (inReceptacle ?o ?r)\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n )\n )\n (holds ?a ?o)\n )\n :effect\n (and\n (checked ?o)\n )\n)\n\n;; agent goes to receptacle\n (:action GotoLocation\n :parameters (?a - agent ?lStart - location ?lEnd - location ?r - receptacle)\n :precondition (and\n (atLocation ?a ?lStart)\n (receptacleAtLocation ?r ?lEnd)\n ;(exists (?r - receptacle) (receptacleAtLocation ?r ?lEnd))\n )\n :effect (and\n (not (atLocation ?a ?lStart))\n (atLocation ?a ?lEnd)\n ; (forall (?r - receptacle)\n ; (when (and (receptacleAtLocation ?r ?lEnd)\n ; (or (not (openable ?r)) (opened ?r)))\n ; (checked ?r)\n ; )\n ; )\n ; (increase (total-cost) (distance ?lStart ?lEnd))\n (increase (total-cost) 1)\n )\n )\n\n;; agent opens receptacle\n (:action OpenObject\n :parameters (?a - agent ?l - location ?r - receptacle)\n :precondition (and\n (openable ?r)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (not (opened ?r))\n )\n :effect (and\n (opened ?r)\n (checked ?r)\n (increase (total-cost) 1)\n )\n )\n;; agent closes receptacle\n (:action CloseObject\n :parameters (?a - agent ?l - location ?r - receptacle)\n :precondition (and\n (openable ?r)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (opened ?r)\n )\n :effect (and\n (not (opened ?r))\n (increase (total-cost) 1)\n )\n\n )\n\n ;; agent picks up object from a receptacle\n (:action PickupObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n :precondition\n (and\n (pickupable ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n ; (objectAtLocation ?o ?l)\n (inReceptacle ?o ?r)\n (not (holdsAny ?a)) ; agent's hands are empty.\n ;(not (holdsAnyReceptacleObject ?a))\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n ;(not (isReceptacleObject ?o))\n )\n :effect\n (and\n (not (inReceptacle ?o ?r))\n (holds ?a ?o)\n (holdsAny ?a)\n (not (objectAtLocation ?o ?l))\n ;(not (full ?r))\n (increase (total-cost) 1)\n )\n )\n\n\n; ;; agent picks up object from a receptacle\n; (:action PickupObjectFromReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?outerR - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (inReceptacle ?o ?r)\n; (pickupable ?o)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (not (isReceptacleObject ?o))\n; (isReceptacleObject ?outerR)\n; (inReceptacleObject ?o ?outerR)\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (holds ?a ?o)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n;\n; (not (inReceptacleObject ?o ?outerR))\n; (not (isReceptacleObjectFull ?outerR))\n; )\n; )\n;\n; ;; agent picks up object from a receptacle\n; (:action PickupEmptyReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; ; (objectAtLocation ?o ?l)\n; (inReceptacle ?o ?r)\n; (pickupable ?o)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (isReceptacleObject ?o)\n; (not (isReceptacleObjectFull ?o))\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (holds ?a ?o)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n; (holdsAnyReceptacleObject ?a)\n; )\n; )\n;\n; ;; agent picks up object from a receptacle\n; (:action PickupFullReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?outerR - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (inReceptacle ?outerR ?r)\n; (pickupable ?outerR)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (not (isReceptacleObject ?o))\n; (isReceptacleObject ?outerR)\n; (inReceptacleObject ?o ?outerR)\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (not (inReceptacle ?outerR ?r))\n; (holds ?a ?outerR)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (objectAtLocation ?outerR ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n; (holdsAnyReceptacleObject ?a)\n; )\n; )\n\n\n;; agent puts down an object\n (:action PutObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle ?ot - otype ?rt - rtype)\n :precondition (and\n (holds ?a ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable\n ;(not (full ?r))\n (objectType ?o ?ot)\n (receptacleType ?r ?rt)\n (canContain ?rt ?ot)\n ;(not (holdsAnyReceptacleObject ?a))\n )\n :effect (and\n (inReceptacle ?o ?r)\n (objectAtLocation ?o ?l)\n ;(full ?r)\n (not (holds ?a ?o))\n (not (holdsAny ?a))\n (increase (total-cost) 1)\n )\n )\n\n;;; agent puts down an object\n; (:action PutObjectInReceptacleObject\n; :parameters (?a - agent ?l - location ?ot - otype ?o - object ?outerO - object ?outerR - receptacle)\n; :precondition (and\n; (atLocation ?a ?l)\n; (objectAtLocation ?outerO ?l)\n; (isReceptacleObject ?outerO)\n; (not (isReceptacleObject ?o))\n; (objectType ?o ?ot)\n; (holds ?a ?o)\n; (not (holdsAnyReceptacleObject ?a))\n; (inReceptacle ?outerO ?outerR)\n; (not (isReceptacleObjectFull ?outerO))\n; )\n; :effect (and\n; (inReceptacleObject ?o ?outerO)\n; (inReceptacle ?o ?outerR)\n; (not (holds ?a ?o))\n; (not (holdsAny ?a))\n; (objectAtLocation ?o ?l)\n; (isReceptacleObjectFull ?outerO)\n; (increase (total-cost) 1)\n; )\n; )\n;\n;;; agent puts down an object\n; (:action PutEmptyReceptacleObjectinReceptacle\n; :parameters (?a - agent ?l - location ?ot - otype ?o - object ?r - receptacle)\n; :precondition (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable\n; (not (full ?r))\n; (objectType ?o ?ot)\n; (holds ?a ?o)\n; (holdsAnyReceptacleObject ?a)\n; (isReceptacleObject ?o)\n; (not (isReceptacleObjectFull ?o))\n; )\n; :effect (and\n; (inReceptacle ?o ?r)\n; (objectAtLocation ?o ?l)\n; (full ?r)\n; (not (holds ?a ?o))\n; (not (holdsAny ?a))\n; (not (holdsAnyReceptacleObject ?a))\n; (increase (total-cost) 1)\n; )\n; )\n;\n;;; agent puts down a receptacle object in a receptacle\n; (:action PutFullReceptacleObjectInReceptacle\n; :parameters (?a - agent ?l - location ?ot - otype ?innerO - object ?outerO - object ?r - receptacle) ; ?rt - rtype)\n; :precondition (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (objectType ?outerO ?ot)\n; (holds ?a ?outerO)\n; (holdsAnyReceptacleObject ?a)\n; (isReceptacleObject ?outerO)\n; (isReceptacleObjectFull ?outerO)\n; (inReceptacleObject ?innerO ?outerO)\n; )\n; :effect (and\n; (not (holdsAny ?a))\n; (not (holdsAnyReceptacleObject ?a))\n; (objectAtLocation ?outerO ?l)\n; (objectAtLocation ?innerO ?l)\n; (inReceptacle ?outerO ?r)\n; (inReceptacle ?innerO ?r)\n; (not (holds ?a ?outerO))\n; (increase (total-cost) 1)\n; )\n; )\n\n;; agent cleans some object\n (:action CleanObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (cleanable ?o)\n (or\n (receptacleType ?r SinkType)\n (receptacleType ?r SinkBasinType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isClean ?o)\n )\n )\n\n\n;; agent heats-up some object\n (:action HeatObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (heatable ?o)\n (or\n (receptacleType ?r MicrowaveType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isHot ?o)\n (not (isCool ?o))\n )\n )\n\n;; agent cools some object\n (:action CoolObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (coolable ?o)\n (or\n (receptacleType ?r FridgeType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isCool ?o)\n (not (isHot ?o))\n )\n )\n\n\n;; agent toggle object\n (:action ToggleObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n :precondition (and\n (toggleable ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (inReceptacle ?o ?r)\n )\n :effect (and\n (increase (total-cost) 5)\n (when (isOn ?o)\n (not (isOn ?o)))\n (when (not (isOn ?o))\n (isOn ?o))\n (isToggled ?o)\n )\n )\n\n\n;; agent slices some object with a knife\n (:action SliceObject\n :parameters (?a - agent ?l - location ?co - object ?ko - object)\n :precondition\n (and\n (sliceable ?co)\n (or\n (objectType ?ko KnifeType)\n (objectType ?ko ButterKnifeType)\n )\n (atLocation ?a ?l)\n (objectAtLocation ?co ?l)\n (holds ?a ?ko)\n )\n :effect (and\n (increase (total-cost) 5)\n (isSliced ?co)\n )\n )\n\n\n(:action help\n :parameters (?a - agent)\n :precondition\n ()\n :effect\n (and\n (checked ?a)\n )\n)\n)\n", "grammar": "grammar :: \"\"\"\n {\n \"intro\": [\n {\n \"rhs\": \"-= Welcome to TextWorld, ALFRED! =-\\n\\n#look.feedback#\\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_215527_416490)\n(:domain alfred)\n(:objects\nagent1 - agent\nSaltShaker - object\n HousePlant - object\n Candle - object\n SprayBottle - object\n Bowl - object\n Window - object\n CD - object\n Egg - object\n Glassbottle - object\n Sink - object\n Pillow - object\n Spoon - object\n SoapBottle - object\n TeddyBear - object\n ButterKnife - object\n Cup - object\n Plate - object\n RemoteControl - object\n Tomato - object\n Statue - object\n HandTowel - object\n Knife - object\n StoveKnob - object\n LightSwitch - object\n Pen - object\n Painting - object\n DishSponge - object\n Vase - object\n Mug - object\n ToiletPaper - object\n Box - object\n Mirror - object\n Ladle - object\n Fork - object\n Blinds - object\n Footstool - object\n KeyChain - object\n Cloth - object\n Laptop - object\n TissueBox - object\n PepperShaker - object\n FloorLamp - object\n WateringCan - object\n Apple - object\n Pan - object\n PaperTowel - object\n PaperTowelRoll - object\n Newspaper - object\n Television - object\n Chair - object\n CellPhone - object\n CreditCard - object\n Lettuce - object\n BasketBall - object\n Potato - object\n Curtains - object\n Boots - object\n Pencil - object\n AlarmClock - object\n ToiletPaperRoll - object\n Spatula - object\n Book - object\n Bread - object\n SoapBar - object\n Watch - object\n DeskLamp - object\n Kettle - object\n Pot - object\n ScrubBrush - object\n WineBottle - object\n ShowerDoor - object\n Bathtub - object\n LaundryHamperLid - object\n ShowerGlass - object\n Poster - object\n TennisRacket - object\n BaseballBat - object\n Towel - object\n Plunger - object\nSaltShakerType - otype\n HousePlantType - otype\n CandleType - otype\n SprayBottleType - otype\n BowlType - otype\n WindowType - otype\n CDType - otype\n EggType - otype\n GlassbottleType - otype\n SinkType - otype\n PillowType - otype\n SpoonType - otype\n SoapBottleType - otype\n TeddyBearType - otype\n ButterKnifeType - otype\n CupType - otype\n PlateType - otype\n RemoteControlType - otype\n TomatoType - otype\n StatueType - otype\n HandTowelType - otype\n KnifeType - otype\n StoveKnobType - otype\n LightSwitchType - otype\n PenType - otype\n PaintingType - otype\n DishSpongeType - otype\n VaseType - otype\n MugType - otype\n ToiletPaperType - otype\n BoxType - otype\n MirrorType - otype\n LadleType - otype\n ForkType - otype\n BlindsType - otype\n FootstoolType - otype\n KeyChainType - otype\n ClothType - otype\n LaptopType - otype\n TissueBoxType - otype\n PepperShakerType - otype\n FloorLampType - otype\n WateringCanType - otype\n AppleType - otype\n PanType - otype\n PaperTowelType - otype\n PaperTowelRollType - otype\n NewspaperType - otype\n TelevisionType - otype\n ChairType - otype\n CellPhoneType - otype\n CreditCardType - otype\n LettuceType - otype\n BasketBallType - otype\n PotatoType - otype\n CurtainsType - otype\n BootsType - otype\n PencilType - otype\n AlarmClockType - otype\n ToiletPaperRollType - otype\n SpatulaType - otype\n BookType - otype\n BreadType - otype\n SoapBarType - otype\n WatchType - otype\n DeskLampType - otype\n KettleType - otype\n PotType - otype\n ScrubBrushType - otype\n WineBottleType - otype\n ShowerDoorType - otype\n BathtubType - otype\n LaundryHamperLidType - otype\n ShowerGlassType - otype\n PosterType - otype\n TennisRacketType - otype\n BaseballBatType - otype\n TowelType - otype\n PlungerType - otype\nSafeType - rtype\n DrawerType - rtype\n CoffeeMachineType - rtype\n HandTowelHolderType - rtype\n SinkBasinType - rtype\n DresserType - rtype\n LaundryHamperType - rtype\n TVStandType - rtype\n BathtubBasinType - rtype\n CabinetType - rtype\n FridgeType - rtype\n DeskType - rtype\n ToiletType - rtype\n CartType - rtype\n SideTableType - rtype\n SofaType - rtype\n CoffeeTableType - rtype\n DiningTableType - rtype\n CounterTopType - rtype\n GarbageCanType - rtype\n ArmChairType - rtype\n ShelfType - rtype\n MicrowaveType - rtype\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_67_bar__plus_00_dot_99_bar__plus_00_dot_81 - object\n Apple_bar__minus_01_dot_02_bar__plus_01_dot_37_bar__minus_00_dot_03 - object\n Bowl_bar__plus_01_dot_38_bar__plus_00_dot_10_bar__plus_00_dot_07 - object\n Bowl_bar__plus_01_dot_63_bar__plus_01_dot_50_bar__plus_00_dot_97 - object\n Bowl_bar__minus_01_dot_12_bar__plus_01_dot_82_bar__plus_00_dot_36 - object\n Bread_bar__minus_00_dot_92_bar__plus_00_dot_99_bar__plus_02_dot_27 - object\n ButterKnife_bar__minus_00_dot_79_bar__plus_00_dot_94_bar__plus_00_dot_77 - object\n ButterKnife_bar__minus_01_dot_13_bar__plus_00_dot_94_bar__plus_01_dot_08 - object\n Chair_bar__minus_00_dot_75_bar__plus_00_dot_01_bar__plus_03_dot_12 - object\n Cup_bar__plus_01_dot_35_bar__plus_00_dot_08_bar__plus_00_dot_85 - object\n DishSponge_bar__plus_01_dot_29_bar__plus_00_dot_94_bar__plus_02_dot_02 - object\n DishSponge_bar__plus_01_dot_44_bar__plus_00_dot_94_bar__plus_02_dot_02 - object\n DishSponge_bar__minus_00_dot_79_bar__plus_00_dot_94_bar__plus_00_dot_69 - object\n Egg_bar__plus_01_dot_42_bar__plus_00_dot_88_bar__plus_01_dot_43 - object\n Egg_bar__plus_01_dot_71_bar__plus_00_dot_97_bar__plus_01_dot_46 - object\n Egg_bar__minus_01_dot_21_bar__plus_00_dot_97_bar__plus_02_dot_31 - object\n Faucet_bar__plus_01_dot_71_bar__plus_00_dot_93_bar__plus_01_dot_36 - object\n Fork_bar__plus_01_dot_28_bar__plus_00_dot_75_bar__plus_00_dot_98 - object\n Fork_bar__plus_01_dot_44_bar__plus_00_dot_94_bar__plus_01_dot_01 - object\n Fork_bar__plus_01_dot_67_bar__plus_00_dot_94_bar__plus_02_dot_12 - object\n Knife_bar__minus_00_dot_90_bar__plus_00_dot_77_bar__plus_02_dot_25 - object\n Knife_bar__minus_00_dot_96_bar__plus_00_dot_96_bar__plus_01_dot_15 - object\n Lettuce_bar__plus_01_dot_46_bar__plus_01_dot_01_bar__plus_01_dot_68 - object\n Lettuce_bar__minus_01_dot_04_bar__plus_01_dot_03_bar__plus_01_dot_08 - object\n LightSwitch_bar__plus_00_dot_45_bar__plus_01_dot_41_bar__minus_01_dot_68 - object\n Mug_bar__minus_00_dot_92_bar__plus_01_dot_49_bar__plus_00_dot_12 - object\n Mug_bar__minus_01_dot_01_bar__plus_00_dot_81_bar__minus_00_dot_03 - object\n Pan_bar__plus_01_dot_38_bar__plus_01_dot_74_bar__plus_00_dot_39 - object\n PepperShaker_bar__plus_01_dot_34_bar__plus_00_dot_74_bar__plus_00_dot_98 - object\n PepperShaker_bar__minus_01_dot_00_bar__plus_01_dot_50_bar__plus_00_dot_69 - object\n Plate_bar__plus_01_dot_38_bar__plus_01_dot_75_bar__plus_00_dot_07 - object\n Plate_bar__minus_00_dot_79_bar__plus_00_dot_09_bar__plus_00_dot_99 - object\n Potato_bar__plus_01_dot_52_bar__plus_00_dot_97_bar__plus_01_dot_07 - object\n Potato_bar__plus_01_dot_75_bar__plus_00_dot_97_bar__plus_01_dot_78 - object\n Potato_bar__minus_00_dot_71_bar__plus_00_dot_97_bar__plus_00_dot_84 - object\n Pot_bar__minus_01_dot_11_bar__plus_00_dot_93_bar__plus_01_dot_47 - object\n Pot_bar__minus_01_dot_11_bar__plus_00_dot_93_bar__plus_01_dot_87 - object\n SaltShaker_bar__minus_00_dot_71_bar__plus_00_dot_93_bar__plus_02_dot_23 - object\n SaltShaker_bar__minus_01_dot_04_bar__plus_01_dot_50_bar__plus_01_dot_08 - object\n Sink_bar__plus_01_dot_54_bar__plus_00_dot_87_bar__plus_01_dot_64 - object\n SoapBottle_bar__plus_01_dot_31_bar__plus_00_dot_08_bar__plus_02_dot_60 - object\n Spatula_bar__minus_00_dot_72_bar__plus_00_dot_76_bar__plus_02_dot_52 - object\n Spatula_bar__minus_01_dot_21_bar__plus_00_dot_95_bar__plus_01_dot_00 - object\n Spoon_bar__minus_00_dot_83_bar__plus_00_dot_75_bar__plus_02_dot_52 - object\n Spoon_bar__minus_00_dot_96_bar__plus_00_dot_94_bar__plus_00_dot_92 - object\n StoveKnob_bar__minus_00_dot_65_bar__plus_00_dot_93_bar__plus_01_dot_36 - object\n StoveKnob_bar__minus_00_dot_65_bar__plus_00_dot_93_bar__plus_01_dot_51 - object\n StoveKnob_bar__minus_00_dot_65_bar__plus_00_dot_93_bar__plus_01_dot_76 - object\n StoveKnob_bar__minus_00_dot_65_bar__plus_00_dot_93_bar__plus_01_dot_92 - object\n Tomato_bar__plus_01_dot_42_bar__plus_00_dot_13_bar__plus_02_dot_95 - object\n Tomato_bar__minus_00_dot_98_bar__plus_00_dot_63_bar__plus_00_dot_27 - object\n Tomato_bar__minus_01_dot_13_bar__plus_01_dot_00_bar__plus_00_dot_77 - object\n Window_bar__plus_00_dot_23_bar__plus_01_dot_60_bar__plus_03_dot_51 - object\n Cabinet_bar__plus_01_dot_22_bar__plus_00_dot_39_bar__plus_00_dot_63 - receptacle\n Cabinet_bar__plus_01_dot_22_bar__plus_00_dot_39_bar__plus_02_dot_11 - receptacle\n Cabinet_bar__plus_01_dot_22_bar__plus_00_dot_55_bar__plus_00_dot_59 - receptacle\n Cabinet_bar__plus_01_dot_22_bar__plus_01_dot_39_bar__plus_00_dot_59 - receptacle\n Cabinet_bar__plus_01_dot_22_bar__plus_02_dot_01_bar__plus_00_dot_59 - receptacle\n Cabinet_bar__plus_01_dot_50_bar__plus_01_dot_81_bar__plus_02_dot_10 - receptacle\n Cabinet_bar__plus_01_dot_50_bar__plus_01_dot_81_bar__plus_02_dot_69 - receptacle\n Cabinet_bar__plus_01_dot_50_bar__plus_02_dot_11_bar__plus_01_dot_16 - receptacle\n Cabinet_bar__plus_01_dot_50_bar__plus_02_dot_11_bar__plus_01_dot_21 - receptacle\n Cabinet_bar__plus_01_dot_50_bar__plus_02_dot_11_bar__plus_02_dot_08 - receptacle\n Cabinet_bar__minus_00_dot_63_bar__plus_00_dot_39_bar__plus_00_dot_63 - receptacle\n Cabinet_bar__minus_00_dot_63_bar__plus_00_dot_39_bar__plus_02_dot_11 - receptacle\n Cabinet_bar__minus_00_dot_91_bar__plus_01_dot_81_bar__plus_02_dot_11 - receptacle\n Cabinet_bar__minus_00_dot_91_bar__plus_01_dot_81_bar__plus_02_dot_70 - receptacle\n Cabinet_bar__minus_00_dot_91_bar__plus_02_dot_05_bar__minus_00_dot_33 - receptacle\n Cabinet_bar__minus_00_dot_91_bar__plus_02_dot_11_bar__plus_00_dot_58 - receptacle\n Cabinet_bar__minus_00_dot_91_bar__plus_02_dot_11_bar__plus_01_dot_16 - receptacle\n Cabinet_bar__minus_00_dot_91_bar__plus_02_dot_11_bar__plus_01_dot_21 - receptacle\n Cabinet_bar__minus_00_dot_91_bar__plus_02_dot_11_bar__plus_02_dot_08 - receptacle\n CoffeeMachine_bar__plus_01_dot_69_bar__plus_00_dot_93_bar__plus_02_dot_45 - receptacle\n CounterTop_bar__plus_01_dot_51_bar__plus_00_dot_97_bar__plus_02_dot_31 - receptacle\n CounterTop_bar__minus_00_dot_97_bar__plus_00_dot_97_bar__plus_00_dot_92 - receptacle\n CounterTop_bar__minus_00_dot_97_bar__plus_00_dot_97_bar__plus_02_dot_39 - receptacle\n Drawer_bar__plus_01_dot_37_bar__plus_00_dot_77_bar__plus_00_dot_92 - receptacle\n Drawer_bar__plus_01_dot_37_bar__plus_00_dot_77_bar__plus_02_dot_39 - receptacle\n Drawer_bar__minus_00_dot_78_bar__plus_00_dot_77_bar__plus_00_dot_92 - receptacle\n Drawer_bar__minus_00_dot_78_bar__plus_00_dot_77_bar__plus_02_dot_38 - receptacle\n Fridge_bar__minus_01_dot_00_bar__plus_00_dot_00_bar__plus_00_dot_12 - receptacle\n GarbageCan_bar__plus_01_dot_45_bar__plus_00_dot_00_bar__plus_02_dot_91 - receptacle\n Microwave_bar__plus_01_dot_63_bar__plus_01_dot_48_bar__plus_01_dot_65 - receptacle\n Sink_bar__plus_01_dot_54_bar__plus_00_dot_87_bar__plus_01_dot_64_bar_SinkBasin - receptacle\n StoveBurner_bar__minus_00_dot_83_bar__plus_00_dot_92_bar__plus_01_dot_47 - receptacle\n StoveBurner_bar__minus_00_dot_83_bar__plus_00_dot_92_bar__plus_01_dot_87 - receptacle\n StoveBurner_bar__minus_01_dot_11_bar__plus_00_dot_92_bar__plus_01_dot_47 - receptacle\n StoveBurner_bar__minus_01_dot_11_bar__plus_00_dot_92_bar__plus_01_dot_87 - receptacle\n Toaster_bar__minus_01_dot_00_bar__plus_00_dot_93_bar__plus_02_dot_56 - receptacle\n loc_bar_2_bar_9_bar_1_bar_45 - location\n loc_bar_0_bar_0_bar_3_bar_60 - location\n loc_bar_3_bar_10_bar_1_bar_45 - location\n loc_bar_2_bar__minus_4_bar_2_bar_15 - location\n loc_bar_1_bar_6_bar_1_bar__minus_15 - location\n loc_bar_0_bar_9_bar_3_bar_45 - location\n loc_bar_3_bar_1_bar_1_bar_30 - location\n loc_bar__minus_1_bar_7_bar_3_bar_45 - location\n loc_bar_3_bar_1_bar_1_bar__minus_30 - location\n loc_bar_1_bar_11_bar_3_bar_60 - location\n loc_bar_0_bar__minus_2_bar_3_bar__minus_30 - location\n loc_bar__minus_1_bar_5_bar_3_bar_60 - location\n loc_bar__minus_1_bar_10_bar_3_bar_45 - location\n loc_bar_1_bar_5_bar_1_bar_45 - location\n loc_bar_1_bar_5_bar_3_bar_60 - location\n loc_bar_0_bar_3_bar_3_bar_45 - location\n loc_bar_4_bar_5_bar_1_bar_60 - location\n loc_bar__minus_1_bar_3_bar_3_bar__minus_30 - location\n loc_bar_3_bar_10_bar_1_bar_60 - location\n loc_bar_3_bar_10_bar_1_bar__minus_15 - location\n loc_bar_2_bar_1_bar_1_bar_60 - location\n loc_bar_4_bar_7_bar_1_bar__minus_15 - location\n loc_bar__minus_1_bar_7_bar_3_bar_60 - location\n loc_bar_0_bar_7_bar_3_bar__minus_30 - location\n loc_bar_4_bar_6_bar_1_bar_15 - location\n loc_bar_4_bar_7_bar_1_bar_60 - location\n loc_bar__minus_1_bar_10_bar_0_bar_60 - location\n loc_bar_1_bar_11_bar_0_bar_0 - location\n loc_bar__minus_1_bar_6_bar_3_bar_60 - location\n loc_bar_3_bar_8_bar_1_bar_45 - location\n loc_bar_2_bar_3_bar_1_bar_45 - location\n loc_bar_1_bar_5_bar_1_bar__minus_15 - location\n loc_bar__minus_1_bar_10_bar_3_bar__minus_15 - location\n loc_bar_3_bar_3_bar_1_bar__minus_30 - location\n loc_bar__minus_1_bar_4_bar_3_bar_45 - location\n loc_bar_1_bar_9_bar_1_bar_45 - location\n loc_bar__minus_1_bar_7_bar_3_bar__minus_15 - location\n loc_bar__minus_1_bar_6_bar_3_bar_45 - location\n loc_bar_0_bar_8_bar_3_bar__minus_30 - location\n loc_bar__minus_1_bar_11_bar_3_bar_30 - location\n )\n \n\n(:init\n\n\n (receptacleType Cabinet_bar__plus_01_dot_22_bar__plus_00_dot_39_bar__plus_00_dot_63 CabinetType)\n (receptacleType Cabinet_bar__minus_00_dot_91_bar__plus_02_dot_11_bar__plus_01_dot_21 CabinetType)\n (receptacleType StoveBurner_bar__minus_01_dot_11_bar__plus_00_dot_92_bar__plus_01_dot_47 StoveBurnerType)\n (receptacleType Cabinet_bar__plus_01_dot_50_bar__plus_02_dot_11_bar__plus_02_dot_08 CabinetType)\n (receptacleType CounterTop_bar__minus_00_dot_97_bar__plus_00_dot_97_bar__plus_00_dot_92 CounterTopType)\n (receptacleType Microwave_bar__plus_01_dot_63_bar__plus_01_dot_48_bar__plus_01_dot_65 MicrowaveType)\n (receptacleType CounterTop_bar__minus_00_dot_97_bar__plus_00_dot_97_bar__plus_02_dot_39 CounterTopType)\n (receptacleType Cabinet_bar__minus_00_dot_63_bar__plus_00_dot_39_bar__plus_00_dot_63 CabinetType)\n (receptacleType StoveBurner_bar__minus_00_dot_83_bar__plus_00_dot_92_bar__plus_01_dot_47 StoveBurnerType)\n (receptacleType Cabinet_bar__plus_01_dot_50_bar__plus_02_dot_11_bar__plus_01_dot_21 CabinetType)\n (receptacleType Toaster_bar__minus_01_dot_00_bar__plus_00_dot_93_bar__plus_02_dot_56 ToasterType)\n (receptacleType Cabinet_bar__minus_00_dot_91_bar__plus_02_dot_11_bar__plus_02_dot_08 CabinetType)\n (receptacleType Cabinet_bar__minus_00_dot_91_bar__plus_01_dot_81_bar__plus_02_dot_70 CabinetType)\n (receptacleType Fridge_bar__minus_01_dot_00_bar__plus_00_dot_00_bar__plus_00_dot_12 FridgeType)\n (receptacleType Cabinet_bar__plus_01_dot_22_bar__plus_00_dot_55_bar__plus_00_dot_59 CabinetType)\n (receptacleType Cabinet_bar__minus_00_dot_91_bar__plus_02_dot_11_bar__plus_00_dot_58 CabinetType)\n (receptacleType GarbageCan_bar__plus_01_dot_45_bar__plus_00_dot_00_bar__plus_02_dot_91 GarbageCanType)\n (receptacleType Drawer_bar__minus_00_dot_78_bar__plus_00_dot_77_bar__plus_00_dot_92 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CounterTop_bar__plus_01_dot_51_bar__plus_00_dot_97_bar__plus_02_dot_31)\n (inReceptacle Potato_bar__plus_01_dot_52_bar__plus_00_dot_97_bar__plus_01_dot_07 CounterTop_bar__plus_01_dot_51_bar__plus_00_dot_97_bar__plus_02_dot_31)\n (inReceptacle Bowl_bar__plus_01_dot_63_bar__plus_01_dot_50_bar__plus_00_dot_97 Cabinet_bar__plus_01_dot_50_bar__plus_02_dot_11_bar__plus_01_dot_16)\n (inReceptacle Plate_bar__plus_01_dot_38_bar__plus_01_dot_75_bar__plus_00_dot_07 Cabinet_bar__plus_01_dot_22_bar__plus_02_dot_01_bar__plus_00_dot_59)\n (inReceptacle Pan_bar__plus_01_dot_38_bar__plus_01_dot_74_bar__plus_00_dot_39 Cabinet_bar__plus_01_dot_22_bar__plus_02_dot_01_bar__plus_00_dot_59)\n (inReceptacle SoapBottle_bar__plus_01_dot_31_bar__plus_00_dot_08_bar__plus_02_dot_60 Cabinet_bar__plus_01_dot_22_bar__plus_00_dot_39_bar__plus_02_dot_11)\n (inReceptacle Bowl_bar__plus_01_dot_38_bar__plus_00_dot_10_bar__plus_00_dot_07 Cabinet_bar__plus_01_dot_22_bar__plus_00_dot_55_bar__plus_00_dot_59)\n (inReceptacle PepperShaker_bar__minus_01_dot_00_bar__plus_01_dot_50_bar__plus_00_dot_69 Cabinet_bar__minus_00_dot_91_bar__plus_02_dot_11_bar__plus_01_dot_16)\n (inReceptacle SaltShaker_bar__minus_01_dot_04_bar__plus_01_dot_50_bar__plus_01_dot_08 Cabinet_bar__minus_00_dot_91_bar__plus_02_dot_11_bar__plus_01_dot_16)\n (inReceptacle Plate_bar__minus_00_dot_79_bar__plus_00_dot_09_bar__plus_00_dot_99 Cabinet_bar__minus_00_dot_63_bar__plus_00_dot_39_bar__plus_00_dot_63)\n (inReceptacle Bowl_bar__minus_01_dot_12_bar__plus_01_dot_82_bar__plus_00_dot_36 Cabinet_bar__minus_00_dot_91_bar__plus_02_dot_11_bar__plus_00_dot_58)\n (inReceptacle Pot_bar__minus_01_dot_11_bar__plus_00_dot_93_bar__plus_01_dot_87 StoveBurner_bar__minus_01_dot_11_bar__plus_00_dot_92_bar__plus_01_dot_87)\n (inReceptacle Potato_bar__minus_00_dot_71_bar__plus_00_dot_97_bar__plus_00_dot_84 CounterTop_bar__minus_00_dot_97_bar__plus_00_dot_97_bar__plus_00_dot_92)\n (inReceptacle ButterKnife_bar__minus_00_dot_79_bar__plus_00_dot_94_bar__plus_00_dot_77 CounterTop_bar__minus_00_dot_97_bar__plus_00_dot_97_bar__plus_00_dot_92)\n (inReceptacle Lettuce_bar__minus_01_dot_04_bar__plus_01_dot_03_bar__plus_01_dot_08 CounterTop_bar__minus_00_dot_97_bar__plus_00_dot_97_bar__plus_00_dot_92)\n (inReceptacle Knife_bar__minus_00_dot_96_bar__plus_00_dot_96_bar__plus_01_dot_15 CounterTop_bar__minus_00_dot_97_bar__plus_00_dot_97_bar__plus_00_dot_92)\n (inReceptacle Tomato_bar__minus_01_dot_13_bar__plus_01_dot_00_bar__plus_00_dot_77 CounterTop_bar__minus_00_dot_97_bar__plus_00_dot_97_bar__plus_00_dot_92)\n (inReceptacle ButterKnife_bar__minus_01_dot_13_bar__plus_00_dot_94_bar__plus_01_dot_08 CounterTop_bar__minus_00_dot_97_bar__plus_00_dot_97_bar__plus_00_dot_92)\n (inReceptacle DishSponge_bar__minus_00_dot_79_bar__plus_00_dot_94_bar__plus_00_dot_69 CounterTop_bar__minus_00_dot_97_bar__plus_00_dot_97_bar__plus_00_dot_92)\n (inReceptacle Spoon_bar__minus_00_dot_96_bar__plus_00_dot_94_bar__plus_00_dot_92 CounterTop_bar__minus_00_dot_97_bar__plus_00_dot_97_bar__plus_00_dot_92)\n (inReceptacle Spatula_bar__minus_01_dot_21_bar__plus_00_dot_95_bar__plus_01_dot_00 CounterTop_bar__minus_00_dot_97_bar__plus_00_dot_97_bar__plus_00_dot_92)\n (inReceptacle Cup_bar__plus_01_dot_35_bar__plus_00_dot_08_bar__plus_00_dot_85 Cabinet_bar__plus_01_dot_22_bar__plus_00_dot_39_bar__plus_00_dot_63)\n (inReceptacle PepperShaker_bar__plus_01_dot_34_bar__plus_00_dot_74_bar__plus_00_dot_98 Drawer_bar__plus_01_dot_37_bar__plus_00_dot_77_bar__plus_00_dot_92)\n (inReceptacle Fork_bar__plus_01_dot_28_bar__plus_00_dot_75_bar__plus_00_dot_98 Drawer_bar__plus_01_dot_37_bar__plus_00_dot_77_bar__plus_00_dot_92)\n (inReceptacle Tomato_bar__minus_00_dot_98_bar__plus_00_dot_63_bar__plus_00_dot_27 Fridge_bar__minus_01_dot_00_bar__plus_00_dot_00_bar__plus_00_dot_12)\n (inReceptacle Mug_bar__minus_00_dot_92_bar__plus_01_dot_49_bar__plus_00_dot_12 Fridge_bar__minus_01_dot_00_bar__plus_00_dot_00_bar__plus_00_dot_12)\n (inReceptacle Apple_bar__minus_01_dot_02_bar__plus_01_dot_37_bar__minus_00_dot_03 Fridge_bar__minus_01_dot_00_bar__plus_00_dot_00_bar__plus_00_dot_12)\n (inReceptacle Mug_bar__minus_01_dot_01_bar__plus_00_dot_81_bar__minus_00_dot_03 Fridge_bar__minus_01_dot_00_bar__plus_00_dot_00_bar__plus_00_dot_12)\n (inReceptacle Tomato_bar__plus_01_dot_42_bar__plus_00_dot_13_bar__plus_02_dot_95 GarbageCan_bar__plus_01_dot_45_bar__plus_00_dot_00_bar__plus_02_dot_91)\n (inReceptacle Egg_bar__plus_01_dot_42_bar__plus_00_dot_88_bar__plus_01_dot_43 Sink_bar__plus_01_dot_54_bar__plus_00_dot_87_bar__plus_01_dot_64_bar_SinkBasin)\n \n \n (receptacleAtLocation Cabinet_bar__plus_01_dot_22_bar__plus_00_dot_39_bar__plus_00_dot_63 loc_bar_1_bar_5_bar_1_bar_45)\n (receptacleAtLocation Cabinet_bar__plus_01_dot_22_bar__plus_00_dot_39_bar__plus_02_dot_11 loc_bar_1_bar_9_bar_1_bar_45)\n (receptacleAtLocation Cabinet_bar__plus_01_dot_22_bar__plus_00_dot_55_bar__plus_00_dot_59 loc_bar_2_bar_1_bar_1_bar_60)\n (receptacleAtLocation Cabinet_bar__plus_01_dot_22_bar__plus_01_dot_39_bar__plus_00_dot_59 loc_bar_3_bar_1_bar_1_bar_30)\n (receptacleAtLocation Cabinet_bar__plus_01_dot_22_bar__plus_02_dot_01_bar__plus_00_dot_59 loc_bar_3_bar_1_bar_1_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__plus_01_dot_50_bar__plus_01_dot_81_bar__plus_02_dot_10 loc_bar_4_bar_7_bar_1_bar__minus_15)\n (receptacleAtLocation Cabinet_bar__plus_01_dot_50_bar__plus_01_dot_81_bar__plus_02_dot_69 loc_bar_3_bar_10_bar_1_bar__minus_15)\n (receptacleAtLocation Cabinet_bar__plus_01_dot_50_bar__plus_02_dot_11_bar__plus_01_dot_16 loc_bar_3_bar_3_bar_1_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__plus_01_dot_50_bar__plus_02_dot_11_bar__plus_01_dot_21 loc_bar_1_bar_5_bar_1_bar__minus_15)\n (receptacleAtLocation Cabinet_bar__plus_01_dot_50_bar__plus_02_dot_11_bar__plus_02_dot_08 loc_bar_1_bar_6_bar_1_bar__minus_15)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_63_bar__plus_00_dot_39_bar__plus_00_dot_63 loc_bar_1_bar_5_bar_3_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_63_bar__plus_00_dot_39_bar__plus_02_dot_11 loc_bar_1_bar_11_bar_3_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_91_bar__plus_01_dot_81_bar__plus_02_dot_11 loc_bar__minus_1_bar_7_bar_3_bar__minus_15)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_91_bar__plus_01_dot_81_bar__plus_02_dot_70 loc_bar__minus_1_bar_10_bar_3_bar__minus_15)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_91_bar__plus_02_dot_05_bar__minus_00_dot_33 loc_bar_0_bar__minus_2_bar_3_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_91_bar__plus_02_dot_11_bar__plus_00_dot_58 loc_bar__minus_1_bar_3_bar_3_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_91_bar__plus_02_dot_11_bar__plus_01_dot_16 loc_bar__minus_1_bar_3_bar_3_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_91_bar__plus_02_dot_11_bar__plus_01_dot_21 loc_bar_0_bar_7_bar_3_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_91_bar__plus_02_dot_11_bar__plus_02_dot_08 loc_bar_0_bar_8_bar_3_bar__minus_30)\n (receptacleAtLocation CoffeeMachine_bar__plus_01_dot_69_bar__plus_00_dot_93_bar__plus_02_dot_45 loc_bar_3_bar_10_bar_1_bar_45)\n (receptacleAtLocation CounterTop_bar__plus_01_dot_51_bar__plus_00_dot_97_bar__plus_02_dot_31 loc_bar_3_bar_8_bar_1_bar_45)\n (receptacleAtLocation CounterTop_bar__minus_00_dot_97_bar__plus_00_dot_97_bar__plus_00_dot_92 loc_bar__minus_1_bar_4_bar_3_bar_45)\n (receptacleAtLocation CounterTop_bar__minus_00_dot_97_bar__plus_00_dot_97_bar__plus_02_dot_39 loc_bar__minus_1_bar_10_bar_3_bar_45)\n (receptacleAtLocation Drawer_bar__plus_01_dot_37_bar__plus_00_dot_77_bar__plus_00_dot_92 loc_bar_2_bar_3_bar_1_bar_45)\n (receptacleAtLocation Drawer_bar__plus_01_dot_37_bar__plus_00_dot_77_bar__plus_02_dot_39 loc_bar_2_bar_9_bar_1_bar_45)\n (receptacleAtLocation Drawer_bar__minus_00_dot_78_bar__plus_00_dot_77_bar__plus_00_dot_92 loc_bar_0_bar_3_bar_3_bar_45)\n (receptacleAtLocation Drawer_bar__minus_00_dot_78_bar__plus_00_dot_77_bar__plus_02_dot_38 loc_bar_0_bar_9_bar_3_bar_45)\n (receptacleAtLocation Fridge_bar__minus_01_dot_00_bar__plus_00_dot_00_bar__plus_00_dot_12 loc_bar_0_bar_0_bar_3_bar_60)\n (receptacleAtLocation GarbageCan_bar__plus_01_dot_45_bar__plus_00_dot_00_bar__plus_02_dot_91 loc_bar_3_bar_10_bar_1_bar_60)\n (receptacleAtLocation Microwave_bar__plus_01_dot_63_bar__plus_01_dot_48_bar__plus_01_dot_65 loc_bar_4_bar_6_bar_1_bar_15)\n (receptacleAtLocation Sink_bar__plus_01_dot_54_bar__plus_00_dot_87_bar__plus_01_dot_64_bar_SinkBasin loc_bar_4_bar_5_bar_1_bar_60)\n (receptacleAtLocation StoveBurner_bar__minus_00_dot_83_bar__plus_00_dot_92_bar__plus_01_dot_47 loc_bar__minus_1_bar_6_bar_3_bar_45)\n (receptacleAtLocation StoveBurner_bar__minus_00_dot_83_bar__plus_00_dot_92_bar__plus_01_dot_87 loc_bar__minus_1_bar_7_bar_3_bar_45)\n (receptacleAtLocation StoveBurner_bar__minus_01_dot_11_bar__plus_00_dot_92_bar__plus_01_dot_47 loc_bar__minus_1_bar_6_bar_3_bar_45)\n (receptacleAtLocation StoveBurner_bar__minus_01_dot_11_bar__plus_00_dot_92_bar__plus_01_dot_87 loc_bar__minus_1_bar_7_bar_3_bar_45)\n (receptacleAtLocation Toaster_bar__minus_01_dot_00_bar__plus_00_dot_93_bar__plus_02_dot_56 loc_bar__minus_1_bar_10_bar_3_bar_45)\n (objectAtLocation Mug_bar__minus_01_dot_01_bar__plus_00_dot_81_bar__minus_00_dot_03 loc_bar_0_bar_0_bar_3_bar_60)\n (objectAtLocation Spoon_bar__minus_00_dot_96_bar__plus_00_dot_94_bar__plus_00_dot_92 loc_bar__minus_1_bar_4_bar_3_bar_45)\n (objectAtLocation Egg_bar__minus_01_dot_21_bar__plus_00_dot_97_bar__plus_02_dot_31 loc_bar__minus_1_bar_10_bar_3_bar_45)\n (objectAtLocation DishSponge_bar__minus_00_dot_79_bar__plus_00_dot_94_bar__plus_00_dot_69 loc_bar__minus_1_bar_4_bar_3_bar_45)\n (objectAtLocation Plate_bar__plus_01_dot_38_bar__plus_01_dot_75_bar__plus_00_dot_07 loc_bar_3_bar_1_bar_1_bar__minus_30)\n (objectAtLocation Potato_bar__minus_00_dot_71_bar__plus_00_dot_97_bar__plus_00_dot_84 loc_bar__minus_1_bar_4_bar_3_bar_45)\n (objectAtLocation ButterKnife_bar__minus_00_dot_79_bar__plus_00_dot_94_bar__plus_00_dot_77 loc_bar__minus_1_bar_4_bar_3_bar_45)\n (objectAtLocation PepperShaker_bar__plus_01_dot_34_bar__plus_00_dot_74_bar__plus_00_dot_98 loc_bar_2_bar_3_bar_1_bar_45)\n (objectAtLocation Apple_bar__plus_01_dot_67_bar__plus_00_dot_99_bar__plus_00_dot_81 loc_bar_3_bar_8_bar_1_bar_45)\n (objectAtLocation SaltShaker_bar__minus_00_dot_71_bar__plus_00_dot_93_bar__plus_02_dot_23 loc_bar__minus_1_bar_10_bar_3_bar_45)\n (objectAtLocation Knife_bar__minus_00_dot_96_bar__plus_00_dot_96_bar__plus_01_dot_15 loc_bar__minus_1_bar_4_bar_3_bar_45)\n (objectAtLocation Spatula_bar__minus_00_dot_72_bar__plus_00_dot_76_bar__plus_02_dot_52 loc_bar_0_bar_9_bar_3_bar_45)\n (objectAtLocation Pot_bar__minus_01_dot_11_bar__plus_00_dot_93_bar__plus_01_dot_47 loc_bar__minus_1_bar_6_bar_3_bar_45)\n (objectAtLocation Bowl_bar__plus_01_dot_38_bar__plus_00_dot_10_bar__plus_00_dot_07 loc_bar_2_bar_1_bar_1_bar_60)\n (objectAtLocation Tomato_bar__plus_01_dot_42_bar__plus_00_dot_13_bar__plus_02_dot_95 loc_bar_3_bar_10_bar_1_bar_60)\n (objectAtLocation Fork_bar__plus_01_dot_28_bar__plus_00_dot_75_bar__plus_00_dot_98 loc_bar_2_bar_3_bar_1_bar_45)\n (objectAtLocation Lettuce_bar__plus_01_dot_46_bar__plus_01_dot_01_bar__plus_01_dot_68 loc_bar_4_bar_5_bar_1_bar_60)\n (objectAtLocation Bowl_bar__plus_01_dot_63_bar__plus_01_dot_50_bar__plus_00_dot_97 loc_bar_3_bar_3_bar_1_bar__minus_30)\n (objectAtLocation Tomato_bar__minus_01_dot_13_bar__plus_01_dot_00_bar__plus_00_dot_77 loc_bar__minus_1_bar_4_bar_3_bar_45)\n (objectAtLocation Egg_bar__plus_01_dot_42_bar__plus_00_dot_88_bar__plus_01_dot_43 loc_bar_4_bar_5_bar_1_bar_60)\n (objectAtLocation Fork_bar__plus_01_dot_44_bar__plus_00_dot_94_bar__plus_01_dot_01 loc_bar_3_bar_8_bar_1_bar_45)\n (objectAtLocation DishSponge_bar__plus_01_dot_44_bar__plus_00_dot_94_bar__plus_02_dot_02 loc_bar_3_bar_8_bar_1_bar_45)\n (objectAtLocation Potato_bar__plus_01_dot_52_bar__plus_00_dot_97_bar__plus_01_dot_07 loc_bar_3_bar_8_bar_1_bar_45)\n (objectAtLocation Chair_bar__minus_00_dot_75_bar__plus_00_dot_01_bar__plus_03_dot_12 loc_bar__minus_1_bar_10_bar_0_bar_60)\n (objectAtLocation Sink_bar__plus_01_dot_54_bar__plus_00_dot_87_bar__plus_01_dot_64 loc_bar_4_bar_7_bar_1_bar_60)\n (objectAtLocation Lettuce_bar__minus_01_dot_04_bar__plus_01_dot_03_bar__plus_01_dot_08 loc_bar__minus_1_bar_4_bar_3_bar_45)\n (objectAtLocation StoveKnob_bar__minus_00_dot_65_bar__plus_00_dot_93_bar__plus_01_dot_92 loc_bar__minus_1_bar_7_bar_3_bar_60)\n (objectAtLocation StoveKnob_bar__minus_00_dot_65_bar__plus_00_dot_93_bar__plus_01_dot_36 loc_bar__minus_1_bar_5_bar_3_bar_60)\n (objectAtLocation StoveKnob_bar__minus_00_dot_65_bar__plus_00_dot_93_bar__plus_01_dot_51 loc_bar__minus_1_bar_6_bar_3_bar_60)\n (objectAtLocation StoveKnob_bar__minus_00_dot_65_bar__plus_00_dot_93_bar__plus_01_dot_76 loc_bar__minus_1_bar_7_bar_3_bar_60)\n (objectAtLocation SoapBottle_bar__plus_01_dot_31_bar__plus_00_dot_08_bar__plus_02_dot_60 loc_bar_1_bar_9_bar_1_bar_45)\n (objectAtLocation Bread_bar__minus_00_dot_92_bar__plus_00_dot_99_bar__plus_02_dot_27 loc_bar__minus_1_bar_10_bar_3_bar_45)\n (objectAtLocation Fork_bar__plus_01_dot_67_bar__plus_00_dot_94_bar__plus_02_dot_12 loc_bar_3_bar_8_bar_1_bar_45)\n (objectAtLocation Tomato_bar__minus_00_dot_98_bar__plus_00_dot_63_bar__plus_00_dot_27 loc_bar_0_bar_0_bar_3_bar_60)\n (objectAtLocation Bowl_bar__minus_01_dot_12_bar__plus_01_dot_82_bar__plus_00_dot_36 loc_bar__minus_1_bar_3_bar_3_bar__minus_30)\n (objectAtLocation Window_bar__plus_00_dot_23_bar__plus_01_dot_60_bar__plus_03_dot_51 loc_bar_1_bar_11_bar_0_bar_0)\n (objectAtLocation Pot_bar__minus_01_dot_11_bar__plus_00_dot_93_bar__plus_01_dot_87 loc_bar__minus_1_bar_7_bar_3_bar_45)\n (objectAtLocation Spatula_bar__minus_01_dot_21_bar__plus_00_dot_95_bar__plus_01_dot_00 loc_bar__minus_1_bar_4_bar_3_bar_45)\n (objectAtLocation Knife_bar__minus_00_dot_90_bar__plus_00_dot_77_bar__plus_02_dot_25 loc_bar_0_bar_9_bar_3_bar_45)\n (objectAtLocation SaltShaker_bar__minus_01_dot_04_bar__plus_01_dot_50_bar__plus_01_dot_08 loc_bar__minus_1_bar_3_bar_3_bar__minus_30)\n (objectAtLocation Apple_bar__minus_01_dot_02_bar__plus_01_dot_37_bar__minus_00_dot_03 loc_bar_0_bar_0_bar_3_bar_60)\n (objectAtLocation PepperShaker_bar__minus_01_dot_00_bar__plus_01_dot_50_bar__plus_00_dot_69 loc_bar__minus_1_bar_3_bar_3_bar__minus_30)\n (objectAtLocation ButterKnife_bar__minus_01_dot_13_bar__plus_00_dot_94_bar__plus_01_dot_08 loc_bar__minus_1_bar_4_bar_3_bar_45)\n (objectAtLocation Potato_bar__plus_01_dot_75_bar__plus_00_dot_97_bar__plus_01_dot_78 loc_bar_3_bar_8_bar_1_bar_45)\n (objectAtLocation Plate_bar__minus_00_dot_79_bar__plus_00_dot_09_bar__plus_00_dot_99 loc_bar_1_bar_5_bar_3_bar_60)\n (objectAtLocation DishSponge_bar__plus_01_dot_29_bar__plus_00_dot_94_bar__plus_02_dot_02 loc_bar_3_bar_8_bar_1_bar_45)\n (objectAtLocation Egg_bar__plus_01_dot_71_bar__plus_00_dot_97_bar__plus_01_dot_46 loc_bar_3_bar_8_bar_1_bar_45)\n (objectAtLocation Cup_bar__plus_01_dot_35_bar__plus_00_dot_08_bar__plus_00_dot_85 loc_bar_1_bar_5_bar_1_bar_45)\n (objectAtLocation Pan_bar__plus_01_dot_38_bar__plus_01_dot_74_bar__plus_00_dot_39 loc_bar_3_bar_1_bar_1_bar__minus_30)\n (objectAtLocation Spoon_bar__minus_00_dot_83_bar__plus_00_dot_75_bar__plus_02_dot_52 loc_bar_0_bar_9_bar_3_bar_45)\n (objectAtLocation LightSwitch_bar__plus_00_dot_45_bar__plus_01_dot_41_bar__minus_01_dot_68 loc_bar_2_bar__minus_4_bar_2_bar_15)\n (objectAtLocation Mug_bar__minus_00_dot_92_bar__plus_01_dot_49_bar__plus_00_dot_12 loc_bar_0_bar_0_bar_3_bar_60)\n )\n \n\n (:goal\n (and\n (exists (?r - receptacle)\n (exists (?o - object)\n (and\n (heatable ?o)\n (objectType ?o EggType)\n (receptacleType ?r CounterTopType)\n (isHot ?o)\n (inReceptacle ?o ?r)\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to countertop 1", "take egg 1 from countertop 1", "go to microwave 1", "heat egg 1 with microwave 1", "go to countertop 1", "move egg 1 to countertop 1"]}
|
alfworld__pick_heat_then_place_in_recep__457
|
pick_heat_then_place_in_recep
|
pick_heat_then_place_in_recep-Egg-None-CounterTop-12/trial_T20190908_215643_953236/game.tw-pddl
|
{"pddl_domain": ";; Specification in PDDL of the Alfred domain\n;; Intended to be used with Fast Downward which supports PDDL 2.2 level 1 plus the :action-costs requirement from PDDL 3.1.\n\n(define (domain alfred)\n (:requirements\n :adl\n :action-costs\n :typing\n )\n (:types\n agent\n location\n receptacle\n object\n rtype\n otype\n )\n\n\n (:predicates\n (atLocation ?a - agent ?l - location) ; true if the agent is at the location\n (receptacleAtLocation ?r - receptacle ?l - location) ; true if the receptacle is at the location (constant)\n (objectAtLocation ?o - object ?l - location) ; true if the object is at the location\n (openable ?r - receptacle) ; true if a receptacle is openable\n (opened ?r - receptacle) ; true if a receptacle is opened\n (inReceptacle ?o - object ?r - receptacle) ; object ?o is in receptacle ?r\n (isReceptacleObject ?o - object) ; true if the object can have things put inside it\n (inReceptacleObject ?innerObject - object ?outerObject - object) ; object ?innerObject is inside object ?outerObject\n (isReceptacleObjectFull ?o - object) ; true if the receptacle object contains something\n (wasInReceptacle ?o - object ?r - receptacle) ; object ?o was or is in receptacle ?r now or some time in the past\n (checked ?r - receptacle) ; whether the receptacle has been looked inside/visited\n (examined ?l - location) ; TODO\n (receptacleType ?r - receptacle ?t - rtype) ; the type of receptacle (Cabinet vs Cabinet|01|2...)\n (canContain ?rt - rtype ?ot - otype) ; true if receptacle can hold object\n (objectType ?o - object ?t - otype) ; the type of object (Apple vs Apple|01|2...)\n (holds ?a - agent ?o - object) ; object ?o is held by agent ?a\n (holdsAny ?a - agent) ; agent ?a holds an object\n (holdsAnyReceptacleObject ?a - agent) ; agent ?a holds a receptacle object\n (full ?r - receptacle) ; true if the receptacle has no remaining space\n (isClean ?o - object) ; true if the object has been clean in sink\n (cleanable ?o - object) ; true if the object can be placed in a sink\n (isHot ?o - object) ; true if the object has been heated up\n (heatable ?o - object) ; true if the object can be heated up in a microwave\n (isCool ?o - object) ; true if the object has been cooled\n (coolable ?o - object) ; true if the object can be cooled in the fridge\n (pickupable ?o - object) ; true if the object can be picked up\n (moveable ?o - object) ; true if the object can be moved\n (toggleable ?o - object) ; true if the object can be turned on/off\n (isOn ?o - object) ; true if the object is on\n (isToggled ?o - object) ; true if the object has been toggled\n (sliceable ?o - object) ; true if the object can be sliced\n (isSliced ?o - object) ; true if the object is sliced\n )\n\n (:functions\n (distance ?from ?to)\n (total-cost) - number\n )\n\n;; All actions are specified such that the final arguments are the ones used\n;; for performing actions in Unity.\n\n\n(:action look\n :parameters (?a - agent ?l - location)\n :precondition\n (and\n (atLocation ?a ?l)\n )\n :effect\n (and\n (checked ?l)\n )\n)\n\n(:action inventory\n :parameters (?a - agent)\n :precondition\n ()\n :effect\n (and\n (checked ?a)\n )\n)\n\n(:action examineReceptacle\n :parameters (?a - agent ?r - receptacle)\n :precondition\n (and\n (exists (?l - location)\n (and\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n )\n )\n )\n :effect\n (and\n (checked ?r)\n )\n)\n\n(:action examineObject\n :parameters (?a - agent ?o - object)\n :precondition\n (or\n ;(exists (?l - location)\n ; (and\n ; (atLocation ?a ?l)\n ; (objectAtLocation ?o ?l)\n ; )\n ;)\n (exists (?l - location, ?r - receptacle)\n (and\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n ; (objectAtLocation ?o ?l)\n (inReceptacle ?o ?r)\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n )\n )\n (holds ?a ?o)\n )\n :effect\n (and\n (checked ?o)\n )\n)\n\n;; agent goes to receptacle\n (:action GotoLocation\n :parameters (?a - agent ?lStart - location ?lEnd - location ?r - receptacle)\n :precondition (and\n (atLocation ?a ?lStart)\n (receptacleAtLocation ?r ?lEnd)\n ;(exists (?r - receptacle) (receptacleAtLocation ?r ?lEnd))\n )\n :effect (and\n (not (atLocation ?a ?lStart))\n (atLocation ?a ?lEnd)\n ; (forall (?r - receptacle)\n ; (when (and (receptacleAtLocation ?r ?lEnd)\n ; (or (not (openable ?r)) (opened ?r)))\n ; (checked ?r)\n ; )\n ; )\n ; (increase (total-cost) (distance ?lStart ?lEnd))\n (increase (total-cost) 1)\n )\n )\n\n;; agent opens receptacle\n (:action OpenObject\n :parameters (?a - agent ?l - location ?r - receptacle)\n :precondition (and\n (openable ?r)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (not (opened ?r))\n )\n :effect (and\n (opened ?r)\n (checked ?r)\n (increase (total-cost) 1)\n )\n )\n;; agent closes receptacle\n (:action CloseObject\n :parameters (?a - agent ?l - location ?r - receptacle)\n :precondition (and\n (openable ?r)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (opened ?r)\n )\n :effect (and\n (not (opened ?r))\n (increase (total-cost) 1)\n )\n\n )\n\n ;; agent picks up object from a receptacle\n (:action PickupObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n :precondition\n (and\n (pickupable ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n ; (objectAtLocation ?o ?l)\n (inReceptacle ?o ?r)\n (not (holdsAny ?a)) ; agent's hands are empty.\n ;(not (holdsAnyReceptacleObject ?a))\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n ;(not (isReceptacleObject ?o))\n )\n :effect\n (and\n (not (inReceptacle ?o ?r))\n (holds ?a ?o)\n (holdsAny ?a)\n (not (objectAtLocation ?o ?l))\n ;(not (full ?r))\n (increase (total-cost) 1)\n )\n )\n\n\n; ;; agent picks up object from a receptacle\n; (:action PickupObjectFromReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?outerR - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (inReceptacle ?o ?r)\n; (pickupable ?o)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (not (isReceptacleObject ?o))\n; (isReceptacleObject ?outerR)\n; (inReceptacleObject ?o ?outerR)\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (holds ?a ?o)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n;\n; (not (inReceptacleObject ?o ?outerR))\n; (not (isReceptacleObjectFull ?outerR))\n; )\n; )\n;\n; ;; agent picks up object from a receptacle\n; (:action PickupEmptyReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; ; (objectAtLocation ?o ?l)\n; (inReceptacle ?o ?r)\n; (pickupable ?o)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (isReceptacleObject ?o)\n; (not (isReceptacleObjectFull ?o))\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (holds ?a ?o)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n; (holdsAnyReceptacleObject ?a)\n; )\n; )\n;\n; ;; agent picks up object from a receptacle\n; (:action PickupFullReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?outerR - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (inReceptacle ?outerR ?r)\n; (pickupable ?outerR)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (not (isReceptacleObject ?o))\n; (isReceptacleObject ?outerR)\n; (inReceptacleObject ?o ?outerR)\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (not (inReceptacle ?outerR ?r))\n; (holds ?a ?outerR)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (objectAtLocation ?outerR ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n; (holdsAnyReceptacleObject ?a)\n; )\n; )\n\n\n;; agent puts down an object\n (:action PutObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle ?ot - otype ?rt - rtype)\n :precondition (and\n (holds ?a ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable\n ;(not (full ?r))\n (objectType ?o ?ot)\n (receptacleType ?r ?rt)\n (canContain ?rt ?ot)\n ;(not (holdsAnyReceptacleObject ?a))\n )\n :effect (and\n (inReceptacle ?o ?r)\n (objectAtLocation ?o ?l)\n ;(full ?r)\n (not (holds ?a ?o))\n (not (holdsAny ?a))\n (increase (total-cost) 1)\n )\n )\n\n;;; agent puts down an object\n; (:action PutObjectInReceptacleObject\n; :parameters (?a - agent ?l - location ?ot - otype ?o - object ?outerO - object ?outerR - receptacle)\n; :precondition (and\n; (atLocation ?a ?l)\n; (objectAtLocation ?outerO ?l)\n; (isReceptacleObject ?outerO)\n; (not (isReceptacleObject ?o))\n; (objectType ?o ?ot)\n; (holds ?a ?o)\n; (not (holdsAnyReceptacleObject ?a))\n; (inReceptacle ?outerO ?outerR)\n; (not (isReceptacleObjectFull ?outerO))\n; )\n; :effect (and\n; (inReceptacleObject ?o ?outerO)\n; (inReceptacle ?o ?outerR)\n; (not (holds ?a ?o))\n; (not (holdsAny ?a))\n; (objectAtLocation ?o ?l)\n; (isReceptacleObjectFull ?outerO)\n; (increase (total-cost) 1)\n; )\n; )\n;\n;;; agent puts down an object\n; (:action PutEmptyReceptacleObjectinReceptacle\n; :parameters (?a - agent ?l - location ?ot - otype ?o - object ?r - receptacle)\n; :precondition (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable\n; (not (full ?r))\n; (objectType ?o ?ot)\n; (holds ?a ?o)\n; (holdsAnyReceptacleObject ?a)\n; (isReceptacleObject ?o)\n; (not (isReceptacleObjectFull ?o))\n; )\n; :effect (and\n; (inReceptacle ?o ?r)\n; (objectAtLocation ?o ?l)\n; (full ?r)\n; (not (holds ?a ?o))\n; (not (holdsAny ?a))\n; (not (holdsAnyReceptacleObject ?a))\n; (increase (total-cost) 1)\n; )\n; )\n;\n;;; agent puts down a receptacle object in a receptacle\n; (:action PutFullReceptacleObjectInReceptacle\n; :parameters (?a - agent ?l - location ?ot - otype ?innerO - object ?outerO - object ?r - receptacle) ; ?rt - rtype)\n; :precondition (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (objectType ?outerO ?ot)\n; (holds ?a ?outerO)\n; (holdsAnyReceptacleObject ?a)\n; (isReceptacleObject ?outerO)\n; (isReceptacleObjectFull ?outerO)\n; (inReceptacleObject ?innerO ?outerO)\n; )\n; :effect (and\n; (not (holdsAny ?a))\n; (not (holdsAnyReceptacleObject ?a))\n; (objectAtLocation ?outerO ?l)\n; (objectAtLocation ?innerO ?l)\n; (inReceptacle ?outerO ?r)\n; (inReceptacle ?innerO ?r)\n; (not (holds ?a ?outerO))\n; (increase (total-cost) 1)\n; )\n; )\n\n;; agent cleans some object\n (:action CleanObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (cleanable ?o)\n (or\n (receptacleType ?r SinkType)\n (receptacleType ?r SinkBasinType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isClean ?o)\n )\n )\n\n\n;; agent heats-up some object\n (:action HeatObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (heatable ?o)\n (or\n (receptacleType ?r MicrowaveType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isHot ?o)\n (not (isCool ?o))\n )\n )\n\n;; agent cools some object\n (:action CoolObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (coolable ?o)\n (or\n (receptacleType ?r FridgeType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isCool ?o)\n (not (isHot ?o))\n )\n )\n\n\n;; agent toggle object\n (:action ToggleObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n :precondition (and\n (toggleable ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (inReceptacle ?o ?r)\n )\n :effect (and\n (increase (total-cost) 5)\n (when (isOn ?o)\n (not (isOn ?o)))\n (when (not (isOn ?o))\n (isOn ?o))\n (isToggled ?o)\n )\n )\n\n\n;; agent slices some object with a knife\n (:action SliceObject\n :parameters (?a - agent ?l - location ?co - object ?ko - object)\n :precondition\n (and\n (sliceable ?co)\n (or\n (objectType ?ko KnifeType)\n (objectType ?ko ButterKnifeType)\n )\n (atLocation ?a ?l)\n (objectAtLocation ?co ?l)\n (holds ?a ?ko)\n )\n :effect (and\n (increase (total-cost) 5)\n (isSliced ?co)\n )\n )\n\n\n(:action help\n :parameters (?a - agent)\n :precondition\n ()\n :effect\n (and\n (checked ?a)\n )\n)\n)\n", "grammar": "grammar :: \"\"\"\n {\n \"intro\": [\n {\n \"rhs\": \"-= Welcome to TextWorld, ALFRED! =-\\n\\n#look.feedback#\\n\\n#task#\"\n }\n ],\n\n \"notImplemented\": [\n {\n \"rhs\": \"TODO\"\n }\n ],\n\n \"task\": [\n {\n \"rhs\": \"Your task is to: put a hot egg in 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_215643_953236)\n(:domain alfred)\n(:objects\nagent1 - agent\nSaltShaker - object\n HousePlant - object\n Candle - object\n SprayBottle - object\n Bowl - object\n Window - object\n CD - object\n Egg - object\n Glassbottle - object\n Sink - object\n Pillow - object\n Spoon - object\n SoapBottle - object\n TeddyBear - object\n ButterKnife - object\n Cup - object\n Plate - object\n RemoteControl - object\n Tomato - object\n Statue - object\n HandTowel - object\n Knife - object\n StoveKnob - object\n LightSwitch - object\n Pen - object\n Painting - object\n DishSponge - object\n Vase - object\n Mug - object\n ToiletPaper - object\n Box - object\n Mirror - object\n Ladle - object\n Fork - object\n Blinds - object\n Footstool - object\n KeyChain - object\n Cloth - object\n Laptop - object\n TissueBox - object\n PepperShaker - object\n FloorLamp - object\n WateringCan - object\n Apple - object\n Pan - object\n PaperTowel - object\n PaperTowelRoll - object\n Newspaper - object\n Television - object\n Chair - object\n CellPhone - object\n CreditCard - object\n Lettuce - object\n BasketBall - object\n Potato - object\n Curtains - object\n Boots - object\n Pencil - object\n AlarmClock - object\n ToiletPaperRoll - object\n Spatula - object\n Book - object\n Bread - object\n SoapBar - object\n Watch - object\n DeskLamp - object\n Kettle - object\n Pot - object\n ScrubBrush - object\n WineBottle - object\n ShowerDoor - object\n Bathtub - object\n LaundryHamperLid - object\n ShowerGlass - object\n Poster - object\n TennisRacket - object\n BaseballBat - object\n Towel - object\n Plunger - object\nSaltShakerType - otype\n HousePlantType - otype\n CandleType - otype\n SprayBottleType - otype\n BowlType - otype\n WindowType - otype\n CDType - otype\n EggType - otype\n GlassbottleType - otype\n SinkType - otype\n PillowType - otype\n SpoonType - otype\n SoapBottleType - otype\n TeddyBearType - otype\n ButterKnifeType - otype\n CupType - otype\n PlateType - otype\n RemoteControlType - otype\n TomatoType - otype\n StatueType - otype\n HandTowelType - otype\n KnifeType - otype\n StoveKnobType - otype\n LightSwitchType - otype\n PenType - otype\n PaintingType - otype\n DishSpongeType - otype\n VaseType - otype\n MugType - otype\n ToiletPaperType - otype\n BoxType - otype\n MirrorType - otype\n LadleType - otype\n ForkType - otype\n BlindsType - otype\n FootstoolType - otype\n KeyChainType - otype\n ClothType - otype\n LaptopType - otype\n TissueBoxType - otype\n PepperShakerType - otype\n FloorLampType - otype\n WateringCanType - otype\n AppleType - otype\n PanType - otype\n PaperTowelType - otype\n PaperTowelRollType - otype\n NewspaperType - otype\n TelevisionType - otype\n ChairType - otype\n CellPhoneType - otype\n CreditCardType - otype\n LettuceType - otype\n BasketBallType - otype\n PotatoType - otype\n CurtainsType - otype\n BootsType - otype\n PencilType - otype\n AlarmClockType - otype\n ToiletPaperRollType - otype\n SpatulaType - otype\n BookType - otype\n BreadType - otype\n SoapBarType - otype\n WatchType - otype\n DeskLampType - otype\n KettleType - otype\n PotType - otype\n ScrubBrushType - otype\n WineBottleType - otype\n ShowerDoorType - otype\n BathtubType - otype\n LaundryHamperLidType - otype\n ShowerGlassType - otype\n PosterType - otype\n TennisRacketType - otype\n BaseballBatType - otype\n TowelType - otype\n PlungerType - otype\nSafeType - rtype\n DrawerType - rtype\n CoffeeMachineType - rtype\n HandTowelHolderType - rtype\n SinkBasinType - rtype\n DresserType - rtype\n LaundryHamperType - rtype\n TVStandType - rtype\n BathtubBasinType - rtype\n CabinetType - rtype\n FridgeType - rtype\n DeskType - rtype\n ToiletType - rtype\n CartType - rtype\n SideTableType - rtype\n SofaType - rtype\n CoffeeTableType - rtype\n DiningTableType - rtype\n CounterTopType - rtype\n GarbageCanType - rtype\n ArmChairType - rtype\n ShelfType - rtype\n MicrowaveType - rtype\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_21_bar__plus_00_dot_99_bar__plus_02_dot_23 - object\n Bowl_bar__minus_01_dot_04_bar__plus_01_dot_95_bar__plus_01_dot_92 - object\n Bread_bar__minus_00_dot_92_bar__plus_00_dot_99_bar__plus_02_dot_27 - object\n ButterKnife_bar__minus_00_dot_79_bar__plus_00_dot_94_bar__plus_01_dot_15 - object\n Chair_bar__minus_00_dot_75_bar__plus_00_dot_01_bar__plus_03_dot_12 - object\n Cup_bar__plus_01_dot_46_bar__plus_00_dot_10_bar__plus_00_dot_17 - object\n Cup_bar__plus_01_dot_62_bar__plus_01_dot_60_bar__plus_01_dot_60 - object\n Cup_bar__minus_00_dot_99_bar__plus_00_dot_81_bar__plus_00_dot_27 - object\n DishSponge_bar__minus_01_dot_12_bar__plus_01_dot_83_bar__minus_00_dot_08 - object\n Egg_bar__plus_01_dot_60_bar__plus_00_dot_98_bar__plus_01_dot_80 - object\n Egg_bar__minus_00_dot_88_bar__plus_01_dot_53_bar__minus_00_dot_03 - object\n Egg_bar__minus_01_dot_01_bar__plus_00_dot_60_bar__plus_00_dot_35 - object\n Egg_bar__minus_01_dot_13_bar__plus_00_dot_97_bar__plus_01_dot_00 - object\n Faucet_bar__plus_01_dot_71_bar__plus_00_dot_93_bar__plus_01_dot_36 - object\n Fork_bar__plus_01_dot_45_bar__plus_00_dot_75_bar__plus_00_dot_78 - object\n Knife_bar__plus_01_dot_31_bar__plus_00_dot_77_bar__plus_02_dot_53 - object\n Lettuce_bar__minus_00_dot_94_bar__plus_00_dot_66_bar__plus_00_dot_20 - object\n LightSwitch_bar__plus_00_dot_45_bar__plus_01_dot_41_bar__minus_01_dot_68 - object\n Mug_bar__plus_01_dot_59_bar__plus_01_dot_50_bar__plus_00_dot_92 - object\n Pan_bar__minus_01_dot_11_bar__plus_00_dot_93_bar__plus_01_dot_47 - object\n PepperShaker_bar__minus_00_dot_87_bar__plus_00_dot_08_bar__plus_00_dot_85 - object\n PepperShaker_bar__minus_01_dot_04_bar__plus_00_dot_93_bar__plus_01_dot_15 - object\n PepperShaker_bar__minus_01_dot_21_bar__plus_00_dot_93_bar__plus_00_dot_77 - object\n Plate_bar__plus_01_dot_38_bar__plus_01_dot_75_bar__plus_00_dot_07 - object\n Plate_bar__minus_00_dot_80_bar__plus_00_dot_09_bar__plus_02_dot_31 - object\n Potato_bar__minus_00_dot_71_bar__plus_00_dot_97_bar__plus_00_dot_84 - object\n Pot_bar__minus_01_dot_11_bar__plus_00_dot_93_bar__plus_01_dot_87 - object\n SaltShaker_bar__plus_01_dot_31_bar__plus_00_dot_10_bar__plus_00_dot_37 - object\n Sink_bar__plus_01_dot_54_bar__plus_00_dot_87_bar__plus_01_dot_64 - object\n SoapBottle_bar__plus_01_dot_34_bar__plus_01_dot_75_bar__plus_00_dot_27 - object\n Spatula_bar__plus_01_dot_28_bar__plus_00_dot_76_bar__plus_00_dot_92 - object\n Spatula_bar__minus_00_dot_72_bar__plus_00_dot_76_bar__plus_01_dot_05 - object\n Spoon_bar__plus_01_dot_42_bar__plus_00_dot_84_bar__plus_01_dot_37 - object\n StoveKnob_bar__minus_00_dot_65_bar__plus_00_dot_93_bar__plus_01_dot_36 - object\n StoveKnob_bar__minus_00_dot_65_bar__plus_00_dot_93_bar__plus_01_dot_51 - object\n StoveKnob_bar__minus_00_dot_65_bar__plus_00_dot_93_bar__plus_01_dot_76 - object\n StoveKnob_bar__minus_00_dot_65_bar__plus_00_dot_93_bar__plus_01_dot_92 - object\n Tomato_bar__plus_01_dot_42_bar__plus_00_dot_13_bar__plus_02_dot_91 - object\n Tomato_bar__minus_00_dot_88_bar__plus_01_dot_56_bar__plus_00_dot_12 - object\n Window_bar__plus_00_dot_23_bar__plus_01_dot_60_bar__plus_03_dot_51 - object\n Cabinet_bar__plus_01_dot_22_bar__plus_00_dot_39_bar__plus_00_dot_63 - receptacle\n Cabinet_bar__plus_01_dot_22_bar__plus_00_dot_39_bar__plus_02_dot_11 - receptacle\n Cabinet_bar__plus_01_dot_22_bar__plus_00_dot_55_bar__plus_00_dot_59 - receptacle\n Cabinet_bar__plus_01_dot_22_bar__plus_01_dot_39_bar__plus_00_dot_59 - receptacle\n Cabinet_bar__plus_01_dot_22_bar__plus_02_dot_01_bar__plus_00_dot_59 - receptacle\n Cabinet_bar__plus_01_dot_50_bar__plus_01_dot_81_bar__plus_02_dot_10 - receptacle\n Cabinet_bar__plus_01_dot_50_bar__plus_01_dot_81_bar__plus_02_dot_69 - receptacle\n Cabinet_bar__plus_01_dot_50_bar__plus_02_dot_11_bar__plus_01_dot_16 - receptacle\n Cabinet_bar__plus_01_dot_50_bar__plus_02_dot_11_bar__plus_01_dot_21 - receptacle\n Cabinet_bar__plus_01_dot_50_bar__plus_02_dot_11_bar__plus_02_dot_08 - receptacle\n Cabinet_bar__minus_00_dot_63_bar__plus_00_dot_39_bar__plus_00_dot_63 - receptacle\n Cabinet_bar__minus_00_dot_63_bar__plus_00_dot_39_bar__plus_02_dot_11 - receptacle\n Cabinet_bar__minus_00_dot_91_bar__plus_01_dot_81_bar__plus_02_dot_11 - receptacle\n Cabinet_bar__minus_00_dot_91_bar__plus_01_dot_81_bar__plus_02_dot_70 - receptacle\n Cabinet_bar__minus_00_dot_91_bar__plus_02_dot_05_bar__minus_00_dot_33 - receptacle\n Cabinet_bar__minus_00_dot_91_bar__plus_02_dot_11_bar__plus_00_dot_58 - receptacle\n Cabinet_bar__minus_00_dot_91_bar__plus_02_dot_11_bar__plus_01_dot_16 - receptacle\n Cabinet_bar__minus_00_dot_91_bar__plus_02_dot_11_bar__plus_01_dot_21 - receptacle\n Cabinet_bar__minus_00_dot_91_bar__plus_02_dot_11_bar__plus_02_dot_08 - receptacle\n CoffeeMachine_bar__plus_01_dot_69_bar__plus_00_dot_93_bar__plus_02_dot_45 - receptacle\n CounterTop_bar__plus_01_dot_51_bar__plus_00_dot_97_bar__plus_02_dot_31 - receptacle\n CounterTop_bar__minus_00_dot_97_bar__plus_00_dot_97_bar__plus_00_dot_92 - receptacle\n CounterTop_bar__minus_00_dot_97_bar__plus_00_dot_97_bar__plus_02_dot_39 - receptacle\n Drawer_bar__plus_01_dot_37_bar__plus_00_dot_77_bar__plus_00_dot_92 - receptacle\n Drawer_bar__plus_01_dot_37_bar__plus_00_dot_77_bar__plus_02_dot_39 - receptacle\n Drawer_bar__minus_00_dot_78_bar__plus_00_dot_77_bar__plus_00_dot_92 - receptacle\n Drawer_bar__minus_00_dot_78_bar__plus_00_dot_77_bar__plus_02_dot_38 - receptacle\n Fridge_bar__minus_01_dot_00_bar__plus_00_dot_00_bar__plus_00_dot_12 - receptacle\n GarbageCan_bar__plus_01_dot_45_bar__plus_00_dot_00_bar__plus_02_dot_91 - receptacle\n Microwave_bar__plus_01_dot_63_bar__plus_01_dot_48_bar__plus_01_dot_65 - receptacle\n Sink_bar__plus_01_dot_54_bar__plus_00_dot_87_bar__plus_01_dot_64_bar_SinkBasin - receptacle\n StoveBurner_bar__minus_00_dot_83_bar__plus_00_dot_92_bar__plus_01_dot_47 - receptacle\n StoveBurner_bar__minus_00_dot_83_bar__plus_00_dot_92_bar__plus_01_dot_87 - receptacle\n StoveBurner_bar__minus_01_dot_11_bar__plus_00_dot_92_bar__plus_01_dot_47 - receptacle\n StoveBurner_bar__minus_01_dot_11_bar__plus_00_dot_92_bar__plus_01_dot_87 - receptacle\n Toaster_bar__minus_01_dot_00_bar__plus_00_dot_93_bar__plus_02_dot_56 - receptacle\n loc_bar_2_bar_9_bar_1_bar_45 - location\n loc_bar_0_bar_0_bar_3_bar_60 - location\n loc_bar_3_bar_10_bar_1_bar_45 - location\n loc_bar_2_bar__minus_4_bar_2_bar_15 - location\n loc_bar_1_bar_6_bar_1_bar__minus_15 - location\n loc_bar_0_bar_9_bar_3_bar_45 - location\n loc_bar_3_bar_1_bar_1_bar_30 - location\n loc_bar__minus_1_bar_7_bar_3_bar_45 - location\n loc_bar_3_bar_1_bar_1_bar__minus_30 - location\n loc_bar_1_bar_11_bar_3_bar_60 - location\n loc_bar_0_bar__minus_2_bar_3_bar__minus_30 - location\n loc_bar__minus_1_bar_5_bar_3_bar_60 - location\n loc_bar__minus_1_bar_10_bar_3_bar_45 - location\n loc_bar_1_bar_5_bar_1_bar_45 - location\n loc_bar_1_bar_5_bar_3_bar_60 - location\n loc_bar_0_bar_3_bar_3_bar_45 - location\n loc_bar_4_bar_5_bar_1_bar_60 - location\n loc_bar__minus_1_bar_3_bar_3_bar__minus_30 - location\n loc_bar_3_bar_10_bar_1_bar_60 - location\n loc_bar_3_bar_10_bar_1_bar__minus_15 - location\n loc_bar_2_bar_1_bar_1_bar_60 - location\n loc_bar_4_bar_7_bar_1_bar__minus_15 - location\n loc_bar__minus_1_bar_7_bar_3_bar_60 - location\n loc_bar_0_bar_7_bar_3_bar__minus_30 - location\n loc_bar_4_bar_6_bar_1_bar_15 - location\n loc_bar_4_bar_7_bar_1_bar_60 - location\n loc_bar__minus_1_bar_10_bar_0_bar_60 - location\n loc_bar_1_bar_11_bar_0_bar_0 - location\n loc_bar__minus_1_bar_6_bar_3_bar_60 - location\n loc_bar_3_bar_8_bar_1_bar_45 - location\n loc_bar_2_bar_3_bar_1_bar_45 - location\n loc_bar_1_bar_5_bar_1_bar__minus_15 - location\n loc_bar__minus_1_bar_10_bar_3_bar__minus_15 - location\n loc_bar_3_bar_3_bar_1_bar__minus_30 - location\n loc_bar__minus_1_bar_4_bar_3_bar_45 - location\n loc_bar_1_bar_9_bar_1_bar_45 - location\n loc_bar__minus_1_bar_7_bar_3_bar__minus_15 - location\n loc_bar__minus_1_bar_6_bar_3_bar_45 - location\n loc_bar_0_bar_8_bar_3_bar__minus_30 - location\n loc_bar_3_bar__minus_2_bar_3_bar_30 - location\n )\n \n\n(:init\n\n\n (receptacleType Cabinet_bar__plus_01_dot_22_bar__plus_00_dot_39_bar__plus_00_dot_63 CabinetType)\n (receptacleType Cabinet_bar__minus_00_dot_91_bar__plus_02_dot_11_bar__plus_01_dot_21 CabinetType)\n (receptacleType StoveBurner_bar__minus_01_dot_11_bar__plus_00_dot_92_bar__plus_01_dot_47 StoveBurnerType)\n (receptacleType Cabinet_bar__plus_01_dot_50_bar__plus_02_dot_11_bar__plus_02_dot_08 CabinetType)\n (receptacleType CounterTop_bar__minus_00_dot_97_bar__plus_00_dot_97_bar__plus_00_dot_92 CounterTopType)\n (receptacleType Microwave_bar__plus_01_dot_63_bar__plus_01_dot_48_bar__plus_01_dot_65 MicrowaveType)\n (receptacleType CounterTop_bar__minus_00_dot_97_bar__plus_00_dot_97_bar__plus_02_dot_39 CounterTopType)\n (receptacleType Cabinet_bar__minus_00_dot_63_bar__plus_00_dot_39_bar__plus_00_dot_63 CabinetType)\n (receptacleType StoveBurner_bar__minus_00_dot_83_bar__plus_00_dot_92_bar__plus_01_dot_47 StoveBurnerType)\n (receptacleType Cabinet_bar__plus_01_dot_50_bar__plus_02_dot_11_bar__plus_01_dot_21 CabinetType)\n (receptacleType Toaster_bar__minus_01_dot_00_bar__plus_00_dot_93_bar__plus_02_dot_56 ToasterType)\n (receptacleType Cabinet_bar__minus_00_dot_91_bar__plus_02_dot_11_bar__plus_02_dot_08 CabinetType)\n (receptacleType Cabinet_bar__minus_00_dot_91_bar__plus_01_dot_81_bar__plus_02_dot_70 CabinetType)\n (receptacleType Fridge_bar__minus_01_dot_00_bar__plus_00_dot_00_bar__plus_00_dot_12 FridgeType)\n (receptacleType Cabinet_bar__plus_01_dot_22_bar__plus_00_dot_55_bar__plus_00_dot_59 CabinetType)\n (receptacleType Cabinet_bar__minus_00_dot_91_bar__plus_02_dot_11_bar__plus_00_dot_58 CabinetType)\n (receptacleType GarbageCan_bar__plus_01_dot_45_bar__plus_00_dot_00_bar__plus_02_dot_91 GarbageCanType)\n (receptacleType Drawer_bar__minus_00_dot_78_bar__plus_00_dot_77_bar__plus_00_dot_92 DrawerType)\n (receptacleType StoveBurner_bar__minus_00_dot_83_bar__plus_00_dot_92_bar__plus_01_dot_87 StoveBurnerType)\n (receptacleType Sink_bar__plus_01_dot_54_bar__plus_00_dot_87_bar__plus_01_dot_64_bar_SinkBasin SinkBasinType)\n (receptacleType Cabinet_bar__plus_01_dot_50_bar__plus_01_dot_81_bar__plus_02_dot_10 CabinetType)\n (receptacleType Cabinet_bar__plus_01_dot_50_bar__plus_01_dot_81_bar__plus_02_dot_69 CabinetType)\n (receptacleType Cabinet_bar__minus_00_dot_91_bar__plus_02_dot_11_bar__plus_01_dot_16 CabinetType)\n (receptacleType CoffeeMachine_bar__plus_01_dot_69_bar__plus_00_dot_93_bar__plus_02_dot_45 CoffeeMachineType)\n (receptacleType Cabinet_bar__minus_00_dot_91_bar__plus_01_dot_81_bar__plus_02_dot_11 CabinetType)\n (receptacleType CounterTop_bar__plus_01_dot_51_bar__plus_00_dot_97_bar__plus_02_dot_31 CounterTopType)\n (receptacleType Cabinet_bar__plus_01_dot_22_bar__plus_01_dot_39_bar__plus_00_dot_59 CabinetType)\n (receptacleType StoveBurner_bar__minus_01_dot_11_bar__plus_00_dot_92_bar__plus_01_dot_87 StoveBurnerType)\n (receptacleType Cabinet_bar__plus_01_dot_22_bar__plus_00_dot_39_bar__plus_02_dot_11 CabinetType)\n (receptacleType Cabinet_bar__minus_00_dot_91_bar__plus_02_dot_05_bar__minus_00_dot_33 CabinetType)\n (receptacleType Drawer_bar__plus_01_dot_37_bar__plus_00_dot_77_bar__plus_02_dot_39 DrawerType)\n (receptacleType Drawer_bar__minus_00_dot_78_bar__plus_00_dot_77_bar__plus_02_dot_38 DrawerType)\n (receptacleType Cabinet_bar__minus_00_dot_63_bar__plus_00_dot_39_bar__plus_02_dot_11 CabinetType)\n (receptacleType Drawer_bar__plus_01_dot_37_bar__plus_00_dot_77_bar__plus_00_dot_92 DrawerType)\n (receptacleType Cabinet_bar__plus_01_dot_22_bar__plus_02_dot_01_bar__plus_00_dot_59 CabinetType)\n (receptacleType Cabinet_bar__plus_01_dot_50_bar__plus_02_dot_11_bar__plus_01_dot_16 CabinetType)\n (objectType Window_bar__plus_00_dot_23_bar__plus_01_dot_60_bar__plus_03_dot_51 WindowType)\n (objectType Egg_bar__minus_01_dot_01_bar__plus_00_dot_60_bar__plus_00_dot_35 EggType)\n (objectType 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Egg_bar__plus_01_dot_60_bar__plus_00_dot_98_bar__plus_01_dot_80)\n (cleanable Spoon_bar__plus_01_dot_42_bar__plus_00_dot_84_bar__plus_01_dot_37)\n (cleanable Bowl_bar__minus_01_dot_04_bar__plus_01_dot_95_bar__plus_01_dot_92)\n (cleanable ButterKnife_bar__minus_00_dot_79_bar__plus_00_dot_94_bar__plus_01_dot_15)\n (cleanable Spatula_bar__plus_01_dot_28_bar__plus_00_dot_76_bar__plus_00_dot_92)\n \n (heatable Egg_bar__minus_01_dot_01_bar__plus_00_dot_60_bar__plus_00_dot_35)\n (heatable Cup_bar__minus_00_dot_99_bar__plus_00_dot_81_bar__plus_00_dot_27)\n (heatable Cup_bar__plus_01_dot_62_bar__plus_01_dot_60_bar__plus_01_dot_60)\n (heatable Tomato_bar__plus_01_dot_42_bar__plus_00_dot_13_bar__plus_02_dot_91)\n (heatable Mug_bar__plus_01_dot_59_bar__plus_01_dot_50_bar__plus_00_dot_92)\n (heatable Plate_bar__plus_01_dot_38_bar__plus_01_dot_75_bar__plus_00_dot_07)\n (heatable Cup_bar__plus_01_dot_46_bar__plus_00_dot_10_bar__plus_00_dot_17)\n (heatable 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Tomato_bar__minus_00_dot_88_bar__plus_01_dot_56_bar__plus_00_dot_12)\n (sliceable Egg_bar__plus_01_dot_60_bar__plus_00_dot_98_bar__plus_01_dot_80)\n (sliceable Bread_bar__minus_00_dot_92_bar__plus_00_dot_99_bar__plus_02_dot_27)\n \n (inReceptacle Bread_bar__minus_00_dot_92_bar__plus_00_dot_99_bar__plus_02_dot_27 CounterTop_bar__minus_00_dot_97_bar__plus_00_dot_97_bar__plus_02_dot_39)\n (inReceptacle Apple_bar__minus_01_dot_21_bar__plus_00_dot_99_bar__plus_02_dot_23 CounterTop_bar__minus_00_dot_97_bar__plus_00_dot_97_bar__plus_02_dot_39)\n (inReceptacle Pan_bar__minus_01_dot_11_bar__plus_00_dot_93_bar__plus_01_dot_47 StoveBurner_bar__minus_01_dot_11_bar__plus_00_dot_92_bar__plus_01_dot_47)\n (inReceptacle Knife_bar__plus_01_dot_31_bar__plus_00_dot_77_bar__plus_02_dot_53 Drawer_bar__plus_01_dot_37_bar__plus_00_dot_77_bar__plus_02_dot_39)\n (inReceptacle Mug_bar__plus_01_dot_59_bar__plus_01_dot_50_bar__plus_00_dot_92 Cabinet_bar__plus_01_dot_50_bar__plus_02_dot_11_bar__plus_01_dot_16)\n (inReceptacle Plate_bar__plus_01_dot_38_bar__plus_01_dot_75_bar__plus_00_dot_07 Cabinet_bar__plus_01_dot_22_bar__plus_02_dot_01_bar__plus_00_dot_59)\n (inReceptacle SoapBottle_bar__plus_01_dot_34_bar__plus_01_dot_75_bar__plus_00_dot_27 Cabinet_bar__plus_01_dot_22_bar__plus_02_dot_01_bar__plus_00_dot_59)\n (inReceptacle SaltShaker_bar__plus_01_dot_31_bar__plus_00_dot_10_bar__plus_00_dot_37 Cabinet_bar__plus_01_dot_22_bar__plus_00_dot_55_bar__plus_00_dot_59)\n (inReceptacle Cup_bar__plus_01_dot_46_bar__plus_00_dot_10_bar__plus_00_dot_17 Cabinet_bar__plus_01_dot_22_bar__plus_00_dot_55_bar__plus_00_dot_59)\n (inReceptacle PepperShaker_bar__minus_00_dot_87_bar__plus_00_dot_08_bar__plus_00_dot_85 Cabinet_bar__minus_00_dot_63_bar__plus_00_dot_39_bar__plus_00_dot_63)\n (inReceptacle DishSponge_bar__minus_01_dot_12_bar__plus_01_dot_83_bar__minus_00_dot_08 Cabinet_bar__minus_00_dot_91_bar__plus_02_dot_05_bar__minus_00_dot_33)\n (inReceptacle Bowl_bar__minus_01_dot_04_bar__plus_01_dot_95_bar__plus_01_dot_92 Cabinet_bar__minus_00_dot_91_bar__plus_02_dot_11_bar__plus_02_dot_08)\n (inReceptacle Plate_bar__minus_00_dot_80_bar__plus_00_dot_09_bar__plus_02_dot_31 Cabinet_bar__minus_00_dot_63_bar__plus_00_dot_39_bar__plus_02_dot_11)\n (inReceptacle Spatula_bar__minus_00_dot_72_bar__plus_00_dot_76_bar__plus_01_dot_05 Drawer_bar__minus_00_dot_78_bar__plus_00_dot_77_bar__plus_00_dot_92)\n (inReceptacle Pot_bar__minus_01_dot_11_bar__plus_00_dot_93_bar__plus_01_dot_87 StoveBurner_bar__minus_01_dot_11_bar__plus_00_dot_92_bar__plus_01_dot_87)\n (inReceptacle Egg_bar__minus_01_dot_13_bar__plus_00_dot_97_bar__plus_01_dot_00 CounterTop_bar__minus_00_dot_97_bar__plus_00_dot_97_bar__plus_00_dot_92)\n (inReceptacle Potato_bar__minus_00_dot_71_bar__plus_00_dot_97_bar__plus_00_dot_84 CounterTop_bar__minus_00_dot_97_bar__plus_00_dot_97_bar__plus_00_dot_92)\n (inReceptacle PepperShaker_bar__minus_01_dot_21_bar__plus_00_dot_93_bar__plus_00_dot_77 CounterTop_bar__minus_00_dot_97_bar__plus_00_dot_97_bar__plus_00_dot_92)\n (inReceptacle PepperShaker_bar__minus_01_dot_04_bar__plus_00_dot_93_bar__plus_01_dot_15 CounterTop_bar__minus_00_dot_97_bar__plus_00_dot_97_bar__plus_00_dot_92)\n (inReceptacle ButterKnife_bar__minus_00_dot_79_bar__plus_00_dot_94_bar__plus_01_dot_15 CounterTop_bar__minus_00_dot_97_bar__plus_00_dot_97_bar__plus_00_dot_92)\n (inReceptacle Spatula_bar__plus_01_dot_28_bar__plus_00_dot_76_bar__plus_00_dot_92 Drawer_bar__plus_01_dot_37_bar__plus_00_dot_77_bar__plus_00_dot_92)\n (inReceptacle Fork_bar__plus_01_dot_45_bar__plus_00_dot_75_bar__plus_00_dot_78 Drawer_bar__plus_01_dot_37_bar__plus_00_dot_77_bar__plus_00_dot_92)\n (inReceptacle Egg_bar__minus_01_dot_01_bar__plus_00_dot_60_bar__plus_00_dot_35 Fridge_bar__minus_01_dot_00_bar__plus_00_dot_00_bar__plus_00_dot_12)\n (inReceptacle Tomato_bar__minus_00_dot_88_bar__plus_01_dot_56_bar__plus_00_dot_12 Fridge_bar__minus_01_dot_00_bar__plus_00_dot_00_bar__plus_00_dot_12)\n (inReceptacle Cup_bar__minus_00_dot_99_bar__plus_00_dot_81_bar__plus_00_dot_27 Fridge_bar__minus_01_dot_00_bar__plus_00_dot_00_bar__plus_00_dot_12)\n (inReceptacle Egg_bar__minus_00_dot_88_bar__plus_01_dot_53_bar__minus_00_dot_03 Fridge_bar__minus_01_dot_00_bar__plus_00_dot_00_bar__plus_00_dot_12)\n (inReceptacle Lettuce_bar__minus_00_dot_94_bar__plus_00_dot_66_bar__plus_00_dot_20 Fridge_bar__minus_01_dot_00_bar__plus_00_dot_00_bar__plus_00_dot_12)\n (inReceptacle Tomato_bar__plus_01_dot_42_bar__plus_00_dot_13_bar__plus_02_dot_91 GarbageCan_bar__plus_01_dot_45_bar__plus_00_dot_00_bar__plus_02_dot_91)\n (inReceptacle Cup_bar__plus_01_dot_62_bar__plus_01_dot_60_bar__plus_01_dot_60 Microwave_bar__plus_01_dot_63_bar__plus_01_dot_48_bar__plus_01_dot_65)\n (inReceptacle Spoon_bar__plus_01_dot_42_bar__plus_00_dot_84_bar__plus_01_dot_37 Sink_bar__plus_01_dot_54_bar__plus_00_dot_87_bar__plus_01_dot_64_bar_SinkBasin)\n \n \n (receptacleAtLocation Cabinet_bar__plus_01_dot_22_bar__plus_00_dot_39_bar__plus_00_dot_63 loc_bar_1_bar_5_bar_1_bar_45)\n (receptacleAtLocation Cabinet_bar__plus_01_dot_22_bar__plus_00_dot_39_bar__plus_02_dot_11 loc_bar_1_bar_9_bar_1_bar_45)\n (receptacleAtLocation Cabinet_bar__plus_01_dot_22_bar__plus_00_dot_55_bar__plus_00_dot_59 loc_bar_2_bar_1_bar_1_bar_60)\n (receptacleAtLocation Cabinet_bar__plus_01_dot_22_bar__plus_01_dot_39_bar__plus_00_dot_59 loc_bar_3_bar_1_bar_1_bar_30)\n (receptacleAtLocation Cabinet_bar__plus_01_dot_22_bar__plus_02_dot_01_bar__plus_00_dot_59 loc_bar_3_bar_1_bar_1_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__plus_01_dot_50_bar__plus_01_dot_81_bar__plus_02_dot_10 loc_bar_4_bar_7_bar_1_bar__minus_15)\n (receptacleAtLocation Cabinet_bar__plus_01_dot_50_bar__plus_01_dot_81_bar__plus_02_dot_69 loc_bar_3_bar_10_bar_1_bar__minus_15)\n (receptacleAtLocation Cabinet_bar__plus_01_dot_50_bar__plus_02_dot_11_bar__plus_01_dot_16 loc_bar_3_bar_3_bar_1_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__plus_01_dot_50_bar__plus_02_dot_11_bar__plus_01_dot_21 loc_bar_1_bar_5_bar_1_bar__minus_15)\n (receptacleAtLocation Cabinet_bar__plus_01_dot_50_bar__plus_02_dot_11_bar__plus_02_dot_08 loc_bar_1_bar_6_bar_1_bar__minus_15)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_63_bar__plus_00_dot_39_bar__plus_00_dot_63 loc_bar_1_bar_5_bar_3_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_63_bar__plus_00_dot_39_bar__plus_02_dot_11 loc_bar_1_bar_11_bar_3_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_91_bar__plus_01_dot_81_bar__plus_02_dot_11 loc_bar__minus_1_bar_7_bar_3_bar__minus_15)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_91_bar__plus_01_dot_81_bar__plus_02_dot_70 loc_bar__minus_1_bar_10_bar_3_bar__minus_15)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_91_bar__plus_02_dot_05_bar__minus_00_dot_33 loc_bar_0_bar__minus_2_bar_3_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_91_bar__plus_02_dot_11_bar__plus_00_dot_58 loc_bar__minus_1_bar_3_bar_3_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_91_bar__plus_02_dot_11_bar__plus_01_dot_16 loc_bar__minus_1_bar_3_bar_3_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_91_bar__plus_02_dot_11_bar__plus_01_dot_21 loc_bar_0_bar_7_bar_3_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_91_bar__plus_02_dot_11_bar__plus_02_dot_08 loc_bar_0_bar_8_bar_3_bar__minus_30)\n (receptacleAtLocation CoffeeMachine_bar__plus_01_dot_69_bar__plus_00_dot_93_bar__plus_02_dot_45 loc_bar_3_bar_10_bar_1_bar_45)\n (receptacleAtLocation CounterTop_bar__plus_01_dot_51_bar__plus_00_dot_97_bar__plus_02_dot_31 loc_bar_3_bar_8_bar_1_bar_45)\n (receptacleAtLocation CounterTop_bar__minus_00_dot_97_bar__plus_00_dot_97_bar__plus_00_dot_92 loc_bar__minus_1_bar_4_bar_3_bar_45)\n (receptacleAtLocation CounterTop_bar__minus_00_dot_97_bar__plus_00_dot_97_bar__plus_02_dot_39 loc_bar__minus_1_bar_10_bar_3_bar_45)\n (receptacleAtLocation Drawer_bar__plus_01_dot_37_bar__plus_00_dot_77_bar__plus_00_dot_92 loc_bar_2_bar_3_bar_1_bar_45)\n (receptacleAtLocation Drawer_bar__plus_01_dot_37_bar__plus_00_dot_77_bar__plus_02_dot_39 loc_bar_2_bar_9_bar_1_bar_45)\n (receptacleAtLocation Drawer_bar__minus_00_dot_78_bar__plus_00_dot_77_bar__plus_00_dot_92 loc_bar_0_bar_3_bar_3_bar_45)\n (receptacleAtLocation Drawer_bar__minus_00_dot_78_bar__plus_00_dot_77_bar__plus_02_dot_38 loc_bar_0_bar_9_bar_3_bar_45)\n (receptacleAtLocation Fridge_bar__minus_01_dot_00_bar__plus_00_dot_00_bar__plus_00_dot_12 loc_bar_0_bar_0_bar_3_bar_60)\n (receptacleAtLocation GarbageCan_bar__plus_01_dot_45_bar__plus_00_dot_00_bar__plus_02_dot_91 loc_bar_3_bar_10_bar_1_bar_60)\n (receptacleAtLocation Microwave_bar__plus_01_dot_63_bar__plus_01_dot_48_bar__plus_01_dot_65 loc_bar_4_bar_6_bar_1_bar_15)\n (receptacleAtLocation Sink_bar__plus_01_dot_54_bar__plus_00_dot_87_bar__plus_01_dot_64_bar_SinkBasin loc_bar_4_bar_5_bar_1_bar_60)\n (receptacleAtLocation StoveBurner_bar__minus_00_dot_83_bar__plus_00_dot_92_bar__plus_01_dot_47 loc_bar__minus_1_bar_6_bar_3_bar_45)\n (receptacleAtLocation StoveBurner_bar__minus_00_dot_83_bar__plus_00_dot_92_bar__plus_01_dot_87 loc_bar__minus_1_bar_7_bar_3_bar_45)\n (receptacleAtLocation StoveBurner_bar__minus_01_dot_11_bar__plus_00_dot_92_bar__plus_01_dot_47 loc_bar__minus_1_bar_6_bar_3_bar_45)\n (receptacleAtLocation StoveBurner_bar__minus_01_dot_11_bar__plus_00_dot_92_bar__plus_01_dot_87 loc_bar__minus_1_bar_7_bar_3_bar_45)\n (receptacleAtLocation Toaster_bar__minus_01_dot_00_bar__plus_00_dot_93_bar__plus_02_dot_56 loc_bar__minus_1_bar_10_bar_3_bar_45)\n (objectAtLocation Cup_bar__plus_01_dot_46_bar__plus_00_dot_10_bar__plus_00_dot_17 loc_bar_2_bar_1_bar_1_bar_60)\n (objectAtLocation Egg_bar__minus_01_dot_13_bar__plus_00_dot_97_bar__plus_01_dot_00 loc_bar__minus_1_bar_4_bar_3_bar_45)\n (objectAtLocation Plate_bar__plus_01_dot_38_bar__plus_01_dot_75_bar__plus_00_dot_07 loc_bar_3_bar_1_bar_1_bar__minus_30)\n (objectAtLocation PepperShaker_bar__minus_01_dot_04_bar__plus_00_dot_93_bar__plus_01_dot_15 loc_bar__minus_1_bar_4_bar_3_bar_45)\n (objectAtLocation Spatula_bar__minus_00_dot_72_bar__plus_00_dot_76_bar__plus_01_dot_05 loc_bar_0_bar_3_bar_3_bar_45)\n (objectAtLocation Tomato_bar__minus_00_dot_88_bar__plus_01_dot_56_bar__plus_00_dot_12 loc_bar_0_bar_0_bar_3_bar_60)\n (objectAtLocation PepperShaker_bar__minus_00_dot_87_bar__plus_00_dot_08_bar__plus_00_dot_85 loc_bar_1_bar_5_bar_3_bar_60)\n (objectAtLocation Cup_bar__minus_00_dot_99_bar__plus_00_dot_81_bar__plus_00_dot_27 loc_bar_0_bar_0_bar_3_bar_60)\n (objectAtLocation Egg_bar__minus_00_dot_88_bar__plus_01_dot_53_bar__minus_00_dot_03 loc_bar_0_bar_0_bar_3_bar_60)\n (objectAtLocation Egg_bar__plus_01_dot_60_bar__plus_00_dot_98_bar__plus_01_dot_80 loc_bar_4_bar_5_bar_1_bar_60)\n (objectAtLocation Chair_bar__minus_00_dot_75_bar__plus_00_dot_01_bar__plus_03_dot_12 loc_bar__minus_1_bar_10_bar_0_bar_60)\n (objectAtLocation Sink_bar__plus_01_dot_54_bar__plus_00_dot_87_bar__plus_01_dot_64 loc_bar_4_bar_7_bar_1_bar_60)\n (objectAtLocation Lettuce_bar__minus_00_dot_94_bar__plus_00_dot_66_bar__plus_00_dot_20 loc_bar_0_bar_0_bar_3_bar_60)\n (objectAtLocation StoveKnob_bar__minus_00_dot_65_bar__plus_00_dot_93_bar__plus_01_dot_92 loc_bar__minus_1_bar_7_bar_3_bar_60)\n (objectAtLocation StoveKnob_bar__minus_00_dot_65_bar__plus_00_dot_93_bar__plus_01_dot_36 loc_bar__minus_1_bar_5_bar_3_bar_60)\n (objectAtLocation StoveKnob_bar__minus_00_dot_65_bar__plus_00_dot_93_bar__plus_01_dot_51 loc_bar__minus_1_bar_6_bar_3_bar_60)\n (objectAtLocation StoveKnob_bar__minus_00_dot_65_bar__plus_00_dot_93_bar__plus_01_dot_76 loc_bar__minus_1_bar_7_bar_3_bar_60)\n (objectAtLocation SoapBottle_bar__plus_01_dot_34_bar__plus_01_dot_75_bar__plus_00_dot_27 loc_bar_3_bar_1_bar_1_bar__minus_30)\n (objectAtLocation Bread_bar__minus_00_dot_92_bar__plus_00_dot_99_bar__plus_02_dot_27 loc_bar__minus_1_bar_10_bar_3_bar_45)\n (objectAtLocation Fork_bar__plus_01_dot_45_bar__plus_00_dot_75_bar__plus_00_dot_78 loc_bar_2_bar_3_bar_1_bar_45)\n (objectAtLocation Tomato_bar__plus_01_dot_42_bar__plus_00_dot_13_bar__plus_02_dot_91 loc_bar_3_bar_10_bar_1_bar_60)\n (objectAtLocation Bowl_bar__minus_01_dot_04_bar__plus_01_dot_95_bar__plus_01_dot_92 loc_bar_0_bar_8_bar_3_bar__minus_30)\n (objectAtLocation Window_bar__plus_00_dot_23_bar__plus_01_dot_60_bar__plus_03_dot_51 loc_bar_1_bar_11_bar_0_bar_0)\n (objectAtLocation Pot_bar__minus_01_dot_11_bar__plus_00_dot_93_bar__plus_01_dot_87 loc_bar__minus_1_bar_7_bar_3_bar_45)\n (objectAtLocation Spatula_bar__plus_01_dot_28_bar__plus_00_dot_76_bar__plus_00_dot_92 loc_bar_2_bar_3_bar_1_bar_45)\n (objectAtLocation Knife_bar__plus_01_dot_31_bar__plus_00_dot_77_bar__plus_02_dot_53 loc_bar_2_bar_9_bar_1_bar_45)\n (objectAtLocation SaltShaker_bar__plus_01_dot_31_bar__plus_00_dot_10_bar__plus_00_dot_37 loc_bar_2_bar_1_bar_1_bar_60)\n (objectAtLocation Apple_bar__minus_01_dot_21_bar__plus_00_dot_99_bar__plus_02_dot_23 loc_bar__minus_1_bar_10_bar_3_bar_45)\n (objectAtLocation PepperShaker_bar__minus_01_dot_21_bar__plus_00_dot_93_bar__plus_00_dot_77 loc_bar__minus_1_bar_4_bar_3_bar_45)\n (objectAtLocation ButterKnife_bar__minus_00_dot_79_bar__plus_00_dot_94_bar__plus_01_dot_15 loc_bar__minus_1_bar_4_bar_3_bar_45)\n (objectAtLocation Potato_bar__minus_00_dot_71_bar__plus_00_dot_97_bar__plus_00_dot_84 loc_bar__minus_1_bar_4_bar_3_bar_45)\n (objectAtLocation Plate_bar__minus_00_dot_80_bar__plus_00_dot_09_bar__plus_02_dot_31 loc_bar_1_bar_11_bar_3_bar_60)\n (objectAtLocation DishSponge_bar__minus_01_dot_12_bar__plus_01_dot_83_bar__minus_00_dot_08 loc_bar_0_bar__minus_2_bar_3_bar__minus_30)\n (objectAtLocation Egg_bar__minus_01_dot_01_bar__plus_00_dot_60_bar__plus_00_dot_35 loc_bar_0_bar_0_bar_3_bar_60)\n (objectAtLocation Cup_bar__plus_01_dot_62_bar__plus_01_dot_60_bar__plus_01_dot_60 loc_bar_4_bar_6_bar_1_bar_15)\n (objectAtLocation Pan_bar__minus_01_dot_11_bar__plus_00_dot_93_bar__plus_01_dot_47 loc_bar__minus_1_bar_6_bar_3_bar_45)\n (objectAtLocation Spoon_bar__plus_01_dot_42_bar__plus_00_dot_84_bar__plus_01_dot_37 loc_bar_4_bar_5_bar_1_bar_60)\n (objectAtLocation LightSwitch_bar__plus_00_dot_45_bar__plus_01_dot_41_bar__minus_01_dot_68 loc_bar_2_bar__minus_4_bar_2_bar_15)\n (objectAtLocation Mug_bar__plus_01_dot_59_bar__plus_01_dot_50_bar__plus_00_dot_92 loc_bar_3_bar_3_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 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 3", "take egg 2 from countertop 3", "go to microwave 1", "heat egg 2 with microwave 1", "go to countertop 1", "move egg 2 to countertop 1"]}
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alfworld__pick_heat_then_place_in_recep__458
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pick_heat_then_place_in_recep
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pick_heat_then_place_in_recep-Egg-None-CounterTop-12/trial_T20190908_215610_893109/game.tw-pddl
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{"pddl_domain": ";; Specification in PDDL of the Alfred domain\n;; Intended to be used with Fast Downward which supports PDDL 2.2 level 1 plus the :action-costs requirement from PDDL 3.1.\n\n(define (domain alfred)\n (:requirements\n :adl\n :action-costs\n :typing\n )\n (:types\n agent\n location\n receptacle\n object\n rtype\n otype\n )\n\n\n (:predicates\n (atLocation ?a - agent ?l - location) ; true if the agent is at the location\n (receptacleAtLocation ?r - receptacle ?l - location) ; true if the receptacle is at the location (constant)\n (objectAtLocation ?o - object ?l - location) ; true if the object is at the location\n (openable ?r - receptacle) ; true if a receptacle is openable\n (opened ?r - receptacle) ; true if a receptacle is opened\n (inReceptacle ?o - object ?r - receptacle) ; object ?o is in receptacle ?r\n (isReceptacleObject ?o - object) ; true if the object can have things put inside it\n (inReceptacleObject ?innerObject - object ?outerObject - object) ; object ?innerObject is inside object ?outerObject\n (isReceptacleObjectFull ?o - object) ; true if the receptacle object contains something\n (wasInReceptacle ?o - object ?r - receptacle) ; object ?o was or is in receptacle ?r now or some time in the past\n (checked ?r - receptacle) ; whether the receptacle has been looked inside/visited\n (examined ?l - location) ; TODO\n (receptacleType ?r - receptacle ?t - rtype) ; the type of receptacle (Cabinet vs Cabinet|01|2...)\n (canContain ?rt - rtype ?ot - otype) ; true if receptacle can hold object\n (objectType ?o - object ?t - otype) ; the type of object (Apple vs Apple|01|2...)\n (holds ?a - agent ?o - object) ; object ?o is held by agent ?a\n (holdsAny ?a - agent) ; agent ?a holds an object\n (holdsAnyReceptacleObject ?a - agent) ; agent ?a holds a receptacle object\n (full ?r - receptacle) ; true if the receptacle has no remaining space\n (isClean ?o - object) ; true if the object has been clean in sink\n (cleanable ?o - object) ; true if the object can be placed in a sink\n (isHot ?o - object) ; true if the object has been heated up\n (heatable ?o - object) ; true if the object can be heated up in a microwave\n (isCool ?o - object) ; true if the object has been cooled\n (coolable ?o - object) ; true if the object can be cooled in the fridge\n (pickupable ?o - object) ; true if the object can be picked up\n (moveable ?o - object) ; true if the object can be moved\n (toggleable ?o - object) ; true if the object can be turned on/off\n (isOn ?o - object) ; true if the object is on\n (isToggled ?o - object) ; true if the object has been toggled\n (sliceable ?o - object) ; true if the object can be sliced\n (isSliced ?o - object) ; true if the object is sliced\n )\n\n (:functions\n (distance ?from ?to)\n (total-cost) - number\n )\n\n;; All actions are specified such that the final arguments are the ones used\n;; for performing actions in Unity.\n\n\n(:action look\n :parameters (?a - agent ?l - location)\n :precondition\n (and\n (atLocation ?a ?l)\n )\n :effect\n (and\n (checked ?l)\n )\n)\n\n(:action inventory\n :parameters (?a - agent)\n :precondition\n ()\n :effect\n (and\n (checked ?a)\n )\n)\n\n(:action examineReceptacle\n :parameters (?a - agent ?r - receptacle)\n :precondition\n (and\n (exists (?l - location)\n (and\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n )\n )\n )\n :effect\n (and\n (checked ?r)\n )\n)\n\n(:action examineObject\n :parameters (?a - agent ?o - object)\n :precondition\n (or\n ;(exists (?l - location)\n ; (and\n ; (atLocation ?a ?l)\n ; (objectAtLocation ?o ?l)\n ; )\n ;)\n (exists (?l - location, ?r - receptacle)\n (and\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n ; (objectAtLocation ?o ?l)\n (inReceptacle ?o ?r)\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n )\n )\n (holds ?a ?o)\n )\n :effect\n (and\n (checked ?o)\n )\n)\n\n;; agent goes to receptacle\n (:action GotoLocation\n :parameters (?a - agent ?lStart - location ?lEnd - location ?r - receptacle)\n :precondition (and\n (atLocation ?a ?lStart)\n (receptacleAtLocation ?r ?lEnd)\n ;(exists (?r - receptacle) (receptacleAtLocation ?r ?lEnd))\n )\n :effect (and\n (not (atLocation ?a ?lStart))\n (atLocation ?a ?lEnd)\n ; (forall (?r - receptacle)\n ; (when (and (receptacleAtLocation ?r ?lEnd)\n ; (or (not (openable ?r)) (opened ?r)))\n ; (checked ?r)\n ; )\n ; )\n ; (increase (total-cost) (distance ?lStart ?lEnd))\n (increase (total-cost) 1)\n )\n )\n\n;; agent opens receptacle\n (:action OpenObject\n :parameters (?a - agent ?l - location ?r - receptacle)\n :precondition (and\n (openable ?r)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (not (opened ?r))\n )\n :effect (and\n (opened ?r)\n (checked ?r)\n (increase (total-cost) 1)\n )\n )\n;; agent closes receptacle\n (:action CloseObject\n :parameters (?a - agent ?l - location ?r - receptacle)\n :precondition (and\n (openable ?r)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (opened ?r)\n )\n :effect (and\n (not (opened ?r))\n (increase (total-cost) 1)\n )\n\n )\n\n ;; agent picks up object from a receptacle\n (:action PickupObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n :precondition\n (and\n (pickupable ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n ; (objectAtLocation ?o ?l)\n (inReceptacle ?o ?r)\n (not (holdsAny ?a)) ; agent's hands are empty.\n ;(not (holdsAnyReceptacleObject ?a))\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n ;(not (isReceptacleObject ?o))\n )\n :effect\n (and\n (not (inReceptacle ?o ?r))\n (holds ?a ?o)\n (holdsAny ?a)\n (not (objectAtLocation ?o ?l))\n ;(not (full ?r))\n (increase (total-cost) 1)\n )\n )\n\n\n; ;; agent picks up object from a receptacle\n; (:action PickupObjectFromReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?outerR - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (inReceptacle ?o ?r)\n; (pickupable ?o)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (not (isReceptacleObject ?o))\n; (isReceptacleObject ?outerR)\n; (inReceptacleObject ?o ?outerR)\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (holds ?a ?o)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n;\n; (not (inReceptacleObject ?o ?outerR))\n; (not (isReceptacleObjectFull ?outerR))\n; )\n; )\n;\n; ;; agent picks up object from a receptacle\n; (:action PickupEmptyReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; ; (objectAtLocation ?o ?l)\n; (inReceptacle ?o ?r)\n; (pickupable ?o)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (isReceptacleObject ?o)\n; (not (isReceptacleObjectFull ?o))\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (holds ?a ?o)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n; (holdsAnyReceptacleObject ?a)\n; )\n; )\n;\n; ;; agent picks up object from a receptacle\n; (:action PickupFullReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?outerR - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (inReceptacle ?outerR ?r)\n; (pickupable ?outerR)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (not (isReceptacleObject ?o))\n; (isReceptacleObject ?outerR)\n; (inReceptacleObject ?o ?outerR)\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (not (inReceptacle ?outerR ?r))\n; (holds ?a ?outerR)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (objectAtLocation ?outerR ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n; (holdsAnyReceptacleObject ?a)\n; )\n; )\n\n\n;; agent puts down an object\n (:action PutObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle ?ot - otype ?rt - rtype)\n :precondition (and\n (holds ?a ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable\n ;(not (full ?r))\n (objectType ?o ?ot)\n (receptacleType ?r ?rt)\n (canContain ?rt ?ot)\n ;(not (holdsAnyReceptacleObject ?a))\n )\n :effect (and\n (inReceptacle ?o ?r)\n (objectAtLocation ?o ?l)\n ;(full ?r)\n (not (holds ?a ?o))\n (not (holdsAny ?a))\n (increase (total-cost) 1)\n )\n )\n\n;;; agent puts down an object\n; (:action PutObjectInReceptacleObject\n; :parameters (?a - agent ?l - location ?ot - otype ?o - object ?outerO - object ?outerR - receptacle)\n; :precondition (and\n; (atLocation ?a ?l)\n; (objectAtLocation ?outerO ?l)\n; (isReceptacleObject ?outerO)\n; (not (isReceptacleObject ?o))\n; (objectType ?o ?ot)\n; (holds ?a ?o)\n; (not (holdsAnyReceptacleObject ?a))\n; (inReceptacle ?outerO ?outerR)\n; (not (isReceptacleObjectFull ?outerO))\n; )\n; :effect (and\n; (inReceptacleObject ?o ?outerO)\n; (inReceptacle ?o ?outerR)\n; (not (holds ?a ?o))\n; (not (holdsAny ?a))\n; (objectAtLocation ?o ?l)\n; (isReceptacleObjectFull ?outerO)\n; (increase (total-cost) 1)\n; )\n; )\n;\n;;; agent puts down an object\n; (:action PutEmptyReceptacleObjectinReceptacle\n; :parameters (?a - agent ?l - location ?ot - otype ?o - object ?r - receptacle)\n; :precondition (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable\n; (not (full ?r))\n; (objectType ?o ?ot)\n; (holds ?a ?o)\n; (holdsAnyReceptacleObject ?a)\n; (isReceptacleObject ?o)\n; (not (isReceptacleObjectFull ?o))\n; )\n; :effect (and\n; (inReceptacle ?o ?r)\n; (objectAtLocation ?o ?l)\n; (full ?r)\n; (not (holds ?a ?o))\n; (not (holdsAny ?a))\n; (not (holdsAnyReceptacleObject ?a))\n; (increase (total-cost) 1)\n; )\n; )\n;\n;;; agent puts down a receptacle object in a receptacle\n; (:action PutFullReceptacleObjectInReceptacle\n; :parameters (?a - agent ?l - location ?ot - otype ?innerO - object ?outerO - object ?r - receptacle) ; ?rt - rtype)\n; :precondition (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (objectType ?outerO ?ot)\n; (holds ?a ?outerO)\n; (holdsAnyReceptacleObject ?a)\n; (isReceptacleObject ?outerO)\n; (isReceptacleObjectFull ?outerO)\n; (inReceptacleObject ?innerO ?outerO)\n; )\n; :effect (and\n; (not (holdsAny ?a))\n; (not (holdsAnyReceptacleObject ?a))\n; (objectAtLocation ?outerO ?l)\n; (objectAtLocation ?innerO ?l)\n; (inReceptacle ?outerO ?r)\n; (inReceptacle ?innerO ?r)\n; (not (holds ?a ?outerO))\n; (increase (total-cost) 1)\n; )\n; )\n\n;; agent cleans some object\n (:action CleanObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (cleanable ?o)\n (or\n (receptacleType ?r SinkType)\n (receptacleType ?r SinkBasinType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isClean ?o)\n )\n )\n\n\n;; agent heats-up some object\n (:action HeatObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (heatable ?o)\n (or\n (receptacleType ?r MicrowaveType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isHot ?o)\n (not (isCool ?o))\n )\n )\n\n;; agent cools some object\n (:action CoolObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (coolable ?o)\n (or\n (receptacleType ?r FridgeType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isCool ?o)\n (not (isHot ?o))\n )\n )\n\n\n;; agent toggle object\n (:action ToggleObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n :precondition (and\n (toggleable ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (inReceptacle ?o ?r)\n )\n :effect (and\n (increase (total-cost) 5)\n (when (isOn ?o)\n (not (isOn ?o)))\n (when (not (isOn ?o))\n (isOn ?o))\n (isToggled ?o)\n )\n )\n\n\n;; agent slices some object with a knife\n (:action SliceObject\n :parameters (?a - agent ?l - location ?co - object ?ko - object)\n :precondition\n (and\n (sliceable ?co)\n (or\n (objectType ?ko KnifeType)\n (objectType ?ko ButterKnifeType)\n )\n (atLocation ?a ?l)\n (objectAtLocation ?co ?l)\n (holds ?a ?ko)\n )\n :effect (and\n (increase (total-cost) 5)\n (isSliced ?co)\n )\n )\n\n\n(:action help\n :parameters (?a - agent)\n :precondition\n ()\n :effect\n (and\n (checked ?a)\n )\n)\n)\n", "grammar": "grammar :: \"\"\"\n {\n \"intro\": [\n {\n \"rhs\": \"-= Welcome to TextWorld, ALFRED! =-\\n\\n#look.feedback#\\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_215610_893109)\n(:domain alfred)\n(:objects\nagent1 - agent\nSaltShaker - object\n HousePlant - object\n Candle - object\n SprayBottle - object\n Bowl - object\n Window - object\n CD - object\n Egg - object\n Glassbottle - object\n Sink - object\n Pillow - object\n Spoon - object\n SoapBottle - object\n TeddyBear - object\n ButterKnife - object\n Cup - object\n Plate - object\n RemoteControl - object\n Tomato - object\n Statue - object\n HandTowel - object\n Knife - object\n StoveKnob - object\n LightSwitch - object\n Pen - object\n Painting - object\n DishSponge - object\n Vase - object\n Mug - object\n ToiletPaper - object\n Box - object\n Mirror - object\n Ladle - object\n Fork - object\n Blinds - object\n Footstool - object\n KeyChain - object\n Cloth - object\n Laptop - object\n TissueBox - object\n PepperShaker - object\n FloorLamp - object\n WateringCan - object\n Apple - object\n Pan - object\n PaperTowel - object\n PaperTowelRoll - object\n Newspaper - object\n Television - object\n Chair - object\n CellPhone - object\n CreditCard - object\n Lettuce - object\n BasketBall - object\n Potato - object\n Curtains - object\n Boots - object\n Pencil - object\n AlarmClock - object\n ToiletPaperRoll - object\n Spatula - object\n Book - object\n Bread - object\n SoapBar - object\n Watch - object\n DeskLamp - object\n Kettle - object\n Pot - object\n ScrubBrush - object\n WineBottle - object\n ShowerDoor - object\n Bathtub - object\n LaundryHamperLid - object\n ShowerGlass - object\n Poster - object\n TennisRacket - object\n BaseballBat - object\n Towel - object\n Plunger - object\nSaltShakerType - otype\n HousePlantType - otype\n CandleType - otype\n SprayBottleType - otype\n BowlType - otype\n WindowType - otype\n CDType - otype\n EggType - otype\n GlassbottleType - otype\n SinkType - otype\n PillowType - otype\n SpoonType - otype\n SoapBottleType - otype\n TeddyBearType - otype\n ButterKnifeType - otype\n CupType - otype\n PlateType - otype\n RemoteControlType - otype\n TomatoType - otype\n StatueType - otype\n HandTowelType - otype\n KnifeType - otype\n StoveKnobType - otype\n LightSwitchType - otype\n PenType - otype\n PaintingType - otype\n DishSpongeType - otype\n VaseType - otype\n MugType - otype\n ToiletPaperType - otype\n BoxType - otype\n MirrorType - otype\n LadleType - otype\n ForkType - otype\n BlindsType - otype\n FootstoolType - otype\n KeyChainType - otype\n ClothType - otype\n LaptopType - otype\n TissueBoxType - otype\n PepperShakerType - otype\n FloorLampType - otype\n WateringCanType - otype\n AppleType - otype\n PanType - otype\n PaperTowelType - otype\n PaperTowelRollType - otype\n NewspaperType - otype\n TelevisionType - otype\n ChairType - otype\n CellPhoneType - otype\n CreditCardType - otype\n LettuceType - otype\n BasketBallType - otype\n PotatoType - otype\n CurtainsType - otype\n BootsType - otype\n PencilType - otype\n AlarmClockType - otype\n ToiletPaperRollType - otype\n SpatulaType - otype\n BookType - otype\n BreadType - otype\n SoapBarType - otype\n WatchType - otype\n DeskLampType - otype\n KettleType - otype\n PotType - otype\n ScrubBrushType - otype\n WineBottleType - otype\n ShowerDoorType - otype\n BathtubType - otype\n LaundryHamperLidType - otype\n ShowerGlassType - otype\n PosterType - otype\n TennisRacketType - otype\n BaseballBatType - otype\n TowelType - otype\n PlungerType - otype\nSafeType - rtype\n DrawerType - rtype\n CoffeeMachineType - rtype\n HandTowelHolderType - rtype\n SinkBasinType - rtype\n DresserType - rtype\n LaundryHamperType - rtype\n TVStandType - rtype\n BathtubBasinType - rtype\n CabinetType - rtype\n FridgeType - rtype\n DeskType - rtype\n ToiletType - rtype\n CartType - rtype\n SideTableType - rtype\n SofaType - rtype\n CoffeeTableType - rtype\n DiningTableType - rtype\n CounterTopType - rtype\n GarbageCanType - rtype\n ArmChairType - rtype\n ShelfType - rtype\n MicrowaveType - rtype\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_42_bar__plus_00_dot_12_bar__plus_02_dot_98 - object\n Apple_bar__plus_01_dot_65_bar__plus_01_dot_65_bar__plus_01_dot_81 - object\n Apple_bar__minus_00_dot_88_bar__plus_01_dot_55_bar__plus_00_dot_04 - object\n Bowl_bar__minus_00_dot_97_bar__plus_01_dot_50_bar__plus_00_dot_27 - object\n Bread_bar__minus_00_dot_92_bar__plus_00_dot_99_bar__plus_02_dot_27 - object\n ButterKnife_bar__plus_01_dot_38_bar__plus_00_dot_74_bar__plus_02_dot_23 - object\n Chair_bar__minus_00_dot_75_bar__plus_00_dot_01_bar__plus_03_dot_12 - object\n Cup_bar__plus_01_dot_29_bar__plus_00_dot_94_bar__plus_02_dot_60 - object\n Cup_bar__plus_01_dot_31_bar__plus_00_dot_10_bar__plus_00_dot_27 - object\n Cup_bar__plus_01_dot_35_bar__plus_00_dot_10_bar__plus_00_dot_47 - object\n DishSponge_bar__plus_01_dot_49_bar__plus_00_dot_07_bar__plus_02_dot_88 - object\n DishSponge_bar__minus_00_dot_80_bar__plus_00_dot_08_bar__plus_02_dot_17 - object\n DishSponge_bar__minus_01_dot_08_bar__plus_01_dot_95_bar__plus_01_dot_83 - object\n Egg_bar__plus_01_dot_67_bar__plus_00_dot_97_bar__plus_02_dot_02 - object\n Egg_bar__minus_00_dot_71_bar__plus_00_dot_97_bar__plus_01_dot_00 - object\n Faucet_bar__plus_01_dot_71_bar__plus_00_dot_93_bar__plus_01_dot_36 - object\n Fork_bar__plus_01_dot_59_bar__plus_00_dot_94_bar__plus_02_dot_12 - object\n Fork_bar__minus_00_dot_79_bar__plus_00_dot_75_bar__plus_00_dot_98 - object\n Fork_bar__minus_00_dot_88_bar__plus_00_dot_94_bar__plus_00_dot_92 - object\n Knife_bar__minus_00_dot_76_bar__plus_00_dot_77_bar__plus_02_dot_52 - object\n Lettuce_bar__plus_01_dot_46_bar__plus_01_dot_01_bar__plus_01_dot_68 - object\n LightSwitch_bar__plus_00_dot_45_bar__plus_01_dot_41_bar__minus_01_dot_68 - object\n Mug_bar__plus_01_dot_53_bar__plus_01_dot_00_bar__plus_02_dot_35 - object\n Mug_bar__minus_01_dot_01_bar__plus_00_dot_56_bar__plus_00_dot_27 - object\n Mug_bar__minus_01_dot_11_bar__plus_01_dot_95_bar__plus_01_dot_51 - object\n Pan_bar__plus_01_dot_38_bar__plus_01_dot_74_bar__plus_00_dot_39 - object\n PepperShaker_bar__minus_00_dot_86_bar__plus_00_dot_74_bar__plus_00_dot_92 - object\n PepperShaker_bar__minus_01_dot_04_bar__plus_00_dot_93_bar__plus_00_dot_77 - object\n PepperShaker_bar__minus_01_dot_12_bar__plus_01_dot_50_bar__plus_02_dot_31 - object\n Plate_bar__plus_01_dot_39_bar__plus_00_dot_09_bar__plus_02_dot_53 - object\n Plate_bar__minus_01_dot_08_bar__plus_01_dot_83_bar__plus_00_dot_36 - object\n Potato_bar__minus_00_dot_71_bar__plus_00_dot_97_bar__plus_00_dot_77 - object\n Pot_bar__minus_01_dot_11_bar__plus_00_dot_93_bar__plus_01_dot_47 - object\n Pot_bar__minus_01_dot_11_bar__plus_00_dot_93_bar__plus_01_dot_87 - object\n SaltShaker_bar__plus_01_dot_45_bar__plus_00_dot_74_bar__plus_00_dot_71 - object\n SaltShaker_bar__minus_01_dot_13_bar__plus_00_dot_93_bar__plus_00_dot_92 - object\n Sink_bar__plus_01_dot_54_bar__plus_00_dot_87_bar__plus_01_dot_64 - object\n SoapBottle_bar__minus_01_dot_00_bar__plus_01_dot_50_bar__plus_01_dot_02 - object\n Spatula_bar__plus_01_dot_28_bar__plus_00_dot_76_bar__plus_00_dot_85 - object\n Spatula_bar__minus_00_dot_72_bar__plus_00_dot_76_bar__plus_00_dot_85 - object\n 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Egg_bar__minus_00_dot_71_bar__plus_00_dot_97_bar__plus_01_dot_00)\n (heatable Potato_bar__minus_00_dot_71_bar__plus_00_dot_97_bar__plus_00_dot_77)\n (heatable Cup_bar__plus_01_dot_31_bar__plus_00_dot_10_bar__plus_00_dot_27)\n (heatable Apple_bar__minus_00_dot_88_bar__plus_01_dot_55_bar__plus_00_dot_04)\n (heatable Mug_bar__minus_01_dot_01_bar__plus_00_dot_56_bar__plus_00_dot_27)\n (heatable Egg_bar__plus_01_dot_67_bar__plus_00_dot_97_bar__plus_02_dot_02)\n (heatable Mug_bar__plus_01_dot_53_bar__plus_01_dot_00_bar__plus_02_dot_35)\n (heatable Tomato_bar__minus_01_dot_21_bar__plus_01_dot_00_bar__plus_01_dot_15)\n (heatable Apple_bar__plus_01_dot_42_bar__plus_00_dot_12_bar__plus_02_dot_98)\n (heatable Mug_bar__minus_01_dot_11_bar__plus_01_dot_95_bar__plus_01_dot_51)\n (heatable Tomato_bar__minus_00_dot_97_bar__plus_01_dot_38_bar__plus_00_dot_20)\n (heatable Bread_bar__minus_00_dot_92_bar__plus_00_dot_99_bar__plus_02_dot_27)\n (heatable Plate_bar__minus_01_dot_08_bar__plus_01_dot_83_bar__plus_00_dot_36)\n (coolable Plate_bar__plus_01_dot_39_bar__plus_00_dot_09_bar__plus_02_dot_53)\n (coolable Tomato_bar__minus_01_dot_01_bar__plus_00_dot_63_bar__plus_00_dot_04)\n (coolable Apple_bar__plus_01_dot_65_bar__plus_01_dot_65_bar__plus_01_dot_81)\n (coolable Pot_bar__minus_01_dot_11_bar__plus_00_dot_93_bar__plus_01_dot_87)\n (coolable Cup_bar__plus_01_dot_35_bar__plus_00_dot_10_bar__plus_00_dot_47)\n (coolable Pan_bar__plus_01_dot_38_bar__plus_01_dot_74_bar__plus_00_dot_39)\n (coolable Cup_bar__plus_01_dot_29_bar__plus_00_dot_94_bar__plus_02_dot_60)\n (coolable Egg_bar__minus_00_dot_71_bar__plus_00_dot_97_bar__plus_01_dot_00)\n (coolable Potato_bar__minus_00_dot_71_bar__plus_00_dot_97_bar__plus_00_dot_77)\n (coolable Cup_bar__plus_01_dot_31_bar__plus_00_dot_10_bar__plus_00_dot_27)\n (coolable Apple_bar__minus_00_dot_88_bar__plus_01_dot_55_bar__plus_00_dot_04)\n (coolable 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Tomato_bar__minus_01_dot_01_bar__plus_00_dot_63_bar__plus_00_dot_04)\n (sliceable Apple_bar__plus_01_dot_65_bar__plus_01_dot_65_bar__plus_01_dot_81)\n (sliceable Egg_bar__minus_00_dot_71_bar__plus_00_dot_97_bar__plus_01_dot_00)\n (sliceable Potato_bar__minus_00_dot_71_bar__plus_00_dot_97_bar__plus_00_dot_77)\n (sliceable Apple_bar__minus_00_dot_88_bar__plus_01_dot_55_bar__plus_00_dot_04)\n (sliceable Egg_bar__plus_01_dot_67_bar__plus_00_dot_97_bar__plus_02_dot_02)\n (sliceable Tomato_bar__minus_01_dot_21_bar__plus_01_dot_00_bar__plus_01_dot_15)\n (sliceable Apple_bar__plus_01_dot_42_bar__plus_00_dot_12_bar__plus_02_dot_98)\n (sliceable Tomato_bar__minus_00_dot_97_bar__plus_01_dot_38_bar__plus_00_dot_20)\n (sliceable Lettuce_bar__plus_01_dot_46_bar__plus_01_dot_01_bar__plus_01_dot_68)\n (sliceable Bread_bar__minus_00_dot_92_bar__plus_00_dot_99_bar__plus_02_dot_27)\n \n (inReceptacle Bread_bar__minus_00_dot_92_bar__plus_00_dot_99_bar__plus_02_dot_27 CounterTop_bar__minus_00_dot_97_bar__plus_00_dot_97_bar__plus_02_dot_39)\n (inReceptacle Knife_bar__minus_00_dot_76_bar__plus_00_dot_77_bar__plus_02_dot_52 Drawer_bar__minus_00_dot_78_bar__plus_00_dot_77_bar__plus_02_dot_38)\n (inReceptacle Spatula_bar__minus_00_dot_83_bar__plus_00_dot_76_bar__plus_02_dot_52 Drawer_bar__minus_00_dot_78_bar__plus_00_dot_77_bar__plus_02_dot_38)\n (inReceptacle Pot_bar__minus_01_dot_11_bar__plus_00_dot_93_bar__plus_01_dot_47 StoveBurner_bar__minus_01_dot_11_bar__plus_00_dot_92_bar__plus_01_dot_47)\n (inReceptacle ButterKnife_bar__plus_01_dot_38_bar__plus_00_dot_74_bar__plus_02_dot_23 Drawer_bar__plus_01_dot_37_bar__plus_00_dot_77_bar__plus_02_dot_39)\n (inReceptacle Egg_bar__plus_01_dot_67_bar__plus_00_dot_97_bar__plus_02_dot_02 CounterTop_bar__plus_01_dot_51_bar__plus_00_dot_97_bar__plus_02_dot_31)\n (inReceptacle Mug_bar__plus_01_dot_53_bar__plus_01_dot_00_bar__plus_02_dot_35 CounterTop_bar__plus_01_dot_51_bar__plus_00_dot_97_bar__plus_02_dot_31)\n (inReceptacle Cup_bar__plus_01_dot_29_bar__plus_00_dot_94_bar__plus_02_dot_60 CounterTop_bar__plus_01_dot_51_bar__plus_00_dot_97_bar__plus_02_dot_31)\n (inReceptacle Fork_bar__plus_01_dot_59_bar__plus_00_dot_94_bar__plus_02_dot_12 CounterTop_bar__plus_01_dot_51_bar__plus_00_dot_97_bar__plus_02_dot_31)\n (inReceptacle Pan_bar__plus_01_dot_38_bar__plus_01_dot_74_bar__plus_00_dot_39 Cabinet_bar__plus_01_dot_22_bar__plus_02_dot_01_bar__plus_00_dot_59)\n (inReceptacle Plate_bar__plus_01_dot_39_bar__plus_00_dot_09_bar__plus_02_dot_53 Cabinet_bar__plus_01_dot_22_bar__plus_00_dot_39_bar__plus_02_dot_11)\n (inReceptacle Cup_bar__plus_01_dot_35_bar__plus_00_dot_10_bar__plus_00_dot_47 Cabinet_bar__plus_01_dot_22_bar__plus_00_dot_55_bar__plus_00_dot_59)\n (inReceptacle Cup_bar__plus_01_dot_31_bar__plus_00_dot_10_bar__plus_00_dot_27 Cabinet_bar__plus_01_dot_22_bar__plus_00_dot_55_bar__plus_00_dot_59)\n (inReceptacle SoapBottle_bar__minus_01_dot_00_bar__plus_01_dot_50_bar__plus_01_dot_02 Cabinet_bar__minus_00_dot_91_bar__plus_02_dot_11_bar__plus_01_dot_16)\n (inReceptacle Plate_bar__minus_01_dot_08_bar__plus_01_dot_83_bar__plus_00_dot_36 Cabinet_bar__minus_00_dot_91_bar__plus_02_dot_11_bar__plus_00_dot_58)\n (inReceptacle DishSponge_bar__minus_01_dot_08_bar__plus_01_dot_95_bar__plus_01_dot_83 Cabinet_bar__minus_00_dot_91_bar__plus_02_dot_11_bar__plus_02_dot_08)\n (inReceptacle Mug_bar__minus_01_dot_11_bar__plus_01_dot_95_bar__plus_01_dot_51 Cabinet_bar__minus_00_dot_91_bar__plus_02_dot_11_bar__plus_01_dot_21)\n (inReceptacle DishSponge_bar__minus_00_dot_80_bar__plus_00_dot_08_bar__plus_02_dot_17 Cabinet_bar__minus_00_dot_63_bar__plus_00_dot_39_bar__plus_02_dot_11)\n (inReceptacle Spatula_bar__minus_00_dot_72_bar__plus_00_dot_76_bar__plus_00_dot_85 Drawer_bar__minus_00_dot_78_bar__plus_00_dot_77_bar__plus_00_dot_92)\n (inReceptacle PepperShaker_bar__minus_00_dot_86_bar__plus_00_dot_74_bar__plus_00_dot_92 Drawer_bar__minus_00_dot_78_bar__plus_00_dot_77_bar__plus_00_dot_92)\n (inReceptacle Fork_bar__minus_00_dot_79_bar__plus_00_dot_75_bar__plus_00_dot_98 Drawer_bar__minus_00_dot_78_bar__plus_00_dot_77_bar__plus_00_dot_92)\n (inReceptacle Pot_bar__minus_01_dot_11_bar__plus_00_dot_93_bar__plus_01_dot_87 StoveBurner_bar__minus_01_dot_11_bar__plus_00_dot_92_bar__plus_01_dot_87)\n (inReceptacle Potato_bar__minus_00_dot_71_bar__plus_00_dot_97_bar__plus_00_dot_77 CounterTop_bar__minus_00_dot_97_bar__plus_00_dot_97_bar__plus_00_dot_92)\n (inReceptacle Spoon_bar__minus_00_dot_88_bar__plus_00_dot_94_bar__plus_00_dot_69 CounterTop_bar__minus_00_dot_97_bar__plus_00_dot_97_bar__plus_00_dot_92)\n (inReceptacle Fork_bar__minus_00_dot_88_bar__plus_00_dot_94_bar__plus_00_dot_92 CounterTop_bar__minus_00_dot_97_bar__plus_00_dot_97_bar__plus_00_dot_92)\n (inReceptacle SaltShaker_bar__minus_01_dot_13_bar__plus_00_dot_93_bar__plus_00_dot_92 CounterTop_bar__minus_00_dot_97_bar__plus_00_dot_97_bar__plus_00_dot_92)\n (inReceptacle Tomato_bar__minus_01_dot_21_bar__plus_01_dot_00_bar__plus_01_dot_15 CounterTop_bar__minus_00_dot_97_bar__plus_00_dot_97_bar__plus_00_dot_92)\n (inReceptacle PepperShaker_bar__minus_01_dot_04_bar__plus_00_dot_93_bar__plus_00_dot_77 CounterTop_bar__minus_00_dot_97_bar__plus_00_dot_97_bar__plus_00_dot_92)\n (inReceptacle Spoon_bar__minus_00_dot_88_bar__plus_00_dot_94_bar__plus_01_dot_15 CounterTop_bar__minus_00_dot_97_bar__plus_00_dot_97_bar__plus_00_dot_92)\n (inReceptacle Egg_bar__minus_00_dot_71_bar__plus_00_dot_97_bar__plus_01_dot_00 CounterTop_bar__minus_00_dot_97_bar__plus_00_dot_97_bar__plus_00_dot_92)\n (inReceptacle Spatula_bar__plus_01_dot_28_bar__plus_00_dot_76_bar__plus_00_dot_85 Drawer_bar__plus_01_dot_37_bar__plus_00_dot_77_bar__plus_00_dot_92)\n (inReceptacle SaltShaker_bar__plus_01_dot_45_bar__plus_00_dot_74_bar__plus_00_dot_71 Drawer_bar__plus_01_dot_37_bar__plus_00_dot_77_bar__plus_00_dot_92)\n (inReceptacle PepperShaker_bar__minus_01_dot_12_bar__plus_01_dot_50_bar__plus_02_dot_31 Cabinet_bar__minus_00_dot_91_bar__plus_01_dot_81_bar__plus_02_dot_11)\n (inReceptacle Bowl_bar__minus_00_dot_97_bar__plus_01_dot_50_bar__plus_00_dot_27 Fridge_bar__minus_01_dot_00_bar__plus_00_dot_00_bar__plus_00_dot_12)\n (inReceptacle Tomato_bar__minus_00_dot_97_bar__plus_01_dot_38_bar__plus_00_dot_20 Fridge_bar__minus_01_dot_00_bar__plus_00_dot_00_bar__plus_00_dot_12)\n (inReceptacle Tomato_bar__minus_01_dot_01_bar__plus_00_dot_63_bar__plus_00_dot_04 Fridge_bar__minus_01_dot_00_bar__plus_00_dot_00_bar__plus_00_dot_12)\n (inReceptacle Apple_bar__minus_00_dot_88_bar__plus_01_dot_55_bar__plus_00_dot_04 Fridge_bar__minus_01_dot_00_bar__plus_00_dot_00_bar__plus_00_dot_12)\n (inReceptacle DishSponge_bar__plus_01_dot_49_bar__plus_00_dot_07_bar__plus_02_dot_88 GarbageCan_bar__plus_01_dot_45_bar__plus_00_dot_00_bar__plus_02_dot_91)\n (inReceptacle Apple_bar__plus_01_dot_42_bar__plus_00_dot_12_bar__plus_02_dot_98 GarbageCan_bar__plus_01_dot_45_bar__plus_00_dot_00_bar__plus_02_dot_91)\n (inReceptacle Apple_bar__plus_01_dot_65_bar__plus_01_dot_65_bar__plus_01_dot_81 Microwave_bar__plus_01_dot_63_bar__plus_01_dot_48_bar__plus_01_dot_65)\n (inReceptacle Mug_bar__plus_01_dot_53_bar__plus_01_dot_00_bar__plus_02_dot_35 CoffeeMachine_bar__plus_01_dot_69_bar__plus_00_dot_93_bar__plus_02_dot_45)\n \n \n (receptacleAtLocation Cabinet_bar__plus_01_dot_22_bar__plus_00_dot_39_bar__plus_00_dot_63 loc_bar_1_bar_5_bar_1_bar_45)\n (receptacleAtLocation Cabinet_bar__plus_01_dot_22_bar__plus_00_dot_39_bar__plus_02_dot_11 loc_bar_1_bar_9_bar_1_bar_45)\n (receptacleAtLocation Cabinet_bar__plus_01_dot_22_bar__plus_00_dot_55_bar__plus_00_dot_59 loc_bar_2_bar_1_bar_1_bar_60)\n (receptacleAtLocation Cabinet_bar__plus_01_dot_22_bar__plus_01_dot_39_bar__plus_00_dot_59 loc_bar_3_bar_1_bar_1_bar_30)\n (receptacleAtLocation Cabinet_bar__plus_01_dot_22_bar__plus_02_dot_01_bar__plus_00_dot_59 loc_bar_3_bar_1_bar_1_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__plus_01_dot_50_bar__plus_01_dot_81_bar__plus_02_dot_10 loc_bar_4_bar_7_bar_1_bar__minus_15)\n (receptacleAtLocation Cabinet_bar__plus_01_dot_50_bar__plus_01_dot_81_bar__plus_02_dot_69 loc_bar_3_bar_10_bar_1_bar__minus_15)\n (receptacleAtLocation Cabinet_bar__plus_01_dot_50_bar__plus_02_dot_11_bar__plus_01_dot_16 loc_bar_3_bar_3_bar_1_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__plus_01_dot_50_bar__plus_02_dot_11_bar__plus_01_dot_21 loc_bar_1_bar_5_bar_1_bar__minus_15)\n (receptacleAtLocation Cabinet_bar__plus_01_dot_50_bar__plus_02_dot_11_bar__plus_02_dot_08 loc_bar_1_bar_6_bar_1_bar__minus_15)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_63_bar__plus_00_dot_39_bar__plus_00_dot_63 loc_bar_1_bar_5_bar_3_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_63_bar__plus_00_dot_39_bar__plus_02_dot_11 loc_bar_1_bar_11_bar_3_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_91_bar__plus_01_dot_81_bar__plus_02_dot_11 loc_bar__minus_1_bar_7_bar_3_bar__minus_15)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_91_bar__plus_01_dot_81_bar__plus_02_dot_70 loc_bar__minus_1_bar_10_bar_3_bar__minus_15)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_91_bar__plus_02_dot_05_bar__minus_00_dot_33 loc_bar_0_bar__minus_2_bar_3_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_91_bar__plus_02_dot_11_bar__plus_00_dot_58 loc_bar__minus_1_bar_3_bar_3_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_91_bar__plus_02_dot_11_bar__plus_01_dot_16 loc_bar__minus_1_bar_3_bar_3_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_91_bar__plus_02_dot_11_bar__plus_01_dot_21 loc_bar_0_bar_7_bar_3_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_91_bar__plus_02_dot_11_bar__plus_02_dot_08 loc_bar_0_bar_8_bar_3_bar__minus_30)\n (receptacleAtLocation CoffeeMachine_bar__plus_01_dot_69_bar__plus_00_dot_93_bar__plus_02_dot_45 loc_bar_3_bar_10_bar_1_bar_45)\n (receptacleAtLocation CounterTop_bar__plus_01_dot_51_bar__plus_00_dot_97_bar__plus_02_dot_31 loc_bar_3_bar_8_bar_1_bar_45)\n (receptacleAtLocation CounterTop_bar__minus_00_dot_97_bar__plus_00_dot_97_bar__plus_00_dot_92 loc_bar__minus_1_bar_4_bar_3_bar_45)\n (receptacleAtLocation CounterTop_bar__minus_00_dot_97_bar__plus_00_dot_97_bar__plus_02_dot_39 loc_bar__minus_1_bar_10_bar_3_bar_45)\n (receptacleAtLocation Drawer_bar__plus_01_dot_37_bar__plus_00_dot_77_bar__plus_00_dot_92 loc_bar_2_bar_3_bar_1_bar_45)\n (receptacleAtLocation Drawer_bar__plus_01_dot_37_bar__plus_00_dot_77_bar__plus_02_dot_39 loc_bar_2_bar_9_bar_1_bar_45)\n (receptacleAtLocation Drawer_bar__minus_00_dot_78_bar__plus_00_dot_77_bar__plus_00_dot_92 loc_bar_0_bar_3_bar_3_bar_45)\n (receptacleAtLocation Drawer_bar__minus_00_dot_78_bar__plus_00_dot_77_bar__plus_02_dot_38 loc_bar_0_bar_9_bar_3_bar_45)\n (receptacleAtLocation Fridge_bar__minus_01_dot_00_bar__plus_00_dot_00_bar__plus_00_dot_12 loc_bar_0_bar_0_bar_3_bar_60)\n (receptacleAtLocation GarbageCan_bar__plus_01_dot_45_bar__plus_00_dot_00_bar__plus_02_dot_91 loc_bar_3_bar_10_bar_1_bar_60)\n (receptacleAtLocation Microwave_bar__plus_01_dot_63_bar__plus_01_dot_48_bar__plus_01_dot_65 loc_bar_4_bar_6_bar_1_bar_15)\n (receptacleAtLocation Sink_bar__plus_01_dot_54_bar__plus_00_dot_87_bar__plus_01_dot_64_bar_SinkBasin loc_bar_4_bar_5_bar_1_bar_60)\n (receptacleAtLocation StoveBurner_bar__minus_00_dot_83_bar__plus_00_dot_92_bar__plus_01_dot_47 loc_bar__minus_1_bar_6_bar_3_bar_45)\n (receptacleAtLocation StoveBurner_bar__minus_00_dot_83_bar__plus_00_dot_92_bar__plus_01_dot_87 loc_bar__minus_1_bar_7_bar_3_bar_45)\n (receptacleAtLocation StoveBurner_bar__minus_01_dot_11_bar__plus_00_dot_92_bar__plus_01_dot_47 loc_bar__minus_1_bar_6_bar_3_bar_45)\n (receptacleAtLocation StoveBurner_bar__minus_01_dot_11_bar__plus_00_dot_92_bar__plus_01_dot_87 loc_bar__minus_1_bar_7_bar_3_bar_45)\n (receptacleAtLocation Toaster_bar__minus_01_dot_00_bar__plus_00_dot_93_bar__plus_02_dot_56 loc_bar__minus_1_bar_10_bar_3_bar_45)\n (objectAtLocation Mug_bar__minus_01_dot_11_bar__plus_01_dot_95_bar__plus_01_dot_51 loc_bar_0_bar_7_bar_3_bar__minus_30)\n (objectAtLocation Spoon_bar__minus_00_dot_88_bar__plus_00_dot_94_bar__plus_00_dot_69 loc_bar__minus_1_bar_4_bar_3_bar_45)\n (objectAtLocation Cup_bar__plus_01_dot_31_bar__plus_00_dot_10_bar__plus_00_dot_27 loc_bar_2_bar_1_bar_1_bar_60)\n (objectAtLocation Egg_bar__plus_01_dot_67_bar__plus_00_dot_97_bar__plus_02_dot_02 loc_bar_3_bar_8_bar_1_bar_45)\n (objectAtLocation DishSponge_bar__minus_01_dot_08_bar__plus_01_dot_95_bar__plus_01_dot_83 loc_bar_0_bar_8_bar_3_bar__minus_30)\n (objectAtLocation Plate_bar__minus_01_dot_08_bar__plus_01_dot_83_bar__plus_00_dot_36 loc_bar__minus_1_bar_3_bar_3_bar__minus_30)\n (objectAtLocation PepperShaker_bar__minus_01_dot_04_bar__plus_00_dot_93_bar__plus_00_dot_77 loc_bar__minus_1_bar_4_bar_3_bar_45)\n (objectAtLocation Apple_bar__minus_00_dot_88_bar__plus_01_dot_55_bar__plus_00_dot_04 loc_bar_0_bar_0_bar_3_bar_60)\n (objectAtLocation SaltShaker_bar__minus_01_dot_13_bar__plus_00_dot_93_bar__plus_00_dot_92 loc_bar__minus_1_bar_4_bar_3_bar_45)\n (objectAtLocation Spatula_bar__plus_01_dot_28_bar__plus_00_dot_76_bar__plus_00_dot_85 loc_bar_2_bar_3_bar_1_bar_45)\n (objectAtLocation Pot_bar__minus_01_dot_11_bar__plus_00_dot_93_bar__plus_01_dot_87 loc_bar__minus_1_bar_7_bar_3_bar_45)\n (objectAtLocation Tomato_bar__minus_00_dot_97_bar__plus_01_dot_38_bar__plus_00_dot_20 loc_bar_0_bar_0_bar_3_bar_60)\n (objectAtLocation Fork_bar__minus_00_dot_79_bar__plus_00_dot_75_bar__plus_00_dot_98 loc_bar_0_bar_3_bar_3_bar_45)\n (objectAtLocation Apple_bar__plus_01_dot_42_bar__plus_00_dot_12_bar__plus_02_dot_98 loc_bar_3_bar_10_bar_1_bar_60)\n (objectAtLocation Mug_bar__minus_01_dot_01_bar__plus_00_dot_56_bar__plus_00_dot_27 loc_bar_0_bar_1_bar_3_bar_45)\n (objectAtLocation PepperShaker_bar__minus_01_dot_12_bar__plus_01_dot_50_bar__plus_02_dot_31 loc_bar__minus_1_bar_7_bar_3_bar__minus_15)\n (objectAtLocation Tomato_bar__minus_01_dot_21_bar__plus_01_dot_00_bar__plus_01_dot_15 loc_bar__minus_1_bar_4_bar_3_bar_45)\n (objectAtLocation Cup_bar__plus_01_dot_35_bar__plus_00_dot_10_bar__plus_00_dot_47 loc_bar_2_bar_1_bar_1_bar_60)\n (objectAtLocation Spatula_bar__minus_00_dot_83_bar__plus_00_dot_76_bar__plus_02_dot_52 loc_bar_0_bar_9_bar_3_bar_45)\n (objectAtLocation Fork_bar__minus_00_dot_88_bar__plus_00_dot_94_bar__plus_00_dot_92 loc_bar__minus_1_bar_4_bar_3_bar_45)\n (objectAtLocation DishSponge_bar__minus_00_dot_80_bar__plus_00_dot_08_bar__plus_02_dot_17 loc_bar_1_bar_11_bar_3_bar_60)\n (objectAtLocation Chair_bar__minus_00_dot_75_bar__plus_00_dot_01_bar__plus_03_dot_12 loc_bar__minus_1_bar_10_bar_0_bar_60)\n (objectAtLocation Sink_bar__plus_01_dot_54_bar__plus_00_dot_87_bar__plus_01_dot_64 loc_bar_4_bar_7_bar_1_bar_60)\n (objectAtLocation Lettuce_bar__plus_01_dot_46_bar__plus_01_dot_01_bar__plus_01_dot_68 loc_bar_4_bar_5_bar_1_bar_60)\n (objectAtLocation StoveKnob_bar__minus_00_dot_65_bar__plus_00_dot_93_bar__plus_01_dot_92 loc_bar__minus_1_bar_7_bar_3_bar_60)\n (objectAtLocation StoveKnob_bar__minus_00_dot_65_bar__plus_00_dot_93_bar__plus_01_dot_36 loc_bar__minus_1_bar_5_bar_3_bar_60)\n (objectAtLocation StoveKnob_bar__minus_00_dot_65_bar__plus_00_dot_93_bar__plus_01_dot_51 loc_bar__minus_1_bar_6_bar_3_bar_60)\n (objectAtLocation StoveKnob_bar__minus_00_dot_65_bar__plus_00_dot_93_bar__plus_01_dot_76 loc_bar__minus_1_bar_7_bar_3_bar_60)\n (objectAtLocation SoapBottle_bar__minus_01_dot_00_bar__plus_01_dot_50_bar__plus_01_dot_02 loc_bar__minus_1_bar_3_bar_3_bar__minus_30)\n (objectAtLocation Bread_bar__minus_00_dot_92_bar__plus_00_dot_99_bar__plus_02_dot_27 loc_bar__minus_1_bar_10_bar_3_bar_45)\n (objectAtLocation Fork_bar__plus_01_dot_59_bar__plus_00_dot_94_bar__plus_02_dot_12 loc_bar_3_bar_8_bar_1_bar_45)\n (objectAtLocation Tomato_bar__minus_01_dot_01_bar__plus_00_dot_63_bar__plus_00_dot_04 loc_bar_0_bar_0_bar_3_bar_60)\n (objectAtLocation Bowl_bar__minus_00_dot_97_bar__plus_01_dot_50_bar__plus_00_dot_27 loc_bar_0_bar_0_bar_3_bar_60)\n (objectAtLocation Window_bar__plus_00_dot_23_bar__plus_01_dot_60_bar__plus_03_dot_51 loc_bar_1_bar_11_bar_0_bar_0)\n (objectAtLocation Pot_bar__minus_01_dot_11_bar__plus_00_dot_93_bar__plus_01_dot_47 loc_bar__minus_1_bar_6_bar_3_bar_45)\n (objectAtLocation Spatula_bar__minus_00_dot_72_bar__plus_00_dot_76_bar__plus_00_dot_85 loc_bar_0_bar_3_bar_3_bar_45)\n (objectAtLocation Knife_bar__minus_00_dot_76_bar__plus_00_dot_77_bar__plus_02_dot_52 loc_bar_0_bar_9_bar_3_bar_45)\n (objectAtLocation SaltShaker_bar__plus_01_dot_45_bar__plus_00_dot_74_bar__plus_00_dot_71 loc_bar_2_bar_3_bar_1_bar_45)\n (objectAtLocation Apple_bar__plus_01_dot_65_bar__plus_01_dot_65_bar__plus_01_dot_81 loc_bar_4_bar_6_bar_1_bar_15)\n (objectAtLocation PepperShaker_bar__minus_00_dot_86_bar__plus_00_dot_74_bar__plus_00_dot_92 loc_bar_0_bar_3_bar_3_bar_45)\n (objectAtLocation ButterKnife_bar__plus_01_dot_38_bar__plus_00_dot_74_bar__plus_02_dot_23 loc_bar_2_bar_9_bar_1_bar_45)\n (objectAtLocation Potato_bar__minus_00_dot_71_bar__plus_00_dot_97_bar__plus_00_dot_77 loc_bar__minus_1_bar_4_bar_3_bar_45)\n (objectAtLocation Plate_bar__plus_01_dot_39_bar__plus_00_dot_09_bar__plus_02_dot_53 loc_bar_1_bar_9_bar_1_bar_45)\n (objectAtLocation DishSponge_bar__plus_01_dot_49_bar__plus_00_dot_07_bar__plus_02_dot_88 loc_bar_3_bar_10_bar_1_bar_60)\n (objectAtLocation Egg_bar__minus_00_dot_71_bar__plus_00_dot_97_bar__plus_01_dot_00 loc_bar__minus_1_bar_4_bar_3_bar_45)\n (objectAtLocation Cup_bar__plus_01_dot_29_bar__plus_00_dot_94_bar__plus_02_dot_60 loc_bar_3_bar_8_bar_1_bar_45)\n (objectAtLocation Pan_bar__plus_01_dot_38_bar__plus_01_dot_74_bar__plus_00_dot_39 loc_bar_3_bar_1_bar_1_bar__minus_30)\n (objectAtLocation Spoon_bar__minus_00_dot_88_bar__plus_00_dot_94_bar__plus_01_dot_15 loc_bar__minus_1_bar_4_bar_3_bar_45)\n (objectAtLocation LightSwitch_bar__plus_00_dot_45_bar__plus_01_dot_41_bar__minus_01_dot_68 loc_bar_2_bar__minus_4_bar_2_bar_15)\n (objectAtLocation Mug_bar__plus_01_dot_53_bar__plus_01_dot_00_bar__plus_02_dot_35 loc_bar_3_bar_10_bar_1_bar_45)\n )\n \n\n (:goal\n (and\n (exists (?r - receptacle)\n (exists (?o - object)\n (and\n (heatable ?o)\n (objectType ?o 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 1", "take egg 1 from countertop 1", "go to microwave 1", "heat egg 1 with microwave 1", "go to countertop 1", "move egg 1 to countertop 1"]}
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alfworld__pick_and_place_simple__785
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pick_and_place_simple
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pick_and_place_simple-Book-None-Sofa-202/trial_T20190907_043640_929501/game.tw-pddl
|
{"pddl_domain": ";; Specification in PDDL of the Alfred domain\n;; Intended to be used with Fast Downward which supports PDDL 2.2 level 1 plus the :action-costs requirement from PDDL 3.1.\n\n(define (domain alfred)\n (:requirements\n :adl\n :action-costs\n :typing\n )\n (:types\n agent\n location\n receptacle\n object\n rtype\n otype\n )\n\n\n (:predicates\n (atLocation ?a - agent ?l - location) ; true if the agent is at the location\n (receptacleAtLocation ?r - receptacle ?l - location) ; true if the receptacle is at the location (constant)\n (objectAtLocation ?o - object ?l - location) ; true if the object is at the location\n (openable ?r - receptacle) ; true if a receptacle is openable\n (opened ?r - receptacle) ; true if a receptacle is opened\n (inReceptacle ?o - object ?r - receptacle) ; object ?o is in receptacle ?r\n (isReceptacleObject ?o - object) ; true if the object can have things put inside it\n (inReceptacleObject ?innerObject - object ?outerObject - object) ; object ?innerObject is inside object ?outerObject\n (isReceptacleObjectFull ?o - object) ; true if the receptacle object contains something\n (wasInReceptacle ?o - object ?r - receptacle) ; object ?o was or is in receptacle ?r now or some time in the past\n (checked ?r - receptacle) ; whether the receptacle has been looked inside/visited\n (examined ?l - location) ; TODO\n (receptacleType ?r - receptacle ?t - rtype) ; the type of receptacle (Cabinet vs Cabinet|01|2...)\n (canContain ?rt - rtype ?ot - otype) ; true if receptacle can hold object\n (objectType ?o - object ?t - otype) ; the type of object (Apple vs Apple|01|2...)\n (holds ?a - agent ?o - object) ; object ?o is held by agent ?a\n (holdsAny ?a - agent) ; agent ?a holds an object\n (holdsAnyReceptacleObject ?a - agent) ; agent ?a holds a receptacle object\n (full ?r - receptacle) ; true if the receptacle has no remaining space\n (isClean ?o - object) ; true if the object has been clean in sink\n (cleanable ?o - object) ; true if the object can be placed in a sink\n (isHot ?o - object) ; true if the object has been heated up\n (heatable ?o - object) ; true if the object can be heated up in a microwave\n (isCool ?o - object) ; true if the object has been cooled\n (coolable ?o - object) ; true if the object can be cooled in the fridge\n (pickupable ?o - object) ; true if the object can be picked up\n (moveable ?o - object) ; true if the object can be moved\n (toggleable ?o - object) ; true if the object can be turned on/off\n (isOn ?o - object) ; true if the object is on\n (isToggled ?o - object) ; true if the object has been toggled\n (sliceable ?o - object) ; true if the object can be sliced\n (isSliced ?o - object) ; true if the object is sliced\n )\n\n (:functions\n (distance ?from ?to)\n (total-cost) - number\n )\n\n;; All actions are specified such that the final arguments are the ones used\n;; for performing actions in Unity.\n\n\n(:action look\n :parameters (?a - agent ?l - location)\n :precondition\n (and\n (atLocation ?a ?l)\n )\n :effect\n (and\n (checked ?l)\n )\n)\n\n(:action inventory\n :parameters (?a - agent)\n :precondition\n ()\n :effect\n (and\n (checked ?a)\n )\n)\n\n(:action examineReceptacle\n :parameters (?a - agent ?r - receptacle)\n :precondition\n (and\n (exists (?l - location)\n (and\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n )\n )\n )\n :effect\n (and\n (checked ?r)\n )\n)\n\n(:action examineObject\n :parameters (?a - agent ?o - object)\n :precondition\n (or\n ;(exists (?l - location)\n ; (and\n ; (atLocation ?a ?l)\n ; (objectAtLocation ?o ?l)\n ; )\n ;)\n (exists (?l - location, ?r - receptacle)\n (and\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n ; (objectAtLocation ?o ?l)\n (inReceptacle ?o ?r)\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n )\n )\n (holds ?a ?o)\n )\n :effect\n (and\n (checked ?o)\n )\n)\n\n;; agent goes to receptacle\n (:action GotoLocation\n :parameters (?a - agent ?lStart - location ?lEnd - location ?r - receptacle)\n :precondition (and\n (atLocation ?a ?lStart)\n (receptacleAtLocation ?r ?lEnd)\n ;(exists (?r - receptacle) (receptacleAtLocation ?r ?lEnd))\n )\n :effect (and\n (not (atLocation ?a ?lStart))\n (atLocation ?a ?lEnd)\n ; (forall (?r - receptacle)\n ; (when (and (receptacleAtLocation ?r ?lEnd)\n ; (or (not (openable ?r)) (opened ?r)))\n ; (checked ?r)\n ; )\n ; )\n ; (increase (total-cost) (distance ?lStart ?lEnd))\n (increase (total-cost) 1)\n )\n )\n\n;; agent opens receptacle\n (:action OpenObject\n :parameters (?a - agent ?l - location ?r - receptacle)\n :precondition (and\n (openable ?r)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (not (opened ?r))\n )\n :effect (and\n (opened ?r)\n (checked ?r)\n (increase (total-cost) 1)\n )\n )\n;; agent closes receptacle\n (:action CloseObject\n :parameters (?a - agent ?l - location ?r - receptacle)\n :precondition (and\n (openable ?r)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (opened ?r)\n )\n :effect (and\n (not (opened ?r))\n (increase (total-cost) 1)\n )\n\n )\n\n ;; agent picks up object from a receptacle\n (:action PickupObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n :precondition\n (and\n (pickupable ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n ; (objectAtLocation ?o ?l)\n (inReceptacle ?o ?r)\n (not (holdsAny ?a)) ; agent's hands are empty.\n ;(not (holdsAnyReceptacleObject ?a))\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n ;(not (isReceptacleObject ?o))\n )\n :effect\n (and\n (not (inReceptacle ?o ?r))\n (holds ?a ?o)\n (holdsAny ?a)\n (not (objectAtLocation ?o ?l))\n ;(not (full ?r))\n (increase (total-cost) 1)\n )\n )\n\n\n; ;; agent picks up object from a receptacle\n; (:action PickupObjectFromReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?outerR - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (inReceptacle ?o ?r)\n; (pickupable ?o)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (not (isReceptacleObject ?o))\n; (isReceptacleObject ?outerR)\n; (inReceptacleObject ?o ?outerR)\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (holds ?a ?o)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n;\n; (not (inReceptacleObject ?o ?outerR))\n; (not (isReceptacleObjectFull ?outerR))\n; )\n; )\n;\n; ;; agent picks up object from a receptacle\n; (:action PickupEmptyReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; ; (objectAtLocation ?o ?l)\n; (inReceptacle ?o ?r)\n; (pickupable ?o)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (isReceptacleObject ?o)\n; (not (isReceptacleObjectFull ?o))\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (holds ?a ?o)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n; (holdsAnyReceptacleObject ?a)\n; )\n; )\n;\n; ;; agent picks up object from a receptacle\n; (:action PickupFullReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?outerR - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (inReceptacle ?outerR ?r)\n; (pickupable ?outerR)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (not (isReceptacleObject ?o))\n; (isReceptacleObject ?outerR)\n; (inReceptacleObject ?o ?outerR)\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (not (inReceptacle ?outerR ?r))\n; (holds ?a ?outerR)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (objectAtLocation ?outerR ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n; (holdsAnyReceptacleObject ?a)\n; )\n; )\n\n\n;; agent puts down an object\n (:action PutObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle ?ot - otype ?rt - rtype)\n :precondition (and\n (holds ?a ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable\n ;(not (full ?r))\n (objectType ?o ?ot)\n (receptacleType ?r ?rt)\n (canContain ?rt ?ot)\n ;(not (holdsAnyReceptacleObject ?a))\n )\n :effect (and\n (inReceptacle ?o ?r)\n (objectAtLocation ?o ?l)\n ;(full ?r)\n (not (holds ?a ?o))\n (not (holdsAny ?a))\n (increase (total-cost) 1)\n )\n )\n\n;;; agent puts down an object\n; (:action PutObjectInReceptacleObject\n; :parameters (?a - agent ?l - location ?ot - otype ?o - object ?outerO - object ?outerR - receptacle)\n; :precondition (and\n; (atLocation ?a ?l)\n; (objectAtLocation ?outerO ?l)\n; (isReceptacleObject ?outerO)\n; (not (isReceptacleObject ?o))\n; (objectType ?o ?ot)\n; (holds ?a ?o)\n; (not (holdsAnyReceptacleObject ?a))\n; (inReceptacle ?outerO ?outerR)\n; (not (isReceptacleObjectFull ?outerO))\n; )\n; :effect (and\n; (inReceptacleObject ?o ?outerO)\n; (inReceptacle ?o ?outerR)\n; (not (holds ?a ?o))\n; (not (holdsAny ?a))\n; (objectAtLocation ?o ?l)\n; (isReceptacleObjectFull ?outerO)\n; (increase (total-cost) 1)\n; )\n; )\n;\n;;; agent puts down an object\n; (:action PutEmptyReceptacleObjectinReceptacle\n; :parameters (?a - agent ?l - location ?ot - otype ?o - object ?r - receptacle)\n; :precondition (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable\n; (not (full ?r))\n; (objectType ?o ?ot)\n; (holds ?a ?o)\n; (holdsAnyReceptacleObject ?a)\n; (isReceptacleObject ?o)\n; (not (isReceptacleObjectFull ?o))\n; )\n; :effect (and\n; (inReceptacle ?o ?r)\n; (objectAtLocation ?o ?l)\n; (full ?r)\n; (not (holds ?a ?o))\n; (not (holdsAny ?a))\n; (not (holdsAnyReceptacleObject ?a))\n; (increase (total-cost) 1)\n; )\n; )\n;\n;;; agent puts down a receptacle object in a receptacle\n; (:action PutFullReceptacleObjectInReceptacle\n; :parameters (?a - agent ?l - location ?ot - otype ?innerO - object ?outerO - object ?r - receptacle) ; ?rt - rtype)\n; :precondition (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (objectType ?outerO ?ot)\n; (holds ?a ?outerO)\n; (holdsAnyReceptacleObject ?a)\n; (isReceptacleObject ?outerO)\n; (isReceptacleObjectFull ?outerO)\n; (inReceptacleObject ?innerO ?outerO)\n; )\n; :effect (and\n; (not (holdsAny ?a))\n; (not (holdsAnyReceptacleObject ?a))\n; (objectAtLocation ?outerO ?l)\n; (objectAtLocation ?innerO ?l)\n; (inReceptacle ?outerO ?r)\n; (inReceptacle ?innerO ?r)\n; (not (holds ?a ?outerO))\n; (increase (total-cost) 1)\n; )\n; )\n\n;; agent cleans some object\n (:action CleanObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (cleanable ?o)\n (or\n (receptacleType ?r SinkType)\n (receptacleType ?r SinkBasinType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isClean ?o)\n )\n )\n\n\n;; agent heats-up some object\n (:action HeatObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (heatable ?o)\n (or\n (receptacleType ?r MicrowaveType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isHot ?o)\n (not (isCool ?o))\n )\n )\n\n;; agent cools some object\n (:action CoolObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (coolable ?o)\n (or\n (receptacleType ?r FridgeType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isCool ?o)\n (not (isHot ?o))\n )\n )\n\n\n;; agent toggle object\n (:action ToggleObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n :precondition (and\n (toggleable ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (inReceptacle ?o ?r)\n )\n :effect (and\n (increase (total-cost) 5)\n (when (isOn ?o)\n (not (isOn ?o)))\n (when (not (isOn ?o))\n (isOn ?o))\n (isToggled ?o)\n )\n )\n\n\n;; agent slices some object with a knife\n (:action SliceObject\n :parameters (?a - agent ?l - location ?co - object ?ko - object)\n :precondition\n (and\n (sliceable ?co)\n (or\n (objectType ?ko KnifeType)\n (objectType ?ko ButterKnifeType)\n )\n (atLocation ?a ?l)\n (objectAtLocation ?co ?l)\n (holds ?a ?ko)\n )\n :effect (and\n (increase (total-cost) 5)\n (isSliced ?co)\n )\n )\n\n\n(:action help\n :parameters (?a - agent)\n :precondition\n ()\n :effect\n (and\n (checked ?a)\n )\n)\n)\n", "grammar": "grammar :: \"\"\"\n {\n \"intro\": [\n {\n \"rhs\": \"-= Welcome to TextWorld, ALFRED! =-\\n\\n#look.feedback#\\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 book in sofa.\"\n }\n ],\n\n \"GotoLocation.feedback\": [\n {\n \"rhs\": \"You arrive at {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"OpenObject.feedback\": [\n {\n \"rhs\": \"You open the {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"CloseObject.feedback\": [\n {\n \"rhs\": \"You close the {r.name}.\"\n }\n ],\n\n \"PickupObject.feedback\": [\n {\n \"rhs\": \"You pick up the {o.name} from the {r.name}.\"\n }\n ],\n\n \"PickupObjectFromReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupObjectFromReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupEmptyReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupEmptyReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupFullReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupFullReceptacleObject: You pick up the {outerr.name}.\"\n }\n ],\n\n \"PutObject.feedback\": [\n {\n \"rhs\": \"You move the {o.name} to the {r.name}.\"\n }\n ],\n\n \"PutObjectInReceptacleObject.feedback\": [\n {\n \"rhs\": \"PutObjectInReceptacleObject: You put the {o.name} in the {outero.name}.\"\n }\n ],\n\n \"PutEmptyReceptacleObjectinReceptacle.feedback\": [\n {\n \"rhs\": \"PutEmptyReceptacleObjectinReceptacle: You put the {o.name} in the {r.name}.\"\n }\n ],\n\n \"PutFullReceptacleObjectInReceptacle.feedback\": [\n {\n \"rhs\": \"PutFullReceptacleObjectInReceptacle: You put the {outero.name} in the {r.name}.\"\n }\n ],\n\n \"inventory.feedback\": [\n {\n \"condition\": \"holdsany(a:agent)\",\n \"rhs\": \"You are carrying: [{o.indefinite + ' ' + o.name | holds(a:agent, o:object)}].\"\n },\n {\n \"rhs\": \"You are not carrying anything.\"\n }\n ],\n\n \"examineReceptacle.feedback\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \"The {r.name} is open. In it, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \"The {r.name} is closed.\"\n },\n {\n \"rhs\": \"On the {r.name}, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n }\n ],\n\n \"examineObject.feedback\": [\n {\n \"condition\": \"isreceptacleobject(o:object)\",\n \"rhs\": \"This is a normal {o.name}. In it, you see [{o2.indefinite + ' ' + o2.name | inreceptacleobject(o2:object, o:object)}].\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a clean sliced {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot sliced {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object)\",\n \"rhs\": \"This is a hot and clean {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object)\",\n \"rhs\": \"This is a cool and clean {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object)\",\n \"rhs\": \"This is a hot {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object)\",\n \"rhs\": \"This is a clean {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object)\",\n \"rhs\": \"This is a cold {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"This {o.name} is on.\"\n },\n {\n \"condition\": \"toggleable(o:object) & not_istoggled(o:object)\",\n \"rhs\": \"This {o.name} is off.\"\n },\n {\n \"condition\": \"sliceable(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a sliced {o.name}.\"\n },\n {\n \"rhs\": \"There's nothing special about {o.name}.\"\n }\n ]\n }\n\"\"\";\n\naction GotoLocation {\n template :: \"go to [{r.name | receptacleatlocation(r:receptacle, lend:location)}]\";\n feedback :: \"#GotoLocation.feedback#\";\n}\n\naction OpenObject {\n template :: \"open {r}\";\n feedback :: \"#OpenObject.feedback#\";\n}\n\naction CloseObject {\n template :: \"close {r}\";\n feedback :: \"#CloseObject.feedback#\";\n}\n\naction PickupObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObject.feedback#\";\n}\n\naction PickupObjectFromReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObjectFromReceptacleObject.feedback#\";\n}\n\naction PickupEmptyReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupEmptyReceptacleObject.feedback#\";\n}\n\naction PickupFullReceptacleObject {\n template :: \"take {outerr} from {r}\";\n feedback :: \"#PickupFullReceptacleObject.feedback#\";\n}\n\naction PutObject {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutObject.feedback#\";\n}\n\naction PutObjectInReceptacleObject {\n template :: \"put {o} into {outero}\";\n feedback :: \"#PutObjectInReceptacleObject.feedback#\";\n}\n\naction PutEmptyReceptacleObjectinReceptacle {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutEmptyReceptacleObjectinReceptacle.feedback#\";\n}\n\naction PutFullReceptacleObjectInReceptacle {\n template :: \"put {outero} in {r}\";\n feedback :: \"#PutFullReceptacleObjectInReceptacle.feedback#\";\n}\n\naction inventory {\n template :: \"inventory\";\n feedback :: \"#inventory.feedback#\";\n}\n\naction examineReceptacle {\n template :: \"examine {r}\";\n feedback :: \"#examineReceptacle.feedback#\";\n}\n\naction examineObject {\n template :: \"examine {o}\";\n feedback :: \"#examineObject.feedback#\";\n}\n\naction ToggleObject {\n template :: \"use {o}\";\n feedback :: \"#toggleObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"toggleObject.feedback\": [\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"You turn on the {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object)\",\n \"rhs\": \"You turn off the {o.name}.\"\n },\n {\n \"rhs\": \"You don't see any switch on the {o.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction HeatObject {\n template :: \"heat {o} with {r}\";\n feedback :: \"#heatObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"heatObject.feedback\": [\n {\n \"rhs\": \"You heat the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CleanObject {\n template :: \"clean {o} with {r}\";\n feedback :: \"#cleanObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"cleanObject.feedback\": [\n {\n \"rhs\": \"You clean the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CoolObject {\n template :: \"cool {o} with {r}\";\n feedback :: \"#coolObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"coolObject.feedback\": [\n {\n \"rhs\": \"You cool the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction SliceObject {\n template :: \"slice {co} with {ko}\";\n feedback :: \"#sliceObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"sliceObject.feedback\": [\n {\n \"rhs\": \"You sliced the {co.name} with the {ko.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction look {\n template :: \"look\";\n feedback :: \"#look.feedback#\";\n\n grammar :: \"\"\"\n {\n \"look.feedback\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"#look-variations#. Next to it, you see #list_objects_on_the_floor#.\"\n },\n {\n \"rhs\": \"You are in the middle of a room. Looking quickly around you, you see #list_appliances#.\"\n }\n ],\n\n \"look-variations\": [\n {\n \"rhs\": \"You are facing the [{r.name | atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)}]\"\n }\n ],\n\n \"list_objects_on_the_floor\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)\",\n \"rhs\": \"[{#overview(o)# | atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"list_appliances\": [\n {\n \"condition\": \"receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"[{#overview(r)# | receptacleatlocation(r:receptacle, l:location)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"overview(o, r)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name} (in/on the {r.name})}\"\n }\n ],\n\n \"overview(o)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name}\"\n }\n ],\n \"overview(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}\"\n }\n ],\n \"overview_with_state(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}#overview_state(r)#\"\n }\n ],\n \"overview_state(r)\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \" (it is open)\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \" (it is closed)\"\n },\n {\n \"rhs\": \"\"\n }\n ],\n\n \"list_empty\": [\n {\n \"rhs\": \"nothing\"\n }\n ],\n \"list_separator\": [\n {\n \"rhs\": \", \"\n }\n ],\n \"list_last_separator\": [\n {\n \"rhs\": \", and \"\n }\n ]\n }\n \"\"\";\n}\n\naction help {\n template :: \"help\";\n feedback :: \"\nAvailable commands:\n look: look around your current location\n inventory: check your current inventory\n go to (receptacle): move to a receptacle\n open (receptacle): open a receptacle\n close (receptacle): close a receptacle\n take (object) from (receptacle): take an object from a receptacle\n move (object) to (receptacle): place an object in or on a receptacle\n examine (something): examine a receptacle or an object\n use (object): use an object\n heat (object) with (receptacle): heat an object using a receptacle\n clean (object) with (receptacle): clean an object using a receptacle\n cool (object) with (receptacle): cool an object using a receptacle\n slice (object) with (object): slice an object using a sharp object\n\";\n}\n", "pddl_problem": "\n(define (problem plan_trial_T20190907_043640_929501)\n(:domain alfred)\n(:objects\nagent1 - agent\nSaltShaker - object\n HousePlant - object\n Candle - object\n SprayBottle - object\n Bowl - object\n Window - object\n CD - object\n Egg - object\n Glassbottle - object\n Sink - object\n Pillow - object\n Spoon - object\n SoapBottle - object\n TeddyBear - object\n ButterKnife - object\n Cup - object\n Plate - object\n RemoteControl - object\n Tomato - object\n Statue - object\n HandTowel - object\n Knife - object\n StoveKnob - object\n LightSwitch - object\n Pen - object\n Painting - object\n DishSponge - object\n Vase - object\n Mug - object\n ToiletPaper - object\n Box - object\n Mirror - object\n Ladle - object\n Fork - object\n Blinds - object\n Footstool - object\n KeyChain - object\n Cloth - object\n Laptop - object\n TissueBox - object\n PepperShaker - object\n FloorLamp - object\n WateringCan - object\n Apple - object\n Pan - object\n PaperTowel - object\n PaperTowelRoll - object\n Newspaper - object\n Television - object\n Chair - object\n CellPhone - object\n CreditCard - object\n Lettuce - object\n BasketBall - object\n Potato - object\n Curtains - object\n Boots - object\n Pencil - object\n AlarmClock - object\n ToiletPaperRoll - object\n Spatula - object\n Book - object\n Bread - object\n SoapBar - object\n Watch - object\n DeskLamp - object\n Kettle - object\n Pot - object\n ScrubBrush - object\n WineBottle - object\n ShowerDoor - object\n Bathtub - object\n LaundryHamperLid - object\n ShowerGlass - object\n Poster - object\n TennisRacket - object\n BaseballBat - object\n Towel - object\n Plunger - object\nSaltShakerType - otype\n HousePlantType - otype\n CandleType - otype\n SprayBottleType - otype\n BowlType - otype\n WindowType - otype\n CDType - otype\n EggType - otype\n GlassbottleType - otype\n SinkType - otype\n PillowType - otype\n SpoonType - otype\n SoapBottleType - otype\n TeddyBearType - otype\n ButterKnifeType - otype\n CupType - otype\n PlateType - otype\n RemoteControlType - otype\n TomatoType - otype\n StatueType - otype\n HandTowelType - otype\n KnifeType - otype\n StoveKnobType - otype\n LightSwitchType - otype\n PenType - otype\n PaintingType - otype\n DishSpongeType - otype\n VaseType - otype\n MugType - otype\n ToiletPaperType - otype\n BoxType - otype\n MirrorType - otype\n LadleType - otype\n ForkType - otype\n BlindsType - otype\n FootstoolType - otype\n KeyChainType - otype\n ClothType - otype\n LaptopType - otype\n TissueBoxType - otype\n PepperShakerType - otype\n FloorLampType - otype\n WateringCanType - otype\n AppleType - otype\n PanType - otype\n PaperTowelType - otype\n PaperTowelRollType - otype\n NewspaperType - otype\n TelevisionType - otype\n ChairType - otype\n CellPhoneType - otype\n CreditCardType - otype\n LettuceType - otype\n BasketBallType - otype\n PotatoType - otype\n CurtainsType - otype\n BootsType - otype\n PencilType - otype\n AlarmClockType - otype\n ToiletPaperRollType - otype\n SpatulaType - otype\n BookType - otype\n BreadType - otype\n SoapBarType - otype\n WatchType - otype\n DeskLampType - otype\n KettleType - otype\n PotType - otype\n ScrubBrushType - otype\n WineBottleType - otype\n ShowerDoorType - otype\n BathtubType - otype\n LaundryHamperLidType - otype\n ShowerGlassType - otype\n PosterType - otype\n TennisRacketType - otype\n BaseballBatType - otype\n TowelType - otype\n PlungerType - otype\nSafeType - rtype\n DrawerType - rtype\n CoffeeMachineType - rtype\n HandTowelHolderType - rtype\n SinkBasinType - rtype\n DresserType - rtype\n LaundryHamperType - rtype\n TVStandType - rtype\n BathtubBasinType - rtype\n CabinetType - rtype\n FridgeType - rtype\n DeskType - rtype\n ToiletType - rtype\n CartType - rtype\n SideTableType - rtype\n SofaType - rtype\n CoffeeTableType - rtype\n DiningTableType - rtype\n CounterTopType - rtype\n GarbageCanType - rtype\n ArmChairType - rtype\n ShelfType - rtype\n MicrowaveType - rtype\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_63_bar__plus_00_dot_72_bar__plus_00_dot_42 - object\n Book_bar__plus_00_dot_75_bar__plus_00_dot_72_bar__plus_00_dot_18 - object\n Book_bar__plus_01_dot_01_bar__plus_00_dot_72_bar__plus_00_dot_18 - object\n Book_bar__minus_03_dot_33_bar__plus_00_dot_57_bar__plus_00_dot_48 - object\n Box_bar__plus_00_dot_33_bar__plus_00_dot_89_bar__plus_00_dot_49 - object\n CreditCard_bar__minus_01_dot_97_bar__plus_00_dot_45_bar__plus_02_dot_28 - object\n Curtains_bar__minus_03_dot_97_bar__plus_02_dot_26_bar__plus_01_dot_45 - object\n FloorLamp_bar__minus_03_dot_69_bar__plus_00_dot_00_bar__plus_04_dot_01 - object\n HousePlant_bar__minus_02_dot_02_bar__plus_00_dot_44_bar__plus_02_dot_36 - object\n KeyChain_bar__plus_01_dot_01_bar__plus_00_dot_24_bar__plus_00_dot_59 - object\n Laptop_bar__minus_01_dot_46_bar__plus_00_dot_45_bar__plus_02_dot_36 - object\n Laptop_bar__minus_01_dot_60_bar__plus_00_dot_54_bar__plus_00_dot_65 - object\n Laptop_bar__minus_01_dot_65_bar__plus_00_dot_71_bar__plus_03_dot_65 - object\n LightSwitch_bar__minus_00_dot_13_bar__plus_01_dot_41_bar__plus_04_dot_35 - object\n Painting_bar__minus_01_dot_10_bar__plus_01_dot_77_bar__minus_00_dot_02 - object\n Painting_bar__minus_03_dot_05_bar__plus_01_dot_69_bar__plus_04_dot_34 - object\n Pillow_bar__minus_00_dot_51_bar__plus_00_dot_66_bar__plus_00_dot_43 - object\n RemoteControl_bar__plus_01_dot_01_bar__plus_00_dot_72_bar__plus_00_dot_42 - object\n Statue_bar__minus_01_dot_05_bar__plus_00_dot_71_bar__plus_03_dot_76 - object\n Statue_bar__minus_01_dot_35_bar__plus_00_dot_71_bar__plus_03_dot_76 - object\n Television_bar__minus_01_dot_51_bar__plus_01_dot_19_bar__plus_04_dot_13 - object\n Watch_bar__minus_01_dot_05_bar__plus_00_dot_71_bar__plus_03_dot_98 - object\n Watch_bar__minus_01_dot_20_bar__plus_00_dot_71_bar__plus_03_dot_76 - object\n Watch_bar__minus_02_dot_09_bar__plus_00_dot_45_bar__plus_02_dot_52 - object\n Window_bar__minus_04_dot_05_bar__plus_01_dot_20_bar__plus_01_dot_31 - object\n ArmChair_bar__minus_03_dot_08_bar__plus_00_dot_47_bar__plus_00_dot_37 - receptacle\n CoffeeTable_bar__minus_01_dot_74_bar__plus_00_dot_00_bar__plus_02_dot_36 - receptacle\n GarbageCan_bar__minus_00_dot_38_bar__plus_00_dot_00_bar__plus_04_dot_10 - receptacle\n SideTable_bar__plus_00_dot_63_bar__plus_00_dot_00_bar__plus_00_dot_34 - receptacle\n Sofa_bar__minus_01_dot_16_bar__plus_00_dot_00_bar__plus_00_dot_45 - receptacle\n TVStand_bar__minus_01_dot_57_bar__plus_00_dot_00_bar__plus_03_dot_87 - receptacle\n loc_bar__minus_1_bar_14_bar_0_bar_15 - location\n loc_bar__minus_5_bar_7_bar_2_bar_45 - location\n loc_bar__minus_12_bar_15_bar_0_bar_0 - location\n loc_bar_2_bar_15_bar_3_bar_60 - location\n loc_bar__minus_12_bar_6_bar_2_bar_45 - location\n loc_bar__minus_12_bar_6_bar_3_bar__minus_30 - location\n loc_bar__minus_4_bar_5_bar_2_bar_0 - location\n loc_bar__minus_6_bar_12_bar_0_bar_60 - location\n loc_bar__minus_14_bar_14_bar_0_bar_60 - location\n loc_bar_3_bar_6_bar_2_bar_60 - location\n loc_bar__minus_12_bar_5_bar_3_bar_30 - location\n loc_bar__minus_6_bar_5_bar_0_bar_60 - location\n loc_bar_3_bar_4_bar_2_bar_60 - location\n loc_bar__minus_14_bar_6_bar_1_bar_30 - location\n )\n \n\n(:init\n\n\n (receptacleType GarbageCan_bar__minus_00_dot_38_bar__plus_00_dot_00_bar__plus_04_dot_10 GarbageCanType)\n (receptacleType CoffeeTable_bar__minus_01_dot_74_bar__plus_00_dot_00_bar__plus_02_dot_36 CoffeeTableType)\n (receptacleType Sofa_bar__minus_01_dot_16_bar__plus_00_dot_00_bar__plus_00_dot_45 SofaType)\n (receptacleType SideTable_bar__plus_00_dot_63_bar__plus_00_dot_00_bar__plus_00_dot_34 SideTableType)\n (receptacleType ArmChair_bar__minus_03_dot_08_bar__plus_00_dot_47_bar__plus_00_dot_37 ArmChairType)\n (receptacleType TVStand_bar__minus_01_dot_57_bar__plus_00_dot_00_bar__plus_03_dot_87 TVStandType)\n (objectType Box_bar__plus_00_dot_33_bar__plus_00_dot_89_bar__plus_00_dot_49 BoxType)\n (objectType Television_bar__minus_01_dot_51_bar__plus_01_dot_19_bar__plus_04_dot_13 TelevisionType)\n (objectType FloorLamp_bar__minus_03_dot_69_bar__plus_00_dot_00_bar__plus_04_dot_01 FloorLampType)\n (objectType KeyChain_bar__plus_01_dot_01_bar__plus_00_dot_24_bar__plus_00_dot_59 KeyChainType)\n (objectType Book_bar__plus_00_dot_63_bar__plus_00_dot_72_bar__plus_00_dot_42 BookType)\n (objectType Statue_bar__minus_01_dot_35_bar__plus_00_dot_71_bar__plus_03_dot_76 StatueType)\n (objectType Watch_bar__minus_01_dot_05_bar__plus_00_dot_71_bar__plus_03_dot_98 WatchType)\n (objectType Laptop_bar__minus_01_dot_65_bar__plus_00_dot_71_bar__plus_03_dot_65 LaptopType)\n (objectType Book_bar__plus_00_dot_75_bar__plus_00_dot_72_bar__plus_00_dot_18 BookType)\n (objectType Watch_bar__minus_01_dot_20_bar__plus_00_dot_71_bar__plus_03_dot_76 WatchType)\n (objectType Curtains_bar__minus_03_dot_97_bar__plus_02_dot_26_bar__plus_01_dot_45 CurtainsType)\n (objectType Watch_bar__minus_02_dot_09_bar__plus_00_dot_45_bar__plus_02_dot_52 WatchType)\n (objectType Window_bar__minus_04_dot_05_bar__plus_01_dot_20_bar__plus_01_dot_31 WindowType)\n (objectType CreditCard_bar__minus_01_dot_97_bar__plus_00_dot_45_bar__plus_02_dot_28 CreditCardType)\n (objectType RemoteControl_bar__plus_01_dot_01_bar__plus_00_dot_72_bar__plus_00_dot_42 RemoteControlType)\n (objectType LightSwitch_bar__minus_00_dot_13_bar__plus_01_dot_41_bar__plus_04_dot_35 LightSwitchType)\n (objectType Painting_bar__minus_03_dot_05_bar__plus_01_dot_69_bar__plus_04_dot_34 PaintingType)\n (objectType Book_bar__minus_03_dot_33_bar__plus_00_dot_57_bar__plus_00_dot_48 BookType)\n (objectType Laptop_bar__minus_01_dot_46_bar__plus_00_dot_45_bar__plus_02_dot_36 LaptopType)\n (objectType Pillow_bar__minus_00_dot_51_bar__plus_00_dot_66_bar__plus_00_dot_43 PillowType)\n (objectType Painting_bar__minus_01_dot_10_bar__plus_01_dot_77_bar__minus_00_dot_02 PaintingType)\n (objectType Book_bar__plus_01_dot_01_bar__plus_00_dot_72_bar__plus_00_dot_18 BookType)\n (objectType Statue_bar__minus_01_dot_05_bar__plus_00_dot_71_bar__plus_03_dot_76 StatueType)\n (objectType HousePlant_bar__minus_02_dot_02_bar__plus_00_dot_44_bar__plus_02_dot_36 HousePlantType)\n (objectType Laptop_bar__minus_01_dot_60_bar__plus_00_dot_54_bar__plus_00_dot_65 LaptopType)\n (canContain CoffeeTableType BookType)\n (canContain CoffeeTableType WatchType)\n (canContain CoffeeTableType BoxType)\n (canContain CoffeeTableType KeyChainType)\n (canContain CoffeeTableType CreditCardType)\n (canContain CoffeeTableType LaptopType)\n (canContain CoffeeTableType RemoteControlType)\n (canContain CoffeeTableType StatueType)\n (canContain SofaType BoxType)\n (canContain SofaType LaptopType)\n (canContain SofaType BookType)\n (canContain SofaType PillowType)\n (canContain SofaType RemoteControlType)\n (canContain SofaType KeyChainType)\n (canContain SofaType CreditCardType)\n (canContain SideTableType BookType)\n (canContain SideTableType WatchType)\n (canContain SideTableType BoxType)\n (canContain SideTableType KeyChainType)\n (canContain SideTableType CreditCardType)\n (canContain SideTableType LaptopType)\n (canContain SideTableType RemoteControlType)\n (canContain SideTableType StatueType)\n (canContain ArmChairType BoxType)\n (canContain ArmChairType LaptopType)\n (canContain ArmChairType BookType)\n (canContain ArmChairType PillowType)\n (canContain ArmChairType RemoteControlType)\n (canContain ArmChairType KeyChainType)\n (canContain ArmChairType CreditCardType)\n (pickupable Box_bar__plus_00_dot_33_bar__plus_00_dot_89_bar__plus_00_dot_49)\n (pickupable KeyChain_bar__plus_01_dot_01_bar__plus_00_dot_24_bar__plus_00_dot_59)\n (pickupable Book_bar__plus_00_dot_63_bar__plus_00_dot_72_bar__plus_00_dot_42)\n (pickupable Statue_bar__minus_01_dot_35_bar__plus_00_dot_71_bar__plus_03_dot_76)\n (pickupable Watch_bar__minus_01_dot_05_bar__plus_00_dot_71_bar__plus_03_dot_98)\n (pickupable Laptop_bar__minus_01_dot_65_bar__plus_00_dot_71_bar__plus_03_dot_65)\n (pickupable Book_bar__plus_00_dot_75_bar__plus_00_dot_72_bar__plus_00_dot_18)\n (pickupable Watch_bar__minus_01_dot_20_bar__plus_00_dot_71_bar__plus_03_dot_76)\n (pickupable Watch_bar__minus_02_dot_09_bar__plus_00_dot_45_bar__plus_02_dot_52)\n (pickupable CreditCard_bar__minus_01_dot_97_bar__plus_00_dot_45_bar__plus_02_dot_28)\n (pickupable RemoteControl_bar__plus_01_dot_01_bar__plus_00_dot_72_bar__plus_00_dot_42)\n (pickupable Book_bar__minus_03_dot_33_bar__plus_00_dot_57_bar__plus_00_dot_48)\n (pickupable Laptop_bar__minus_01_dot_46_bar__plus_00_dot_45_bar__plus_02_dot_36)\n (pickupable Pillow_bar__minus_00_dot_51_bar__plus_00_dot_66_bar__plus_00_dot_43)\n (pickupable Book_bar__plus_01_dot_01_bar__plus_00_dot_72_bar__plus_00_dot_18)\n (pickupable Statue_bar__minus_01_dot_05_bar__plus_00_dot_71_bar__plus_03_dot_76)\n (pickupable Laptop_bar__minus_01_dot_60_bar__plus_00_dot_54_bar__plus_00_dot_65)\n (isReceptacleObject Box_bar__plus_00_dot_33_bar__plus_00_dot_89_bar__plus_00_dot_49)\n \n \n (atLocation agent1 loc_bar__minus_14_bar_6_bar_1_bar_30)\n \n \n \n \n \n \n \n (toggleable FloorLamp_bar__minus_03_dot_69_bar__plus_00_dot_00_bar__plus_04_dot_01)\n \n \n \n \n (inReceptacle Statue_bar__minus_01_dot_35_bar__plus_00_dot_71_bar__plus_03_dot_76 TVStand_bar__minus_01_dot_57_bar__plus_00_dot_00_bar__plus_03_dot_87)\n (inReceptacle Television_bar__minus_01_dot_51_bar__plus_01_dot_19_bar__plus_04_dot_13 TVStand_bar__minus_01_dot_57_bar__plus_00_dot_00_bar__plus_03_dot_87)\n (inReceptacle Watch_bar__minus_01_dot_05_bar__plus_00_dot_71_bar__plus_03_dot_98 TVStand_bar__minus_01_dot_57_bar__plus_00_dot_00_bar__plus_03_dot_87)\n (inReceptacle Laptop_bar__minus_01_dot_65_bar__plus_00_dot_71_bar__plus_03_dot_65 TVStand_bar__minus_01_dot_57_bar__plus_00_dot_00_bar__plus_03_dot_87)\n (inReceptacle Statue_bar__minus_01_dot_05_bar__plus_00_dot_71_bar__plus_03_dot_76 TVStand_bar__minus_01_dot_57_bar__plus_00_dot_00_bar__plus_03_dot_87)\n (inReceptacle Watch_bar__minus_01_dot_20_bar__plus_00_dot_71_bar__plus_03_dot_76 TVStand_bar__minus_01_dot_57_bar__plus_00_dot_00_bar__plus_03_dot_87)\n (inReceptacle Book_bar__minus_03_dot_33_bar__plus_00_dot_57_bar__plus_00_dot_48 ArmChair_bar__minus_03_dot_08_bar__plus_00_dot_47_bar__plus_00_dot_37)\n (inReceptacle CreditCard_bar__minus_01_dot_97_bar__plus_00_dot_45_bar__plus_02_dot_28 CoffeeTable_bar__minus_01_dot_74_bar__plus_00_dot_00_bar__plus_02_dot_36)\n (inReceptacle Laptop_bar__minus_01_dot_46_bar__plus_00_dot_45_bar__plus_02_dot_36 CoffeeTable_bar__minus_01_dot_74_bar__plus_00_dot_00_bar__plus_02_dot_36)\n (inReceptacle Watch_bar__minus_02_dot_09_bar__plus_00_dot_45_bar__plus_02_dot_52 CoffeeTable_bar__minus_01_dot_74_bar__plus_00_dot_00_bar__plus_02_dot_36)\n (inReceptacle HousePlant_bar__minus_02_dot_02_bar__plus_00_dot_44_bar__plus_02_dot_36 CoffeeTable_bar__minus_01_dot_74_bar__plus_00_dot_00_bar__plus_02_dot_36)\n (inReceptacle Pillow_bar__minus_00_dot_51_bar__plus_00_dot_66_bar__plus_00_dot_43 Sofa_bar__minus_01_dot_16_bar__plus_00_dot_00_bar__plus_00_dot_45)\n (inReceptacle Laptop_bar__minus_01_dot_60_bar__plus_00_dot_54_bar__plus_00_dot_65 Sofa_bar__minus_01_dot_16_bar__plus_00_dot_00_bar__plus_00_dot_45)\n (inReceptacle Book_bar__plus_00_dot_63_bar__plus_00_dot_72_bar__plus_00_dot_42 SideTable_bar__plus_00_dot_63_bar__plus_00_dot_00_bar__plus_00_dot_34)\n (inReceptacle Box_bar__plus_00_dot_33_bar__plus_00_dot_89_bar__plus_00_dot_49 SideTable_bar__plus_00_dot_63_bar__plus_00_dot_00_bar__plus_00_dot_34)\n (inReceptacle Book_bar__plus_01_dot_01_bar__plus_00_dot_72_bar__plus_00_dot_18 SideTable_bar__plus_00_dot_63_bar__plus_00_dot_00_bar__plus_00_dot_34)\n (inReceptacle Book_bar__plus_00_dot_75_bar__plus_00_dot_72_bar__plus_00_dot_18 SideTable_bar__plus_00_dot_63_bar__plus_00_dot_00_bar__plus_00_dot_34)\n (inReceptacle RemoteControl_bar__plus_01_dot_01_bar__plus_00_dot_72_bar__plus_00_dot_42 SideTable_bar__plus_00_dot_63_bar__plus_00_dot_00_bar__plus_00_dot_34)\n \n \n (receptacleAtLocation ArmChair_bar__minus_03_dot_08_bar__plus_00_dot_47_bar__plus_00_dot_37 loc_bar__minus_12_bar_6_bar_2_bar_45)\n (receptacleAtLocation CoffeeTable_bar__minus_01_dot_74_bar__plus_00_dot_00_bar__plus_02_dot_36 loc_bar__minus_6_bar_5_bar_0_bar_60)\n (receptacleAtLocation GarbageCan_bar__minus_00_dot_38_bar__plus_00_dot_00_bar__plus_04_dot_10 loc_bar_2_bar_15_bar_3_bar_60)\n (receptacleAtLocation SideTable_bar__plus_00_dot_63_bar__plus_00_dot_00_bar__plus_00_dot_34 loc_bar_3_bar_6_bar_2_bar_60)\n (receptacleAtLocation Sofa_bar__minus_01_dot_16_bar__plus_00_dot_00_bar__plus_00_dot_45 loc_bar__minus_5_bar_7_bar_2_bar_45)\n (receptacleAtLocation TVStand_bar__minus_01_dot_57_bar__plus_00_dot_00_bar__plus_03_dot_87 loc_bar__minus_6_bar_12_bar_0_bar_60)\n (objectAtLocation Watch_bar__minus_01_dot_05_bar__plus_00_dot_71_bar__plus_03_dot_98 loc_bar__minus_6_bar_12_bar_0_bar_60)\n (objectAtLocation Statue_bar__minus_01_dot_05_bar__plus_00_dot_71_bar__plus_03_dot_76 loc_bar__minus_6_bar_12_bar_0_bar_60)\n (objectAtLocation Laptop_bar__minus_01_dot_65_bar__plus_00_dot_71_bar__plus_03_dot_65 loc_bar__minus_6_bar_12_bar_0_bar_60)\n (objectAtLocation Book_bar__minus_03_dot_33_bar__plus_00_dot_57_bar__plus_00_dot_48 loc_bar__minus_12_bar_6_bar_2_bar_45)\n (objectAtLocation Laptop_bar__minus_01_dot_60_bar__plus_00_dot_54_bar__plus_00_dot_65 loc_bar__minus_5_bar_7_bar_2_bar_45)\n (objectAtLocation Watch_bar__minus_01_dot_20_bar__plus_00_dot_71_bar__plus_03_dot_76 loc_bar__minus_6_bar_12_bar_0_bar_60)\n (objectAtLocation Book_bar__plus_00_dot_63_bar__plus_00_dot_72_bar__plus_00_dot_42 loc_bar_3_bar_6_bar_2_bar_60)\n (objectAtLocation Book_bar__plus_01_dot_01_bar__plus_00_dot_72_bar__plus_00_dot_18 loc_bar_3_bar_6_bar_2_bar_60)\n (objectAtLocation Painting_bar__minus_03_dot_05_bar__plus_01_dot_69_bar__plus_04_dot_34 loc_bar__minus_12_bar_15_bar_0_bar_0)\n (objectAtLocation Curtains_bar__minus_03_dot_97_bar__plus_02_dot_26_bar__plus_01_dot_45 loc_bar__minus_12_bar_6_bar_3_bar__minus_30)\n (objectAtLocation Book_bar__plus_00_dot_75_bar__plus_00_dot_72_bar__plus_00_dot_18 loc_bar_3_bar_6_bar_2_bar_60)\n (objectAtLocation Box_bar__plus_00_dot_33_bar__plus_00_dot_89_bar__plus_00_dot_49 loc_bar_3_bar_6_bar_2_bar_60)\n (objectAtLocation Painting_bar__minus_01_dot_10_bar__plus_01_dot_77_bar__minus_00_dot_02 loc_bar__minus_4_bar_5_bar_2_bar_0)\n (objectAtLocation LightSwitch_bar__minus_00_dot_13_bar__plus_01_dot_41_bar__plus_04_dot_35 loc_bar__minus_1_bar_14_bar_0_bar_15)\n (objectAtLocation Television_bar__minus_01_dot_51_bar__plus_01_dot_19_bar__plus_04_dot_13 loc_bar__minus_6_bar_12_bar_0_bar_60)\n (objectAtLocation HousePlant_bar__minus_02_dot_02_bar__plus_00_dot_44_bar__plus_02_dot_36 loc_bar__minus_6_bar_5_bar_0_bar_60)\n (objectAtLocation Laptop_bar__minus_01_dot_46_bar__plus_00_dot_45_bar__plus_02_dot_36 loc_bar__minus_6_bar_5_bar_0_bar_60)\n (objectAtLocation KeyChain_bar__plus_01_dot_01_bar__plus_00_dot_24_bar__plus_00_dot_59 loc_bar_3_bar_4_bar_2_bar_60)\n (objectAtLocation Pillow_bar__minus_00_dot_51_bar__plus_00_dot_66_bar__plus_00_dot_43 loc_bar__minus_5_bar_7_bar_2_bar_45)\n (objectAtLocation Statue_bar__minus_01_dot_35_bar__plus_00_dot_71_bar__plus_03_dot_76 loc_bar__minus_6_bar_12_bar_0_bar_60)\n (objectAtLocation FloorLamp_bar__minus_03_dot_69_bar__plus_00_dot_00_bar__plus_04_dot_01 loc_bar__minus_14_bar_14_bar_0_bar_60)\n (objectAtLocation RemoteControl_bar__plus_01_dot_01_bar__plus_00_dot_72_bar__plus_00_dot_42 loc_bar_3_bar_6_bar_2_bar_60)\n (objectAtLocation CreditCard_bar__minus_01_dot_97_bar__plus_00_dot_45_bar__plus_02_dot_28 loc_bar__minus_6_bar_5_bar_0_bar_60)\n (objectAtLocation Watch_bar__minus_02_dot_09_bar__plus_00_dot_45_bar__plus_02_dot_52 loc_bar__minus_6_bar_5_bar_0_bar_60)\n (objectAtLocation Window_bar__minus_04_dot_05_bar__plus_01_dot_20_bar__plus_01_dot_31 loc_bar__minus_12_bar_5_bar_3_bar_30)\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 SofaType)\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to sidetable 1", "take book 3 from sidetable 1", "go to sofa 1", "move book 3 to sofa 1"]}
|
alfworld__pick_and_place_simple__786
|
pick_and_place_simple
|
pick_and_place_simple-Book-None-Sofa-202/trial_T20190907_043652_096323/game.tw-pddl
|
{"pddl_domain": ";; Specification in PDDL of the Alfred domain\n;; Intended to be used with Fast Downward which supports PDDL 2.2 level 1 plus the :action-costs requirement from PDDL 3.1.\n\n(define (domain alfred)\n (:requirements\n :adl\n :action-costs\n :typing\n )\n (:types\n agent\n location\n receptacle\n object\n rtype\n otype\n )\n\n\n (:predicates\n (atLocation ?a - agent ?l - location) ; true if the agent is at the location\n (receptacleAtLocation ?r - receptacle ?l - location) ; true if the receptacle is at the location (constant)\n (objectAtLocation ?o - object ?l - location) ; true if the object is at the location\n (openable ?r - receptacle) ; true if a receptacle is openable\n (opened ?r - receptacle) ; true if a receptacle is opened\n (inReceptacle ?o - object ?r - receptacle) ; object ?o is in receptacle ?r\n (isReceptacleObject ?o - object) ; true if the object can have things put inside it\n (inReceptacleObject ?innerObject - object ?outerObject - object) ; object ?innerObject is inside object ?outerObject\n (isReceptacleObjectFull ?o - object) ; true if the receptacle object contains something\n (wasInReceptacle ?o - object ?r - receptacle) ; object ?o was or is in receptacle ?r now or some time in the past\n (checked ?r - receptacle) ; whether the receptacle has been looked inside/visited\n (examined ?l - location) ; TODO\n (receptacleType ?r - receptacle ?t - rtype) ; the type of receptacle (Cabinet vs Cabinet|01|2...)\n (canContain ?rt - rtype ?ot - otype) ; true if receptacle can hold object\n (objectType ?o - object ?t - otype) ; the type of object (Apple vs Apple|01|2...)\n (holds ?a - agent ?o - object) ; object ?o is held by agent ?a\n (holdsAny ?a - agent) ; agent ?a holds an object\n (holdsAnyReceptacleObject ?a - agent) ; agent ?a holds a receptacle object\n (full ?r - receptacle) ; true if the receptacle has no remaining space\n (isClean ?o - object) ; true if the object has been clean in sink\n (cleanable ?o - object) ; true if the object can be placed in a sink\n (isHot ?o - object) ; true if the object has been heated up\n (heatable ?o - object) ; true if the object can be heated up in a microwave\n (isCool ?o - object) ; true if the object has been cooled\n (coolable ?o - object) ; true if the object can be cooled in the fridge\n (pickupable ?o - object) ; true if the object can be picked up\n (moveable ?o - object) ; true if the object can be moved\n (toggleable ?o - object) ; true if the object can be turned on/off\n (isOn ?o - object) ; true if the object is on\n (isToggled ?o - object) ; true if the object has been toggled\n (sliceable ?o - object) ; true if the object can be sliced\n (isSliced ?o - object) ; true if the object is sliced\n )\n\n (:functions\n (distance ?from ?to)\n (total-cost) - number\n )\n\n;; All actions are specified such that the final arguments are the ones used\n;; for performing actions in Unity.\n\n\n(:action look\n :parameters (?a - agent ?l - location)\n :precondition\n (and\n (atLocation ?a ?l)\n )\n :effect\n (and\n (checked ?l)\n )\n)\n\n(:action inventory\n :parameters (?a - agent)\n :precondition\n ()\n :effect\n (and\n (checked ?a)\n )\n)\n\n(:action examineReceptacle\n :parameters (?a - agent ?r - receptacle)\n :precondition\n (and\n (exists (?l - location)\n (and\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n )\n )\n )\n :effect\n (and\n (checked ?r)\n )\n)\n\n(:action examineObject\n :parameters (?a - agent ?o - object)\n :precondition\n (or\n ;(exists (?l - location)\n ; (and\n ; (atLocation ?a ?l)\n ; (objectAtLocation ?o ?l)\n ; )\n ;)\n (exists (?l - location, ?r - receptacle)\n (and\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n ; (objectAtLocation ?o ?l)\n (inReceptacle ?o ?r)\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n )\n )\n (holds ?a ?o)\n )\n :effect\n (and\n (checked ?o)\n )\n)\n\n;; agent goes to receptacle\n (:action GotoLocation\n :parameters (?a - agent ?lStart - location ?lEnd - location ?r - receptacle)\n :precondition (and\n (atLocation ?a ?lStart)\n (receptacleAtLocation ?r ?lEnd)\n ;(exists (?r - receptacle) (receptacleAtLocation ?r ?lEnd))\n )\n :effect (and\n (not (atLocation ?a ?lStart))\n (atLocation ?a ?lEnd)\n ; (forall (?r - receptacle)\n ; (when (and (receptacleAtLocation ?r ?lEnd)\n ; (or (not (openable ?r)) (opened ?r)))\n ; (checked ?r)\n ; )\n ; )\n ; (increase (total-cost) (distance ?lStart ?lEnd))\n (increase (total-cost) 1)\n )\n )\n\n;; agent opens receptacle\n (:action OpenObject\n :parameters (?a - agent ?l - location ?r - receptacle)\n :precondition (and\n (openable ?r)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (not (opened ?r))\n )\n :effect (and\n (opened ?r)\n (checked ?r)\n (increase (total-cost) 1)\n )\n )\n;; agent closes receptacle\n (:action CloseObject\n :parameters (?a - agent ?l - location ?r - receptacle)\n :precondition (and\n (openable ?r)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (opened ?r)\n )\n :effect (and\n (not (opened ?r))\n (increase (total-cost) 1)\n )\n\n )\n\n ;; agent picks up object from a receptacle\n (:action PickupObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n :precondition\n (and\n (pickupable ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n ; (objectAtLocation ?o ?l)\n (inReceptacle ?o ?r)\n (not (holdsAny ?a)) ; agent's hands are empty.\n ;(not (holdsAnyReceptacleObject ?a))\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n ;(not (isReceptacleObject ?o))\n )\n :effect\n (and\n (not (inReceptacle ?o ?r))\n (holds ?a ?o)\n (holdsAny ?a)\n (not (objectAtLocation ?o ?l))\n ;(not (full ?r))\n (increase (total-cost) 1)\n )\n )\n\n\n; ;; agent picks up object from a receptacle\n; (:action PickupObjectFromReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?outerR - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (inReceptacle ?o ?r)\n; (pickupable ?o)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (not (isReceptacleObject ?o))\n; (isReceptacleObject ?outerR)\n; (inReceptacleObject ?o ?outerR)\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (holds ?a ?o)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n;\n; (not (inReceptacleObject ?o ?outerR))\n; (not (isReceptacleObjectFull ?outerR))\n; )\n; )\n;\n; ;; agent picks up object from a receptacle\n; (:action PickupEmptyReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; ; (objectAtLocation ?o ?l)\n; (inReceptacle ?o ?r)\n; (pickupable ?o)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (isReceptacleObject ?o)\n; (not (isReceptacleObjectFull ?o))\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (holds ?a ?o)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n; (holdsAnyReceptacleObject ?a)\n; )\n; )\n;\n; ;; agent picks up object from a receptacle\n; (:action PickupFullReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?outerR - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (inReceptacle ?outerR ?r)\n; (pickupable ?outerR)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (not (isReceptacleObject ?o))\n; (isReceptacleObject ?outerR)\n; (inReceptacleObject ?o ?outerR)\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (not (inReceptacle ?outerR ?r))\n; (holds ?a ?outerR)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (objectAtLocation ?outerR ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n; (holdsAnyReceptacleObject ?a)\n; )\n; )\n\n\n;; agent puts down an object\n (:action PutObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle ?ot - otype ?rt - rtype)\n :precondition (and\n (holds ?a ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable\n ;(not (full ?r))\n (objectType ?o ?ot)\n (receptacleType ?r ?rt)\n (canContain ?rt ?ot)\n ;(not (holdsAnyReceptacleObject ?a))\n )\n :effect (and\n (inReceptacle ?o ?r)\n (objectAtLocation ?o ?l)\n ;(full ?r)\n (not (holds ?a ?o))\n (not (holdsAny ?a))\n (increase (total-cost) 1)\n )\n )\n\n;;; agent puts down an object\n; (:action PutObjectInReceptacleObject\n; :parameters (?a - agent ?l - location ?ot - otype ?o - object ?outerO - object ?outerR - receptacle)\n; :precondition (and\n; (atLocation ?a ?l)\n; (objectAtLocation ?outerO ?l)\n; (isReceptacleObject ?outerO)\n; (not (isReceptacleObject ?o))\n; (objectType ?o ?ot)\n; (holds ?a ?o)\n; (not (holdsAnyReceptacleObject ?a))\n; (inReceptacle ?outerO ?outerR)\n; (not (isReceptacleObjectFull ?outerO))\n; )\n; :effect (and\n; (inReceptacleObject ?o ?outerO)\n; (inReceptacle ?o ?outerR)\n; (not (holds ?a ?o))\n; (not (holdsAny ?a))\n; (objectAtLocation ?o ?l)\n; (isReceptacleObjectFull ?outerO)\n; (increase (total-cost) 1)\n; )\n; )\n;\n;;; agent puts down an object\n; (:action PutEmptyReceptacleObjectinReceptacle\n; :parameters (?a - agent ?l - location ?ot - otype ?o - object ?r - receptacle)\n; :precondition (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable\n; (not (full ?r))\n; (objectType ?o ?ot)\n; (holds ?a ?o)\n; (holdsAnyReceptacleObject ?a)\n; (isReceptacleObject ?o)\n; (not (isReceptacleObjectFull ?o))\n; )\n; :effect (and\n; (inReceptacle ?o ?r)\n; (objectAtLocation ?o ?l)\n; (full ?r)\n; (not (holds ?a ?o))\n; (not (holdsAny ?a))\n; (not (holdsAnyReceptacleObject ?a))\n; (increase (total-cost) 1)\n; )\n; )\n;\n;;; agent puts down a receptacle object in a receptacle\n; (:action PutFullReceptacleObjectInReceptacle\n; :parameters (?a - agent ?l - location ?ot - otype ?innerO - object ?outerO - object ?r - receptacle) ; ?rt - rtype)\n; :precondition (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (objectType ?outerO ?ot)\n; (holds ?a ?outerO)\n; (holdsAnyReceptacleObject ?a)\n; (isReceptacleObject ?outerO)\n; (isReceptacleObjectFull ?outerO)\n; (inReceptacleObject ?innerO ?outerO)\n; )\n; :effect (and\n; (not (holdsAny ?a))\n; (not (holdsAnyReceptacleObject ?a))\n; (objectAtLocation ?outerO ?l)\n; (objectAtLocation ?innerO ?l)\n; (inReceptacle ?outerO ?r)\n; (inReceptacle ?innerO ?r)\n; (not (holds ?a ?outerO))\n; (increase (total-cost) 1)\n; )\n; )\n\n;; agent cleans some object\n (:action CleanObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (cleanable ?o)\n (or\n (receptacleType ?r SinkType)\n (receptacleType ?r SinkBasinType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isClean ?o)\n )\n )\n\n\n;; agent heats-up some object\n (:action HeatObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (heatable ?o)\n (or\n (receptacleType ?r MicrowaveType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isHot ?o)\n (not (isCool ?o))\n )\n )\n\n;; agent cools some object\n (:action CoolObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (coolable ?o)\n (or\n (receptacleType ?r FridgeType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isCool ?o)\n (not (isHot ?o))\n )\n )\n\n\n;; agent toggle object\n (:action ToggleObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n :precondition (and\n (toggleable ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (inReceptacle ?o ?r)\n )\n :effect (and\n (increase (total-cost) 5)\n (when (isOn ?o)\n (not (isOn ?o)))\n (when (not (isOn ?o))\n (isOn ?o))\n (isToggled ?o)\n )\n )\n\n\n;; agent slices some object with a knife\n (:action SliceObject\n :parameters (?a - agent ?l - location ?co - object ?ko - object)\n :precondition\n (and\n (sliceable ?co)\n (or\n (objectType ?ko KnifeType)\n (objectType ?ko ButterKnifeType)\n )\n (atLocation ?a ?l)\n (objectAtLocation ?co ?l)\n (holds ?a ?ko)\n )\n :effect (and\n (increase (total-cost) 5)\n (isSliced ?co)\n )\n )\n\n\n(:action help\n :parameters (?a - agent)\n :precondition\n ()\n :effect\n (and\n (checked ?a)\n )\n)\n)\n", "grammar": "grammar :: \"\"\"\n {\n \"intro\": [\n {\n \"rhs\": \"-= Welcome to TextWorld, ALFRED! =-\\n\\n#look.feedback#\\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 sofa.\"\n }\n ],\n\n \"GotoLocation.feedback\": [\n {\n \"rhs\": \"You arrive at {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"OpenObject.feedback\": [\n {\n \"rhs\": \"You open the {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"CloseObject.feedback\": [\n {\n \"rhs\": \"You close the {r.name}.\"\n }\n ],\n\n \"PickupObject.feedback\": [\n {\n \"rhs\": \"You pick up the {o.name} from the {r.name}.\"\n }\n ],\n\n \"PickupObjectFromReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupObjectFromReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupEmptyReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupEmptyReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupFullReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupFullReceptacleObject: You pick up the {outerr.name}.\"\n }\n ],\n\n \"PutObject.feedback\": [\n {\n \"rhs\": \"You move the {o.name} to the {r.name}.\"\n }\n ],\n\n \"PutObjectInReceptacleObject.feedback\": [\n {\n \"rhs\": \"PutObjectInReceptacleObject: You put the {o.name} in the {outero.name}.\"\n }\n ],\n\n \"PutEmptyReceptacleObjectinReceptacle.feedback\": [\n {\n \"rhs\": \"PutEmptyReceptacleObjectinReceptacle: You put the {o.name} in the {r.name}.\"\n }\n ],\n\n \"PutFullReceptacleObjectInReceptacle.feedback\": [\n {\n \"rhs\": \"PutFullReceptacleObjectInReceptacle: You put the {outero.name} in the {r.name}.\"\n }\n ],\n\n \"inventory.feedback\": [\n {\n \"condition\": \"holdsany(a:agent)\",\n \"rhs\": \"You are carrying: [{o.indefinite + ' ' + o.name | holds(a:agent, o:object)}].\"\n },\n {\n \"rhs\": \"You are not carrying anything.\"\n }\n ],\n\n \"examineReceptacle.feedback\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \"The {r.name} is open. In it, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \"The {r.name} is closed.\"\n },\n {\n \"rhs\": \"On the {r.name}, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n }\n ],\n\n \"examineObject.feedback\": [\n {\n \"condition\": \"isreceptacleobject(o:object)\",\n \"rhs\": \"This is a normal {o.name}. In it, you see [{o2.indefinite + ' ' + o2.name | inreceptacleobject(o2:object, o:object)}].\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a clean sliced {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot sliced {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object)\",\n \"rhs\": \"This is a hot and clean {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object)\",\n \"rhs\": \"This is a cool and clean {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object)\",\n \"rhs\": \"This is a hot {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object)\",\n \"rhs\": \"This is a clean {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object)\",\n \"rhs\": \"This is a cold {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"This {o.name} is on.\"\n },\n {\n \"condition\": \"toggleable(o:object) & not_istoggled(o:object)\",\n \"rhs\": \"This {o.name} is off.\"\n },\n {\n \"condition\": \"sliceable(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a sliced {o.name}.\"\n },\n {\n \"rhs\": \"There's nothing special about {o.name}.\"\n }\n ]\n }\n\"\"\";\n\naction GotoLocation {\n template :: \"go to [{r.name | receptacleatlocation(r:receptacle, lend:location)}]\";\n feedback :: \"#GotoLocation.feedback#\";\n}\n\naction OpenObject {\n template :: \"open {r}\";\n feedback :: \"#OpenObject.feedback#\";\n}\n\naction CloseObject {\n template :: \"close {r}\";\n feedback :: \"#CloseObject.feedback#\";\n}\n\naction PickupObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObject.feedback#\";\n}\n\naction PickupObjectFromReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObjectFromReceptacleObject.feedback#\";\n}\n\naction PickupEmptyReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupEmptyReceptacleObject.feedback#\";\n}\n\naction PickupFullReceptacleObject {\n template :: \"take {outerr} from {r}\";\n feedback :: \"#PickupFullReceptacleObject.feedback#\";\n}\n\naction PutObject {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutObject.feedback#\";\n}\n\naction PutObjectInReceptacleObject {\n template :: \"put {o} into {outero}\";\n feedback :: \"#PutObjectInReceptacleObject.feedback#\";\n}\n\naction PutEmptyReceptacleObjectinReceptacle {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutEmptyReceptacleObjectinReceptacle.feedback#\";\n}\n\naction PutFullReceptacleObjectInReceptacle {\n template :: \"put {outero} in {r}\";\n feedback :: \"#PutFullReceptacleObjectInReceptacle.feedback#\";\n}\n\naction inventory {\n template :: \"inventory\";\n feedback :: \"#inventory.feedback#\";\n}\n\naction examineReceptacle {\n template :: \"examine {r}\";\n feedback :: \"#examineReceptacle.feedback#\";\n}\n\naction examineObject {\n template :: \"examine {o}\";\n feedback :: \"#examineObject.feedback#\";\n}\n\naction ToggleObject {\n template :: \"use {o}\";\n feedback :: \"#toggleObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"toggleObject.feedback\": [\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"You turn on the {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object)\",\n \"rhs\": \"You turn off the {o.name}.\"\n },\n {\n \"rhs\": \"You don't see any switch on the {o.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction HeatObject {\n template :: \"heat {o} with {r}\";\n feedback :: \"#heatObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"heatObject.feedback\": [\n {\n \"rhs\": \"You heat the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CleanObject {\n template :: \"clean {o} with {r}\";\n feedback :: \"#cleanObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"cleanObject.feedback\": [\n {\n \"rhs\": \"You clean the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CoolObject {\n template :: \"cool {o} with {r}\";\n feedback :: \"#coolObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"coolObject.feedback\": [\n {\n \"rhs\": \"You cool the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction SliceObject {\n template :: \"slice {co} with {ko}\";\n feedback :: \"#sliceObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"sliceObject.feedback\": [\n {\n \"rhs\": \"You sliced the {co.name} with the {ko.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction look {\n template :: \"look\";\n feedback :: \"#look.feedback#\";\n\n grammar :: \"\"\"\n {\n \"look.feedback\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"#look-variations#. Next to it, you see #list_objects_on_the_floor#.\"\n },\n {\n \"rhs\": \"You are in the middle of a room. Looking quickly around you, you see #list_appliances#.\"\n }\n ],\n\n \"look-variations\": [\n {\n \"rhs\": \"You are facing the [{r.name | atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)}]\"\n }\n ],\n\n \"list_objects_on_the_floor\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)\",\n \"rhs\": \"[{#overview(o)# | atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"list_appliances\": [\n {\n \"condition\": \"receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"[{#overview(r)# | receptacleatlocation(r:receptacle, l:location)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"overview(o, r)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name} (in/on the {r.name})}\"\n }\n ],\n\n \"overview(o)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name}\"\n }\n ],\n \"overview(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}\"\n }\n ],\n \"overview_with_state(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}#overview_state(r)#\"\n }\n ],\n \"overview_state(r)\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \" (it is open)\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \" (it is closed)\"\n },\n {\n \"rhs\": \"\"\n }\n ],\n\n \"list_empty\": [\n {\n \"rhs\": \"nothing\"\n }\n ],\n \"list_separator\": [\n {\n \"rhs\": \", \"\n }\n ],\n \"list_last_separator\": [\n {\n \"rhs\": \", and \"\n }\n ]\n }\n \"\"\";\n}\n\naction help {\n template :: \"help\";\n feedback :: \"\nAvailable commands:\n look: look around your current location\n inventory: check your current inventory\n go to (receptacle): move to a receptacle\n open (receptacle): open a receptacle\n close (receptacle): close a receptacle\n take (object) from (receptacle): take an object from a receptacle\n move (object) to (receptacle): place an object in or on a receptacle\n examine (something): examine a receptacle or an object\n use (object): use an object\n heat (object) with (receptacle): heat an object using a receptacle\n clean (object) with (receptacle): clean an object using a receptacle\n cool (object) with (receptacle): cool an object using a receptacle\n slice (object) with (object): slice an object using a sharp object\n\";\n}\n", "pddl_problem": "\n(define (problem plan_trial_T20190907_043652_096323)\n(:domain alfred)\n(:objects\nagent1 - agent\nSaltShaker - object\n HousePlant - object\n Candle - object\n SprayBottle - object\n Bowl - object\n Window - object\n CD - object\n Egg - object\n Glassbottle - object\n Sink - object\n Pillow - object\n Spoon - object\n SoapBottle - object\n TeddyBear - object\n ButterKnife - object\n Cup - object\n Plate - object\n RemoteControl - object\n Tomato - object\n Statue - object\n HandTowel - object\n Knife - object\n StoveKnob - object\n LightSwitch - object\n Pen - object\n Painting - object\n DishSponge - object\n Vase - object\n Mug - object\n ToiletPaper - object\n Box - object\n Mirror - object\n Ladle - object\n Fork - object\n Blinds - object\n Footstool - object\n KeyChain - object\n Cloth - object\n Laptop - object\n TissueBox - object\n PepperShaker - object\n FloorLamp - object\n WateringCan - object\n Apple - object\n Pan - object\n PaperTowel - object\n PaperTowelRoll - object\n Newspaper - object\n Television - object\n Chair - object\n CellPhone - object\n CreditCard - object\n Lettuce - object\n BasketBall - object\n Potato - object\n Curtains - object\n Boots - object\n Pencil - object\n AlarmClock - object\n ToiletPaperRoll - object\n Spatula - object\n Book - object\n Bread - object\n SoapBar - object\n Watch - object\n DeskLamp - object\n Kettle - object\n Pot - object\n ScrubBrush - object\n WineBottle - object\n ShowerDoor - object\n Bathtub - object\n LaundryHamperLid - object\n ShowerGlass - object\n Poster - object\n TennisRacket - object\n BaseballBat - object\n Towel - object\n Plunger - object\nSaltShakerType - otype\n HousePlantType - otype\n CandleType - otype\n SprayBottleType - otype\n BowlType - otype\n WindowType - otype\n CDType - otype\n EggType - otype\n GlassbottleType - otype\n SinkType - otype\n PillowType - otype\n SpoonType - otype\n SoapBottleType - otype\n TeddyBearType - otype\n ButterKnifeType - otype\n CupType - otype\n PlateType - otype\n RemoteControlType - otype\n TomatoType - otype\n StatueType - otype\n HandTowelType - otype\n KnifeType - otype\n StoveKnobType - otype\n LightSwitchType - otype\n PenType - otype\n PaintingType - otype\n DishSpongeType - otype\n VaseType - otype\n MugType - otype\n ToiletPaperType - otype\n BoxType - otype\n MirrorType - otype\n LadleType - otype\n ForkType - otype\n BlindsType - otype\n FootstoolType - otype\n KeyChainType - otype\n ClothType - otype\n LaptopType - otype\n TissueBoxType - otype\n PepperShakerType - otype\n FloorLampType - otype\n WateringCanType - otype\n AppleType - otype\n PanType - otype\n PaperTowelType - otype\n PaperTowelRollType - otype\n NewspaperType - otype\n TelevisionType - otype\n ChairType - otype\n CellPhoneType - otype\n CreditCardType - otype\n LettuceType - otype\n BasketBallType - otype\n PotatoType - otype\n CurtainsType - otype\n BootsType - otype\n PencilType - otype\n AlarmClockType - otype\n ToiletPaperRollType - otype\n SpatulaType - otype\n BookType - otype\n BreadType - otype\n SoapBarType - otype\n WatchType - otype\n DeskLampType - otype\n KettleType - otype\n PotType - otype\n ScrubBrushType - otype\n WineBottleType - otype\n ShowerDoorType - otype\n BathtubType - otype\n LaundryHamperLidType - otype\n ShowerGlassType - otype\n PosterType - otype\n TennisRacketType - otype\n BaseballBatType - otype\n TowelType - otype\n PlungerType - otype\nSafeType - rtype\n DrawerType - rtype\n CoffeeMachineType - rtype\n HandTowelHolderType - rtype\n SinkBasinType - rtype\n DresserType - rtype\n LaundryHamperType - rtype\n TVStandType - rtype\n BathtubBasinType - rtype\n CabinetType - rtype\n FridgeType - rtype\n DeskType - rtype\n ToiletType - rtype\n CartType - rtype\n SideTableType - rtype\n SofaType - rtype\n CoffeeTableType - rtype\n DiningTableType - rtype\n CounterTopType - rtype\n GarbageCanType - rtype\n ArmChairType - rtype\n ShelfType - rtype\n MicrowaveType - rtype\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_75_bar__plus_00_dot_72_bar__plus_00_dot_34 - object\n Box_bar__plus_00_dot_33_bar__plus_00_dot_89_bar__plus_00_dot_49 - object\n CreditCard_bar__plus_01_dot_01_bar__plus_00_dot_71_bar__plus_00_dot_34 - object\n CreditCard_bar__minus_00_dot_35_bar__plus_00_dot_55_bar__plus_00_dot_83 - object\n CreditCard_bar__minus_01_dot_10_bar__plus_00_dot_55_bar__plus_00_dot_83 - object\n Curtains_bar__minus_03_dot_97_bar__plus_02_dot_26_bar__plus_01_dot_45 - object\n FloorLamp_bar__minus_03_dot_69_bar__plus_00_dot_00_bar__plus_04_dot_01 - object\n HousePlant_bar__minus_02_dot_02_bar__plus_00_dot_44_bar__plus_02_dot_36 - object\n KeyChain_bar__plus_00_dot_25_bar__plus_00_dot_24_bar__plus_00_dot_51 - object\n KeyChain_bar__minus_02_dot_09_bar__plus_00_dot_45_bar__plus_02_dot_28 - object\n Laptop_bar__minus_01_dot_46_bar__plus_00_dot_45_bar__plus_02_dot_20 - object\n LightSwitch_bar__minus_00_dot_13_bar__plus_01_dot_41_bar__plus_04_dot_35 - object\n Painting_bar__minus_01_dot_10_bar__plus_01_dot_77_bar__minus_00_dot_02 - object\n Painting_bar__minus_03_dot_05_bar__plus_01_dot_69_bar__plus_04_dot_34 - object\n Pillow_bar__minus_00_dot_51_bar__plus_00_dot_66_bar__plus_00_dot_43 - object\n Pillow_bar__minus_01_dot_60_bar__plus_00_dot_64_bar__plus_00_dot_74 - object\n RemoteControl_bar__minus_00_dot_60_bar__plus_00_dot_55_bar__plus_00_dot_65 - object\n RemoteControl_bar__minus_01_dot_50_bar__plus_00_dot_71_bar__plus_03_dot_65 - object\n RemoteControl_bar__minus_02_dot_70_bar__plus_00_dot_56_bar__plus_00_dot_38 - object\n Statue_bar__minus_01_dot_05_bar__plus_00_dot_71_bar__plus_03_dot_87 - object\n Television_bar__minus_01_dot_51_bar__plus_01_dot_19_bar__plus_04_dot_13 - object\n Watch_bar__minus_01_dot_97_bar__plus_00_dot_45_bar__plus_02_dot_20 - object\n Watch_bar__minus_01_dot_97_bar__plus_00_dot_45_bar__plus_02_dot_28 - object\n Watch_bar__minus_01_dot_97_bar__plus_00_dot_45_bar__plus_02_dot_52 - object\n Window_bar__minus_04_dot_05_bar__plus_01_dot_20_bar__plus_01_dot_31 - object\n ArmChair_bar__minus_03_dot_08_bar__plus_00_dot_47_bar__plus_00_dot_37 - receptacle\n CoffeeTable_bar__minus_01_dot_74_bar__plus_00_dot_00_bar__plus_02_dot_36 - receptacle\n GarbageCan_bar__minus_00_dot_38_bar__plus_00_dot_00_bar__plus_04_dot_10 - receptacle\n SideTable_bar__plus_00_dot_63_bar__plus_00_dot_00_bar__plus_00_dot_34 - receptacle\n Sofa_bar__minus_01_dot_16_bar__plus_00_dot_00_bar__plus_00_dot_45 - receptacle\n TVStand_bar__minus_01_dot_57_bar__plus_00_dot_00_bar__plus_03_dot_87 - receptacle\n loc_bar__minus_1_bar_14_bar_0_bar_15 - location\n loc_bar__minus_5_bar_7_bar_2_bar_45 - location\n loc_bar__minus_12_bar_15_bar_0_bar_0 - location\n loc_bar_2_bar_15_bar_3_bar_60 - location\n loc_bar__minus_12_bar_6_bar_2_bar_45 - location\n loc_bar__minus_12_bar_6_bar_3_bar__minus_30 - location\n loc_bar__minus_4_bar_5_bar_2_bar_0 - location\n loc_bar__minus_6_bar_12_bar_0_bar_60 - location\n loc_bar_1_bar_4_bar_2_bar_60 - location\n loc_bar__minus_14_bar_14_bar_0_bar_60 - location\n loc_bar__minus_12_bar_5_bar_3_bar_30 - location\n loc_bar_3_bar_6_bar_2_bar_60 - location\n loc_bar__minus_2_bar_5_bar_2_bar_60 - location\n loc_bar__minus_6_bar_5_bar_0_bar_60 - location\n loc_bar_2_bar_5_bar_3_bar_30 - location\n )\n \n\n(:init\n\n\n (receptacleType GarbageCan_bar__minus_00_dot_38_bar__plus_00_dot_00_bar__plus_04_dot_10 GarbageCanType)\n (receptacleType CoffeeTable_bar__minus_01_dot_74_bar__plus_00_dot_00_bar__plus_02_dot_36 CoffeeTableType)\n (receptacleType Sofa_bar__minus_01_dot_16_bar__plus_00_dot_00_bar__plus_00_dot_45 SofaType)\n (receptacleType SideTable_bar__plus_00_dot_63_bar__plus_00_dot_00_bar__plus_00_dot_34 SideTableType)\n (receptacleType ArmChair_bar__minus_03_dot_08_bar__plus_00_dot_47_bar__plus_00_dot_37 ArmChairType)\n (receptacleType TVStand_bar__minus_01_dot_57_bar__plus_00_dot_00_bar__plus_03_dot_87 TVStandType)\n (objectType Watch_bar__minus_01_dot_97_bar__plus_00_dot_45_bar__plus_02_dot_28 WatchType)\n (objectType Box_bar__plus_00_dot_33_bar__plus_00_dot_89_bar__plus_00_dot_49 BoxType)\n (objectType Television_bar__minus_01_dot_51_bar__plus_01_dot_19_bar__plus_04_dot_13 TelevisionType)\n (objectType FloorLamp_bar__minus_03_dot_69_bar__plus_00_dot_00_bar__plus_04_dot_01 FloorLampType)\n (objectType KeyChain_bar__plus_00_dot_25_bar__plus_00_dot_24_bar__plus_00_dot_51 KeyChainType)\n (objectType CreditCard_bar__minus_00_dot_35_bar__plus_00_dot_55_bar__plus_00_dot_83 CreditCardType)\n (objectType Watch_bar__minus_01_dot_97_bar__plus_00_dot_45_bar__plus_02_dot_20 WatchType)\n (objectType KeyChain_bar__minus_02_dot_09_bar__plus_00_dot_45_bar__plus_02_dot_28 KeyChainType)\n (objectType Laptop_bar__minus_01_dot_46_bar__plus_00_dot_45_bar__plus_02_dot_20 LaptopType)\n (objectType RemoteControl_bar__minus_02_dot_70_bar__plus_00_dot_56_bar__plus_00_dot_38 RemoteControlType)\n (objectType Pillow_bar__minus_01_dot_60_bar__plus_00_dot_64_bar__plus_00_dot_74 PillowType)\n (objectType CreditCard_bar__plus_01_dot_01_bar__plus_00_dot_71_bar__plus_00_dot_34 CreditCardType)\n (objectType Curtains_bar__minus_03_dot_97_bar__plus_02_dot_26_bar__plus_01_dot_45 CurtainsType)\n (objectType Statue_bar__minus_01_dot_05_bar__plus_00_dot_71_bar__plus_03_dot_87 StatueType)\n (objectType CreditCard_bar__minus_01_dot_10_bar__plus_00_dot_55_bar__plus_00_dot_83 CreditCardType)\n (objectType Window_bar__minus_04_dot_05_bar__plus_01_dot_20_bar__plus_01_dot_31 WindowType)\n (objectType LightSwitch_bar__minus_00_dot_13_bar__plus_01_dot_41_bar__plus_04_dot_35 LightSwitchType)\n (objectType Painting_bar__minus_03_dot_05_bar__plus_01_dot_69_bar__plus_04_dot_34 PaintingType)\n (objectType Book_bar__plus_00_dot_75_bar__plus_00_dot_72_bar__plus_00_dot_34 BookType)\n (objectType RemoteControl_bar__minus_00_dot_60_bar__plus_00_dot_55_bar__plus_00_dot_65 RemoteControlType)\n (objectType Pillow_bar__minus_00_dot_51_bar__plus_00_dot_66_bar__plus_00_dot_43 PillowType)\n (objectType Painting_bar__minus_01_dot_10_bar__plus_01_dot_77_bar__minus_00_dot_02 PaintingType)\n (objectType Watch_bar__minus_01_dot_97_bar__plus_00_dot_45_bar__plus_02_dot_52 WatchType)\n (objectType HousePlant_bar__minus_02_dot_02_bar__plus_00_dot_44_bar__plus_02_dot_36 HousePlantType)\n (objectType RemoteControl_bar__minus_01_dot_50_bar__plus_00_dot_71_bar__plus_03_dot_65 RemoteControlType)\n (canContain CoffeeTableType BookType)\n (canContain CoffeeTableType WatchType)\n (canContain CoffeeTableType BoxType)\n (canContain CoffeeTableType KeyChainType)\n (canContain CoffeeTableType CreditCardType)\n (canContain CoffeeTableType LaptopType)\n (canContain CoffeeTableType RemoteControlType)\n (canContain CoffeeTableType StatueType)\n (canContain SofaType BoxType)\n (canContain SofaType LaptopType)\n (canContain SofaType BookType)\n (canContain SofaType PillowType)\n (canContain SofaType RemoteControlType)\n (canContain SofaType KeyChainType)\n (canContain SofaType CreditCardType)\n (canContain SideTableType BookType)\n (canContain SideTableType WatchType)\n (canContain SideTableType BoxType)\n (canContain SideTableType KeyChainType)\n (canContain SideTableType CreditCardType)\n (canContain SideTableType LaptopType)\n (canContain SideTableType RemoteControlType)\n (canContain SideTableType StatueType)\n (canContain ArmChairType BoxType)\n (canContain ArmChairType LaptopType)\n (canContain ArmChairType BookType)\n (canContain ArmChairType PillowType)\n (canContain ArmChairType RemoteControlType)\n (canContain ArmChairType KeyChainType)\n (canContain ArmChairType CreditCardType)\n (pickupable Watch_bar__minus_01_dot_97_bar__plus_00_dot_45_bar__plus_02_dot_28)\n (pickupable Box_bar__plus_00_dot_33_bar__plus_00_dot_89_bar__plus_00_dot_49)\n (pickupable KeyChain_bar__plus_00_dot_25_bar__plus_00_dot_24_bar__plus_00_dot_51)\n (pickupable CreditCard_bar__minus_00_dot_35_bar__plus_00_dot_55_bar__plus_00_dot_83)\n (pickupable Watch_bar__minus_01_dot_97_bar__plus_00_dot_45_bar__plus_02_dot_20)\n (pickupable KeyChain_bar__minus_02_dot_09_bar__plus_00_dot_45_bar__plus_02_dot_28)\n (pickupable Laptop_bar__minus_01_dot_46_bar__plus_00_dot_45_bar__plus_02_dot_20)\n (pickupable RemoteControl_bar__minus_02_dot_70_bar__plus_00_dot_56_bar__plus_00_dot_38)\n (pickupable Pillow_bar__minus_01_dot_60_bar__plus_00_dot_64_bar__plus_00_dot_74)\n (pickupable CreditCard_bar__plus_01_dot_01_bar__plus_00_dot_71_bar__plus_00_dot_34)\n (pickupable Statue_bar__minus_01_dot_05_bar__plus_00_dot_71_bar__plus_03_dot_87)\n (pickupable CreditCard_bar__minus_01_dot_10_bar__plus_00_dot_55_bar__plus_00_dot_83)\n (pickupable Book_bar__plus_00_dot_75_bar__plus_00_dot_72_bar__plus_00_dot_34)\n (pickupable RemoteControl_bar__minus_00_dot_60_bar__plus_00_dot_55_bar__plus_00_dot_65)\n (pickupable Pillow_bar__minus_00_dot_51_bar__plus_00_dot_66_bar__plus_00_dot_43)\n (pickupable Watch_bar__minus_01_dot_97_bar__plus_00_dot_45_bar__plus_02_dot_52)\n (pickupable RemoteControl_bar__minus_01_dot_50_bar__plus_00_dot_71_bar__plus_03_dot_65)\n (isReceptacleObject Box_bar__plus_00_dot_33_bar__plus_00_dot_89_bar__plus_00_dot_49)\n \n \n (atLocation agent1 loc_bar_2_bar_5_bar_3_bar_30)\n \n \n \n \n \n \n \n (toggleable FloorLamp_bar__minus_03_dot_69_bar__plus_00_dot_00_bar__plus_04_dot_01)\n \n \n \n \n (inReceptacle Statue_bar__minus_01_dot_05_bar__plus_00_dot_71_bar__plus_03_dot_87 TVStand_bar__minus_01_dot_57_bar__plus_00_dot_00_bar__plus_03_dot_87)\n (inReceptacle Television_bar__minus_01_dot_51_bar__plus_01_dot_19_bar__plus_04_dot_13 TVStand_bar__minus_01_dot_57_bar__plus_00_dot_00_bar__plus_03_dot_87)\n (inReceptacle RemoteControl_bar__minus_01_dot_50_bar__plus_00_dot_71_bar__plus_03_dot_65 TVStand_bar__minus_01_dot_57_bar__plus_00_dot_00_bar__plus_03_dot_87)\n (inReceptacle RemoteControl_bar__minus_02_dot_70_bar__plus_00_dot_56_bar__plus_00_dot_38 ArmChair_bar__minus_03_dot_08_bar__plus_00_dot_47_bar__plus_00_dot_37)\n (inReceptacle Watch_bar__minus_01_dot_97_bar__plus_00_dot_45_bar__plus_02_dot_28 CoffeeTable_bar__minus_01_dot_74_bar__plus_00_dot_00_bar__plus_02_dot_36)\n (inReceptacle Laptop_bar__minus_01_dot_46_bar__plus_00_dot_45_bar__plus_02_dot_20 CoffeeTable_bar__minus_01_dot_74_bar__plus_00_dot_00_bar__plus_02_dot_36)\n (inReceptacle Watch_bar__minus_01_dot_97_bar__plus_00_dot_45_bar__plus_02_dot_52 CoffeeTable_bar__minus_01_dot_74_bar__plus_00_dot_00_bar__plus_02_dot_36)\n (inReceptacle HousePlant_bar__minus_02_dot_02_bar__plus_00_dot_44_bar__plus_02_dot_36 CoffeeTable_bar__minus_01_dot_74_bar__plus_00_dot_00_bar__plus_02_dot_36)\n (inReceptacle Watch_bar__minus_01_dot_97_bar__plus_00_dot_45_bar__plus_02_dot_20 CoffeeTable_bar__minus_01_dot_74_bar__plus_00_dot_00_bar__plus_02_dot_36)\n (inReceptacle KeyChain_bar__minus_02_dot_09_bar__plus_00_dot_45_bar__plus_02_dot_28 CoffeeTable_bar__minus_01_dot_74_bar__plus_00_dot_00_bar__plus_02_dot_36)\n (inReceptacle CreditCard_bar__minus_00_dot_35_bar__plus_00_dot_55_bar__plus_00_dot_83 Sofa_bar__minus_01_dot_16_bar__plus_00_dot_00_bar__plus_00_dot_45)\n (inReceptacle Pillow_bar__minus_01_dot_60_bar__plus_00_dot_64_bar__plus_00_dot_74 Sofa_bar__minus_01_dot_16_bar__plus_00_dot_00_bar__plus_00_dot_45)\n (inReceptacle CreditCard_bar__minus_01_dot_10_bar__plus_00_dot_55_bar__plus_00_dot_83 Sofa_bar__minus_01_dot_16_bar__plus_00_dot_00_bar__plus_00_dot_45)\n (inReceptacle Pillow_bar__minus_00_dot_51_bar__plus_00_dot_66_bar__plus_00_dot_43 Sofa_bar__minus_01_dot_16_bar__plus_00_dot_00_bar__plus_00_dot_45)\n (inReceptacle Box_bar__plus_00_dot_33_bar__plus_00_dot_89_bar__plus_00_dot_49 SideTable_bar__plus_00_dot_63_bar__plus_00_dot_00_bar__plus_00_dot_34)\n (inReceptacle CreditCard_bar__plus_01_dot_01_bar__plus_00_dot_71_bar__plus_00_dot_34 SideTable_bar__plus_00_dot_63_bar__plus_00_dot_00_bar__plus_00_dot_34)\n (inReceptacle Book_bar__plus_00_dot_75_bar__plus_00_dot_72_bar__plus_00_dot_34 SideTable_bar__plus_00_dot_63_bar__plus_00_dot_00_bar__plus_00_dot_34)\n \n \n (receptacleAtLocation ArmChair_bar__minus_03_dot_08_bar__plus_00_dot_47_bar__plus_00_dot_37 loc_bar__minus_12_bar_6_bar_2_bar_45)\n (receptacleAtLocation CoffeeTable_bar__minus_01_dot_74_bar__plus_00_dot_00_bar__plus_02_dot_36 loc_bar__minus_6_bar_5_bar_0_bar_60)\n (receptacleAtLocation GarbageCan_bar__minus_00_dot_38_bar__plus_00_dot_00_bar__plus_04_dot_10 loc_bar_2_bar_15_bar_3_bar_60)\n (receptacleAtLocation SideTable_bar__plus_00_dot_63_bar__plus_00_dot_00_bar__plus_00_dot_34 loc_bar_3_bar_6_bar_2_bar_60)\n (receptacleAtLocation Sofa_bar__minus_01_dot_16_bar__plus_00_dot_00_bar__plus_00_dot_45 loc_bar__minus_5_bar_7_bar_2_bar_45)\n (receptacleAtLocation TVStand_bar__minus_01_dot_57_bar__plus_00_dot_00_bar__plus_03_dot_87 loc_bar__minus_6_bar_12_bar_0_bar_60)\n (objectAtLocation Watch_bar__minus_01_dot_97_bar__plus_00_dot_45_bar__plus_02_dot_52 loc_bar__minus_6_bar_5_bar_0_bar_60)\n (objectAtLocation CreditCard_bar__plus_01_dot_01_bar__plus_00_dot_71_bar__plus_00_dot_34 loc_bar_3_bar_6_bar_2_bar_60)\n (objectAtLocation RemoteControl_bar__minus_02_dot_70_bar__plus_00_dot_56_bar__plus_00_dot_38 loc_bar__minus_12_bar_6_bar_2_bar_45)\n (objectAtLocation Pillow_bar__minus_00_dot_51_bar__plus_00_dot_66_bar__plus_00_dot_43 loc_bar__minus_5_bar_7_bar_2_bar_45)\n (objectAtLocation KeyChain_bar__plus_00_dot_25_bar__plus_00_dot_24_bar__plus_00_dot_51 loc_bar_1_bar_4_bar_2_bar_60)\n (objectAtLocation RemoteControl_bar__minus_01_dot_50_bar__plus_00_dot_71_bar__plus_03_dot_65 loc_bar__minus_6_bar_12_bar_0_bar_60)\n (objectAtLocation CreditCard_bar__minus_00_dot_35_bar__plus_00_dot_55_bar__plus_00_dot_83 loc_bar__minus_5_bar_7_bar_2_bar_45)\n (objectAtLocation Watch_bar__minus_01_dot_97_bar__plus_00_dot_45_bar__plus_02_dot_20 loc_bar__minus_6_bar_5_bar_0_bar_60)\n (objectAtLocation Painting_bar__minus_03_dot_05_bar__plus_01_dot_69_bar__plus_04_dot_34 loc_bar__minus_12_bar_15_bar_0_bar_0)\n (objectAtLocation Curtains_bar__minus_03_dot_97_bar__plus_02_dot_26_bar__plus_01_dot_45 loc_bar__minus_12_bar_6_bar_3_bar__minus_30)\n (objectAtLocation Book_bar__plus_00_dot_75_bar__plus_00_dot_72_bar__plus_00_dot_34 loc_bar_3_bar_6_bar_2_bar_60)\n (objectAtLocation Box_bar__plus_00_dot_33_bar__plus_00_dot_89_bar__plus_00_dot_49 loc_bar_3_bar_6_bar_2_bar_60)\n (objectAtLocation Painting_bar__minus_01_dot_10_bar__plus_01_dot_77_bar__minus_00_dot_02 loc_bar__minus_4_bar_5_bar_2_bar_0)\n (objectAtLocation LightSwitch_bar__minus_00_dot_13_bar__plus_01_dot_41_bar__plus_04_dot_35 loc_bar__minus_1_bar_14_bar_0_bar_15)\n (objectAtLocation Television_bar__minus_01_dot_51_bar__plus_01_dot_19_bar__plus_04_dot_13 loc_bar__minus_6_bar_12_bar_0_bar_60)\n (objectAtLocation HousePlant_bar__minus_02_dot_02_bar__plus_00_dot_44_bar__plus_02_dot_36 loc_bar__minus_6_bar_5_bar_0_bar_60)\n (objectAtLocation Laptop_bar__minus_01_dot_46_bar__plus_00_dot_45_bar__plus_02_dot_20 loc_bar__minus_6_bar_5_bar_0_bar_60)\n (objectAtLocation KeyChain_bar__minus_02_dot_09_bar__plus_00_dot_45_bar__plus_02_dot_28 loc_bar__minus_6_bar_5_bar_0_bar_60)\n (objectAtLocation Pillow_bar__minus_01_dot_60_bar__plus_00_dot_64_bar__plus_00_dot_74 loc_bar__minus_5_bar_7_bar_2_bar_45)\n (objectAtLocation Statue_bar__minus_01_dot_05_bar__plus_00_dot_71_bar__plus_03_dot_87 loc_bar__minus_6_bar_12_bar_0_bar_60)\n (objectAtLocation FloorLamp_bar__minus_03_dot_69_bar__plus_00_dot_00_bar__plus_04_dot_01 loc_bar__minus_14_bar_14_bar_0_bar_60)\n (objectAtLocation RemoteControl_bar__minus_00_dot_60_bar__plus_00_dot_55_bar__plus_00_dot_65 loc_bar__minus_2_bar_5_bar_2_bar_60)\n (objectAtLocation CreditCard_bar__minus_01_dot_10_bar__plus_00_dot_55_bar__plus_00_dot_83 loc_bar__minus_5_bar_7_bar_2_bar_45)\n (objectAtLocation Watch_bar__minus_01_dot_97_bar__plus_00_dot_45_bar__plus_02_dot_28 loc_bar__minus_6_bar_5_bar_0_bar_60)\n (objectAtLocation Window_bar__minus_04_dot_05_bar__plus_01_dot_20_bar__plus_01_dot_31 loc_bar__minus_12_bar_5_bar_3_bar_30)\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 SofaType)\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to sidetable 1", "take book 1 from sidetable 1", "go to sofa 1", "move book 1 to sofa 1"]}
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alfworld__pick_and_place_simple__787
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pick_and_place_simple
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pick_and_place_simple-Book-None-Sofa-202/trial_T20190907_043708_054006/game.tw-pddl
|
{"pddl_domain": ";; Specification in PDDL of the Alfred domain\n;; Intended to be used with Fast Downward which supports PDDL 2.2 level 1 plus the :action-costs requirement from PDDL 3.1.\n\n(define (domain alfred)\n (:requirements\n :adl\n :action-costs\n :typing\n )\n (:types\n agent\n location\n receptacle\n object\n rtype\n otype\n )\n\n\n (:predicates\n (atLocation ?a - agent ?l - location) ; true if the agent is at the location\n (receptacleAtLocation ?r - receptacle ?l - location) ; true if the receptacle is at the location (constant)\n (objectAtLocation ?o - object ?l - location) ; true if the object is at the location\n (openable ?r - receptacle) ; true if a receptacle is openable\n (opened ?r - receptacle) ; true if a receptacle is opened\n (inReceptacle ?o - object ?r - receptacle) ; object ?o is in receptacle ?r\n (isReceptacleObject ?o - object) ; true if the object can have things put inside it\n (inReceptacleObject ?innerObject - object ?outerObject - object) ; object ?innerObject is inside object ?outerObject\n (isReceptacleObjectFull ?o - object) ; true if the receptacle object contains something\n (wasInReceptacle ?o - object ?r - receptacle) ; object ?o was or is in receptacle ?r now or some time in the past\n (checked ?r - receptacle) ; whether the receptacle has been looked inside/visited\n (examined ?l - location) ; TODO\n (receptacleType ?r - receptacle ?t - rtype) ; the type of receptacle (Cabinet vs Cabinet|01|2...)\n (canContain ?rt - rtype ?ot - otype) ; true if receptacle can hold object\n (objectType ?o - object ?t - otype) ; the type of object (Apple vs Apple|01|2...)\n (holds ?a - agent ?o - object) ; object ?o is held by agent ?a\n (holdsAny ?a - agent) ; agent ?a holds an object\n (holdsAnyReceptacleObject ?a - agent) ; agent ?a holds a receptacle object\n (full ?r - receptacle) ; true if the receptacle has no remaining space\n (isClean ?o - object) ; true if the object has been clean in sink\n (cleanable ?o - object) ; true if the object can be placed in a sink\n (isHot ?o - object) ; true if the object has been heated up\n (heatable ?o - object) ; true if the object can be heated up in a microwave\n (isCool ?o - object) ; true if the object has been cooled\n (coolable ?o - object) ; true if the object can be cooled in the fridge\n (pickupable ?o - object) ; true if the object can be picked up\n (moveable ?o - object) ; true if the object can be moved\n (toggleable ?o - object) ; true if the object can be turned on/off\n (isOn ?o - object) ; true if the object is on\n (isToggled ?o - object) ; true if the object has been toggled\n (sliceable ?o - object) ; true if the object can be sliced\n (isSliced ?o - object) ; true if the object is sliced\n )\n\n (:functions\n (distance ?from ?to)\n (total-cost) - number\n )\n\n;; All actions are specified such that the final arguments are the ones used\n;; for performing actions in Unity.\n\n\n(:action look\n :parameters (?a - agent ?l - location)\n :precondition\n (and\n (atLocation ?a ?l)\n )\n :effect\n (and\n (checked ?l)\n )\n)\n\n(:action inventory\n :parameters (?a - agent)\n :precondition\n ()\n :effect\n (and\n (checked ?a)\n )\n)\n\n(:action examineReceptacle\n :parameters (?a - agent ?r - receptacle)\n :precondition\n (and\n (exists (?l - location)\n (and\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n )\n )\n )\n :effect\n (and\n (checked ?r)\n )\n)\n\n(:action examineObject\n :parameters (?a - agent ?o - object)\n :precondition\n (or\n ;(exists (?l - location)\n ; (and\n ; (atLocation ?a ?l)\n ; (objectAtLocation ?o ?l)\n ; )\n ;)\n (exists (?l - location, ?r - receptacle)\n (and\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n ; (objectAtLocation ?o ?l)\n (inReceptacle ?o ?r)\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n )\n )\n (holds ?a ?o)\n )\n :effect\n (and\n (checked ?o)\n )\n)\n\n;; agent goes to receptacle\n (:action GotoLocation\n :parameters (?a - agent ?lStart - location ?lEnd - location ?r - receptacle)\n :precondition (and\n (atLocation ?a ?lStart)\n (receptacleAtLocation ?r ?lEnd)\n ;(exists (?r - receptacle) (receptacleAtLocation ?r ?lEnd))\n )\n :effect (and\n (not (atLocation ?a ?lStart))\n (atLocation ?a ?lEnd)\n ; (forall (?r - receptacle)\n ; (when (and (receptacleAtLocation ?r ?lEnd)\n ; (or (not (openable ?r)) (opened ?r)))\n ; (checked ?r)\n ; )\n ; )\n ; (increase (total-cost) (distance ?lStart ?lEnd))\n (increase (total-cost) 1)\n )\n )\n\n;; agent opens receptacle\n (:action OpenObject\n :parameters (?a - agent ?l - location ?r - receptacle)\n :precondition (and\n (openable ?r)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (not (opened ?r))\n )\n :effect (and\n (opened ?r)\n (checked ?r)\n (increase (total-cost) 1)\n )\n )\n;; agent closes receptacle\n (:action CloseObject\n :parameters (?a - agent ?l - location ?r - receptacle)\n :precondition (and\n (openable ?r)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (opened ?r)\n )\n :effect (and\n (not (opened ?r))\n (increase (total-cost) 1)\n )\n\n )\n\n ;; agent picks up object from a receptacle\n (:action PickupObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n :precondition\n (and\n (pickupable ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n ; (objectAtLocation ?o ?l)\n (inReceptacle ?o ?r)\n (not (holdsAny ?a)) ; agent's hands are empty.\n ;(not (holdsAnyReceptacleObject ?a))\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n ;(not (isReceptacleObject ?o))\n )\n :effect\n (and\n (not (inReceptacle ?o ?r))\n (holds ?a ?o)\n (holdsAny ?a)\n (not (objectAtLocation ?o ?l))\n ;(not (full ?r))\n (increase (total-cost) 1)\n )\n )\n\n\n; ;; agent picks up object from a receptacle\n; (:action PickupObjectFromReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?outerR - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (inReceptacle ?o ?r)\n; (pickupable ?o)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (not (isReceptacleObject ?o))\n; (isReceptacleObject ?outerR)\n; (inReceptacleObject ?o ?outerR)\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (holds ?a ?o)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n;\n; (not (inReceptacleObject ?o ?outerR))\n; (not (isReceptacleObjectFull ?outerR))\n; )\n; )\n;\n; ;; agent picks up object from a receptacle\n; (:action PickupEmptyReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; ; (objectAtLocation ?o ?l)\n; (inReceptacle ?o ?r)\n; (pickupable ?o)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (isReceptacleObject ?o)\n; (not (isReceptacleObjectFull ?o))\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (holds ?a ?o)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n; (holdsAnyReceptacleObject ?a)\n; )\n; )\n;\n; ;; agent picks up object from a receptacle\n; (:action PickupFullReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?outerR - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (inReceptacle ?outerR ?r)\n; (pickupable ?outerR)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (not (isReceptacleObject ?o))\n; (isReceptacleObject ?outerR)\n; (inReceptacleObject ?o ?outerR)\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (not (inReceptacle ?outerR ?r))\n; (holds ?a ?outerR)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (objectAtLocation ?outerR ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n; (holdsAnyReceptacleObject ?a)\n; )\n; )\n\n\n;; agent puts down an object\n (:action PutObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle ?ot - otype ?rt - rtype)\n :precondition (and\n (holds ?a ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable\n ;(not (full ?r))\n (objectType ?o ?ot)\n (receptacleType ?r ?rt)\n (canContain ?rt ?ot)\n ;(not (holdsAnyReceptacleObject ?a))\n )\n :effect (and\n (inReceptacle ?o ?r)\n (objectAtLocation ?o ?l)\n ;(full ?r)\n (not (holds ?a ?o))\n (not (holdsAny ?a))\n (increase (total-cost) 1)\n )\n )\n\n;;; agent puts down an object\n; (:action PutObjectInReceptacleObject\n; :parameters (?a - agent ?l - location ?ot - otype ?o - object ?outerO - object ?outerR - receptacle)\n; :precondition (and\n; (atLocation ?a ?l)\n; (objectAtLocation ?outerO ?l)\n; (isReceptacleObject ?outerO)\n; (not (isReceptacleObject ?o))\n; (objectType ?o ?ot)\n; (holds ?a ?o)\n; (not (holdsAnyReceptacleObject ?a))\n; (inReceptacle ?outerO ?outerR)\n; (not (isReceptacleObjectFull ?outerO))\n; )\n; :effect (and\n; (inReceptacleObject ?o ?outerO)\n; (inReceptacle ?o ?outerR)\n; (not (holds ?a ?o))\n; (not (holdsAny ?a))\n; (objectAtLocation ?o ?l)\n; (isReceptacleObjectFull ?outerO)\n; (increase (total-cost) 1)\n; )\n; )\n;\n;;; agent puts down an object\n; (:action PutEmptyReceptacleObjectinReceptacle\n; :parameters (?a - agent ?l - location ?ot - otype ?o - object ?r - receptacle)\n; :precondition (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable\n; (not (full ?r))\n; (objectType ?o ?ot)\n; (holds ?a ?o)\n; (holdsAnyReceptacleObject ?a)\n; (isReceptacleObject ?o)\n; (not (isReceptacleObjectFull ?o))\n; )\n; :effect (and\n; (inReceptacle ?o ?r)\n; (objectAtLocation ?o ?l)\n; (full ?r)\n; (not (holds ?a ?o))\n; (not (holdsAny ?a))\n; (not (holdsAnyReceptacleObject ?a))\n; (increase (total-cost) 1)\n; )\n; )\n;\n;;; agent puts down a receptacle object in a receptacle\n; (:action PutFullReceptacleObjectInReceptacle\n; :parameters (?a - agent ?l - location ?ot - otype ?innerO - object ?outerO - object ?r - receptacle) ; ?rt - rtype)\n; :precondition (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (objectType ?outerO ?ot)\n; (holds ?a ?outerO)\n; (holdsAnyReceptacleObject ?a)\n; (isReceptacleObject ?outerO)\n; (isReceptacleObjectFull ?outerO)\n; (inReceptacleObject ?innerO ?outerO)\n; )\n; :effect (and\n; (not (holdsAny ?a))\n; (not (holdsAnyReceptacleObject ?a))\n; (objectAtLocation ?outerO ?l)\n; (objectAtLocation ?innerO ?l)\n; (inReceptacle ?outerO ?r)\n; (inReceptacle ?innerO ?r)\n; (not (holds ?a ?outerO))\n; (increase (total-cost) 1)\n; )\n; )\n\n;; agent cleans some object\n (:action CleanObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (cleanable ?o)\n (or\n (receptacleType ?r SinkType)\n (receptacleType ?r SinkBasinType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isClean ?o)\n )\n )\n\n\n;; agent heats-up some object\n (:action HeatObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (heatable ?o)\n (or\n (receptacleType ?r MicrowaveType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isHot ?o)\n (not (isCool ?o))\n )\n )\n\n;; agent cools some object\n (:action CoolObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (coolable ?o)\n (or\n (receptacleType ?r FridgeType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isCool ?o)\n (not (isHot ?o))\n )\n )\n\n\n;; agent toggle object\n (:action ToggleObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n :precondition (and\n (toggleable ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (inReceptacle ?o ?r)\n )\n :effect (and\n (increase (total-cost) 5)\n (when (isOn ?o)\n (not (isOn ?o)))\n (when (not (isOn ?o))\n (isOn ?o))\n (isToggled ?o)\n )\n )\n\n\n;; agent slices some object with a knife\n (:action SliceObject\n :parameters (?a - agent ?l - location ?co - object ?ko - object)\n :precondition\n (and\n (sliceable ?co)\n (or\n (objectType ?ko KnifeType)\n (objectType ?ko ButterKnifeType)\n )\n (atLocation ?a ?l)\n (objectAtLocation ?co ?l)\n (holds ?a ?ko)\n )\n :effect (and\n (increase (total-cost) 5)\n (isSliced ?co)\n )\n )\n\n\n(:action help\n :parameters (?a - agent)\n :precondition\n ()\n :effect\n (and\n (checked ?a)\n )\n)\n)\n", "grammar": "grammar :: \"\"\"\n {\n \"intro\": [\n {\n \"rhs\": \"-= Welcome to TextWorld, ALFRED! =-\\n\\n#look.feedback#\\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 book in sofa.\"\n }\n ],\n\n \"GotoLocation.feedback\": [\n {\n \"rhs\": \"You arrive at {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"OpenObject.feedback\": [\n {\n \"rhs\": \"You open the {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"CloseObject.feedback\": [\n {\n \"rhs\": \"You close the {r.name}.\"\n }\n ],\n\n \"PickupObject.feedback\": [\n {\n \"rhs\": \"You pick up the {o.name} from the {r.name}.\"\n }\n ],\n\n \"PickupObjectFromReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupObjectFromReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupEmptyReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupEmptyReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupFullReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupFullReceptacleObject: You pick up the {outerr.name}.\"\n }\n ],\n\n \"PutObject.feedback\": [\n {\n \"rhs\": \"You move the {o.name} to the {r.name}.\"\n }\n ],\n\n \"PutObjectInReceptacleObject.feedback\": [\n {\n \"rhs\": \"PutObjectInReceptacleObject: You put the {o.name} in the {outero.name}.\"\n }\n ],\n\n \"PutEmptyReceptacleObjectinReceptacle.feedback\": [\n {\n \"rhs\": \"PutEmptyReceptacleObjectinReceptacle: You put the {o.name} in the {r.name}.\"\n }\n ],\n\n \"PutFullReceptacleObjectInReceptacle.feedback\": [\n {\n \"rhs\": \"PutFullReceptacleObjectInReceptacle: You put the {outero.name} in the {r.name}.\"\n }\n ],\n\n \"inventory.feedback\": [\n {\n \"condition\": \"holdsany(a:agent)\",\n \"rhs\": \"You are carrying: [{o.indefinite + ' ' + o.name | holds(a:agent, o:object)}].\"\n },\n {\n \"rhs\": \"You are not carrying anything.\"\n }\n ],\n\n \"examineReceptacle.feedback\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \"The {r.name} is open. In it, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \"The {r.name} is closed.\"\n },\n {\n \"rhs\": \"On the {r.name}, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n }\n ],\n\n \"examineObject.feedback\": [\n {\n \"condition\": \"isreceptacleobject(o:object)\",\n \"rhs\": \"This is a normal {o.name}. In it, you see [{o2.indefinite + ' ' + o2.name | inreceptacleobject(o2:object, o:object)}].\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a clean sliced {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot sliced {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object)\",\n \"rhs\": \"This is a hot and clean {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object)\",\n \"rhs\": \"This is a cool and clean {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object)\",\n \"rhs\": \"This is a hot {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object)\",\n \"rhs\": \"This is a clean {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object)\",\n \"rhs\": \"This is a cold {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"This {o.name} is on.\"\n },\n {\n \"condition\": \"toggleable(o:object) & not_istoggled(o:object)\",\n \"rhs\": \"This {o.name} is off.\"\n },\n {\n \"condition\": \"sliceable(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a sliced {o.name}.\"\n },\n {\n \"rhs\": \"There's nothing special about {o.name}.\"\n }\n ]\n }\n\"\"\";\n\naction GotoLocation {\n template :: \"go to [{r.name | receptacleatlocation(r:receptacle, lend:location)}]\";\n feedback :: \"#GotoLocation.feedback#\";\n}\n\naction OpenObject {\n template :: \"open {r}\";\n feedback :: \"#OpenObject.feedback#\";\n}\n\naction CloseObject {\n template :: \"close {r}\";\n feedback :: \"#CloseObject.feedback#\";\n}\n\naction PickupObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObject.feedback#\";\n}\n\naction PickupObjectFromReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObjectFromReceptacleObject.feedback#\";\n}\n\naction PickupEmptyReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupEmptyReceptacleObject.feedback#\";\n}\n\naction PickupFullReceptacleObject {\n template :: \"take {outerr} from {r}\";\n feedback :: \"#PickupFullReceptacleObject.feedback#\";\n}\n\naction PutObject {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutObject.feedback#\";\n}\n\naction PutObjectInReceptacleObject {\n template :: \"put {o} into {outero}\";\n feedback :: \"#PutObjectInReceptacleObject.feedback#\";\n}\n\naction PutEmptyReceptacleObjectinReceptacle {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutEmptyReceptacleObjectinReceptacle.feedback#\";\n}\n\naction PutFullReceptacleObjectInReceptacle {\n template :: \"put {outero} in {r}\";\n feedback :: \"#PutFullReceptacleObjectInReceptacle.feedback#\";\n}\n\naction inventory {\n template :: \"inventory\";\n feedback :: \"#inventory.feedback#\";\n}\n\naction examineReceptacle {\n template :: \"examine {r}\";\n feedback :: \"#examineReceptacle.feedback#\";\n}\n\naction examineObject {\n template :: \"examine {o}\";\n feedback :: \"#examineObject.feedback#\";\n}\n\naction ToggleObject {\n template :: \"use {o}\";\n feedback :: \"#toggleObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"toggleObject.feedback\": [\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"You turn on the {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object)\",\n \"rhs\": \"You turn off the {o.name}.\"\n },\n {\n \"rhs\": \"You don't see any switch on the {o.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction HeatObject {\n template :: \"heat {o} with {r}\";\n feedback :: \"#heatObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"heatObject.feedback\": [\n {\n \"rhs\": \"You heat the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CleanObject {\n template :: \"clean {o} with {r}\";\n feedback :: \"#cleanObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"cleanObject.feedback\": [\n {\n \"rhs\": \"You clean the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CoolObject {\n template :: \"cool {o} with {r}\";\n feedback :: \"#coolObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"coolObject.feedback\": [\n {\n \"rhs\": \"You cool the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction SliceObject {\n template :: \"slice {co} with {ko}\";\n feedback :: \"#sliceObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"sliceObject.feedback\": [\n {\n \"rhs\": \"You sliced the {co.name} with the {ko.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction look {\n template :: \"look\";\n feedback :: \"#look.feedback#\";\n\n grammar :: \"\"\"\n {\n \"look.feedback\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"#look-variations#. Next to it, you see #list_objects_on_the_floor#.\"\n },\n {\n \"rhs\": \"You are in the middle of a room. Looking quickly around you, you see #list_appliances#.\"\n }\n ],\n\n \"look-variations\": [\n {\n \"rhs\": \"You are facing the [{r.name | atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)}]\"\n }\n ],\n\n \"list_objects_on_the_floor\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)\",\n \"rhs\": \"[{#overview(o)# | atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"list_appliances\": [\n {\n \"condition\": \"receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"[{#overview(r)# | receptacleatlocation(r:receptacle, l:location)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"overview(o, r)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name} (in/on the {r.name})}\"\n }\n ],\n\n \"overview(o)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name}\"\n }\n ],\n \"overview(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}\"\n }\n ],\n \"overview_with_state(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}#overview_state(r)#\"\n }\n ],\n \"overview_state(r)\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \" (it is open)\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \" (it is closed)\"\n },\n {\n \"rhs\": \"\"\n }\n ],\n\n \"list_empty\": [\n {\n \"rhs\": \"nothing\"\n }\n ],\n \"list_separator\": [\n {\n \"rhs\": \", \"\n }\n ],\n \"list_last_separator\": [\n {\n \"rhs\": \", and \"\n }\n ]\n }\n \"\"\";\n}\n\naction help {\n template :: \"help\";\n feedback :: \"\nAvailable commands:\n look: look around your current location\n inventory: check your current inventory\n go to (receptacle): move to a receptacle\n open (receptacle): open a receptacle\n close (receptacle): close a receptacle\n take (object) from (receptacle): take an object from a receptacle\n move (object) to (receptacle): place an object in or on a receptacle\n examine (something): examine a receptacle or an object\n use (object): use an object\n heat (object) with (receptacle): heat an object using a receptacle\n clean (object) with (receptacle): clean an object using a receptacle\n cool (object) with (receptacle): cool an object using a receptacle\n slice (object) with (object): slice an object using a sharp object\n\";\n}\n", "pddl_problem": "\n(define (problem plan_trial_T20190907_043708_054006)\n(:domain alfred)\n(:objects\nagent1 - agent\nSaltShaker - object\n HousePlant - object\n Candle - object\n SprayBottle - object\n Bowl - object\n Window - object\n CD - object\n Egg - object\n Glassbottle - object\n Sink - object\n Pillow - object\n Spoon - object\n SoapBottle - object\n TeddyBear - object\n ButterKnife - object\n Cup - object\n Plate - object\n RemoteControl - object\n Tomato - object\n Statue - object\n HandTowel - object\n Knife - object\n StoveKnob - object\n LightSwitch - object\n Pen - object\n Painting - object\n DishSponge - object\n Vase - object\n Mug - object\n ToiletPaper - object\n Box - object\n Mirror - object\n Ladle - object\n Fork - object\n Blinds - object\n Footstool - object\n KeyChain - object\n Cloth - object\n Laptop - object\n TissueBox - object\n PepperShaker - object\n FloorLamp - object\n WateringCan - object\n Apple - object\n Pan - object\n PaperTowel - object\n PaperTowelRoll - object\n Newspaper - object\n Television - object\n Chair - object\n CellPhone - object\n CreditCard - object\n Lettuce - object\n BasketBall - object\n Potato - object\n Curtains - object\n Boots - object\n Pencil - object\n AlarmClock - object\n ToiletPaperRoll - object\n Spatula - object\n Book - object\n Bread - object\n SoapBar - object\n Watch - object\n DeskLamp - object\n Kettle - object\n Pot - object\n ScrubBrush - object\n WineBottle - object\n ShowerDoor - object\n Bathtub - object\n LaundryHamperLid - object\n ShowerGlass - object\n Poster - object\n TennisRacket - object\n BaseballBat - object\n Towel - object\n Plunger - object\nSaltShakerType - otype\n HousePlantType - otype\n CandleType - otype\n SprayBottleType - otype\n BowlType - otype\n WindowType - otype\n CDType - otype\n EggType - otype\n GlassbottleType - otype\n SinkType - otype\n PillowType - otype\n SpoonType - otype\n SoapBottleType - otype\n TeddyBearType - otype\n ButterKnifeType - otype\n CupType - otype\n PlateType - otype\n RemoteControlType - otype\n TomatoType - otype\n StatueType - otype\n HandTowelType - otype\n KnifeType - otype\n StoveKnobType - otype\n LightSwitchType - otype\n PenType - otype\n PaintingType - otype\n DishSpongeType - otype\n VaseType - otype\n MugType - otype\n ToiletPaperType - otype\n BoxType - otype\n MirrorType - otype\n LadleType - otype\n ForkType - otype\n BlindsType - otype\n FootstoolType - otype\n KeyChainType - otype\n ClothType - otype\n LaptopType - otype\n TissueBoxType - otype\n PepperShakerType - otype\n FloorLampType - otype\n WateringCanType - otype\n AppleType - otype\n PanType - otype\n PaperTowelType - otype\n PaperTowelRollType - otype\n NewspaperType - otype\n TelevisionType - otype\n ChairType - otype\n CellPhoneType - otype\n CreditCardType - otype\n LettuceType - otype\n BasketBallType - otype\n PotatoType - otype\n CurtainsType - otype\n BootsType - otype\n PencilType - otype\n AlarmClockType - otype\n ToiletPaperRollType - otype\n SpatulaType - otype\n BookType - otype\n BreadType - otype\n SoapBarType - otype\n WatchType - otype\n DeskLampType - otype\n KettleType - otype\n PotType - otype\n ScrubBrushType - otype\n WineBottleType - otype\n ShowerDoorType - otype\n BathtubType - otype\n LaundryHamperLidType - otype\n ShowerGlassType - otype\n PosterType - otype\n TennisRacketType - otype\n BaseballBatType - otype\n TowelType - otype\n PlungerType - otype\nSafeType - rtype\n DrawerType - rtype\n CoffeeMachineType - rtype\n HandTowelHolderType - rtype\n SinkBasinType - rtype\n DresserType - rtype\n LaundryHamperType - rtype\n TVStandType - rtype\n BathtubBasinType - rtype\n CabinetType - rtype\n FridgeType - rtype\n DeskType - rtype\n ToiletType - rtype\n CartType - rtype\n SideTableType - rtype\n SofaType - rtype\n CoffeeTableType - rtype\n DiningTableType - rtype\n CounterTopType - rtype\n GarbageCanType - rtype\n ArmChairType - rtype\n ShelfType - rtype\n MicrowaveType - rtype\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_03_dot_08_bar__plus_00_dot_57_bar__plus_00_dot_75 - object\n Box_bar__plus_00_dot_33_bar__plus_00_dot_89_bar__plus_00_dot_49 - object\n CreditCard_bar__plus_00_dot_63_bar__plus_00_dot_72_bar__plus_00_dot_10 - object\n CreditCard_bar__minus_01_dot_20_bar__plus_00_dot_71_bar__plus_03_dot_65 - object\n CreditCard_bar__minus_01_dot_46_bar__plus_00_dot_45_bar__plus_02_dot_28 - object\n Curtains_bar__minus_03_dot_97_bar__plus_02_dot_26_bar__plus_01_dot_45 - object\n FloorLamp_bar__minus_03_dot_69_bar__plus_00_dot_00_bar__plus_04_dot_01 - object\n HousePlant_bar__minus_02_dot_02_bar__plus_00_dot_44_bar__plus_02_dot_36 - object\n KeyChain_bar__minus_01_dot_85_bar__plus_00_dot_55_bar__plus_00_dot_38 - object\n Laptop_bar__minus_01_dot_71_bar__plus_00_dot_45_bar__plus_02_dot_52 - object\n Laptop_bar__minus_02_dot_82_bar__plus_00_dot_56_bar__plus_00_dot_48 - object\n LightSwitch_bar__minus_00_dot_13_bar__plus_01_dot_41_bar__plus_04_dot_35 - object\n Painting_bar__minus_01_dot_10_bar__plus_01_dot_77_bar__minus_00_dot_02 - object\n Painting_bar__minus_03_dot_05_bar__plus_01_dot_69_bar__plus_04_dot_34 - object\n Pillow_bar__minus_00_dot_51_bar__plus_00_dot_66_bar__plus_00_dot_43 - object\n RemoteControl_bar__minus_01_dot_34_bar__plus_00_dot_45_bar__plus_02_dot_36 - object\n RemoteControl_bar__minus_01_dot_84_bar__plus_00_dot_45_bar__plus_02_dot_20 - object\n Statue_bar__minus_01_dot_05_bar__plus_00_dot_72_bar__plus_03_dot_87 - object\n Statue_bar__minus_01_dot_35_bar__plus_00_dot_71_bar__plus_03_dot_87 - object\n Television_bar__minus_01_dot_51_bar__plus_01_dot_19_bar__plus_04_dot_13 - object\n Watch_bar__plus_00_dot_25_bar__plus_00_dot_24_bar__plus_00_dot_43 - object\n Watch_bar__minus_01_dot_34_bar__plus_00_dot_45_bar__plus_02_dot_20 - object\n Window_bar__minus_04_dot_05_bar__plus_01_dot_20_bar__plus_01_dot_31 - object\n ArmChair_bar__minus_03_dot_08_bar__plus_00_dot_47_bar__plus_00_dot_37 - receptacle\n CoffeeTable_bar__minus_01_dot_74_bar__plus_00_dot_00_bar__plus_02_dot_36 - receptacle\n GarbageCan_bar__minus_00_dot_38_bar__plus_00_dot_00_bar__plus_04_dot_10 - receptacle\n SideTable_bar__plus_00_dot_63_bar__plus_00_dot_00_bar__plus_00_dot_34 - receptacle\n Sofa_bar__minus_01_dot_16_bar__plus_00_dot_00_bar__plus_00_dot_45 - receptacle\n TVStand_bar__minus_01_dot_57_bar__plus_00_dot_00_bar__plus_03_dot_87 - receptacle\n loc_bar__minus_1_bar_14_bar_0_bar_15 - location\n loc_bar__minus_5_bar_7_bar_2_bar_45 - location\n loc_bar__minus_12_bar_15_bar_0_bar_0 - location\n loc_bar_2_bar_15_bar_3_bar_60 - location\n loc_bar__minus_12_bar_6_bar_2_bar_45 - location\n loc_bar__minus_12_bar_6_bar_3_bar__minus_30 - location\n loc_bar__minus_4_bar_5_bar_2_bar_0 - location\n loc_bar__minus_6_bar_12_bar_0_bar_60 - location\n loc_bar__minus_14_bar_14_bar_0_bar_60 - location\n loc_bar__minus_7_bar_5_bar_2_bar_60 - location\n loc_bar_3_bar_6_bar_2_bar_60 - location\n loc_bar__minus_12_bar_5_bar_3_bar_30 - location\n loc_bar__minus_6_bar_5_bar_0_bar_60 - location\n loc_bar__minus_13_bar_8_bar_1_bar_30 - location\n )\n \n\n(:init\n\n\n (receptacleType GarbageCan_bar__minus_00_dot_38_bar__plus_00_dot_00_bar__plus_04_dot_10 GarbageCanType)\n (receptacleType CoffeeTable_bar__minus_01_dot_74_bar__plus_00_dot_00_bar__plus_02_dot_36 CoffeeTableType)\n (receptacleType Sofa_bar__minus_01_dot_16_bar__plus_00_dot_00_bar__plus_00_dot_45 SofaType)\n (receptacleType SideTable_bar__plus_00_dot_63_bar__plus_00_dot_00_bar__plus_00_dot_34 SideTableType)\n (receptacleType ArmChair_bar__minus_03_dot_08_bar__plus_00_dot_47_bar__plus_00_dot_37 ArmChairType)\n (receptacleType TVStand_bar__minus_01_dot_57_bar__plus_00_dot_00_bar__plus_03_dot_87 TVStandType)\n (objectType RemoteControl_bar__minus_01_dot_84_bar__plus_00_dot_45_bar__plus_02_dot_20 RemoteControlType)\n (objectType Box_bar__plus_00_dot_33_bar__plus_00_dot_89_bar__plus_00_dot_49 BoxType)\n (objectType Television_bar__minus_01_dot_51_bar__plus_01_dot_19_bar__plus_04_dot_13 TelevisionType)\n (objectType FloorLamp_bar__minus_03_dot_69_bar__plus_00_dot_00_bar__plus_04_dot_01 FloorLampType)\n (objectType HousePlant_bar__minus_02_dot_02_bar__plus_00_dot_44_bar__plus_02_dot_36 HousePlantType)\n (objectType Laptop_bar__minus_02_dot_82_bar__plus_00_dot_56_bar__plus_00_dot_48 LaptopType)\n (objectType Watch_bar__plus_00_dot_25_bar__plus_00_dot_24_bar__plus_00_dot_43 WatchType)\n (objectType Statue_bar__minus_01_dot_35_bar__plus_00_dot_71_bar__plus_03_dot_87 StatueType)\n (objectType Watch_bar__minus_01_dot_34_bar__plus_00_dot_45_bar__plus_02_dot_20 WatchType)\n (objectType Curtains_bar__minus_03_dot_97_bar__plus_02_dot_26_bar__plus_01_dot_45 CurtainsType)\n (objectType CreditCard_bar__minus_01_dot_20_bar__plus_00_dot_71_bar__plus_03_dot_65 CreditCardType)\n (objectType Book_bar__minus_03_dot_08_bar__plus_00_dot_57_bar__plus_00_dot_75 BookType)\n (objectType Window_bar__minus_04_dot_05_bar__plus_01_dot_20_bar__plus_01_dot_31 WindowType)\n (objectType LightSwitch_bar__minus_00_dot_13_bar__plus_01_dot_41_bar__plus_04_dot_35 LightSwitchType)\n (objectType RemoteControl_bar__minus_01_dot_34_bar__plus_00_dot_45_bar__plus_02_dot_36 RemoteControlType)\n (objectType Painting_bar__minus_03_dot_05_bar__plus_01_dot_69_bar__plus_04_dot_34 PaintingType)\n (objectType Pillow_bar__minus_00_dot_51_bar__plus_00_dot_66_bar__plus_00_dot_43 PillowType)\n (objectType Statue_bar__minus_01_dot_05_bar__plus_00_dot_72_bar__plus_03_dot_87 StatueType)\n (objectType KeyChain_bar__minus_01_dot_85_bar__plus_00_dot_55_bar__plus_00_dot_38 KeyChainType)\n (objectType Painting_bar__minus_01_dot_10_bar__plus_01_dot_77_bar__minus_00_dot_02 PaintingType)\n (objectType CreditCard_bar__minus_01_dot_46_bar__plus_00_dot_45_bar__plus_02_dot_28 CreditCardType)\n (objectType Laptop_bar__minus_01_dot_71_bar__plus_00_dot_45_bar__plus_02_dot_52 LaptopType)\n (objectType CreditCard_bar__plus_00_dot_63_bar__plus_00_dot_72_bar__plus_00_dot_10 CreditCardType)\n (canContain CoffeeTableType BookType)\n (canContain CoffeeTableType WatchType)\n (canContain CoffeeTableType BoxType)\n (canContain CoffeeTableType KeyChainType)\n (canContain CoffeeTableType CreditCardType)\n (canContain CoffeeTableType LaptopType)\n (canContain CoffeeTableType RemoteControlType)\n (canContain CoffeeTableType StatueType)\n (canContain SofaType BoxType)\n (canContain SofaType LaptopType)\n (canContain SofaType BookType)\n (canContain SofaType PillowType)\n (canContain SofaType RemoteControlType)\n (canContain SofaType KeyChainType)\n (canContain SofaType CreditCardType)\n (canContain SideTableType BookType)\n (canContain SideTableType WatchType)\n (canContain SideTableType BoxType)\n (canContain SideTableType KeyChainType)\n (canContain SideTableType CreditCardType)\n (canContain SideTableType LaptopType)\n (canContain SideTableType RemoteControlType)\n (canContain SideTableType StatueType)\n (canContain ArmChairType BoxType)\n (canContain ArmChairType LaptopType)\n (canContain ArmChairType BookType)\n (canContain ArmChairType PillowType)\n (canContain ArmChairType RemoteControlType)\n (canContain ArmChairType KeyChainType)\n (canContain ArmChairType CreditCardType)\n (pickupable RemoteControl_bar__minus_01_dot_84_bar__plus_00_dot_45_bar__plus_02_dot_20)\n (pickupable Box_bar__plus_00_dot_33_bar__plus_00_dot_89_bar__plus_00_dot_49)\n (pickupable Laptop_bar__minus_02_dot_82_bar__plus_00_dot_56_bar__plus_00_dot_48)\n (pickupable Watch_bar__plus_00_dot_25_bar__plus_00_dot_24_bar__plus_00_dot_43)\n (pickupable Statue_bar__minus_01_dot_35_bar__plus_00_dot_71_bar__plus_03_dot_87)\n (pickupable Watch_bar__minus_01_dot_34_bar__plus_00_dot_45_bar__plus_02_dot_20)\n (pickupable CreditCard_bar__minus_01_dot_20_bar__plus_00_dot_71_bar__plus_03_dot_65)\n (pickupable Book_bar__minus_03_dot_08_bar__plus_00_dot_57_bar__plus_00_dot_75)\n (pickupable RemoteControl_bar__minus_01_dot_34_bar__plus_00_dot_45_bar__plus_02_dot_36)\n (pickupable Pillow_bar__minus_00_dot_51_bar__plus_00_dot_66_bar__plus_00_dot_43)\n (pickupable Statue_bar__minus_01_dot_05_bar__plus_00_dot_72_bar__plus_03_dot_87)\n (pickupable KeyChain_bar__minus_01_dot_85_bar__plus_00_dot_55_bar__plus_00_dot_38)\n (pickupable CreditCard_bar__minus_01_dot_46_bar__plus_00_dot_45_bar__plus_02_dot_28)\n (pickupable Laptop_bar__minus_01_dot_71_bar__plus_00_dot_45_bar__plus_02_dot_52)\n (pickupable CreditCard_bar__plus_00_dot_63_bar__plus_00_dot_72_bar__plus_00_dot_10)\n (isReceptacleObject Box_bar__plus_00_dot_33_bar__plus_00_dot_89_bar__plus_00_dot_49)\n \n \n (atLocation agent1 loc_bar__minus_13_bar_8_bar_1_bar_30)\n \n \n \n \n \n \n \n (toggleable FloorLamp_bar__minus_03_dot_69_bar__plus_00_dot_00_bar__plus_04_dot_01)\n \n \n \n \n (inReceptacle Statue_bar__minus_01_dot_05_bar__plus_00_dot_72_bar__plus_03_dot_87 TVStand_bar__minus_01_dot_57_bar__plus_00_dot_00_bar__plus_03_dot_87)\n (inReceptacle CreditCard_bar__minus_01_dot_20_bar__plus_00_dot_71_bar__plus_03_dot_65 TVStand_bar__minus_01_dot_57_bar__plus_00_dot_00_bar__plus_03_dot_87)\n (inReceptacle Television_bar__minus_01_dot_51_bar__plus_01_dot_19_bar__plus_04_dot_13 TVStand_bar__minus_01_dot_57_bar__plus_00_dot_00_bar__plus_03_dot_87)\n (inReceptacle Statue_bar__minus_01_dot_35_bar__plus_00_dot_71_bar__plus_03_dot_87 TVStand_bar__minus_01_dot_57_bar__plus_00_dot_00_bar__plus_03_dot_87)\n (inReceptacle Book_bar__minus_03_dot_08_bar__plus_00_dot_57_bar__plus_00_dot_75 ArmChair_bar__minus_03_dot_08_bar__plus_00_dot_47_bar__plus_00_dot_37)\n (inReceptacle Laptop_bar__minus_02_dot_82_bar__plus_00_dot_56_bar__plus_00_dot_48 ArmChair_bar__minus_03_dot_08_bar__plus_00_dot_47_bar__plus_00_dot_37)\n (inReceptacle RemoteControl_bar__minus_01_dot_84_bar__plus_00_dot_45_bar__plus_02_dot_20 CoffeeTable_bar__minus_01_dot_74_bar__plus_00_dot_00_bar__plus_02_dot_36)\n (inReceptacle CreditCard_bar__minus_01_dot_46_bar__plus_00_dot_45_bar__plus_02_dot_28 CoffeeTable_bar__minus_01_dot_74_bar__plus_00_dot_00_bar__plus_02_dot_36)\n (inReceptacle HousePlant_bar__minus_02_dot_02_bar__plus_00_dot_44_bar__plus_02_dot_36 CoffeeTable_bar__minus_01_dot_74_bar__plus_00_dot_00_bar__plus_02_dot_36)\n (inReceptacle Watch_bar__minus_01_dot_34_bar__plus_00_dot_45_bar__plus_02_dot_20 CoffeeTable_bar__minus_01_dot_74_bar__plus_00_dot_00_bar__plus_02_dot_36)\n (inReceptacle RemoteControl_bar__minus_01_dot_34_bar__plus_00_dot_45_bar__plus_02_dot_36 CoffeeTable_bar__minus_01_dot_74_bar__plus_00_dot_00_bar__plus_02_dot_36)\n (inReceptacle Laptop_bar__minus_01_dot_71_bar__plus_00_dot_45_bar__plus_02_dot_52 CoffeeTable_bar__minus_01_dot_74_bar__plus_00_dot_00_bar__plus_02_dot_36)\n (inReceptacle Pillow_bar__minus_00_dot_51_bar__plus_00_dot_66_bar__plus_00_dot_43 Sofa_bar__minus_01_dot_16_bar__plus_00_dot_00_bar__plus_00_dot_45)\n (inReceptacle CreditCard_bar__plus_00_dot_63_bar__plus_00_dot_72_bar__plus_00_dot_10 SideTable_bar__plus_00_dot_63_bar__plus_00_dot_00_bar__plus_00_dot_34)\n (inReceptacle Box_bar__plus_00_dot_33_bar__plus_00_dot_89_bar__plus_00_dot_49 SideTable_bar__plus_00_dot_63_bar__plus_00_dot_00_bar__plus_00_dot_34)\n (inReceptacle Watch_bar__plus_00_dot_25_bar__plus_00_dot_24_bar__plus_00_dot_43 SideTable_bar__plus_00_dot_63_bar__plus_00_dot_00_bar__plus_00_dot_34)\n \n \n (receptacleAtLocation ArmChair_bar__minus_03_dot_08_bar__plus_00_dot_47_bar__plus_00_dot_37 loc_bar__minus_12_bar_6_bar_2_bar_45)\n (receptacleAtLocation CoffeeTable_bar__minus_01_dot_74_bar__plus_00_dot_00_bar__plus_02_dot_36 loc_bar__minus_6_bar_5_bar_0_bar_60)\n (receptacleAtLocation GarbageCan_bar__minus_00_dot_38_bar__plus_00_dot_00_bar__plus_04_dot_10 loc_bar_2_bar_15_bar_3_bar_60)\n (receptacleAtLocation SideTable_bar__plus_00_dot_63_bar__plus_00_dot_00_bar__plus_00_dot_34 loc_bar_3_bar_6_bar_2_bar_60)\n (receptacleAtLocation Sofa_bar__minus_01_dot_16_bar__plus_00_dot_00_bar__plus_00_dot_45 loc_bar__minus_5_bar_7_bar_2_bar_45)\n (receptacleAtLocation TVStand_bar__minus_01_dot_57_bar__plus_00_dot_00_bar__plus_03_dot_87 loc_bar__minus_6_bar_12_bar_0_bar_60)\n (objectAtLocation Watch_bar__minus_01_dot_34_bar__plus_00_dot_45_bar__plus_02_dot_20 loc_bar__minus_6_bar_5_bar_0_bar_60)\n (objectAtLocation CreditCard_bar__minus_01_dot_20_bar__plus_00_dot_71_bar__plus_03_dot_65 loc_bar__minus_6_bar_12_bar_0_bar_60)\n (objectAtLocation RemoteControl_bar__minus_01_dot_34_bar__plus_00_dot_45_bar__plus_02_dot_36 loc_bar__minus_6_bar_5_bar_0_bar_60)\n (objectAtLocation Statue_bar__minus_01_dot_05_bar__plus_00_dot_72_bar__plus_03_dot_87 loc_bar__minus_6_bar_12_bar_0_bar_60)\n (objectAtLocation Laptop_bar__minus_01_dot_71_bar__plus_00_dot_45_bar__plus_02_dot_52 loc_bar__minus_6_bar_5_bar_0_bar_60)\n (objectAtLocation CreditCard_bar__minus_01_dot_46_bar__plus_00_dot_45_bar__plus_02_dot_28 loc_bar__minus_6_bar_5_bar_0_bar_60)\n (objectAtLocation Painting_bar__minus_03_dot_05_bar__plus_01_dot_69_bar__plus_04_dot_34 loc_bar__minus_12_bar_15_bar_0_bar_0)\n (objectAtLocation Curtains_bar__minus_03_dot_97_bar__plus_02_dot_26_bar__plus_01_dot_45 loc_bar__minus_12_bar_6_bar_3_bar__minus_30)\n (objectAtLocation Book_bar__minus_03_dot_08_bar__plus_00_dot_57_bar__plus_00_dot_75 loc_bar__minus_12_bar_6_bar_2_bar_45)\n (objectAtLocation Box_bar__plus_00_dot_33_bar__plus_00_dot_89_bar__plus_00_dot_49 loc_bar_3_bar_6_bar_2_bar_60)\n (objectAtLocation Painting_bar__minus_01_dot_10_bar__plus_01_dot_77_bar__minus_00_dot_02 loc_bar__minus_4_bar_5_bar_2_bar_0)\n (objectAtLocation LightSwitch_bar__minus_00_dot_13_bar__plus_01_dot_41_bar__plus_04_dot_35 loc_bar__minus_1_bar_14_bar_0_bar_15)\n (objectAtLocation Television_bar__minus_01_dot_51_bar__plus_01_dot_19_bar__plus_04_dot_13 loc_bar__minus_6_bar_12_bar_0_bar_60)\n (objectAtLocation HousePlant_bar__minus_02_dot_02_bar__plus_00_dot_44_bar__plus_02_dot_36 loc_bar__minus_6_bar_5_bar_0_bar_60)\n (objectAtLocation Laptop_bar__minus_02_dot_82_bar__plus_00_dot_56_bar__plus_00_dot_48 loc_bar__minus_12_bar_6_bar_2_bar_45)\n (objectAtLocation KeyChain_bar__minus_01_dot_85_bar__plus_00_dot_55_bar__plus_00_dot_38 loc_bar__minus_7_bar_5_bar_2_bar_60)\n (objectAtLocation Pillow_bar__minus_00_dot_51_bar__plus_00_dot_66_bar__plus_00_dot_43 loc_bar__minus_5_bar_7_bar_2_bar_45)\n (objectAtLocation Statue_bar__minus_01_dot_35_bar__plus_00_dot_71_bar__plus_03_dot_87 loc_bar__minus_6_bar_12_bar_0_bar_60)\n (objectAtLocation FloorLamp_bar__minus_03_dot_69_bar__plus_00_dot_00_bar__plus_04_dot_01 loc_bar__minus_14_bar_14_bar_0_bar_60)\n (objectAtLocation RemoteControl_bar__minus_01_dot_84_bar__plus_00_dot_45_bar__plus_02_dot_20 loc_bar__minus_6_bar_5_bar_0_bar_60)\n (objectAtLocation CreditCard_bar__plus_00_dot_63_bar__plus_00_dot_72_bar__plus_00_dot_10 loc_bar_3_bar_6_bar_2_bar_60)\n (objectAtLocation Watch_bar__plus_00_dot_25_bar__plus_00_dot_24_bar__plus_00_dot_43 loc_bar_3_bar_6_bar_2_bar_60)\n (objectAtLocation Window_bar__minus_04_dot_05_bar__plus_01_dot_20_bar__plus_01_dot_31 loc_bar__minus_12_bar_5_bar_3_bar_30)\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 SofaType)\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to armchair 1", "take book 1 from armchair 1", "go to sofa 1", "move book 1 to sofa 1"]}
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alfworld__pick_clean_then_place_in_recep__647
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pick_clean_then_place_in_recep
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pick_clean_then_place_in_recep-Mug-None-CoffeeMachine-24/trial_T20190906_185300_516151/game.tw-pddl
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{"pddl_domain": ";; Specification in PDDL of the Alfred domain\n;; Intended to be used with Fast Downward which supports PDDL 2.2 level 1 plus the :action-costs requirement from PDDL 3.1.\n\n(define (domain alfred)\n (:requirements\n :adl\n :action-costs\n :typing\n )\n (:types\n agent\n location\n receptacle\n object\n rtype\n otype\n )\n\n\n (:predicates\n (atLocation ?a - agent ?l - location) ; true if the agent is at the location\n (receptacleAtLocation ?r - receptacle ?l - location) ; true if the receptacle is at the location (constant)\n (objectAtLocation ?o - object ?l - location) ; true if the object is at the location\n (openable ?r - receptacle) ; true if a receptacle is openable\n (opened ?r - receptacle) ; true if a receptacle is opened\n (inReceptacle ?o - object ?r - receptacle) ; object ?o is in receptacle ?r\n (isReceptacleObject ?o - object) ; true if the object can have things put inside it\n (inReceptacleObject ?innerObject - object ?outerObject - object) ; object ?innerObject is inside object ?outerObject\n (isReceptacleObjectFull ?o - object) ; true if the receptacle object contains something\n (wasInReceptacle ?o - object ?r - receptacle) ; object ?o was or is in receptacle ?r now or some time in the past\n (checked ?r - receptacle) ; whether the receptacle has been looked inside/visited\n (examined ?l - location) ; TODO\n (receptacleType ?r - receptacle ?t - rtype) ; the type of receptacle (Cabinet vs Cabinet|01|2...)\n (canContain ?rt - rtype ?ot - otype) ; true if receptacle can hold object\n (objectType ?o - object ?t - otype) ; the type of object (Apple vs Apple|01|2...)\n (holds ?a - agent ?o - object) ; object ?o is held by agent ?a\n (holdsAny ?a - agent) ; agent ?a holds an object\n (holdsAnyReceptacleObject ?a - agent) ; agent ?a holds a receptacle object\n (full ?r - receptacle) ; true if the receptacle has no remaining space\n (isClean ?o - object) ; true if the object has been clean in sink\n (cleanable ?o - object) ; true if the object can be placed in a sink\n (isHot ?o - object) ; true if the object has been heated up\n (heatable ?o - object) ; true if the object can be heated up in a microwave\n (isCool ?o - object) ; true if the object has been cooled\n (coolable ?o - object) ; true if the object can be cooled in the fridge\n (pickupable ?o - object) ; true if the object can be picked up\n (moveable ?o - object) ; true if the object can be moved\n (toggleable ?o - object) ; true if the object can be turned on/off\n (isOn ?o - object) ; true if the object is on\n (isToggled ?o - object) ; true if the object has been toggled\n (sliceable ?o - object) ; true if the object can be sliced\n (isSliced ?o - object) ; true if the object is sliced\n )\n\n (:functions\n (distance ?from ?to)\n (total-cost) - number\n )\n\n;; All actions are specified such that the final arguments are the ones used\n;; for performing actions in Unity.\n\n\n(:action look\n :parameters (?a - agent ?l - location)\n :precondition\n (and\n (atLocation ?a ?l)\n )\n :effect\n (and\n (checked ?l)\n )\n)\n\n(:action inventory\n :parameters (?a - agent)\n :precondition\n ()\n :effect\n (and\n (checked ?a)\n )\n)\n\n(:action examineReceptacle\n :parameters (?a - agent ?r - receptacle)\n :precondition\n (and\n (exists (?l - location)\n (and\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n )\n )\n )\n :effect\n (and\n (checked ?r)\n )\n)\n\n(:action examineObject\n :parameters (?a - agent ?o - object)\n :precondition\n (or\n ;(exists (?l - location)\n ; (and\n ; (atLocation ?a ?l)\n ; (objectAtLocation ?o ?l)\n ; )\n ;)\n (exists (?l - location, ?r - receptacle)\n (and\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n ; (objectAtLocation ?o ?l)\n (inReceptacle ?o ?r)\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n )\n )\n (holds ?a ?o)\n )\n :effect\n (and\n (checked ?o)\n )\n)\n\n;; agent goes to receptacle\n (:action GotoLocation\n :parameters (?a - agent ?lStart - location ?lEnd - location ?r - receptacle)\n :precondition (and\n (atLocation ?a ?lStart)\n (receptacleAtLocation ?r ?lEnd)\n ;(exists (?r - receptacle) (receptacleAtLocation ?r ?lEnd))\n )\n :effect (and\n (not (atLocation ?a ?lStart))\n (atLocation ?a ?lEnd)\n ; (forall (?r - receptacle)\n ; (when (and (receptacleAtLocation ?r ?lEnd)\n ; (or (not (openable ?r)) (opened ?r)))\n ; (checked ?r)\n ; )\n ; )\n ; (increase (total-cost) (distance ?lStart ?lEnd))\n (increase (total-cost) 1)\n )\n )\n\n;; agent opens receptacle\n (:action OpenObject\n :parameters (?a - agent ?l - location ?r - receptacle)\n :precondition (and\n (openable ?r)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (not (opened ?r))\n )\n :effect (and\n (opened ?r)\n (checked ?r)\n (increase (total-cost) 1)\n )\n )\n;; agent closes receptacle\n (:action CloseObject\n :parameters (?a - agent ?l - location ?r - receptacle)\n :precondition (and\n (openable ?r)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (opened ?r)\n )\n :effect (and\n (not (opened ?r))\n (increase (total-cost) 1)\n )\n\n )\n\n ;; agent picks up object from a receptacle\n (:action PickupObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n :precondition\n (and\n (pickupable ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n ; (objectAtLocation ?o ?l)\n (inReceptacle ?o ?r)\n (not (holdsAny ?a)) ; agent's hands are empty.\n ;(not (holdsAnyReceptacleObject ?a))\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n ;(not (isReceptacleObject ?o))\n )\n :effect\n (and\n (not (inReceptacle ?o ?r))\n (holds ?a ?o)\n (holdsAny ?a)\n (not (objectAtLocation ?o ?l))\n ;(not (full ?r))\n (increase (total-cost) 1)\n )\n )\n\n\n; ;; agent picks up object from a receptacle\n; (:action PickupObjectFromReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?outerR - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (inReceptacle ?o ?r)\n; (pickupable ?o)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (not (isReceptacleObject ?o))\n; (isReceptacleObject ?outerR)\n; (inReceptacleObject ?o ?outerR)\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (holds ?a ?o)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n;\n; (not (inReceptacleObject ?o ?outerR))\n; (not (isReceptacleObjectFull ?outerR))\n; )\n; )\n;\n; ;; agent picks up object from a receptacle\n; (:action PickupEmptyReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; ; (objectAtLocation ?o ?l)\n; (inReceptacle ?o ?r)\n; (pickupable ?o)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (isReceptacleObject ?o)\n; (not (isReceptacleObjectFull ?o))\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (holds ?a ?o)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n; (holdsAnyReceptacleObject ?a)\n; )\n; )\n;\n; ;; agent picks up object from a receptacle\n; (:action PickupFullReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?outerR - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (inReceptacle ?outerR ?r)\n; (pickupable ?outerR)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (not (isReceptacleObject ?o))\n; (isReceptacleObject ?outerR)\n; (inReceptacleObject ?o ?outerR)\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (not (inReceptacle ?outerR ?r))\n; (holds ?a ?outerR)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (objectAtLocation ?outerR ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n; (holdsAnyReceptacleObject ?a)\n; )\n; )\n\n\n;; agent puts down an object\n (:action PutObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle ?ot - otype ?rt - rtype)\n :precondition (and\n (holds ?a ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable\n ;(not (full ?r))\n (objectType ?o ?ot)\n (receptacleType ?r ?rt)\n (canContain ?rt ?ot)\n ;(not (holdsAnyReceptacleObject ?a))\n )\n :effect (and\n (inReceptacle ?o ?r)\n (objectAtLocation ?o ?l)\n ;(full ?r)\n (not (holds ?a ?o))\n (not (holdsAny ?a))\n (increase (total-cost) 1)\n )\n )\n\n;;; agent puts down an object\n; (:action PutObjectInReceptacleObject\n; :parameters (?a - agent ?l - location ?ot - otype ?o - object ?outerO - object ?outerR - receptacle)\n; :precondition (and\n; (atLocation ?a ?l)\n; (objectAtLocation ?outerO ?l)\n; (isReceptacleObject ?outerO)\n; (not (isReceptacleObject ?o))\n; (objectType ?o ?ot)\n; (holds ?a ?o)\n; (not (holdsAnyReceptacleObject ?a))\n; (inReceptacle ?outerO ?outerR)\n; (not (isReceptacleObjectFull ?outerO))\n; )\n; :effect (and\n; (inReceptacleObject ?o ?outerO)\n; (inReceptacle ?o ?outerR)\n; (not (holds ?a ?o))\n; (not (holdsAny ?a))\n; (objectAtLocation ?o ?l)\n; (isReceptacleObjectFull ?outerO)\n; (increase (total-cost) 1)\n; )\n; )\n;\n;;; agent puts down an object\n; (:action PutEmptyReceptacleObjectinReceptacle\n; :parameters (?a - agent ?l - location ?ot - otype ?o - object ?r - receptacle)\n; :precondition (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable\n; (not (full ?r))\n; (objectType ?o ?ot)\n; (holds ?a ?o)\n; (holdsAnyReceptacleObject ?a)\n; (isReceptacleObject ?o)\n; (not (isReceptacleObjectFull ?o))\n; )\n; :effect (and\n; (inReceptacle ?o ?r)\n; (objectAtLocation ?o ?l)\n; (full ?r)\n; (not (holds ?a ?o))\n; (not (holdsAny ?a))\n; (not (holdsAnyReceptacleObject ?a))\n; (increase (total-cost) 1)\n; )\n; )\n;\n;;; agent puts down a receptacle object in a receptacle\n; (:action PutFullReceptacleObjectInReceptacle\n; :parameters (?a - agent ?l - location ?ot - otype ?innerO - object ?outerO - object ?r - receptacle) ; ?rt - rtype)\n; :precondition (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (objectType ?outerO ?ot)\n; (holds ?a ?outerO)\n; (holdsAnyReceptacleObject ?a)\n; (isReceptacleObject ?outerO)\n; (isReceptacleObjectFull ?outerO)\n; (inReceptacleObject ?innerO ?outerO)\n; )\n; :effect (and\n; (not (holdsAny ?a))\n; (not (holdsAnyReceptacleObject ?a))\n; (objectAtLocation ?outerO ?l)\n; (objectAtLocation ?innerO ?l)\n; (inReceptacle ?outerO ?r)\n; (inReceptacle ?innerO ?r)\n; (not (holds ?a ?outerO))\n; (increase (total-cost) 1)\n; )\n; )\n\n;; agent cleans some object\n (:action CleanObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (cleanable ?o)\n (or\n (receptacleType ?r SinkType)\n (receptacleType ?r SinkBasinType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isClean ?o)\n )\n )\n\n\n;; agent heats-up some object\n (:action HeatObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (heatable ?o)\n (or\n (receptacleType ?r MicrowaveType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isHot ?o)\n (not (isCool ?o))\n )\n )\n\n;; agent cools some object\n (:action CoolObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (coolable ?o)\n (or\n (receptacleType ?r FridgeType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isCool ?o)\n (not (isHot ?o))\n )\n )\n\n\n;; agent toggle object\n (:action ToggleObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n :precondition (and\n (toggleable ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (inReceptacle ?o ?r)\n )\n :effect (and\n (increase (total-cost) 5)\n (when (isOn ?o)\n (not (isOn ?o)))\n (when (not (isOn ?o))\n (isOn ?o))\n (isToggled ?o)\n )\n )\n\n\n;; agent slices some object with a knife\n (:action SliceObject\n :parameters (?a - agent ?l - location ?co - object ?ko - object)\n :precondition\n (and\n (sliceable ?co)\n (or\n (objectType ?ko KnifeType)\n (objectType ?ko ButterKnifeType)\n )\n (atLocation ?a ?l)\n (objectAtLocation ?co ?l)\n (holds ?a ?ko)\n )\n :effect (and\n (increase (total-cost) 5)\n (isSliced ?co)\n )\n )\n\n\n(:action help\n :parameters (?a - agent)\n :precondition\n ()\n :effect\n (and\n (checked ?a)\n )\n)\n)\n", "grammar": "grammar :: \"\"\"\n {\n \"intro\": [\n {\n \"rhs\": \"-= Welcome to TextWorld, ALFRED! =-\\n\\n#look.feedback#\\n\\n#task#\"\n }\n ],\n\n \"notImplemented\": [\n {\n \"rhs\": \"TODO\"\n }\n ],\n\n \"task\": [\n {\n \"rhs\": \"Your task is to: put a clean mug in coffeemachine.\"\n }\n ],\n\n \"GotoLocation.feedback\": [\n {\n \"rhs\": \"You arrive at {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"OpenObject.feedback\": [\n {\n \"rhs\": \"You open the {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"CloseObject.feedback\": [\n {\n \"rhs\": \"You close the {r.name}.\"\n }\n ],\n\n \"PickupObject.feedback\": [\n {\n \"rhs\": \"You pick up the {o.name} from the {r.name}.\"\n }\n ],\n\n \"PickupObjectFromReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupObjectFromReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupEmptyReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupEmptyReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupFullReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupFullReceptacleObject: You pick up the {outerr.name}.\"\n }\n ],\n\n \"PutObject.feedback\": [\n {\n \"rhs\": \"You move the {o.name} to the {r.name}.\"\n }\n ],\n\n \"PutObjectInReceptacleObject.feedback\": [\n {\n \"rhs\": \"PutObjectInReceptacleObject: You put the {o.name} in the {outero.name}.\"\n }\n ],\n\n \"PutEmptyReceptacleObjectinReceptacle.feedback\": [\n {\n \"rhs\": \"PutEmptyReceptacleObjectinReceptacle: You put the {o.name} in the {r.name}.\"\n }\n ],\n\n \"PutFullReceptacleObjectInReceptacle.feedback\": [\n {\n \"rhs\": \"PutFullReceptacleObjectInReceptacle: You put the {outero.name} in the {r.name}.\"\n }\n ],\n\n \"inventory.feedback\": [\n {\n \"condition\": \"holdsany(a:agent)\",\n \"rhs\": \"You are carrying: [{o.indefinite + ' ' + o.name | holds(a:agent, o:object)}].\"\n },\n {\n \"rhs\": \"You are not carrying anything.\"\n }\n ],\n\n \"examineReceptacle.feedback\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \"The {r.name} is open. In it, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \"The {r.name} is closed.\"\n },\n {\n \"rhs\": \"On the {r.name}, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n }\n ],\n\n \"examineObject.feedback\": [\n {\n \"condition\": \"isreceptacleobject(o:object)\",\n \"rhs\": \"This is a normal {o.name}. In it, you see [{o2.indefinite + ' ' + o2.name | inreceptacleobject(o2:object, o:object)}].\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a clean sliced {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot sliced {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object)\",\n \"rhs\": \"This is a hot and clean {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object)\",\n \"rhs\": \"This is a cool and clean {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object)\",\n \"rhs\": \"This is a hot {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object)\",\n \"rhs\": \"This is a clean {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object)\",\n \"rhs\": \"This is a cold {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"This {o.name} is on.\"\n },\n {\n \"condition\": \"toggleable(o:object) & not_istoggled(o:object)\",\n \"rhs\": \"This {o.name} is off.\"\n },\n {\n \"condition\": \"sliceable(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a sliced {o.name}.\"\n },\n {\n \"rhs\": \"There's nothing special about {o.name}.\"\n }\n ]\n }\n\"\"\";\n\naction GotoLocation {\n template :: \"go to [{r.name | receptacleatlocation(r:receptacle, lend:location)}]\";\n feedback :: \"#GotoLocation.feedback#\";\n}\n\naction OpenObject {\n template :: \"open {r}\";\n feedback :: \"#OpenObject.feedback#\";\n}\n\naction CloseObject {\n template :: \"close {r}\";\n feedback :: \"#CloseObject.feedback#\";\n}\n\naction PickupObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObject.feedback#\";\n}\n\naction PickupObjectFromReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObjectFromReceptacleObject.feedback#\";\n}\n\naction PickupEmptyReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupEmptyReceptacleObject.feedback#\";\n}\n\naction PickupFullReceptacleObject {\n template :: \"take {outerr} from {r}\";\n feedback :: \"#PickupFullReceptacleObject.feedback#\";\n}\n\naction PutObject {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutObject.feedback#\";\n}\n\naction PutObjectInReceptacleObject {\n template :: \"put {o} into {outero}\";\n feedback :: \"#PutObjectInReceptacleObject.feedback#\";\n}\n\naction PutEmptyReceptacleObjectinReceptacle {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutEmptyReceptacleObjectinReceptacle.feedback#\";\n}\n\naction PutFullReceptacleObjectInReceptacle {\n template :: \"put {outero} in {r}\";\n feedback :: \"#PutFullReceptacleObjectInReceptacle.feedback#\";\n}\n\naction inventory {\n template :: \"inventory\";\n feedback :: \"#inventory.feedback#\";\n}\n\naction examineReceptacle {\n template :: \"examine {r}\";\n feedback :: \"#examineReceptacle.feedback#\";\n}\n\naction examineObject {\n template :: \"examine {o}\";\n feedback :: \"#examineObject.feedback#\";\n}\n\naction ToggleObject {\n template :: \"use {o}\";\n feedback :: \"#toggleObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"toggleObject.feedback\": [\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"You turn on the {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object)\",\n \"rhs\": \"You turn off the {o.name}.\"\n },\n {\n \"rhs\": \"You don't see any switch on the {o.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction HeatObject {\n template :: \"heat {o} with {r}\";\n feedback :: \"#heatObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"heatObject.feedback\": [\n {\n \"rhs\": \"You heat the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CleanObject {\n template :: \"clean {o} with {r}\";\n feedback :: \"#cleanObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"cleanObject.feedback\": [\n {\n \"rhs\": \"You clean the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CoolObject {\n template :: \"cool {o} with {r}\";\n feedback :: \"#coolObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"coolObject.feedback\": [\n {\n \"rhs\": \"You cool the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction SliceObject {\n template :: \"slice {co} with {ko}\";\n feedback :: \"#sliceObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"sliceObject.feedback\": [\n {\n \"rhs\": \"You sliced the {co.name} with the {ko.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction look {\n template :: \"look\";\n feedback :: \"#look.feedback#\";\n\n grammar :: \"\"\"\n {\n \"look.feedback\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"#look-variations#. Next to it, you see #list_objects_on_the_floor#.\"\n },\n {\n \"rhs\": \"You are in the middle of a room. Looking quickly around you, you see #list_appliances#.\"\n }\n ],\n\n \"look-variations\": [\n {\n \"rhs\": \"You are facing the [{r.name | atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)}]\"\n }\n ],\n\n \"list_objects_on_the_floor\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)\",\n \"rhs\": \"[{#overview(o)# | atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"list_appliances\": [\n {\n \"condition\": \"receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"[{#overview(r)# | receptacleatlocation(r:receptacle, l:location)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"overview(o, r)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name} (in/on the {r.name})}\"\n }\n ],\n\n \"overview(o)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name}\"\n }\n ],\n \"overview(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}\"\n }\n ],\n \"overview_with_state(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}#overview_state(r)#\"\n }\n ],\n \"overview_state(r)\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \" (it is open)\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \" (it is closed)\"\n },\n {\n \"rhs\": \"\"\n }\n ],\n\n \"list_empty\": [\n {\n \"rhs\": \"nothing\"\n }\n ],\n \"list_separator\": [\n {\n \"rhs\": \", \"\n }\n ],\n \"list_last_separator\": [\n {\n \"rhs\": \", and \"\n }\n ]\n }\n \"\"\";\n}\n\naction help {\n template :: \"help\";\n feedback :: \"\nAvailable commands:\n look: look around your current location\n inventory: check your current inventory\n go to (receptacle): move to a receptacle\n open (receptacle): open a receptacle\n close (receptacle): close a receptacle\n take (object) from (receptacle): take an object from a receptacle\n move (object) to (receptacle): place an object in or on a receptacle\n examine (something): examine a receptacle or an object\n use (object): use an object\n heat (object) with (receptacle): heat an object using a receptacle\n clean (object) with (receptacle): clean an object using a receptacle\n cool (object) with (receptacle): cool an object using a receptacle\n slice (object) with (object): slice an object using a sharp object\n\";\n}\n", "pddl_problem": "\n(define (problem plan_trial_T20190906_185300_516151)\n(:domain alfred)\n(:objects\nagent1 - agent\nSaltShaker - object\n HousePlant - object\n Candle - object\n SprayBottle - object\n Bowl - object\n Window - object\n CD - object\n Egg - object\n Glassbottle - object\n Sink - object\n Pillow - object\n Spoon - object\n SoapBottle - object\n TeddyBear - object\n ButterKnife - object\n Cup - object\n Plate - object\n RemoteControl - object\n Tomato - object\n Statue - object\n HandTowel - object\n Knife - object\n StoveKnob - object\n LightSwitch - object\n Pen - object\n Painting - object\n DishSponge - object\n Vase - object\n Mug - object\n ToiletPaper - object\n Box - object\n Mirror - object\n Ladle - object\n Fork - object\n Blinds - object\n Footstool - object\n KeyChain - object\n Cloth - object\n Laptop - object\n TissueBox - object\n PepperShaker - object\n FloorLamp - object\n WateringCan - object\n Apple - object\n Pan - object\n PaperTowel - object\n PaperTowelRoll - object\n Newspaper - object\n Television - object\n Chair - object\n CellPhone - object\n CreditCard - object\n Lettuce - object\n BasketBall - object\n Potato - object\n Curtains - object\n Boots - object\n Pencil - object\n AlarmClock - object\n ToiletPaperRoll - object\n Spatula - object\n Book - object\n Bread - object\n SoapBar - object\n Watch - object\n DeskLamp - object\n Kettle - object\n Pot - object\n ScrubBrush - object\n WineBottle - object\n ShowerDoor - object\n Bathtub - object\n LaundryHamperLid - object\n ShowerGlass - object\n Poster - object\n TennisRacket - object\n BaseballBat - object\n Towel - object\n Plunger - object\nSaltShakerType - otype\n HousePlantType - otype\n CandleType - otype\n SprayBottleType - otype\n BowlType - otype\n WindowType - otype\n CDType - otype\n EggType - otype\n GlassbottleType - otype\n SinkType - otype\n PillowType - otype\n SpoonType - otype\n SoapBottleType - otype\n TeddyBearType - otype\n ButterKnifeType - otype\n CupType - otype\n PlateType - otype\n RemoteControlType - otype\n TomatoType - otype\n StatueType - otype\n HandTowelType - otype\n KnifeType - otype\n StoveKnobType - otype\n LightSwitchType - otype\n PenType - otype\n PaintingType - otype\n DishSpongeType - otype\n VaseType - otype\n MugType - otype\n ToiletPaperType - otype\n BoxType - otype\n MirrorType - otype\n LadleType - otype\n ForkType - otype\n BlindsType - otype\n FootstoolType - otype\n KeyChainType - otype\n ClothType - otype\n LaptopType - otype\n TissueBoxType - otype\n PepperShakerType - otype\n FloorLampType - otype\n WateringCanType - otype\n AppleType - otype\n PanType - otype\n PaperTowelType - otype\n PaperTowelRollType - otype\n NewspaperType - otype\n TelevisionType - otype\n ChairType - otype\n CellPhoneType - otype\n CreditCardType - otype\n LettuceType - otype\n BasketBallType - otype\n PotatoType - otype\n CurtainsType - otype\n BootsType - otype\n PencilType - otype\n AlarmClockType - otype\n ToiletPaperRollType - otype\n SpatulaType - otype\n BookType - otype\n BreadType - otype\n SoapBarType - otype\n WatchType - otype\n DeskLampType - otype\n KettleType - otype\n PotType - otype\n ScrubBrushType - otype\n WineBottleType - otype\n ShowerDoorType - otype\n BathtubType - otype\n LaundryHamperLidType - otype\n ShowerGlassType - otype\n PosterType - otype\n TennisRacketType - otype\n BaseballBatType - otype\n TowelType - otype\n PlungerType - otype\nSafeType - rtype\n DrawerType - rtype\n CoffeeMachineType - rtype\n HandTowelHolderType - rtype\n SinkBasinType - rtype\n DresserType - rtype\n LaundryHamperType - rtype\n TVStandType - rtype\n BathtubBasinType - rtype\n CabinetType - rtype\n FridgeType - rtype\n DeskType - rtype\n ToiletType - rtype\n CartType - rtype\n SideTableType - rtype\n SofaType - rtype\n CoffeeTableType - rtype\n DiningTableType - rtype\n CounterTopType - rtype\n GarbageCanType - rtype\n ArmChairType - rtype\n ShelfType - rtype\n MicrowaveType - rtype\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_87_bar__plus_00_dot_09_bar__plus_02_dot_92 - object\n Bowl_bar__plus_00_dot_74_bar__plus_00_dot_12_bar__plus_00_dot_94 - object\n Bowl_bar__minus_01_dot_29_bar__plus_00_dot_13_bar__plus_03_dot_71 - object\n Bowl_bar__minus_02_dot_54_bar__plus_01_dot_85_bar__plus_01_dot_53 - object\n Bread_bar__plus_00_dot_83_bar__plus_00_dot_86_bar__plus_02_dot_45 - object\n Bread_bar__minus_02_dot_52_bar__plus_01_dot_05_bar__plus_02_dot_33 - object\n ButterKnife_bar__plus_01_dot_01_bar__plus_00_dot_81_bar__plus_02_dot_46 - object\n ButterKnife_bar__plus_01_dot_02_bar__plus_00_dot_82_bar__plus_02_dot_63 - object\n ButterKnife_bar__minus_01_dot_05_bar__plus_00_dot_90_bar__plus_01_dot_56 - object\n Chair_bar__minus_00_dot_87_bar__plus_00_dot_49_bar__plus_01_dot_50 - object\n Cup_bar__minus_01_dot_32_bar__plus_00_dot_90_bar__plus_01_dot_45 - object\n Cup_bar__minus_01_dot_46_bar__plus_01_dot_68_bar__plus_03_dot_86 - object\n DishSponge_bar__minus_02_dot_12_bar__plus_00_dot_70_bar__plus_03_dot_63 - object\n DishSponge_bar__minus_02_dot_50_bar__plus_01_dot_85_bar__plus_01_dot_90 - object\n Egg_bar__minus_00_dot_66_bar__plus_00_dot_94_bar__plus_01_dot_56 - object\n Egg_bar__minus_01_dot_49_bar__plus_01_dot_40_bar__plus_03_dot_93 - object\n Egg_bar__minus_02_dot_58_bar__plus_00_dot_80_bar__plus_02_dot_17 - object\n Faucet_bar__minus_01_dot_37_bar__plus_00_dot_81_bar__plus_03_dot_99 - object\n Faucet_bar__minus_01_dot_84_bar__plus_00_dot_81_bar__plus_03_dot_99 - object\n Fork_bar__plus_00_dot_67_bar__plus_00_dot_69_bar__plus_00_dot_94 - object\n Knife_bar__minus_00_dot_66_bar__plus_00_dot_92_bar__plus_00_dot_94 - object\n Lettuce_bar__minus_00_dot_58_bar__plus_00_dot_96_bar__plus_01_dot_36 - object\n Lettuce_bar__minus_01_dot_32_bar__plus_00_dot_98_bar__plus_01_dot_14 - object\n LightSwitch_bar__plus_00_dot_83_bar__plus_01_dot_40_bar__plus_04_dot_08 - object\n Mug_bar__minus_01_dot_11_bar__plus_00_dot_94_bar__plus_01_dot_20 - object\n Mug_bar__minus_01_dot_32_bar__plus_00_dot_90_bar__plus_01_dot_56 - object\n Mug_bar__minus_02_dot_69_bar__plus_01_dot_19_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 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(receptacleType Cabinet_bar__minus_00_dot_42_bar__plus_01_dot_70_bar__plus_03_dot_74 CabinetType)\n (receptacleType Cabinet_bar__minus_00_dot_42_bar__plus_00_dot_67_bar__plus_03_dot_74 CabinetType)\n (receptacleType Cabinet_bar__minus_01_dot_14_bar__plus_00_dot_39_bar__plus_03_dot_52 CabinetType)\n (receptacleType Toaster_bar__minus_02_dot_25_bar__plus_00_dot_81_bar__plus_03_dot_86 ToasterType)\n (receptacleType Cabinet_bar__minus_02_dot_38_bar__plus_00_dot_64_bar__plus_01_dot_68 CabinetType)\n (receptacleType Cabinet_bar__minus_02_dot_38_bar__plus_02_dot_01_bar__plus_03_dot_18 CabinetType)\n (receptacleType DiningTable_bar__minus_00_dot_88_bar__plus_00_dot_01_bar__plus_01_dot_32 DiningTableType)\n (receptacleType Cabinet_bar__minus_01_dot_96_bar__plus_01_dot_93_bar__plus_03_dot_73 CabinetType)\n (receptacleType StoveBurner_bar__plus_00_dot_91_bar__plus_00_dot_84_bar__plus_01_dot_77 StoveBurnerType)\n (receptacleType Cabinet_bar__minus_02_dot_38_bar__plus_02_dot_01_bar__plus_01_dot_06 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Mug_bar__minus_01_dot_32_bar__plus_00_dot_90_bar__plus_01_dot_56)\n (cleanable Apple_bar__plus_00_dot_87_bar__plus_00_dot_09_bar__plus_02_dot_92)\n (cleanable Pot_bar__plus_00_dot_91_bar__plus_00_dot_85_bar__plus_01_dot_77)\n (cleanable Egg_bar__minus_00_dot_66_bar__plus_00_dot_94_bar__plus_01_dot_56)\n (cleanable Tomato_bar__minus_02_dot_69_bar__plus_01_dot_26_bar__plus_02_dot_28)\n (cleanable DishSponge_bar__minus_02_dot_50_bar__plus_01_dot_85_bar__plus_01_dot_90)\n (cleanable Fork_bar__plus_00_dot_67_bar__plus_00_dot_69_bar__plus_00_dot_94)\n (cleanable Plate_bar__plus_00_dot_86_bar__plus_00_dot_81_bar__plus_00_dot_98)\n \n (heatable Tomato_bar__minus_00_dot_91_bar__plus_00_dot_96_bar__plus_01_dot_48)\n (heatable Mug_bar__minus_02_dot_69_bar__plus_01_dot_19_bar__plus_02_dot_11)\n (heatable Potato_bar__minus_01_dot_64_bar__plus_01_dot_40_bar__plus_03_dot_97)\n (heatable Potato_bar__minus_01_dot_54_bar__plus_01_dot_40_bar__plus_03_dot_84)\n (heatable 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CounterTop_bar__plus_00_dot_86_bar__plus_00_dot_86_bar__plus_00_dot_98)\n (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)\n (inReceptacle Bowl_bar__plus_00_dot_74_bar__plus_00_dot_12_bar__plus_00_dot_94 Cabinet_bar__plus_00_dot_58_bar__plus_00_dot_39_bar__plus_00_dot_82)\n (inReceptacle ButterKnife_bar__plus_01_dot_01_bar__plus_00_dot_81_bar__plus_02_dot_46 CounterTop_bar__plus_00_dot_86_bar__plus_00_dot_86_bar__plus_02_dot_37)\n (inReceptacle SoapBottle_bar__plus_00_dot_95_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)\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 ButterKnife_bar__plus_01_dot_02_bar__plus_00_dot_82_bar__plus_02_dot_63 CounterTop_bar__plus_00_dot_86_bar__plus_00_dot_86_bar__plus_02_dot_37)\n (inReceptacle Spatula_bar__plus_01_dot_10_bar__plus_00_dot_84_bar__plus_02_dot_29 CounterTop_bar__plus_00_dot_86_bar__plus_00_dot_86_bar__plus_02_dot_37)\n (inReceptacle Spatula_bar__plus_00_dot_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)\n (inReceptacle Fork_bar__plus_00_dot_67_bar__plus_00_dot_69_bar__plus_00_dot_94 Drawer_bar__plus_00_dot_73_bar__plus_00_dot_70_bar__plus_00_dot_98)\n (inReceptacle Spoon_bar__minus_02_dot_03_bar__plus_00_dot_70_bar__plus_03_dot_70 Drawer_bar__minus_02_dot_11_bar__plus_00_dot_71_bar__plus_03_dot_66)\n (inReceptacle DishSponge_bar__minus_02_dot_12_bar__plus_00_dot_70_bar__plus_03_dot_63 Drawer_bar__minus_02_dot_11_bar__plus_00_dot_71_bar__plus_03_dot_66)\n (inReceptacle PepperShaker_bar__minus_02_dot_50_bar__plus_01_dot_63_bar__plus_02_dot_76 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DiningTable_bar__minus_00_dot_88_bar__plus_00_dot_01_bar__plus_01_dot_32)\n (inReceptacle Spatula_bar__minus_00_dot_79_bar__plus_00_dot_92_bar__plus_01_dot_35 DiningTable_bar__minus_00_dot_88_bar__plus_00_dot_01_bar__plus_01_dot_32)\n (inReceptacle Egg_bar__minus_00_dot_66_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 SoapBottle_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)\n (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)\n (inReceptacle SoapBottle_bar__minus_01_dot_19_bar__plus_00_dot_90_bar__plus_01_dot_35 DiningTable_bar__minus_00_dot_88_bar__plus_00_dot_01_bar__plus_01_dot_32)\n (inReceptacle Mug_bar__minus_01_dot_11_bar__plus_00_dot_94_bar__plus_01_dot_20 DiningTable_bar__minus_00_dot_88_bar__plus_00_dot_01_bar__plus_01_dot_32)\n (inReceptacle Cup_bar__minus_01_dot_32_bar__plus_00_dot_90_bar__plus_01_dot_45 DiningTable_bar__minus_00_dot_88_bar__plus_00_dot_01_bar__plus_01_dot_32)\n (inReceptacle 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 Lettuce_bar__minus_00_dot_58_bar__plus_00_dot_96_bar__plus_01_dot_36 DiningTable_bar__minus_00_dot_88_bar__plus_00_dot_01_bar__plus_01_dot_32)\n (inReceptacle Bowl_bar__minus_01_dot_29_bar__plus_00_dot_13_bar__plus_03_dot_71 Cabinet_bar__minus_01_dot_14_bar__plus_00_dot_39_bar__plus_03_dot_52)\n (inReceptacle 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 SaltShaker_bar__minus_01_dot_77_bar__plus_00_dot_12_bar__plus_03_dot_75 Cabinet_bar__minus_01_dot_97_bar__plus_00_dot_39_bar__plus_03_dot_52)\n (inReceptacle Pan_bar__minus_02_dot_67_bar__plus_00_dot_81_bar__plus_03_dot_74 CounterTop_bar__minus_02_dot_08_bar__plus_00_dot_86_bar__plus_03_dot_80)\n (inReceptacle DishSponge_bar__minus_02_dot_50_bar__plus_01_dot_85_bar__plus_01_dot_90 Cabinet_bar__minus_02_dot_38_bar__plus_02_dot_01_bar__plus_01_dot_69)\n (inReceptacle Cup_bar__minus_01_dot_46_bar__plus_01_dot_68_bar__plus_03_dot_86 Cabinet_bar__minus_01_dot_10_bar__plus_01_dot_93_bar__plus_03_dot_73)\n (inReceptacle Egg_bar__minus_01_dot_49_bar__plus_01_dot_40_bar__plus_03_dot_93 Microwave_bar__minus_01_dot_53_bar__plus_01_dot_25_bar__plus_03_dot_88)\n (inReceptacle Potato_bar__minus_01_dot_54_bar__plus_01_dot_40_bar__plus_03_dot_84 Microwave_bar__minus_01_dot_53_bar__plus_01_dot_25_bar__plus_03_dot_88)\n (inReceptacle Potato_bar__minus_01_dot_64_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_01_dot_11_bar__plus_00_dot_94_bar__plus_01_dot_20 CoffeeMachine_bar__minus_01_dot_00_bar__plus_00_dot_89_bar__plus_01_dot_03)\n (inReceptacle Bread_bar__minus_02_dot_52_bar__plus_01_dot_05_bar__plus_02_dot_33 Fridge_bar__minus_02_dot_64_bar__plus_00_dot_00_bar__plus_02_dot_13)\n (inReceptacle Mug_bar__minus_02_dot_69_bar__plus_01_dot_19_bar__plus_02_dot_11 Fridge_bar__minus_02_dot_64_bar__plus_00_dot_00_bar__plus_02_dot_13)\n (inReceptacle Tomato_bar__minus_02_dot_69_bar__plus_01_dot_26_bar__plus_02_dot_28 Fridge_bar__minus_02_dot_64_bar__plus_00_dot_00_bar__plus_02_dot_13)\n (inReceptacle Potato_bar__minus_02_dot_61_bar__plus_01_dot_65_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_68_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 Egg_bar__minus_02_dot_58_bar__plus_00_dot_80_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__plus_00_dot_87_bar__plus_00_dot_09_bar__plus_02_dot_92 GarbageCan_bar__plus_00_dot_93_bar__plus_00_dot_00_bar__plus_02_dot_92)\n (inReceptacle PaperTowelRoll_bar__plus_00_dot_96_bar__plus_00_dot_13_bar__plus_02_dot_98 GarbageCan_bar__plus_00_dot_93_bar__plus_00_dot_00_bar__plus_02_dot_92)\n \n \n (receptacleAtLocation Cabinet_bar__plus_00_dot_58_bar__plus_00_dot_39_bar__plus_00_dot_82 loc_bar_0_bar_5_bar_1_bar_60)\n (receptacleAtLocation Cabinet_bar__plus_00_dot_58_bar__plus_00_dot_39_bar__plus_02_dot_36 loc_bar__minus_1_bar_11_bar_1_bar_60)\n (receptacleAtLocation Cabinet_bar__plus_00_dot_58_bar__plus_00_dot_39_bar__plus_02_dot_69 loc_bar__minus_1_bar_12_bar_1_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_42_bar__plus_00_dot_67_bar__plus_03_dot_74 loc_bar__minus_3_bar_12_bar_0_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_42_bar__plus_01_dot_70_bar__plus_03_dot_74 loc_bar__minus_3_bar_13_bar_0_bar_0)\n (receptacleAtLocation Cabinet_bar__minus_01_dot_10_bar__plus_01_dot_93_bar__plus_03_dot_73 loc_bar__minus_6_bar_13_bar_0_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_01_dot_14_bar__plus_00_dot_39_bar__plus_03_dot_52 loc_bar__minus_3_bar_10_bar_0_bar_45)\n (receptacleAtLocation Cabinet_bar__minus_01_dot_96_bar__plus_01_dot_93_bar__plus_03_dot_73 loc_bar__minus_6_bar_13_bar_0_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_01_dot_97_bar__plus_00_dot_39_bar__plus_03_dot_52 loc_bar__minus_5_bar_10_bar_0_bar_45)\n (receptacleAtLocation Cabinet_bar__minus_01_dot_98_bar__plus_01_dot_78_bar__plus_03_dot_73 loc_bar__minus_7_bar_11_bar_0_bar_0)\n (receptacleAtLocation Cabinet_bar__minus_01_dot_99_bar__plus_00_dot_39_bar__plus_03_dot_51 loc_bar__minus_7_bar_12_bar_0_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_02_dot_38_bar__plus_00_dot_64_bar__plus_01_dot_68 loc_bar__minus_5_bar_8_bar_3_bar_45)\n (receptacleAtLocation Cabinet_bar__minus_02_dot_38_bar__plus_01_dot_41_bar__plus_01_dot_68 loc_bar__minus_7_bar_6_bar_3_bar_15)\n (receptacleAtLocation Cabinet_bar__minus_02_dot_38_bar__plus_01_dot_69_bar__plus_02_dot_57 loc_bar__minus_7_bar_11_bar_3_bar_0)\n (receptacleAtLocation Cabinet_bar__minus_02_dot_38_bar__plus_01_dot_93_bar__plus_01_dot_69 loc_bar__minus_7_bar_6_bar_3_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_02_dot_38_bar__plus_02_dot_01_bar__plus_01_dot_06 loc_bar__minus_7_bar_6_bar_3_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_02_dot_38_bar__plus_02_dot_01_bar__plus_01_dot_69 loc_bar__minus_7_bar_7_bar_3_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_02_dot_38_bar__plus_02_dot_01_bar__plus_02_dot_56 loc_bar__minus_6_bar_9_bar_3_bar__minus_15)\n (receptacleAtLocation Cabinet_bar__minus_02_dot_38_bar__plus_02_dot_01_bar__plus_03_dot_18 loc_bar__minus_7_bar_12_bar_3_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_02_dot_43_bar__plus_00_dot_44_bar__plus_03_dot_17 loc_bar__minus_5_bar_13_bar_3_bar_45)\n (receptacleAtLocation Cabinet_bar__minus_02_dot_43_bar__plus_00_dot_44_bar__plus_03_dot_42 loc_bar__minus_6_bar_12_bar_3_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_02_dot_62_bar__plus_01_dot_93_bar__plus_03_dot_73 loc_bar__minus_6_bar_13_bar_3_bar__minus_15)\n (receptacleAtLocation Cabinet_bar__minus_02_dot_95_bar__plus_01_dot_93_bar__plus_03_dot_73 loc_bar__minus_6_bar_13_bar_3_bar__minus_15)\n (receptacleAtLocation CoffeeMachine_bar__minus_01_dot_00_bar__plus_00_dot_89_bar__plus_01_dot_03 loc_bar__minus_4_bar_8_bar_2_bar_45)\n (receptacleAtLocation CounterTop_bar__plus_00_dot_86_bar__plus_00_dot_86_bar__plus_00_dot_98 loc_bar_0_bar_5_bar_1_bar_45)\n (receptacleAtLocation CounterTop_bar__plus_00_dot_86_bar__plus_00_dot_86_bar__plus_02_dot_37 loc_bar_1_bar_10_bar_1_bar_45)\n (receptacleAtLocation CounterTop_bar__minus_02_dot_08_bar__plus_00_dot_86_bar__plus_03_dot_80 loc_bar__minus_7_bar_12_bar_0_bar_45)\n (receptacleAtLocation DiningTable_bar__minus_00_dot_88_bar__plus_00_dot_01_bar__plus_01_dot_32 loc_bar__minus_4_bar_8_bar_2_bar_60)\n (receptacleAtLocation Drawer_bar__plus_00_dot_73_bar__plus_00_dot_70_bar__plus_00_dot_98 loc_bar_0_bar_7_bar_2_bar_45)\n (receptacleAtLocation Drawer_bar__plus_00_dot_73_bar__plus_00_dot_70_bar__plus_02_dot_20 loc_bar__minus_1_bar_10_bar_1_bar_45)\n (receptacleAtLocation Drawer_bar__plus_00_dot_73_bar__plus_00_dot_70_bar__plus_02_dot_53 loc_bar__minus_1_bar_12_bar_1_bar_45)\n (receptacleAtLocation Drawer_bar__minus_02_dot_11_bar__plus_00_dot_71_bar__plus_03_dot_66 loc_bar__minus_7_bar_12_bar_0_bar_60)\n (receptacleAtLocation Fridge_bar__minus_02_dot_64_bar__plus_00_dot_00_bar__plus_02_dot_13 loc_bar__minus_7_bar_9_bar_3_bar_60)\n (receptacleAtLocation GarbageCan_bar__plus_00_dot_93_bar__plus_00_dot_00_bar__plus_02_dot_92 loc_bar_2_bar_12_bar_1_bar_60)\n (receptacleAtLocation Microwave_bar__minus_01_dot_53_bar__plus_01_dot_25_bar__plus_03_dot_88 loc_bar__minus_6_bar_13_bar_0_bar_30)\n (receptacleAtLocation Sink_bar__minus_01_dot_70_bar__plus_00_dot_73_bar__plus_03_dot_83_bar_SinkBasin loc_bar__minus_6_bar_13_bar_0_bar_60)\n (receptacleAtLocation StoveBurner_bar__plus_00_dot_64_bar__plus_00_dot_84_bar__plus_01_dot_38 loc_bar_0_bar_6_bar_1_bar_45)\n (receptacleAtLocation StoveBurner_bar__plus_00_dot_64_bar__plus_00_dot_84_bar__plus_01_dot_77 loc_bar_0_bar_7_bar_1_bar_45)\n (receptacleAtLocation StoveBurner_bar__plus_00_dot_91_bar__plus_00_dot_84_bar__plus_01_dot_38 loc_bar_0_bar_6_bar_1_bar_45)\n (receptacleAtLocation StoveBurner_bar__plus_00_dot_91_bar__plus_00_dot_84_bar__plus_01_dot_77 loc_bar_0_bar_7_bar_1_bar_45)\n (receptacleAtLocation Toaster_bar__minus_02_dot_25_bar__plus_00_dot_81_bar__plus_03_dot_86 loc_bar__minus_7_bar_12_bar_0_bar_45)\n (objectAtLocation Bowl_bar__minus_01_dot_29_bar__plus_00_dot_13_bar__plus_03_dot_71 loc_bar__minus_3_bar_10_bar_0_bar_45)\n (objectAtLocation Mug_bar__minus_02_dot_69_bar__plus_01_dot_19_bar__plus_02_dot_11 loc_bar__minus_7_bar_9_bar_3_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 DishSponge_bar__minus_02_dot_12_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_00_dot_91_bar__plus_00_dot_96_bar__plus_01_dot_48 loc_bar__minus_4_bar_8_bar_2_bar_60)\n (objectAtLocation ButterKnife_bar__plus_01_dot_01_bar__plus_00_dot_81_bar__plus_02_dot_46 loc_bar_1_bar_10_bar_1_bar_45)\n (objectAtLocation SaltShaker_bar__minus_02_dot_50_bar__plus_01_dot_85_bar__plus_01_dot_22 loc_bar__minus_7_bar_6_bar_3_bar__minus_30)\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 Cup_bar__minus_01_dot_32_bar__plus_00_dot_90_bar__plus_01_dot_45 loc_bar__minus_4_bar_8_bar_2_bar_60)\n (objectAtLocation Egg_bar__minus_02_dot_58_bar__plus_00_dot_80_bar__plus_02_dot_17 loc_bar__minus_7_bar_9_bar_3_bar_60)\n (objectAtLocation SoapBottle_bar__minus_01_dot_19_bar__plus_00_dot_90_bar__plus_01_dot_35 loc_bar__minus_4_bar_8_bar_2_bar_60)\n (objectAtLocation Potato_bar__minus_01_dot_64_bar__plus_01_dot_40_bar__plus_03_dot_97 loc_bar__minus_6_bar_13_bar_0_bar_30)\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 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 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)\n (objectAtLocation Mug_bar__minus_01_dot_11_bar__plus_00_dot_94_bar__plus_01_dot_20 loc_bar__minus_4_bar_8_bar_2_bar_45)\n (objectAtLocation SaltShaker_bar__plus_01_dot_02_bar__plus_00_dot_82_bar__plus_01_dot_12 loc_bar_0_bar_5_bar_1_bar_45)\n (objectAtLocation Bowl_bar__minus_02_dot_54_bar__plus_01_dot_85_bar__plus_01_dot_53 loc_bar__minus_7_bar_6_bar_3_bar__minus_30)\n (objectAtLocation Tomato_bar__minus_02_dot_68_bar__plus_01_dot_48_bar__plus_02_dot_33 loc_bar__minus_7_bar_9_bar_3_bar_60)\n (objectAtLocation SoapBottle_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)\n (objectAtLocation Egg_bar__minus_01_dot_49_bar__plus_01_dot_40_bar__plus_03_dot_93 loc_bar__minus_6_bar_13_bar_0_bar_30)\n (objectAtLocation Spatula_bar__plus_01_dot_10_bar__plus_00_dot_84_bar__plus_02_dot_29 loc_bar_1_bar_10_bar_1_bar_45)\n (objectAtLocation ButterKnife_bar__minus_01_dot_05_bar__plus_00_dot_90_bar__plus_01_dot_56 loc_bar__minus_4_bar_8_bar_2_bar_60)\n (objectAtLocation Potato_bar__minus_01_dot_54_bar__plus_01_dot_40_bar__plus_03_dot_84 loc_bar__minus_6_bar_13_bar_0_bar_30)\n (objectAtLocation Sink_bar__minus_01_dot_70_bar__plus_00_dot_73_bar__plus_03_dot_83 loc_bar__minus_6_bar_13_bar_0_bar_60)\n (objectAtLocation Plate_bar__minus_02_dot_79_bar__plus_01_dot_40_bar__plus_03_dot_90 loc_bar__minus_6_bar_13_bar_3_bar__minus_15)\n (objectAtLocation Fork_bar__plus_00_dot_67_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__minus_02_dot_52_bar__plus_01_dot_05_bar__plus_02_dot_33 loc_bar__minus_7_bar_9_bar_3_bar_60)\n (objectAtLocation Chair_bar__minus_00_dot_87_bar__plus_00_dot_49_bar__plus_01_dot_50 loc_bar__minus_3_bar_8_bar_2_bar_60)\n (objectAtLocation Window_bar__minus_01_dot_13_bar__plus_01_dot_67_bar__plus_00_dot_81 loc_bar__minus_7_bar_6_bar_2_bar_0)\n (objectAtLocation Spatula_bar__minus_00_dot_79_bar__plus_00_dot_92_bar__plus_01_dot_35 loc_bar__minus_4_bar_8_bar_2_bar_60)\n (objectAtLocation PaperTowelRoll_bar__plus_00_dot_96_bar__plus_00_dot_13_bar__plus_02_dot_98 loc_bar_2_bar_12_bar_1_bar_60)\n (objectAtLocation Potato_bar__minus_02_dot_61_bar__plus_01_dot_65_bar__plus_02_dot_39 loc_bar__minus_7_bar_9_bar_3_bar_60)\n (objectAtLocation SoapBottle_bar__plus_00_dot_95_bar__plus_00_dot_82_bar__plus_02_dot_20 loc_bar_1_bar_10_bar_1_bar_45)\n (objectAtLocation Egg_bar__minus_00_dot_66_bar__plus_00_dot_94_bar__plus_01_dot_56 loc_bar__minus_4_bar_8_bar_2_bar_60)\n (objectAtLocation Cup_bar__minus_01_dot_46_bar__plus_01_dot_68_bar__plus_03_dot_86 loc_bar__minus_6_bar_13_bar_0_bar__minus_30)\n (objectAtLocation Pot_bar__plus_00_dot_64_bar__plus_00_dot_85_bar__plus_01_dot_38 loc_bar_0_bar_6_bar_1_bar_45)\n (objectAtLocation SaltShaker_bar__minus_01_dot_77_bar__plus_00_dot_12_bar__plus_03_dot_75 loc_bar__minus_5_bar_10_bar_0_bar_45)\n (objectAtLocation Pan_bar__minus_02_dot_67_bar__plus_00_dot_81_bar__plus_03_dot_74 loc_bar__minus_7_bar_12_bar_0_bar_45)\n (objectAtLocation PepperShaker_bar__minus_02_dot_50_bar__plus_01_dot_63_bar__plus_02_dot_76 loc_bar__minus_7_bar_11_bar_3_bar_0)\n (objectAtLocation ButterKnife_bar__plus_01_dot_02_bar__plus_00_dot_82_bar__plus_02_dot_63 loc_bar_1_bar_10_bar_1_bar_45)\n (objectAtLocation StoveKnob_bar__plus_01_dot_10_bar__plus_01_dot_00_bar__plus_01_dot_89 loc_bar_0_bar_8_bar_1_bar_30)\n (objectAtLocation StoveKnob_bar__plus_01_dot_10_bar__plus_01_dot_00_bar__plus_01_dot_73 loc_bar_0_bar_7_bar_1_bar_30)\n (objectAtLocation StoveKnob_bar__plus_01_dot_10_bar__plus_01_dot_00_bar__plus_01_dot_32 loc_bar_0_bar_5_bar_1_bar_30)\n (objectAtLocation StoveKnob_bar__plus_01_dot_10_bar__plus_01_dot_00_bar__plus_01_dot_48 loc_bar_0_bar_6_bar_1_bar_30)\n (objectAtLocation Tomato_bar__minus_02_dot_69_bar__plus_01_dot_26_bar__plus_02_dot_28 loc_bar__minus_7_bar_9_bar_3_bar_60)\n (objectAtLocation DishSponge_bar__minus_02_dot_50_bar__plus_01_dot_85_bar__plus_01_dot_90 loc_bar__minus_7_bar_7_bar_3_bar__minus_30)\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_02_dot_03_bar__plus_00_dot_70_bar__plus_03_dot_70 loc_bar__minus_7_bar_12_bar_0_bar_60)\n (objectAtLocation Apple_bar__plus_00_dot_87_bar__plus_00_dot_09_bar__plus_02_dot_92 loc_bar_2_bar_12_bar_1_bar_60)\n (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)\n (objectAtLocation Mug_bar__minus_01_dot_32_bar__plus_00_dot_90_bar__plus_01_dot_56 loc_bar__minus_4_bar_8_bar_2_bar_60)\n (objectAtLocation Bowl_bar__plus_00_dot_74_bar__plus_00_dot_12_bar__plus_00_dot_94 loc_bar_0_bar_5_bar_1_bar_60)\n )\n \n\n (:goal\n (and\n (exists (?r - receptacle)\n (exists (?o - object)\n (and\n (cleanable ?o)\n (objectType ?o MugType)\n (receptacleType ?r CoffeeMachineType)\n (isClean ?o)\n (inReceptacle ?o ?r)\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to diningtable 1", "take mug 3 from diningtable 1", "go to sinkbasin 1", "clean mug 3 with sinkbasin 1"]}
|
alfworld__pick_clean_then_place_in_recep__648
|
pick_clean_then_place_in_recep
|
pick_clean_then_place_in_recep-Mug-None-CoffeeMachine-24/trial_T20190906_185323_832715/game.tw-pddl
|
{"pddl_domain": ";; Specification in PDDL of the Alfred domain\n;; Intended to be used with Fast Downward which supports PDDL 2.2 level 1 plus the :action-costs requirement from PDDL 3.1.\n\n(define (domain alfred)\n (:requirements\n :adl\n :action-costs\n :typing\n )\n (:types\n agent\n location\n receptacle\n object\n rtype\n otype\n )\n\n\n (:predicates\n (atLocation ?a - agent ?l - location) ; true if the agent is at the location\n (receptacleAtLocation ?r - receptacle ?l - location) ; true if the receptacle is at the location (constant)\n (objectAtLocation ?o - object ?l - location) ; true if the object is at the location\n (openable ?r - receptacle) ; true if a receptacle is openable\n (opened ?r - receptacle) ; true if a receptacle is opened\n (inReceptacle ?o - object ?r - receptacle) ; object ?o is in receptacle ?r\n (isReceptacleObject ?o - object) ; true if the object can have things put inside it\n (inReceptacleObject ?innerObject - object ?outerObject - object) ; object ?innerObject is inside object ?outerObject\n (isReceptacleObjectFull ?o - object) ; true if the receptacle object contains something\n (wasInReceptacle ?o - object ?r - receptacle) ; object ?o was or is in receptacle ?r now or some time in the past\n (checked ?r - receptacle) ; whether the receptacle has been looked inside/visited\n (examined ?l - location) ; TODO\n (receptacleType ?r - receptacle ?t - rtype) ; the type of receptacle (Cabinet vs Cabinet|01|2...)\n (canContain ?rt - rtype ?ot - otype) ; true if receptacle can hold object\n (objectType ?o - object ?t - otype) ; the type of object (Apple vs Apple|01|2...)\n (holds ?a - agent ?o - object) ; object ?o is held by agent ?a\n (holdsAny ?a - agent) ; agent ?a holds an object\n (holdsAnyReceptacleObject ?a - agent) ; agent ?a holds a receptacle object\n (full ?r - receptacle) ; true if the receptacle has no remaining space\n (isClean ?o - object) ; true if the object has been clean in sink\n (cleanable ?o - object) ; true if the object can be placed in a sink\n (isHot ?o - object) ; true if the object has been heated up\n (heatable ?o - object) ; true if the object can be heated up in a microwave\n (isCool ?o - object) ; true if the object has been cooled\n (coolable ?o - object) ; true if the object can be cooled in the fridge\n (pickupable ?o - object) ; true if the object can be picked up\n (moveable ?o - object) ; true if the object can be moved\n (toggleable ?o - object) ; true if the object can be turned on/off\n (isOn ?o - object) ; true if the object is on\n (isToggled ?o - object) ; true if the object has been toggled\n (sliceable ?o - object) ; true if the object can be sliced\n (isSliced ?o - object) ; true if the object is sliced\n )\n\n (:functions\n (distance ?from ?to)\n (total-cost) - number\n )\n\n;; All actions are specified such that the final arguments are the ones used\n;; for performing actions in Unity.\n\n\n(:action look\n :parameters (?a - agent ?l - location)\n :precondition\n (and\n (atLocation ?a ?l)\n )\n :effect\n (and\n (checked ?l)\n )\n)\n\n(:action inventory\n :parameters (?a - agent)\n :precondition\n ()\n :effect\n (and\n (checked ?a)\n )\n)\n\n(:action examineReceptacle\n :parameters (?a - agent ?r - receptacle)\n :precondition\n (and\n (exists (?l - location)\n (and\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n )\n )\n )\n :effect\n (and\n (checked ?r)\n )\n)\n\n(:action examineObject\n :parameters (?a - agent ?o - object)\n :precondition\n (or\n ;(exists (?l - location)\n ; (and\n ; (atLocation ?a ?l)\n ; (objectAtLocation ?o ?l)\n ; )\n ;)\n (exists (?l - location, ?r - receptacle)\n (and\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n ; (objectAtLocation ?o ?l)\n (inReceptacle ?o ?r)\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n )\n )\n (holds ?a ?o)\n )\n :effect\n (and\n (checked ?o)\n )\n)\n\n;; agent goes to receptacle\n (:action GotoLocation\n :parameters (?a - agent ?lStart - location ?lEnd - location ?r - receptacle)\n :precondition (and\n (atLocation ?a ?lStart)\n (receptacleAtLocation ?r ?lEnd)\n ;(exists (?r - receptacle) (receptacleAtLocation ?r ?lEnd))\n )\n :effect (and\n (not (atLocation ?a ?lStart))\n (atLocation ?a ?lEnd)\n ; (forall (?r - receptacle)\n ; (when (and (receptacleAtLocation ?r ?lEnd)\n ; (or (not (openable ?r)) (opened ?r)))\n ; (checked ?r)\n ; )\n ; )\n ; (increase (total-cost) (distance ?lStart ?lEnd))\n (increase (total-cost) 1)\n )\n )\n\n;; agent opens receptacle\n (:action OpenObject\n :parameters (?a - agent ?l - location ?r - receptacle)\n :precondition (and\n (openable ?r)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (not (opened ?r))\n )\n :effect (and\n (opened ?r)\n (checked ?r)\n (increase (total-cost) 1)\n )\n )\n;; agent closes receptacle\n (:action CloseObject\n :parameters (?a - agent ?l - location ?r - receptacle)\n :precondition (and\n (openable ?r)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (opened ?r)\n )\n :effect (and\n (not (opened ?r))\n (increase (total-cost) 1)\n )\n\n )\n\n ;; agent picks up object from a receptacle\n (:action PickupObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n :precondition\n (and\n (pickupable ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n ; (objectAtLocation ?o ?l)\n (inReceptacle ?o ?r)\n (not (holdsAny ?a)) ; agent's hands are empty.\n ;(not (holdsAnyReceptacleObject ?a))\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n ;(not (isReceptacleObject ?o))\n )\n :effect\n (and\n (not (inReceptacle ?o ?r))\n (holds ?a ?o)\n (holdsAny ?a)\n (not (objectAtLocation ?o ?l))\n ;(not (full ?r))\n (increase (total-cost) 1)\n )\n )\n\n\n; ;; agent picks up object from a receptacle\n; (:action PickupObjectFromReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?outerR - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (inReceptacle ?o ?r)\n; (pickupable ?o)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (not (isReceptacleObject ?o))\n; (isReceptacleObject ?outerR)\n; (inReceptacleObject ?o ?outerR)\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (holds ?a ?o)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n;\n; (not (inReceptacleObject ?o ?outerR))\n; (not (isReceptacleObjectFull ?outerR))\n; )\n; )\n;\n; ;; agent picks up object from a receptacle\n; (:action PickupEmptyReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; ; (objectAtLocation ?o ?l)\n; (inReceptacle ?o ?r)\n; (pickupable ?o)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (isReceptacleObject ?o)\n; (not (isReceptacleObjectFull ?o))\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (holds ?a ?o)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n; (holdsAnyReceptacleObject ?a)\n; )\n; )\n;\n; ;; agent picks up object from a receptacle\n; (:action PickupFullReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?outerR - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (inReceptacle ?outerR ?r)\n; (pickupable ?outerR)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (not (isReceptacleObject ?o))\n; (isReceptacleObject ?outerR)\n; (inReceptacleObject ?o ?outerR)\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (not (inReceptacle ?outerR ?r))\n; (holds ?a ?outerR)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (objectAtLocation ?outerR ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n; (holdsAnyReceptacleObject ?a)\n; )\n; )\n\n\n;; agent puts down an object\n (:action PutObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle ?ot - otype ?rt - rtype)\n :precondition (and\n (holds ?a ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable\n ;(not (full ?r))\n (objectType ?o ?ot)\n (receptacleType ?r ?rt)\n (canContain ?rt ?ot)\n ;(not (holdsAnyReceptacleObject ?a))\n )\n :effect (and\n (inReceptacle ?o ?r)\n (objectAtLocation ?o ?l)\n ;(full ?r)\n (not (holds ?a ?o))\n (not (holdsAny ?a))\n (increase (total-cost) 1)\n )\n )\n\n;;; agent puts down an object\n; (:action PutObjectInReceptacleObject\n; :parameters (?a - agent ?l - location ?ot - otype ?o - object ?outerO - object ?outerR - receptacle)\n; :precondition (and\n; (atLocation ?a ?l)\n; (objectAtLocation ?outerO ?l)\n; (isReceptacleObject ?outerO)\n; (not (isReceptacleObject ?o))\n; (objectType ?o ?ot)\n; (holds ?a ?o)\n; (not (holdsAnyReceptacleObject ?a))\n; (inReceptacle ?outerO ?outerR)\n; (not (isReceptacleObjectFull ?outerO))\n; )\n; :effect (and\n; (inReceptacleObject ?o ?outerO)\n; (inReceptacle ?o ?outerR)\n; (not (holds ?a ?o))\n; (not (holdsAny ?a))\n; (objectAtLocation ?o ?l)\n; (isReceptacleObjectFull ?outerO)\n; (increase (total-cost) 1)\n; )\n; )\n;\n;;; agent puts down an object\n; (:action PutEmptyReceptacleObjectinReceptacle\n; :parameters (?a - agent ?l - location ?ot - otype ?o - object ?r - receptacle)\n; :precondition (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable\n; (not (full ?r))\n; (objectType ?o ?ot)\n; (holds ?a ?o)\n; (holdsAnyReceptacleObject ?a)\n; (isReceptacleObject ?o)\n; (not (isReceptacleObjectFull ?o))\n; )\n; :effect (and\n; (inReceptacle ?o ?r)\n; (objectAtLocation ?o ?l)\n; (full ?r)\n; (not (holds ?a ?o))\n; (not (holdsAny ?a))\n; (not (holdsAnyReceptacleObject ?a))\n; (increase (total-cost) 1)\n; )\n; )\n;\n;;; agent puts down a receptacle object in a receptacle\n; (:action PutFullReceptacleObjectInReceptacle\n; :parameters (?a - agent ?l - location ?ot - otype ?innerO - object ?outerO - object ?r - receptacle) ; ?rt - rtype)\n; :precondition (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (objectType ?outerO ?ot)\n; (holds ?a ?outerO)\n; (holdsAnyReceptacleObject ?a)\n; (isReceptacleObject ?outerO)\n; (isReceptacleObjectFull ?outerO)\n; (inReceptacleObject ?innerO ?outerO)\n; )\n; :effect (and\n; (not (holdsAny ?a))\n; (not (holdsAnyReceptacleObject ?a))\n; (objectAtLocation ?outerO ?l)\n; (objectAtLocation ?innerO ?l)\n; (inReceptacle ?outerO ?r)\n; (inReceptacle ?innerO ?r)\n; (not (holds ?a ?outerO))\n; (increase (total-cost) 1)\n; )\n; )\n\n;; agent cleans some object\n (:action CleanObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (cleanable ?o)\n (or\n (receptacleType ?r SinkType)\n (receptacleType ?r SinkBasinType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isClean ?o)\n )\n )\n\n\n;; agent heats-up some object\n (:action HeatObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (heatable ?o)\n (or\n (receptacleType ?r MicrowaveType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isHot ?o)\n (not (isCool ?o))\n )\n )\n\n;; agent cools some object\n (:action CoolObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (coolable ?o)\n (or\n (receptacleType ?r FridgeType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isCool ?o)\n (not (isHot ?o))\n )\n )\n\n\n;; agent toggle object\n (:action ToggleObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n :precondition (and\n (toggleable ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (inReceptacle ?o ?r)\n )\n :effect (and\n (increase (total-cost) 5)\n (when (isOn ?o)\n (not (isOn ?o)))\n (when (not (isOn ?o))\n (isOn ?o))\n (isToggled ?o)\n )\n )\n\n\n;; agent slices some object with a knife\n (:action SliceObject\n :parameters (?a - agent ?l - location ?co - object ?ko - object)\n :precondition\n (and\n (sliceable ?co)\n (or\n (objectType ?ko KnifeType)\n (objectType ?ko ButterKnifeType)\n )\n (atLocation ?a ?l)\n (objectAtLocation ?co ?l)\n (holds ?a ?ko)\n )\n :effect (and\n (increase (total-cost) 5)\n (isSliced ?co)\n )\n )\n\n\n(:action help\n :parameters (?a - agent)\n :precondition\n ()\n :effect\n (and\n (checked ?a)\n )\n)\n)\n", "grammar": "grammar :: \"\"\"\n {\n \"intro\": [\n {\n \"rhs\": \"-= Welcome to TextWorld, ALFRED! =-\\n\\n#look.feedback#\\n\\n#task#\"\n }\n ],\n\n \"notImplemented\": [\n {\n \"rhs\": \"TODO\"\n }\n ],\n\n \"task\": [\n {\n \"rhs\": \"Your task is to: put a clean mug in coffeemachine.\"\n }\n ],\n\n \"GotoLocation.feedback\": [\n {\n \"rhs\": \"You arrive at {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"OpenObject.feedback\": [\n {\n \"rhs\": \"You open the {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"CloseObject.feedback\": [\n {\n \"rhs\": \"You close the {r.name}.\"\n }\n ],\n\n \"PickupObject.feedback\": [\n {\n \"rhs\": \"You pick up the {o.name} from the {r.name}.\"\n }\n ],\n\n \"PickupObjectFromReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupObjectFromReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupEmptyReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupEmptyReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupFullReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupFullReceptacleObject: You pick up the {outerr.name}.\"\n }\n ],\n\n \"PutObject.feedback\": [\n {\n \"rhs\": \"You move the {o.name} to the {r.name}.\"\n }\n ],\n\n \"PutObjectInReceptacleObject.feedback\": [\n {\n \"rhs\": \"PutObjectInReceptacleObject: You put the {o.name} in the {outero.name}.\"\n }\n ],\n\n \"PutEmptyReceptacleObjectinReceptacle.feedback\": [\n {\n \"rhs\": \"PutEmptyReceptacleObjectinReceptacle: You put the {o.name} in the {r.name}.\"\n }\n ],\n\n \"PutFullReceptacleObjectInReceptacle.feedback\": [\n {\n \"rhs\": \"PutFullReceptacleObjectInReceptacle: You put the {outero.name} in the {r.name}.\"\n }\n ],\n\n \"inventory.feedback\": [\n {\n \"condition\": \"holdsany(a:agent)\",\n \"rhs\": \"You are carrying: [{o.indefinite + ' ' + o.name | holds(a:agent, o:object)}].\"\n },\n {\n \"rhs\": \"You are not carrying anything.\"\n }\n ],\n\n \"examineReceptacle.feedback\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \"The {r.name} is open. In it, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \"The {r.name} is closed.\"\n },\n {\n \"rhs\": \"On the {r.name}, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n }\n ],\n\n \"examineObject.feedback\": [\n {\n \"condition\": \"isreceptacleobject(o:object)\",\n \"rhs\": \"This is a normal {o.name}. In it, you see [{o2.indefinite + ' ' + o2.name | inreceptacleobject(o2:object, o:object)}].\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a clean sliced {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot sliced {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object)\",\n \"rhs\": \"This is a hot and clean {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object)\",\n \"rhs\": \"This is a cool and clean {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object)\",\n \"rhs\": \"This is a hot {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object)\",\n \"rhs\": \"This is a clean {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object)\",\n \"rhs\": \"This is a cold {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"This {o.name} is on.\"\n },\n {\n \"condition\": \"toggleable(o:object) & not_istoggled(o:object)\",\n \"rhs\": \"This {o.name} is off.\"\n },\n {\n \"condition\": \"sliceable(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a sliced {o.name}.\"\n },\n {\n \"rhs\": \"There's nothing special about {o.name}.\"\n }\n ]\n }\n\"\"\";\n\naction GotoLocation {\n template :: \"go to [{r.name | receptacleatlocation(r:receptacle, lend:location)}]\";\n feedback :: \"#GotoLocation.feedback#\";\n}\n\naction OpenObject {\n template :: \"open {r}\";\n feedback :: \"#OpenObject.feedback#\";\n}\n\naction CloseObject {\n template :: \"close {r}\";\n feedback :: \"#CloseObject.feedback#\";\n}\n\naction PickupObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObject.feedback#\";\n}\n\naction PickupObjectFromReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObjectFromReceptacleObject.feedback#\";\n}\n\naction PickupEmptyReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupEmptyReceptacleObject.feedback#\";\n}\n\naction PickupFullReceptacleObject {\n template :: \"take {outerr} from {r}\";\n feedback :: \"#PickupFullReceptacleObject.feedback#\";\n}\n\naction PutObject {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutObject.feedback#\";\n}\n\naction PutObjectInReceptacleObject {\n template :: \"put {o} into {outero}\";\n feedback :: \"#PutObjectInReceptacleObject.feedback#\";\n}\n\naction PutEmptyReceptacleObjectinReceptacle {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutEmptyReceptacleObjectinReceptacle.feedback#\";\n}\n\naction PutFullReceptacleObjectInReceptacle {\n template :: \"put {outero} in {r}\";\n feedback :: \"#PutFullReceptacleObjectInReceptacle.feedback#\";\n}\n\naction inventory {\n template :: \"inventory\";\n feedback :: \"#inventory.feedback#\";\n}\n\naction examineReceptacle {\n template :: \"examine {r}\";\n feedback :: \"#examineReceptacle.feedback#\";\n}\n\naction examineObject {\n template :: \"examine {o}\";\n feedback :: \"#examineObject.feedback#\";\n}\n\naction ToggleObject {\n template :: \"use {o}\";\n feedback :: \"#toggleObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"toggleObject.feedback\": [\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"You turn on the {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object)\",\n \"rhs\": \"You turn off the {o.name}.\"\n },\n {\n \"rhs\": \"You don't see any switch on the {o.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction HeatObject {\n template :: \"heat {o} with {r}\";\n feedback :: \"#heatObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"heatObject.feedback\": [\n {\n \"rhs\": \"You heat the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CleanObject {\n template :: \"clean {o} with {r}\";\n feedback :: \"#cleanObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"cleanObject.feedback\": [\n {\n \"rhs\": \"You clean the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CoolObject {\n template :: \"cool {o} with {r}\";\n feedback :: \"#coolObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"coolObject.feedback\": [\n {\n \"rhs\": \"You cool the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction SliceObject {\n template :: \"slice {co} with {ko}\";\n feedback :: \"#sliceObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"sliceObject.feedback\": [\n {\n \"rhs\": \"You sliced the {co.name} with the {ko.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction look {\n template :: \"look\";\n feedback :: \"#look.feedback#\";\n\n grammar :: \"\"\"\n {\n \"look.feedback\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"#look-variations#. Next to it, you see #list_objects_on_the_floor#.\"\n },\n {\n \"rhs\": \"You are in the middle of a room. Looking quickly around you, you see #list_appliances#.\"\n }\n ],\n\n \"look-variations\": [\n {\n \"rhs\": \"You are facing the [{r.name | atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)}]\"\n }\n ],\n\n \"list_objects_on_the_floor\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)\",\n \"rhs\": \"[{#overview(o)# | atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"list_appliances\": [\n {\n \"condition\": \"receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"[{#overview(r)# | receptacleatlocation(r:receptacle, l:location)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"overview(o, r)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name} (in/on the {r.name})}\"\n }\n ],\n\n \"overview(o)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name}\"\n }\n ],\n \"overview(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}\"\n }\n ],\n \"overview_with_state(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}#overview_state(r)#\"\n }\n ],\n \"overview_state(r)\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \" (it is open)\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \" (it is closed)\"\n },\n {\n \"rhs\": \"\"\n }\n ],\n\n \"list_empty\": [\n {\n \"rhs\": \"nothing\"\n }\n ],\n \"list_separator\": [\n {\n \"rhs\": \", \"\n }\n ],\n \"list_last_separator\": [\n {\n \"rhs\": \", and \"\n }\n ]\n }\n \"\"\";\n}\n\naction help {\n template :: \"help\";\n feedback :: \"\nAvailable commands:\n look: look around your current location\n inventory: check your current inventory\n go to (receptacle): move to a receptacle\n open (receptacle): open a receptacle\n close (receptacle): close a receptacle\n take (object) from (receptacle): take an object from a receptacle\n move (object) to (receptacle): place an object in or on a receptacle\n examine (something): examine a receptacle or an object\n use (object): use an object\n heat (object) with (receptacle): heat an object using a receptacle\n clean (object) with (receptacle): clean an object using a receptacle\n cool (object) with (receptacle): cool an object using a receptacle\n slice (object) with (object): slice an object using a sharp object\n\";\n}\n", "pddl_problem": "\n(define (problem plan_trial_T20190906_185323_832715)\n(:domain alfred)\n(:objects\nagent1 - agent\nSaltShaker - object\n HousePlant - object\n Candle - object\n SprayBottle - object\n Bowl - object\n Window - object\n CD - object\n Egg - object\n Glassbottle - object\n Sink - object\n Pillow - object\n Spoon - object\n SoapBottle - object\n TeddyBear - object\n ButterKnife - object\n Cup - object\n Plate - object\n RemoteControl - object\n Tomato - object\n Statue - object\n HandTowel - object\n Knife - object\n StoveKnob - object\n LightSwitch - object\n Pen - object\n Painting - object\n DishSponge - object\n Vase - object\n Mug - object\n ToiletPaper - object\n Box - object\n Mirror - object\n Ladle - object\n Fork - object\n Blinds - object\n Footstool - object\n KeyChain - object\n Cloth - object\n Laptop - object\n TissueBox - object\n PepperShaker - object\n FloorLamp - object\n WateringCan - object\n Apple - object\n Pan - object\n PaperTowel - object\n PaperTowelRoll - object\n Newspaper - object\n Television - object\n Chair - object\n CellPhone - object\n CreditCard - object\n Lettuce - object\n BasketBall - object\n Potato - object\n Curtains - object\n Boots - object\n Pencil - object\n AlarmClock - object\n ToiletPaperRoll - object\n Spatula - object\n Book - object\n Bread - object\n SoapBar - object\n Watch - object\n DeskLamp - object\n Kettle - object\n Pot - object\n ScrubBrush - object\n WineBottle - object\n ShowerDoor - object\n Bathtub - object\n LaundryHamperLid - object\n ShowerGlass - object\n Poster - object\n TennisRacket - object\n BaseballBat - object\n Towel - object\n Plunger - object\nSaltShakerType - otype\n HousePlantType - otype\n CandleType - otype\n SprayBottleType - otype\n BowlType - otype\n WindowType - otype\n CDType - otype\n EggType - otype\n GlassbottleType - otype\n SinkType - otype\n PillowType - otype\n SpoonType - otype\n SoapBottleType - otype\n TeddyBearType - otype\n ButterKnifeType - otype\n CupType - otype\n PlateType - otype\n RemoteControlType - otype\n TomatoType - otype\n StatueType - otype\n HandTowelType - otype\n KnifeType - otype\n StoveKnobType - otype\n LightSwitchType - otype\n PenType - otype\n PaintingType - otype\n DishSpongeType - otype\n VaseType - otype\n MugType - otype\n ToiletPaperType - otype\n BoxType - otype\n MirrorType - otype\n LadleType - otype\n ForkType - otype\n BlindsType - otype\n FootstoolType - otype\n KeyChainType - otype\n ClothType - otype\n LaptopType - otype\n TissueBoxType - otype\n PepperShakerType - otype\n FloorLampType - otype\n WateringCanType - otype\n AppleType - otype\n PanType - otype\n PaperTowelType - otype\n PaperTowelRollType - otype\n NewspaperType - otype\n TelevisionType - otype\n ChairType - otype\n CellPhoneType - otype\n CreditCardType - otype\n LettuceType - otype\n BasketBallType - otype\n PotatoType - otype\n CurtainsType - otype\n BootsType - otype\n PencilType - otype\n AlarmClockType - otype\n ToiletPaperRollType - otype\n SpatulaType - otype\n BookType - otype\n BreadType - otype\n SoapBarType - otype\n WatchType - otype\n DeskLampType - otype\n KettleType - otype\n PotType - otype\n ScrubBrushType - otype\n WineBottleType - otype\n ShowerDoorType - otype\n BathtubType - otype\n LaundryHamperLidType - otype\n ShowerGlassType - otype\n PosterType - otype\n TennisRacketType - otype\n BaseballBatType - otype\n TowelType - otype\n PlungerType - otype\nSafeType - rtype\n DrawerType - rtype\n CoffeeMachineType - rtype\n HandTowelHolderType - rtype\n SinkBasinType - rtype\n DresserType - rtype\n LaundryHamperType - rtype\n TVStandType - rtype\n BathtubBasinType - rtype\n CabinetType - rtype\n FridgeType - rtype\n DeskType - rtype\n ToiletType - rtype\n CartType - rtype\n SideTableType - rtype\n SofaType - rtype\n CoffeeTableType - rtype\n DiningTableType - rtype\n CounterTopType - rtype\n GarbageCanType - rtype\n ArmChairType - rtype\n ShelfType - rtype\n MicrowaveType - rtype\n ToasterType - rtype\n BedType - rtype\n PaintingHangerType - rtype\n TowelHolderType - rtype\n ToiletPaperHangerType - rtype\n StoveBurnerType - rtype\n OttomanType - rtype\n\n\n Apple_bar__plus_00_dot_93_bar__plus_00_dot_09_bar__plus_02_dot_86 - object\n Apple_bar__minus_01_dot_32_bar__plus_00_dot_96_bar__plus_01_dot_25 - object\n Apple_bar__minus_02_dot_75_bar__plus_01_dot_25_bar__plus_02_dot_11 - object\n Bowl_bar__plus_00_dot_78_bar__plus_00_dot_12_bar__plus_02_dot_49 - object\n Bowl_bar__minus_02_dot_10_bar__plus_01_dot_40_bar__plus_03_dot_90 - object\n Bread_bar__plus_00_dot_83_bar__plus_00_dot_86_bar__plus_02_dot_45 - object\n ButterKnife_bar__minus_00_dot_52_bar__plus_00_dot_90_bar__plus_01_dot_04 - object\n Chair_bar__minus_00_dot_87_bar__plus_00_dot_49_bar__plus_01_dot_50 - object\n Cup_bar__minus_00_dot_92_bar__plus_00_dot_90_bar__plus_01_dot_25 - object\n Cup_bar__minus_01_dot_19_bar__plus_00_dot_90_bar__plus_01_dot_35 - object\n Cup_bar__minus_02_dot_75_bar__plus_00_dot_77_bar__plus_02_dot_28 - object\n DishSponge_bar__plus_00_dot_77_bar__plus_00_dot_69_bar__plus_02_dot_53 - object\n DishSponge_bar__minus_01_dot_36_bar__plus_01_dot_68_bar__plus_03_dot_90 - object\n Egg_bar__plus_00_dot_65_bar__plus_00_dot_86_bar__plus_02_dot_55 - object\n Egg_bar__plus_00_dot_90_bar__plus_00_dot_06_bar__plus_02_dot_98 - object\n Egg_bar__minus_01_dot_49_bar__plus_01_dot_40_bar__plus_03_dot_97 - object\n Faucet_bar__minus_01_dot_37_bar__plus_00_dot_81_bar__plus_03_dot_99 - object\n Faucet_bar__minus_01_dot_84_bar__plus_00_dot_81_bar__plus_03_dot_99 - object\n Fork_bar__plus_00_dot_77_bar__plus_00_dot_69_bar__plus_00_dot_94 - object\n Fork_bar__plus_01_dot_02_bar__plus_00_dot_82_bar__plus_01_dot_03 - object\n Fork_bar__minus_01_dot_46_bar__plus_00_dot_82_bar__plus_03_dot_55 - object\n Knife_bar__plus_01_dot_02_bar__plus_00_dot_85_bar__plus_02_dot_63 - object\n Knife_bar__plus_01_dot_10_bar__plus_00_dot_85_bar__plus_00_dot_94 - object\n Lettuce_bar__minus_02_dot_64_bar__plus_01_dot_27_bar__plus_02_dot_33 - object\n Lettuce_bar__minus_02_dot_68_bar__plus_01_dot_48_bar__plus_02_dot_22 - object\n LightSwitch_bar__plus_00_dot_83_bar__plus_01_dot_40_bar__plus_04_dot_08 - object\n Mug_bar__minus_01_dot_11_bar__plus_00_dot_94_bar__plus_01_dot_20 - object\n Mug_bar__minus_01_dot_69_bar__plus_01_dot_35_bar__plus_03_dot_97 - object\n Mug_bar__minus_02_dot_58_bar__plus_00_dot_76_bar__plus_02_dot_39 - object\n Mug_bar__minus_02_dot_75_bar__plus_00_dot_99_bar__plus_02_dot_22 - object\n Pan_bar__minus_02_dot_67_bar__plus_00_dot_81_bar__plus_03_dot_74 - object\n PaperTowelRoll_bar__minus_02_dot_50_bar__plus_00_dot_93_bar__plus_03_dot_87 - object\n PepperShaker_bar__minus_01_dot_32_bar__plus_00_dot_90_bar__plus_01_dot_14 - object\n Plate_bar__minus_01_dot_77_bar__plus_00_dot_13_bar__plus_03_dot_68 - object\n Potato_bar__minus_00_dot_66_bar__plus_00_dot_94_bar__plus_00_dot_94 - object\n Potato_bar__minus_01_dot_19_bar__plus_00_dot_94_bar__plus_01_dot_56 - object\n Potato_bar__minus_02_dot_71_bar__plus_01_dot_65_bar__plus_02_dot_33 - 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__minus_00_dot_66_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_00_dot_52_bar__plus_00_dot_90_bar__plus_01_dot_56 - object\n SoapBottle_bar__minus_00_dot_66_bar__plus_00_dot_90_bar__plus_01_dot_14 - object\n Spatula_bar__minus_02_dot_37_bar__plus_00_dot_84_bar__plus_03_dot_58 - object\n Spoon_bar__minus_01_dot_05_bar__plus_00_dot_90_bar__plus_01_dot_45 - object\n Spoon_bar__minus_01_dot_32_bar__plus_00_dot_90_bar__plus_01_dot_35 - 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_00_dot_52_bar__plus_00_dot_97_bar__plus_01_dot_35 - object\n Tomato_bar__minus_02_dot_64_bar__plus_00_dot_89_bar__plus_03_dot_41 - 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_4_bar_13_bar_0_bar_30 - location\n )\n \n\n(:init\n\n\n (receptacleType Cabinet_bar__plus_00_dot_58_bar__plus_00_dot_39_bar__plus_02_dot_36 CabinetType)\n (receptacleType CoffeeMachine_bar__minus_01_dot_00_bar__plus_00_dot_89_bar__plus_01_dot_03 CoffeeMachineType)\n (receptacleType Drawer_bar__plus_00_dot_73_bar__plus_00_dot_70_bar__plus_02_dot_20 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(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 Egg_bar__plus_00_dot_65_bar__plus_00_dot_86_bar__plus_02_dot_55 CounterTop_bar__plus_00_dot_86_bar__plus_00_dot_86_bar__plus_02_dot_37)\n (inReceptacle Bowl_bar__plus_00_dot_78_bar__plus_00_dot_12_bar__plus_02_dot_49 Cabinet_bar__plus_00_dot_58_bar__plus_00_dot_39_bar__plus_02_dot_69)\n (inReceptacle Fork_bar__plus_00_dot_77_bar__plus_00_dot_69_bar__plus_00_dot_94 Drawer_bar__plus_00_dot_73_bar__plus_00_dot_70_bar__plus_00_dot_98)\n (inReceptacle SoapBottle_bar__minus_00_dot_66_bar__plus_00_dot_90_bar__plus_01_dot_14 DiningTable_bar__minus_00_dot_88_bar__plus_00_dot_01_bar__plus_01_dot_32)\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 Spoon_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 Tomato_bar__minus_00_dot_52_bar__plus_00_dot_97_bar__plus_01_dot_35 DiningTable_bar__minus_00_dot_88_bar__plus_00_dot_01_bar__plus_01_dot_32)\n (inReceptacle SaltShaker_bar__minus_00_dot_66_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 Apple_bar__minus_01_dot_32_bar__plus_00_dot_96_bar__plus_01_dot_25 DiningTable_bar__minus_00_dot_88_bar__plus_00_dot_01_bar__plus_01_dot_32)\n (inReceptacle PepperShaker_bar__minus_01_dot_32_bar__plus_00_dot_90_bar__plus_01_dot_14 DiningTable_bar__minus_00_dot_88_bar__plus_00_dot_01_bar__plus_01_dot_32)\n (inReceptacle Potato_bar__minus_00_dot_66_bar__plus_00_dot_94_bar__plus_00_dot_94 DiningTable_bar__minus_00_dot_88_bar__plus_00_dot_01_bar__plus_01_dot_32)\n (inReceptacle Cup_bar__minus_01_dot_19_bar__plus_00_dot_90_bar__plus_01_dot_35 DiningTable_bar__minus_00_dot_88_bar__plus_00_dot_01_bar__plus_01_dot_32)\n (inReceptacle Potato_bar__minus_01_dot_19_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 Cup_bar__minus_00_dot_92_bar__plus_00_dot_90_bar__plus_01_dot_25 DiningTable_bar__minus_00_dot_88_bar__plus_00_dot_01_bar__plus_01_dot_32)\n (inReceptacle Mug_bar__minus_01_dot_11_bar__plus_00_dot_94_bar__plus_01_dot_20 DiningTable_bar__minus_00_dot_88_bar__plus_00_dot_01_bar__plus_01_dot_32)\n (inReceptacle SoapBottle_bar__minus_00_dot_52_bar__plus_00_dot_90_bar__plus_01_dot_56 DiningTable_bar__minus_00_dot_88_bar__plus_00_dot_01_bar__plus_01_dot_32)\n (inReceptacle ButterKnife_bar__minus_00_dot_52_bar__plus_00_dot_90_bar__plus_01_dot_04 DiningTable_bar__minus_00_dot_88_bar__plus_00_dot_01_bar__plus_01_dot_32)\n (inReceptacle Pot_bar__plus_00_dot_91_bar__plus_00_dot_85_bar__plus_01_dot_77 StoveBurner_bar__plus_00_dot_91_bar__plus_00_dot_84_bar__plus_01_dot_77)\n (inReceptacle Plate_bar__minus_01_dot_77_bar__plus_00_dot_13_bar__plus_03_dot_68 Cabinet_bar__minus_01_dot_97_bar__plus_00_dot_39_bar__plus_03_dot_52)\n (inReceptacle Fork_bar__minus_01_dot_46_bar__plus_00_dot_82_bar__plus_03_dot_55 CounterTop_bar__minus_02_dot_08_bar__plus_00_dot_86_bar__plus_03_dot_80)\n (inReceptacle Spatula_bar__minus_02_dot_37_bar__plus_00_dot_84_bar__plus_03_dot_58 CounterTop_bar__minus_02_dot_08_bar__plus_00_dot_86_bar__plus_03_dot_80)\n (inReceptacle Pan_bar__minus_02_dot_67_bar__plus_00_dot_81_bar__plus_03_dot_74 CounterTop_bar__minus_02_dot_08_bar__plus_00_dot_86_bar__plus_03_dot_80)\n (inReceptacle Tomato_bar__minus_02_dot_64_bar__plus_00_dot_89_bar__plus_03_dot_41 CounterTop_bar__minus_02_dot_08_bar__plus_00_dot_86_bar__plus_03_dot_80)\n (inReceptacle PaperTowelRoll_bar__minus_02_dot_50_bar__plus_00_dot_93_bar__plus_03_dot_87 CounterTop_bar__minus_02_dot_08_bar__plus_00_dot_86_bar__plus_03_dot_80)\n (inReceptacle DishSponge_bar__minus_01_dot_36_bar__plus_01_dot_68_bar__plus_03_dot_90 Cabinet_bar__minus_01_dot_10_bar__plus_01_dot_93_bar__plus_03_dot_73)\n (inReceptacle Mug_bar__minus_01_dot_69_bar__plus_01_dot_35_bar__plus_03_dot_97 Microwave_bar__minus_01_dot_53_bar__plus_01_dot_25_bar__plus_03_dot_88)\n (inReceptacle Egg_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_01_dot_11_bar__plus_00_dot_94_bar__plus_01_dot_20 CoffeeMachine_bar__minus_01_dot_00_bar__plus_00_dot_89_bar__plus_01_dot_03)\n (inReceptacle Apple_bar__minus_02_dot_75_bar__plus_01_dot_25_bar__plus_02_dot_11 Fridge_bar__minus_02_dot_64_bar__plus_00_dot_00_bar__plus_02_dot_13)\n (inReceptacle Cup_bar__minus_02_dot_75_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 Mug_bar__minus_02_dot_58_bar__plus_00_dot_76_bar__plus_02_dot_39 Fridge_bar__minus_02_dot_64_bar__plus_00_dot_00_bar__plus_02_dot_13)\n (inReceptacle Potato_bar__minus_02_dot_71_bar__plus_01_dot_65_bar__plus_02_dot_33 Fridge_bar__minus_02_dot_64_bar__plus_00_dot_00_bar__plus_02_dot_13)\n (inReceptacle Mug_bar__minus_02_dot_75_bar__plus_00_dot_99_bar__plus_02_dot_22 Fridge_bar__minus_02_dot_64_bar__plus_00_dot_00_bar__plus_02_dot_13)\n (inReceptacle Lettuce_bar__minus_02_dot_68_bar__plus_01_dot_48_bar__plus_02_dot_22 Fridge_bar__minus_02_dot_64_bar__plus_00_dot_00_bar__plus_02_dot_13)\n (inReceptacle Lettuce_bar__minus_02_dot_64_bar__plus_01_dot_27_bar__plus_02_dot_33 Fridge_bar__minus_02_dot_64_bar__plus_00_dot_00_bar__plus_02_dot_13)\n (inReceptacle Egg_bar__plus_00_dot_90_bar__plus_00_dot_06_bar__plus_02_dot_98 GarbageCan_bar__plus_00_dot_93_bar__plus_00_dot_00_bar__plus_02_dot_92)\n (inReceptacle Apple_bar__plus_00_dot_93_bar__plus_00_dot_09_bar__plus_02_dot_86 GarbageCan_bar__plus_00_dot_93_bar__plus_00_dot_00_bar__plus_02_dot_92)\n \n \n (receptacleAtLocation Cabinet_bar__plus_00_dot_58_bar__plus_00_dot_39_bar__plus_00_dot_82 loc_bar_0_bar_5_bar_1_bar_60)\n (receptacleAtLocation Cabinet_bar__plus_00_dot_58_bar__plus_00_dot_39_bar__plus_02_dot_36 loc_bar__minus_1_bar_11_bar_1_bar_60)\n (receptacleAtLocation Cabinet_bar__plus_00_dot_58_bar__plus_00_dot_39_bar__plus_02_dot_69 loc_bar__minus_1_bar_12_bar_1_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_42_bar__plus_00_dot_67_bar__plus_03_dot_74 loc_bar__minus_3_bar_12_bar_0_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_42_bar__plus_01_dot_70_bar__plus_03_dot_74 loc_bar__minus_3_bar_13_bar_0_bar_0)\n (receptacleAtLocation Cabinet_bar__minus_01_dot_10_bar__plus_01_dot_93_bar__plus_03_dot_73 loc_bar__minus_6_bar_13_bar_0_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_01_dot_14_bar__plus_00_dot_39_bar__plus_03_dot_52 loc_bar__minus_3_bar_10_bar_0_bar_45)\n (receptacleAtLocation Cabinet_bar__minus_01_dot_96_bar__plus_01_dot_93_bar__plus_03_dot_73 loc_bar__minus_6_bar_13_bar_0_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_01_dot_97_bar__plus_00_dot_39_bar__plus_03_dot_52 loc_bar__minus_5_bar_10_bar_0_bar_45)\n (receptacleAtLocation Cabinet_bar__minus_01_dot_98_bar__plus_01_dot_78_bar__plus_03_dot_73 loc_bar__minus_7_bar_11_bar_0_bar_0)\n (receptacleAtLocation Cabinet_bar__minus_01_dot_99_bar__plus_00_dot_39_bar__plus_03_dot_51 loc_bar__minus_7_bar_12_bar_0_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_02_dot_38_bar__plus_00_dot_64_bar__plus_01_dot_68 loc_bar__minus_5_bar_8_bar_3_bar_45)\n (receptacleAtLocation Cabinet_bar__minus_02_dot_38_bar__plus_01_dot_41_bar__plus_01_dot_68 loc_bar__minus_7_bar_6_bar_3_bar_15)\n (receptacleAtLocation 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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 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(objectAtLocation Knife_bar__plus_01_dot_10_bar__plus_00_dot_85_bar__plus_00_dot_94 loc_bar_0_bar_5_bar_1_bar_45)\n (objectAtLocation Apple_bar__plus_00_dot_93_bar__plus_00_dot_09_bar__plus_02_dot_86 loc_bar_2_bar_12_bar_1_bar_60)\n (objectAtLocation Spoon_bar__minus_01_dot_32_bar__plus_00_dot_90_bar__plus_01_dot_35 loc_bar__minus_4_bar_8_bar_2_bar_60)\n (objectAtLocation Lettuce_bar__minus_02_dot_64_bar__plus_01_dot_27_bar__plus_02_dot_33 loc_bar__minus_7_bar_9_bar_3_bar_60)\n (objectAtLocation DishSponge_bar__plus_00_dot_77_bar__plus_00_dot_69_bar__plus_02_dot_53 loc_bar__minus_1_bar_12_bar_1_bar_45)\n (objectAtLocation Tomato_bar__minus_00_dot_52_bar__plus_00_dot_97_bar__plus_01_dot_35 loc_bar__minus_4_bar_8_bar_2_bar_60)\n (objectAtLocation Pot_bar__plus_00_dot_91_bar__plus_00_dot_85_bar__plus_01_dot_77 loc_bar_0_bar_7_bar_1_bar_45)\n (objectAtLocation Cup_bar__minus_02_dot_75_bar__plus_00_dot_77_bar__plus_02_dot_28 loc_bar__minus_7_bar_9_bar_3_bar_60)\n (objectAtLocation Egg_bar__plus_00_dot_90_bar__plus_00_dot_06_bar__plus_02_dot_98 loc_bar_2_bar_12_bar_1_bar_60)\n (objectAtLocation SoapBottle_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 Potato_bar__minus_02_dot_71_bar__plus_01_dot_65_bar__plus_02_dot_33 loc_bar__minus_7_bar_9_bar_3_bar_60)\n (objectAtLocation Fork_bar__plus_00_dot_77_bar__plus_00_dot_69_bar__plus_00_dot_94 loc_bar_0_bar_7_bar_2_bar_45)\n (objectAtLocation Apple_bar__minus_01_dot_32_bar__plus_00_dot_96_bar__plus_01_dot_25 loc_bar__minus_4_bar_8_bar_2_bar_60)\n (objectAtLocation Mug_bar__minus_01_dot_11_bar__plus_00_dot_94_bar__plus_01_dot_20 loc_bar__minus_4_bar_8_bar_2_bar_45)\n (objectAtLocation 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)\n (objectAtLocation Cup_bar__minus_00_dot_92_bar__plus_00_dot_90_bar__plus_01_dot_25 loc_bar__minus_4_bar_8_bar_2_bar_60)\n (objectAtLocation Egg_bar__plus_00_dot_65_bar__plus_00_dot_86_bar__plus_02_dot_55 loc_bar_1_bar_10_bar_1_bar_45)\n (objectAtLocation Fork_bar__plus_01_dot_02_bar__plus_00_dot_82_bar__plus_01_dot_03 loc_bar_0_bar_5_bar_1_bar_45)\n (objectAtLocation Potato_bar__minus_01_dot_19_bar__plus_00_dot_94_bar__plus_01_dot_56 loc_bar__minus_4_bar_8_bar_2_bar_60)\n (objectAtLocation Sink_bar__minus_01_dot_70_bar__plus_00_dot_73_bar__plus_03_dot_83 loc_bar__minus_6_bar_13_bar_0_bar_60)\n (objectAtLocation Plate_bar__minus_01_dot_77_bar__plus_00_dot_13_bar__plus_03_dot_68 loc_bar__minus_5_bar_10_bar_0_bar_45)\n (objectAtLocation Fork_bar__minus_01_dot_46_bar__plus_00_dot_82_bar__plus_03_dot_55 loc_bar__minus_7_bar_12_bar_0_bar_45)\n (objectAtLocation LightSwitch_bar__plus_00_dot_83_bar__plus_01_dot_40_bar__plus_04_dot_08 loc_bar_2_bar_14_bar_0_bar_30)\n (objectAtLocation Bread_bar__plus_00_dot_83_bar__plus_00_dot_86_bar__plus_02_dot_45 loc_bar_1_bar_10_bar_1_bar_45)\n (objectAtLocation Chair_bar__minus_00_dot_87_bar__plus_00_dot_49_bar__plus_01_dot_50 loc_bar__minus_3_bar_8_bar_2_bar_60)\n (objectAtLocation Window_bar__minus_01_dot_13_bar__plus_01_dot_67_bar__plus_00_dot_81 loc_bar__minus_7_bar_6_bar_2_bar_0)\n (objectAtLocation Spatula_bar__minus_02_dot_37_bar__plus_00_dot_84_bar__plus_03_dot_58 loc_bar__minus_7_bar_12_bar_0_bar_45)\n (objectAtLocation PaperTowelRoll_bar__minus_02_dot_50_bar__plus_00_dot_93_bar__plus_03_dot_87 loc_bar__minus_7_bar_12_bar_0_bar_45)\n (objectAtLocation Potato_bar__minus_00_dot_66_bar__plus_00_dot_94_bar__plus_00_dot_94 loc_bar__minus_4_bar_8_bar_2_bar_60)\n (objectAtLocation SoapBottle_bar__minus_00_dot_66_bar__plus_00_dot_90_bar__plus_01_dot_14 loc_bar__minus_4_bar_8_bar_2_bar_60)\n (objectAtLocation Egg_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 Cup_bar__minus_01_dot_19_bar__plus_00_dot_90_bar__plus_01_dot_35 loc_bar__minus_4_bar_8_bar_2_bar_60)\n (objectAtLocation Pot_bar__plus_00_dot_91_bar__plus_00_dot_85_bar__plus_01_dot_38 loc_bar_0_bar_6_bar_1_bar_45)\n (objectAtLocation SaltShaker_bar__minus_00_dot_66_bar__plus_00_dot_90_bar__plus_01_dot_35 loc_bar__minus_4_bar_8_bar_2_bar_60)\n (objectAtLocation Pan_bar__minus_02_dot_67_bar__plus_00_dot_81_bar__plus_03_dot_74 loc_bar__minus_7_bar_12_bar_0_bar_45)\n (objectAtLocation PepperShaker_bar__minus_01_dot_32_bar__plus_00_dot_90_bar__plus_01_dot_14 loc_bar__minus_4_bar_8_bar_2_bar_60)\n (objectAtLocation ButterKnife_bar__minus_00_dot_52_bar__plus_00_dot_90_bar__plus_01_dot_04 loc_bar__minus_4_bar_8_bar_2_bar_60)\n (objectAtLocation StoveKnob_bar__plus_01_dot_10_bar__plus_01_dot_00_bar__plus_01_dot_89 loc_bar_0_bar_8_bar_1_bar_30)\n (objectAtLocation StoveKnob_bar__plus_01_dot_10_bar__plus_01_dot_00_bar__plus_01_dot_73 loc_bar_0_bar_7_bar_1_bar_30)\n (objectAtLocation StoveKnob_bar__plus_01_dot_10_bar__plus_01_dot_00_bar__plus_01_dot_32 loc_bar_0_bar_5_bar_1_bar_30)\n (objectAtLocation StoveKnob_bar__plus_01_dot_10_bar__plus_01_dot_00_bar__plus_01_dot_48 loc_bar_0_bar_6_bar_1_bar_30)\n (objectAtLocation Tomato_bar__minus_02_dot_64_bar__plus_00_dot_89_bar__plus_03_dot_41 loc_bar__minus_7_bar_12_bar_0_bar_45)\n (objectAtLocation DishSponge_bar__minus_01_dot_36_bar__plus_01_dot_68_bar__plus_03_dot_90 loc_bar__minus_6_bar_13_bar_0_bar__minus_30)\n (objectAtLocation Lettuce_bar__minus_02_dot_68_bar__plus_01_dot_48_bar__plus_02_dot_22 loc_bar__minus_7_bar_9_bar_3_bar_60)\n (objectAtLocation Spoon_bar__minus_01_dot_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_75_bar__plus_01_dot_25_bar__plus_02_dot_11 loc_bar__minus_7_bar_9_bar_3_bar_60)\n (objectAtLocation Knife_bar__plus_01_dot_02_bar__plus_00_dot_85_bar__plus_02_dot_63 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_39 loc_bar__minus_7_bar_9_bar_3_bar_60)\n (objectAtLocation Bowl_bar__minus_02_dot_10_bar__plus_01_dot_40_bar__plus_03_dot_90 loc_bar__minus_7_bar_11_bar_0_bar_0)\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 diningtable 1", "take mug 4 from diningtable 1", "go to sinkbasin 1", "clean mug 4 with sinkbasin 1"]}
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alfworld__pick_clean_then_place_in_recep__649
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pick_clean_then_place_in_recep
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pick_clean_then_place_in_recep-Mug-None-CoffeeMachine-24/trial_T20190906_185346_459023/game.tw-pddl
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{"pddl_domain": ";; Specification in PDDL of the Alfred domain\n;; Intended to be used with Fast Downward which supports PDDL 2.2 level 1 plus the :action-costs requirement from PDDL 3.1.\n\n(define (domain alfred)\n (:requirements\n :adl\n :action-costs\n :typing\n )\n (:types\n agent\n location\n receptacle\n object\n rtype\n otype\n )\n\n\n (:predicates\n (atLocation ?a - agent ?l - location) ; true if the agent is at the location\n (receptacleAtLocation ?r - receptacle ?l - location) ; true if the receptacle is at the location (constant)\n (objectAtLocation ?o - object ?l - location) ; true if the object is at the location\n (openable ?r - receptacle) ; true if a receptacle is openable\n (opened ?r - receptacle) ; true if a receptacle is opened\n (inReceptacle ?o - object ?r - receptacle) ; object ?o is in receptacle ?r\n (isReceptacleObject ?o - object) ; true if the object can have things put inside it\n (inReceptacleObject ?innerObject - object ?outerObject - object) ; object ?innerObject is inside object ?outerObject\n (isReceptacleObjectFull ?o - object) ; true if the receptacle object contains something\n (wasInReceptacle ?o - object ?r - receptacle) ; object ?o was or is in receptacle ?r now or some time in the past\n (checked ?r - receptacle) ; whether the receptacle has been looked inside/visited\n (examined ?l - location) ; TODO\n (receptacleType ?r - receptacle ?t - rtype) ; the type of receptacle (Cabinet vs Cabinet|01|2...)\n (canContain ?rt - rtype ?ot - otype) ; true if receptacle can hold object\n (objectType ?o - object ?t - otype) ; the type of object (Apple vs Apple|01|2...)\n (holds ?a - agent ?o - object) ; object ?o is held by agent ?a\n (holdsAny ?a - agent) ; agent ?a holds an object\n (holdsAnyReceptacleObject ?a - agent) ; agent ?a holds a receptacle object\n (full ?r - receptacle) ; true if the receptacle has no remaining space\n (isClean ?o - object) ; true if the object has been clean in sink\n (cleanable ?o - object) ; true if the object can be placed in a sink\n (isHot ?o - object) ; true if the object has been heated up\n (heatable ?o - object) ; true if the object can be heated up in a microwave\n (isCool ?o - object) ; true if the object has been cooled\n (coolable ?o - object) ; true if the object can be cooled in the fridge\n (pickupable ?o - object) ; true if the object can be picked up\n (moveable ?o - object) ; true if the object can be moved\n (toggleable ?o - object) ; true if the object can be turned on/off\n (isOn ?o - object) ; true if the object is on\n (isToggled ?o - object) ; true if the object has been toggled\n (sliceable ?o - object) ; true if the object can be sliced\n (isSliced ?o - object) ; true if the object is sliced\n )\n\n (:functions\n (distance ?from ?to)\n (total-cost) - number\n )\n\n;; All actions are specified such that the final arguments are the ones used\n;; for performing actions in Unity.\n\n\n(:action look\n :parameters (?a - agent ?l - location)\n :precondition\n (and\n (atLocation ?a ?l)\n )\n :effect\n (and\n (checked ?l)\n )\n)\n\n(:action inventory\n :parameters (?a - agent)\n :precondition\n ()\n :effect\n (and\n (checked ?a)\n )\n)\n\n(:action examineReceptacle\n :parameters (?a - agent ?r - receptacle)\n :precondition\n (and\n (exists (?l - location)\n (and\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n )\n )\n )\n :effect\n (and\n (checked ?r)\n )\n)\n\n(:action examineObject\n :parameters (?a - agent ?o - object)\n :precondition\n (or\n ;(exists (?l - location)\n ; (and\n ; (atLocation ?a ?l)\n ; (objectAtLocation ?o ?l)\n ; )\n ;)\n (exists (?l - location, ?r - receptacle)\n (and\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n ; (objectAtLocation ?o ?l)\n (inReceptacle ?o ?r)\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n )\n )\n (holds ?a ?o)\n )\n :effect\n (and\n (checked ?o)\n )\n)\n\n;; agent goes to receptacle\n (:action GotoLocation\n :parameters (?a - agent ?lStart - location ?lEnd - location ?r - receptacle)\n :precondition (and\n (atLocation ?a ?lStart)\n (receptacleAtLocation ?r ?lEnd)\n ;(exists (?r - receptacle) (receptacleAtLocation ?r ?lEnd))\n )\n :effect (and\n (not (atLocation ?a ?lStart))\n (atLocation ?a ?lEnd)\n ; (forall (?r - receptacle)\n ; (when (and (receptacleAtLocation ?r ?lEnd)\n ; (or (not (openable ?r)) (opened ?r)))\n ; (checked ?r)\n ; )\n ; )\n ; (increase (total-cost) (distance ?lStart ?lEnd))\n (increase (total-cost) 1)\n )\n )\n\n;; agent opens receptacle\n (:action OpenObject\n :parameters (?a - agent ?l - location ?r - receptacle)\n :precondition (and\n (openable ?r)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (not (opened ?r))\n )\n :effect (and\n (opened ?r)\n (checked ?r)\n (increase (total-cost) 1)\n )\n )\n;; agent closes receptacle\n (:action CloseObject\n :parameters (?a - agent ?l - location ?r - receptacle)\n :precondition (and\n (openable ?r)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (opened ?r)\n )\n :effect (and\n (not (opened ?r))\n (increase (total-cost) 1)\n )\n\n )\n\n ;; agent picks up object from a receptacle\n (:action PickupObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n :precondition\n (and\n (pickupable ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n ; (objectAtLocation ?o ?l)\n (inReceptacle ?o ?r)\n (not (holdsAny ?a)) ; agent's hands are empty.\n ;(not (holdsAnyReceptacleObject ?a))\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n ;(not (isReceptacleObject ?o))\n )\n :effect\n (and\n (not (inReceptacle ?o ?r))\n (holds ?a ?o)\n (holdsAny ?a)\n (not (objectAtLocation ?o ?l))\n ;(not (full ?r))\n (increase (total-cost) 1)\n )\n )\n\n\n; ;; agent picks up object from a receptacle\n; (:action PickupObjectFromReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?outerR - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (inReceptacle ?o ?r)\n; (pickupable ?o)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (not (isReceptacleObject ?o))\n; (isReceptacleObject ?outerR)\n; (inReceptacleObject ?o ?outerR)\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (holds ?a ?o)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n;\n; (not (inReceptacleObject ?o ?outerR))\n; (not (isReceptacleObjectFull ?outerR))\n; )\n; )\n;\n; ;; agent picks up object from a receptacle\n; (:action PickupEmptyReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; ; (objectAtLocation ?o ?l)\n; (inReceptacle ?o ?r)\n; (pickupable ?o)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (isReceptacleObject ?o)\n; (not (isReceptacleObjectFull ?o))\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (holds ?a ?o)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n; (holdsAnyReceptacleObject ?a)\n; )\n; )\n;\n; ;; agent picks up object from a receptacle\n; (:action PickupFullReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?outerR - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (inReceptacle ?outerR ?r)\n; (pickupable ?outerR)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (not (isReceptacleObject ?o))\n; (isReceptacleObject ?outerR)\n; (inReceptacleObject ?o ?outerR)\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (not (inReceptacle ?outerR ?r))\n; (holds ?a ?outerR)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (objectAtLocation ?outerR ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n; (holdsAnyReceptacleObject ?a)\n; )\n; )\n\n\n;; agent puts down an object\n (:action PutObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle ?ot - otype ?rt - rtype)\n :precondition (and\n (holds ?a ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable\n ;(not (full ?r))\n (objectType ?o ?ot)\n (receptacleType ?r ?rt)\n (canContain ?rt ?ot)\n ;(not (holdsAnyReceptacleObject ?a))\n )\n :effect (and\n (inReceptacle ?o ?r)\n (objectAtLocation ?o ?l)\n ;(full ?r)\n (not (holds ?a ?o))\n (not (holdsAny ?a))\n (increase (total-cost) 1)\n )\n )\n\n;;; agent puts down an object\n; (:action PutObjectInReceptacleObject\n; :parameters (?a - agent ?l - location ?ot - otype ?o - object ?outerO - object ?outerR - receptacle)\n; :precondition (and\n; (atLocation ?a ?l)\n; (objectAtLocation ?outerO ?l)\n; (isReceptacleObject ?outerO)\n; (not (isReceptacleObject ?o))\n; (objectType ?o ?ot)\n; (holds ?a ?o)\n; (not (holdsAnyReceptacleObject ?a))\n; (inReceptacle ?outerO ?outerR)\n; (not (isReceptacleObjectFull ?outerO))\n; )\n; :effect (and\n; (inReceptacleObject ?o ?outerO)\n; (inReceptacle ?o ?outerR)\n; (not (holds ?a ?o))\n; (not (holdsAny ?a))\n; (objectAtLocation ?o ?l)\n; (isReceptacleObjectFull ?outerO)\n; (increase (total-cost) 1)\n; )\n; )\n;\n;;; agent puts down an object\n; (:action PutEmptyReceptacleObjectinReceptacle\n; :parameters (?a - agent ?l - location ?ot - otype ?o - object ?r - receptacle)\n; :precondition (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable\n; (not (full ?r))\n; (objectType ?o ?ot)\n; (holds ?a ?o)\n; (holdsAnyReceptacleObject ?a)\n; (isReceptacleObject ?o)\n; (not (isReceptacleObjectFull ?o))\n; )\n; :effect (and\n; (inReceptacle ?o ?r)\n; (objectAtLocation ?o ?l)\n; (full ?r)\n; (not (holds ?a ?o))\n; (not (holdsAny ?a))\n; (not (holdsAnyReceptacleObject ?a))\n; (increase (total-cost) 1)\n; )\n; )\n;\n;;; agent puts down a receptacle object in a receptacle\n; (:action PutFullReceptacleObjectInReceptacle\n; :parameters (?a - agent ?l - location ?ot - otype ?innerO - object ?outerO - object ?r - receptacle) ; ?rt - rtype)\n; :precondition (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (objectType ?outerO ?ot)\n; (holds ?a ?outerO)\n; (holdsAnyReceptacleObject ?a)\n; (isReceptacleObject ?outerO)\n; (isReceptacleObjectFull ?outerO)\n; (inReceptacleObject ?innerO ?outerO)\n; )\n; :effect (and\n; (not (holdsAny ?a))\n; (not (holdsAnyReceptacleObject ?a))\n; (objectAtLocation ?outerO ?l)\n; (objectAtLocation ?innerO ?l)\n; (inReceptacle ?outerO ?r)\n; (inReceptacle ?innerO ?r)\n; (not (holds ?a ?outerO))\n; (increase (total-cost) 1)\n; )\n; )\n\n;; agent cleans some object\n (:action CleanObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (cleanable ?o)\n (or\n (receptacleType ?r SinkType)\n (receptacleType ?r SinkBasinType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isClean ?o)\n )\n )\n\n\n;; agent heats-up some object\n (:action HeatObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (heatable ?o)\n (or\n (receptacleType ?r MicrowaveType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isHot ?o)\n (not (isCool ?o))\n )\n )\n\n;; agent cools some object\n (:action CoolObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (coolable ?o)\n (or\n (receptacleType ?r FridgeType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isCool ?o)\n (not (isHot ?o))\n )\n )\n\n\n;; agent toggle object\n (:action ToggleObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n :precondition (and\n (toggleable ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (inReceptacle ?o ?r)\n )\n :effect (and\n (increase (total-cost) 5)\n (when (isOn ?o)\n (not (isOn ?o)))\n (when (not (isOn ?o))\n (isOn ?o))\n (isToggled ?o)\n )\n )\n\n\n;; agent slices some object with a knife\n (:action SliceObject\n :parameters (?a - agent ?l - location ?co - object ?ko - object)\n :precondition\n (and\n (sliceable ?co)\n (or\n (objectType ?ko KnifeType)\n (objectType ?ko ButterKnifeType)\n )\n (atLocation ?a ?l)\n (objectAtLocation ?co ?l)\n (holds ?a ?ko)\n )\n :effect (and\n (increase (total-cost) 5)\n (isSliced ?co)\n )\n )\n\n\n(:action help\n :parameters (?a - agent)\n :precondition\n ()\n :effect\n (and\n (checked ?a)\n )\n)\n)\n", "grammar": "grammar :: \"\"\"\n {\n \"intro\": [\n {\n \"rhs\": \"-= Welcome to TextWorld, ALFRED! =-\\n\\n#look.feedback#\\n\\n#task#\"\n }\n ],\n\n \"notImplemented\": [\n {\n \"rhs\": \"TODO\"\n }\n ],\n\n \"task\": [\n {\n \"rhs\": \"Your task is to: put a clean mug in coffeemachine.\"\n }\n ],\n\n \"GotoLocation.feedback\": [\n {\n \"rhs\": \"You arrive at {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"OpenObject.feedback\": [\n {\n \"rhs\": \"You open the {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"CloseObject.feedback\": [\n {\n \"rhs\": \"You close the {r.name}.\"\n }\n ],\n\n \"PickupObject.feedback\": [\n {\n \"rhs\": \"You pick up the {o.name} from the {r.name}.\"\n }\n ],\n\n \"PickupObjectFromReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupObjectFromReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupEmptyReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupEmptyReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupFullReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupFullReceptacleObject: You pick up the {outerr.name}.\"\n }\n ],\n\n \"PutObject.feedback\": [\n {\n \"rhs\": \"You move the {o.name} to the {r.name}.\"\n }\n ],\n\n \"PutObjectInReceptacleObject.feedback\": [\n {\n \"rhs\": \"PutObjectInReceptacleObject: You put the {o.name} in the {outero.name}.\"\n }\n ],\n\n \"PutEmptyReceptacleObjectinReceptacle.feedback\": [\n {\n \"rhs\": \"PutEmptyReceptacleObjectinReceptacle: You put the {o.name} in the {r.name}.\"\n }\n ],\n\n \"PutFullReceptacleObjectInReceptacle.feedback\": [\n {\n \"rhs\": \"PutFullReceptacleObjectInReceptacle: You put the {outero.name} in the {r.name}.\"\n }\n ],\n\n \"inventory.feedback\": [\n {\n \"condition\": \"holdsany(a:agent)\",\n \"rhs\": \"You are carrying: [{o.indefinite + ' ' + o.name | holds(a:agent, o:object)}].\"\n },\n {\n \"rhs\": \"You are not carrying anything.\"\n }\n ],\n\n \"examineReceptacle.feedback\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \"The {r.name} is open. In it, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \"The {r.name} is closed.\"\n },\n {\n \"rhs\": \"On the {r.name}, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n }\n ],\n\n \"examineObject.feedback\": [\n {\n \"condition\": \"isreceptacleobject(o:object)\",\n \"rhs\": \"This is a normal {o.name}. In it, you see [{o2.indefinite + ' ' + o2.name | inreceptacleobject(o2:object, o:object)}].\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a clean sliced {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot sliced {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object)\",\n \"rhs\": \"This is a hot and clean {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object)\",\n \"rhs\": \"This is a cool and clean {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object)\",\n \"rhs\": \"This is a hot {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object)\",\n \"rhs\": \"This is a clean {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object)\",\n \"rhs\": \"This is a cold {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"This {o.name} is on.\"\n },\n {\n \"condition\": \"toggleable(o:object) & not_istoggled(o:object)\",\n \"rhs\": \"This {o.name} is off.\"\n },\n {\n \"condition\": \"sliceable(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a sliced {o.name}.\"\n },\n {\n \"rhs\": \"There's nothing special about {o.name}.\"\n }\n ]\n }\n\"\"\";\n\naction GotoLocation {\n template :: \"go to [{r.name | receptacleatlocation(r:receptacle, lend:location)}]\";\n feedback :: \"#GotoLocation.feedback#\";\n}\n\naction OpenObject {\n template :: \"open {r}\";\n feedback :: \"#OpenObject.feedback#\";\n}\n\naction CloseObject {\n template :: \"close {r}\";\n feedback :: \"#CloseObject.feedback#\";\n}\n\naction PickupObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObject.feedback#\";\n}\n\naction PickupObjectFromReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObjectFromReceptacleObject.feedback#\";\n}\n\naction PickupEmptyReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupEmptyReceptacleObject.feedback#\";\n}\n\naction PickupFullReceptacleObject {\n template :: \"take {outerr} from {r}\";\n feedback :: \"#PickupFullReceptacleObject.feedback#\";\n}\n\naction PutObject {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutObject.feedback#\";\n}\n\naction PutObjectInReceptacleObject {\n template :: \"put {o} into {outero}\";\n feedback :: \"#PutObjectInReceptacleObject.feedback#\";\n}\n\naction PutEmptyReceptacleObjectinReceptacle {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutEmptyReceptacleObjectinReceptacle.feedback#\";\n}\n\naction PutFullReceptacleObjectInReceptacle {\n template :: \"put {outero} in {r}\";\n feedback :: \"#PutFullReceptacleObjectInReceptacle.feedback#\";\n}\n\naction inventory {\n template :: \"inventory\";\n feedback :: \"#inventory.feedback#\";\n}\n\naction examineReceptacle {\n template :: \"examine {r}\";\n feedback :: \"#examineReceptacle.feedback#\";\n}\n\naction examineObject {\n template :: \"examine {o}\";\n feedback :: \"#examineObject.feedback#\";\n}\n\naction ToggleObject {\n template :: \"use {o}\";\n feedback :: \"#toggleObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"toggleObject.feedback\": [\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"You turn on the {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object)\",\n \"rhs\": \"You turn off the {o.name}.\"\n },\n {\n \"rhs\": \"You don't see any switch on the {o.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction HeatObject {\n template :: \"heat {o} with {r}\";\n feedback :: \"#heatObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"heatObject.feedback\": [\n {\n \"rhs\": \"You heat the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CleanObject {\n template :: \"clean {o} with {r}\";\n feedback :: \"#cleanObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"cleanObject.feedback\": [\n {\n \"rhs\": \"You clean the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CoolObject {\n template :: \"cool {o} with {r}\";\n feedback :: \"#coolObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"coolObject.feedback\": [\n {\n \"rhs\": \"You cool the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction SliceObject {\n template :: \"slice {co} with {ko}\";\n feedback :: \"#sliceObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"sliceObject.feedback\": [\n {\n \"rhs\": \"You sliced the {co.name} with the {ko.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction look {\n template :: \"look\";\n feedback :: \"#look.feedback#\";\n\n grammar :: \"\"\"\n {\n \"look.feedback\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"#look-variations#. Next to it, you see #list_objects_on_the_floor#.\"\n },\n {\n \"rhs\": \"You are in the middle of a room. Looking quickly around you, you see #list_appliances#.\"\n }\n ],\n\n \"look-variations\": [\n {\n \"rhs\": \"You are facing the [{r.name | atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)}]\"\n }\n ],\n\n \"list_objects_on_the_floor\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)\",\n \"rhs\": \"[{#overview(o)# | atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"list_appliances\": [\n {\n \"condition\": \"receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"[{#overview(r)# | receptacleatlocation(r:receptacle, l:location)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"overview(o, r)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name} (in/on the {r.name})}\"\n }\n ],\n\n \"overview(o)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name}\"\n }\n ],\n \"overview(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}\"\n }\n ],\n \"overview_with_state(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}#overview_state(r)#\"\n }\n ],\n \"overview_state(r)\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \" (it is open)\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \" (it is closed)\"\n },\n {\n \"rhs\": \"\"\n }\n ],\n\n \"list_empty\": [\n {\n \"rhs\": \"nothing\"\n }\n ],\n \"list_separator\": [\n {\n \"rhs\": \", \"\n }\n ],\n \"list_last_separator\": [\n {\n \"rhs\": \", and \"\n }\n ]\n }\n \"\"\";\n}\n\naction help {\n template :: \"help\";\n feedback :: \"\nAvailable commands:\n look: look around your current location\n inventory: check your current inventory\n go to (receptacle): move to a receptacle\n open (receptacle): open a receptacle\n close (receptacle): close a receptacle\n take (object) from (receptacle): take an object from a receptacle\n move (object) to (receptacle): place an object in or on a receptacle\n examine (something): examine a receptacle or an object\n use (object): use an object\n heat (object) with (receptacle): heat an object using a receptacle\n clean (object) with (receptacle): clean an object using a receptacle\n cool (object) with (receptacle): cool an object using a receptacle\n slice (object) with (object): slice an object using a sharp object\n\";\n}\n", "pddl_problem": "\n(define (problem plan_trial_T20190906_185346_459023)\n(:domain alfred)\n(:objects\nagent1 - agent\nSaltShaker - object\n HousePlant - object\n Candle - object\n SprayBottle - object\n Bowl - object\n Window - object\n CD - object\n Egg - object\n Glassbottle - object\n Sink - object\n Pillow - object\n Spoon - object\n SoapBottle - object\n TeddyBear - object\n ButterKnife - object\n Cup - object\n Plate - object\n RemoteControl - object\n Tomato - object\n Statue - object\n HandTowel - object\n Knife - object\n StoveKnob - object\n LightSwitch - object\n Pen - object\n Painting - object\n DishSponge - object\n Vase - object\n Mug - object\n ToiletPaper - object\n Box - object\n Mirror - object\n Ladle - object\n Fork - object\n Blinds - object\n Footstool - object\n KeyChain - object\n Cloth - object\n Laptop - object\n TissueBox - object\n PepperShaker - object\n FloorLamp - object\n WateringCan - object\n Apple - object\n Pan - object\n PaperTowel - object\n PaperTowelRoll - object\n Newspaper - object\n Television - object\n Chair - object\n CellPhone - object\n CreditCard - object\n Lettuce - object\n BasketBall - object\n Potato - object\n Curtains - object\n Boots - object\n Pencil - object\n AlarmClock - object\n ToiletPaperRoll - object\n Spatula - object\n Book - object\n Bread - object\n SoapBar - object\n Watch - object\n DeskLamp - object\n Kettle - object\n Pot - object\n ScrubBrush - object\n WineBottle - object\n ShowerDoor - object\n Bathtub - object\n LaundryHamperLid - object\n ShowerGlass - object\n Poster - object\n TennisRacket - object\n BaseballBat - object\n Towel - object\n Plunger - object\nSaltShakerType - otype\n HousePlantType - otype\n CandleType - otype\n SprayBottleType - otype\n BowlType - otype\n WindowType - otype\n CDType - otype\n EggType - otype\n GlassbottleType - otype\n SinkType - otype\n PillowType - otype\n SpoonType - otype\n SoapBottleType - otype\n TeddyBearType - otype\n ButterKnifeType - otype\n CupType - otype\n PlateType - otype\n RemoteControlType - otype\n TomatoType - otype\n StatueType - otype\n HandTowelType - otype\n KnifeType - otype\n StoveKnobType - otype\n LightSwitchType - otype\n PenType - otype\n PaintingType - otype\n DishSpongeType - otype\n VaseType - otype\n MugType - otype\n ToiletPaperType - otype\n BoxType - otype\n MirrorType - otype\n LadleType - otype\n ForkType - otype\n BlindsType - otype\n FootstoolType - otype\n KeyChainType - otype\n ClothType - otype\n LaptopType - otype\n TissueBoxType - otype\n PepperShakerType - otype\n FloorLampType - otype\n WateringCanType - otype\n AppleType - otype\n PanType - otype\n PaperTowelType - otype\n PaperTowelRollType - otype\n NewspaperType - otype\n TelevisionType - otype\n ChairType - otype\n CellPhoneType - otype\n CreditCardType - otype\n LettuceType - otype\n BasketBallType - otype\n PotatoType - otype\n CurtainsType - otype\n BootsType - otype\n PencilType - otype\n AlarmClockType - otype\n ToiletPaperRollType - otype\n SpatulaType - otype\n BookType - otype\n BreadType - otype\n SoapBarType - otype\n WatchType - otype\n DeskLampType - otype\n KettleType - otype\n PotType - otype\n ScrubBrushType - otype\n WineBottleType - otype\n ShowerDoorType - otype\n BathtubType - otype\n LaundryHamperLidType - otype\n ShowerGlassType - otype\n PosterType - otype\n TennisRacketType - otype\n BaseballBatType - otype\n TowelType - otype\n PlungerType - otype\nSafeType - rtype\n DrawerType - rtype\n CoffeeMachineType - rtype\n HandTowelHolderType - rtype\n SinkBasinType - rtype\n DresserType - rtype\n LaundryHamperType - rtype\n TVStandType - rtype\n BathtubBasinType - rtype\n CabinetType - rtype\n FridgeType - rtype\n DeskType - rtype\n ToiletType - rtype\n CartType - rtype\n SideTableType - rtype\n SofaType - rtype\n CoffeeTableType - rtype\n DiningTableType - rtype\n CounterTopType - rtype\n GarbageCanType - rtype\n ArmChairType - rtype\n ShelfType - rtype\n MicrowaveType - rtype\n ToasterType - rtype\n BedType - rtype\n PaintingHangerType - rtype\n TowelHolderType - rtype\n ToiletPaperHangerType - rtype\n StoveBurnerType - rtype\n OttomanType - rtype\n\n\n Apple_bar__minus_01_dot_32_bar__plus_00_dot_96_bar__plus_01_dot_25 - object\n Apple_bar__minus_01_dot_49_bar__plus_01_dot_42_bar__plus_03_dot_84 - object\n Bowl_bar__minus_01_dot_72_bar__plus_00_dot_13_bar__plus_03_dot_68 - object\n Bowl_bar__minus_02_dot_85_bar__plus_00_dot_82_bar__plus_03_dot_33 - object\n Bread_bar__plus_00_dot_83_bar__plus_00_dot_86_bar__plus_02_dot_45 - object\n ButterKnife_bar__minus_00_dot_92_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_01_dot_10_bar__plus_00_dot_82_bar__plus_00_dot_85 - object\n DishSponge_bar__plus_00_dot_93_bar__plus_00_dot_02_bar__plus_02_dot_92 - object\n DishSponge_bar__minus_02_dot_58_bar__plus_01_dot_85_bar__plus_02_dot_35 - object\n Egg_bar__minus_00_dot_52_bar__plus_00_dot_94_bar__plus_01_dot_56 - object\n Egg_bar__minus_01_dot_31_bar__plus_00_dot_73_bar__plus_03_dot_86 - object\n Egg_bar__minus_01_dot_91_bar__plus_00_dot_73_bar__plus_03_dot_73 - 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_73_bar__plus_00_dot_82_bar__plus_00_dot_98 - object\n Fork_bar__minus_00_dot_52_bar__plus_00_dot_90_bar__plus_01_dot_14 - object\n Knife_bar__minus_01_dot_12_bar__plus_00_dot_85_bar__plus_03_dot_90 - 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_00_dot_92_bar__plus_00_dot_90_bar__plus_01_dot_25 - object\n Mug_bar__minus_02_dot_65_bar__plus_01_dot_60_bar__plus_02_dot_17 - object\n Pan_bar__minus_02_dot_67_bar__plus_00_dot_81_bar__plus_03_dot_74 - object\n PaperTowelRoll_bar__minus_00_dot_66_bar__plus_01_dot_00_bar__plus_01_dot_04 - object\n PepperShaker_bar__plus_01_dot_10_bar__plus_00_dot_82_bar__plus_00_dot_98 - object\n PepperShaker_bar__minus_02_dot_62_bar__plus_01_dot_85_bar__plus_01_dot_85 - object\n Plate_bar__plus_00_dot_74_bar__plus_00_dot_13_bar__plus_02_dot_20 - object\n Plate_bar__minus_01_dot_31_bar__plus_01_dot_69_bar__plus_03_dot_90 - object\n Plate_bar__minus_02_dot_79_bar__plus_01_dot_40_bar__plus_03_dot_90 - object\n Potato_bar__minus_02_dot_52_bar__plus_00_dot_81_bar__plus_02_dot_39 - object\n Pot_bar__plus_00_dot_91_bar__plus_00_dot_85_bar__plus_01_dot_77 - object\n SaltShaker_bar__minus_00_dot_59_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__plus_00_dot_95_bar__plus_00_dot_82_bar__plus_00_dot_98 - object\n Spatula_bar__minus_00_dot_66_bar__plus_00_dot_92_bar__plus_00_dot_94 - object\n Spoon_bar__plus_00_dot_67_bar__plus_00_dot_69_bar__plus_02_dot_50 - object\n Spoon_bar__minus_00_dot_66_bar__plus_00_dot_90_bar__plus_01_dot_56 - 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_69_bar__plus_00_dot_84_bar__plus_02_dot_28 - 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 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- 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_1_bar_10_bar_0_bar_30 - location\n )\n \n\n(:init\n\n\n (receptacleType 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Drawer_bar__plus_00_dot_73_bar__plus_00_dot_70_bar__plus_02_dot_53)\n (inReceptacle Cup_bar__plus_01_dot_10_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)\n (inReceptacle SoapBottle_bar__plus_00_dot_95_bar__plus_00_dot_82_bar__plus_00_dot_98 CounterTop_bar__plus_00_dot_86_bar__plus_00_dot_86_bar__plus_00_dot_98)\n (inReceptacle Fork_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)\n (inReceptacle PepperShaker_bar__plus_01_dot_10_bar__plus_00_dot_82_bar__plus_00_dot_98 CounterTop_bar__plus_00_dot_86_bar__plus_00_dot_86_bar__plus_00_dot_98)\n (inReceptacle 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 SaltShaker_bar__minus_00_dot_59_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)\n (inReceptacle DishSponge_bar__minus_02_dot_58_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)\n (inReceptacle Plate_bar__minus_02_dot_79_bar__plus_01_dot_40_bar__plus_03_dot_90 Cabinet_bar__minus_02_dot_95_bar__plus_01_dot_93_bar__plus_03_dot_73)\n (inReceptacle Plate_bar__plus_00_dot_74_bar__plus_00_dot_13_bar__plus_02_dot_20 Cabinet_bar__plus_00_dot_58_bar__plus_00_dot_39_bar__plus_02_dot_36)\n (inReceptacle PaperTowelRoll_bar__minus_00_dot_66_bar__plus_01_dot_00_bar__plus_01_dot_04 DiningTable_bar__minus_00_dot_88_bar__plus_00_dot_01_bar__plus_01_dot_32)\n (inReceptacle Spatula_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)\n (inReceptacle Egg_bar__minus_00_dot_52_bar__plus_00_dot_94_bar__plus_01_dot_56 DiningTable_bar__minus_00_dot_88_bar__plus_00_dot_01_bar__plus_01_dot_32)\n (inReceptacle Spoon_bar__minus_00_dot_66_bar__plus_00_dot_90_bar__plus_01_dot_56 DiningTable_bar__minus_00_dot_88_bar__plus_00_dot_01_bar__plus_01_dot_32)\n (inReceptacle Apple_bar__minus_01_dot_32_bar__plus_00_dot_96_bar__plus_01_dot_25 DiningTable_bar__minus_00_dot_88_bar__plus_00_dot_01_bar__plus_01_dot_32)\n (inReceptacle ButterKnife_bar__minus_00_dot_92_bar__plus_00_dot_90_bar__plus_01_dot_35 DiningTable_bar__minus_00_dot_88_bar__plus_00_dot_01_bar__plus_01_dot_32)\n (inReceptacle Fork_bar__minus_00_dot_52_bar__plus_00_dot_90_bar__plus_01_dot_14 DiningTable_bar__minus_00_dot_88_bar__plus_00_dot_01_bar__plus_01_dot_32)\n (inReceptacle Mug_bar__minus_00_dot_92_bar__plus_00_dot_90_bar__plus_01_dot_25 DiningTable_bar__minus_00_dot_88_bar__plus_00_dot_01_bar__plus_01_dot_32)\n (inReceptacle Lettuce_bar__minus_00_dot_58_bar__plus_00_dot_96_bar__plus_01_dot_36 DiningTable_bar__minus_00_dot_88_bar__plus_00_dot_01_bar__plus_01_dot_32)\n (inReceptacle Pot_bar__plus_00_dot_91_bar__plus_00_dot_85_bar__plus_01_dot_77 StoveBurner_bar__plus_00_dot_91_bar__plus_00_dot_84_bar__plus_01_dot_77)\n (inReceptacle Bowl_bar__minus_01_dot_72_bar__plus_00_dot_13_bar__plus_03_dot_68 Cabinet_bar__minus_01_dot_97_bar__plus_00_dot_39_bar__plus_03_dot_52)\n (inReceptacle Knife_bar__minus_01_dot_12_bar__plus_00_dot_85_bar__plus_03_dot_90 CounterTop_bar__minus_02_dot_08_bar__plus_00_dot_86_bar__plus_03_dot_80)\n (inReceptacle Pan_bar__minus_02_dot_67_bar__plus_00_dot_81_bar__plus_03_dot_74 CounterTop_bar__minus_02_dot_08_bar__plus_00_dot_86_bar__plus_03_dot_80)\n (inReceptacle Bowl_bar__minus_02_dot_85_bar__plus_00_dot_82_bar__plus_03_dot_33 CounterTop_bar__minus_02_dot_08_bar__plus_00_dot_86_bar__plus_03_dot_80)\n (inReceptacle PepperShaker_bar__minus_02_dot_62_bar__plus_01_dot_85_bar__plus_01_dot_85 Cabinet_bar__minus_02_dot_38_bar__plus_02_dot_01_bar__plus_01_dot_69)\n (inReceptacle Plate_bar__minus_01_dot_31_bar__plus_01_dot_69_bar__plus_03_dot_90 Cabinet_bar__minus_01_dot_10_bar__plus_01_dot_93_bar__plus_03_dot_73)\n (inReceptacle Apple_bar__minus_01_dot_49_bar__plus_01_dot_42_bar__plus_03_dot_84 Microwave_bar__minus_01_dot_53_bar__plus_01_dot_25_bar__plus_03_dot_88)\n (inReceptacle Mug_bar__minus_02_dot_65_bar__plus_01_dot_60_bar__plus_02_dot_17 Fridge_bar__minus_02_dot_64_bar__plus_00_dot_00_bar__plus_02_dot_13)\n (inReceptacle Potato_bar__minus_02_dot_52_bar__plus_00_dot_81_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_69_bar__plus_00_dot_84_bar__plus_02_dot_28 Fridge_bar__minus_02_dot_64_bar__plus_00_dot_00_bar__plus_02_dot_13)\n (inReceptacle DishSponge_bar__plus_00_dot_93_bar__plus_00_dot_02_bar__plus_02_dot_92 GarbageCan_bar__plus_00_dot_93_bar__plus_00_dot_00_bar__plus_02_dot_92)\n (inReceptacle Egg_bar__minus_01_dot_91_bar__plus_00_dot_73_bar__plus_03_dot_73 Sink_bar__minus_01_dot_70_bar__plus_00_dot_73_bar__plus_03_dot_83_bar_SinkBasin)\n (inReceptacle Egg_bar__minus_01_dot_31_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)\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 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Mug_bar__minus_00_dot_92_bar__plus_00_dot_90_bar__plus_01_dot_25 loc_bar__minus_4_bar_8_bar_2_bar_60)\n (objectAtLocation Apple_bar__minus_01_dot_49_bar__plus_01_dot_42_bar__plus_03_dot_84 loc_bar__minus_6_bar_13_bar_0_bar_30)\n (objectAtLocation Spoon_bar__minus_00_dot_66_bar__plus_00_dot_90_bar__plus_01_dot_56 loc_bar__minus_4_bar_8_bar_2_bar_60)\n (objectAtLocation DishSponge_bar__plus_00_dot_93_bar__plus_00_dot_02_bar__plus_02_dot_92 loc_bar_2_bar_12_bar_1_bar_60)\n (objectAtLocation PepperShaker_bar__minus_02_dot_62_bar__plus_01_dot_85_bar__plus_01_dot_85 loc_bar__minus_7_bar_7_bar_3_bar__minus_30)\n (objectAtLocation Egg_bar__minus_01_dot_91_bar__plus_00_dot_73_bar__plus_03_dot_73 loc_bar__minus_6_bar_13_bar_0_bar_60)\n (objectAtLocation Fork_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 Plate_bar__minus_02_dot_79_bar__plus_01_dot_40_bar__plus_03_dot_90 loc_bar__minus_6_bar_13_bar_3_bar__minus_15)\n (objectAtLocation Plate_bar__plus_00_dot_74_bar__plus_00_dot_13_bar__plus_02_dot_20 loc_bar__minus_1_bar_11_bar_1_bar_60)\n (objectAtLocation Egg_bar__minus_01_dot_31_bar__plus_00_dot_73_bar__plus_03_dot_86 loc_bar__minus_6_bar_13_bar_0_bar_60)\n (objectAtLocation Sink_bar__minus_01_dot_70_bar__plus_00_dot_73_bar__plus_03_dot_83 loc_bar__minus_6_bar_13_bar_0_bar_60)\n (objectAtLocation Plate_bar__minus_01_dot_31_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__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 LightSwitch_bar__plus_00_dot_83_bar__plus_01_dot_40_bar__plus_04_dot_08 loc_bar_2_bar_14_bar_0_bar_30)\n (objectAtLocation Bread_bar__plus_00_dot_83_bar__plus_00_dot_86_bar__plus_02_dot_45 loc_bar_1_bar_10_bar_1_bar_45)\n (objectAtLocation Chair_bar__minus_00_dot_87_bar__plus_00_dot_49_bar__plus_01_dot_50 loc_bar__minus_3_bar_8_bar_2_bar_60)\n (objectAtLocation Window_bar__minus_01_dot_13_bar__plus_01_dot_67_bar__plus_00_dot_81 loc_bar__minus_7_bar_6_bar_2_bar_0)\n (objectAtLocation Spatula_bar__minus_00_dot_66_bar__plus_00_dot_92_bar__plus_00_dot_94 loc_bar__minus_4_bar_8_bar_2_bar_60)\n (objectAtLocation PaperTowelRoll_bar__minus_00_dot_66_bar__plus_01_dot_00_bar__plus_01_dot_04 loc_bar__minus_4_bar_8_bar_2_bar_60)\n (objectAtLocation Potato_bar__minus_02_dot_52_bar__plus_00_dot_81_bar__plus_02_dot_39 loc_bar__minus_7_bar_9_bar_3_bar_60)\n (objectAtLocation SoapBottle_bar__plus_00_dot_95_bar__plus_00_dot_82_bar__plus_00_dot_98 loc_bar_0_bar_5_bar_1_bar_45)\n (objectAtLocation Egg_bar__minus_00_dot_52_bar__plus_00_dot_94_bar__plus_01_dot_56 loc_bar__minus_4_bar_8_bar_2_bar_60)\n (objectAtLocation Cup_bar__plus_01_dot_10_bar__plus_00_dot_82_bar__plus_00_dot_85 loc_bar_0_bar_5_bar_1_bar_45)\n (objectAtLocation Pot_bar__plus_00_dot_91_bar__plus_00_dot_85_bar__plus_01_dot_77 loc_bar_0_bar_7_bar_1_bar_45)\n (objectAtLocation SaltShaker_bar__minus_00_dot_59_bar__plus_00_dot_16_bar__plus_03_dot_81 loc_bar__minus_3_bar_12_bar_0_bar_60)\n (objectAtLocation Pan_bar__minus_02_dot_67_bar__plus_00_dot_81_bar__plus_03_dot_74 loc_bar__minus_7_bar_12_bar_0_bar_45)\n (objectAtLocation PepperShaker_bar__plus_01_dot_10_bar__plus_00_dot_82_bar__plus_00_dot_98 loc_bar_0_bar_5_bar_1_bar_45)\n (objectAtLocation ButterKnife_bar__minus_00_dot_92_bar__plus_00_dot_90_bar__plus_01_dot_35 loc_bar__minus_4_bar_8_bar_2_bar_60)\n (objectAtLocation StoveKnob_bar__plus_01_dot_10_bar__plus_01_dot_00_bar__plus_01_dot_89 loc_bar_0_bar_8_bar_1_bar_30)\n (objectAtLocation StoveKnob_bar__plus_01_dot_10_bar__plus_01_dot_00_bar__plus_01_dot_73 loc_bar_0_bar_7_bar_1_bar_30)\n (objectAtLocation StoveKnob_bar__plus_01_dot_10_bar__plus_01_dot_00_bar__plus_01_dot_32 loc_bar_0_bar_5_bar_1_bar_30)\n (objectAtLocation StoveKnob_bar__plus_01_dot_10_bar__plus_01_dot_00_bar__plus_01_dot_48 loc_bar_0_bar_6_bar_1_bar_30)\n (objectAtLocation Tomato_bar__minus_02_dot_69_bar__plus_00_dot_84_bar__plus_02_dot_28 loc_bar__minus_7_bar_9_bar_3_bar_60)\n (objectAtLocation DishSponge_bar__minus_02_dot_58_bar__plus_01_dot_85_bar__plus_02_dot_35 loc_bar__minus_6_bar_9_bar_3_bar__minus_15)\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__plus_00_dot_67_bar__plus_00_dot_69_bar__plus_02_dot_50 loc_bar__minus_1_bar_12_bar_1_bar_45)\n (objectAtLocation Apple_bar__minus_01_dot_32_bar__plus_00_dot_96_bar__plus_01_dot_25 loc_bar__minus_4_bar_8_bar_2_bar_60)\n (objectAtLocation Knife_bar__minus_01_dot_12_bar__plus_00_dot_85_bar__plus_03_dot_90 loc_bar__minus_7_bar_12_bar_0_bar_45)\n (objectAtLocation Mug_bar__minus_02_dot_65_bar__plus_01_dot_60_bar__plus_02_dot_17 loc_bar__minus_7_bar_9_bar_3_bar_60)\n (objectAtLocation Bowl_bar__minus_01_dot_72_bar__plus_00_dot_13_bar__plus_03_dot_68 loc_bar__minus_5_bar_10_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 MugType)\n (receptacleType ?r CoffeeMachineType)\n (isClean ?o)\n (inReceptacle ?o ?r)\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to diningtable 1", "take mug 2 from diningtable 1", "go to sinkbasin 1", "clean mug 2 with sinkbasin 1", "go to coffeemachine 1", "move mug 2 to coffeemachine 1"]}
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alfworld__pick_two_obj_and_place__811
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pick_two_obj_and_place
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pick_two_obj_and_place-SprayBottle-None-Toilet-417/trial_T20190908_071856_380211/game.tw-pddl
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{"pddl_domain": ";; Specification in PDDL of the Alfred domain\n;; Intended to be used with Fast Downward which supports PDDL 2.2 level 1 plus the :action-costs requirement from PDDL 3.1.\n\n(define (domain alfred)\n (:requirements\n :adl\n :action-costs\n :typing\n )\n (:types\n agent\n location\n receptacle\n object\n rtype\n otype\n )\n\n\n (:predicates\n (atLocation ?a - agent ?l - location) ; true if the agent is at the location\n (receptacleAtLocation ?r - receptacle ?l - location) ; true if the receptacle is at the location (constant)\n (objectAtLocation ?o - object ?l - location) ; true if the object is at the location\n (openable ?r - receptacle) ; true if a receptacle is openable\n (opened ?r - receptacle) ; true if a receptacle is opened\n (inReceptacle ?o - object ?r - receptacle) ; object ?o is in receptacle ?r\n (isReceptacleObject ?o - object) ; true if the object can have things put inside it\n (inReceptacleObject ?innerObject - object ?outerObject - object) ; object ?innerObject is inside object ?outerObject\n (isReceptacleObjectFull ?o - object) ; true if the receptacle object contains something\n (wasInReceptacle ?o - object ?r - receptacle) ; object ?o was or is in receptacle ?r now or some time in the past\n (checked ?r - receptacle) ; whether the receptacle has been looked inside/visited\n (examined ?l - location) ; TODO\n (receptacleType ?r - receptacle ?t - rtype) ; the type of receptacle (Cabinet vs Cabinet|01|2...)\n (canContain ?rt - rtype ?ot - otype) ; true if receptacle can hold object\n (objectType ?o - object ?t - otype) ; the type of object (Apple vs Apple|01|2...)\n (holds ?a - agent ?o - object) ; object ?o is held by agent ?a\n (holdsAny ?a - agent) ; agent ?a holds an object\n (holdsAnyReceptacleObject ?a - agent) ; agent ?a holds a receptacle object\n (full ?r - receptacle) ; true if the receptacle has no remaining space\n (isClean ?o - object) ; true if the object has been clean in sink\n (cleanable ?o - object) ; true if the object can be placed in a sink\n (isHot ?o - object) ; true if the object has been heated up\n (heatable ?o - object) ; true if the object can be heated up in a microwave\n (isCool ?o - object) ; true if the object has been cooled\n (coolable ?o - object) ; true if the object can be cooled in the fridge\n (pickupable ?o - object) ; true if the object can be picked up\n (moveable ?o - object) ; true if the object can be moved\n (toggleable ?o - object) ; true if the object can be turned on/off\n (isOn ?o - object) ; true if the object is on\n (isToggled ?o - object) ; true if the object has been toggled\n (sliceable ?o - object) ; true if the object can be sliced\n (isSliced ?o - object) ; true if the object is sliced\n )\n\n (:functions\n (distance ?from ?to)\n (total-cost) - number\n )\n\n;; All actions are specified such that the final arguments are the ones used\n;; for performing actions in Unity.\n\n\n(:action look\n :parameters (?a - agent ?l - location)\n :precondition\n (and\n (atLocation ?a ?l)\n )\n :effect\n (and\n (checked ?l)\n )\n)\n\n(:action inventory\n :parameters (?a - agent)\n :precondition\n ()\n :effect\n (and\n (checked ?a)\n )\n)\n\n(:action examineReceptacle\n :parameters (?a - agent ?r - receptacle)\n :precondition\n (and\n (exists (?l - location)\n (and\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n )\n )\n )\n :effect\n (and\n (checked ?r)\n )\n)\n\n(:action examineObject\n :parameters (?a - agent ?o - object)\n :precondition\n (or\n ;(exists (?l - location)\n ; (and\n ; (atLocation ?a ?l)\n ; (objectAtLocation ?o ?l)\n ; )\n ;)\n (exists (?l - location, ?r - receptacle)\n (and\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n ; (objectAtLocation ?o ?l)\n (inReceptacle ?o ?r)\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n )\n )\n (holds ?a ?o)\n )\n :effect\n (and\n (checked ?o)\n )\n)\n\n;; agent goes to receptacle\n (:action GotoLocation\n :parameters (?a - agent ?lStart - location ?lEnd - location ?r - receptacle)\n :precondition (and\n (atLocation ?a ?lStart)\n (receptacleAtLocation ?r ?lEnd)\n ;(exists (?r - receptacle) (receptacleAtLocation ?r ?lEnd))\n )\n :effect (and\n (not (atLocation ?a ?lStart))\n (atLocation ?a ?lEnd)\n ; (forall (?r - receptacle)\n ; (when (and (receptacleAtLocation ?r ?lEnd)\n ; (or (not (openable ?r)) (opened ?r)))\n ; (checked ?r)\n ; )\n ; )\n ; (increase (total-cost) (distance ?lStart ?lEnd))\n (increase (total-cost) 1)\n )\n )\n\n;; agent opens receptacle\n (:action OpenObject\n :parameters (?a - agent ?l - location ?r - receptacle)\n :precondition (and\n (openable ?r)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (not (opened ?r))\n )\n :effect (and\n (opened ?r)\n (checked ?r)\n (increase (total-cost) 1)\n )\n )\n;; agent closes receptacle\n (:action CloseObject\n :parameters (?a - agent ?l - location ?r - receptacle)\n :precondition (and\n (openable ?r)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (opened ?r)\n )\n :effect (and\n (not (opened ?r))\n (increase (total-cost) 1)\n )\n\n )\n\n ;; agent picks up object from a receptacle\n (:action PickupObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n :precondition\n (and\n (pickupable ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n ; (objectAtLocation ?o ?l)\n (inReceptacle ?o ?r)\n (not (holdsAny ?a)) ; agent's hands are empty.\n ;(not (holdsAnyReceptacleObject ?a))\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n ;(not (isReceptacleObject ?o))\n )\n :effect\n (and\n (not (inReceptacle ?o ?r))\n (holds ?a ?o)\n (holdsAny ?a)\n (not (objectAtLocation ?o ?l))\n ;(not (full ?r))\n (increase (total-cost) 1)\n )\n )\n\n\n; ;; agent picks up object from a receptacle\n; (:action PickupObjectFromReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?outerR - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (inReceptacle ?o ?r)\n; (pickupable ?o)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (not (isReceptacleObject ?o))\n; (isReceptacleObject ?outerR)\n; (inReceptacleObject ?o ?outerR)\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (holds ?a ?o)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n;\n; (not (inReceptacleObject ?o ?outerR))\n; (not (isReceptacleObjectFull ?outerR))\n; )\n; )\n;\n; ;; agent picks up object from a receptacle\n; (:action PickupEmptyReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; ; (objectAtLocation ?o ?l)\n; (inReceptacle ?o ?r)\n; (pickupable ?o)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (isReceptacleObject ?o)\n; (not (isReceptacleObjectFull ?o))\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (holds ?a ?o)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n; (holdsAnyReceptacleObject ?a)\n; )\n; )\n;\n; ;; agent picks up object from a receptacle\n; (:action PickupFullReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?outerR - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (inReceptacle ?outerR ?r)\n; (pickupable ?outerR)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (not (isReceptacleObject ?o))\n; (isReceptacleObject ?outerR)\n; (inReceptacleObject ?o ?outerR)\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (not (inReceptacle ?outerR ?r))\n; (holds ?a ?outerR)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (objectAtLocation ?outerR ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n; (holdsAnyReceptacleObject ?a)\n; )\n; )\n\n\n;; agent puts down an object\n (:action PutObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle ?ot - otype ?rt - rtype)\n :precondition (and\n (holds ?a ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable\n ;(not (full ?r))\n (objectType ?o ?ot)\n (receptacleType ?r ?rt)\n (canContain ?rt ?ot)\n ;(not (holdsAnyReceptacleObject ?a))\n )\n :effect (and\n (inReceptacle ?o ?r)\n (objectAtLocation ?o ?l)\n ;(full ?r)\n (not (holds ?a ?o))\n (not (holdsAny ?a))\n (increase (total-cost) 1)\n )\n )\n\n;;; agent puts down an object\n; (:action PutObjectInReceptacleObject\n; :parameters (?a - agent ?l - location ?ot - otype ?o - object ?outerO - object ?outerR - receptacle)\n; :precondition (and\n; (atLocation ?a ?l)\n; (objectAtLocation ?outerO ?l)\n; (isReceptacleObject ?outerO)\n; (not (isReceptacleObject ?o))\n; (objectType ?o ?ot)\n; (holds ?a ?o)\n; (not (holdsAnyReceptacleObject ?a))\n; (inReceptacle ?outerO ?outerR)\n; (not (isReceptacleObjectFull ?outerO))\n; )\n; :effect (and\n; (inReceptacleObject ?o ?outerO)\n; (inReceptacle ?o ?outerR)\n; (not (holds ?a ?o))\n; (not (holdsAny ?a))\n; (objectAtLocation ?o ?l)\n; (isReceptacleObjectFull ?outerO)\n; (increase (total-cost) 1)\n; )\n; )\n;\n;;; agent puts down an object\n; (:action PutEmptyReceptacleObjectinReceptacle\n; :parameters (?a - agent ?l - location ?ot - otype ?o - object ?r - receptacle)\n; :precondition (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable\n; (not (full ?r))\n; (objectType ?o ?ot)\n; (holds ?a ?o)\n; (holdsAnyReceptacleObject ?a)\n; (isReceptacleObject ?o)\n; (not (isReceptacleObjectFull ?o))\n; )\n; :effect (and\n; (inReceptacle ?o ?r)\n; (objectAtLocation ?o ?l)\n; (full ?r)\n; (not (holds ?a ?o))\n; (not (holdsAny ?a))\n; (not (holdsAnyReceptacleObject ?a))\n; (increase (total-cost) 1)\n; )\n; )\n;\n;;; agent puts down a receptacle object in a receptacle\n; (:action PutFullReceptacleObjectInReceptacle\n; :parameters (?a - agent ?l - location ?ot - otype ?innerO - object ?outerO - object ?r - receptacle) ; ?rt - rtype)\n; :precondition (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (objectType ?outerO ?ot)\n; (holds ?a ?outerO)\n; (holdsAnyReceptacleObject ?a)\n; (isReceptacleObject ?outerO)\n; (isReceptacleObjectFull ?outerO)\n; (inReceptacleObject ?innerO ?outerO)\n; )\n; :effect (and\n; (not (holdsAny ?a))\n; (not (holdsAnyReceptacleObject ?a))\n; (objectAtLocation ?outerO ?l)\n; (objectAtLocation ?innerO ?l)\n; (inReceptacle ?outerO ?r)\n; (inReceptacle ?innerO ?r)\n; (not (holds ?a ?outerO))\n; (increase (total-cost) 1)\n; )\n; )\n\n;; agent cleans some object\n (:action CleanObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (cleanable ?o)\n (or\n (receptacleType ?r SinkType)\n (receptacleType ?r SinkBasinType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isClean ?o)\n )\n )\n\n\n;; agent heats-up some object\n (:action HeatObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (heatable ?o)\n (or\n (receptacleType ?r MicrowaveType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isHot ?o)\n (not (isCool ?o))\n )\n )\n\n;; agent cools some object\n (:action CoolObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (coolable ?o)\n (or\n (receptacleType ?r FridgeType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isCool ?o)\n (not (isHot ?o))\n )\n )\n\n\n;; agent toggle object\n (:action ToggleObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n :precondition (and\n (toggleable ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (inReceptacle ?o ?r)\n )\n :effect (and\n (increase (total-cost) 5)\n (when (isOn ?o)\n (not (isOn ?o)))\n (when (not (isOn ?o))\n (isOn ?o))\n (isToggled ?o)\n )\n )\n\n\n;; agent slices some object with a knife\n (:action SliceObject\n :parameters (?a - agent ?l - location ?co - object ?ko - object)\n :precondition\n (and\n (sliceable ?co)\n (or\n (objectType ?ko KnifeType)\n (objectType ?ko ButterKnifeType)\n )\n (atLocation ?a ?l)\n (objectAtLocation ?co ?l)\n (holds ?a ?ko)\n )\n :effect (and\n (increase (total-cost) 5)\n (isSliced ?co)\n )\n )\n\n\n(:action help\n :parameters (?a - agent)\n :precondition\n ()\n :effect\n (and\n (checked ?a)\n )\n)\n)\n", "grammar": "grammar :: \"\"\"\n {\n \"intro\": [\n {\n \"rhs\": \"-= Welcome to TextWorld, ALFRED! =-\\n\\n#look.feedback#\\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_T20190908_071856_380211)\n(:domain alfred)\n(:objects\nagent1 - agent\nSaltShaker - object\n HousePlant - object\n Candle - object\n SprayBottle - object\n Bowl - object\n Window - object\n CD - object\n Egg - object\n Glassbottle - object\n Sink - object\n Pillow - object\n Spoon - object\n SoapBottle - object\n TeddyBear - object\n ButterKnife - object\n Cup - object\n Plate - object\n RemoteControl - object\n Tomato - object\n Statue - object\n HandTowel - object\n Knife - object\n StoveKnob - object\n LightSwitch - object\n Pen - object\n Painting - object\n DishSponge - object\n Vase - object\n Mug - object\n ToiletPaper - object\n Box - object\n Mirror - object\n Ladle - object\n Fork - object\n Blinds - object\n Footstool - object\n KeyChain - object\n Cloth - object\n Laptop - object\n TissueBox - object\n PepperShaker - object\n FloorLamp - object\n WateringCan - object\n Apple - object\n Pan - object\n PaperTowel - object\n PaperTowelRoll - object\n Newspaper - object\n Television - object\n Chair - object\n CellPhone - object\n CreditCard - object\n Lettuce - object\n BasketBall - object\n Potato - object\n Curtains - object\n Boots - object\n Pencil - object\n AlarmClock - object\n ToiletPaperRoll - object\n Spatula - object\n Book - object\n Bread - object\n SoapBar - object\n Watch - object\n DeskLamp - object\n Kettle - object\n Pot - object\n ScrubBrush - object\n WineBottle - object\n ShowerDoor - object\n Bathtub - object\n LaundryHamperLid - object\n ShowerGlass - object\n Poster - object\n TennisRacket - object\n BaseballBat - object\n Towel - object\n Plunger - object\nSaltShakerType - otype\n HousePlantType - otype\n CandleType - otype\n SprayBottleType - otype\n BowlType - otype\n WindowType - otype\n CDType - otype\n EggType - otype\n GlassbottleType - otype\n SinkType - otype\n PillowType - otype\n SpoonType - otype\n SoapBottleType - otype\n TeddyBearType - otype\n ButterKnifeType - otype\n CupType - otype\n PlateType - otype\n RemoteControlType - otype\n TomatoType - otype\n StatueType - otype\n HandTowelType - otype\n KnifeType - otype\n StoveKnobType - otype\n LightSwitchType - otype\n PenType - otype\n PaintingType - otype\n DishSpongeType - otype\n VaseType - otype\n MugType - otype\n ToiletPaperType - otype\n BoxType - otype\n MirrorType - otype\n LadleType - otype\n ForkType - otype\n BlindsType - otype\n FootstoolType - otype\n KeyChainType - otype\n ClothType - otype\n LaptopType - otype\n TissueBoxType - otype\n PepperShakerType - otype\n FloorLampType - otype\n WateringCanType - otype\n AppleType - otype\n PanType - otype\n PaperTowelType - otype\n PaperTowelRollType - otype\n NewspaperType - otype\n TelevisionType - otype\n ChairType - otype\n CellPhoneType - otype\n CreditCardType - otype\n LettuceType - otype\n BasketBallType - otype\n PotatoType - otype\n CurtainsType - otype\n BootsType - otype\n PencilType - otype\n AlarmClockType - otype\n ToiletPaperRollType - otype\n SpatulaType - otype\n BookType - otype\n BreadType - otype\n SoapBarType - otype\n WatchType - otype\n DeskLampType - otype\n KettleType - otype\n PotType - otype\n ScrubBrushType - otype\n WineBottleType - otype\n ShowerDoorType - otype\n BathtubType - otype\n LaundryHamperLidType - otype\n ShowerGlassType - otype\n PosterType - otype\n TennisRacketType - otype\n BaseballBatType - otype\n TowelType - otype\n PlungerType - otype\nSafeType - rtype\n DrawerType - rtype\n CoffeeMachineType - rtype\n HandTowelHolderType - rtype\n SinkBasinType - rtype\n DresserType - rtype\n LaundryHamperType - rtype\n TVStandType - rtype\n BathtubBasinType - rtype\n CabinetType - rtype\n FridgeType - rtype\n DeskType - rtype\n ToiletType - rtype\n CartType - rtype\n SideTableType - rtype\n SofaType - rtype\n CoffeeTableType - rtype\n DiningTableType - rtype\n CounterTopType - rtype\n GarbageCanType - rtype\n ArmChairType - rtype\n ShelfType - rtype\n MicrowaveType - rtype\n ToasterType - rtype\n BedType - rtype\n PaintingHangerType - rtype\n TowelHolderType - rtype\n ToiletPaperHangerType - rtype\n StoveBurnerType - rtype\n OttomanType - rtype\n\n\n Candle_bar__minus_00_dot_42_bar__plus_01_dot_05_bar__minus_03_dot_95 - object\n Candle_bar__minus_00_dot_68_bar__plus_01_dot_05_bar__minus_03_dot_95 - object\n Cloth_bar__minus_02_dot_67_bar__plus_00_dot_08_bar__minus_00_dot_52 - object\n Cloth_bar__minus_02_dot_67_bar__plus_00_dot_08_bar__minus_01_dot_06 - object\n FloorLamp_bar__minus_02_dot_91_bar__plus_00_dot_99_bar__minus_00_dot_73 - object\n FloorLamp_bar__minus_02_dot_91_bar__plus_00_dot_99_bar__minus_01_dot_76 - object\n HandTowel_bar__minus_02_dot_59_bar__plus_01_dot_64_bar__minus_00_dot_05 - object\n LightSwitch_bar__minus_01_dot_33_bar__plus_01_dot_39_bar__plus_00_dot_00 - object\n Mirror_bar__minus_02_dot_95_bar__plus_01_dot_56_bar__minus_01_dot_19 - object\n Plunger_bar__minus_01_dot_07_bar__plus_00_dot_00_bar__minus_03_dot_53 - object\n ScrubBrush_bar__minus_01_dot_05_bar__plus_00_dot_00_bar__minus_03_dot_83 - object\n ShowerDoor_bar__minus_02_dot_20_bar__plus_01_dot_05_bar__minus_02_dot_50 - object\n ShowerGlass_bar__minus_02_dot_08_bar__plus_01_dot_48_bar__minus_03_dot_26 - object\n ShowerHead_bar__minus_02_dot_87_bar__plus_01_dot_22_bar__minus_03_dot_22 - object\n Sink_bar__minus_02_dot_91_bar__plus_00_dot_99_bar__minus_00_dot_73 - object\n Sink_bar__minus_02_dot_91_bar__plus_00_dot_99_bar__minus_01_dot_76 - object\n SoapBar_bar__minus_02_dot_67_bar__plus_00_dot_08_bar__minus_00_dot_36 - object\n SoapBottle_bar__minus_02_dot_87_bar__plus_00_dot_08_bar__minus_02_dot_03 - object\n SprayBottle_bar__minus_02_dot_61_bar__plus_01_dot_00_bar__minus_00_dot_28 - object\n SprayBottle_bar__minus_02_dot_68_bar__plus_01_dot_00_bar__minus_01_dot_32 - object\n ToiletPaper_bar__minus_02_dot_64_bar__plus_00_dot_07_bar__minus_01_dot_89 - object\n ToiletPaper_bar__minus_02_dot_82_bar__plus_00_dot_08_bar__minus_01_dot_60 - object\n Towel_bar__minus_01_dot_05_bar__plus_01_dot_54_bar__minus_02_dot_89 - object\n Window_bar__minus_00_dot_57_bar__plus_01_dot_73_bar__minus_04_dot_10 - object\n Cabinet_bar__minus_02_dot_50_bar__plus_00_dot_40_bar__minus_01_dot_24 - receptacle\n Cabinet_bar__minus_02_dot_50_bar__plus_00_dot_40_bar__minus_02_dot_21 - receptacle\n Cabinet_bar__minus_02_dot_51_bar__plus_00_dot_43_bar__minus_00_dot_29 - receptacle\n Cabinet_bar__minus_02_dot_51_bar__plus_00_dot_43_bar__minus_01_dot_26 - receptacle\n CounterTop_bar__minus_02_dot_75_bar__plus_00_dot_99_bar__minus_01_dot_24 - receptacle\n GarbageCan_bar__minus_01_dot_53_bar__plus_00_dot_00_bar__minus_00_dot_18 - receptacle\n HandTowelHolder_bar__minus_02_dot_59_bar__plus_01_dot_74_bar__minus_00_dot_01 - receptacle\n Sink_bar__minus_02_dot_91_bar__plus_00_dot_99_bar__minus_00_dot_73_bar_SinkBasin - receptacle\n Sink_bar__minus_02_dot_91_bar__plus_00_dot_99_bar__minus_01_dot_76_bar_SinkBasin - receptacle\n ToiletPaperHanger_bar__plus_00_dot_00_bar__plus_00_dot_98_bar__minus_03_dot_33 - receptacle\n Toilet_bar__minus_00_dot_55_bar__plus_00_dot_00_bar__minus_03_dot_53 - receptacle\n TowelHolder_bar__minus_01_dot_16_bar__plus_01_dot_52_bar__minus_02_dot_89 - receptacle\n loc_bar__minus_9_bar__minus_3_bar_3_bar_45 - location\n loc_bar__minus_2_bar__minus_11_bar_2_bar_0 - location\n loc_bar__minus_6_bar__minus_4_bar_3_bar_45 - location\n loc_bar__minus_2_bar__minus_11_bar_2_bar_60 - location\n loc_bar__minus_9_bar__minus_5_bar_3_bar_15 - location\n loc_bar__minus_2_bar__minus_11_bar_3_bar_15 - location\n loc_bar__minus_9_bar__minus_8_bar_3_bar_60 - location\n loc_bar__minus_5_bar__minus_2_bar_0_bar_30 - location\n loc_bar__minus_9_bar__minus_2_bar_3_bar_60 - location\n loc_bar__minus_9_bar__minus_4_bar_3_bar_60 - location\n loc_bar__minus_9_bar__minus_2_bar_0_bar__minus_15 - location\n loc_bar__minus_6_bar__minus_8_bar_3_bar_45 - location\n loc_bar__minus_9_bar__minus_8_bar_2_bar_45 - location\n loc_bar__minus_8_bar__minus_8_bar_2_bar_15 - location\n loc_bar__minus_9_bar__minus_7_bar_3_bar_45 - location\n loc_bar__minus_2_bar__minus_3_bar_3_bar_60 - location\n loc_bar__minus_6_bar__minus_6_bar_3_bar_45 - location\n loc_bar__minus_2_bar__minus_11_bar_2_bar_45 - location\n loc_bar__minus_2_bar__minus_4_bar_2_bar_30 - location\n )\n \n\n(:init\n\n\n (receptacleType GarbageCan_bar__minus_01_dot_53_bar__plus_00_dot_00_bar__minus_00_dot_18 GarbageCanType)\n (receptacleType Toilet_bar__minus_00_dot_55_bar__plus_00_dot_00_bar__minus_03_dot_53 ToiletType)\n (receptacleType CounterTop_bar__minus_02_dot_75_bar__plus_00_dot_99_bar__minus_01_dot_24 CounterTopType)\n (receptacleType Cabinet_bar__minus_02_dot_50_bar__plus_00_dot_40_bar__minus_02_dot_21 CabinetType)\n (receptacleType Cabinet_bar__minus_02_dot_51_bar__plus_00_dot_43_bar__minus_00_dot_29 CabinetType)\n (receptacleType Sink_bar__minus_02_dot_91_bar__plus_00_dot_99_bar__minus_00_dot_73_bar_SinkBasin SinkBasinType)\n (receptacleType Cabinet_bar__minus_02_dot_50_bar__plus_00_dot_40_bar__minus_01_dot_24 CabinetType)\n (receptacleType TowelHolder_bar__minus_01_dot_16_bar__plus_01_dot_52_bar__minus_02_dot_89 TowelHolderType)\n (receptacleType Sink_bar__minus_02_dot_91_bar__plus_00_dot_99_bar__minus_01_dot_76_bar_SinkBasin SinkBasinType)\n (receptacleType Cabinet_bar__minus_02_dot_51_bar__plus_00_dot_43_bar__minus_01_dot_26 CabinetType)\n (receptacleType HandTowelHolder_bar__minus_02_dot_59_bar__plus_01_dot_74_bar__minus_00_dot_01 HandTowelHolderType)\n (receptacleType ToiletPaperHanger_bar__plus_00_dot_00_bar__plus_00_dot_98_bar__minus_03_dot_33 ToiletPaperHangerType)\n (objectType FloorLamp_bar__minus_02_dot_91_bar__plus_00_dot_99_bar__minus_01_dot_76 FloorLampType)\n (objectType ShowerDoor_bar__minus_02_dot_20_bar__plus_01_dot_05_bar__minus_02_dot_50 ShowerDoorType)\n (objectType SoapBar_bar__minus_02_dot_67_bar__plus_00_dot_08_bar__minus_00_dot_36 SoapBarType)\n (objectType SoapBottle_bar__minus_02_dot_87_bar__plus_00_dot_08_bar__minus_02_dot_03 SoapBottleType)\n (objectType HandTowel_bar__minus_02_dot_59_bar__plus_01_dot_64_bar__minus_00_dot_05 HandTowelType)\n (objectType Candle_bar__minus_00_dot_68_bar__plus_01_dot_05_bar__minus_03_dot_95 CandleType)\n (objectType ToiletPaper_bar__minus_02_dot_82_bar__plus_00_dot_08_bar__minus_01_dot_60 ToiletPaperType)\n (objectType Plunger_bar__minus_01_dot_07_bar__plus_00_dot_00_bar__minus_03_dot_53 PlungerType)\n (objectType SprayBottle_bar__minus_02_dot_61_bar__plus_01_dot_00_bar__minus_00_dot_28 SprayBottleType)\n (objectType FloorLamp_bar__minus_02_dot_91_bar__plus_00_dot_99_bar__minus_00_dot_73 FloorLampType)\n (objectType Sink_bar__minus_02_dot_91_bar__plus_00_dot_99_bar__minus_01_dot_76 SinkType)\n (objectType Sink_bar__minus_02_dot_91_bar__plus_00_dot_99_bar__minus_00_dot_73 SinkType)\n (objectType ScrubBrush_bar__minus_01_dot_05_bar__plus_00_dot_00_bar__minus_03_dot_83 ScrubBrushType)\n (objectType Towel_bar__minus_01_dot_05_bar__plus_01_dot_54_bar__minus_02_dot_89 TowelType)\n (objectType LightSwitch_bar__minus_01_dot_33_bar__plus_01_dot_39_bar__plus_00_dot_00 LightSwitchType)\n (objectType ShowerGlass_bar__minus_02_dot_08_bar__plus_01_dot_48_bar__minus_03_dot_26 ShowerGlassType)\n (objectType ToiletPaper_bar__minus_02_dot_64_bar__plus_00_dot_07_bar__minus_01_dot_89 ToiletPaperType)\n (objectType Cloth_bar__minus_02_dot_67_bar__plus_00_dot_08_bar__minus_00_dot_52 ClothType)\n (objectType Cloth_bar__minus_02_dot_67_bar__plus_00_dot_08_bar__minus_01_dot_06 ClothType)\n (objectType Candle_bar__minus_00_dot_42_bar__plus_01_dot_05_bar__minus_03_dot_95 CandleType)\n (objectType SprayBottle_bar__minus_02_dot_68_bar__plus_01_dot_00_bar__minus_01_dot_32 SprayBottleType)\n (objectType Mirror_bar__minus_02_dot_95_bar__plus_01_dot_56_bar__minus_01_dot_19 MirrorType)\n (objectType Window_bar__minus_00_dot_57_bar__plus_01_dot_73_bar__minus_04_dot_10 WindowType)\n (canContain GarbageCanType SoapBarType)\n (canContain GarbageCanType SprayBottleType)\n (canContain GarbageCanType ToiletPaperType)\n (canContain GarbageCanType SoapBottleType)\n (canContain GarbageCanType ClothType)\n (canContain GarbageCanType HandTowelType)\n (canContain ToiletType SoapBottleType)\n (canContain ToiletType HandTowelType)\n (canContain ToiletType ToiletPaperType)\n (canContain ToiletType ClothType)\n (canContain ToiletType CandleType)\n (canContain ToiletType SoapBarType)\n (canContain ToiletType SprayBottleType)\n (canContain 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 CabinetType CandleType)\n (canContain CabinetType SoapBarType)\n (canContain CabinetType SprayBottleType)\n (canContain CabinetType ToiletPaperType)\n (canContain CabinetType SoapBottleType)\n (canContain CabinetType ClothType)\n (canContain CabinetType HandTowelType)\n (canContain CabinetType PlungerType)\n (canContain SinkBasinType SoapBarType)\n (canContain SinkBasinType ClothType)\n (canContain SinkBasinType HandTowelType)\n (canContain CabinetType CandleType)\n (canContain CabinetType SoapBarType)\n (canContain CabinetType SprayBottleType)\n (canContain CabinetType ToiletPaperType)\n (canContain CabinetType SoapBottleType)\n (canContain CabinetType ClothType)\n (canContain CabinetType HandTowelType)\n (canContain CabinetType PlungerType)\n (canContain 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 HandTowelHolderType HandTowelType)\n (canContain ToiletPaperHangerType ToiletPaperType)\n (pickupable SoapBar_bar__minus_02_dot_67_bar__plus_00_dot_08_bar__minus_00_dot_36)\n (pickupable SoapBottle_bar__minus_02_dot_87_bar__plus_00_dot_08_bar__minus_02_dot_03)\n (pickupable HandTowel_bar__minus_02_dot_59_bar__plus_01_dot_64_bar__minus_00_dot_05)\n (pickupable Candle_bar__minus_00_dot_68_bar__plus_01_dot_05_bar__minus_03_dot_95)\n (pickupable ToiletPaper_bar__minus_02_dot_82_bar__plus_00_dot_08_bar__minus_01_dot_60)\n (pickupable Plunger_bar__minus_01_dot_07_bar__plus_00_dot_00_bar__minus_03_dot_53)\n (pickupable SprayBottle_bar__minus_02_dot_61_bar__plus_01_dot_00_bar__minus_00_dot_28)\n (pickupable ScrubBrush_bar__minus_01_dot_05_bar__plus_00_dot_00_bar__minus_03_dot_83)\n (pickupable Towel_bar__minus_01_dot_05_bar__plus_01_dot_54_bar__minus_02_dot_89)\n (pickupable ToiletPaper_bar__minus_02_dot_64_bar__plus_00_dot_07_bar__minus_01_dot_89)\n (pickupable Cloth_bar__minus_02_dot_67_bar__plus_00_dot_08_bar__minus_00_dot_52)\n (pickupable Cloth_bar__minus_02_dot_67_bar__plus_00_dot_08_bar__minus_01_dot_06)\n (pickupable Candle_bar__minus_00_dot_42_bar__plus_01_dot_05_bar__minus_03_dot_95)\n (pickupable SprayBottle_bar__minus_02_dot_68_bar__plus_01_dot_00_bar__minus_01_dot_32)\n \n (openable Cabinet_bar__minus_02_dot_50_bar__plus_00_dot_40_bar__minus_02_dot_21)\n (openable Cabinet_bar__minus_02_dot_51_bar__plus_00_dot_43_bar__minus_00_dot_29)\n (openable Cabinet_bar__minus_02_dot_50_bar__plus_00_dot_40_bar__minus_01_dot_24)\n (openable Cabinet_bar__minus_02_dot_51_bar__plus_00_dot_43_bar__minus_01_dot_26)\n \n (atLocation agent1 loc_bar__minus_2_bar__minus_4_bar_2_bar_30)\n \n (cleanable SoapBar_bar__minus_02_dot_67_bar__plus_00_dot_08_bar__minus_00_dot_36)\n (cleanable Cloth_bar__minus_02_dot_67_bar__plus_00_dot_08_bar__minus_00_dot_52)\n (cleanable Cloth_bar__minus_02_dot_67_bar__plus_00_dot_08_bar__minus_01_dot_06)\n \n \n \n \n \n (toggleable FloorLamp_bar__minus_02_dot_91_bar__plus_00_dot_99_bar__minus_01_dot_76)\n (toggleable FloorLamp_bar__minus_02_dot_91_bar__plus_00_dot_99_bar__minus_00_dot_73)\n \n \n \n \n (inReceptacle SoapBottle_bar__minus_02_dot_87_bar__plus_00_dot_08_bar__minus_02_dot_03 Cabinet_bar__minus_02_dot_50_bar__plus_00_dot_40_bar__minus_02_dot_21)\n (inReceptacle ToiletPaper_bar__minus_02_dot_64_bar__plus_00_dot_07_bar__minus_01_dot_89 Cabinet_bar__minus_02_dot_50_bar__plus_00_dot_40_bar__minus_02_dot_21)\n (inReceptacle SprayBottle_bar__minus_02_dot_61_bar__plus_01_dot_00_bar__minus_00_dot_28 CounterTop_bar__minus_02_dot_75_bar__plus_00_dot_99_bar__minus_01_dot_24)\n (inReceptacle SprayBottle_bar__minus_02_dot_68_bar__plus_01_dot_00_bar__minus_01_dot_32 CounterTop_bar__minus_02_dot_75_bar__plus_00_dot_99_bar__minus_01_dot_24)\n (inReceptacle Cloth_bar__minus_02_dot_67_bar__plus_00_dot_08_bar__minus_01_dot_06 Cabinet_bar__minus_02_dot_50_bar__plus_00_dot_40_bar__minus_01_dot_24)\n (inReceptacle SoapBar_bar__minus_02_dot_67_bar__plus_00_dot_08_bar__minus_00_dot_36 Cabinet_bar__minus_02_dot_51_bar__plus_00_dot_43_bar__minus_00_dot_29)\n (inReceptacle Cloth_bar__minus_02_dot_67_bar__plus_00_dot_08_bar__minus_00_dot_52 Cabinet_bar__minus_02_dot_51_bar__plus_00_dot_43_bar__minus_00_dot_29)\n (inReceptacle ToiletPaper_bar__minus_02_dot_82_bar__plus_00_dot_08_bar__minus_01_dot_60 Cabinet_bar__minus_02_dot_51_bar__plus_00_dot_43_bar__minus_01_dot_26)\n (inReceptacle Towel_bar__minus_01_dot_05_bar__plus_01_dot_54_bar__minus_02_dot_89 TowelHolder_bar__minus_01_dot_16_bar__plus_01_dot_52_bar__minus_02_dot_89)\n (inReceptacle HandTowel_bar__minus_02_dot_59_bar__plus_01_dot_64_bar__minus_00_dot_05 HandTowelHolder_bar__minus_02_dot_59_bar__plus_01_dot_74_bar__minus_00_dot_01)\n (inReceptacle Candle_bar__minus_00_dot_68_bar__plus_01_dot_05_bar__minus_03_dot_95 Toilet_bar__minus_00_dot_55_bar__plus_00_dot_00_bar__minus_03_dot_53)\n (inReceptacle Candle_bar__minus_00_dot_42_bar__plus_01_dot_05_bar__minus_03_dot_95 Toilet_bar__minus_00_dot_55_bar__plus_00_dot_00_bar__minus_03_dot_53)\n \n \n (receptacleAtLocation Cabinet_bar__minus_02_dot_50_bar__plus_00_dot_40_bar__minus_01_dot_24 loc_bar__minus_6_bar__minus_6_bar_3_bar_45)\n (receptacleAtLocation Cabinet_bar__minus_02_dot_50_bar__plus_00_dot_40_bar__minus_02_dot_21 loc_bar__minus_6_bar__minus_6_bar_3_bar_45)\n (receptacleAtLocation Cabinet_bar__minus_02_dot_51_bar__plus_00_dot_43_bar__minus_00_dot_29 loc_bar__minus_6_bar__minus_4_bar_3_bar_45)\n (receptacleAtLocation Cabinet_bar__minus_02_dot_51_bar__plus_00_dot_43_bar__minus_01_dot_26 loc_bar__minus_6_bar__minus_8_bar_3_bar_45)\n (receptacleAtLocation CounterTop_bar__minus_02_dot_75_bar__plus_00_dot_99_bar__minus_01_dot_24 loc_bar__minus_9_bar__minus_4_bar_3_bar_60)\n (receptacleAtLocation GarbageCan_bar__minus_01_dot_53_bar__plus_00_dot_00_bar__minus_00_dot_18 loc_bar__minus_2_bar__minus_3_bar_3_bar_60)\n (receptacleAtLocation HandTowelHolder_bar__minus_02_dot_59_bar__plus_01_dot_74_bar__minus_00_dot_01 loc_bar__minus_9_bar__minus_2_bar_0_bar__minus_15)\n (receptacleAtLocation Sink_bar__minus_02_dot_91_bar__plus_00_dot_99_bar__minus_00_dot_73_bar_SinkBasin loc_bar__minus_9_bar__minus_2_bar_3_bar_60)\n (receptacleAtLocation Sink_bar__minus_02_dot_91_bar__plus_00_dot_99_bar__minus_01_dot_76_bar_SinkBasin loc_bar__minus_9_bar__minus_8_bar_3_bar_60)\n (receptacleAtLocation ToiletPaperHanger_bar__plus_00_dot_00_bar__plus_00_dot_98_bar__minus_03_dot_33 loc_bar__minus_2_bar__minus_11_bar_2_bar_45)\n (receptacleAtLocation Toilet_bar__minus_00_dot_55_bar__plus_00_dot_00_bar__minus_03_dot_53 loc_bar__minus_2_bar__minus_11_bar_2_bar_60)\n (receptacleAtLocation TowelHolder_bar__minus_01_dot_16_bar__plus_01_dot_52_bar__minus_02_dot_89 loc_bar__minus_2_bar__minus_11_bar_3_bar_15)\n (objectAtLocation SprayBottle_bar__minus_02_dot_68_bar__plus_01_dot_00_bar__minus_01_dot_32 loc_bar__minus_9_bar__minus_4_bar_3_bar_60)\n (objectAtLocation Cloth_bar__minus_02_dot_67_bar__plus_00_dot_08_bar__minus_01_dot_06 loc_bar__minus_6_bar__minus_6_bar_3_bar_45)\n (objectAtLocation Candle_bar__minus_00_dot_68_bar__plus_01_dot_05_bar__minus_03_dot_95 loc_bar__minus_2_bar__minus_11_bar_2_bar_60)\n (objectAtLocation ShowerDoor_bar__minus_02_dot_20_bar__plus_01_dot_05_bar__minus_02_dot_50 loc_bar__minus_9_bar__minus_8_bar_2_bar_45)\n (objectAtLocation Mirror_bar__minus_02_dot_95_bar__plus_01_dot_56_bar__minus_01_dot_19 loc_bar__minus_9_bar__minus_5_bar_3_bar_15)\n (objectAtLocation Sink_bar__minus_02_dot_91_bar__plus_00_dot_99_bar__minus_00_dot_73 loc_bar__minus_9_bar__minus_3_bar_3_bar_45)\n (objectAtLocation ShowerGlass_bar__minus_02_dot_08_bar__plus_01_dot_48_bar__minus_03_dot_26 loc_bar__minus_8_bar__minus_8_bar_2_bar_15)\n (objectAtLocation Sink_bar__minus_02_dot_91_bar__plus_00_dot_99_bar__minus_01_dot_76 loc_bar__minus_9_bar__minus_7_bar_3_bar_45)\n (objectAtLocation Towel_bar__minus_01_dot_05_bar__plus_01_dot_54_bar__minus_02_dot_89 loc_bar__minus_2_bar__minus_11_bar_3_bar_15)\n (objectAtLocation HandTowel_bar__minus_02_dot_59_bar__plus_01_dot_64_bar__minus_00_dot_05 loc_bar__minus_9_bar__minus_2_bar_0_bar__minus_15)\n (objectAtLocation SoapBar_bar__minus_02_dot_67_bar__plus_00_dot_08_bar__minus_00_dot_36 loc_bar__minus_6_bar__minus_4_bar_3_bar_45)\n (objectAtLocation ToiletPaper_bar__minus_02_dot_64_bar__plus_00_dot_07_bar__minus_01_dot_89 loc_bar__minus_6_bar__minus_6_bar_3_bar_45)\n (objectAtLocation ToiletPaper_bar__minus_02_dot_82_bar__plus_00_dot_08_bar__minus_01_dot_60 loc_bar__minus_6_bar__minus_8_bar_3_bar_45)\n (objectAtLocation SoapBottle_bar__minus_02_dot_87_bar__plus_00_dot_08_bar__minus_02_dot_03 loc_bar__minus_6_bar__minus_6_bar_3_bar_45)\n (objectAtLocation Window_bar__minus_00_dot_57_bar__plus_01_dot_73_bar__minus_04_dot_10 loc_bar__minus_2_bar__minus_11_bar_2_bar_0)\n (objectAtLocation LightSwitch_bar__minus_01_dot_33_bar__plus_01_dot_39_bar__plus_00_dot_00 loc_bar__minus_5_bar__minus_2_bar_0_bar_30)\n (objectAtLocation Candle_bar__minus_00_dot_42_bar__plus_01_dot_05_bar__minus_03_dot_95 loc_bar__minus_2_bar__minus_11_bar_2_bar_60)\n (objectAtLocation ScrubBrush_bar__minus_01_dot_05_bar__plus_00_dot_00_bar__minus_03_dot_83 loc_bar__minus_2_bar__minus_11_bar_2_bar_60)\n (objectAtLocation Plunger_bar__minus_01_dot_07_bar__plus_00_dot_00_bar__minus_03_dot_53 loc_bar__minus_2_bar__minus_11_bar_2_bar_60)\n (objectAtLocation Cloth_bar__minus_02_dot_67_bar__plus_00_dot_08_bar__minus_00_dot_52 loc_bar__minus_6_bar__minus_4_bar_3_bar_45)\n (objectAtLocation SprayBottle_bar__minus_02_dot_61_bar__plus_01_dot_00_bar__minus_00_dot_28 loc_bar__minus_9_bar__minus_4_bar_3_bar_60)\n (objectAtLocation FloorLamp_bar__minus_02_dot_91_bar__plus_00_dot_99_bar__minus_01_dot_76 loc_bar__minus_9_bar__minus_7_bar_3_bar_45)\n (objectAtLocation FloorLamp_bar__minus_02_dot_91_bar__plus_00_dot_99_bar__minus_00_dot_73 loc_bar__minus_9_bar__minus_3_bar_3_bar_45)\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 countertop 1", "take spraybottle 2 from countertop 1", "go to toilet 1", "move spraybottle 2 to toilet 1", "go to countertop 1", "take spraybottle 1 from countertop 1", "go to toilet 1", "move spraybottle 1 to toilet 1"]}
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alfworld__pick_two_obj_and_place__812
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pick_two_obj_and_place
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pick_two_obj_and_place-SprayBottle-None-Toilet-417/trial_T20190908_071724_127813/game.tw-pddl
|
{"pddl_domain": ";; Specification in PDDL of the Alfred domain\n;; Intended to be used with Fast Downward which supports PDDL 2.2 level 1 plus the :action-costs requirement from PDDL 3.1.\n\n(define (domain alfred)\n (:requirements\n :adl\n :action-costs\n :typing\n )\n (:types\n agent\n location\n receptacle\n object\n rtype\n otype\n )\n\n\n (:predicates\n (atLocation ?a - agent ?l - location) ; true if the agent is at the location\n (receptacleAtLocation ?r - receptacle ?l - location) ; true if the receptacle is at the location (constant)\n (objectAtLocation ?o - object ?l - location) ; true if the object is at the location\n (openable ?r - receptacle) ; true if a receptacle is openable\n (opened ?r - receptacle) ; true if a receptacle is opened\n (inReceptacle ?o - object ?r - receptacle) ; object ?o is in receptacle ?r\n (isReceptacleObject ?o - object) ; true if the object can have things put inside it\n (inReceptacleObject ?innerObject - object ?outerObject - object) ; object ?innerObject is inside object ?outerObject\n (isReceptacleObjectFull ?o - object) ; true if the receptacle object contains something\n (wasInReceptacle ?o - object ?r - receptacle) ; object ?o was or is in receptacle ?r now or some time in the past\n (checked ?r - receptacle) ; whether the receptacle has been looked inside/visited\n (examined ?l - location) ; TODO\n (receptacleType ?r - receptacle ?t - rtype) ; the type of receptacle (Cabinet vs Cabinet|01|2...)\n (canContain ?rt - rtype ?ot - otype) ; true if receptacle can hold object\n (objectType ?o - object ?t - otype) ; the type of object (Apple vs Apple|01|2...)\n (holds ?a - agent ?o - object) ; object ?o is held by agent ?a\n (holdsAny ?a - agent) ; agent ?a holds an object\n (holdsAnyReceptacleObject ?a - agent) ; agent ?a holds a receptacle object\n (full ?r - receptacle) ; true if the receptacle has no remaining space\n (isClean ?o - object) ; true if the object has been clean in sink\n (cleanable ?o - object) ; true if the object can be placed in a sink\n (isHot ?o - object) ; true if the object has been heated up\n (heatable ?o - object) ; true if the object can be heated up in a microwave\n (isCool ?o - object) ; true if the object has been cooled\n (coolable ?o - object) ; true if the object can be cooled in the fridge\n (pickupable ?o - object) ; true if the object can be picked up\n (moveable ?o - object) ; true if the object can be moved\n (toggleable ?o - object) ; true if the object can be turned on/off\n (isOn ?o - object) ; true if the object is on\n (isToggled ?o - object) ; true if the object has been toggled\n (sliceable ?o - object) ; true if the object can be sliced\n (isSliced ?o - object) ; true if the object is sliced\n )\n\n (:functions\n (distance ?from ?to)\n (total-cost) - number\n )\n\n;; All actions are specified such that the final arguments are the ones used\n;; for performing actions in Unity.\n\n\n(:action look\n :parameters (?a - agent ?l - location)\n :precondition\n (and\n (atLocation ?a ?l)\n )\n :effect\n (and\n (checked ?l)\n )\n)\n\n(:action inventory\n :parameters (?a - agent)\n :precondition\n ()\n :effect\n (and\n (checked ?a)\n )\n)\n\n(:action examineReceptacle\n :parameters (?a - agent ?r - receptacle)\n :precondition\n (and\n (exists (?l - location)\n (and\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n )\n )\n )\n :effect\n (and\n (checked ?r)\n )\n)\n\n(:action examineObject\n :parameters (?a - agent ?o - object)\n :precondition\n (or\n ;(exists (?l - location)\n ; (and\n ; (atLocation ?a ?l)\n ; (objectAtLocation ?o ?l)\n ; )\n ;)\n (exists (?l - location, ?r - receptacle)\n (and\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n ; (objectAtLocation ?o ?l)\n (inReceptacle ?o ?r)\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n )\n )\n (holds ?a ?o)\n )\n :effect\n (and\n (checked ?o)\n )\n)\n\n;; agent goes to receptacle\n (:action GotoLocation\n :parameters (?a - agent ?lStart - location ?lEnd - location ?r - receptacle)\n :precondition (and\n (atLocation ?a ?lStart)\n (receptacleAtLocation ?r ?lEnd)\n ;(exists (?r - receptacle) (receptacleAtLocation ?r ?lEnd))\n )\n :effect (and\n (not (atLocation ?a ?lStart))\n (atLocation ?a ?lEnd)\n ; (forall (?r - receptacle)\n ; (when (and (receptacleAtLocation ?r ?lEnd)\n ; (or (not (openable ?r)) (opened ?r)))\n ; (checked ?r)\n ; )\n ; )\n ; (increase (total-cost) (distance ?lStart ?lEnd))\n (increase (total-cost) 1)\n )\n )\n\n;; agent opens receptacle\n (:action OpenObject\n :parameters (?a - agent ?l - location ?r - receptacle)\n :precondition (and\n (openable ?r)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (not (opened ?r))\n )\n :effect (and\n (opened ?r)\n (checked ?r)\n (increase (total-cost) 1)\n )\n )\n;; agent closes receptacle\n (:action CloseObject\n :parameters (?a - agent ?l - location ?r - receptacle)\n :precondition (and\n (openable ?r)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (opened ?r)\n )\n :effect (and\n (not (opened ?r))\n (increase (total-cost) 1)\n )\n\n )\n\n ;; agent picks up object from a receptacle\n (:action PickupObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n :precondition\n (and\n (pickupable ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n ; (objectAtLocation ?o ?l)\n (inReceptacle ?o ?r)\n (not (holdsAny ?a)) ; agent's hands are empty.\n ;(not (holdsAnyReceptacleObject ?a))\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n ;(not (isReceptacleObject ?o))\n )\n :effect\n (and\n (not (inReceptacle ?o ?r))\n (holds ?a ?o)\n (holdsAny ?a)\n (not (objectAtLocation ?o ?l))\n ;(not (full ?r))\n (increase (total-cost) 1)\n )\n )\n\n\n; ;; agent picks up object from a receptacle\n; (:action PickupObjectFromReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?outerR - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (inReceptacle ?o ?r)\n; (pickupable ?o)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (not (isReceptacleObject ?o))\n; (isReceptacleObject ?outerR)\n; (inReceptacleObject ?o ?outerR)\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (holds ?a ?o)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n;\n; (not (inReceptacleObject ?o ?outerR))\n; (not (isReceptacleObjectFull ?outerR))\n; )\n; )\n;\n; ;; agent picks up object from a receptacle\n; (:action PickupEmptyReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; ; (objectAtLocation ?o ?l)\n; (inReceptacle ?o ?r)\n; (pickupable ?o)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (isReceptacleObject ?o)\n; (not (isReceptacleObjectFull ?o))\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (holds ?a ?o)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n; (holdsAnyReceptacleObject ?a)\n; )\n; )\n;\n; ;; agent picks up object from a receptacle\n; (:action PickupFullReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?outerR - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (inReceptacle ?outerR ?r)\n; (pickupable ?outerR)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (not (isReceptacleObject ?o))\n; (isReceptacleObject ?outerR)\n; (inReceptacleObject ?o ?outerR)\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (not (inReceptacle ?outerR ?r))\n; (holds ?a ?outerR)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (objectAtLocation ?outerR ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n; (holdsAnyReceptacleObject ?a)\n; )\n; )\n\n\n;; agent puts down an object\n (:action PutObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle ?ot - otype ?rt - rtype)\n :precondition (and\n (holds ?a ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable\n ;(not (full ?r))\n (objectType ?o ?ot)\n (receptacleType ?r ?rt)\n (canContain ?rt ?ot)\n ;(not (holdsAnyReceptacleObject ?a))\n )\n :effect (and\n (inReceptacle ?o ?r)\n (objectAtLocation ?o ?l)\n ;(full ?r)\n (not (holds ?a ?o))\n (not (holdsAny ?a))\n (increase (total-cost) 1)\n )\n )\n\n;;; agent puts down an object\n; (:action PutObjectInReceptacleObject\n; :parameters (?a - agent ?l - location ?ot - otype ?o - object ?outerO - object ?outerR - receptacle)\n; :precondition (and\n; (atLocation ?a ?l)\n; (objectAtLocation ?outerO ?l)\n; (isReceptacleObject ?outerO)\n; (not (isReceptacleObject ?o))\n; (objectType ?o ?ot)\n; (holds ?a ?o)\n; (not (holdsAnyReceptacleObject ?a))\n; (inReceptacle ?outerO ?outerR)\n; (not (isReceptacleObjectFull ?outerO))\n; )\n; :effect (and\n; (inReceptacleObject ?o ?outerO)\n; (inReceptacle ?o ?outerR)\n; (not (holds ?a ?o))\n; (not (holdsAny ?a))\n; (objectAtLocation ?o ?l)\n; (isReceptacleObjectFull ?outerO)\n; (increase (total-cost) 1)\n; )\n; )\n;\n;;; agent puts down an object\n; (:action PutEmptyReceptacleObjectinReceptacle\n; :parameters (?a - agent ?l - location ?ot - otype ?o - object ?r - receptacle)\n; :precondition (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable\n; (not (full ?r))\n; (objectType ?o ?ot)\n; (holds ?a ?o)\n; (holdsAnyReceptacleObject ?a)\n; (isReceptacleObject ?o)\n; (not (isReceptacleObjectFull ?o))\n; )\n; :effect (and\n; (inReceptacle ?o ?r)\n; (objectAtLocation ?o ?l)\n; (full ?r)\n; (not (holds ?a ?o))\n; (not (holdsAny ?a))\n; (not (holdsAnyReceptacleObject ?a))\n; (increase (total-cost) 1)\n; )\n; )\n;\n;;; agent puts down a receptacle object in a receptacle\n; (:action PutFullReceptacleObjectInReceptacle\n; :parameters (?a - agent ?l - location ?ot - otype ?innerO - object ?outerO - object ?r - receptacle) ; ?rt - rtype)\n; :precondition (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (objectType ?outerO ?ot)\n; (holds ?a ?outerO)\n; (holdsAnyReceptacleObject ?a)\n; (isReceptacleObject ?outerO)\n; (isReceptacleObjectFull ?outerO)\n; (inReceptacleObject ?innerO ?outerO)\n; )\n; :effect (and\n; (not (holdsAny ?a))\n; (not (holdsAnyReceptacleObject ?a))\n; (objectAtLocation ?outerO ?l)\n; (objectAtLocation ?innerO ?l)\n; (inReceptacle ?outerO ?r)\n; (inReceptacle ?innerO ?r)\n; (not (holds ?a ?outerO))\n; (increase (total-cost) 1)\n; )\n; )\n\n;; agent cleans some object\n (:action CleanObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (cleanable ?o)\n (or\n (receptacleType ?r SinkType)\n (receptacleType ?r SinkBasinType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isClean ?o)\n )\n )\n\n\n;; agent heats-up some object\n (:action HeatObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (heatable ?o)\n (or\n (receptacleType ?r MicrowaveType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isHot ?o)\n (not (isCool ?o))\n )\n )\n\n;; agent cools some object\n (:action CoolObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (coolable ?o)\n (or\n (receptacleType ?r FridgeType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isCool ?o)\n (not (isHot ?o))\n )\n )\n\n\n;; agent toggle object\n (:action ToggleObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n :precondition (and\n (toggleable ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (inReceptacle ?o ?r)\n )\n :effect (and\n (increase (total-cost) 5)\n (when (isOn ?o)\n (not (isOn ?o)))\n (when (not (isOn ?o))\n (isOn ?o))\n (isToggled ?o)\n )\n )\n\n\n;; agent slices some object with a knife\n (:action SliceObject\n :parameters (?a - agent ?l - location ?co - object ?ko - object)\n :precondition\n (and\n (sliceable ?co)\n (or\n (objectType ?ko KnifeType)\n (objectType ?ko ButterKnifeType)\n )\n (atLocation ?a ?l)\n (objectAtLocation ?co ?l)\n (holds ?a ?ko)\n )\n :effect (and\n (increase (total-cost) 5)\n (isSliced ?co)\n )\n )\n\n\n(:action help\n :parameters (?a - agent)\n :precondition\n ()\n :effect\n (and\n (checked ?a)\n )\n)\n)\n", "grammar": "grammar :: \"\"\"\n {\n \"intro\": [\n {\n \"rhs\": \"-= Welcome to TextWorld, ALFRED! =-\\n\\n#look.feedback#\\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 spraybottle 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_T20190908_071724_127813)\n(:domain alfred)\n(:objects\nagent1 - agent\nSaltShaker - object\n HousePlant - object\n Candle - object\n SprayBottle - object\n Bowl - object\n Window - object\n CD - object\n Egg - object\n Glassbottle - object\n Sink - object\n Pillow - object\n Spoon - object\n SoapBottle - object\n TeddyBear - object\n ButterKnife - object\n Cup - object\n Plate - object\n RemoteControl - object\n Tomato - object\n Statue - object\n HandTowel - object\n Knife - object\n StoveKnob - object\n LightSwitch - object\n Pen - object\n Painting - object\n DishSponge - object\n Vase - object\n Mug - object\n ToiletPaper - object\n Box - object\n Mirror - object\n Ladle - object\n Fork - object\n Blinds - object\n Footstool - object\n KeyChain - object\n Cloth - object\n Laptop - object\n TissueBox - object\n PepperShaker - object\n FloorLamp - object\n WateringCan - object\n Apple - object\n Pan - object\n PaperTowel - object\n PaperTowelRoll - object\n Newspaper - object\n Television - object\n Chair - object\n CellPhone - object\n CreditCard - object\n Lettuce - object\n BasketBall - object\n Potato - object\n Curtains - object\n Boots - object\n Pencil - object\n AlarmClock - object\n ToiletPaperRoll - object\n Spatula - object\n Book - object\n Bread - object\n SoapBar - object\n Watch - object\n DeskLamp - object\n Kettle - object\n Pot - object\n ScrubBrush - object\n WineBottle - object\n ShowerDoor - object\n Bathtub - object\n LaundryHamperLid - object\n ShowerGlass - object\n Poster - object\n TennisRacket - object\n BaseballBat - object\n Towel - object\n Plunger - object\nSaltShakerType - otype\n HousePlantType - otype\n CandleType - otype\n SprayBottleType - otype\n BowlType - otype\n WindowType - otype\n CDType - otype\n EggType - otype\n GlassbottleType - otype\n SinkType - otype\n PillowType - otype\n SpoonType - otype\n SoapBottleType - otype\n TeddyBearType - otype\n ButterKnifeType - otype\n CupType - otype\n PlateType - otype\n RemoteControlType - otype\n TomatoType - otype\n StatueType - otype\n HandTowelType - otype\n KnifeType - otype\n StoveKnobType - otype\n LightSwitchType - otype\n PenType - otype\n PaintingType - otype\n DishSpongeType - otype\n VaseType - otype\n MugType - otype\n ToiletPaperType - otype\n BoxType - otype\n MirrorType - otype\n LadleType - otype\n ForkType - otype\n BlindsType - otype\n FootstoolType - otype\n KeyChainType - otype\n ClothType - otype\n LaptopType - otype\n TissueBoxType - otype\n PepperShakerType - otype\n FloorLampType - otype\n WateringCanType - otype\n AppleType - otype\n PanType - otype\n PaperTowelType - otype\n PaperTowelRollType - otype\n NewspaperType - otype\n TelevisionType - otype\n ChairType - otype\n CellPhoneType - otype\n CreditCardType - otype\n LettuceType - otype\n BasketBallType - otype\n PotatoType - otype\n CurtainsType - otype\n BootsType - otype\n PencilType - otype\n AlarmClockType - otype\n ToiletPaperRollType - otype\n SpatulaType - otype\n BookType - otype\n BreadType - otype\n SoapBarType - otype\n WatchType - otype\n DeskLampType - otype\n KettleType - otype\n PotType - otype\n ScrubBrushType - otype\n WineBottleType - otype\n ShowerDoorType - otype\n BathtubType - otype\n LaundryHamperLidType - otype\n ShowerGlassType - otype\n PosterType - otype\n TennisRacketType - otype\n BaseballBatType - otype\n TowelType - otype\n PlungerType - otype\nSafeType - rtype\n DrawerType - rtype\n CoffeeMachineType - rtype\n HandTowelHolderType - rtype\n SinkBasinType - rtype\n DresserType - rtype\n LaundryHamperType - rtype\n TVStandType - rtype\n BathtubBasinType - rtype\n CabinetType - rtype\n FridgeType - rtype\n DeskType - rtype\n ToiletType - rtype\n CartType - rtype\n SideTableType - rtype\n SofaType - rtype\n CoffeeTableType - rtype\n DiningTableType - rtype\n CounterTopType - rtype\n GarbageCanType - rtype\n ArmChairType - rtype\n ShelfType - rtype\n MicrowaveType - rtype\n ToasterType - rtype\n BedType - rtype\n PaintingHangerType - rtype\n TowelHolderType - rtype\n ToiletPaperHangerType - rtype\n StoveBurnerType - rtype\n OttomanType - rtype\n\n\n Candle_bar__minus_00_dot_61_bar__plus_01_dot_05_bar__minus_03_dot_80 - object\n Candle_bar__minus_02_dot_62_bar__plus_00_dot_08_bar__minus_00_dot_85 - object\n Candle_bar__minus_02_dot_87_bar__plus_00_dot_08_bar__minus_00_dot_96 - object\n Cloth_bar__minus_02_dot_67_bar__plus_00_dot_08_bar__minus_01_dot_93 - object\n Cloth_bar__minus_02_dot_72_bar__plus_00_dot_08_bar__minus_01_dot_06 - object\n FloorLamp_bar__minus_02_dot_91_bar__plus_00_dot_99_bar__minus_00_dot_73 - object\n FloorLamp_bar__minus_02_dot_91_bar__plus_00_dot_99_bar__minus_01_dot_76 - object\n HandTowel_bar__minus_02_dot_59_bar__plus_01_dot_64_bar__minus_00_dot_05 - object\n LightSwitch_bar__minus_01_dot_33_bar__plus_01_dot_39_bar__plus_00_dot_00 - object\n Mirror_bar__minus_02_dot_95_bar__plus_01_dot_56_bar__minus_01_dot_19 - object\n Plunger_bar__minus_01_dot_07_bar__plus_00_dot_00_bar__minus_03_dot_53 - object\n ScrubBrush_bar__minus_01_dot_05_bar__plus_00_dot_00_bar__minus_03_dot_83 - object\n ShowerDoor_bar__minus_02_dot_20_bar__plus_01_dot_05_bar__minus_02_dot_50 - object\n ShowerGlass_bar__minus_02_dot_08_bar__plus_01_dot_48_bar__minus_03_dot_26 - object\n ShowerHead_bar__minus_02_dot_87_bar__plus_01_dot_22_bar__minus_03_dot_22 - object\n Sink_bar__minus_02_dot_91_bar__plus_00_dot_99_bar__minus_00_dot_73 - object\n Sink_bar__minus_02_dot_91_bar__plus_00_dot_99_bar__minus_01_dot_76 - object\n SoapBar_bar__minus_00_dot_68_bar__plus_01_dot_05_bar__minus_03_dot_80 - object\n SoapBar_bar__minus_02_dot_81_bar__plus_01_dot_00_bar__minus_01_dot_21 - object\n SoapBottle_bar__minus_02_dot_87_bar__plus_00_dot_08_bar__minus_00_dot_47 - object\n SoapBottle_bar__minus_02_dot_87_bar__plus_00_dot_08_bar__minus_01_dot_87 - object\n SprayBottle_bar__minus_01_dot_53_bar__plus_00_dot_06_bar__minus_00_dot_23 - object\n SprayBottle_bar__minus_01_dot_57_bar__plus_00_dot_06_bar__minus_00_dot_14 - object\n ToiletPaper_bar__minus_00_dot_08_bar__plus_00_dot_90_bar__minus_03_dot_29 - object\n ToiletPaper_bar__minus_00_dot_68_bar__plus_01_dot_04_bar__minus_03_dot_89 - object\n ToiletPaper_bar__minus_02_dot_62_bar__plus_00_dot_99_bar__minus_01_dot_25 - object\n Towel_bar__minus_01_dot_05_bar__plus_01_dot_54_bar__minus_02_dot_89 - object\n Window_bar__minus_00_dot_57_bar__plus_01_dot_73_bar__minus_04_dot_10 - object\n Cabinet_bar__minus_02_dot_50_bar__plus_00_dot_40_bar__minus_01_dot_24 - receptacle\n Cabinet_bar__minus_02_dot_50_bar__plus_00_dot_40_bar__minus_02_dot_21 - receptacle\n Cabinet_bar__minus_02_dot_51_bar__plus_00_dot_43_bar__minus_00_dot_29 - receptacle\n Cabinet_bar__minus_02_dot_51_bar__plus_00_dot_43_bar__minus_01_dot_26 - receptacle\n CounterTop_bar__minus_02_dot_75_bar__plus_00_dot_99_bar__minus_01_dot_24 - receptacle\n GarbageCan_bar__minus_01_dot_53_bar__plus_00_dot_00_bar__minus_00_dot_18 - receptacle\n HandTowelHolder_bar__minus_02_dot_59_bar__plus_01_dot_74_bar__minus_00_dot_01 - receptacle\n Sink_bar__minus_02_dot_91_bar__plus_00_dot_99_bar__minus_00_dot_73_bar_SinkBasin - receptacle\n Sink_bar__minus_02_dot_91_bar__plus_00_dot_99_bar__minus_01_dot_76_bar_SinkBasin - receptacle\n ToiletPaperHanger_bar__plus_00_dot_00_bar__plus_00_dot_98_bar__minus_03_dot_33 - receptacle\n Toilet_bar__minus_00_dot_55_bar__plus_00_dot_00_bar__minus_03_dot_53 - receptacle\n TowelHolder_bar__minus_01_dot_16_bar__plus_01_dot_52_bar__minus_02_dot_89 - receptacle\n loc_bar__minus_9_bar__minus_3_bar_3_bar_45 - location\n loc_bar__minus_2_bar__minus_11_bar_2_bar_0 - location\n loc_bar__minus_6_bar__minus_4_bar_3_bar_45 - location\n loc_bar__minus_2_bar__minus_11_bar_2_bar_60 - location\n loc_bar__minus_9_bar__minus_5_bar_3_bar_15 - location\n loc_bar__minus_2_bar__minus_11_bar_3_bar_15 - location\n loc_bar__minus_9_bar__minus_8_bar_3_bar_60 - location\n loc_bar__minus_5_bar__minus_2_bar_0_bar_30 - location\n loc_bar__minus_9_bar__minus_2_bar_3_bar_60 - location\n loc_bar__minus_9_bar__minus_4_bar_3_bar_60 - location\n loc_bar__minus_9_bar__minus_2_bar_0_bar__minus_15 - location\n loc_bar__minus_6_bar__minus_8_bar_3_bar_45 - location\n loc_bar__minus_9_bar__minus_8_bar_2_bar_45 - location\n loc_bar__minus_8_bar__minus_8_bar_2_bar_15 - location\n loc_bar__minus_9_bar__minus_7_bar_3_bar_45 - location\n loc_bar__minus_2_bar__minus_3_bar_3_bar_60 - location\n loc_bar__minus_6_bar__minus_6_bar_3_bar_45 - location\n loc_bar__minus_2_bar__minus_11_bar_2_bar_45 - location\n loc_bar__minus_7_bar__minus_7_bar_3_bar_30 - location\n )\n \n\n(:init\n\n\n (receptacleType GarbageCan_bar__minus_01_dot_53_bar__plus_00_dot_00_bar__minus_00_dot_18 GarbageCanType)\n (receptacleType Toilet_bar__minus_00_dot_55_bar__plus_00_dot_00_bar__minus_03_dot_53 ToiletType)\n (receptacleType CounterTop_bar__minus_02_dot_75_bar__plus_00_dot_99_bar__minus_01_dot_24 CounterTopType)\n (receptacleType Cabinet_bar__minus_02_dot_50_bar__plus_00_dot_40_bar__minus_02_dot_21 CabinetType)\n (receptacleType Cabinet_bar__minus_02_dot_51_bar__plus_00_dot_43_bar__minus_00_dot_29 CabinetType)\n (receptacleType Sink_bar__minus_02_dot_91_bar__plus_00_dot_99_bar__minus_00_dot_73_bar_SinkBasin SinkBasinType)\n (receptacleType Cabinet_bar__minus_02_dot_50_bar__plus_00_dot_40_bar__minus_01_dot_24 CabinetType)\n (receptacleType TowelHolder_bar__minus_01_dot_16_bar__plus_01_dot_52_bar__minus_02_dot_89 TowelHolderType)\n (receptacleType Sink_bar__minus_02_dot_91_bar__plus_00_dot_99_bar__minus_01_dot_76_bar_SinkBasin SinkBasinType)\n (receptacleType Cabinet_bar__minus_02_dot_51_bar__plus_00_dot_43_bar__minus_01_dot_26 CabinetType)\n (receptacleType HandTowelHolder_bar__minus_02_dot_59_bar__plus_01_dot_74_bar__minus_00_dot_01 HandTowelHolderType)\n (receptacleType ToiletPaperHanger_bar__plus_00_dot_00_bar__plus_00_dot_98_bar__minus_03_dot_33 ToiletPaperHangerType)\n (objectType Candle_bar__minus_00_dot_61_bar__plus_01_dot_05_bar__minus_03_dot_80 CandleType)\n (objectType FloorLamp_bar__minus_02_dot_91_bar__plus_00_dot_99_bar__minus_01_dot_76 FloorLampType)\n (objectType SoapBottle_bar__minus_02_dot_87_bar__plus_00_dot_08_bar__minus_00_dot_47 SoapBottleType)\n (objectType ShowerDoor_bar__minus_02_dot_20_bar__plus_01_dot_05_bar__minus_02_dot_50 ShowerDoorType)\n (objectType Cloth_bar__minus_02_dot_72_bar__plus_00_dot_08_bar__minus_01_dot_06 ClothType)\n (objectType HandTowel_bar__minus_02_dot_59_bar__plus_01_dot_64_bar__minus_00_dot_05 HandTowelType)\n (objectType ToiletPaper_bar__minus_00_dot_68_bar__plus_01_dot_04_bar__minus_03_dot_89 ToiletPaperType)\n (objectType SoapBottle_bar__minus_02_dot_87_bar__plus_00_dot_08_bar__minus_01_dot_87 SoapBottleType)\n (objectType Plunger_bar__minus_01_dot_07_bar__plus_00_dot_00_bar__minus_03_dot_53 PlungerType)\n (objectType ToiletPaper_bar__minus_02_dot_62_bar__plus_00_dot_99_bar__minus_01_dot_25 ToiletPaperType)\n (objectType FloorLamp_bar__minus_02_dot_91_bar__plus_00_dot_99_bar__minus_00_dot_73 FloorLampType)\n (objectType Sink_bar__minus_02_dot_91_bar__plus_00_dot_99_bar__minus_01_dot_76 SinkType)\n (objectType SoapBar_bar__minus_02_dot_81_bar__plus_01_dot_00_bar__minus_01_dot_21 SoapBarType)\n (objectType Cloth_bar__minus_02_dot_67_bar__plus_00_dot_08_bar__minus_01_dot_93 ClothType)\n (objectType Sink_bar__minus_02_dot_91_bar__plus_00_dot_99_bar__minus_00_dot_73 SinkType)\n (objectType ScrubBrush_bar__minus_01_dot_05_bar__plus_00_dot_00_bar__minus_03_dot_83 ScrubBrushType)\n (objectType Towel_bar__minus_01_dot_05_bar__plus_01_dot_54_bar__minus_02_dot_89 TowelType)\n (objectType LightSwitch_bar__minus_01_dot_33_bar__plus_01_dot_39_bar__plus_00_dot_00 LightSwitchType)\n (objectType ShowerGlass_bar__minus_02_dot_08_bar__plus_01_dot_48_bar__minus_03_dot_26 ShowerGlassType)\n (objectType SprayBottle_bar__minus_01_dot_53_bar__plus_00_dot_06_bar__minus_00_dot_23 SprayBottleType)\n (objectType SoapBar_bar__minus_00_dot_68_bar__plus_01_dot_05_bar__minus_03_dot_80 SoapBarType)\n (objectType Candle_bar__minus_02_dot_62_bar__plus_00_dot_08_bar__minus_00_dot_85 CandleType)\n (objectType Mirror_bar__minus_02_dot_95_bar__plus_01_dot_56_bar__minus_01_dot_19 MirrorType)\n (objectType Candle_bar__minus_02_dot_87_bar__plus_00_dot_08_bar__minus_00_dot_96 CandleType)\n (objectType ToiletPaper_bar__minus_00_dot_08_bar__plus_00_dot_90_bar__minus_03_dot_29 ToiletPaperType)\n (objectType SprayBottle_bar__minus_01_dot_57_bar__plus_00_dot_06_bar__minus_00_dot_14 SprayBottleType)\n (objectType Window_bar__minus_00_dot_57_bar__plus_01_dot_73_bar__minus_04_dot_10 WindowType)\n (canContain GarbageCanType SoapBarType)\n (canContain GarbageCanType SprayBottleType)\n (canContain GarbageCanType ToiletPaperType)\n (canContain GarbageCanType SoapBottleType)\n (canContain GarbageCanType ClothType)\n (canContain GarbageCanType HandTowelType)\n (canContain ToiletType SoapBottleType)\n (canContain ToiletType HandTowelType)\n (canContain ToiletType ToiletPaperType)\n (canContain ToiletType ClothType)\n (canContain ToiletType CandleType)\n (canContain ToiletType SoapBarType)\n (canContain ToiletType SprayBottleType)\n (canContain 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 CabinetType CandleType)\n (canContain CabinetType SoapBarType)\n (canContain CabinetType SprayBottleType)\n (canContain CabinetType ToiletPaperType)\n (canContain CabinetType SoapBottleType)\n (canContain CabinetType ClothType)\n (canContain CabinetType HandTowelType)\n (canContain CabinetType PlungerType)\n (canContain SinkBasinType SoapBarType)\n (canContain SinkBasinType ClothType)\n (canContain SinkBasinType HandTowelType)\n (canContain CabinetType CandleType)\n (canContain CabinetType SoapBarType)\n (canContain CabinetType SprayBottleType)\n (canContain CabinetType ToiletPaperType)\n (canContain CabinetType SoapBottleType)\n (canContain CabinetType ClothType)\n (canContain CabinetType HandTowelType)\n (canContain CabinetType PlungerType)\n (canContain 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 HandTowelHolderType HandTowelType)\n (canContain ToiletPaperHangerType ToiletPaperType)\n (pickupable Candle_bar__minus_00_dot_61_bar__plus_01_dot_05_bar__minus_03_dot_80)\n (pickupable SoapBottle_bar__minus_02_dot_87_bar__plus_00_dot_08_bar__minus_00_dot_47)\n (pickupable Cloth_bar__minus_02_dot_72_bar__plus_00_dot_08_bar__minus_01_dot_06)\n (pickupable HandTowel_bar__minus_02_dot_59_bar__plus_01_dot_64_bar__minus_00_dot_05)\n (pickupable ToiletPaper_bar__minus_00_dot_68_bar__plus_01_dot_04_bar__minus_03_dot_89)\n (pickupable SoapBottle_bar__minus_02_dot_87_bar__plus_00_dot_08_bar__minus_01_dot_87)\n (pickupable Plunger_bar__minus_01_dot_07_bar__plus_00_dot_00_bar__minus_03_dot_53)\n (pickupable ToiletPaper_bar__minus_02_dot_62_bar__plus_00_dot_99_bar__minus_01_dot_25)\n (pickupable SoapBar_bar__minus_02_dot_81_bar__plus_01_dot_00_bar__minus_01_dot_21)\n (pickupable Cloth_bar__minus_02_dot_67_bar__plus_00_dot_08_bar__minus_01_dot_93)\n (pickupable ScrubBrush_bar__minus_01_dot_05_bar__plus_00_dot_00_bar__minus_03_dot_83)\n (pickupable Towel_bar__minus_01_dot_05_bar__plus_01_dot_54_bar__minus_02_dot_89)\n (pickupable SprayBottle_bar__minus_01_dot_53_bar__plus_00_dot_06_bar__minus_00_dot_23)\n (pickupable SoapBar_bar__minus_00_dot_68_bar__plus_01_dot_05_bar__minus_03_dot_80)\n (pickupable Candle_bar__minus_02_dot_62_bar__plus_00_dot_08_bar__minus_00_dot_85)\n (pickupable Candle_bar__minus_02_dot_87_bar__plus_00_dot_08_bar__minus_00_dot_96)\n (pickupable ToiletPaper_bar__minus_00_dot_08_bar__plus_00_dot_90_bar__minus_03_dot_29)\n (pickupable SprayBottle_bar__minus_01_dot_57_bar__plus_00_dot_06_bar__minus_00_dot_14)\n \n (openable Cabinet_bar__minus_02_dot_50_bar__plus_00_dot_40_bar__minus_02_dot_21)\n (openable Cabinet_bar__minus_02_dot_51_bar__plus_00_dot_43_bar__minus_00_dot_29)\n (openable Cabinet_bar__minus_02_dot_50_bar__plus_00_dot_40_bar__minus_01_dot_24)\n (openable Cabinet_bar__minus_02_dot_51_bar__plus_00_dot_43_bar__minus_01_dot_26)\n \n (atLocation agent1 loc_bar__minus_7_bar__minus_7_bar_3_bar_30)\n \n (cleanable Cloth_bar__minus_02_dot_72_bar__plus_00_dot_08_bar__minus_01_dot_06)\n (cleanable SoapBar_bar__minus_02_dot_81_bar__plus_01_dot_00_bar__minus_01_dot_21)\n (cleanable Cloth_bar__minus_02_dot_67_bar__plus_00_dot_08_bar__minus_01_dot_93)\n (cleanable SoapBar_bar__minus_00_dot_68_bar__plus_01_dot_05_bar__minus_03_dot_80)\n \n \n \n \n \n (toggleable FloorLamp_bar__minus_02_dot_91_bar__plus_00_dot_99_bar__minus_01_dot_76)\n (toggleable FloorLamp_bar__minus_02_dot_91_bar__plus_00_dot_99_bar__minus_00_dot_73)\n \n \n \n \n (inReceptacle Cloth_bar__minus_02_dot_67_bar__plus_00_dot_08_bar__minus_01_dot_93 Cabinet_bar__minus_02_dot_50_bar__plus_00_dot_40_bar__minus_02_dot_21)\n (inReceptacle SoapBottle_bar__minus_02_dot_87_bar__plus_00_dot_08_bar__minus_01_dot_87 Cabinet_bar__minus_02_dot_50_bar__plus_00_dot_40_bar__minus_02_dot_21)\n (inReceptacle ToiletPaper_bar__minus_02_dot_62_bar__plus_00_dot_99_bar__minus_01_dot_25 CounterTop_bar__minus_02_dot_75_bar__plus_00_dot_99_bar__minus_01_dot_24)\n (inReceptacle SoapBar_bar__minus_02_dot_81_bar__plus_01_dot_00_bar__minus_01_dot_21 CounterTop_bar__minus_02_dot_75_bar__plus_00_dot_99_bar__minus_01_dot_24)\n (inReceptacle Candle_bar__minus_02_dot_62_bar__plus_00_dot_08_bar__minus_00_dot_85 Cabinet_bar__minus_02_dot_50_bar__plus_00_dot_40_bar__minus_01_dot_24)\n (inReceptacle Cloth_bar__minus_02_dot_72_bar__plus_00_dot_08_bar__minus_01_dot_06 Cabinet_bar__minus_02_dot_50_bar__plus_00_dot_40_bar__minus_01_dot_24)\n (inReceptacle Candle_bar__minus_02_dot_87_bar__plus_00_dot_08_bar__minus_00_dot_96 Cabinet_bar__minus_02_dot_50_bar__plus_00_dot_40_bar__minus_01_dot_24)\n (inReceptacle SoapBottle_bar__minus_02_dot_87_bar__plus_00_dot_08_bar__minus_00_dot_47 Cabinet_bar__minus_02_dot_51_bar__plus_00_dot_43_bar__minus_00_dot_29)\n (inReceptacle Towel_bar__minus_01_dot_05_bar__plus_01_dot_54_bar__minus_02_dot_89 TowelHolder_bar__minus_01_dot_16_bar__plus_01_dot_52_bar__minus_02_dot_89)\n (inReceptacle SprayBottle_bar__minus_01_dot_57_bar__plus_00_dot_06_bar__minus_00_dot_14 GarbageCan_bar__minus_01_dot_53_bar__plus_00_dot_00_bar__minus_00_dot_18)\n (inReceptacle SprayBottle_bar__minus_01_dot_53_bar__plus_00_dot_06_bar__minus_00_dot_23 GarbageCan_bar__minus_01_dot_53_bar__plus_00_dot_00_bar__minus_00_dot_18)\n (inReceptacle HandTowel_bar__minus_02_dot_59_bar__plus_01_dot_64_bar__minus_00_dot_05 HandTowelHolder_bar__minus_02_dot_59_bar__plus_01_dot_74_bar__minus_00_dot_01)\n (inReceptacle ToiletPaper_bar__minus_00_dot_68_bar__plus_01_dot_04_bar__minus_03_dot_89 Toilet_bar__minus_00_dot_55_bar__plus_00_dot_00_bar__minus_03_dot_53)\n (inReceptacle Candle_bar__minus_00_dot_61_bar__plus_01_dot_05_bar__minus_03_dot_80 Toilet_bar__minus_00_dot_55_bar__plus_00_dot_00_bar__minus_03_dot_53)\n (inReceptacle SoapBar_bar__minus_00_dot_68_bar__plus_01_dot_05_bar__minus_03_dot_80 Toilet_bar__minus_00_dot_55_bar__plus_00_dot_00_bar__minus_03_dot_53)\n \n \n (receptacleAtLocation Cabinet_bar__minus_02_dot_50_bar__plus_00_dot_40_bar__minus_01_dot_24 loc_bar__minus_6_bar__minus_6_bar_3_bar_45)\n (receptacleAtLocation Cabinet_bar__minus_02_dot_50_bar__plus_00_dot_40_bar__minus_02_dot_21 loc_bar__minus_6_bar__minus_6_bar_3_bar_45)\n (receptacleAtLocation Cabinet_bar__minus_02_dot_51_bar__plus_00_dot_43_bar__minus_00_dot_29 loc_bar__minus_6_bar__minus_4_bar_3_bar_45)\n (receptacleAtLocation Cabinet_bar__minus_02_dot_51_bar__plus_00_dot_43_bar__minus_01_dot_26 loc_bar__minus_6_bar__minus_8_bar_3_bar_45)\n (receptacleAtLocation CounterTop_bar__minus_02_dot_75_bar__plus_00_dot_99_bar__minus_01_dot_24 loc_bar__minus_9_bar__minus_4_bar_3_bar_60)\n (receptacleAtLocation GarbageCan_bar__minus_01_dot_53_bar__plus_00_dot_00_bar__minus_00_dot_18 loc_bar__minus_2_bar__minus_3_bar_3_bar_60)\n (receptacleAtLocation HandTowelHolder_bar__minus_02_dot_59_bar__plus_01_dot_74_bar__minus_00_dot_01 loc_bar__minus_9_bar__minus_2_bar_0_bar__minus_15)\n (receptacleAtLocation Sink_bar__minus_02_dot_91_bar__plus_00_dot_99_bar__minus_00_dot_73_bar_SinkBasin loc_bar__minus_9_bar__minus_2_bar_3_bar_60)\n (receptacleAtLocation Sink_bar__minus_02_dot_91_bar__plus_00_dot_99_bar__minus_01_dot_76_bar_SinkBasin loc_bar__minus_9_bar__minus_8_bar_3_bar_60)\n (receptacleAtLocation ToiletPaperHanger_bar__plus_00_dot_00_bar__plus_00_dot_98_bar__minus_03_dot_33 loc_bar__minus_2_bar__minus_11_bar_2_bar_45)\n (receptacleAtLocation Toilet_bar__minus_00_dot_55_bar__plus_00_dot_00_bar__minus_03_dot_53 loc_bar__minus_2_bar__minus_11_bar_2_bar_60)\n (receptacleAtLocation TowelHolder_bar__minus_01_dot_16_bar__plus_01_dot_52_bar__minus_02_dot_89 loc_bar__minus_2_bar__minus_11_bar_3_bar_15)\n (objectAtLocation SprayBottle_bar__minus_01_dot_53_bar__plus_00_dot_06_bar__minus_00_dot_23 loc_bar__minus_2_bar__minus_3_bar_3_bar_60)\n (objectAtLocation Cloth_bar__minus_02_dot_67_bar__plus_00_dot_08_bar__minus_01_dot_93 loc_bar__minus_6_bar__minus_6_bar_3_bar_45)\n (objectAtLocation Candle_bar__minus_00_dot_61_bar__plus_01_dot_05_bar__minus_03_dot_80 loc_bar__minus_2_bar__minus_11_bar_2_bar_60)\n (objectAtLocation SoapBottle_bar__minus_02_dot_87_bar__plus_00_dot_08_bar__minus_01_dot_87 loc_bar__minus_6_bar__minus_6_bar_3_bar_45)\n (objectAtLocation ToiletPaper_bar__minus_02_dot_62_bar__plus_00_dot_99_bar__minus_01_dot_25 loc_bar__minus_9_bar__minus_4_bar_3_bar_60)\n (objectAtLocation SoapBar_bar__minus_02_dot_81_bar__plus_01_dot_00_bar__minus_01_dot_21 loc_bar__minus_9_bar__minus_4_bar_3_bar_60)\n (objectAtLocation Candle_bar__minus_02_dot_62_bar__plus_00_dot_08_bar__minus_00_dot_85 loc_bar__minus_6_bar__minus_6_bar_3_bar_45)\n (objectAtLocation ShowerDoor_bar__minus_02_dot_20_bar__plus_01_dot_05_bar__minus_02_dot_50 loc_bar__minus_9_bar__minus_8_bar_2_bar_45)\n (objectAtLocation Mirror_bar__minus_02_dot_95_bar__plus_01_dot_56_bar__minus_01_dot_19 loc_bar__minus_9_bar__minus_5_bar_3_bar_15)\n (objectAtLocation Sink_bar__minus_02_dot_91_bar__plus_00_dot_99_bar__minus_00_dot_73 loc_bar__minus_9_bar__minus_3_bar_3_bar_45)\n (objectAtLocation ShowerGlass_bar__minus_02_dot_08_bar__plus_01_dot_48_bar__minus_03_dot_26 loc_bar__minus_8_bar__minus_8_bar_2_bar_15)\n (objectAtLocation Sink_bar__minus_02_dot_91_bar__plus_00_dot_99_bar__minus_01_dot_76 loc_bar__minus_9_bar__minus_7_bar_3_bar_45)\n (objectAtLocation Towel_bar__minus_01_dot_05_bar__plus_01_dot_54_bar__minus_02_dot_89 loc_bar__minus_2_bar__minus_11_bar_3_bar_15)\n (objectAtLocation HandTowel_bar__minus_02_dot_59_bar__plus_01_dot_64_bar__minus_00_dot_05 loc_bar__minus_9_bar__minus_2_bar_0_bar__minus_15)\n (objectAtLocation SoapBar_bar__minus_00_dot_68_bar__plus_01_dot_05_bar__minus_03_dot_80 loc_bar__minus_2_bar__minus_11_bar_2_bar_60)\n (objectAtLocation ToiletPaper_bar__minus_00_dot_68_bar__plus_01_dot_04_bar__minus_03_dot_89 loc_bar__minus_2_bar__minus_11_bar_2_bar_60)\n (objectAtLocation ToiletPaper_bar__minus_00_dot_08_bar__plus_00_dot_90_bar__minus_03_dot_29 loc_bar__minus_2_bar__minus_11_bar_2_bar_60)\n (objectAtLocation SoapBottle_bar__minus_02_dot_87_bar__plus_00_dot_08_bar__minus_00_dot_47 loc_bar__minus_6_bar__minus_4_bar_3_bar_45)\n (objectAtLocation Window_bar__minus_00_dot_57_bar__plus_01_dot_73_bar__minus_04_dot_10 loc_bar__minus_2_bar__minus_11_bar_2_bar_0)\n (objectAtLocation LightSwitch_bar__minus_01_dot_33_bar__plus_01_dot_39_bar__plus_00_dot_00 loc_bar__minus_5_bar__minus_2_bar_0_bar_30)\n (objectAtLocation Candle_bar__minus_02_dot_87_bar__plus_00_dot_08_bar__minus_00_dot_96 loc_bar__minus_6_bar__minus_6_bar_3_bar_45)\n (objectAtLocation ScrubBrush_bar__minus_01_dot_05_bar__plus_00_dot_00_bar__minus_03_dot_83 loc_bar__minus_2_bar__minus_11_bar_2_bar_60)\n (objectAtLocation Plunger_bar__minus_01_dot_07_bar__plus_00_dot_00_bar__minus_03_dot_53 loc_bar__minus_2_bar__minus_11_bar_2_bar_60)\n (objectAtLocation Cloth_bar__minus_02_dot_72_bar__plus_00_dot_08_bar__minus_01_dot_06 loc_bar__minus_6_bar__minus_6_bar_3_bar_45)\n (objectAtLocation SprayBottle_bar__minus_01_dot_57_bar__plus_00_dot_06_bar__minus_00_dot_14 loc_bar__minus_2_bar__minus_3_bar_3_bar_60)\n (objectAtLocation FloorLamp_bar__minus_02_dot_91_bar__plus_00_dot_99_bar__minus_01_dot_76 loc_bar__minus_9_bar__minus_7_bar_3_bar_45)\n (objectAtLocation FloorLamp_bar__minus_02_dot_91_bar__plus_00_dot_99_bar__minus_00_dot_73 loc_bar__minus_9_bar__minus_3_bar_3_bar_45)\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 garbagecan 1", "take spraybottle 2 from garbagecan 1", "go to toilet 1", "move spraybottle 2 to toilet 1", "go to garbagecan 1", "take spraybottle 1 from garbagecan 1", "go to toilet 1", "move spraybottle 1 to toilet 1"]}
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alfworld__pick_and_place_simple__788
|
pick_and_place_simple
|
pick_and_place_simple-Candle-None-Toilet-418/trial_T20190907_185015_671728/game.tw-pddl
|
{"pddl_domain": ";; Specification in PDDL of the Alfred domain\n;; Intended to be used with Fast Downward which supports PDDL 2.2 level 1 plus the :action-costs requirement from PDDL 3.1.\n\n(define (domain alfred)\n (:requirements\n :adl\n :action-costs\n :typing\n )\n (:types\n agent\n location\n receptacle\n object\n rtype\n otype\n )\n\n\n (:predicates\n (atLocation ?a - agent ?l - location) ; true if the agent is at the location\n (receptacleAtLocation ?r - receptacle ?l - location) ; true if the receptacle is at the location (constant)\n (objectAtLocation ?o - object ?l - location) ; true if the object is at the location\n (openable ?r - receptacle) ; true if a receptacle is openable\n (opened ?r - receptacle) ; true if a receptacle is opened\n (inReceptacle ?o - object ?r - receptacle) ; object ?o is in receptacle ?r\n (isReceptacleObject ?o - object) ; true if the object can have things put inside it\n (inReceptacleObject ?innerObject - object ?outerObject - object) ; object ?innerObject is inside object ?outerObject\n (isReceptacleObjectFull ?o - object) ; true if the receptacle object contains something\n (wasInReceptacle ?o - object ?r - receptacle) ; object ?o was or is in receptacle ?r now or some time in the past\n (checked ?r - receptacle) ; whether the receptacle has been looked inside/visited\n (examined ?l - location) ; TODO\n (receptacleType ?r - receptacle ?t - rtype) ; the type of receptacle (Cabinet vs Cabinet|01|2...)\n (canContain ?rt - rtype ?ot - otype) ; true if receptacle can hold object\n (objectType ?o - object ?t - otype) ; the type of object (Apple vs Apple|01|2...)\n (holds ?a - agent ?o - object) ; object ?o is held by agent ?a\n (holdsAny ?a - agent) ; agent ?a holds an object\n (holdsAnyReceptacleObject ?a - agent) ; agent ?a holds a receptacle object\n (full ?r - receptacle) ; true if the receptacle has no remaining space\n (isClean ?o - object) ; true if the object has been clean in sink\n (cleanable ?o - object) ; true if the object can be placed in a sink\n (isHot ?o - object) ; true if the object has been heated up\n (heatable ?o - object) ; true if the object can be heated up in a microwave\n (isCool ?o - object) ; true if the object has been cooled\n (coolable ?o - object) ; true if the object can be cooled in the fridge\n (pickupable ?o - object) ; true if the object can be picked up\n (moveable ?o - object) ; true if the object can be moved\n (toggleable ?o - object) ; true if the object can be turned on/off\n (isOn ?o - object) ; true if the object is on\n (isToggled ?o - object) ; true if the object has been toggled\n (sliceable ?o - object) ; true if the object can be sliced\n (isSliced ?o - object) ; true if the object is sliced\n )\n\n (:functions\n (distance ?from ?to)\n (total-cost) - number\n )\n\n;; All actions are specified such that the final arguments are the ones used\n;; for performing actions in Unity.\n\n\n(:action look\n :parameters (?a - agent ?l - location)\n :precondition\n (and\n (atLocation ?a ?l)\n )\n :effect\n (and\n (checked ?l)\n )\n)\n\n(:action inventory\n :parameters (?a - agent)\n :precondition\n ()\n :effect\n (and\n (checked ?a)\n )\n)\n\n(:action examineReceptacle\n :parameters (?a - agent ?r - receptacle)\n :precondition\n (and\n (exists (?l - location)\n (and\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n )\n )\n )\n :effect\n (and\n (checked ?r)\n )\n)\n\n(:action examineObject\n :parameters (?a - agent ?o - object)\n :precondition\n (or\n ;(exists (?l - location)\n ; (and\n ; (atLocation ?a ?l)\n ; (objectAtLocation ?o ?l)\n ; )\n ;)\n (exists (?l - location, ?r - receptacle)\n (and\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n ; (objectAtLocation ?o ?l)\n (inReceptacle ?o ?r)\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n )\n )\n (holds ?a ?o)\n )\n :effect\n (and\n (checked ?o)\n )\n)\n\n;; agent goes to receptacle\n (:action GotoLocation\n :parameters (?a - agent ?lStart - location ?lEnd - location ?r - receptacle)\n :precondition (and\n (atLocation ?a ?lStart)\n (receptacleAtLocation ?r ?lEnd)\n ;(exists (?r - receptacle) (receptacleAtLocation ?r ?lEnd))\n )\n :effect (and\n (not (atLocation ?a ?lStart))\n (atLocation ?a ?lEnd)\n ; (forall (?r - receptacle)\n ; (when (and (receptacleAtLocation ?r ?lEnd)\n ; (or (not (openable ?r)) (opened ?r)))\n ; (checked ?r)\n ; )\n ; )\n ; (increase (total-cost) (distance ?lStart ?lEnd))\n (increase (total-cost) 1)\n )\n )\n\n;; agent opens receptacle\n (:action OpenObject\n :parameters (?a - agent ?l - location ?r - receptacle)\n :precondition (and\n (openable ?r)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (not (opened ?r))\n )\n :effect (and\n (opened ?r)\n (checked ?r)\n (increase (total-cost) 1)\n )\n )\n;; agent closes receptacle\n (:action CloseObject\n :parameters (?a - agent ?l - location ?r - receptacle)\n :precondition (and\n (openable ?r)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (opened ?r)\n )\n :effect (and\n (not (opened ?r))\n (increase (total-cost) 1)\n )\n\n )\n\n ;; agent picks up object from a receptacle\n (:action PickupObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n :precondition\n (and\n (pickupable ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n ; (objectAtLocation ?o ?l)\n (inReceptacle ?o ?r)\n (not (holdsAny ?a)) ; agent's hands are empty.\n ;(not (holdsAnyReceptacleObject ?a))\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n ;(not (isReceptacleObject ?o))\n )\n :effect\n (and\n (not (inReceptacle ?o ?r))\n (holds ?a ?o)\n (holdsAny ?a)\n (not (objectAtLocation ?o ?l))\n ;(not (full ?r))\n (increase (total-cost) 1)\n )\n )\n\n\n; ;; agent picks up object from a receptacle\n; (:action PickupObjectFromReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?outerR - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (inReceptacle ?o ?r)\n; (pickupable ?o)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (not (isReceptacleObject ?o))\n; (isReceptacleObject ?outerR)\n; (inReceptacleObject ?o ?outerR)\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (holds ?a ?o)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n;\n; (not (inReceptacleObject ?o ?outerR))\n; (not (isReceptacleObjectFull ?outerR))\n; )\n; )\n;\n; ;; agent picks up object from a receptacle\n; (:action PickupEmptyReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; ; (objectAtLocation ?o ?l)\n; (inReceptacle ?o ?r)\n; (pickupable ?o)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (isReceptacleObject ?o)\n; (not (isReceptacleObjectFull ?o))\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (holds ?a ?o)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n; (holdsAnyReceptacleObject ?a)\n; )\n; )\n;\n; ;; agent picks up object from a receptacle\n; (:action PickupFullReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?outerR - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (inReceptacle ?outerR ?r)\n; (pickupable ?outerR)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (not (isReceptacleObject ?o))\n; (isReceptacleObject ?outerR)\n; (inReceptacleObject ?o ?outerR)\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (not (inReceptacle ?outerR ?r))\n; (holds ?a ?outerR)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (objectAtLocation ?outerR ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n; (holdsAnyReceptacleObject ?a)\n; )\n; )\n\n\n;; agent puts down an object\n (:action PutObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle ?ot - otype ?rt - rtype)\n :precondition (and\n (holds ?a ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable\n ;(not (full ?r))\n (objectType ?o ?ot)\n (receptacleType ?r ?rt)\n (canContain ?rt ?ot)\n ;(not (holdsAnyReceptacleObject ?a))\n )\n :effect (and\n (inReceptacle ?o ?r)\n (objectAtLocation ?o ?l)\n ;(full ?r)\n (not (holds ?a ?o))\n (not (holdsAny ?a))\n (increase (total-cost) 1)\n )\n )\n\n;;; agent puts down an object\n; (:action PutObjectInReceptacleObject\n; :parameters (?a - agent ?l - location ?ot - otype ?o - object ?outerO - object ?outerR - receptacle)\n; :precondition (and\n; (atLocation ?a ?l)\n; (objectAtLocation ?outerO ?l)\n; (isReceptacleObject ?outerO)\n; (not (isReceptacleObject ?o))\n; (objectType ?o ?ot)\n; (holds ?a ?o)\n; (not (holdsAnyReceptacleObject ?a))\n; (inReceptacle ?outerO ?outerR)\n; (not (isReceptacleObjectFull ?outerO))\n; )\n; :effect (and\n; (inReceptacleObject ?o ?outerO)\n; (inReceptacle ?o ?outerR)\n; (not (holds ?a ?o))\n; (not (holdsAny ?a))\n; (objectAtLocation ?o ?l)\n; (isReceptacleObjectFull ?outerO)\n; (increase (total-cost) 1)\n; )\n; )\n;\n;;; agent puts down an object\n; (:action PutEmptyReceptacleObjectinReceptacle\n; :parameters (?a - agent ?l - location ?ot - otype ?o - object ?r - receptacle)\n; :precondition (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable\n; (not (full ?r))\n; (objectType ?o ?ot)\n; (holds ?a ?o)\n; (holdsAnyReceptacleObject ?a)\n; (isReceptacleObject ?o)\n; (not (isReceptacleObjectFull ?o))\n; )\n; :effect (and\n; (inReceptacle ?o ?r)\n; (objectAtLocation ?o ?l)\n; (full ?r)\n; (not (holds ?a ?o))\n; (not (holdsAny ?a))\n; (not (holdsAnyReceptacleObject ?a))\n; (increase (total-cost) 1)\n; )\n; )\n;\n;;; agent puts down a receptacle object in a receptacle\n; (:action PutFullReceptacleObjectInReceptacle\n; :parameters (?a - agent ?l - location ?ot - otype ?innerO - object ?outerO - object ?r - receptacle) ; ?rt - rtype)\n; :precondition (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (objectType ?outerO ?ot)\n; (holds ?a ?outerO)\n; (holdsAnyReceptacleObject ?a)\n; (isReceptacleObject ?outerO)\n; (isReceptacleObjectFull ?outerO)\n; (inReceptacleObject ?innerO ?outerO)\n; )\n; :effect (and\n; (not (holdsAny ?a))\n; (not (holdsAnyReceptacleObject ?a))\n; (objectAtLocation ?outerO ?l)\n; (objectAtLocation ?innerO ?l)\n; (inReceptacle ?outerO ?r)\n; (inReceptacle ?innerO ?r)\n; (not (holds ?a ?outerO))\n; (increase (total-cost) 1)\n; )\n; )\n\n;; agent cleans some object\n (:action CleanObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (cleanable ?o)\n (or\n (receptacleType ?r SinkType)\n (receptacleType ?r SinkBasinType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isClean ?o)\n )\n )\n\n\n;; agent heats-up some object\n (:action HeatObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (heatable ?o)\n (or\n (receptacleType ?r MicrowaveType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isHot ?o)\n (not (isCool ?o))\n )\n )\n\n;; agent cools some object\n (:action CoolObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (coolable ?o)\n (or\n (receptacleType ?r FridgeType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isCool ?o)\n (not (isHot ?o))\n )\n )\n\n\n;; agent toggle object\n (:action ToggleObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n :precondition (and\n (toggleable ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (inReceptacle ?o ?r)\n )\n :effect (and\n (increase (total-cost) 5)\n (when (isOn ?o)\n (not (isOn ?o)))\n (when (not (isOn ?o))\n (isOn ?o))\n (isToggled ?o)\n )\n )\n\n\n;; agent slices some object with a knife\n (:action SliceObject\n :parameters (?a - agent ?l - location ?co - object ?ko - object)\n :precondition\n (and\n (sliceable ?co)\n (or\n (objectType ?ko KnifeType)\n (objectType ?ko ButterKnifeType)\n )\n (atLocation ?a ?l)\n (objectAtLocation ?co ?l)\n (holds ?a ?ko)\n )\n :effect (and\n (increase (total-cost) 5)\n (isSliced ?co)\n )\n )\n\n\n(:action help\n :parameters (?a - agent)\n :precondition\n ()\n :effect\n (and\n (checked ?a)\n )\n)\n)\n", "grammar": "grammar :: \"\"\"\n {\n \"intro\": [\n {\n \"rhs\": \"-= Welcome to TextWorld, ALFRED! =-\\n\\n#look.feedback#\\n\\n#task#\"\n }\n ],\n\n \"notImplemented\": [\n {\n \"rhs\": \"TODO\"\n }\n ],\n\n \"task\": [\n {\n \"rhs\": \"Your task is to: put a candle in toilet.\"\n }\n ],\n\n \"GotoLocation.feedback\": [\n {\n \"rhs\": \"You arrive at {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"OpenObject.feedback\": [\n {\n \"rhs\": \"You open the {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"CloseObject.feedback\": [\n {\n \"rhs\": \"You close the {r.name}.\"\n }\n ],\n\n \"PickupObject.feedback\": [\n {\n \"rhs\": \"You pick up the {o.name} from the {r.name}.\"\n }\n ],\n\n \"PickupObjectFromReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupObjectFromReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupEmptyReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupEmptyReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupFullReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupFullReceptacleObject: You pick up the {outerr.name}.\"\n }\n ],\n\n \"PutObject.feedback\": [\n {\n \"rhs\": \"You move the {o.name} to the {r.name}.\"\n }\n ],\n\n \"PutObjectInReceptacleObject.feedback\": [\n {\n \"rhs\": \"PutObjectInReceptacleObject: You put the {o.name} in the {outero.name}.\"\n }\n ],\n\n \"PutEmptyReceptacleObjectinReceptacle.feedback\": [\n {\n \"rhs\": \"PutEmptyReceptacleObjectinReceptacle: You put the {o.name} in the {r.name}.\"\n }\n ],\n\n \"PutFullReceptacleObjectInReceptacle.feedback\": [\n {\n \"rhs\": \"PutFullReceptacleObjectInReceptacle: You put the {outero.name} in the {r.name}.\"\n }\n ],\n\n \"inventory.feedback\": [\n {\n \"condition\": \"holdsany(a:agent)\",\n \"rhs\": \"You are carrying: [{o.indefinite + ' ' + o.name | holds(a:agent, o:object)}].\"\n },\n {\n \"rhs\": \"You are not carrying anything.\"\n }\n ],\n\n \"examineReceptacle.feedback\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \"The {r.name} is open. In it, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \"The {r.name} is closed.\"\n },\n {\n \"rhs\": \"On the {r.name}, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n }\n ],\n\n \"examineObject.feedback\": [\n {\n \"condition\": \"isreceptacleobject(o:object)\",\n \"rhs\": \"This is a normal {o.name}. In it, you see [{o2.indefinite + ' ' + o2.name | inreceptacleobject(o2:object, o:object)}].\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a clean sliced {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot sliced {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object)\",\n \"rhs\": \"This is a hot and clean {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object)\",\n \"rhs\": \"This is a cool and clean {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object)\",\n \"rhs\": \"This is a hot {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object)\",\n \"rhs\": \"This is a clean {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object)\",\n \"rhs\": \"This is a cold {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"This {o.name} is on.\"\n },\n {\n \"condition\": \"toggleable(o:object) & not_istoggled(o:object)\",\n \"rhs\": \"This {o.name} is off.\"\n },\n {\n \"condition\": \"sliceable(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a sliced {o.name}.\"\n },\n {\n \"rhs\": \"There's nothing special about {o.name}.\"\n }\n ]\n }\n\"\"\";\n\naction GotoLocation {\n template :: \"go to [{r.name | receptacleatlocation(r:receptacle, lend:location)}]\";\n feedback :: \"#GotoLocation.feedback#\";\n}\n\naction OpenObject {\n template :: \"open {r}\";\n feedback :: \"#OpenObject.feedback#\";\n}\n\naction CloseObject {\n template :: \"close {r}\";\n feedback :: \"#CloseObject.feedback#\";\n}\n\naction PickupObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObject.feedback#\";\n}\n\naction PickupObjectFromReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObjectFromReceptacleObject.feedback#\";\n}\n\naction PickupEmptyReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupEmptyReceptacleObject.feedback#\";\n}\n\naction PickupFullReceptacleObject {\n template :: \"take {outerr} from {r}\";\n feedback :: \"#PickupFullReceptacleObject.feedback#\";\n}\n\naction PutObject {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutObject.feedback#\";\n}\n\naction PutObjectInReceptacleObject {\n template :: \"put {o} into {outero}\";\n feedback :: \"#PutObjectInReceptacleObject.feedback#\";\n}\n\naction PutEmptyReceptacleObjectinReceptacle {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutEmptyReceptacleObjectinReceptacle.feedback#\";\n}\n\naction PutFullReceptacleObjectInReceptacle {\n template :: \"put {outero} in {r}\";\n feedback :: \"#PutFullReceptacleObjectInReceptacle.feedback#\";\n}\n\naction inventory {\n template :: \"inventory\";\n feedback :: \"#inventory.feedback#\";\n}\n\naction examineReceptacle {\n template :: \"examine {r}\";\n feedback :: \"#examineReceptacle.feedback#\";\n}\n\naction examineObject {\n template :: \"examine {o}\";\n feedback :: \"#examineObject.feedback#\";\n}\n\naction ToggleObject {\n template :: \"use {o}\";\n feedback :: \"#toggleObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"toggleObject.feedback\": [\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"You turn on the {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object)\",\n \"rhs\": \"You turn off the {o.name}.\"\n },\n {\n \"rhs\": \"You don't see any switch on the {o.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction HeatObject {\n template :: \"heat {o} with {r}\";\n feedback :: \"#heatObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"heatObject.feedback\": [\n {\n \"rhs\": \"You heat the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CleanObject {\n template :: \"clean {o} with {r}\";\n feedback :: \"#cleanObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"cleanObject.feedback\": [\n {\n \"rhs\": \"You clean the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CoolObject {\n template :: \"cool {o} with {r}\";\n feedback :: \"#coolObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"coolObject.feedback\": [\n {\n \"rhs\": \"You cool the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction SliceObject {\n template :: \"slice {co} with {ko}\";\n feedback :: \"#sliceObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"sliceObject.feedback\": [\n {\n \"rhs\": \"You sliced the {co.name} with the {ko.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction look {\n template :: \"look\";\n feedback :: \"#look.feedback#\";\n\n grammar :: \"\"\"\n {\n \"look.feedback\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"#look-variations#. Next to it, you see #list_objects_on_the_floor#.\"\n },\n {\n \"rhs\": \"You are in the middle of a room. Looking quickly around you, you see #list_appliances#.\"\n }\n ],\n\n \"look-variations\": [\n {\n \"rhs\": \"You are facing the [{r.name | atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)}]\"\n }\n ],\n\n \"list_objects_on_the_floor\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)\",\n \"rhs\": \"[{#overview(o)# | atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"list_appliances\": [\n {\n \"condition\": \"receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"[{#overview(r)# | receptacleatlocation(r:receptacle, l:location)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"overview(o, r)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name} (in/on the {r.name})}\"\n }\n ],\n\n \"overview(o)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name}\"\n }\n ],\n \"overview(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}\"\n }\n ],\n \"overview_with_state(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}#overview_state(r)#\"\n }\n ],\n \"overview_state(r)\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \" (it is open)\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \" (it is closed)\"\n },\n {\n \"rhs\": \"\"\n }\n ],\n\n \"list_empty\": [\n {\n \"rhs\": \"nothing\"\n }\n ],\n \"list_separator\": [\n {\n \"rhs\": \", \"\n }\n ],\n \"list_last_separator\": [\n {\n \"rhs\": \", and \"\n }\n ]\n }\n \"\"\";\n}\n\naction help {\n template :: \"help\";\n feedback :: \"\nAvailable commands:\n look: look around your current location\n inventory: check your current inventory\n go to (receptacle): move to a receptacle\n open (receptacle): open a receptacle\n close (receptacle): close a receptacle\n take (object) from (receptacle): take an object from a receptacle\n move (object) to (receptacle): place an object in or on a receptacle\n examine (something): examine a receptacle or an object\n use (object): use an object\n heat (object) with (receptacle): heat an object using a receptacle\n clean (object) with (receptacle): clean an object using a receptacle\n cool (object) with (receptacle): cool an object using a receptacle\n slice (object) with (object): slice an object using a sharp object\n\";\n}\n", "pddl_problem": "\n(define (problem plan_trial_T20190907_185015_671728)\n(:domain alfred)\n(:objects\nagent1 - agent\nSaltShaker - object\n HousePlant - object\n Candle - object\n SprayBottle - object\n Bowl - object\n Window - object\n CD - object\n Egg - object\n Glassbottle - object\n Sink - object\n Pillow - object\n Spoon - object\n SoapBottle - object\n TeddyBear - object\n ButterKnife - object\n Cup - object\n Plate - object\n RemoteControl - object\n Tomato - object\n Statue - object\n HandTowel - object\n Knife - object\n StoveKnob - object\n LightSwitch - object\n Pen - object\n Painting - object\n DishSponge - object\n Vase - object\n Mug - object\n ToiletPaper - object\n Box - object\n Mirror - object\n Ladle - object\n Fork - object\n Blinds - object\n Footstool - object\n KeyChain - object\n Cloth - object\n Laptop - object\n TissueBox - object\n PepperShaker - object\n FloorLamp - object\n WateringCan - object\n Apple - object\n Pan - object\n PaperTowel - object\n PaperTowelRoll - object\n Newspaper - object\n Television - object\n Chair - object\n CellPhone - object\n CreditCard - object\n Lettuce - object\n BasketBall - object\n Potato - object\n Curtains - object\n Boots - object\n Pencil - object\n AlarmClock - object\n ToiletPaperRoll - object\n Spatula - object\n Book - object\n Bread - object\n SoapBar - object\n Watch - object\n DeskLamp - object\n Kettle - object\n Pot - object\n ScrubBrush - object\n WineBottle - object\n ShowerDoor - object\n Bathtub - object\n LaundryHamperLid - object\n ShowerGlass - object\n Poster - object\n TennisRacket - object\n BaseballBat - object\n Towel - object\n Plunger - object\nSaltShakerType - otype\n HousePlantType - otype\n CandleType - otype\n SprayBottleType - otype\n BowlType - otype\n WindowType - otype\n CDType - otype\n EggType - otype\n GlassbottleType - otype\n SinkType - otype\n PillowType - otype\n SpoonType - otype\n SoapBottleType - otype\n TeddyBearType - otype\n ButterKnifeType - otype\n CupType - otype\n PlateType - otype\n RemoteControlType - otype\n TomatoType - otype\n StatueType - otype\n HandTowelType - otype\n KnifeType - otype\n StoveKnobType - otype\n LightSwitchType - otype\n PenType - otype\n PaintingType - otype\n DishSpongeType - otype\n VaseType - otype\n MugType - otype\n ToiletPaperType - otype\n BoxType - otype\n MirrorType - otype\n LadleType - otype\n ForkType - otype\n BlindsType - otype\n FootstoolType - otype\n KeyChainType - otype\n ClothType - otype\n LaptopType - otype\n TissueBoxType - otype\n PepperShakerType - otype\n FloorLampType - otype\n WateringCanType - otype\n AppleType - otype\n PanType - otype\n PaperTowelType - otype\n PaperTowelRollType - otype\n NewspaperType - otype\n TelevisionType - otype\n ChairType - otype\n CellPhoneType - otype\n CreditCardType - otype\n LettuceType - otype\n BasketBallType - otype\n PotatoType - otype\n CurtainsType - otype\n BootsType - otype\n PencilType - otype\n AlarmClockType - otype\n ToiletPaperRollType - otype\n SpatulaType - otype\n BookType - otype\n BreadType - otype\n SoapBarType - otype\n WatchType - otype\n DeskLampType - otype\n KettleType - otype\n PotType - otype\n ScrubBrushType - otype\n WineBottleType - otype\n ShowerDoorType - otype\n BathtubType - otype\n LaundryHamperLidType - otype\n ShowerGlassType - otype\n PosterType - otype\n TennisRacketType - otype\n BaseballBatType - otype\n TowelType - otype\n PlungerType - otype\nSafeType - rtype\n DrawerType - rtype\n CoffeeMachineType - rtype\n HandTowelHolderType - rtype\n SinkBasinType - rtype\n DresserType - rtype\n LaundryHamperType - rtype\n TVStandType - rtype\n BathtubBasinType - rtype\n CabinetType - rtype\n FridgeType - rtype\n DeskType - rtype\n ToiletType - rtype\n CartType - rtype\n SideTableType - rtype\n SofaType - rtype\n CoffeeTableType - rtype\n DiningTableType - rtype\n CounterTopType - rtype\n GarbageCanType - rtype\n ArmChairType - rtype\n ShelfType - rtype\n MicrowaveType - rtype\n ToasterType - rtype\n BedType - rtype\n PaintingHangerType - rtype\n TowelHolderType - rtype\n ToiletPaperHangerType - rtype\n StoveBurnerType - rtype\n OttomanType - rtype\n\n\n Candle_bar__minus_02_dot_44_bar__plus_00_dot_82_bar__minus_03_dot_77 - object\n Candle_bar__minus_02_dot_53_bar__plus_00_dot_82_bar__minus_02_dot_66 - object\n Candle_bar__minus_02_dot_71_bar__plus_00_dot_82_bar__minus_03_dot_77 - object\n Cloth_bar__minus_02_dot_69_bar__plus_00_dot_07_bar__minus_02_dot_55 - object\n Cloth_bar__minus_02_dot_76_bar__plus_00_dot_07_bar__minus_03_dot_02 - 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_61_bar__plus_00_dot_07_bar__minus_03_dot_02 - 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_69_bar__plus_00_dot_07_bar__minus_03_dot_38 - object\n SoapBottle_bar__minus_00_dot_07_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_02_dot_85 - object\n SprayBottle_bar__minus_02_dot_80_bar__plus_00_dot_81_bar__minus_02_dot_39 - 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_19_bar__plus_01_dot_04_bar__minus_03_dot_05 - object\n Towel_bar__minus_01_dot_29_bar__plus_01_dot_39_bar__minus_00_dot_63 - object\n Window_bar__minus_00_dot_57_bar__plus_01_dot_71_bar__minus_04_dot_00 - object\n Cabinet_bar__minus_02_dot_29_bar__plus_00_dot_32_bar__minus_03_dot_25 - receptacle\n Cabinet_bar__minus_02_dot_29_bar__plus_00_dot_32_bar__minus_03_dot_81 - receptacle\n Cabinet_bar__minus_02_dot_30_bar__plus_00_dot_35_bar__minus_02_dot_25 - receptacle\n CounterTop_bar__minus_02_dot_63_bar__plus_00_dot_84_bar__minus_03_dot_04 - receptacle\n GarbageCan_bar__minus_00_dot_35_bar__plus_00_dot_00_bar__minus_03_dot_85 - receptacle\n HandTowelHolder_bar__minus_03_dot_00_bar__plus_01_dot_69_bar__minus_02_dot_57 - receptacle\n HandTowelHolder_bar__minus_03_dot_00_bar__plus_01_dot_69_bar__minus_03_dot_55 - receptacle\n Sink_bar__minus_02_dot_66_bar__plus_00_dot_79_bar__minus_03_dot_07_bar_SinkBasin - receptacle\n ToiletPaperHanger_bar__plus_00_dot_00_bar__plus_00_dot_94_bar__minus_02_dot_54 - receptacle\n Toilet_bar__minus_00_dot_45_bar__plus_00_dot_00_bar__minus_03_dot_05 - receptacle\n TowelHolder_bar__minus_01_dot_19_bar__plus_01_dot_37_bar__minus_00_dot_63 - receptacle\n loc_bar__minus_3_bar__minus_14_bar_2_bar_0 - location\n loc_bar__minus_7_bar__minus_4_bar_1_bar_30 - location\n loc_bar__minus_7_bar__minus_5_bar_1_bar_45 - location\n loc_bar__minus_5_bar__minus_11_bar_1_bar_60 - location\n loc_bar__minus_8_bar__minus_14_bar_3_bar_0 - location\n loc_bar__minus_7_bar__minus_2_bar_0_bar_15 - location\n loc_bar__minus_8_bar__minus_12_bar_3_bar_0 - location\n loc_bar__minus_7_bar__minus_12_bar_3_bar_45 - location\n loc_bar__minus_3_bar__minus_14_bar_1_bar_60 - location\n loc_bar__minus_5_bar__minus_11_bar_1_bar_30 - location\n loc_bar__minus_3_bar__minus_14_bar_0_bar_60 - location\n loc_bar__minus_8_bar__minus_10_bar_3_bar_0 - location\n loc_bar__minus_8_bar__minus_12_bar_3_bar_45 - location\n loc_bar__minus_7_bar__minus_3_bar_1_bar_30 - location\n loc_bar__minus_5_bar__minus_12_bar_3_bar_45 - location\n loc_bar__minus_8_bar__minus_12_bar_3_bar_60 - location\n loc_bar__minus_5_bar__minus_14_bar_3_bar_45 - location\n loc_bar__minus_6_bar__minus_15_bar_3_bar_30 - location\n )\n \n\n(:init\n\n\n (receptacleType ToiletPaperHanger_bar__plus_00_dot_00_bar__plus_00_dot_94_bar__minus_02_dot_54 ToiletPaperHangerType)\n (receptacleType GarbageCan_bar__minus_00_dot_35_bar__plus_00_dot_00_bar__minus_03_dot_85 GarbageCanType)\n (receptacleType HandTowelHolder_bar__minus_03_dot_00_bar__plus_01_dot_69_bar__minus_03_dot_55 HandTowelHolderType)\n (receptacleType Toilet_bar__minus_00_dot_45_bar__plus_00_dot_00_bar__minus_03_dot_05 ToiletType)\n (receptacleType Cabinet_bar__minus_02_dot_30_bar__plus_00_dot_35_bar__minus_02_dot_25 CabinetType)\n (receptacleType Cabinet_bar__minus_02_dot_29_bar__plus_00_dot_32_bar__minus_03_dot_81 CabinetType)\n (receptacleType CounterTop_bar__minus_02_dot_63_bar__plus_00_dot_84_bar__minus_03_dot_04 CounterTopType)\n (receptacleType HandTowelHolder_bar__minus_03_dot_00_bar__plus_01_dot_69_bar__minus_02_dot_57 HandTowelHolderType)\n (receptacleType Sink_bar__minus_02_dot_66_bar__plus_00_dot_79_bar__minus_03_dot_07_bar_SinkBasin SinkBasinType)\n (receptacleType TowelHolder_bar__minus_01_dot_19_bar__plus_01_dot_37_bar__minus_00_dot_63 TowelHolderType)\n (receptacleType Cabinet_bar__minus_02_dot_29_bar__plus_00_dot_32_bar__minus_03_dot_25 CabinetType)\n (objectType Towel_bar__minus_01_dot_29_bar__plus_01_dot_39_bar__minus_00_dot_63 TowelType)\n (objectType SoapBar_bar__minus_02_dot_67_bar__plus_00_dot_87_bar__minus_03_dot_10 SoapBarType)\n (objectType ToiletPaper_bar__minus_00_dot_19_bar__plus_01_dot_04_bar__minus_03_dot_05 ToiletPaperType)\n (objectType Cloth_bar__minus_02_dot_69_bar__plus_00_dot_07_bar__minus_02_dot_55 ClothType)\n (objectType LightSwitch_bar__minus_01_dot_95_bar__plus_01_dot_50_bar__plus_00_dot_00 LightSwitchType)\n (objectType Window_bar__minus_00_dot_57_bar__plus_01_dot_71_bar__minus_04_dot_00 WindowType)\n (objectType SoapBar_bar__minus_02_dot_69_bar__plus_00_dot_07_bar__minus_03_dot_38 SoapBarType)\n (objectType ToiletPaper_bar__minus_00_dot_09_bar__plus_00_dot_84_bar__minus_02_dot_62 ToiletPaperType)\n (objectType HandTowel_bar__minus_02_dot_96_bar__plus_01_dot_58_bar__minus_03_dot_55 HandTowelType)\n (objectType Mirror_bar__minus_03_dot_00_bar__plus_01_dot_66_bar__minus_03_dot_07 MirrorType)\n (objectType SprayBottle_bar__minus_02_dot_80_bar__plus_00_dot_81_bar__minus_02_dot_39 SprayBottleType)\n (objectType ScrubBrush_bar__minus_00_dot_33_bar__plus_00_dot_00_bar__minus_03_dot_34 ScrubBrushType)\n (objectType Sink_bar__minus_02_dot_66_bar__plus_00_dot_79_bar__minus_03_dot_07 SinkType)\n (objectType HandTowel_bar__minus_02_dot_96_bar__plus_01_dot_58_bar__minus_02_dot_57 HandTowelType)\n (objectType Candle_bar__minus_02_dot_71_bar__plus_00_dot_82_bar__minus_03_dot_77 CandleType)\n (objectType Cloth_bar__minus_02_dot_76_bar__plus_00_dot_07_bar__minus_03_dot_02 ClothType)\n (objectType SoapBottle_bar__minus_02_dot_39_bar__plus_00_dot_07_bar__minus_02_dot_85 SoapBottleType)\n (objectType Plunger_bar__minus_00_dot_13_bar__plus_00_dot_00_bar__minus_03_dot_49 PlungerType)\n (objectType Candle_bar__minus_02_dot_53_bar__plus_00_dot_82_bar__minus_02_dot_66 CandleType)\n (objectType SoapBottle_bar__minus_00_dot_07_bar__plus_01_dot_05_bar__minus_03_dot_05 SoapBottleType)\n (objectType ShowerDoor_bar__minus_01_dot_18_bar__plus_01_dot_09_bar__minus_01_dot_22 ShowerDoorType)\n (objectType SoapBar_bar__minus_02_dot_61_bar__plus_00_dot_07_bar__minus_03_dot_02 SoapBarType)\n (objectType Candle_bar__minus_02_dot_44_bar__plus_00_dot_82_bar__minus_03_dot_77 CandleType)\n (objectType ShowerGlass_bar__minus_00_dot_60_bar__plus_01_dot_10_bar__minus_01_dot_12 ShowerGlassType)\n (canContain ToiletPaperHangerType ToiletPaperType)\n (canContain GarbageCanType SoapBarType)\n (canContain GarbageCanType SprayBottleType)\n (canContain GarbageCanType ToiletPaperType)\n (canContain GarbageCanType SoapBottleType)\n (canContain GarbageCanType ClothType)\n (canContain GarbageCanType HandTowelType)\n (canContain HandTowelHolderType HandTowelType)\n (canContain ToiletType SoapBottleType)\n (canContain ToiletType HandTowelType)\n (canContain ToiletType ToiletPaperType)\n (canContain ToiletType ClothType)\n (canContain ToiletType CandleType)\n (canContain ToiletType SoapBarType)\n (canContain ToiletType SprayBottleType)\n (canContain CabinetType CandleType)\n (canContain CabinetType SoapBarType)\n (canContain CabinetType SprayBottleType)\n (canContain CabinetType ToiletPaperType)\n (canContain CabinetType SoapBottleType)\n (canContain CabinetType ClothType)\n (canContain CabinetType HandTowelType)\n (canContain CabinetType PlungerType)\n (canContain CabinetType CandleType)\n (canContain CabinetType SoapBarType)\n (canContain CabinetType SprayBottleType)\n (canContain CabinetType ToiletPaperType)\n (canContain CabinetType SoapBottleType)\n (canContain CabinetType ClothType)\n (canContain CabinetType HandTowelType)\n (canContain CabinetType PlungerType)\n (canContain CounterTopType CandleType)\n (canContain CounterTopType SoapBarType)\n (canContain CounterTopType SprayBottleType)\n (canContain CounterTopType ToiletPaperType)\n (canContain CounterTopType SoapBottleType)\n (canContain CounterTopType ClothType)\n (canContain CounterTopType HandTowelType)\n (canContain HandTowelHolderType HandTowelType)\n (canContain SinkBasinType SoapBarType)\n (canContain SinkBasinType ClothType)\n (canContain SinkBasinType HandTowelType)\n (canContain TowelHolderType TowelType)\n (canContain CabinetType CandleType)\n (canContain CabinetType SoapBarType)\n (canContain CabinetType SprayBottleType)\n (canContain CabinetType ToiletPaperType)\n (canContain CabinetType SoapBottleType)\n (canContain CabinetType ClothType)\n (canContain CabinetType HandTowelType)\n (canContain CabinetType PlungerType)\n (pickupable Towel_bar__minus_01_dot_29_bar__plus_01_dot_39_bar__minus_00_dot_63)\n (pickupable SoapBar_bar__minus_02_dot_67_bar__plus_00_dot_87_bar__minus_03_dot_10)\n (pickupable ToiletPaper_bar__minus_00_dot_19_bar__plus_01_dot_04_bar__minus_03_dot_05)\n (pickupable Cloth_bar__minus_02_dot_69_bar__plus_00_dot_07_bar__minus_02_dot_55)\n (pickupable SoapBar_bar__minus_02_dot_69_bar__plus_00_dot_07_bar__minus_03_dot_38)\n (pickupable ToiletPaper_bar__minus_00_dot_09_bar__plus_00_dot_84_bar__minus_02_dot_62)\n (pickupable HandTowel_bar__minus_02_dot_96_bar__plus_01_dot_58_bar__minus_03_dot_55)\n (pickupable SprayBottle_bar__minus_02_dot_80_bar__plus_00_dot_81_bar__minus_02_dot_39)\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 Candle_bar__minus_02_dot_71_bar__plus_00_dot_82_bar__minus_03_dot_77)\n (pickupable Cloth_bar__minus_02_dot_76_bar__plus_00_dot_07_bar__minus_03_dot_02)\n (pickupable SoapBottle_bar__minus_02_dot_39_bar__plus_00_dot_07_bar__minus_02_dot_85)\n (pickupable Plunger_bar__minus_00_dot_13_bar__plus_00_dot_00_bar__minus_03_dot_49)\n (pickupable Candle_bar__minus_02_dot_53_bar__plus_00_dot_82_bar__minus_02_dot_66)\n (pickupable SoapBottle_bar__minus_00_dot_07_bar__plus_01_dot_05_bar__minus_03_dot_05)\n (pickupable SoapBar_bar__minus_02_dot_61_bar__plus_00_dot_07_bar__minus_03_dot_02)\n (pickupable Candle_bar__minus_02_dot_44_bar__plus_00_dot_82_bar__minus_03_dot_77)\n \n (openable Cabinet_bar__minus_02_dot_30_bar__plus_00_dot_35_bar__minus_02_dot_25)\n (openable Cabinet_bar__minus_02_dot_29_bar__plus_00_dot_32_bar__minus_03_dot_81)\n (openable Cabinet_bar__minus_02_dot_29_bar__plus_00_dot_32_bar__minus_03_dot_25)\n \n (atLocation agent1 loc_bar__minus_6_bar__minus_15_bar_3_bar_30)\n \n (cleanable SoapBar_bar__minus_02_dot_67_bar__plus_00_dot_87_bar__minus_03_dot_10)\n (cleanable Cloth_bar__minus_02_dot_69_bar__plus_00_dot_07_bar__minus_02_dot_55)\n (cleanable SoapBar_bar__minus_02_dot_69_bar__plus_00_dot_07_bar__minus_03_dot_38)\n (cleanable Cloth_bar__minus_02_dot_76_bar__plus_00_dot_07_bar__minus_03_dot_02)\n (cleanable SoapBar_bar__minus_02_dot_61_bar__plus_00_dot_07_bar__minus_03_dot_02)\n \n \n \n \n \n \n \n \n \n \n (inReceptacle Cloth_bar__minus_02_dot_76_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 SoapBottle_bar__minus_02_dot_39_bar__plus_00_dot_07_bar__minus_02_dot_85 Cabinet_bar__minus_02_dot_29_bar__plus_00_dot_32_bar__minus_03_dot_25)\n (inReceptacle SoapBar_bar__minus_02_dot_61_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_69_bar__plus_00_dot_07_bar__minus_02_dot_55 Cabinet_bar__minus_02_dot_30_bar__plus_00_dot_35_bar__minus_02_dot_25)\n (inReceptacle SoapBar_bar__minus_02_dot_69_bar__plus_00_dot_07_bar__minus_03_dot_38 Cabinet_bar__minus_02_dot_29_bar__plus_00_dot_32_bar__minus_03_dot_81)\n (inReceptacle Candle_bar__minus_02_dot_44_bar__plus_00_dot_82_bar__minus_03_dot_77 CounterTop_bar__minus_02_dot_63_bar__plus_00_dot_84_bar__minus_03_dot_04)\n (inReceptacle Candle_bar__minus_02_dot_53_bar__plus_00_dot_82_bar__minus_02_dot_66 CounterTop_bar__minus_02_dot_63_bar__plus_00_dot_84_bar__minus_03_dot_04)\n (inReceptacle SprayBottle_bar__minus_02_dot_80_bar__plus_00_dot_81_bar__minus_02_dot_39 CounterTop_bar__minus_02_dot_63_bar__plus_00_dot_84_bar__minus_03_dot_04)\n (inReceptacle Candle_bar__minus_02_dot_71_bar__plus_00_dot_82_bar__minus_03_dot_77 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_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 SoapBottle_bar__minus_00_dot_07_bar__plus_01_dot_05_bar__minus_03_dot_05 Toilet_bar__minus_00_dot_45_bar__plus_00_dot_00_bar__minus_03_dot_05)\n (inReceptacle ToiletPaper_bar__minus_00_dot_19_bar__plus_01_dot_04_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 SoapBottle_bar__minus_02_dot_39_bar__plus_00_dot_07_bar__minus_02_dot_85 loc_bar__minus_5_bar__minus_14_bar_3_bar_45)\n (objectAtLocation SoapBar_bar__minus_02_dot_69_bar__plus_00_dot_07_bar__minus_03_dot_38 loc_bar__minus_5_bar__minus_12_bar_3_bar_45)\n (objectAtLocation HandTowel_bar__minus_02_dot_96_bar__plus_01_dot_58_bar__minus_03_dot_55 loc_bar__minus_8_bar__minus_14_bar_3_bar_0)\n (objectAtLocation Cloth_bar__minus_02_dot_69_bar__plus_00_dot_07_bar__minus_02_dot_55 loc_bar__minus_5_bar__minus_12_bar_3_bar_45)\n (objectAtLocation Candle_bar__minus_02_dot_44_bar__plus_00_dot_82_bar__minus_03_dot_77 loc_bar__minus_7_bar__minus_12_bar_3_bar_45)\n (objectAtLocation Candle_bar__minus_02_dot_71_bar__plus_00_dot_82_bar__minus_03_dot_77 loc_bar__minus_7_bar__minus_12_bar_3_bar_45)\n (objectAtLocation SoapBar_bar__minus_02_dot_61_bar__plus_00_dot_07_bar__minus_03_dot_02 loc_bar__minus_5_bar__minus_14_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_53_bar__plus_00_dot_82_bar__minus_02_dot_66 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_02 loc_bar__minus_5_bar__minus_14_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_67_bar__plus_00_dot_87_bar__minus_03_dot_10 loc_bar__minus_8_bar__minus_12_bar_3_bar_45)\n (objectAtLocation ToiletPaper_bar__minus_00_dot_19_bar__plus_01_dot_04_bar__minus_03_dot_05 loc_bar__minus_3_bar__minus_14_bar_0_bar_60)\n (objectAtLocation ToiletPaper_bar__minus_00_dot_09_bar__plus_00_dot_84_bar__minus_02_dot_62 loc_bar__minus_5_bar__minus_11_bar_1_bar_60)\n (objectAtLocation Window_bar__minus_00_dot_57_bar__plus_01_dot_71_bar__minus_04_dot_00 loc_bar__minus_3_bar__minus_14_bar_2_bar_0)\n (objectAtLocation Towel_bar__minus_01_dot_29_bar__plus_01_dot_39_bar__minus_00_dot_63 loc_bar__minus_7_bar__minus_3_bar_1_bar_30)\n (objectAtLocation SoapBottle_bar__minus_00_dot_07_bar__plus_01_dot_05_bar__minus_03_dot_05 loc_bar__minus_3_bar__minus_14_bar_0_bar_60)\n (objectAtLocation SprayBottle_bar__minus_02_dot_80_bar__plus_00_dot_81_bar__minus_02_dot_39 loc_bar__minus_7_bar__minus_12_bar_3_bar_45)\n (objectAtLocation ScrubBrush_bar__minus_00_dot_33_bar__plus_00_dot_00_bar__minus_03_dot_34 loc_bar__minus_3_bar__minus_14_bar_1_bar_60)\n (objectAtLocation LightSwitch_bar__minus_01_dot_95_bar__plus_01_dot_50_bar__plus_00_dot_00 loc_bar__minus_7_bar__minus_2_bar_0_bar_15)\n )\n \n\n (:goal\n (and\n (exists (?r - receptacle)\n (exists (?o - object)\n (and\n (inReceptacle ?o ?r)\n (objectType ?o CandleType)\n (receptacleType ?r ToiletType)\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to countertop 1", "take candle 3 from countertop 1", "go to toilet 1", "move candle 3 to toilet 1"]}
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alfworld__pick_and_place_simple__789
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pick_and_place_simple
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pick_and_place_simple-Candle-None-Toilet-418/trial_T20190907_184947_274026/game.tw-pddl
|
{"pddl_domain": ";; Specification in PDDL of the Alfred domain\n;; Intended to be used with Fast Downward which supports PDDL 2.2 level 1 plus the :action-costs requirement from PDDL 3.1.\n\n(define (domain alfred)\n (:requirements\n :adl\n :action-costs\n :typing\n )\n (:types\n agent\n location\n receptacle\n object\n rtype\n otype\n )\n\n\n (:predicates\n (atLocation ?a - agent ?l - location) ; true if the agent is at the location\n (receptacleAtLocation ?r - receptacle ?l - location) ; true if the receptacle is at the location (constant)\n (objectAtLocation ?o - object ?l - location) ; true if the object is at the location\n (openable ?r - receptacle) ; true if a receptacle is openable\n (opened ?r - receptacle) ; true if a receptacle is opened\n (inReceptacle ?o - object ?r - receptacle) ; object ?o is in receptacle ?r\n (isReceptacleObject ?o - object) ; true if the object can have things put inside it\n (inReceptacleObject ?innerObject - object ?outerObject - object) ; object ?innerObject is inside object ?outerObject\n (isReceptacleObjectFull ?o - object) ; true if the receptacle object contains something\n (wasInReceptacle ?o - object ?r - receptacle) ; object ?o was or is in receptacle ?r now or some time in the past\n (checked ?r - receptacle) ; whether the receptacle has been looked inside/visited\n (examined ?l - location) ; TODO\n (receptacleType ?r - receptacle ?t - rtype) ; the type of receptacle (Cabinet vs Cabinet|01|2...)\n (canContain ?rt - rtype ?ot - otype) ; true if receptacle can hold object\n (objectType ?o - object ?t - otype) ; the type of object (Apple vs Apple|01|2...)\n (holds ?a - agent ?o - object) ; object ?o is held by agent ?a\n (holdsAny ?a - agent) ; agent ?a holds an object\n (holdsAnyReceptacleObject ?a - agent) ; agent ?a holds a receptacle object\n (full ?r - receptacle) ; true if the receptacle has no remaining space\n (isClean ?o - object) ; true if the object has been clean in sink\n (cleanable ?o - object) ; true if the object can be placed in a sink\n (isHot ?o - object) ; true if the object has been heated up\n (heatable ?o - object) ; true if the object can be heated up in a microwave\n (isCool ?o - object) ; true if the object has been cooled\n (coolable ?o - object) ; true if the object can be cooled in the fridge\n (pickupable ?o - object) ; true if the object can be picked up\n (moveable ?o - object) ; true if the object can be moved\n (toggleable ?o - object) ; true if the object can be turned on/off\n (isOn ?o - object) ; true if the object is on\n (isToggled ?o - object) ; true if the object has been toggled\n (sliceable ?o - object) ; true if the object can be sliced\n (isSliced ?o - object) ; true if the object is sliced\n )\n\n (:functions\n (distance ?from ?to)\n (total-cost) - number\n )\n\n;; All actions are specified such that the final arguments are the ones used\n;; for performing actions in Unity.\n\n\n(:action look\n :parameters (?a - agent ?l - location)\n :precondition\n (and\n (atLocation ?a ?l)\n )\n :effect\n (and\n (checked ?l)\n )\n)\n\n(:action inventory\n :parameters (?a - agent)\n :precondition\n ()\n :effect\n (and\n (checked ?a)\n )\n)\n\n(:action examineReceptacle\n :parameters (?a - agent ?r - receptacle)\n :precondition\n (and\n (exists (?l - location)\n (and\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n )\n )\n )\n :effect\n (and\n (checked ?r)\n )\n)\n\n(:action examineObject\n :parameters (?a - agent ?o - object)\n :precondition\n (or\n ;(exists (?l - location)\n ; (and\n ; (atLocation ?a ?l)\n ; (objectAtLocation ?o ?l)\n ; )\n ;)\n (exists (?l - location, ?r - receptacle)\n (and\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n ; (objectAtLocation ?o ?l)\n (inReceptacle ?o ?r)\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n )\n )\n (holds ?a ?o)\n )\n :effect\n (and\n (checked ?o)\n )\n)\n\n;; agent goes to receptacle\n (:action GotoLocation\n :parameters (?a - agent ?lStart - location ?lEnd - location ?r - receptacle)\n :precondition (and\n (atLocation ?a ?lStart)\n (receptacleAtLocation ?r ?lEnd)\n ;(exists (?r - receptacle) (receptacleAtLocation ?r ?lEnd))\n )\n :effect (and\n (not (atLocation ?a ?lStart))\n (atLocation ?a ?lEnd)\n ; (forall (?r - receptacle)\n ; (when (and (receptacleAtLocation ?r ?lEnd)\n ; (or (not (openable ?r)) (opened ?r)))\n ; (checked ?r)\n ; )\n ; )\n ; (increase (total-cost) (distance ?lStart ?lEnd))\n (increase (total-cost) 1)\n )\n )\n\n;; agent opens receptacle\n (:action OpenObject\n :parameters (?a - agent ?l - location ?r - receptacle)\n :precondition (and\n (openable ?r)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (not (opened ?r))\n )\n :effect (and\n (opened ?r)\n (checked ?r)\n (increase (total-cost) 1)\n )\n )\n;; agent closes receptacle\n (:action CloseObject\n :parameters (?a - agent ?l - location ?r - receptacle)\n :precondition (and\n (openable ?r)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (opened ?r)\n )\n :effect (and\n (not (opened ?r))\n (increase (total-cost) 1)\n )\n\n )\n\n ;; agent picks up object from a receptacle\n (:action PickupObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n :precondition\n (and\n (pickupable ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n ; (objectAtLocation ?o ?l)\n (inReceptacle ?o ?r)\n (not (holdsAny ?a)) ; agent's hands are empty.\n ;(not (holdsAnyReceptacleObject ?a))\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n ;(not (isReceptacleObject ?o))\n )\n :effect\n (and\n (not (inReceptacle ?o ?r))\n (holds ?a ?o)\n (holdsAny ?a)\n (not (objectAtLocation ?o ?l))\n ;(not (full ?r))\n (increase (total-cost) 1)\n )\n )\n\n\n; ;; agent picks up object from a receptacle\n; (:action PickupObjectFromReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?outerR - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (inReceptacle ?o ?r)\n; (pickupable ?o)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (not (isReceptacleObject ?o))\n; (isReceptacleObject ?outerR)\n; (inReceptacleObject ?o ?outerR)\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (holds ?a ?o)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n;\n; (not (inReceptacleObject ?o ?outerR))\n; (not (isReceptacleObjectFull ?outerR))\n; )\n; )\n;\n; ;; agent picks up object from a receptacle\n; (:action PickupEmptyReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; ; (objectAtLocation ?o ?l)\n; (inReceptacle ?o ?r)\n; (pickupable ?o)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (isReceptacleObject ?o)\n; (not (isReceptacleObjectFull ?o))\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (holds ?a ?o)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n; (holdsAnyReceptacleObject ?a)\n; )\n; )\n;\n; ;; agent picks up object from a receptacle\n; (:action PickupFullReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?outerR - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (inReceptacle ?outerR ?r)\n; (pickupable ?outerR)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (not (isReceptacleObject ?o))\n; (isReceptacleObject ?outerR)\n; (inReceptacleObject ?o ?outerR)\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (not (inReceptacle ?outerR ?r))\n; (holds ?a ?outerR)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (objectAtLocation ?outerR ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n; (holdsAnyReceptacleObject ?a)\n; )\n; )\n\n\n;; agent puts down an object\n (:action PutObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle ?ot - otype ?rt - rtype)\n :precondition (and\n (holds ?a ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable\n ;(not (full ?r))\n (objectType ?o ?ot)\n (receptacleType ?r ?rt)\n (canContain ?rt ?ot)\n ;(not (holdsAnyReceptacleObject ?a))\n )\n :effect (and\n (inReceptacle ?o ?r)\n (objectAtLocation ?o ?l)\n ;(full ?r)\n (not (holds ?a ?o))\n (not (holdsAny ?a))\n (increase (total-cost) 1)\n )\n )\n\n;;; agent puts down an object\n; (:action PutObjectInReceptacleObject\n; :parameters (?a - agent ?l - location ?ot - otype ?o - object ?outerO - object ?outerR - receptacle)\n; :precondition (and\n; (atLocation ?a ?l)\n; (objectAtLocation ?outerO ?l)\n; (isReceptacleObject ?outerO)\n; (not (isReceptacleObject ?o))\n; (objectType ?o ?ot)\n; (holds ?a ?o)\n; (not (holdsAnyReceptacleObject ?a))\n; (inReceptacle ?outerO ?outerR)\n; (not (isReceptacleObjectFull ?outerO))\n; )\n; :effect (and\n; (inReceptacleObject ?o ?outerO)\n; (inReceptacle ?o ?outerR)\n; (not (holds ?a ?o))\n; (not (holdsAny ?a))\n; (objectAtLocation ?o ?l)\n; (isReceptacleObjectFull ?outerO)\n; (increase (total-cost) 1)\n; )\n; )\n;\n;;; agent puts down an object\n; (:action PutEmptyReceptacleObjectinReceptacle\n; :parameters (?a - agent ?l - location ?ot - otype ?o - object ?r - receptacle)\n; :precondition (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable\n; (not (full ?r))\n; (objectType ?o ?ot)\n; (holds ?a ?o)\n; (holdsAnyReceptacleObject ?a)\n; (isReceptacleObject ?o)\n; (not (isReceptacleObjectFull ?o))\n; )\n; :effect (and\n; (inReceptacle ?o ?r)\n; (objectAtLocation ?o ?l)\n; (full ?r)\n; (not (holds ?a ?o))\n; (not (holdsAny ?a))\n; (not (holdsAnyReceptacleObject ?a))\n; (increase (total-cost) 1)\n; )\n; )\n;\n;;; agent puts down a receptacle object in a receptacle\n; (:action PutFullReceptacleObjectInReceptacle\n; :parameters (?a - agent ?l - location ?ot - otype ?innerO - object ?outerO - object ?r - receptacle) ; ?rt - rtype)\n; :precondition (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (objectType ?outerO ?ot)\n; (holds ?a ?outerO)\n; (holdsAnyReceptacleObject ?a)\n; (isReceptacleObject ?outerO)\n; (isReceptacleObjectFull ?outerO)\n; (inReceptacleObject ?innerO ?outerO)\n; )\n; :effect (and\n; (not (holdsAny ?a))\n; (not (holdsAnyReceptacleObject ?a))\n; (objectAtLocation ?outerO ?l)\n; (objectAtLocation ?innerO ?l)\n; (inReceptacle ?outerO ?r)\n; (inReceptacle ?innerO ?r)\n; (not (holds ?a ?outerO))\n; (increase (total-cost) 1)\n; )\n; )\n\n;; agent cleans some object\n (:action CleanObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (cleanable ?o)\n (or\n (receptacleType ?r SinkType)\n (receptacleType ?r SinkBasinType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isClean ?o)\n )\n )\n\n\n;; agent heats-up some object\n (:action HeatObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (heatable ?o)\n (or\n (receptacleType ?r MicrowaveType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isHot ?o)\n (not (isCool ?o))\n )\n )\n\n;; agent cools some object\n (:action CoolObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (coolable ?o)\n (or\n (receptacleType ?r FridgeType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isCool ?o)\n (not (isHot ?o))\n )\n )\n\n\n;; agent toggle object\n (:action ToggleObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n :precondition (and\n (toggleable ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (inReceptacle ?o ?r)\n )\n :effect (and\n (increase (total-cost) 5)\n (when (isOn ?o)\n (not (isOn ?o)))\n (when (not (isOn ?o))\n (isOn ?o))\n (isToggled ?o)\n )\n )\n\n\n;; agent slices some object with a knife\n (:action SliceObject\n :parameters (?a - agent ?l - location ?co - object ?ko - object)\n :precondition\n (and\n (sliceable ?co)\n (or\n (objectType ?ko KnifeType)\n (objectType ?ko ButterKnifeType)\n )\n (atLocation ?a ?l)\n (objectAtLocation ?co ?l)\n (holds ?a ?ko)\n )\n :effect (and\n (increase (total-cost) 5)\n (isSliced ?co)\n )\n )\n\n\n(:action help\n :parameters (?a - agent)\n :precondition\n ()\n :effect\n (and\n (checked ?a)\n )\n)\n)\n", "grammar": "grammar :: \"\"\"\n {\n \"intro\": [\n {\n \"rhs\": \"-= Welcome to TextWorld, ALFRED! =-\\n\\n#look.feedback#\\n\\n#task#\"\n }\n ],\n\n \"notImplemented\": [\n {\n \"rhs\": \"TODO\"\n }\n ],\n\n \"task\": [\n {\n \"rhs\": \"Your task is to: put some candle on toilet.\"\n }\n ],\n\n \"GotoLocation.feedback\": [\n {\n \"rhs\": \"You arrive at {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"OpenObject.feedback\": [\n {\n \"rhs\": \"You open the {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"CloseObject.feedback\": [\n {\n \"rhs\": \"You close the {r.name}.\"\n }\n ],\n\n \"PickupObject.feedback\": [\n {\n \"rhs\": \"You pick up the {o.name} from the {r.name}.\"\n }\n ],\n\n \"PickupObjectFromReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupObjectFromReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupEmptyReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupEmptyReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupFullReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupFullReceptacleObject: You pick up the {outerr.name}.\"\n }\n ],\n\n \"PutObject.feedback\": [\n {\n \"rhs\": \"You move the {o.name} to the {r.name}.\"\n }\n ],\n\n \"PutObjectInReceptacleObject.feedback\": [\n {\n \"rhs\": \"PutObjectInReceptacleObject: You put the {o.name} in the {outero.name}.\"\n }\n ],\n\n \"PutEmptyReceptacleObjectinReceptacle.feedback\": [\n {\n \"rhs\": \"PutEmptyReceptacleObjectinReceptacle: You put the {o.name} in the {r.name}.\"\n }\n ],\n\n \"PutFullReceptacleObjectInReceptacle.feedback\": [\n {\n \"rhs\": \"PutFullReceptacleObjectInReceptacle: You put the {outero.name} in the {r.name}.\"\n }\n ],\n\n \"inventory.feedback\": [\n {\n \"condition\": \"holdsany(a:agent)\",\n \"rhs\": \"You are carrying: [{o.indefinite + ' ' + o.name | holds(a:agent, o:object)}].\"\n },\n {\n \"rhs\": \"You are not carrying anything.\"\n }\n ],\n\n \"examineReceptacle.feedback\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \"The {r.name} is open. In it, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \"The {r.name} is closed.\"\n },\n {\n \"rhs\": \"On the {r.name}, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n }\n ],\n\n \"examineObject.feedback\": [\n {\n \"condition\": \"isreceptacleobject(o:object)\",\n \"rhs\": \"This is a normal {o.name}. In it, you see [{o2.indefinite + ' ' + o2.name | inreceptacleobject(o2:object, o:object)}].\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a clean sliced {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot sliced {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object)\",\n \"rhs\": \"This is a hot and clean {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object)\",\n \"rhs\": \"This is a cool and clean {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object)\",\n \"rhs\": \"This is a hot {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object)\",\n \"rhs\": \"This is a clean {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object)\",\n \"rhs\": \"This is a cold {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"This {o.name} is on.\"\n },\n {\n \"condition\": \"toggleable(o:object) & not_istoggled(o:object)\",\n \"rhs\": \"This {o.name} is off.\"\n },\n {\n \"condition\": \"sliceable(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a sliced {o.name}.\"\n },\n {\n \"rhs\": \"There's nothing special about {o.name}.\"\n }\n ]\n }\n\"\"\";\n\naction GotoLocation {\n template :: \"go to [{r.name | receptacleatlocation(r:receptacle, lend:location)}]\";\n feedback :: \"#GotoLocation.feedback#\";\n}\n\naction OpenObject {\n template :: \"open {r}\";\n feedback :: \"#OpenObject.feedback#\";\n}\n\naction CloseObject {\n template :: \"close {r}\";\n feedback :: \"#CloseObject.feedback#\";\n}\n\naction PickupObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObject.feedback#\";\n}\n\naction PickupObjectFromReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObjectFromReceptacleObject.feedback#\";\n}\n\naction PickupEmptyReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupEmptyReceptacleObject.feedback#\";\n}\n\naction PickupFullReceptacleObject {\n template :: \"take {outerr} from {r}\";\n feedback :: \"#PickupFullReceptacleObject.feedback#\";\n}\n\naction PutObject {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutObject.feedback#\";\n}\n\naction PutObjectInReceptacleObject {\n template :: \"put {o} into {outero}\";\n feedback :: \"#PutObjectInReceptacleObject.feedback#\";\n}\n\naction PutEmptyReceptacleObjectinReceptacle {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutEmptyReceptacleObjectinReceptacle.feedback#\";\n}\n\naction PutFullReceptacleObjectInReceptacle {\n template :: \"put {outero} in {r}\";\n feedback :: \"#PutFullReceptacleObjectInReceptacle.feedback#\";\n}\n\naction inventory {\n template :: \"inventory\";\n feedback :: \"#inventory.feedback#\";\n}\n\naction examineReceptacle {\n template :: \"examine {r}\";\n feedback :: \"#examineReceptacle.feedback#\";\n}\n\naction examineObject {\n template :: \"examine {o}\";\n feedback :: \"#examineObject.feedback#\";\n}\n\naction ToggleObject {\n template :: \"use {o}\";\n feedback :: \"#toggleObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"toggleObject.feedback\": [\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"You turn on the {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object)\",\n \"rhs\": \"You turn off the {o.name}.\"\n },\n {\n \"rhs\": \"You don't see any switch on the {o.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction HeatObject {\n template :: \"heat {o} with {r}\";\n feedback :: \"#heatObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"heatObject.feedback\": [\n {\n \"rhs\": \"You heat the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CleanObject {\n template :: \"clean {o} with {r}\";\n feedback :: \"#cleanObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"cleanObject.feedback\": [\n {\n \"rhs\": \"You clean the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CoolObject {\n template :: \"cool {o} with {r}\";\n feedback :: \"#coolObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"coolObject.feedback\": [\n {\n \"rhs\": \"You cool the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction SliceObject {\n template :: \"slice {co} with {ko}\";\n feedback :: \"#sliceObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"sliceObject.feedback\": [\n {\n \"rhs\": \"You sliced the {co.name} with the {ko.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction look {\n template :: \"look\";\n feedback :: \"#look.feedback#\";\n\n grammar :: \"\"\"\n {\n \"look.feedback\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"#look-variations#. Next to it, you see #list_objects_on_the_floor#.\"\n },\n {\n \"rhs\": \"You are in the middle of a room. Looking quickly around you, you see #list_appliances#.\"\n }\n ],\n\n \"look-variations\": [\n {\n \"rhs\": \"You are facing the [{r.name | atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)}]\"\n }\n ],\n\n \"list_objects_on_the_floor\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)\",\n \"rhs\": \"[{#overview(o)# | atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"list_appliances\": [\n {\n \"condition\": \"receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"[{#overview(r)# | receptacleatlocation(r:receptacle, l:location)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"overview(o, r)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name} (in/on the {r.name})}\"\n }\n ],\n\n \"overview(o)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name}\"\n }\n ],\n \"overview(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}\"\n }\n ],\n \"overview_with_state(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}#overview_state(r)#\"\n }\n ],\n \"overview_state(r)\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \" (it is open)\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \" (it is closed)\"\n },\n {\n \"rhs\": \"\"\n }\n ],\n\n \"list_empty\": [\n {\n \"rhs\": \"nothing\"\n }\n ],\n \"list_separator\": [\n {\n \"rhs\": \", \"\n }\n ],\n \"list_last_separator\": [\n {\n \"rhs\": \", and \"\n }\n ]\n }\n \"\"\";\n}\n\naction help {\n template :: \"help\";\n feedback :: \"\nAvailable commands:\n look: look around your current location\n inventory: check your current inventory\n go to (receptacle): move to a receptacle\n open (receptacle): open a receptacle\n close (receptacle): close a receptacle\n take (object) from (receptacle): take an object from a receptacle\n move (object) to (receptacle): place an object in or on a receptacle\n examine (something): examine a receptacle or an object\n use (object): use an object\n heat (object) with (receptacle): heat an object using a receptacle\n clean (object) with (receptacle): clean an object using a receptacle\n cool (object) with (receptacle): cool an object using a receptacle\n slice (object) with (object): slice an object using a sharp object\n\";\n}\n", "pddl_problem": "\n(define (problem plan_trial_T20190907_184947_274026)\n(:domain alfred)\n(:objects\nagent1 - agent\nSaltShaker - object\n HousePlant - object\n Candle - object\n SprayBottle - object\n Bowl - object\n Window - object\n CD - object\n Egg - object\n Glassbottle - object\n Sink - object\n Pillow - object\n Spoon - object\n SoapBottle - object\n TeddyBear - object\n ButterKnife - object\n Cup - object\n Plate - object\n RemoteControl - object\n Tomato - object\n Statue - object\n HandTowel - object\n Knife - object\n StoveKnob - object\n LightSwitch - object\n Pen - object\n Painting - object\n DishSponge - object\n Vase - object\n Mug - object\n ToiletPaper - object\n Box - object\n Mirror - object\n Ladle - object\n Fork - object\n Blinds - object\n Footstool - object\n KeyChain - object\n Cloth - object\n Laptop - object\n TissueBox - object\n PepperShaker - object\n FloorLamp - object\n WateringCan - object\n Apple - object\n Pan - object\n PaperTowel - object\n PaperTowelRoll - object\n Newspaper - object\n Television - object\n Chair - object\n CellPhone - object\n CreditCard - object\n Lettuce - object\n BasketBall - object\n Potato - object\n Curtains - object\n Boots - object\n Pencil - object\n AlarmClock - object\n ToiletPaperRoll - object\n Spatula - object\n Book - object\n Bread - object\n SoapBar - object\n Watch - object\n DeskLamp - object\n Kettle - object\n Pot - object\n ScrubBrush - object\n WineBottle - object\n ShowerDoor - object\n Bathtub - object\n LaundryHamperLid - object\n ShowerGlass - object\n Poster - object\n TennisRacket - object\n BaseballBat - object\n Towel - object\n Plunger - object\nSaltShakerType - otype\n HousePlantType - otype\n CandleType - otype\n SprayBottleType - otype\n BowlType - otype\n WindowType - otype\n CDType - otype\n EggType - otype\n GlassbottleType - otype\n SinkType - otype\n PillowType - otype\n SpoonType - otype\n SoapBottleType - otype\n TeddyBearType - otype\n ButterKnifeType - otype\n CupType - otype\n PlateType - otype\n RemoteControlType - otype\n TomatoType - otype\n StatueType - otype\n HandTowelType - otype\n KnifeType - otype\n StoveKnobType - otype\n LightSwitchType - otype\n PenType - otype\n PaintingType - otype\n DishSpongeType - otype\n VaseType - otype\n MugType - otype\n ToiletPaperType - otype\n BoxType - otype\n MirrorType - otype\n LadleType - otype\n ForkType - otype\n BlindsType - otype\n FootstoolType - otype\n KeyChainType - otype\n ClothType - otype\n LaptopType - otype\n TissueBoxType - otype\n PepperShakerType - otype\n FloorLampType - otype\n WateringCanType - otype\n AppleType - otype\n PanType - otype\n PaperTowelType - otype\n PaperTowelRollType - otype\n NewspaperType - otype\n TelevisionType - otype\n ChairType - otype\n CellPhoneType - otype\n CreditCardType - otype\n LettuceType - otype\n BasketBallType - otype\n PotatoType - otype\n CurtainsType - otype\n BootsType - otype\n PencilType - otype\n AlarmClockType - otype\n ToiletPaperRollType - otype\n SpatulaType - otype\n BookType - otype\n BreadType - otype\n SoapBarType - otype\n WatchType - otype\n DeskLampType - otype\n KettleType - otype\n PotType - otype\n ScrubBrushType - otype\n WineBottleType - otype\n ShowerDoorType - otype\n BathtubType - otype\n LaundryHamperLidType - otype\n ShowerGlassType - otype\n PosterType - otype\n TennisRacketType - otype\n BaseballBatType - otype\n TowelType - otype\n PlungerType - otype\nSafeType - rtype\n DrawerType - rtype\n CoffeeMachineType - rtype\n HandTowelHolderType - rtype\n SinkBasinType - rtype\n DresserType - rtype\n LaundryHamperType - rtype\n TVStandType - rtype\n BathtubBasinType - rtype\n CabinetType - rtype\n FridgeType - rtype\n DeskType - rtype\n ToiletType - rtype\n CartType - rtype\n SideTableType - rtype\n SofaType - rtype\n CoffeeTableType - rtype\n DiningTableType - rtype\n CounterTopType - rtype\n GarbageCanType - rtype\n ArmChairType - rtype\n ShelfType - rtype\n MicrowaveType - rtype\n ToasterType - rtype\n BedType - rtype\n PaintingHangerType - rtype\n TowelHolderType - rtype\n ToiletPaperHangerType - rtype\n StoveBurnerType - rtype\n OttomanType - rtype\n\n\n Candle_bar__minus_02_dot_53_bar__plus_00_dot_82_bar__minus_02_dot_53 - object\n Cloth_bar__minus_02_dot_44_bar__plus_00_dot_81_bar__minus_03_dot_71 - object\n Cloth_bar__minus_02_dot_62_bar__plus_00_dot_81_bar__minus_02_dot_39 - object\n Cloth_bar__minus_02_dot_76_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_00_dot_16_bar__plus_01_dot_05_bar__minus_03_dot_18 - object\n SoapBar_bar__minus_02_dot_67_bar__plus_00_dot_87_bar__minus_03_dot_01 - object\n SoapBottle_bar__minus_00_dot_10_bar__plus_01_dot_05_bar__minus_02_dot_98 - object\n SprayBottle_bar__minus_02_dot_39_bar__plus_00_dot_07_bar__minus_03_dot_02 - object\n ToiletPaper_bar__minus_00_dot_07_bar__plus_01_dot_04_bar__minus_03_dot_05 - object\n ToiletPaper_bar__minus_00_dot_37_bar__plus_00_dot_05_bar__minus_03_dot_86 - object\n Towel_bar__minus_01_dot_29_bar__plus_01_dot_39_bar__minus_00_dot_63 - object\n Window_bar__minus_00_dot_57_bar__plus_01_dot_71_bar__minus_04_dot_00 - object\n Cabinet_bar__minus_02_dot_29_bar__plus_00_dot_32_bar__minus_03_dot_25 - receptacle\n Cabinet_bar__minus_02_dot_29_bar__plus_00_dot_32_bar__minus_03_dot_81 - receptacle\n Cabinet_bar__minus_02_dot_30_bar__plus_00_dot_35_bar__minus_02_dot_25 - receptacle\n CounterTop_bar__minus_02_dot_63_bar__plus_00_dot_84_bar__minus_03_dot_04 - receptacle\n GarbageCan_bar__minus_00_dot_35_bar__plus_00_dot_00_bar__minus_03_dot_85 - receptacle\n HandTowelHolder_bar__minus_03_dot_00_bar__plus_01_dot_69_bar__minus_02_dot_57 - receptacle\n HandTowelHolder_bar__minus_03_dot_00_bar__plus_01_dot_69_bar__minus_03_dot_55 - receptacle\n Sink_bar__minus_02_dot_66_bar__plus_00_dot_79_bar__minus_03_dot_07_bar_SinkBasin - receptacle\n ToiletPaperHanger_bar__plus_00_dot_00_bar__plus_00_dot_94_bar__minus_02_dot_54 - receptacle\n Toilet_bar__minus_00_dot_45_bar__plus_00_dot_00_bar__minus_03_dot_05 - receptacle\n TowelHolder_bar__minus_01_dot_19_bar__plus_01_dot_37_bar__minus_00_dot_63 - receptacle\n loc_bar__minus_3_bar__minus_14_bar_2_bar_0 - location\n loc_bar__minus_7_bar__minus_4_bar_1_bar_30 - location\n loc_bar__minus_7_bar__minus_5_bar_1_bar_45 - location\n loc_bar__minus_7_bar__minus_2_bar_0_bar_15 - location\n loc_bar__minus_8_bar__minus_14_bar_3_bar_0 - location\n loc_bar__minus_8_bar__minus_12_bar_3_bar_0 - location\n loc_bar__minus_7_bar__minus_12_bar_3_bar_45 - location\n loc_bar__minus_3_bar__minus_14_bar_1_bar_60 - location\n loc_bar__minus_5_bar__minus_11_bar_1_bar_30 - location\n loc_bar__minus_3_bar__minus_14_bar_0_bar_60 - location\n loc_bar__minus_8_bar__minus_10_bar_3_bar_0 - location\n loc_bar__minus_8_bar__minus_12_bar_3_bar_45 - location\n loc_bar__minus_7_bar__minus_3_bar_1_bar_30 - location\n loc_bar__minus_5_bar__minus_12_bar_3_bar_45 - location\n loc_bar__minus_8_bar__minus_12_bar_3_bar_60 - location\n loc_bar__minus_5_bar__minus_14_bar_3_bar_45 - location\n loc_bar__minus_10_bar__minus_6_bar_1_bar_30 - location\n )\n \n\n(:init\n\n\n (receptacleType ToiletPaperHanger_bar__plus_00_dot_00_bar__plus_00_dot_94_bar__minus_02_dot_54 ToiletPaperHangerType)\n (receptacleType GarbageCan_bar__minus_00_dot_35_bar__plus_00_dot_00_bar__minus_03_dot_85 GarbageCanType)\n (receptacleType HandTowelHolder_bar__minus_03_dot_00_bar__plus_01_dot_69_bar__minus_03_dot_55 HandTowelHolderType)\n (receptacleType Toilet_bar__minus_00_dot_45_bar__plus_00_dot_00_bar__minus_03_dot_05 ToiletType)\n (receptacleType Cabinet_bar__minus_02_dot_30_bar__plus_00_dot_35_bar__minus_02_dot_25 CabinetType)\n (receptacleType Cabinet_bar__minus_02_dot_29_bar__plus_00_dot_32_bar__minus_03_dot_81 CabinetType)\n (receptacleType CounterTop_bar__minus_02_dot_63_bar__plus_00_dot_84_bar__minus_03_dot_04 CounterTopType)\n (receptacleType HandTowelHolder_bar__minus_03_dot_00_bar__plus_01_dot_69_bar__minus_02_dot_57 HandTowelHolderType)\n (receptacleType Sink_bar__minus_02_dot_66_bar__plus_00_dot_79_bar__minus_03_dot_07_bar_SinkBasin SinkBasinType)\n (receptacleType TowelHolder_bar__minus_01_dot_19_bar__plus_01_dot_37_bar__minus_00_dot_63 TowelHolderType)\n (receptacleType Cabinet_bar__minus_02_dot_29_bar__plus_00_dot_32_bar__minus_03_dot_25 CabinetType)\n (objectType Towel_bar__minus_01_dot_29_bar__plus_01_dot_39_bar__minus_00_dot_63 TowelType)\n (objectType SoapBar_bar__minus_02_dot_67_bar__plus_00_dot_87_bar__minus_03_dot_01 SoapBarType)\n (objectType SoapBar_bar__minus_00_dot_16_bar__plus_01_dot_05_bar__minus_03_dot_18 SoapBarType)\n (objectType SoapBottle_bar__minus_00_dot_10_bar__plus_01_dot_05_bar__minus_02_dot_98 SoapBottleType)\n (objectType LightSwitch_bar__minus_01_dot_95_bar__plus_01_dot_50_bar__plus_00_dot_00 LightSwitchType)\n (objectType Candle_bar__minus_02_dot_53_bar__plus_00_dot_82_bar__minus_02_dot_53 CandleType)\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 Mirror_bar__minus_03_dot_00_bar__plus_01_dot_66_bar__minus_03_dot_07 MirrorType)\n (objectType ScrubBrush_bar__minus_00_dot_33_bar__plus_00_dot_00_bar__minus_03_dot_34 ScrubBrushType)\n (objectType Sink_bar__minus_02_dot_66_bar__plus_00_dot_79_bar__minus_03_dot_07 SinkType)\n (objectType ToiletPaper_bar__minus_00_dot_07_bar__plus_01_dot_04_bar__minus_03_dot_05 ToiletPaperType)\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_62_bar__plus_00_dot_81_bar__minus_02_dot_39 ClothType)\n (objectType Plunger_bar__minus_00_dot_13_bar__plus_00_dot_00_bar__minus_03_dot_49 PlungerType)\n (objectType SprayBottle_bar__minus_02_dot_39_bar__plus_00_dot_07_bar__minus_03_dot_02 SprayBottleType)\n (objectType Cloth_bar__minus_02_dot_76_bar__plus_00_dot_07_bar__minus_02_dot_96 ClothType)\n (objectType Cloth_bar__minus_02_dot_44_bar__plus_00_dot_81_bar__minus_03_dot_71 ClothType)\n (objectType ShowerDoor_bar__minus_01_dot_18_bar__plus_01_dot_09_bar__minus_01_dot_22 ShowerDoorType)\n (objectType ToiletPaper_bar__minus_00_dot_37_bar__plus_00_dot_05_bar__minus_03_dot_86 ToiletPaperType)\n (objectType ShowerGlass_bar__minus_00_dot_60_bar__plus_01_dot_10_bar__minus_01_dot_12 ShowerGlassType)\n (canContain ToiletPaperHangerType ToiletPaperType)\n (canContain GarbageCanType SoapBarType)\n (canContain GarbageCanType SprayBottleType)\n (canContain GarbageCanType ToiletPaperType)\n (canContain GarbageCanType SoapBottleType)\n (canContain GarbageCanType ClothType)\n (canContain GarbageCanType HandTowelType)\n (canContain HandTowelHolderType HandTowelType)\n (canContain ToiletType SoapBottleType)\n (canContain ToiletType HandTowelType)\n (canContain ToiletType ToiletPaperType)\n (canContain ToiletType ClothType)\n (canContain ToiletType CandleType)\n (canContain ToiletType SoapBarType)\n (canContain ToiletType SprayBottleType)\n (canContain CabinetType CandleType)\n (canContain CabinetType SoapBarType)\n (canContain CabinetType SprayBottleType)\n (canContain CabinetType ToiletPaperType)\n (canContain CabinetType SoapBottleType)\n (canContain CabinetType ClothType)\n (canContain CabinetType HandTowelType)\n (canContain CabinetType PlungerType)\n (canContain CabinetType CandleType)\n (canContain CabinetType SoapBarType)\n (canContain CabinetType SprayBottleType)\n (canContain CabinetType ToiletPaperType)\n (canContain CabinetType SoapBottleType)\n (canContain CabinetType ClothType)\n (canContain CabinetType HandTowelType)\n (canContain CabinetType PlungerType)\n (canContain CounterTopType CandleType)\n (canContain CounterTopType SoapBarType)\n (canContain CounterTopType SprayBottleType)\n (canContain CounterTopType ToiletPaperType)\n (canContain CounterTopType SoapBottleType)\n (canContain CounterTopType ClothType)\n (canContain CounterTopType HandTowelType)\n (canContain HandTowelHolderType HandTowelType)\n (canContain SinkBasinType SoapBarType)\n (canContain SinkBasinType ClothType)\n (canContain SinkBasinType HandTowelType)\n (canContain TowelHolderType TowelType)\n (canContain CabinetType CandleType)\n (canContain CabinetType SoapBarType)\n (canContain CabinetType SprayBottleType)\n (canContain CabinetType ToiletPaperType)\n (canContain CabinetType SoapBottleType)\n (canContain CabinetType ClothType)\n (canContain CabinetType HandTowelType)\n (canContain CabinetType PlungerType)\n (pickupable Towel_bar__minus_01_dot_29_bar__plus_01_dot_39_bar__minus_00_dot_63)\n (pickupable SoapBar_bar__minus_02_dot_67_bar__plus_00_dot_87_bar__minus_03_dot_01)\n (pickupable SoapBar_bar__minus_00_dot_16_bar__plus_01_dot_05_bar__minus_03_dot_18)\n (pickupable SoapBottle_bar__minus_00_dot_10_bar__plus_01_dot_05_bar__minus_02_dot_98)\n (pickupable Candle_bar__minus_02_dot_53_bar__plus_00_dot_82_bar__minus_02_dot_53)\n (pickupable HandTowel_bar__minus_02_dot_96_bar__plus_01_dot_58_bar__minus_03_dot_55)\n (pickupable ScrubBrush_bar__minus_00_dot_33_bar__plus_00_dot_00_bar__minus_03_dot_34)\n (pickupable ToiletPaper_bar__minus_00_dot_07_bar__plus_01_dot_04_bar__minus_03_dot_05)\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_62_bar__plus_00_dot_81_bar__minus_02_dot_39)\n (pickupable Plunger_bar__minus_00_dot_13_bar__plus_00_dot_00_bar__minus_03_dot_49)\n (pickupable SprayBottle_bar__minus_02_dot_39_bar__plus_00_dot_07_bar__minus_03_dot_02)\n (pickupable Cloth_bar__minus_02_dot_76_bar__plus_00_dot_07_bar__minus_02_dot_96)\n (pickupable Cloth_bar__minus_02_dot_44_bar__plus_00_dot_81_bar__minus_03_dot_71)\n (pickupable ToiletPaper_bar__minus_00_dot_37_bar__plus_00_dot_05_bar__minus_03_dot_86)\n \n (openable Cabinet_bar__minus_02_dot_30_bar__plus_00_dot_35_bar__minus_02_dot_25)\n (openable Cabinet_bar__minus_02_dot_29_bar__plus_00_dot_32_bar__minus_03_dot_81)\n (openable Cabinet_bar__minus_02_dot_29_bar__plus_00_dot_32_bar__minus_03_dot_25)\n \n (atLocation agent1 loc_bar__minus_10_bar__minus_6_bar_1_bar_30)\n \n (cleanable SoapBar_bar__minus_02_dot_67_bar__plus_00_dot_87_bar__minus_03_dot_01)\n (cleanable SoapBar_bar__minus_00_dot_16_bar__plus_01_dot_05_bar__minus_03_dot_18)\n (cleanable Cloth_bar__minus_02_dot_62_bar__plus_00_dot_81_bar__minus_02_dot_39)\n (cleanable Cloth_bar__minus_02_dot_76_bar__plus_00_dot_07_bar__minus_02_dot_96)\n (cleanable Cloth_bar__minus_02_dot_44_bar__plus_00_dot_81_bar__minus_03_dot_71)\n \n \n \n \n \n \n \n \n \n \n (inReceptacle SprayBottle_bar__minus_02_dot_39_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_02_dot_96 Cabinet_bar__minus_02_dot_29_bar__plus_00_dot_32_bar__minus_03_dot_25)\n (inReceptacle Candle_bar__minus_02_dot_53_bar__plus_00_dot_82_bar__minus_02_dot_53 CounterTop_bar__minus_02_dot_63_bar__plus_00_dot_84_bar__minus_03_dot_04)\n (inReceptacle Cloth_bar__minus_02_dot_62_bar__plus_00_dot_81_bar__minus_02_dot_39 CounterTop_bar__minus_02_dot_63_bar__plus_00_dot_84_bar__minus_03_dot_04)\n (inReceptacle Cloth_bar__minus_02_dot_44_bar__plus_00_dot_81_bar__minus_03_dot_71 CounterTop_bar__minus_02_dot_63_bar__plus_00_dot_84_bar__minus_03_dot_04)\n (inReceptacle Towel_bar__minus_01_dot_29_bar__plus_01_dot_39_bar__minus_00_dot_63 TowelHolder_bar__minus_01_dot_19_bar__plus_01_dot_37_bar__minus_00_dot_63)\n (inReceptacle ToiletPaper_bar__minus_00_dot_37_bar__plus_00_dot_05_bar__minus_03_dot_86 GarbageCan_bar__minus_00_dot_35_bar__plus_00_dot_00_bar__minus_03_dot_85)\n (inReceptacle HandTowel_bar__minus_02_dot_96_bar__plus_01_dot_58_bar__minus_03_dot_55 HandTowelHolder_bar__minus_03_dot_00_bar__plus_01_dot_69_bar__minus_03_dot_55)\n (inReceptacle 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_01 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_10_bar__plus_01_dot_05_bar__minus_02_dot_98 Toilet_bar__minus_00_dot_45_bar__plus_00_dot_00_bar__minus_03_dot_05)\n (inReceptacle SoapBar_bar__minus_00_dot_16_bar__plus_01_dot_05_bar__minus_03_dot_18 Toilet_bar__minus_00_dot_45_bar__plus_00_dot_00_bar__minus_03_dot_05)\n (inReceptacle ToiletPaper_bar__minus_00_dot_07_bar__plus_01_dot_04_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 SoapBar_bar__minus_00_dot_16_bar__plus_01_dot_05_bar__minus_03_dot_18 loc_bar__minus_3_bar__minus_14_bar_0_bar_60)\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_44_bar__plus_00_dot_81_bar__minus_03_dot_71 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_02_dot_96 loc_bar__minus_5_bar__minus_14_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_53_bar__plus_00_dot_82_bar__minus_02_dot_53 loc_bar__minus_7_bar__minus_12_bar_3_bar_45)\n (objectAtLocation Cloth_bar__minus_02_dot_62_bar__plus_00_dot_81_bar__minus_02_dot_39 loc_bar__minus_7_bar__minus_12_bar_3_bar_45)\n (objectAtLocation 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_67_bar__plus_00_dot_87_bar__minus_03_dot_01 loc_bar__minus_8_bar__minus_12_bar_3_bar_45)\n (objectAtLocation ToiletPaper_bar__minus_00_dot_37_bar__plus_00_dot_05_bar__minus_03_dot_86 loc_bar__minus_3_bar__minus_14_bar_1_bar_60)\n (objectAtLocation ToiletPaper_bar__minus_00_dot_07_bar__plus_01_dot_04_bar__minus_03_dot_05 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_00_dot_10_bar__plus_01_dot_05_bar__minus_02_dot_98 loc_bar__minus_3_bar__minus_14_bar_0_bar_60)\n (objectAtLocation SprayBottle_bar__minus_02_dot_39_bar__plus_00_dot_07_bar__minus_03_dot_02 loc_bar__minus_5_bar__minus_14_bar_3_bar_45)\n (objectAtLocation ScrubBrush_bar__minus_00_dot_33_bar__plus_00_dot_00_bar__minus_03_dot_34 loc_bar__minus_3_bar__minus_14_bar_1_bar_60)\n (objectAtLocation LightSwitch_bar__minus_01_dot_95_bar__plus_01_dot_50_bar__plus_00_dot_00 loc_bar__minus_7_bar__minus_2_bar_0_bar_15)\n )\n \n\n (:goal\n (and\n (exists (?r - receptacle)\n (exists (?o - object)\n (and\n (inReceptacle ?o ?r)\n (objectType ?o CandleType)\n (receptacleType ?r ToiletType)\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to countertop 1", "take candle 1 from countertop 1", "go to toilet 1", "move candle 1 to toilet 1"]}
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