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alfworld__pick_heat_then_place_in_recep__0
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pick_heat_then_place_in_recep
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pick_heat_then_place_in_recep-Apple-None-DiningTable-23/trial_T20190909_082402_950494/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 apple and put it in diningtable.\"\n }\n ],\n\n \"GotoLocation.feedback\": [\n {\n \"rhs\": \"You arrive at {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"OpenObject.feedback\": [\n {\n \"rhs\": \"You open the {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"CloseObject.feedback\": [\n {\n \"rhs\": \"You close the {r.name}.\"\n }\n ],\n\n \"PickupObject.feedback\": [\n {\n \"rhs\": \"You pick up the {o.name} from the {r.name}.\"\n }\n ],\n\n \"PickupObjectFromReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupObjectFromReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupEmptyReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupEmptyReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupFullReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupFullReceptacleObject: You pick up the {outerr.name}.\"\n }\n ],\n\n \"PutObject.feedback\": [\n {\n \"rhs\": \"You move the {o.name} to the {r.name}.\"\n }\n ],\n\n \"PutObjectInReceptacleObject.feedback\": [\n {\n \"rhs\": \"PutObjectInReceptacleObject: You put the {o.name} in the {outero.name}.\"\n }\n ],\n\n \"PutEmptyReceptacleObjectinReceptacle.feedback\": [\n {\n \"rhs\": \"PutEmptyReceptacleObjectinReceptacle: You put the {o.name} in the {r.name}.\"\n }\n ],\n\n \"PutFullReceptacleObjectInReceptacle.feedback\": [\n {\n \"rhs\": \"PutFullReceptacleObjectInReceptacle: You put the {outero.name} in the {r.name}.\"\n }\n ],\n\n \"inventory.feedback\": [\n {\n \"condition\": \"holdsany(a:agent)\",\n \"rhs\": \"You are carrying: [{o.indefinite + ' ' + o.name | holds(a:agent, o:object)}].\"\n },\n {\n \"rhs\": \"You are not carrying anything.\"\n }\n ],\n\n \"examineReceptacle.feedback\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \"The {r.name} is open. In it, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \"The {r.name} is closed.\"\n },\n {\n \"rhs\": \"On the {r.name}, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n }\n ],\n\n \"examineObject.feedback\": [\n {\n \"condition\": \"isreceptacleobject(o:object)\",\n \"rhs\": \"This is a normal {o.name}. In it, you see [{o2.indefinite + ' ' + o2.name | inreceptacleobject(o2:object, o:object)}].\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a clean sliced {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot sliced {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object)\",\n \"rhs\": \"This is a hot and clean {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object)\",\n \"rhs\": \"This is a cool and clean {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object)\",\n \"rhs\": \"This is a hot {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object)\",\n \"rhs\": \"This is a clean {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object)\",\n \"rhs\": \"This is a cold {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"This {o.name} is on.\"\n },\n {\n \"condition\": \"toggleable(o:object) & not_istoggled(o:object)\",\n \"rhs\": \"This {o.name} is off.\"\n },\n {\n \"condition\": \"sliceable(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a sliced {o.name}.\"\n },\n {\n \"rhs\": \"There's nothing special about {o.name}.\"\n }\n ]\n }\n\"\"\";\n\naction GotoLocation {\n template :: \"go to [{r.name | receptacleatlocation(r:receptacle, lend:location)}]\";\n feedback :: \"#GotoLocation.feedback#\";\n}\n\naction OpenObject {\n template :: \"open {r}\";\n feedback :: \"#OpenObject.feedback#\";\n}\n\naction CloseObject {\n template :: \"close {r}\";\n feedback :: \"#CloseObject.feedback#\";\n}\n\naction PickupObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObject.feedback#\";\n}\n\naction PickupObjectFromReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObjectFromReceptacleObject.feedback#\";\n}\n\naction PickupEmptyReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupEmptyReceptacleObject.feedback#\";\n}\n\naction PickupFullReceptacleObject {\n template :: \"take {outerr} from {r}\";\n feedback :: \"#PickupFullReceptacleObject.feedback#\";\n}\n\naction PutObject {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutObject.feedback#\";\n}\n\naction PutObjectInReceptacleObject {\n template :: \"put {o} into {outero}\";\n feedback :: \"#PutObjectInReceptacleObject.feedback#\";\n}\n\naction PutEmptyReceptacleObjectinReceptacle {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutEmptyReceptacleObjectinReceptacle.feedback#\";\n}\n\naction PutFullReceptacleObjectInReceptacle {\n template :: \"put {outero} in {r}\";\n feedback :: \"#PutFullReceptacleObjectInReceptacle.feedback#\";\n}\n\naction inventory {\n template :: \"inventory\";\n feedback :: \"#inventory.feedback#\";\n}\n\naction examineReceptacle {\n template :: \"examine {r}\";\n feedback :: \"#examineReceptacle.feedback#\";\n}\n\naction examineObject {\n template :: \"examine {o}\";\n feedback :: \"#examineObject.feedback#\";\n}\n\naction ToggleObject {\n template :: \"use {o}\";\n feedback :: \"#toggleObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"toggleObject.feedback\": [\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"You turn on the {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object)\",\n \"rhs\": \"You turn off the {o.name}.\"\n },\n {\n \"rhs\": \"You don't see any switch on the {o.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction HeatObject {\n template :: \"heat {o} with {r}\";\n feedback :: \"#heatObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"heatObject.feedback\": [\n {\n \"rhs\": \"You heat the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CleanObject {\n template :: \"clean {o} with {r}\";\n feedback :: \"#cleanObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"cleanObject.feedback\": [\n {\n \"rhs\": \"You clean the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CoolObject {\n template :: \"cool {o} with {r}\";\n feedback :: \"#coolObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"coolObject.feedback\": [\n {\n \"rhs\": \"You cool the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction SliceObject {\n template :: \"slice {co} with {ko}\";\n feedback :: \"#sliceObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"sliceObject.feedback\": [\n {\n \"rhs\": \"You sliced the {co.name} with the {ko.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction look {\n template :: \"look\";\n feedback :: \"#look.feedback#\";\n\n grammar :: \"\"\"\n {\n \"look.feedback\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"#look-variations#. Next to it, you see #list_objects_on_the_floor#.\"\n },\n {\n \"rhs\": \"You are in the middle of a room. Looking quickly around you, you see #list_appliances#.\"\n }\n ],\n\n \"look-variations\": [\n {\n \"rhs\": \"You are facing the [{r.name | atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)}]\"\n }\n ],\n\n \"list_objects_on_the_floor\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)\",\n \"rhs\": \"[{#overview(o)# | atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"list_appliances\": [\n {\n \"condition\": \"receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"[{#overview(r)# | receptacleatlocation(r:receptacle, l:location)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"overview(o, r)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name} (in/on the {r.name})}\"\n }\n ],\n\n \"overview(o)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name}\"\n }\n ],\n \"overview(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}\"\n }\n ],\n \"overview_with_state(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}#overview_state(r)#\"\n }\n ],\n \"overview_state(r)\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \" (it is open)\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \" (it is closed)\"\n },\n {\n \"rhs\": \"\"\n }\n ],\n\n \"list_empty\": [\n {\n \"rhs\": \"nothing\"\n }\n ],\n \"list_separator\": [\n {\n \"rhs\": \", \"\n }\n ],\n \"list_last_separator\": [\n {\n \"rhs\": \", and \"\n }\n ]\n }\n \"\"\";\n}\n\naction help {\n template :: \"help\";\n feedback :: \"\nAvailable commands:\n look: look around your current location\n inventory: check your current inventory\n go to (receptacle): move to a receptacle\n open (receptacle): open a receptacle\n close (receptacle): close a receptacle\n take (object) from (receptacle): take an object from a receptacle\n move (object) to (receptacle): place an object in or on a receptacle\n examine (something): examine a receptacle or an object\n use (object): use an object\n heat (object) with (receptacle): heat an object using a receptacle\n clean (object) with (receptacle): clean an object using a receptacle\n cool (object) with (receptacle): cool an object using a receptacle\n slice (object) with (object): slice an object using a sharp object\n\";\n}\n", "pddl_problem": "\n(define (problem plan_trial_T20190909_082402_950494)\n(:domain alfred)\n(:objects\nagent1 - agent\nSaltShaker - object\n HousePlant - object\n Candle - object\n SprayBottle - object\n Bowl - object\n Window - object\n CD - object\n Egg - object\n Glassbottle - object\n Sink - object\n Pillow - object\n Spoon - object\n SoapBottle - object\n TeddyBear - object\n ButterKnife - object\n Cup - object\n Plate - object\n RemoteControl - object\n Tomato - object\n Statue - object\n HandTowel - object\n Knife - object\n StoveKnob - object\n LightSwitch - object\n Pen - object\n Painting - object\n DishSponge - object\n Vase - object\n Mug - object\n ToiletPaper - object\n Box - object\n Mirror - object\n Ladle - object\n Fork - object\n Blinds - object\n Footstool - object\n KeyChain - object\n Cloth - object\n Laptop - object\n TissueBox - object\n PepperShaker - object\n FloorLamp - object\n WateringCan - object\n Apple - object\n Pan - object\n PaperTowel - object\n PaperTowelRoll - object\n Newspaper - object\n Television - object\n Chair - object\n CellPhone - object\n CreditCard - object\n Lettuce - object\n BasketBall - object\n Potato - object\n Curtains - object\n Boots - object\n Pencil - object\n AlarmClock - object\n ToiletPaperRoll - object\n Spatula - object\n Book - object\n Bread - object\n SoapBar - object\n Watch - object\n DeskLamp - object\n Kettle - object\n Pot - object\n ScrubBrush - object\n WineBottle - object\n ShowerDoor - object\n Bathtub - object\n LaundryHamperLid - object\n ShowerGlass - object\n Poster - object\n TennisRacket - object\n BaseballBat - object\n Towel - object\n Plunger - object\nSaltShakerType - otype\n HousePlantType - otype\n CandleType - otype\n SprayBottleType - otype\n BowlType - otype\n WindowType - otype\n CDType - otype\n EggType - otype\n GlassbottleType - otype\n SinkType - otype\n PillowType - otype\n SpoonType - otype\n SoapBottleType - otype\n TeddyBearType - otype\n ButterKnifeType - otype\n CupType - otype\n PlateType - otype\n RemoteControlType - otype\n TomatoType - otype\n StatueType - otype\n HandTowelType - otype\n KnifeType - otype\n StoveKnobType - otype\n LightSwitchType - otype\n PenType - otype\n PaintingType - otype\n DishSpongeType - otype\n VaseType - otype\n MugType - otype\n ToiletPaperType - otype\n BoxType - otype\n MirrorType - otype\n LadleType - otype\n ForkType - otype\n BlindsType - otype\n FootstoolType - otype\n KeyChainType - otype\n ClothType - otype\n LaptopType - otype\n TissueBoxType - otype\n PepperShakerType - otype\n FloorLampType - otype\n WateringCanType - otype\n AppleType - otype\n PanType - otype\n PaperTowelType - otype\n PaperTowelRollType - otype\n NewspaperType - otype\n TelevisionType - otype\n ChairType - otype\n CellPhoneType - otype\n CreditCardType - otype\n LettuceType - otype\n BasketBallType - otype\n PotatoType - otype\n CurtainsType - otype\n BootsType - otype\n PencilType - otype\n AlarmClockType - otype\n ToiletPaperRollType - otype\n SpatulaType - otype\n BookType - otype\n BreadType - otype\n SoapBarType - otype\n WatchType - otype\n DeskLampType - otype\n KettleType - otype\n PotType - otype\n ScrubBrushType - otype\n WineBottleType - otype\n ShowerDoorType - otype\n BathtubType - otype\n LaundryHamperLidType - otype\n ShowerGlassType - otype\n PosterType - otype\n TennisRacketType - otype\n BaseballBatType - otype\n TowelType - otype\n PlungerType - otype\nSafeType - rtype\n DrawerType - rtype\n CoffeeMachineType - rtype\n HandTowelHolderType - rtype\n SinkBasinType - rtype\n DresserType - rtype\n LaundryHamperType - rtype\n TVStandType - rtype\n BathtubBasinType - rtype\n CabinetType - rtype\n FridgeType - rtype\n DeskType - rtype\n ToiletType - rtype\n CartType - rtype\n SideTableType - rtype\n SofaType - rtype\n CoffeeTableType - rtype\n DiningTableType - rtype\n CounterTopType - rtype\n GarbageCanType - rtype\n ArmChairType - rtype\n ShelfType - rtype\n MicrowaveType - rtype\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_34_bar__plus_01_dot_17_bar__minus_01_dot_08 - object\n Blinds_bar__minus_02_dot_54_bar__plus_02_dot_70_bar__minus_03_dot_96 - object\n Bowl_bar__minus_00_dot_42_bar__plus_00_dot_08_bar__minus_01_dot_76 - object\n Bowl_bar__minus_01_dot_10_bar__plus_01_dot_97_bar__minus_03_dot_85 - object\n Bread_bar__minus_00_dot_42_bar__plus_00_dot_95_bar__minus_03_dot_63 - object\n ButterKnife_bar__minus_02_dot_32_bar__plus_00_dot_92_bar__minus_02_dot_12 - object\n ButterKnife_bar__minus_02_dot_44_bar__plus_00_dot_92_bar__minus_01_dot_65 - object\n ButterKnife_bar__minus_02_dot_44_bar__plus_00_dot_92_bar__minus_02_dot_35 - object\n Chair_bar__minus_03_dot_24_bar__plus_00_dot_00_bar__minus_01_dot_25 - object\n Chair_bar__minus_03_dot_26_bar__plus_00_dot_00_bar__minus_02_dot_09 - object\n Cup_bar__minus_00_dot_30_bar__plus_00_dot_80_bar__minus_01_dot_93 - object\n Cup_bar__minus_00_dot_45_bar__plus_00_dot_80_bar__minus_01_dot_93 - object\n Cup_bar__minus_00_dot_67_bar__plus_00_dot_91_bar__minus_03_dot_70 - object\n DishSponge_bar__minus_00_dot_38_bar__plus_00_dot_08_bar__minus_02_dot_20 - object\n DishSponge_bar__minus_00_dot_42_bar__plus_00_dot_75_bar__minus_03_dot_30 - object\n DishSponge_bar__minus_00_dot_78_bar__plus_00_dot_08_bar__minus_03_dot_62 - object\n Egg_bar__minus_00_dot_23_bar__plus_01_dot_72_bar__minus_00_dot_98 - object\n Egg_bar__minus_00_dot_25_bar__plus_01_dot_13_bar__minus_00_dot_98 - object\n Egg_bar__minus_00_dot_25_bar__plus_01_dot_42_bar__minus_00_dot_87 - object\n Faucet_bar__minus_00_dot_08_bar__plus_00_dot_90_bar__minus_02_dot_03 - object\n Fork_bar__minus_02_dot_10_bar__plus_00_dot_92_bar__minus_01_dot_42 - object\n Fork_bar__minus_02_dot_44_bar__plus_00_dot_92_bar__minus_01_dot_88 - object\n Glassbottle_bar__minus_00_dot_19_bar__plus_01_dot_53_bar__minus_02_dot_81 - object\n Glassbottle_bar__minus_00_dot_34_bar__plus_00_dot_08_bar__minus_03_dot_33 - object\n Glassbottle_bar__minus_00_dot_60_bar__plus_00_dot_92_bar__minus_03_dot_84 - object\n Knife_bar__minus_00_dot_60_bar__plus_00_dot_94_bar__minus_03_dot_49 - object\n Knife_bar__minus_02_dot_67_bar__plus_00_dot_95_bar__minus_00_dot_96 - object\n Lettuce_bar__minus_02_dot_32_bar__plus_01_dot_02_bar__minus_01_dot_42 - object\n Lettuce_bar__minus_02_dot_78_bar__plus_01_dot_02_bar__minus_02_dot_35 - object\n LightSwitch_bar__minus_04_dot_32_bar__plus_01_dot_32_bar__plus_00_dot_00 - object\n Mug_bar__minus_00_dot_25_bar__plus_01_dot_09_bar__minus_00_dot_77 - object\n Mug_bar__minus_00_dot_35_bar__plus_00_dot_96_bar__minus_03_dot_14 - object\n Pan_bar__minus_01_dot_52_bar__plus_00_dot_94_bar__minus_03_dot_75 - object\n Pencil_bar__minus_00_dot_78_bar__plus_00_dot_75_bar__minus_03_dot_53 - object\n Pen_bar__minus_00_dot_44_bar__plus_00_dot_92_bar__minus_02_dot_76 - object\n Pen_bar__minus_02_dot_21_bar__plus_00_dot_93_bar__minus_01_dot_88 - object\n Pen_bar__minus_02_dot_32_bar__plus_00_dot_93_bar__minus_01_dot_88 - object\n PepperShaker_bar__minus_02_dot_78_bar__plus_00_dot_92_bar__minus_02_dot_12 - object\n Plate_bar__minus_00_dot_30_bar__plus_01_dot_53_bar__minus_03_dot_64 - object\n Potato_bar__minus_01_dot_36_bar__plus_01_dot_66_bar__minus_03_dot_90 - object\n Potato_bar__minus_02_dot_78_bar__plus_00_dot_95_bar__minus_01_dot_65 - object\n Pot_bar__minus_01_dot_13_bar__plus_00_dot_94_bar__minus_03_dot_50 - object\n Pot_bar__minus_02_dot_55_bar__plus_00_dot_92_bar__minus_01_dot_19 - object\n SaltShaker_bar__minus_02_dot_10_bar__plus_00_dot_92_bar__minus_02_dot_12 - object\n Sink_bar__minus_00_dot_35_bar__plus_00_dot_91_bar__minus_02_dot_01 - object\n SoapBottle_bar__minus_02_dot_10_bar__plus_00_dot_92_bar__minus_00_dot_96 - object\n Spatula_bar__minus_02_dot_55_bar__plus_00_dot_94_bar__minus_01_dot_42 - object\n Spoon_bar__minus_00_dot_33_bar__plus_00_dot_79_bar__minus_02_dot_13 - object\n StoveKnob_bar__minus_01_dot_03_bar__plus_01_dot_08_bar__minus_03_dot_96 - object\n StoveKnob_bar__minus_01_dot_18_bar__plus_01_dot_08_bar__minus_03_dot_96 - object\n StoveKnob_bar__minus_01_dot_42_bar__plus_01_dot_08_bar__minus_03_dot_96 - object\n StoveKnob_bar__minus_01_dot_58_bar__plus_01_dot_08_bar__minus_03_dot_96 - object\n Tomato_bar__minus_00_dot_30_bar__plus_01_dot_16_bar__minus_00_dot_56 - object\n Window_bar__minus_02_dot_50_bar__plus_01_dot_78_bar__minus_04_dot_19 - object\n WineBottle_bar__minus_00_dot_51_bar__plus_00_dot_92_bar__minus_02_dot_56 - object\n WineBottle_bar__minus_00_dot_60_bar__plus_00_dot_92_bar__minus_03_dot_56 - object\n WineBottle_bar__minus_01_dot_91_bar__plus_00_dot_03_bar__minus_03_dot_76 - object\n Cabinet_bar__minus_00_dot_30_bar__plus_01_dot_92_bar__minus_02_dot_50 - receptacle\n Cabinet_bar__minus_00_dot_31_bar__plus_02_dot_14_bar__minus_01_dot_54 - receptacle\n Cabinet_bar__minus_00_dot_31_bar__plus_02_dot_14_bar__minus_02_dot_48 - receptacle\n Cabinet_bar__minus_00_dot_33_bar__plus_01_dot_92_bar__minus_03_dot_39 - receptacle\n Cabinet_bar__minus_00_dot_58_bar__plus_00_dot_39_bar__minus_01_dot_80 - receptacle\n Cabinet_bar__minus_00_dot_58_bar__plus_00_dot_39_bar__minus_02_dot_20 - receptacle\n Cabinet_bar__minus_00_dot_58_bar__plus_00_dot_39_bar__minus_03_dot_40 - receptacle\n Cabinet_bar__minus_00_dot_88_bar__plus_00_dot_39_bar__minus_03_dot_42 - receptacle\n Cabinet_bar__minus_00_dot_88_bar__plus_02_dot_14_bar__minus_03_dot_69 - receptacle\n Cabinet_bar__minus_01_dot_76_bar__plus_02_dot_14_bar__minus_03_dot_69 - receptacle\n CoffeeMachine_bar__minus_00_dot_12_bar__plus_00_dot_90_bar__minus_03_dot_15 - receptacle\n CounterTop_bar__minus_00_dot_30_bar__plus_00_dot_95_bar__minus_02_dot_79 - receptacle\n DiningTable_bar__minus_02_dot_43_bar__plus_00_dot_90_bar__minus_01_dot_70 - receptacle\n Drawer_bar__minus_00_dot_45_bar__plus_00_dot_78_bar__minus_03_dot_27 - receptacle\n Drawer_bar__minus_00_dot_75_bar__plus_00_dot_78_bar__minus_03_dot_55 - receptacle\n Fridge_bar__minus_00_dot_33_bar__plus_00_dot_00_bar__minus_00_dot_77 - receptacle\n GarbageCan_bar__minus_01_dot_94_bar__plus_00_dot_00_bar__minus_03_dot_76 - receptacle\n Microwave_bar__minus_01_dot_32_bar__plus_01_dot_52_bar__minus_03_dot_85 - receptacle\n Sink_bar__minus_00_dot_35_bar__plus_00_dot_91_bar__minus_02_dot_01_bar_SinkBasin - receptacle\n StoveBurner_bar__minus_01_dot_13_bar__plus_00_dot_93_bar__minus_03_dot_50 - receptacle\n StoveBurner_bar__minus_01_dot_13_bar__plus_00_dot_93_bar__minus_03_dot_75 - receptacle\n StoveBurner_bar__minus_01_dot_52_bar__plus_00_dot_93_bar__minus_03_dot_50 - receptacle\n StoveBurner_bar__minus_01_dot_52_bar__plus_00_dot_93_bar__minus_03_dot_75 - receptacle\n Toaster_bar__minus_00_dot_15_bar__plus_00_dot_90_bar__minus_02_dot_76 - receptacle\n loc_bar__minus_10_bar__minus_14_bar_2_bar__minus_15 - location\n loc_bar__minus_4_bar__minus_12_bar_1_bar_45 - location\n loc_bar__minus_4_bar__minus_10_bar_1_bar__minus_15 - location\n loc_bar__minus_4_bar__minus_8_bar_1_bar_45 - location\n loc_bar__minus_4_bar__minus_12_bar_2_bar_30 - location\n loc_bar__minus_6_bar__minus_7_bar_1_bar_60 - location\n loc_bar__minus_5_bar__minus_12_bar_1_bar_45 - location\n loc_bar__minus_6_bar__minus_12_bar_2_bar_45 - location\n loc_bar__minus_5_bar__minus_3_bar_1_bar_60 - location\n loc_bar__minus_5_bar__minus_7_bar_3_bar_30 - location\n loc_bar__minus_4_bar__minus_12_bar_2_bar_60 - location\n loc_bar__minus_4_bar__minus_11_bar_1_bar_45 - location\n loc_bar__minus_4_bar__minus_10_bar_2_bar_60 - location\n loc_bar__minus_5_bar__minus_12_bar_2_bar_15 - location\n loc_bar__minus_9_bar__minus_14_bar_1_bar_60 - location\n loc_bar__minus_5_bar__minus_12_bar_2_bar_60 - location\n loc_bar__minus_4_bar__minus_10_bar_1_bar__minus_30 - location\n loc_bar__minus_6_bar__minus_12_bar_2_bar_60 - location\n loc_bar__minus_13_bar__minus_3_bar_2_bar_60 - location\n loc_bar__minus_6_bar__minus_11_bar_1_bar_60 - location\n loc_bar__minus_4_bar__minus_9_bar_2_bar__minus_15 - location\n loc_bar__minus_4_bar__minus_6_bar_1_bar__minus_30 - location\n loc_bar__minus_6_bar__minus_12_bar_2_bar_30 - location\n loc_bar__minus_4_bar__minus_9_bar_1_bar_60 - location\n loc_bar__minus_14_bar__minus_7_bar_2_bar_60 - location\n loc_bar__minus_6_bar__minus_5_bar_1_bar_60 - location\n loc_bar__minus_16_bar__minus_2_bar_0_bar_30 - location\n loc_bar__minus_10_bar__minus_14_bar_2_bar__minus_30 - location\n loc_bar__minus_7_bar__minus_9_bar_2_bar__minus_15 - location\n loc_bar__minus_5_bar__minus_12_bar_2_bar_30 - location\n loc_bar__minus_4_bar__minus_12_bar_1_bar__minus_15 - location\n loc_bar__minus_5_bar__minus_12_bar_2_bar_45 - location\n loc_bar__minus_13_bar__minus_12_bar_0_bar_30 - location\n )\n \n\n(:init\n\n\n (receptacleType DiningTable_bar__minus_02_dot_43_bar__plus_00_dot_90_bar__minus_01_dot_70 DiningTableType)\n (receptacleType StoveBurner_bar__minus_01_dot_52_bar__plus_00_dot_93_bar__minus_03_dot_50 StoveBurnerType)\n (receptacleType StoveBurner_bar__minus_01_dot_52_bar__plus_00_dot_93_bar__minus_03_dot_75 StoveBurnerType)\n (receptacleType CoffeeMachine_bar__minus_00_dot_12_bar__plus_00_dot_90_bar__minus_03_dot_15 CoffeeMachineType)\n (receptacleType Cabinet_bar__minus_00_dot_30_bar__plus_01_dot_92_bar__minus_02_dot_50 CabinetType)\n (receptacleType Cabinet_bar__minus_01_dot_76_bar__plus_02_dot_14_bar__minus_03_dot_69 CabinetType)\n (receptacleType Toaster_bar__minus_00_dot_15_bar__plus_00_dot_90_bar__minus_02_dot_76 ToasterType)\n (receptacleType Sink_bar__minus_00_dot_35_bar__plus_00_dot_91_bar__minus_02_dot_01_bar_SinkBasin SinkBasinType)\n (receptacleType StoveBurner_bar__minus_01_dot_13_bar__plus_00_dot_93_bar__minus_03_dot_75 StoveBurnerType)\n (receptacleType Cabinet_bar__minus_00_dot_31_bar__plus_02_dot_14_bar__minus_02_dot_48 CabinetType)\n (receptacleType Cabinet_bar__minus_00_dot_58_bar__plus_00_dot_39_bar__minus_02_dot_20 CabinetType)\n (receptacleType CounterTop_bar__minus_00_dot_30_bar__plus_00_dot_95_bar__minus_02_dot_79 CounterTopType)\n (receptacleType Cabinet_bar__minus_00_dot_88_bar__plus_02_dot_14_bar__minus_03_dot_69 CabinetType)\n (receptacleType Cabinet_bar__minus_00_dot_33_bar__plus_01_dot_92_bar__minus_03_dot_39 CabinetType)\n (receptacleType Cabinet_bar__minus_00_dot_31_bar__plus_02_dot_14_bar__minus_01_dot_54 CabinetType)\n (receptacleType Cabinet_bar__minus_00_dot_58_bar__plus_00_dot_39_bar__minus_03_dot_40 CabinetType)\n (receptacleType Microwave_bar__minus_01_dot_32_bar__plus_01_dot_52_bar__minus_03_dot_85 MicrowaveType)\n (receptacleType GarbageCan_bar__minus_01_dot_94_bar__plus_00_dot_00_bar__minus_03_dot_76 GarbageCanType)\n (receptacleType Fridge_bar__minus_00_dot_33_bar__plus_00_dot_00_bar__minus_00_dot_77 FridgeType)\n (receptacleType Cabinet_bar__minus_00_dot_88_bar__plus_00_dot_39_bar__minus_03_dot_42 CabinetType)\n (receptacleType Cabinet_bar__minus_00_dot_58_bar__plus_00_dot_39_bar__minus_01_dot_80 CabinetType)\n (receptacleType Drawer_bar__minus_00_dot_75_bar__plus_00_dot_78_bar__minus_03_dot_55 DrawerType)\n (receptacleType Drawer_bar__minus_00_dot_45_bar__plus_00_dot_78_bar__minus_03_dot_27 DrawerType)\n (receptacleType StoveBurner_bar__minus_01_dot_13_bar__plus_00_dot_93_bar__minus_03_dot_50 StoveBurnerType)\n (objectType Lettuce_bar__minus_02_dot_32_bar__plus_01_dot_02_bar__minus_01_dot_42 LettuceType)\n (objectType Mug_bar__minus_00_dot_35_bar__plus_00_dot_96_bar__minus_03_dot_14 MugType)\n (objectType PepperShaker_bar__minus_02_dot_78_bar__plus_00_dot_92_bar__minus_02_dot_12 PepperShakerType)\n (objectType Pan_bar__minus_01_dot_52_bar__plus_00_dot_94_bar__minus_03_dot_75 PanType)\n (objectType DishSponge_bar__minus_00_dot_78_bar__plus_00_dot_08_bar__minus_03_dot_62 DishSpongeType)\n (objectType Window_bar__minus_02_dot_50_bar__plus_01_dot_78_bar__minus_04_dot_19 WindowType)\n (objectType StoveKnob_bar__minus_01_dot_03_bar__plus_01_dot_08_bar__minus_03_dot_96 StoveKnobType)\n (objectType WineBottle_bar__minus_00_dot_51_bar__plus_00_dot_92_bar__minus_02_dot_56 WineBottleType)\n (objectType Egg_bar__minus_00_dot_25_bar__plus_01_dot_13_bar__minus_00_dot_98 EggType)\n (objectType WineBottle_bar__minus_01_dot_91_bar__plus_00_dot_03_bar__minus_03_dot_76 WineBottleType)\n (objectType Glassbottle_bar__minus_00_dot_19_bar__plus_01_dot_53_bar__minus_02_dot_81 GlassbottleType)\n (objectType Fork_bar__minus_02_dot_10_bar__plus_00_dot_92_bar__minus_01_dot_42 ForkType)\n (objectType Pot_bar__minus_01_dot_13_bar__plus_00_dot_94_bar__minus_03_dot_50 PotType)\n (objectType Lettuce_bar__minus_02_dot_78_bar__plus_01_dot_02_bar__minus_02_dot_35 LettuceType)\n (objectType StoveKnob_bar__minus_01_dot_58_bar__plus_01_dot_08_bar__minus_03_dot_96 StoveKnobType)\n (objectType Chair_bar__minus_03_dot_26_bar__plus_00_dot_00_bar__minus_02_dot_09 ChairType)\n (objectType Spoon_bar__minus_00_dot_33_bar__plus_00_dot_79_bar__minus_02_dot_13 SpoonType)\n (objectType Sink_bar__minus_00_dot_35_bar__plus_00_dot_91_bar__minus_02_dot_01 SinkType)\n (objectType 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Pencil_bar__minus_00_dot_78_bar__plus_00_dot_75_bar__minus_03_dot_53 Drawer_bar__minus_00_dot_75_bar__plus_00_dot_78_bar__minus_03_dot_55)\n (inReceptacle Mug_bar__minus_00_dot_35_bar__plus_00_dot_96_bar__minus_03_dot_14 CounterTop_bar__minus_00_dot_30_bar__plus_00_dot_95_bar__minus_02_dot_79)\n (inReceptacle Knife_bar__minus_00_dot_60_bar__plus_00_dot_94_bar__minus_03_dot_49 CounterTop_bar__minus_00_dot_30_bar__plus_00_dot_95_bar__minus_02_dot_79)\n (inReceptacle Cup_bar__minus_00_dot_67_bar__plus_00_dot_91_bar__minus_03_dot_70 CounterTop_bar__minus_00_dot_30_bar__plus_00_dot_95_bar__minus_02_dot_79)\n (inReceptacle WineBottle_bar__minus_00_dot_51_bar__plus_00_dot_92_bar__minus_02_dot_56 CounterTop_bar__minus_00_dot_30_bar__plus_00_dot_95_bar__minus_02_dot_79)\n (inReceptacle WineBottle_bar__minus_00_dot_60_bar__plus_00_dot_92_bar__minus_03_dot_56 CounterTop_bar__minus_00_dot_30_bar__plus_00_dot_95_bar__minus_02_dot_79)\n (inReceptacle Pen_bar__minus_00_dot_44_bar__plus_00_dot_92_bar__minus_02_dot_76 CounterTop_bar__minus_00_dot_30_bar__plus_00_dot_95_bar__minus_02_dot_79)\n (inReceptacle Glassbottle_bar__minus_00_dot_60_bar__plus_00_dot_92_bar__minus_03_dot_84 CounterTop_bar__minus_00_dot_30_bar__plus_00_dot_95_bar__minus_02_dot_79)\n (inReceptacle Bread_bar__minus_00_dot_42_bar__plus_00_dot_95_bar__minus_03_dot_63 CounterTop_bar__minus_00_dot_30_bar__plus_00_dot_95_bar__minus_02_dot_79)\n (inReceptacle Bowl_bar__minus_01_dot_10_bar__plus_01_dot_97_bar__minus_03_dot_85 Cabinet_bar__minus_00_dot_88_bar__plus_02_dot_14_bar__minus_03_dot_69)\n (inReceptacle Lettuce_bar__minus_02_dot_32_bar__plus_01_dot_02_bar__minus_01_dot_42 DiningTable_bar__minus_02_dot_43_bar__plus_00_dot_90_bar__minus_01_dot_70)\n (inReceptacle Pot_bar__minus_02_dot_55_bar__plus_00_dot_92_bar__minus_01_dot_19 DiningTable_bar__minus_02_dot_43_bar__plus_00_dot_90_bar__minus_01_dot_70)\n (inReceptacle PepperShaker_bar__minus_02_dot_78_bar__plus_00_dot_92_bar__minus_02_dot_12 DiningTable_bar__minus_02_dot_43_bar__plus_00_dot_90_bar__minus_01_dot_70)\n (inReceptacle ButterKnife_bar__minus_02_dot_32_bar__plus_00_dot_92_bar__minus_02_dot_12 DiningTable_bar__minus_02_dot_43_bar__plus_00_dot_90_bar__minus_01_dot_70)\n (inReceptacle SoapBottle_bar__minus_02_dot_10_bar__plus_00_dot_92_bar__minus_00_dot_96 DiningTable_bar__minus_02_dot_43_bar__plus_00_dot_90_bar__minus_01_dot_70)\n (inReceptacle Pen_bar__minus_02_dot_32_bar__plus_00_dot_93_bar__minus_01_dot_88 DiningTable_bar__minus_02_dot_43_bar__plus_00_dot_90_bar__minus_01_dot_70)\n (inReceptacle Knife_bar__minus_02_dot_67_bar__plus_00_dot_95_bar__minus_00_dot_96 DiningTable_bar__minus_02_dot_43_bar__plus_00_dot_90_bar__minus_01_dot_70)\n (inReceptacle Fork_bar__minus_02_dot_44_bar__plus_00_dot_92_bar__minus_01_dot_88 DiningTable_bar__minus_02_dot_43_bar__plus_00_dot_90_bar__minus_01_dot_70)\n (inReceptacle SaltShaker_bar__minus_02_dot_10_bar__plus_00_dot_92_bar__minus_02_dot_12 DiningTable_bar__minus_02_dot_43_bar__plus_00_dot_90_bar__minus_01_dot_70)\n (inReceptacle ButterKnife_bar__minus_02_dot_44_bar__plus_00_dot_92_bar__minus_01_dot_65 DiningTable_bar__minus_02_dot_43_bar__plus_00_dot_90_bar__minus_01_dot_70)\n (inReceptacle Potato_bar__minus_02_dot_78_bar__plus_00_dot_95_bar__minus_01_dot_65 DiningTable_bar__minus_02_dot_43_bar__plus_00_dot_90_bar__minus_01_dot_70)\n (inReceptacle ButterKnife_bar__minus_02_dot_44_bar__plus_00_dot_92_bar__minus_02_dot_35 DiningTable_bar__minus_02_dot_43_bar__plus_00_dot_90_bar__minus_01_dot_70)\n (inReceptacle Pen_bar__minus_02_dot_21_bar__plus_00_dot_93_bar__minus_01_dot_88 DiningTable_bar__minus_02_dot_43_bar__plus_00_dot_90_bar__minus_01_dot_70)\n (inReceptacle Fork_bar__minus_02_dot_10_bar__plus_00_dot_92_bar__minus_01_dot_42 DiningTable_bar__minus_02_dot_43_bar__plus_00_dot_90_bar__minus_01_dot_70)\n (inReceptacle Spatula_bar__minus_02_dot_55_bar__plus_00_dot_94_bar__minus_01_dot_42 DiningTable_bar__minus_02_dot_43_bar__plus_00_dot_90_bar__minus_01_dot_70)\n (inReceptacle Lettuce_bar__minus_02_dot_78_bar__plus_01_dot_02_bar__minus_02_dot_35 DiningTable_bar__minus_02_dot_43_bar__plus_00_dot_90_bar__minus_01_dot_70)\n (inReceptacle DishSponge_bar__minus_00_dot_78_bar__plus_00_dot_08_bar__minus_03_dot_62 Cabinet_bar__minus_00_dot_88_bar__plus_00_dot_39_bar__minus_03_dot_42)\n (inReceptacle DishSponge_bar__minus_00_dot_38_bar__plus_00_dot_08_bar__minus_02_dot_20 Cabinet_bar__minus_00_dot_58_bar__plus_00_dot_39_bar__minus_02_dot_20)\n (inReceptacle Glassbottle_bar__minus_00_dot_34_bar__plus_00_dot_08_bar__minus_03_dot_33 Cabinet_bar__minus_00_dot_58_bar__plus_00_dot_39_bar__minus_03_dot_40)\n (inReceptacle Plate_bar__minus_00_dot_30_bar__plus_01_dot_53_bar__minus_03_dot_64 Cabinet_bar__minus_00_dot_33_bar__plus_01_dot_92_bar__minus_03_dot_39)\n (inReceptacle DishSponge_bar__minus_00_dot_42_bar__plus_00_dot_75_bar__minus_03_dot_30 Drawer_bar__minus_00_dot_45_bar__plus_00_dot_78_bar__minus_03_dot_27)\n (inReceptacle Glassbottle_bar__minus_00_dot_19_bar__plus_01_dot_53_bar__minus_02_dot_81 Cabinet_bar__minus_00_dot_30_bar__plus_01_dot_92_bar__minus_02_dot_50)\n (inReceptacle Potato_bar__minus_01_dot_36_bar__plus_01_dot_66_bar__minus_03_dot_90 Microwave_bar__minus_01_dot_32_bar__plus_01_dot_52_bar__minus_03_dot_85)\n (inReceptacle Mug_bar__minus_00_dot_35_bar__plus_00_dot_96_bar__minus_03_dot_14 CoffeeMachine_bar__minus_00_dot_12_bar__plus_00_dot_90_bar__minus_03_dot_15)\n (inReceptacle WineBottle_bar__minus_01_dot_91_bar__plus_00_dot_03_bar__minus_03_dot_76 GarbageCan_bar__minus_01_dot_94_bar__plus_00_dot_00_bar__minus_03_dot_76)\n (inReceptacle Egg_bar__minus_00_dot_25_bar__plus_01_dot_42_bar__minus_00_dot_87 Fridge_bar__minus_00_dot_33_bar__plus_00_dot_00_bar__minus_00_dot_77)\n (inReceptacle Egg_bar__minus_00_dot_25_bar__plus_01_dot_13_bar__minus_00_dot_98 Fridge_bar__minus_00_dot_33_bar__plus_00_dot_00_bar__minus_00_dot_77)\n (inReceptacle Apple_bar__minus_00_dot_34_bar__plus_01_dot_17_bar__minus_01_dot_08 Fridge_bar__minus_00_dot_33_bar__plus_00_dot_00_bar__minus_00_dot_77)\n (inReceptacle Egg_bar__minus_00_dot_23_bar__plus_01_dot_72_bar__minus_00_dot_98 Fridge_bar__minus_00_dot_33_bar__plus_00_dot_00_bar__minus_00_dot_77)\n (inReceptacle Mug_bar__minus_00_dot_25_bar__plus_01_dot_09_bar__minus_00_dot_77 Fridge_bar__minus_00_dot_33_bar__plus_00_dot_00_bar__minus_00_dot_77)\n (inReceptacle Tomato_bar__minus_00_dot_30_bar__plus_01_dot_16_bar__minus_00_dot_56 Fridge_bar__minus_00_dot_33_bar__plus_00_dot_00_bar__minus_00_dot_77)\n (inReceptacle Cup_bar__minus_00_dot_30_bar__plus_00_dot_80_bar__minus_01_dot_93 Sink_bar__minus_00_dot_35_bar__plus_00_dot_91_bar__minus_02_dot_01_bar_SinkBasin)\n (inReceptacle Cup_bar__minus_00_dot_45_bar__plus_00_dot_80_bar__minus_01_dot_93 Sink_bar__minus_00_dot_35_bar__plus_00_dot_91_bar__minus_02_dot_01_bar_SinkBasin)\n (inReceptacle Spoon_bar__minus_00_dot_33_bar__plus_00_dot_79_bar__minus_02_dot_13 Sink_bar__minus_00_dot_35_bar__plus_00_dot_91_bar__minus_02_dot_01_bar_SinkBasin)\n \n \n (receptacleAtLocation Cabinet_bar__minus_00_dot_30_bar__plus_01_dot_92_bar__minus_02_dot_50 loc_bar__minus_4_bar__minus_10_bar_1_bar__minus_15)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_31_bar__plus_02_dot_14_bar__minus_01_dot_54 loc_bar__minus_4_bar__minus_6_bar_1_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_31_bar__plus_02_dot_14_bar__minus_02_dot_48 loc_bar__minus_4_bar__minus_10_bar_1_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_33_bar__plus_01_dot_92_bar__minus_03_dot_39 loc_bar__minus_4_bar__minus_12_bar_1_bar__minus_15)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_58_bar__plus_00_dot_39_bar__minus_01_dot_80 loc_bar__minus_6_bar__minus_5_bar_1_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_58_bar__plus_00_dot_39_bar__minus_02_dot_20 loc_bar__minus_6_bar__minus_7_bar_1_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_58_bar__plus_00_dot_39_bar__minus_03_dot_40 loc_bar__minus_6_bar__minus_11_bar_1_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_88_bar__plus_00_dot_39_bar__minus_03_dot_42 loc_bar__minus_4_bar__minus_10_bar_2_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_88_bar__plus_02_dot_14_bar__minus_03_dot_69 loc_bar__minus_4_bar__minus_9_bar_2_bar__minus_15)\n (receptacleAtLocation Cabinet_bar__minus_01_dot_76_bar__plus_02_dot_14_bar__minus_03_dot_69 loc_bar__minus_7_bar__minus_9_bar_2_bar__minus_15)\n (receptacleAtLocation CoffeeMachine_bar__minus_00_dot_12_bar__plus_00_dot_90_bar__minus_03_dot_15 loc_bar__minus_4_bar__minus_12_bar_1_bar_45)\n (receptacleAtLocation CounterTop_bar__minus_00_dot_30_bar__plus_00_dot_95_bar__minus_02_dot_79 loc_bar__minus_4_bar__minus_12_bar_1_bar_45)\n (receptacleAtLocation DiningTable_bar__minus_02_dot_43_bar__plus_00_dot_90_bar__minus_01_dot_70 loc_bar__minus_5_bar__minus_7_bar_3_bar_30)\n (receptacleAtLocation Drawer_bar__minus_00_dot_45_bar__plus_00_dot_78_bar__minus_03_dot_27 loc_bar__minus_5_bar__minus_12_bar_1_bar_45)\n (receptacleAtLocation Drawer_bar__minus_00_dot_75_bar__plus_00_dot_78_bar__minus_03_dot_55 loc_bar__minus_4_bar__minus_12_bar_2_bar_60)\n (receptacleAtLocation Fridge_bar__minus_00_dot_33_bar__plus_00_dot_00_bar__minus_00_dot_77 loc_bar__minus_5_bar__minus_3_bar_1_bar_60)\n (receptacleAtLocation GarbageCan_bar__minus_01_dot_94_bar__plus_00_dot_00_bar__minus_03_dot_76 loc_bar__minus_9_bar__minus_14_bar_1_bar_60)\n (receptacleAtLocation Microwave_bar__minus_01_dot_32_bar__plus_01_dot_52_bar__minus_03_dot_85 loc_bar__minus_5_bar__minus_12_bar_2_bar_15)\n (receptacleAtLocation Sink_bar__minus_00_dot_35_bar__plus_00_dot_91_bar__minus_02_dot_01_bar_SinkBasin loc_bar__minus_4_bar__minus_9_bar_1_bar_60)\n (receptacleAtLocation StoveBurner_bar__minus_01_dot_13_bar__plus_00_dot_93_bar__minus_03_dot_50 loc_bar__minus_5_bar__minus_12_bar_2_bar_60)\n (receptacleAtLocation StoveBurner_bar__minus_01_dot_13_bar__plus_00_dot_93_bar__minus_03_dot_75 loc_bar__minus_5_bar__minus_12_bar_2_bar_45)\n (receptacleAtLocation StoveBurner_bar__minus_01_dot_52_bar__plus_00_dot_93_bar__minus_03_dot_50 loc_bar__minus_6_bar__minus_12_bar_2_bar_60)\n (receptacleAtLocation StoveBurner_bar__minus_01_dot_52_bar__plus_00_dot_93_bar__minus_03_dot_75 loc_bar__minus_6_bar__minus_12_bar_2_bar_45)\n (receptacleAtLocation Toaster_bar__minus_00_dot_15_bar__plus_00_dot_90_bar__minus_02_dot_76 loc_bar__minus_4_bar__minus_11_bar_1_bar_45)\n (objectAtLocation Bowl_bar__minus_00_dot_42_bar__plus_00_dot_08_bar__minus_01_dot_76 loc_bar__minus_6_bar__minus_5_bar_1_bar_60)\n (objectAtLocation Mug_bar__minus_00_dot_25_bar__plus_01_dot_09_bar__minus_00_dot_77 loc_bar__minus_5_bar__minus_3_bar_1_bar_60)\n (objectAtLocation Knife_bar__minus_00_dot_60_bar__plus_00_dot_94_bar__minus_03_dot_49 loc_bar__minus_4_bar__minus_12_bar_1_bar_45)\n (objectAtLocation DishSponge_bar__minus_00_dot_42_bar__plus_00_dot_75_bar__minus_03_dot_30 loc_bar__minus_5_bar__minus_12_bar_1_bar_45)\n (objectAtLocation ButterKnife_bar__minus_02_dot_44_bar__plus_00_dot_92_bar__minus_01_dot_65 loc_bar__minus_5_bar__minus_7_bar_3_bar_30)\n (objectAtLocation Potato_bar__minus_02_dot_78_bar__plus_00_dot_95_bar__minus_01_dot_65 loc_bar__minus_5_bar__minus_7_bar_3_bar_30)\n (objectAtLocation Pot_bar__minus_02_dot_55_bar__plus_00_dot_92_bar__minus_01_dot_19 loc_bar__minus_5_bar__minus_7_bar_3_bar_30)\n (objectAtLocation Cup_bar__minus_00_dot_30_bar__plus_00_dot_80_bar__minus_01_dot_93 loc_bar__minus_4_bar__minus_9_bar_1_bar_60)\n (objectAtLocation WineBottle_bar__minus_00_dot_51_bar__plus_00_dot_92_bar__minus_02_dot_56 loc_bar__minus_4_bar__minus_12_bar_1_bar_45)\n (objectAtLocation Fork_bar__minus_02_dot_44_bar__plus_00_dot_92_bar__minus_01_dot_88 loc_bar__minus_5_bar__minus_7_bar_3_bar_30)\n (objectAtLocation Pen_bar__minus_00_dot_44_bar__plus_00_dot_92_bar__minus_02_dot_76 loc_bar__minus_4_bar__minus_12_bar_1_bar_45)\n (objectAtLocation Egg_bar__minus_00_dot_23_bar__plus_01_dot_72_bar__minus_00_dot_98 loc_bar__minus_5_bar__minus_3_bar_1_bar_60)\n (objectAtLocation Glassbottle_bar__minus_00_dot_60_bar__plus_00_dot_92_bar__minus_03_dot_84 loc_bar__minus_4_bar__minus_12_bar_1_bar_45)\n (objectAtLocation Lettuce_bar__minus_02_dot_32_bar__plus_01_dot_02_bar__minus_01_dot_42 loc_bar__minus_5_bar__minus_7_bar_3_bar_30)\n (objectAtLocation Egg_bar__minus_00_dot_25_bar__plus_01_dot_42_bar__minus_00_dot_87 loc_bar__minus_5_bar__minus_3_bar_1_bar_60)\n (objectAtLocation Cup_bar__minus_00_dot_67_bar__plus_00_dot_91_bar__minus_03_dot_70 loc_bar__minus_4_bar__minus_12_bar_1_bar_45)\n (objectAtLocation WineBottle_bar__minus_01_dot_91_bar__plus_00_dot_03_bar__minus_03_dot_76 loc_bar__minus_9_bar__minus_14_bar_1_bar_60)\n (objectAtLocation ButterKnife_bar__minus_02_dot_44_bar__plus_00_dot_92_bar__minus_02_dot_35 loc_bar__minus_5_bar__minus_7_bar_3_bar_30)\n (objectAtLocation DishSponge_bar__minus_00_dot_78_bar__plus_00_dot_08_bar__minus_03_dot_62 loc_bar__minus_4_bar__minus_10_bar_2_bar_60)\n (objectAtLocation Pen_bar__minus_02_dot_32_bar__plus_00_dot_93_bar__minus_01_dot_88 loc_bar__minus_5_bar__minus_7_bar_3_bar_30)\n (objectAtLocation Glassbottle_bar__minus_00_dot_19_bar__plus_01_dot_53_bar__minus_02_dot_81 loc_bar__minus_4_bar__minus_10_bar_1_bar__minus_15)\n (objectAtLocation Sink_bar__minus_00_dot_35_bar__plus_00_dot_91_bar__minus_02_dot_01 loc_bar__minus_4_bar__minus_8_bar_1_bar_45)\n (objectAtLocation Apple_bar__minus_00_dot_34_bar__plus_01_dot_17_bar__minus_01_dot_08 loc_bar__minus_5_bar__minus_3_bar_1_bar_60)\n (objectAtLocation Lettuce_bar__minus_02_dot_78_bar__plus_01_dot_02_bar__minus_02_dot_35 loc_bar__minus_5_bar__minus_7_bar_3_bar_30)\n (objectAtLocation Glassbottle_bar__minus_00_dot_34_bar__plus_00_dot_08_bar__minus_03_dot_33 loc_bar__minus_6_bar__minus_11_bar_1_bar_60)\n (objectAtLocation Egg_bar__minus_00_dot_25_bar__plus_01_dot_13_bar__minus_00_dot_98 loc_bar__minus_5_bar__minus_3_bar_1_bar_60)\n (objectAtLocation Pen_bar__minus_02_dot_21_bar__plus_00_dot_93_bar__minus_01_dot_88 loc_bar__minus_5_bar__minus_7_bar_3_bar_30)\n (objectAtLocation Fork_bar__minus_02_dot_10_bar__plus_00_dot_92_bar__minus_01_dot_42 loc_bar__minus_5_bar__minus_7_bar_3_bar_30)\n (objectAtLocation LightSwitch_bar__minus_04_dot_32_bar__plus_01_dot_32_bar__plus_00_dot_00 loc_bar__minus_16_bar__minus_2_bar_0_bar_30)\n (objectAtLocation SoapBottle_bar__minus_02_dot_10_bar__plus_00_dot_92_bar__minus_00_dot_96 loc_bar__minus_5_bar__minus_7_bar_3_bar_30)\n (objectAtLocation Pencil_bar__minus_00_dot_78_bar__plus_00_dot_75_bar__minus_03_dot_53 loc_bar__minus_4_bar__minus_12_bar_2_bar_60)\n (objectAtLocation WineBottle_bar__minus_00_dot_60_bar__plus_00_dot_92_bar__minus_03_dot_56 loc_bar__minus_4_bar__minus_12_bar_1_bar_45)\n (objectAtLocation Spatula_bar__minus_02_dot_55_bar__plus_00_dot_94_bar__minus_01_dot_42 loc_bar__minus_5_bar__minus_7_bar_3_bar_30)\n (objectAtLocation Bread_bar__minus_00_dot_42_bar__plus_00_dot_95_bar__minus_03_dot_63 loc_bar__minus_4_bar__minus_12_bar_1_bar_45)\n (objectAtLocation Tomato_bar__minus_00_dot_30_bar__plus_01_dot_16_bar__minus_00_dot_56 loc_bar__minus_5_bar__minus_3_bar_1_bar_60)\n (objectAtLocation Pan_bar__minus_01_dot_52_bar__plus_00_dot_94_bar__minus_03_dot_75 loc_bar__minus_6_bar__minus_12_bar_2_bar_45)\n (objectAtLocation Cup_bar__minus_00_dot_45_bar__plus_00_dot_80_bar__minus_01_dot_93 loc_bar__minus_4_bar__minus_9_bar_1_bar_60)\n (objectAtLocation Pot_bar__minus_01_dot_13_bar__plus_00_dot_94_bar__minus_03_dot_50 loc_bar__minus_5_bar__minus_12_bar_2_bar_60)\n (objectAtLocation SaltShaker_bar__minus_02_dot_10_bar__plus_00_dot_92_bar__minus_02_dot_12 loc_bar__minus_5_bar__minus_7_bar_3_bar_30)\n (objectAtLocation Potato_bar__minus_01_dot_36_bar__plus_01_dot_66_bar__minus_03_dot_90 loc_bar__minus_5_bar__minus_12_bar_2_bar_15)\n (objectAtLocation PepperShaker_bar__minus_02_dot_78_bar__plus_00_dot_92_bar__minus_02_dot_12 loc_bar__minus_5_bar__minus_7_bar_3_bar_30)\n (objectAtLocation ButterKnife_bar__minus_02_dot_32_bar__plus_00_dot_92_bar__minus_02_dot_12 loc_bar__minus_5_bar__minus_7_bar_3_bar_30)\n (objectAtLocation StoveKnob_bar__minus_01_dot_58_bar__plus_01_dot_08_bar__minus_03_dot_96 loc_bar__minus_6_bar__minus_12_bar_2_bar_30)\n (objectAtLocation StoveKnob_bar__minus_01_dot_18_bar__plus_01_dot_08_bar__minus_03_dot_96 loc_bar__minus_5_bar__minus_12_bar_2_bar_30)\n (objectAtLocation StoveKnob_bar__minus_01_dot_42_bar__plus_01_dot_08_bar__minus_03_dot_96 loc_bar__minus_6_bar__minus_12_bar_2_bar_30)\n (objectAtLocation StoveKnob_bar__minus_01_dot_03_bar__plus_01_dot_08_bar__minus_03_dot_96 loc_bar__minus_4_bar__minus_12_bar_2_bar_30)\n (objectAtLocation DishSponge_bar__minus_00_dot_38_bar__plus_00_dot_08_bar__minus_02_dot_20 loc_bar__minus_6_bar__minus_7_bar_1_bar_60)\n (objectAtLocation Window_bar__minus_02_dot_50_bar__plus_01_dot_78_bar__minus_04_dot_19 loc_bar__minus_10_bar__minus_14_bar_2_bar__minus_15)\n (objectAtLocation Chair_bar__minus_03_dot_26_bar__plus_00_dot_00_bar__minus_02_dot_09 loc_bar__minus_14_bar__minus_7_bar_2_bar_60)\n (objectAtLocation Chair_bar__minus_03_dot_24_bar__plus_00_dot_00_bar__minus_01_dot_25 loc_bar__minus_13_bar__minus_3_bar_2_bar_60)\n (objectAtLocation Spoon_bar__minus_00_dot_33_bar__plus_00_dot_79_bar__minus_02_dot_13 loc_bar__minus_4_bar__minus_9_bar_1_bar_60)\n (objectAtLocation Plate_bar__minus_00_dot_30_bar__plus_01_dot_53_bar__minus_03_dot_64 loc_bar__minus_4_bar__minus_12_bar_1_bar__minus_15)\n (objectAtLocation Knife_bar__minus_02_dot_67_bar__plus_00_dot_95_bar__minus_00_dot_96 loc_bar__minus_5_bar__minus_7_bar_3_bar_30)\n (objectAtLocation Mug_bar__minus_00_dot_35_bar__plus_00_dot_96_bar__minus_03_dot_14 loc_bar__minus_4_bar__minus_12_bar_1_bar_45)\n (objectAtLocation Blinds_bar__minus_02_dot_54_bar__plus_02_dot_70_bar__minus_03_dot_96 loc_bar__minus_10_bar__minus_14_bar_2_bar__minus_30)\n (objectAtLocation Bowl_bar__minus_01_dot_10_bar__plus_01_dot_97_bar__minus_03_dot_85 loc_bar__minus_4_bar__minus_9_bar_2_bar__minus_15)\n )\n \n\n (:goal\n (and\n (exists (?r - receptacle)\n (exists (?o - object)\n (and\n (heatable ?o)\n (objectType ?o AppleType)\n (receptacleType ?r DiningTableType)\n (isHot ?o)\n (inReceptacle ?o ?r)\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to fridge 1", "open fridge 1", "take apple 1 from fridge 1", "go to microwave 1", "heat apple 1 with microwave 1", "go to diningtable 1", "move apple 1 to diningtable 1"]}
|
alfworld__pick_heat_then_place_in_recep__1
|
pick_heat_then_place_in_recep
|
pick_heat_then_place_in_recep-Apple-None-DiningTable-23/trial_T20190912_125143_164636/game.tw-pddl
| "{\"pddl_domain\": \";; Specification in PDDL of the Alfred domain\\n;; Intended to be used with Fas(...TRUNCATED)
|
alfworld__pick_heat_then_place_in_recep__2
|
pick_heat_then_place_in_recep
|
pick_heat_then_place_in_recep-Apple-None-DiningTable-23/trial_T20190909_082324_376707/game.tw-pddl
| "{\"pddl_domain\": \";; Specification in PDDL of the Alfred domain\\n;; Intended to be used with Fas(...TRUNCATED)
|
alfworld__pick_two_obj_and_place__0
|
pick_two_obj_and_place
|
pick_two_obj_and_place-ToiletPaper-None-Cabinet-414/trial_T20190909_090627_697588/game.tw-pddl
| "{\"pddl_domain\": \";; Specification in PDDL of the Alfred domain\\n;; Intended to be used with Fas(...TRUNCATED)
|
alfworld__pick_two_obj_and_place__1
|
pick_two_obj_and_place
|
pick_two_obj_and_place-ToiletPaper-None-Cabinet-414/trial_T20190909_090515_748255/game.tw-pddl
| "{\"pddl_domain\": \";; Specification in PDDL of the Alfred domain\\n;; Intended to be used with Fas(...TRUNCATED)
|
alfworld__pick_two_obj_and_place__2
|
pick_two_obj_and_place
|
pick_two_obj_and_place-ToiletPaper-None-Cabinet-414/trial_T20190909_090552_106177/game.tw-pddl
| "{\"pddl_domain\": \";; Specification in PDDL of the Alfred domain\\n;; Intended to be used with Fas(...TRUNCATED)
|
alfworld__pick_two_obj_and_place__3
|
pick_two_obj_and_place
|
pick_two_obj_and_place-Watch-None-Dresser-301/trial_T20190906_180223_908386/game.tw-pddl
| "{\"pddl_domain\": \";; Specification in PDDL of the Alfred domain\\n;; Intended to be used with Fas(...TRUNCATED)
|
alfworld__pick_two_obj_and_place__4
|
pick_two_obj_and_place
|
pick_two_obj_and_place-Watch-None-Dresser-301/trial_T20190906_180154_425245/game.tw-pddl
| "{\"pddl_domain\": \";; Specification in PDDL of the Alfred domain\\n;; Intended to be used with Fas(...TRUNCATED)
|
alfworld__pick_two_obj_and_place__5
|
pick_two_obj_and_place
|
pick_two_obj_and_place-SoapBottle-None-Cart-430/trial_T20190908_130158_585471/game.tw-pddl
| "{\"pddl_domain\": \";; Specification in PDDL of the Alfred domain\\n;; Intended to be used with Fas(...TRUNCATED)
|
alfworld__pick_two_obj_and_place__6
|
pick_two_obj_and_place
|
pick_two_obj_and_place-SoapBottle-None-Cart-430/trial_T20190908_130358_157745/game.tw-pddl
| "{\"pddl_domain\": \";; Specification in PDDL of the Alfred domain\\n;; Intended to be used with Fas(...TRUNCATED)
|
End of preview. Expand
in Data Studio
ALFWorld Raw Game Files (awawa-agi/alfworld-raw)
Summary
This dataset contains the raw ALFWorld abstract game files (TextWorld + PDDL) used to align high-level language planning with embodied ALFRED tasks.
Schema / Contents
Each entry includes:
id: unique game instance identifiertask_type: high-level task (e.g.,pick_heat_then_place_in_recep)game_file_path: original.tw-pddlpathgame_content: full TextWorld + PDDL specification for abstract planning
Splits: train, eval_in_distribution, eval_out_of_distribution.
Quickstart
from datasets import load_dataset
ds = load_dataset("awawa-agi/alfworld-raw")
print(ds["train"].features)
print(ds["train"][0]["game_content"][:500])
Attribution
The abstract/concrete alignment framework is from ALFWorld, which builds on TextWorld and ties to the embodied ALFRED benchmark.
Disclaimer
This dataset is a redistribution of the original ALFWorld data for research convenience. The uploader does not claim any ownership or copyright over this content. All rights belong to the original authors and their affiliated institutions. This redistribution is provided as-is for academic and research purposes only.
Suggested citation (BibTeX)
@inproceedings{shridhar2021alfworld,
title={{ALFWorld: Aligning Text and Embodied Environments for Interactive Learning}},
author={Shridhar, Mohit and Yuan, Xingdi and C{\^o}t{\'e}, Marc-Alexandre and Bisk, Yonatan and Trischler, Adam and Hausknecht, Matthew},
booktitle={International Conference on Learning Representations (ICLR)},
year={2021},
url={https://arxiv.org/abs/2010.03768}
}
@inproceedings{shridhar2020alfred,
title={{ALFRED: A Benchmark for Interpreting Grounded Instructions for Everyday Tasks}},
author={Shridhar, Mohit and Thomason, Jesse and Gordon, Daniel and Bisk, Yonatan and Han, Winson and Mottaghi, Roozbeh and Zettlemoyer, Luke and Fox, Dieter},
booktitle={Proceedings of the IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR)},
year={2020},
url={https://arxiv.org/abs/1912.01734}
}
@inproceedings{cote2018textworld,
title={TextWorld: A Learning Environment for Text-based Games},
author={C{\^o}t{\'e}, Marc-Alexandre and K{\'a}d{\'a}r, {\'A}kos and Yuan, Xingdi and Kybartas, Ben and Barnes, Tavian and Fine, Emery and Moore, James and Tao, Ruo Yu and Hausknecht, Matthew J. and El Asri, Layla and Adada, Mahmoud and others},
booktitle={Computer Games Workshop at IJCAI},
pages={41--75},
year={2018}
}
References
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