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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"]}
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alfworld__pick_heat_then_place_in_recep__1
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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_T20190912_125143_164636/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 apple in diningtable.\"\n }\n ],\n\n \"GotoLocation.feedback\": [\n {\n \"rhs\": \"You arrive at {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"OpenObject.feedback\": [\n {\n \"rhs\": \"You open the {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"CloseObject.feedback\": [\n {\n \"rhs\": \"You close the {r.name}.\"\n }\n ],\n\n \"PickupObject.feedback\": [\n {\n \"rhs\": \"You pick up the {o.name} from the {r.name}.\"\n }\n ],\n\n \"PickupObjectFromReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupObjectFromReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupEmptyReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupEmptyReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupFullReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupFullReceptacleObject: You pick up the {outerr.name}.\"\n }\n ],\n\n \"PutObject.feedback\": [\n {\n \"rhs\": \"You move the {o.name} to the {r.name}.\"\n }\n ],\n\n \"PutObjectInReceptacleObject.feedback\": [\n {\n \"rhs\": \"PutObjectInReceptacleObject: You put the {o.name} in the {outero.name}.\"\n }\n ],\n\n \"PutEmptyReceptacleObjectinReceptacle.feedback\": [\n {\n \"rhs\": \"PutEmptyReceptacleObjectinReceptacle: You put the {o.name} in the {r.name}.\"\n }\n ],\n\n \"PutFullReceptacleObjectInReceptacle.feedback\": [\n {\n \"rhs\": \"PutFullReceptacleObjectInReceptacle: You put the {outero.name} in the {r.name}.\"\n }\n ],\n\n \"inventory.feedback\": [\n {\n \"condition\": \"holdsany(a:agent)\",\n \"rhs\": \"You are carrying: [{o.indefinite + ' ' + o.name | holds(a:agent, o:object)}].\"\n },\n {\n \"rhs\": \"You are not carrying anything.\"\n }\n ],\n\n \"examineReceptacle.feedback\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \"The {r.name} is open. In it, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \"The {r.name} is closed.\"\n },\n {\n \"rhs\": \"On the {r.name}, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n }\n ],\n\n \"examineObject.feedback\": [\n {\n \"condition\": \"isreceptacleobject(o:object)\",\n \"rhs\": \"This is a normal {o.name}. In it, you see [{o2.indefinite + ' ' + o2.name | inreceptacleobject(o2:object, o:object)}].\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a clean sliced {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot sliced {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object)\",\n \"rhs\": \"This is a hot and clean {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object)\",\n \"rhs\": \"This is a cool and clean {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object)\",\n \"rhs\": \"This is a hot {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object)\",\n \"rhs\": \"This is a clean {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object)\",\n \"rhs\": \"This is a cold {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"This {o.name} is on.\"\n },\n {\n \"condition\": \"toggleable(o:object) & not_istoggled(o:object)\",\n \"rhs\": \"This {o.name} is off.\"\n },\n {\n \"condition\": \"sliceable(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a sliced {o.name}.\"\n },\n {\n \"rhs\": \"There's nothing special about {o.name}.\"\n }\n ]\n }\n\"\"\";\n\naction GotoLocation {\n template :: \"go to [{r.name | receptacleatlocation(r:receptacle, lend:location)}]\";\n feedback :: \"#GotoLocation.feedback#\";\n}\n\naction OpenObject {\n template :: \"open {r}\";\n feedback :: \"#OpenObject.feedback#\";\n}\n\naction CloseObject {\n template :: \"close {r}\";\n feedback :: \"#CloseObject.feedback#\";\n}\n\naction PickupObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObject.feedback#\";\n}\n\naction PickupObjectFromReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObjectFromReceptacleObject.feedback#\";\n}\n\naction PickupEmptyReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupEmptyReceptacleObject.feedback#\";\n}\n\naction PickupFullReceptacleObject {\n template :: \"take {outerr} from {r}\";\n feedback :: \"#PickupFullReceptacleObject.feedback#\";\n}\n\naction PutObject {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutObject.feedback#\";\n}\n\naction PutObjectInReceptacleObject {\n template :: \"put {o} into {outero}\";\n feedback :: \"#PutObjectInReceptacleObject.feedback#\";\n}\n\naction PutEmptyReceptacleObjectinReceptacle {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutEmptyReceptacleObjectinReceptacle.feedback#\";\n}\n\naction PutFullReceptacleObjectInReceptacle {\n template :: \"put {outero} in {r}\";\n feedback :: \"#PutFullReceptacleObjectInReceptacle.feedback#\";\n}\n\naction inventory {\n template :: \"inventory\";\n feedback :: \"#inventory.feedback#\";\n}\n\naction examineReceptacle {\n template :: \"examine {r}\";\n feedback :: \"#examineReceptacle.feedback#\";\n}\n\naction examineObject {\n template :: \"examine {o}\";\n feedback :: \"#examineObject.feedback#\";\n}\n\naction ToggleObject {\n template :: \"use {o}\";\n feedback :: \"#toggleObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"toggleObject.feedback\": [\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"You turn on the {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object)\",\n \"rhs\": \"You turn off the {o.name}.\"\n },\n {\n \"rhs\": \"You don't see any switch on the {o.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction HeatObject {\n template :: \"heat {o} with {r}\";\n feedback :: \"#heatObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"heatObject.feedback\": [\n {\n \"rhs\": \"You heat the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CleanObject {\n template :: \"clean {o} with {r}\";\n feedback :: \"#cleanObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"cleanObject.feedback\": [\n {\n \"rhs\": \"You clean the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CoolObject {\n template :: \"cool {o} with {r}\";\n feedback :: \"#coolObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"coolObject.feedback\": [\n {\n \"rhs\": \"You cool the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction SliceObject {\n template :: \"slice {co} with {ko}\";\n feedback :: \"#sliceObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"sliceObject.feedback\": [\n {\n \"rhs\": \"You sliced the {co.name} with the {ko.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction look {\n template :: \"look\";\n feedback :: \"#look.feedback#\";\n\n grammar :: \"\"\"\n {\n \"look.feedback\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"#look-variations#. Next to it, you see #list_objects_on_the_floor#.\"\n },\n {\n \"rhs\": \"You are in the middle of a room. Looking quickly around you, you see #list_appliances#.\"\n }\n ],\n\n \"look-variations\": [\n {\n \"rhs\": \"You are facing the [{r.name | atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)}]\"\n }\n ],\n\n \"list_objects_on_the_floor\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)\",\n \"rhs\": \"[{#overview(o)# | atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"list_appliances\": [\n {\n \"condition\": \"receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"[{#overview(r)# | receptacleatlocation(r:receptacle, l:location)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"overview(o, r)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name} (in/on the {r.name})}\"\n }\n ],\n\n \"overview(o)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name}\"\n }\n ],\n \"overview(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}\"\n }\n ],\n \"overview_with_state(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}#overview_state(r)#\"\n }\n ],\n \"overview_state(r)\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \" (it is open)\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \" (it is closed)\"\n },\n {\n \"rhs\": \"\"\n }\n ],\n\n \"list_empty\": [\n {\n \"rhs\": \"nothing\"\n }\n ],\n \"list_separator\": [\n {\n \"rhs\": \", \"\n }\n ],\n \"list_last_separator\": [\n {\n \"rhs\": \", and \"\n }\n ]\n }\n \"\"\";\n}\n\naction help {\n template :: \"help\";\n feedback :: \"\nAvailable commands:\n look: look around your current location\n inventory: check your current inventory\n go to (receptacle): move to a receptacle\n open (receptacle): open a receptacle\n close (receptacle): close a receptacle\n take (object) from (receptacle): take an object from a receptacle\n move (object) to (receptacle): place an object in or on a receptacle\n examine (something): examine a receptacle or an object\n use (object): use an object\n heat (object) with (receptacle): heat an object using a receptacle\n clean (object) with (receptacle): clean an object using a receptacle\n cool (object) with (receptacle): cool an object using a receptacle\n slice (object) with (object): slice an object using a sharp object\n\";\n}\n", "pddl_problem": "\n(define (problem plan_trial_T20190912_125143_164636)\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_53_bar__plus_00_dot_99_bar__minus_03_dot_91 - object\n Apple_bar__minus_01_dot_98_bar__plus_00_dot_10_bar__minus_03_dot_73 - object\n Apple_bar__minus_02_dot_44_bar__plus_01_dot_00_bar__minus_01_dot_19 - object\n 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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_7_bar__minus_4_bar_3_bar_60 - 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_15_bar__minus_14_bar_1_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 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Bowl_bar__minus_00_dot_35_bar__plus_01_dot_69_bar__minus_00_dot_87)\n (coolable Bowl_bar__minus_02_dot_55_bar__plus_00_dot_92_bar__minus_01_dot_42)\n (coolable Potato_bar__minus_00_dot_25_bar__plus_00_dot_83_bar__minus_01_dot_86)\n (coolable Plate_bar__minus_00_dot_46_bar__plus_00_dot_92_bar__minus_03_dot_63)\n (coolable Cup_bar__minus_00_dot_78_bar__plus_00_dot_08_bar__minus_03_dot_55)\n (coolable Apple_bar__minus_01_dot_98_bar__plus_00_dot_10_bar__minus_03_dot_73)\n (coolable Apple_bar__minus_02_dot_44_bar__plus_01_dot_00_bar__minus_01_dot_19)\n (coolable Apple_bar__minus_00_dot_53_bar__plus_00_dot_99_bar__minus_03_dot_91)\n (coolable Lettuce_bar__minus_00_dot_39_bar__plus_01_dot_19_bar__minus_00_dot_87)\n (coolable Tomato_bar__minus_02_dot_32_bar__plus_00_dot_99_bar__minus_01_dot_42)\n (coolable WineBottle_bar__minus_02_dot_32_bar__plus_00_dot_92_bar__minus_02_dot_12)\n (coolable Potato_bar__minus_01_dot_88_bar__plus_00_dot_06_bar__minus_03_dot_80)\n (coolable 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Apple_bar__minus_00_dot_53_bar__plus_00_dot_99_bar__minus_03_dot_91)\n (sliceable Lettuce_bar__minus_00_dot_39_bar__plus_01_dot_19_bar__minus_00_dot_87)\n (sliceable Tomato_bar__minus_02_dot_32_bar__plus_00_dot_99_bar__minus_01_dot_42)\n (sliceable Potato_bar__minus_01_dot_88_bar__plus_00_dot_06_bar__minus_03_dot_80)\n (sliceable Egg_bar__minus_00_dot_25_bar__plus_00_dot_83_bar__minus_02_dot_01)\n (sliceable Egg_bar__minus_00_dot_22_bar__plus_00_dot_95_bar__minus_03_dot_57)\n (sliceable Lettuce_bar__minus_02_dot_56_bar__plus_01_dot_00_bar__minus_01_dot_68)\n \n (inReceptacle Pot_bar__minus_01_dot_13_bar__plus_00_dot_94_bar__minus_03_dot_50 StoveBurner_bar__minus_01_dot_13_bar__plus_00_dot_93_bar__minus_03_dot_50)\n (inReceptacle PepperShaker_bar__minus_00_dot_78_bar__plus_00_dot_74_bar__minus_03_dot_53 Drawer_bar__minus_00_dot_75_bar__plus_00_dot_78_bar__minus_03_dot_55)\n (inReceptacle Potato_bar__minus_00_dot_37_bar__plus_00_dot_95_bar__minus_03_dot_37 CounterTop_bar__minus_00_dot_30_bar__plus_00_dot_95_bar__minus_02_dot_79)\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 SaltShaker_bar__minus_00_dot_37_bar__plus_00_dot_91_bar__minus_02_dot_56 CounterTop_bar__minus_00_dot_30_bar__plus_00_dot_95_bar__minus_02_dot_79)\n (inReceptacle Egg_bar__minus_00_dot_22_bar__plus_00_dot_95_bar__minus_03_dot_57 CounterTop_bar__minus_00_dot_30_bar__plus_00_dot_95_bar__minus_02_dot_79)\n (inReceptacle Apple_bar__minus_00_dot_53_bar__plus_00_dot_99_bar__minus_03_dot_91 CounterTop_bar__minus_00_dot_30_bar__plus_00_dot_95_bar__minus_02_dot_79)\n (inReceptacle Plate_bar__minus_00_dot_46_bar__plus_00_dot_92_bar__minus_03_dot_63 CounterTop_bar__minus_00_dot_30_bar__plus_00_dot_95_bar__minus_02_dot_79)\n (inReceptacle DishSponge_bar__minus_01_dot_15_bar__plus_01_dot_97_bar__minus_03_dot_81 Cabinet_bar__minus_00_dot_88_bar__plus_02_dot_14_bar__minus_03_dot_69)\n (inReceptacle Egg_bar__minus_02_dot_78_bar__plus_00_dot_96_bar__minus_01_dot_65 DiningTable_bar__minus_02_dot_43_bar__plus_00_dot_90_bar__minus_01_dot_70)\n (inReceptacle Pen_bar__minus_02_dot_21_bar__plus_00_dot_93_bar__minus_01_dot_65 DiningTable_bar__minus_02_dot_43_bar__plus_00_dot_90_bar__minus_01_dot_70)\n (inReceptacle Apple_bar__minus_02_dot_67_bar__plus_01_dot_00_bar__minus_02_dot_12 DiningTable_bar__minus_02_dot_43_bar__plus_00_dot_90_bar__minus_01_dot_70)\n (inReceptacle Cup_bar__minus_02_dot_44_bar__plus_00_dot_92_bar__minus_00_dot_96 DiningTable_bar__minus_02_dot_43_bar__plus_00_dot_90_bar__minus_01_dot_70)\n (inReceptacle Bowl_bar__minus_02_dot_55_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 Pencil_bar__minus_02_dot_67_bar__plus_00_dot_92_bar__minus_01_dot_19 DiningTable_bar__minus_02_dot_43_bar__plus_00_dot_90_bar__minus_01_dot_70)\n (inReceptacle ButterKnife_bar__minus_02_dot_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 ButterKnife_bar__minus_02_dot_67_bar__plus_00_dot_92_bar__minus_01_dot_42 DiningTable_bar__minus_02_dot_43_bar__plus_00_dot_90_bar__minus_01_dot_70)\n (inReceptacle Knife_bar__minus_02_dot_32_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 Apple_bar__minus_02_dot_44_bar__plus_01_dot_00_bar__minus_01_dot_19 DiningTable_bar__minus_02_dot_43_bar__plus_00_dot_90_bar__minus_01_dot_70)\n (inReceptacle Tomato_bar__minus_02_dot_32_bar__plus_00_dot_99_bar__minus_01_dot_42 DiningTable_bar__minus_02_dot_43_bar__plus_00_dot_90_bar__minus_01_dot_70)\n (inReceptacle Pen_bar__minus_02_dot_10_bar__plus_00_dot_93_bar__minus_02_dot_12 DiningTable_bar__minus_02_dot_43_bar__plus_00_dot_90_bar__minus_01_dot_70)\n (inReceptacle Fork_bar__minus_02_dot_55_bar__plus_00_dot_92_bar__minus_00_dot_96 DiningTable_bar__minus_02_dot_43_bar__plus_00_dot_90_bar__minus_01_dot_70)\n (inReceptacle WineBottle_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 Knife_bar__minus_02_dot_32_bar__plus_00_dot_95_bar__minus_01_dot_88 DiningTable_bar__minus_02_dot_43_bar__plus_00_dot_90_bar__minus_01_dot_70)\n (inReceptacle Spoon_bar__minus_02_dot_32_bar__plus_00_dot_92_bar__minus_01_dot_19 DiningTable_bar__minus_02_dot_43_bar__plus_00_dot_90_bar__minus_01_dot_70)\n (inReceptacle Lettuce_bar__minus_02_dot_56_bar__plus_01_dot_00_bar__minus_01_dot_68 DiningTable_bar__minus_02_dot_43_bar__plus_00_dot_90_bar__minus_01_dot_70)\n (inReceptacle 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 Pan_bar__minus_02_dot_17_bar__plus_00_dot_91_bar__minus_01_dot_10 DiningTable_bar__minus_02_dot_43_bar__plus_00_dot_90_bar__minus_01_dot_70)\n (inReceptacle Cup_bar__minus_00_dot_78_bar__plus_00_dot_08_bar__minus_03_dot_55 Cabinet_bar__minus_00_dot_88_bar__plus_00_dot_39_bar__minus_03_dot_42)\n (inReceptacle WineBottle_bar__minus_00_dot_34_bar__plus_00_dot_08_bar__minus_02_dot_16 Cabinet_bar__minus_00_dot_58_bar__plus_00_dot_39_bar__minus_02_dot_20)\n (inReceptacle PepperShaker_bar__minus_00_dot_30_bar__plus_01_dot_53_bar__minus_03_dot_70 Cabinet_bar__minus_00_dot_33_bar__plus_01_dot_92_bar__minus_03_dot_39)\n (inReceptacle SoapBottle_bar__minus_00_dot_16_bar__plus_01_dot_53_bar__minus_03_dot_23 Cabinet_bar__minus_00_dot_30_bar__plus_01_dot_92_bar__minus_02_dot_50)\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 Apple_bar__minus_01_dot_98_bar__plus_00_dot_10_bar__minus_03_dot_73 GarbageCan_bar__minus_01_dot_94_bar__plus_00_dot_00_bar__minus_03_dot_76)\n (inReceptacle Potato_bar__minus_01_dot_88_bar__plus_00_dot_06_bar__minus_03_dot_80 GarbageCan_bar__minus_01_dot_94_bar__plus_00_dot_00_bar__minus_03_dot_76)\n (inReceptacle Cup_bar__minus_00_dot_34_bar__plus_01_dot_39_bar__minus_00_dot_46 Fridge_bar__minus_00_dot_33_bar__plus_00_dot_00_bar__minus_00_dot_77)\n (inReceptacle Bread_bar__minus_00_dot_34_bar__plus_01_dot_15_bar__minus_00_dot_56 Fridge_bar__minus_00_dot_33_bar__plus_00_dot_00_bar__minus_00_dot_77)\n (inReceptacle Bowl_bar__minus_00_dot_30_bar__plus_01_dot_39_bar__minus_00_dot_77 Fridge_bar__minus_00_dot_33_bar__plus_00_dot_00_bar__minus_00_dot_77)\n (inReceptacle Bowl_bar__minus_00_dot_35_bar__plus_01_dot_69_bar__minus_00_dot_87 Fridge_bar__minus_00_dot_33_bar__plus_00_dot_00_bar__minus_00_dot_77)\n (inReceptacle Lettuce_bar__minus_00_dot_39_bar__plus_01_dot_19_bar__minus_00_dot_87 Fridge_bar__minus_00_dot_33_bar__plus_00_dot_00_bar__minus_00_dot_77)\n (inReceptacleObject Spoon_bar__minus_02_dot_32_bar__plus_00_dot_92_bar__minus_01_dot_19 Pan_bar__minus_02_dot_17_bar__plus_00_dot_91_bar__minus_01_dot_10)\n (inReceptacle Egg_bar__minus_00_dot_25_bar__plus_00_dot_83_bar__minus_02_dot_01 Sink_bar__minus_00_dot_35_bar__plus_00_dot_91_bar__minus_02_dot_01_bar_SinkBasin)\n (inReceptacle Fork_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 Glassbottle_bar__minus_00_dot_25_bar__plus_00_dot_80_bar__minus_02_dot_16 Sink_bar__minus_00_dot_35_bar__plus_00_dot_91_bar__minus_02_dot_01_bar_SinkBasin)\n (inReceptacle Potato_bar__minus_00_dot_25_bar__plus_00_dot_83_bar__minus_01_dot_86 Sink_bar__minus_00_dot_35_bar__plus_00_dot_91_bar__minus_02_dot_01_bar_SinkBasin)\n (inReceptacle Spatula_bar__minus_00_dot_35_bar__plus_00_dot_81_bar__minus_02_dot_01 Sink_bar__minus_00_dot_35_bar__plus_00_dot_91_bar__minus_02_dot_01_bar_SinkBasin)\n \n \n (receptacleAtLocation Cabinet_bar__minus_00_dot_30_bar__plus_01_dot_92_bar__minus_02_dot_50 loc_bar__minus_4_bar__minus_10_bar_1_bar__minus_15)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_31_bar__plus_02_dot_14_bar__minus_01_dot_54 loc_bar__minus_4_bar__minus_6_bar_1_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_31_bar__plus_02_dot_14_bar__minus_02_dot_48 loc_bar__minus_4_bar__minus_10_bar_1_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_33_bar__plus_01_dot_92_bar__minus_03_dot_39 loc_bar__minus_4_bar__minus_12_bar_1_bar__minus_15)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_58_bar__plus_00_dot_39_bar__minus_01_dot_80 loc_bar__minus_6_bar__minus_5_bar_1_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_58_bar__plus_00_dot_39_bar__minus_02_dot_20 loc_bar__minus_6_bar__minus_7_bar_1_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_58_bar__plus_00_dot_39_bar__minus_03_dot_40 loc_bar__minus_6_bar__minus_11_bar_1_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_88_bar__plus_00_dot_39_bar__minus_03_dot_42 loc_bar__minus_4_bar__minus_10_bar_2_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_88_bar__plus_02_dot_14_bar__minus_03_dot_69 loc_bar__minus_4_bar__minus_9_bar_2_bar__minus_15)\n (receptacleAtLocation Cabinet_bar__minus_01_dot_76_bar__plus_02_dot_14_bar__minus_03_dot_69 loc_bar__minus_7_bar__minus_9_bar_2_bar__minus_15)\n (receptacleAtLocation CoffeeMachine_bar__minus_00_dot_12_bar__plus_00_dot_90_bar__minus_03_dot_15 loc_bar__minus_4_bar__minus_12_bar_1_bar_45)\n (receptacleAtLocation CounterTop_bar__minus_00_dot_30_bar__plus_00_dot_95_bar__minus_02_dot_79 loc_bar__minus_4_bar__minus_12_bar_1_bar_45)\n (receptacleAtLocation DiningTable_bar__minus_02_dot_43_bar__plus_00_dot_90_bar__minus_01_dot_70 loc_bar__minus_5_bar__minus_7_bar_3_bar_30)\n (receptacleAtLocation Drawer_bar__minus_00_dot_45_bar__plus_00_dot_78_bar__minus_03_dot_27 loc_bar__minus_5_bar__minus_12_bar_1_bar_45)\n (receptacleAtLocation Drawer_bar__minus_00_dot_75_bar__plus_00_dot_78_bar__minus_03_dot_55 loc_bar__minus_4_bar__minus_12_bar_2_bar_60)\n (receptacleAtLocation Fridge_bar__minus_00_dot_33_bar__plus_00_dot_00_bar__minus_00_dot_77 loc_bar__minus_5_bar__minus_3_bar_1_bar_60)\n (receptacleAtLocation GarbageCan_bar__minus_01_dot_94_bar__plus_00_dot_00_bar__minus_03_dot_76 loc_bar__minus_9_bar__minus_14_bar_1_bar_60)\n (receptacleAtLocation Microwave_bar__minus_01_dot_32_bar__plus_01_dot_52_bar__minus_03_dot_85 loc_bar__minus_5_bar__minus_12_bar_2_bar_15)\n (receptacleAtLocation Sink_bar__minus_00_dot_35_bar__plus_00_dot_91_bar__minus_02_dot_01_bar_SinkBasin loc_bar__minus_4_bar__minus_9_bar_1_bar_60)\n (receptacleAtLocation StoveBurner_bar__minus_01_dot_13_bar__plus_00_dot_93_bar__minus_03_dot_50 loc_bar__minus_5_bar__minus_12_bar_2_bar_60)\n (receptacleAtLocation StoveBurner_bar__minus_01_dot_13_bar__plus_00_dot_93_bar__minus_03_dot_75 loc_bar__minus_5_bar__minus_12_bar_2_bar_45)\n (receptacleAtLocation StoveBurner_bar__minus_01_dot_52_bar__plus_00_dot_93_bar__minus_03_dot_50 loc_bar__minus_6_bar__minus_12_bar_2_bar_60)\n (receptacleAtLocation StoveBurner_bar__minus_01_dot_52_bar__plus_00_dot_93_bar__minus_03_dot_75 loc_bar__minus_6_bar__minus_12_bar_2_bar_45)\n (receptacleAtLocation Toaster_bar__minus_00_dot_15_bar__plus_00_dot_90_bar__minus_02_dot_76 loc_bar__minus_4_bar__minus_11_bar_1_bar_45)\n (objectAtLocation Bowl_bar__minus_00_dot_30_bar__plus_01_dot_39_bar__minus_00_dot_77 loc_bar__minus_5_bar__minus_3_bar_1_bar_60)\n (objectAtLocation Knife_bar__minus_02_dot_32_bar__plus_00_dot_95_bar__minus_01_dot_88 loc_bar__minus_5_bar__minus_7_bar_3_bar_30)\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 PepperShaker_bar__minus_00_dot_30_bar__plus_01_dot_53_bar__minus_03_dot_70 loc_bar__minus_4_bar__minus_12_bar_1_bar__minus_15)\n (objectAtLocation Potato_bar__minus_01_dot_88_bar__plus_00_dot_06_bar__minus_03_dot_80 loc_bar__minus_9_bar__minus_14_bar_1_bar_60)\n (objectAtLocation Cup_bar__minus_00_dot_78_bar__plus_00_dot_08_bar__minus_03_dot_55 loc_bar__minus_4_bar__minus_10_bar_2_bar_60)\n (objectAtLocation WineBottle_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 Fork_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 Pen_bar__minus_02_dot_10_bar__plus_00_dot_93_bar__minus_02_dot_12 loc_bar__minus_5_bar__minus_7_bar_3_bar_30)\n (objectAtLocation Egg_bar__minus_00_dot_22_bar__plus_00_dot_95_bar__minus_03_dot_57 loc_bar__minus_4_bar__minus_12_bar_1_bar_45)\n (objectAtLocation Lettuce_bar__minus_02_dot_56_bar__plus_01_dot_00_bar__minus_01_dot_68 loc_bar__minus_5_bar__minus_7_bar_3_bar_30)\n (objectAtLocation Apple_bar__minus_01_dot_98_bar__plus_00_dot_10_bar__minus_03_dot_73 loc_bar__minus_9_bar__minus_14_bar_1_bar_60)\n (objectAtLocation Apple_bar__minus_02_dot_67_bar__plus_01_dot_00_bar__minus_02_dot_12 loc_bar__minus_5_bar__minus_7_bar_3_bar_30)\n (objectAtLocation Apple_bar__minus_02_dot_44_bar__plus_01_dot_00_bar__minus_01_dot_19 loc_bar__minus_5_bar__minus_7_bar_3_bar_30)\n (objectAtLocation Bowl_bar__minus_02_dot_55_bar__plus_00_dot_92_bar__minus_01_dot_42 loc_bar__minus_5_bar__minus_7_bar_3_bar_30)\n (objectAtLocation Egg_bar__minus_02_dot_78_bar__plus_00_dot_96_bar__minus_01_dot_65 loc_bar__minus_5_bar__minus_7_bar_3_bar_30)\n (objectAtLocation Cup_bar__minus_02_dot_44_bar__plus_00_dot_92_bar__minus_00_dot_96 loc_bar__minus_5_bar__minus_7_bar_3_bar_30)\n (objectAtLocation ButterKnife_bar__minus_02_dot_67_bar__plus_00_dot_92_bar__minus_01_dot_42 loc_bar__minus_5_bar__minus_7_bar_3_bar_30)\n (objectAtLocation Potato_bar__minus_00_dot_25_bar__plus_00_dot_83_bar__minus_01_dot_86 loc_bar__minus_4_bar__minus_9_bar_1_bar_60)\n (objectAtLocation Sink_bar__minus_00_dot_35_bar__plus_00_dot_91_bar__minus_02_dot_01 loc_bar__minus_4_bar__minus_8_bar_1_bar_45)\n (objectAtLocation Apple_bar__minus_00_dot_53_bar__plus_00_dot_99_bar__minus_03_dot_91 loc_bar__minus_4_bar__minus_12_bar_1_bar_45)\n (objectAtLocation Lettuce_bar__minus_00_dot_39_bar__plus_01_dot_19_bar__minus_00_dot_87 loc_bar__minus_5_bar__minus_3_bar_1_bar_60)\n (objectAtLocation Glassbottle_bar__minus_00_dot_25_bar__plus_00_dot_80_bar__minus_02_dot_16 loc_bar__minus_4_bar__minus_9_bar_1_bar_60)\n (objectAtLocation Egg_bar__minus_00_dot_25_bar__plus_00_dot_83_bar__minus_02_dot_01 loc_bar__minus_4_bar__minus_9_bar_1_bar_60)\n (objectAtLocation Pen_bar__minus_02_dot_21_bar__plus_00_dot_93_bar__minus_01_dot_65 loc_bar__minus_5_bar__minus_7_bar_3_bar_30)\n (objectAtLocation Fork_bar__minus_02_dot_55_bar__plus_00_dot_92_bar__minus_00_dot_96 loc_bar__minus_5_bar__minus_7_bar_3_bar_30)\n (objectAtLocation LightSwitch_bar__minus_04_dot_32_bar__plus_01_dot_32_bar__plus_00_dot_00 loc_bar__minus_16_bar__minus_2_bar_0_bar_30)\n (objectAtLocation SoapBottle_bar__minus_00_dot_16_bar__plus_01_dot_53_bar__minus_03_dot_23 loc_bar__minus_4_bar__minus_10_bar_1_bar__minus_15)\n (objectAtLocation Pencil_bar__minus_02_dot_67_bar__plus_00_dot_92_bar__minus_01_dot_19 loc_bar__minus_5_bar__minus_7_bar_3_bar_30)\n (objectAtLocation WineBottle_bar__minus_00_dot_34_bar__plus_00_dot_08_bar__minus_02_dot_16 loc_bar__minus_6_bar__minus_7_bar_1_bar_60)\n (objectAtLocation Spatula_bar__minus_00_dot_35_bar__plus_00_dot_81_bar__minus_02_dot_01 loc_bar__minus_4_bar__minus_9_bar_1_bar_60)\n (objectAtLocation Bread_bar__minus_00_dot_34_bar__plus_01_dot_15_bar__minus_00_dot_56 loc_bar__minus_5_bar__minus_3_bar_1_bar_60)\n (objectAtLocation Tomato_bar__minus_02_dot_32_bar__plus_00_dot_99_bar__minus_01_dot_42 loc_bar__minus_5_bar__minus_7_bar_3_bar_30)\n (objectAtLocation Pan_bar__minus_02_dot_17_bar__plus_00_dot_91_bar__minus_01_dot_10 loc_bar__minus_5_bar__minus_7_bar_3_bar_30)\n (objectAtLocation Cup_bar__minus_00_dot_34_bar__plus_01_dot_39_bar__minus_00_dot_46 loc_bar__minus_5_bar__minus_3_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_00_dot_37_bar__plus_00_dot_91_bar__minus_02_dot_56 loc_bar__minus_4_bar__minus_12_bar_1_bar_45)\n (objectAtLocation Potato_bar__minus_00_dot_37_bar__plus_00_dot_95_bar__minus_03_dot_37 loc_bar__minus_4_bar__minus_12_bar_1_bar_45)\n (objectAtLocation PepperShaker_bar__minus_00_dot_78_bar__plus_00_dot_74_bar__minus_03_dot_53 loc_bar__minus_4_bar__minus_12_bar_2_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 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_01_dot_15_bar__plus_01_dot_97_bar__minus_03_dot_81 loc_bar__minus_4_bar__minus_9_bar_2_bar__minus_15)\n (objectAtLocation Window_bar__minus_02_dot_50_bar__plus_01_dot_78_bar__minus_04_dot_19 loc_bar__minus_10_bar__minus_14_bar_2_bar__minus_15)\n (objectAtLocation Chair_bar__minus_03_dot_26_bar__plus_00_dot_00_bar__minus_02_dot_09 loc_bar__minus_14_bar__minus_7_bar_2_bar_60)\n (objectAtLocation Chair_bar__minus_03_dot_24_bar__plus_00_dot_00_bar__minus_01_dot_25 loc_bar__minus_13_bar__minus_3_bar_2_bar_60)\n (objectAtLocation Spoon_bar__minus_02_dot_32_bar__plus_00_dot_92_bar__minus_01_dot_19 loc_bar__minus_7_bar__minus_4_bar_3_bar_60)\n (objectAtLocation Plate_bar__minus_00_dot_46_bar__plus_00_dot_92_bar__minus_03_dot_63 loc_bar__minus_4_bar__minus_12_bar_1_bar_45)\n (objectAtLocation Knife_bar__minus_02_dot_32_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_00_dot_35_bar__plus_01_dot_69_bar__minus_00_dot_87 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 AppleType)\n (receptacleType ?r DiningTableType)\n (isHot ?o)\n (inReceptacle ?o ?r)\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to coffeemachine 1", "take apple 4 from countertop 1", "go to microwave 1", "heat apple 4 with microwave 1", "go to diningtable 1", "move apple 4 to diningtable 1"]}
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alfworld__pick_heat_then_place_in_recep__2
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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_082324_376707/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_082324_376707)\n(:domain alfred)\n(:objects\nagent1 - agent\nSaltShaker - object\n HousePlant - object\n Candle - object\n SprayBottle - object\n Bowl - object\n Window - object\n CD - object\n Egg - object\n Glassbottle - object\n Sink - object\n Pillow - object\n Spoon - object\n SoapBottle - object\n TeddyBear - object\n ButterKnife - object\n Cup - object\n Plate - object\n RemoteControl - object\n Tomato - object\n Statue - object\n HandTowel - object\n Knife - object\n StoveKnob - object\n LightSwitch - object\n Pen - object\n Painting - object\n DishSponge - object\n Vase - object\n Mug - object\n ToiletPaper - object\n Box - object\n Mirror - object\n Ladle - object\n Fork - object\n Blinds - object\n Footstool - object\n KeyChain - object\n Cloth - object\n Laptop - object\n TissueBox - object\n PepperShaker - object\n FloorLamp - object\n WateringCan - object\n Apple - object\n Pan - object\n PaperTowel - object\n PaperTowelRoll - object\n Newspaper - object\n Television - object\n Chair - object\n CellPhone - object\n CreditCard - object\n Lettuce - object\n BasketBall - object\n Potato - object\n Curtains - object\n Boots - object\n Pencil - object\n AlarmClock - object\n ToiletPaperRoll - object\n Spatula - object\n Book - object\n Bread - object\n SoapBar - object\n Watch - object\n DeskLamp - object\n Kettle - object\n Pot - object\n ScrubBrush - object\n WineBottle - object\n ShowerDoor - object\n Bathtub - object\n LaundryHamperLid - object\n ShowerGlass - object\n Poster - object\n TennisRacket - object\n BaseballBat - object\n Towel - object\n Plunger - object\nSaltShakerType - otype\n HousePlantType - otype\n CandleType - otype\n SprayBottleType - otype\n BowlType - otype\n WindowType - otype\n CDType - otype\n EggType - otype\n GlassbottleType - otype\n SinkType - otype\n PillowType - otype\n SpoonType - otype\n SoapBottleType - otype\n TeddyBearType - otype\n ButterKnifeType - otype\n CupType - otype\n PlateType - otype\n RemoteControlType - otype\n TomatoType - otype\n StatueType - otype\n HandTowelType - otype\n KnifeType - otype\n StoveKnobType - otype\n LightSwitchType - otype\n PenType - otype\n PaintingType - otype\n DishSpongeType - otype\n VaseType - otype\n MugType - otype\n ToiletPaperType - otype\n BoxType - otype\n MirrorType - otype\n LadleType - otype\n ForkType - otype\n BlindsType - otype\n FootstoolType - otype\n KeyChainType - otype\n ClothType - otype\n LaptopType - otype\n TissueBoxType - otype\n PepperShakerType - otype\n FloorLampType - otype\n WateringCanType - otype\n AppleType - otype\n PanType - otype\n PaperTowelType - otype\n PaperTowelRollType - otype\n NewspaperType - otype\n TelevisionType - otype\n ChairType - otype\n CellPhoneType - otype\n CreditCardType - otype\n LettuceType - otype\n BasketBallType - otype\n PotatoType - otype\n CurtainsType - otype\n BootsType - otype\n PencilType - otype\n AlarmClockType - otype\n ToiletPaperRollType - otype\n SpatulaType - otype\n BookType - otype\n BreadType - otype\n SoapBarType - otype\n WatchType - otype\n DeskLampType - otype\n KettleType - otype\n PotType - otype\n ScrubBrushType - otype\n WineBottleType - otype\n ShowerDoorType - otype\n BathtubType - otype\n LaundryHamperLidType - otype\n ShowerGlassType - otype\n PosterType - otype\n TennisRacketType - otype\n BaseballBatType - otype\n TowelType - otype\n PlungerType - otype\nSafeType - rtype\n DrawerType - rtype\n CoffeeMachineType - rtype\n HandTowelHolderType - rtype\n SinkBasinType - rtype\n DresserType - rtype\n LaundryHamperType - rtype\n TVStandType - rtype\n BathtubBasinType - rtype\n CabinetType - rtype\n FridgeType - rtype\n DeskType - rtype\n ToiletType - rtype\n CartType - rtype\n SideTableType - rtype\n SofaType - rtype\n CoffeeTableType - rtype\n DiningTableType - rtype\n CounterTopType - rtype\n GarbageCanType - rtype\n ArmChairType - rtype\n ShelfType - rtype\n MicrowaveType - rtype\n ToasterType - rtype\n BedType - rtype\n PaintingHangerType - rtype\n TowelHolderType - rtype\n ToiletPaperHangerType - rtype\n StoveBurnerType - rtype\n OttomanType - rtype\n\n\n Apple_bar__minus_00_dot_27_bar__plus_01_dot_76_bar__minus_00_dot_77 - object\n Apple_bar__minus_00_dot_34_bar__plus_01_dot_17_bar__minus_00_dot_67 - object\n Apple_bar__minus_02_dot_32_bar__plus_01_dot_00_bar__minus_01_dot_42 - 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_33_bar__plus_01_dot_53_bar__minus_03_dot_67 - object\n Bread_bar__minus_00_dot_39_bar__plus_01_dot_44_bar__minus_00_dot_77 - object\n Bread_bar__minus_00_dot_42_bar__plus_00_dot_95_bar__minus_03_dot_63 - object\n Bread_bar__minus_02_dot_67_bar__plus_00_dot_98_bar__minus_02_dot_35 - object\n ButterKnife_bar__minus_02_dot_44_bar__plus_00_dot_92_bar__minus_01_dot_88 - 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_34_bar__plus_01_dot_10_bar__minus_01_dot_08 - object\n Cup_bar__minus_00_dot_44_bar__plus_00_dot_91_bar__minus_02_dot_76 - object\n DishSponge_bar__minus_00_dot_29_bar__plus_00_dot_92_bar__minus_03_dot_37 - object\n DishSponge_bar__minus_02_dot_21_bar__plus_00_dot_92_bar__minus_01_dot_65 - object\n Egg_bar__minus_00_dot_40_bar__plus_00_dot_83_bar__minus_02_dot_23 - 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_02_dot_12 - object\n Fork_bar__minus_02_dot_21_bar__plus_00_dot_92_bar__minus_01_dot_42 - object\n Glassbottle_bar__minus_00_dot_69_bar__plus_00_dot_08_bar__minus_03_dot_55 - object\n Knife_bar__minus_02_dot_55_bar__plus_00_dot_95_bar__minus_02_dot_12 - object\n Lettuce_bar__minus_02_dot_56_bar__plus_01_dot_00_bar__minus_01_dot_68 - object\n LightSwitch_bar__minus_04_dot_32_bar__plus_01_dot_32_bar__plus_00_dot_00 - object\n Mug_bar__minus_00_dot_14_bar__plus_01_dot_52_bar__minus_03_dot_13 - object\n Mug_bar__minus_00_dot_25_bar__plus_00_dot_79_bar__minus_02_dot_08 - object\n Pan_bar__minus_02_dot_17_bar__plus_00_dot_91_bar__minus_01_dot_10 - object\n Pencil_bar__minus_02_dot_32_bar__plus_00_dot_92_bar__minus_00_dot_96 - object\n Pen_bar__minus_02_dot_10_bar__plus_00_dot_93_bar__minus_01_dot_65 - object\n Pen_bar__minus_02_dot_10_bar__plus_00_dot_93_bar__minus_02_dot_35 - object\n Pen_bar__minus_02_dot_67_bar__plus_00_dot_93_bar__minus_01_dot_65 - object\n PepperShaker_bar__minus_00_dot_39_bar__plus_00_dot_74_bar__minus_03_dot_33 - object\n Plate_bar__minus_00_dot_67_bar__plus_00_dot_92_bar__minus_03_dot_56 - object\n Plate_bar__minus_02_dot_78_bar__plus_00_dot_93_bar__minus_01_dot_42 - object\n Potato_bar__minus_00_dot_45_bar__plus_00_dot_83_bar__minus_02_dot_01 - object\n Potato_bar__minus_02_dot_67_bar__plus_00_dot_95_bar__minus_02_dot_12 - object\n Pot_bar__minus_01_dot_13_bar__plus_00_dot_94_bar__minus_03_dot_50 - object\n Pot_bar__minus_01_dot_52_bar__plus_00_dot_94_bar__minus_03_dot_50 - object\n SaltShaker_bar__minus_00_dot_22_bar__plus_00_dot_91_bar__minus_02_dot_56 - object\n Sink_bar__minus_00_dot_35_bar__plus_00_dot_91_bar__minus_02_dot_01 - object\n 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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 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SaltShaker_bar__minus_00_dot_22_bar__plus_00_dot_91_bar__minus_02_dot_56 CounterTop_bar__minus_00_dot_30_bar__plus_00_dot_95_bar__minus_02_dot_79)\n (inReceptacle Bread_bar__minus_00_dot_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 ButterKnife_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 DishSponge_bar__minus_02_dot_21_bar__plus_00_dot_92_bar__minus_01_dot_65 DiningTable_bar__minus_02_dot_43_bar__plus_00_dot_90_bar__minus_01_dot_70)\n (inReceptacle Plate_bar__minus_02_dot_78_bar__plus_00_dot_93_bar__minus_01_dot_42 DiningTable_bar__minus_02_dot_43_bar__plus_00_dot_90_bar__minus_01_dot_70)\n (inReceptacle Pencil_bar__minus_02_dot_32_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 WineBottle_bar__minus_02_dot_67_bar__plus_00_dot_92_bar__minus_01_dot_88 DiningTable_bar__minus_02_dot_43_bar__plus_00_dot_90_bar__minus_01_dot_70)\n (inReceptacle Potato_bar__minus_02_dot_67_bar__plus_00_dot_95_bar__minus_02_dot_12 DiningTable_bar__minus_02_dot_43_bar__plus_00_dot_90_bar__minus_01_dot_70)\n (inReceptacle Spatula_bar__minus_02_dot_21_bar__plus_00_dot_94_bar__minus_01_dot_65 DiningTable_bar__minus_02_dot_43_bar__plus_00_dot_90_bar__minus_01_dot_70)\n (inReceptacle Fork_bar__minus_02_dot_21_bar__plus_00_dot_92_bar__minus_01_dot_42 DiningTable_bar__minus_02_dot_43_bar__plus_00_dot_90_bar__minus_01_dot_70)\n (inReceptacle Knife_bar__minus_02_dot_55_bar__plus_00_dot_95_bar__minus_02_dot_12 DiningTable_bar__minus_02_dot_43_bar__plus_00_dot_90_bar__minus_01_dot_70)\n (inReceptacle Apple_bar__minus_02_dot_32_bar__plus_01_dot_00_bar__minus_01_dot_42 DiningTable_bar__minus_02_dot_43_bar__plus_00_dot_90_bar__minus_01_dot_70)\n (inReceptacle Pen_bar__minus_02_dot_10_bar__plus_00_dot_93_bar__minus_01_dot_65 DiningTable_bar__minus_02_dot_43_bar__plus_00_dot_90_bar__minus_01_dot_70)\n (inReceptacle Pen_bar__minus_02_dot_67_bar__plus_00_dot_93_bar__minus_01_dot_65 DiningTable_bar__minus_02_dot_43_bar__plus_00_dot_90_bar__minus_01_dot_70)\n (inReceptacle Lettuce_bar__minus_02_dot_56_bar__plus_01_dot_00_bar__minus_01_dot_68 DiningTable_bar__minus_02_dot_43_bar__plus_00_dot_90_bar__minus_01_dot_70)\n (inReceptacle Pan_bar__minus_02_dot_17_bar__plus_00_dot_91_bar__minus_01_dot_10 DiningTable_bar__minus_02_dot_43_bar__plus_00_dot_90_bar__minus_01_dot_70)\n (inReceptacle Pen_bar__minus_02_dot_10_bar__plus_00_dot_93_bar__minus_02_dot_35 DiningTable_bar__minus_02_dot_43_bar__plus_00_dot_90_bar__minus_01_dot_70)\n (inReceptacle Spoon_bar__minus_02_dot_10_bar__plus_00_dot_92_bar__minus_01_dot_88 DiningTable_bar__minus_02_dot_43_bar__plus_00_dot_90_bar__minus_01_dot_70)\n (inReceptacle Fork_bar__minus_02_dot_10_bar__plus_00_dot_92_bar__minus_02_dot_12 DiningTable_bar__minus_02_dot_43_bar__plus_00_dot_90_bar__minus_01_dot_70)\n (inReceptacle Bread_bar__minus_02_dot_67_bar__plus_00_dot_98_bar__minus_02_dot_35 DiningTable_bar__minus_02_dot_43_bar__plus_00_dot_90_bar__minus_01_dot_70)\n (inReceptacle Glassbottle_bar__minus_00_dot_69_bar__plus_00_dot_08_bar__minus_03_dot_55 Cabinet_bar__minus_00_dot_88_bar__plus_00_dot_39_bar__minus_03_dot_42)\n (inReceptacle SoapBottle_bar__minus_00_dot_46_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 Bowl_bar__minus_00_dot_33_bar__plus_01_dot_53_bar__minus_03_dot_67 Cabinet_bar__minus_00_dot_33_bar__plus_01_dot_92_bar__minus_03_dot_39)\n (inReceptacle PepperShaker_bar__minus_00_dot_39_bar__plus_00_dot_74_bar__minus_03_dot_33 Drawer_bar__minus_00_dot_45_bar__plus_00_dot_78_bar__minus_03_dot_27)\n (inReceptacle Mug_bar__minus_00_dot_14_bar__plus_01_dot_52_bar__minus_03_dot_13 Cabinet_bar__minus_00_dot_30_bar__plus_01_dot_92_bar__minus_02_dot_50)\n (inReceptacle SoapBottle_bar__minus_01_dot_91_bar__plus_00_dot_03_bar__minus_03_dot_80 GarbageCan_bar__minus_01_dot_94_bar__plus_00_dot_00_bar__minus_03_dot_76)\n (inReceptacle Bread_bar__minus_00_dot_39_bar__plus_01_dot_44_bar__minus_00_dot_77 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_00_dot_67 Fridge_bar__minus_00_dot_33_bar__plus_00_dot_00_bar__minus_00_dot_77)\n (inReceptacle Tomato_bar__minus_00_dot_44_bar__plus_01_dot_16_bar__minus_00_dot_87 Fridge_bar__minus_00_dot_33_bar__plus_00_dot_00_bar__minus_00_dot_77)\n (inReceptacle Apple_bar__minus_00_dot_27_bar__plus_01_dot_76_bar__minus_00_dot_77 Fridge_bar__minus_00_dot_33_bar__plus_00_dot_00_bar__minus_00_dot_77)\n (inReceptacle Cup_bar__minus_00_dot_34_bar__plus_01_dot_10_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_40_bar__plus_00_dot_83_bar__minus_02_dot_23 Sink_bar__minus_00_dot_35_bar__plus_00_dot_91_bar__minus_02_dot_01_bar_SinkBasin)\n (inReceptacle Potato_bar__minus_00_dot_45_bar__plus_00_dot_83_bar__minus_02_dot_01 Sink_bar__minus_00_dot_35_bar__plus_00_dot_91_bar__minus_02_dot_01_bar_SinkBasin)\n (inReceptacle Mug_bar__minus_00_dot_25_bar__plus_00_dot_79_bar__minus_02_dot_08 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 Mug_bar__minus_00_dot_14_bar__plus_01_dot_52_bar__minus_03_dot_13 loc_bar__minus_4_bar__minus_10_bar_1_bar__minus_15)\n (objectAtLocation Plate_bar__minus_00_dot_67_bar__plus_00_dot_92_bar__minus_03_dot_56 loc_bar__minus_4_bar__minus_12_bar_1_bar_45)\n (objectAtLocation DishSponge_bar__minus_00_dot_29_bar__plus_00_dot_92_bar__minus_03_dot_37 loc_bar__minus_4_bar__minus_12_bar_1_bar_45)\n (objectAtLocation Potato_bar__minus_02_dot_67_bar__plus_00_dot_95_bar__minus_02_dot_12 loc_bar__minus_5_bar__minus_7_bar_3_bar_30)\n (objectAtLocation Pot_bar__minus_01_dot_13_bar__plus_00_dot_94_bar__minus_03_dot_50 loc_bar__minus_5_bar__minus_12_bar_2_bar_60)\n (objectAtLocation Cup_bar__minus_00_dot_34_bar__plus_01_dot_10_bar__minus_01_dot_08 loc_bar__minus_5_bar__minus_3_bar_1_bar_60)\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 SoapBottle_bar__minus_00_dot_46_bar__plus_00_dot_08_bar__minus_02_dot_20 loc_bar__minus_6_bar__minus_7_bar_1_bar_60)\n (objectAtLocation Fork_bar__minus_02_dot_21_bar__plus_00_dot_92_bar__minus_01_dot_42 loc_bar__minus_5_bar__minus_7_bar_3_bar_30)\n (objectAtLocation Pen_bar__minus_02_dot_10_bar__plus_00_dot_93_bar__minus_01_dot_65 loc_bar__minus_5_bar__minus_7_bar_3_bar_30)\n (objectAtLocation Apple_bar__minus_02_dot_32_bar__plus_01_dot_00_bar__minus_01_dot_42 loc_bar__minus_5_bar__minus_7_bar_3_bar_30)\n (objectAtLocation Apple_bar__minus_00_dot_27_bar__plus_01_dot_76_bar__minus_00_dot_77 loc_bar__minus_5_bar__minus_3_bar_1_bar_60)\n (objectAtLocation Bread_bar__minus_02_dot_67_bar__plus_00_dot_98_bar__minus_02_dot_35 loc_bar__minus_5_bar__minus_7_bar_3_bar_30)\n (objectAtLocation Pen_bar__minus_02_dot_67_bar__plus_00_dot_93_bar__minus_01_dot_65 loc_bar__minus_5_bar__minus_7_bar_3_bar_30)\n (objectAtLocation Sink_bar__minus_00_dot_35_bar__plus_00_dot_91_bar__minus_02_dot_01 loc_bar__minus_4_bar__minus_8_bar_1_bar_45)\n (objectAtLocation Apple_bar__minus_00_dot_34_bar__plus_01_dot_17_bar__minus_00_dot_67 loc_bar__minus_5_bar__minus_3_bar_1_bar_60)\n (objectAtLocation Lettuce_bar__minus_02_dot_56_bar__plus_01_dot_00_bar__minus_01_dot_68 loc_bar__minus_5_bar__minus_7_bar_3_bar_30)\n (objectAtLocation Glassbottle_bar__minus_00_dot_69_bar__plus_00_dot_08_bar__minus_03_dot_55 loc_bar__minus_4_bar__minus_10_bar_2_bar_60)\n (objectAtLocation Egg_bar__minus_00_dot_40_bar__plus_00_dot_83_bar__minus_02_dot_23 loc_bar__minus_4_bar__minus_9_bar_1_bar_60)\n (objectAtLocation Pen_bar__minus_02_dot_10_bar__plus_00_dot_93_bar__minus_02_dot_35 loc_bar__minus_5_bar__minus_7_bar_3_bar_30)\n (objectAtLocation Fork_bar__minus_02_dot_10_bar__plus_00_dot_92_bar__minus_02_dot_12 loc_bar__minus_5_bar__minus_7_bar_3_bar_30)\n (objectAtLocation 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_01_dot_91_bar__plus_00_dot_03_bar__minus_03_dot_80 loc_bar__minus_9_bar__minus_14_bar_1_bar_60)\n (objectAtLocation Pencil_bar__minus_02_dot_32_bar__plus_00_dot_92_bar__minus_00_dot_96 loc_bar__minus_5_bar__minus_7_bar_3_bar_30)\n (objectAtLocation WineBottle_bar__minus_02_dot_67_bar__plus_00_dot_92_bar__minus_01_dot_88 loc_bar__minus_5_bar__minus_7_bar_3_bar_30)\n (objectAtLocation Spatula_bar__minus_02_dot_21_bar__plus_00_dot_94_bar__minus_01_dot_65 loc_bar__minus_5_bar__minus_7_bar_3_bar_30)\n (objectAtLocation Bread_bar__minus_00_dot_39_bar__plus_01_dot_44_bar__minus_00_dot_77 loc_bar__minus_5_bar__minus_3_bar_1_bar_60)\n (objectAtLocation Tomato_bar__minus_00_dot_44_bar__plus_01_dot_16_bar__minus_00_dot_87 loc_bar__minus_5_bar__minus_3_bar_1_bar_60)\n (objectAtLocation Pan_bar__minus_02_dot_17_bar__plus_00_dot_91_bar__minus_01_dot_10 loc_bar__minus_5_bar__minus_7_bar_3_bar_30)\n (objectAtLocation Cup_bar__minus_00_dot_44_bar__plus_00_dot_91_bar__minus_02_dot_76 loc_bar__minus_4_bar__minus_12_bar_1_bar_45)\n (objectAtLocation Pot_bar__minus_01_dot_52_bar__plus_00_dot_94_bar__minus_03_dot_50 loc_bar__minus_6_bar__minus_12_bar_2_bar_60)\n (objectAtLocation SaltShaker_bar__minus_00_dot_22_bar__plus_00_dot_91_bar__minus_02_dot_56 loc_bar__minus_4_bar__minus_12_bar_1_bar_45)\n (objectAtLocation Potato_bar__minus_00_dot_45_bar__plus_00_dot_83_bar__minus_02_dot_01 loc_bar__minus_4_bar__minus_9_bar_1_bar_60)\n (objectAtLocation PepperShaker_bar__minus_00_dot_39_bar__plus_00_dot_74_bar__minus_03_dot_33 loc_bar__minus_5_bar__minus_12_bar_1_bar_45)\n (objectAtLocation ButterKnife_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 StoveKnob_bar__minus_01_dot_58_bar__plus_01_dot_08_bar__minus_03_dot_96 loc_bar__minus_6_bar__minus_12_bar_2_bar_30)\n (objectAtLocation StoveKnob_bar__minus_01_dot_18_bar__plus_01_dot_08_bar__minus_03_dot_96 loc_bar__minus_5_bar__minus_12_bar_2_bar_30)\n (objectAtLocation StoveKnob_bar__minus_01_dot_42_bar__plus_01_dot_08_bar__minus_03_dot_96 loc_bar__minus_6_bar__minus_12_bar_2_bar_30)\n (objectAtLocation StoveKnob_bar__minus_01_dot_03_bar__plus_01_dot_08_bar__minus_03_dot_96 loc_bar__minus_4_bar__minus_12_bar_2_bar_30)\n (objectAtLocation DishSponge_bar__minus_02_dot_21_bar__plus_00_dot_92_bar__minus_01_dot_65 loc_bar__minus_5_bar__minus_7_bar_3_bar_30)\n (objectAtLocation Window_bar__minus_02_dot_50_bar__plus_01_dot_78_bar__minus_04_dot_19 loc_bar__minus_10_bar__minus_14_bar_2_bar__minus_15)\n (objectAtLocation Chair_bar__minus_03_dot_26_bar__plus_00_dot_00_bar__minus_02_dot_09 loc_bar__minus_14_bar__minus_7_bar_2_bar_60)\n (objectAtLocation Chair_bar__minus_03_dot_24_bar__plus_00_dot_00_bar__minus_01_dot_25 loc_bar__minus_13_bar__minus_3_bar_2_bar_60)\n (objectAtLocation Spoon_bar__minus_02_dot_10_bar__plus_00_dot_92_bar__minus_01_dot_88 loc_bar__minus_5_bar__minus_7_bar_3_bar_30)\n (objectAtLocation Plate_bar__minus_02_dot_78_bar__plus_00_dot_93_bar__minus_01_dot_42 loc_bar__minus_5_bar__minus_7_bar_3_bar_30)\n (objectAtLocation Knife_bar__minus_02_dot_55_bar__plus_00_dot_95_bar__minus_02_dot_12 loc_bar__minus_5_bar__minus_7_bar_3_bar_30)\n (objectAtLocation Mug_bar__minus_00_dot_25_bar__plus_00_dot_79_bar__minus_02_dot_08 loc_bar__minus_4_bar__minus_9_bar_1_bar_60)\n (objectAtLocation Blinds_bar__minus_02_dot_54_bar__plus_02_dot_70_bar__minus_03_dot_96 loc_bar__minus_10_bar__minus_14_bar_2_bar__minus_30)\n (objectAtLocation Bowl_bar__minus_00_dot_33_bar__plus_01_dot_53_bar__minus_03_dot_67 loc_bar__minus_4_bar__minus_12_bar_1_bar__minus_15)\n )\n \n\n (:goal\n (and\n (exists (?r - receptacle)\n (exists (?o - object)\n (and\n (heatable ?o)\n (objectType ?o AppleType)\n (receptacleType ?r DiningTableType)\n (isHot ?o)\n (inReceptacle ?o ?r)\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to diningtable 1", "take apple 1 from diningtable 1", "go to microwave 1", "heat apple 1 with microwave 1", "go to diningtable 1", "move apple 1 to diningtable 1"]}
|
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 Fast Downward which supports PDDL 2.2 level 1 plus the :action-costs requirement from PDDL 3.1.\n\n(define (domain alfred)\n (:requirements\n :adl\n :action-costs\n :typing\n )\n (:types\n agent\n location\n receptacle\n object\n rtype\n otype\n )\n\n\n (:predicates\n (atLocation ?a - agent ?l - location) ; true if the agent is at the location\n (receptacleAtLocation ?r - receptacle ?l - location) ; true if the receptacle is at the location (constant)\n (objectAtLocation ?o - object ?l - location) ; true if the object is at the location\n (openable ?r - receptacle) ; true if a receptacle is openable\n (opened ?r - receptacle) ; true if a receptacle is opened\n (inReceptacle ?o - object ?r - receptacle) ; object ?o is in receptacle ?r\n (isReceptacleObject ?o - object) ; true if the object can have things put inside it\n (inReceptacleObject ?innerObject - object ?outerObject - object) ; object ?innerObject is inside object ?outerObject\n (isReceptacleObjectFull ?o - object) ; true if the receptacle object contains something\n (wasInReceptacle ?o - object ?r - receptacle) ; object ?o was or is in receptacle ?r now or some time in the past\n (checked ?r - receptacle) ; whether the receptacle has been looked inside/visited\n (examined ?l - location) ; TODO\n (receptacleType ?r - receptacle ?t - rtype) ; the type of receptacle (Cabinet vs Cabinet|01|2...)\n (canContain ?rt - rtype ?ot - otype) ; true if receptacle can hold object\n (objectType ?o - object ?t - otype) ; the type of object (Apple vs Apple|01|2...)\n (holds ?a - agent ?o - object) ; object ?o is held by agent ?a\n (holdsAny ?a - agent) ; agent ?a holds an object\n (holdsAnyReceptacleObject ?a - agent) ; agent ?a holds a receptacle object\n (full ?r - receptacle) ; true if the receptacle has no remaining space\n (isClean ?o - object) ; true if the object has been clean in sink\n (cleanable ?o - object) ; true if the object can be placed in a sink\n (isHot ?o - object) ; true if the object has been heated up\n (heatable ?o - object) ; true if the object can be heated up in a microwave\n (isCool ?o - object) ; true if the object has been cooled\n (coolable ?o - object) ; true if the object can be cooled in the fridge\n (pickupable ?o - object) ; true if the object can be picked up\n (moveable ?o - object) ; true if the object can be moved\n (toggleable ?o - object) ; true if the object can be turned on/off\n (isOn ?o - object) ; true if the object is on\n (isToggled ?o - object) ; true if the object has been toggled\n (sliceable ?o - object) ; true if the object can be sliced\n (isSliced ?o - object) ; true if the object is sliced\n )\n\n (:functions\n (distance ?from ?to)\n (total-cost) - number\n )\n\n;; All actions are specified such that the final arguments are the ones used\n;; for performing actions in Unity.\n\n\n(:action look\n :parameters (?a - agent ?l - location)\n :precondition\n (and\n (atLocation ?a ?l)\n )\n :effect\n (and\n (checked ?l)\n )\n)\n\n(:action inventory\n :parameters (?a - agent)\n :precondition\n ()\n :effect\n (and\n (checked ?a)\n )\n)\n\n(:action examineReceptacle\n :parameters (?a - agent ?r - receptacle)\n :precondition\n (and\n (exists (?l - location)\n (and\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n )\n )\n )\n :effect\n (and\n (checked ?r)\n )\n)\n\n(:action examineObject\n :parameters (?a - agent ?o - object)\n :precondition\n (or\n ;(exists (?l - location)\n ; (and\n ; (atLocation ?a ?l)\n ; (objectAtLocation ?o ?l)\n ; )\n ;)\n (exists (?l - location, ?r - receptacle)\n (and\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n ; (objectAtLocation ?o ?l)\n (inReceptacle ?o ?r)\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n )\n )\n (holds ?a ?o)\n )\n :effect\n (and\n (checked ?o)\n )\n)\n\n;; agent goes to receptacle\n (:action GotoLocation\n :parameters (?a - agent ?lStart - location ?lEnd - location ?r - receptacle)\n :precondition (and\n (atLocation ?a ?lStart)\n (receptacleAtLocation ?r ?lEnd)\n ;(exists (?r - receptacle) (receptacleAtLocation ?r ?lEnd))\n )\n :effect (and\n (not (atLocation ?a ?lStart))\n (atLocation ?a ?lEnd)\n ; (forall (?r - receptacle)\n ; (when (and (receptacleAtLocation ?r ?lEnd)\n ; (or (not (openable ?r)) (opened ?r)))\n ; (checked ?r)\n ; )\n ; )\n ; (increase (total-cost) (distance ?lStart ?lEnd))\n (increase (total-cost) 1)\n )\n )\n\n;; agent opens receptacle\n (:action OpenObject\n :parameters (?a - agent ?l - location ?r - receptacle)\n :precondition (and\n (openable ?r)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (not (opened ?r))\n )\n :effect (and\n (opened ?r)\n (checked ?r)\n (increase (total-cost) 1)\n )\n )\n;; agent closes receptacle\n (:action CloseObject\n :parameters (?a - agent ?l - location ?r - receptacle)\n :precondition (and\n (openable ?r)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (opened ?r)\n )\n :effect (and\n (not (opened ?r))\n (increase (total-cost) 1)\n )\n\n )\n\n ;; agent picks up object from a receptacle\n (:action PickupObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n :precondition\n (and\n (pickupable ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n ; (objectAtLocation ?o ?l)\n (inReceptacle ?o ?r)\n (not (holdsAny ?a)) ; agent's hands are empty.\n ;(not (holdsAnyReceptacleObject ?a))\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n ;(not (isReceptacleObject ?o))\n )\n :effect\n (and\n (not (inReceptacle ?o ?r))\n (holds ?a ?o)\n (holdsAny ?a)\n (not (objectAtLocation ?o ?l))\n ;(not (full ?r))\n (increase (total-cost) 1)\n )\n )\n\n\n; ;; agent picks up object from a receptacle\n; (:action PickupObjectFromReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?outerR - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (inReceptacle ?o ?r)\n; (pickupable ?o)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (not (isReceptacleObject ?o))\n; (isReceptacleObject ?outerR)\n; (inReceptacleObject ?o ?outerR)\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (holds ?a ?o)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n;\n; (not (inReceptacleObject ?o ?outerR))\n; (not (isReceptacleObjectFull ?outerR))\n; )\n; )\n;\n; ;; agent picks up object from a receptacle\n; (:action PickupEmptyReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; ; (objectAtLocation ?o ?l)\n; (inReceptacle ?o ?r)\n; (pickupable ?o)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (isReceptacleObject ?o)\n; (not (isReceptacleObjectFull ?o))\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (holds ?a ?o)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n; (holdsAnyReceptacleObject ?a)\n; )\n; )\n;\n; ;; agent picks up object from a receptacle\n; (:action PickupFullReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?outerR - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (inReceptacle ?outerR ?r)\n; (pickupable ?outerR)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (not (isReceptacleObject ?o))\n; (isReceptacleObject ?outerR)\n; (inReceptacleObject ?o ?outerR)\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (not (inReceptacle ?outerR ?r))\n; (holds ?a ?outerR)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (objectAtLocation ?outerR ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n; (holdsAnyReceptacleObject ?a)\n; )\n; )\n\n\n;; agent puts down an object\n (:action PutObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle ?ot - otype ?rt - rtype)\n :precondition (and\n (holds ?a ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable\n ;(not (full ?r))\n (objectType ?o ?ot)\n (receptacleType ?r ?rt)\n (canContain ?rt ?ot)\n ;(not (holdsAnyReceptacleObject ?a))\n )\n :effect (and\n (inReceptacle ?o ?r)\n (objectAtLocation ?o ?l)\n ;(full ?r)\n (not (holds ?a ?o))\n (not (holdsAny ?a))\n (increase (total-cost) 1)\n )\n )\n\n;;; agent puts down an object\n; (:action PutObjectInReceptacleObject\n; :parameters (?a - agent ?l - location ?ot - otype ?o - object ?outerO - object ?outerR - receptacle)\n; :precondition (and\n; (atLocation ?a ?l)\n; (objectAtLocation ?outerO ?l)\n; (isReceptacleObject ?outerO)\n; (not (isReceptacleObject ?o))\n; (objectType ?o ?ot)\n; (holds ?a ?o)\n; (not (holdsAnyReceptacleObject ?a))\n; (inReceptacle ?outerO ?outerR)\n; (not (isReceptacleObjectFull ?outerO))\n; )\n; :effect (and\n; (inReceptacleObject ?o ?outerO)\n; (inReceptacle ?o ?outerR)\n; (not (holds ?a ?o))\n; (not (holdsAny ?a))\n; (objectAtLocation ?o ?l)\n; (isReceptacleObjectFull ?outerO)\n; (increase (total-cost) 1)\n; )\n; )\n;\n;;; agent puts down an object\n; (:action PutEmptyReceptacleObjectinReceptacle\n; :parameters (?a - agent ?l - location ?ot - otype ?o - object ?r - receptacle)\n; :precondition (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable\n; (not (full ?r))\n; (objectType ?o ?ot)\n; (holds ?a ?o)\n; (holdsAnyReceptacleObject ?a)\n; (isReceptacleObject ?o)\n; (not (isReceptacleObjectFull ?o))\n; )\n; :effect (and\n; (inReceptacle ?o ?r)\n; (objectAtLocation ?o ?l)\n; (full ?r)\n; (not (holds ?a ?o))\n; (not (holdsAny ?a))\n; (not (holdsAnyReceptacleObject ?a))\n; (increase (total-cost) 1)\n; )\n; )\n;\n;;; agent puts down a receptacle object in a receptacle\n; (:action PutFullReceptacleObjectInReceptacle\n; :parameters (?a - agent ?l - location ?ot - otype ?innerO - object ?outerO - object ?r - receptacle) ; ?rt - rtype)\n; :precondition (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (objectType ?outerO ?ot)\n; (holds ?a ?outerO)\n; (holdsAnyReceptacleObject ?a)\n; (isReceptacleObject ?outerO)\n; (isReceptacleObjectFull ?outerO)\n; (inReceptacleObject ?innerO ?outerO)\n; )\n; :effect (and\n; (not (holdsAny ?a))\n; (not (holdsAnyReceptacleObject ?a))\n; (objectAtLocation ?outerO ?l)\n; (objectAtLocation ?innerO ?l)\n; (inReceptacle ?outerO ?r)\n; (inReceptacle ?innerO ?r)\n; (not (holds ?a ?outerO))\n; (increase (total-cost) 1)\n; )\n; )\n\n;; agent cleans some object\n (:action CleanObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (cleanable ?o)\n (or\n (receptacleType ?r SinkType)\n (receptacleType ?r SinkBasinType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isClean ?o)\n )\n )\n\n\n;; agent heats-up some object\n (:action HeatObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (heatable ?o)\n (or\n (receptacleType ?r MicrowaveType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isHot ?o)\n (not (isCool ?o))\n )\n )\n\n;; agent cools some object\n (:action CoolObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (coolable ?o)\n (or\n (receptacleType ?r FridgeType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isCool ?o)\n (not (isHot ?o))\n )\n )\n\n\n;; agent toggle object\n (:action ToggleObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n :precondition (and\n (toggleable ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (inReceptacle ?o ?r)\n )\n :effect (and\n (increase (total-cost) 5)\n (when (isOn ?o)\n (not (isOn ?o)))\n (when (not (isOn ?o))\n (isOn ?o))\n (isToggled ?o)\n )\n )\n\n\n;; agent slices some object with a knife\n (:action SliceObject\n :parameters (?a - agent ?l - location ?co - object ?ko - object)\n :precondition\n (and\n (sliceable ?co)\n (or\n (objectType ?ko KnifeType)\n (objectType ?ko ButterKnifeType)\n )\n (atLocation ?a ?l)\n (objectAtLocation ?co ?l)\n (holds ?a ?ko)\n )\n :effect (and\n (increase (total-cost) 5)\n (isSliced ?co)\n )\n )\n\n\n(:action help\n :parameters (?a - agent)\n :precondition\n ()\n :effect\n (and\n (checked ?a)\n )\n)\n)\n", "grammar": "grammar :: \"\"\"\n {\n \"intro\": [\n {\n \"rhs\": \"-= Welcome to TextWorld, ALFRED! =-\\n\\n#look.feedback#\\n\\n#task#\"\n }\n ],\n\n \"notImplemented\": [\n {\n \"rhs\": \"TODO\"\n }\n ],\n\n \"task\": [\n {\n \"rhs\": \"Your task is to: find two toiletpaper and put them in cabinet.\"\n }\n ],\n\n \"GotoLocation.feedback\": [\n {\n \"rhs\": \"You arrive at {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"OpenObject.feedback\": [\n {\n \"rhs\": \"You open the {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"CloseObject.feedback\": [\n {\n \"rhs\": \"You close the {r.name}.\"\n }\n ],\n\n \"PickupObject.feedback\": [\n {\n \"rhs\": \"You pick up the {o.name} from the {r.name}.\"\n }\n ],\n\n \"PickupObjectFromReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupObjectFromReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupEmptyReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupEmptyReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupFullReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupFullReceptacleObject: You pick up the {outerr.name}.\"\n }\n ],\n\n \"PutObject.feedback\": [\n {\n \"rhs\": \"You move the {o.name} to the {r.name}.\"\n }\n ],\n\n \"PutObjectInReceptacleObject.feedback\": [\n {\n \"rhs\": \"PutObjectInReceptacleObject: You put the {o.name} in the {outero.name}.\"\n }\n ],\n\n \"PutEmptyReceptacleObjectinReceptacle.feedback\": [\n {\n \"rhs\": \"PutEmptyReceptacleObjectinReceptacle: You put the {o.name} in the {r.name}.\"\n }\n ],\n\n \"PutFullReceptacleObjectInReceptacle.feedback\": [\n {\n \"rhs\": \"PutFullReceptacleObjectInReceptacle: You put the {outero.name} in the {r.name}.\"\n }\n ],\n\n \"inventory.feedback\": [\n {\n \"condition\": \"holdsany(a:agent)\",\n \"rhs\": \"You are carrying: [{o.indefinite + ' ' + o.name | holds(a:agent, o:object)}].\"\n },\n {\n \"rhs\": \"You are not carrying anything.\"\n }\n ],\n\n \"examineReceptacle.feedback\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \"The {r.name} is open. In it, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \"The {r.name} is closed.\"\n },\n {\n \"rhs\": \"On the {r.name}, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n }\n ],\n\n \"examineObject.feedback\": [\n {\n \"condition\": \"isreceptacleobject(o:object)\",\n \"rhs\": \"This is a normal {o.name}. In it, you see [{o2.indefinite + ' ' + o2.name | inreceptacleobject(o2:object, o:object)}].\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a clean sliced {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot sliced {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object)\",\n \"rhs\": \"This is a hot and clean {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object)\",\n \"rhs\": \"This is a cool and clean {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object)\",\n \"rhs\": \"This is a hot {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object)\",\n \"rhs\": \"This is a clean {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object)\",\n \"rhs\": \"This is a cold {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"This {o.name} is on.\"\n },\n {\n \"condition\": \"toggleable(o:object) & not_istoggled(o:object)\",\n \"rhs\": \"This {o.name} is off.\"\n },\n {\n \"condition\": \"sliceable(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a sliced {o.name}.\"\n },\n {\n \"rhs\": \"There's nothing special about {o.name}.\"\n }\n ]\n }\n\"\"\";\n\naction GotoLocation {\n template :: \"go to [{r.name | receptacleatlocation(r:receptacle, lend:location)}]\";\n feedback :: \"#GotoLocation.feedback#\";\n}\n\naction OpenObject {\n template :: \"open {r}\";\n feedback :: \"#OpenObject.feedback#\";\n}\n\naction CloseObject {\n template :: \"close {r}\";\n feedback :: \"#CloseObject.feedback#\";\n}\n\naction PickupObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObject.feedback#\";\n}\n\naction PickupObjectFromReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObjectFromReceptacleObject.feedback#\";\n}\n\naction PickupEmptyReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupEmptyReceptacleObject.feedback#\";\n}\n\naction PickupFullReceptacleObject {\n template :: \"take {outerr} from {r}\";\n feedback :: \"#PickupFullReceptacleObject.feedback#\";\n}\n\naction PutObject {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutObject.feedback#\";\n}\n\naction PutObjectInReceptacleObject {\n template :: \"put {o} into {outero}\";\n feedback :: \"#PutObjectInReceptacleObject.feedback#\";\n}\n\naction PutEmptyReceptacleObjectinReceptacle {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutEmptyReceptacleObjectinReceptacle.feedback#\";\n}\n\naction PutFullReceptacleObjectInReceptacle {\n template :: \"put {outero} in {r}\";\n feedback :: \"#PutFullReceptacleObjectInReceptacle.feedback#\";\n}\n\naction inventory {\n template :: \"inventory\";\n feedback :: \"#inventory.feedback#\";\n}\n\naction examineReceptacle {\n template :: \"examine {r}\";\n feedback :: \"#examineReceptacle.feedback#\";\n}\n\naction examineObject {\n template :: \"examine {o}\";\n feedback :: \"#examineObject.feedback#\";\n}\n\naction ToggleObject {\n template :: \"use {o}\";\n feedback :: \"#toggleObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"toggleObject.feedback\": [\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"You turn on the {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object)\",\n \"rhs\": \"You turn off the {o.name}.\"\n },\n {\n \"rhs\": \"You don't see any switch on the {o.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction HeatObject {\n template :: \"heat {o} with {r}\";\n feedback :: \"#heatObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"heatObject.feedback\": [\n {\n \"rhs\": \"You heat the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CleanObject {\n template :: \"clean {o} with {r}\";\n feedback :: \"#cleanObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"cleanObject.feedback\": [\n {\n \"rhs\": \"You clean the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CoolObject {\n template :: \"cool {o} with {r}\";\n feedback :: \"#coolObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"coolObject.feedback\": [\n {\n \"rhs\": \"You cool the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction SliceObject {\n template :: \"slice {co} with {ko}\";\n feedback :: \"#sliceObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"sliceObject.feedback\": [\n {\n \"rhs\": \"You sliced the {co.name} with the {ko.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction look {\n template :: \"look\";\n feedback :: \"#look.feedback#\";\n\n grammar :: \"\"\"\n {\n \"look.feedback\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"#look-variations#. Next to it, you see #list_objects_on_the_floor#.\"\n },\n {\n \"rhs\": \"You are in the middle of a room. Looking quickly around you, you see #list_appliances#.\"\n }\n ],\n\n \"look-variations\": [\n {\n \"rhs\": \"You are facing the [{r.name | atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)}]\"\n }\n ],\n\n \"list_objects_on_the_floor\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)\",\n \"rhs\": \"[{#overview(o)# | atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"list_appliances\": [\n {\n \"condition\": \"receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"[{#overview(r)# | receptacleatlocation(r:receptacle, l:location)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"overview(o, r)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name} (in/on the {r.name})}\"\n }\n ],\n\n \"overview(o)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name}\"\n }\n ],\n \"overview(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}\"\n }\n ],\n \"overview_with_state(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}#overview_state(r)#\"\n }\n ],\n \"overview_state(r)\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \" (it is open)\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \" (it is closed)\"\n },\n {\n \"rhs\": \"\"\n }\n ],\n\n \"list_empty\": [\n {\n \"rhs\": \"nothing\"\n }\n ],\n \"list_separator\": [\n {\n \"rhs\": \", \"\n }\n ],\n \"list_last_separator\": [\n {\n \"rhs\": \", and \"\n }\n ]\n }\n \"\"\";\n}\n\naction help {\n template :: \"help\";\n feedback :: \"\nAvailable commands:\n look: look around your current location\n inventory: check your current inventory\n go to (receptacle): move to a receptacle\n open (receptacle): open a receptacle\n close (receptacle): close a receptacle\n take (object) from (receptacle): take an object from a receptacle\n move (object) to (receptacle): place an object in or on a receptacle\n examine (something): examine a receptacle or an object\n use (object): use an object\n heat (object) with (receptacle): heat an object using a receptacle\n clean (object) with (receptacle): clean an object using a receptacle\n cool (object) with (receptacle): cool an object using a receptacle\n slice (object) with (object): slice an object using a sharp object\n\";\n}\n", "pddl_problem": "\n(define (problem plan_trial_T20190909_090627_697588)\n(:domain alfred)\n(:objects\nagent1 - agent\nSaltShaker - object\n HousePlant - object\n Candle - object\n SprayBottle - object\n Bowl - object\n Window - object\n CD - object\n Egg - object\n Glassbottle - object\n Sink - object\n Pillow - object\n Spoon - object\n SoapBottle - object\n TeddyBear - object\n ButterKnife - object\n Cup - object\n Plate - object\n RemoteControl - object\n Tomato - object\n Statue - object\n HandTowel - object\n Knife - object\n StoveKnob - object\n LightSwitch - object\n Pen - object\n Painting - object\n DishSponge - object\n Vase - object\n Mug - object\n ToiletPaper - object\n Box - object\n Mirror - object\n Ladle - object\n Fork - object\n Blinds - object\n Footstool - object\n KeyChain - object\n Cloth - object\n Laptop - object\n TissueBox - object\n PepperShaker - object\n FloorLamp - object\n WateringCan - object\n Apple - object\n Pan - object\n PaperTowel - object\n PaperTowelRoll - object\n Newspaper - object\n Television - object\n Chair - object\n CellPhone - object\n CreditCard - object\n Lettuce - object\n BasketBall - object\n Potato - object\n Curtains - object\n Boots - object\n Pencil - object\n AlarmClock - object\n ToiletPaperRoll - object\n Spatula - object\n Book - object\n Bread - object\n SoapBar - object\n Watch - object\n DeskLamp - object\n Kettle - object\n Pot - object\n ScrubBrush - object\n WineBottle - object\n ShowerDoor - object\n Bathtub - object\n LaundryHamperLid - object\n ShowerGlass - object\n Poster - object\n TennisRacket - object\n BaseballBat - object\n Towel - object\n Plunger - object\nSaltShakerType - otype\n HousePlantType - otype\n CandleType - otype\n SprayBottleType - otype\n BowlType - otype\n WindowType - otype\n CDType - otype\n EggType - otype\n GlassbottleType - otype\n SinkType - otype\n PillowType - otype\n SpoonType - otype\n SoapBottleType - otype\n TeddyBearType - otype\n ButterKnifeType - otype\n CupType - otype\n PlateType - otype\n RemoteControlType - otype\n TomatoType - otype\n StatueType - otype\n HandTowelType - otype\n KnifeType - otype\n StoveKnobType - otype\n LightSwitchType - otype\n PenType - otype\n PaintingType - otype\n DishSpongeType - otype\n VaseType - otype\n MugType - otype\n ToiletPaperType - otype\n BoxType - otype\n MirrorType - otype\n LadleType - otype\n ForkType - otype\n BlindsType - otype\n FootstoolType - otype\n KeyChainType - otype\n ClothType - otype\n LaptopType - otype\n TissueBoxType - otype\n PepperShakerType - otype\n FloorLampType - otype\n WateringCanType - otype\n AppleType - otype\n PanType - otype\n PaperTowelType - otype\n PaperTowelRollType - otype\n NewspaperType - otype\n TelevisionType - otype\n ChairType - otype\n CellPhoneType - otype\n CreditCardType - otype\n LettuceType - otype\n BasketBallType - otype\n PotatoType - otype\n CurtainsType - otype\n BootsType - otype\n PencilType - otype\n AlarmClockType - otype\n ToiletPaperRollType - otype\n SpatulaType - otype\n BookType - otype\n BreadType - otype\n SoapBarType - otype\n WatchType - otype\n DeskLampType - otype\n KettleType - otype\n PotType - otype\n ScrubBrushType - otype\n WineBottleType - otype\n ShowerDoorType - otype\n BathtubType - otype\n LaundryHamperLidType - otype\n ShowerGlassType - otype\n PosterType - otype\n TennisRacketType - otype\n BaseballBatType - otype\n TowelType - otype\n PlungerType - otype\nSafeType - rtype\n DrawerType - rtype\n CoffeeMachineType - rtype\n HandTowelHolderType - rtype\n SinkBasinType - rtype\n DresserType - rtype\n LaundryHamperType - rtype\n TVStandType - rtype\n BathtubBasinType - rtype\n CabinetType - rtype\n FridgeType - rtype\n DeskType - rtype\n ToiletType - rtype\n CartType - rtype\n SideTableType - rtype\n SofaType - rtype\n CoffeeTableType - rtype\n DiningTableType - rtype\n CounterTopType - rtype\n GarbageCanType - rtype\n ArmChairType - rtype\n ShelfType - rtype\n MicrowaveType - rtype\n ToasterType - rtype\n BedType - rtype\n PaintingHangerType - rtype\n TowelHolderType - rtype\n ToiletPaperHangerType - rtype\n StoveBurnerType - rtype\n OttomanType - rtype\n\n\n Bathtub_bar__minus_00_dot_44_bar__plus_00_dot_18_bar__plus_01_dot_58 - object\n Candle_bar__minus_02_dot_83_bar__plus_00_dot_92_bar__plus_03_dot_19 - object\n Candle_bar__minus_02_dot_84_bar__plus_01_dot_67_bar__plus_03_dot_00 - object\n Candle_bar__minus_02_dot_93_bar__plus_01_dot_09_bar__plus_00_dot_59 - object\n Cloth_bar__minus_02_dot_73_bar__plus_00_dot_09_bar__plus_01_dot_83 - object\n Cloth_bar__minus_02_dot_79_bar__plus_00_dot_09_bar__plus_02_dot_18 - object\n DishSponge_bar__minus_02_dot_60_bar__plus_00_dot_75_bar__plus_03_dot_46 - object\n Faucet_bar__minus_00_dot_77_bar__plus_00_dot_42_bar__plus_01_dot_00 - object\n Faucet_bar__minus_02_dot_93_bar__plus_00_dot_98_bar__plus_02_dot_23 - object\n HandTowel_bar__minus_02_dot_70_bar__plus_01_dot_52_bar__plus_02_dot_87 - object\n LightSwitch_bar__minus_01_dot_68_bar__plus_01_dot_44_bar__plus_03_dot_61 - object\n Mirror_bar__minus_02_dot_97_bar__plus_01_dot_61_bar__plus_02_dot_27 - object\n PaperTowelRoll_bar__minus_02_dot_84_bar__plus_01_dot_18_bar__plus_00_dot_78 - object\n Plunger_bar__minus_02_dot_84_bar__plus_00_dot_00_bar__plus_00_dot_13 - object\n ScrubBrush_bar__minus_02_dot_83_bar__plus_00_dot_00_bar__plus_00_dot_30 - object\n Sink_bar__minus_02_dot_72_bar__plus_00_dot_86_bar__plus_02_dot_23 - object\n SoapBar_bar__minus_02_dot_55_bar__plus_00_dot_75_bar__plus_03_dot_17 - object\n SoapBottle_bar__minus_02_dot_54_bar__plus_00_dot_91_bar__plus_03_dot_07 - object\n SoapBottle_bar__minus_02_dot_61_bar__plus_00_dot_09_bar__plus_02_dot_13 - object\n SoapBottle_bar__minus_02_dot_84_bar__plus_01_dot_08_bar__plus_00_dot_65 - object\n SprayBottle_bar__minus_02_dot_43_bar__plus_01_dot_21_bar__plus_01_dot_49 - object\n SprayBottle_bar__minus_02_dot_86_bar__plus_00_dot_09_bar__plus_02_dot_71 - object\n ToiletPaper_bar__minus_00_dot_21_bar__plus_00_dot_05_bar__plus_00_dot_25 - object\n ToiletPaper_bar__minus_02_dot_33_bar__plus_00_dot_79_bar__plus_00_dot_08 - object\n ToiletPaper_bar__minus_02_dot_53_bar__plus_00_dot_93_bar__plus_01_dot_76 - object\n ToiletPaper_bar__minus_02_dot_83_bar__plus_00_dot_93_bar__plus_02_dot_82 - object\n Towel_bar__minus_00_dot_11_bar__plus_01_dot_51_bar__plus_01_dot_94 - object\n Window_bar__minus_02_dot_26_bar__plus_01_dot_66_bar__minus_00_dot_02 - object\n Bathtub_bar__minus_00_dot_44_bar__plus_00_dot_18_bar__plus_01_dot_58_bar_BathtubBasin - receptacle\n Cabinet_bar__minus_02_dot_41_bar__plus_00_dot_37_bar__plus_01_dot_59 - receptacle\n Cabinet_bar__minus_02_dot_41_bar__plus_00_dot_37_bar__plus_02_dot_04 - receptacle\n Cabinet_bar__minus_02_dot_41_bar__plus_00_dot_37_bar__plus_02_dot_86 - receptacle\n Cabinet_bar__minus_02_dot_41_bar__plus_00_dot_37_bar__plus_02_dot_91 - receptacle\n Cabinet_bar__minus_02_dot_41_bar__plus_00_dot_37_bar__plus_03_dot_57 - receptacle\n Cabinet_bar__minus_02_dot_41_bar__plus_01_dot_26_bar__plus_02_dot_91 - receptacle\n Cabinet_bar__minus_02_dot_41_bar__plus_01_dot_26_bar__plus_03_dot_57 - receptacle\n Cabinet_bar__minus_02_dot_41_bar__plus_02_dot_02_bar__plus_02_dot_91 - receptacle\n Cabinet_bar__minus_02_dot_41_bar__plus_02_dot_02_bar__plus_03_dot_57 - receptacle\n CounterTop_bar__minus_02_dot_61_bar__plus_01_dot_24_bar__plus_01_dot_46 - receptacle\n CounterTop_bar__minus_02_dot_69_bar__plus_00_dot_97_bar__plus_02_dot_26 - receptacle\n Drawer_bar__minus_02_dot_64_bar__plus_00_dot_77_bar__plus_03_dot_24 - receptacle\n GarbageCan_bar__minus_00_dot_21_bar__plus_00_dot_00_bar__plus_00_dot_25 - receptacle\n HandTowelHolder_bar__minus_02_dot_70_bar__plus_01_dot_62_bar__plus_02_dot_91 - receptacle\n Sink_bar__minus_02_dot_72_bar__plus_00_dot_86_bar__plus_02_dot_23_bar_SinkBasin - receptacle\n ToiletPaperHanger_bar__minus_02_dot_29_bar__plus_00_dot_91_bar__plus_00_dot_00 - receptacle\n Toilet_bar__minus_02_dot_58_bar__plus_00_dot_03_bar__plus_00_dot_66 - receptacle\n TowelHolder_bar__plus_00_dot_00_bar__plus_01_dot_50_bar__plus_01_dot_94 - receptacle\n loc_bar__minus_7_bar_12_bar_3_bar_45 - location\n loc_bar__minus_6_bar_12_bar_3_bar_30 - location\n loc_bar__minus_7_bar_2_bar_2_bar_0 - location\n loc_bar__minus_5_bar_8_bar_1_bar_0 - location\n loc_bar__minus_4_bar_11_bar_2_bar_45 - location\n loc_bar__minus_7_bar_12_bar_3_bar_0 - location\n loc_bar__minus_6_bar_11_bar_3_bar_60 - location\n loc_bar__minus_5_bar_6_bar_1_bar_60 - location\n loc_bar__minus_7_bar_12_bar_0_bar_15 - location\n loc_bar__minus_7_bar_2_bar_3_bar_60 - location\n loc_bar__minus_8_bar_9_bar_3_bar_0 - location\n loc_bar__minus_8_bar_5_bar_2_bar_60 - location\n loc_bar__minus_7_bar_12_bar_3_bar__minus_30 - location\n loc_bar__minus_8_bar_10_bar_3_bar_45 - location\n loc_bar__minus_7_bar_12_bar_3_bar_30 - location\n loc_bar__minus_2_bar_2_bar_1_bar_60 - location\n loc_bar__minus_6_bar_7_bar_3_bar_60 - location\n loc_bar__minus_8_bar_5_bar_3_bar_30 - location\n loc_bar__minus_8_bar_9_bar_3_bar_45 - location\n loc_bar__minus_6_bar_12_bar_3_bar_60 - location\n loc_bar__minus_6_bar_9_bar_3_bar_60 - location\n loc_bar__minus_6_bar_7_bar_1_bar_30 - location\n )\n \n\n(:init\n\n\n (receptacleType HandTowelHolder_bar__minus_02_dot_70_bar__plus_01_dot_62_bar__plus_02_dot_91 HandTowelHolderType)\n (receptacleType Cabinet_bar__minus_02_dot_41_bar__plus_02_dot_02_bar__plus_03_dot_57 CabinetType)\n (receptacleType TowelHolder_bar__plus_00_dot_00_bar__plus_01_dot_50_bar__plus_01_dot_94 TowelHolderType)\n (receptacleType Drawer_bar__minus_02_dot_64_bar__plus_00_dot_77_bar__plus_03_dot_24 DrawerType)\n (receptacleType GarbageCan_bar__minus_00_dot_21_bar__plus_00_dot_00_bar__plus_00_dot_25 GarbageCanType)\n (receptacleType Cabinet_bar__minus_02_dot_41_bar__plus_02_dot_02_bar__plus_02_dot_91 CabinetType)\n (receptacleType Cabinet_bar__minus_02_dot_41_bar__plus_00_dot_37_bar__plus_01_dot_59 CabinetType)\n (receptacleType Cabinet_bar__minus_02_dot_41_bar__plus_00_dot_37_bar__plus_02_dot_04 CabinetType)\n (receptacleType Cabinet_bar__minus_02_dot_41_bar__plus_00_dot_37_bar__plus_02_dot_91 CabinetType)\n (receptacleType ToiletPaperHanger_bar__minus_02_dot_29_bar__plus_00_dot_91_bar__plus_00_dot_00 ToiletPaperHangerType)\n (receptacleType Cabinet_bar__minus_02_dot_41_bar__plus_00_dot_37_bar__plus_02_dot_86 CabinetType)\n (receptacleType CounterTop_bar__minus_02_dot_69_bar__plus_00_dot_97_bar__plus_02_dot_26 CounterTopType)\n (receptacleType Bathtub_bar__minus_00_dot_44_bar__plus_00_dot_18_bar__plus_01_dot_58_bar_BathtubBasin BathtubBasinType)\n (receptacleType Sink_bar__minus_02_dot_72_bar__plus_00_dot_86_bar__plus_02_dot_23_bar_SinkBasin SinkBasinType)\n (receptacleType Cabinet_bar__minus_02_dot_41_bar__plus_01_dot_26_bar__plus_03_dot_57 CabinetType)\n (receptacleType CounterTop_bar__minus_02_dot_61_bar__plus_01_dot_24_bar__plus_01_dot_46 CounterTopType)\n (receptacleType Cabinet_bar__minus_02_dot_41_bar__plus_01_dot_26_bar__plus_02_dot_91 CabinetType)\n (receptacleType Cabinet_bar__minus_02_dot_41_bar__plus_00_dot_37_bar__plus_03_dot_57 CabinetType)\n (receptacleType Toilet_bar__minus_02_dot_58_bar__plus_00_dot_03_bar__plus_00_dot_66 ToiletType)\n (objectType Bathtub_bar__minus_00_dot_44_bar__plus_00_dot_18_bar__plus_01_dot_58 BathtubType)\n (objectType ToiletPaper_bar__minus_02_dot_83_bar__plus_00_dot_93_bar__plus_02_dot_82 ToiletPaperType)\n (objectType ToiletPaper_bar__minus_00_dot_21_bar__plus_00_dot_05_bar__plus_00_dot_25 ToiletPaperType)\n (objectType Candle_bar__minus_02_dot_83_bar__plus_00_dot_92_bar__plus_03_dot_19 CandleType)\n (objectType SoapBottle_bar__minus_02_dot_61_bar__plus_00_dot_09_bar__plus_02_dot_13 SoapBottleType)\n (objectType ToiletPaper_bar__minus_02_dot_53_bar__plus_00_dot_93_bar__plus_01_dot_76 ToiletPaperType)\n (objectType ScrubBrush_bar__minus_02_dot_83_bar__plus_00_dot_00_bar__plus_00_dot_30 ScrubBrushType)\n (objectType Towel_bar__minus_00_dot_11_bar__plus_01_dot_51_bar__plus_01_dot_94 TowelType)\n (objectType ToiletPaper_bar__minus_02_dot_33_bar__plus_00_dot_79_bar__plus_00_dot_08 ToiletPaperType)\n (objectType SoapBottle_bar__minus_02_dot_54_bar__plus_00_dot_91_bar__plus_03_dot_07 SoapBottleType)\n (objectType HandTowel_bar__minus_02_dot_70_bar__plus_01_dot_52_bar__plus_02_dot_87 HandTowelType)\n (objectType PaperTowelRoll_bar__minus_02_dot_84_bar__plus_01_dot_18_bar__plus_00_dot_78 PaperTowelRollType)\n (objectType Candle_bar__minus_02_dot_93_bar__plus_01_dot_09_bar__plus_00_dot_59 CandleType)\n (objectType Mirror_bar__minus_02_dot_97_bar__plus_01_dot_61_bar__plus_02_dot_27 MirrorType)\n (objectType Candle_bar__minus_02_dot_84_bar__plus_01_dot_67_bar__plus_03_dot_00 CandleType)\n (objectType DishSponge_bar__minus_02_dot_60_bar__plus_00_dot_75_bar__plus_03_dot_46 DishSpongeType)\n (objectType Cloth_bar__minus_02_dot_73_bar__plus_00_dot_09_bar__plus_01_dot_83 ClothType)\n (objectType LightSwitch_bar__minus_01_dot_68_bar__plus_01_dot_44_bar__plus_03_dot_61 LightSwitchType)\n (objectType Plunger_bar__minus_02_dot_84_bar__plus_00_dot_00_bar__plus_00_dot_13 PlungerType)\n (objectType SoapBar_bar__minus_02_dot_55_bar__plus_00_dot_75_bar__plus_03_dot_17 SoapBarType)\n (objectType Sink_bar__minus_02_dot_72_bar__plus_00_dot_86_bar__plus_02_dot_23 SinkType)\n (objectType SprayBottle_bar__minus_02_dot_43_bar__plus_01_dot_21_bar__plus_01_dot_49 SprayBottleType)\n (objectType Cloth_bar__minus_02_dot_79_bar__plus_00_dot_09_bar__plus_02_dot_18 ClothType)\n (objectType Window_bar__minus_02_dot_26_bar__plus_01_dot_66_bar__minus_00_dot_02 WindowType)\n (objectType SoapBottle_bar__minus_02_dot_84_bar__plus_01_dot_08_bar__plus_00_dot_65 SoapBottleType)\n (objectType SprayBottle_bar__minus_02_dot_86_bar__plus_00_dot_09_bar__plus_02_dot_71 SprayBottleType)\n (canContain HandTowelHolderType HandTowelType)\n (canContain CabinetType CandleType)\n (canContain CabinetType SoapBarType)\n (canContain CabinetType DishSpongeType)\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 DrawerType CandleType)\n (canContain DrawerType SoapBarType)\n (canContain DrawerType DishSpongeType)\n (canContain DrawerType SprayBottleType)\n (canContain DrawerType ToiletPaperType)\n (canContain DrawerType SoapBottleType)\n (canContain DrawerType ClothType)\n (canContain DrawerType HandTowelType)\n (canContain GarbageCanType SoapBarType)\n (canContain GarbageCanType DishSpongeType)\n (canContain GarbageCanType SprayBottleType)\n (canContain GarbageCanType ToiletPaperType)\n (canContain GarbageCanType SoapBottleType)\n (canContain GarbageCanType ClothType)\n (canContain GarbageCanType HandTowelType)\n (canContain CabinetType CandleType)\n (canContain CabinetType SoapBarType)\n (canContain CabinetType DishSpongeType)\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 DishSpongeType)\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 DishSpongeType)\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 DishSpongeType)\n (canContain CabinetType SprayBottleType)\n (canContain CabinetType ToiletPaperType)\n (canContain CabinetType SoapBottleType)\n (canContain CabinetType ClothType)\n (canContain CabinetType HandTowelType)\n (canContain CabinetType PlungerType)\n (canContain ToiletPaperHangerType ToiletPaperType)\n (canContain CabinetType CandleType)\n (canContain CabinetType SoapBarType)\n (canContain CabinetType DishSpongeType)\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 DishSpongeType)\n (canContain CounterTopType SoapBarType)\n (canContain CounterTopType SprayBottleType)\n (canContain CounterTopType ToiletPaperType)\n (canContain CounterTopType SoapBottleType)\n (canContain CounterTopType ClothType)\n (canContain CounterTopType HandTowelType)\n (canContain BathtubBasinType ClothType)\n (canContain BathtubBasinType HandTowelType)\n (canContain BathtubBasinType SoapBarType)\n (canContain BathtubBasinType DishSpongeType)\n (canContain SinkBasinType SoapBarType)\n (canContain SinkBasinType DishSpongeType)\n (canContain SinkBasinType ClothType)\n (canContain SinkBasinType HandTowelType)\n (canContain CabinetType CandleType)\n (canContain CabinetType SoapBarType)\n (canContain CabinetType DishSpongeType)\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 DishSpongeType)\n (canContain CounterTopType SoapBarType)\n (canContain CounterTopType SprayBottleType)\n (canContain CounterTopType ToiletPaperType)\n (canContain CounterTopType SoapBottleType)\n (canContain CounterTopType ClothType)\n (canContain CounterTopType HandTowelType)\n (canContain CabinetType CandleType)\n (canContain CabinetType SoapBarType)\n (canContain CabinetType DishSpongeType)\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 DishSpongeType)\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 DishSpongeType)\n (canContain ToiletType SprayBottleType)\n (pickupable ToiletPaper_bar__minus_02_dot_83_bar__plus_00_dot_93_bar__plus_02_dot_82)\n (pickupable ToiletPaper_bar__minus_00_dot_21_bar__plus_00_dot_05_bar__plus_00_dot_25)\n (pickupable Candle_bar__minus_02_dot_83_bar__plus_00_dot_92_bar__plus_03_dot_19)\n (pickupable SoapBottle_bar__minus_02_dot_61_bar__plus_00_dot_09_bar__plus_02_dot_13)\n (pickupable ToiletPaper_bar__minus_02_dot_53_bar__plus_00_dot_93_bar__plus_01_dot_76)\n (pickupable ScrubBrush_bar__minus_02_dot_83_bar__plus_00_dot_00_bar__plus_00_dot_30)\n (pickupable Towel_bar__minus_00_dot_11_bar__plus_01_dot_51_bar__plus_01_dot_94)\n (pickupable ToiletPaper_bar__minus_02_dot_33_bar__plus_00_dot_79_bar__plus_00_dot_08)\n (pickupable SoapBottle_bar__minus_02_dot_54_bar__plus_00_dot_91_bar__plus_03_dot_07)\n (pickupable HandTowel_bar__minus_02_dot_70_bar__plus_01_dot_52_bar__plus_02_dot_87)\n (pickupable PaperTowelRoll_bar__minus_02_dot_84_bar__plus_01_dot_18_bar__plus_00_dot_78)\n (pickupable Candle_bar__minus_02_dot_93_bar__plus_01_dot_09_bar__plus_00_dot_59)\n (pickupable Candle_bar__minus_02_dot_84_bar__plus_01_dot_67_bar__plus_03_dot_00)\n (pickupable DishSponge_bar__minus_02_dot_60_bar__plus_00_dot_75_bar__plus_03_dot_46)\n (pickupable Cloth_bar__minus_02_dot_73_bar__plus_00_dot_09_bar__plus_01_dot_83)\n (pickupable Plunger_bar__minus_02_dot_84_bar__plus_00_dot_00_bar__plus_00_dot_13)\n (pickupable SoapBar_bar__minus_02_dot_55_bar__plus_00_dot_75_bar__plus_03_dot_17)\n (pickupable SprayBottle_bar__minus_02_dot_43_bar__plus_01_dot_21_bar__plus_01_dot_49)\n (pickupable Cloth_bar__minus_02_dot_79_bar__plus_00_dot_09_bar__plus_02_dot_18)\n (pickupable SoapBottle_bar__minus_02_dot_84_bar__plus_01_dot_08_bar__plus_00_dot_65)\n (pickupable SprayBottle_bar__minus_02_dot_86_bar__plus_00_dot_09_bar__plus_02_dot_71)\n \n (openable Cabinet_bar__minus_02_dot_41_bar__plus_02_dot_02_bar__plus_03_dot_57)\n (openable Cabinet_bar__minus_02_dot_41_bar__plus_02_dot_02_bar__plus_02_dot_91)\n (openable Cabinet_bar__minus_02_dot_41_bar__plus_00_dot_37_bar__plus_01_dot_59)\n (openable Cabinet_bar__minus_02_dot_41_bar__plus_00_dot_37_bar__plus_02_dot_04)\n (openable Cabinet_bar__minus_02_dot_41_bar__plus_00_dot_37_bar__plus_02_dot_91)\n (openable Cabinet_bar__minus_02_dot_41_bar__plus_00_dot_37_bar__plus_02_dot_86)\n (openable Cabinet_bar__minus_02_dot_41_bar__plus_01_dot_26_bar__plus_03_dot_57)\n (openable Cabinet_bar__minus_02_dot_41_bar__plus_01_dot_26_bar__plus_02_dot_91)\n (openable Cabinet_bar__minus_02_dot_41_bar__plus_00_dot_37_bar__plus_03_dot_57)\n \n (atLocation agent1 loc_bar__minus_6_bar_7_bar_1_bar_30)\n \n (cleanable DishSponge_bar__minus_02_dot_60_bar__plus_00_dot_75_bar__plus_03_dot_46)\n (cleanable Cloth_bar__minus_02_dot_73_bar__plus_00_dot_09_bar__plus_01_dot_83)\n (cleanable SoapBar_bar__minus_02_dot_55_bar__plus_00_dot_75_bar__plus_03_dot_17)\n (cleanable Cloth_bar__minus_02_dot_79_bar__plus_00_dot_09_bar__plus_02_dot_18)\n \n \n \n \n \n \n \n \n \n \n (inReceptacle SprayBottle_bar__minus_02_dot_86_bar__plus_00_dot_09_bar__plus_02_dot_71 Cabinet_bar__minus_02_dot_41_bar__plus_00_dot_37_bar__plus_02_dot_86)\n (inReceptacle SoapBottle_bar__minus_02_dot_61_bar__plus_00_dot_09_bar__plus_02_dot_13 Cabinet_bar__minus_02_dot_41_bar__plus_00_dot_37_bar__plus_02_dot_04)\n (inReceptacle Cloth_bar__minus_02_dot_79_bar__plus_00_dot_09_bar__plus_02_dot_18 Cabinet_bar__minus_02_dot_41_bar__plus_00_dot_37_bar__plus_02_dot_04)\n (inReceptacle Candle_bar__minus_02_dot_83_bar__plus_00_dot_92_bar__plus_03_dot_19 Cabinet_bar__minus_02_dot_41_bar__plus_01_dot_26_bar__plus_02_dot_91)\n (inReceptacle SoapBottle_bar__minus_02_dot_54_bar__plus_00_dot_91_bar__plus_03_dot_07 Cabinet_bar__minus_02_dot_41_bar__plus_01_dot_26_bar__plus_02_dot_91)\n (inReceptacle Candle_bar__minus_02_dot_84_bar__plus_01_dot_67_bar__plus_03_dot_00 Cabinet_bar__minus_02_dot_41_bar__plus_02_dot_02_bar__plus_02_dot_91)\n (inReceptacle Cloth_bar__minus_02_dot_73_bar__plus_00_dot_09_bar__plus_01_dot_83 Cabinet_bar__minus_02_dot_41_bar__plus_00_dot_37_bar__plus_01_dot_59)\n (inReceptacle DishSponge_bar__minus_02_dot_60_bar__plus_00_dot_75_bar__plus_03_dot_46 Drawer_bar__minus_02_dot_64_bar__plus_00_dot_77_bar__plus_03_dot_24)\n (inReceptacle SoapBar_bar__minus_02_dot_55_bar__plus_00_dot_75_bar__plus_03_dot_17 Drawer_bar__minus_02_dot_64_bar__plus_00_dot_77_bar__plus_03_dot_24)\n (inReceptacle ToiletPaper_bar__minus_02_dot_53_bar__plus_00_dot_93_bar__plus_01_dot_76 CounterTop_bar__minus_02_dot_69_bar__plus_00_dot_97_bar__plus_02_dot_26)\n (inReceptacle ToiletPaper_bar__minus_02_dot_83_bar__plus_00_dot_93_bar__plus_02_dot_82 CounterTop_bar__minus_02_dot_69_bar__plus_00_dot_97_bar__plus_02_dot_26)\n (inReceptacle Sink_bar__minus_02_dot_72_bar__plus_00_dot_86_bar__plus_02_dot_23 CounterTop_bar__minus_02_dot_69_bar__plus_00_dot_97_bar__plus_02_dot_26)\n (inReceptacle SprayBottle_bar__minus_02_dot_43_bar__plus_01_dot_21_bar__plus_01_dot_49 CounterTop_bar__minus_02_dot_61_bar__plus_01_dot_24_bar__plus_01_dot_46)\n (inReceptacle Towel_bar__minus_00_dot_11_bar__plus_01_dot_51_bar__plus_01_dot_94 TowelHolder_bar__plus_00_dot_00_bar__plus_01_dot_50_bar__plus_01_dot_94)\n (inReceptacle HandTowel_bar__minus_02_dot_70_bar__plus_01_dot_52_bar__plus_02_dot_87 HandTowelHolder_bar__minus_02_dot_70_bar__plus_01_dot_62_bar__plus_02_dot_91)\n (inReceptacle ToiletPaper_bar__minus_00_dot_21_bar__plus_00_dot_05_bar__plus_00_dot_25 GarbageCan_bar__minus_00_dot_21_bar__plus_00_dot_00_bar__plus_00_dot_25)\n (inReceptacle PaperTowelRoll_bar__minus_02_dot_84_bar__plus_01_dot_18_bar__plus_00_dot_78 Toilet_bar__minus_02_dot_58_bar__plus_00_dot_03_bar__plus_00_dot_66)\n (inReceptacle Candle_bar__minus_02_dot_93_bar__plus_01_dot_09_bar__plus_00_dot_59 Toilet_bar__minus_02_dot_58_bar__plus_00_dot_03_bar__plus_00_dot_66)\n (inReceptacle SoapBottle_bar__minus_02_dot_84_bar__plus_01_dot_08_bar__plus_00_dot_65 Toilet_bar__minus_02_dot_58_bar__plus_00_dot_03_bar__plus_00_dot_66)\n \n \n (receptacleAtLocation Bathtub_bar__minus_00_dot_44_bar__plus_00_dot_18_bar__plus_01_dot_58_bar_BathtubBasin loc_bar__minus_4_bar_11_bar_2_bar_45)\n (receptacleAtLocation Cabinet_bar__minus_02_dot_41_bar__plus_00_dot_37_bar__plus_01_dot_59 loc_bar__minus_6_bar_9_bar_3_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_02_dot_41_bar__plus_00_dot_37_bar__plus_02_dot_04 loc_bar__minus_6_bar_7_bar_3_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_02_dot_41_bar__plus_00_dot_37_bar__plus_02_dot_86 loc_bar__minus_6_bar_9_bar_3_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_02_dot_41_bar__plus_00_dot_37_bar__plus_02_dot_91 loc_bar__minus_6_bar_11_bar_3_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_02_dot_41_bar__plus_00_dot_37_bar__plus_03_dot_57 loc_bar__minus_6_bar_12_bar_3_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_02_dot_41_bar__plus_01_dot_26_bar__plus_02_dot_91 loc_bar__minus_7_bar_12_bar_3_bar_30)\n (receptacleAtLocation Cabinet_bar__minus_02_dot_41_bar__plus_01_dot_26_bar__plus_03_dot_57 loc_bar__minus_6_bar_12_bar_3_bar_30)\n (receptacleAtLocation Cabinet_bar__minus_02_dot_41_bar__plus_02_dot_02_bar__plus_02_dot_91 loc_bar__minus_7_bar_12_bar_3_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_02_dot_41_bar__plus_02_dot_02_bar__plus_03_dot_57 loc_bar__minus_7_bar_12_bar_3_bar__minus_30)\n (receptacleAtLocation CounterTop_bar__minus_02_dot_61_bar__plus_01_dot_24_bar__plus_01_dot_46 loc_bar__minus_8_bar_5_bar_3_bar_30)\n (receptacleAtLocation CounterTop_bar__minus_02_dot_69_bar__plus_00_dot_97_bar__plus_02_dot_26 loc_bar__minus_8_bar_10_bar_3_bar_45)\n (receptacleAtLocation Drawer_bar__minus_02_dot_64_bar__plus_00_dot_77_bar__plus_03_dot_24 loc_bar__minus_7_bar_12_bar_3_bar_45)\n (receptacleAtLocation GarbageCan_bar__minus_00_dot_21_bar__plus_00_dot_00_bar__plus_00_dot_25 loc_bar__minus_2_bar_2_bar_1_bar_60)\n (receptacleAtLocation HandTowelHolder_bar__minus_02_dot_70_bar__plus_01_dot_62_bar__plus_02_dot_91 loc_bar__minus_7_bar_12_bar_3_bar_0)\n (receptacleAtLocation Sink_bar__minus_02_dot_72_bar__plus_00_dot_86_bar__plus_02_dot_23_bar_SinkBasin loc_bar__minus_8_bar_9_bar_3_bar_45)\n (receptacleAtLocation ToiletPaperHanger_bar__minus_02_dot_29_bar__plus_00_dot_91_bar__plus_00_dot_00 loc_bar__minus_7_bar_2_bar_3_bar_60)\n (receptacleAtLocation Toilet_bar__minus_02_dot_58_bar__plus_00_dot_03_bar__plus_00_dot_66 loc_bar__minus_8_bar_5_bar_2_bar_60)\n (receptacleAtLocation TowelHolder_bar__plus_00_dot_00_bar__plus_01_dot_50_bar__plus_01_dot_94 loc_bar__minus_5_bar_8_bar_1_bar_0)\n (objectAtLocation SprayBottle_bar__minus_02_dot_43_bar__plus_01_dot_21_bar__plus_01_dot_49 loc_bar__minus_8_bar_5_bar_3_bar_30)\n (objectAtLocation Cloth_bar__minus_02_dot_73_bar__plus_00_dot_09_bar__plus_01_dot_83 loc_bar__minus_6_bar_9_bar_3_bar_60)\n (objectAtLocation ToiletPaper_bar__minus_02_dot_83_bar__plus_00_dot_93_bar__plus_02_dot_82 loc_bar__minus_8_bar_10_bar_3_bar_45)\n (objectAtLocation SoapBottle_bar__minus_02_dot_61_bar__plus_00_dot_09_bar__plus_02_dot_13 loc_bar__minus_6_bar_7_bar_3_bar_60)\n (objectAtLocation Candle_bar__minus_02_dot_84_bar__plus_01_dot_67_bar__plus_03_dot_00 loc_bar__minus_7_bar_12_bar_3_bar__minus_30)\n (objectAtLocation ToiletPaper_bar__minus_02_dot_53_bar__plus_00_dot_93_bar__plus_01_dot_76 loc_bar__minus_8_bar_10_bar_3_bar_45)\n (objectAtLocation SoapBottle_bar__minus_02_dot_84_bar__plus_01_dot_08_bar__plus_00_dot_65 loc_bar__minus_8_bar_5_bar_2_bar_60)\n (objectAtLocation Candle_bar__minus_02_dot_93_bar__plus_01_dot_09_bar__plus_00_dot_59 loc_bar__minus_8_bar_5_bar_2_bar_60)\n (objectAtLocation Mirror_bar__minus_02_dot_97_bar__plus_01_dot_61_bar__plus_02_dot_27 loc_bar__minus_8_bar_9_bar_3_bar_0)\n (objectAtLocation Bathtub_bar__minus_00_dot_44_bar__plus_00_dot_18_bar__plus_01_dot_58 loc_bar__minus_5_bar_6_bar_1_bar_60)\n (objectAtLocation Sink_bar__minus_02_dot_72_bar__plus_00_dot_86_bar__plus_02_dot_23 loc_bar__minus_8_bar_10_bar_3_bar_45)\n (objectAtLocation Towel_bar__minus_00_dot_11_bar__plus_01_dot_51_bar__plus_01_dot_94 loc_bar__minus_5_bar_8_bar_1_bar_0)\n (objectAtLocation Candle_bar__minus_02_dot_83_bar__plus_00_dot_92_bar__plus_03_dot_19 loc_bar__minus_7_bar_12_bar_3_bar_30)\n (objectAtLocation SoapBottle_bar__minus_02_dot_54_bar__plus_00_dot_91_bar__plus_03_dot_07 loc_bar__minus_7_bar_12_bar_3_bar_30)\n (objectAtLocation HandTowel_bar__minus_02_dot_70_bar__plus_01_dot_52_bar__plus_02_dot_87 loc_bar__minus_7_bar_12_bar_3_bar_0)\n (objectAtLocation Plunger_bar__minus_02_dot_84_bar__plus_00_dot_00_bar__plus_00_dot_13 loc_bar__minus_7_bar_2_bar_3_bar_60)\n (objectAtLocation SoapBar_bar__minus_02_dot_55_bar__plus_00_dot_75_bar__plus_03_dot_17 loc_bar__minus_7_bar_12_bar_3_bar_45)\n (objectAtLocation ToiletPaper_bar__minus_00_dot_21_bar__plus_00_dot_05_bar__plus_00_dot_25 loc_bar__minus_2_bar_2_bar_1_bar_60)\n (objectAtLocation Cloth_bar__minus_02_dot_79_bar__plus_00_dot_09_bar__plus_02_dot_18 loc_bar__minus_6_bar_7_bar_3_bar_60)\n (objectAtLocation ToiletPaper_bar__minus_02_dot_33_bar__plus_00_dot_79_bar__plus_00_dot_08 loc_bar__minus_7_bar_2_bar_3_bar_60)\n (objectAtLocation Window_bar__minus_02_dot_26_bar__plus_01_dot_66_bar__minus_00_dot_02 loc_bar__minus_7_bar_2_bar_2_bar_0)\n (objectAtLocation SprayBottle_bar__minus_02_dot_86_bar__plus_00_dot_09_bar__plus_02_dot_71 loc_bar__minus_6_bar_9_bar_3_bar_60)\n (objectAtLocation PaperTowelRoll_bar__minus_02_dot_84_bar__plus_01_dot_18_bar__plus_00_dot_78 loc_bar__minus_8_bar_5_bar_2_bar_60)\n (objectAtLocation ScrubBrush_bar__minus_02_dot_83_bar__plus_00_dot_00_bar__plus_00_dot_30 loc_bar__minus_7_bar_2_bar_3_bar_60)\n (objectAtLocation LightSwitch_bar__minus_01_dot_68_bar__plus_01_dot_44_bar__plus_03_dot_61 loc_bar__minus_7_bar_12_bar_0_bar_15)\n (objectAtLocation DishSponge_bar__minus_02_dot_60_bar__plus_00_dot_75_bar__plus_03_dot_46 loc_bar__minus_7_bar_12_bar_3_bar_45)\n )\n \n\n (:goal\n (and\n (exists (?r - receptacle)\n (exists (?o1 - object)\n (and\n (objectType ?o1 ToiletPaperType)\n (receptacleType ?r CabinetType)\n (inReceptacle ?o1 ?r)\n (exists (?o2 - object)\n (and\n (not (= ?o1 ?o2))\n (objectType ?o2 ToiletPaperType)\n (receptacleType ?r CabinetType)\n (inReceptacle ?o2 ?r)\n )\n )\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to garbagecan 1", "take toiletpaper 4 from garbagecan 1", "go to cabinet 6", "open cabinet 6", "move toiletpaper 4 to cabinet 6", "go to countertop 1", "take toiletpaper 2 from countertop 1", "go to cabinet 6", "move toiletpaper 2 to cabinet 6"]}
|
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 Fast Downward which supports PDDL 2.2 level 1 plus the :action-costs requirement from PDDL 3.1.\n\n(define (domain alfred)\n (:requirements\n :adl\n :action-costs\n :typing\n )\n (:types\n agent\n location\n receptacle\n object\n rtype\n otype\n )\n\n\n (:predicates\n (atLocation ?a - agent ?l - location) ; true if the agent is at the location\n (receptacleAtLocation ?r - receptacle ?l - location) ; true if the receptacle is at the location (constant)\n (objectAtLocation ?o - object ?l - location) ; true if the object is at the location\n (openable ?r - receptacle) ; true if a receptacle is openable\n (opened ?r - receptacle) ; true if a receptacle is opened\n (inReceptacle ?o - object ?r - receptacle) ; object ?o is in receptacle ?r\n (isReceptacleObject ?o - object) ; true if the object can have things put inside it\n (inReceptacleObject ?innerObject - object ?outerObject - object) ; object ?innerObject is inside object ?outerObject\n (isReceptacleObjectFull ?o - object) ; true if the receptacle object contains something\n (wasInReceptacle ?o - object ?r - receptacle) ; object ?o was or is in receptacle ?r now or some time in the past\n (checked ?r - receptacle) ; whether the receptacle has been looked inside/visited\n (examined ?l - location) ; TODO\n (receptacleType ?r - receptacle ?t - rtype) ; the type of receptacle (Cabinet vs Cabinet|01|2...)\n (canContain ?rt - rtype ?ot - otype) ; true if receptacle can hold object\n (objectType ?o - object ?t - otype) ; the type of object (Apple vs Apple|01|2...)\n (holds ?a - agent ?o - object) ; object ?o is held by agent ?a\n (holdsAny ?a - agent) ; agent ?a holds an object\n (holdsAnyReceptacleObject ?a - agent) ; agent ?a holds a receptacle object\n (full ?r - receptacle) ; true if the receptacle has no remaining space\n (isClean ?o - object) ; true if the object has been clean in sink\n (cleanable ?o - object) ; true if the object can be placed in a sink\n (isHot ?o - object) ; true if the object has been heated up\n (heatable ?o - object) ; true if the object can be heated up in a microwave\n (isCool ?o - object) ; true if the object has been cooled\n (coolable ?o - object) ; true if the object can be cooled in the fridge\n (pickupable ?o - object) ; true if the object can be picked up\n (moveable ?o - object) ; true if the object can be moved\n (toggleable ?o - object) ; true if the object can be turned on/off\n (isOn ?o - object) ; true if the object is on\n (isToggled ?o - object) ; true if the object has been toggled\n (sliceable ?o - object) ; true if the object can be sliced\n (isSliced ?o - object) ; true if the object is sliced\n )\n\n (:functions\n (distance ?from ?to)\n (total-cost) - number\n )\n\n;; All actions are specified such that the final arguments are the ones used\n;; for performing actions in Unity.\n\n\n(:action look\n :parameters (?a - agent ?l - location)\n :precondition\n (and\n (atLocation ?a ?l)\n )\n :effect\n (and\n (checked ?l)\n )\n)\n\n(:action inventory\n :parameters (?a - agent)\n :precondition\n ()\n :effect\n (and\n (checked ?a)\n )\n)\n\n(:action examineReceptacle\n :parameters (?a - agent ?r - receptacle)\n :precondition\n (and\n (exists (?l - location)\n (and\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n )\n )\n )\n :effect\n (and\n (checked ?r)\n )\n)\n\n(:action examineObject\n :parameters (?a - agent ?o - object)\n :precondition\n (or\n ;(exists (?l - location)\n ; (and\n ; (atLocation ?a ?l)\n ; (objectAtLocation ?o ?l)\n ; )\n ;)\n (exists (?l - location, ?r - receptacle)\n (and\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n ; (objectAtLocation ?o ?l)\n (inReceptacle ?o ?r)\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n )\n )\n (holds ?a ?o)\n )\n :effect\n (and\n (checked ?o)\n )\n)\n\n;; agent goes to receptacle\n (:action GotoLocation\n :parameters (?a - agent ?lStart - location ?lEnd - location ?r - receptacle)\n :precondition (and\n (atLocation ?a ?lStart)\n (receptacleAtLocation ?r ?lEnd)\n ;(exists (?r - receptacle) (receptacleAtLocation ?r ?lEnd))\n )\n :effect (and\n (not (atLocation ?a ?lStart))\n (atLocation ?a ?lEnd)\n ; (forall (?r - receptacle)\n ; (when (and (receptacleAtLocation ?r ?lEnd)\n ; (or (not (openable ?r)) (opened ?r)))\n ; (checked ?r)\n ; )\n ; )\n ; (increase (total-cost) (distance ?lStart ?lEnd))\n (increase (total-cost) 1)\n )\n )\n\n;; agent opens receptacle\n (:action OpenObject\n :parameters (?a - agent ?l - location ?r - receptacle)\n :precondition (and\n (openable ?r)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (not (opened ?r))\n )\n :effect (and\n (opened ?r)\n (checked ?r)\n (increase (total-cost) 1)\n )\n )\n;; agent closes receptacle\n (:action CloseObject\n :parameters (?a - agent ?l - location ?r - receptacle)\n :precondition (and\n (openable ?r)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (opened ?r)\n )\n :effect (and\n (not (opened ?r))\n (increase (total-cost) 1)\n )\n\n )\n\n ;; agent picks up object from a receptacle\n (:action PickupObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n :precondition\n (and\n (pickupable ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n ; (objectAtLocation ?o ?l)\n (inReceptacle ?o ?r)\n (not (holdsAny ?a)) ; agent's hands are empty.\n ;(not (holdsAnyReceptacleObject ?a))\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n ;(not (isReceptacleObject ?o))\n )\n :effect\n (and\n (not (inReceptacle ?o ?r))\n (holds ?a ?o)\n (holdsAny ?a)\n (not (objectAtLocation ?o ?l))\n ;(not (full ?r))\n (increase (total-cost) 1)\n )\n )\n\n\n; ;; agent picks up object from a receptacle\n; (:action PickupObjectFromReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?outerR - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (inReceptacle ?o ?r)\n; (pickupable ?o)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (not (isReceptacleObject ?o))\n; (isReceptacleObject ?outerR)\n; (inReceptacleObject ?o ?outerR)\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (holds ?a ?o)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n;\n; (not (inReceptacleObject ?o ?outerR))\n; (not (isReceptacleObjectFull ?outerR))\n; )\n; )\n;\n; ;; agent picks up object from a receptacle\n; (:action PickupEmptyReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; ; (objectAtLocation ?o ?l)\n; (inReceptacle ?o ?r)\n; (pickupable ?o)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (isReceptacleObject ?o)\n; (not (isReceptacleObjectFull ?o))\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (holds ?a ?o)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n; (holdsAnyReceptacleObject ?a)\n; )\n; )\n;\n; ;; agent picks up object from a receptacle\n; (:action PickupFullReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?outerR - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (inReceptacle ?outerR ?r)\n; (pickupable ?outerR)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (not (isReceptacleObject ?o))\n; (isReceptacleObject ?outerR)\n; (inReceptacleObject ?o ?outerR)\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (not (inReceptacle ?outerR ?r))\n; (holds ?a ?outerR)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (objectAtLocation ?outerR ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n; (holdsAnyReceptacleObject ?a)\n; )\n; )\n\n\n;; agent puts down an object\n (:action PutObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle ?ot - otype ?rt - rtype)\n :precondition (and\n (holds ?a ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable\n ;(not (full ?r))\n (objectType ?o ?ot)\n (receptacleType ?r ?rt)\n (canContain ?rt ?ot)\n ;(not (holdsAnyReceptacleObject ?a))\n )\n :effect (and\n (inReceptacle ?o ?r)\n (objectAtLocation ?o ?l)\n ;(full ?r)\n (not (holds ?a ?o))\n (not (holdsAny ?a))\n (increase (total-cost) 1)\n )\n )\n\n;;; agent puts down an object\n; (:action PutObjectInReceptacleObject\n; :parameters (?a - agent ?l - location ?ot - otype ?o - object ?outerO - object ?outerR - receptacle)\n; :precondition (and\n; (atLocation ?a ?l)\n; (objectAtLocation ?outerO ?l)\n; (isReceptacleObject ?outerO)\n; (not (isReceptacleObject ?o))\n; (objectType ?o ?ot)\n; (holds ?a ?o)\n; (not (holdsAnyReceptacleObject ?a))\n; (inReceptacle ?outerO ?outerR)\n; (not (isReceptacleObjectFull ?outerO))\n; )\n; :effect (and\n; (inReceptacleObject ?o ?outerO)\n; (inReceptacle ?o ?outerR)\n; (not (holds ?a ?o))\n; (not (holdsAny ?a))\n; (objectAtLocation ?o ?l)\n; (isReceptacleObjectFull ?outerO)\n; (increase (total-cost) 1)\n; )\n; )\n;\n;;; agent puts down an object\n; (:action PutEmptyReceptacleObjectinReceptacle\n; :parameters (?a - agent ?l - location ?ot - otype ?o - object ?r - receptacle)\n; :precondition (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable\n; (not (full ?r))\n; (objectType ?o ?ot)\n; (holds ?a ?o)\n; (holdsAnyReceptacleObject ?a)\n; (isReceptacleObject ?o)\n; (not (isReceptacleObjectFull ?o))\n; )\n; :effect (and\n; (inReceptacle ?o ?r)\n; (objectAtLocation ?o ?l)\n; (full ?r)\n; (not (holds ?a ?o))\n; (not (holdsAny ?a))\n; (not (holdsAnyReceptacleObject ?a))\n; (increase (total-cost) 1)\n; )\n; )\n;\n;;; agent puts down a receptacle object in a receptacle\n; (:action PutFullReceptacleObjectInReceptacle\n; :parameters (?a - agent ?l - location ?ot - otype ?innerO - object ?outerO - object ?r - receptacle) ; ?rt - rtype)\n; :precondition (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (objectType ?outerO ?ot)\n; (holds ?a ?outerO)\n; (holdsAnyReceptacleObject ?a)\n; (isReceptacleObject ?outerO)\n; (isReceptacleObjectFull ?outerO)\n; (inReceptacleObject ?innerO ?outerO)\n; )\n; :effect (and\n; (not (holdsAny ?a))\n; (not (holdsAnyReceptacleObject ?a))\n; (objectAtLocation ?outerO ?l)\n; (objectAtLocation ?innerO ?l)\n; (inReceptacle ?outerO ?r)\n; (inReceptacle ?innerO ?r)\n; (not (holds ?a ?outerO))\n; (increase (total-cost) 1)\n; )\n; )\n\n;; agent cleans some object\n (:action CleanObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (cleanable ?o)\n (or\n (receptacleType ?r SinkType)\n (receptacleType ?r SinkBasinType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isClean ?o)\n )\n )\n\n\n;; agent heats-up some object\n (:action HeatObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (heatable ?o)\n (or\n (receptacleType ?r MicrowaveType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isHot ?o)\n (not (isCool ?o))\n )\n )\n\n;; agent cools some object\n (:action CoolObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (coolable ?o)\n (or\n (receptacleType ?r FridgeType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isCool ?o)\n (not (isHot ?o))\n )\n )\n\n\n;; agent toggle object\n (:action ToggleObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n :precondition (and\n (toggleable ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (inReceptacle ?o ?r)\n )\n :effect (and\n (increase (total-cost) 5)\n (when (isOn ?o)\n (not (isOn ?o)))\n (when (not (isOn ?o))\n (isOn ?o))\n (isToggled ?o)\n )\n )\n\n\n;; agent slices some object with a knife\n (:action SliceObject\n :parameters (?a - agent ?l - location ?co - object ?ko - object)\n :precondition\n (and\n (sliceable ?co)\n (or\n (objectType ?ko KnifeType)\n (objectType ?ko ButterKnifeType)\n )\n (atLocation ?a ?l)\n (objectAtLocation ?co ?l)\n (holds ?a ?ko)\n )\n :effect (and\n (increase (total-cost) 5)\n (isSliced ?co)\n )\n )\n\n\n(:action help\n :parameters (?a - agent)\n :precondition\n ()\n :effect\n (and\n (checked ?a)\n )\n)\n)\n", "grammar": "grammar :: \"\"\"\n {\n \"intro\": [\n {\n \"rhs\": \"-= Welcome to TextWorld, ALFRED! =-\\n\\n#look.feedback#\\n\\n#task#\"\n }\n ],\n\n \"notImplemented\": [\n {\n \"rhs\": \"TODO\"\n }\n ],\n\n \"task\": [\n {\n \"rhs\": \"Your task is to: find two toiletpaper and put them in cabinet.\"\n }\n ],\n\n \"GotoLocation.feedback\": [\n {\n \"rhs\": \"You arrive at {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"OpenObject.feedback\": [\n {\n \"rhs\": \"You open the {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"CloseObject.feedback\": [\n {\n \"rhs\": \"You close the {r.name}.\"\n }\n ],\n\n \"PickupObject.feedback\": [\n {\n \"rhs\": \"You pick up the {o.name} from the {r.name}.\"\n }\n ],\n\n \"PickupObjectFromReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupObjectFromReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupEmptyReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupEmptyReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupFullReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupFullReceptacleObject: You pick up the {outerr.name}.\"\n }\n ],\n\n \"PutObject.feedback\": [\n {\n \"rhs\": \"You move the {o.name} to the {r.name}.\"\n }\n ],\n\n \"PutObjectInReceptacleObject.feedback\": [\n {\n \"rhs\": \"PutObjectInReceptacleObject: You put the {o.name} in the {outero.name}.\"\n }\n ],\n\n \"PutEmptyReceptacleObjectinReceptacle.feedback\": [\n {\n \"rhs\": \"PutEmptyReceptacleObjectinReceptacle: You put the {o.name} in the {r.name}.\"\n }\n ],\n\n \"PutFullReceptacleObjectInReceptacle.feedback\": [\n {\n \"rhs\": \"PutFullReceptacleObjectInReceptacle: You put the {outero.name} in the {r.name}.\"\n }\n ],\n\n \"inventory.feedback\": [\n {\n \"condition\": \"holdsany(a:agent)\",\n \"rhs\": \"You are carrying: [{o.indefinite + ' ' + o.name | holds(a:agent, o:object)}].\"\n },\n {\n \"rhs\": \"You are not carrying anything.\"\n }\n ],\n\n \"examineReceptacle.feedback\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \"The {r.name} is open. In it, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \"The {r.name} is closed.\"\n },\n {\n \"rhs\": \"On the {r.name}, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n }\n ],\n\n \"examineObject.feedback\": [\n {\n \"condition\": \"isreceptacleobject(o:object)\",\n \"rhs\": \"This is a normal {o.name}. In it, you see [{o2.indefinite + ' ' + o2.name | inreceptacleobject(o2:object, o:object)}].\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a clean sliced {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot sliced {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object)\",\n \"rhs\": \"This is a hot and clean {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object)\",\n \"rhs\": \"This is a cool and clean {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object)\",\n \"rhs\": \"This is a hot {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object)\",\n \"rhs\": \"This is a clean {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object)\",\n \"rhs\": \"This is a cold {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"This {o.name} is on.\"\n },\n {\n \"condition\": \"toggleable(o:object) & not_istoggled(o:object)\",\n \"rhs\": \"This {o.name} is off.\"\n },\n {\n \"condition\": \"sliceable(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a sliced {o.name}.\"\n },\n {\n \"rhs\": \"There's nothing special about {o.name}.\"\n }\n ]\n }\n\"\"\";\n\naction GotoLocation {\n template :: \"go to [{r.name | receptacleatlocation(r:receptacle, lend:location)}]\";\n feedback :: \"#GotoLocation.feedback#\";\n}\n\naction OpenObject {\n template :: \"open {r}\";\n feedback :: \"#OpenObject.feedback#\";\n}\n\naction CloseObject {\n template :: \"close {r}\";\n feedback :: \"#CloseObject.feedback#\";\n}\n\naction PickupObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObject.feedback#\";\n}\n\naction PickupObjectFromReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObjectFromReceptacleObject.feedback#\";\n}\n\naction PickupEmptyReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupEmptyReceptacleObject.feedback#\";\n}\n\naction PickupFullReceptacleObject {\n template :: \"take {outerr} from {r}\";\n feedback :: \"#PickupFullReceptacleObject.feedback#\";\n}\n\naction PutObject {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutObject.feedback#\";\n}\n\naction PutObjectInReceptacleObject {\n template :: \"put {o} into {outero}\";\n feedback :: \"#PutObjectInReceptacleObject.feedback#\";\n}\n\naction PutEmptyReceptacleObjectinReceptacle {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutEmptyReceptacleObjectinReceptacle.feedback#\";\n}\n\naction PutFullReceptacleObjectInReceptacle {\n template :: \"put {outero} in {r}\";\n feedback :: \"#PutFullReceptacleObjectInReceptacle.feedback#\";\n}\n\naction inventory {\n template :: \"inventory\";\n feedback :: \"#inventory.feedback#\";\n}\n\naction examineReceptacle {\n template :: \"examine {r}\";\n feedback :: \"#examineReceptacle.feedback#\";\n}\n\naction examineObject {\n template :: \"examine {o}\";\n feedback :: \"#examineObject.feedback#\";\n}\n\naction ToggleObject {\n template :: \"use {o}\";\n feedback :: \"#toggleObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"toggleObject.feedback\": [\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"You turn on the {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object)\",\n \"rhs\": \"You turn off the {o.name}.\"\n },\n {\n \"rhs\": \"You don't see any switch on the {o.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction HeatObject {\n template :: \"heat {o} with {r}\";\n feedback :: \"#heatObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"heatObject.feedback\": [\n {\n \"rhs\": \"You heat the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CleanObject {\n template :: \"clean {o} with {r}\";\n feedback :: \"#cleanObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"cleanObject.feedback\": [\n {\n \"rhs\": \"You clean the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CoolObject {\n template :: \"cool {o} with {r}\";\n feedback :: \"#coolObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"coolObject.feedback\": [\n {\n \"rhs\": \"You cool the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction SliceObject {\n template :: \"slice {co} with {ko}\";\n feedback :: \"#sliceObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"sliceObject.feedback\": [\n {\n \"rhs\": \"You sliced the {co.name} with the {ko.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction look {\n template :: \"look\";\n feedback :: \"#look.feedback#\";\n\n grammar :: \"\"\"\n {\n \"look.feedback\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"#look-variations#. Next to it, you see #list_objects_on_the_floor#.\"\n },\n {\n \"rhs\": \"You are in the middle of a room. Looking quickly around you, you see #list_appliances#.\"\n }\n ],\n\n \"look-variations\": [\n {\n \"rhs\": \"You are facing the [{r.name | atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)}]\"\n }\n ],\n\n \"list_objects_on_the_floor\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)\",\n \"rhs\": \"[{#overview(o)# | atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"list_appliances\": [\n {\n \"condition\": \"receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"[{#overview(r)# | receptacleatlocation(r:receptacle, l:location)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"overview(o, r)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name} (in/on the {r.name})}\"\n }\n ],\n\n \"overview(o)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name}\"\n }\n ],\n \"overview(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}\"\n }\n ],\n \"overview_with_state(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}#overview_state(r)#\"\n }\n ],\n \"overview_state(r)\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \" (it is open)\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \" (it is closed)\"\n },\n {\n \"rhs\": \"\"\n }\n ],\n\n \"list_empty\": [\n {\n \"rhs\": \"nothing\"\n }\n ],\n \"list_separator\": [\n {\n \"rhs\": \", \"\n }\n ],\n \"list_last_separator\": [\n {\n \"rhs\": \", and \"\n }\n ]\n }\n \"\"\";\n}\n\naction help {\n template :: \"help\";\n feedback :: \"\nAvailable commands:\n look: look around your current location\n inventory: check your current inventory\n go to (receptacle): move to a receptacle\n open (receptacle): open a receptacle\n close (receptacle): close a receptacle\n take (object) from (receptacle): take an object from a receptacle\n move (object) to (receptacle): place an object in or on a receptacle\n examine (something): examine a receptacle or an object\n use (object): use an object\n heat (object) with (receptacle): heat an object using a receptacle\n clean (object) with (receptacle): clean an object using a receptacle\n cool (object) with (receptacle): cool an object using a receptacle\n slice (object) with (object): slice an object using a sharp object\n\";\n}\n", "pddl_problem": "\n(define (problem plan_trial_T20190909_090515_748255)\n(:domain alfred)\n(:objects\nagent1 - agent\nSaltShaker - object\n HousePlant - object\n Candle - object\n SprayBottle - object\n Bowl - object\n Window - object\n CD - object\n Egg - object\n Glassbottle - object\n Sink - object\n Pillow - object\n Spoon - object\n SoapBottle - object\n TeddyBear - object\n ButterKnife - object\n Cup - object\n Plate - object\n RemoteControl - object\n Tomato - object\n Statue - object\n HandTowel - object\n Knife - object\n StoveKnob - object\n LightSwitch - object\n Pen - object\n Painting - object\n DishSponge - object\n Vase - object\n Mug - object\n ToiletPaper - object\n Box - object\n Mirror - object\n Ladle - object\n Fork - object\n Blinds - object\n Footstool - object\n KeyChain - object\n Cloth - object\n Laptop - object\n TissueBox - object\n PepperShaker - object\n FloorLamp - object\n WateringCan - object\n Apple - object\n Pan - object\n PaperTowel - object\n PaperTowelRoll - object\n Newspaper - object\n Television - object\n Chair - object\n CellPhone - object\n CreditCard - object\n Lettuce - object\n BasketBall - object\n Potato - object\n Curtains - object\n Boots - object\n Pencil - object\n AlarmClock - object\n ToiletPaperRoll - object\n Spatula - object\n Book - object\n Bread - object\n SoapBar - object\n Watch - object\n DeskLamp - object\n Kettle - object\n Pot - object\n ScrubBrush - object\n WineBottle - object\n ShowerDoor - object\n Bathtub - object\n LaundryHamperLid - object\n ShowerGlass - object\n Poster - object\n TennisRacket - object\n BaseballBat - object\n Towel - object\n Plunger - object\nSaltShakerType - otype\n HousePlantType - otype\n CandleType - otype\n SprayBottleType - otype\n BowlType - otype\n WindowType - otype\n CDType - otype\n EggType - otype\n GlassbottleType - otype\n SinkType - otype\n PillowType - otype\n SpoonType - otype\n SoapBottleType - otype\n TeddyBearType - otype\n ButterKnifeType - otype\n CupType - otype\n PlateType - otype\n RemoteControlType - otype\n TomatoType - otype\n StatueType - otype\n HandTowelType - otype\n KnifeType - otype\n StoveKnobType - otype\n LightSwitchType - otype\n PenType - otype\n PaintingType - otype\n DishSpongeType - otype\n VaseType - otype\n MugType - otype\n ToiletPaperType - otype\n BoxType - otype\n MirrorType - otype\n LadleType - otype\n ForkType - otype\n BlindsType - otype\n FootstoolType - otype\n KeyChainType - otype\n ClothType - otype\n LaptopType - otype\n TissueBoxType - otype\n PepperShakerType - otype\n FloorLampType - otype\n WateringCanType - otype\n AppleType - otype\n PanType - otype\n PaperTowelType - otype\n PaperTowelRollType - otype\n NewspaperType - otype\n TelevisionType - otype\n ChairType - otype\n CellPhoneType - otype\n CreditCardType - otype\n LettuceType - otype\n BasketBallType - otype\n PotatoType - otype\n CurtainsType - otype\n BootsType - otype\n PencilType - otype\n AlarmClockType - otype\n ToiletPaperRollType - otype\n SpatulaType - otype\n BookType - otype\n BreadType - otype\n SoapBarType - otype\n WatchType - otype\n DeskLampType - otype\n KettleType - otype\n PotType - otype\n ScrubBrushType - otype\n WineBottleType - otype\n ShowerDoorType - otype\n BathtubType - otype\n LaundryHamperLidType - otype\n ShowerGlassType - otype\n PosterType - otype\n TennisRacketType - otype\n BaseballBatType - otype\n TowelType - otype\n PlungerType - otype\nSafeType - rtype\n DrawerType - rtype\n CoffeeMachineType - rtype\n HandTowelHolderType - rtype\n SinkBasinType - rtype\n DresserType - rtype\n LaundryHamperType - rtype\n TVStandType - rtype\n BathtubBasinType - rtype\n CabinetType - rtype\n FridgeType - rtype\n DeskType - rtype\n ToiletType - rtype\n CartType - rtype\n SideTableType - rtype\n SofaType - rtype\n CoffeeTableType - rtype\n DiningTableType - rtype\n CounterTopType - rtype\n GarbageCanType - rtype\n ArmChairType - rtype\n ShelfType - rtype\n MicrowaveType - rtype\n ToasterType - rtype\n BedType - rtype\n PaintingHangerType - rtype\n TowelHolderType - rtype\n ToiletPaperHangerType - rtype\n StoveBurnerType - rtype\n OttomanType - rtype\n\n\n Bathtub_bar__minus_00_dot_44_bar__plus_00_dot_18_bar__plus_01_dot_58 - object\n Candle_bar__minus_02_dot_60_bar__plus_00_dot_92_bar__plus_03_dot_11 - object\n Cloth_bar__minus_02_dot_72_bar__plus_01_dot_66_bar__plus_03_dot_11 - object\n DishSponge_bar__minus_02_dot_90_bar__plus_01_dot_08_bar__plus_00_dot_52 - object\n Faucet_bar__minus_00_dot_77_bar__plus_00_dot_42_bar__plus_01_dot_00 - object\n Faucet_bar__minus_02_dot_93_bar__plus_00_dot_98_bar__plus_02_dot_23 - object\n HandTowel_bar__minus_02_dot_70_bar__plus_01_dot_52_bar__plus_02_dot_87 - object\n LightSwitch_bar__minus_01_dot_68_bar__plus_01_dot_44_bar__plus_03_dot_61 - object\n Mirror_bar__minus_02_dot_97_bar__plus_01_dot_61_bar__plus_02_dot_27 - object\n PaperTowelRoll_bar__minus_02_dot_53_bar__plus_01_dot_03_bar__plus_02_dot_65 - object\n Plunger_bar__minus_02_dot_84_bar__plus_00_dot_00_bar__plus_00_dot_13 - object\n ScrubBrush_bar__minus_02_dot_83_bar__plus_00_dot_00_bar__plus_00_dot_30 - object\n Sink_bar__minus_02_dot_72_bar__plus_00_dot_86_bar__plus_02_dot_23 - object\n SoapBar_bar__minus_02_dot_74_bar__plus_00_dot_94_bar__plus_02_dot_08 - object\n SoapBottle_bar__minus_02_dot_60_bar__plus_00_dot_93_bar__plus_01_dot_67 - object\n SprayBottle_bar__minus_02_dot_61_bar__plus_00_dot_09_bar__plus_01_dot_88 - object\n ToiletPaper_bar__minus_00_dot_23_bar__plus_00_dot_05_bar__plus_00_dot_27 - object\n ToiletPaper_bar__minus_02_dot_70_bar__plus_01_dot_20_bar__plus_01_dot_52 - object\n Towel_bar__minus_00_dot_11_bar__plus_01_dot_51_bar__plus_01_dot_94 - object\n Window_bar__minus_02_dot_26_bar__plus_01_dot_66_bar__minus_00_dot_02 - object\n Bathtub_bar__minus_00_dot_44_bar__plus_00_dot_18_bar__plus_01_dot_58_bar_BathtubBasin - receptacle\n Cabinet_bar__minus_02_dot_41_bar__plus_00_dot_37_bar__plus_01_dot_59 - receptacle\n Cabinet_bar__minus_02_dot_41_bar__plus_00_dot_37_bar__plus_02_dot_04 - receptacle\n Cabinet_bar__minus_02_dot_41_bar__plus_00_dot_37_bar__plus_02_dot_86 - receptacle\n Cabinet_bar__minus_02_dot_41_bar__plus_00_dot_37_bar__plus_02_dot_91 - receptacle\n Cabinet_bar__minus_02_dot_41_bar__plus_00_dot_37_bar__plus_03_dot_57 - receptacle\n Cabinet_bar__minus_02_dot_41_bar__plus_01_dot_26_bar__plus_02_dot_91 - receptacle\n Cabinet_bar__minus_02_dot_41_bar__plus_01_dot_26_bar__plus_03_dot_57 - receptacle\n Cabinet_bar__minus_02_dot_41_bar__plus_02_dot_02_bar__plus_02_dot_91 - receptacle\n Cabinet_bar__minus_02_dot_41_bar__plus_02_dot_02_bar__plus_03_dot_57 - receptacle\n CounterTop_bar__minus_02_dot_61_bar__plus_01_dot_24_bar__plus_01_dot_46 - receptacle\n CounterTop_bar__minus_02_dot_69_bar__plus_00_dot_97_bar__plus_02_dot_26 - receptacle\n Drawer_bar__minus_02_dot_64_bar__plus_00_dot_77_bar__plus_03_dot_24 - receptacle\n GarbageCan_bar__minus_00_dot_21_bar__plus_00_dot_00_bar__plus_00_dot_25 - receptacle\n HandTowelHolder_bar__minus_02_dot_70_bar__plus_01_dot_62_bar__plus_02_dot_91 - receptacle\n Sink_bar__minus_02_dot_72_bar__plus_00_dot_86_bar__plus_02_dot_23_bar_SinkBasin - receptacle\n ToiletPaperHanger_bar__minus_02_dot_29_bar__plus_00_dot_91_bar__plus_00_dot_00 - receptacle\n Toilet_bar__minus_02_dot_58_bar__plus_00_dot_03_bar__plus_00_dot_66 - receptacle\n TowelHolder_bar__plus_00_dot_00_bar__plus_01_dot_50_bar__plus_01_dot_94 - receptacle\n loc_bar__minus_7_bar_12_bar_3_bar_45 - location\n loc_bar__minus_6_bar_12_bar_3_bar_30 - location\n loc_bar__minus_7_bar_2_bar_2_bar_0 - location\n loc_bar__minus_5_bar_8_bar_1_bar_0 - location\n loc_bar__minus_4_bar_11_bar_2_bar_45 - location\n loc_bar__minus_7_bar_12_bar_3_bar_0 - location\n loc_bar__minus_6_bar_11_bar_3_bar_60 - location\n loc_bar__minus_5_bar_6_bar_1_bar_60 - location\n loc_bar__minus_7_bar_12_bar_0_bar_15 - location\n loc_bar__minus_7_bar_2_bar_3_bar_60 - location\n loc_bar__minus_8_bar_9_bar_3_bar_0 - location\n loc_bar__minus_8_bar_5_bar_2_bar_60 - location\n loc_bar__minus_7_bar_12_bar_3_bar__minus_30 - location\n loc_bar__minus_8_bar_10_bar_3_bar_45 - location\n loc_bar__minus_7_bar_12_bar_3_bar_30 - location\n loc_bar__minus_2_bar_2_bar_1_bar_60 - location\n loc_bar__minus_6_bar_7_bar_3_bar_60 - location\n loc_bar__minus_8_bar_5_bar_3_bar_30 - location\n loc_bar__minus_8_bar_9_bar_3_bar_45 - location\n loc_bar__minus_6_bar_12_bar_3_bar_60 - location\n loc_bar__minus_6_bar_9_bar_3_bar_60 - location\n loc_bar__minus_6_bar_11_bar_1_bar_30 - location\n )\n \n\n(:init\n\n\n (receptacleType HandTowelHolder_bar__minus_02_dot_70_bar__plus_01_dot_62_bar__plus_02_dot_91 HandTowelHolderType)\n (receptacleType Cabinet_bar__minus_02_dot_41_bar__plus_02_dot_02_bar__plus_03_dot_57 CabinetType)\n (receptacleType TowelHolder_bar__plus_00_dot_00_bar__plus_01_dot_50_bar__plus_01_dot_94 TowelHolderType)\n (receptacleType Drawer_bar__minus_02_dot_64_bar__plus_00_dot_77_bar__plus_03_dot_24 DrawerType)\n (receptacleType GarbageCan_bar__minus_00_dot_21_bar__plus_00_dot_00_bar__plus_00_dot_25 GarbageCanType)\n (receptacleType Cabinet_bar__minus_02_dot_41_bar__plus_02_dot_02_bar__plus_02_dot_91 CabinetType)\n (receptacleType Cabinet_bar__minus_02_dot_41_bar__plus_00_dot_37_bar__plus_01_dot_59 CabinetType)\n (receptacleType Cabinet_bar__minus_02_dot_41_bar__plus_00_dot_37_bar__plus_02_dot_04 CabinetType)\n (receptacleType Cabinet_bar__minus_02_dot_41_bar__plus_00_dot_37_bar__plus_02_dot_91 CabinetType)\n (receptacleType ToiletPaperHanger_bar__minus_02_dot_29_bar__plus_00_dot_91_bar__plus_00_dot_00 ToiletPaperHangerType)\n (receptacleType Cabinet_bar__minus_02_dot_41_bar__plus_00_dot_37_bar__plus_02_dot_86 CabinetType)\n (receptacleType CounterTop_bar__minus_02_dot_69_bar__plus_00_dot_97_bar__plus_02_dot_26 CounterTopType)\n (receptacleType Bathtub_bar__minus_00_dot_44_bar__plus_00_dot_18_bar__plus_01_dot_58_bar_BathtubBasin BathtubBasinType)\n (receptacleType Sink_bar__minus_02_dot_72_bar__plus_00_dot_86_bar__plus_02_dot_23_bar_SinkBasin SinkBasinType)\n (receptacleType Cabinet_bar__minus_02_dot_41_bar__plus_01_dot_26_bar__plus_03_dot_57 CabinetType)\n (receptacleType CounterTop_bar__minus_02_dot_61_bar__plus_01_dot_24_bar__plus_01_dot_46 CounterTopType)\n (receptacleType Cabinet_bar__minus_02_dot_41_bar__plus_01_dot_26_bar__plus_02_dot_91 CabinetType)\n (receptacleType Cabinet_bar__minus_02_dot_41_bar__plus_00_dot_37_bar__plus_03_dot_57 CabinetType)\n (receptacleType Toilet_bar__minus_02_dot_58_bar__plus_00_dot_03_bar__plus_00_dot_66 ToiletType)\n (objectType Bathtub_bar__minus_00_dot_44_bar__plus_00_dot_18_bar__plus_01_dot_58 BathtubType)\n (objectType Candle_bar__minus_02_dot_60_bar__plus_00_dot_92_bar__plus_03_dot_11 CandleType)\n (objectType ScrubBrush_bar__minus_02_dot_83_bar__plus_00_dot_00_bar__plus_00_dot_30 ScrubBrushType)\n (objectType DishSponge_bar__minus_02_dot_90_bar__plus_01_dot_08_bar__plus_00_dot_52 DishSpongeType)\n (objectType Towel_bar__minus_00_dot_11_bar__plus_01_dot_51_bar__plus_01_dot_94 TowelType)\n (objectType SoapBar_bar__minus_02_dot_74_bar__plus_00_dot_94_bar__plus_02_dot_08 SoapBarType)\n (objectType HandTowel_bar__minus_02_dot_70_bar__plus_01_dot_52_bar__plus_02_dot_87 HandTowelType)\n (objectType Cloth_bar__minus_02_dot_72_bar__plus_01_dot_66_bar__plus_03_dot_11 ClothType)\n (objectType ToiletPaper_bar__minus_02_dot_70_bar__plus_01_dot_20_bar__plus_01_dot_52 ToiletPaperType)\n (objectType Mirror_bar__minus_02_dot_97_bar__plus_01_dot_61_bar__plus_02_dot_27 MirrorType)\n (objectType SoapBottle_bar__minus_02_dot_60_bar__plus_00_dot_93_bar__plus_01_dot_67 SoapBottleType)\n (objectType LightSwitch_bar__minus_01_dot_68_bar__plus_01_dot_44_bar__plus_03_dot_61 LightSwitchType)\n (objectType Plunger_bar__minus_02_dot_84_bar__plus_00_dot_00_bar__plus_00_dot_13 PlungerType)\n (objectType SprayBottle_bar__minus_02_dot_61_bar__plus_00_dot_09_bar__plus_01_dot_88 SprayBottleType)\n (objectType Sink_bar__minus_02_dot_72_bar__plus_00_dot_86_bar__plus_02_dot_23 SinkType)\n (objectType PaperTowelRoll_bar__minus_02_dot_53_bar__plus_01_dot_03_bar__plus_02_dot_65 PaperTowelRollType)\n (objectType ToiletPaper_bar__minus_00_dot_23_bar__plus_00_dot_05_bar__plus_00_dot_27 ToiletPaperType)\n (objectType Window_bar__minus_02_dot_26_bar__plus_01_dot_66_bar__minus_00_dot_02 WindowType)\n (canContain HandTowelHolderType HandTowelType)\n (canContain CabinetType CandleType)\n (canContain CabinetType SoapBarType)\n (canContain CabinetType DishSpongeType)\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 DrawerType CandleType)\n (canContain DrawerType SoapBarType)\n (canContain DrawerType DishSpongeType)\n (canContain DrawerType SprayBottleType)\n (canContain DrawerType ToiletPaperType)\n (canContain DrawerType SoapBottleType)\n (canContain DrawerType ClothType)\n (canContain DrawerType HandTowelType)\n (canContain GarbageCanType SoapBarType)\n (canContain GarbageCanType DishSpongeType)\n (canContain GarbageCanType SprayBottleType)\n (canContain GarbageCanType ToiletPaperType)\n (canContain GarbageCanType SoapBottleType)\n (canContain GarbageCanType ClothType)\n (canContain GarbageCanType HandTowelType)\n (canContain CabinetType CandleType)\n (canContain CabinetType SoapBarType)\n (canContain CabinetType DishSpongeType)\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 DishSpongeType)\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 DishSpongeType)\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 DishSpongeType)\n (canContain CabinetType SprayBottleType)\n (canContain CabinetType ToiletPaperType)\n (canContain CabinetType SoapBottleType)\n (canContain CabinetType ClothType)\n (canContain CabinetType HandTowelType)\n (canContain CabinetType PlungerType)\n (canContain ToiletPaperHangerType ToiletPaperType)\n (canContain CabinetType CandleType)\n (canContain CabinetType SoapBarType)\n (canContain CabinetType DishSpongeType)\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 DishSpongeType)\n (canContain CounterTopType SoapBarType)\n (canContain CounterTopType SprayBottleType)\n (canContain CounterTopType ToiletPaperType)\n (canContain CounterTopType SoapBottleType)\n (canContain CounterTopType ClothType)\n (canContain CounterTopType HandTowelType)\n (canContain BathtubBasinType ClothType)\n (canContain BathtubBasinType HandTowelType)\n (canContain BathtubBasinType SoapBarType)\n (canContain BathtubBasinType DishSpongeType)\n (canContain SinkBasinType SoapBarType)\n (canContain SinkBasinType DishSpongeType)\n (canContain SinkBasinType ClothType)\n (canContain SinkBasinType HandTowelType)\n (canContain CabinetType CandleType)\n (canContain CabinetType SoapBarType)\n (canContain CabinetType DishSpongeType)\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 DishSpongeType)\n (canContain CounterTopType SoapBarType)\n (canContain CounterTopType SprayBottleType)\n (canContain CounterTopType ToiletPaperType)\n (canContain CounterTopType SoapBottleType)\n (canContain CounterTopType ClothType)\n (canContain CounterTopType HandTowelType)\n (canContain CabinetType CandleType)\n (canContain CabinetType SoapBarType)\n (canContain CabinetType DishSpongeType)\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 DishSpongeType)\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 DishSpongeType)\n (canContain ToiletType SprayBottleType)\n (pickupable Candle_bar__minus_02_dot_60_bar__plus_00_dot_92_bar__plus_03_dot_11)\n (pickupable ScrubBrush_bar__minus_02_dot_83_bar__plus_00_dot_00_bar__plus_00_dot_30)\n (pickupable DishSponge_bar__minus_02_dot_90_bar__plus_01_dot_08_bar__plus_00_dot_52)\n (pickupable Towel_bar__minus_00_dot_11_bar__plus_01_dot_51_bar__plus_01_dot_94)\n (pickupable SoapBar_bar__minus_02_dot_74_bar__plus_00_dot_94_bar__plus_02_dot_08)\n (pickupable HandTowel_bar__minus_02_dot_70_bar__plus_01_dot_52_bar__plus_02_dot_87)\n (pickupable Cloth_bar__minus_02_dot_72_bar__plus_01_dot_66_bar__plus_03_dot_11)\n (pickupable ToiletPaper_bar__minus_02_dot_70_bar__plus_01_dot_20_bar__plus_01_dot_52)\n (pickupable SoapBottle_bar__minus_02_dot_60_bar__plus_00_dot_93_bar__plus_01_dot_67)\n (pickupable Plunger_bar__minus_02_dot_84_bar__plus_00_dot_00_bar__plus_00_dot_13)\n (pickupable SprayBottle_bar__minus_02_dot_61_bar__plus_00_dot_09_bar__plus_01_dot_88)\n (pickupable PaperTowelRoll_bar__minus_02_dot_53_bar__plus_01_dot_03_bar__plus_02_dot_65)\n (pickupable ToiletPaper_bar__minus_00_dot_23_bar__plus_00_dot_05_bar__plus_00_dot_27)\n \n (openable Cabinet_bar__minus_02_dot_41_bar__plus_02_dot_02_bar__plus_03_dot_57)\n (openable Cabinet_bar__minus_02_dot_41_bar__plus_02_dot_02_bar__plus_02_dot_91)\n (openable Cabinet_bar__minus_02_dot_41_bar__plus_00_dot_37_bar__plus_01_dot_59)\n (openable Cabinet_bar__minus_02_dot_41_bar__plus_00_dot_37_bar__plus_02_dot_04)\n (openable Cabinet_bar__minus_02_dot_41_bar__plus_00_dot_37_bar__plus_02_dot_91)\n (openable Cabinet_bar__minus_02_dot_41_bar__plus_00_dot_37_bar__plus_02_dot_86)\n (openable Cabinet_bar__minus_02_dot_41_bar__plus_01_dot_26_bar__plus_03_dot_57)\n (openable Cabinet_bar__minus_02_dot_41_bar__plus_01_dot_26_bar__plus_02_dot_91)\n (openable Cabinet_bar__minus_02_dot_41_bar__plus_00_dot_37_bar__plus_03_dot_57)\n \n (atLocation agent1 loc_bar__minus_6_bar_11_bar_1_bar_30)\n \n (cleanable DishSponge_bar__minus_02_dot_90_bar__plus_01_dot_08_bar__plus_00_dot_52)\n (cleanable SoapBar_bar__minus_02_dot_74_bar__plus_00_dot_94_bar__plus_02_dot_08)\n (cleanable Cloth_bar__minus_02_dot_72_bar__plus_01_dot_66_bar__plus_03_dot_11)\n \n \n \n \n \n \n \n \n \n \n (inReceptacle Candle_bar__minus_02_dot_60_bar__plus_00_dot_92_bar__plus_03_dot_11 Cabinet_bar__minus_02_dot_41_bar__plus_01_dot_26_bar__plus_02_dot_91)\n (inReceptacle Cloth_bar__minus_02_dot_72_bar__plus_01_dot_66_bar__plus_03_dot_11 Cabinet_bar__minus_02_dot_41_bar__plus_02_dot_02_bar__plus_02_dot_91)\n (inReceptacle SprayBottle_bar__minus_02_dot_61_bar__plus_00_dot_09_bar__plus_01_dot_88 Cabinet_bar__minus_02_dot_41_bar__plus_00_dot_37_bar__plus_01_dot_59)\n (inReceptacle SoapBottle_bar__minus_02_dot_60_bar__plus_00_dot_93_bar__plus_01_dot_67 CounterTop_bar__minus_02_dot_69_bar__plus_00_dot_97_bar__plus_02_dot_26)\n (inReceptacle Sink_bar__minus_02_dot_72_bar__plus_00_dot_86_bar__plus_02_dot_23 CounterTop_bar__minus_02_dot_69_bar__plus_00_dot_97_bar__plus_02_dot_26)\n (inReceptacle PaperTowelRoll_bar__minus_02_dot_53_bar__plus_01_dot_03_bar__plus_02_dot_65 CounterTop_bar__minus_02_dot_69_bar__plus_00_dot_97_bar__plus_02_dot_26)\n (inReceptacle ToiletPaper_bar__minus_02_dot_70_bar__plus_01_dot_20_bar__plus_01_dot_52 CounterTop_bar__minus_02_dot_61_bar__plus_01_dot_24_bar__plus_01_dot_46)\n (inReceptacle Towel_bar__minus_00_dot_11_bar__plus_01_dot_51_bar__plus_01_dot_94 TowelHolder_bar__plus_00_dot_00_bar__plus_01_dot_50_bar__plus_01_dot_94)\n (inReceptacle HandTowel_bar__minus_02_dot_70_bar__plus_01_dot_52_bar__plus_02_dot_87 HandTowelHolder_bar__minus_02_dot_70_bar__plus_01_dot_62_bar__plus_02_dot_91)\n (inReceptacle SoapBar_bar__minus_02_dot_74_bar__plus_00_dot_94_bar__plus_02_dot_08 Sink_bar__minus_02_dot_72_bar__plus_00_dot_86_bar__plus_02_dot_23_bar_SinkBasin)\n (inReceptacle ToiletPaper_bar__minus_00_dot_23_bar__plus_00_dot_05_bar__plus_00_dot_27 GarbageCan_bar__minus_00_dot_21_bar__plus_00_dot_00_bar__plus_00_dot_25)\n (inReceptacle DishSponge_bar__minus_02_dot_90_bar__plus_01_dot_08_bar__plus_00_dot_52 Toilet_bar__minus_02_dot_58_bar__plus_00_dot_03_bar__plus_00_dot_66)\n \n \n (receptacleAtLocation Bathtub_bar__minus_00_dot_44_bar__plus_00_dot_18_bar__plus_01_dot_58_bar_BathtubBasin loc_bar__minus_4_bar_11_bar_2_bar_45)\n (receptacleAtLocation Cabinet_bar__minus_02_dot_41_bar__plus_00_dot_37_bar__plus_01_dot_59 loc_bar__minus_6_bar_9_bar_3_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_02_dot_41_bar__plus_00_dot_37_bar__plus_02_dot_04 loc_bar__minus_6_bar_7_bar_3_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_02_dot_41_bar__plus_00_dot_37_bar__plus_02_dot_86 loc_bar__minus_6_bar_9_bar_3_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_02_dot_41_bar__plus_00_dot_37_bar__plus_02_dot_91 loc_bar__minus_6_bar_11_bar_3_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_02_dot_41_bar__plus_00_dot_37_bar__plus_03_dot_57 loc_bar__minus_6_bar_12_bar_3_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_02_dot_41_bar__plus_01_dot_26_bar__plus_02_dot_91 loc_bar__minus_7_bar_12_bar_3_bar_30)\n (receptacleAtLocation Cabinet_bar__minus_02_dot_41_bar__plus_01_dot_26_bar__plus_03_dot_57 loc_bar__minus_6_bar_12_bar_3_bar_30)\n (receptacleAtLocation Cabinet_bar__minus_02_dot_41_bar__plus_02_dot_02_bar__plus_02_dot_91 loc_bar__minus_7_bar_12_bar_3_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_02_dot_41_bar__plus_02_dot_02_bar__plus_03_dot_57 loc_bar__minus_7_bar_12_bar_3_bar__minus_30)\n (receptacleAtLocation CounterTop_bar__minus_02_dot_61_bar__plus_01_dot_24_bar__plus_01_dot_46 loc_bar__minus_8_bar_5_bar_3_bar_30)\n (receptacleAtLocation CounterTop_bar__minus_02_dot_69_bar__plus_00_dot_97_bar__plus_02_dot_26 loc_bar__minus_8_bar_10_bar_3_bar_45)\n (receptacleAtLocation Drawer_bar__minus_02_dot_64_bar__plus_00_dot_77_bar__plus_03_dot_24 loc_bar__minus_7_bar_12_bar_3_bar_45)\n (receptacleAtLocation GarbageCan_bar__minus_00_dot_21_bar__plus_00_dot_00_bar__plus_00_dot_25 loc_bar__minus_2_bar_2_bar_1_bar_60)\n (receptacleAtLocation HandTowelHolder_bar__minus_02_dot_70_bar__plus_01_dot_62_bar__plus_02_dot_91 loc_bar__minus_7_bar_12_bar_3_bar_0)\n (receptacleAtLocation Sink_bar__minus_02_dot_72_bar__plus_00_dot_86_bar__plus_02_dot_23_bar_SinkBasin loc_bar__minus_8_bar_9_bar_3_bar_45)\n (receptacleAtLocation ToiletPaperHanger_bar__minus_02_dot_29_bar__plus_00_dot_91_bar__plus_00_dot_00 loc_bar__minus_7_bar_2_bar_3_bar_60)\n (receptacleAtLocation Toilet_bar__minus_02_dot_58_bar__plus_00_dot_03_bar__plus_00_dot_66 loc_bar__minus_8_bar_5_bar_2_bar_60)\n (receptacleAtLocation TowelHolder_bar__plus_00_dot_00_bar__plus_01_dot_50_bar__plus_01_dot_94 loc_bar__minus_5_bar_8_bar_1_bar_0)\n (objectAtLocation Mirror_bar__minus_02_dot_97_bar__plus_01_dot_61_bar__plus_02_dot_27 loc_bar__minus_8_bar_9_bar_3_bar_0)\n (objectAtLocation Bathtub_bar__minus_00_dot_44_bar__plus_00_dot_18_bar__plus_01_dot_58 loc_bar__minus_5_bar_6_bar_1_bar_60)\n (objectAtLocation Sink_bar__minus_02_dot_72_bar__plus_00_dot_86_bar__plus_02_dot_23 loc_bar__minus_8_bar_10_bar_3_bar_45)\n (objectAtLocation Towel_bar__minus_00_dot_11_bar__plus_01_dot_51_bar__plus_01_dot_94 loc_bar__minus_5_bar_8_bar_1_bar_0)\n (objectAtLocation Candle_bar__minus_02_dot_60_bar__plus_00_dot_92_bar__plus_03_dot_11 loc_bar__minus_7_bar_12_bar_3_bar_30)\n (objectAtLocation SoapBottle_bar__minus_02_dot_60_bar__plus_00_dot_93_bar__plus_01_dot_67 loc_bar__minus_8_bar_10_bar_3_bar_45)\n (objectAtLocation HandTowel_bar__minus_02_dot_70_bar__plus_01_dot_52_bar__plus_02_dot_87 loc_bar__minus_7_bar_12_bar_3_bar_0)\n (objectAtLocation Plunger_bar__minus_02_dot_84_bar__plus_00_dot_00_bar__plus_00_dot_13 loc_bar__minus_7_bar_2_bar_3_bar_60)\n (objectAtLocation SoapBar_bar__minus_02_dot_74_bar__plus_00_dot_94_bar__plus_02_dot_08 loc_bar__minus_8_bar_9_bar_3_bar_45)\n (objectAtLocation ToiletPaper_bar__minus_02_dot_70_bar__plus_01_dot_20_bar__plus_01_dot_52 loc_bar__minus_8_bar_5_bar_3_bar_30)\n (objectAtLocation Cloth_bar__minus_02_dot_72_bar__plus_01_dot_66_bar__plus_03_dot_11 loc_bar__minus_7_bar_12_bar_3_bar__minus_30)\n (objectAtLocation ToiletPaper_bar__minus_00_dot_23_bar__plus_00_dot_05_bar__plus_00_dot_27 loc_bar__minus_2_bar_2_bar_1_bar_60)\n (objectAtLocation Window_bar__minus_02_dot_26_bar__plus_01_dot_66_bar__minus_00_dot_02 loc_bar__minus_7_bar_2_bar_2_bar_0)\n (objectAtLocation SprayBottle_bar__minus_02_dot_61_bar__plus_00_dot_09_bar__plus_01_dot_88 loc_bar__minus_6_bar_9_bar_3_bar_60)\n (objectAtLocation PaperTowelRoll_bar__minus_02_dot_53_bar__plus_01_dot_03_bar__plus_02_dot_65 loc_bar__minus_8_bar_10_bar_3_bar_45)\n (objectAtLocation ScrubBrush_bar__minus_02_dot_83_bar__plus_00_dot_00_bar__plus_00_dot_30 loc_bar__minus_7_bar_2_bar_3_bar_60)\n (objectAtLocation LightSwitch_bar__minus_01_dot_68_bar__plus_01_dot_44_bar__plus_03_dot_61 loc_bar__minus_7_bar_12_bar_0_bar_15)\n (objectAtLocation DishSponge_bar__minus_02_dot_90_bar__plus_01_dot_08_bar__plus_00_dot_52 loc_bar__minus_8_bar_5_bar_2_bar_60)\n )\n \n\n (:goal\n (and\n (exists (?r - receptacle)\n (exists (?o1 - object)\n (and\n (objectType ?o1 ToiletPaperType)\n (receptacleType ?r CabinetType)\n (inReceptacle ?o1 ?r)\n (exists (?o2 - object)\n (and\n (not (= ?o1 ?o2))\n (objectType ?o2 ToiletPaperType)\n (receptacleType ?r CabinetType)\n (inReceptacle ?o2 ?r)\n )\n )\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to garbagecan 1", "take toiletpaper 2 from garbagecan 1", "go to cabinet 6", "open cabinet 6", "move toiletpaper 2 to cabinet 6", "go to countertop 2", "take toiletpaper 1 from countertop 2", "go to cabinet 6", "move toiletpaper 1 to cabinet 6"]}
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alfworld__pick_two_obj_and_place__2
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pick_two_obj_and_place
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pick_two_obj_and_place-ToiletPaper-None-Cabinet-414/trial_T20190909_090552_106177/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 toiletpaper and put them in cabinet.\"\n }\n ],\n\n \"GotoLocation.feedback\": [\n {\n \"rhs\": \"You arrive at {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"OpenObject.feedback\": [\n {\n \"rhs\": \"You open the {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"CloseObject.feedback\": [\n {\n \"rhs\": \"You close the {r.name}.\"\n }\n ],\n\n \"PickupObject.feedback\": [\n {\n \"rhs\": \"You pick up the {o.name} from the {r.name}.\"\n }\n ],\n\n \"PickupObjectFromReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupObjectFromReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupEmptyReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupEmptyReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupFullReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupFullReceptacleObject: You pick up the {outerr.name}.\"\n }\n ],\n\n \"PutObject.feedback\": [\n {\n \"rhs\": \"You move the {o.name} to the {r.name}.\"\n }\n ],\n\n \"PutObjectInReceptacleObject.feedback\": [\n {\n \"rhs\": \"PutObjectInReceptacleObject: You put the {o.name} in the {outero.name}.\"\n }\n ],\n\n \"PutEmptyReceptacleObjectinReceptacle.feedback\": [\n {\n \"rhs\": \"PutEmptyReceptacleObjectinReceptacle: You put the {o.name} in the {r.name}.\"\n }\n ],\n\n \"PutFullReceptacleObjectInReceptacle.feedback\": [\n {\n \"rhs\": \"PutFullReceptacleObjectInReceptacle: You put the {outero.name} in the {r.name}.\"\n }\n ],\n\n \"inventory.feedback\": [\n {\n \"condition\": \"holdsany(a:agent)\",\n \"rhs\": \"You are carrying: [{o.indefinite + ' ' + o.name | holds(a:agent, o:object)}].\"\n },\n {\n \"rhs\": \"You are not carrying anything.\"\n }\n ],\n\n \"examineReceptacle.feedback\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \"The {r.name} is open. In it, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \"The {r.name} is closed.\"\n },\n {\n \"rhs\": \"On the {r.name}, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n }\n ],\n\n \"examineObject.feedback\": [\n {\n \"condition\": \"isreceptacleobject(o:object)\",\n \"rhs\": \"This is a normal {o.name}. In it, you see [{o2.indefinite + ' ' + o2.name | inreceptacleobject(o2:object, o:object)}].\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a clean sliced {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot sliced {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object)\",\n \"rhs\": \"This is a hot and clean {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object)\",\n \"rhs\": \"This is a cool and clean {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object)\",\n \"rhs\": \"This is a hot {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object)\",\n \"rhs\": \"This is a clean {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object)\",\n \"rhs\": \"This is a cold {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"This {o.name} is on.\"\n },\n {\n \"condition\": \"toggleable(o:object) & not_istoggled(o:object)\",\n \"rhs\": \"This {o.name} is off.\"\n },\n {\n \"condition\": \"sliceable(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a sliced {o.name}.\"\n },\n {\n \"rhs\": \"There's nothing special about {o.name}.\"\n }\n ]\n }\n\"\"\";\n\naction GotoLocation {\n template :: \"go to [{r.name | receptacleatlocation(r:receptacle, lend:location)}]\";\n feedback :: \"#GotoLocation.feedback#\";\n}\n\naction OpenObject {\n template :: \"open {r}\";\n feedback :: \"#OpenObject.feedback#\";\n}\n\naction CloseObject {\n template :: \"close {r}\";\n feedback :: \"#CloseObject.feedback#\";\n}\n\naction PickupObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObject.feedback#\";\n}\n\naction PickupObjectFromReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObjectFromReceptacleObject.feedback#\";\n}\n\naction PickupEmptyReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupEmptyReceptacleObject.feedback#\";\n}\n\naction PickupFullReceptacleObject {\n template :: \"take {outerr} from {r}\";\n feedback :: \"#PickupFullReceptacleObject.feedback#\";\n}\n\naction PutObject {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutObject.feedback#\";\n}\n\naction PutObjectInReceptacleObject {\n template :: \"put {o} into {outero}\";\n feedback :: \"#PutObjectInReceptacleObject.feedback#\";\n}\n\naction PutEmptyReceptacleObjectinReceptacle {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutEmptyReceptacleObjectinReceptacle.feedback#\";\n}\n\naction PutFullReceptacleObjectInReceptacle {\n template :: \"put {outero} in {r}\";\n feedback :: \"#PutFullReceptacleObjectInReceptacle.feedback#\";\n}\n\naction inventory {\n template :: \"inventory\";\n feedback :: \"#inventory.feedback#\";\n}\n\naction examineReceptacle {\n template :: \"examine {r}\";\n feedback :: \"#examineReceptacle.feedback#\";\n}\n\naction examineObject {\n template :: \"examine {o}\";\n feedback :: \"#examineObject.feedback#\";\n}\n\naction ToggleObject {\n template :: \"use {o}\";\n feedback :: \"#toggleObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"toggleObject.feedback\": [\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"You turn on the {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object)\",\n \"rhs\": \"You turn off the {o.name}.\"\n },\n {\n \"rhs\": \"You don't see any switch on the {o.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction HeatObject {\n template :: \"heat {o} with {r}\";\n feedback :: \"#heatObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"heatObject.feedback\": [\n {\n \"rhs\": \"You heat the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CleanObject {\n template :: \"clean {o} with {r}\";\n feedback :: \"#cleanObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"cleanObject.feedback\": [\n {\n \"rhs\": \"You clean the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CoolObject {\n template :: \"cool {o} with {r}\";\n feedback :: \"#coolObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"coolObject.feedback\": [\n {\n \"rhs\": \"You cool the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction SliceObject {\n template :: \"slice {co} with {ko}\";\n feedback :: \"#sliceObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"sliceObject.feedback\": [\n {\n \"rhs\": \"You sliced the {co.name} with the {ko.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction look {\n template :: \"look\";\n feedback :: \"#look.feedback#\";\n\n grammar :: \"\"\"\n {\n \"look.feedback\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"#look-variations#. Next to it, you see #list_objects_on_the_floor#.\"\n },\n {\n \"rhs\": \"You are in the middle of a room. Looking quickly around you, you see #list_appliances#.\"\n }\n ],\n\n \"look-variations\": [\n {\n \"rhs\": \"You are facing the [{r.name | atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)}]\"\n }\n ],\n\n \"list_objects_on_the_floor\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)\",\n \"rhs\": \"[{#overview(o)# | atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"list_appliances\": [\n {\n \"condition\": \"receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"[{#overview(r)# | receptacleatlocation(r:receptacle, l:location)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"overview(o, r)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name} (in/on the {r.name})}\"\n }\n ],\n\n \"overview(o)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name}\"\n }\n ],\n \"overview(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}\"\n }\n ],\n \"overview_with_state(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}#overview_state(r)#\"\n }\n ],\n \"overview_state(r)\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \" (it is open)\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \" (it is closed)\"\n },\n {\n \"rhs\": \"\"\n }\n ],\n\n \"list_empty\": [\n {\n \"rhs\": \"nothing\"\n }\n ],\n \"list_separator\": [\n {\n \"rhs\": \", \"\n }\n ],\n \"list_last_separator\": [\n {\n \"rhs\": \", and \"\n }\n ]\n }\n \"\"\";\n}\n\naction help {\n template :: \"help\";\n feedback :: \"\nAvailable commands:\n look: look around your current location\n inventory: check your current inventory\n go to (receptacle): move to a receptacle\n open (receptacle): open a receptacle\n close (receptacle): close a receptacle\n take (object) from (receptacle): take an object from a receptacle\n move (object) to (receptacle): place an object in or on a receptacle\n examine (something): examine a receptacle or an object\n use (object): use an object\n heat (object) with (receptacle): heat an object using a receptacle\n clean (object) with (receptacle): clean an object using a receptacle\n cool (object) with (receptacle): cool an object using a receptacle\n slice (object) with (object): slice an object using a sharp object\n\";\n}\n", "pddl_problem": "\n(define (problem plan_trial_T20190909_090552_106177)\n(:domain alfred)\n(:objects\nagent1 - agent\nSaltShaker - object\n HousePlant - object\n Candle - object\n SprayBottle - object\n Bowl - object\n Window - object\n CD - object\n Egg - object\n Glassbottle - object\n Sink - object\n Pillow - object\n Spoon - object\n SoapBottle - object\n TeddyBear - object\n ButterKnife - object\n Cup - object\n Plate - object\n RemoteControl - object\n Tomato - object\n Statue - object\n HandTowel - object\n Knife - object\n StoveKnob - object\n LightSwitch - object\n Pen - object\n Painting - object\n DishSponge - object\n Vase - object\n Mug - object\n ToiletPaper - object\n Box - object\n Mirror - object\n Ladle - object\n Fork - object\n Blinds - object\n Footstool - object\n KeyChain - object\n Cloth - object\n Laptop - object\n TissueBox - object\n PepperShaker - object\n FloorLamp - object\n WateringCan - object\n Apple - object\n Pan - object\n PaperTowel - object\n PaperTowelRoll - object\n Newspaper - object\n Television - object\n Chair - object\n CellPhone - object\n CreditCard - object\n Lettuce - object\n BasketBall - object\n Potato - object\n Curtains - object\n Boots - object\n Pencil - object\n AlarmClock - object\n ToiletPaperRoll - object\n Spatula - object\n Book - object\n Bread - object\n SoapBar - object\n Watch - object\n DeskLamp - object\n Kettle - object\n Pot - object\n ScrubBrush - object\n WineBottle - object\n ShowerDoor - object\n Bathtub - object\n LaundryHamperLid - object\n ShowerGlass - object\n Poster - object\n TennisRacket - object\n BaseballBat - object\n Towel - object\n Plunger - object\nSaltShakerType - otype\n HousePlantType - otype\n CandleType - otype\n SprayBottleType - otype\n BowlType - otype\n WindowType - otype\n CDType - otype\n EggType - otype\n GlassbottleType - otype\n SinkType - otype\n PillowType - otype\n SpoonType - otype\n SoapBottleType - otype\n TeddyBearType - otype\n ButterKnifeType - otype\n CupType - otype\n PlateType - otype\n RemoteControlType - otype\n TomatoType - otype\n StatueType - otype\n HandTowelType - otype\n KnifeType - otype\n StoveKnobType - otype\n LightSwitchType - otype\n PenType - otype\n PaintingType - otype\n DishSpongeType - otype\n VaseType - otype\n MugType - otype\n ToiletPaperType - otype\n BoxType - otype\n MirrorType - otype\n LadleType - otype\n ForkType - otype\n BlindsType - otype\n FootstoolType - otype\n KeyChainType - otype\n ClothType - otype\n LaptopType - otype\n TissueBoxType - otype\n PepperShakerType - otype\n FloorLampType - otype\n WateringCanType - otype\n AppleType - otype\n PanType - otype\n PaperTowelType - otype\n PaperTowelRollType - otype\n NewspaperType - otype\n TelevisionType - otype\n ChairType - otype\n CellPhoneType - otype\n CreditCardType - otype\n LettuceType - otype\n BasketBallType - otype\n PotatoType - otype\n CurtainsType - otype\n BootsType - otype\n PencilType - otype\n AlarmClockType - otype\n ToiletPaperRollType - otype\n SpatulaType - otype\n BookType - otype\n BreadType - otype\n SoapBarType - otype\n WatchType - otype\n DeskLampType - otype\n KettleType - otype\n PotType - otype\n ScrubBrushType - otype\n WineBottleType - otype\n ShowerDoorType - otype\n BathtubType - otype\n LaundryHamperLidType - otype\n ShowerGlassType - otype\n PosterType - otype\n TennisRacketType - otype\n BaseballBatType - otype\n TowelType - otype\n PlungerType - otype\nSafeType - rtype\n DrawerType - rtype\n CoffeeMachineType - rtype\n HandTowelHolderType - rtype\n SinkBasinType - rtype\n DresserType - rtype\n LaundryHamperType - rtype\n TVStandType - rtype\n BathtubBasinType - rtype\n CabinetType - rtype\n FridgeType - rtype\n DeskType - rtype\n ToiletType - rtype\n CartType - rtype\n SideTableType - rtype\n SofaType - rtype\n CoffeeTableType - rtype\n DiningTableType - rtype\n CounterTopType - rtype\n GarbageCanType - rtype\n ArmChairType - rtype\n ShelfType - rtype\n MicrowaveType - rtype\n ToasterType - rtype\n BedType - rtype\n PaintingHangerType - rtype\n TowelHolderType - rtype\n ToiletPaperHangerType - rtype\n StoveBurnerType - rtype\n OttomanType - rtype\n\n\n Bathtub_bar__minus_00_dot_44_bar__plus_00_dot_18_bar__plus_01_dot_58 - object\n Candle_bar__minus_02_dot_52_bar__plus_01_dot_21_bar__plus_01_dot_49 - object\n Candle_bar__minus_02_dot_54_bar__plus_01_dot_67_bar__plus_03_dot_44 - object\n Cloth_bar__minus_02_dot_68_bar__plus_00_dot_93_bar__plus_01_dot_71 - object\n DishSponge_bar__minus_02_dot_55_bar__plus_00_dot_75_bar__plus_03_dot_31 - object\n DishSponge_bar__minus_02_dot_60_bar__plus_00_dot_75_bar__plus_03_dot_09 - object\n Faucet_bar__minus_00_dot_77_bar__plus_00_dot_42_bar__plus_01_dot_00 - object\n Faucet_bar__minus_02_dot_93_bar__plus_00_dot_98_bar__plus_02_dot_23 - object\n HandTowel_bar__minus_02_dot_70_bar__plus_01_dot_52_bar__plus_02_dot_87 - object\n LightSwitch_bar__minus_01_dot_68_bar__plus_01_dot_44_bar__plus_03_dot_61 - object\n Mirror_bar__minus_02_dot_97_bar__plus_01_dot_61_bar__plus_02_dot_27 - object\n PaperTowelRoll_bar__minus_00_dot_18_bar__plus_00_dot_16_bar__plus_00_dot_19 - object\n Plunger_bar__minus_02_dot_84_bar__plus_00_dot_00_bar__plus_00_dot_13 - object\n ScrubBrush_bar__minus_02_dot_83_bar__plus_00_dot_00_bar__plus_00_dot_30 - object\n Sink_bar__minus_02_dot_72_bar__plus_00_dot_86_bar__plus_02_dot_23 - object\n SoapBar_bar__minus_02_dot_49_bar__plus_00_dot_75_bar__plus_03_dot_09 - object\n SoapBar_bar__minus_02_dot_54_bar__plus_01_dot_66_bar__plus_03_dot_33 - object\n SoapBottle_bar__minus_02_dot_61_bar__plus_00_dot_90_bar__plus_03_dot_48 - object\n SoapBottle_bar__minus_02_dot_66_bar__plus_01_dot_66_bar__plus_03_dot_15 - object\n SoapBottle_bar__minus_02_dot_84_bar__plus_01_dot_08_bar__plus_00_dot_65 - object\n SprayBottle_bar__minus_02_dot_65_bar__plus_00_dot_09_bar__plus_03_dot_15 - object\n SprayBottle_bar__minus_02_dot_81_bar__plus_01_dot_08_bar__plus_00_dot_85 - object\n SprayBottle_bar__minus_02_dot_93_bar__plus_01_dot_08_bar__plus_00_dot_85 - object\n ToiletPaper_bar__minus_02_dot_43_bar__plus_01_dot_20_bar__plus_01_dot_49 - object\n ToiletPaper_bar__minus_02_dot_70_bar__plus_01_dot_20_bar__plus_01_dot_43 - object\n ToiletPaper_bar__minus_02_dot_90_bar__plus_01_dot_07_bar__plus_00_dot_46 - object\n Towel_bar__minus_00_dot_11_bar__plus_01_dot_51_bar__plus_01_dot_94 - object\n Window_bar__minus_02_dot_26_bar__plus_01_dot_66_bar__minus_00_dot_02 - object\n Bathtub_bar__minus_00_dot_44_bar__plus_00_dot_18_bar__plus_01_dot_58_bar_BathtubBasin - receptacle\n Cabinet_bar__minus_02_dot_41_bar__plus_00_dot_37_bar__plus_01_dot_59 - receptacle\n Cabinet_bar__minus_02_dot_41_bar__plus_00_dot_37_bar__plus_02_dot_04 - receptacle\n Cabinet_bar__minus_02_dot_41_bar__plus_00_dot_37_bar__plus_02_dot_86 - receptacle\n Cabinet_bar__minus_02_dot_41_bar__plus_00_dot_37_bar__plus_02_dot_91 - receptacle\n Cabinet_bar__minus_02_dot_41_bar__plus_00_dot_37_bar__plus_03_dot_57 - receptacle\n Cabinet_bar__minus_02_dot_41_bar__plus_01_dot_26_bar__plus_02_dot_91 - receptacle\n Cabinet_bar__minus_02_dot_41_bar__plus_01_dot_26_bar__plus_03_dot_57 - receptacle\n Cabinet_bar__minus_02_dot_41_bar__plus_02_dot_02_bar__plus_02_dot_91 - receptacle\n Cabinet_bar__minus_02_dot_41_bar__plus_02_dot_02_bar__plus_03_dot_57 - receptacle\n CounterTop_bar__minus_02_dot_61_bar__plus_01_dot_24_bar__plus_01_dot_46 - receptacle\n CounterTop_bar__minus_02_dot_69_bar__plus_00_dot_97_bar__plus_02_dot_26 - receptacle\n Drawer_bar__minus_02_dot_64_bar__plus_00_dot_77_bar__plus_03_dot_24 - receptacle\n GarbageCan_bar__minus_00_dot_21_bar__plus_00_dot_00_bar__plus_00_dot_25 - receptacle\n HandTowelHolder_bar__minus_02_dot_70_bar__plus_01_dot_62_bar__plus_02_dot_91 - receptacle\n Sink_bar__minus_02_dot_72_bar__plus_00_dot_86_bar__plus_02_dot_23_bar_SinkBasin - receptacle\n ToiletPaperHanger_bar__minus_02_dot_29_bar__plus_00_dot_91_bar__plus_00_dot_00 - receptacle\n Toilet_bar__minus_02_dot_58_bar__plus_00_dot_03_bar__plus_00_dot_66 - receptacle\n TowelHolder_bar__plus_00_dot_00_bar__plus_01_dot_50_bar__plus_01_dot_94 - receptacle\n loc_bar__minus_7_bar_12_bar_3_bar_45 - location\n loc_bar__minus_6_bar_12_bar_3_bar_30 - location\n loc_bar__minus_7_bar_2_bar_2_bar_0 - location\n loc_bar__minus_5_bar_8_bar_1_bar_0 - location\n loc_bar__minus_4_bar_11_bar_2_bar_45 - location\n loc_bar__minus_7_bar_12_bar_3_bar_0 - location\n loc_bar__minus_6_bar_11_bar_3_bar_60 - location\n loc_bar__minus_5_bar_6_bar_1_bar_60 - location\n loc_bar__minus_7_bar_12_bar_0_bar_15 - location\n loc_bar__minus_7_bar_2_bar_3_bar_60 - location\n loc_bar__minus_8_bar_9_bar_3_bar_0 - location\n loc_bar__minus_8_bar_5_bar_2_bar_60 - location\n loc_bar__minus_7_bar_12_bar_3_bar__minus_30 - location\n loc_bar__minus_8_bar_10_bar_3_bar_45 - location\n loc_bar__minus_7_bar_12_bar_3_bar_30 - location\n loc_bar__minus_2_bar_2_bar_1_bar_60 - location\n loc_bar__minus_6_bar_7_bar_3_bar_60 - location\n loc_bar__minus_8_bar_5_bar_3_bar_30 - location\n loc_bar__minus_8_bar_9_bar_3_bar_45 - location\n loc_bar__minus_6_bar_12_bar_3_bar_60 - location\n loc_bar__minus_6_bar_9_bar_3_bar_60 - location\n loc_bar__minus_5_bar_10_bar_0_bar_30 - location\n )\n \n\n(:init\n\n\n (receptacleType HandTowelHolder_bar__minus_02_dot_70_bar__plus_01_dot_62_bar__plus_02_dot_91 HandTowelHolderType)\n (receptacleType Cabinet_bar__minus_02_dot_41_bar__plus_02_dot_02_bar__plus_03_dot_57 CabinetType)\n (receptacleType TowelHolder_bar__plus_00_dot_00_bar__plus_01_dot_50_bar__plus_01_dot_94 TowelHolderType)\n (receptacleType Drawer_bar__minus_02_dot_64_bar__plus_00_dot_77_bar__plus_03_dot_24 DrawerType)\n (receptacleType GarbageCan_bar__minus_00_dot_21_bar__plus_00_dot_00_bar__plus_00_dot_25 GarbageCanType)\n (receptacleType Cabinet_bar__minus_02_dot_41_bar__plus_02_dot_02_bar__plus_02_dot_91 CabinetType)\n (receptacleType Cabinet_bar__minus_02_dot_41_bar__plus_00_dot_37_bar__plus_01_dot_59 CabinetType)\n (receptacleType Cabinet_bar__minus_02_dot_41_bar__plus_00_dot_37_bar__plus_02_dot_04 CabinetType)\n (receptacleType Cabinet_bar__minus_02_dot_41_bar__plus_00_dot_37_bar__plus_02_dot_91 CabinetType)\n (receptacleType ToiletPaperHanger_bar__minus_02_dot_29_bar__plus_00_dot_91_bar__plus_00_dot_00 ToiletPaperHangerType)\n (receptacleType Cabinet_bar__minus_02_dot_41_bar__plus_00_dot_37_bar__plus_02_dot_86 CabinetType)\n (receptacleType CounterTop_bar__minus_02_dot_69_bar__plus_00_dot_97_bar__plus_02_dot_26 CounterTopType)\n (receptacleType Bathtub_bar__minus_00_dot_44_bar__plus_00_dot_18_bar__plus_01_dot_58_bar_BathtubBasin BathtubBasinType)\n (receptacleType Sink_bar__minus_02_dot_72_bar__plus_00_dot_86_bar__plus_02_dot_23_bar_SinkBasin SinkBasinType)\n (receptacleType Cabinet_bar__minus_02_dot_41_bar__plus_01_dot_26_bar__plus_03_dot_57 CabinetType)\n (receptacleType CounterTop_bar__minus_02_dot_61_bar__plus_01_dot_24_bar__plus_01_dot_46 CounterTopType)\n (receptacleType Cabinet_bar__minus_02_dot_41_bar__plus_01_dot_26_bar__plus_02_dot_91 CabinetType)\n (receptacleType Cabinet_bar__minus_02_dot_41_bar__plus_00_dot_37_bar__plus_03_dot_57 CabinetType)\n (receptacleType Toilet_bar__minus_02_dot_58_bar__plus_00_dot_03_bar__plus_00_dot_66 ToiletType)\n (objectType Bathtub_bar__minus_00_dot_44_bar__plus_00_dot_18_bar__plus_01_dot_58 BathtubType)\n (objectType Candle_bar__minus_02_dot_54_bar__plus_01_dot_67_bar__plus_03_dot_44 CandleType)\n (objectType SprayBottle_bar__minus_02_dot_81_bar__plus_01_dot_08_bar__plus_00_dot_85 SprayBottleType)\n (objectType Candle_bar__minus_02_dot_52_bar__plus_01_dot_21_bar__plus_01_dot_49 CandleType)\n (objectType SoapBar_bar__minus_02_dot_54_bar__plus_01_dot_66_bar__plus_03_dot_33 SoapBarType)\n (objectType DishSponge_bar__minus_02_dot_55_bar__plus_00_dot_75_bar__plus_03_dot_31 DishSpongeType)\n (objectType ScrubBrush_bar__minus_02_dot_83_bar__plus_00_dot_00_bar__plus_00_dot_30 ScrubBrushType)\n (objectType SprayBottle_bar__minus_02_dot_65_bar__plus_00_dot_09_bar__plus_03_dot_15 SprayBottleType)\n (objectType SoapBottle_bar__minus_02_dot_61_bar__plus_00_dot_90_bar__plus_03_dot_48 SoapBottleType)\n (objectType SoapBottle_bar__minus_02_dot_66_bar__plus_01_dot_66_bar__plus_03_dot_15 SoapBottleType)\n (objectType Towel_bar__minus_00_dot_11_bar__plus_01_dot_51_bar__plus_01_dot_94 TowelType)\n (objectType DishSponge_bar__minus_02_dot_60_bar__plus_00_dot_75_bar__plus_03_dot_09 DishSpongeType)\n (objectType ToiletPaper_bar__minus_02_dot_43_bar__plus_01_dot_20_bar__plus_01_dot_49 ToiletPaperType)\n (objectType HandTowel_bar__minus_02_dot_70_bar__plus_01_dot_52_bar__plus_02_dot_87 HandTowelType)\n (objectType ToiletPaper_bar__minus_02_dot_70_bar__plus_01_dot_20_bar__plus_01_dot_43 ToiletPaperType)\n (objectType Cloth_bar__minus_02_dot_68_bar__plus_00_dot_93_bar__plus_01_dot_71 ClothType)\n (objectType SoapBar_bar__minus_02_dot_49_bar__plus_00_dot_75_bar__plus_03_dot_09 SoapBarType)\n (objectType ToiletPaper_bar__minus_02_dot_90_bar__plus_01_dot_07_bar__plus_00_dot_46 ToiletPaperType)\n (objectType Mirror_bar__minus_02_dot_97_bar__plus_01_dot_61_bar__plus_02_dot_27 MirrorType)\n (objectType PaperTowelRoll_bar__minus_00_dot_18_bar__plus_00_dot_16_bar__plus_00_dot_19 PaperTowelRollType)\n (objectType LightSwitch_bar__minus_01_dot_68_bar__plus_01_dot_44_bar__plus_03_dot_61 LightSwitchType)\n (objectType Plunger_bar__minus_02_dot_84_bar__plus_00_dot_00_bar__plus_00_dot_13 PlungerType)\n (objectType Sink_bar__minus_02_dot_72_bar__plus_00_dot_86_bar__plus_02_dot_23 SinkType)\n (objectType SprayBottle_bar__minus_02_dot_93_bar__plus_01_dot_08_bar__plus_00_dot_85 SprayBottleType)\n (objectType Window_bar__minus_02_dot_26_bar__plus_01_dot_66_bar__minus_00_dot_02 WindowType)\n (objectType SoapBottle_bar__minus_02_dot_84_bar__plus_01_dot_08_bar__plus_00_dot_65 SoapBottleType)\n (canContain HandTowelHolderType HandTowelType)\n (canContain CabinetType CandleType)\n (canContain CabinetType SoapBarType)\n (canContain CabinetType DishSpongeType)\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 DrawerType CandleType)\n (canContain DrawerType SoapBarType)\n (canContain DrawerType DishSpongeType)\n (canContain DrawerType SprayBottleType)\n (canContain DrawerType ToiletPaperType)\n (canContain DrawerType SoapBottleType)\n (canContain DrawerType ClothType)\n (canContain DrawerType HandTowelType)\n (canContain GarbageCanType SoapBarType)\n (canContain GarbageCanType DishSpongeType)\n (canContain GarbageCanType SprayBottleType)\n (canContain GarbageCanType ToiletPaperType)\n (canContain GarbageCanType SoapBottleType)\n (canContain GarbageCanType ClothType)\n (canContain GarbageCanType HandTowelType)\n (canContain CabinetType CandleType)\n (canContain CabinetType SoapBarType)\n (canContain CabinetType DishSpongeType)\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 DishSpongeType)\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 DishSpongeType)\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 DishSpongeType)\n (canContain CabinetType SprayBottleType)\n (canContain CabinetType ToiletPaperType)\n (canContain CabinetType SoapBottleType)\n (canContain CabinetType ClothType)\n (canContain CabinetType HandTowelType)\n (canContain CabinetType PlungerType)\n (canContain ToiletPaperHangerType ToiletPaperType)\n (canContain CabinetType CandleType)\n (canContain CabinetType SoapBarType)\n (canContain CabinetType DishSpongeType)\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 DishSpongeType)\n (canContain CounterTopType SoapBarType)\n (canContain CounterTopType SprayBottleType)\n (canContain CounterTopType ToiletPaperType)\n (canContain CounterTopType SoapBottleType)\n (canContain CounterTopType ClothType)\n (canContain CounterTopType HandTowelType)\n (canContain BathtubBasinType ClothType)\n (canContain BathtubBasinType HandTowelType)\n (canContain BathtubBasinType SoapBarType)\n (canContain BathtubBasinType DishSpongeType)\n (canContain SinkBasinType SoapBarType)\n (canContain SinkBasinType DishSpongeType)\n (canContain SinkBasinType ClothType)\n (canContain SinkBasinType HandTowelType)\n (canContain CabinetType CandleType)\n (canContain CabinetType SoapBarType)\n (canContain CabinetType DishSpongeType)\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 DishSpongeType)\n (canContain CounterTopType SoapBarType)\n (canContain CounterTopType SprayBottleType)\n (canContain CounterTopType ToiletPaperType)\n (canContain CounterTopType SoapBottleType)\n (canContain CounterTopType ClothType)\n (canContain CounterTopType HandTowelType)\n (canContain CabinetType CandleType)\n (canContain CabinetType SoapBarType)\n (canContain CabinetType DishSpongeType)\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 DishSpongeType)\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 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DishSponge_bar__minus_02_dot_60_bar__plus_00_dot_75_bar__plus_03_dot_09)\n (pickupable ToiletPaper_bar__minus_02_dot_43_bar__plus_01_dot_20_bar__plus_01_dot_49)\n (pickupable HandTowel_bar__minus_02_dot_70_bar__plus_01_dot_52_bar__plus_02_dot_87)\n (pickupable ToiletPaper_bar__minus_02_dot_70_bar__plus_01_dot_20_bar__plus_01_dot_43)\n (pickupable Cloth_bar__minus_02_dot_68_bar__plus_00_dot_93_bar__plus_01_dot_71)\n (pickupable SoapBar_bar__minus_02_dot_49_bar__plus_00_dot_75_bar__plus_03_dot_09)\n (pickupable ToiletPaper_bar__minus_02_dot_90_bar__plus_01_dot_07_bar__plus_00_dot_46)\n (pickupable PaperTowelRoll_bar__minus_00_dot_18_bar__plus_00_dot_16_bar__plus_00_dot_19)\n (pickupable Plunger_bar__minus_02_dot_84_bar__plus_00_dot_00_bar__plus_00_dot_13)\n (pickupable SprayBottle_bar__minus_02_dot_93_bar__plus_01_dot_08_bar__plus_00_dot_85)\n (pickupable SoapBottle_bar__minus_02_dot_84_bar__plus_01_dot_08_bar__plus_00_dot_65)\n \n (openable Cabinet_bar__minus_02_dot_41_bar__plus_02_dot_02_bar__plus_03_dot_57)\n (openable Cabinet_bar__minus_02_dot_41_bar__plus_02_dot_02_bar__plus_02_dot_91)\n (openable Cabinet_bar__minus_02_dot_41_bar__plus_00_dot_37_bar__plus_01_dot_59)\n (openable Cabinet_bar__minus_02_dot_41_bar__plus_00_dot_37_bar__plus_02_dot_04)\n (openable Cabinet_bar__minus_02_dot_41_bar__plus_00_dot_37_bar__plus_02_dot_91)\n (openable Cabinet_bar__minus_02_dot_41_bar__plus_00_dot_37_bar__plus_02_dot_86)\n (openable Cabinet_bar__minus_02_dot_41_bar__plus_01_dot_26_bar__plus_03_dot_57)\n (openable Cabinet_bar__minus_02_dot_41_bar__plus_01_dot_26_bar__plus_02_dot_91)\n (openable Cabinet_bar__minus_02_dot_41_bar__plus_00_dot_37_bar__plus_03_dot_57)\n \n (atLocation agent1 loc_bar__minus_5_bar_10_bar_0_bar_30)\n \n (cleanable SoapBar_bar__minus_02_dot_54_bar__plus_01_dot_66_bar__plus_03_dot_33)\n (cleanable DishSponge_bar__minus_02_dot_55_bar__plus_00_dot_75_bar__plus_03_dot_31)\n (cleanable DishSponge_bar__minus_02_dot_60_bar__plus_00_dot_75_bar__plus_03_dot_09)\n (cleanable Cloth_bar__minus_02_dot_68_bar__plus_00_dot_93_bar__plus_01_dot_71)\n (cleanable SoapBar_bar__minus_02_dot_49_bar__plus_00_dot_75_bar__plus_03_dot_09)\n \n \n \n \n \n \n \n \n \n \n (inReceptacle SoapBottle_bar__minus_02_dot_61_bar__plus_00_dot_90_bar__plus_03_dot_48 Cabinet_bar__minus_02_dot_41_bar__plus_01_dot_26_bar__plus_03_dot_57)\n (inReceptacle SoapBottle_bar__minus_02_dot_66_bar__plus_01_dot_66_bar__plus_03_dot_15 Cabinet_bar__minus_02_dot_41_bar__plus_02_dot_02_bar__plus_02_dot_91)\n (inReceptacle SoapBar_bar__minus_02_dot_49_bar__plus_00_dot_75_bar__plus_03_dot_09 Drawer_bar__minus_02_dot_64_bar__plus_00_dot_77_bar__plus_03_dot_24)\n (inReceptacle DishSponge_bar__minus_02_dot_55_bar__plus_00_dot_75_bar__plus_03_dot_31 Drawer_bar__minus_02_dot_64_bar__plus_00_dot_77_bar__plus_03_dot_24)\n (inReceptacle DishSponge_bar__minus_02_dot_60_bar__plus_00_dot_75_bar__plus_03_dot_09 Drawer_bar__minus_02_dot_64_bar__plus_00_dot_77_bar__plus_03_dot_24)\n (inReceptacle Candle_bar__minus_02_dot_54_bar__plus_01_dot_67_bar__plus_03_dot_44 Cabinet_bar__minus_02_dot_41_bar__plus_02_dot_02_bar__plus_03_dot_57)\n (inReceptacle SoapBar_bar__minus_02_dot_54_bar__plus_01_dot_66_bar__plus_03_dot_33 Cabinet_bar__minus_02_dot_41_bar__plus_02_dot_02_bar__plus_03_dot_57)\n (inReceptacle SprayBottle_bar__minus_02_dot_65_bar__plus_00_dot_09_bar__plus_03_dot_15 Cabinet_bar__minus_02_dot_41_bar__plus_00_dot_37_bar__plus_02_dot_91)\n (inReceptacle Cloth_bar__minus_02_dot_68_bar__plus_00_dot_93_bar__plus_01_dot_71 CounterTop_bar__minus_02_dot_69_bar__plus_00_dot_97_bar__plus_02_dot_26)\n (inReceptacle Sink_bar__minus_02_dot_72_bar__plus_00_dot_86_bar__plus_02_dot_23 CounterTop_bar__minus_02_dot_69_bar__plus_00_dot_97_bar__plus_02_dot_26)\n (inReceptacle ToiletPaper_bar__minus_02_dot_70_bar__plus_01_dot_20_bar__plus_01_dot_43 CounterTop_bar__minus_02_dot_61_bar__plus_01_dot_24_bar__plus_01_dot_46)\n (inReceptacle Candle_bar__minus_02_dot_52_bar__plus_01_dot_21_bar__plus_01_dot_49 CounterTop_bar__minus_02_dot_61_bar__plus_01_dot_24_bar__plus_01_dot_46)\n (inReceptacle ToiletPaper_bar__minus_02_dot_43_bar__plus_01_dot_20_bar__plus_01_dot_49 CounterTop_bar__minus_02_dot_61_bar__plus_01_dot_24_bar__plus_01_dot_46)\n (inReceptacle Towel_bar__minus_00_dot_11_bar__plus_01_dot_51_bar__plus_01_dot_94 TowelHolder_bar__plus_00_dot_00_bar__plus_01_dot_50_bar__plus_01_dot_94)\n (inReceptacle HandTowel_bar__minus_02_dot_70_bar__plus_01_dot_52_bar__plus_02_dot_87 HandTowelHolder_bar__minus_02_dot_70_bar__plus_01_dot_62_bar__plus_02_dot_91)\n (inReceptacle PaperTowelRoll_bar__minus_00_dot_18_bar__plus_00_dot_16_bar__plus_00_dot_19 GarbageCan_bar__minus_00_dot_21_bar__plus_00_dot_00_bar__plus_00_dot_25)\n (inReceptacle ToiletPaper_bar__minus_02_dot_90_bar__plus_01_dot_07_bar__plus_00_dot_46 Toilet_bar__minus_02_dot_58_bar__plus_00_dot_03_bar__plus_00_dot_66)\n (inReceptacle SprayBottle_bar__minus_02_dot_81_bar__plus_01_dot_08_bar__plus_00_dot_85 Toilet_bar__minus_02_dot_58_bar__plus_00_dot_03_bar__plus_00_dot_66)\n (inReceptacle SoapBottle_bar__minus_02_dot_84_bar__plus_01_dot_08_bar__plus_00_dot_65 Toilet_bar__minus_02_dot_58_bar__plus_00_dot_03_bar__plus_00_dot_66)\n (inReceptacle SprayBottle_bar__minus_02_dot_93_bar__plus_01_dot_08_bar__plus_00_dot_85 Toilet_bar__minus_02_dot_58_bar__plus_00_dot_03_bar__plus_00_dot_66)\n \n \n (receptacleAtLocation Bathtub_bar__minus_00_dot_44_bar__plus_00_dot_18_bar__plus_01_dot_58_bar_BathtubBasin loc_bar__minus_4_bar_11_bar_2_bar_45)\n (receptacleAtLocation Cabinet_bar__minus_02_dot_41_bar__plus_00_dot_37_bar__plus_01_dot_59 loc_bar__minus_6_bar_9_bar_3_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_02_dot_41_bar__plus_00_dot_37_bar__plus_02_dot_04 loc_bar__minus_6_bar_7_bar_3_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_02_dot_41_bar__plus_00_dot_37_bar__plus_02_dot_86 loc_bar__minus_6_bar_9_bar_3_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_02_dot_41_bar__plus_00_dot_37_bar__plus_02_dot_91 loc_bar__minus_6_bar_11_bar_3_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_02_dot_41_bar__plus_00_dot_37_bar__plus_03_dot_57 loc_bar__minus_6_bar_12_bar_3_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_02_dot_41_bar__plus_01_dot_26_bar__plus_02_dot_91 loc_bar__minus_7_bar_12_bar_3_bar_30)\n (receptacleAtLocation Cabinet_bar__minus_02_dot_41_bar__plus_01_dot_26_bar__plus_03_dot_57 loc_bar__minus_6_bar_12_bar_3_bar_30)\n (receptacleAtLocation Cabinet_bar__minus_02_dot_41_bar__plus_02_dot_02_bar__plus_02_dot_91 loc_bar__minus_7_bar_12_bar_3_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_02_dot_41_bar__plus_02_dot_02_bar__plus_03_dot_57 loc_bar__minus_7_bar_12_bar_3_bar__minus_30)\n (receptacleAtLocation CounterTop_bar__minus_02_dot_61_bar__plus_01_dot_24_bar__plus_01_dot_46 loc_bar__minus_8_bar_5_bar_3_bar_30)\n (receptacleAtLocation CounterTop_bar__minus_02_dot_69_bar__plus_00_dot_97_bar__plus_02_dot_26 loc_bar__minus_8_bar_10_bar_3_bar_45)\n (receptacleAtLocation Drawer_bar__minus_02_dot_64_bar__plus_00_dot_77_bar__plus_03_dot_24 loc_bar__minus_7_bar_12_bar_3_bar_45)\n (receptacleAtLocation GarbageCan_bar__minus_00_dot_21_bar__plus_00_dot_00_bar__plus_00_dot_25 loc_bar__minus_2_bar_2_bar_1_bar_60)\n (receptacleAtLocation HandTowelHolder_bar__minus_02_dot_70_bar__plus_01_dot_62_bar__plus_02_dot_91 loc_bar__minus_7_bar_12_bar_3_bar_0)\n (receptacleAtLocation Sink_bar__minus_02_dot_72_bar__plus_00_dot_86_bar__plus_02_dot_23_bar_SinkBasin loc_bar__minus_8_bar_9_bar_3_bar_45)\n (receptacleAtLocation ToiletPaperHanger_bar__minus_02_dot_29_bar__plus_00_dot_91_bar__plus_00_dot_00 loc_bar__minus_7_bar_2_bar_3_bar_60)\n (receptacleAtLocation Toilet_bar__minus_02_dot_58_bar__plus_00_dot_03_bar__plus_00_dot_66 loc_bar__minus_8_bar_5_bar_2_bar_60)\n (receptacleAtLocation TowelHolder_bar__plus_00_dot_00_bar__plus_01_dot_50_bar__plus_01_dot_94 loc_bar__minus_5_bar_8_bar_1_bar_0)\n (objectAtLocation DishSponge_bar__minus_02_dot_60_bar__plus_00_dot_75_bar__plus_03_dot_09 loc_bar__minus_7_bar_12_bar_3_bar_45)\n (objectAtLocation SprayBottle_bar__minus_02_dot_65_bar__plus_00_dot_09_bar__plus_03_dot_15 loc_bar__minus_6_bar_11_bar_3_bar_60)\n (objectAtLocation ToiletPaper_bar__minus_02_dot_43_bar__plus_01_dot_20_bar__plus_01_dot_49 loc_bar__minus_8_bar_5_bar_3_bar_30)\n (objectAtLocation SoapBar_bar__minus_02_dot_49_bar__plus_00_dot_75_bar__plus_03_dot_09 loc_bar__minus_7_bar_12_bar_3_bar_45)\n (objectAtLocation SoapBottle_bar__minus_02_dot_66_bar__plus_01_dot_66_bar__plus_03_dot_15 loc_bar__minus_7_bar_12_bar_3_bar__minus_30)\n (objectAtLocation Candle_bar__minus_02_dot_54_bar__plus_01_dot_67_bar__plus_03_dot_44 loc_bar__minus_7_bar_12_bar_3_bar__minus_30)\n (objectAtLocation SoapBottle_bar__minus_02_dot_61_bar__plus_00_dot_90_bar__plus_03_dot_48 loc_bar__minus_6_bar_12_bar_3_bar_30)\n (objectAtLocation SprayBottle_bar__minus_02_dot_81_bar__plus_01_dot_08_bar__plus_00_dot_85 loc_bar__minus_8_bar_5_bar_2_bar_60)\n (objectAtLocation Mirror_bar__minus_02_dot_97_bar__plus_01_dot_61_bar__plus_02_dot_27 loc_bar__minus_8_bar_9_bar_3_bar_0)\n (objectAtLocation Bathtub_bar__minus_00_dot_44_bar__plus_00_dot_18_bar__plus_01_dot_58 loc_bar__minus_5_bar_6_bar_1_bar_60)\n (objectAtLocation Sink_bar__minus_02_dot_72_bar__plus_00_dot_86_bar__plus_02_dot_23 loc_bar__minus_8_bar_10_bar_3_bar_45)\n (objectAtLocation Towel_bar__minus_00_dot_11_bar__plus_01_dot_51_bar__plus_01_dot_94 loc_bar__minus_5_bar_8_bar_1_bar_0)\n (objectAtLocation Candle_bar__minus_02_dot_52_bar__plus_01_dot_21_bar__plus_01_dot_49 loc_bar__minus_8_bar_5_bar_3_bar_30)\n (objectAtLocation SoapBottle_bar__minus_02_dot_84_bar__plus_01_dot_08_bar__plus_00_dot_65 loc_bar__minus_8_bar_5_bar_2_bar_60)\n (objectAtLocation HandTowel_bar__minus_02_dot_70_bar__plus_01_dot_52_bar__plus_02_dot_87 loc_bar__minus_7_bar_12_bar_3_bar_0)\n (objectAtLocation Plunger_bar__minus_02_dot_84_bar__plus_00_dot_00_bar__plus_00_dot_13 loc_bar__minus_7_bar_2_bar_3_bar_60)\n (objectAtLocation SoapBar_bar__minus_02_dot_54_bar__plus_01_dot_66_bar__plus_03_dot_33 loc_bar__minus_7_bar_12_bar_3_bar__minus_30)\n (objectAtLocation ToiletPaper_bar__minus_02_dot_70_bar__plus_01_dot_20_bar__plus_01_dot_43 loc_bar__minus_8_bar_5_bar_3_bar_30)\n (objectAtLocation Cloth_bar__minus_02_dot_68_bar__plus_00_dot_93_bar__plus_01_dot_71 loc_bar__minus_8_bar_10_bar_3_bar_45)\n (objectAtLocation ToiletPaper_bar__minus_02_dot_90_bar__plus_01_dot_07_bar__plus_00_dot_46 loc_bar__minus_8_bar_5_bar_2_bar_60)\n (objectAtLocation Window_bar__minus_02_dot_26_bar__plus_01_dot_66_bar__minus_00_dot_02 loc_bar__minus_7_bar_2_bar_2_bar_0)\n (objectAtLocation SprayBottle_bar__minus_02_dot_93_bar__plus_01_dot_08_bar__plus_00_dot_85 loc_bar__minus_8_bar_5_bar_2_bar_60)\n (objectAtLocation PaperTowelRoll_bar__minus_00_dot_18_bar__plus_00_dot_16_bar__plus_00_dot_19 loc_bar__minus_2_bar_2_bar_1_bar_60)\n (objectAtLocation ScrubBrush_bar__minus_02_dot_83_bar__plus_00_dot_00_bar__plus_00_dot_30 loc_bar__minus_7_bar_2_bar_3_bar_60)\n (objectAtLocation LightSwitch_bar__minus_01_dot_68_bar__plus_01_dot_44_bar__plus_03_dot_61 loc_bar__minus_7_bar_12_bar_0_bar_15)\n (objectAtLocation DishSponge_bar__minus_02_dot_55_bar__plus_00_dot_75_bar__plus_03_dot_31 loc_bar__minus_7_bar_12_bar_3_bar_45)\n )\n \n\n (:goal\n (and\n (exists (?r - receptacle)\n (exists (?o1 - object)\n (and\n (objectType ?o1 ToiletPaperType)\n (receptacleType ?r CabinetType)\n (inReceptacle ?o1 ?r)\n (exists (?o2 - object)\n (and\n (not (= ?o1 ?o2))\n (objectType ?o2 ToiletPaperType)\n (receptacleType ?r CabinetType)\n (inReceptacle ?o2 ?r)\n )\n )\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to toilet 1", "take toiletpaper 1 from toilet 1", "go to cabinet 6", "open cabinet 6", "move toiletpaper 1 to cabinet 6", "go to countertop 2", "take toiletpaper 3 from countertop 2", "go to cabinet 6", "move toiletpaper 3 to cabinet 6"]}
|
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 Fast Downward which supports PDDL 2.2 level 1 plus the :action-costs requirement from PDDL 3.1.\n\n(define (domain alfred)\n (:requirements\n :adl\n :action-costs\n :typing\n )\n (:types\n agent\n location\n receptacle\n object\n rtype\n otype\n )\n\n\n (:predicates\n (atLocation ?a - agent ?l - location) ; true if the agent is at the location\n (receptacleAtLocation ?r - receptacle ?l - location) ; true if the receptacle is at the location (constant)\n (objectAtLocation ?o - object ?l - location) ; true if the object is at the location\n (openable ?r - receptacle) ; true if a receptacle is openable\n (opened ?r - receptacle) ; true if a receptacle is opened\n (inReceptacle ?o - object ?r - receptacle) ; object ?o is in receptacle ?r\n (isReceptacleObject ?o - object) ; true if the object can have things put inside it\n (inReceptacleObject ?innerObject - object ?outerObject - object) ; object ?innerObject is inside object ?outerObject\n (isReceptacleObjectFull ?o - object) ; true if the receptacle object contains something\n (wasInReceptacle ?o - object ?r - receptacle) ; object ?o was or is in receptacle ?r now or some time in the past\n (checked ?r - receptacle) ; whether the receptacle has been looked inside/visited\n (examined ?l - location) ; TODO\n (receptacleType ?r - receptacle ?t - rtype) ; the type of receptacle (Cabinet vs Cabinet|01|2...)\n (canContain ?rt - rtype ?ot - otype) ; true if receptacle can hold object\n (objectType ?o - object ?t - otype) ; the type of object (Apple vs Apple|01|2...)\n (holds ?a - agent ?o - object) ; object ?o is held by agent ?a\n (holdsAny ?a - agent) ; agent ?a holds an object\n (holdsAnyReceptacleObject ?a - agent) ; agent ?a holds a receptacle object\n (full ?r - receptacle) ; true if the receptacle has no remaining space\n (isClean ?o - object) ; true if the object has been clean in sink\n (cleanable ?o - object) ; true if the object can be placed in a sink\n (isHot ?o - object) ; true if the object has been heated up\n (heatable ?o - object) ; true if the object can be heated up in a microwave\n (isCool ?o - object) ; true if the object has been cooled\n (coolable ?o - object) ; true if the object can be cooled in the fridge\n (pickupable ?o - object) ; true if the object can be picked up\n (moveable ?o - object) ; true if the object can be moved\n (toggleable ?o - object) ; true if the object can be turned on/off\n (isOn ?o - object) ; true if the object is on\n (isToggled ?o - object) ; true if the object has been toggled\n (sliceable ?o - object) ; true if the object can be sliced\n (isSliced ?o - object) ; true if the object is sliced\n )\n\n (:functions\n (distance ?from ?to)\n (total-cost) - number\n )\n\n;; All actions are specified such that the final arguments are the ones used\n;; for performing actions in Unity.\n\n\n(:action look\n :parameters (?a - agent ?l - location)\n :precondition\n (and\n (atLocation ?a ?l)\n )\n :effect\n (and\n (checked ?l)\n )\n)\n\n(:action inventory\n :parameters (?a - agent)\n :precondition\n ()\n :effect\n (and\n (checked ?a)\n )\n)\n\n(:action examineReceptacle\n :parameters (?a - agent ?r - receptacle)\n :precondition\n (and\n (exists (?l - location)\n (and\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n )\n )\n )\n :effect\n (and\n (checked ?r)\n )\n)\n\n(:action examineObject\n :parameters (?a - agent ?o - object)\n :precondition\n (or\n ;(exists (?l - location)\n ; (and\n ; (atLocation ?a ?l)\n ; (objectAtLocation ?o ?l)\n ; )\n ;)\n (exists (?l - location, ?r - receptacle)\n (and\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n ; (objectAtLocation ?o ?l)\n (inReceptacle ?o ?r)\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n )\n )\n (holds ?a ?o)\n )\n :effect\n (and\n (checked ?o)\n )\n)\n\n;; agent goes to receptacle\n (:action GotoLocation\n :parameters (?a - agent ?lStart - location ?lEnd - location ?r - receptacle)\n :precondition (and\n (atLocation ?a ?lStart)\n (receptacleAtLocation ?r ?lEnd)\n ;(exists (?r - receptacle) (receptacleAtLocation ?r ?lEnd))\n )\n :effect (and\n (not (atLocation ?a ?lStart))\n (atLocation ?a ?lEnd)\n ; (forall (?r - receptacle)\n ; (when (and (receptacleAtLocation ?r ?lEnd)\n ; (or (not (openable ?r)) (opened ?r)))\n ; (checked ?r)\n ; )\n ; )\n ; (increase (total-cost) (distance ?lStart ?lEnd))\n (increase (total-cost) 1)\n )\n )\n\n;; agent opens receptacle\n (:action OpenObject\n :parameters (?a - agent ?l - location ?r - receptacle)\n :precondition (and\n (openable ?r)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (not (opened ?r))\n )\n :effect (and\n (opened ?r)\n (checked ?r)\n (increase (total-cost) 1)\n )\n )\n;; agent closes receptacle\n (:action CloseObject\n :parameters (?a - agent ?l - location ?r - receptacle)\n :precondition (and\n (openable ?r)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (opened ?r)\n )\n :effect (and\n (not (opened ?r))\n (increase (total-cost) 1)\n )\n\n )\n\n ;; agent picks up object from a receptacle\n (:action PickupObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n :precondition\n (and\n (pickupable ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n ; (objectAtLocation ?o ?l)\n (inReceptacle ?o ?r)\n (not (holdsAny ?a)) ; agent's hands are empty.\n ;(not (holdsAnyReceptacleObject ?a))\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n ;(not (isReceptacleObject ?o))\n )\n :effect\n (and\n (not (inReceptacle ?o ?r))\n (holds ?a ?o)\n (holdsAny ?a)\n (not (objectAtLocation ?o ?l))\n ;(not (full ?r))\n (increase (total-cost) 1)\n )\n )\n\n\n; ;; agent picks up object from a receptacle\n; (:action PickupObjectFromReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?outerR - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (inReceptacle ?o ?r)\n; (pickupable ?o)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (not (isReceptacleObject ?o))\n; (isReceptacleObject ?outerR)\n; (inReceptacleObject ?o ?outerR)\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (holds ?a ?o)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n;\n; (not (inReceptacleObject ?o ?outerR))\n; (not (isReceptacleObjectFull ?outerR))\n; )\n; )\n;\n; ;; agent picks up object from a receptacle\n; (:action PickupEmptyReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; ; (objectAtLocation ?o ?l)\n; (inReceptacle ?o ?r)\n; (pickupable ?o)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (isReceptacleObject ?o)\n; (not (isReceptacleObjectFull ?o))\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (holds ?a ?o)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n; (holdsAnyReceptacleObject ?a)\n; )\n; )\n;\n; ;; agent picks up object from a receptacle\n; (:action PickupFullReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?outerR - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (inReceptacle ?outerR ?r)\n; (pickupable ?outerR)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (not (isReceptacleObject ?o))\n; (isReceptacleObject ?outerR)\n; (inReceptacleObject ?o ?outerR)\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (not (inReceptacle ?outerR ?r))\n; (holds ?a ?outerR)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (objectAtLocation ?outerR ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n; (holdsAnyReceptacleObject ?a)\n; )\n; )\n\n\n;; agent puts down an object\n (:action PutObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle ?ot - otype ?rt - rtype)\n :precondition (and\n (holds ?a ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable\n ;(not (full ?r))\n (objectType ?o ?ot)\n (receptacleType ?r ?rt)\n (canContain ?rt ?ot)\n ;(not (holdsAnyReceptacleObject ?a))\n )\n :effect (and\n (inReceptacle ?o ?r)\n (objectAtLocation ?o ?l)\n ;(full ?r)\n (not (holds ?a ?o))\n (not (holdsAny ?a))\n (increase (total-cost) 1)\n )\n )\n\n;;; agent puts down an object\n; (:action PutObjectInReceptacleObject\n; :parameters (?a - agent ?l - location ?ot - otype ?o - object ?outerO - object ?outerR - receptacle)\n; :precondition (and\n; (atLocation ?a ?l)\n; (objectAtLocation ?outerO ?l)\n; (isReceptacleObject ?outerO)\n; (not (isReceptacleObject ?o))\n; (objectType ?o ?ot)\n; (holds ?a ?o)\n; (not (holdsAnyReceptacleObject ?a))\n; (inReceptacle ?outerO ?outerR)\n; (not (isReceptacleObjectFull ?outerO))\n; )\n; :effect (and\n; (inReceptacleObject ?o ?outerO)\n; (inReceptacle ?o ?outerR)\n; (not (holds ?a ?o))\n; (not (holdsAny ?a))\n; (objectAtLocation ?o ?l)\n; (isReceptacleObjectFull ?outerO)\n; (increase (total-cost) 1)\n; )\n; )\n;\n;;; agent puts down an object\n; (:action PutEmptyReceptacleObjectinReceptacle\n; :parameters (?a - agent ?l - location ?ot - otype ?o - object ?r - receptacle)\n; :precondition (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable\n; (not (full ?r))\n; (objectType ?o ?ot)\n; (holds ?a ?o)\n; (holdsAnyReceptacleObject ?a)\n; (isReceptacleObject ?o)\n; (not (isReceptacleObjectFull ?o))\n; )\n; :effect (and\n; (inReceptacle ?o ?r)\n; (objectAtLocation ?o ?l)\n; (full ?r)\n; (not (holds ?a ?o))\n; (not (holdsAny ?a))\n; (not (holdsAnyReceptacleObject ?a))\n; (increase (total-cost) 1)\n; )\n; )\n;\n;;; agent puts down a receptacle object in a receptacle\n; (:action PutFullReceptacleObjectInReceptacle\n; :parameters (?a - agent ?l - location ?ot - otype ?innerO - object ?outerO - object ?r - receptacle) ; ?rt - rtype)\n; :precondition (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (objectType ?outerO ?ot)\n; (holds ?a ?outerO)\n; (holdsAnyReceptacleObject ?a)\n; (isReceptacleObject ?outerO)\n; (isReceptacleObjectFull ?outerO)\n; (inReceptacleObject ?innerO ?outerO)\n; )\n; :effect (and\n; (not (holdsAny ?a))\n; (not (holdsAnyReceptacleObject ?a))\n; (objectAtLocation ?outerO ?l)\n; (objectAtLocation ?innerO ?l)\n; (inReceptacle ?outerO ?r)\n; (inReceptacle ?innerO ?r)\n; (not (holds ?a ?outerO))\n; (increase (total-cost) 1)\n; )\n; )\n\n;; agent cleans some object\n (:action CleanObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (cleanable ?o)\n (or\n (receptacleType ?r SinkType)\n (receptacleType ?r SinkBasinType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isClean ?o)\n )\n )\n\n\n;; agent heats-up some object\n (:action HeatObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (heatable ?o)\n (or\n (receptacleType ?r MicrowaveType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isHot ?o)\n (not (isCool ?o))\n )\n )\n\n;; agent cools some object\n (:action CoolObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (coolable ?o)\n (or\n (receptacleType ?r FridgeType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isCool ?o)\n (not (isHot ?o))\n )\n )\n\n\n;; agent toggle object\n (:action ToggleObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n :precondition (and\n (toggleable ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (inReceptacle ?o ?r)\n )\n :effect (and\n (increase (total-cost) 5)\n (when (isOn ?o)\n (not (isOn ?o)))\n (when (not (isOn ?o))\n (isOn ?o))\n (isToggled ?o)\n )\n )\n\n\n;; agent slices some object with a knife\n (:action SliceObject\n :parameters (?a - agent ?l - location ?co - object ?ko - object)\n :precondition\n (and\n (sliceable ?co)\n (or\n (objectType ?ko KnifeType)\n (objectType ?ko ButterKnifeType)\n )\n (atLocation ?a ?l)\n (objectAtLocation ?co ?l)\n (holds ?a ?ko)\n )\n :effect (and\n (increase (total-cost) 5)\n (isSliced ?co)\n )\n )\n\n\n(:action help\n :parameters (?a - agent)\n :precondition\n ()\n :effect\n (and\n (checked ?a)\n )\n)\n)\n", "grammar": "grammar :: \"\"\"\n {\n \"intro\": [\n {\n \"rhs\": \"-= Welcome to TextWorld, ALFRED! =-\\n\\n#look.feedback#\\n\\n#task#\"\n }\n ],\n\n \"notImplemented\": [\n {\n \"rhs\": \"TODO\"\n }\n ],\n\n \"task\": [\n {\n \"rhs\": \"Your task is to: put two watch in dresser.\"\n }\n ],\n\n \"GotoLocation.feedback\": [\n {\n \"rhs\": \"You arrive at {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"OpenObject.feedback\": [\n {\n \"rhs\": \"You open the {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"CloseObject.feedback\": [\n {\n \"rhs\": \"You close the {r.name}.\"\n }\n ],\n\n \"PickupObject.feedback\": [\n {\n \"rhs\": \"You pick up the {o.name} from the {r.name}.\"\n }\n ],\n\n \"PickupObjectFromReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupObjectFromReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupEmptyReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupEmptyReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupFullReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupFullReceptacleObject: You pick up the {outerr.name}.\"\n }\n ],\n\n \"PutObject.feedback\": [\n {\n \"rhs\": \"You move the {o.name} to the {r.name}.\"\n }\n ],\n\n \"PutObjectInReceptacleObject.feedback\": [\n {\n \"rhs\": \"PutObjectInReceptacleObject: You put the {o.name} in the {outero.name}.\"\n }\n ],\n\n \"PutEmptyReceptacleObjectinReceptacle.feedback\": [\n {\n \"rhs\": \"PutEmptyReceptacleObjectinReceptacle: You put the {o.name} in the {r.name}.\"\n }\n ],\n\n \"PutFullReceptacleObjectInReceptacle.feedback\": [\n {\n \"rhs\": \"PutFullReceptacleObjectInReceptacle: You put the {outero.name} in the {r.name}.\"\n }\n ],\n\n \"inventory.feedback\": [\n {\n \"condition\": \"holdsany(a:agent)\",\n \"rhs\": \"You are carrying: [{o.indefinite + ' ' + o.name | holds(a:agent, o:object)}].\"\n },\n {\n \"rhs\": \"You are not carrying anything.\"\n }\n ],\n\n \"examineReceptacle.feedback\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \"The {r.name} is open. In it, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \"The {r.name} is closed.\"\n },\n {\n \"rhs\": \"On the {r.name}, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n }\n ],\n\n \"examineObject.feedback\": [\n {\n \"condition\": \"isreceptacleobject(o:object)\",\n \"rhs\": \"This is a normal {o.name}. In it, you see [{o2.indefinite + ' ' + o2.name | inreceptacleobject(o2:object, o:object)}].\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a clean sliced {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot sliced {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object)\",\n \"rhs\": \"This is a hot and clean {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object)\",\n \"rhs\": \"This is a cool and clean {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object)\",\n \"rhs\": \"This is a hot {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object)\",\n \"rhs\": \"This is a clean {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object)\",\n \"rhs\": \"This is a cold {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"This {o.name} is on.\"\n },\n {\n \"condition\": \"toggleable(o:object) & not_istoggled(o:object)\",\n \"rhs\": \"This {o.name} is off.\"\n },\n {\n \"condition\": \"sliceable(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a sliced {o.name}.\"\n },\n {\n \"rhs\": \"There's nothing special about {o.name}.\"\n }\n ]\n }\n\"\"\";\n\naction GotoLocation {\n template :: \"go to [{r.name | receptacleatlocation(r:receptacle, lend:location)}]\";\n feedback :: \"#GotoLocation.feedback#\";\n}\n\naction OpenObject {\n template :: \"open {r}\";\n feedback :: \"#OpenObject.feedback#\";\n}\n\naction CloseObject {\n template :: \"close {r}\";\n feedback :: \"#CloseObject.feedback#\";\n}\n\naction PickupObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObject.feedback#\";\n}\n\naction PickupObjectFromReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObjectFromReceptacleObject.feedback#\";\n}\n\naction PickupEmptyReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupEmptyReceptacleObject.feedback#\";\n}\n\naction PickupFullReceptacleObject {\n template :: \"take {outerr} from {r}\";\n feedback :: \"#PickupFullReceptacleObject.feedback#\";\n}\n\naction PutObject {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutObject.feedback#\";\n}\n\naction PutObjectInReceptacleObject {\n template :: \"put {o} into {outero}\";\n feedback :: \"#PutObjectInReceptacleObject.feedback#\";\n}\n\naction PutEmptyReceptacleObjectinReceptacle {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutEmptyReceptacleObjectinReceptacle.feedback#\";\n}\n\naction PutFullReceptacleObjectInReceptacle {\n template :: \"put {outero} in {r}\";\n feedback :: \"#PutFullReceptacleObjectInReceptacle.feedback#\";\n}\n\naction inventory {\n template :: \"inventory\";\n feedback :: \"#inventory.feedback#\";\n}\n\naction examineReceptacle {\n template :: \"examine {r}\";\n feedback :: \"#examineReceptacle.feedback#\";\n}\n\naction examineObject {\n template :: \"examine {o}\";\n feedback :: \"#examineObject.feedback#\";\n}\n\naction ToggleObject {\n template :: \"use {o}\";\n feedback :: \"#toggleObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"toggleObject.feedback\": [\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"You turn on the {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object)\",\n \"rhs\": \"You turn off the {o.name}.\"\n },\n {\n \"rhs\": \"You don't see any switch on the {o.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction HeatObject {\n template :: \"heat {o} with {r}\";\n feedback :: \"#heatObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"heatObject.feedback\": [\n {\n \"rhs\": \"You heat the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CleanObject {\n template :: \"clean {o} with {r}\";\n feedback :: \"#cleanObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"cleanObject.feedback\": [\n {\n \"rhs\": \"You clean the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CoolObject {\n template :: \"cool {o} with {r}\";\n feedback :: \"#coolObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"coolObject.feedback\": [\n {\n \"rhs\": \"You cool the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction SliceObject {\n template :: \"slice {co} with {ko}\";\n feedback :: \"#sliceObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"sliceObject.feedback\": [\n {\n \"rhs\": \"You sliced the {co.name} with the {ko.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction look {\n template :: \"look\";\n feedback :: \"#look.feedback#\";\n\n grammar :: \"\"\"\n {\n \"look.feedback\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"#look-variations#. Next to it, you see #list_objects_on_the_floor#.\"\n },\n {\n \"rhs\": \"You are in the middle of a room. Looking quickly around you, you see #list_appliances#.\"\n }\n ],\n\n \"look-variations\": [\n {\n \"rhs\": \"You are facing the [{r.name | atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)}]\"\n }\n ],\n\n \"list_objects_on_the_floor\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)\",\n \"rhs\": \"[{#overview(o)# | atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"list_appliances\": [\n {\n \"condition\": \"receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"[{#overview(r)# | receptacleatlocation(r:receptacle, l:location)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"overview(o, r)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name} (in/on the {r.name})}\"\n }\n ],\n\n \"overview(o)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name}\"\n }\n ],\n \"overview(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}\"\n }\n ],\n \"overview_with_state(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}#overview_state(r)#\"\n }\n ],\n \"overview_state(r)\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \" (it is open)\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \" (it is closed)\"\n },\n {\n \"rhs\": \"\"\n }\n ],\n\n \"list_empty\": [\n {\n \"rhs\": \"nothing\"\n }\n ],\n \"list_separator\": [\n {\n \"rhs\": \", \"\n }\n ],\n \"list_last_separator\": [\n {\n \"rhs\": \", and \"\n }\n ]\n }\n \"\"\";\n}\n\naction help {\n template :: \"help\";\n feedback :: \"\nAvailable commands:\n look: look around your current location\n inventory: check your current inventory\n go to (receptacle): move to a receptacle\n open (receptacle): open a receptacle\n close (receptacle): close a receptacle\n take (object) from (receptacle): take an object from a receptacle\n move (object) to (receptacle): place an object in or on a receptacle\n examine (something): examine a receptacle or an object\n use (object): use an object\n heat (object) with (receptacle): heat an object using a receptacle\n clean (object) with (receptacle): clean an object using a receptacle\n cool (object) with (receptacle): cool an object using a receptacle\n slice (object) with (object): slice an object using a sharp object\n\";\n}\n", "pddl_problem": "\n(define (problem plan_trial_T20190906_180223_908386)\n(:domain alfred)\n(:objects\nagent1 - agent\nSaltShaker - object\n HousePlant - object\n Candle - object\n SprayBottle - object\n Bowl - object\n Window - object\n CD - object\n Egg - object\n Glassbottle - object\n Sink - object\n Pillow - object\n Spoon - object\n SoapBottle - object\n TeddyBear - object\n ButterKnife - object\n Cup - object\n Plate - object\n RemoteControl - object\n Tomato - object\n Statue - object\n HandTowel - object\n Knife - object\n StoveKnob - object\n LightSwitch - object\n Pen - object\n Painting - object\n DishSponge - object\n Vase - object\n Mug - object\n ToiletPaper - object\n Box - object\n Mirror - object\n Ladle - object\n Fork - object\n Blinds - object\n Footstool - object\n KeyChain - object\n Cloth - object\n Laptop - object\n TissueBox - object\n PepperShaker - object\n FloorLamp - object\n WateringCan - object\n Apple - object\n Pan - object\n PaperTowel - object\n PaperTowelRoll - object\n Newspaper - object\n Television - object\n Chair - object\n CellPhone - object\n CreditCard - object\n Lettuce - object\n BasketBall - object\n Potato - object\n Curtains - object\n Boots - object\n Pencil - object\n AlarmClock - object\n ToiletPaperRoll - object\n Spatula - object\n Book - object\n Bread - object\n SoapBar - object\n Watch - object\n DeskLamp - object\n Kettle - object\n Pot - object\n ScrubBrush - object\n WineBottle - object\n ShowerDoor - object\n Bathtub - object\n LaundryHamperLid - object\n ShowerGlass - object\n Poster - object\n TennisRacket - object\n BaseballBat - object\n Towel - object\n Plunger - object\nSaltShakerType - otype\n HousePlantType - otype\n CandleType - otype\n SprayBottleType - otype\n BowlType - otype\n WindowType - otype\n CDType - otype\n EggType - otype\n GlassbottleType - otype\n SinkType - otype\n PillowType - otype\n SpoonType - otype\n SoapBottleType - otype\n TeddyBearType - otype\n ButterKnifeType - otype\n CupType - otype\n PlateType - otype\n RemoteControlType - otype\n TomatoType - otype\n StatueType - otype\n HandTowelType - otype\n KnifeType - otype\n StoveKnobType - otype\n LightSwitchType - otype\n PenType - otype\n PaintingType - otype\n DishSpongeType - otype\n VaseType - otype\n MugType - otype\n ToiletPaperType - otype\n BoxType - otype\n MirrorType - otype\n LadleType - otype\n ForkType - otype\n BlindsType - otype\n FootstoolType - otype\n KeyChainType - otype\n ClothType - otype\n LaptopType - otype\n TissueBoxType - otype\n PepperShakerType - otype\n FloorLampType - otype\n WateringCanType - otype\n AppleType - otype\n PanType - otype\n PaperTowelType - otype\n PaperTowelRollType - otype\n NewspaperType - otype\n TelevisionType - otype\n ChairType - otype\n CellPhoneType - otype\n CreditCardType - otype\n LettuceType - otype\n BasketBallType - otype\n PotatoType - otype\n CurtainsType - otype\n BootsType - otype\n PencilType - otype\n AlarmClockType - otype\n ToiletPaperRollType - otype\n SpatulaType - otype\n BookType - otype\n BreadType - otype\n SoapBarType - otype\n WatchType - otype\n DeskLampType - otype\n KettleType - otype\n PotType - otype\n ScrubBrushType - otype\n WineBottleType - otype\n ShowerDoorType - otype\n BathtubType - otype\n LaundryHamperLidType - otype\n ShowerGlassType - otype\n PosterType - otype\n TennisRacketType - otype\n BaseballBatType - otype\n TowelType - otype\n PlungerType - otype\nSafeType - rtype\n DrawerType - rtype\n CoffeeMachineType - rtype\n HandTowelHolderType - rtype\n SinkBasinType - rtype\n DresserType - rtype\n LaundryHamperType - rtype\n TVStandType - rtype\n BathtubBasinType - rtype\n CabinetType - rtype\n FridgeType - rtype\n DeskType - rtype\n ToiletType - rtype\n CartType - rtype\n SideTableType - rtype\n SofaType - rtype\n CoffeeTableType - rtype\n DiningTableType - rtype\n CounterTopType - rtype\n GarbageCanType - rtype\n ArmChairType - rtype\n ShelfType - rtype\n MicrowaveType - rtype\n ToasterType - rtype\n BedType - rtype\n PaintingHangerType - rtype\n TowelHolderType - rtype\n ToiletPaperHangerType - rtype\n StoveBurnerType - rtype\n OttomanType - rtype\n\n\n AlarmClock_bar__plus_01_dot_65_bar__plus_00_dot_80_bar__minus_01_dot_28 - object\n AlarmClock_bar__minus_01_dot_32_bar__plus_01_dot_23_bar__minus_00_dot_75 - object\n BaseballBat_bar__plus_02_dot_85_bar__plus_00_dot_64_bar__plus_01_dot_84 - object\n BasketBall_bar__plus_01_dot_02_bar__plus_00_dot_33_bar__minus_00_dot_98 - object\n Blinds_bar__plus_00_dot_11_bar__plus_02_dot_34_bar__minus_01_dot_44 - object\n Book_bar__minus_00_dot_29_bar__plus_00_dot_57_bar__plus_01_dot_09 - object\n Boots_bar__minus_01_dot_28_bar__plus_00_dot_00_bar__minus_01_dot_34 - object\n Bowl_bar__plus_02_dot_45_bar__plus_00_dot_79_bar__minus_01_dot_21 - object\n Box_bar__plus_02_dot_73_bar__plus_00_dot_20_bar__plus_00_dot_89 - object\n CD_bar__plus_02_dot_03_bar__plus_00_dot_79_bar__minus_01_dot_22 - object\n CD_bar__minus_01_dot_32_bar__plus_00_dot_38_bar__minus_00_dot_61 - object\n CellPhone_bar__plus_01_dot_67_bar__plus_00_dot_35_bar__minus_01_dot_22 - object\n CellPhone_bar__minus_00_dot_81_bar__plus_00_dot_57_bar__plus_00_dot_60 - object\n CellPhone_bar__minus_01_dot_28_bar__plus_01_dot_24_bar__minus_00_dot_65 - 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_66_bar__plus_01_dot_05_bar__minus_01_dot_43 - object\n DeskLamp_bar__minus_01_dot_31_bar__plus_01_dot_23_bar__minus_00_dot_99 - object\n KeyChain_bar__minus_01_dot_29_bar__plus_00_dot_68_bar__minus_00_dot_65 - object\n Laptop_bar__minus_00_dot_29_bar__plus_00_dot_68_bar__plus_01_dot_58 - object\n LightSwitch_bar__plus_02_dot_66_bar__plus_01_dot_28_bar__plus_01_dot_90 - object\n Mirror_bar__plus_01_dot_99_bar__plus_01_dot_38_bar__plus_01_dot_88 - object\n Mug_bar__plus_01_dot_84_bar__plus_00_dot_79_bar__minus_01_dot_28 - object\n Pencil_bar__plus_01_dot_65_bar__plus_00_dot_80_bar__minus_01_dot_12 - object\n Pencil_bar__plus_02_dot_69_bar__plus_01_dot_05_bar__minus_01_dot_37 - object\n Pencil_bar__minus_01_dot_32_bar__plus_01_dot_24_bar__minus_00_dot_55 - object\n Pen_bar__plus_01_dot_84_bar__plus_00_dot_80_bar__minus_01_dot_15 - object\n Pen_bar__minus_01_dot_29_bar__plus_00_dot_11_bar__minus_00_dot_54 - object\n Pen_bar__minus_01_dot_29_bar__plus_00_dot_39_bar__minus_00_dot_92 - 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_91_bar__plus_00_dot_13_bar__minus_01_dot_22 - object\n TissueBox_bar__plus_02_dot_22_bar__plus_00_dot_80_bar__minus_01_dot_22 - object\n TissueBox_bar__minus_01_dot_29_bar__plus_00_dot_11_bar__minus_00_dot_88 - object\n Watch_bar__plus_02_dot_60_bar__plus_01_dot_28_bar__minus_01_dot_42 - object\n Watch_bar__plus_02_dot_80_bar__plus_00_dot_81_bar__minus_01_dot_41 - 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_6_bar_2_bar_0_bar_30 - location\n )\n \n\n(:init\n\n\n (receptacleType Shelf_bar__plus_02_dot_25_bar__plus_01_dot_27_bar__minus_01_dot_42 ShelfType)\n (receptacleType Drawer_bar__minus_01_dot_29_bar__plus_00_dot_44_bar__minus_00_dot_92 DrawerType)\n (receptacleType Drawer_bar__minus_01_dot_29_bar__plus_00_dot_17_bar__minus_00_dot_58 DrawerType)\n (receptacleType Drawer_bar__plus_01_dot_95_bar__plus_00_dot_62_bar__minus_01_dot_21 DrawerType)\n (receptacleType Desk_bar__plus_02_dot_29_bar__plus_00_dot_01_bar__minus_01_dot_15 DeskType)\n (receptacleType Drawer_bar__minus_01_dot_29_bar__plus_01_dot_02_bar__minus_00_dot_92 DrawerType)\n (receptacleType Drawer_bar__minus_01_dot_29_bar__plus_01_dot_02_bar__minus_00_dot_58 DrawerType)\n (receptacleType Drawer_bar__plus_01_dot_63_bar__plus_00_dot_40_bar__minus_01_dot_21 DrawerType)\n (receptacleType Bed_bar__minus_00_dot_64_bar__plus_00_dot_00_bar__plus_00_dot_87 BedType)\n (receptacleType Drawer_bar__plus_01_dot_63_bar__plus_00_dot_18_bar__minus_01_dot_21 DrawerType)\n (receptacleType Drawer_bar__plus_02_dot_82_bar__plus_00_dot_62_bar__minus_01_dot_21 DrawerType)\n (receptacleType Shelf_bar__plus_02_dot_47_bar__plus_00_dot_80_bar__minus_01_dot_41 ShelfType)\n (receptacleType Drawer_bar__plus_01_dot_63_bar__plus_00_dot_62_bar__minus_01_dot_21 DrawerType)\n (receptacleType Drawer_bar__minus_01_dot_29_bar__plus_00_dot_74_bar__minus_00_dot_58 DrawerType)\n (receptacleType GarbageCan_bar__plus_02_dot_84_bar__plus_00_dot_00_bar__plus_00_dot_22 GarbageCanType)\n (receptacleType Shelf_bar__plus_01_dot_80_bar__plus_00_dot_80_bar__minus_01_dot_42 ShelfType)\n (receptacleType Shelf_bar__plus_01_dot_80_bar__plus_01_dot_04_bar__minus_01_dot_42 ShelfType)\n (receptacleType Drawer_bar__plus_01_dot_95_bar__plus_00_dot_18_bar__minus_01_dot_21 DrawerType)\n (receptacleType Drawer_bar__minus_01_dot_29_bar__plus_00_dot_74_bar__minus_00_dot_92 DrawerType)\n (receptacleType Drawer_bar__plus_02_dot_82_bar__plus_00_dot_17_bar__minus_01_dot_21 DrawerType)\n (receptacleType Shelf_bar__plus_02_dot_70_bar__plus_01_dot_27_bar__minus_01_dot_42 ShelfType)\n (receptacleType Shelf_bar__plus_02_dot_47_bar__plus_01_dot_04_bar__minus_01_dot_41 ShelfType)\n (receptacleType Drawer_bar__minus_01_dot_29_bar__plus_00_dot_44_bar__minus_00_dot_58 DrawerType)\n (receptacleType Drawer_bar__plus_01_dot_95_bar__plus_00_dot_40_bar__minus_01_dot_21 DrawerType)\n (receptacleType Dresser_bar__minus_01_dot_33_bar__plus_00_dot_00_bar__minus_00_dot_75 DresserType)\n (receptacleType Drawer_bar__minus_01_dot_29_bar__plus_00_dot_17_bar__minus_00_dot_92 DrawerType)\n (receptacleType Drawer_bar__plus_02_dot_82_bar__plus_00_dot_40_bar__minus_01_dot_21 DrawerType)\n (objectType TissueBox_bar__plus_02_dot_22_bar__plus_00_dot_80_bar__minus_01_dot_22 TissueBoxType)\n (objectType Pencil_bar__minus_01_dot_32_bar__plus_01_dot_24_bar__minus_00_dot_55 PencilType)\n (objectType Pillow_bar__minus_00_dot_63_bar__plus_00_dot_63_bar__plus_01_dot_61 PillowType)\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 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_29_bar__plus_00_dot_57_bar__plus_01_dot_09 BookType)\n (objectType Boots_bar__minus_01_dot_28_bar__plus_00_dot_00_bar__minus_01_dot_34 BootsType)\n (objectType KeyChain_bar__minus_01_dot_29_bar__plus_00_dot_68_bar__minus_00_dot_65 KeyChainType)\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 CellPhone_bar__plus_01_dot_67_bar__plus_00_dot_35_bar__minus_01_dot_22 CellPhoneType)\n (objectType Statue_bar__plus_01_dot_82_bar__plus_01_dot_04_bar__minus_01_dot_42 StatueType)\n (objectType Watch_bar__plus_02_dot_80_bar__plus_00_dot_81_bar__minus_01_dot_41 WatchType)\n (objectType TissueBox_bar__minus_01_dot_29_bar__plus_00_dot_11_bar__minus_00_dot_88 TissueBoxType)\n (objectType DeskLamp_bar__minus_01_dot_31_bar__plus_01_dot_23_bar__minus_00_dot_99 DeskLampType)\n (objectType Laptop_bar__minus_00_dot_29_bar__plus_00_dot_68_bar__plus_01_dot_58 LaptopType)\n (objectType Pencil_bar__plus_01_dot_65_bar__plus_00_dot_80_bar__minus_01_dot_12 PencilType)\n (objectType LightSwitch_bar__plus_02_dot_66_bar__plus_01_dot_28_bar__plus_01_dot_90 LightSwitchType)\n (objectType CellPhone_bar__minus_01_dot_28_bar__plus_01_dot_24_bar__minus_00_dot_65 CellPhoneType)\n (objectType Pen_bar__minus_01_dot_29_bar__plus_00_dot_39_bar__minus_00_dot_92 PenType)\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 Pencil_bar__plus_02_dot_69_bar__plus_01_dot_05_bar__minus_01_dot_37 PencilType)\n (objectType Pen_bar__plus_01_dot_84_bar__plus_00_dot_80_bar__minus_01_dot_15 PenType)\n (objectType CellPhone_bar__minus_00_dot_81_bar__plus_00_dot_57_bar__plus_00_dot_60 CellPhoneType)\n (objectType CD_bar__minus_01_dot_32_bar__plus_00_dot_38_bar__minus_00_dot_61 CDType)\n (objectType Chair_bar__plus_02_dot_40_bar__plus_00_dot_00_bar__minus_01_dot_08 ChairType)\n (objectType CD_bar__plus_02_dot_03_bar__plus_00_dot_79_bar__minus_01_dot_22 CDType)\n (objectType AlarmClock_bar__minus_01_dot_32_bar__plus_01_dot_23_bar__minus_00_dot_75 AlarmClockType)\n (objectType Blinds_bar__plus_00_dot_11_bar__plus_02_dot_34_bar__minus_01_dot_44 BlindsType)\n (objectType AlarmClock_bar__plus_01_dot_65_bar__plus_00_dot_80_bar__minus_01_dot_28 AlarmClockType)\n (objectType CreditCard_bar__plus_01_dot_66_bar__plus_01_dot_05_bar__minus_01_dot_43 CreditCardType)\n (objectType TissueBox_bar__plus_01_dot_91_bar__plus_00_dot_13_bar__minus_01_dot_22 TissueBoxType)\n (objectType Watch_bar__plus_02_dot_60_bar__plus_01_dot_28_bar__minus_01_dot_42 WatchType)\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 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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 TissueBox_bar__plus_02_dot_22_bar__plus_00_dot_80_bar__minus_01_dot_22)\n (pickupable Pencil_bar__minus_01_dot_32_bar__plus_01_dot_24_bar__minus_00_dot_55)\n (pickupable Pillow_bar__minus_00_dot_63_bar__plus_00_dot_63_bar__plus_01_dot_61)\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 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_29_bar__plus_00_dot_57_bar__plus_01_dot_09)\n (pickupable Boots_bar__minus_01_dot_28_bar__plus_00_dot_00_bar__minus_01_dot_34)\n (pickupable KeyChain_bar__minus_01_dot_29_bar__plus_00_dot_68_bar__minus_00_dot_65)\n (pickupable BasketBall_bar__plus_01_dot_02_bar__plus_00_dot_33_bar__minus_00_dot_98)\n (pickupable CellPhone_bar__plus_01_dot_67_bar__plus_00_dot_35_bar__minus_01_dot_22)\n (pickupable Statue_bar__plus_01_dot_82_bar__plus_01_dot_04_bar__minus_01_dot_42)\n (pickupable Watch_bar__plus_02_dot_80_bar__plus_00_dot_81_bar__minus_01_dot_41)\n (pickupable TissueBox_bar__minus_01_dot_29_bar__plus_00_dot_11_bar__minus_00_dot_88)\n (pickupable Laptop_bar__minus_00_dot_29_bar__plus_00_dot_68_bar__plus_01_dot_58)\n (pickupable Pencil_bar__plus_01_dot_65_bar__plus_00_dot_80_bar__minus_01_dot_12)\n (pickupable CellPhone_bar__minus_01_dot_28_bar__plus_01_dot_24_bar__minus_00_dot_65)\n (pickupable Pen_bar__minus_01_dot_29_bar__plus_00_dot_39_bar__minus_00_dot_92)\n (pickupable Pen_bar__minus_01_dot_29_bar__plus_00_dot_11_bar__minus_00_dot_54)\n (pickupable Pencil_bar__plus_02_dot_69_bar__plus_01_dot_05_bar__minus_01_dot_37)\n (pickupable Pen_bar__plus_01_dot_84_bar__plus_00_dot_80_bar__minus_01_dot_15)\n (pickupable CellPhone_bar__minus_00_dot_81_bar__plus_00_dot_57_bar__plus_00_dot_60)\n (pickupable CD_bar__minus_01_dot_32_bar__plus_00_dot_38_bar__minus_00_dot_61)\n (pickupable CD_bar__plus_02_dot_03_bar__plus_00_dot_79_bar__minus_01_dot_22)\n (pickupable AlarmClock_bar__minus_01_dot_32_bar__plus_01_dot_23_bar__minus_00_dot_75)\n (pickupable AlarmClock_bar__plus_01_dot_65_bar__plus_00_dot_80_bar__minus_01_dot_28)\n (pickupable CreditCard_bar__plus_01_dot_66_bar__plus_01_dot_05_bar__minus_01_dot_43)\n (pickupable TissueBox_bar__plus_01_dot_91_bar__plus_00_dot_13_bar__minus_01_dot_22)\n (pickupable Watch_bar__plus_02_dot_60_bar__plus_01_dot_28_bar__minus_01_dot_42)\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 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_6_bar_2_bar_0_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 \n (heatable Mug_bar__plus_01_dot_84_bar__plus_00_dot_79_bar__minus_01_dot_28)\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 \n \n (toggleable DeskLamp_bar__minus_01_dot_31_bar__plus_01_dot_23_bar__minus_00_dot_99)\n \n \n \n \n (inReceptacle TissueBox_bar__minus_01_dot_29_bar__plus_00_dot_11_bar__minus_00_dot_88 Drawer_bar__minus_01_dot_29_bar__plus_00_dot_17_bar__minus_00_dot_92)\n (inReceptacle Pen_bar__plus_01_dot_84_bar__plus_00_dot_80_bar__minus_01_dot_15 Desk_bar__plus_02_dot_29_bar__plus_00_dot_01_bar__minus_01_dot_15)\n (inReceptacle TissueBox_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 CD_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_12 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_28 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 Bowl_bar__plus_02_dot_45_bar__plus_00_dot_79_bar__minus_01_dot_21 Desk_bar__plus_02_dot_29_bar__plus_00_dot_01_bar__minus_01_dot_15)\n (inReceptacle Pen_bar__minus_01_dot_29_bar__plus_00_dot_39_bar__minus_00_dot_92 Drawer_bar__minus_01_dot_29_bar__plus_00_dot_44_bar__minus_00_dot_92)\n (inReceptacle CellPhone_bar__plus_01_dot_67_bar__plus_00_dot_35_bar__minus_01_dot_22 Drawer_bar__plus_01_dot_63_bar__plus_00_dot_40_bar__minus_01_dot_21)\n (inReceptacle CD_bar__minus_01_dot_32_bar__plus_00_dot_38_bar__minus_00_dot_61 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 TissueBox_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 DeskLamp_bar__minus_01_dot_31_bar__plus_01_dot_23_bar__minus_00_dot_99 Dresser_bar__minus_01_dot_33_bar__plus_00_dot_00_bar__minus_00_dot_75)\n (inReceptacle AlarmClock_bar__minus_01_dot_32_bar__plus_01_dot_23_bar__minus_00_dot_75 Dresser_bar__minus_01_dot_33_bar__plus_00_dot_00_bar__minus_00_dot_75)\n (inReceptacle CellPhone_bar__minus_01_dot_28_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_32_bar__plus_01_dot_24_bar__minus_00_dot_55 Dresser_bar__minus_01_dot_33_bar__plus_00_dot_00_bar__minus_00_dot_75)\n (inReceptacle KeyChain_bar__minus_01_dot_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_29_bar__plus_00_dot_57_bar__plus_01_dot_09 Bed_bar__minus_00_dot_64_bar__plus_00_dot_00_bar__plus_00_dot_87)\n (inReceptacle CellPhone_bar__minus_00_dot_81_bar__plus_00_dot_57_bar__plus_00_dot_60 Bed_bar__minus_00_dot_64_bar__plus_00_dot_00_bar__plus_00_dot_87)\n (inReceptacle Laptop_bar__minus_00_dot_29_bar__plus_00_dot_68_bar__plus_01_dot_58 Bed_bar__minus_00_dot_64_bar__plus_00_dot_00_bar__plus_00_dot_87)\n (inReceptacle Pillow_bar__minus_00_dot_63_bar__plus_00_dot_63_bar__plus_01_dot_61 Bed_bar__minus_00_dot_64_bar__plus_00_dot_00_bar__plus_00_dot_87)\n (inReceptacle Pencil_bar__plus_02_dot_69_bar__plus_01_dot_05_bar__minus_01_dot_37 Shelf_bar__plus_02_dot_47_bar__plus_01_dot_04_bar__minus_01_dot_41)\n (inReceptacle CreditCard_bar__plus_01_dot_66_bar__plus_01_dot_05_bar__minus_01_dot_43 Shelf_bar__plus_01_dot_80_bar__plus_01_dot_04_bar__minus_01_dot_42)\n (inReceptacle Statue_bar__plus_01_dot_82_bar__plus_01_dot_04_bar__minus_01_dot_42 Shelf_bar__plus_01_dot_80_bar__plus_01_dot_04_bar__minus_01_dot_42)\n (inReceptacle Watch_bar__plus_02_dot_60_bar__plus_01_dot_28_bar__minus_01_dot_42 Shelf_bar__plus_02_dot_70_bar__plus_01_dot_27_bar__minus_01_dot_42)\n (inReceptacle Watch_bar__plus_02_dot_80_bar__plus_00_dot_81_bar__minus_01_dot_41 Shelf_bar__plus_02_dot_47_bar__plus_00_dot_80_bar__minus_01_dot_41)\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__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__plus_02_dot_80_bar__plus_00_dot_81_bar__minus_01_dot_41 loc_bar_10_bar__minus_2_bar_2_bar_45)\n (objectAtLocation Pencil_bar__plus_02_dot_69_bar__plus_01_dot_05_bar__minus_01_dot_37 loc_bar_10_bar__minus_2_bar_2_bar_30)\n (objectAtLocation AlarmClock_bar__plus_01_dot_65_bar__plus_00_dot_80_bar__minus_01_dot_28 loc_bar_9_bar__minus_2_bar_2_bar_60)\n (objectAtLocation TissueBox_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 CellPhone_bar__plus_01_dot_67_bar__plus_00_dot_35_bar__minus_01_dot_22 loc_bar_3_bar__minus_2_bar_1_bar_60)\n (objectAtLocation Pencil_bar__plus_01_dot_65_bar__plus_00_dot_80_bar__minus_01_dot_12 loc_bar_9_bar__minus_2_bar_2_bar_60)\n (objectAtLocation Pen_bar__plus_01_dot_84_bar__plus_00_dot_80_bar__minus_01_dot_15 loc_bar_9_bar__minus_2_bar_2_bar_60)\n (objectAtLocation CellPhone_bar__minus_01_dot_28_bar__plus_01_dot_24_bar__minus_00_dot_65 loc_bar__minus_3_bar__minus_3_bar_3_bar_60)\n (objectAtLocation TissueBox_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 Book_bar__minus_00_dot_29_bar__plus_00_dot_57_bar__plus_01_dot_09 loc_bar_3_bar_5_bar_3_bar_45)\n (objectAtLocation Box_bar__plus_02_dot_73_bar__plus_00_dot_20_bar__plus_00_dot_89 loc_bar_9_bar_4_bar_1_bar_60)\n (objectAtLocation Chair_bar__plus_02_dot_40_bar__plus_00_dot_00_bar__minus_01_dot_08 loc_bar_10_bar__minus_2_bar_2_bar_60)\n (objectAtLocation Laptop_bar__minus_00_dot_29_bar__plus_00_dot_68_bar__plus_01_dot_58 loc_bar_3_bar_5_bar_3_bar_45)\n (objectAtLocation CellPhone_bar__minus_00_dot_81_bar__plus_00_dot_57_bar__plus_00_dot_60 loc_bar_3_bar_5_bar_3_bar_45)\n (objectAtLocation BaseballBat_bar__plus_02_dot_85_bar__plus_00_dot_64_bar__plus_01_dot_84 loc_bar_10_bar_5_bar_0_bar_60)\n (objectAtLocation DeskLamp_bar__minus_01_dot_31_bar__plus_01_dot_23_bar__minus_00_dot_99 loc_bar__minus_3_bar__minus_3_bar_3_bar_60)\n (objectAtLocation BasketBall_bar__plus_01_dot_02_bar__plus_00_dot_33_bar__minus_00_dot_98 loc_bar_4_bar__minus_2_bar_2_bar_60)\n (objectAtLocation TissueBox_bar__minus_01_dot_29_bar__plus_00_dot_11_bar__minus_00_dot_88 loc_bar__minus_3_bar__minus_4_bar_3_bar_60)\n (objectAtLocation CreditCard_bar__plus_01_dot_66_bar__plus_01_dot_05_bar__minus_01_dot_43 loc_bar_7_bar__minus_3_bar_2_bar_45)\n (objectAtLocation AlarmClock_bar__minus_01_dot_32_bar__plus_01_dot_23_bar__minus_00_dot_75 loc_bar__minus_3_bar__minus_3_bar_3_bar_60)\n (objectAtLocation Pencil_bar__minus_01_dot_32_bar__plus_01_dot_24_bar__minus_00_dot_55 loc_bar__minus_3_bar__minus_3_bar_3_bar_60)\n (objectAtLocation Boots_bar__minus_01_dot_28_bar__plus_00_dot_00_bar__minus_01_dot_34 loc_bar__minus_3_bar__minus_4_bar_3_bar_60)\n (objectAtLocation Blinds_bar__plus_00_dot_11_bar__plus_02_dot_34_bar__minus_01_dot_44 loc_bar_0_bar__minus_4_bar_2_bar__minus_30)\n (objectAtLocation Pillow_bar__minus_00_dot_63_bar__plus_00_dot_63_bar__plus_01_dot_61 loc_bar_3_bar_5_bar_3_bar_45)\n (objectAtLocation KeyChain_bar__minus_01_dot_29_bar__plus_00_dot_68_bar__minus_00_dot_65 loc_bar__minus_3_bar__minus_2_bar_3_bar_60)\n (objectAtLocation Bowl_bar__plus_02_dot_45_bar__plus_00_dot_79_bar__minus_01_dot_21 loc_bar_9_bar__minus_2_bar_2_bar_60)\n (objectAtLocation Watch_bar__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 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_32_bar__plus_00_dot_38_bar__minus_00_dot_61 loc_bar__minus_3_bar__minus_2_bar_3_bar_60)\n (objectAtLocation Pen_bar__minus_01_dot_29_bar__plus_00_dot_39_bar__minus_00_dot_92 loc_bar__minus_3_bar__minus_4_bar_3_bar_60)\n (objectAtLocation Window_bar__plus_00_dot_12_bar__plus_01_dot_50_bar__minus_01_dot_59 loc_bar_0_bar__minus_4_bar_2_bar_15)\n (objectAtLocation LightSwitch_bar__plus_02_dot_66_bar__plus_01_dot_28_bar__plus_01_dot_90 loc_bar_10_bar_5_bar_0_bar_30)\n (objectAtLocation Mug_bar__plus_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 WatchType)\n (receptacleType ?r DresserType)\n (inReceptacle ?o1 ?r)\n (exists (?o2 - object)\n (and\n (not (= ?o1 ?o2))\n (objectType ?o2 WatchType)\n (receptacleType ?r DresserType)\n (inReceptacle ?o2 ?r)\n )\n )\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to shelf 2", "take watch 2 from shelf 1", "go to dresser 1", "move watch 2 to dresser 1", "go to shelf 3", "take watch 1 from shelf 3", "go to dresser 1", "move watch 1 to dresser 1"]}
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alfworld__pick_two_obj_and_place__4
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pick_two_obj_and_place
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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 Fast Downward which supports PDDL 2.2 level 1 plus the :action-costs requirement from PDDL 3.1.\n\n(define (domain alfred)\n (:requirements\n :adl\n :action-costs\n :typing\n )\n (:types\n agent\n location\n receptacle\n object\n rtype\n otype\n )\n\n\n (:predicates\n (atLocation ?a - agent ?l - location) ; true if the agent is at the location\n (receptacleAtLocation ?r - receptacle ?l - location) ; true if the receptacle is at the location (constant)\n (objectAtLocation ?o - object ?l - location) ; true if the object is at the location\n (openable ?r - receptacle) ; true if a receptacle is openable\n (opened ?r - receptacle) ; true if a receptacle is opened\n (inReceptacle ?o - object ?r - receptacle) ; object ?o is in receptacle ?r\n (isReceptacleObject ?o - object) ; true if the object can have things put inside it\n (inReceptacleObject ?innerObject - object ?outerObject - object) ; object ?innerObject is inside object ?outerObject\n (isReceptacleObjectFull ?o - object) ; true if the receptacle object contains something\n (wasInReceptacle ?o - object ?r - receptacle) ; object ?o was or is in receptacle ?r now or some time in the past\n (checked ?r - receptacle) ; whether the receptacle has been looked inside/visited\n (examined ?l - location) ; TODO\n (receptacleType ?r - receptacle ?t - rtype) ; the type of receptacle (Cabinet vs Cabinet|01|2...)\n (canContain ?rt - rtype ?ot - otype) ; true if receptacle can hold object\n (objectType ?o - object ?t - otype) ; the type of object (Apple vs Apple|01|2...)\n (holds ?a - agent ?o - object) ; object ?o is held by agent ?a\n (holdsAny ?a - agent) ; agent ?a holds an object\n (holdsAnyReceptacleObject ?a - agent) ; agent ?a holds a receptacle object\n (full ?r - receptacle) ; true if the receptacle has no remaining space\n (isClean ?o - object) ; true if the object has been clean in sink\n (cleanable ?o - object) ; true if the object can be placed in a sink\n (isHot ?o - object) ; true if the object has been heated up\n (heatable ?o - object) ; true if the object can be heated up in a microwave\n (isCool ?o - object) ; true if the object has been cooled\n (coolable ?o - object) ; true if the object can be cooled in the fridge\n (pickupable ?o - object) ; true if the object can be picked up\n (moveable ?o - object) ; true if the object can be moved\n (toggleable ?o - object) ; true if the object can be turned on/off\n (isOn ?o - object) ; true if the object is on\n (isToggled ?o - object) ; true if the object has been toggled\n (sliceable ?o - object) ; true if the object can be sliced\n (isSliced ?o - object) ; true if the object is sliced\n )\n\n (:functions\n (distance ?from ?to)\n (total-cost) - number\n )\n\n;; All actions are specified such that the final arguments are the ones used\n;; for performing actions in Unity.\n\n\n(:action look\n :parameters (?a - agent ?l - location)\n :precondition\n (and\n (atLocation ?a ?l)\n )\n :effect\n (and\n (checked ?l)\n )\n)\n\n(:action inventory\n :parameters (?a - agent)\n :precondition\n ()\n :effect\n (and\n (checked ?a)\n )\n)\n\n(:action examineReceptacle\n :parameters (?a - agent ?r - receptacle)\n :precondition\n (and\n (exists (?l - location)\n (and\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n )\n )\n )\n :effect\n (and\n (checked ?r)\n )\n)\n\n(:action examineObject\n :parameters (?a - agent ?o - object)\n :precondition\n (or\n ;(exists (?l - location)\n ; (and\n ; (atLocation ?a ?l)\n ; (objectAtLocation ?o ?l)\n ; )\n ;)\n (exists (?l - location, ?r - receptacle)\n (and\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n ; (objectAtLocation ?o ?l)\n (inReceptacle ?o ?r)\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n )\n )\n (holds ?a ?o)\n )\n :effect\n (and\n (checked ?o)\n )\n)\n\n;; agent goes to receptacle\n (:action GotoLocation\n :parameters (?a - agent ?lStart - location ?lEnd - location ?r - receptacle)\n :precondition (and\n (atLocation ?a ?lStart)\n (receptacleAtLocation ?r ?lEnd)\n ;(exists (?r - receptacle) (receptacleAtLocation ?r ?lEnd))\n )\n :effect (and\n (not (atLocation ?a ?lStart))\n (atLocation ?a ?lEnd)\n ; (forall (?r - receptacle)\n ; (when (and (receptacleAtLocation ?r ?lEnd)\n ; (or (not (openable ?r)) (opened ?r)))\n ; (checked ?r)\n ; )\n ; )\n ; (increase (total-cost) (distance ?lStart ?lEnd))\n (increase (total-cost) 1)\n )\n )\n\n;; agent opens receptacle\n (:action OpenObject\n :parameters (?a - agent ?l - location ?r - receptacle)\n :precondition (and\n (openable ?r)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (not (opened ?r))\n )\n :effect (and\n (opened ?r)\n (checked ?r)\n (increase (total-cost) 1)\n )\n )\n;; agent closes receptacle\n (:action CloseObject\n :parameters (?a - agent ?l - location ?r - receptacle)\n :precondition (and\n (openable ?r)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (opened ?r)\n )\n :effect (and\n (not (opened ?r))\n (increase (total-cost) 1)\n )\n\n )\n\n ;; agent picks up object from a receptacle\n (:action PickupObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n :precondition\n (and\n (pickupable ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n ; (objectAtLocation ?o ?l)\n (inReceptacle ?o ?r)\n (not (holdsAny ?a)) ; agent's hands are empty.\n ;(not (holdsAnyReceptacleObject ?a))\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n ;(not (isReceptacleObject ?o))\n )\n :effect\n (and\n (not (inReceptacle ?o ?r))\n (holds ?a ?o)\n (holdsAny ?a)\n (not (objectAtLocation ?o ?l))\n ;(not (full ?r))\n (increase (total-cost) 1)\n )\n )\n\n\n; ;; agent picks up object from a receptacle\n; (:action PickupObjectFromReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?outerR - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (inReceptacle ?o ?r)\n; (pickupable ?o)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (not (isReceptacleObject ?o))\n; (isReceptacleObject ?outerR)\n; (inReceptacleObject ?o ?outerR)\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (holds ?a ?o)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n;\n; (not (inReceptacleObject ?o ?outerR))\n; (not (isReceptacleObjectFull ?outerR))\n; )\n; )\n;\n; ;; agent picks up object from a receptacle\n; (:action PickupEmptyReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; ; (objectAtLocation ?o ?l)\n; (inReceptacle ?o ?r)\n; (pickupable ?o)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (isReceptacleObject ?o)\n; (not (isReceptacleObjectFull ?o))\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (holds ?a ?o)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n; (holdsAnyReceptacleObject ?a)\n; )\n; )\n;\n; ;; agent picks up object from a receptacle\n; (:action PickupFullReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?outerR - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (inReceptacle ?outerR ?r)\n; (pickupable ?outerR)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (not (isReceptacleObject ?o))\n; (isReceptacleObject ?outerR)\n; (inReceptacleObject ?o ?outerR)\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (not (inReceptacle ?outerR ?r))\n; (holds ?a ?outerR)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (objectAtLocation ?outerR ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n; (holdsAnyReceptacleObject ?a)\n; )\n; )\n\n\n;; agent puts down an object\n (:action PutObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle ?ot - otype ?rt - rtype)\n :precondition (and\n (holds ?a ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable\n ;(not (full ?r))\n (objectType ?o ?ot)\n (receptacleType ?r ?rt)\n (canContain ?rt ?ot)\n ;(not (holdsAnyReceptacleObject ?a))\n )\n :effect (and\n (inReceptacle ?o ?r)\n (objectAtLocation ?o ?l)\n ;(full ?r)\n (not (holds ?a ?o))\n (not (holdsAny ?a))\n (increase (total-cost) 1)\n )\n )\n\n;;; agent puts down an object\n; (:action PutObjectInReceptacleObject\n; :parameters (?a - agent ?l - location ?ot - otype ?o - object ?outerO - object ?outerR - receptacle)\n; :precondition (and\n; (atLocation ?a ?l)\n; (objectAtLocation ?outerO ?l)\n; (isReceptacleObject ?outerO)\n; (not (isReceptacleObject ?o))\n; (objectType ?o ?ot)\n; (holds ?a ?o)\n; (not (holdsAnyReceptacleObject ?a))\n; (inReceptacle ?outerO ?outerR)\n; (not (isReceptacleObjectFull ?outerO))\n; )\n; :effect (and\n; (inReceptacleObject ?o ?outerO)\n; (inReceptacle ?o ?outerR)\n; (not (holds ?a ?o))\n; (not (holdsAny ?a))\n; (objectAtLocation ?o ?l)\n; (isReceptacleObjectFull ?outerO)\n; (increase (total-cost) 1)\n; )\n; )\n;\n;;; agent puts down an object\n; (:action PutEmptyReceptacleObjectinReceptacle\n; :parameters (?a - agent ?l - location ?ot - otype ?o - object ?r - receptacle)\n; :precondition (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable\n; (not (full ?r))\n; (objectType ?o ?ot)\n; (holds ?a ?o)\n; (holdsAnyReceptacleObject ?a)\n; (isReceptacleObject ?o)\n; (not (isReceptacleObjectFull ?o))\n; )\n; :effect (and\n; (inReceptacle ?o ?r)\n; (objectAtLocation ?o ?l)\n; (full ?r)\n; (not (holds ?a ?o))\n; (not (holdsAny ?a))\n; (not (holdsAnyReceptacleObject ?a))\n; (increase (total-cost) 1)\n; )\n; )\n;\n;;; agent puts down a receptacle object in a receptacle\n; (:action PutFullReceptacleObjectInReceptacle\n; :parameters (?a - agent ?l - location ?ot - otype ?innerO - object ?outerO - object ?r - receptacle) ; ?rt - rtype)\n; :precondition (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (objectType ?outerO ?ot)\n; (holds ?a ?outerO)\n; (holdsAnyReceptacleObject ?a)\n; (isReceptacleObject ?outerO)\n; (isReceptacleObjectFull ?outerO)\n; (inReceptacleObject ?innerO ?outerO)\n; )\n; :effect (and\n; (not (holdsAny ?a))\n; (not (holdsAnyReceptacleObject ?a))\n; (objectAtLocation ?outerO ?l)\n; (objectAtLocation ?innerO ?l)\n; (inReceptacle ?outerO ?r)\n; (inReceptacle ?innerO ?r)\n; (not (holds ?a ?outerO))\n; (increase (total-cost) 1)\n; )\n; )\n\n;; agent cleans some object\n (:action CleanObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (cleanable ?o)\n (or\n (receptacleType ?r SinkType)\n (receptacleType ?r SinkBasinType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isClean ?o)\n )\n )\n\n\n;; agent heats-up some object\n (:action HeatObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (heatable ?o)\n (or\n (receptacleType ?r MicrowaveType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isHot ?o)\n (not (isCool ?o))\n )\n )\n\n;; agent cools some object\n (:action CoolObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (coolable ?o)\n (or\n (receptacleType ?r FridgeType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isCool ?o)\n (not (isHot ?o))\n )\n )\n\n\n;; agent toggle object\n (:action ToggleObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n :precondition (and\n (toggleable ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (inReceptacle ?o ?r)\n )\n :effect (and\n (increase (total-cost) 5)\n (when (isOn ?o)\n (not (isOn ?o)))\n (when (not (isOn ?o))\n (isOn ?o))\n (isToggled ?o)\n )\n )\n\n\n;; agent slices some object with a knife\n (:action SliceObject\n :parameters (?a - agent ?l - location ?co - object ?ko - object)\n :precondition\n (and\n (sliceable ?co)\n (or\n (objectType ?ko KnifeType)\n (objectType ?ko ButterKnifeType)\n )\n (atLocation ?a ?l)\n (objectAtLocation ?co ?l)\n (holds ?a ?ko)\n )\n :effect (and\n (increase (total-cost) 5)\n (isSliced ?co)\n )\n )\n\n\n(:action help\n :parameters (?a - agent)\n :precondition\n ()\n :effect\n (and\n (checked ?a)\n )\n)\n)\n", "grammar": "grammar :: \"\"\"\n {\n \"intro\": [\n {\n \"rhs\": \"-= Welcome to TextWorld, ALFRED! =-\\n\\n#look.feedback#\\n\\n#task#\"\n }\n ],\n\n \"notImplemented\": [\n {\n \"rhs\": \"TODO\"\n }\n ],\n\n \"task\": [\n {\n \"rhs\": \"Your task is to: put two watch in dresser.\"\n }\n ],\n\n \"GotoLocation.feedback\": [\n {\n \"rhs\": \"You arrive at {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"OpenObject.feedback\": [\n {\n \"rhs\": \"You open the {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"CloseObject.feedback\": [\n {\n \"rhs\": \"You close the {r.name}.\"\n }\n ],\n\n \"PickupObject.feedback\": [\n {\n \"rhs\": \"You pick up the {o.name} from the {r.name}.\"\n }\n ],\n\n \"PickupObjectFromReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupObjectFromReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupEmptyReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupEmptyReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupFullReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupFullReceptacleObject: You pick up the {outerr.name}.\"\n }\n ],\n\n \"PutObject.feedback\": [\n {\n \"rhs\": \"You move the {o.name} to the {r.name}.\"\n }\n ],\n\n \"PutObjectInReceptacleObject.feedback\": [\n {\n \"rhs\": \"PutObjectInReceptacleObject: You put the {o.name} in the {outero.name}.\"\n }\n ],\n\n \"PutEmptyReceptacleObjectinReceptacle.feedback\": [\n {\n \"rhs\": \"PutEmptyReceptacleObjectinReceptacle: You put the {o.name} in the {r.name}.\"\n }\n ],\n\n \"PutFullReceptacleObjectInReceptacle.feedback\": [\n {\n \"rhs\": \"PutFullReceptacleObjectInReceptacle: You put the {outero.name} in the {r.name}.\"\n }\n ],\n\n \"inventory.feedback\": [\n {\n \"condition\": \"holdsany(a:agent)\",\n \"rhs\": \"You are carrying: [{o.indefinite + ' ' + o.name | holds(a:agent, o:object)}].\"\n },\n {\n \"rhs\": \"You are not carrying anything.\"\n }\n ],\n\n \"examineReceptacle.feedback\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \"The {r.name} is open. In it, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \"The {r.name} is closed.\"\n },\n {\n \"rhs\": \"On the {r.name}, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n }\n ],\n\n \"examineObject.feedback\": [\n {\n \"condition\": \"isreceptacleobject(o:object)\",\n \"rhs\": \"This is a normal {o.name}. In it, you see [{o2.indefinite + ' ' + o2.name | inreceptacleobject(o2:object, o:object)}].\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a clean sliced {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot sliced {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object)\",\n \"rhs\": \"This is a hot and clean {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object)\",\n \"rhs\": \"This is a cool and clean {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object)\",\n \"rhs\": \"This is a hot {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object)\",\n \"rhs\": \"This is a clean {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object)\",\n \"rhs\": \"This is a cold {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"This {o.name} is on.\"\n },\n {\n \"condition\": \"toggleable(o:object) & not_istoggled(o:object)\",\n \"rhs\": \"This {o.name} is off.\"\n },\n {\n \"condition\": \"sliceable(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a sliced {o.name}.\"\n },\n {\n \"rhs\": \"There's nothing special about {o.name}.\"\n }\n ]\n }\n\"\"\";\n\naction GotoLocation {\n template :: \"go to [{r.name | receptacleatlocation(r:receptacle, lend:location)}]\";\n feedback :: \"#GotoLocation.feedback#\";\n}\n\naction OpenObject {\n template :: \"open {r}\";\n feedback :: \"#OpenObject.feedback#\";\n}\n\naction CloseObject {\n template :: \"close {r}\";\n feedback :: \"#CloseObject.feedback#\";\n}\n\naction PickupObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObject.feedback#\";\n}\n\naction PickupObjectFromReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObjectFromReceptacleObject.feedback#\";\n}\n\naction PickupEmptyReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupEmptyReceptacleObject.feedback#\";\n}\n\naction PickupFullReceptacleObject {\n template :: \"take {outerr} from {r}\";\n feedback :: \"#PickupFullReceptacleObject.feedback#\";\n}\n\naction PutObject {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutObject.feedback#\";\n}\n\naction PutObjectInReceptacleObject {\n template :: \"put {o} into {outero}\";\n feedback :: \"#PutObjectInReceptacleObject.feedback#\";\n}\n\naction PutEmptyReceptacleObjectinReceptacle {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutEmptyReceptacleObjectinReceptacle.feedback#\";\n}\n\naction PutFullReceptacleObjectInReceptacle {\n template :: \"put {outero} in {r}\";\n feedback :: \"#PutFullReceptacleObjectInReceptacle.feedback#\";\n}\n\naction inventory {\n template :: \"inventory\";\n feedback :: \"#inventory.feedback#\";\n}\n\naction examineReceptacle {\n template :: \"examine {r}\";\n feedback :: \"#examineReceptacle.feedback#\";\n}\n\naction examineObject {\n template :: \"examine {o}\";\n feedback :: \"#examineObject.feedback#\";\n}\n\naction ToggleObject {\n template :: \"use {o}\";\n feedback :: \"#toggleObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"toggleObject.feedback\": [\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"You turn on the {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object)\",\n \"rhs\": \"You turn off the {o.name}.\"\n },\n {\n \"rhs\": \"You don't see any switch on the {o.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction HeatObject {\n template :: \"heat {o} with {r}\";\n feedback :: \"#heatObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"heatObject.feedback\": [\n {\n \"rhs\": \"You heat the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CleanObject {\n template :: \"clean {o} with {r}\";\n feedback :: \"#cleanObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"cleanObject.feedback\": [\n {\n \"rhs\": \"You clean the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CoolObject {\n template :: \"cool {o} with {r}\";\n feedback :: \"#coolObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"coolObject.feedback\": [\n {\n \"rhs\": \"You cool the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction SliceObject {\n template :: \"slice {co} with {ko}\";\n feedback :: \"#sliceObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"sliceObject.feedback\": [\n {\n \"rhs\": \"You sliced the {co.name} with the {ko.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction look {\n template :: \"look\";\n feedback :: \"#look.feedback#\";\n\n grammar :: \"\"\"\n {\n \"look.feedback\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"#look-variations#. Next to it, you see #list_objects_on_the_floor#.\"\n },\n {\n \"rhs\": \"You are in the middle of a room. Looking quickly around you, you see #list_appliances#.\"\n }\n ],\n\n \"look-variations\": [\n {\n \"rhs\": \"You are facing the [{r.name | atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)}]\"\n }\n ],\n\n \"list_objects_on_the_floor\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)\",\n \"rhs\": \"[{#overview(o)# | atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"list_appliances\": [\n {\n \"condition\": \"receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"[{#overview(r)# | receptacleatlocation(r:receptacle, l:location)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"overview(o, r)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name} (in/on the {r.name})}\"\n }\n ],\n\n \"overview(o)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name}\"\n }\n ],\n \"overview(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}\"\n }\n ],\n \"overview_with_state(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}#overview_state(r)#\"\n }\n ],\n \"overview_state(r)\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \" (it is open)\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \" (it is closed)\"\n },\n {\n \"rhs\": \"\"\n }\n ],\n\n \"list_empty\": [\n {\n \"rhs\": \"nothing\"\n }\n ],\n \"list_separator\": [\n {\n \"rhs\": \", \"\n }\n ],\n \"list_last_separator\": [\n {\n \"rhs\": \", and \"\n }\n ]\n }\n \"\"\";\n}\n\naction help {\n template :: \"help\";\n feedback :: \"\nAvailable commands:\n look: look around your current location\n inventory: check your current inventory\n go to (receptacle): move to a receptacle\n open (receptacle): open a receptacle\n close (receptacle): close a receptacle\n take (object) from (receptacle): take an object from a receptacle\n move (object) to (receptacle): place an object in or on a receptacle\n examine (something): examine a receptacle or an object\n use (object): use an object\n heat (object) with (receptacle): heat an object using a receptacle\n clean (object) with (receptacle): clean an object using a receptacle\n cool (object) with (receptacle): cool an object using a receptacle\n slice (object) with (object): slice an object using a sharp object\n\";\n}\n", "pddl_problem": "\n(define (problem plan_trial_T20190906_180154_425245)\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_28 - 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__minus_01_dot_32_bar__plus_01_dot_23_bar__minus_00_dot_75 - object\n Box_bar__plus_02_dot_73_bar__plus_00_dot_20_bar__plus_00_dot_89 - object\n CD_bar__plus_02_dot_79_bar__plus_00_dot_12_bar__minus_01_dot_25 - object\n CD_bar__plus_02_dot_84_bar__plus_00_dot_04_bar__plus_00_dot_18 - object\n CD_bar__minus_01_dot_35_bar__plus_00_dot_11_bar__minus_00_dot_88 - object\n CellPhone_bar__plus_01_dot_84_bar__plus_00_dot_80_bar__minus_01_dot_19 - object\n CellPhone_bar__minus_01_dot_25_bar__plus_01_dot_24_bar__minus_00_dot_55 - 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_79_bar__minus_01_dot_12 - object\n CreditCard_bar__plus_02_dot_59_bar__plus_01_dot_04_bar__minus_01_dot_40 - object\n CreditCard_bar__plus_02_dot_85_bar__plus_00_dot_57_bar__minus_01_dot_22 - object\n DeskLamp_bar__minus_01_dot_31_bar__plus_01_dot_23_bar__minus_00_dot_99 - object\n KeyChain_bar__minus_01_dot_35_bar__plus_01_dot_23_bar__minus_00_dot_55 - object\n Laptop_bar__minus_00_dot_29_bar__plus_00_dot_56_bar__plus_00_dot_85 - 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_40_bar__plus_00_dot_79_bar__minus_01_dot_25 - object\n Mug_bar__plus_02_dot_82_bar__plus_00_dot_79_bar__minus_01_dot_22 - object\n Pencil_bar__plus_02_dot_59_bar__plus_00_dot_81_bar__minus_01_dot_38 - object\n Pen_bar__plus_02_dot_22_bar__plus_00_dot_80_bar__minus_01_dot_12 - object\n Pillow_bar__minus_00_dot_63_bar__plus_00_dot_63_bar__plus_01_dot_61 - object\n Statue_bar__plus_01_dot_82_bar__plus_01_dot_04_bar__minus_01_dot_42 - object\n TissueBox_bar__minus_01_dot_29_bar__plus_00_dot_38_bar__minus_00_dot_61 - object\n TissueBox_bar__minus_01_dot_29_bar__plus_00_dot_68_bar__minus_00_dot_54 - object\n Watch_bar__plus_01_dot_51_bar__plus_00_dot_80_bar__minus_01_dot_40 - object\n Watch_bar__plus_01_dot_96_bar__plus_01_dot_05_bar__minus_01_dot_40 - object\n Watch_bar__plus_02_dot_17_bar__plus_01_dot_04_bar__minus_01_dot_43 - object\n Watch_bar__minus_01_dot_35_bar__plus_00_dot_11_bar__minus_00_dot_58 - 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_5_bar_5_bar_0_bar_30 - location\n )\n \n\n(:init\n\n\n (receptacleType Shelf_bar__plus_02_dot_25_bar__plus_01_dot_27_bar__minus_01_dot_42 ShelfType)\n (receptacleType Drawer_bar__minus_01_dot_29_bar__plus_00_dot_44_bar__minus_00_dot_92 DrawerType)\n (receptacleType Drawer_bar__minus_01_dot_29_bar__plus_00_dot_17_bar__minus_00_dot_58 DrawerType)\n (receptacleType Drawer_bar__plus_01_dot_95_bar__plus_00_dot_62_bar__minus_01_dot_21 DrawerType)\n (receptacleType Desk_bar__plus_02_dot_29_bar__plus_00_dot_01_bar__minus_01_dot_15 DeskType)\n (receptacleType Drawer_bar__minus_01_dot_29_bar__plus_01_dot_02_bar__minus_00_dot_92 DrawerType)\n (receptacleType Drawer_bar__minus_01_dot_29_bar__plus_01_dot_02_bar__minus_00_dot_58 DrawerType)\n (receptacleType Drawer_bar__plus_01_dot_63_bar__plus_00_dot_40_bar__minus_01_dot_21 DrawerType)\n (receptacleType Bed_bar__minus_00_dot_64_bar__plus_00_dot_00_bar__plus_00_dot_87 BedType)\n (receptacleType Drawer_bar__plus_01_dot_63_bar__plus_00_dot_18_bar__minus_01_dot_21 DrawerType)\n (receptacleType Drawer_bar__plus_02_dot_82_bar__plus_00_dot_62_bar__minus_01_dot_21 DrawerType)\n (receptacleType Shelf_bar__plus_02_dot_47_bar__plus_00_dot_80_bar__minus_01_dot_41 ShelfType)\n (receptacleType Drawer_bar__plus_01_dot_63_bar__plus_00_dot_62_bar__minus_01_dot_21 DrawerType)\n (receptacleType Drawer_bar__minus_01_dot_29_bar__plus_00_dot_74_bar__minus_00_dot_58 DrawerType)\n (receptacleType GarbageCan_bar__plus_02_dot_84_bar__plus_00_dot_00_bar__plus_00_dot_22 GarbageCanType)\n (receptacleType Shelf_bar__plus_01_dot_80_bar__plus_00_dot_80_bar__minus_01_dot_42 ShelfType)\n (receptacleType Shelf_bar__plus_01_dot_80_bar__plus_01_dot_04_bar__minus_01_dot_42 ShelfType)\n (receptacleType Drawer_bar__plus_01_dot_95_bar__plus_00_dot_18_bar__minus_01_dot_21 DrawerType)\n (receptacleType Drawer_bar__minus_01_dot_29_bar__plus_00_dot_74_bar__minus_00_dot_92 DrawerType)\n (receptacleType Drawer_bar__plus_02_dot_82_bar__plus_00_dot_17_bar__minus_01_dot_21 DrawerType)\n (receptacleType Shelf_bar__plus_02_dot_70_bar__plus_01_dot_27_bar__minus_01_dot_42 ShelfType)\n (receptacleType Shelf_bar__plus_02_dot_47_bar__plus_01_dot_04_bar__minus_01_dot_41 ShelfType)\n (receptacleType Drawer_bar__minus_01_dot_29_bar__plus_00_dot_44_bar__minus_00_dot_58 DrawerType)\n (receptacleType Drawer_bar__plus_01_dot_95_bar__plus_00_dot_40_bar__minus_01_dot_21 DrawerType)\n (receptacleType Dresser_bar__minus_01_dot_33_bar__plus_00_dot_00_bar__minus_00_dot_75 DresserType)\n (receptacleType Drawer_bar__minus_01_dot_29_bar__plus_00_dot_17_bar__minus_00_dot_92 DrawerType)\n (receptacleType Drawer_bar__plus_02_dot_82_bar__plus_00_dot_40_bar__minus_01_dot_21 DrawerType)\n (objectType Bowl_bar__minus_01_dot_32_bar__plus_01_dot_23_bar__minus_00_dot_75 BowlType)\n (objectType TissueBox_bar__minus_01_dot_29_bar__plus_00_dot_38_bar__minus_00_dot_61 TissueBoxType)\n (objectType CreditCard_bar__plus_02_dot_85_bar__plus_00_dot_57_bar__minus_01_dot_22 CreditCardType)\n (objectType Laptop_bar__minus_00_dot_29_bar__plus_00_dot_56_bar__plus_00_dot_85 LaptopType)\n (objectType Watch_bar__plus_02_dot_17_bar__plus_01_dot_04_bar__minus_01_dot_43 WatchType)\n (objectType AlarmClock_bar__plus_02_dot_59_bar__plus_00_dot_80_bar__minus_01_dot_22 AlarmClockType)\n (objectType Pencil_bar__plus_02_dot_59_bar__plus_00_dot_81_bar__minus_01_dot_38 PencilType)\n (objectType Mug_bar__plus_02_dot_82_bar__plus_00_dot_79_bar__minus_01_dot_22 MugType)\n (objectType AlarmClock_bar__plus_02_dot_22_bar__plus_00_dot_80_bar__minus_01_dot_28 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 CreditCard_bar__plus_02_dot_59_bar__plus_01_dot_04_bar__minus_01_dot_40 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 CD_bar__plus_02_dot_79_bar__plus_00_dot_12_bar__minus_01_dot_25 CDType)\n (objectType Watch_bar__plus_01_dot_51_bar__plus_00_dot_80_bar__minus_01_dot_40 WatchType)\n (objectType Window_bar__plus_00_dot_12_bar__plus_01_dot_50_bar__minus_01_dot_59 WindowType)\n (objectType CreditCard_bar__plus_01_dot_65_bar__plus_00_dot_79_bar__minus_01_dot_12 CreditCardType)\n (objectType Statue_bar__plus_01_dot_82_bar__plus_01_dot_04_bar__minus_01_dot_42 StatueType)\n (objectType CellPhone_bar__plus_01_dot_84_bar__plus_00_dot_80_bar__minus_01_dot_19 CellPhoneType)\n (objectType DeskLamp_bar__minus_01_dot_31_bar__plus_01_dot_23_bar__minus_00_dot_99 DeskLampType)\n (objectType Mug_bar__plus_02_dot_40_bar__plus_00_dot_79_bar__minus_01_dot_25 MugType)\n (objectType Watch_bar__minus_01_dot_35_bar__plus_00_dot_11_bar__minus_00_dot_58 WatchType)\n (objectType Watch_bar__plus_01_dot_96_bar__plus_01_dot_05_bar__minus_01_dot_40 WatchType)\n (objectType CD_bar__plus_02_dot_84_bar__plus_00_dot_04_bar__plus_00_dot_18 CDType)\n (objectType Book_bar__minus_00_dot_90_bar__plus_00_dot_57_bar__plus_01_dot_18 BookType)\n (objectType LightSwitch_bar__plus_02_dot_66_bar__plus_01_dot_28_bar__plus_01_dot_90 LightSwitchType)\n (objectType CellPhone_bar__minus_01_dot_25_bar__plus_01_dot_24_bar__minus_00_dot_55 CellPhoneType)\n (objectType TissueBox_bar__minus_01_dot_29_bar__plus_00_dot_68_bar__minus_00_dot_54 TissueBoxType)\n (objectType 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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 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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 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(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 CD_bar__plus_02_dot_79_bar__plus_00_dot_12_bar__minus_01_dot_25)\n (pickupable Watch_bar__plus_01_dot_51_bar__plus_00_dot_80_bar__minus_01_dot_40)\n (pickupable CreditCard_bar__plus_01_dot_65_bar__plus_00_dot_79_bar__minus_01_dot_12)\n (pickupable Statue_bar__plus_01_dot_82_bar__plus_01_dot_04_bar__minus_01_dot_42)\n (pickupable CellPhone_bar__plus_01_dot_84_bar__plus_00_dot_80_bar__minus_01_dot_19)\n (pickupable Mug_bar__plus_02_dot_40_bar__plus_00_dot_79_bar__minus_01_dot_25)\n (pickupable Watch_bar__minus_01_dot_35_bar__plus_00_dot_11_bar__minus_00_dot_58)\n (pickupable Watch_bar__plus_01_dot_96_bar__plus_01_dot_05_bar__minus_01_dot_40)\n (pickupable CD_bar__plus_02_dot_84_bar__plus_00_dot_04_bar__plus_00_dot_18)\n (pickupable Book_bar__minus_00_dot_90_bar__plus_00_dot_57_bar__plus_01_dot_18)\n (pickupable CellPhone_bar__minus_01_dot_25_bar__plus_01_dot_24_bar__minus_00_dot_55)\n (pickupable TissueBox_bar__minus_01_dot_29_bar__plus_00_dot_68_bar__minus_00_dot_54)\n (pickupable KeyChain_bar__minus_01_dot_35_bar__plus_01_dot_23_bar__minus_00_dot_55)\n (pickupable CD_bar__minus_01_dot_35_bar__plus_00_dot_11_bar__minus_00_dot_88)\n (pickupable Pen_bar__plus_02_dot_22_bar__plus_00_dot_80_bar__minus_01_dot_12)\n (pickupable Pillow_bar__minus_00_dot_63_bar__plus_00_dot_63_bar__plus_01_dot_61)\n (isReceptacleObject Bowl_bar__minus_01_dot_32_bar__plus_01_dot_23_bar__minus_00_dot_75)\n (isReceptacleObject Mug_bar__plus_02_dot_82_bar__plus_00_dot_79_bar__minus_01_dot_22)\n (isReceptacleObject Box_bar__plus_02_dot_73_bar__plus_00_dot_20_bar__plus_00_dot_89)\n (isReceptacleObject Mug_bar__plus_02_dot_40_bar__plus_00_dot_79_bar__minus_01_dot_25)\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_5_bar_5_bar_0_bar_30)\n \n (cleanable Bowl_bar__minus_01_dot_32_bar__plus_01_dot_23_bar__minus_00_dot_75)\n (cleanable Mug_bar__plus_02_dot_82_bar__plus_00_dot_79_bar__minus_01_dot_22)\n (cleanable Mug_bar__plus_02_dot_40_bar__plus_00_dot_79_bar__minus_01_dot_25)\n \n (heatable Mug_bar__plus_02_dot_82_bar__plus_00_dot_79_bar__minus_01_dot_22)\n (heatable Mug_bar__plus_02_dot_40_bar__plus_00_dot_79_bar__minus_01_dot_25)\n (coolable Bowl_bar__minus_01_dot_32_bar__plus_01_dot_23_bar__minus_00_dot_75)\n (coolable Mug_bar__plus_02_dot_82_bar__plus_00_dot_79_bar__minus_01_dot_22)\n (coolable Mug_bar__plus_02_dot_40_bar__plus_00_dot_79_bar__minus_01_dot_25)\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_79_bar__plus_00_dot_12_bar__minus_01_dot_25 Drawer_bar__plus_02_dot_82_bar__plus_00_dot_17_bar__minus_01_dot_21)\n (inReceptacle CD_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_02_dot_22_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 CellPhone_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 Pen_bar__plus_02_dot_22_bar__plus_00_dot_80_bar__minus_01_dot_12 Desk_bar__plus_02_dot_29_bar__plus_00_dot_01_bar__minus_01_dot_15)\n (inReceptacle Watch_bar__plus_01_dot_51_bar__plus_00_dot_80_bar__minus_01_dot_40 Desk_bar__plus_02_dot_29_bar__plus_00_dot_01_bar__minus_01_dot_15)\n (inReceptacle Mug_bar__plus_02_dot_40_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 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 CreditCard_bar__plus_01_dot_65_bar__plus_00_dot_79_bar__minus_01_dot_12 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_38_bar__minus_00_dot_61 Drawer_bar__minus_01_dot_29_bar__plus_00_dot_44_bar__minus_00_dot_58)\n (inReceptacle Watch_bar__minus_01_dot_35_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 CreditCard_bar__plus_02_dot_85_bar__plus_00_dot_57_bar__minus_01_dot_22 Drawer_bar__plus_02_dot_82_bar__plus_00_dot_62_bar__minus_01_dot_21)\n (inReceptacle DeskLamp_bar__minus_01_dot_31_bar__plus_01_dot_23_bar__minus_00_dot_99 Dresser_bar__minus_01_dot_33_bar__plus_00_dot_00_bar__minus_00_dot_75)\n (inReceptacle KeyChain_bar__minus_01_dot_35_bar__plus_01_dot_23_bar__minus_00_dot_55 Dresser_bar__minus_01_dot_33_bar__plus_00_dot_00_bar__minus_00_dot_75)\n (inReceptacle Bowl_bar__minus_01_dot_32_bar__plus_01_dot_23_bar__minus_00_dot_75 Dresser_bar__minus_01_dot_33_bar__plus_00_dot_00_bar__minus_00_dot_75)\n (inReceptacle CellPhone_bar__minus_01_dot_25_bar__plus_01_dot_24_bar__minus_00_dot_55 Dresser_bar__minus_01_dot_33_bar__plus_00_dot_00_bar__minus_00_dot_75)\n (inReceptacle TissueBox_bar__minus_01_dot_29_bar__plus_00_dot_68_bar__minus_00_dot_54 Drawer_bar__minus_01_dot_29_bar__plus_00_dot_74_bar__minus_00_dot_58)\n (inReceptacle Book_bar__minus_00_dot_90_bar__plus_00_dot_57_bar__plus_01_dot_18 Bed_bar__minus_00_dot_64_bar__plus_00_dot_00_bar__plus_00_dot_87)\n (inReceptacle Laptop_bar__minus_00_dot_29_bar__plus_00_dot_56_bar__plus_00_dot_85 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 CreditCard_bar__plus_02_dot_59_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 Watch_bar__plus_02_dot_17_bar__plus_01_dot_04_bar__minus_01_dot_43 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 Watch_bar__plus_01_dot_96_bar__plus_01_dot_05_bar__minus_01_dot_40 Shelf_bar__plus_01_dot_80_bar__plus_01_dot_04_bar__minus_01_dot_42)\n (inReceptacle Pencil_bar__plus_02_dot_59_bar__plus_00_dot_81_bar__minus_01_dot_38 Shelf_bar__plus_02_dot_47_bar__plus_00_dot_80_bar__minus_01_dot_41)\n \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_02_dot_79_bar__plus_00_dot_12_bar__minus_01_dot_25 loc_bar_10_bar__minus_2_bar_2_bar_60)\n (objectAtLocation Watch_bar__plus_01_dot_51_bar__plus_00_dot_80_bar__minus_01_dot_40 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_28 loc_bar_9_bar__minus_2_bar_2_bar_60)\n (objectAtLocation CreditCard_bar__plus_02_dot_85_bar__plus_00_dot_57_bar__minus_01_dot_22 loc_bar_8_bar__minus_3_bar_1_bar_45)\n (objectAtLocation TissueBox_bar__minus_01_dot_29_bar__plus_00_dot_38_bar__minus_00_dot_61 loc_bar__minus_3_bar__minus_2_bar_3_bar_60)\n (objectAtLocation CellPhone_bar__minus_01_dot_25_bar__plus_01_dot_24_bar__minus_00_dot_55 loc_bar__minus_3_bar__minus_3_bar_3_bar_60)\n (objectAtLocation CreditCard_bar__plus_01_dot_65_bar__plus_00_dot_79_bar__minus_01_dot_12 loc_bar_9_bar__minus_2_bar_2_bar_60)\n (objectAtLocation CD_bar__plus_02_dot_84_bar__plus_00_dot_04_bar__plus_00_dot_18 loc_bar_10_bar_1_bar_1_bar_60)\n (objectAtLocation Watch_bar__minus_01_dot_35_bar__plus_00_dot_11_bar__minus_00_dot_58 loc_bar__minus_3_bar__minus_2_bar_3_bar_60)\n (objectAtLocation Watch_bar__plus_01_dot_96_bar__plus_01_dot_05_bar__minus_01_dot_40 loc_bar_7_bar__minus_3_bar_2_bar_45)\n (objectAtLocation 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_00_dot_85 loc_bar_3_bar_5_bar_3_bar_45)\n (objectAtLocation CellPhone_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 BaseballBat_bar__plus_02_dot_85_bar__plus_00_dot_64_bar__plus_01_dot_84 loc_bar_10_bar_5_bar_0_bar_60)\n (objectAtLocation DeskLamp_bar__minus_01_dot_31_bar__plus_01_dot_23_bar__minus_00_dot_99 loc_bar__minus_3_bar__minus_3_bar_3_bar_60)\n (objectAtLocation BasketBall_bar__plus_01_dot_02_bar__plus_00_dot_33_bar__minus_00_dot_98 loc_bar_4_bar__minus_2_bar_2_bar_60)\n (objectAtLocation TissueBox_bar__minus_01_dot_29_bar__plus_00_dot_68_bar__minus_00_dot_54 loc_bar__minus_3_bar__minus_2_bar_3_bar_60)\n (objectAtLocation CreditCard_bar__plus_02_dot_59_bar__plus_01_dot_04_bar__minus_01_dot_40 loc_bar_10_bar__minus_2_bar_2_bar_30)\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 Pencil_bar__plus_02_dot_59_bar__plus_00_dot_81_bar__minus_01_dot_38 loc_bar_10_bar__minus_2_bar_2_bar_45)\n (objectAtLocation Boots_bar__minus_01_dot_28_bar__plus_00_dot_00_bar__minus_01_dot_34 loc_bar__minus_3_bar__minus_4_bar_3_bar_60)\n (objectAtLocation Blinds_bar__plus_00_dot_11_bar__plus_02_dot_34_bar__minus_01_dot_44 loc_bar_0_bar__minus_4_bar_2_bar__minus_30)\n (objectAtLocation Pillow_bar__minus_00_dot_63_bar__plus_00_dot_63_bar__plus_01_dot_61 loc_bar_3_bar_5_bar_3_bar_45)\n (objectAtLocation KeyChain_bar__minus_01_dot_35_bar__plus_01_dot_23_bar__minus_00_dot_55 loc_bar__minus_3_bar__minus_3_bar_3_bar_60)\n (objectAtLocation Bowl_bar__minus_01_dot_32_bar__plus_01_dot_23_bar__minus_00_dot_75 loc_bar__minus_3_bar__minus_3_bar_3_bar_60)\n (objectAtLocation Watch_bar__plus_02_dot_17_bar__plus_01_dot_04_bar__minus_01_dot_43 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__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 Pen_bar__plus_02_dot_22_bar__plus_00_dot_80_bar__minus_01_dot_12 loc_bar_9_bar__minus_2_bar_2_bar_60)\n (objectAtLocation 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_40_bar__plus_00_dot_79_bar__minus_01_dot_25 loc_bar_9_bar__minus_2_bar_2_bar_60)\n (objectAtLocation Statue_bar__plus_01_dot_82_bar__plus_01_dot_04_bar__minus_01_dot_42 loc_bar_7_bar__minus_3_bar_2_bar_45)\n )\n \n\n (:goal\n (and\n (exists (?r - receptacle)\n (exists (?o1 - object)\n (and\n (objectType ?o1 WatchType)\n (receptacleType ?r DresserType)\n (inReceptacle ?o1 ?r)\n (exists (?o2 - object)\n (and\n (not (= ?o1 ?o2))\n (objectType ?o2 WatchType)\n (receptacleType ?r DresserType)\n (inReceptacle ?o2 ?r)\n )\n )\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to shelf 2", "take watch 1 from shelf 2", "go to dresser 1", "move watch 1 to dresser 1", "go to shelf 5", "take watch 2 from shelf 5", "go to dresser 1", "move watch 2 to dresser 1"]}
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alfworld__pick_two_obj_and_place__5
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pick_two_obj_and_place
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pick_two_obj_and_place-SoapBottle-None-Cart-430/trial_T20190908_130158_585471/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 cart.\"\n }\n ],\n\n \"GotoLocation.feedback\": [\n {\n \"rhs\": \"You arrive at {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"OpenObject.feedback\": [\n {\n \"rhs\": \"You open the {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"CloseObject.feedback\": [\n {\n \"rhs\": \"You close the {r.name}.\"\n }\n ],\n\n \"PickupObject.feedback\": [\n {\n \"rhs\": \"You pick up the {o.name} from the {r.name}.\"\n }\n ],\n\n \"PickupObjectFromReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupObjectFromReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupEmptyReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupEmptyReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupFullReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupFullReceptacleObject: You pick up the {outerr.name}.\"\n }\n ],\n\n \"PutObject.feedback\": [\n {\n \"rhs\": \"You move the {o.name} to the {r.name}.\"\n }\n ],\n\n \"PutObjectInReceptacleObject.feedback\": [\n {\n \"rhs\": \"PutObjectInReceptacleObject: You put the {o.name} in the {outero.name}.\"\n }\n ],\n\n \"PutEmptyReceptacleObjectinReceptacle.feedback\": [\n {\n \"rhs\": \"PutEmptyReceptacleObjectinReceptacle: You put the {o.name} in the {r.name}.\"\n }\n ],\n\n \"PutFullReceptacleObjectInReceptacle.feedback\": [\n {\n \"rhs\": \"PutFullReceptacleObjectInReceptacle: You put the {outero.name} in the {r.name}.\"\n }\n ],\n\n \"inventory.feedback\": [\n {\n \"condition\": \"holdsany(a:agent)\",\n \"rhs\": \"You are carrying: [{o.indefinite + ' ' + o.name | holds(a:agent, o:object)}].\"\n },\n {\n \"rhs\": \"You are not carrying anything.\"\n }\n ],\n\n \"examineReceptacle.feedback\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \"The {r.name} is open. In it, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \"The {r.name} is closed.\"\n },\n {\n \"rhs\": \"On the {r.name}, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n }\n ],\n\n \"examineObject.feedback\": [\n {\n \"condition\": \"isreceptacleobject(o:object)\",\n \"rhs\": \"This is a normal {o.name}. In it, you see [{o2.indefinite + ' ' + o2.name | inreceptacleobject(o2:object, o:object)}].\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a clean sliced {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot sliced {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object)\",\n \"rhs\": \"This is a hot and clean {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object)\",\n \"rhs\": \"This is a cool and clean {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object)\",\n \"rhs\": \"This is a hot {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object)\",\n \"rhs\": \"This is a clean {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object)\",\n \"rhs\": \"This is a cold {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"This {o.name} is on.\"\n },\n {\n \"condition\": \"toggleable(o:object) & not_istoggled(o:object)\",\n \"rhs\": \"This {o.name} is off.\"\n },\n {\n \"condition\": \"sliceable(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a sliced {o.name}.\"\n },\n {\n \"rhs\": \"There's nothing special about {o.name}.\"\n }\n ]\n }\n\"\"\";\n\naction GotoLocation {\n template :: \"go to [{r.name | receptacleatlocation(r:receptacle, lend:location)}]\";\n feedback :: \"#GotoLocation.feedback#\";\n}\n\naction OpenObject {\n template :: \"open {r}\";\n feedback :: \"#OpenObject.feedback#\";\n}\n\naction CloseObject {\n template :: \"close {r}\";\n feedback :: \"#CloseObject.feedback#\";\n}\n\naction PickupObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObject.feedback#\";\n}\n\naction PickupObjectFromReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObjectFromReceptacleObject.feedback#\";\n}\n\naction PickupEmptyReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupEmptyReceptacleObject.feedback#\";\n}\n\naction PickupFullReceptacleObject {\n template :: \"take {outerr} from {r}\";\n feedback :: \"#PickupFullReceptacleObject.feedback#\";\n}\n\naction PutObject {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutObject.feedback#\";\n}\n\naction PutObjectInReceptacleObject {\n template :: \"put {o} into {outero}\";\n feedback :: \"#PutObjectInReceptacleObject.feedback#\";\n}\n\naction PutEmptyReceptacleObjectinReceptacle {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutEmptyReceptacleObjectinReceptacle.feedback#\";\n}\n\naction PutFullReceptacleObjectInReceptacle {\n template :: \"put {outero} in {r}\";\n feedback :: \"#PutFullReceptacleObjectInReceptacle.feedback#\";\n}\n\naction inventory {\n template :: \"inventory\";\n feedback :: \"#inventory.feedback#\";\n}\n\naction examineReceptacle {\n template :: \"examine {r}\";\n feedback :: \"#examineReceptacle.feedback#\";\n}\n\naction examineObject {\n template :: \"examine {o}\";\n feedback :: \"#examineObject.feedback#\";\n}\n\naction ToggleObject {\n template :: \"use {o}\";\n feedback :: \"#toggleObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"toggleObject.feedback\": [\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"You turn on the {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object)\",\n \"rhs\": \"You turn off the {o.name}.\"\n },\n {\n \"rhs\": \"You don't see any switch on the {o.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction HeatObject {\n template :: \"heat {o} with {r}\";\n feedback :: \"#heatObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"heatObject.feedback\": [\n {\n \"rhs\": \"You heat the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CleanObject {\n template :: \"clean {o} with {r}\";\n feedback :: \"#cleanObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"cleanObject.feedback\": [\n {\n \"rhs\": \"You clean the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CoolObject {\n template :: \"cool {o} with {r}\";\n feedback :: \"#coolObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"coolObject.feedback\": [\n {\n \"rhs\": \"You cool the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction SliceObject {\n template :: \"slice {co} with {ko}\";\n feedback :: \"#sliceObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"sliceObject.feedback\": [\n {\n \"rhs\": \"You sliced the {co.name} with the {ko.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction look {\n template :: \"look\";\n feedback :: \"#look.feedback#\";\n\n grammar :: \"\"\"\n {\n \"look.feedback\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"#look-variations#. Next to it, you see #list_objects_on_the_floor#.\"\n },\n {\n \"rhs\": \"You are in the middle of a room. Looking quickly around you, you see #list_appliances#.\"\n }\n ],\n\n \"look-variations\": [\n {\n \"rhs\": \"You are facing the [{r.name | atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)}]\"\n }\n ],\n\n \"list_objects_on_the_floor\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)\",\n \"rhs\": \"[{#overview(o)# | atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"list_appliances\": [\n {\n \"condition\": \"receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"[{#overview(r)# | receptacleatlocation(r:receptacle, l:location)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"overview(o, r)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name} (in/on the {r.name})}\"\n }\n ],\n\n \"overview(o)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name}\"\n }\n ],\n \"overview(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}\"\n }\n ],\n \"overview_with_state(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}#overview_state(r)#\"\n }\n ],\n \"overview_state(r)\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \" (it is open)\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \" (it is closed)\"\n },\n {\n \"rhs\": \"\"\n }\n ],\n\n \"list_empty\": [\n {\n \"rhs\": \"nothing\"\n }\n ],\n \"list_separator\": [\n {\n \"rhs\": \", \"\n }\n ],\n \"list_last_separator\": [\n {\n \"rhs\": \", and \"\n }\n ]\n }\n \"\"\";\n}\n\naction help {\n template :: \"help\";\n feedback :: \"\nAvailable commands:\n look: look around your current location\n inventory: check your current inventory\n go to (receptacle): move to a receptacle\n open (receptacle): open a receptacle\n close (receptacle): close a receptacle\n take (object) from (receptacle): take an object from a receptacle\n move (object) to (receptacle): place an object in or on a receptacle\n examine (something): examine a receptacle or an object\n use (object): use an object\n heat (object) with (receptacle): heat an object using a receptacle\n clean (object) with (receptacle): clean an object using a receptacle\n cool (object) with (receptacle): cool an object using a receptacle\n slice (object) with (object): slice an object using a sharp object\n\";\n}\n", "pddl_problem": "\n(define (problem plan_trial_T20190908_130158_585471)\n(:domain alfred)\n(:objects\nagent1 - agent\nSaltShaker - object\n HousePlant - object\n Candle - object\n SprayBottle - object\n Bowl - object\n Window - object\n CD - object\n Egg - object\n Glassbottle - object\n Sink - object\n Pillow - object\n Spoon - object\n SoapBottle - object\n TeddyBear - object\n ButterKnife - object\n Cup - object\n Plate - object\n RemoteControl - object\n Tomato - object\n Statue - object\n HandTowel - object\n Knife - object\n StoveKnob - object\n LightSwitch - object\n Pen - object\n Painting - object\n DishSponge - object\n Vase - object\n Mug - object\n ToiletPaper - object\n Box - object\n Mirror - object\n Ladle - object\n Fork - object\n Blinds - object\n Footstool - object\n KeyChain - object\n Cloth - object\n Laptop - object\n TissueBox - object\n PepperShaker - object\n FloorLamp - object\n WateringCan - object\n Apple - object\n Pan - object\n PaperTowel - object\n PaperTowelRoll - object\n Newspaper - object\n Television - object\n Chair - object\n CellPhone - object\n CreditCard - object\n Lettuce - object\n BasketBall - object\n Potato - object\n Curtains - object\n Boots - object\n Pencil - object\n AlarmClock - object\n ToiletPaperRoll - object\n Spatula - object\n Book - object\n Bread - object\n SoapBar - object\n Watch - object\n DeskLamp - object\n Kettle - object\n Pot - object\n ScrubBrush - object\n WineBottle - object\n ShowerDoor - object\n Bathtub - object\n LaundryHamperLid - object\n ShowerGlass - object\n Poster - object\n TennisRacket - object\n BaseballBat - object\n Towel - object\n Plunger - object\nSaltShakerType - otype\n HousePlantType - otype\n CandleType - otype\n SprayBottleType - otype\n BowlType - otype\n WindowType - otype\n CDType - otype\n EggType - otype\n GlassbottleType - otype\n SinkType - otype\n PillowType - otype\n SpoonType - otype\n SoapBottleType - otype\n TeddyBearType - otype\n ButterKnifeType - otype\n CupType - otype\n PlateType - otype\n RemoteControlType - otype\n TomatoType - otype\n StatueType - otype\n HandTowelType - otype\n KnifeType - otype\n StoveKnobType - otype\n LightSwitchType - otype\n PenType - otype\n PaintingType - otype\n DishSpongeType - otype\n VaseType - otype\n MugType - otype\n ToiletPaperType - otype\n BoxType - otype\n MirrorType - otype\n LadleType - otype\n ForkType - otype\n BlindsType - otype\n FootstoolType - otype\n KeyChainType - otype\n ClothType - otype\n LaptopType - otype\n TissueBoxType - otype\n PepperShakerType - otype\n FloorLampType - otype\n WateringCanType - otype\n AppleType - otype\n PanType - otype\n PaperTowelType - otype\n PaperTowelRollType - otype\n NewspaperType - otype\n TelevisionType - otype\n ChairType - otype\n CellPhoneType - otype\n CreditCardType - otype\n LettuceType - otype\n BasketBallType - otype\n PotatoType - otype\n CurtainsType - otype\n BootsType - otype\n PencilType - otype\n AlarmClockType - otype\n ToiletPaperRollType - otype\n SpatulaType - otype\n BookType - otype\n BreadType - otype\n SoapBarType - otype\n WatchType - otype\n DeskLampType - otype\n KettleType - otype\n PotType - otype\n ScrubBrushType - otype\n WineBottleType - otype\n ShowerDoorType - otype\n BathtubType - otype\n LaundryHamperLidType - otype\n ShowerGlassType - otype\n PosterType - otype\n TennisRacketType - otype\n BaseballBatType - otype\n TowelType - otype\n PlungerType - otype\nSafeType - rtype\n DrawerType - rtype\n CoffeeMachineType - rtype\n HandTowelHolderType - rtype\n SinkBasinType - rtype\n DresserType - rtype\n LaundryHamperType - rtype\n TVStandType - rtype\n BathtubBasinType - rtype\n CabinetType - rtype\n FridgeType - rtype\n DeskType - rtype\n ToiletType - rtype\n CartType - rtype\n SideTableType - rtype\n SofaType - rtype\n CoffeeTableType - rtype\n DiningTableType - rtype\n CounterTopType - rtype\n GarbageCanType - rtype\n ArmChairType - rtype\n ShelfType - rtype\n MicrowaveType - rtype\n ToasterType - rtype\n BedType - rtype\n PaintingHangerType - rtype\n TowelHolderType - rtype\n ToiletPaperHangerType - rtype\n StoveBurnerType - rtype\n OttomanType - rtype\n\n\n Bathtub_bar__minus_01_dot_96_bar__plus_00_dot_49_bar__minus_01_dot_23 - object\n Candle_bar__minus_00_dot_24_bar__plus_00_dot_97_bar__plus_02_dot_20 - object\n Cloth_bar__plus_02_dot_20_bar__plus_00_dot_62_bar__minus_02_dot_17 - object\n Cloth_bar__minus_00_dot_05_bar__plus_00_dot_96_bar__minus_01_dot_90 - object\n DishSponge_bar__plus_00_dot_27_bar__plus_00_dot_96_bar__minus_02_dot_09 - object\n DishSponge_bar__minus_02_dot_26_bar__plus_00_dot_08_bar__minus_01_dot_03 - object\n DishSponge_bar__minus_02_dot_88_bar__plus_00_dot_89_bar__plus_00_dot_84 - object\n Faucet_bar__minus_02_dot_79_bar__plus_00_dot_48_bar__minus_00_dot_36 - object\n Faucet_bar__minus_03_dot_11_bar__plus_01_dot_06_bar__plus_00_dot_76 - object\n Footstool_bar__minus_00_dot_33_bar__plus_00_dot_30_bar__minus_01_dot_98 - object\n HandTowel_bar__minus_00_dot_89_bar__plus_01_dot_62_bar__minus_02_dot_50 - object\n LightSwitch_bar__minus_01_dot_41_bar__plus_01_dot_47_bar__plus_02_dot_41 - object\n Mirror_bar__minus_00_dot_05_bar__plus_01_dot_51_bar__minus_02_dot_54 - object\n Plunger_bar__plus_00_dot_51_bar__plus_00_dot_01_bar__plus_02_dot_27 - object\n ScrubBrush_bar__plus_00_dot_34_bar__plus_00_dot_01_bar__plus_02_dot_07 - object\n ShowerDoor_bar__plus_00_dot_65_bar__plus_01_dot_41_bar__plus_02_dot_17 - object\n ShowerGlass_bar__plus_00_dot_00_bar__plus_00_dot_00_bar__plus_00_dot_00 - object\n ShowerHead_bar__plus_01_dot_59_bar__plus_01_dot_70_bar__minus_02_dot_43 - object\n Sink_bar__minus_02_dot_80_bar__plus_00_dot_33_bar__plus_00_dot_76 - object\n SoapBar_bar__plus_00_dot_14_bar__plus_00_dot_97_bar__plus_02_dot_25 - object\n SoapBar_bar__minus_02_dot_84_bar__plus_00_dot_88_bar__plus_00_dot_64 - object\n SoapBottle_bar__plus_00_dot_01_bar__plus_00_dot_98_bar__plus_02_dot_33 - object\n SoapBottle_bar__plus_00_dot_11_bar__plus_00_dot_97_bar__minus_01_dot_81 - object\n SoapBottle_bar__minus_00_dot_05_bar__plus_00_dot_98_bar__plus_02_dot_22 - object\n SprayBottle_bar__plus_01_dot_36_bar__plus_00_dot_62_bar__minus_02_dot_24 - object\n SprayBottle_bar__minus_02_dot_81_bar__plus_00_dot_24_bar__plus_01_dot_47 - object\n SprayBottle_bar__minus_02_dot_86_bar__plus_00_dot_24_bar__plus_01_dot_63 - object\n TissueBox_bar__plus_00_dot_27_bar__plus_00_dot_96_bar__minus_01_dot_90 - object\n TissueBox_bar__plus_00_dot_93_bar__plus_00_dot_62_bar__minus_02_dot_24 - object\n TissueBox_bar__minus_00_dot_21_bar__plus_00_dot_96_bar__minus_02_dot_28 - object\n ToiletPaper_bar__minus_00_dot_18_bar__plus_00_dot_96_bar__plus_02_dot_33 - object\n ToiletPaper_bar__minus_00_dot_37_bar__plus_00_dot_96_bar__minus_02_dot_18 - object\n Towel_bar__plus_00_dot_47_bar__plus_01_dot_21_bar__minus_01_dot_10 - object\n Window_bar__minus_02_dot_15_bar__plus_01_dot_81_bar__minus_02_dot_57 - object\n Window_bar__minus_03_dot_17_bar__plus_01_dot_81_bar__plus_01_dot_60 - object\n Window_bar__minus_03_dot_17_bar__plus_01_dot_81_bar__minus_00_dot_06 - object\n Window_bar__minus_03_dot_17_bar__plus_01_dot_81_bar__minus_01_dot_70 - object\n Bathtub_bar__minus_01_dot_96_bar__plus_00_dot_49_bar__minus_01_dot_23_bar_BathtubBasin - receptacle\n Cart_bar__minus_02_dot_92_bar__plus_00_dot_01_bar__plus_01_dot_48 - receptacle\n CounterTop_bar__plus_00_dot_20_bar__plus_00_dot_43_bar__minus_02_dot_01 - receptacle\n Drawer_bar__plus_00_dot_30_bar__plus_00_dot_30_bar__minus_01_dot_82 - receptacle\n Drawer_bar__plus_00_dot_30_bar__plus_00_dot_49_bar__minus_01_dot_82 - receptacle\n Drawer_bar__plus_00_dot_30_bar__plus_00_dot_68_bar__minus_01_dot_82 - receptacle\n Drawer_bar__plus_00_dot_30_bar__plus_00_dot_83_bar__minus_01_dot_82 - receptacle\n GarbageCan_bar__minus_02_dot_93_bar__plus_00_dot_01_bar__plus_02_dot_09 - receptacle\n HandTowelHolder_bar__minus_00_dot_89_bar__plus_01_dot_72_bar__minus_02_dot_54 - receptacle\n Shelf_bar__plus_01_dot_54_bar__plus_00_dot_61_bar__minus_02_dot_24 - receptacle\n Sink_bar__minus_02_dot_80_bar__plus_00_dot_33_bar__plus_00_dot_76_bar_SinkBasin - receptacle\n ToiletPaperHanger_bar__minus_00_dot_57_bar__plus_00_dot_93_bar__plus_02_dot_41 - receptacle\n Toilet_bar__minus_00_dot_06_bar__plus_00_dot_01_bar__plus_01_dot_84 - receptacle\n TowelHolder_bar__plus_00_dot_57_bar__plus_01_dot_20_bar__minus_01_dot_10 - receptacle\n loc_bar_0_bar__minus_6_bar_2_bar_15 - location\n loc_bar__minus_6_bar_7_bar_0_bar_15 - location\n loc_bar__minus_1_bar__minus_3_bar_2_bar_45 - location\n loc_bar__minus_10_bar_0_bar_3_bar__minus_15 - location\n loc_bar_0_bar__minus_4_bar_2_bar_60 - location\n loc_bar_0_bar__minus_4_bar_1_bar_45 - location\n loc_bar__minus_10_bar_0_bar_0_bar_45 - location\n loc_bar_0_bar_5_bar_0_bar_15 - location\n loc_bar__minus_9_bar_6_bar_3_bar__minus_15 - location\n loc_bar__minus_8_bar_3_bar_3_bar_60 - location\n loc_bar_0_bar__minus_5_bar_2_bar_60 - location\n loc_bar__minus_9_bar_6_bar_3_bar_60 - location\n loc_bar__minus_3_bar__minus_6_bar_2_bar_0 - location\n loc_bar__minus_4_bar_7_bar_1_bar_60 - location\n loc_bar_0_bar_0_bar_2_bar_60 - location\n loc_bar__minus_2_bar_7_bar_0_bar_45 - location\n loc_bar_0_bar_5_bar_0_bar_60 - location\n loc_bar__minus_3_bar__minus_6_bar_3_bar_0 - location\n loc_bar__minus_4_bar__minus_4_bar_3_bar_45 - location\n loc_bar__minus_8_bar_6_bar_3_bar_60 - location\n loc_bar__minus_10_bar_0_bar_2_bar_60 - location\n loc_bar_0_bar__minus_6_bar_2_bar_60 - location\n loc_bar_0_bar__minus_4_bar_2_bar_45 - location\n loc_bar__minus_10_bar_0_bar_2_bar_0 - location\n loc_bar_0_bar__minus_6_bar_1_bar_30 - location\n loc_bar__minus_6_bar_6_bar_1_bar_30 - location\n )\n \n\n(:init\n\n\n (receptacleType HandTowelHolder_bar__minus_00_dot_89_bar__plus_01_dot_72_bar__minus_02_dot_54 HandTowelHolderType)\n (receptacleType Cart_bar__minus_02_dot_92_bar__plus_00_dot_01_bar__plus_01_dot_48 CartType)\n (receptacleType Drawer_bar__plus_00_dot_30_bar__plus_00_dot_68_bar__minus_01_dot_82 DrawerType)\n (receptacleType Drawer_bar__plus_00_dot_30_bar__plus_00_dot_49_bar__minus_01_dot_82 DrawerType)\n (receptacleType Toilet_bar__minus_00_dot_06_bar__plus_00_dot_01_bar__plus_01_dot_84 ToiletType)\n (receptacleType ToiletPaperHanger_bar__minus_00_dot_57_bar__plus_00_dot_93_bar__plus_02_dot_41 ToiletPaperHangerType)\n (receptacleType Sink_bar__minus_02_dot_80_bar__plus_00_dot_33_bar__plus_00_dot_76_bar_SinkBasin SinkBasinType)\n (receptacleType CounterTop_bar__plus_00_dot_20_bar__plus_00_dot_43_bar__minus_02_dot_01 CounterTopType)\n (receptacleType Drawer_bar__plus_00_dot_30_bar__plus_00_dot_30_bar__minus_01_dot_82 DrawerType)\n (receptacleType Drawer_bar__plus_00_dot_30_bar__plus_00_dot_83_bar__minus_01_dot_82 DrawerType)\n (receptacleType Bathtub_bar__minus_01_dot_96_bar__plus_00_dot_49_bar__minus_01_dot_23_bar_BathtubBasin BathtubBasinType)\n (receptacleType GarbageCan_bar__minus_02_dot_93_bar__plus_00_dot_01_bar__plus_02_dot_09 GarbageCanType)\n (receptacleType TowelHolder_bar__plus_00_dot_57_bar__plus_01_dot_20_bar__minus_01_dot_10 TowelHolderType)\n (receptacleType Shelf_bar__plus_01_dot_54_bar__plus_00_dot_61_bar__minus_02_dot_24 ShelfType)\n (objectType TissueBox_bar__plus_00_dot_93_bar__plus_00_dot_62_bar__minus_02_dot_24 TissueBoxType)\n (objectType Cloth_bar__minus_00_dot_05_bar__plus_00_dot_96_bar__minus_01_dot_90 ClothType)\n (objectType Bathtub_bar__minus_01_dot_96_bar__plus_00_dot_49_bar__minus_01_dot_23 BathtubType)\n (objectType Mirror_bar__minus_00_dot_05_bar__plus_01_dot_51_bar__minus_02_dot_54 MirrorType)\n (objectType Towel_bar__plus_00_dot_47_bar__plus_01_dot_21_bar__minus_01_dot_10 TowelType)\n (objectType Sink_bar__minus_02_dot_80_bar__plus_00_dot_33_bar__plus_00_dot_76 SinkType)\n (objectType ScrubBrush_bar__plus_00_dot_34_bar__plus_00_dot_01_bar__plus_02_dot_07 ScrubBrushType)\n (objectType SoapBottle_bar__plus_00_dot_01_bar__plus_00_dot_98_bar__plus_02_dot_33 SoapBottleType)\n (objectType SoapBottle_bar__plus_00_dot_11_bar__plus_00_dot_97_bar__minus_01_dot_81 SoapBottleType)\n (objectType Window_bar__minus_03_dot_17_bar__plus_01_dot_81_bar__plus_01_dot_60 WindowType)\n (objectType Plunger_bar__plus_00_dot_51_bar__plus_00_dot_01_bar__plus_02_dot_27 PlungerType)\n (objectType Cloth_bar__plus_02_dot_20_bar__plus_00_dot_62_bar__minus_02_dot_17 ClothType)\n (objectType ShowerGlass_bar__plus_00_dot_00_bar__plus_00_dot_00_bar__plus_00_dot_00 ShowerGlassType)\n (objectType SprayBottle_bar__minus_02_dot_86_bar__plus_00_dot_24_bar__plus_01_dot_63 SprayBottleType)\n (objectType Window_bar__minus_03_dot_17_bar__plus_01_dot_81_bar__minus_01_dot_70 WindowType)\n (objectType LightSwitch_bar__minus_01_dot_41_bar__plus_01_dot_47_bar__plus_02_dot_41 LightSwitchType)\n (objectType SprayBottle_bar__plus_01_dot_36_bar__plus_00_dot_62_bar__minus_02_dot_24 SprayBottleType)\n (objectType TissueBox_bar__plus_00_dot_27_bar__plus_00_dot_96_bar__minus_01_dot_90 TissueBoxType)\n (objectType SoapBar_bar__minus_02_dot_84_bar__plus_00_dot_88_bar__plus_00_dot_64 SoapBarType)\n (objectType TissueBox_bar__minus_00_dot_21_bar__plus_00_dot_96_bar__minus_02_dot_28 TissueBoxType)\n (objectType Candle_bar__minus_00_dot_24_bar__plus_00_dot_97_bar__plus_02_dot_20 CandleType)\n (objectType DishSponge_bar__minus_02_dot_88_bar__plus_00_dot_89_bar__plus_00_dot_84 DishSpongeType)\n (objectType ToiletPaper_bar__minus_00_dot_37_bar__plus_00_dot_96_bar__minus_02_dot_18 ToiletPaperType)\n (objectType DishSponge_bar__plus_00_dot_27_bar__plus_00_dot_96_bar__minus_02_dot_09 DishSpongeType)\n (objectType ToiletPaper_bar__minus_00_dot_18_bar__plus_00_dot_96_bar__plus_02_dot_33 ToiletPaperType)\n (objectType Window_bar__minus_03_dot_17_bar__plus_01_dot_81_bar__minus_00_dot_06 WindowType)\n (objectType DishSponge_bar__minus_02_dot_26_bar__plus_00_dot_08_bar__minus_01_dot_03 DishSpongeType)\n (objectType SoapBar_bar__plus_00_dot_14_bar__plus_00_dot_97_bar__plus_02_dot_25 SoapBarType)\n (objectType HandTowel_bar__minus_00_dot_89_bar__plus_01_dot_62_bar__minus_02_dot_50 HandTowelType)\n (objectType Window_bar__minus_02_dot_15_bar__plus_01_dot_81_bar__minus_02_dot_57 WindowType)\n (objectType SprayBottle_bar__minus_02_dot_81_bar__plus_00_dot_24_bar__plus_01_dot_47 SprayBottleType)\n (objectType SoapBottle_bar__minus_00_dot_05_bar__plus_00_dot_98_bar__plus_02_dot_22 SoapBottleType)\n (objectType ShowerDoor_bar__plus_00_dot_65_bar__plus_01_dot_41_bar__plus_02_dot_17 ShowerDoorType)\n (objectType Footstool_bar__minus_00_dot_33_bar__plus_00_dot_30_bar__minus_01_dot_98 FootstoolType)\n (canContain HandTowelHolderType HandTowelType)\n (canContain CartType SoapBottleType)\n (canContain CartType HandTowelType)\n (canContain CartType ToiletPaperType)\n (canContain CartType ClothType)\n (canContain CartType CandleType)\n (canContain CartType SoapBarType)\n (canContain CartType DishSpongeType)\n (canContain CartType PlungerType)\n (canContain CartType SprayBottleType)\n (canContain CartType TissueBoxType)\n (canContain DrawerType CandleType)\n (canContain DrawerType SoapBarType)\n (canContain DrawerType DishSpongeType)\n (canContain DrawerType SprayBottleType)\n (canContain DrawerType ToiletPaperType)\n (canContain DrawerType SoapBottleType)\n (canContain DrawerType ClothType)\n (canContain DrawerType TissueBoxType)\n (canContain DrawerType HandTowelType)\n (canContain DrawerType CandleType)\n (canContain DrawerType SoapBarType)\n (canContain DrawerType DishSpongeType)\n (canContain DrawerType SprayBottleType)\n (canContain DrawerType ToiletPaperType)\n (canContain DrawerType SoapBottleType)\n (canContain DrawerType ClothType)\n (canContain DrawerType TissueBoxType)\n (canContain DrawerType HandTowelType)\n (canContain ToiletType SoapBottleType)\n (canContain ToiletType HandTowelType)\n (canContain ToiletType ToiletPaperType)\n (canContain ToiletType ClothType)\n (canContain ToiletType CandleType)\n (canContain ToiletType SoapBarType)\n (canContain ToiletType DishSpongeType)\n (canContain ToiletType SprayBottleType)\n (canContain ToiletType TissueBoxType)\n (canContain ToiletPaperHangerType ToiletPaperType)\n (canContain SinkBasinType SoapBarType)\n (canContain SinkBasinType DishSpongeType)\n (canContain SinkBasinType ClothType)\n (canContain SinkBasinType HandTowelType)\n (canContain CounterTopType CandleType)\n (canContain CounterTopType DishSpongeType)\n (canContain CounterTopType SoapBarType)\n (canContain CounterTopType SprayBottleType)\n (canContain CounterTopType ToiletPaperType)\n (canContain CounterTopType SoapBottleType)\n (canContain CounterTopType ClothType)\n (canContain CounterTopType TissueBoxType)\n (canContain CounterTopType HandTowelType)\n (canContain DrawerType CandleType)\n (canContain DrawerType SoapBarType)\n (canContain DrawerType DishSpongeType)\n (canContain DrawerType SprayBottleType)\n (canContain DrawerType ToiletPaperType)\n (canContain DrawerType SoapBottleType)\n (canContain DrawerType ClothType)\n (canContain DrawerType TissueBoxType)\n (canContain DrawerType HandTowelType)\n (canContain DrawerType CandleType)\n (canContain DrawerType SoapBarType)\n (canContain DrawerType DishSpongeType)\n (canContain DrawerType SprayBottleType)\n (canContain DrawerType ToiletPaperType)\n (canContain DrawerType SoapBottleType)\n (canContain DrawerType ClothType)\n (canContain DrawerType TissueBoxType)\n (canContain DrawerType HandTowelType)\n (canContain BathtubBasinType ClothType)\n (canContain BathtubBasinType HandTowelType)\n (canContain BathtubBasinType SoapBarType)\n (canContain BathtubBasinType DishSpongeType)\n (canContain GarbageCanType SoapBarType)\n (canContain GarbageCanType DishSpongeType)\n (canContain GarbageCanType SprayBottleType)\n (canContain GarbageCanType ToiletPaperType)\n (canContain GarbageCanType SoapBottleType)\n (canContain GarbageCanType ClothType)\n (canContain GarbageCanType TissueBoxType)\n (canContain GarbageCanType HandTowelType)\n (canContain TowelHolderType TowelType)\n (canContain ShelfType CandleType)\n (canContain ShelfType SoapBarType)\n (canContain ShelfType DishSpongeType)\n (canContain ShelfType SprayBottleType)\n (canContain ShelfType ToiletPaperType)\n (canContain ShelfType SoapBottleType)\n (canContain ShelfType ClothType)\n (canContain ShelfType TissueBoxType)\n (canContain ShelfType HandTowelType)\n (pickupable TissueBox_bar__plus_00_dot_93_bar__plus_00_dot_62_bar__minus_02_dot_24)\n (pickupable Cloth_bar__minus_00_dot_05_bar__plus_00_dot_96_bar__minus_01_dot_90)\n (pickupable Towel_bar__plus_00_dot_47_bar__plus_01_dot_21_bar__minus_01_dot_10)\n (pickupable ScrubBrush_bar__plus_00_dot_34_bar__plus_00_dot_01_bar__plus_02_dot_07)\n (pickupable SoapBottle_bar__plus_00_dot_01_bar__plus_00_dot_98_bar__plus_02_dot_33)\n (pickupable SoapBottle_bar__plus_00_dot_11_bar__plus_00_dot_97_bar__minus_01_dot_81)\n (pickupable Plunger_bar__plus_00_dot_51_bar__plus_00_dot_01_bar__plus_02_dot_27)\n (pickupable Cloth_bar__plus_02_dot_20_bar__plus_00_dot_62_bar__minus_02_dot_17)\n (pickupable SprayBottle_bar__minus_02_dot_86_bar__plus_00_dot_24_bar__plus_01_dot_63)\n (pickupable SprayBottle_bar__plus_01_dot_36_bar__plus_00_dot_62_bar__minus_02_dot_24)\n (pickupable TissueBox_bar__plus_00_dot_27_bar__plus_00_dot_96_bar__minus_01_dot_90)\n (pickupable SoapBar_bar__minus_02_dot_84_bar__plus_00_dot_88_bar__plus_00_dot_64)\n (pickupable TissueBox_bar__minus_00_dot_21_bar__plus_00_dot_96_bar__minus_02_dot_28)\n (pickupable Candle_bar__minus_00_dot_24_bar__plus_00_dot_97_bar__plus_02_dot_20)\n (pickupable DishSponge_bar__minus_02_dot_88_bar__plus_00_dot_89_bar__plus_00_dot_84)\n (pickupable ToiletPaper_bar__minus_00_dot_37_bar__plus_00_dot_96_bar__minus_02_dot_18)\n (pickupable DishSponge_bar__plus_00_dot_27_bar__plus_00_dot_96_bar__minus_02_dot_09)\n (pickupable ToiletPaper_bar__minus_00_dot_18_bar__plus_00_dot_96_bar__plus_02_dot_33)\n (pickupable DishSponge_bar__minus_02_dot_26_bar__plus_00_dot_08_bar__minus_01_dot_03)\n (pickupable SoapBar_bar__plus_00_dot_14_bar__plus_00_dot_97_bar__plus_02_dot_25)\n (pickupable HandTowel_bar__minus_00_dot_89_bar__plus_01_dot_62_bar__minus_02_dot_50)\n (pickupable SprayBottle_bar__minus_02_dot_81_bar__plus_00_dot_24_bar__plus_01_dot_47)\n (pickupable SoapBottle_bar__minus_00_dot_05_bar__plus_00_dot_98_bar__plus_02_dot_22)\n (pickupable Footstool_bar__minus_00_dot_33_bar__plus_00_dot_30_bar__minus_01_dot_98)\n \n (openable Drawer_bar__plus_00_dot_30_bar__plus_00_dot_68_bar__minus_01_dot_82)\n (openable Drawer_bar__plus_00_dot_30_bar__plus_00_dot_49_bar__minus_01_dot_82)\n (openable Drawer_bar__plus_00_dot_30_bar__plus_00_dot_30_bar__minus_01_dot_82)\n (openable Drawer_bar__plus_00_dot_30_bar__plus_00_dot_83_bar__minus_01_dot_82)\n \n (atLocation agent1 loc_bar__minus_6_bar_6_bar_1_bar_30)\n \n (cleanable Cloth_bar__minus_00_dot_05_bar__plus_00_dot_96_bar__minus_01_dot_90)\n (cleanable Cloth_bar__plus_02_dot_20_bar__plus_00_dot_62_bar__minus_02_dot_17)\n (cleanable SoapBar_bar__minus_02_dot_84_bar__plus_00_dot_88_bar__plus_00_dot_64)\n (cleanable DishSponge_bar__minus_02_dot_88_bar__plus_00_dot_89_bar__plus_00_dot_84)\n (cleanable DishSponge_bar__plus_00_dot_27_bar__plus_00_dot_96_bar__minus_02_dot_09)\n (cleanable DishSponge_bar__minus_02_dot_26_bar__plus_00_dot_08_bar__minus_01_dot_03)\n (cleanable SoapBar_bar__plus_00_dot_14_bar__plus_00_dot_97_bar__plus_02_dot_25)\n \n \n \n \n \n \n \n \n \n \n (inReceptacle Cloth_bar__minus_00_dot_05_bar__plus_00_dot_96_bar__minus_01_dot_90 CounterTop_bar__plus_00_dot_20_bar__plus_00_dot_43_bar__minus_02_dot_01)\n (inReceptacle ToiletPaper_bar__minus_00_dot_37_bar__plus_00_dot_96_bar__minus_02_dot_18 CounterTop_bar__plus_00_dot_20_bar__plus_00_dot_43_bar__minus_02_dot_01)\n (inReceptacle TissueBox_bar__plus_00_dot_27_bar__plus_00_dot_96_bar__minus_01_dot_90 CounterTop_bar__plus_00_dot_20_bar__plus_00_dot_43_bar__minus_02_dot_01)\n (inReceptacle DishSponge_bar__plus_00_dot_27_bar__plus_00_dot_96_bar__minus_02_dot_09 CounterTop_bar__plus_00_dot_20_bar__plus_00_dot_43_bar__minus_02_dot_01)\n (inReceptacle SoapBottle_bar__plus_00_dot_11_bar__plus_00_dot_97_bar__minus_01_dot_81 CounterTop_bar__plus_00_dot_20_bar__plus_00_dot_43_bar__minus_02_dot_01)\n (inReceptacle TissueBox_bar__minus_00_dot_21_bar__plus_00_dot_96_bar__minus_02_dot_28 CounterTop_bar__plus_00_dot_20_bar__plus_00_dot_43_bar__minus_02_dot_01)\n (inReceptacle Towel_bar__plus_00_dot_47_bar__plus_01_dot_21_bar__minus_01_dot_10 TowelHolder_bar__plus_00_dot_57_bar__plus_01_dot_20_bar__minus_01_dot_10)\n (inReceptacle TissueBox_bar__plus_00_dot_93_bar__plus_00_dot_62_bar__minus_02_dot_24 Shelf_bar__plus_01_dot_54_bar__plus_00_dot_61_bar__minus_02_dot_24)\n (inReceptacle Cloth_bar__plus_02_dot_20_bar__plus_00_dot_62_bar__minus_02_dot_17 Shelf_bar__plus_01_dot_54_bar__plus_00_dot_61_bar__minus_02_dot_24)\n (inReceptacle SprayBottle_bar__plus_01_dot_36_bar__plus_00_dot_62_bar__minus_02_dot_24 Shelf_bar__plus_01_dot_54_bar__plus_00_dot_61_bar__minus_02_dot_24)\n (inReceptacle HandTowel_bar__minus_00_dot_89_bar__plus_01_dot_62_bar__minus_02_dot_50 HandTowelHolder_bar__minus_00_dot_89_bar__plus_01_dot_72_bar__minus_02_dot_54)\n (inReceptacle SprayBottle_bar__minus_02_dot_81_bar__plus_00_dot_24_bar__plus_01_dot_47 Cart_bar__minus_02_dot_92_bar__plus_00_dot_01_bar__plus_01_dot_48)\n (inReceptacle SprayBottle_bar__minus_02_dot_86_bar__plus_00_dot_24_bar__plus_01_dot_63 Cart_bar__minus_02_dot_92_bar__plus_00_dot_01_bar__plus_01_dot_48)\n (inReceptacle SoapBar_bar__plus_00_dot_14_bar__plus_00_dot_97_bar__plus_02_dot_25 Toilet_bar__minus_00_dot_06_bar__plus_00_dot_01_bar__plus_01_dot_84)\n (inReceptacle SoapBottle_bar__minus_00_dot_05_bar__plus_00_dot_98_bar__plus_02_dot_22 Toilet_bar__minus_00_dot_06_bar__plus_00_dot_01_bar__plus_01_dot_84)\n (inReceptacle ToiletPaper_bar__minus_00_dot_18_bar__plus_00_dot_96_bar__plus_02_dot_33 Toilet_bar__minus_00_dot_06_bar__plus_00_dot_01_bar__plus_01_dot_84)\n (inReceptacle SoapBottle_bar__plus_00_dot_01_bar__plus_00_dot_98_bar__plus_02_dot_33 Toilet_bar__minus_00_dot_06_bar__plus_00_dot_01_bar__plus_01_dot_84)\n (inReceptacle Candle_bar__minus_00_dot_24_bar__plus_00_dot_97_bar__plus_02_dot_20 Toilet_bar__minus_00_dot_06_bar__plus_00_dot_01_bar__plus_01_dot_84)\n (inReceptacle DishSponge_bar__minus_02_dot_88_bar__plus_00_dot_89_bar__plus_00_dot_84 Sink_bar__minus_02_dot_80_bar__plus_00_dot_33_bar__plus_00_dot_76_bar_SinkBasin)\n (inReceptacle SoapBar_bar__minus_02_dot_84_bar__plus_00_dot_88_bar__plus_00_dot_64 Sink_bar__minus_02_dot_80_bar__plus_00_dot_33_bar__plus_00_dot_76_bar_SinkBasin)\n (inReceptacle DishSponge_bar__minus_02_dot_26_bar__plus_00_dot_08_bar__minus_01_dot_03 Bathtub_bar__minus_01_dot_96_bar__plus_00_dot_49_bar__minus_01_dot_23_bar_BathtubBasin)\n \n \n (receptacleAtLocation Bathtub_bar__minus_01_dot_96_bar__plus_00_dot_49_bar__minus_01_dot_23_bar_BathtubBasin loc_bar__minus_10_bar_0_bar_2_bar_60)\n (receptacleAtLocation Cart_bar__minus_02_dot_92_bar__plus_00_dot_01_bar__plus_01_dot_48 loc_bar__minus_9_bar_6_bar_3_bar_60)\n (receptacleAtLocation CounterTop_bar__plus_00_dot_20_bar__plus_00_dot_43_bar__minus_02_dot_01 loc_bar_0_bar__minus_5_bar_2_bar_60)\n (receptacleAtLocation Drawer_bar__plus_00_dot_30_bar__plus_00_dot_30_bar__minus_01_dot_82 loc_bar__minus_1_bar__minus_3_bar_2_bar_45)\n (receptacleAtLocation Drawer_bar__plus_00_dot_30_bar__plus_00_dot_49_bar__minus_01_dot_82 loc_bar_0_bar__minus_4_bar_2_bar_60)\n (receptacleAtLocation Drawer_bar__plus_00_dot_30_bar__plus_00_dot_68_bar__minus_01_dot_82 loc_bar_0_bar__minus_4_bar_2_bar_45)\n (receptacleAtLocation Drawer_bar__plus_00_dot_30_bar__plus_00_dot_83_bar__minus_01_dot_82 loc_bar_0_bar__minus_4_bar_2_bar_45)\n (receptacleAtLocation GarbageCan_bar__minus_02_dot_93_bar__plus_00_dot_01_bar__plus_02_dot_09 loc_bar__minus_8_bar_6_bar_3_bar_60)\n (receptacleAtLocation HandTowelHolder_bar__minus_00_dot_89_bar__plus_01_dot_72_bar__minus_02_dot_54 loc_bar__minus_3_bar__minus_6_bar_2_bar_0)\n (receptacleAtLocation Shelf_bar__plus_01_dot_54_bar__plus_00_dot_61_bar__minus_02_dot_24 loc_bar_0_bar__minus_6_bar_1_bar_30)\n (receptacleAtLocation Sink_bar__minus_02_dot_80_bar__plus_00_dot_33_bar__plus_00_dot_76_bar_SinkBasin loc_bar__minus_10_bar_0_bar_0_bar_45)\n (receptacleAtLocation ToiletPaperHanger_bar__minus_00_dot_57_bar__plus_00_dot_93_bar__plus_02_dot_41 loc_bar__minus_2_bar_7_bar_0_bar_45)\n (receptacleAtLocation Toilet_bar__minus_00_dot_06_bar__plus_00_dot_01_bar__plus_01_dot_84 loc_bar__minus_4_bar_7_bar_1_bar_60)\n (receptacleAtLocation TowelHolder_bar__plus_00_dot_57_bar__plus_01_dot_20_bar__minus_01_dot_10 loc_bar_0_bar__minus_4_bar_1_bar_45)\n (objectAtLocation DishSponge_bar__minus_02_dot_88_bar__plus_00_dot_89_bar__plus_00_dot_84 loc_bar__minus_10_bar_0_bar_0_bar_45)\n (objectAtLocation Cloth_bar__minus_00_dot_05_bar__plus_00_dot_96_bar__minus_01_dot_90 loc_bar_0_bar__minus_5_bar_2_bar_60)\n (objectAtLocation TissueBox_bar__minus_00_dot_21_bar__plus_00_dot_96_bar__minus_02_dot_28 loc_bar_0_bar__minus_5_bar_2_bar_60)\n (objectAtLocation SprayBottle_bar__minus_02_dot_81_bar__plus_00_dot_24_bar__plus_01_dot_47 loc_bar__minus_9_bar_6_bar_3_bar_60)\n (objectAtLocation SoapBar_bar__plus_00_dot_14_bar__plus_00_dot_97_bar__plus_02_dot_25 loc_bar__minus_4_bar_7_bar_1_bar_60)\n (objectAtLocation SoapBottle_bar__plus_00_dot_01_bar__plus_00_dot_98_bar__plus_02_dot_33 loc_bar__minus_4_bar_7_bar_1_bar_60)\n (objectAtLocation SoapBottle_bar__plus_00_dot_11_bar__plus_00_dot_97_bar__minus_01_dot_81 loc_bar_0_bar__minus_5_bar_2_bar_60)\n (objectAtLocation DishSponge_bar__minus_02_dot_26_bar__plus_00_dot_08_bar__minus_01_dot_03 loc_bar__minus_10_bar_0_bar_2_bar_60)\n (objectAtLocation SprayBottle_bar__minus_02_dot_86_bar__plus_00_dot_24_bar__plus_01_dot_63 loc_bar__minus_9_bar_6_bar_3_bar_60)\n (objectAtLocation TissueBox_bar__plus_00_dot_27_bar__plus_00_dot_96_bar__minus_01_dot_90 loc_bar_0_bar__minus_5_bar_2_bar_60)\n (objectAtLocation Bathtub_bar__minus_01_dot_96_bar__plus_00_dot_49_bar__minus_01_dot_23 loc_bar__minus_4_bar__minus_4_bar_3_bar_45)\n (objectAtLocation ShowerDoor_bar__plus_00_dot_65_bar__plus_01_dot_41_bar__plus_02_dot_17 loc_bar_0_bar_5_bar_0_bar_15)\n (objectAtLocation ShowerGlass_bar__plus_00_dot_00_bar__plus_00_dot_00_bar__plus_00_dot_00 loc_bar_0_bar_0_bar_2_bar_60)\n (objectAtLocation Mirror_bar__minus_00_dot_05_bar__plus_01_dot_51_bar__minus_02_dot_54 loc_bar_0_bar__minus_6_bar_2_bar_15)\n (objectAtLocation Sink_bar__minus_02_dot_80_bar__plus_00_dot_33_bar__plus_00_dot_76 loc_bar__minus_8_bar_3_bar_3_bar_60)\n (objectAtLocation Candle_bar__minus_00_dot_24_bar__plus_00_dot_97_bar__plus_02_dot_20 loc_bar__minus_4_bar_7_bar_1_bar_60)\n (objectAtLocation HandTowel_bar__minus_00_dot_89_bar__plus_01_dot_62_bar__minus_02_dot_50 loc_bar__minus_3_bar__minus_6_bar_2_bar_0)\n (objectAtLocation Towel_bar__plus_00_dot_47_bar__plus_01_dot_21_bar__minus_01_dot_10 loc_bar_0_bar__minus_4_bar_1_bar_45)\n (objectAtLocation SoapBottle_bar__minus_00_dot_05_bar__plus_00_dot_98_bar__plus_02_dot_22 loc_bar__minus_4_bar_7_bar_1_bar_60)\n (objectAtLocation SoapBar_bar__minus_02_dot_84_bar__plus_00_dot_88_bar__plus_00_dot_64 loc_bar__minus_10_bar_0_bar_0_bar_45)\n (objectAtLocation ToiletPaper_bar__minus_00_dot_37_bar__plus_00_dot_96_bar__minus_02_dot_18 loc_bar_0_bar__minus_5_bar_2_bar_60)\n (objectAtLocation Plunger_bar__plus_00_dot_51_bar__plus_00_dot_01_bar__plus_02_dot_27 loc_bar_0_bar_5_bar_0_bar_60)\n (objectAtLocation SprayBottle_bar__plus_01_dot_36_bar__plus_00_dot_62_bar__minus_02_dot_24 loc_bar_0_bar__minus_6_bar_1_bar_30)\n (objectAtLocation TissueBox_bar__plus_00_dot_93_bar__plus_00_dot_62_bar__minus_02_dot_24 loc_bar_0_bar__minus_6_bar_1_bar_30)\n (objectAtLocation ToiletPaper_bar__minus_00_dot_18_bar__plus_00_dot_96_bar__plus_02_dot_33 loc_bar__minus_4_bar_7_bar_1_bar_60)\n (objectAtLocation Window_bar__minus_03_dot_17_bar__plus_01_dot_81_bar__minus_01_dot_70 loc_bar__minus_10_bar_0_bar_2_bar_0)\n (objectAtLocation Window_bar__minus_03_dot_17_bar__plus_01_dot_81_bar__plus_01_dot_60 loc_bar__minus_9_bar_6_bar_3_bar__minus_15)\n (objectAtLocation Window_bar__minus_02_dot_15_bar__plus_01_dot_81_bar__minus_02_dot_57 loc_bar__minus_3_bar__minus_6_bar_3_bar_0)\n (objectAtLocation Window_bar__minus_03_dot_17_bar__plus_01_dot_81_bar__minus_00_dot_06 loc_bar__minus_10_bar_0_bar_3_bar__minus_15)\n (objectAtLocation ScrubBrush_bar__plus_00_dot_34_bar__plus_00_dot_01_bar__plus_02_dot_07 loc_bar_0_bar_5_bar_0_bar_60)\n (objectAtLocation LightSwitch_bar__minus_01_dot_41_bar__plus_01_dot_47_bar__plus_02_dot_41 loc_bar__minus_6_bar_7_bar_0_bar_15)\n (objectAtLocation Cloth_bar__plus_02_dot_20_bar__plus_00_dot_62_bar__minus_02_dot_17 loc_bar_0_bar__minus_6_bar_1_bar_30)\n (objectAtLocation DishSponge_bar__plus_00_dot_27_bar__plus_00_dot_96_bar__minus_02_dot_09 loc_bar_0_bar__minus_5_bar_2_bar_60)\n (objectAtLocation Footstool_bar__minus_00_dot_33_bar__plus_00_dot_30_bar__minus_01_dot_98 loc_bar_0_bar__minus_6_bar_2_bar_60)\n )\n \n\n (:goal\n (and\n (exists (?r - receptacle)\n (exists (?o1 - object)\n (and\n (objectType ?o1 SoapBottleType)\n (receptacleType ?r CartType)\n (inReceptacle ?o1 ?r)\n (exists (?o2 - object)\n (and\n (not (= ?o1 ?o2))\n (objectType ?o2 SoapBottleType)\n (receptacleType ?r CartType)\n (inReceptacle ?o2 ?r)\n )\n )\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to countertop 1", "take soapbottle 1 from countertop 1", "go to cart 1", "move soapbottle 1 to cart 1", "go to toilet 1", "take soapbottle 3 from toilet 1", "go to cart 1", "move soapbottle 3 to cart 1"]}
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alfworld__pick_two_obj_and_place__6
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pick_two_obj_and_place
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pick_two_obj_and_place-SoapBottle-None-Cart-430/trial_T20190908_130358_157745/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 cart.\"\n }\n ],\n\n \"GotoLocation.feedback\": [\n {\n \"rhs\": \"You arrive at {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"OpenObject.feedback\": [\n {\n \"rhs\": \"You open the {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"CloseObject.feedback\": [\n {\n \"rhs\": \"You close the {r.name}.\"\n }\n ],\n\n \"PickupObject.feedback\": [\n {\n \"rhs\": \"You pick up the {o.name} from the {r.name}.\"\n }\n ],\n\n \"PickupObjectFromReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupObjectFromReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupEmptyReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupEmptyReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupFullReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupFullReceptacleObject: You pick up the {outerr.name}.\"\n }\n ],\n\n \"PutObject.feedback\": [\n {\n \"rhs\": \"You move the {o.name} to the {r.name}.\"\n }\n ],\n\n \"PutObjectInReceptacleObject.feedback\": [\n {\n \"rhs\": \"PutObjectInReceptacleObject: You put the {o.name} in the {outero.name}.\"\n }\n ],\n\n \"PutEmptyReceptacleObjectinReceptacle.feedback\": [\n {\n \"rhs\": \"PutEmptyReceptacleObjectinReceptacle: You put the {o.name} in the {r.name}.\"\n }\n ],\n\n \"PutFullReceptacleObjectInReceptacle.feedback\": [\n {\n \"rhs\": \"PutFullReceptacleObjectInReceptacle: You put the {outero.name} in the {r.name}.\"\n }\n ],\n\n \"inventory.feedback\": [\n {\n \"condition\": \"holdsany(a:agent)\",\n \"rhs\": \"You are carrying: [{o.indefinite + ' ' + o.name | holds(a:agent, o:object)}].\"\n },\n {\n \"rhs\": \"You are not carrying anything.\"\n }\n ],\n\n \"examineReceptacle.feedback\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \"The {r.name} is open. In it, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \"The {r.name} is closed.\"\n },\n {\n \"rhs\": \"On the {r.name}, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n }\n ],\n\n \"examineObject.feedback\": [\n {\n \"condition\": \"isreceptacleobject(o:object)\",\n \"rhs\": \"This is a normal {o.name}. In it, you see [{o2.indefinite + ' ' + o2.name | inreceptacleobject(o2:object, o:object)}].\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a clean sliced {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot sliced {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object)\",\n \"rhs\": \"This is a hot and clean {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object)\",\n \"rhs\": \"This is a cool and clean {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object)\",\n \"rhs\": \"This is a hot {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object)\",\n \"rhs\": \"This is a clean {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object)\",\n \"rhs\": \"This is a cold {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"This {o.name} is on.\"\n },\n {\n \"condition\": \"toggleable(o:object) & not_istoggled(o:object)\",\n \"rhs\": \"This {o.name} is off.\"\n },\n {\n \"condition\": \"sliceable(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a sliced {o.name}.\"\n },\n {\n \"rhs\": \"There's nothing special about {o.name}.\"\n }\n ]\n }\n\"\"\";\n\naction GotoLocation {\n template :: \"go to [{r.name | receptacleatlocation(r:receptacle, lend:location)}]\";\n feedback :: \"#GotoLocation.feedback#\";\n}\n\naction OpenObject {\n template :: \"open {r}\";\n feedback :: \"#OpenObject.feedback#\";\n}\n\naction CloseObject {\n template :: \"close {r}\";\n feedback :: \"#CloseObject.feedback#\";\n}\n\naction PickupObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObject.feedback#\";\n}\n\naction PickupObjectFromReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObjectFromReceptacleObject.feedback#\";\n}\n\naction PickupEmptyReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupEmptyReceptacleObject.feedback#\";\n}\n\naction PickupFullReceptacleObject {\n template :: \"take {outerr} from {r}\";\n feedback :: \"#PickupFullReceptacleObject.feedback#\";\n}\n\naction PutObject {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutObject.feedback#\";\n}\n\naction PutObjectInReceptacleObject {\n template :: \"put {o} into {outero}\";\n feedback :: \"#PutObjectInReceptacleObject.feedback#\";\n}\n\naction PutEmptyReceptacleObjectinReceptacle {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutEmptyReceptacleObjectinReceptacle.feedback#\";\n}\n\naction PutFullReceptacleObjectInReceptacle {\n template :: \"put {outero} in {r}\";\n feedback :: \"#PutFullReceptacleObjectInReceptacle.feedback#\";\n}\n\naction inventory {\n template :: \"inventory\";\n feedback :: \"#inventory.feedback#\";\n}\n\naction examineReceptacle {\n template :: \"examine {r}\";\n feedback :: \"#examineReceptacle.feedback#\";\n}\n\naction examineObject {\n template :: \"examine {o}\";\n feedback :: \"#examineObject.feedback#\";\n}\n\naction ToggleObject {\n template :: \"use {o}\";\n feedback :: \"#toggleObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"toggleObject.feedback\": [\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"You turn on the {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object)\",\n \"rhs\": \"You turn off the {o.name}.\"\n },\n {\n \"rhs\": \"You don't see any switch on the {o.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction HeatObject {\n template :: \"heat {o} with {r}\";\n feedback :: \"#heatObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"heatObject.feedback\": [\n {\n \"rhs\": \"You heat the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CleanObject {\n template :: \"clean {o} with {r}\";\n feedback :: \"#cleanObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"cleanObject.feedback\": [\n {\n \"rhs\": \"You clean the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CoolObject {\n template :: \"cool {o} with {r}\";\n feedback :: \"#coolObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"coolObject.feedback\": [\n {\n \"rhs\": \"You cool the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction SliceObject {\n template :: \"slice {co} with {ko}\";\n feedback :: \"#sliceObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"sliceObject.feedback\": [\n {\n \"rhs\": \"You sliced the {co.name} with the {ko.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction look {\n template :: \"look\";\n feedback :: \"#look.feedback#\";\n\n grammar :: \"\"\"\n {\n \"look.feedback\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"#look-variations#. Next to it, you see #list_objects_on_the_floor#.\"\n },\n {\n \"rhs\": \"You are in the middle of a room. Looking quickly around you, you see #list_appliances#.\"\n }\n ],\n\n \"look-variations\": [\n {\n \"rhs\": \"You are facing the [{r.name | atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)}]\"\n }\n ],\n\n \"list_objects_on_the_floor\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)\",\n \"rhs\": \"[{#overview(o)# | atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"list_appliances\": [\n {\n \"condition\": \"receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"[{#overview(r)# | receptacleatlocation(r:receptacle, l:location)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"overview(o, r)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name} (in/on the {r.name})}\"\n }\n ],\n\n \"overview(o)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name}\"\n }\n ],\n \"overview(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}\"\n }\n ],\n \"overview_with_state(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}#overview_state(r)#\"\n }\n ],\n \"overview_state(r)\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \" (it is open)\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \" (it is closed)\"\n },\n {\n \"rhs\": \"\"\n }\n ],\n\n \"list_empty\": [\n {\n \"rhs\": \"nothing\"\n }\n ],\n \"list_separator\": [\n {\n \"rhs\": \", \"\n }\n ],\n \"list_last_separator\": [\n {\n \"rhs\": \", and \"\n }\n ]\n }\n \"\"\";\n}\n\naction help {\n template :: \"help\";\n feedback :: \"\nAvailable commands:\n look: look around your current location\n inventory: check your current inventory\n go to (receptacle): move to a receptacle\n open (receptacle): open a receptacle\n close (receptacle): close a receptacle\n take (object) from (receptacle): take an object from a receptacle\n move (object) to (receptacle): place an object in or on a receptacle\n examine (something): examine a receptacle or an object\n use (object): use an object\n heat (object) with (receptacle): heat an object using a receptacle\n clean (object) with (receptacle): clean an object using a receptacle\n cool (object) with (receptacle): cool an object using a receptacle\n slice (object) with (object): slice an object using a sharp object\n\";\n}\n", "pddl_problem": "\n(define (problem plan_trial_T20190908_130358_157745)\n(:domain alfred)\n(:objects\nagent1 - agent\nSaltShaker - object\n HousePlant - object\n Candle - object\n SprayBottle - object\n Bowl - object\n Window - object\n CD - object\n Egg - object\n Glassbottle - object\n Sink - object\n Pillow - object\n Spoon - object\n SoapBottle - object\n TeddyBear - object\n ButterKnife - object\n Cup - object\n Plate - object\n RemoteControl - object\n Tomato - object\n Statue - object\n HandTowel - object\n Knife - object\n StoveKnob - object\n LightSwitch - object\n Pen - object\n Painting - object\n DishSponge - object\n Vase - object\n Mug - object\n ToiletPaper - object\n Box - object\n Mirror - object\n Ladle - object\n Fork - object\n Blinds - object\n Footstool - object\n KeyChain - object\n Cloth - object\n Laptop - object\n TissueBox - object\n PepperShaker - object\n FloorLamp - object\n WateringCan - object\n Apple - object\n Pan - object\n PaperTowel - object\n PaperTowelRoll - object\n Newspaper - object\n Television - object\n Chair - object\n CellPhone - object\n CreditCard - object\n Lettuce - object\n BasketBall - object\n Potato - object\n Curtains - object\n Boots - object\n Pencil - object\n AlarmClock - object\n ToiletPaperRoll - object\n Spatula - object\n Book - object\n Bread - object\n SoapBar - object\n Watch - object\n DeskLamp - object\n Kettle - object\n Pot - object\n ScrubBrush - object\n WineBottle - object\n ShowerDoor - object\n Bathtub - object\n LaundryHamperLid - object\n ShowerGlass - object\n Poster - object\n TennisRacket - object\n BaseballBat - object\n Towel - object\n Plunger - object\nSaltShakerType - otype\n HousePlantType - otype\n CandleType - otype\n SprayBottleType - otype\n BowlType - otype\n WindowType - otype\n CDType - otype\n EggType - otype\n GlassbottleType - otype\n SinkType - otype\n PillowType - otype\n SpoonType - otype\n SoapBottleType - otype\n TeddyBearType - otype\n ButterKnifeType - otype\n CupType - otype\n PlateType - otype\n RemoteControlType - otype\n TomatoType - otype\n StatueType - otype\n HandTowelType - otype\n KnifeType - otype\n StoveKnobType - otype\n LightSwitchType - otype\n PenType - otype\n PaintingType - otype\n DishSpongeType - otype\n VaseType - otype\n MugType - otype\n ToiletPaperType - otype\n BoxType - otype\n MirrorType - otype\n LadleType - otype\n ForkType - otype\n BlindsType - otype\n FootstoolType - otype\n KeyChainType - otype\n ClothType - otype\n LaptopType - otype\n TissueBoxType - otype\n PepperShakerType - otype\n FloorLampType - otype\n WateringCanType - otype\n AppleType - otype\n PanType - otype\n PaperTowelType - otype\n PaperTowelRollType - otype\n NewspaperType - otype\n TelevisionType - otype\n ChairType - otype\n CellPhoneType - otype\n CreditCardType - otype\n LettuceType - otype\n BasketBallType - otype\n PotatoType - otype\n CurtainsType - otype\n BootsType - otype\n PencilType - otype\n AlarmClockType - otype\n ToiletPaperRollType - otype\n SpatulaType - otype\n BookType - otype\n BreadType - otype\n SoapBarType - otype\n WatchType - otype\n DeskLampType - otype\n KettleType - otype\n PotType - otype\n ScrubBrushType - otype\n WineBottleType - otype\n ShowerDoorType - otype\n BathtubType - otype\n LaundryHamperLidType - otype\n ShowerGlassType - otype\n PosterType - otype\n TennisRacketType - otype\n BaseballBatType - otype\n TowelType - otype\n PlungerType - otype\nSafeType - rtype\n DrawerType - rtype\n CoffeeMachineType - rtype\n HandTowelHolderType - rtype\n SinkBasinType - rtype\n DresserType - rtype\n LaundryHamperType - rtype\n TVStandType - rtype\n BathtubBasinType - rtype\n CabinetType - rtype\n FridgeType - rtype\n DeskType - rtype\n ToiletType - rtype\n CartType - rtype\n SideTableType - rtype\n SofaType - rtype\n CoffeeTableType - rtype\n DiningTableType - rtype\n CounterTopType - rtype\n GarbageCanType - rtype\n ArmChairType - rtype\n ShelfType - rtype\n MicrowaveType - rtype\n ToasterType - rtype\n BedType - rtype\n PaintingHangerType - rtype\n TowelHolderType - rtype\n ToiletPaperHangerType - rtype\n StoveBurnerType - rtype\n OttomanType - rtype\n\n\n Bathtub_bar__minus_01_dot_96_bar__plus_00_dot_49_bar__minus_01_dot_23 - object\n Candle_bar__minus_03_dot_09_bar__plus_00_dot_87_bar__plus_01_dot_55 - object\n Cloth_bar__minus_02_dot_31_bar__plus_00_dot_08_bar__minus_01_dot_08 - object\n DishSponge_bar__plus_00_dot_19_bar__plus_00_dot_44_bar__minus_01_dot_91 - object\n DishSponge_bar__plus_01_dot_57_bar__plus_00_dot_62_bar__minus_02_dot_17 - object\n DishSponge_bar__plus_02_dot_20_bar__plus_00_dot_62_bar__minus_02_dot_09 - object\n Faucet_bar__minus_02_dot_79_bar__plus_00_dot_48_bar__minus_00_dot_36 - object\n Faucet_bar__minus_03_dot_11_bar__plus_01_dot_06_bar__plus_00_dot_76 - object\n Footstool_bar__minus_00_dot_33_bar__plus_00_dot_30_bar__minus_01_dot_98 - object\n HandTowel_bar__minus_00_dot_89_bar__plus_01_dot_62_bar__minus_02_dot_50 - object\n LightSwitch_bar__minus_01_dot_41_bar__plus_01_dot_47_bar__plus_02_dot_41 - object\n Mirror_bar__minus_00_dot_05_bar__plus_01_dot_51_bar__minus_02_dot_54 - object\n Plunger_bar__plus_00_dot_51_bar__plus_00_dot_01_bar__plus_02_dot_27 - object\n ScrubBrush_bar__plus_00_dot_34_bar__plus_00_dot_01_bar__plus_02_dot_07 - object\n ShowerDoor_bar__plus_00_dot_65_bar__plus_01_dot_41_bar__plus_02_dot_17 - object\n ShowerGlass_bar__plus_00_dot_00_bar__plus_00_dot_00_bar__plus_00_dot_00 - object\n ShowerHead_bar__plus_01_dot_59_bar__plus_01_dot_70_bar__minus_02_dot_43 - object\n Sink_bar__minus_02_dot_80_bar__plus_00_dot_33_bar__plus_00_dot_76 - object\n SoapBar_bar__plus_00_dot_24_bar__plus_00_dot_80_bar__minus_01_dot_84 - object\n SoapBottle_bar__plus_01_dot_14_bar__plus_00_dot_63_bar__minus_02_dot_39 - object\n SoapBottle_bar__plus_01_dot_36_bar__plus_00_dot_63_bar__minus_02_dot_46 - object\n SoapBottle_bar__minus_00_dot_05_bar__plus_00_dot_98_bar__plus_02_dot_33 - object\n SoapBottle_bar__minus_00_dot_53_bar__plus_00_dot_97_bar__minus_02_dot_18 - object\n SprayBottle_bar__plus_01_dot_78_bar__plus_00_dot_62_bar__minus_02_dot_02 - object\n SprayBottle_bar__minus_02_dot_86_bar__plus_00_dot_87_bar__plus_01_dot_71 - object\n SprayBottle_bar__minus_02_dot_88_bar__plus_00_dot_05_bar__plus_02_dot_09 - object\n TissueBox_bar__plus_00_dot_27_bar__plus_00_dot_96_bar__minus_02_dot_37 - object\n ToiletPaper_bar__minus_00_dot_05_bar__plus_00_dot_96_bar__minus_02_dot_37 - object\n ToiletPaper_bar__minus_00_dot_52_bar__plus_00_dot_03_bar__plus_02_dot_34 - object\n Towel_bar__plus_00_dot_47_bar__plus_01_dot_21_bar__minus_01_dot_10 - object\n Window_bar__minus_02_dot_15_bar__plus_01_dot_81_bar__minus_02_dot_57 - object\n Window_bar__minus_03_dot_17_bar__plus_01_dot_81_bar__plus_01_dot_60 - object\n Window_bar__minus_03_dot_17_bar__plus_01_dot_81_bar__minus_00_dot_06 - object\n Window_bar__minus_03_dot_17_bar__plus_01_dot_81_bar__minus_01_dot_70 - object\n Bathtub_bar__minus_01_dot_96_bar__plus_00_dot_49_bar__minus_01_dot_23_bar_BathtubBasin - receptacle\n Cart_bar__minus_02_dot_92_bar__plus_00_dot_01_bar__plus_01_dot_48 - receptacle\n CounterTop_bar__plus_00_dot_20_bar__plus_00_dot_43_bar__minus_02_dot_01 - receptacle\n Drawer_bar__plus_00_dot_30_bar__plus_00_dot_30_bar__minus_01_dot_82 - receptacle\n Drawer_bar__plus_00_dot_30_bar__plus_00_dot_49_bar__minus_01_dot_82 - receptacle\n Drawer_bar__plus_00_dot_30_bar__plus_00_dot_68_bar__minus_01_dot_82 - receptacle\n Drawer_bar__plus_00_dot_30_bar__plus_00_dot_83_bar__minus_01_dot_82 - receptacle\n GarbageCan_bar__minus_02_dot_93_bar__plus_00_dot_01_bar__plus_02_dot_09 - receptacle\n HandTowelHolder_bar__minus_00_dot_89_bar__plus_01_dot_72_bar__minus_02_dot_54 - receptacle\n Shelf_bar__plus_01_dot_54_bar__plus_00_dot_61_bar__minus_02_dot_24 - receptacle\n Sink_bar__minus_02_dot_80_bar__plus_00_dot_33_bar__plus_00_dot_76_bar_SinkBasin - receptacle\n ToiletPaperHanger_bar__minus_00_dot_57_bar__plus_00_dot_93_bar__plus_02_dot_41 - receptacle\n Toilet_bar__minus_00_dot_06_bar__plus_00_dot_01_bar__plus_01_dot_84 - receptacle\n TowelHolder_bar__plus_00_dot_57_bar__plus_01_dot_20_bar__minus_01_dot_10 - receptacle\n loc_bar_0_bar__minus_6_bar_2_bar_15 - location\n loc_bar__minus_2_bar_7_bar_0_bar_60 - location\n loc_bar__minus_6_bar_7_bar_0_bar_15 - location\n loc_bar__minus_1_bar__minus_3_bar_2_bar_45 - location\n loc_bar__minus_10_bar_0_bar_3_bar__minus_15 - location\n loc_bar_0_bar__minus_4_bar_2_bar_60 - location\n loc_bar_0_bar__minus_4_bar_1_bar_45 - location\n loc_bar__minus_10_bar_0_bar_0_bar_45 - location\n loc_bar_0_bar_5_bar_0_bar_15 - location\n loc_bar__minus_9_bar_6_bar_3_bar__minus_15 - location\n loc_bar__minus_8_bar_3_bar_3_bar_60 - location\n loc_bar_0_bar__minus_5_bar_2_bar_60 - location\n loc_bar__minus_9_bar_6_bar_3_bar_60 - location\n loc_bar__minus_3_bar__minus_6_bar_2_bar_0 - location\n loc_bar__minus_4_bar_7_bar_1_bar_60 - location\n loc_bar_0_bar_0_bar_2_bar_60 - location\n loc_bar__minus_2_bar_7_bar_0_bar_45 - location\n loc_bar_0_bar_5_bar_0_bar_60 - location\n loc_bar__minus_3_bar__minus_6_bar_3_bar_0 - location\n loc_bar__minus_4_bar__minus_4_bar_3_bar_45 - location\n loc_bar__minus_8_bar_6_bar_3_bar_60 - location\n loc_bar__minus_10_bar_0_bar_2_bar_60 - location\n loc_bar_0_bar__minus_6_bar_2_bar_60 - location\n loc_bar_0_bar__minus_4_bar_2_bar_45 - location\n loc_bar__minus_10_bar_0_bar_2_bar_0 - location\n loc_bar_0_bar__minus_6_bar_1_bar_30 - location\n loc_bar__minus_1_bar__minus_3_bar_3_bar_30 - location\n )\n \n\n(:init\n\n\n (receptacleType HandTowelHolder_bar__minus_00_dot_89_bar__plus_01_dot_72_bar__minus_02_dot_54 HandTowelHolderType)\n (receptacleType Cart_bar__minus_02_dot_92_bar__plus_00_dot_01_bar__plus_01_dot_48 CartType)\n (receptacleType Drawer_bar__plus_00_dot_30_bar__plus_00_dot_68_bar__minus_01_dot_82 DrawerType)\n (receptacleType Drawer_bar__plus_00_dot_30_bar__plus_00_dot_49_bar__minus_01_dot_82 DrawerType)\n (receptacleType Toilet_bar__minus_00_dot_06_bar__plus_00_dot_01_bar__plus_01_dot_84 ToiletType)\n (receptacleType ToiletPaperHanger_bar__minus_00_dot_57_bar__plus_00_dot_93_bar__plus_02_dot_41 ToiletPaperHangerType)\n (receptacleType Sink_bar__minus_02_dot_80_bar__plus_00_dot_33_bar__plus_00_dot_76_bar_SinkBasin SinkBasinType)\n (receptacleType CounterTop_bar__plus_00_dot_20_bar__plus_00_dot_43_bar__minus_02_dot_01 CounterTopType)\n (receptacleType Drawer_bar__plus_00_dot_30_bar__plus_00_dot_30_bar__minus_01_dot_82 DrawerType)\n (receptacleType Drawer_bar__plus_00_dot_30_bar__plus_00_dot_83_bar__minus_01_dot_82 DrawerType)\n (receptacleType Bathtub_bar__minus_01_dot_96_bar__plus_00_dot_49_bar__minus_01_dot_23_bar_BathtubBasin BathtubBasinType)\n (receptacleType GarbageCan_bar__minus_02_dot_93_bar__plus_00_dot_01_bar__plus_02_dot_09 GarbageCanType)\n (receptacleType TowelHolder_bar__plus_00_dot_57_bar__plus_01_dot_20_bar__minus_01_dot_10 TowelHolderType)\n (receptacleType Shelf_bar__plus_01_dot_54_bar__plus_00_dot_61_bar__minus_02_dot_24 ShelfType)\n (objectType TissueBox_bar__plus_00_dot_27_bar__plus_00_dot_96_bar__minus_02_dot_37 TissueBoxType)\n (objectType SoapBottle_bar__plus_01_dot_36_bar__plus_00_dot_63_bar__minus_02_dot_46 SoapBottleType)\n (objectType DishSponge_bar__plus_00_dot_19_bar__plus_00_dot_44_bar__minus_01_dot_91 DishSpongeType)\n (objectType Bathtub_bar__minus_01_dot_96_bar__plus_00_dot_49_bar__minus_01_dot_23 BathtubType)\n (objectType Mirror_bar__minus_00_dot_05_bar__plus_01_dot_51_bar__minus_02_dot_54 MirrorType)\n (objectType Towel_bar__plus_00_dot_47_bar__plus_01_dot_21_bar__minus_01_dot_10 TowelType)\n (objectType Sink_bar__minus_02_dot_80_bar__plus_00_dot_33_bar__plus_00_dot_76 SinkType)\n (objectType ScrubBrush_bar__plus_00_dot_34_bar__plus_00_dot_01_bar__plus_02_dot_07 ScrubBrushType)\n (objectType DishSponge_bar__plus_01_dot_57_bar__plus_00_dot_62_bar__minus_02_dot_17 DishSpongeType)\n (objectType SprayBottle_bar__minus_02_dot_88_bar__plus_00_dot_05_bar__plus_02_dot_09 SprayBottleType)\n (objectType Window_bar__minus_03_dot_17_bar__plus_01_dot_81_bar__plus_01_dot_60 WindowType)\n (objectType Plunger_bar__plus_00_dot_51_bar__plus_00_dot_01_bar__plus_02_dot_27 PlungerType)\n (objectType ShowerGlass_bar__plus_00_dot_00_bar__plus_00_dot_00_bar__plus_00_dot_00 ShowerGlassType)\n (objectType SprayBottle_bar__minus_02_dot_86_bar__plus_00_dot_87_bar__plus_01_dot_71 SprayBottleType)\n (objectType SoapBottle_bar__plus_01_dot_14_bar__plus_00_dot_63_bar__minus_02_dot_39 SoapBottleType)\n (objectType Cloth_bar__minus_02_dot_31_bar__plus_00_dot_08_bar__minus_01_dot_08 ClothType)\n (objectType Window_bar__minus_03_dot_17_bar__plus_01_dot_81_bar__minus_01_dot_70 WindowType)\n (objectType LightSwitch_bar__minus_01_dot_41_bar__plus_01_dot_47_bar__plus_02_dot_41 LightSwitchType)\n (objectType SoapBottle_bar__minus_00_dot_05_bar__plus_00_dot_98_bar__plus_02_dot_33 SoapBottleType)\n (objectType SprayBottle_bar__plus_01_dot_78_bar__plus_00_dot_62_bar__minus_02_dot_02 SprayBottleType)\n (objectType SoapBar_bar__plus_00_dot_24_bar__plus_00_dot_80_bar__minus_01_dot_84 SoapBarType)\n (objectType ToiletPaper_bar__minus_00_dot_52_bar__plus_00_dot_03_bar__plus_02_dot_34 ToiletPaperType)\n (objectType ToiletPaper_bar__minus_00_dot_05_bar__plus_00_dot_96_bar__minus_02_dot_37 ToiletPaperType)\n (objectType Candle_bar__minus_03_dot_09_bar__plus_00_dot_87_bar__plus_01_dot_55 CandleType)\n (objectType DishSponge_bar__plus_02_dot_20_bar__plus_00_dot_62_bar__minus_02_dot_09 DishSpongeType)\n (objectType Window_bar__minus_03_dot_17_bar__plus_01_dot_81_bar__minus_00_dot_06 WindowType)\n (objectType HandTowel_bar__minus_00_dot_89_bar__plus_01_dot_62_bar__minus_02_dot_50 HandTowelType)\n (objectType Window_bar__minus_02_dot_15_bar__plus_01_dot_81_bar__minus_02_dot_57 WindowType)\n (objectType SoapBottle_bar__minus_00_dot_53_bar__plus_00_dot_97_bar__minus_02_dot_18 SoapBottleType)\n (objectType ShowerDoor_bar__plus_00_dot_65_bar__plus_01_dot_41_bar__plus_02_dot_17 ShowerDoorType)\n (objectType Footstool_bar__minus_00_dot_33_bar__plus_00_dot_30_bar__minus_01_dot_98 FootstoolType)\n (canContain HandTowelHolderType HandTowelType)\n (canContain CartType SoapBottleType)\n (canContain CartType HandTowelType)\n (canContain CartType ToiletPaperType)\n (canContain CartType ClothType)\n (canContain CartType CandleType)\n (canContain CartType SoapBarType)\n (canContain CartType DishSpongeType)\n (canContain CartType PlungerType)\n (canContain CartType SprayBottleType)\n (canContain CartType TissueBoxType)\n (canContain DrawerType CandleType)\n (canContain DrawerType SoapBarType)\n (canContain DrawerType DishSpongeType)\n (canContain DrawerType SprayBottleType)\n (canContain DrawerType ToiletPaperType)\n (canContain DrawerType SoapBottleType)\n (canContain DrawerType ClothType)\n (canContain DrawerType TissueBoxType)\n (canContain DrawerType HandTowelType)\n (canContain DrawerType CandleType)\n (canContain DrawerType SoapBarType)\n (canContain DrawerType DishSpongeType)\n (canContain DrawerType SprayBottleType)\n (canContain DrawerType ToiletPaperType)\n (canContain DrawerType SoapBottleType)\n (canContain DrawerType ClothType)\n (canContain DrawerType TissueBoxType)\n (canContain DrawerType HandTowelType)\n (canContain ToiletType SoapBottleType)\n (canContain ToiletType HandTowelType)\n (canContain ToiletType ToiletPaperType)\n (canContain ToiletType ClothType)\n (canContain ToiletType CandleType)\n (canContain ToiletType SoapBarType)\n (canContain ToiletType DishSpongeType)\n (canContain ToiletType SprayBottleType)\n (canContain ToiletType TissueBoxType)\n (canContain ToiletPaperHangerType ToiletPaperType)\n (canContain SinkBasinType SoapBarType)\n (canContain SinkBasinType DishSpongeType)\n (canContain SinkBasinType ClothType)\n (canContain SinkBasinType HandTowelType)\n (canContain CounterTopType CandleType)\n (canContain CounterTopType DishSpongeType)\n (canContain CounterTopType SoapBarType)\n (canContain CounterTopType SprayBottleType)\n (canContain CounterTopType ToiletPaperType)\n (canContain CounterTopType SoapBottleType)\n (canContain CounterTopType ClothType)\n (canContain CounterTopType TissueBoxType)\n (canContain CounterTopType HandTowelType)\n (canContain DrawerType CandleType)\n (canContain DrawerType SoapBarType)\n (canContain DrawerType DishSpongeType)\n (canContain DrawerType SprayBottleType)\n (canContain DrawerType ToiletPaperType)\n (canContain DrawerType SoapBottleType)\n (canContain DrawerType ClothType)\n (canContain DrawerType TissueBoxType)\n (canContain DrawerType HandTowelType)\n (canContain DrawerType CandleType)\n (canContain DrawerType SoapBarType)\n (canContain DrawerType DishSpongeType)\n (canContain DrawerType SprayBottleType)\n (canContain DrawerType ToiletPaperType)\n (canContain DrawerType SoapBottleType)\n (canContain DrawerType ClothType)\n (canContain DrawerType TissueBoxType)\n (canContain DrawerType HandTowelType)\n (canContain BathtubBasinType ClothType)\n (canContain BathtubBasinType HandTowelType)\n (canContain BathtubBasinType SoapBarType)\n (canContain BathtubBasinType DishSpongeType)\n (canContain GarbageCanType SoapBarType)\n (canContain GarbageCanType DishSpongeType)\n (canContain GarbageCanType SprayBottleType)\n (canContain GarbageCanType ToiletPaperType)\n (canContain GarbageCanType SoapBottleType)\n (canContain GarbageCanType ClothType)\n (canContain GarbageCanType TissueBoxType)\n (canContain GarbageCanType HandTowelType)\n (canContain TowelHolderType TowelType)\n (canContain ShelfType CandleType)\n (canContain ShelfType SoapBarType)\n (canContain ShelfType DishSpongeType)\n (canContain ShelfType SprayBottleType)\n (canContain ShelfType ToiletPaperType)\n (canContain ShelfType SoapBottleType)\n (canContain ShelfType ClothType)\n (canContain ShelfType TissueBoxType)\n (canContain ShelfType HandTowelType)\n (pickupable TissueBox_bar__plus_00_dot_27_bar__plus_00_dot_96_bar__minus_02_dot_37)\n (pickupable SoapBottle_bar__plus_01_dot_36_bar__plus_00_dot_63_bar__minus_02_dot_46)\n (pickupable DishSponge_bar__plus_00_dot_19_bar__plus_00_dot_44_bar__minus_01_dot_91)\n (pickupable Towel_bar__plus_00_dot_47_bar__plus_01_dot_21_bar__minus_01_dot_10)\n (pickupable ScrubBrush_bar__plus_00_dot_34_bar__plus_00_dot_01_bar__plus_02_dot_07)\n (pickupable DishSponge_bar__plus_01_dot_57_bar__plus_00_dot_62_bar__minus_02_dot_17)\n (pickupable SprayBottle_bar__minus_02_dot_88_bar__plus_00_dot_05_bar__plus_02_dot_09)\n (pickupable Plunger_bar__plus_00_dot_51_bar__plus_00_dot_01_bar__plus_02_dot_27)\n (pickupable SprayBottle_bar__minus_02_dot_86_bar__plus_00_dot_87_bar__plus_01_dot_71)\n (pickupable SoapBottle_bar__plus_01_dot_14_bar__plus_00_dot_63_bar__minus_02_dot_39)\n (pickupable Cloth_bar__minus_02_dot_31_bar__plus_00_dot_08_bar__minus_01_dot_08)\n (pickupable SoapBottle_bar__minus_00_dot_05_bar__plus_00_dot_98_bar__plus_02_dot_33)\n (pickupable SprayBottle_bar__plus_01_dot_78_bar__plus_00_dot_62_bar__minus_02_dot_02)\n (pickupable SoapBar_bar__plus_00_dot_24_bar__plus_00_dot_80_bar__minus_01_dot_84)\n (pickupable ToiletPaper_bar__minus_00_dot_52_bar__plus_00_dot_03_bar__plus_02_dot_34)\n (pickupable ToiletPaper_bar__minus_00_dot_05_bar__plus_00_dot_96_bar__minus_02_dot_37)\n (pickupable Candle_bar__minus_03_dot_09_bar__plus_00_dot_87_bar__plus_01_dot_55)\n (pickupable DishSponge_bar__plus_02_dot_20_bar__plus_00_dot_62_bar__minus_02_dot_09)\n (pickupable HandTowel_bar__minus_00_dot_89_bar__plus_01_dot_62_bar__minus_02_dot_50)\n (pickupable SoapBottle_bar__minus_00_dot_53_bar__plus_00_dot_97_bar__minus_02_dot_18)\n (pickupable Footstool_bar__minus_00_dot_33_bar__plus_00_dot_30_bar__minus_01_dot_98)\n \n (openable Drawer_bar__plus_00_dot_30_bar__plus_00_dot_68_bar__minus_01_dot_82)\n (openable Drawer_bar__plus_00_dot_30_bar__plus_00_dot_49_bar__minus_01_dot_82)\n (openable Drawer_bar__plus_00_dot_30_bar__plus_00_dot_30_bar__minus_01_dot_82)\n (openable Drawer_bar__plus_00_dot_30_bar__plus_00_dot_83_bar__minus_01_dot_82)\n \n (atLocation agent1 loc_bar__minus_1_bar__minus_3_bar_3_bar_30)\n \n (cleanable DishSponge_bar__plus_00_dot_19_bar__plus_00_dot_44_bar__minus_01_dot_91)\n (cleanable DishSponge_bar__plus_01_dot_57_bar__plus_00_dot_62_bar__minus_02_dot_17)\n (cleanable Cloth_bar__minus_02_dot_31_bar__plus_00_dot_08_bar__minus_01_dot_08)\n (cleanable SoapBar_bar__plus_00_dot_24_bar__plus_00_dot_80_bar__minus_01_dot_84)\n (cleanable DishSponge_bar__plus_02_dot_20_bar__plus_00_dot_62_bar__minus_02_dot_09)\n \n \n \n \n \n \n \n \n \n \n (inReceptacle ToiletPaper_bar__minus_00_dot_05_bar__plus_00_dot_96_bar__minus_02_dot_37 CounterTop_bar__plus_00_dot_20_bar__plus_00_dot_43_bar__minus_02_dot_01)\n (inReceptacle TissueBox_bar__plus_00_dot_27_bar__plus_00_dot_96_bar__minus_02_dot_37 CounterTop_bar__plus_00_dot_20_bar__plus_00_dot_43_bar__minus_02_dot_01)\n (inReceptacle SoapBottle_bar__minus_00_dot_53_bar__plus_00_dot_97_bar__minus_02_dot_18 CounterTop_bar__plus_00_dot_20_bar__plus_00_dot_43_bar__minus_02_dot_01)\n (inReceptacle SoapBar_bar__plus_00_dot_24_bar__plus_00_dot_80_bar__minus_01_dot_84 Drawer_bar__plus_00_dot_30_bar__plus_00_dot_83_bar__minus_01_dot_82)\n (inReceptacle DishSponge_bar__plus_00_dot_19_bar__plus_00_dot_44_bar__minus_01_dot_91 Drawer_bar__plus_00_dot_30_bar__plus_00_dot_49_bar__minus_01_dot_82)\n (inReceptacle Towel_bar__plus_00_dot_47_bar__plus_01_dot_21_bar__minus_01_dot_10 TowelHolder_bar__plus_00_dot_57_bar__plus_01_dot_20_bar__minus_01_dot_10)\n (inReceptacle SoapBottle_bar__plus_01_dot_36_bar__plus_00_dot_63_bar__minus_02_dot_46 Shelf_bar__plus_01_dot_54_bar__plus_00_dot_61_bar__minus_02_dot_24)\n (inReceptacle SoapBottle_bar__plus_01_dot_14_bar__plus_00_dot_63_bar__minus_02_dot_39 Shelf_bar__plus_01_dot_54_bar__plus_00_dot_61_bar__minus_02_dot_24)\n (inReceptacle DishSponge_bar__plus_02_dot_20_bar__plus_00_dot_62_bar__minus_02_dot_09 Shelf_bar__plus_01_dot_54_bar__plus_00_dot_61_bar__minus_02_dot_24)\n (inReceptacle SprayBottle_bar__plus_01_dot_78_bar__plus_00_dot_62_bar__minus_02_dot_02 Shelf_bar__plus_01_dot_54_bar__plus_00_dot_61_bar__minus_02_dot_24)\n (inReceptacle DishSponge_bar__plus_01_dot_57_bar__plus_00_dot_62_bar__minus_02_dot_17 Shelf_bar__plus_01_dot_54_bar__plus_00_dot_61_bar__minus_02_dot_24)\n (inReceptacle HandTowel_bar__minus_00_dot_89_bar__plus_01_dot_62_bar__minus_02_dot_50 HandTowelHolder_bar__minus_00_dot_89_bar__plus_01_dot_72_bar__minus_02_dot_54)\n (inReceptacle SprayBottle_bar__minus_02_dot_88_bar__plus_00_dot_05_bar__plus_02_dot_09 GarbageCan_bar__minus_02_dot_93_bar__plus_00_dot_01_bar__plus_02_dot_09)\n (inReceptacle SprayBottle_bar__minus_02_dot_86_bar__plus_00_dot_87_bar__plus_01_dot_71 Cart_bar__minus_02_dot_92_bar__plus_00_dot_01_bar__plus_01_dot_48)\n (inReceptacle Candle_bar__minus_03_dot_09_bar__plus_00_dot_87_bar__plus_01_dot_55 Cart_bar__minus_02_dot_92_bar__plus_00_dot_01_bar__plus_01_dot_48)\n (inReceptacle SoapBottle_bar__minus_00_dot_05_bar__plus_00_dot_98_bar__plus_02_dot_33 Toilet_bar__minus_00_dot_06_bar__plus_00_dot_01_bar__plus_01_dot_84)\n (inReceptacle Cloth_bar__minus_02_dot_31_bar__plus_00_dot_08_bar__minus_01_dot_08 Bathtub_bar__minus_01_dot_96_bar__plus_00_dot_49_bar__minus_01_dot_23_bar_BathtubBasin)\n \n \n (receptacleAtLocation Bathtub_bar__minus_01_dot_96_bar__plus_00_dot_49_bar__minus_01_dot_23_bar_BathtubBasin loc_bar__minus_10_bar_0_bar_2_bar_60)\n (receptacleAtLocation Cart_bar__minus_02_dot_92_bar__plus_00_dot_01_bar__plus_01_dot_48 loc_bar__minus_9_bar_6_bar_3_bar_60)\n (receptacleAtLocation CounterTop_bar__plus_00_dot_20_bar__plus_00_dot_43_bar__minus_02_dot_01 loc_bar_0_bar__minus_5_bar_2_bar_60)\n (receptacleAtLocation Drawer_bar__plus_00_dot_30_bar__plus_00_dot_30_bar__minus_01_dot_82 loc_bar__minus_1_bar__minus_3_bar_2_bar_45)\n (receptacleAtLocation Drawer_bar__plus_00_dot_30_bar__plus_00_dot_49_bar__minus_01_dot_82 loc_bar_0_bar__minus_4_bar_2_bar_60)\n (receptacleAtLocation Drawer_bar__plus_00_dot_30_bar__plus_00_dot_68_bar__minus_01_dot_82 loc_bar_0_bar__minus_4_bar_2_bar_45)\n (receptacleAtLocation Drawer_bar__plus_00_dot_30_bar__plus_00_dot_83_bar__minus_01_dot_82 loc_bar_0_bar__minus_4_bar_2_bar_45)\n (receptacleAtLocation GarbageCan_bar__minus_02_dot_93_bar__plus_00_dot_01_bar__plus_02_dot_09 loc_bar__minus_8_bar_6_bar_3_bar_60)\n (receptacleAtLocation HandTowelHolder_bar__minus_00_dot_89_bar__plus_01_dot_72_bar__minus_02_dot_54 loc_bar__minus_3_bar__minus_6_bar_2_bar_0)\n (receptacleAtLocation Shelf_bar__plus_01_dot_54_bar__plus_00_dot_61_bar__minus_02_dot_24 loc_bar_0_bar__minus_6_bar_1_bar_30)\n (receptacleAtLocation Sink_bar__minus_02_dot_80_bar__plus_00_dot_33_bar__plus_00_dot_76_bar_SinkBasin loc_bar__minus_10_bar_0_bar_0_bar_45)\n (receptacleAtLocation ToiletPaperHanger_bar__minus_00_dot_57_bar__plus_00_dot_93_bar__plus_02_dot_41 loc_bar__minus_2_bar_7_bar_0_bar_45)\n (receptacleAtLocation Toilet_bar__minus_00_dot_06_bar__plus_00_dot_01_bar__plus_01_dot_84 loc_bar__minus_4_bar_7_bar_1_bar_60)\n (receptacleAtLocation TowelHolder_bar__plus_00_dot_57_bar__plus_01_dot_20_bar__minus_01_dot_10 loc_bar_0_bar__minus_4_bar_1_bar_45)\n (objectAtLocation DishSponge_bar__plus_00_dot_19_bar__plus_00_dot_44_bar__minus_01_dot_91 loc_bar_0_bar__minus_4_bar_2_bar_60)\n (objectAtLocation SprayBottle_bar__minus_02_dot_86_bar__plus_00_dot_87_bar__plus_01_dot_71 loc_bar__minus_9_bar_6_bar_3_bar_60)\n (objectAtLocation SoapBottle_bar__minus_00_dot_05_bar__plus_00_dot_98_bar__plus_02_dot_33 loc_bar__minus_4_bar_7_bar_1_bar_60)\n (objectAtLocation SoapBottle_bar__plus_01_dot_14_bar__plus_00_dot_63_bar__minus_02_dot_39 loc_bar_0_bar__minus_6_bar_1_bar_30)\n (objectAtLocation SoapBottle_bar__plus_01_dot_36_bar__plus_00_dot_63_bar__minus_02_dot_46 loc_bar_0_bar__minus_6_bar_1_bar_30)\n (objectAtLocation DishSponge_bar__plus_01_dot_57_bar__plus_00_dot_62_bar__minus_02_dot_17 loc_bar_0_bar__minus_6_bar_1_bar_30)\n (objectAtLocation SprayBottle_bar__plus_01_dot_78_bar__plus_00_dot_62_bar__minus_02_dot_02 loc_bar_0_bar__minus_6_bar_1_bar_30)\n (objectAtLocation Bathtub_bar__minus_01_dot_96_bar__plus_00_dot_49_bar__minus_01_dot_23 loc_bar__minus_4_bar__minus_4_bar_3_bar_45)\n (objectAtLocation ShowerDoor_bar__plus_00_dot_65_bar__plus_01_dot_41_bar__plus_02_dot_17 loc_bar_0_bar_5_bar_0_bar_15)\n (objectAtLocation ShowerGlass_bar__plus_00_dot_00_bar__plus_00_dot_00_bar__plus_00_dot_00 loc_bar_0_bar_0_bar_2_bar_60)\n (objectAtLocation Mirror_bar__minus_00_dot_05_bar__plus_01_dot_51_bar__minus_02_dot_54 loc_bar_0_bar__minus_6_bar_2_bar_15)\n (objectAtLocation Sink_bar__minus_02_dot_80_bar__plus_00_dot_33_bar__plus_00_dot_76 loc_bar__minus_8_bar_3_bar_3_bar_60)\n (objectAtLocation Candle_bar__minus_03_dot_09_bar__plus_00_dot_87_bar__plus_01_dot_55 loc_bar__minus_9_bar_6_bar_3_bar_60)\n (objectAtLocation HandTowel_bar__minus_00_dot_89_bar__plus_01_dot_62_bar__minus_02_dot_50 loc_bar__minus_3_bar__minus_6_bar_2_bar_0)\n (objectAtLocation Towel_bar__plus_00_dot_47_bar__plus_01_dot_21_bar__minus_01_dot_10 loc_bar_0_bar__minus_4_bar_1_bar_45)\n (objectAtLocation SoapBottle_bar__minus_00_dot_53_bar__plus_00_dot_97_bar__minus_02_dot_18 loc_bar_0_bar__minus_5_bar_2_bar_60)\n (objectAtLocation SoapBar_bar__plus_00_dot_24_bar__plus_00_dot_80_bar__minus_01_dot_84 loc_bar_0_bar__minus_4_bar_2_bar_45)\n (objectAtLocation ToiletPaper_bar__minus_00_dot_05_bar__plus_00_dot_96_bar__minus_02_dot_37 loc_bar_0_bar__minus_5_bar_2_bar_60)\n (objectAtLocation Plunger_bar__plus_00_dot_51_bar__plus_00_dot_01_bar__plus_02_dot_27 loc_bar_0_bar_5_bar_0_bar_60)\n (objectAtLocation SprayBottle_bar__minus_02_dot_88_bar__plus_00_dot_05_bar__plus_02_dot_09 loc_bar__minus_8_bar_6_bar_3_bar_60)\n (objectAtLocation TissueBox_bar__plus_00_dot_27_bar__plus_00_dot_96_bar__minus_02_dot_37 loc_bar_0_bar__minus_5_bar_2_bar_60)\n (objectAtLocation ToiletPaper_bar__minus_00_dot_52_bar__plus_00_dot_03_bar__plus_02_dot_34 loc_bar__minus_2_bar_7_bar_0_bar_60)\n (objectAtLocation Window_bar__minus_03_dot_17_bar__plus_01_dot_81_bar__minus_01_dot_70 loc_bar__minus_10_bar_0_bar_2_bar_0)\n (objectAtLocation Window_bar__minus_03_dot_17_bar__plus_01_dot_81_bar__plus_01_dot_60 loc_bar__minus_9_bar_6_bar_3_bar__minus_15)\n (objectAtLocation Window_bar__minus_02_dot_15_bar__plus_01_dot_81_bar__minus_02_dot_57 loc_bar__minus_3_bar__minus_6_bar_3_bar_0)\n (objectAtLocation Window_bar__minus_03_dot_17_bar__plus_01_dot_81_bar__minus_00_dot_06 loc_bar__minus_10_bar_0_bar_3_bar__minus_15)\n (objectAtLocation ScrubBrush_bar__plus_00_dot_34_bar__plus_00_dot_01_bar__plus_02_dot_07 loc_bar_0_bar_5_bar_0_bar_60)\n (objectAtLocation LightSwitch_bar__minus_01_dot_41_bar__plus_01_dot_47_bar__plus_02_dot_41 loc_bar__minus_6_bar_7_bar_0_bar_15)\n (objectAtLocation Cloth_bar__minus_02_dot_31_bar__plus_00_dot_08_bar__minus_01_dot_08 loc_bar__minus_10_bar_0_bar_2_bar_60)\n (objectAtLocation DishSponge_bar__plus_02_dot_20_bar__plus_00_dot_62_bar__minus_02_dot_09 loc_bar_0_bar__minus_6_bar_1_bar_30)\n (objectAtLocation Footstool_bar__minus_00_dot_33_bar__plus_00_dot_30_bar__minus_01_dot_98 loc_bar_0_bar__minus_6_bar_2_bar_60)\n )\n \n\n (:goal\n (and\n (exists (?r - receptacle)\n (exists (?o1 - object)\n (and\n (objectType ?o1 SoapBottleType)\n (receptacleType ?r CartType)\n (inReceptacle ?o1 ?r)\n (exists (?o2 - object)\n (and\n (not (= ?o1 ?o2))\n (objectType ?o2 SoapBottleType)\n (receptacleType ?r CartType)\n (inReceptacle ?o2 ?r)\n )\n )\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to countertop 1", "take soapbottle 3 from countertop 1", "go to cart 1", "move soapbottle 3 to cart 1", "go to shelf 1", "take soapbottle 2 from shelf 1", "go to cart 1", "move soapbottle 2 to cart 1"]}
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alfworld__look_at_obj_in_light__0
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look_at_obj_in_light
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look_at_obj_in_light-AlarmClock-None-DeskLamp-317/trial_T20190909_070740_947572/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 alarmclock under the desklamp.\"\n }\n ],\n\n \"GotoLocation.feedback\": [\n {\n \"rhs\": \"You arrive at {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"OpenObject.feedback\": [\n {\n \"rhs\": \"You open the {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"CloseObject.feedback\": [\n {\n \"rhs\": \"You close the {r.name}.\"\n }\n ],\n\n \"PickupObject.feedback\": [\n {\n \"rhs\": \"You pick up the {o.name} from the {r.name}.\"\n }\n ],\n\n \"PickupObjectFromReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupObjectFromReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupEmptyReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupEmptyReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupFullReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupFullReceptacleObject: You pick up the {outerr.name}.\"\n }\n ],\n\n \"PutObject.feedback\": [\n {\n \"rhs\": \"You move the {o.name} to the {r.name}.\"\n }\n ],\n\n \"PutObjectInReceptacleObject.feedback\": [\n {\n \"rhs\": \"PutObjectInReceptacleObject: You put the {o.name} in the {outero.name}.\"\n }\n ],\n\n \"PutEmptyReceptacleObjectinReceptacle.feedback\": [\n {\n \"rhs\": \"PutEmptyReceptacleObjectinReceptacle: You put the {o.name} in the {r.name}.\"\n }\n ],\n\n \"PutFullReceptacleObjectInReceptacle.feedback\": [\n {\n \"rhs\": \"PutFullReceptacleObjectInReceptacle: You put the {outero.name} in the {r.name}.\"\n }\n ],\n\n \"inventory.feedback\": [\n {\n \"condition\": \"holdsany(a:agent)\",\n \"rhs\": \"You are carrying: [{o.indefinite + ' ' + o.name | holds(a:agent, o:object)}].\"\n },\n {\n \"rhs\": \"You are not carrying anything.\"\n }\n ],\n\n \"examineReceptacle.feedback\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \"The {r.name} is open. In it, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \"The {r.name} is closed.\"\n },\n {\n \"rhs\": \"On the {r.name}, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n }\n ],\n\n \"examineObject.feedback\": [\n {\n \"condition\": \"isreceptacleobject(o:object)\",\n \"rhs\": \"This is a normal {o.name}. In it, you see [{o2.indefinite + ' ' + o2.name | inreceptacleobject(o2:object, o:object)}].\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a clean sliced {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot sliced {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object)\",\n \"rhs\": \"This is a hot and clean {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object)\",\n \"rhs\": \"This is a cool and clean {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object)\",\n \"rhs\": \"This is a hot {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object)\",\n \"rhs\": \"This is a clean {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object)\",\n \"rhs\": \"This is a cold {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"This {o.name} is on.\"\n },\n {\n \"condition\": \"toggleable(o:object) & not_istoggled(o:object)\",\n \"rhs\": \"This {o.name} is off.\"\n },\n {\n \"condition\": \"sliceable(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a sliced {o.name}.\"\n },\n {\n \"rhs\": \"There's nothing special about {o.name}.\"\n }\n ]\n }\n\"\"\";\n\naction GotoLocation {\n template :: \"go to [{r.name | receptacleatlocation(r:receptacle, lend:location)}]\";\n feedback :: \"#GotoLocation.feedback#\";\n}\n\naction OpenObject {\n template :: \"open {r}\";\n feedback :: \"#OpenObject.feedback#\";\n}\n\naction CloseObject {\n template :: \"close {r}\";\n feedback :: \"#CloseObject.feedback#\";\n}\n\naction PickupObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObject.feedback#\";\n}\n\naction PickupObjectFromReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObjectFromReceptacleObject.feedback#\";\n}\n\naction PickupEmptyReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupEmptyReceptacleObject.feedback#\";\n}\n\naction PickupFullReceptacleObject {\n template :: \"take {outerr} from {r}\";\n feedback :: \"#PickupFullReceptacleObject.feedback#\";\n}\n\naction PutObject {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutObject.feedback#\";\n}\n\naction PutObjectInReceptacleObject {\n template :: \"put {o} into {outero}\";\n feedback :: \"#PutObjectInReceptacleObject.feedback#\";\n}\n\naction PutEmptyReceptacleObjectinReceptacle {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutEmptyReceptacleObjectinReceptacle.feedback#\";\n}\n\naction PutFullReceptacleObjectInReceptacle {\n template :: \"put {outero} in {r}\";\n feedback :: \"#PutFullReceptacleObjectInReceptacle.feedback#\";\n}\n\naction inventory {\n template :: \"inventory\";\n feedback :: \"#inventory.feedback#\";\n}\n\naction examineReceptacle {\n template :: \"examine {r}\";\n feedback :: \"#examineReceptacle.feedback#\";\n}\n\naction examineObject {\n template :: \"examine {o}\";\n feedback :: \"#examineObject.feedback#\";\n}\n\naction ToggleObject {\n template :: \"use {o}\";\n feedback :: \"#toggleObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"toggleObject.feedback\": [\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"You turn on the {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object)\",\n \"rhs\": \"You turn off the {o.name}.\"\n },\n {\n \"rhs\": \"You don't see any switch on the {o.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction HeatObject {\n template :: \"heat {o} with {r}\";\n feedback :: \"#heatObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"heatObject.feedback\": [\n {\n \"rhs\": \"You heat the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CleanObject {\n template :: \"clean {o} with {r}\";\n feedback :: \"#cleanObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"cleanObject.feedback\": [\n {\n \"rhs\": \"You clean the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CoolObject {\n template :: \"cool {o} with {r}\";\n feedback :: \"#coolObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"coolObject.feedback\": [\n {\n \"rhs\": \"You cool the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction SliceObject {\n template :: \"slice {co} with {ko}\";\n feedback :: \"#sliceObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"sliceObject.feedback\": [\n {\n \"rhs\": \"You sliced the {co.name} with the {ko.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction look {\n template :: \"look\";\n feedback :: \"#look.feedback#\";\n\n grammar :: \"\"\"\n {\n \"look.feedback\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"#look-variations#. Next to it, you see #list_objects_on_the_floor#.\"\n },\n {\n \"rhs\": \"You are in the middle of a room. Looking quickly around you, you see #list_appliances#.\"\n }\n ],\n\n \"look-variations\": [\n {\n \"rhs\": \"You are facing the [{r.name | atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)}]\"\n }\n ],\n\n \"list_objects_on_the_floor\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)\",\n \"rhs\": \"[{#overview(o)# | atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"list_appliances\": [\n {\n \"condition\": \"receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"[{#overview(r)# | receptacleatlocation(r:receptacle, l:location)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"overview(o, r)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name} (in/on the {r.name})}\"\n }\n ],\n\n \"overview(o)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name}\"\n }\n ],\n \"overview(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}\"\n }\n ],\n \"overview_with_state(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}#overview_state(r)#\"\n }\n ],\n \"overview_state(r)\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \" (it is open)\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \" (it is closed)\"\n },\n {\n \"rhs\": \"\"\n }\n ],\n\n \"list_empty\": [\n {\n \"rhs\": \"nothing\"\n }\n ],\n \"list_separator\": [\n {\n \"rhs\": \", \"\n }\n ],\n \"list_last_separator\": [\n {\n \"rhs\": \", and \"\n }\n ]\n }\n \"\"\";\n}\n\naction help {\n template :: \"help\";\n feedback :: \"\nAvailable commands:\n look: look around your current location\n inventory: check your current inventory\n go to (receptacle): move to a receptacle\n open (receptacle): open a receptacle\n close (receptacle): close a receptacle\n take (object) from (receptacle): take an object from a receptacle\n move (object) to (receptacle): place an object in or on a receptacle\n examine (something): examine a receptacle or an object\n use (object): use an object\n heat (object) with (receptacle): heat an object using a receptacle\n clean (object) with (receptacle): clean an object using a receptacle\n cool (object) with (receptacle): cool an object using a receptacle\n slice (object) with (object): slice an object using a sharp object\n\";\n}\n", "pddl_problem": "\n(define (problem plan_trial_T20190909_070740_947572)\n(:domain alfred)\n(:objects\nagent1 - agent\nSaltShaker - object\n HousePlant - object\n Candle - object\n SprayBottle - object\n Bowl - object\n Window - object\n CD - object\n Egg - object\n Glassbottle - object\n Sink - object\n Pillow - object\n Spoon - object\n SoapBottle - object\n TeddyBear - object\n ButterKnife - object\n Cup - object\n Plate - object\n RemoteControl - object\n Tomato - object\n Statue - object\n HandTowel - object\n Knife - object\n StoveKnob - object\n LightSwitch - object\n Pen - object\n Painting - object\n DishSponge - object\n Vase - object\n Mug - object\n ToiletPaper - object\n Box - object\n Mirror - object\n Ladle - object\n Fork - object\n Blinds - object\n Footstool - object\n KeyChain - object\n Cloth - object\n Laptop - object\n TissueBox - object\n PepperShaker - object\n FloorLamp - object\n WateringCan - object\n Apple - object\n Pan - object\n PaperTowel - object\n PaperTowelRoll - object\n Newspaper - object\n Television - object\n Chair - object\n CellPhone - object\n CreditCard - object\n Lettuce - object\n BasketBall - object\n Potato - object\n Curtains - object\n Boots - object\n Pencil - object\n AlarmClock - object\n ToiletPaperRoll - object\n Spatula - object\n Book - object\n Bread - object\n SoapBar - object\n Watch - object\n DeskLamp - object\n Kettle - object\n Pot - object\n ScrubBrush - object\n WineBottle - object\n ShowerDoor - object\n Bathtub - object\n LaundryHamperLid - object\n ShowerGlass - object\n Poster - object\n TennisRacket - object\n BaseballBat - object\n Towel - object\n Plunger - object\nSaltShakerType - otype\n HousePlantType - otype\n CandleType - otype\n SprayBottleType - otype\n BowlType - otype\n WindowType - otype\n CDType - otype\n EggType - otype\n GlassbottleType - otype\n SinkType - otype\n PillowType - otype\n SpoonType - otype\n SoapBottleType - otype\n TeddyBearType - otype\n ButterKnifeType - otype\n CupType - otype\n PlateType - otype\n RemoteControlType - otype\n TomatoType - otype\n StatueType - otype\n HandTowelType - otype\n KnifeType - otype\n StoveKnobType - otype\n LightSwitchType - otype\n PenType - otype\n PaintingType - otype\n DishSpongeType - otype\n VaseType - otype\n MugType - otype\n ToiletPaperType - otype\n BoxType - otype\n MirrorType - otype\n LadleType - otype\n ForkType - otype\n BlindsType - otype\n FootstoolType - otype\n KeyChainType - otype\n ClothType - otype\n LaptopType - otype\n TissueBoxType - otype\n PepperShakerType - otype\n FloorLampType - otype\n WateringCanType - otype\n AppleType - otype\n PanType - otype\n PaperTowelType - otype\n PaperTowelRollType - otype\n NewspaperType - otype\n TelevisionType - otype\n ChairType - otype\n CellPhoneType - otype\n CreditCardType - otype\n LettuceType - otype\n BasketBallType - otype\n PotatoType - otype\n CurtainsType - otype\n BootsType - otype\n PencilType - otype\n AlarmClockType - otype\n ToiletPaperRollType - otype\n SpatulaType - otype\n BookType - otype\n BreadType - otype\n SoapBarType - otype\n WatchType - otype\n DeskLampType - otype\n KettleType - otype\n PotType - otype\n ScrubBrushType - otype\n WineBottleType - otype\n ShowerDoorType - otype\n BathtubType - otype\n LaundryHamperLidType - otype\n ShowerGlassType - otype\n PosterType - otype\n TennisRacketType - otype\n BaseballBatType - otype\n TowelType - otype\n PlungerType - otype\nSafeType - rtype\n DrawerType - rtype\n CoffeeMachineType - rtype\n HandTowelHolderType - rtype\n SinkBasinType - rtype\n DresserType - rtype\n LaundryHamperType - rtype\n TVStandType - rtype\n BathtubBasinType - rtype\n CabinetType - rtype\n FridgeType - rtype\n DeskType - rtype\n ToiletType - rtype\n CartType - rtype\n SideTableType - rtype\n SofaType - rtype\n CoffeeTableType - rtype\n DiningTableType - rtype\n CounterTopType - rtype\n GarbageCanType - rtype\n ArmChairType - rtype\n ShelfType - rtype\n MicrowaveType - rtype\n ToasterType - rtype\n BedType - rtype\n PaintingHangerType - rtype\n TowelHolderType - rtype\n ToiletPaperHangerType - rtype\n StoveBurnerType - rtype\n OttomanType - rtype\n\n\n AlarmClock_bar__minus_00_dot_20_bar__plus_00_dot_97_bar__minus_01_dot_85 - object\n Blinds_bar__plus_01_dot_42_bar__plus_03_dot_12_bar__minus_02_dot_34 - object\n Blinds_bar__minus_01_dot_42_bar__plus_03_dot_12_bar__minus_02_dot_34 - object\n Book_bar__plus_00_dot_65_bar__plus_00_dot_42_bar__minus_00_dot_08 - object\n Book_bar__minus_00_dot_21_bar__plus_00_dot_61_bar__minus_01_dot_60 - object\n Bowl_bar__plus_00_dot_47_bar__plus_00_dot_97_bar__minus_01_dot_86 - object\n Box_bar__minus_01_dot_75_bar__plus_00_dot_25_bar__plus_01_dot_50 - object\n CD_bar__plus_00_dot_40_bar__plus_00_dot_41_bar__minus_01_dot_66 - object\n CD_bar__minus_00_dot_11_bar__plus_00_dot_04_bar__minus_01_dot_60 - object\n CellPhone_bar__plus_00_dot_31_bar__plus_00_dot_61_bar__minus_01_dot_66 - object\n CellPhone_bar__plus_01_dot_64_bar__plus_00_dot_42_bar__minus_00_dot_25 - object\n CellPhone_bar__plus_02_dot_34_bar__plus_00_dot_57_bar__plus_01_dot_29 - object\n Cloth_bar__minus_01_dot_15_bar__plus_00_dot_00_bar__minus_02_dot_12 - object\n Cloth_bar__minus_01_dot_29_bar__plus_00_dot_00_bar__minus_01_dot_94 - object\n CreditCard_bar__minus_00_dot_21_bar__plus_00_dot_41_bar__minus_01_dot_83 - object\n DeskLamp_bar__plus_02_dot_27_bar__plus_00_dot_57_bar__plus_01_dot_44 - object\n KeyChain_bar__plus_00_dot_20_bar__plus_00_dot_97_bar__minus_01_dot_56 - object\n KeyChain_bar__plus_01_dot_76_bar__plus_00_dot_04_bar__minus_02_dot_18 - object\n Laptop_bar__plus_01_dot_39_bar__plus_00_dot_41_bar__plus_00_dot_09 - object\n LaundryHamperLid_bar__minus_01_dot_61_bar__plus_00_dot_48_bar__minus_02_dot_06 - object\n LightSwitch_bar__minus_02_dot_46_bar__plus_01_dot_27_bar__minus_00_dot_10 - object\n Mirror_bar__plus_02_dot_46_bar__plus_01_dot_32_bar__minus_01_dot_42 - object\n Pencil_bar__plus_00_dot_00_bar__plus_00_dot_97_bar__minus_01_dot_85 - object\n Pencil_bar__plus_02_dot_16_bar__plus_00_dot_57_bar__plus_01_dot_40 - object\n Pen_bar__minus_00_dot_30_bar__plus_00_dot_04_bar__minus_01_dot_60 - object\n Pen_bar__minus_00_dot_40_bar__plus_00_dot_98_bar__minus_01_dot_85 - object\n Pillow_bar__plus_02_dot_11_bar__plus_00_dot_42_bar__plus_00_dot_33 - object\n Pillow_bar__plus_02_dot_15_bar__plus_00_dot_43_bar__minus_00_dot_24 - object\n Poster_bar__plus_02_dot_44_bar__plus_01_dot_51_bar__plus_00_dot_01 - object\n TeddyBear_bar__minus_02_dot_24_bar__plus_00_dot_00_bar__plus_01_dot_46 - object\n Window_bar__plus_01_dot_40_bar__plus_01_dot_82_bar__minus_02_dot_35 - object\n Window_bar__minus_01_dot_44_bar__plus_01_dot_82_bar__minus_02_dot_35 - object\n Bed_bar__plus_01_dot_38_bar__minus_00_dot_01_bar__plus_00_dot_07 - receptacle\n Drawer_bar__plus_00_dot_40_bar__plus_00_dot_10_bar__minus_01_dot_63 - receptacle\n Drawer_bar__plus_00_dot_40_bar__plus_00_dot_28_bar__minus_01_dot_63 - receptacle\n Drawer_bar__plus_00_dot_40_bar__plus_00_dot_48_bar__minus_01_dot_63 - receptacle\n Drawer_bar__plus_00_dot_40_bar__plus_00_dot_67_bar__minus_01_dot_63 - receptacle\n Drawer_bar__plus_00_dot_40_bar__plus_00_dot_86_bar__minus_01_dot_63 - receptacle\n Drawer_bar__plus_02_dot_21_bar__plus_00_dot_47_bar__plus_01_dot_33 - receptacle\n Drawer_bar__minus_00_dot_39_bar__plus_00_dot_10_bar__minus_01_dot_63 - receptacle\n Drawer_bar__minus_00_dot_39_bar__plus_00_dot_28_bar__minus_01_dot_63 - receptacle\n Drawer_bar__minus_00_dot_39_bar__plus_00_dot_48_bar__minus_01_dot_63 - receptacle\n Drawer_bar__minus_00_dot_39_bar__plus_00_dot_86_bar__minus_01_dot_63 - receptacle\n Drawer_bar__minus_00_dot_40_bar__plus_00_dot_67_bar__minus_01_dot_63 - receptacle\n Dresser_bar__plus_00_dot_01_bar__plus_00_dot_00_bar__minus_01_dot_80 - receptacle\n GarbageCan_bar__minus_02_dot_21_bar__plus_00_dot_00_bar__minus_01_dot_74 - receptacle\n LaundryHamper_bar__minus_01_dot_61_bar__plus_00_dot_01_bar__minus_02_dot_06 - receptacle\n Safe_bar__plus_01_dot_65_bar__plus_00_dot_00_bar__minus_02_dot_02 - receptacle\n SideTable_bar__plus_02_dot_19_bar__plus_00_dot_00_bar__plus_01_dot_51 - receptacle\n loc_bar_8_bar__minus_4_bar_0_bar_15 - location\n loc_bar__minus_8_bar_0_bar_3_bar_45 - location\n loc_bar__minus_1_bar__minus_2_bar_2_bar_30 - location\n loc_bar_5_bar_4_bar_1_bar_60 - location\n loc_bar__minus_4_bar__minus_1_bar_2_bar_45 - location\n loc_bar_1_bar__minus_4_bar_2_bar_60 - location\n loc_bar_8_bar__minus_4_bar_2_bar_60 - location\n loc_bar_5_bar__minus_5_bar_0_bar_45 - location\n loc_bar_6_bar__minus_6_bar_2_bar__minus_30 - location\n loc_bar__minus_1_bar__minus_1_bar_2_bar_45 - location\n loc_bar__minus_2_bar__minus_2_bar_2_bar_45 - location\n loc_bar__minus_5_bar__minus_7_bar_2_bar__minus_15 - location\n loc_bar__minus_7_bar_4_bar_0_bar_60 - location\n loc_bar_8_bar__minus_6_bar_1_bar_30 - location\n loc_bar__minus_5_bar__minus_7_bar_2_bar__minus_30 - location\n loc_bar__minus_5_bar__minus_7_bar_2_bar_60 - location\n loc_bar_6_bar__minus_6_bar_2_bar__minus_15 - location\n loc_bar__minus_3_bar__minus_2_bar_2_bar_45 - location\n loc_bar_0_bar__minus_2_bar_2_bar_30 - location\n loc_bar_5_bar_5_bar_1_bar_45 - location\n loc_bar__minus_5_bar__minus_7_bar_3_bar_60 - location\n loc_bar__minus_5_bar__minus_4_bar_3_bar_60 - location\n loc_bar_0_bar__minus_2_bar_2_bar_45 - location\n loc_bar_0_bar__minus_1_bar_2_bar_45 - location\n loc_bar__minus_8_bar_4_bar_0_bar_60 - location\n loc_bar__minus_1_bar__minus_4_bar_2_bar_30 - location\n )\n \n\n(:init\n\n\n (receptacleType Safe_bar__plus_01_dot_65_bar__plus_00_dot_00_bar__minus_02_dot_02 SafeType)\n (receptacleType Drawer_bar__minus_00_dot_39_bar__plus_00_dot_48_bar__minus_01_dot_63 DrawerType)\n (receptacleType Drawer_bar__plus_00_dot_40_bar__plus_00_dot_10_bar__minus_01_dot_63 DrawerType)\n (receptacleType SideTable_bar__plus_02_dot_19_bar__plus_00_dot_00_bar__plus_01_dot_51 SideTableType)\n (receptacleType GarbageCan_bar__minus_02_dot_21_bar__plus_00_dot_00_bar__minus_01_dot_74 GarbageCanType)\n (receptacleType Drawer_bar__plus_02_dot_21_bar__plus_00_dot_47_bar__plus_01_dot_33 DrawerType)\n (receptacleType Drawer_bar__plus_00_dot_40_bar__plus_00_dot_86_bar__minus_01_dot_63 DrawerType)\n (receptacleType Drawer_bar__plus_00_dot_40_bar__plus_00_dot_67_bar__minus_01_dot_63 DrawerType)\n (receptacleType Drawer_bar__plus_00_dot_40_bar__plus_00_dot_48_bar__minus_01_dot_63 DrawerType)\n (receptacleType LaundryHamper_bar__minus_01_dot_61_bar__plus_00_dot_01_bar__minus_02_dot_06 LaundryHamperType)\n (receptacleType Dresser_bar__plus_00_dot_01_bar__plus_00_dot_00_bar__minus_01_dot_80 DresserType)\n (receptacleType Drawer_bar__minus_00_dot_39_bar__plus_00_dot_10_bar__minus_01_dot_63 DrawerType)\n (receptacleType Drawer_bar__minus_00_dot_39_bar__plus_00_dot_28_bar__minus_01_dot_63 DrawerType)\n (receptacleType Drawer_bar__minus_00_dot_40_bar__plus_00_dot_67_bar__minus_01_dot_63 DrawerType)\n (receptacleType Drawer_bar__plus_00_dot_40_bar__plus_00_dot_28_bar__minus_01_dot_63 DrawerType)\n (receptacleType Bed_bar__plus_01_dot_38_bar__minus_00_dot_01_bar__plus_00_dot_07 BedType)\n (receptacleType Drawer_bar__minus_00_dot_39_bar__plus_00_dot_86_bar__minus_01_dot_63 DrawerType)\n (objectType Cloth_bar__minus_01_dot_15_bar__plus_00_dot_00_bar__minus_02_dot_12 ClothType)\n (objectType LightSwitch_bar__minus_02_dot_46_bar__plus_01_dot_27_bar__minus_00_dot_10 LightSwitchType)\n (objectType CellPhone_bar__plus_01_dot_64_bar__plus_00_dot_42_bar__minus_00_dot_25 CellPhoneType)\n (objectType Laptop_bar__plus_01_dot_39_bar__plus_00_dot_41_bar__plus_00_dot_09 LaptopType)\n (objectType Pen_bar__minus_00_dot_30_bar__plus_00_dot_04_bar__minus_01_dot_60 PenType)\n (objectType Pillow_bar__plus_02_dot_11_bar__plus_00_dot_42_bar__plus_00_dot_33 PillowType)\n (objectType Window_bar__minus_01_dot_44_bar__plus_01_dot_82_bar__minus_02_dot_35 WindowType)\n (objectType Book_bar__plus_00_dot_65_bar__plus_00_dot_42_bar__minus_00_dot_08 BookType)\n (objectType Cloth_bar__minus_01_dot_29_bar__plus_00_dot_00_bar__minus_01_dot_94 ClothType)\n (objectType Mirror_bar__plus_02_dot_46_bar__plus_01_dot_32_bar__minus_01_dot_42 MirrorType)\n (objectType Box_bar__minus_01_dot_75_bar__plus_00_dot_25_bar__plus_01_dot_50 BoxType)\n (objectType Pencil_bar__plus_02_dot_16_bar__plus_00_dot_57_bar__plus_01_dot_40 PencilType)\n (objectType Window_bar__plus_01_dot_40_bar__plus_01_dot_82_bar__minus_02_dot_35 WindowType)\n (objectType KeyChain_bar__plus_01_dot_76_bar__plus_00_dot_04_bar__minus_02_dot_18 KeyChainType)\n (objectType KeyChain_bar__plus_00_dot_20_bar__plus_00_dot_97_bar__minus_01_dot_56 KeyChainType)\n (objectType Blinds_bar__plus_01_dot_42_bar__plus_03_dot_12_bar__minus_02_dot_34 BlindsType)\n (objectType CD_bar__minus_00_dot_11_bar__plus_00_dot_04_bar__minus_01_dot_60 CDType)\n (objectType CellPhone_bar__plus_00_dot_31_bar__plus_00_dot_61_bar__minus_01_dot_66 CellPhoneType)\n (objectType TeddyBear_bar__minus_02_dot_24_bar__plus_00_dot_00_bar__plus_01_dot_46 TeddyBearType)\n (objectType Bowl_bar__plus_00_dot_47_bar__plus_00_dot_97_bar__minus_01_dot_86 BowlType)\n (objectType Book_bar__minus_00_dot_21_bar__plus_00_dot_61_bar__minus_01_dot_60 BookType)\n (objectType Blinds_bar__minus_01_dot_42_bar__plus_03_dot_12_bar__minus_02_dot_34 BlindsType)\n (objectType LaundryHamperLid_bar__minus_01_dot_61_bar__plus_00_dot_48_bar__minus_02_dot_06 LaundryHamperLidType)\n (objectType AlarmClock_bar__minus_00_dot_20_bar__plus_00_dot_97_bar__minus_01_dot_85 AlarmClockType)\n (objectType DeskLamp_bar__plus_02_dot_27_bar__plus_00_dot_57_bar__plus_01_dot_44 DeskLampType)\n (objectType Pillow_bar__plus_02_dot_15_bar__plus_00_dot_43_bar__minus_00_dot_24 PillowType)\n (objectType Poster_bar__plus_02_dot_44_bar__plus_01_dot_51_bar__plus_00_dot_01 PosterType)\n (objectType CD_bar__plus_00_dot_40_bar__plus_00_dot_41_bar__minus_01_dot_66 CDType)\n (objectType Pen_bar__minus_00_dot_40_bar__plus_00_dot_98_bar__minus_01_dot_85 PenType)\n (objectType Pencil_bar__plus_00_dot_00_bar__plus_00_dot_97_bar__minus_01_dot_85 PencilType)\n (objectType CellPhone_bar__plus_02_dot_34_bar__plus_00_dot_57_bar__plus_01_dot_29 CellPhoneType)\n (objectType CreditCard_bar__minus_00_dot_21_bar__plus_00_dot_41_bar__minus_01_dot_83 CreditCardType)\n (canContain SafeType CellPhoneType)\n (canContain SafeType KeyChainType)\n (canContain SafeType CreditCardType)\n (canContain SafeType CDType)\n (canContain DrawerType PenType)\n (canContain DrawerType BookType)\n (canContain DrawerType CDType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType ClothType)\n (canContain DrawerType PencilType)\n (canContain DrawerType PenType)\n (canContain DrawerType BookType)\n (canContain DrawerType CDType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType ClothType)\n (canContain DrawerType PencilType)\n (canContain SideTableType PenType)\n (canContain SideTableType BookType)\n (canContain SideTableType BowlType)\n (canContain SideTableType CDType)\n (canContain SideTableType BoxType)\n (canContain SideTableType CellPhoneType)\n (canContain SideTableType KeyChainType)\n (canContain SideTableType CreditCardType)\n (canContain SideTableType ClothType)\n (canContain SideTableType LaptopType)\n (canContain SideTableType PencilType)\n (canContain SideTableType AlarmClockType)\n (canContain GarbageCanType PenType)\n (canContain GarbageCanType CDType)\n (canContain GarbageCanType ClothType)\n (canContain GarbageCanType PencilType)\n (canContain DrawerType PenType)\n (canContain DrawerType BookType)\n (canContain DrawerType CDType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType ClothType)\n (canContain DrawerType PencilType)\n (canContain DrawerType PenType)\n (canContain DrawerType BookType)\n (canContain DrawerType CDType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType ClothType)\n (canContain DrawerType PencilType)\n (canContain DrawerType PenType)\n (canContain DrawerType BookType)\n (canContain DrawerType CDType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType ClothType)\n (canContain DrawerType PencilType)\n (canContain DrawerType PenType)\n (canContain DrawerType BookType)\n (canContain DrawerType CDType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType ClothType)\n (canContain DrawerType PencilType)\n (canContain LaundryHamperType ClothType)\n (canContain DresserType PenType)\n (canContain DresserType BookType)\n (canContain DresserType BowlType)\n (canContain DresserType CDType)\n (canContain DresserType BoxType)\n (canContain DresserType CellPhoneType)\n (canContain DresserType KeyChainType)\n (canContain DresserType CreditCardType)\n (canContain DresserType ClothType)\n (canContain DresserType LaptopType)\n (canContain DresserType PencilType)\n (canContain DresserType AlarmClockType)\n (canContain DrawerType PenType)\n (canContain DrawerType BookType)\n (canContain DrawerType CDType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType ClothType)\n (canContain DrawerType PencilType)\n (canContain DrawerType PenType)\n (canContain DrawerType BookType)\n (canContain DrawerType CDType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType ClothType)\n (canContain DrawerType PencilType)\n (canContain DrawerType PenType)\n (canContain DrawerType BookType)\n (canContain DrawerType CDType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType ClothType)\n (canContain DrawerType PencilType)\n (canContain DrawerType PenType)\n (canContain DrawerType BookType)\n (canContain DrawerType CDType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType ClothType)\n (canContain DrawerType PencilType)\n (canContain BedType LaptopType)\n (canContain BedType BookType)\n (canContain BedType CellPhoneType)\n (canContain BedType PillowType)\n (canContain DrawerType PenType)\n (canContain DrawerType BookType)\n (canContain DrawerType CDType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType ClothType)\n (canContain DrawerType PencilType)\n (pickupable Cloth_bar__minus_01_dot_15_bar__plus_00_dot_00_bar__minus_02_dot_12)\n (pickupable CellPhone_bar__plus_01_dot_64_bar__plus_00_dot_42_bar__minus_00_dot_25)\n (pickupable Laptop_bar__plus_01_dot_39_bar__plus_00_dot_41_bar__plus_00_dot_09)\n (pickupable Pen_bar__minus_00_dot_30_bar__plus_00_dot_04_bar__minus_01_dot_60)\n (pickupable Pillow_bar__plus_02_dot_11_bar__plus_00_dot_42_bar__plus_00_dot_33)\n (pickupable Book_bar__plus_00_dot_65_bar__plus_00_dot_42_bar__minus_00_dot_08)\n (pickupable Cloth_bar__minus_01_dot_29_bar__plus_00_dot_00_bar__minus_01_dot_94)\n (pickupable Box_bar__minus_01_dot_75_bar__plus_00_dot_25_bar__plus_01_dot_50)\n (pickupable Pencil_bar__plus_02_dot_16_bar__plus_00_dot_57_bar__plus_01_dot_40)\n (pickupable KeyChain_bar__plus_01_dot_76_bar__plus_00_dot_04_bar__minus_02_dot_18)\n (pickupable KeyChain_bar__plus_00_dot_20_bar__plus_00_dot_97_bar__minus_01_dot_56)\n (pickupable CD_bar__minus_00_dot_11_bar__plus_00_dot_04_bar__minus_01_dot_60)\n (pickupable CellPhone_bar__plus_00_dot_31_bar__plus_00_dot_61_bar__minus_01_dot_66)\n (pickupable TeddyBear_bar__minus_02_dot_24_bar__plus_00_dot_00_bar__plus_01_dot_46)\n (pickupable Bowl_bar__plus_00_dot_47_bar__plus_00_dot_97_bar__minus_01_dot_86)\n (pickupable Book_bar__minus_00_dot_21_bar__plus_00_dot_61_bar__minus_01_dot_60)\n (pickupable AlarmClock_bar__minus_00_dot_20_bar__plus_00_dot_97_bar__minus_01_dot_85)\n (pickupable Pillow_bar__plus_02_dot_15_bar__plus_00_dot_43_bar__minus_00_dot_24)\n (pickupable CD_bar__plus_00_dot_40_bar__plus_00_dot_41_bar__minus_01_dot_66)\n (pickupable Pen_bar__minus_00_dot_40_bar__plus_00_dot_98_bar__minus_01_dot_85)\n (pickupable Pencil_bar__plus_00_dot_00_bar__plus_00_dot_97_bar__minus_01_dot_85)\n (pickupable CellPhone_bar__plus_02_dot_34_bar__plus_00_dot_57_bar__plus_01_dot_29)\n (pickupable CreditCard_bar__minus_00_dot_21_bar__plus_00_dot_41_bar__minus_01_dot_83)\n (isReceptacleObject Box_bar__minus_01_dot_75_bar__plus_00_dot_25_bar__plus_01_dot_50)\n (isReceptacleObject Bowl_bar__plus_00_dot_47_bar__plus_00_dot_97_bar__minus_01_dot_86)\n (openable Safe_bar__plus_01_dot_65_bar__plus_00_dot_00_bar__minus_02_dot_02)\n (openable Drawer_bar__minus_00_dot_39_bar__plus_00_dot_48_bar__minus_01_dot_63)\n (openable Drawer_bar__plus_00_dot_40_bar__plus_00_dot_10_bar__minus_01_dot_63)\n (openable Drawer_bar__plus_02_dot_21_bar__plus_00_dot_47_bar__plus_01_dot_33)\n (openable Drawer_bar__plus_00_dot_40_bar__plus_00_dot_86_bar__minus_01_dot_63)\n (openable Drawer_bar__plus_00_dot_40_bar__plus_00_dot_67_bar__minus_01_dot_63)\n (openable Drawer_bar__plus_00_dot_40_bar__plus_00_dot_48_bar__minus_01_dot_63)\n (openable Drawer_bar__minus_00_dot_39_bar__plus_00_dot_10_bar__minus_01_dot_63)\n (openable Drawer_bar__minus_00_dot_39_bar__plus_00_dot_28_bar__minus_01_dot_63)\n (openable Drawer_bar__minus_00_dot_40_bar__plus_00_dot_67_bar__minus_01_dot_63)\n (openable Drawer_bar__plus_00_dot_40_bar__plus_00_dot_28_bar__minus_01_dot_63)\n (openable Drawer_bar__minus_00_dot_39_bar__plus_00_dot_86_bar__minus_01_dot_63)\n \n (atLocation agent1 loc_bar__minus_1_bar__minus_4_bar_2_bar_30)\n \n (cleanable Cloth_bar__minus_01_dot_15_bar__plus_00_dot_00_bar__minus_02_dot_12)\n (cleanable Cloth_bar__minus_01_dot_29_bar__plus_00_dot_00_bar__minus_01_dot_94)\n (cleanable Bowl_bar__plus_00_dot_47_bar__plus_00_dot_97_bar__minus_01_dot_86)\n \n \n (coolable Bowl_bar__plus_00_dot_47_bar__plus_00_dot_97_bar__minus_01_dot_86)\n \n \n (toggleable DeskLamp_bar__plus_02_dot_27_bar__plus_00_dot_57_bar__plus_01_dot_44)\n \n \n \n \n (inReceptacle CD_bar__minus_00_dot_11_bar__plus_00_dot_04_bar__minus_01_dot_60 Drawer_bar__minus_00_dot_39_bar__plus_00_dot_10_bar__minus_01_dot_63)\n (inReceptacle Pen_bar__minus_00_dot_30_bar__plus_00_dot_04_bar__minus_01_dot_60 Drawer_bar__minus_00_dot_39_bar__plus_00_dot_10_bar__minus_01_dot_63)\n (inReceptacle CellPhone_bar__plus_00_dot_31_bar__plus_00_dot_61_bar__minus_01_dot_66 Drawer_bar__plus_00_dot_40_bar__plus_00_dot_67_bar__minus_01_dot_63)\n (inReceptacle CreditCard_bar__minus_00_dot_21_bar__plus_00_dot_41_bar__minus_01_dot_83 Drawer_bar__minus_00_dot_39_bar__plus_00_dot_48_bar__minus_01_dot_63)\n (inReceptacle Book_bar__minus_00_dot_21_bar__plus_00_dot_61_bar__minus_01_dot_60 Drawer_bar__minus_00_dot_40_bar__plus_00_dot_67_bar__minus_01_dot_63)\n (inReceptacle DeskLamp_bar__plus_02_dot_27_bar__plus_00_dot_57_bar__plus_01_dot_44 SideTable_bar__plus_02_dot_19_bar__plus_00_dot_00_bar__plus_01_dot_51)\n (inReceptacle CellPhone_bar__plus_02_dot_34_bar__plus_00_dot_57_bar__plus_01_dot_29 SideTable_bar__plus_02_dot_19_bar__plus_00_dot_00_bar__plus_01_dot_51)\n (inReceptacle Pencil_bar__plus_02_dot_16_bar__plus_00_dot_57_bar__plus_01_dot_40 SideTable_bar__plus_02_dot_19_bar__plus_00_dot_00_bar__plus_01_dot_51)\n (inReceptacle AlarmClock_bar__minus_00_dot_20_bar__plus_00_dot_97_bar__minus_01_dot_85 Dresser_bar__plus_00_dot_01_bar__plus_00_dot_00_bar__minus_01_dot_80)\n (inReceptacle Bowl_bar__plus_00_dot_47_bar__plus_00_dot_97_bar__minus_01_dot_86 Dresser_bar__plus_00_dot_01_bar__plus_00_dot_00_bar__minus_01_dot_80)\n (inReceptacle KeyChain_bar__plus_00_dot_20_bar__plus_00_dot_97_bar__minus_01_dot_56 Dresser_bar__plus_00_dot_01_bar__plus_00_dot_00_bar__minus_01_dot_80)\n (inReceptacle Pen_bar__minus_00_dot_40_bar__plus_00_dot_98_bar__minus_01_dot_85 Dresser_bar__plus_00_dot_01_bar__plus_00_dot_00_bar__minus_01_dot_80)\n (inReceptacle Pencil_bar__plus_00_dot_00_bar__plus_00_dot_97_bar__minus_01_dot_85 Dresser_bar__plus_00_dot_01_bar__plus_00_dot_00_bar__minus_01_dot_80)\n (inReceptacle CD_bar__plus_00_dot_40_bar__plus_00_dot_41_bar__minus_01_dot_66 Drawer_bar__plus_00_dot_40_bar__plus_00_dot_48_bar__minus_01_dot_63)\n (inReceptacle KeyChain_bar__plus_01_dot_76_bar__plus_00_dot_04_bar__minus_02_dot_18 Safe_bar__plus_01_dot_65_bar__plus_00_dot_00_bar__minus_02_dot_02)\n (inReceptacle CellPhone_bar__plus_01_dot_64_bar__plus_00_dot_42_bar__minus_00_dot_25 Bed_bar__plus_01_dot_38_bar__minus_00_dot_01_bar__plus_00_dot_07)\n (inReceptacle Pillow_bar__plus_02_dot_15_bar__plus_00_dot_43_bar__minus_00_dot_24 Bed_bar__plus_01_dot_38_bar__minus_00_dot_01_bar__plus_00_dot_07)\n (inReceptacle Pillow_bar__plus_02_dot_11_bar__plus_00_dot_42_bar__plus_00_dot_33 Bed_bar__plus_01_dot_38_bar__minus_00_dot_01_bar__plus_00_dot_07)\n (inReceptacle Book_bar__plus_00_dot_65_bar__plus_00_dot_42_bar__minus_00_dot_08 Bed_bar__plus_01_dot_38_bar__minus_00_dot_01_bar__plus_00_dot_07)\n (inReceptacle Laptop_bar__plus_01_dot_39_bar__plus_00_dot_41_bar__plus_00_dot_09 Bed_bar__plus_01_dot_38_bar__minus_00_dot_01_bar__plus_00_dot_07)\n \n \n (receptacleAtLocation Bed_bar__plus_01_dot_38_bar__minus_00_dot_01_bar__plus_00_dot_07 loc_bar_5_bar__minus_5_bar_0_bar_45)\n (receptacleAtLocation Drawer_bar__plus_00_dot_40_bar__plus_00_dot_10_bar__minus_01_dot_63 loc_bar__minus_1_bar__minus_1_bar_2_bar_45)\n (receptacleAtLocation Drawer_bar__plus_00_dot_40_bar__plus_00_dot_28_bar__minus_01_dot_63 loc_bar_0_bar__minus_1_bar_2_bar_45)\n (receptacleAtLocation Drawer_bar__plus_00_dot_40_bar__plus_00_dot_48_bar__minus_01_dot_63 loc_bar_0_bar__minus_2_bar_2_bar_45)\n (receptacleAtLocation Drawer_bar__plus_00_dot_40_bar__plus_00_dot_67_bar__minus_01_dot_63 loc_bar_0_bar__minus_2_bar_2_bar_45)\n (receptacleAtLocation Drawer_bar__plus_00_dot_40_bar__plus_00_dot_86_bar__minus_01_dot_63 loc_bar_0_bar__minus_2_bar_2_bar_30)\n (receptacleAtLocation Drawer_bar__plus_02_dot_21_bar__plus_00_dot_47_bar__plus_01_dot_33 loc_bar_5_bar_5_bar_1_bar_45)\n (receptacleAtLocation Drawer_bar__minus_00_dot_39_bar__plus_00_dot_10_bar__minus_01_dot_63 loc_bar__minus_4_bar__minus_1_bar_2_bar_45)\n (receptacleAtLocation Drawer_bar__minus_00_dot_39_bar__plus_00_dot_28_bar__minus_01_dot_63 loc_bar__minus_1_bar__minus_1_bar_2_bar_45)\n (receptacleAtLocation Drawer_bar__minus_00_dot_39_bar__plus_00_dot_48_bar__minus_01_dot_63 loc_bar__minus_3_bar__minus_2_bar_2_bar_45)\n (receptacleAtLocation Drawer_bar__minus_00_dot_39_bar__plus_00_dot_86_bar__minus_01_dot_63 loc_bar__minus_1_bar__minus_2_bar_2_bar_30)\n (receptacleAtLocation Drawer_bar__minus_00_dot_40_bar__plus_00_dot_67_bar__minus_01_dot_63 loc_bar__minus_2_bar__minus_2_bar_2_bar_45)\n (receptacleAtLocation Dresser_bar__plus_00_dot_01_bar__plus_00_dot_00_bar__minus_01_dot_80 loc_bar_1_bar__minus_4_bar_2_bar_60)\n (receptacleAtLocation GarbageCan_bar__minus_02_dot_21_bar__plus_00_dot_00_bar__minus_01_dot_74 loc_bar__minus_5_bar__minus_4_bar_3_bar_60)\n (receptacleAtLocation LaundryHamper_bar__minus_01_dot_61_bar__plus_00_dot_01_bar__minus_02_dot_06 loc_bar__minus_5_bar__minus_7_bar_3_bar_60)\n (receptacleAtLocation Safe_bar__plus_01_dot_65_bar__plus_00_dot_00_bar__minus_02_dot_02 loc_bar_8_bar__minus_4_bar_2_bar_60)\n (receptacleAtLocation SideTable_bar__plus_02_dot_19_bar__plus_00_dot_00_bar__plus_01_dot_51 loc_bar_5_bar_4_bar_1_bar_60)\n (objectAtLocation Pen_bar__minus_00_dot_30_bar__plus_00_dot_04_bar__minus_01_dot_60 loc_bar__minus_4_bar__minus_1_bar_2_bar_45)\n (objectAtLocation CD_bar__plus_00_dot_40_bar__plus_00_dot_41_bar__minus_01_dot_66 loc_bar_0_bar__minus_2_bar_2_bar_45)\n (objectAtLocation KeyChain_bar__plus_01_dot_76_bar__plus_00_dot_04_bar__minus_02_dot_18 loc_bar_8_bar__minus_4_bar_2_bar_60)\n (objectAtLocation Pencil_bar__plus_02_dot_16_bar__plus_00_dot_57_bar__plus_01_dot_40 loc_bar_5_bar_4_bar_1_bar_60)\n (objectAtLocation CellPhone_bar__plus_00_dot_31_bar__plus_00_dot_61_bar__minus_01_dot_66 loc_bar_0_bar__minus_2_bar_2_bar_45)\n (objectAtLocation Book_bar__plus_00_dot_65_bar__plus_00_dot_42_bar__minus_00_dot_08 loc_bar_5_bar__minus_5_bar_0_bar_45)\n (objectAtLocation CellPhone_bar__plus_02_dot_34_bar__plus_00_dot_57_bar__plus_01_dot_29 loc_bar_5_bar_4_bar_1_bar_60)\n (objectAtLocation Box_bar__minus_01_dot_75_bar__plus_00_dot_25_bar__plus_01_dot_50 loc_bar__minus_7_bar_4_bar_0_bar_60)\n (objectAtLocation Book_bar__minus_00_dot_21_bar__plus_00_dot_61_bar__minus_01_dot_60 loc_bar__minus_2_bar__minus_2_bar_2_bar_45)\n (objectAtLocation LaundryHamperLid_bar__minus_01_dot_61_bar__plus_00_dot_48_bar__minus_02_dot_06 loc_bar__minus_5_bar__minus_7_bar_3_bar_60)\n (objectAtLocation Cloth_bar__minus_01_dot_15_bar__plus_00_dot_00_bar__minus_02_dot_12 loc_bar__minus_5_bar__minus_7_bar_2_bar_60)\n (objectAtLocation CellPhone_bar__plus_01_dot_64_bar__plus_00_dot_42_bar__minus_00_dot_25 loc_bar_5_bar__minus_5_bar_0_bar_45)\n (objectAtLocation Pencil_bar__plus_00_dot_00_bar__plus_00_dot_97_bar__minus_01_dot_85 loc_bar_1_bar__minus_4_bar_2_bar_60)\n (objectAtLocation AlarmClock_bar__minus_00_dot_20_bar__plus_00_dot_97_bar__minus_01_dot_85 loc_bar_1_bar__minus_4_bar_2_bar_60)\n (objectAtLocation TeddyBear_bar__minus_02_dot_24_bar__plus_00_dot_00_bar__plus_01_dot_46 loc_bar__minus_8_bar_4_bar_0_bar_60)\n (objectAtLocation CreditCard_bar__minus_00_dot_21_bar__plus_00_dot_41_bar__minus_01_dot_83 loc_bar__minus_3_bar__minus_2_bar_2_bar_45)\n (objectAtLocation DeskLamp_bar__plus_02_dot_27_bar__plus_00_dot_57_bar__plus_01_dot_44 loc_bar_5_bar_4_bar_1_bar_60)\n (objectAtLocation KeyChain_bar__plus_00_dot_20_bar__plus_00_dot_97_bar__minus_01_dot_56 loc_bar_1_bar__minus_4_bar_2_bar_60)\n (objectAtLocation Pillow_bar__plus_02_dot_11_bar__plus_00_dot_42_bar__plus_00_dot_33 loc_bar_5_bar__minus_5_bar_0_bar_45)\n (objectAtLocation Pillow_bar__plus_02_dot_15_bar__plus_00_dot_43_bar__minus_00_dot_24 loc_bar_5_bar__minus_5_bar_0_bar_45)\n (objectAtLocation Laptop_bar__plus_01_dot_39_bar__plus_00_dot_41_bar__plus_00_dot_09 loc_bar_5_bar__minus_5_bar_0_bar_45)\n (objectAtLocation Poster_bar__plus_02_dot_44_bar__plus_01_dot_51_bar__plus_00_dot_01 loc_bar_8_bar__minus_4_bar_0_bar_15)\n (objectAtLocation Bowl_bar__plus_00_dot_47_bar__plus_00_dot_97_bar__minus_01_dot_86 loc_bar_1_bar__minus_4_bar_2_bar_60)\n (objectAtLocation LightSwitch_bar__minus_02_dot_46_bar__plus_01_dot_27_bar__minus_00_dot_10 loc_bar__minus_8_bar_0_bar_3_bar_45)\n (objectAtLocation Cloth_bar__minus_01_dot_29_bar__plus_00_dot_00_bar__minus_01_dot_94 loc_bar__minus_5_bar__minus_7_bar_2_bar_60)\n (objectAtLocation Mirror_bar__plus_02_dot_46_bar__plus_01_dot_32_bar__minus_01_dot_42 loc_bar_8_bar__minus_6_bar_1_bar_30)\n (objectAtLocation CD_bar__minus_00_dot_11_bar__plus_00_dot_04_bar__minus_01_dot_60 loc_bar__minus_4_bar__minus_1_bar_2_bar_45)\n (objectAtLocation Pen_bar__minus_00_dot_40_bar__plus_00_dot_98_bar__minus_01_dot_85 loc_bar_1_bar__minus_4_bar_2_bar_60)\n (objectAtLocation Window_bar__minus_01_dot_44_bar__plus_01_dot_82_bar__minus_02_dot_35 loc_bar__minus_5_bar__minus_7_bar_2_bar__minus_15)\n (objectAtLocation Window_bar__plus_01_dot_40_bar__plus_01_dot_82_bar__minus_02_dot_35 loc_bar_6_bar__minus_6_bar_2_bar__minus_15)\n (objectAtLocation Blinds_bar__plus_01_dot_42_bar__plus_03_dot_12_bar__minus_02_dot_34 loc_bar_6_bar__minus_6_bar_2_bar__minus_30)\n (objectAtLocation Blinds_bar__minus_01_dot_42_bar__plus_03_dot_12_bar__minus_02_dot_34 loc_bar__minus_5_bar__minus_7_bar_2_bar__minus_30)\n )\n \n\n (:goal\n (and\n (exists (?ot - object\n ?r - receptacle\n ?a - agent\n ?l - location)\n (and\n (objectType ?ot DeskLampType)\n (toggleable ?ot)\n (isToggled ?ot)\n (receptacleAtLocation ?r ?l)\n (atLocation ?a ?l)\n (inReceptacle ?ot ?r)\n )\n )\n (exists (?o - object\n ?a - agent)\n (and\n (objectType ?o AlarmClockType)\n (holds ?a ?o)\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to dresser 1", "take alarmclock 1 from dresser 1", "go to sidetable 1", "use desklamp 1"]}
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alfworld__look_at_obj_in_light__1
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look_at_obj_in_light
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look_at_obj_in_light-AlarmClock-None-DeskLamp-317/trial_T20190909_070750_539624/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: examine the alarmclock with the desklamp.\"\n }\n ],\n\n \"GotoLocation.feedback\": [\n {\n \"rhs\": \"You arrive at {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"OpenObject.feedback\": [\n {\n \"rhs\": \"You open the {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"CloseObject.feedback\": [\n {\n \"rhs\": \"You close the {r.name}.\"\n }\n ],\n\n \"PickupObject.feedback\": [\n {\n \"rhs\": \"You pick up the {o.name} from the {r.name}.\"\n }\n ],\n\n \"PickupObjectFromReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupObjectFromReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupEmptyReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupEmptyReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupFullReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupFullReceptacleObject: You pick up the {outerr.name}.\"\n }\n ],\n\n \"PutObject.feedback\": [\n {\n \"rhs\": \"You move the {o.name} to the {r.name}.\"\n }\n ],\n\n \"PutObjectInReceptacleObject.feedback\": [\n {\n \"rhs\": \"PutObjectInReceptacleObject: You put the {o.name} in the {outero.name}.\"\n }\n ],\n\n \"PutEmptyReceptacleObjectinReceptacle.feedback\": [\n {\n \"rhs\": \"PutEmptyReceptacleObjectinReceptacle: You put the {o.name} in the {r.name}.\"\n }\n ],\n\n \"PutFullReceptacleObjectInReceptacle.feedback\": [\n {\n \"rhs\": \"PutFullReceptacleObjectInReceptacle: You put the {outero.name} in the {r.name}.\"\n }\n ],\n\n \"inventory.feedback\": [\n {\n \"condition\": \"holdsany(a:agent)\",\n \"rhs\": \"You are carrying: [{o.indefinite + ' ' + o.name | holds(a:agent, o:object)}].\"\n },\n {\n \"rhs\": \"You are not carrying anything.\"\n }\n ],\n\n \"examineReceptacle.feedback\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \"The {r.name} is open. In it, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \"The {r.name} is closed.\"\n },\n {\n \"rhs\": \"On the {r.name}, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n }\n ],\n\n \"examineObject.feedback\": [\n {\n \"condition\": \"isreceptacleobject(o:object)\",\n \"rhs\": \"This is a normal {o.name}. In it, you see [{o2.indefinite + ' ' + o2.name | inreceptacleobject(o2:object, o:object)}].\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a clean sliced {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot sliced {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object)\",\n \"rhs\": \"This is a hot and clean {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object)\",\n \"rhs\": \"This is a cool and clean {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object)\",\n \"rhs\": \"This is a hot {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object)\",\n \"rhs\": \"This is a clean {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object)\",\n \"rhs\": \"This is a cold {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"This {o.name} is on.\"\n },\n {\n \"condition\": \"toggleable(o:object) & not_istoggled(o:object)\",\n \"rhs\": \"This {o.name} is off.\"\n },\n {\n \"condition\": \"sliceable(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a sliced {o.name}.\"\n },\n {\n \"rhs\": \"There's nothing special about {o.name}.\"\n }\n ]\n }\n\"\"\";\n\naction GotoLocation {\n template :: \"go to [{r.name | receptacleatlocation(r:receptacle, lend:location)}]\";\n feedback :: \"#GotoLocation.feedback#\";\n}\n\naction OpenObject {\n template :: \"open {r}\";\n feedback :: \"#OpenObject.feedback#\";\n}\n\naction CloseObject {\n template :: \"close {r}\";\n feedback :: \"#CloseObject.feedback#\";\n}\n\naction PickupObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObject.feedback#\";\n}\n\naction PickupObjectFromReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObjectFromReceptacleObject.feedback#\";\n}\n\naction PickupEmptyReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupEmptyReceptacleObject.feedback#\";\n}\n\naction PickupFullReceptacleObject {\n template :: \"take {outerr} from {r}\";\n feedback :: \"#PickupFullReceptacleObject.feedback#\";\n}\n\naction PutObject {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutObject.feedback#\";\n}\n\naction PutObjectInReceptacleObject {\n template :: \"put {o} into {outero}\";\n feedback :: \"#PutObjectInReceptacleObject.feedback#\";\n}\n\naction PutEmptyReceptacleObjectinReceptacle {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutEmptyReceptacleObjectinReceptacle.feedback#\";\n}\n\naction PutFullReceptacleObjectInReceptacle {\n template :: \"put {outero} in {r}\";\n feedback :: \"#PutFullReceptacleObjectInReceptacle.feedback#\";\n}\n\naction inventory {\n template :: \"inventory\";\n feedback :: \"#inventory.feedback#\";\n}\n\naction examineReceptacle {\n template :: \"examine {r}\";\n feedback :: \"#examineReceptacle.feedback#\";\n}\n\naction examineObject {\n template :: \"examine {o}\";\n feedback :: \"#examineObject.feedback#\";\n}\n\naction ToggleObject {\n template :: \"use {o}\";\n feedback :: \"#toggleObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"toggleObject.feedback\": [\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"You turn on the {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object)\",\n \"rhs\": \"You turn off the {o.name}.\"\n },\n {\n \"rhs\": \"You don't see any switch on the {o.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction HeatObject {\n template :: \"heat {o} with {r}\";\n feedback :: \"#heatObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"heatObject.feedback\": [\n {\n \"rhs\": \"You heat the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CleanObject {\n template :: \"clean {o} with {r}\";\n feedback :: \"#cleanObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"cleanObject.feedback\": [\n {\n \"rhs\": \"You clean the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CoolObject {\n template :: \"cool {o} with {r}\";\n feedback :: \"#coolObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"coolObject.feedback\": [\n {\n \"rhs\": \"You cool the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction SliceObject {\n template :: \"slice {co} with {ko}\";\n feedback :: \"#sliceObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"sliceObject.feedback\": [\n {\n \"rhs\": \"You sliced the {co.name} with the {ko.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction look {\n template :: \"look\";\n feedback :: \"#look.feedback#\";\n\n grammar :: \"\"\"\n {\n \"look.feedback\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"#look-variations#. Next to it, you see #list_objects_on_the_floor#.\"\n },\n {\n \"rhs\": \"You are in the middle of a room. Looking quickly around you, you see #list_appliances#.\"\n }\n ],\n\n \"look-variations\": [\n {\n \"rhs\": \"You are facing the [{r.name | atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)}]\"\n }\n ],\n\n \"list_objects_on_the_floor\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)\",\n \"rhs\": \"[{#overview(o)# | atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"list_appliances\": [\n {\n \"condition\": \"receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"[{#overview(r)# | receptacleatlocation(r:receptacle, l:location)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"overview(o, r)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name} (in/on the {r.name})}\"\n }\n ],\n\n \"overview(o)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name}\"\n }\n ],\n \"overview(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}\"\n }\n ],\n \"overview_with_state(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}#overview_state(r)#\"\n }\n ],\n \"overview_state(r)\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \" (it is open)\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \" (it is closed)\"\n },\n {\n \"rhs\": \"\"\n }\n ],\n\n \"list_empty\": [\n {\n \"rhs\": \"nothing\"\n }\n ],\n \"list_separator\": [\n {\n \"rhs\": \", \"\n }\n ],\n \"list_last_separator\": [\n {\n \"rhs\": \", and \"\n }\n ]\n }\n \"\"\";\n}\n\naction help {\n template :: \"help\";\n feedback :: \"\nAvailable commands:\n look: look around your current location\n inventory: check your current inventory\n go to (receptacle): move to a receptacle\n open (receptacle): open a receptacle\n close (receptacle): close a receptacle\n take (object) from (receptacle): take an object from a receptacle\n move (object) to (receptacle): place an object in or on a receptacle\n examine (something): examine a receptacle or an object\n use (object): use an object\n heat (object) with (receptacle): heat an object using a receptacle\n clean (object) with (receptacle): clean an object using a receptacle\n cool (object) with (receptacle): cool an object using a receptacle\n slice (object) with (object): slice an object using a sharp object\n\";\n}\n", "pddl_problem": "\n(define (problem plan_trial_T20190909_070750_539624)\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_00_bar__plus_00_dot_97_bar__minus_01_dot_63 - object\n Blinds_bar__plus_01_dot_42_bar__plus_03_dot_12_bar__minus_02_dot_34 - object\n Blinds_bar__minus_01_dot_42_bar__plus_03_dot_12_bar__minus_02_dot_34 - object\n Book_bar__plus_00_dot_90_bar__plus_00_dot_42_bar__minus_00_dot_41 - object\n Book_bar__plus_01_dot_39_bar__plus_00_dot_42_bar__plus_00_dot_25 - object\n Bowl_bar__plus_00_dot_47_bar__plus_00_dot_97_bar__minus_01_dot_86 - object\n Box_bar__minus_01_dot_75_bar__plus_00_dot_25_bar__plus_01_dot_50 - object\n CD_bar__plus_00_dot_49_bar__plus_00_dot_04_bar__minus_01_dot_71 - object\n CD_bar__plus_01_dot_75_bar__plus_00_dot_04_bar__minus_02_dot_07 - object\n CD_bar__minus_00_dot_21_bar__plus_00_dot_80_bar__minus_01_dot_60 - object\n CellPhone_bar__minus_00_dot_49_bar__plus_00_dot_61_bar__minus_01_dot_77 - object\n CellPhone_bar__minus_00_dot_58_bar__plus_00_dot_22_bar__minus_01_dot_60 - object\n CellPhone_bar__minus_00_dot_67_bar__plus_00_dot_61_bar__minus_01_dot_54 - object\n Cloth_bar__minus_01_dot_15_bar__plus_00_dot_00_bar__minus_02_dot_12 - object\n Cloth_bar__minus_01_dot_29_bar__plus_00_dot_00_bar__minus_01_dot_94 - object\n CreditCard_bar__plus_00_dot_00_bar__plus_00_dot_97_bar__minus_01_dot_48 - object\n CreditCard_bar__plus_00_dot_20_bar__plus_00_dot_97_bar__minus_01_dot_78 - object\n CreditCard_bar__plus_00_dot_60_bar__plus_00_dot_97_bar__minus_01_dot_71 - object\n DeskLamp_bar__plus_02_dot_27_bar__plus_00_dot_57_bar__plus_01_dot_44 - object\n KeyChain_bar__plus_00_dot_20_bar__plus_00_dot_97_bar__minus_01_dot_48 - object\n KeyChain_bar__plus_00_dot_20_bar__plus_00_dot_97_bar__minus_01_dot_63 - object\n KeyChain_bar__minus_00_dot_58_bar__plus_00_dot_41_bar__minus_01_dot_49 - object\n Laptop_bar__minus_00_dot_50_bar__plus_00_dot_97_bar__minus_01_dot_72 - object\n LaundryHamperLid_bar__minus_01_dot_61_bar__plus_00_dot_48_bar__minus_02_dot_06 - object\n LightSwitch_bar__minus_02_dot_46_bar__plus_01_dot_27_bar__minus_00_dot_10 - object\n Mirror_bar__plus_02_dot_46_bar__plus_01_dot_32_bar__minus_01_dot_42 - object\n Pencil_bar__plus_00_dot_40_bar__plus_00_dot_41_bar__minus_01_dot_66 - object\n Pencil_bar__minus_00_dot_21_bar__plus_00_dot_61_bar__minus_01_dot_71 - object\n Pen_bar__minus_00_dot_21_bar__plus_00_dot_42_bar__minus_01_dot_77 - object\n Pillow_bar__plus_02_dot_11_bar__plus_00_dot_42_bar__plus_00_dot_33 - object\n Pillow_bar__plus_02_dot_15_bar__plus_00_dot_43_bar__minus_00_dot_24 - object\n Poster_bar__plus_02_dot_44_bar__plus_01_dot_51_bar__plus_00_dot_01 - object\n TeddyBear_bar__minus_02_dot_24_bar__plus_00_dot_00_bar__plus_01_dot_46 - object\n Window_bar__plus_01_dot_40_bar__plus_01_dot_82_bar__minus_02_dot_35 - object\n Window_bar__minus_01_dot_44_bar__plus_01_dot_82_bar__minus_02_dot_35 - object\n Bed_bar__plus_01_dot_38_bar__minus_00_dot_01_bar__plus_00_dot_07 - receptacle\n Drawer_bar__plus_00_dot_40_bar__plus_00_dot_10_bar__minus_01_dot_63 - receptacle\n Drawer_bar__plus_00_dot_40_bar__plus_00_dot_28_bar__minus_01_dot_63 - receptacle\n Drawer_bar__plus_00_dot_40_bar__plus_00_dot_48_bar__minus_01_dot_63 - receptacle\n Drawer_bar__plus_00_dot_40_bar__plus_00_dot_67_bar__minus_01_dot_63 - receptacle\n Drawer_bar__plus_00_dot_40_bar__plus_00_dot_86_bar__minus_01_dot_63 - receptacle\n Drawer_bar__plus_02_dot_21_bar__plus_00_dot_47_bar__plus_01_dot_33 - receptacle\n Drawer_bar__minus_00_dot_39_bar__plus_00_dot_10_bar__minus_01_dot_63 - receptacle\n Drawer_bar__minus_00_dot_39_bar__plus_00_dot_28_bar__minus_01_dot_63 - receptacle\n Drawer_bar__minus_00_dot_39_bar__plus_00_dot_48_bar__minus_01_dot_63 - receptacle\n Drawer_bar__minus_00_dot_39_bar__plus_00_dot_86_bar__minus_01_dot_63 - receptacle\n Drawer_bar__minus_00_dot_40_bar__plus_00_dot_67_bar__minus_01_dot_63 - receptacle\n Dresser_bar__plus_00_dot_01_bar__plus_00_dot_00_bar__minus_01_dot_80 - receptacle\n GarbageCan_bar__minus_02_dot_21_bar__plus_00_dot_00_bar__minus_01_dot_74 - receptacle\n LaundryHamper_bar__minus_01_dot_61_bar__plus_00_dot_01_bar__minus_02_dot_06 - receptacle\n Safe_bar__plus_01_dot_65_bar__plus_00_dot_00_bar__minus_02_dot_02 - receptacle\n SideTable_bar__plus_02_dot_19_bar__plus_00_dot_00_bar__plus_01_dot_51 - receptacle\n loc_bar_8_bar__minus_4_bar_0_bar_15 - location\n loc_bar__minus_8_bar_0_bar_3_bar_45 - location\n loc_bar__minus_1_bar__minus_2_bar_2_bar_30 - location\n loc_bar_5_bar_4_bar_1_bar_60 - location\n loc_bar__minus_4_bar__minus_1_bar_2_bar_45 - location\n loc_bar_1_bar__minus_4_bar_2_bar_60 - location\n loc_bar_8_bar__minus_4_bar_2_bar_60 - location\n loc_bar_5_bar__minus_5_bar_0_bar_45 - location\n loc_bar_6_bar__minus_6_bar_2_bar__minus_30 - location\n loc_bar__minus_1_bar__minus_1_bar_2_bar_45 - location\n loc_bar__minus_2_bar__minus_2_bar_2_bar_45 - location\n loc_bar__minus_5_bar__minus_7_bar_2_bar__minus_15 - location\n loc_bar__minus_7_bar_4_bar_0_bar_60 - location\n loc_bar_8_bar__minus_6_bar_1_bar_30 - location\n loc_bar__minus_5_bar__minus_7_bar_2_bar__minus_30 - location\n loc_bar__minus_5_bar__minus_7_bar_2_bar_60 - location\n loc_bar_6_bar__minus_6_bar_2_bar__minus_15 - location\n loc_bar__minus_3_bar__minus_2_bar_2_bar_45 - location\n loc_bar_7_bar__minus_6_bar_2_bar_60 - location\n loc_bar_0_bar__minus_2_bar_2_bar_30 - location\n loc_bar_5_bar_5_bar_1_bar_45 - location\n loc_bar__minus_5_bar__minus_7_bar_3_bar_60 - location\n loc_bar__minus_5_bar__minus_4_bar_3_bar_60 - location\n loc_bar_0_bar__minus_2_bar_2_bar_45 - location\n loc_bar_0_bar__minus_1_bar_2_bar_45 - location\n loc_bar__minus_8_bar_4_bar_0_bar_60 - location\n loc_bar__minus_9_bar__minus_5_bar_3_bar_30 - location\n )\n \n\n(:init\n\n\n (receptacleType Safe_bar__plus_01_dot_65_bar__plus_00_dot_00_bar__minus_02_dot_02 SafeType)\n (receptacleType Drawer_bar__minus_00_dot_39_bar__plus_00_dot_48_bar__minus_01_dot_63 DrawerType)\n (receptacleType Drawer_bar__plus_00_dot_40_bar__plus_00_dot_10_bar__minus_01_dot_63 DrawerType)\n (receptacleType SideTable_bar__plus_02_dot_19_bar__plus_00_dot_00_bar__plus_01_dot_51 SideTableType)\n (receptacleType GarbageCan_bar__minus_02_dot_21_bar__plus_00_dot_00_bar__minus_01_dot_74 GarbageCanType)\n (receptacleType Drawer_bar__plus_02_dot_21_bar__plus_00_dot_47_bar__plus_01_dot_33 DrawerType)\n (receptacleType Drawer_bar__plus_00_dot_40_bar__plus_00_dot_86_bar__minus_01_dot_63 DrawerType)\n (receptacleType Drawer_bar__plus_00_dot_40_bar__plus_00_dot_67_bar__minus_01_dot_63 DrawerType)\n (receptacleType Drawer_bar__plus_00_dot_40_bar__plus_00_dot_48_bar__minus_01_dot_63 DrawerType)\n (receptacleType LaundryHamper_bar__minus_01_dot_61_bar__plus_00_dot_01_bar__minus_02_dot_06 LaundryHamperType)\n (receptacleType Dresser_bar__plus_00_dot_01_bar__plus_00_dot_00_bar__minus_01_dot_80 DresserType)\n (receptacleType Drawer_bar__minus_00_dot_39_bar__plus_00_dot_10_bar__minus_01_dot_63 DrawerType)\n (receptacleType Drawer_bar__minus_00_dot_39_bar__plus_00_dot_28_bar__minus_01_dot_63 DrawerType)\n (receptacleType Drawer_bar__minus_00_dot_40_bar__plus_00_dot_67_bar__minus_01_dot_63 DrawerType)\n (receptacleType Drawer_bar__plus_00_dot_40_bar__plus_00_dot_28_bar__minus_01_dot_63 DrawerType)\n (receptacleType Bed_bar__plus_01_dot_38_bar__minus_00_dot_01_bar__plus_00_dot_07 BedType)\n (receptacleType Drawer_bar__minus_00_dot_39_bar__plus_00_dot_86_bar__minus_01_dot_63 DrawerType)\n (objectType Cloth_bar__minus_01_dot_15_bar__plus_00_dot_00_bar__minus_02_dot_12 ClothType)\n (objectType LightSwitch_bar__minus_02_dot_46_bar__plus_01_dot_27_bar__minus_00_dot_10 LightSwitchType)\n (objectType KeyChain_bar__plus_00_dot_20_bar__plus_00_dot_97_bar__minus_01_dot_63 KeyChainType)\n (objectType Pillow_bar__plus_02_dot_11_bar__plus_00_dot_42_bar__plus_00_dot_33 PillowType)\n (objectType Window_bar__minus_01_dot_44_bar__plus_01_dot_82_bar__minus_02_dot_35 WindowType)\n (objectType CD_bar__plus_01_dot_75_bar__plus_00_dot_04_bar__minus_02_dot_07 CDType)\n (objectType Cloth_bar__minus_01_dot_29_bar__plus_00_dot_00_bar__minus_01_dot_94 ClothType)\n (objectType Mirror_bar__plus_02_dot_46_bar__plus_01_dot_32_bar__minus_01_dot_42 MirrorType)\n (objectType Box_bar__minus_01_dot_75_bar__plus_00_dot_25_bar__plus_01_dot_50 BoxType)\n (objectType CreditCard_bar__plus_00_dot_20_bar__plus_00_dot_97_bar__minus_01_dot_78 CreditCardType)\n (objectType Pencil_bar__plus_00_dot_40_bar__plus_00_dot_41_bar__minus_01_dot_66 PencilType)\n (objectType AlarmClock_bar__plus_00_dot_00_bar__plus_00_dot_97_bar__minus_01_dot_63 AlarmClockType)\n (objectType Laptop_bar__minus_00_dot_50_bar__plus_00_dot_97_bar__minus_01_dot_72 LaptopType)\n (objectType Window_bar__plus_01_dot_40_bar__plus_01_dot_82_bar__minus_02_dot_35 WindowType)\n (objectType CellPhone_bar__minus_00_dot_58_bar__plus_00_dot_22_bar__minus_01_dot_60 CellPhoneType)\n (objectType Blinds_bar__plus_01_dot_42_bar__plus_03_dot_12_bar__minus_02_dot_34 BlindsType)\n (objectType CellPhone_bar__minus_00_dot_49_bar__plus_00_dot_61_bar__minus_01_dot_77 CellPhoneType)\n (objectType Book_bar__plus_00_dot_90_bar__plus_00_dot_42_bar__minus_00_dot_41 BookType)\n (objectType CD_bar__plus_00_dot_49_bar__plus_00_dot_04_bar__minus_01_dot_71 CDType)\n (objectType TeddyBear_bar__minus_02_dot_24_bar__plus_00_dot_00_bar__plus_01_dot_46 TeddyBearType)\n (objectType Bowl_bar__plus_00_dot_47_bar__plus_00_dot_97_bar__minus_01_dot_86 BowlType)\n (objectType CellPhone_bar__minus_00_dot_67_bar__plus_00_dot_61_bar__minus_01_dot_54 CellPhoneType)\n (objectType Pencil_bar__minus_00_dot_21_bar__plus_00_dot_61_bar__minus_01_dot_71 PencilType)\n (objectType CreditCard_bar__plus_00_dot_00_bar__plus_00_dot_97_bar__minus_01_dot_48 CreditCardType)\n (objectType Book_bar__plus_01_dot_39_bar__plus_00_dot_42_bar__plus_00_dot_25 BookType)\n (objectType CD_bar__minus_00_dot_21_bar__plus_00_dot_80_bar__minus_01_dot_60 CDType)\n (objectType Blinds_bar__minus_01_dot_42_bar__plus_03_dot_12_bar__minus_02_dot_34 BlindsType)\n (objectType LaundryHamperLid_bar__minus_01_dot_61_bar__plus_00_dot_48_bar__minus_02_dot_06 LaundryHamperLidType)\n (objectType DeskLamp_bar__plus_02_dot_27_bar__plus_00_dot_57_bar__plus_01_dot_44 DeskLampType)\n (objectType KeyChain_bar__plus_00_dot_20_bar__plus_00_dot_97_bar__minus_01_dot_48 KeyChainType)\n (objectType KeyChain_bar__minus_00_dot_58_bar__plus_00_dot_41_bar__minus_01_dot_49 KeyChainType)\n (objectType Pen_bar__minus_00_dot_21_bar__plus_00_dot_42_bar__minus_01_dot_77 PenType)\n (objectType CreditCard_bar__plus_00_dot_60_bar__plus_00_dot_97_bar__minus_01_dot_71 CreditCardType)\n (objectType Pillow_bar__plus_02_dot_15_bar__plus_00_dot_43_bar__minus_00_dot_24 PillowType)\n (objectType Poster_bar__plus_02_dot_44_bar__plus_01_dot_51_bar__plus_00_dot_01 PosterType)\n (canContain SafeType CellPhoneType)\n (canContain SafeType KeyChainType)\n (canContain SafeType CreditCardType)\n (canContain SafeType CDType)\n (canContain DrawerType PenType)\n (canContain DrawerType BookType)\n (canContain DrawerType CDType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType ClothType)\n (canContain DrawerType PencilType)\n (canContain DrawerType PenType)\n (canContain DrawerType BookType)\n (canContain DrawerType CDType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType ClothType)\n (canContain DrawerType PencilType)\n (canContain SideTableType PenType)\n (canContain SideTableType BookType)\n (canContain SideTableType BowlType)\n (canContain SideTableType CDType)\n (canContain SideTableType BoxType)\n (canContain SideTableType CellPhoneType)\n (canContain SideTableType KeyChainType)\n (canContain SideTableType CreditCardType)\n (canContain SideTableType ClothType)\n (canContain SideTableType LaptopType)\n (canContain SideTableType PencilType)\n (canContain SideTableType AlarmClockType)\n (canContain GarbageCanType PenType)\n (canContain GarbageCanType CDType)\n (canContain GarbageCanType ClothType)\n (canContain GarbageCanType PencilType)\n (canContain DrawerType PenType)\n (canContain DrawerType BookType)\n (canContain DrawerType CDType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType ClothType)\n (canContain DrawerType PencilType)\n (canContain DrawerType PenType)\n (canContain DrawerType BookType)\n (canContain DrawerType CDType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType ClothType)\n (canContain DrawerType PencilType)\n (canContain DrawerType PenType)\n (canContain DrawerType BookType)\n (canContain DrawerType CDType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType ClothType)\n (canContain DrawerType PencilType)\n (canContain DrawerType PenType)\n (canContain DrawerType BookType)\n (canContain DrawerType CDType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType ClothType)\n (canContain DrawerType PencilType)\n (canContain LaundryHamperType ClothType)\n (canContain DresserType PenType)\n (canContain DresserType BookType)\n (canContain DresserType BowlType)\n (canContain DresserType CDType)\n (canContain DresserType BoxType)\n (canContain DresserType CellPhoneType)\n (canContain DresserType KeyChainType)\n (canContain DresserType CreditCardType)\n (canContain DresserType ClothType)\n (canContain DresserType LaptopType)\n (canContain DresserType PencilType)\n (canContain DresserType AlarmClockType)\n (canContain DrawerType PenType)\n (canContain DrawerType BookType)\n (canContain DrawerType CDType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType ClothType)\n (canContain DrawerType PencilType)\n (canContain DrawerType PenType)\n (canContain DrawerType BookType)\n (canContain DrawerType CDType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType ClothType)\n (canContain DrawerType PencilType)\n (canContain DrawerType PenType)\n (canContain DrawerType BookType)\n (canContain DrawerType CDType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType ClothType)\n (canContain DrawerType PencilType)\n (canContain DrawerType PenType)\n (canContain DrawerType BookType)\n (canContain DrawerType CDType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType ClothType)\n (canContain DrawerType PencilType)\n (canContain BedType LaptopType)\n (canContain BedType BookType)\n (canContain BedType CellPhoneType)\n (canContain BedType PillowType)\n (canContain DrawerType PenType)\n (canContain DrawerType BookType)\n (canContain DrawerType CDType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType ClothType)\n (canContain DrawerType PencilType)\n (pickupable Cloth_bar__minus_01_dot_15_bar__plus_00_dot_00_bar__minus_02_dot_12)\n (pickupable KeyChain_bar__plus_00_dot_20_bar__plus_00_dot_97_bar__minus_01_dot_63)\n (pickupable Pillow_bar__plus_02_dot_11_bar__plus_00_dot_42_bar__plus_00_dot_33)\n (pickupable CD_bar__plus_01_dot_75_bar__plus_00_dot_04_bar__minus_02_dot_07)\n (pickupable Cloth_bar__minus_01_dot_29_bar__plus_00_dot_00_bar__minus_01_dot_94)\n (pickupable Box_bar__minus_01_dot_75_bar__plus_00_dot_25_bar__plus_01_dot_50)\n (pickupable CreditCard_bar__plus_00_dot_20_bar__plus_00_dot_97_bar__minus_01_dot_78)\n (pickupable Pencil_bar__plus_00_dot_40_bar__plus_00_dot_41_bar__minus_01_dot_66)\n (pickupable AlarmClock_bar__plus_00_dot_00_bar__plus_00_dot_97_bar__minus_01_dot_63)\n (pickupable Laptop_bar__minus_00_dot_50_bar__plus_00_dot_97_bar__minus_01_dot_72)\n (pickupable CellPhone_bar__minus_00_dot_58_bar__plus_00_dot_22_bar__minus_01_dot_60)\n (pickupable CellPhone_bar__minus_00_dot_49_bar__plus_00_dot_61_bar__minus_01_dot_77)\n (pickupable Book_bar__plus_00_dot_90_bar__plus_00_dot_42_bar__minus_00_dot_41)\n (pickupable CD_bar__plus_00_dot_49_bar__plus_00_dot_04_bar__minus_01_dot_71)\n (pickupable TeddyBear_bar__minus_02_dot_24_bar__plus_00_dot_00_bar__plus_01_dot_46)\n (pickupable Bowl_bar__plus_00_dot_47_bar__plus_00_dot_97_bar__minus_01_dot_86)\n (pickupable CellPhone_bar__minus_00_dot_67_bar__plus_00_dot_61_bar__minus_01_dot_54)\n (pickupable Pencil_bar__minus_00_dot_21_bar__plus_00_dot_61_bar__minus_01_dot_71)\n (pickupable CreditCard_bar__plus_00_dot_00_bar__plus_00_dot_97_bar__minus_01_dot_48)\n (pickupable Book_bar__plus_01_dot_39_bar__plus_00_dot_42_bar__plus_00_dot_25)\n (pickupable CD_bar__minus_00_dot_21_bar__plus_00_dot_80_bar__minus_01_dot_60)\n (pickupable KeyChain_bar__plus_00_dot_20_bar__plus_00_dot_97_bar__minus_01_dot_48)\n (pickupable KeyChain_bar__minus_00_dot_58_bar__plus_00_dot_41_bar__minus_01_dot_49)\n (pickupable Pen_bar__minus_00_dot_21_bar__plus_00_dot_42_bar__minus_01_dot_77)\n (pickupable CreditCard_bar__plus_00_dot_60_bar__plus_00_dot_97_bar__minus_01_dot_71)\n (pickupable Pillow_bar__plus_02_dot_15_bar__plus_00_dot_43_bar__minus_00_dot_24)\n (isReceptacleObject Box_bar__minus_01_dot_75_bar__plus_00_dot_25_bar__plus_01_dot_50)\n (isReceptacleObject Bowl_bar__plus_00_dot_47_bar__plus_00_dot_97_bar__minus_01_dot_86)\n (openable Safe_bar__plus_01_dot_65_bar__plus_00_dot_00_bar__minus_02_dot_02)\n (openable Drawer_bar__minus_00_dot_39_bar__plus_00_dot_48_bar__minus_01_dot_63)\n (openable Drawer_bar__plus_00_dot_40_bar__plus_00_dot_10_bar__minus_01_dot_63)\n (openable Drawer_bar__plus_02_dot_21_bar__plus_00_dot_47_bar__plus_01_dot_33)\n (openable Drawer_bar__plus_00_dot_40_bar__plus_00_dot_86_bar__minus_01_dot_63)\n (openable Drawer_bar__plus_00_dot_40_bar__plus_00_dot_67_bar__minus_01_dot_63)\n (openable Drawer_bar__plus_00_dot_40_bar__plus_00_dot_48_bar__minus_01_dot_63)\n (openable Drawer_bar__minus_00_dot_39_bar__plus_00_dot_10_bar__minus_01_dot_63)\n (openable Drawer_bar__minus_00_dot_39_bar__plus_00_dot_28_bar__minus_01_dot_63)\n (openable Drawer_bar__minus_00_dot_40_bar__plus_00_dot_67_bar__minus_01_dot_63)\n (openable Drawer_bar__plus_00_dot_40_bar__plus_00_dot_28_bar__minus_01_dot_63)\n (openable Drawer_bar__minus_00_dot_39_bar__plus_00_dot_86_bar__minus_01_dot_63)\n \n (atLocation agent1 loc_bar__minus_9_bar__minus_5_bar_3_bar_30)\n \n (cleanable Cloth_bar__minus_01_dot_15_bar__plus_00_dot_00_bar__minus_02_dot_12)\n (cleanable Cloth_bar__minus_01_dot_29_bar__plus_00_dot_00_bar__minus_01_dot_94)\n (cleanable Bowl_bar__plus_00_dot_47_bar__plus_00_dot_97_bar__minus_01_dot_86)\n \n \n (coolable Bowl_bar__plus_00_dot_47_bar__plus_00_dot_97_bar__minus_01_dot_86)\n \n \n (toggleable DeskLamp_bar__plus_02_dot_27_bar__plus_00_dot_57_bar__plus_01_dot_44)\n \n \n \n \n (inReceptacle CD_bar__minus_00_dot_21_bar__plus_00_dot_80_bar__minus_01_dot_60 Drawer_bar__minus_00_dot_39_bar__plus_00_dot_86_bar__minus_01_dot_63)\n (inReceptacle KeyChain_bar__minus_00_dot_58_bar__plus_00_dot_41_bar__minus_01_dot_49 Drawer_bar__minus_00_dot_39_bar__plus_00_dot_48_bar__minus_01_dot_63)\n (inReceptacle Pen_bar__minus_00_dot_21_bar__plus_00_dot_42_bar__minus_01_dot_77 Drawer_bar__minus_00_dot_39_bar__plus_00_dot_48_bar__minus_01_dot_63)\n (inReceptacle CD_bar__plus_00_dot_49_bar__plus_00_dot_04_bar__minus_01_dot_71 Drawer_bar__plus_00_dot_40_bar__plus_00_dot_10_bar__minus_01_dot_63)\n (inReceptacle CellPhone_bar__minus_00_dot_67_bar__plus_00_dot_61_bar__minus_01_dot_54 Drawer_bar__minus_00_dot_40_bar__plus_00_dot_67_bar__minus_01_dot_63)\n (inReceptacle CellPhone_bar__minus_00_dot_49_bar__plus_00_dot_61_bar__minus_01_dot_77 Drawer_bar__minus_00_dot_40_bar__plus_00_dot_67_bar__minus_01_dot_63)\n (inReceptacle Pencil_bar__minus_00_dot_21_bar__plus_00_dot_61_bar__minus_01_dot_71 Drawer_bar__minus_00_dot_40_bar__plus_00_dot_67_bar__minus_01_dot_63)\n (inReceptacle DeskLamp_bar__plus_02_dot_27_bar__plus_00_dot_57_bar__plus_01_dot_44 SideTable_bar__plus_02_dot_19_bar__plus_00_dot_00_bar__plus_01_dot_51)\n (inReceptacle CreditCard_bar__plus_00_dot_20_bar__plus_00_dot_97_bar__minus_01_dot_78 Dresser_bar__plus_00_dot_01_bar__plus_00_dot_00_bar__minus_01_dot_80)\n (inReceptacle AlarmClock_bar__plus_00_dot_00_bar__plus_00_dot_97_bar__minus_01_dot_63 Dresser_bar__plus_00_dot_01_bar__plus_00_dot_00_bar__minus_01_dot_80)\n (inReceptacle Laptop_bar__minus_00_dot_50_bar__plus_00_dot_97_bar__minus_01_dot_72 Dresser_bar__plus_00_dot_01_bar__plus_00_dot_00_bar__minus_01_dot_80)\n (inReceptacle KeyChain_bar__plus_00_dot_20_bar__plus_00_dot_97_bar__minus_01_dot_48 Dresser_bar__plus_00_dot_01_bar__plus_00_dot_00_bar__minus_01_dot_80)\n (inReceptacle KeyChain_bar__plus_00_dot_20_bar__plus_00_dot_97_bar__minus_01_dot_63 Dresser_bar__plus_00_dot_01_bar__plus_00_dot_00_bar__minus_01_dot_80)\n (inReceptacle Bowl_bar__plus_00_dot_47_bar__plus_00_dot_97_bar__minus_01_dot_86 Dresser_bar__plus_00_dot_01_bar__plus_00_dot_00_bar__minus_01_dot_80)\n (inReceptacle CreditCard_bar__plus_00_dot_60_bar__plus_00_dot_97_bar__minus_01_dot_71 Dresser_bar__plus_00_dot_01_bar__plus_00_dot_00_bar__minus_01_dot_80)\n (inReceptacle CreditCard_bar__plus_00_dot_00_bar__plus_00_dot_97_bar__minus_01_dot_48 Dresser_bar__plus_00_dot_01_bar__plus_00_dot_00_bar__minus_01_dot_80)\n (inReceptacle CellPhone_bar__minus_00_dot_58_bar__plus_00_dot_22_bar__minus_01_dot_60 Drawer_bar__minus_00_dot_39_bar__plus_00_dot_28_bar__minus_01_dot_63)\n (inReceptacle Pencil_bar__plus_00_dot_40_bar__plus_00_dot_41_bar__minus_01_dot_66 Drawer_bar__plus_00_dot_40_bar__plus_00_dot_48_bar__minus_01_dot_63)\n (inReceptacle Pillow_bar__plus_02_dot_15_bar__plus_00_dot_43_bar__minus_00_dot_24 Bed_bar__plus_01_dot_38_bar__minus_00_dot_01_bar__plus_00_dot_07)\n (inReceptacle Book_bar__plus_00_dot_90_bar__plus_00_dot_42_bar__minus_00_dot_41 Bed_bar__plus_01_dot_38_bar__minus_00_dot_01_bar__plus_00_dot_07)\n (inReceptacle Book_bar__plus_01_dot_39_bar__plus_00_dot_42_bar__plus_00_dot_25 Bed_bar__plus_01_dot_38_bar__minus_00_dot_01_bar__plus_00_dot_07)\n (inReceptacle Pillow_bar__plus_02_dot_11_bar__plus_00_dot_42_bar__plus_00_dot_33 Bed_bar__plus_01_dot_38_bar__minus_00_dot_01_bar__plus_00_dot_07)\n \n \n (receptacleAtLocation Bed_bar__plus_01_dot_38_bar__minus_00_dot_01_bar__plus_00_dot_07 loc_bar_5_bar__minus_5_bar_0_bar_45)\n (receptacleAtLocation Drawer_bar__plus_00_dot_40_bar__plus_00_dot_10_bar__minus_01_dot_63 loc_bar__minus_1_bar__minus_1_bar_2_bar_45)\n (receptacleAtLocation Drawer_bar__plus_00_dot_40_bar__plus_00_dot_28_bar__minus_01_dot_63 loc_bar_0_bar__minus_1_bar_2_bar_45)\n (receptacleAtLocation Drawer_bar__plus_00_dot_40_bar__plus_00_dot_48_bar__minus_01_dot_63 loc_bar_0_bar__minus_2_bar_2_bar_45)\n (receptacleAtLocation Drawer_bar__plus_00_dot_40_bar__plus_00_dot_67_bar__minus_01_dot_63 loc_bar_0_bar__minus_2_bar_2_bar_45)\n (receptacleAtLocation Drawer_bar__plus_00_dot_40_bar__plus_00_dot_86_bar__minus_01_dot_63 loc_bar_0_bar__minus_2_bar_2_bar_30)\n (receptacleAtLocation Drawer_bar__plus_02_dot_21_bar__plus_00_dot_47_bar__plus_01_dot_33 loc_bar_5_bar_5_bar_1_bar_45)\n (receptacleAtLocation Drawer_bar__minus_00_dot_39_bar__plus_00_dot_10_bar__minus_01_dot_63 loc_bar__minus_4_bar__minus_1_bar_2_bar_45)\n (receptacleAtLocation Drawer_bar__minus_00_dot_39_bar__plus_00_dot_28_bar__minus_01_dot_63 loc_bar__minus_1_bar__minus_1_bar_2_bar_45)\n (receptacleAtLocation Drawer_bar__minus_00_dot_39_bar__plus_00_dot_48_bar__minus_01_dot_63 loc_bar__minus_3_bar__minus_2_bar_2_bar_45)\n (receptacleAtLocation Drawer_bar__minus_00_dot_39_bar__plus_00_dot_86_bar__minus_01_dot_63 loc_bar__minus_1_bar__minus_2_bar_2_bar_30)\n (receptacleAtLocation Drawer_bar__minus_00_dot_40_bar__plus_00_dot_67_bar__minus_01_dot_63 loc_bar__minus_2_bar__minus_2_bar_2_bar_45)\n (receptacleAtLocation Dresser_bar__plus_00_dot_01_bar__plus_00_dot_00_bar__minus_01_dot_80 loc_bar_1_bar__minus_4_bar_2_bar_60)\n (receptacleAtLocation GarbageCan_bar__minus_02_dot_21_bar__plus_00_dot_00_bar__minus_01_dot_74 loc_bar__minus_5_bar__minus_4_bar_3_bar_60)\n (receptacleAtLocation LaundryHamper_bar__minus_01_dot_61_bar__plus_00_dot_01_bar__minus_02_dot_06 loc_bar__minus_5_bar__minus_7_bar_3_bar_60)\n (receptacleAtLocation Safe_bar__plus_01_dot_65_bar__plus_00_dot_00_bar__minus_02_dot_02 loc_bar_8_bar__minus_4_bar_2_bar_60)\n (receptacleAtLocation SideTable_bar__plus_02_dot_19_bar__plus_00_dot_00_bar__plus_01_dot_51 loc_bar_5_bar_4_bar_1_bar_60)\n (objectAtLocation CD_bar__minus_00_dot_21_bar__plus_00_dot_80_bar__minus_01_dot_60 loc_bar__minus_1_bar__minus_2_bar_2_bar_30)\n (objectAtLocation KeyChain_bar__plus_00_dot_20_bar__plus_00_dot_97_bar__minus_01_dot_63 loc_bar_1_bar__minus_4_bar_2_bar_60)\n (objectAtLocation CreditCard_bar__plus_00_dot_20_bar__plus_00_dot_97_bar__minus_01_dot_78 loc_bar_1_bar__minus_4_bar_2_bar_60)\n (objectAtLocation Pencil_bar__minus_00_dot_21_bar__plus_00_dot_61_bar__minus_01_dot_71 loc_bar__minus_2_bar__minus_2_bar_2_bar_45)\n (objectAtLocation CellPhone_bar__minus_00_dot_67_bar__plus_00_dot_61_bar__minus_01_dot_54 loc_bar__minus_2_bar__minus_2_bar_2_bar_45)\n (objectAtLocation Book_bar__plus_00_dot_90_bar__plus_00_dot_42_bar__minus_00_dot_41 loc_bar_5_bar__minus_5_bar_0_bar_45)\n (objectAtLocation KeyChain_bar__minus_00_dot_58_bar__plus_00_dot_41_bar__minus_01_dot_49 loc_bar__minus_3_bar__minus_2_bar_2_bar_45)\n (objectAtLocation CreditCard_bar__plus_00_dot_60_bar__plus_00_dot_97_bar__minus_01_dot_71 loc_bar_1_bar__minus_4_bar_2_bar_60)\n (objectAtLocation CellPhone_bar__minus_00_dot_58_bar__plus_00_dot_22_bar__minus_01_dot_60 loc_bar__minus_1_bar__minus_1_bar_2_bar_45)\n (objectAtLocation CD_bar__plus_00_dot_49_bar__plus_00_dot_04_bar__minus_01_dot_71 loc_bar__minus_1_bar__minus_1_bar_2_bar_45)\n (objectAtLocation Box_bar__minus_01_dot_75_bar__plus_00_dot_25_bar__plus_01_dot_50 loc_bar__minus_7_bar_4_bar_0_bar_60)\n (objectAtLocation Book_bar__plus_01_dot_39_bar__plus_00_dot_42_bar__plus_00_dot_25 loc_bar_5_bar__minus_5_bar_0_bar_45)\n (objectAtLocation LaundryHamperLid_bar__minus_01_dot_61_bar__plus_00_dot_48_bar__minus_02_dot_06 loc_bar__minus_5_bar__minus_7_bar_3_bar_60)\n (objectAtLocation Cloth_bar__minus_01_dot_15_bar__plus_00_dot_00_bar__minus_02_dot_12 loc_bar__minus_5_bar__minus_7_bar_2_bar_60)\n (objectAtLocation CellPhone_bar__minus_00_dot_49_bar__plus_00_dot_61_bar__minus_01_dot_77 loc_bar__minus_2_bar__minus_2_bar_2_bar_45)\n (objectAtLocation Pencil_bar__plus_00_dot_40_bar__plus_00_dot_41_bar__minus_01_dot_66 loc_bar_0_bar__minus_2_bar_2_bar_45)\n (objectAtLocation AlarmClock_bar__plus_00_dot_00_bar__plus_00_dot_97_bar__minus_01_dot_63 loc_bar_1_bar__minus_4_bar_2_bar_60)\n (objectAtLocation TeddyBear_bar__minus_02_dot_24_bar__plus_00_dot_00_bar__plus_01_dot_46 loc_bar__minus_8_bar_4_bar_0_bar_60)\n (objectAtLocation CreditCard_bar__plus_00_dot_00_bar__plus_00_dot_97_bar__minus_01_dot_48 loc_bar_1_bar__minus_4_bar_2_bar_60)\n (objectAtLocation DeskLamp_bar__plus_02_dot_27_bar__plus_00_dot_57_bar__plus_01_dot_44 loc_bar_5_bar_4_bar_1_bar_60)\n (objectAtLocation KeyChain_bar__plus_00_dot_20_bar__plus_00_dot_97_bar__minus_01_dot_48 loc_bar_1_bar__minus_4_bar_2_bar_60)\n (objectAtLocation Pillow_bar__plus_02_dot_11_bar__plus_00_dot_42_bar__plus_00_dot_33 loc_bar_5_bar__minus_5_bar_0_bar_45)\n (objectAtLocation Pillow_bar__plus_02_dot_15_bar__plus_00_dot_43_bar__minus_00_dot_24 loc_bar_5_bar__minus_5_bar_0_bar_45)\n (objectAtLocation Laptop_bar__minus_00_dot_50_bar__plus_00_dot_97_bar__minus_01_dot_72 loc_bar_1_bar__minus_4_bar_2_bar_60)\n (objectAtLocation Poster_bar__plus_02_dot_44_bar__plus_01_dot_51_bar__plus_00_dot_01 loc_bar_8_bar__minus_4_bar_0_bar_15)\n (objectAtLocation Bowl_bar__plus_00_dot_47_bar__plus_00_dot_97_bar__minus_01_dot_86 loc_bar_1_bar__minus_4_bar_2_bar_60)\n (objectAtLocation LightSwitch_bar__minus_02_dot_46_bar__plus_01_dot_27_bar__minus_00_dot_10 loc_bar__minus_8_bar_0_bar_3_bar_45)\n (objectAtLocation Cloth_bar__minus_01_dot_29_bar__plus_00_dot_00_bar__minus_01_dot_94 loc_bar__minus_5_bar__minus_7_bar_2_bar_60)\n (objectAtLocation Mirror_bar__plus_02_dot_46_bar__plus_01_dot_32_bar__minus_01_dot_42 loc_bar_8_bar__minus_6_bar_1_bar_30)\n (objectAtLocation CD_bar__plus_01_dot_75_bar__plus_00_dot_04_bar__minus_02_dot_07 loc_bar_7_bar__minus_6_bar_2_bar_60)\n (objectAtLocation Pen_bar__minus_00_dot_21_bar__plus_00_dot_42_bar__minus_01_dot_77 loc_bar__minus_3_bar__minus_2_bar_2_bar_45)\n (objectAtLocation Window_bar__minus_01_dot_44_bar__plus_01_dot_82_bar__minus_02_dot_35 loc_bar__minus_5_bar__minus_7_bar_2_bar__minus_15)\n (objectAtLocation Window_bar__plus_01_dot_40_bar__plus_01_dot_82_bar__minus_02_dot_35 loc_bar_6_bar__minus_6_bar_2_bar__minus_15)\n (objectAtLocation Blinds_bar__plus_01_dot_42_bar__plus_03_dot_12_bar__minus_02_dot_34 loc_bar_6_bar__minus_6_bar_2_bar__minus_30)\n (objectAtLocation Blinds_bar__minus_01_dot_42_bar__plus_03_dot_12_bar__minus_02_dot_34 loc_bar__minus_5_bar__minus_7_bar_2_bar__minus_30)\n )\n \n\n (:goal\n (and\n (exists (?ot - object\n ?r - receptacle\n ?a - agent\n ?l - location)\n (and\n (objectType ?ot DeskLampType)\n (toggleable ?ot)\n (isToggled ?ot)\n (receptacleAtLocation ?r ?l)\n (atLocation ?a ?l)\n (inReceptacle ?ot ?r)\n )\n )\n (exists (?o - object\n ?a - agent)\n (and\n (objectType ?o AlarmClockType)\n (holds ?a ?o)\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to dresser 1", "take alarmclock 1 from dresser 1", "go to sidetable 1", "use desklamp 1"]}
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alfworld__pick_two_obj_and_place__7
|
pick_two_obj_and_place
|
pick_two_obj_and_place-CellPhone-None-Bed-309/trial_T20190910_144311_654244/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 cellphone and put them in bed.\"\n }\n ],\n\n \"GotoLocation.feedback\": [\n {\n \"rhs\": \"You arrive at {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"OpenObject.feedback\": [\n {\n \"rhs\": \"You open the {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"CloseObject.feedback\": [\n {\n \"rhs\": \"You close the {r.name}.\"\n }\n ],\n\n \"PickupObject.feedback\": [\n {\n \"rhs\": \"You pick up the {o.name} from the {r.name}.\"\n }\n ],\n\n \"PickupObjectFromReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupObjectFromReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupEmptyReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupEmptyReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupFullReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupFullReceptacleObject: You pick up the {outerr.name}.\"\n }\n ],\n\n \"PutObject.feedback\": [\n {\n \"rhs\": \"You move the {o.name} to the {r.name}.\"\n }\n ],\n\n \"PutObjectInReceptacleObject.feedback\": [\n {\n \"rhs\": \"PutObjectInReceptacleObject: You put the {o.name} in the {outero.name}.\"\n }\n ],\n\n \"PutEmptyReceptacleObjectinReceptacle.feedback\": [\n {\n \"rhs\": \"PutEmptyReceptacleObjectinReceptacle: You put the {o.name} in the {r.name}.\"\n }\n ],\n\n \"PutFullReceptacleObjectInReceptacle.feedback\": [\n {\n \"rhs\": \"PutFullReceptacleObjectInReceptacle: You put the {outero.name} in the {r.name}.\"\n }\n ],\n\n \"inventory.feedback\": [\n {\n \"condition\": \"holdsany(a:agent)\",\n \"rhs\": \"You are carrying: [{o.indefinite + ' ' + o.name | holds(a:agent, o:object)}].\"\n },\n {\n \"rhs\": \"You are not carrying anything.\"\n }\n ],\n\n \"examineReceptacle.feedback\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \"The {r.name} is open. In it, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \"The {r.name} is closed.\"\n },\n {\n \"rhs\": \"On the {r.name}, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n }\n ],\n\n \"examineObject.feedback\": [\n {\n \"condition\": \"isreceptacleobject(o:object)\",\n \"rhs\": \"This is a normal {o.name}. In it, you see [{o2.indefinite + ' ' + o2.name | inreceptacleobject(o2:object, o:object)}].\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a clean sliced {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot sliced {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object)\",\n \"rhs\": \"This is a hot and clean {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object)\",\n \"rhs\": \"This is a cool and clean {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object)\",\n \"rhs\": \"This is a hot {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object)\",\n \"rhs\": \"This is a clean {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object)\",\n \"rhs\": \"This is a cold {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"This {o.name} is on.\"\n },\n {\n \"condition\": \"toggleable(o:object) & not_istoggled(o:object)\",\n \"rhs\": \"This {o.name} is off.\"\n },\n {\n \"condition\": \"sliceable(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a sliced {o.name}.\"\n },\n {\n \"rhs\": \"There's nothing special about {o.name}.\"\n }\n ]\n }\n\"\"\";\n\naction GotoLocation {\n template :: \"go to [{r.name | receptacleatlocation(r:receptacle, lend:location)}]\";\n feedback :: \"#GotoLocation.feedback#\";\n}\n\naction OpenObject {\n template :: \"open {r}\";\n feedback :: \"#OpenObject.feedback#\";\n}\n\naction CloseObject {\n template :: \"close {r}\";\n feedback :: \"#CloseObject.feedback#\";\n}\n\naction PickupObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObject.feedback#\";\n}\n\naction PickupObjectFromReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObjectFromReceptacleObject.feedback#\";\n}\n\naction PickupEmptyReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupEmptyReceptacleObject.feedback#\";\n}\n\naction PickupFullReceptacleObject {\n template :: \"take {outerr} from {r}\";\n feedback :: \"#PickupFullReceptacleObject.feedback#\";\n}\n\naction PutObject {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutObject.feedback#\";\n}\n\naction PutObjectInReceptacleObject {\n template :: \"put {o} into {outero}\";\n feedback :: \"#PutObjectInReceptacleObject.feedback#\";\n}\n\naction PutEmptyReceptacleObjectinReceptacle {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutEmptyReceptacleObjectinReceptacle.feedback#\";\n}\n\naction PutFullReceptacleObjectInReceptacle {\n template :: \"put {outero} in {r}\";\n feedback :: \"#PutFullReceptacleObjectInReceptacle.feedback#\";\n}\n\naction inventory {\n template :: \"inventory\";\n feedback :: \"#inventory.feedback#\";\n}\n\naction examineReceptacle {\n template :: \"examine {r}\";\n feedback :: \"#examineReceptacle.feedback#\";\n}\n\naction examineObject {\n template :: \"examine {o}\";\n feedback :: \"#examineObject.feedback#\";\n}\n\naction ToggleObject {\n template :: \"use {o}\";\n feedback :: \"#toggleObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"toggleObject.feedback\": [\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"You turn on the {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object)\",\n \"rhs\": \"You turn off the {o.name}.\"\n },\n {\n \"rhs\": \"You don't see any switch on the {o.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction HeatObject {\n template :: \"heat {o} with {r}\";\n feedback :: \"#heatObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"heatObject.feedback\": [\n {\n \"rhs\": \"You heat the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CleanObject {\n template :: \"clean {o} with {r}\";\n feedback :: \"#cleanObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"cleanObject.feedback\": [\n {\n \"rhs\": \"You clean the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CoolObject {\n template :: \"cool {o} with {r}\";\n feedback :: \"#coolObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"coolObject.feedback\": [\n {\n \"rhs\": \"You cool the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction SliceObject {\n template :: \"slice {co} with {ko}\";\n feedback :: \"#sliceObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"sliceObject.feedback\": [\n {\n \"rhs\": \"You sliced the {co.name} with the {ko.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction look {\n template :: \"look\";\n feedback :: \"#look.feedback#\";\n\n grammar :: \"\"\"\n {\n \"look.feedback\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"#look-variations#. Next to it, you see #list_objects_on_the_floor#.\"\n },\n {\n \"rhs\": \"You are in the middle of a room. Looking quickly around you, you see #list_appliances#.\"\n }\n ],\n\n \"look-variations\": [\n {\n \"rhs\": \"You are facing the [{r.name | atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)}]\"\n }\n ],\n\n \"list_objects_on_the_floor\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)\",\n \"rhs\": \"[{#overview(o)# | atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"list_appliances\": [\n {\n \"condition\": \"receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"[{#overview(r)# | receptacleatlocation(r:receptacle, l:location)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"overview(o, r)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name} (in/on the {r.name})}\"\n }\n ],\n\n \"overview(o)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name}\"\n }\n ],\n \"overview(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}\"\n }\n ],\n \"overview_with_state(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}#overview_state(r)#\"\n }\n ],\n \"overview_state(r)\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \" (it is open)\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \" (it is closed)\"\n },\n {\n \"rhs\": \"\"\n }\n ],\n\n \"list_empty\": [\n {\n \"rhs\": \"nothing\"\n }\n ],\n \"list_separator\": [\n {\n \"rhs\": \", \"\n }\n ],\n \"list_last_separator\": [\n {\n \"rhs\": \", and \"\n }\n ]\n }\n \"\"\";\n}\n\naction help {\n template :: \"help\";\n feedback :: \"\nAvailable commands:\n look: look around your current location\n inventory: check your current inventory\n go to (receptacle): move to a receptacle\n open (receptacle): open a receptacle\n close (receptacle): close a receptacle\n take (object) from (receptacle): take an object from a receptacle\n move (object) to (receptacle): place an object in or on a receptacle\n examine (something): examine a receptacle or an object\n use (object): use an object\n heat (object) with (receptacle): heat an object using a receptacle\n clean (object) with (receptacle): clean an object using a receptacle\n cool (object) with (receptacle): cool an object using a receptacle\n slice (object) with (object): slice an object using a sharp object\n\";\n}\n", "pddl_problem": "\n(define (problem plan_trial_T20190910_144311_654244)\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_23_bar__plus_01_dot_12_bar__minus_03_dot_07 - object\n Blinds_bar__minus_00_dot_48_bar__plus_02_dot_79_bar__minus_03_dot_25 - object\n Blinds_bar__minus_01_dot_96_bar__plus_02_dot_79_bar__minus_03_dot_25 - object\n Blinds_bar__minus_03_dot_80_bar__plus_02_dot_51_bar__plus_00_dot_60 - object\n Blinds_bar__minus_03_dot_80_bar__plus_02_dot_51_bar__minus_00_dot_65 - object\n Book_bar__minus_00_dot_54_bar__plus_00_dot_08_bar__minus_02_dot_88 - object\n CD_bar__minus_01_dot_85_bar__plus_01_dot_12_bar__minus_02_dot_73 - object\n CellPhone_bar__minus_00_dot_29_bar__plus_01_dot_12_bar__minus_02_dot_82 - object\n CellPhone_bar__minus_01_dot_16_bar__plus_00_dot_59_bar__minus_02_dot_88 - object\n CellPhone_bar__minus_01_dot_23_bar__plus_01_dot_12_bar__minus_02_dot_73 - object\n CellPhone_bar__minus_02_dot_17_bar__plus_00_dot_19_bar__plus_03_dot_59 - object\n Chair_bar__minus_02_dot_07_bar__plus_00_dot_04_bar__minus_02_dot_69 - object\n CreditCard_bar__minus_00_dot_92_bar__plus_00_dot_19_bar__plus_03_dot_31 - object\n CreditCard_bar__minus_01_dot_23_bar__plus_01_dot_12_bar__minus_03_dot_24 - object\n CreditCard_bar__minus_01_dot_34_bar__plus_00_dot_58_bar__minus_02_dot_88 - object\n DeskLamp_bar__plus_01_dot_87_bar__plus_00_dot_55_bar__plus_02_dot_42 - object\n HousePlant_bar__minus_00_dot_20_bar__plus_01_dot_10_bar__minus_03_dot_08 - object\n KeyChain_bar__minus_03_dot_13_bar__plus_00_dot_19_bar__plus_03_dot_28 - object\n Laptop_bar__minus_01_dot_90_bar__plus_01_dot_10_bar__minus_02_dot_97 - object\n LaundryHamperLid_bar__plus_01_dot_83_bar__plus_00_dot_79_bar__plus_03_dot_69 - object\n LightSwitch_bar__minus_00_dot_16_bar__plus_01_dot_28_bar__plus_04_dot_00 - object\n Mirror_bar__minus_01_dot_60_bar__plus_01_dot_45_bar__plus_04_dot_00 - object\n Mug_bar__minus_02_dot_16_bar__plus_01_dot_11_bar__minus_03_dot_24 - object\n Mug_bar__minus_02_dot_75_bar__plus_00_dot_08_bar__minus_02_dot_90 - object\n Mug_bar__minus_02_dot_93_bar__plus_00_dot_08_bar__minus_02_dot_74 - object\n Pencil_bar__plus_01_dot_66_bar__plus_00_dot_56_bar__plus_02_dot_32 - object\n Pen_bar__minus_01_dot_16_bar__plus_00_dot_09_bar__minus_02_dot_78 - object\n Pen_bar__minus_01_dot_54_bar__plus_01_dot_12_bar__minus_02_dot_73 - object\n Pillow_bar__plus_00_dot_96_bar__plus_00_dot_94_bar__plus_00_dot_26 - object\n Pillow_bar__plus_01_dot_82_bar__plus_00_dot_87_bar__plus_01_dot_15 - object\n RemoteControl_bar__plus_01_dot_61_bar__plus_00_dot_56_bar__plus_02_dot_54 - object\n RemoteControl_bar__minus_00_dot_60_bar__plus_01_dot_12_bar__minus_03_dot_16 - object\n TeddyBear_bar__plus_01_dot_87_bar__plus_00_dot_04_bar__minus_00_dot_56 - object\n Television_bar__minus_03_dot_88_bar__plus_01_dot_77_bar__plus_02_dot_12 - object\n Window_bar__minus_00_dot_47_bar__plus_02_dot_15_bar__minus_03_dot_30 - object\n Window_bar__minus_01_dot_95_bar__plus_02_dot_15_bar__minus_03_dot_30 - object\n Window_bar__minus_03_dot_89_bar__plus_01_dot_75_bar__plus_00_dot_58 - object\n Window_bar__minus_03_dot_89_bar__plus_01_dot_75_bar__minus_00_dot_68 - object\n ArmChair_bar__minus_00_dot_94_bar__plus_00_dot_00_bar__plus_03_dot_61 - receptacle\n ArmChair_bar__minus_02_dot_17_bar__plus_00_dot_00_bar__plus_03_dot_63 - receptacle\n ArmChair_bar__minus_03_dot_37_bar__plus_00_dot_00_bar__plus_03_dot_38 - receptacle\n Bed_bar__plus_00_dot_99_bar__plus_00_dot_03_bar__plus_00_dot_67 - receptacle\n Cabinet_bar__plus_02_dot_06_bar__plus_01_dot_50_bar__minus_02_dot_64 - receptacle\n Cabinet_bar__minus_03_dot_00_bar__plus_01_dot_50_bar__minus_02_dot_64 - receptacle\n Desk_bar__minus_01_dot_27_bar__plus_01_dot_17_bar__minus_02_dot_99 - receptacle\n Drawer_bar__minus_00_dot_37_bar__plus_00_dot_29_bar__minus_02_dot_85 - receptacle\n Drawer_bar__minus_00_dot_37_bar__plus_00_dot_79_bar__minus_02_dot_85 - receptacle\n Drawer_bar__minus_01_dot_16_bar__plus_00_dot_29_bar__minus_02_dot_85 - receptacle\n Drawer_bar__minus_01_dot_16_bar__plus_00_dot_79_bar__minus_02_dot_85 - receptacle\n GarbageCan_bar__minus_03_dot_34_bar__plus_00_dot_04_bar__minus_02_dot_80 - receptacle\n LaundryHamper_bar__plus_01_dot_83_bar__plus_00_dot_04_bar__plus_03_dot_69 - receptacle\n Safe_bar__plus_01_dot_72_bar__plus_00_dot_05_bar__minus_03_dot_05 - receptacle\n SideTable_bar__plus_01_dot_78_bar__plus_00_dot_02_bar__plus_02_dot_38 - receptacle\n loc_bar__minus_13_bar__minus_9_bar_2_bar_60 - location\n loc_bar__minus_11_bar__minus_8_bar_2_bar_15 - location\n loc_bar__minus_3_bar_10_bar_0_bar_60 - location\n loc_bar__minus_13_bar_2_bar_3_bar__minus_30 - location\n loc_bar__minus_2_bar__minus_9_bar_2_bar__minus_30 - location\n loc_bar__minus_13_bar_11_bar_0_bar_60 - location\n loc_bar__minus_7_bar__minus_9_bar_2_bar_45 - location\n loc_bar__minus_13_bar__minus_3_bar_3_bar__minus_30 - location\n loc_bar__minus_2_bar_3_bar_1_bar_45 - location\n loc_bar__minus_5_bar__minus_9_bar_1_bar_45 - location\n loc_bar_7_bar_12_bar_0_bar_60 - location\n loc_bar__minus_8_bar_10_bar_0_bar_60 - location\n loc_bar_4_bar__minus_8_bar_1_bar_15 - location\n loc_bar_6_bar_13_bar_2_bar_60 - location\n loc_bar__minus_13_bar_2_bar_3_bar_0 - location\n loc_bar__minus_9_bar_12_bar_3_bar_60 - location\n loc_bar__minus_7_bar__minus_9_bar_2_bar_60 - location\n loc_bar__minus_13_bar_8_bar_3_bar_0 - location\n loc_bar__minus_5_bar__minus_9_bar_2_bar_60 - location\n loc_bar__minus_6_bar_13_bar_0_bar_15 - location\n loc_bar__minus_1_bar_14_bar_0_bar_45 - location\n loc_bar__minus_4_bar__minus_9_bar_2_bar_30 - location\n loc_bar_7_bar_12_bar_0_bar_45 - location\n loc_bar__minus_7_bar__minus_9_bar_2_bar__minus_30 - location\n loc_bar__minus_13_bar__minus_3_bar_3_bar_0 - location\n loc_bar_7_bar__minus_8_bar_2_bar_60 - location\n loc_bar_7_bar__minus_4_bar_0_bar_60 - location\n loc_bar__minus_6_bar__minus_9_bar_1_bar_45 - location\n loc_bar__minus_11_bar__minus_8_bar_2_bar_60 - location\n loc_bar__minus_1_bar_8_bar_0_bar_30 - location\n )\n \n\n(:init\n\n\n (receptacleType LaundryHamper_bar__plus_01_dot_83_bar__plus_00_dot_04_bar__plus_03_dot_69 LaundryHamperType)\n (receptacleType Drawer_bar__minus_00_dot_37_bar__plus_00_dot_29_bar__minus_02_dot_85 DrawerType)\n (receptacleType Safe_bar__plus_01_dot_72_bar__plus_00_dot_05_bar__minus_03_dot_05 SafeType)\n (receptacleType Bed_bar__plus_00_dot_99_bar__plus_00_dot_03_bar__plus_00_dot_67 BedType)\n (receptacleType Desk_bar__minus_01_dot_27_bar__plus_01_dot_17_bar__minus_02_dot_99 DeskType)\n (receptacleType Drawer_bar__minus_01_dot_16_bar__plus_00_dot_79_bar__minus_02_dot_85 DrawerType)\n (receptacleType Drawer_bar__minus_01_dot_16_bar__plus_00_dot_29_bar__minus_02_dot_85 DrawerType)\n (receptacleType GarbageCan_bar__minus_03_dot_34_bar__plus_00_dot_04_bar__minus_02_dot_80 GarbageCanType)\n (receptacleType Drawer_bar__minus_00_dot_37_bar__plus_00_dot_79_bar__minus_02_dot_85 DrawerType)\n (receptacleType ArmChair_bar__minus_03_dot_37_bar__plus_00_dot_00_bar__plus_03_dot_38 ArmChairType)\n (receptacleType ArmChair_bar__minus_02_dot_17_bar__plus_00_dot_00_bar__plus_03_dot_63 ArmChairType)\n (receptacleType SideTable_bar__plus_01_dot_78_bar__plus_00_dot_02_bar__plus_02_dot_38 SideTableType)\n (receptacleType ArmChair_bar__minus_00_dot_94_bar__plus_00_dot_00_bar__plus_03_dot_61 ArmChairType)\n (receptacleType Cabinet_bar__plus_02_dot_06_bar__plus_01_dot_50_bar__minus_02_dot_64 CabinetType)\n (receptacleType Cabinet_bar__minus_03_dot_00_bar__plus_01_dot_50_bar__minus_02_dot_64 CabinetType)\n (objectType RemoteControl_bar__minus_00_dot_60_bar__plus_01_dot_12_bar__minus_03_dot_16 RemoteControlType)\n (objectType Mug_bar__minus_02_dot_75_bar__plus_00_dot_08_bar__minus_02_dot_90 MugType)\n (objectType LightSwitch_bar__minus_00_dot_16_bar__plus_01_dot_28_bar__plus_04_dot_00 LightSwitchType)\n (objectType Window_bar__minus_01_dot_95_bar__plus_02_dot_15_bar__minus_03_dot_30 WindowType)\n (objectType Pillow_bar__plus_01_dot_82_bar__plus_00_dot_87_bar__plus_01_dot_15 PillowType)\n (objectType Pen_bar__minus_01_dot_54_bar__plus_01_dot_12_bar__minus_02_dot_73 PenType)\n (objectType Window_bar__minus_00_dot_47_bar__plus_02_dot_15_bar__minus_03_dot_30 WindowType)\n (objectType Chair_bar__minus_02_dot_07_bar__plus_00_dot_04_bar__minus_02_dot_69 ChairType)\n (objectType TeddyBear_bar__plus_01_dot_87_bar__plus_00_dot_04_bar__minus_00_dot_56 TeddyBearType)\n (objectType Pillow_bar__plus_00_dot_96_bar__plus_00_dot_94_bar__plus_00_dot_26 PillowType)\n (objectType Laptop_bar__minus_01_dot_90_bar__plus_01_dot_10_bar__minus_02_dot_97 LaptopType)\n (objectType Television_bar__minus_03_dot_88_bar__plus_01_dot_77_bar__plus_02_dot_12 TelevisionType)\n (objectType CD_bar__minus_01_dot_85_bar__plus_01_dot_12_bar__minus_02_dot_73 CDType)\n (objectType KeyChain_bar__minus_03_dot_13_bar__plus_00_dot_19_bar__plus_03_dot_28 KeyChainType)\n (objectType Mug_bar__minus_02_dot_93_bar__plus_00_dot_08_bar__minus_02_dot_74 MugType)\n (objectType Blinds_bar__minus_03_dot_80_bar__plus_02_dot_51_bar__minus_00_dot_65 BlindsType)\n (objectType CreditCard_bar__minus_01_dot_34_bar__plus_00_dot_58_bar__minus_02_dot_88 CreditCardType)\n (objectType CellPhone_bar__minus_00_dot_29_bar__plus_01_dot_12_bar__minus_02_dot_82 CellPhoneType)\n (objectType Blinds_bar__minus_03_dot_80_bar__plus_02_dot_51_bar__plus_00_dot_60 BlindsType)\n (objectType RemoteControl_bar__plus_01_dot_61_bar__plus_00_dot_56_bar__plus_02_dot_54 RemoteControlType)\n (objectType Mirror_bar__minus_01_dot_60_bar__plus_01_dot_45_bar__plus_04_dot_00 MirrorType)\n (objectType CreditCard_bar__minus_00_dot_92_bar__plus_00_dot_19_bar__plus_03_dot_31 CreditCardType)\n (objectType Window_bar__minus_03_dot_89_bar__plus_01_dot_75_bar__plus_00_dot_58 WindowType)\n (objectType Pencil_bar__plus_01_dot_66_bar__plus_00_dot_56_bar__plus_02_dot_32 PencilType)\n (objectType Mug_bar__minus_02_dot_16_bar__plus_01_dot_11_bar__minus_03_dot_24 MugType)\n (objectType CellPhone_bar__minus_02_dot_17_bar__plus_00_dot_19_bar__plus_03_dot_59 CellPhoneType)\n (objectType AlarmClock_bar__minus_01_dot_23_bar__plus_01_dot_12_bar__minus_03_dot_07 AlarmClockType)\n (objectType Pen_bar__minus_01_dot_16_bar__plus_00_dot_09_bar__minus_02_dot_78 PenType)\n (objectType CellPhone_bar__minus_01_dot_16_bar__plus_00_dot_59_bar__minus_02_dot_88 CellPhoneType)\n (objectType HousePlant_bar__minus_00_dot_20_bar__plus_01_dot_10_bar__minus_03_dot_08 HousePlantType)\n (objectType DeskLamp_bar__plus_01_dot_87_bar__plus_00_dot_55_bar__plus_02_dot_42 DeskLampType)\n (objectType LaundryHamperLid_bar__plus_01_dot_83_bar__plus_00_dot_79_bar__plus_03_dot_69 LaundryHamperLidType)\n (objectType Book_bar__minus_00_dot_54_bar__plus_00_dot_08_bar__minus_02_dot_88 BookType)\n (objectType Window_bar__minus_03_dot_89_bar__plus_01_dot_75_bar__minus_00_dot_68 WindowType)\n (objectType Blinds_bar__minus_01_dot_96_bar__plus_02_dot_79_bar__minus_03_dot_25 BlindsType)\n (objectType CreditCard_bar__minus_01_dot_23_bar__plus_01_dot_12_bar__minus_03_dot_24 CreditCardType)\n (objectType Blinds_bar__minus_00_dot_48_bar__plus_02_dot_79_bar__minus_03_dot_25 BlindsType)\n (objectType CellPhone_bar__minus_01_dot_23_bar__plus_01_dot_12_bar__minus_02_dot_73 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 RemoteControlType)\n (canContain SafeType CellPhoneType)\n (canContain SafeType KeyChainType)\n (canContain SafeType CreditCardType)\n (canContain SafeType CDType)\n (canContain BedType LaptopType)\n (canContain BedType BookType)\n (canContain BedType CellPhoneType)\n (canContain BedType PillowType)\n (canContain DeskType PenType)\n (canContain DeskType BookType)\n (canContain DeskType CDType)\n (canContain DeskType MugType)\n (canContain DeskType CellPhoneType)\n (canContain DeskType KeyChainType)\n (canContain DeskType CreditCardType)\n (canContain DeskType LaptopType)\n (canContain DeskType PencilType)\n (canContain DeskType RemoteControlType)\n (canContain DeskType AlarmClockType)\n (canContain DrawerType PenType)\n (canContain DrawerType BookType)\n (canContain DrawerType CDType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType PencilType)\n (canContain DrawerType RemoteControlType)\n (canContain DrawerType PenType)\n (canContain DrawerType BookType)\n (canContain DrawerType CDType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType PencilType)\n (canContain DrawerType RemoteControlType)\n (canContain GarbageCanType PenType)\n (canContain GarbageCanType CDType)\n (canContain GarbageCanType PencilType)\n (canContain DrawerType PenType)\n (canContain DrawerType BookType)\n (canContain DrawerType CDType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType PencilType)\n (canContain DrawerType RemoteControlType)\n (canContain ArmChairType LaptopType)\n (canContain ArmChairType BookType)\n (canContain ArmChairType CellPhoneType)\n (canContain ArmChairType PillowType)\n (canContain ArmChairType RemoteControlType)\n (canContain ArmChairType KeyChainType)\n (canContain ArmChairType CreditCardType)\n (canContain ArmChairType LaptopType)\n (canContain ArmChairType BookType)\n (canContain ArmChairType CellPhoneType)\n (canContain ArmChairType PillowType)\n (canContain ArmChairType RemoteControlType)\n (canContain ArmChairType KeyChainType)\n (canContain ArmChairType CreditCardType)\n (canContain SideTableType PenType)\n (canContain SideTableType BookType)\n (canContain SideTableType CDType)\n (canContain SideTableType MugType)\n (canContain SideTableType CellPhoneType)\n (canContain SideTableType KeyChainType)\n (canContain SideTableType CreditCardType)\n (canContain SideTableType LaptopType)\n (canContain SideTableType PencilType)\n (canContain SideTableType RemoteControlType)\n (canContain SideTableType AlarmClockType)\n (canContain ArmChairType LaptopType)\n (canContain ArmChairType BookType)\n (canContain ArmChairType CellPhoneType)\n (canContain ArmChairType PillowType)\n (canContain ArmChairType RemoteControlType)\n (canContain ArmChairType KeyChainType)\n (canContain ArmChairType CreditCardType)\n (canContain CabinetType BookType)\n (canContain CabinetType CDType)\n (canContain CabinetType MugType)\n (canContain CabinetType BookType)\n (canContain CabinetType CDType)\n (canContain CabinetType MugType)\n (pickupable RemoteControl_bar__minus_00_dot_60_bar__plus_01_dot_12_bar__minus_03_dot_16)\n (pickupable Mug_bar__minus_02_dot_75_bar__plus_00_dot_08_bar__minus_02_dot_90)\n (pickupable Pillow_bar__plus_01_dot_82_bar__plus_00_dot_87_bar__plus_01_dot_15)\n (pickupable Pen_bar__minus_01_dot_54_bar__plus_01_dot_12_bar__minus_02_dot_73)\n (pickupable TeddyBear_bar__plus_01_dot_87_bar__plus_00_dot_04_bar__minus_00_dot_56)\n (pickupable Pillow_bar__plus_00_dot_96_bar__plus_00_dot_94_bar__plus_00_dot_26)\n (pickupable Laptop_bar__minus_01_dot_90_bar__plus_01_dot_10_bar__minus_02_dot_97)\n (pickupable CD_bar__minus_01_dot_85_bar__plus_01_dot_12_bar__minus_02_dot_73)\n (pickupable KeyChain_bar__minus_03_dot_13_bar__plus_00_dot_19_bar__plus_03_dot_28)\n (pickupable Mug_bar__minus_02_dot_93_bar__plus_00_dot_08_bar__minus_02_dot_74)\n (pickupable CreditCard_bar__minus_01_dot_34_bar__plus_00_dot_58_bar__minus_02_dot_88)\n (pickupable CellPhone_bar__minus_00_dot_29_bar__plus_01_dot_12_bar__minus_02_dot_82)\n (pickupable RemoteControl_bar__plus_01_dot_61_bar__plus_00_dot_56_bar__plus_02_dot_54)\n (pickupable CreditCard_bar__minus_00_dot_92_bar__plus_00_dot_19_bar__plus_03_dot_31)\n (pickupable Pencil_bar__plus_01_dot_66_bar__plus_00_dot_56_bar__plus_02_dot_32)\n (pickupable Mug_bar__minus_02_dot_16_bar__plus_01_dot_11_bar__minus_03_dot_24)\n (pickupable CellPhone_bar__minus_02_dot_17_bar__plus_00_dot_19_bar__plus_03_dot_59)\n (pickupable AlarmClock_bar__minus_01_dot_23_bar__plus_01_dot_12_bar__minus_03_dot_07)\n (pickupable Pen_bar__minus_01_dot_16_bar__plus_00_dot_09_bar__minus_02_dot_78)\n (pickupable CellPhone_bar__minus_01_dot_16_bar__plus_00_dot_59_bar__minus_02_dot_88)\n (pickupable Book_bar__minus_00_dot_54_bar__plus_00_dot_08_bar__minus_02_dot_88)\n (pickupable CreditCard_bar__minus_01_dot_23_bar__plus_01_dot_12_bar__minus_03_dot_24)\n (pickupable CellPhone_bar__minus_01_dot_23_bar__plus_01_dot_12_bar__minus_02_dot_73)\n (isReceptacleObject Mug_bar__minus_02_dot_75_bar__plus_00_dot_08_bar__minus_02_dot_90)\n (isReceptacleObject Mug_bar__minus_02_dot_93_bar__plus_00_dot_08_bar__minus_02_dot_74)\n (isReceptacleObject Mug_bar__minus_02_dot_16_bar__plus_01_dot_11_bar__minus_03_dot_24)\n (openable Drawer_bar__minus_00_dot_37_bar__plus_00_dot_29_bar__minus_02_dot_85)\n (openable Drawer_bar__minus_01_dot_16_bar__plus_00_dot_79_bar__minus_02_dot_85)\n (openable Drawer_bar__minus_00_dot_37_bar__plus_00_dot_79_bar__minus_02_dot_85)\n (openable Cabinet_bar__plus_02_dot_06_bar__plus_01_dot_50_bar__minus_02_dot_64)\n (openable Cabinet_bar__minus_03_dot_00_bar__plus_01_dot_50_bar__minus_02_dot_64)\n \n (atLocation agent1 loc_bar__minus_1_bar_8_bar_0_bar_30)\n \n (cleanable Mug_bar__minus_02_dot_75_bar__plus_00_dot_08_bar__minus_02_dot_90)\n (cleanable Mug_bar__minus_02_dot_93_bar__plus_00_dot_08_bar__minus_02_dot_74)\n (cleanable Mug_bar__minus_02_dot_16_bar__plus_01_dot_11_bar__minus_03_dot_24)\n \n (heatable Mug_bar__minus_02_dot_75_bar__plus_00_dot_08_bar__minus_02_dot_90)\n (heatable Mug_bar__minus_02_dot_93_bar__plus_00_dot_08_bar__minus_02_dot_74)\n (heatable Mug_bar__minus_02_dot_16_bar__plus_01_dot_11_bar__minus_03_dot_24)\n (coolable Mug_bar__minus_02_dot_75_bar__plus_00_dot_08_bar__minus_02_dot_90)\n (coolable Mug_bar__minus_02_dot_93_bar__plus_00_dot_08_bar__minus_02_dot_74)\n (coolable Mug_bar__minus_02_dot_16_bar__plus_01_dot_11_bar__minus_03_dot_24)\n \n \n (toggleable DeskLamp_bar__plus_01_dot_87_bar__plus_00_dot_55_bar__plus_02_dot_42)\n \n \n \n \n (inReceptacle Pillow_bar__plus_00_dot_96_bar__plus_00_dot_94_bar__plus_00_dot_26 Bed_bar__plus_00_dot_99_bar__plus_00_dot_03_bar__plus_00_dot_67)\n (inReceptacle Pillow_bar__plus_01_dot_82_bar__plus_00_dot_87_bar__plus_01_dot_15 Bed_bar__plus_00_dot_99_bar__plus_00_dot_03_bar__plus_00_dot_67)\n (inReceptacle CellPhone_bar__minus_02_dot_17_bar__plus_00_dot_19_bar__plus_03_dot_59 ArmChair_bar__minus_02_dot_17_bar__plus_00_dot_00_bar__plus_03_dot_63)\n (inReceptacle RemoteControl_bar__plus_01_dot_61_bar__plus_00_dot_56_bar__plus_02_dot_54 SideTable_bar__plus_01_dot_78_bar__plus_00_dot_02_bar__plus_02_dot_38)\n (inReceptacle DeskLamp_bar__plus_01_dot_87_bar__plus_00_dot_55_bar__plus_02_dot_42 SideTable_bar__plus_01_dot_78_bar__plus_00_dot_02_bar__plus_02_dot_38)\n (inReceptacle Pencil_bar__plus_01_dot_66_bar__plus_00_dot_56_bar__plus_02_dot_32 SideTable_bar__plus_01_dot_78_bar__plus_00_dot_02_bar__plus_02_dot_38)\n (inReceptacle CreditCard_bar__minus_01_dot_34_bar__plus_00_dot_58_bar__minus_02_dot_88 Drawer_bar__minus_01_dot_16_bar__plus_00_dot_79_bar__minus_02_dot_85)\n (inReceptacle CellPhone_bar__minus_01_dot_16_bar__plus_00_dot_59_bar__minus_02_dot_88 Drawer_bar__minus_01_dot_16_bar__plus_00_dot_79_bar__minus_02_dot_85)\n (inReceptacle HousePlant_bar__minus_00_dot_20_bar__plus_01_dot_10_bar__minus_03_dot_08 Cabinet_bar__plus_02_dot_06_bar__plus_01_dot_50_bar__minus_02_dot_64)\n (inReceptacle Pen_bar__minus_01_dot_16_bar__plus_00_dot_09_bar__minus_02_dot_78 Drawer_bar__minus_01_dot_16_bar__plus_00_dot_29_bar__minus_02_dot_85)\n (inReceptacle CreditCard_bar__minus_00_dot_92_bar__plus_00_dot_19_bar__plus_03_dot_31 ArmChair_bar__minus_00_dot_94_bar__plus_00_dot_00_bar__plus_03_dot_61)\n (inReceptacle Book_bar__minus_00_dot_54_bar__plus_00_dot_08_bar__minus_02_dot_88 Drawer_bar__minus_00_dot_37_bar__plus_00_dot_29_bar__minus_02_dot_85)\n (inReceptacle HousePlant_bar__minus_00_dot_20_bar__plus_01_dot_10_bar__minus_03_dot_08 Desk_bar__minus_01_dot_27_bar__plus_01_dot_17_bar__minus_02_dot_99)\n (inReceptacle CellPhone_bar__minus_00_dot_29_bar__plus_01_dot_12_bar__minus_02_dot_82 Desk_bar__minus_01_dot_27_bar__plus_01_dot_17_bar__minus_02_dot_99)\n (inReceptacle RemoteControl_bar__minus_00_dot_60_bar__plus_01_dot_12_bar__minus_03_dot_16 Desk_bar__minus_01_dot_27_bar__plus_01_dot_17_bar__minus_02_dot_99)\n (inReceptacle Pen_bar__minus_01_dot_54_bar__plus_01_dot_12_bar__minus_02_dot_73 Desk_bar__minus_01_dot_27_bar__plus_01_dot_17_bar__minus_02_dot_99)\n (inReceptacle CreditCard_bar__minus_01_dot_23_bar__plus_01_dot_12_bar__minus_03_dot_24 Desk_bar__minus_01_dot_27_bar__plus_01_dot_17_bar__minus_02_dot_99)\n (inReceptacle Laptop_bar__minus_01_dot_90_bar__plus_01_dot_10_bar__minus_02_dot_97 Desk_bar__minus_01_dot_27_bar__plus_01_dot_17_bar__minus_02_dot_99)\n (inReceptacle Mug_bar__minus_02_dot_16_bar__plus_01_dot_11_bar__minus_03_dot_24 Desk_bar__minus_01_dot_27_bar__plus_01_dot_17_bar__minus_02_dot_99)\n (inReceptacle AlarmClock_bar__minus_01_dot_23_bar__plus_01_dot_12_bar__minus_03_dot_07 Desk_bar__minus_01_dot_27_bar__plus_01_dot_17_bar__minus_02_dot_99)\n (inReceptacle CellPhone_bar__minus_01_dot_23_bar__plus_01_dot_12_bar__minus_02_dot_73 Desk_bar__minus_01_dot_27_bar__plus_01_dot_17_bar__minus_02_dot_99)\n \n \n (receptacleAtLocation ArmChair_bar__minus_00_dot_94_bar__plus_00_dot_00_bar__plus_03_dot_61 loc_bar__minus_3_bar_10_bar_0_bar_60)\n (receptacleAtLocation ArmChair_bar__minus_02_dot_17_bar__plus_00_dot_00_bar__plus_03_dot_63 loc_bar__minus_8_bar_10_bar_0_bar_60)\n (receptacleAtLocation ArmChair_bar__minus_03_dot_37_bar__plus_00_dot_00_bar__plus_03_dot_38 loc_bar__minus_9_bar_12_bar_3_bar_60)\n (receptacleAtLocation Bed_bar__plus_00_dot_99_bar__plus_00_dot_03_bar__plus_00_dot_67 loc_bar__minus_2_bar_3_bar_1_bar_45)\n (receptacleAtLocation Cabinet_bar__plus_02_dot_06_bar__plus_01_dot_50_bar__minus_02_dot_64 loc_bar_4_bar__minus_8_bar_1_bar_15)\n (receptacleAtLocation Cabinet_bar__minus_03_dot_00_bar__plus_01_dot_50_bar__minus_02_dot_64 loc_bar__minus_11_bar__minus_8_bar_2_bar_15)\n (receptacleAtLocation Desk_bar__minus_01_dot_27_bar__plus_01_dot_17_bar__minus_02_dot_99 loc_bar__minus_4_bar__minus_9_bar_2_bar_30)\n (receptacleAtLocation Drawer_bar__minus_00_dot_37_bar__plus_00_dot_29_bar__minus_02_dot_85 loc_bar__minus_6_bar__minus_9_bar_1_bar_45)\n (receptacleAtLocation Drawer_bar__minus_00_dot_37_bar__plus_00_dot_79_bar__minus_02_dot_85 loc_bar__minus_5_bar__minus_9_bar_1_bar_45)\n (receptacleAtLocation Drawer_bar__minus_01_dot_16_bar__plus_00_dot_29_bar__minus_02_dot_85 loc_bar__minus_5_bar__minus_9_bar_2_bar_60)\n (receptacleAtLocation Drawer_bar__minus_01_dot_16_bar__plus_00_dot_79_bar__minus_02_dot_85 loc_bar__minus_7_bar__minus_9_bar_2_bar_60)\n (receptacleAtLocation GarbageCan_bar__minus_03_dot_34_bar__plus_00_dot_04_bar__minus_02_dot_80 loc_bar__minus_13_bar__minus_9_bar_2_bar_60)\n (receptacleAtLocation LaundryHamper_bar__plus_01_dot_83_bar__plus_00_dot_04_bar__plus_03_dot_69 loc_bar_7_bar_12_bar_0_bar_60)\n (receptacleAtLocation Safe_bar__plus_01_dot_72_bar__plus_00_dot_05_bar__minus_03_dot_05 loc_bar_7_bar__minus_8_bar_2_bar_60)\n (receptacleAtLocation SideTable_bar__plus_01_dot_78_bar__plus_00_dot_02_bar__plus_02_dot_38 loc_bar_6_bar_13_bar_2_bar_60)\n (objectAtLocation Mug_bar__minus_02_dot_16_bar__plus_01_dot_11_bar__minus_03_dot_24 loc_bar__minus_4_bar__minus_9_bar_2_bar_30)\n (objectAtLocation Pen_bar__minus_01_dot_16_bar__plus_00_dot_09_bar__minus_02_dot_78 loc_bar__minus_5_bar__minus_9_bar_2_bar_60)\n (objectAtLocation RemoteControl_bar__minus_00_dot_60_bar__plus_01_dot_12_bar__minus_03_dot_16 loc_bar__minus_4_bar__minus_9_bar_2_bar_30)\n (objectAtLocation CreditCard_bar__minus_01_dot_34_bar__plus_00_dot_58_bar__minus_02_dot_88 loc_bar__minus_7_bar__minus_9_bar_2_bar_60)\n (objectAtLocation CellPhone_bar__minus_02_dot_17_bar__plus_00_dot_19_bar__plus_03_dot_59 loc_bar__minus_8_bar_10_bar_0_bar_60)\n (objectAtLocation CreditCard_bar__minus_00_dot_92_bar__plus_00_dot_19_bar__plus_03_dot_31 loc_bar__minus_3_bar_10_bar_0_bar_60)\n (objectAtLocation CellPhone_bar__minus_01_dot_16_bar__plus_00_dot_59_bar__minus_02_dot_88 loc_bar__minus_7_bar__minus_9_bar_2_bar_60)\n (objectAtLocation CellPhone_bar__minus_01_dot_23_bar__plus_01_dot_12_bar__minus_02_dot_73 loc_bar__minus_4_bar__minus_9_bar_2_bar_30)\n (objectAtLocation Mug_bar__minus_02_dot_75_bar__plus_00_dot_08_bar__minus_02_dot_90 loc_bar__minus_11_bar__minus_8_bar_2_bar_60)\n (objectAtLocation Book_bar__minus_00_dot_54_bar__plus_00_dot_08_bar__minus_02_dot_88 loc_bar__minus_6_bar__minus_9_bar_1_bar_45)\n (objectAtLocation LaundryHamperLid_bar__plus_01_dot_83_bar__plus_00_dot_79_bar__plus_03_dot_69 loc_bar_7_bar_12_bar_0_bar_45)\n (objectAtLocation AlarmClock_bar__minus_01_dot_23_bar__plus_01_dot_12_bar__minus_03_dot_07 loc_bar__minus_4_bar__minus_9_bar_2_bar_30)\n (objectAtLocation CellPhone_bar__minus_00_dot_29_bar__plus_01_dot_12_bar__minus_02_dot_82 loc_bar__minus_4_bar__minus_9_bar_2_bar_30)\n (objectAtLocation LightSwitch_bar__minus_00_dot_16_bar__plus_01_dot_28_bar__plus_04_dot_00 loc_bar__minus_1_bar_14_bar_0_bar_45)\n (objectAtLocation Pillow_bar__plus_00_dot_96_bar__plus_00_dot_94_bar__plus_00_dot_26 loc_bar__minus_2_bar_3_bar_1_bar_45)\n (objectAtLocation Pillow_bar__plus_01_dot_82_bar__plus_00_dot_87_bar__plus_01_dot_15 loc_bar__minus_2_bar_3_bar_1_bar_45)\n (objectAtLocation TeddyBear_bar__plus_01_dot_87_bar__plus_00_dot_04_bar__minus_00_dot_56 loc_bar_7_bar__minus_4_bar_0_bar_60)\n (objectAtLocation CreditCard_bar__minus_01_dot_23_bar__plus_01_dot_12_bar__minus_03_dot_24 loc_bar__minus_4_bar__minus_9_bar_2_bar_30)\n (objectAtLocation KeyChain_bar__minus_03_dot_13_bar__plus_00_dot_19_bar__plus_03_dot_28 loc_bar__minus_13_bar_11_bar_0_bar_60)\n (objectAtLocation Pencil_bar__plus_01_dot_66_bar__plus_00_dot_56_bar__plus_02_dot_32 loc_bar_6_bar_13_bar_2_bar_60)\n (objectAtLocation Laptop_bar__minus_01_dot_90_bar__plus_01_dot_10_bar__minus_02_dot_97 loc_bar__minus_4_bar__minus_9_bar_2_bar_30)\n (objectAtLocation HousePlant_bar__minus_00_dot_20_bar__plus_01_dot_10_bar__minus_03_dot_08 loc_bar__minus_4_bar__minus_9_bar_2_bar_30)\n (objectAtLocation DeskLamp_bar__plus_01_dot_87_bar__plus_00_dot_55_bar__plus_02_dot_42 loc_bar_6_bar_13_bar_2_bar_60)\n (objectAtLocation RemoteControl_bar__plus_01_dot_61_bar__plus_00_dot_56_bar__plus_02_dot_54 loc_bar_6_bar_13_bar_2_bar_60)\n (objectAtLocation Mirror_bar__minus_01_dot_60_bar__plus_01_dot_45_bar__plus_04_dot_00 loc_bar__minus_6_bar_13_bar_0_bar_15)\n (objectAtLocation Television_bar__minus_03_dot_88_bar__plus_01_dot_77_bar__plus_02_dot_12 loc_bar__minus_13_bar_8_bar_3_bar_0)\n (objectAtLocation CD_bar__minus_01_dot_85_bar__plus_01_dot_12_bar__minus_02_dot_73 loc_bar__minus_7_bar__minus_9_bar_2_bar_45)\n (objectAtLocation Pen_bar__minus_01_dot_54_bar__plus_01_dot_12_bar__minus_02_dot_73 loc_bar__minus_4_bar__minus_9_bar_2_bar_30)\n (objectAtLocation Window_bar__minus_01_dot_95_bar__plus_02_dot_15_bar__minus_03_dot_30 loc_bar__minus_7_bar__minus_9_bar_2_bar__minus_30)\n (objectAtLocation Window_bar__minus_00_dot_47_bar__plus_02_dot_15_bar__minus_03_dot_30 loc_bar__minus_2_bar__minus_9_bar_2_bar__minus_30)\n (objectAtLocation Window_bar__minus_03_dot_89_bar__plus_01_dot_75_bar__plus_00_dot_58 loc_bar__minus_13_bar_2_bar_3_bar_0)\n (objectAtLocation Window_bar__minus_03_dot_89_bar__plus_01_dot_75_bar__minus_00_dot_68 loc_bar__minus_13_bar__minus_3_bar_3_bar_0)\n (objectAtLocation Chair_bar__minus_02_dot_07_bar__plus_00_dot_04_bar__minus_02_dot_69 loc_bar__minus_7_bar__minus_9_bar_2_bar_60)\n (objectAtLocation Mug_bar__minus_02_dot_93_bar__plus_00_dot_08_bar__minus_02_dot_74 loc_bar__minus_13_bar__minus_9_bar_2_bar_60)\n (objectAtLocation Blinds_bar__minus_00_dot_48_bar__plus_02_dot_79_bar__minus_03_dot_25 loc_bar__minus_2_bar__minus_9_bar_2_bar__minus_30)\n (objectAtLocation Blinds_bar__minus_01_dot_96_bar__plus_02_dot_79_bar__minus_03_dot_25 loc_bar__minus_7_bar__minus_9_bar_2_bar__minus_30)\n (objectAtLocation Blinds_bar__minus_03_dot_80_bar__plus_02_dot_51_bar__plus_00_dot_60 loc_bar__minus_13_bar_2_bar_3_bar__minus_30)\n (objectAtLocation Blinds_bar__minus_03_dot_80_bar__plus_02_dot_51_bar__minus_00_dot_65 loc_bar__minus_13_bar__minus_3_bar_3_bar__minus_30)\n )\n \n\n (:goal\n (and\n (exists (?r - receptacle)\n (exists (?o1 - object)\n (and\n (objectType ?o1 CellPhoneType)\n (receptacleType ?r BedType)\n (inReceptacle ?o1 ?r)\n (exists (?o2 - object)\n (and\n (not (= ?o1 ?o2))\n (objectType ?o2 CellPhoneType)\n (receptacleType ?r BedType)\n (inReceptacle ?o2 ?r)\n )\n )\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to desk 1", "take cellphone 4 from desk 1", "go to bed 1", "move cellphone 4 to bed 1", "go to desk 1", "take cellphone 2 from desk 1", "go to bed 1", "move cellphone 2 to bed 1"]}
|
alfworld__pick_two_obj_and_place__8
|
pick_two_obj_and_place
|
pick_two_obj_and_place-CellPhone-None-Bed-309/trial_T20190908_112341_368964/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 cellphone and put them in bed.\"\n }\n ],\n\n \"GotoLocation.feedback\": [\n {\n \"rhs\": \"You arrive at {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"OpenObject.feedback\": [\n {\n \"rhs\": \"You open the {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"CloseObject.feedback\": [\n {\n \"rhs\": \"You close the {r.name}.\"\n }\n ],\n\n \"PickupObject.feedback\": [\n {\n \"rhs\": \"You pick up the {o.name} from the {r.name}.\"\n }\n ],\n\n \"PickupObjectFromReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupObjectFromReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupEmptyReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupEmptyReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupFullReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupFullReceptacleObject: You pick up the {outerr.name}.\"\n }\n ],\n\n \"PutObject.feedback\": [\n {\n \"rhs\": \"You move the {o.name} to the {r.name}.\"\n }\n ],\n\n \"PutObjectInReceptacleObject.feedback\": [\n {\n \"rhs\": \"PutObjectInReceptacleObject: You put the {o.name} in the {outero.name}.\"\n }\n ],\n\n \"PutEmptyReceptacleObjectinReceptacle.feedback\": [\n {\n \"rhs\": \"PutEmptyReceptacleObjectinReceptacle: You put the {o.name} in the {r.name}.\"\n }\n ],\n\n \"PutFullReceptacleObjectInReceptacle.feedback\": [\n {\n \"rhs\": \"PutFullReceptacleObjectInReceptacle: You put the {outero.name} in the {r.name}.\"\n }\n ],\n\n \"inventory.feedback\": [\n {\n \"condition\": \"holdsany(a:agent)\",\n \"rhs\": \"You are carrying: [{o.indefinite + ' ' + o.name | holds(a:agent, o:object)}].\"\n },\n {\n \"rhs\": \"You are not carrying anything.\"\n }\n ],\n\n \"examineReceptacle.feedback\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \"The {r.name} is open. In it, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \"The {r.name} is closed.\"\n },\n {\n \"rhs\": \"On the {r.name}, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n }\n ],\n\n \"examineObject.feedback\": [\n {\n \"condition\": \"isreceptacleobject(o:object)\",\n \"rhs\": \"This is a normal {o.name}. In it, you see [{o2.indefinite + ' ' + o2.name | inreceptacleobject(o2:object, o:object)}].\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a clean sliced {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot sliced {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object)\",\n \"rhs\": \"This is a hot and clean {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object)\",\n \"rhs\": \"This is a cool and clean {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object)\",\n \"rhs\": \"This is a hot {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object)\",\n \"rhs\": \"This is a clean {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object)\",\n \"rhs\": \"This is a cold {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"This {o.name} is on.\"\n },\n {\n \"condition\": \"toggleable(o:object) & not_istoggled(o:object)\",\n \"rhs\": \"This {o.name} is off.\"\n },\n {\n \"condition\": \"sliceable(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a sliced {o.name}.\"\n },\n {\n \"rhs\": \"There's nothing special about {o.name}.\"\n }\n ]\n }\n\"\"\";\n\naction GotoLocation {\n template :: \"go to [{r.name | receptacleatlocation(r:receptacle, lend:location)}]\";\n feedback :: \"#GotoLocation.feedback#\";\n}\n\naction OpenObject {\n template :: \"open {r}\";\n feedback :: \"#OpenObject.feedback#\";\n}\n\naction CloseObject {\n template :: \"close {r}\";\n feedback :: \"#CloseObject.feedback#\";\n}\n\naction PickupObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObject.feedback#\";\n}\n\naction PickupObjectFromReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObjectFromReceptacleObject.feedback#\";\n}\n\naction PickupEmptyReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupEmptyReceptacleObject.feedback#\";\n}\n\naction PickupFullReceptacleObject {\n template :: \"take {outerr} from {r}\";\n feedback :: \"#PickupFullReceptacleObject.feedback#\";\n}\n\naction PutObject {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutObject.feedback#\";\n}\n\naction PutObjectInReceptacleObject {\n template :: \"put {o} into {outero}\";\n feedback :: \"#PutObjectInReceptacleObject.feedback#\";\n}\n\naction PutEmptyReceptacleObjectinReceptacle {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutEmptyReceptacleObjectinReceptacle.feedback#\";\n}\n\naction PutFullReceptacleObjectInReceptacle {\n template :: \"put {outero} in {r}\";\n feedback :: \"#PutFullReceptacleObjectInReceptacle.feedback#\";\n}\n\naction inventory {\n template :: \"inventory\";\n feedback :: \"#inventory.feedback#\";\n}\n\naction examineReceptacle {\n template :: \"examine {r}\";\n feedback :: \"#examineReceptacle.feedback#\";\n}\n\naction examineObject {\n template :: \"examine {o}\";\n feedback :: \"#examineObject.feedback#\";\n}\n\naction ToggleObject {\n template :: \"use {o}\";\n feedback :: \"#toggleObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"toggleObject.feedback\": [\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"You turn on the {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object)\",\n \"rhs\": \"You turn off the {o.name}.\"\n },\n {\n \"rhs\": \"You don't see any switch on the {o.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction HeatObject {\n template :: \"heat {o} with {r}\";\n feedback :: \"#heatObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"heatObject.feedback\": [\n {\n \"rhs\": \"You heat the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CleanObject {\n template :: \"clean {o} with {r}\";\n feedback :: \"#cleanObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"cleanObject.feedback\": [\n {\n \"rhs\": \"You clean the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CoolObject {\n template :: \"cool {o} with {r}\";\n feedback :: \"#coolObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"coolObject.feedback\": [\n {\n \"rhs\": \"You cool the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction SliceObject {\n template :: \"slice {co} with {ko}\";\n feedback :: \"#sliceObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"sliceObject.feedback\": [\n {\n \"rhs\": \"You sliced the {co.name} with the {ko.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction look {\n template :: \"look\";\n feedback :: \"#look.feedback#\";\n\n grammar :: \"\"\"\n {\n \"look.feedback\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"#look-variations#. Next to it, you see #list_objects_on_the_floor#.\"\n },\n {\n \"rhs\": \"You are in the middle of a room. Looking quickly around you, you see #list_appliances#.\"\n }\n ],\n\n \"look-variations\": [\n {\n \"rhs\": \"You are facing the [{r.name | atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)}]\"\n }\n ],\n\n \"list_objects_on_the_floor\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)\",\n \"rhs\": \"[{#overview(o)# | atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"list_appliances\": [\n {\n \"condition\": \"receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"[{#overview(r)# | receptacleatlocation(r:receptacle, l:location)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"overview(o, r)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name} (in/on the {r.name})}\"\n }\n ],\n\n \"overview(o)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name}\"\n }\n ],\n \"overview(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}\"\n }\n ],\n \"overview_with_state(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}#overview_state(r)#\"\n }\n ],\n \"overview_state(r)\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \" (it is open)\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \" (it is closed)\"\n },\n {\n \"rhs\": \"\"\n }\n ],\n\n \"list_empty\": [\n {\n \"rhs\": \"nothing\"\n }\n ],\n \"list_separator\": [\n {\n \"rhs\": \", \"\n }\n ],\n \"list_last_separator\": [\n {\n \"rhs\": \", and \"\n }\n ]\n }\n \"\"\";\n}\n\naction help {\n template :: \"help\";\n feedback :: \"\nAvailable commands:\n look: look around your current location\n inventory: check your current inventory\n go to (receptacle): move to a receptacle\n open (receptacle): open a receptacle\n close (receptacle): close a receptacle\n take (object) from (receptacle): take an object from a receptacle\n move (object) to (receptacle): place an object in or on a receptacle\n examine (something): examine a receptacle or an object\n use (object): use an object\n heat (object) with (receptacle): heat an object using a receptacle\n clean (object) with (receptacle): clean an object using a receptacle\n cool (object) with (receptacle): cool an object using a receptacle\n slice (object) with (object): slice an object using a sharp object\n\";\n}\n", "pddl_problem": "\n(define (problem plan_trial_T20190908_112341_368964)\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_23_bar__plus_01_dot_12_bar__minus_02_dot_82 - object\n AlarmClock_bar__minus_01_dot_54_bar__plus_01_dot_12_bar__minus_03_dot_07 - object\n AlarmClock_bar__minus_01_dot_85_bar__plus_01_dot_12_bar__minus_03_dot_16 - object\n Blinds_bar__minus_00_dot_48_bar__plus_02_dot_79_bar__minus_03_dot_25 - object\n Blinds_bar__minus_01_dot_96_bar__plus_02_dot_79_bar__minus_03_dot_25 - object\n Blinds_bar__minus_03_dot_80_bar__plus_02_dot_51_bar__plus_00_dot_60 - object\n Blinds_bar__minus_03_dot_80_bar__plus_02_dot_51_bar__minus_00_dot_65 - object\n Book_bar__minus_00_dot_60_bar__plus_01_dot_12_bar__minus_02_dot_99 - object\n Book_bar__minus_01_dot_02_bar__plus_00_dot_19_bar__plus_03_dot_57 - object\n Book_bar__minus_02_dot_09_bar__plus_00_dot_19_bar__plus_03_dot_59 - object\n CD_bar__minus_02_dot_01_bar__plus_00_dot_19_bar__plus_03_dot_41 - object\n CellPhone_bar__plus_01_dot_66_bar__plus_00_dot_56_bar__plus_02_dot_54 - object\n CellPhone_bar__plus_01_dot_67_bar__plus_00_dot_10_bar__minus_03_dot_05 - object\n CellPhone_bar__plus_01_dot_71_bar__plus_00_dot_56_bar__plus_02_dot_25 - object\n Chair_bar__minus_02_dot_07_bar__plus_00_dot_04_bar__minus_02_dot_69 - object\n CreditCard_bar__plus_01_dot_90_bar__plus_00_dot_55_bar__plus_02_dot_61 - object\n CreditCard_bar__minus_02_dot_41_bar__plus_00_dot_31_bar__plus_03_dot_50 - object\n DeskLamp_bar__plus_01_dot_87_bar__plus_00_dot_55_bar__plus_02_dot_42 - object\n HousePlant_bar__minus_00_dot_20_bar__plus_01_dot_10_bar__minus_03_dot_08 - object\n KeyChain_bar__plus_01_dot_76_bar__plus_00_dot_55_bar__plus_02_dot_32 - object\n KeyChain_bar__minus_01_dot_23_bar__plus_01_dot_12_bar__minus_02_dot_99 - object\n KeyChain_bar__minus_01_dot_85_bar__plus_01_dot_12_bar__minus_02_dot_73 - object\n Laptop_bar__plus_00_dot_67_bar__plus_00_dot_83_bar__plus_00_dot_26 - object\n Laptop_bar__plus_01_dot_53_bar__plus_00_dot_83_bar__plus_00_dot_50 - object\n Laptop_bar__plus_01_dot_53_bar__plus_00_dot_83_bar__plus_01_dot_22 - object\n LaundryHamperLid_bar__plus_01_dot_83_bar__plus_00_dot_79_bar__plus_03_dot_69 - object\n LightSwitch_bar__minus_00_dot_16_bar__plus_01_dot_28_bar__plus_04_dot_00 - object\n Mirror_bar__minus_01_dot_60_bar__plus_01_dot_45_bar__plus_04_dot_00 - object\n Mug_bar__minus_00_dot_29_bar__plus_01_dot_11_bar__minus_02_dot_90 - object\n Mug_bar__minus_00_dot_91_bar__plus_01_dot_11_bar__minus_02_dot_99 - object\n Mug_bar__minus_02_dot_69_bar__plus_00_dot_08_bar__minus_02_dot_98 - object\n Pencil_bar__plus_01_dot_61_bar__plus_00_dot_56_bar__plus_02_dot_40 - object\n Pen_bar__plus_01_dot_54_bar__plus_00_dot_56_bar__plus_02_dot_34 - object\n Pillow_bar__plus_00_dot_39_bar__plus_00_dot_94_bar__plus_01_dot_46 - object\n Pillow_bar__plus_01_dot_82_bar__plus_00_dot_87_bar__plus_01_dot_15 - object\n RemoteControl_bar__minus_01_dot_85_bar__plus_01_dot_12_bar__minus_02_dot_99 - object\n RemoteControl_bar__minus_02_dot_16_bar__plus_01_dot_12_bar__minus_03_dot_07 - object\n TeddyBear_bar__plus_01_dot_87_bar__plus_00_dot_04_bar__minus_00_dot_56 - object\n Television_bar__minus_03_dot_88_bar__plus_01_dot_77_bar__plus_02_dot_12 - object\n Window_bar__minus_00_dot_47_bar__plus_02_dot_15_bar__minus_03_dot_30 - object\n Window_bar__minus_01_dot_95_bar__plus_02_dot_15_bar__minus_03_dot_30 - object\n Window_bar__minus_03_dot_89_bar__plus_01_dot_75_bar__plus_00_dot_58 - object\n Window_bar__minus_03_dot_89_bar__plus_01_dot_75_bar__minus_00_dot_68 - object\n ArmChair_bar__minus_00_dot_94_bar__plus_00_dot_00_bar__plus_03_dot_61 - receptacle\n ArmChair_bar__minus_02_dot_17_bar__plus_00_dot_00_bar__plus_03_dot_63 - receptacle\n ArmChair_bar__minus_03_dot_37_bar__plus_00_dot_00_bar__plus_03_dot_38 - receptacle\n Bed_bar__plus_00_dot_99_bar__plus_00_dot_03_bar__plus_00_dot_67 - receptacle\n Cabinet_bar__plus_02_dot_06_bar__plus_01_dot_50_bar__minus_02_dot_64 - receptacle\n Cabinet_bar__minus_03_dot_00_bar__plus_01_dot_50_bar__minus_02_dot_64 - receptacle\n Desk_bar__minus_01_dot_27_bar__plus_01_dot_17_bar__minus_02_dot_99 - receptacle\n Drawer_bar__minus_00_dot_37_bar__plus_00_dot_29_bar__minus_02_dot_85 - receptacle\n Drawer_bar__minus_00_dot_37_bar__plus_00_dot_79_bar__minus_02_dot_85 - receptacle\n Drawer_bar__minus_01_dot_16_bar__plus_00_dot_29_bar__minus_02_dot_85 - receptacle\n Drawer_bar__minus_01_dot_16_bar__plus_00_dot_79_bar__minus_02_dot_85 - receptacle\n GarbageCan_bar__minus_03_dot_34_bar__plus_00_dot_04_bar__minus_02_dot_80 - receptacle\n LaundryHamper_bar__plus_01_dot_83_bar__plus_00_dot_04_bar__plus_03_dot_69 - receptacle\n Safe_bar__plus_01_dot_72_bar__plus_00_dot_05_bar__minus_03_dot_05 - receptacle\n SideTable_bar__plus_01_dot_78_bar__plus_00_dot_02_bar__plus_02_dot_38 - receptacle\n loc_bar__minus_13_bar__minus_9_bar_2_bar_60 - location\n loc_bar__minus_11_bar__minus_8_bar_2_bar_15 - location\n loc_bar__minus_3_bar_10_bar_0_bar_60 - location\n loc_bar__minus_13_bar_2_bar_3_bar__minus_30 - location\n loc_bar__minus_2_bar__minus_9_bar_2_bar__minus_30 - location\n loc_bar__minus_7_bar__minus_9_bar_2_bar_45 - location\n loc_bar__minus_13_bar__minus_3_bar_3_bar__minus_30 - location\n loc_bar__minus_2_bar_3_bar_1_bar_45 - location\n loc_bar__minus_8_bar_12_bar_0_bar_60 - location\n loc_bar__minus_5_bar__minus_9_bar_1_bar_45 - location\n loc_bar_7_bar_12_bar_0_bar_60 - location\n loc_bar__minus_8_bar_10_bar_0_bar_60 - location\n loc_bar__minus_5_bar__minus_9_bar_2_bar_45 - location\n loc_bar_4_bar__minus_8_bar_1_bar_15 - location\n loc_bar_6_bar_13_bar_2_bar_60 - location\n loc_bar__minus_13_bar_2_bar_3_bar_0 - location\n loc_bar__minus_9_bar_12_bar_3_bar_60 - location\n loc_bar__minus_7_bar__minus_9_bar_2_bar_60 - location\n loc_bar__minus_13_bar_8_bar_3_bar_0 - location\n loc_bar__minus_5_bar__minus_9_bar_2_bar_60 - location\n loc_bar__minus_6_bar_13_bar_0_bar_15 - location\n loc_bar__minus_1_bar_14_bar_0_bar_45 - location\n loc_bar__minus_4_bar__minus_9_bar_2_bar_30 - location\n loc_bar_7_bar_12_bar_0_bar_45 - location\n loc_bar__minus_7_bar__minus_9_bar_2_bar__minus_30 - location\n loc_bar__minus_13_bar__minus_3_bar_3_bar_0 - location\n loc_bar_7_bar__minus_8_bar_2_bar_60 - location\n loc_bar_7_bar__minus_4_bar_0_bar_60 - location\n loc_bar__minus_6_bar__minus_9_bar_1_bar_45 - location\n loc_bar__minus_11_bar__minus_8_bar_2_bar_60 - location\n loc_bar__minus_7_bar__minus_8_bar_0_bar_30 - location\n )\n \n\n(:init\n\n\n (receptacleType LaundryHamper_bar__plus_01_dot_83_bar__plus_00_dot_04_bar__plus_03_dot_69 LaundryHamperType)\n (receptacleType Drawer_bar__minus_00_dot_37_bar__plus_00_dot_29_bar__minus_02_dot_85 DrawerType)\n (receptacleType Safe_bar__plus_01_dot_72_bar__plus_00_dot_05_bar__minus_03_dot_05 SafeType)\n (receptacleType Bed_bar__plus_00_dot_99_bar__plus_00_dot_03_bar__plus_00_dot_67 BedType)\n (receptacleType Desk_bar__minus_01_dot_27_bar__plus_01_dot_17_bar__minus_02_dot_99 DeskType)\n (receptacleType Drawer_bar__minus_01_dot_16_bar__plus_00_dot_79_bar__minus_02_dot_85 DrawerType)\n (receptacleType Drawer_bar__minus_01_dot_16_bar__plus_00_dot_29_bar__minus_02_dot_85 DrawerType)\n (receptacleType GarbageCan_bar__minus_03_dot_34_bar__plus_00_dot_04_bar__minus_02_dot_80 GarbageCanType)\n (receptacleType Drawer_bar__minus_00_dot_37_bar__plus_00_dot_79_bar__minus_02_dot_85 DrawerType)\n (receptacleType ArmChair_bar__minus_03_dot_37_bar__plus_00_dot_00_bar__plus_03_dot_38 ArmChairType)\n (receptacleType ArmChair_bar__minus_02_dot_17_bar__plus_00_dot_00_bar__plus_03_dot_63 ArmChairType)\n (receptacleType SideTable_bar__plus_01_dot_78_bar__plus_00_dot_02_bar__plus_02_dot_38 SideTableType)\n (receptacleType ArmChair_bar__minus_00_dot_94_bar__plus_00_dot_00_bar__plus_03_dot_61 ArmChairType)\n (receptacleType Cabinet_bar__plus_02_dot_06_bar__plus_01_dot_50_bar__minus_02_dot_64 CabinetType)\n (receptacleType Cabinet_bar__minus_03_dot_00_bar__plus_01_dot_50_bar__minus_02_dot_64 CabinetType)\n (objectType Pillow_bar__plus_00_dot_39_bar__plus_00_dot_94_bar__plus_01_dot_46 PillowType)\n (objectType KeyChain_bar__minus_01_dot_85_bar__plus_01_dot_12_bar__minus_02_dot_73 KeyChainType)\n (objectType LightSwitch_bar__minus_00_dot_16_bar__plus_01_dot_28_bar__plus_04_dot_00 LightSwitchType)\n (objectType Window_bar__minus_01_dot_95_bar__plus_02_dot_15_bar__minus_03_dot_30 WindowType)\n (objectType Pillow_bar__plus_01_dot_82_bar__plus_00_dot_87_bar__plus_01_dot_15 PillowType)\n (objectType Laptop_bar__plus_01_dot_53_bar__plus_00_dot_83_bar__plus_00_dot_50 LaptopType)\n (objectType Window_bar__minus_00_dot_47_bar__plus_02_dot_15_bar__minus_03_dot_30 WindowType)\n (objectType Chair_bar__minus_02_dot_07_bar__plus_00_dot_04_bar__minus_02_dot_69 ChairType)\n (objectType TeddyBear_bar__plus_01_dot_87_bar__plus_00_dot_04_bar__minus_00_dot_56 TeddyBearType)\n (objectType RemoteControl_bar__minus_02_dot_16_bar__plus_01_dot_12_bar__minus_03_dot_07 RemoteControlType)\n (objectType CellPhone_bar__plus_01_dot_71_bar__plus_00_dot_56_bar__plus_02_dot_25 CellPhoneType)\n (objectType Book_bar__minus_01_dot_02_bar__plus_00_dot_19_bar__plus_03_dot_57 BookType)\n (objectType Television_bar__minus_03_dot_88_bar__plus_01_dot_77_bar__plus_02_dot_12 TelevisionType)\n (objectType Laptop_bar__plus_01_dot_53_bar__plus_00_dot_83_bar__plus_01_dot_22 LaptopType)\n (objectType CellPhone_bar__plus_01_dot_67_bar__plus_00_dot_10_bar__minus_03_dot_05 CellPhoneType)\n (objectType CellPhone_bar__plus_01_dot_66_bar__plus_00_dot_56_bar__plus_02_dot_54 CellPhoneType)\n (objectType Book_bar__minus_00_dot_60_bar__plus_01_dot_12_bar__minus_02_dot_99 BookType)\n (objectType CreditCard_bar__plus_01_dot_90_bar__plus_00_dot_55_bar__plus_02_dot_61 CreditCardType)\n (objectType Blinds_bar__minus_03_dot_80_bar__plus_02_dot_51_bar__minus_00_dot_65 BlindsType)\n (objectType AlarmClock_bar__minus_01_dot_54_bar__plus_01_dot_12_bar__minus_03_dot_07 AlarmClockType)\n (objectType AlarmClock_bar__minus_01_dot_23_bar__plus_01_dot_12_bar__minus_02_dot_82 AlarmClockType)\n (objectType CD_bar__minus_02_dot_01_bar__plus_00_dot_19_bar__plus_03_dot_41 CDType)\n (objectType RemoteControl_bar__minus_01_dot_85_bar__plus_01_dot_12_bar__minus_02_dot_99 RemoteControlType)\n (objectType Pen_bar__plus_01_dot_54_bar__plus_00_dot_56_bar__plus_02_dot_34 PenType)\n (objectType Blinds_bar__minus_03_dot_80_bar__plus_02_dot_51_bar__plus_00_dot_60 BlindsType)\n (objectType Mug_bar__minus_00_dot_91_bar__plus_01_dot_11_bar__minus_02_dot_99 MugType)\n (objectType Mirror_bar__minus_01_dot_60_bar__plus_01_dot_45_bar__plus_04_dot_00 MirrorType)\n (objectType Window_bar__minus_03_dot_89_bar__plus_01_dot_75_bar__plus_00_dot_58 WindowType)\n (objectType KeyChain_bar__minus_01_dot_23_bar__plus_01_dot_12_bar__minus_02_dot_99 KeyChainType)\n (objectType HousePlant_bar__minus_00_dot_20_bar__plus_01_dot_10_bar__minus_03_dot_08 HousePlantType)\n (objectType Mug_bar__minus_00_dot_29_bar__plus_01_dot_11_bar__minus_02_dot_90 MugType)\n (objectType DeskLamp_bar__plus_01_dot_87_bar__plus_00_dot_55_bar__plus_02_dot_42 DeskLampType)\n (objectType CreditCard_bar__minus_02_dot_41_bar__plus_00_dot_31_bar__plus_03_dot_50 CreditCardType)\n (objectType LaundryHamperLid_bar__plus_01_dot_83_bar__plus_00_dot_79_bar__plus_03_dot_69 LaundryHamperLidType)\n (objectType Window_bar__minus_03_dot_89_bar__plus_01_dot_75_bar__minus_00_dot_68 WindowType)\n (objectType Mug_bar__minus_02_dot_69_bar__plus_00_dot_08_bar__minus_02_dot_98 MugType)\n (objectType Blinds_bar__minus_01_dot_96_bar__plus_02_dot_79_bar__minus_03_dot_25 BlindsType)\n (objectType Pencil_bar__plus_01_dot_61_bar__plus_00_dot_56_bar__plus_02_dot_40 PencilType)\n (objectType Book_bar__minus_02_dot_09_bar__plus_00_dot_19_bar__plus_03_dot_59 BookType)\n (objectType AlarmClock_bar__minus_01_dot_85_bar__plus_01_dot_12_bar__minus_03_dot_16 AlarmClockType)\n (objectType KeyChain_bar__plus_01_dot_76_bar__plus_00_dot_55_bar__plus_02_dot_32 KeyChainType)\n (objectType Blinds_bar__minus_00_dot_48_bar__plus_02_dot_79_bar__minus_03_dot_25 BlindsType)\n (objectType Laptop_bar__plus_00_dot_67_bar__plus_00_dot_83_bar__plus_00_dot_26 LaptopType)\n (canContain DrawerType PenType)\n (canContain DrawerType BookType)\n (canContain DrawerType CDType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType PencilType)\n (canContain DrawerType RemoteControlType)\n (canContain SafeType CellPhoneType)\n (canContain SafeType KeyChainType)\n (canContain SafeType CreditCardType)\n (canContain SafeType CDType)\n (canContain BedType LaptopType)\n (canContain BedType BookType)\n (canContain BedType CellPhoneType)\n (canContain BedType PillowType)\n (canContain DeskType PenType)\n (canContain DeskType BookType)\n (canContain DeskType CDType)\n (canContain DeskType MugType)\n (canContain DeskType CellPhoneType)\n (canContain DeskType KeyChainType)\n (canContain DeskType CreditCardType)\n (canContain DeskType LaptopType)\n (canContain DeskType PencilType)\n (canContain DeskType 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Cabinet_bar__plus_02_dot_06_bar__plus_01_dot_50_bar__minus_02_dot_64)\n (inReceptacle CellPhone_bar__plus_01_dot_67_bar__plus_00_dot_10_bar__minus_03_dot_05 Cabinet_bar__plus_02_dot_06_bar__plus_01_dot_50_bar__minus_02_dot_64)\n (inReceptacle Book_bar__minus_01_dot_02_bar__plus_00_dot_19_bar__plus_03_dot_57 ArmChair_bar__minus_00_dot_94_bar__plus_00_dot_00_bar__plus_03_dot_61)\n (inReceptacle HousePlant_bar__minus_00_dot_20_bar__plus_01_dot_10_bar__minus_03_dot_08 Desk_bar__minus_01_dot_27_bar__plus_01_dot_17_bar__minus_02_dot_99)\n (inReceptacle Mug_bar__minus_00_dot_29_bar__plus_01_dot_11_bar__minus_02_dot_90 Desk_bar__minus_01_dot_27_bar__plus_01_dot_17_bar__minus_02_dot_99)\n (inReceptacle RemoteControl_bar__minus_01_dot_85_bar__plus_01_dot_12_bar__minus_02_dot_99 Desk_bar__minus_01_dot_27_bar__plus_01_dot_17_bar__minus_02_dot_99)\n (inReceptacle Mug_bar__minus_00_dot_91_bar__plus_01_dot_11_bar__minus_02_dot_99 Desk_bar__minus_01_dot_27_bar__plus_01_dot_17_bar__minus_02_dot_99)\n (inReceptacle AlarmClock_bar__minus_01_dot_54_bar__plus_01_dot_12_bar__minus_03_dot_07 Desk_bar__minus_01_dot_27_bar__plus_01_dot_17_bar__minus_02_dot_99)\n (inReceptacle AlarmClock_bar__minus_01_dot_85_bar__plus_01_dot_12_bar__minus_03_dot_16 Desk_bar__minus_01_dot_27_bar__plus_01_dot_17_bar__minus_02_dot_99)\n (inReceptacle Book_bar__minus_00_dot_60_bar__plus_01_dot_12_bar__minus_02_dot_99 Desk_bar__minus_01_dot_27_bar__plus_01_dot_17_bar__minus_02_dot_99)\n (inReceptacle RemoteControl_bar__minus_02_dot_16_bar__plus_01_dot_12_bar__minus_03_dot_07 Desk_bar__minus_01_dot_27_bar__plus_01_dot_17_bar__minus_02_dot_99)\n (inReceptacle AlarmClock_bar__minus_01_dot_23_bar__plus_01_dot_12_bar__minus_02_dot_82 Desk_bar__minus_01_dot_27_bar__plus_01_dot_17_bar__minus_02_dot_99)\n (inReceptacle CellPhone_bar__plus_01_dot_67_bar__plus_00_dot_10_bar__minus_03_dot_05 Safe_bar__plus_01_dot_72_bar__plus_00_dot_05_bar__minus_03_dot_05)\n \n \n (receptacleAtLocation 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loc_bar__minus_8_bar_10_bar_0_bar_60)\n (objectAtLocation Laptop_bar__plus_01_dot_53_bar__plus_00_dot_83_bar__plus_01_dot_22 loc_bar__minus_2_bar_3_bar_1_bar_45)\n (objectAtLocation AlarmClock_bar__minus_01_dot_85_bar__plus_01_dot_12_bar__minus_03_dot_16 loc_bar__minus_4_bar__minus_9_bar_2_bar_30)\n (objectAtLocation KeyChain_bar__minus_01_dot_23_bar__plus_01_dot_12_bar__minus_02_dot_99 loc_bar__minus_5_bar__minus_9_bar_2_bar_45)\n (objectAtLocation Book_bar__minus_00_dot_60_bar__plus_01_dot_12_bar__minus_02_dot_99 loc_bar__minus_4_bar__minus_9_bar_2_bar_30)\n (objectAtLocation CellPhone_bar__plus_01_dot_67_bar__plus_00_dot_10_bar__minus_03_dot_05 loc_bar_7_bar__minus_8_bar_2_bar_60)\n (objectAtLocation Mug_bar__minus_00_dot_91_bar__plus_01_dot_11_bar__minus_02_dot_99 loc_bar__minus_4_bar__minus_9_bar_2_bar_30)\n (objectAtLocation Book_bar__minus_01_dot_02_bar__plus_00_dot_19_bar__plus_03_dot_57 loc_bar__minus_3_bar_10_bar_0_bar_60)\n (objectAtLocation LaundryHamperLid_bar__plus_01_dot_83_bar__plus_00_dot_79_bar__plus_03_dot_69 loc_bar_7_bar_12_bar_0_bar_45)\n (objectAtLocation AlarmClock_bar__minus_01_dot_54_bar__plus_01_dot_12_bar__minus_03_dot_07 loc_bar__minus_4_bar__minus_9_bar_2_bar_30)\n (objectAtLocation CellPhone_bar__plus_01_dot_66_bar__plus_00_dot_56_bar__plus_02_dot_54 loc_bar_6_bar_13_bar_2_bar_60)\n (objectAtLocation LightSwitch_bar__minus_00_dot_16_bar__plus_01_dot_28_bar__plus_04_dot_00 loc_bar__minus_1_bar_14_bar_0_bar_45)\n (objectAtLocation Pillow_bar__plus_00_dot_39_bar__plus_00_dot_94_bar__plus_01_dot_46 loc_bar__minus_2_bar_3_bar_1_bar_45)\n (objectAtLocation Pillow_bar__plus_01_dot_82_bar__plus_00_dot_87_bar__plus_01_dot_15 loc_bar__minus_2_bar_3_bar_1_bar_45)\n (objectAtLocation TeddyBear_bar__plus_01_dot_87_bar__plus_00_dot_04_bar__minus_00_dot_56 loc_bar_7_bar__minus_4_bar_0_bar_60)\n (objectAtLocation CreditCard_bar__minus_02_dot_41_bar__plus_00_dot_31_bar__plus_03_dot_50 loc_bar__minus_8_bar_10_bar_0_bar_60)\n (objectAtLocation KeyChain_bar__plus_01_dot_76_bar__plus_00_dot_55_bar__plus_02_dot_32 loc_bar_6_bar_13_bar_2_bar_60)\n (objectAtLocation Pencil_bar__plus_01_dot_61_bar__plus_00_dot_56_bar__plus_02_dot_40 loc_bar_6_bar_13_bar_2_bar_60)\n (objectAtLocation Laptop_bar__plus_01_dot_53_bar__plus_00_dot_83_bar__plus_00_dot_50 loc_bar__minus_2_bar_3_bar_1_bar_45)\n (objectAtLocation HousePlant_bar__minus_00_dot_20_bar__plus_01_dot_10_bar__minus_03_dot_08 loc_bar__minus_4_bar__minus_9_bar_2_bar_30)\n (objectAtLocation DeskLamp_bar__plus_01_dot_87_bar__plus_00_dot_55_bar__plus_02_dot_42 loc_bar_6_bar_13_bar_2_bar_60)\n (objectAtLocation RemoteControl_bar__minus_02_dot_16_bar__plus_01_dot_12_bar__minus_03_dot_07 loc_bar__minus_4_bar__minus_9_bar_2_bar_30)\n (objectAtLocation Mirror_bar__minus_01_dot_60_bar__plus_01_dot_45_bar__plus_04_dot_00 loc_bar__minus_6_bar_13_bar_0_bar_15)\n (objectAtLocation Television_bar__minus_03_dot_88_bar__plus_01_dot_77_bar__plus_02_dot_12 loc_bar__minus_13_bar_8_bar_3_bar_0)\n (objectAtLocation CD_bar__minus_02_dot_01_bar__plus_00_dot_19_bar__plus_03_dot_41 loc_bar__minus_8_bar_12_bar_0_bar_60)\n (objectAtLocation Pen_bar__plus_01_dot_54_bar__plus_00_dot_56_bar__plus_02_dot_34 loc_bar_6_bar_13_bar_2_bar_60)\n (objectAtLocation Window_bar__minus_01_dot_95_bar__plus_02_dot_15_bar__minus_03_dot_30 loc_bar__minus_7_bar__minus_9_bar_2_bar__minus_30)\n (objectAtLocation Window_bar__minus_00_dot_47_bar__plus_02_dot_15_bar__minus_03_dot_30 loc_bar__minus_2_bar__minus_9_bar_2_bar__minus_30)\n (objectAtLocation Window_bar__minus_03_dot_89_bar__plus_01_dot_75_bar__plus_00_dot_58 loc_bar__minus_13_bar_2_bar_3_bar_0)\n (objectAtLocation Window_bar__minus_03_dot_89_bar__plus_01_dot_75_bar__minus_00_dot_68 loc_bar__minus_13_bar__minus_3_bar_3_bar_0)\n (objectAtLocation Chair_bar__minus_02_dot_07_bar__plus_00_dot_04_bar__minus_02_dot_69 loc_bar__minus_7_bar__minus_9_bar_2_bar_60)\n (objectAtLocation Mug_bar__minus_00_dot_29_bar__plus_01_dot_11_bar__minus_02_dot_90 loc_bar__minus_4_bar__minus_9_bar_2_bar_30)\n (objectAtLocation Blinds_bar__minus_00_dot_48_bar__plus_02_dot_79_bar__minus_03_dot_25 loc_bar__minus_2_bar__minus_9_bar_2_bar__minus_30)\n (objectAtLocation Blinds_bar__minus_01_dot_96_bar__plus_02_dot_79_bar__minus_03_dot_25 loc_bar__minus_7_bar__minus_9_bar_2_bar__minus_30)\n (objectAtLocation Blinds_bar__minus_03_dot_80_bar__plus_02_dot_51_bar__plus_00_dot_60 loc_bar__minus_13_bar_2_bar_3_bar__minus_30)\n (objectAtLocation Blinds_bar__minus_03_dot_80_bar__plus_02_dot_51_bar__minus_00_dot_65 loc_bar__minus_13_bar__minus_3_bar_3_bar__minus_30)\n )\n \n\n (:goal\n (and\n (exists (?r - receptacle)\n (exists (?o1 - object)\n (and\n (objectType ?o1 CellPhoneType)\n (receptacleType ?r BedType)\n (inReceptacle ?o1 ?r)\n (exists (?o2 - object)\n (and\n (not (= ?o1 ?o2))\n (objectType ?o2 CellPhoneType)\n (receptacleType ?r BedType)\n (inReceptacle ?o2 ?r)\n )\n )\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to sidetable 1", "take cellphone 3 from sidetable 1", "go to bed 1", "move cellphone 3 to bed 1", "go to sidetable 1", "take cellphone 1 from sidetable 1", "go to bed 1", "move cellphone 1 to bed 1"]}
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alfworld__pick_two_obj_and_place__9
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pick_two_obj_and_place
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pick_two_obj_and_place-SoapBottle-None-Toilet-403/trial_T20190908_060039_542379/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 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_060039_542379)\n(:domain alfred)\n(:objects\nagent1 - agent\nSaltShaker - object\n HousePlant - object\n Candle - object\n SprayBottle - object\n Bowl - object\n Window - object\n CD - object\n Egg - object\n Glassbottle - object\n Sink - object\n Pillow - object\n Spoon - object\n SoapBottle - object\n TeddyBear - object\n ButterKnife - object\n Cup - object\n Plate - object\n RemoteControl - object\n Tomato - object\n Statue - object\n HandTowel - object\n Knife - object\n StoveKnob - object\n LightSwitch - object\n Pen - object\n Painting - object\n DishSponge - object\n Vase - object\n Mug - object\n ToiletPaper - object\n Box - object\n Mirror - object\n Ladle - object\n Fork - object\n Blinds - object\n Footstool - object\n KeyChain - object\n Cloth - object\n Laptop - object\n TissueBox - object\n PepperShaker - object\n FloorLamp - object\n WateringCan - object\n Apple - object\n Pan - object\n PaperTowel - object\n PaperTowelRoll - object\n Newspaper - object\n Television - object\n Chair - object\n CellPhone - object\n CreditCard - object\n Lettuce - object\n BasketBall - object\n Potato - object\n Curtains - object\n Boots - object\n Pencil - object\n AlarmClock - object\n ToiletPaperRoll - object\n Spatula - object\n Book - object\n Bread - object\n SoapBar - object\n Watch - object\n DeskLamp - object\n Kettle - object\n Pot - object\n ScrubBrush - object\n WineBottle - object\n ShowerDoor - object\n Bathtub - object\n LaundryHamperLid - object\n ShowerGlass - object\n Poster - object\n TennisRacket - object\n BaseballBat - object\n Towel - object\n Plunger - object\nSaltShakerType - otype\n HousePlantType - otype\n CandleType - otype\n SprayBottleType - otype\n BowlType - otype\n WindowType - otype\n CDType - otype\n EggType - otype\n GlassbottleType - otype\n SinkType - otype\n PillowType - otype\n SpoonType - otype\n SoapBottleType - otype\n TeddyBearType - otype\n ButterKnifeType - otype\n CupType - otype\n PlateType - otype\n RemoteControlType - otype\n TomatoType - otype\n StatueType - otype\n HandTowelType - otype\n KnifeType - otype\n StoveKnobType - otype\n LightSwitchType - otype\n PenType - otype\n PaintingType - otype\n DishSpongeType - otype\n VaseType - otype\n MugType - otype\n ToiletPaperType - otype\n BoxType - otype\n MirrorType - otype\n LadleType - otype\n ForkType - otype\n BlindsType - otype\n FootstoolType - otype\n KeyChainType - otype\n ClothType - otype\n LaptopType - otype\n TissueBoxType - otype\n PepperShakerType - otype\n FloorLampType - otype\n WateringCanType - otype\n AppleType - otype\n PanType - otype\n PaperTowelType - otype\n PaperTowelRollType - otype\n NewspaperType - otype\n TelevisionType - otype\n ChairType - otype\n CellPhoneType - otype\n CreditCardType - otype\n LettuceType - otype\n BasketBallType - otype\n PotatoType - otype\n CurtainsType - otype\n BootsType - otype\n PencilType - otype\n AlarmClockType - otype\n ToiletPaperRollType - otype\n SpatulaType - otype\n BookType - otype\n BreadType - otype\n SoapBarType - otype\n WatchType - otype\n DeskLampType - otype\n KettleType - otype\n PotType - otype\n ScrubBrushType - otype\n WineBottleType - otype\n ShowerDoorType - otype\n BathtubType - otype\n LaundryHamperLidType - otype\n ShowerGlassType - otype\n PosterType - otype\n TennisRacketType - otype\n BaseballBatType - otype\n TowelType - otype\n PlungerType - otype\nSafeType - rtype\n DrawerType - rtype\n CoffeeMachineType - rtype\n HandTowelHolderType - rtype\n SinkBasinType - rtype\n DresserType - rtype\n LaundryHamperType - rtype\n TVStandType - rtype\n BathtubBasinType - rtype\n CabinetType - rtype\n FridgeType - rtype\n DeskType - rtype\n ToiletType - rtype\n CartType - rtype\n SideTableType - rtype\n SofaType - rtype\n CoffeeTableType - rtype\n DiningTableType - rtype\n CounterTopType - rtype\n GarbageCanType - rtype\n ArmChairType - rtype\n ShelfType - rtype\n MicrowaveType - rtype\n ToasterType - rtype\n BedType - rtype\n PaintingHangerType - rtype\n TowelHolderType - rtype\n ToiletPaperHangerType - rtype\n StoveBurnerType - rtype\n OttomanType - rtype\n\n\n Bathtub_bar__minus_02_dot_23_bar__plus_00_dot_29_bar__plus_00_dot_72 - object\n Candle_bar__minus_00_dot_45_bar__plus_01_dot_10_bar__plus_03_dot_37 - object\n Candle_bar__minus_01_dot_34_bar__plus_01_dot_10_bar__plus_03_dot_06 - object\n Candle_bar__minus_01_dot_76_bar__plus_00_dot_05_bar__plus_03_dot_22 - object\n Cloth_bar__minus_00_dot_76_bar__plus_01_dot_08_bar__plus_00_dot_30 - object\n DishSponge_bar__minus_03_dot_22_bar__plus_00_dot_60_bar__plus_01_dot_51 - object\n Faucet_bar__minus_00_dot_85_bar__plus_01_dot_09_bar__plus_03_dot_37 - object\n Faucet_bar__minus_01_dot_34_bar__plus_00_dot_64_bar__plus_00_dot_63 - object\n Faucet_bar__minus_01_dot_94_bar__plus_01_dot_09_bar__plus_03_dot_37 - object\n Faucet_bar__minus_02_dot_95_bar__plus_02_dot_16_bar__plus_03_dot_43 - object\n HandTowel_bar__minus_00_dot_24_bar__plus_01_dot_76_bar__plus_03_dot_43 - object\n LightSwitch_bar__plus_00_dot_97_bar__plus_01_dot_43_bar__plus_01_dot_13 - object\n Mirror_bar__minus_01_dot_39_bar__plus_01_dot_60_bar__plus_03_dot_46 - object\n PaperTowelRoll_bar__minus_00_dot_63_bar__plus_01_dot_18_bar__plus_00_dot_30 - object\n Plunger_bar__minus_00_dot_22_bar__plus_00_dot_03_bar__plus_00_dot_49 - object\n ScrubBrush_bar__minus_00_dot_35_bar__plus_00_dot_03_bar__plus_00_dot_35 - object\n ShowerDoor_bar__minus_02_dot_48_bar__plus_01_dot_77_bar__plus_02_dot_39 - object\n ShowerGlass_bar__minus_02_dot_90_bar__plus_01_dot_42_bar__plus_02_dot_34 - object\n Sink_bar__minus_00_dot_85_bar__plus_00_dot_95_bar__plus_03_dot_14 - object\n Sink_bar__minus_01_dot_94_bar__plus_00_dot_95_bar__plus_03_dot_14 - object\n SoapBar_bar__minus_01_dot_23_bar__plus_00_dot_05_bar__plus_03_dot_22 - object\n SoapBar_bar__minus_01_dot_28_bar__plus_01_dot_10_bar__plus_03_dot_29 - object\n SoapBottle_bar__minus_01_dot_19_bar__plus_00_dot_60_bar__plus_01_dot_11 - object\n SoapBottle_bar__minus_01_dot_65_bar__plus_00_dot_06_bar__plus_02_dot_95 - object\n SoapBottle_bar__minus_03_dot_22_bar__plus_00_dot_60_bar__plus_01_dot_34 - object\n SprayBottle_bar__minus_02_dot_81_bar__plus_00_dot_60_bar__plus_01_dot_38 - object\n ToiletPaper_bar__minus_00_dot_14_bar__plus_00_dot_06_bar__plus_03_dot_30 - object\n ToiletPaper_bar__minus_01_dot_63_bar__plus_00_dot_60_bar__plus_01_dot_13 - object\n Towel_bar__plus_00_dot_40_bar__plus_01_dot_39_bar__plus_03_dot_36 - object\n Towel_bar__plus_00_dot_86_bar__plus_01_dot_36_bar__plus_02_dot_86 - object\n Window_bar__minus_02_dot_19_bar__plus_01_dot_55_bar__plus_00_dot_09 - object\n Window_bar__minus_03_dot_45_bar__plus_01_dot_59_bar__plus_00_dot_65 - object\n Bathtub_bar__minus_02_dot_23_bar__plus_00_dot_29_bar__plus_00_dot_72_bar_BathtubBasin - receptacle\n Cabinet_bar__minus_00_dot_34_bar__plus_00_dot_43_bar__plus_02_dot_87 - receptacle\n Cabinet_bar__minus_01_dot_36_bar__plus_00_dot_43_bar__plus_02_dot_87 - receptacle\n Cabinet_bar__minus_01_dot_40_bar__plus_00_dot_43_bar__plus_02_dot_87 - receptacle\n Cabinet_bar__minus_02_dot_42_bar__plus_00_dot_43_bar__plus_02_dot_87 - receptacle\n CounterTop_bar__minus_01_dot_36_bar__plus_01_dot_09_bar__plus_03_dot_15 - receptacle\n GarbageCan_bar__minus_00_dot_13_bar__plus_00_dot_03_bar__plus_03_dot_25 - receptacle\n HandTowelHolder_bar__minus_00_dot_24_bar__plus_01_dot_86_bar__plus_03_dot_47 - receptacle\n Shelf_bar__minus_02_dot_93_bar__plus_00_dot_59_bar__plus_01_dot_43 - receptacle\n Sink_bar__minus_00_dot_85_bar__plus_00_dot_95_bar__plus_03_dot_14_bar_SinkBasin - receptacle\n Sink_bar__minus_01_dot_94_bar__plus_00_dot_95_bar__plus_03_dot_14_bar_SinkBasin - receptacle\n ToiletPaperHanger_bar__minus_00_dot_04_bar__plus_00_dot_96_bar__plus_00_dot_20 - receptacle\n Toilet_bar__minus_00_dot_70_bar__plus_00_dot_03_bar__plus_00_dot_66 - receptacle\n TowelHolder_bar__plus_00_dot_40_bar__plus_01_dot_38_bar__plus_03_dot_47 - receptacle\n TowelHolder_bar__plus_00_dot_97_bar__plus_01_dot_34_bar__plus_02_dot_86 - receptacle\n loc_bar_1_bar_11_bar_1_bar_30 - location\n loc_bar__minus_8_bar_10_bar_3_bar__minus_15 - location\n loc_bar__minus_8_bar_10_bar_0_bar_45 - location\n loc_bar__minus_2_bar_10_bar_0_bar_45 - location\n loc_bar__minus_3_bar_10_bar_0_bar_45 - location\n loc_bar__minus_8_bar_6_bar_3_bar_0 - location\n loc_bar__minus_8_bar_6_bar_2_bar_0 - location\n loc_bar__minus_8_bar_6_bar_2_bar_60 - location\n loc_bar_0_bar_3_bar_2_bar_45 - location\n loc_bar_0_bar_11_bar_0_bar_60 - location\n loc_bar__minus_7_bar_8_bar_0_bar_60 - location\n loc_bar__minus_6_bar_8_bar_0_bar_60 - location\n loc_bar_1_bar_3_bar_3_bar_60 - location\n loc_bar_0_bar_11_bar_0_bar__minus_15 - location\n loc_bar__minus_7_bar_10_bar_0_bar_45 - location\n loc_bar_2_bar_5_bar_1_bar_30 - location\n loc_bar__minus_6_bar_10_bar_0_bar_45 - location\n loc_bar__minus_1_bar_3_bar_2_bar_60 - location\n loc_bar__minus_5_bar_8_bar_0_bar_60 - location\n loc_bar__minus_4_bar_8_bar_0_bar_60 - location\n loc_bar_1_bar_11_bar_0_bar_15 - location\n loc_bar__minus_8_bar_6_bar_3_bar_45 - location\n loc_bar__minus_1_bar_3_bar_0_bar_30 - location\n )\n \n\n(:init\n\n\n (receptacleType Sink_bar__minus_01_dot_94_bar__plus_00_dot_95_bar__plus_03_dot_14_bar_SinkBasin SinkBasinType)\n (receptacleType CounterTop_bar__minus_01_dot_36_bar__plus_01_dot_09_bar__plus_03_dot_15 CounterTopType)\n (receptacleType Bathtub_bar__minus_02_dot_23_bar__plus_00_dot_29_bar__plus_00_dot_72_bar_BathtubBasin BathtubBasinType)\n (receptacleType TowelHolder_bar__plus_00_dot_40_bar__plus_01_dot_38_bar__plus_03_dot_47 TowelHolderType)\n (receptacleType Cabinet_bar__minus_01_dot_36_bar__plus_00_dot_43_bar__plus_02_dot_87 CabinetType)\n (receptacleType TowelHolder_bar__plus_00_dot_97_bar__plus_01_dot_34_bar__plus_02_dot_86 TowelHolderType)\n (receptacleType Shelf_bar__minus_02_dot_93_bar__plus_00_dot_59_bar__plus_01_dot_43 ShelfType)\n (receptacleType Sink_bar__minus_00_dot_85_bar__plus_00_dot_95_bar__plus_03_dot_14_bar_SinkBasin SinkBasinType)\n (receptacleType Toilet_bar__minus_00_dot_70_bar__plus_00_dot_03_bar__plus_00_dot_66 ToiletType)\n (receptacleType Cabinet_bar__minus_00_dot_34_bar__plus_00_dot_43_bar__plus_02_dot_87 CabinetType)\n (receptacleType GarbageCan_bar__minus_00_dot_13_bar__plus_00_dot_03_bar__plus_03_dot_25 GarbageCanType)\n (receptacleType ToiletPaperHanger_bar__minus_00_dot_04_bar__plus_00_dot_96_bar__plus_00_dot_20 ToiletPaperHangerType)\n (receptacleType Cabinet_bar__minus_02_dot_42_bar__plus_00_dot_43_bar__plus_02_dot_87 CabinetType)\n (receptacleType Cabinet_bar__minus_01_dot_40_bar__plus_00_dot_43_bar__plus_02_dot_87 CabinetType)\n (receptacleType HandTowelHolder_bar__minus_00_dot_24_bar__plus_01_dot_86_bar__plus_03_dot_47 HandTowelHolderType)\n (objectType SprayBottle_bar__minus_02_dot_81_bar__plus_00_dot_60_bar__plus_01_dot_38 SprayBottleType)\n (objectType Candle_bar__minus_01_dot_34_bar__plus_01_dot_10_bar__plus_03_dot_06 CandleType)\n (objectType Bathtub_bar__minus_02_dot_23_bar__plus_00_dot_29_bar__plus_00_dot_72 BathtubType)\n (objectType SoapBottle_bar__minus_01_dot_19_bar__plus_00_dot_60_bar__plus_01_dot_11 SoapBottleType)\n (objectType ShowerDoor_bar__minus_02_dot_48_bar__plus_01_dot_77_bar__plus_02_dot_39 ShowerDoorType)\n (objectType Candle_bar__minus_01_dot_76_bar__plus_00_dot_05_bar__plus_03_dot_22 CandleType)\n (objectType SoapBottle_bar__minus_03_dot_22_bar__plus_00_dot_60_bar__plus_01_dot_34 SoapBottleType)\n (objectType Plunger_bar__minus_00_dot_22_bar__plus_00_dot_03_bar__plus_00_dot_49 PlungerType)\n (objectType Cloth_bar__minus_00_dot_76_bar__plus_01_dot_08_bar__plus_00_dot_30 ClothType)\n (objectType ShowerGlass_bar__minus_02_dot_90_bar__plus_01_dot_42_bar__plus_02_dot_34 ShowerGlassType)\n (objectType ToiletPaper_bar__minus_01_dot_63_bar__plus_00_dot_60_bar__plus_01_dot_13 ToiletPaperType)\n (objectType Sink_bar__minus_00_dot_85_bar__plus_00_dot_95_bar__plus_03_dot_14 SinkType)\n (objectType Window_bar__minus_02_dot_19_bar__plus_01_dot_55_bar__plus_00_dot_09 WindowType)\n (objectType Towel_bar__plus_00_dot_86_bar__plus_01_dot_36_bar__plus_02_dot_86 TowelType)\n (objectType Mirror_bar__minus_01_dot_39_bar__plus_01_dot_60_bar__plus_03_dot_46 MirrorType)\n (objectType Window_bar__minus_03_dot_45_bar__plus_01_dot_59_bar__plus_00_dot_65 WindowType)\n (objectType ToiletPaper_bar__minus_00_dot_14_bar__plus_00_dot_06_bar__plus_03_dot_30 ToiletPaperType)\n (objectType SoapBar_bar__minus_01_dot_28_bar__plus_01_dot_10_bar__plus_03_dot_29 SoapBarType)\n (objectType HandTowel_bar__minus_00_dot_24_bar__plus_01_dot_76_bar__plus_03_dot_43 HandTowelType)\n (objectType LightSwitch_bar__plus_00_dot_97_bar__plus_01_dot_43_bar__plus_01_dot_13 LightSwitchType)\n (objectType Candle_bar__minus_00_dot_45_bar__plus_01_dot_10_bar__plus_03_dot_37 CandleType)\n (objectType PaperTowelRoll_bar__minus_00_dot_63_bar__plus_01_dot_18_bar__plus_00_dot_30 PaperTowelRollType)\n (objectType SoapBottle_bar__minus_01_dot_65_bar__plus_00_dot_06_bar__plus_02_dot_95 SoapBottleType)\n (objectType DishSponge_bar__minus_03_dot_22_bar__plus_00_dot_60_bar__plus_01_dot_51 DishSpongeType)\n (objectType SoapBar_bar__minus_01_dot_23_bar__plus_00_dot_05_bar__plus_03_dot_22 SoapBarType)\n (objectType Towel_bar__plus_00_dot_40_bar__plus_01_dot_39_bar__plus_03_dot_36 TowelType)\n (objectType Sink_bar__minus_01_dot_94_bar__plus_00_dot_95_bar__plus_03_dot_14 SinkType)\n (objectType ScrubBrush_bar__minus_00_dot_35_bar__plus_00_dot_03_bar__plus_00_dot_35 ScrubBrushType)\n (canContain SinkBasinType SoapBarType)\n (canContain SinkBasinType DishSpongeType)\n (canContain SinkBasinType ClothType)\n (canContain SinkBasinType HandTowelType)\n (canContain CounterTopType CandleType)\n (canContain CounterTopType DishSpongeType)\n (canContain CounterTopType SoapBarType)\n (canContain CounterTopType SprayBottleType)\n (canContain CounterTopType ToiletPaperType)\n (canContain CounterTopType SoapBottleType)\n (canContain CounterTopType ClothType)\n (canContain CounterTopType HandTowelType)\n (canContain BathtubBasinType ClothType)\n (canContain BathtubBasinType HandTowelType)\n (canContain BathtubBasinType SoapBarType)\n (canContain BathtubBasinType DishSpongeType)\n (canContain TowelHolderType TowelType)\n (canContain CabinetType CandleType)\n (canContain CabinetType SoapBarType)\n (canContain CabinetType DishSpongeType)\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 ShelfType CandleType)\n (canContain ShelfType SoapBarType)\n (canContain ShelfType DishSpongeType)\n (canContain ShelfType SprayBottleType)\n (canContain ShelfType ToiletPaperType)\n (canContain ShelfType SoapBottleType)\n (canContain ShelfType ClothType)\n (canContain ShelfType HandTowelType)\n (canContain SinkBasinType SoapBarType)\n (canContain SinkBasinType DishSpongeType)\n (canContain SinkBasinType ClothType)\n (canContain SinkBasinType HandTowelType)\n (canContain ToiletType SoapBottleType)\n (canContain ToiletType HandTowelType)\n (canContain ToiletType ToiletPaperType)\n (canContain ToiletType ClothType)\n (canContain ToiletType CandleType)\n (canContain ToiletType SoapBarType)\n (canContain ToiletType DishSpongeType)\n (canContain ToiletType SprayBottleType)\n (canContain CabinetType CandleType)\n (canContain CabinetType SoapBarType)\n (canContain CabinetType DishSpongeType)\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 DishSpongeType)\n (canContain GarbageCanType SprayBottleType)\n (canContain GarbageCanType ToiletPaperType)\n (canContain GarbageCanType SoapBottleType)\n (canContain GarbageCanType ClothType)\n (canContain GarbageCanType HandTowelType)\n (canContain ToiletPaperHangerType ToiletPaperType)\n (canContain CabinetType CandleType)\n (canContain CabinetType SoapBarType)\n (canContain CabinetType DishSpongeType)\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 DishSpongeType)\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 (pickupable SprayBottle_bar__minus_02_dot_81_bar__plus_00_dot_60_bar__plus_01_dot_38)\n (pickupable Candle_bar__minus_01_dot_34_bar__plus_01_dot_10_bar__plus_03_dot_06)\n (pickupable SoapBottle_bar__minus_01_dot_19_bar__plus_00_dot_60_bar__plus_01_dot_11)\n (pickupable Candle_bar__minus_01_dot_76_bar__plus_00_dot_05_bar__plus_03_dot_22)\n (pickupable SoapBottle_bar__minus_03_dot_22_bar__plus_00_dot_60_bar__plus_01_dot_34)\n (pickupable Plunger_bar__minus_00_dot_22_bar__plus_00_dot_03_bar__plus_00_dot_49)\n (pickupable Cloth_bar__minus_00_dot_76_bar__plus_01_dot_08_bar__plus_00_dot_30)\n (pickupable ToiletPaper_bar__minus_01_dot_63_bar__plus_00_dot_60_bar__plus_01_dot_13)\n (pickupable Towel_bar__plus_00_dot_86_bar__plus_01_dot_36_bar__plus_02_dot_86)\n (pickupable ToiletPaper_bar__minus_00_dot_14_bar__plus_00_dot_06_bar__plus_03_dot_30)\n (pickupable SoapBar_bar__minus_01_dot_28_bar__plus_01_dot_10_bar__plus_03_dot_29)\n (pickupable HandTowel_bar__minus_00_dot_24_bar__plus_01_dot_76_bar__plus_03_dot_43)\n (pickupable Candle_bar__minus_00_dot_45_bar__plus_01_dot_10_bar__plus_03_dot_37)\n (pickupable PaperTowelRoll_bar__minus_00_dot_63_bar__plus_01_dot_18_bar__plus_00_dot_30)\n (pickupable SoapBottle_bar__minus_01_dot_65_bar__plus_00_dot_06_bar__plus_02_dot_95)\n (pickupable DishSponge_bar__minus_03_dot_22_bar__plus_00_dot_60_bar__plus_01_dot_51)\n (pickupable SoapBar_bar__minus_01_dot_23_bar__plus_00_dot_05_bar__plus_03_dot_22)\n (pickupable Towel_bar__plus_00_dot_40_bar__plus_01_dot_39_bar__plus_03_dot_36)\n (pickupable ScrubBrush_bar__minus_00_dot_35_bar__plus_00_dot_03_bar__plus_00_dot_35)\n \n (openable Cabinet_bar__minus_01_dot_36_bar__plus_00_dot_43_bar__plus_02_dot_87)\n (openable Cabinet_bar__minus_00_dot_34_bar__plus_00_dot_43_bar__plus_02_dot_87)\n (openable Cabinet_bar__minus_02_dot_42_bar__plus_00_dot_43_bar__plus_02_dot_87)\n (openable Cabinet_bar__minus_01_dot_40_bar__plus_00_dot_43_bar__plus_02_dot_87)\n \n (atLocation agent1 loc_bar__minus_1_bar_3_bar_0_bar_30)\n \n (cleanable Cloth_bar__minus_00_dot_76_bar__plus_01_dot_08_bar__plus_00_dot_30)\n (cleanable SoapBar_bar__minus_01_dot_28_bar__plus_01_dot_10_bar__plus_03_dot_29)\n (cleanable DishSponge_bar__minus_03_dot_22_bar__plus_00_dot_60_bar__plus_01_dot_51)\n (cleanable SoapBar_bar__minus_01_dot_23_bar__plus_00_dot_05_bar__plus_03_dot_22)\n \n \n \n \n \n \n \n \n \n \n (inReceptacle SoapBar_bar__minus_01_dot_28_bar__plus_01_dot_10_bar__plus_03_dot_29 CounterTop_bar__minus_01_dot_36_bar__plus_01_dot_09_bar__plus_03_dot_15)\n (inReceptacle ShowerGlass_bar__minus_02_dot_90_bar__plus_01_dot_42_bar__plus_02_dot_34 CounterTop_bar__minus_01_dot_36_bar__plus_01_dot_09_bar__plus_03_dot_15)\n (inReceptacle Candle_bar__minus_01_dot_34_bar__plus_01_dot_10_bar__plus_03_dot_06 CounterTop_bar__minus_01_dot_36_bar__plus_01_dot_09_bar__plus_03_dot_15)\n (inReceptacle Candle_bar__minus_00_dot_45_bar__plus_01_dot_10_bar__plus_03_dot_37 CounterTop_bar__minus_01_dot_36_bar__plus_01_dot_09_bar__plus_03_dot_15)\n (inReceptacle Mirror_bar__minus_01_dot_39_bar__plus_01_dot_60_bar__plus_03_dot_46 CounterTop_bar__minus_01_dot_36_bar__plus_01_dot_09_bar__plus_03_dot_15)\n (inReceptacle SoapBottle_bar__minus_01_dot_65_bar__plus_00_dot_06_bar__plus_02_dot_95 Cabinet_bar__minus_01_dot_40_bar__plus_00_dot_43_bar__plus_02_dot_87)\n (inReceptacle Candle_bar__minus_01_dot_76_bar__plus_00_dot_05_bar__plus_03_dot_22 Cabinet_bar__minus_01_dot_40_bar__plus_00_dot_43_bar__plus_02_dot_87)\n (inReceptacle SoapBar_bar__minus_01_dot_23_bar__plus_00_dot_05_bar__plus_03_dot_22 Cabinet_bar__minus_01_dot_36_bar__plus_00_dot_43_bar__plus_02_dot_87)\n (inReceptacle ToiletPaper_bar__minus_00_dot_14_bar__plus_00_dot_06_bar__plus_03_dot_30 GarbageCan_bar__minus_00_dot_13_bar__plus_00_dot_03_bar__plus_03_dot_25)\n (inReceptacle Towel_bar__plus_00_dot_86_bar__plus_01_dot_36_bar__plus_02_dot_86 TowelHolder_bar__plus_00_dot_97_bar__plus_01_dot_34_bar__plus_02_dot_86)\n (inReceptacle Towel_bar__plus_00_dot_40_bar__plus_01_dot_39_bar__plus_03_dot_36 TowelHolder_bar__plus_00_dot_40_bar__plus_01_dot_38_bar__plus_03_dot_47)\n (inReceptacle SoapBottle_bar__minus_03_dot_22_bar__plus_00_dot_60_bar__plus_01_dot_34 Shelf_bar__minus_02_dot_93_bar__plus_00_dot_59_bar__plus_01_dot_43)\n (inReceptacle ShowerGlass_bar__minus_02_dot_90_bar__plus_01_dot_42_bar__plus_02_dot_34 Shelf_bar__minus_02_dot_93_bar__plus_00_dot_59_bar__plus_01_dot_43)\n (inReceptacle SprayBottle_bar__minus_02_dot_81_bar__plus_00_dot_60_bar__plus_01_dot_38 Shelf_bar__minus_02_dot_93_bar__plus_00_dot_59_bar__plus_01_dot_43)\n (inReceptacle DishSponge_bar__minus_03_dot_22_bar__plus_00_dot_60_bar__plus_01_dot_51 Shelf_bar__minus_02_dot_93_bar__plus_00_dot_59_bar__plus_01_dot_43)\n (inReceptacle HandTowel_bar__minus_00_dot_24_bar__plus_01_dot_76_bar__plus_03_dot_43 HandTowelHolder_bar__minus_00_dot_24_bar__plus_01_dot_86_bar__plus_03_dot_47)\n (inReceptacle PaperTowelRoll_bar__minus_00_dot_63_bar__plus_01_dot_18_bar__plus_00_dot_30 Toilet_bar__minus_00_dot_70_bar__plus_00_dot_03_bar__plus_00_dot_66)\n (inReceptacle Cloth_bar__minus_00_dot_76_bar__plus_01_dot_08_bar__plus_00_dot_30 Toilet_bar__minus_00_dot_70_bar__plus_00_dot_03_bar__plus_00_dot_66)\n \n \n (receptacleAtLocation Bathtub_bar__minus_02_dot_23_bar__plus_00_dot_29_bar__plus_00_dot_72_bar_BathtubBasin loc_bar__minus_8_bar_6_bar_2_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_34_bar__plus_00_dot_43_bar__plus_02_dot_87 loc_bar__minus_4_bar_8_bar_0_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_01_dot_36_bar__plus_00_dot_43_bar__plus_02_dot_87 loc_bar__minus_6_bar_8_bar_0_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_01_dot_40_bar__plus_00_dot_43_bar__plus_02_dot_87 loc_bar__minus_5_bar_8_bar_0_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_02_dot_42_bar__plus_00_dot_43_bar__plus_02_dot_87 loc_bar__minus_7_bar_8_bar_0_bar_60)\n (receptacleAtLocation CounterTop_bar__minus_01_dot_36_bar__plus_01_dot_09_bar__plus_03_dot_15 loc_bar__minus_6_bar_10_bar_0_bar_45)\n (receptacleAtLocation GarbageCan_bar__minus_00_dot_13_bar__plus_00_dot_03_bar__plus_03_dot_25 loc_bar_0_bar_11_bar_0_bar_60)\n (receptacleAtLocation HandTowelHolder_bar__minus_00_dot_24_bar__plus_01_dot_86_bar__plus_03_dot_47 loc_bar_0_bar_11_bar_0_bar__minus_15)\n (receptacleAtLocation Shelf_bar__minus_02_dot_93_bar__plus_00_dot_59_bar__plus_01_dot_43 loc_bar__minus_8_bar_6_bar_3_bar_45)\n (receptacleAtLocation Sink_bar__minus_00_dot_85_bar__plus_00_dot_95_bar__plus_03_dot_14_bar_SinkBasin loc_bar__minus_2_bar_10_bar_0_bar_45)\n (receptacleAtLocation Sink_bar__minus_01_dot_94_bar__plus_00_dot_95_bar__plus_03_dot_14_bar_SinkBasin loc_bar__minus_7_bar_10_bar_0_bar_45)\n (receptacleAtLocation ToiletPaperHanger_bar__minus_00_dot_04_bar__plus_00_dot_96_bar__plus_00_dot_20 loc_bar_0_bar_3_bar_2_bar_45)\n (receptacleAtLocation Toilet_bar__minus_00_dot_70_bar__plus_00_dot_03_bar__plus_00_dot_66 loc_bar_1_bar_3_bar_3_bar_60)\n (receptacleAtLocation TowelHolder_bar__plus_00_dot_40_bar__plus_01_dot_38_bar__plus_03_dot_47 loc_bar_1_bar_11_bar_0_bar_15)\n (receptacleAtLocation TowelHolder_bar__plus_00_dot_97_bar__plus_01_dot_34_bar__plus_02_dot_86 loc_bar_1_bar_11_bar_1_bar_30)\n (objectAtLocation Candle_bar__minus_00_dot_45_bar__plus_01_dot_10_bar__plus_03_dot_37 loc_bar__minus_6_bar_10_bar_0_bar_45)\n (objectAtLocation Towel_bar__plus_00_dot_86_bar__plus_01_dot_36_bar__plus_02_dot_86 loc_bar_1_bar_11_bar_1_bar_30)\n (objectAtLocation SoapBottle_bar__minus_03_dot_22_bar__plus_00_dot_60_bar__plus_01_dot_34 loc_bar__minus_8_bar_6_bar_3_bar_45)\n (objectAtLocation SoapBar_bar__minus_01_dot_28_bar__plus_01_dot_10_bar__plus_03_dot_29 loc_bar__minus_6_bar_10_bar_0_bar_45)\n (objectAtLocation SoapBottle_bar__minus_01_dot_19_bar__plus_00_dot_60_bar__plus_01_dot_11 loc_bar__minus_8_bar_6_bar_2_bar_60)\n (objectAtLocation Candle_bar__minus_01_dot_34_bar__plus_01_dot_10_bar__plus_03_dot_06 loc_bar__minus_6_bar_10_bar_0_bar_45)\n (objectAtLocation Window_bar__minus_03_dot_45_bar__plus_01_dot_59_bar__plus_00_dot_65 loc_bar__minus_8_bar_6_bar_3_bar_0)\n (objectAtLocation Mirror_bar__minus_01_dot_39_bar__plus_01_dot_60_bar__plus_03_dot_46 loc_bar__minus_6_bar_10_bar_0_bar_45)\n (objectAtLocation ShowerDoor_bar__minus_02_dot_48_bar__plus_01_dot_77_bar__plus_02_dot_39 loc_bar__minus_8_bar_10_bar_3_bar__minus_15)\n (objectAtLocation Sink_bar__minus_00_dot_85_bar__plus_00_dot_95_bar__plus_03_dot_14 loc_bar__minus_3_bar_10_bar_0_bar_45)\n (objectAtLocation Bathtub_bar__minus_02_dot_23_bar__plus_00_dot_29_bar__plus_00_dot_72 loc_bar__minus_8_bar_6_bar_2_bar_60)\n (objectAtLocation Sink_bar__minus_01_dot_94_bar__plus_00_dot_95_bar__plus_03_dot_14 loc_bar__minus_8_bar_10_bar_0_bar_45)\n (objectAtLocation ShowerGlass_bar__minus_02_dot_90_bar__plus_01_dot_42_bar__plus_02_dot_34 loc_bar__minus_8_bar_6_bar_3_bar_45)\n (objectAtLocation Window_bar__minus_02_dot_19_bar__plus_01_dot_55_bar__plus_00_dot_09 loc_bar__minus_8_bar_6_bar_2_bar_0)\n (objectAtLocation HandTowel_bar__minus_00_dot_24_bar__plus_01_dot_76_bar__plus_03_dot_43 loc_bar_0_bar_11_bar_0_bar__minus_15)\n (objectAtLocation Plunger_bar__minus_00_dot_22_bar__plus_00_dot_03_bar__plus_00_dot_49 loc_bar__minus_1_bar_3_bar_2_bar_60)\n (objectAtLocation SoapBar_bar__minus_01_dot_23_bar__plus_00_dot_05_bar__plus_03_dot_22 loc_bar__minus_6_bar_8_bar_0_bar_60)\n (objectAtLocation ToiletPaper_bar__minus_01_dot_63_bar__plus_00_dot_60_bar__plus_01_dot_13 loc_bar__minus_8_bar_6_bar_2_bar_60)\n (objectAtLocation SoapBottle_bar__minus_01_dot_65_bar__plus_00_dot_06_bar__plus_02_dot_95 loc_bar__minus_5_bar_8_bar_0_bar_60)\n (objectAtLocation LightSwitch_bar__plus_00_dot_97_bar__plus_01_dot_43_bar__plus_01_dot_13 loc_bar_2_bar_5_bar_1_bar_30)\n (objectAtLocation ToiletPaper_bar__minus_00_dot_14_bar__plus_00_dot_06_bar__plus_03_dot_30 loc_bar_0_bar_11_bar_0_bar_60)\n (objectAtLocation Towel_bar__plus_00_dot_40_bar__plus_01_dot_39_bar__plus_03_dot_36 loc_bar_1_bar_11_bar_0_bar_15)\n (objectAtLocation PaperTowelRoll_bar__minus_00_dot_63_bar__plus_01_dot_18_bar__plus_00_dot_30 loc_bar_1_bar_3_bar_3_bar_60)\n (objectAtLocation ScrubBrush_bar__minus_00_dot_35_bar__plus_00_dot_03_bar__plus_00_dot_35 loc_bar__minus_1_bar_3_bar_2_bar_60)\n (objectAtLocation Cloth_bar__minus_00_dot_76_bar__plus_01_dot_08_bar__plus_00_dot_30 loc_bar_1_bar_3_bar_3_bar_60)\n (objectAtLocation Candle_bar__minus_01_dot_76_bar__plus_00_dot_05_bar__plus_03_dot_22 loc_bar__minus_5_bar_8_bar_0_bar_60)\n (objectAtLocation DishSponge_bar__minus_03_dot_22_bar__plus_00_dot_60_bar__plus_01_dot_51 loc_bar__minus_8_bar_6_bar_3_bar_45)\n (objectAtLocation SprayBottle_bar__minus_02_dot_81_bar__plus_00_dot_60_bar__plus_01_dot_38 loc_bar__minus_8_bar_6_bar_3_bar_45)\n )\n \n\n (:goal\n (and\n (exists (?r - receptacle)\n (exists (?o1 - object)\n (and\n (objectType ?o1 SoapBottleType)\n (receptacleType ?r ToiletType)\n (inReceptacle ?o1 ?r)\n (exists (?o2 - object)\n (and\n (not (= ?o1 ?o2))\n (objectType ?o2 SoapBottleType)\n (receptacleType ?r ToiletType)\n (inReceptacle ?o2 ?r)\n )\n )\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to cabinet 2", "open cabinet 2", "take soapbottle 2 from cabinet 2", "go to toilet 1", "move soapbottle 2 to toilet 1", "go to shelf 1", "take soapbottle 1 from shelf 1", "go to toilet 1", "move soapbottle 1 to toilet 1"]}
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alfworld__pick_two_obj_and_place__10
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pick_two_obj_and_place
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pick_two_obj_and_place-SoapBottle-None-Toilet-403/trial_T20190908_060213_777780/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 soapbottle in toilet.\"\n }\n ],\n\n \"GotoLocation.feedback\": [\n {\n \"rhs\": \"You arrive at {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"OpenObject.feedback\": [\n {\n \"rhs\": \"You open the {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"CloseObject.feedback\": [\n {\n \"rhs\": \"You close the {r.name}.\"\n }\n ],\n\n \"PickupObject.feedback\": [\n {\n \"rhs\": \"You pick up the {o.name} from the {r.name}.\"\n }\n ],\n\n \"PickupObjectFromReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupObjectFromReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupEmptyReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupEmptyReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupFullReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupFullReceptacleObject: You pick up the {outerr.name}.\"\n }\n ],\n\n \"PutObject.feedback\": [\n {\n \"rhs\": \"You move the {o.name} to the {r.name}.\"\n }\n ],\n\n \"PutObjectInReceptacleObject.feedback\": [\n {\n \"rhs\": \"PutObjectInReceptacleObject: You put the {o.name} in the {outero.name}.\"\n }\n ],\n\n \"PutEmptyReceptacleObjectinReceptacle.feedback\": [\n {\n \"rhs\": \"PutEmptyReceptacleObjectinReceptacle: You put the {o.name} in the {r.name}.\"\n }\n ],\n\n \"PutFullReceptacleObjectInReceptacle.feedback\": [\n {\n \"rhs\": \"PutFullReceptacleObjectInReceptacle: You put the {outero.name} in the {r.name}.\"\n }\n ],\n\n \"inventory.feedback\": [\n {\n \"condition\": \"holdsany(a:agent)\",\n \"rhs\": \"You are carrying: [{o.indefinite + ' ' + o.name | holds(a:agent, o:object)}].\"\n },\n {\n \"rhs\": \"You are not carrying anything.\"\n }\n ],\n\n \"examineReceptacle.feedback\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \"The {r.name} is open. In it, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \"The {r.name} is closed.\"\n },\n {\n \"rhs\": \"On the {r.name}, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n }\n ],\n\n \"examineObject.feedback\": [\n {\n \"condition\": \"isreceptacleobject(o:object)\",\n \"rhs\": \"This is a normal {o.name}. In it, you see [{o2.indefinite + ' ' + o2.name | inreceptacleobject(o2:object, o:object)}].\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a clean sliced {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot sliced {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object)\",\n \"rhs\": \"This is a hot and clean {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object)\",\n \"rhs\": \"This is a cool and clean {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object)\",\n \"rhs\": \"This is a hot {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object)\",\n \"rhs\": \"This is a clean {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object)\",\n \"rhs\": \"This is a cold {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"This {o.name} is on.\"\n },\n {\n \"condition\": \"toggleable(o:object) & not_istoggled(o:object)\",\n \"rhs\": \"This {o.name} is off.\"\n },\n {\n \"condition\": \"sliceable(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a sliced {o.name}.\"\n },\n {\n \"rhs\": \"There's nothing special about {o.name}.\"\n }\n ]\n }\n\"\"\";\n\naction GotoLocation {\n template :: \"go to [{r.name | receptacleatlocation(r:receptacle, lend:location)}]\";\n feedback :: \"#GotoLocation.feedback#\";\n}\n\naction OpenObject {\n template :: \"open {r}\";\n feedback :: \"#OpenObject.feedback#\";\n}\n\naction CloseObject {\n template :: \"close {r}\";\n feedback :: \"#CloseObject.feedback#\";\n}\n\naction PickupObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObject.feedback#\";\n}\n\naction PickupObjectFromReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObjectFromReceptacleObject.feedback#\";\n}\n\naction PickupEmptyReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupEmptyReceptacleObject.feedback#\";\n}\n\naction PickupFullReceptacleObject {\n template :: \"take {outerr} from {r}\";\n feedback :: \"#PickupFullReceptacleObject.feedback#\";\n}\n\naction PutObject {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutObject.feedback#\";\n}\n\naction PutObjectInReceptacleObject {\n template :: \"put {o} into {outero}\";\n feedback :: \"#PutObjectInReceptacleObject.feedback#\";\n}\n\naction PutEmptyReceptacleObjectinReceptacle {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutEmptyReceptacleObjectinReceptacle.feedback#\";\n}\n\naction PutFullReceptacleObjectInReceptacle {\n template :: \"put {outero} in {r}\";\n feedback :: \"#PutFullReceptacleObjectInReceptacle.feedback#\";\n}\n\naction inventory {\n template :: \"inventory\";\n feedback :: \"#inventory.feedback#\";\n}\n\naction examineReceptacle {\n template :: \"examine {r}\";\n feedback :: \"#examineReceptacle.feedback#\";\n}\n\naction examineObject {\n template :: \"examine {o}\";\n feedback :: \"#examineObject.feedback#\";\n}\n\naction ToggleObject {\n template :: \"use {o}\";\n feedback :: \"#toggleObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"toggleObject.feedback\": [\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"You turn on the {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object)\",\n \"rhs\": \"You turn off the {o.name}.\"\n },\n {\n \"rhs\": \"You don't see any switch on the {o.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction HeatObject {\n template :: \"heat {o} with {r}\";\n feedback :: \"#heatObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"heatObject.feedback\": [\n {\n \"rhs\": \"You heat the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CleanObject {\n template :: \"clean {o} with {r}\";\n feedback :: \"#cleanObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"cleanObject.feedback\": [\n {\n \"rhs\": \"You clean the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CoolObject {\n template :: \"cool {o} with {r}\";\n feedback :: \"#coolObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"coolObject.feedback\": [\n {\n \"rhs\": \"You cool the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction SliceObject {\n template :: \"slice {co} with {ko}\";\n feedback :: \"#sliceObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"sliceObject.feedback\": [\n {\n \"rhs\": \"You sliced the {co.name} with the {ko.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction look {\n template :: \"look\";\n feedback :: \"#look.feedback#\";\n\n grammar :: \"\"\"\n {\n \"look.feedback\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"#look-variations#. Next to it, you see #list_objects_on_the_floor#.\"\n },\n {\n \"rhs\": \"You are in the middle of a room. Looking quickly around you, you see #list_appliances#.\"\n }\n ],\n\n \"look-variations\": [\n {\n \"rhs\": \"You are facing the [{r.name | atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)}]\"\n }\n ],\n\n \"list_objects_on_the_floor\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)\",\n \"rhs\": \"[{#overview(o)# | atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"list_appliances\": [\n {\n \"condition\": \"receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"[{#overview(r)# | receptacleatlocation(r:receptacle, l:location)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"overview(o, r)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name} (in/on the {r.name})}\"\n }\n ],\n\n \"overview(o)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name}\"\n }\n ],\n \"overview(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}\"\n }\n ],\n \"overview_with_state(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}#overview_state(r)#\"\n }\n ],\n \"overview_state(r)\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \" (it is open)\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \" (it is closed)\"\n },\n {\n \"rhs\": \"\"\n }\n ],\n\n \"list_empty\": [\n {\n \"rhs\": \"nothing\"\n }\n ],\n \"list_separator\": [\n {\n \"rhs\": \", \"\n }\n ],\n \"list_last_separator\": [\n {\n \"rhs\": \", and \"\n }\n ]\n }\n \"\"\";\n}\n\naction help {\n template :: \"help\";\n feedback :: \"\nAvailable commands:\n look: look around your current location\n inventory: check your current inventory\n go to (receptacle): move to a receptacle\n open (receptacle): open a receptacle\n close (receptacle): close a receptacle\n take (object) from (receptacle): take an object from a receptacle\n move (object) to (receptacle): place an object in or on a receptacle\n examine (something): examine a receptacle or an object\n use (object): use an object\n heat (object) with (receptacle): heat an object using a receptacle\n clean (object) with (receptacle): clean an object using a receptacle\n cool (object) with (receptacle): cool an object using a receptacle\n slice (object) with (object): slice an object using a sharp object\n\";\n}\n", "pddl_problem": "\n(define (problem plan_trial_T20190908_060213_777780)\n(:domain alfred)\n(:objects\nagent1 - agent\nSaltShaker - object\n HousePlant - object\n Candle - object\n SprayBottle - object\n Bowl - object\n Window - object\n CD - object\n Egg - object\n Glassbottle - object\n Sink - object\n Pillow - object\n Spoon - object\n SoapBottle - object\n TeddyBear - object\n ButterKnife - object\n Cup - object\n Plate - object\n RemoteControl - object\n Tomato - object\n Statue - object\n HandTowel - object\n Knife - object\n StoveKnob - object\n LightSwitch - object\n Pen - object\n Painting - object\n DishSponge - object\n Vase - object\n Mug - object\n ToiletPaper - object\n Box - object\n Mirror - object\n Ladle - object\n Fork - object\n Blinds - object\n Footstool - object\n KeyChain - object\n Cloth - object\n Laptop - object\n TissueBox - object\n PepperShaker - object\n FloorLamp - object\n WateringCan - object\n Apple - object\n Pan - object\n PaperTowel - object\n PaperTowelRoll - object\n Newspaper - object\n Television - object\n Chair - object\n CellPhone - object\n CreditCard - object\n Lettuce - object\n BasketBall - object\n Potato - object\n Curtains - object\n Boots - object\n Pencil - object\n AlarmClock - object\n ToiletPaperRoll - object\n Spatula - object\n Book - object\n Bread - object\n SoapBar - object\n Watch - object\n DeskLamp - object\n Kettle - object\n Pot - object\n ScrubBrush - object\n WineBottle - object\n ShowerDoor - object\n Bathtub - object\n LaundryHamperLid - object\n ShowerGlass - object\n Poster - object\n TennisRacket - object\n BaseballBat - object\n Towel - object\n Plunger - object\nSaltShakerType - otype\n HousePlantType - otype\n CandleType - otype\n SprayBottleType - otype\n BowlType - otype\n WindowType - otype\n CDType - otype\n EggType - otype\n GlassbottleType - otype\n SinkType - otype\n PillowType - otype\n SpoonType - otype\n SoapBottleType - otype\n TeddyBearType - otype\n ButterKnifeType - otype\n CupType - otype\n PlateType - otype\n RemoteControlType - otype\n TomatoType - otype\n StatueType - otype\n HandTowelType - otype\n KnifeType - otype\n StoveKnobType - otype\n LightSwitchType - otype\n PenType - otype\n PaintingType - otype\n DishSpongeType - otype\n VaseType - otype\n MugType - otype\n ToiletPaperType - otype\n BoxType - otype\n MirrorType - otype\n LadleType - otype\n ForkType - otype\n BlindsType - otype\n FootstoolType - otype\n KeyChainType - otype\n ClothType - otype\n LaptopType - otype\n TissueBoxType - otype\n PepperShakerType - otype\n FloorLampType - otype\n WateringCanType - otype\n AppleType - otype\n PanType - otype\n PaperTowelType - otype\n PaperTowelRollType - otype\n NewspaperType - otype\n TelevisionType - otype\n ChairType - otype\n CellPhoneType - otype\n CreditCardType - otype\n LettuceType - otype\n BasketBallType - otype\n PotatoType - otype\n CurtainsType - otype\n BootsType - otype\n PencilType - otype\n AlarmClockType - otype\n ToiletPaperRollType - otype\n SpatulaType - otype\n BookType - otype\n BreadType - otype\n SoapBarType - otype\n WatchType - otype\n DeskLampType - otype\n KettleType - otype\n PotType - otype\n ScrubBrushType - otype\n WineBottleType - otype\n ShowerDoorType - otype\n BathtubType - otype\n LaundryHamperLidType - otype\n ShowerGlassType - otype\n PosterType - otype\n TennisRacketType - otype\n BaseballBatType - otype\n TowelType - otype\n PlungerType - otype\nSafeType - rtype\n DrawerType - rtype\n CoffeeMachineType - rtype\n HandTowelHolderType - rtype\n SinkBasinType - rtype\n DresserType - rtype\n LaundryHamperType - rtype\n TVStandType - rtype\n BathtubBasinType - rtype\n CabinetType - rtype\n FridgeType - rtype\n DeskType - rtype\n ToiletType - rtype\n CartType - rtype\n SideTableType - rtype\n SofaType - rtype\n CoffeeTableType - rtype\n DiningTableType - rtype\n CounterTopType - rtype\n GarbageCanType - rtype\n ArmChairType - rtype\n ShelfType - rtype\n MicrowaveType - rtype\n ToasterType - rtype\n BedType - rtype\n PaintingHangerType - rtype\n TowelHolderType - rtype\n ToiletPaperHangerType - rtype\n StoveBurnerType - rtype\n OttomanType - rtype\n\n\n Bathtub_bar__minus_02_dot_23_bar__plus_00_dot_29_bar__plus_00_dot_72 - object\n Candle_bar__minus_02_dot_12_bar__plus_00_dot_05_bar__plus_02_dot_95 - object\n Cloth_bar__minus_01_dot_12_bar__plus_00_dot_06_bar__plus_03_dot_22 - object\n Cloth_bar__minus_02_dot_73_bar__plus_00_dot_11_bar__plus_00_dot_73 - object\n DishSponge_bar__minus_01_dot_19_bar__plus_00_dot_60_bar__plus_01_dot_11 - object\n Faucet_bar__minus_00_dot_85_bar__plus_01_dot_09_bar__plus_03_dot_37 - object\n Faucet_bar__minus_01_dot_34_bar__plus_00_dot_64_bar__plus_00_dot_63 - object\n Faucet_bar__minus_01_dot_94_bar__plus_01_dot_09_bar__plus_03_dot_37 - object\n Faucet_bar__minus_02_dot_95_bar__plus_02_dot_16_bar__plus_03_dot_43 - object\n HandTowel_bar__minus_00_dot_24_bar__plus_01_dot_76_bar__plus_03_dot_43 - object\n LightSwitch_bar__plus_00_dot_97_bar__plus_01_dot_43_bar__plus_01_dot_13 - object\n Mirror_bar__minus_01_dot_39_bar__plus_01_dot_60_bar__plus_03_dot_46 - object\n PaperTowelRoll_bar__minus_02_dot_41_bar__plus_01_dot_21_bar__plus_03_dot_21 - object\n Plunger_bar__minus_00_dot_22_bar__plus_00_dot_03_bar__plus_00_dot_49 - object\n ScrubBrush_bar__minus_00_dot_35_bar__plus_00_dot_03_bar__plus_00_dot_35 - object\n ShowerDoor_bar__minus_02_dot_48_bar__plus_01_dot_77_bar__plus_02_dot_39 - object\n ShowerGlass_bar__minus_02_dot_90_bar__plus_01_dot_42_bar__plus_02_dot_34 - object\n Sink_bar__minus_00_dot_85_bar__plus_00_dot_95_bar__plus_03_dot_14 - object\n Sink_bar__minus_01_dot_94_bar__plus_00_dot_95_bar__plus_03_dot_14 - object\n SoapBar_bar__minus_00_dot_39_bar__plus_01_dot_10_bar__plus_03_dot_29 - object\n SoapBar_bar__minus_00_dot_49_bar__plus_01_dot_07_bar__plus_00_dot_30 - object\n SoapBar_bar__minus_02_dot_29_bar__plus_00_dot_11_bar__plus_00_dot_45 - object\n SoapBottle_bar__minus_00_dot_32_bar__plus_01_dot_11_bar__plus_02_dot_91 - object\n SoapBottle_bar__minus_00_dot_70_bar__plus_00_dot_06_bar__plus_03_dot_36 - object\n SoapBottle_bar__minus_02_dot_13_bar__plus_00_dot_60_bar__plus_01_dot_07 - object\n SoapBottle_bar__minus_02_dot_81_bar__plus_00_dot_60_bar__plus_01_dot_47 - object\n SprayBottle_bar__minus_00_dot_13_bar__plus_00_dot_06_bar__plus_03_dot_25 - object\n SprayBottle_bar__minus_00_dot_63_bar__plus_01_dot_07_bar__plus_00_dot_33 - object\n SprayBottle_bar__minus_02_dot_61_bar__plus_00_dot_60_bar__plus_01_dot_38 - object\n ToiletPaper_bar__minus_00_dot_07_bar__plus_00_dot_87_bar__plus_00_dot_38 - object\n ToiletPaper_bar__minus_00_dot_18_bar__plus_00_dot_08_bar__plus_03_dot_21 - object\n Towel_bar__plus_00_dot_40_bar__plus_01_dot_39_bar__plus_03_dot_36 - object\n Towel_bar__plus_00_dot_86_bar__plus_01_dot_36_bar__plus_02_dot_86 - object\n Window_bar__minus_02_dot_19_bar__plus_01_dot_55_bar__plus_00_dot_09 - object\n Window_bar__minus_03_dot_45_bar__plus_01_dot_59_bar__plus_00_dot_65 - object\n Bathtub_bar__minus_02_dot_23_bar__plus_00_dot_29_bar__plus_00_dot_72_bar_BathtubBasin - receptacle\n Cabinet_bar__minus_00_dot_34_bar__plus_00_dot_43_bar__plus_02_dot_87 - receptacle\n Cabinet_bar__minus_01_dot_36_bar__plus_00_dot_43_bar__plus_02_dot_87 - receptacle\n Cabinet_bar__minus_01_dot_40_bar__plus_00_dot_43_bar__plus_02_dot_87 - receptacle\n Cabinet_bar__minus_02_dot_42_bar__plus_00_dot_43_bar__plus_02_dot_87 - receptacle\n CounterTop_bar__minus_01_dot_36_bar__plus_01_dot_09_bar__plus_03_dot_15 - receptacle\n GarbageCan_bar__minus_00_dot_13_bar__plus_00_dot_03_bar__plus_03_dot_25 - receptacle\n HandTowelHolder_bar__minus_00_dot_24_bar__plus_01_dot_86_bar__plus_03_dot_47 - receptacle\n Shelf_bar__minus_02_dot_93_bar__plus_00_dot_59_bar__plus_01_dot_43 - receptacle\n Sink_bar__minus_00_dot_85_bar__plus_00_dot_95_bar__plus_03_dot_14_bar_SinkBasin - receptacle\n Sink_bar__minus_01_dot_94_bar__plus_00_dot_95_bar__plus_03_dot_14_bar_SinkBasin - receptacle\n ToiletPaperHanger_bar__minus_00_dot_04_bar__plus_00_dot_96_bar__plus_00_dot_20 - receptacle\n Toilet_bar__minus_00_dot_70_bar__plus_00_dot_03_bar__plus_00_dot_66 - receptacle\n TowelHolder_bar__plus_00_dot_40_bar__plus_01_dot_38_bar__plus_03_dot_47 - receptacle\n TowelHolder_bar__plus_00_dot_97_bar__plus_01_dot_34_bar__plus_02_dot_86 - receptacle\n loc_bar_1_bar_11_bar_1_bar_30 - location\n loc_bar__minus_8_bar_10_bar_3_bar__minus_15 - location\n loc_bar__minus_8_bar_10_bar_0_bar_45 - location\n loc_bar__minus_2_bar_10_bar_0_bar_45 - location\n loc_bar__minus_3_bar_10_bar_0_bar_45 - location\n loc_bar__minus_8_bar_6_bar_3_bar_0 - location\n loc_bar__minus_8_bar_6_bar_2_bar_0 - location\n loc_bar__minus_8_bar_6_bar_2_bar_60 - location\n loc_bar_0_bar_3_bar_2_bar_45 - location\n loc_bar_0_bar_11_bar_0_bar_60 - location\n loc_bar__minus_7_bar_8_bar_0_bar_60 - location\n loc_bar__minus_6_bar_8_bar_0_bar_60 - location\n loc_bar_1_bar_3_bar_3_bar_60 - location\n loc_bar_0_bar_11_bar_0_bar__minus_15 - location\n loc_bar__minus_7_bar_10_bar_0_bar_45 - location\n loc_bar_2_bar_5_bar_1_bar_30 - location\n loc_bar__minus_6_bar_10_bar_0_bar_45 - location\n loc_bar__minus_1_bar_3_bar_2_bar_60 - location\n loc_bar__minus_5_bar_8_bar_0_bar_60 - location\n loc_bar__minus_4_bar_8_bar_0_bar_60 - location\n loc_bar_1_bar_11_bar_0_bar_15 - location\n loc_bar__minus_8_bar_6_bar_3_bar_45 - location\n loc_bar__minus_6_bar_9_bar_3_bar_30 - location\n )\n \n\n(:init\n\n\n (receptacleType Sink_bar__minus_01_dot_94_bar__plus_00_dot_95_bar__plus_03_dot_14_bar_SinkBasin SinkBasinType)\n (receptacleType CounterTop_bar__minus_01_dot_36_bar__plus_01_dot_09_bar__plus_03_dot_15 CounterTopType)\n (receptacleType Bathtub_bar__minus_02_dot_23_bar__plus_00_dot_29_bar__plus_00_dot_72_bar_BathtubBasin BathtubBasinType)\n (receptacleType TowelHolder_bar__plus_00_dot_40_bar__plus_01_dot_38_bar__plus_03_dot_47 TowelHolderType)\n (receptacleType Cabinet_bar__minus_01_dot_36_bar__plus_00_dot_43_bar__plus_02_dot_87 CabinetType)\n (receptacleType TowelHolder_bar__plus_00_dot_97_bar__plus_01_dot_34_bar__plus_02_dot_86 TowelHolderType)\n (receptacleType Shelf_bar__minus_02_dot_93_bar__plus_00_dot_59_bar__plus_01_dot_43 ShelfType)\n (receptacleType Sink_bar__minus_00_dot_85_bar__plus_00_dot_95_bar__plus_03_dot_14_bar_SinkBasin SinkBasinType)\n (receptacleType Toilet_bar__minus_00_dot_70_bar__plus_00_dot_03_bar__plus_00_dot_66 ToiletType)\n (receptacleType Cabinet_bar__minus_00_dot_34_bar__plus_00_dot_43_bar__plus_02_dot_87 CabinetType)\n (receptacleType GarbageCan_bar__minus_00_dot_13_bar__plus_00_dot_03_bar__plus_03_dot_25 GarbageCanType)\n (receptacleType ToiletPaperHanger_bar__minus_00_dot_04_bar__plus_00_dot_96_bar__plus_00_dot_20 ToiletPaperHangerType)\n (receptacleType Cabinet_bar__minus_02_dot_42_bar__plus_00_dot_43_bar__plus_02_dot_87 CabinetType)\n (receptacleType Cabinet_bar__minus_01_dot_40_bar__plus_00_dot_43_bar__plus_02_dot_87 CabinetType)\n (receptacleType HandTowelHolder_bar__minus_00_dot_24_bar__plus_01_dot_86_bar__plus_03_dot_47 HandTowelHolderType)\n (objectType SoapBottle_bar__minus_02_dot_13_bar__plus_00_dot_60_bar__plus_01_dot_07 SoapBottleType)\n (objectType Cloth_bar__minus_01_dot_12_bar__plus_00_dot_06_bar__plus_03_dot_22 ClothType)\n (objectType Candle_bar__minus_02_dot_12_bar__plus_00_dot_05_bar__plus_02_dot_95 CandleType)\n (objectType Bathtub_bar__minus_02_dot_23_bar__plus_00_dot_29_bar__plus_00_dot_72 BathtubType)\n (objectType SoapBottle_bar__minus_02_dot_81_bar__plus_00_dot_60_bar__plus_01_dot_47 SoapBottleType)\n (objectType ShowerDoor_bar__minus_02_dot_48_bar__plus_01_dot_77_bar__plus_02_dot_39 ShowerDoorType)\n (objectType DishSponge_bar__minus_01_dot_19_bar__plus_00_dot_60_bar__plus_01_dot_11 DishSpongeType)\n (objectType SoapBottle_bar__minus_00_dot_32_bar__plus_01_dot_11_bar__plus_02_dot_91 SoapBottleType)\n (objectType Plunger_bar__minus_00_dot_22_bar__plus_00_dot_03_bar__plus_00_dot_49 PlungerType)\n (objectType SoapBar_bar__minus_00_dot_39_bar__plus_01_dot_10_bar__plus_03_dot_29 SoapBarType)\n (objectType ShowerGlass_bar__minus_02_dot_90_bar__plus_01_dot_42_bar__plus_02_dot_34 ShowerGlassType)\n (objectType Sink_bar__minus_00_dot_85_bar__plus_00_dot_95_bar__plus_03_dot_14 SinkType)\n (objectType SoapBar_bar__minus_00_dot_49_bar__plus_01_dot_07_bar__plus_00_dot_30 SoapBarType)\n (objectType Window_bar__minus_02_dot_19_bar__plus_01_dot_55_bar__plus_00_dot_09 WindowType)\n (objectType Towel_bar__plus_00_dot_86_bar__plus_01_dot_36_bar__plus_02_dot_86 TowelType)\n (objectType PaperTowelRoll_bar__minus_02_dot_41_bar__plus_01_dot_21_bar__plus_03_dot_21 PaperTowelRollType)\n (objectType Mirror_bar__minus_01_dot_39_bar__plus_01_dot_60_bar__plus_03_dot_46 MirrorType)\n (objectType SoapBottle_bar__minus_00_dot_70_bar__plus_00_dot_06_bar__plus_03_dot_36 SoapBottleType)\n (objectType SprayBottle_bar__minus_00_dot_13_bar__plus_00_dot_06_bar__plus_03_dot_25 SprayBottleType)\n (objectType Window_bar__minus_03_dot_45_bar__plus_01_dot_59_bar__plus_00_dot_65 WindowType)\n (objectType Cloth_bar__minus_02_dot_73_bar__plus_00_dot_11_bar__plus_00_dot_73 ClothType)\n (objectType SoapBar_bar__minus_02_dot_29_bar__plus_00_dot_11_bar__plus_00_dot_45 SoapBarType)\n (objectType HandTowel_bar__minus_00_dot_24_bar__plus_01_dot_76_bar__plus_03_dot_43 HandTowelType)\n (objectType LightSwitch_bar__plus_00_dot_97_bar__plus_01_dot_43_bar__plus_01_dot_13 LightSwitchType)\n (objectType SprayBottle_bar__minus_00_dot_63_bar__plus_01_dot_07_bar__plus_00_dot_33 SprayBottleType)\n (objectType ToiletPaper_bar__minus_00_dot_07_bar__plus_00_dot_87_bar__plus_00_dot_38 ToiletPaperType)\n (objectType ToiletPaper_bar__minus_00_dot_18_bar__plus_00_dot_08_bar__plus_03_dot_21 ToiletPaperType)\n (objectType SprayBottle_bar__minus_02_dot_61_bar__plus_00_dot_60_bar__plus_01_dot_38 SprayBottleType)\n (objectType Towel_bar__plus_00_dot_40_bar__plus_01_dot_39_bar__plus_03_dot_36 TowelType)\n (objectType Sink_bar__minus_01_dot_94_bar__plus_00_dot_95_bar__plus_03_dot_14 SinkType)\n (objectType ScrubBrush_bar__minus_00_dot_35_bar__plus_00_dot_03_bar__plus_00_dot_35 ScrubBrushType)\n (canContain SinkBasinType SoapBarType)\n (canContain SinkBasinType DishSpongeType)\n (canContain SinkBasinType ClothType)\n (canContain SinkBasinType HandTowelType)\n (canContain CounterTopType CandleType)\n (canContain CounterTopType DishSpongeType)\n (canContain CounterTopType SoapBarType)\n (canContain CounterTopType SprayBottleType)\n (canContain CounterTopType ToiletPaperType)\n (canContain CounterTopType SoapBottleType)\n (canContain CounterTopType ClothType)\n (canContain CounterTopType HandTowelType)\n (canContain BathtubBasinType ClothType)\n (canContain BathtubBasinType HandTowelType)\n (canContain BathtubBasinType SoapBarType)\n (canContain BathtubBasinType DishSpongeType)\n (canContain TowelHolderType TowelType)\n (canContain CabinetType CandleType)\n (canContain CabinetType SoapBarType)\n (canContain CabinetType DishSpongeType)\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 ShelfType CandleType)\n (canContain ShelfType SoapBarType)\n (canContain ShelfType DishSpongeType)\n (canContain ShelfType SprayBottleType)\n (canContain ShelfType ToiletPaperType)\n (canContain ShelfType SoapBottleType)\n (canContain ShelfType ClothType)\n (canContain ShelfType HandTowelType)\n (canContain SinkBasinType SoapBarType)\n (canContain SinkBasinType DishSpongeType)\n (canContain SinkBasinType ClothType)\n (canContain SinkBasinType HandTowelType)\n (canContain ToiletType SoapBottleType)\n (canContain ToiletType HandTowelType)\n (canContain ToiletType ToiletPaperType)\n (canContain ToiletType ClothType)\n (canContain ToiletType CandleType)\n (canContain ToiletType SoapBarType)\n (canContain ToiletType DishSpongeType)\n (canContain ToiletType SprayBottleType)\n (canContain CabinetType CandleType)\n (canContain CabinetType SoapBarType)\n (canContain CabinetType DishSpongeType)\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 DishSpongeType)\n (canContain GarbageCanType SprayBottleType)\n (canContain GarbageCanType ToiletPaperType)\n (canContain GarbageCanType SoapBottleType)\n (canContain GarbageCanType ClothType)\n (canContain GarbageCanType HandTowelType)\n (canContain ToiletPaperHangerType ToiletPaperType)\n (canContain CabinetType CandleType)\n (canContain CabinetType SoapBarType)\n (canContain CabinetType DishSpongeType)\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 DishSpongeType)\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 (pickupable SoapBottle_bar__minus_02_dot_13_bar__plus_00_dot_60_bar__plus_01_dot_07)\n (pickupable Cloth_bar__minus_01_dot_12_bar__plus_00_dot_06_bar__plus_03_dot_22)\n (pickupable Candle_bar__minus_02_dot_12_bar__plus_00_dot_05_bar__plus_02_dot_95)\n (pickupable SoapBottle_bar__minus_02_dot_81_bar__plus_00_dot_60_bar__plus_01_dot_47)\n (pickupable DishSponge_bar__minus_01_dot_19_bar__plus_00_dot_60_bar__plus_01_dot_11)\n (pickupable SoapBottle_bar__minus_00_dot_32_bar__plus_01_dot_11_bar__plus_02_dot_91)\n (pickupable Plunger_bar__minus_00_dot_22_bar__plus_00_dot_03_bar__plus_00_dot_49)\n (pickupable SoapBar_bar__minus_00_dot_39_bar__plus_01_dot_10_bar__plus_03_dot_29)\n (pickupable SoapBar_bar__minus_00_dot_49_bar__plus_01_dot_07_bar__plus_00_dot_30)\n (pickupable Towel_bar__plus_00_dot_86_bar__plus_01_dot_36_bar__plus_02_dot_86)\n (pickupable PaperTowelRoll_bar__minus_02_dot_41_bar__plus_01_dot_21_bar__plus_03_dot_21)\n (pickupable SoapBottle_bar__minus_00_dot_70_bar__plus_00_dot_06_bar__plus_03_dot_36)\n (pickupable SprayBottle_bar__minus_00_dot_13_bar__plus_00_dot_06_bar__plus_03_dot_25)\n (pickupable Cloth_bar__minus_02_dot_73_bar__plus_00_dot_11_bar__plus_00_dot_73)\n (pickupable SoapBar_bar__minus_02_dot_29_bar__plus_00_dot_11_bar__plus_00_dot_45)\n (pickupable HandTowel_bar__minus_00_dot_24_bar__plus_01_dot_76_bar__plus_03_dot_43)\n (pickupable SprayBottle_bar__minus_00_dot_63_bar__plus_01_dot_07_bar__plus_00_dot_33)\n (pickupable ToiletPaper_bar__minus_00_dot_07_bar__plus_00_dot_87_bar__plus_00_dot_38)\n (pickupable ToiletPaper_bar__minus_00_dot_18_bar__plus_00_dot_08_bar__plus_03_dot_21)\n (pickupable SprayBottle_bar__minus_02_dot_61_bar__plus_00_dot_60_bar__plus_01_dot_38)\n (pickupable Towel_bar__plus_00_dot_40_bar__plus_01_dot_39_bar__plus_03_dot_36)\n (pickupable ScrubBrush_bar__minus_00_dot_35_bar__plus_00_dot_03_bar__plus_00_dot_35)\n \n (openable Cabinet_bar__minus_01_dot_36_bar__plus_00_dot_43_bar__plus_02_dot_87)\n (openable Cabinet_bar__minus_00_dot_34_bar__plus_00_dot_43_bar__plus_02_dot_87)\n (openable Cabinet_bar__minus_02_dot_42_bar__plus_00_dot_43_bar__plus_02_dot_87)\n (openable Cabinet_bar__minus_01_dot_40_bar__plus_00_dot_43_bar__plus_02_dot_87)\n \n (atLocation agent1 loc_bar__minus_6_bar_9_bar_3_bar_30)\n \n (cleanable Cloth_bar__minus_01_dot_12_bar__plus_00_dot_06_bar__plus_03_dot_22)\n (cleanable DishSponge_bar__minus_01_dot_19_bar__plus_00_dot_60_bar__plus_01_dot_11)\n (cleanable SoapBar_bar__minus_00_dot_39_bar__plus_01_dot_10_bar__plus_03_dot_29)\n (cleanable SoapBar_bar__minus_00_dot_49_bar__plus_01_dot_07_bar__plus_00_dot_30)\n (cleanable Cloth_bar__minus_02_dot_73_bar__plus_00_dot_11_bar__plus_00_dot_73)\n (cleanable SoapBar_bar__minus_02_dot_29_bar__plus_00_dot_11_bar__plus_00_dot_45)\n \n \n \n \n \n \n \n \n \n \n (inReceptacle ShowerGlass_bar__minus_02_dot_90_bar__plus_01_dot_42_bar__plus_02_dot_34 CounterTop_bar__minus_01_dot_36_bar__plus_01_dot_09_bar__plus_03_dot_15)\n (inReceptacle PaperTowelRoll_bar__minus_02_dot_41_bar__plus_01_dot_21_bar__plus_03_dot_21 CounterTop_bar__minus_01_dot_36_bar__plus_01_dot_09_bar__plus_03_dot_15)\n (inReceptacle Mirror_bar__minus_01_dot_39_bar__plus_01_dot_60_bar__plus_03_dot_46 CounterTop_bar__minus_01_dot_36_bar__plus_01_dot_09_bar__plus_03_dot_15)\n (inReceptacle SoapBottle_bar__minus_00_dot_32_bar__plus_01_dot_11_bar__plus_02_dot_91 CounterTop_bar__minus_01_dot_36_bar__plus_01_dot_09_bar__plus_03_dot_15)\n (inReceptacle SoapBar_bar__minus_00_dot_39_bar__plus_01_dot_10_bar__plus_03_dot_29 CounterTop_bar__minus_01_dot_36_bar__plus_01_dot_09_bar__plus_03_dot_15)\n (inReceptacle SoapBottle_bar__minus_00_dot_70_bar__plus_00_dot_06_bar__plus_03_dot_36 Cabinet_bar__minus_00_dot_34_bar__plus_00_dot_43_bar__plus_02_dot_87)\n (inReceptacle Cloth_bar__minus_01_dot_12_bar__plus_00_dot_06_bar__plus_03_dot_22 Cabinet_bar__minus_01_dot_36_bar__plus_00_dot_43_bar__plus_02_dot_87)\n (inReceptacle Candle_bar__minus_02_dot_12_bar__plus_00_dot_05_bar__plus_02_dot_95 Cabinet_bar__minus_02_dot_42_bar__plus_00_dot_43_bar__plus_02_dot_87)\n (inReceptacle SprayBottle_bar__minus_00_dot_13_bar__plus_00_dot_06_bar__plus_03_dot_25 GarbageCan_bar__minus_00_dot_13_bar__plus_00_dot_03_bar__plus_03_dot_25)\n (inReceptacle ToiletPaper_bar__minus_00_dot_18_bar__plus_00_dot_08_bar__plus_03_dot_21 GarbageCan_bar__minus_00_dot_13_bar__plus_00_dot_03_bar__plus_03_dot_25)\n (inReceptacle Towel_bar__plus_00_dot_86_bar__plus_01_dot_36_bar__plus_02_dot_86 TowelHolder_bar__plus_00_dot_97_bar__plus_01_dot_34_bar__plus_02_dot_86)\n (inReceptacle Towel_bar__plus_00_dot_40_bar__plus_01_dot_39_bar__plus_03_dot_36 TowelHolder_bar__plus_00_dot_40_bar__plus_01_dot_38_bar__plus_03_dot_47)\n (inReceptacle SoapBar_bar__minus_02_dot_29_bar__plus_00_dot_11_bar__plus_00_dot_45 Bathtub_bar__minus_02_dot_23_bar__plus_00_dot_29_bar__plus_00_dot_72_bar_BathtubBasin)\n (inReceptacle Cloth_bar__minus_02_dot_73_bar__plus_00_dot_11_bar__plus_00_dot_73 Bathtub_bar__minus_02_dot_23_bar__plus_00_dot_29_bar__plus_00_dot_72_bar_BathtubBasin)\n (inReceptacle ShowerGlass_bar__minus_02_dot_90_bar__plus_01_dot_42_bar__plus_02_dot_34 Shelf_bar__minus_02_dot_93_bar__plus_00_dot_59_bar__plus_01_dot_43)\n (inReceptacle SprayBottle_bar__minus_02_dot_61_bar__plus_00_dot_60_bar__plus_01_dot_38 Shelf_bar__minus_02_dot_93_bar__plus_00_dot_59_bar__plus_01_dot_43)\n (inReceptacle SoapBottle_bar__minus_02_dot_81_bar__plus_00_dot_60_bar__plus_01_dot_47 Shelf_bar__minus_02_dot_93_bar__plus_00_dot_59_bar__plus_01_dot_43)\n (inReceptacle HandTowel_bar__minus_00_dot_24_bar__plus_01_dot_76_bar__plus_03_dot_43 HandTowelHolder_bar__minus_00_dot_24_bar__plus_01_dot_86_bar__plus_03_dot_47)\n (inReceptacle ToiletPaper_bar__minus_00_dot_07_bar__plus_00_dot_87_bar__plus_00_dot_38 ToiletPaperHanger_bar__minus_00_dot_04_bar__plus_00_dot_96_bar__plus_00_dot_20)\n (inReceptacle SprayBottle_bar__minus_00_dot_63_bar__plus_01_dot_07_bar__plus_00_dot_33 Toilet_bar__minus_00_dot_70_bar__plus_00_dot_03_bar__plus_00_dot_66)\n (inReceptacle SoapBar_bar__minus_00_dot_49_bar__plus_01_dot_07_bar__plus_00_dot_30 Toilet_bar__minus_00_dot_70_bar__plus_00_dot_03_bar__plus_00_dot_66)\n \n \n (receptacleAtLocation Bathtub_bar__minus_02_dot_23_bar__plus_00_dot_29_bar__plus_00_dot_72_bar_BathtubBasin loc_bar__minus_8_bar_6_bar_2_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_34_bar__plus_00_dot_43_bar__plus_02_dot_87 loc_bar__minus_4_bar_8_bar_0_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_01_dot_36_bar__plus_00_dot_43_bar__plus_02_dot_87 loc_bar__minus_6_bar_8_bar_0_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_01_dot_40_bar__plus_00_dot_43_bar__plus_02_dot_87 loc_bar__minus_5_bar_8_bar_0_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_02_dot_42_bar__plus_00_dot_43_bar__plus_02_dot_87 loc_bar__minus_7_bar_8_bar_0_bar_60)\n (receptacleAtLocation CounterTop_bar__minus_01_dot_36_bar__plus_01_dot_09_bar__plus_03_dot_15 loc_bar__minus_6_bar_10_bar_0_bar_45)\n (receptacleAtLocation GarbageCan_bar__minus_00_dot_13_bar__plus_00_dot_03_bar__plus_03_dot_25 loc_bar_0_bar_11_bar_0_bar_60)\n (receptacleAtLocation HandTowelHolder_bar__minus_00_dot_24_bar__plus_01_dot_86_bar__plus_03_dot_47 loc_bar_0_bar_11_bar_0_bar__minus_15)\n (receptacleAtLocation Shelf_bar__minus_02_dot_93_bar__plus_00_dot_59_bar__plus_01_dot_43 loc_bar__minus_8_bar_6_bar_3_bar_45)\n (receptacleAtLocation Sink_bar__minus_00_dot_85_bar__plus_00_dot_95_bar__plus_03_dot_14_bar_SinkBasin loc_bar__minus_2_bar_10_bar_0_bar_45)\n (receptacleAtLocation Sink_bar__minus_01_dot_94_bar__plus_00_dot_95_bar__plus_03_dot_14_bar_SinkBasin loc_bar__minus_7_bar_10_bar_0_bar_45)\n (receptacleAtLocation ToiletPaperHanger_bar__minus_00_dot_04_bar__plus_00_dot_96_bar__plus_00_dot_20 loc_bar_0_bar_3_bar_2_bar_45)\n (receptacleAtLocation Toilet_bar__minus_00_dot_70_bar__plus_00_dot_03_bar__plus_00_dot_66 loc_bar_1_bar_3_bar_3_bar_60)\n (receptacleAtLocation TowelHolder_bar__plus_00_dot_40_bar__plus_01_dot_38_bar__plus_03_dot_47 loc_bar_1_bar_11_bar_0_bar_15)\n (receptacleAtLocation TowelHolder_bar__plus_00_dot_97_bar__plus_01_dot_34_bar__plus_02_dot_86 loc_bar_1_bar_11_bar_1_bar_30)\n (objectAtLocation SprayBottle_bar__minus_02_dot_61_bar__plus_00_dot_60_bar__plus_01_dot_38 loc_bar__minus_8_bar_6_bar_3_bar_45)\n (objectAtLocation Cloth_bar__minus_01_dot_12_bar__plus_00_dot_06_bar__plus_03_dot_22 loc_bar__minus_6_bar_8_bar_0_bar_60)\n (objectAtLocation Towel_bar__plus_00_dot_40_bar__plus_01_dot_39_bar__plus_03_dot_36 loc_bar_1_bar_11_bar_0_bar_15)\n (objectAtLocation SoapBottle_bar__minus_02_dot_13_bar__plus_00_dot_60_bar__plus_01_dot_07 loc_bar__minus_8_bar_6_bar_2_bar_60)\n (objectAtLocation SoapBar_bar__minus_00_dot_49_bar__plus_01_dot_07_bar__plus_00_dot_30 loc_bar_1_bar_3_bar_3_bar_60)\n (objectAtLocation SoapBottle_bar__minus_00_dot_32_bar__plus_01_dot_11_bar__plus_02_dot_91 loc_bar__minus_6_bar_10_bar_0_bar_45)\n (objectAtLocation SoapBottle_bar__minus_02_dot_81_bar__plus_00_dot_60_bar__plus_01_dot_47 loc_bar__minus_8_bar_6_bar_3_bar_45)\n (objectAtLocation SprayBottle_bar__minus_00_dot_13_bar__plus_00_dot_06_bar__plus_03_dot_25 loc_bar_0_bar_11_bar_0_bar_60)\n (objectAtLocation SoapBar_bar__minus_00_dot_39_bar__plus_01_dot_10_bar__plus_03_dot_29 loc_bar__minus_6_bar_10_bar_0_bar_45)\n (objectAtLocation Window_bar__minus_03_dot_45_bar__plus_01_dot_59_bar__plus_00_dot_65 loc_bar__minus_8_bar_6_bar_3_bar_0)\n (objectAtLocation Mirror_bar__minus_01_dot_39_bar__plus_01_dot_60_bar__plus_03_dot_46 loc_bar__minus_6_bar_10_bar_0_bar_45)\n (objectAtLocation ShowerDoor_bar__minus_02_dot_48_bar__plus_01_dot_77_bar__plus_02_dot_39 loc_bar__minus_8_bar_10_bar_3_bar__minus_15)\n (objectAtLocation Sink_bar__minus_00_dot_85_bar__plus_00_dot_95_bar__plus_03_dot_14 loc_bar__minus_3_bar_10_bar_0_bar_45)\n (objectAtLocation Bathtub_bar__minus_02_dot_23_bar__plus_00_dot_29_bar__plus_00_dot_72 loc_bar__minus_8_bar_6_bar_2_bar_60)\n (objectAtLocation Sink_bar__minus_01_dot_94_bar__plus_00_dot_95_bar__plus_03_dot_14 loc_bar__minus_8_bar_10_bar_0_bar_45)\n (objectAtLocation ShowerGlass_bar__minus_02_dot_90_bar__plus_01_dot_42_bar__plus_02_dot_34 loc_bar__minus_8_bar_6_bar_3_bar_45)\n (objectAtLocation Window_bar__minus_02_dot_19_bar__plus_01_dot_55_bar__plus_00_dot_09 loc_bar__minus_8_bar_6_bar_2_bar_0)\n (objectAtLocation HandTowel_bar__minus_00_dot_24_bar__plus_01_dot_76_bar__plus_03_dot_43 loc_bar_0_bar_11_bar_0_bar__minus_15)\n (objectAtLocation Plunger_bar__minus_00_dot_22_bar__plus_00_dot_03_bar__plus_00_dot_49 loc_bar__minus_1_bar_3_bar_2_bar_60)\n (objectAtLocation SoapBar_bar__minus_02_dot_29_bar__plus_00_dot_11_bar__plus_00_dot_45 loc_bar__minus_8_bar_6_bar_2_bar_60)\n (objectAtLocation ToiletPaper_bar__minus_00_dot_07_bar__plus_00_dot_87_bar__plus_00_dot_38 loc_bar_0_bar_3_bar_2_bar_45)\n (objectAtLocation SoapBottle_bar__minus_00_dot_70_bar__plus_00_dot_06_bar__plus_03_dot_36 loc_bar__minus_4_bar_8_bar_0_bar_60)\n (objectAtLocation LightSwitch_bar__plus_00_dot_97_bar__plus_01_dot_43_bar__plus_01_dot_13 loc_bar_2_bar_5_bar_1_bar_30)\n (objectAtLocation ToiletPaper_bar__minus_00_dot_18_bar__plus_00_dot_08_bar__plus_03_dot_21 loc_bar_0_bar_11_bar_0_bar_60)\n (objectAtLocation Towel_bar__plus_00_dot_86_bar__plus_01_dot_36_bar__plus_02_dot_86 loc_bar_1_bar_11_bar_1_bar_30)\n (objectAtLocation PaperTowelRoll_bar__minus_02_dot_41_bar__plus_01_dot_21_bar__plus_03_dot_21 loc_bar__minus_6_bar_10_bar_0_bar_45)\n (objectAtLocation ScrubBrush_bar__minus_00_dot_35_bar__plus_00_dot_03_bar__plus_00_dot_35 loc_bar__minus_1_bar_3_bar_2_bar_60)\n (objectAtLocation Cloth_bar__minus_02_dot_73_bar__plus_00_dot_11_bar__plus_00_dot_73 loc_bar__minus_8_bar_6_bar_2_bar_60)\n (objectAtLocation Candle_bar__minus_02_dot_12_bar__plus_00_dot_05_bar__plus_02_dot_95 loc_bar__minus_7_bar_8_bar_0_bar_60)\n (objectAtLocation DishSponge_bar__minus_01_dot_19_bar__plus_00_dot_60_bar__plus_01_dot_11 loc_bar__minus_8_bar_6_bar_2_bar_60)\n (objectAtLocation SprayBottle_bar__minus_00_dot_63_bar__plus_01_dot_07_bar__plus_00_dot_33 loc_bar_1_bar_3_bar_3_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 ToiletType)\n (inReceptacle ?o1 ?r)\n (exists (?o2 - object)\n (and\n (not (= ?o1 ?o2))\n (objectType ?o2 SoapBottleType)\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 soapbottle 4 from countertop 1", "go to toilet 1", "move soapbottle 4 to toilet 1", "go to shelf 1", "take soapbottle 1 from shelf 1", "go to toilet 1", "move soapbottle 1 to toilet 1"]}
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alfworld__look_at_obj_in_light__2
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look_at_obj_in_light
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look_at_obj_in_light-CD-None-DeskLamp-320/trial_T20190907_224502_133384/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 cd under the desklamp.\"\n }\n ],\n\n \"GotoLocation.feedback\": [\n {\n \"rhs\": \"You arrive at {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"OpenObject.feedback\": [\n {\n \"rhs\": \"You open the {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"CloseObject.feedback\": [\n {\n \"rhs\": \"You close the {r.name}.\"\n }\n ],\n\n \"PickupObject.feedback\": [\n {\n \"rhs\": \"You pick up the {o.name} from the {r.name}.\"\n }\n ],\n\n \"PickupObjectFromReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupObjectFromReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupEmptyReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupEmptyReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupFullReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupFullReceptacleObject: You pick up the {outerr.name}.\"\n }\n ],\n\n \"PutObject.feedback\": [\n {\n \"rhs\": \"You move the {o.name} to the {r.name}.\"\n }\n ],\n\n \"PutObjectInReceptacleObject.feedback\": [\n {\n \"rhs\": \"PutObjectInReceptacleObject: You put the {o.name} in the {outero.name}.\"\n }\n ],\n\n \"PutEmptyReceptacleObjectinReceptacle.feedback\": [\n {\n \"rhs\": \"PutEmptyReceptacleObjectinReceptacle: You put the {o.name} in the {r.name}.\"\n }\n ],\n\n \"PutFullReceptacleObjectInReceptacle.feedback\": [\n {\n \"rhs\": \"PutFullReceptacleObjectInReceptacle: You put the {outero.name} in the {r.name}.\"\n }\n ],\n\n \"inventory.feedback\": [\n {\n \"condition\": \"holdsany(a:agent)\",\n \"rhs\": \"You are carrying: [{o.indefinite + ' ' + o.name | holds(a:agent, o:object)}].\"\n },\n {\n \"rhs\": \"You are not carrying anything.\"\n }\n ],\n\n \"examineReceptacle.feedback\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \"The {r.name} is open. In it, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \"The {r.name} is closed.\"\n },\n {\n \"rhs\": \"On the {r.name}, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n }\n ],\n\n \"examineObject.feedback\": [\n {\n \"condition\": \"isreceptacleobject(o:object)\",\n \"rhs\": \"This is a normal {o.name}. In it, you see [{o2.indefinite + ' ' + o2.name | inreceptacleobject(o2:object, o:object)}].\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a clean sliced {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot sliced {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object)\",\n \"rhs\": \"This is a hot and clean {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object)\",\n \"rhs\": \"This is a cool and clean {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object)\",\n \"rhs\": \"This is a hot {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object)\",\n \"rhs\": \"This is a clean {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object)\",\n \"rhs\": \"This is a cold {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"This {o.name} is on.\"\n },\n {\n \"condition\": \"toggleable(o:object) & not_istoggled(o:object)\",\n \"rhs\": \"This {o.name} is off.\"\n },\n {\n \"condition\": \"sliceable(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a sliced {o.name}.\"\n },\n {\n \"rhs\": \"There's nothing special about {o.name}.\"\n }\n ]\n }\n\"\"\";\n\naction GotoLocation {\n template :: \"go to [{r.name | receptacleatlocation(r:receptacle, lend:location)}]\";\n feedback :: \"#GotoLocation.feedback#\";\n}\n\naction OpenObject {\n template :: \"open {r}\";\n feedback :: \"#OpenObject.feedback#\";\n}\n\naction CloseObject {\n template :: \"close {r}\";\n feedback :: \"#CloseObject.feedback#\";\n}\n\naction PickupObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObject.feedback#\";\n}\n\naction PickupObjectFromReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObjectFromReceptacleObject.feedback#\";\n}\n\naction PickupEmptyReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupEmptyReceptacleObject.feedback#\";\n}\n\naction PickupFullReceptacleObject {\n template :: \"take {outerr} from {r}\";\n feedback :: \"#PickupFullReceptacleObject.feedback#\";\n}\n\naction PutObject {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutObject.feedback#\";\n}\n\naction PutObjectInReceptacleObject {\n template :: \"put {o} into {outero}\";\n feedback :: \"#PutObjectInReceptacleObject.feedback#\";\n}\n\naction PutEmptyReceptacleObjectinReceptacle {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutEmptyReceptacleObjectinReceptacle.feedback#\";\n}\n\naction PutFullReceptacleObjectInReceptacle {\n template :: \"put {outero} in {r}\";\n feedback :: \"#PutFullReceptacleObjectInReceptacle.feedback#\";\n}\n\naction inventory {\n template :: \"inventory\";\n feedback :: \"#inventory.feedback#\";\n}\n\naction examineReceptacle {\n template :: \"examine {r}\";\n feedback :: \"#examineReceptacle.feedback#\";\n}\n\naction examineObject {\n template :: \"examine {o}\";\n feedback :: \"#examineObject.feedback#\";\n}\n\naction ToggleObject {\n template :: \"use {o}\";\n feedback :: \"#toggleObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"toggleObject.feedback\": [\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"You turn on the {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object)\",\n \"rhs\": \"You turn off the {o.name}.\"\n },\n {\n \"rhs\": \"You don't see any switch on the {o.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction HeatObject {\n template :: \"heat {o} with {r}\";\n feedback :: \"#heatObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"heatObject.feedback\": [\n {\n \"rhs\": \"You heat the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CleanObject {\n template :: \"clean {o} with {r}\";\n feedback :: \"#cleanObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"cleanObject.feedback\": [\n {\n \"rhs\": \"You clean the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CoolObject {\n template :: \"cool {o} with {r}\";\n feedback :: \"#coolObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"coolObject.feedback\": [\n {\n \"rhs\": \"You cool the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction SliceObject {\n template :: \"slice {co} with {ko}\";\n feedback :: \"#sliceObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"sliceObject.feedback\": [\n {\n \"rhs\": \"You sliced the {co.name} with the {ko.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction look {\n template :: \"look\";\n feedback :: \"#look.feedback#\";\n\n grammar :: \"\"\"\n {\n \"look.feedback\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"#look-variations#. Next to it, you see #list_objects_on_the_floor#.\"\n },\n {\n \"rhs\": \"You are in the middle of a room. Looking quickly around you, you see #list_appliances#.\"\n }\n ],\n\n \"look-variations\": [\n {\n \"rhs\": \"You are facing the [{r.name | atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)}]\"\n }\n ],\n\n \"list_objects_on_the_floor\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)\",\n \"rhs\": \"[{#overview(o)# | atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"list_appliances\": [\n {\n \"condition\": \"receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"[{#overview(r)# | receptacleatlocation(r:receptacle, l:location)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"overview(o, r)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name} (in/on the {r.name})}\"\n }\n ],\n\n \"overview(o)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name}\"\n }\n ],\n \"overview(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}\"\n }\n ],\n \"overview_with_state(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}#overview_state(r)#\"\n }\n ],\n \"overview_state(r)\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \" (it is open)\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \" (it is closed)\"\n },\n {\n \"rhs\": \"\"\n }\n ],\n\n \"list_empty\": [\n {\n \"rhs\": \"nothing\"\n }\n ],\n \"list_separator\": [\n {\n \"rhs\": \", \"\n }\n ],\n \"list_last_separator\": [\n {\n \"rhs\": \", and \"\n }\n ]\n }\n \"\"\";\n}\n\naction help {\n template :: \"help\";\n feedback :: \"\nAvailable commands:\n look: look around your current location\n inventory: check your current inventory\n go to (receptacle): move to a receptacle\n open (receptacle): open a receptacle\n close (receptacle): close a receptacle\n take (object) from (receptacle): take an object from a receptacle\n move (object) to (receptacle): place an object in or on a receptacle\n examine (something): examine a receptacle or an object\n use (object): use an object\n heat (object) with (receptacle): heat an object using a receptacle\n clean (object) with (receptacle): clean an object using a receptacle\n cool (object) with (receptacle): cool an object using a receptacle\n slice (object) with (object): slice an object using a sharp object\n\";\n}\n", "pddl_problem": "\n(define (problem plan_trial_T20190907_224502_133384)\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_50_bar__plus_00_dot_71_bar__plus_00_dot_60 - object\n AlarmClock_bar__minus_01_dot_68_bar__plus_00_dot_68_bar__plus_01_dot_21 - object\n BasketBall_bar__plus_01_dot_51_bar__plus_00_dot_12_bar__minus_00_dot_11 - object\n Book_bar__plus_01_dot_68_bar__plus_00_dot_71_bar__plus_00_dot_02 - object\n Book_bar__minus_01_dot_79_bar__plus_00_dot_07_bar__plus_01_dot_45 - object\n Book_bar__minus_01_dot_83_bar__plus_00_dot_64_bar__plus_00_dot_14 - object\n CD_bar__plus_01_dot_23_bar__plus_00_dot_71_bar__plus_00_dot_02 - object\n CD_bar__minus_01_dot_55_bar__plus_00_dot_68_bar__plus_00_dot_78 - object\n CD_bar__minus_01_dot_91_bar__plus_01_dot_07_bar__plus_01_dot_63 - object\n CellPhone_bar__plus_01_dot_32_bar__plus_00_dot_71_bar__plus_00_dot_80 - object\n CellPhone_bar__minus_01_dot_06_bar__plus_00_dot_54_bar__minus_00_dot_83 - object\n Chair_bar__minus_01_dot_46_bar__plus_00_dot_00_bar__plus_00_dot_93 - object\n CreditCard_bar__plus_01_dot_41_bar__plus_00_dot_71_bar__plus_00_dot_41 - object\n CreditCard_bar__minus_01_dot_63_bar__plus_00_dot_51_bar__plus_01_dot_38 - object\n CreditCard_bar__minus_01_dot_68_bar__plus_00_dot_07_bar__plus_01_dot_72 - object\n Curtains_bar__plus_00_dot_49_bar__plus_02_dot_04_bar__minus_01_dot_85 - object\n Curtains_bar__plus_01_dot_87_bar__plus_02_dot_04_bar__minus_00_dot_50 - object\n DeskLamp_bar__minus_01_dot_85_bar__plus_01_dot_06_bar__plus_00_dot_76 - object\n KeyChain_bar__minus_01_dot_78_bar__plus_01_dot_07_bar__plus_01_dot_63 - object\n Laptop_bar__minus_01_dot_06_bar__plus_00_dot_54_bar__minus_00_dot_41 - object\n LightSwitch_bar__minus_00_dot_12_bar__plus_01_dot_32_bar__plus_01_dot_85 - object\n Mirror_bar__plus_00_dot_55_bar__plus_01_dot_49_bar__plus_01_dot_88 - object\n Pencil_bar__minus_01_dot_76_bar__plus_00_dot_64_bar__plus_00_dot_53 - object\n Pen_bar__minus_01_dot_75_bar__plus_00_dot_68_bar__plus_01_dot_64 - object\n Pillow_bar__minus_00_dot_82_bar__plus_00_dot_62_bar__minus_00_dot_83 - object\n Pillow_bar__minus_01_dot_76_bar__plus_00_dot_57_bar__minus_00_dot_77 - object\n TeddyBear_bar__minus_01_dot_70_bar__plus_00_dot_48_bar__minus_00_dot_33 - object\n TennisRacket_bar__plus_01_dot_55_bar__plus_00_dot_00_bar__plus_00_dot_65 - object\n Window_bar__plus_00_dot_48_bar__plus_01_dot_41_bar__minus_01_dot_93 - object\n Window_bar__plus_01_dot_93_bar__plus_01_dot_41_bar__minus_00_dot_51 - object\n Bed_bar__minus_01_dot_04_bar__plus_00_dot_01_bar__minus_00_dot_69 - receptacle\n Desk_bar__plus_01_dot_58_bar_00_dot_00_bar__plus_00_dot_39 - receptacle\n Desk_bar__minus_01_dot_72_bar__plus_00_dot_01_bar__plus_01_dot_11 - receptacle\n GarbageCan_bar__plus_01_dot_68_bar__plus_00_dot_00_bar__plus_01_dot_67 - receptacle\n Shelf_bar__plus_00_dot_63_bar__plus_00_dot_68_bar__minus_01_dot_71 - receptacle\n Shelf_bar__minus_01_dot_73_bar__plus_00_dot_06_bar__plus_01_dot_51 - receptacle\n Shelf_bar__minus_01_dot_73_bar__plus_00_dot_28_bar__plus_01_dot_51 - receptacle\n Shelf_bar__minus_01_dot_73_bar__plus_00_dot_50_bar__plus_01_dot_51 - receptacle\n Shelf_bar__minus_01_dot_88_bar__plus_01_dot_06_bar__plus_01_dot_19 - receptacle\n loc_bar__minus_4_bar_4_bar_3_bar_60 - location\n loc_bar_2_bar__minus_5_bar_2_bar_15 - location\n loc_bar_3_bar__minus_3_bar_2_bar_45 - location\n loc_bar_2_bar__minus_5_bar_2_bar__minus_30 - location\n loc_bar_3_bar_3_bar_1_bar_60 - location\n loc_bar_2_bar_5_bar_0_bar_15 - location\n loc_bar_5_bar__minus_3_bar_1_bar_15 - location\n loc_bar__minus_4_bar_5_bar_3_bar_60 - location\n loc_bar__minus_2_bar_4_bar_3_bar_45 - location\n loc_bar_3_bar_0_bar_1_bar_60 - location\n loc_bar__minus_3_bar_2_bar_2_bar_60 - location\n loc_bar_3_bar_2_bar_1_bar_60 - location\n loc_bar_3_bar_5_bar_1_bar_60 - location\n loc_bar_5_bar__minus_3_bar_1_bar__minus_30 - location\n loc_bar__minus_3_bar_5_bar_3_bar_60 - location\n loc_bar_0_bar_5_bar_0_bar_30 - location\n loc_bar__minus_4_bar_5_bar_3_bar_30 - location\n loc_bar__minus_4_bar_2_bar_2_bar_30 - location\n )\n \n\n(:init\n\n\n (receptacleType Shelf_bar__minus_01_dot_73_bar__plus_00_dot_06_bar__plus_01_dot_51 ShelfType)\n (receptacleType Shelf_bar__minus_01_dot_73_bar__plus_00_dot_50_bar__plus_01_dot_51 ShelfType)\n (receptacleType Bed_bar__minus_01_dot_04_bar__plus_00_dot_01_bar__minus_00_dot_69 BedType)\n (receptacleType GarbageCan_bar__plus_01_dot_68_bar__plus_00_dot_00_bar__plus_01_dot_67 GarbageCanType)\n (receptacleType Desk_bar__minus_01_dot_72_bar__plus_00_dot_01_bar__plus_01_dot_11 DeskType)\n (receptacleType Shelf_bar__minus_01_dot_88_bar__plus_01_dot_06_bar__plus_01_dot_19 ShelfType)\n (receptacleType Shelf_bar__minus_01_dot_73_bar__plus_00_dot_28_bar__plus_01_dot_51 ShelfType)\n (receptacleType Shelf_bar__plus_00_dot_63_bar__plus_00_dot_68_bar__minus_01_dot_71 ShelfType)\n (receptacleType Desk_bar__plus_01_dot_58_bar_00_dot_00_bar__plus_00_dot_39 DeskType)\n (objectType CellPhone_bar__plus_01_dot_32_bar__plus_00_dot_71_bar__plus_00_dot_80 CellPhoneType)\n (objectType Mirror_bar__plus_00_dot_55_bar__plus_01_dot_49_bar__plus_01_dot_88 MirrorType)\n (objectType CellPhone_bar__minus_01_dot_06_bar__plus_00_dot_54_bar__minus_00_dot_83 CellPhoneType)\n (objectType Pillow_bar__minus_01_dot_76_bar__plus_00_dot_57_bar__minus_00_dot_77 PillowType)\n (objectType Pencil_bar__minus_01_dot_76_bar__plus_00_dot_64_bar__plus_00_dot_53 PencilType)\n (objectType TeddyBear_bar__minus_01_dot_70_bar__plus_00_dot_48_bar__minus_00_dot_33 TeddyBearType)\n (objectType Pillow_bar__minus_00_dot_82_bar__plus_00_dot_62_bar__minus_00_dot_83 PillowType)\n (objectType AlarmClock_bar__minus_01_dot_68_bar__plus_00_dot_68_bar__plus_01_dot_21 AlarmClockType)\n (objectType Curtains_bar__plus_01_dot_87_bar__plus_02_dot_04_bar__minus_00_dot_50 CurtainsType)\n (objectType Curtains_bar__plus_00_dot_49_bar__plus_02_dot_04_bar__minus_01_dot_85 CurtainsType)\n (objectType TennisRacket_bar__plus_01_dot_55_bar__plus_00_dot_00_bar__plus_00_dot_65 TennisRacketType)\n (objectType KeyChain_bar__minus_01_dot_78_bar__plus_01_dot_07_bar__plus_01_dot_63 KeyChainType)\n (objectType BasketBall_bar__plus_01_dot_51_bar__plus_00_dot_12_bar__minus_00_dot_11 BasketBallType)\n (objectType Book_bar__minus_01_dot_79_bar__plus_00_dot_07_bar__plus_01_dot_45 BookType)\n (objectType Book_bar__minus_01_dot_83_bar__plus_00_dot_64_bar__plus_00_dot_14 BookType)\n (objectType Window_bar__plus_00_dot_48_bar__plus_01_dot_41_bar__minus_01_dot_93 WindowType)\n (objectType Chair_bar__minus_01_dot_46_bar__plus_00_dot_00_bar__plus_00_dot_93 ChairType)\n (objectType Window_bar__plus_01_dot_93_bar__plus_01_dot_41_bar__minus_00_dot_51 WindowType)\n (objectType AlarmClock_bar__plus_01_dot_50_bar__plus_00_dot_71_bar__plus_00_dot_60 AlarmClockType)\n (objectType Pen_bar__minus_01_dot_75_bar__plus_00_dot_68_bar__plus_01_dot_64 PenType)\n (objectType CD_bar__minus_01_dot_91_bar__plus_01_dot_07_bar__plus_01_dot_63 CDType)\n (objectType CreditCard_bar__minus_01_dot_63_bar__plus_00_dot_51_bar__plus_01_dot_38 CreditCardType)\n (objectType DeskLamp_bar__minus_01_dot_85_bar__plus_01_dot_06_bar__plus_00_dot_76 DeskLampType)\n (objectType CreditCard_bar__minus_01_dot_68_bar__plus_00_dot_07_bar__plus_01_dot_72 CreditCardType)\n (objectType Book_bar__plus_01_dot_68_bar__plus_00_dot_71_bar__plus_00_dot_02 BookType)\n (objectType LightSwitch_bar__minus_00_dot_12_bar__plus_01_dot_32_bar__plus_01_dot_85 LightSwitchType)\n (objectType CD_bar__plus_01_dot_23_bar__plus_00_dot_71_bar__plus_00_dot_02 CDType)\n (objectType CreditCard_bar__plus_01_dot_41_bar__plus_00_dot_71_bar__plus_00_dot_41 CreditCardType)\n (objectType Laptop_bar__minus_01_dot_06_bar__plus_00_dot_54_bar__minus_00_dot_41 LaptopType)\n (objectType CD_bar__minus_01_dot_55_bar__plus_00_dot_68_bar__plus_00_dot_78 CDType)\n (canContain ShelfType PenType)\n (canContain ShelfType BookType)\n (canContain ShelfType CDType)\n (canContain ShelfType CellPhoneType)\n (canContain ShelfType KeyChainType)\n (canContain ShelfType CreditCardType)\n (canContain ShelfType PencilType)\n (canContain ShelfType AlarmClockType)\n (canContain ShelfType PenType)\n (canContain ShelfType BookType)\n (canContain ShelfType CDType)\n (canContain ShelfType CellPhoneType)\n (canContain ShelfType KeyChainType)\n (canContain ShelfType CreditCardType)\n (canContain ShelfType PencilType)\n (canContain ShelfType AlarmClockType)\n (canContain BedType BasketBallType)\n (canContain BedType TennisRacketType)\n (canContain BedType LaptopType)\n (canContain BedType BookType)\n (canContain BedType CellPhoneType)\n (canContain BedType PillowType)\n (canContain GarbageCanType PenType)\n (canContain GarbageCanType CDType)\n (canContain GarbageCanType PencilType)\n (canContain DeskType PenType)\n (canContain DeskType BookType)\n (canContain DeskType CDType)\n (canContain DeskType CellPhoneType)\n (canContain DeskType KeyChainType)\n (canContain DeskType CreditCardType)\n (canContain DeskType BasketBallType)\n (canContain DeskType TennisRacketType)\n (canContain DeskType LaptopType)\n (canContain DeskType PencilType)\n (canContain DeskType AlarmClockType)\n (canContain ShelfType PenType)\n (canContain ShelfType BookType)\n (canContain ShelfType CDType)\n (canContain ShelfType CellPhoneType)\n (canContain ShelfType KeyChainType)\n (canContain ShelfType CreditCardType)\n (canContain ShelfType PencilType)\n (canContain ShelfType AlarmClockType)\n (canContain ShelfType PenType)\n (canContain ShelfType BookType)\n (canContain ShelfType CDType)\n (canContain ShelfType CellPhoneType)\n (canContain ShelfType KeyChainType)\n (canContain ShelfType CreditCardType)\n (canContain ShelfType PencilType)\n (canContain ShelfType AlarmClockType)\n (canContain ShelfType PenType)\n (canContain ShelfType BookType)\n (canContain ShelfType CDType)\n (canContain ShelfType CellPhoneType)\n (canContain ShelfType KeyChainType)\n (canContain ShelfType CreditCardType)\n (canContain ShelfType PencilType)\n (canContain ShelfType AlarmClockType)\n (canContain DeskType PenType)\n (canContain DeskType BookType)\n (canContain DeskType CDType)\n (canContain DeskType CellPhoneType)\n (canContain DeskType KeyChainType)\n (canContain DeskType CreditCardType)\n (canContain DeskType BasketBallType)\n (canContain DeskType TennisRacketType)\n (canContain DeskType LaptopType)\n (canContain DeskType PencilType)\n (canContain DeskType AlarmClockType)\n (pickupable CellPhone_bar__plus_01_dot_32_bar__plus_00_dot_71_bar__plus_00_dot_80)\n (pickupable CellPhone_bar__minus_01_dot_06_bar__plus_00_dot_54_bar__minus_00_dot_83)\n (pickupable Pillow_bar__minus_01_dot_76_bar__plus_00_dot_57_bar__minus_00_dot_77)\n (pickupable Pencil_bar__minus_01_dot_76_bar__plus_00_dot_64_bar__plus_00_dot_53)\n (pickupable TeddyBear_bar__minus_01_dot_70_bar__plus_00_dot_48_bar__minus_00_dot_33)\n (pickupable Pillow_bar__minus_00_dot_82_bar__plus_00_dot_62_bar__minus_00_dot_83)\n (pickupable AlarmClock_bar__minus_01_dot_68_bar__plus_00_dot_68_bar__plus_01_dot_21)\n (pickupable TennisRacket_bar__plus_01_dot_55_bar__plus_00_dot_00_bar__plus_00_dot_65)\n (pickupable KeyChain_bar__minus_01_dot_78_bar__plus_01_dot_07_bar__plus_01_dot_63)\n (pickupable BasketBall_bar__plus_01_dot_51_bar__plus_00_dot_12_bar__minus_00_dot_11)\n (pickupable Book_bar__minus_01_dot_79_bar__plus_00_dot_07_bar__plus_01_dot_45)\n (pickupable Book_bar__minus_01_dot_83_bar__plus_00_dot_64_bar__plus_00_dot_14)\n (pickupable AlarmClock_bar__plus_01_dot_50_bar__plus_00_dot_71_bar__plus_00_dot_60)\n (pickupable Pen_bar__minus_01_dot_75_bar__plus_00_dot_68_bar__plus_01_dot_64)\n (pickupable CD_bar__minus_01_dot_91_bar__plus_01_dot_07_bar__plus_01_dot_63)\n (pickupable CreditCard_bar__minus_01_dot_63_bar__plus_00_dot_51_bar__plus_01_dot_38)\n (pickupable CreditCard_bar__minus_01_dot_68_bar__plus_00_dot_07_bar__plus_01_dot_72)\n (pickupable Book_bar__plus_01_dot_68_bar__plus_00_dot_71_bar__plus_00_dot_02)\n (pickupable CD_bar__plus_01_dot_23_bar__plus_00_dot_71_bar__plus_00_dot_02)\n (pickupable CreditCard_bar__plus_01_dot_41_bar__plus_00_dot_71_bar__plus_00_dot_41)\n (pickupable Laptop_bar__minus_01_dot_06_bar__plus_00_dot_54_bar__minus_00_dot_41)\n (pickupable CD_bar__minus_01_dot_55_bar__plus_00_dot_68_bar__plus_00_dot_78)\n \n \n \n (atLocation agent1 loc_bar__minus_4_bar_2_bar_2_bar_30)\n \n \n \n \n \n \n \n (toggleable DeskLamp_bar__minus_01_dot_85_bar__plus_01_dot_06_bar__plus_00_dot_76)\n \n \n \n \n (inReceptacle CellPhone_bar__plus_01_dot_32_bar__plus_00_dot_71_bar__plus_00_dot_80 Desk_bar__plus_01_dot_58_bar_00_dot_00_bar__plus_00_dot_39)\n (inReceptacle Book_bar__plus_01_dot_68_bar__plus_00_dot_71_bar__plus_00_dot_02 Desk_bar__plus_01_dot_58_bar_00_dot_00_bar__plus_00_dot_39)\n (inReceptacle CD_bar__plus_01_dot_23_bar__plus_00_dot_71_bar__plus_00_dot_02 Desk_bar__plus_01_dot_58_bar_00_dot_00_bar__plus_00_dot_39)\n (inReceptacle CreditCard_bar__plus_01_dot_41_bar__plus_00_dot_71_bar__plus_00_dot_41 Desk_bar__plus_01_dot_58_bar_00_dot_00_bar__plus_00_dot_39)\n (inReceptacle AlarmClock_bar__plus_01_dot_50_bar__plus_00_dot_71_bar__plus_00_dot_60 Desk_bar__plus_01_dot_58_bar_00_dot_00_bar__plus_00_dot_39)\n (inReceptacle Pencil_bar__minus_01_dot_76_bar__plus_00_dot_64_bar__plus_00_dot_53 Desk_bar__minus_01_dot_72_bar__plus_00_dot_01_bar__plus_01_dot_11)\n (inReceptacle AlarmClock_bar__minus_01_dot_68_bar__plus_00_dot_68_bar__plus_01_dot_21 Desk_bar__minus_01_dot_72_bar__plus_00_dot_01_bar__plus_01_dot_11)\n (inReceptacle Book_bar__minus_01_dot_83_bar__plus_00_dot_64_bar__plus_00_dot_14 Desk_bar__minus_01_dot_72_bar__plus_00_dot_01_bar__plus_01_dot_11)\n (inReceptacle CD_bar__minus_01_dot_55_bar__plus_00_dot_68_bar__plus_00_dot_78 Desk_bar__minus_01_dot_72_bar__plus_00_dot_01_bar__plus_01_dot_11)\n (inReceptacle Pen_bar__minus_01_dot_75_bar__plus_00_dot_68_bar__plus_01_dot_64 Desk_bar__minus_01_dot_72_bar__plus_00_dot_01_bar__plus_01_dot_11)\n (inReceptacle TeddyBear_bar__minus_01_dot_70_bar__plus_00_dot_48_bar__minus_00_dot_33 Bed_bar__minus_01_dot_04_bar__plus_00_dot_01_bar__minus_00_dot_69)\n (inReceptacle Pillow_bar__minus_00_dot_82_bar__plus_00_dot_62_bar__minus_00_dot_83 Bed_bar__minus_01_dot_04_bar__plus_00_dot_01_bar__minus_00_dot_69)\n (inReceptacle Laptop_bar__minus_01_dot_06_bar__plus_00_dot_54_bar__minus_00_dot_41 Bed_bar__minus_01_dot_04_bar__plus_00_dot_01_bar__minus_00_dot_69)\n (inReceptacle CellPhone_bar__minus_01_dot_06_bar__plus_00_dot_54_bar__minus_00_dot_83 Bed_bar__minus_01_dot_04_bar__plus_00_dot_01_bar__minus_00_dot_69)\n (inReceptacle Pillow_bar__minus_01_dot_76_bar__plus_00_dot_57_bar__minus_00_dot_77 Bed_bar__minus_01_dot_04_bar__plus_00_dot_01_bar__minus_00_dot_69)\n (inReceptacle CreditCard_bar__minus_01_dot_63_bar__plus_00_dot_51_bar__plus_01_dot_38 Shelf_bar__minus_01_dot_73_bar__plus_00_dot_50_bar__plus_01_dot_51)\n (inReceptacle DeskLamp_bar__minus_01_dot_85_bar__plus_01_dot_06_bar__plus_00_dot_76 Shelf_bar__minus_01_dot_88_bar__plus_01_dot_06_bar__plus_01_dot_19)\n (inReceptacle Book_bar__minus_01_dot_79_bar__plus_00_dot_07_bar__plus_01_dot_45 Shelf_bar__minus_01_dot_73_bar__plus_00_dot_06_bar__plus_01_dot_51)\n (inReceptacle CreditCard_bar__minus_01_dot_68_bar__plus_00_dot_07_bar__plus_01_dot_72 Shelf_bar__minus_01_dot_73_bar__plus_00_dot_06_bar__plus_01_dot_51)\n \n \n (receptacleAtLocation Bed_bar__minus_01_dot_04_bar__plus_00_dot_01_bar__minus_00_dot_69 loc_bar__minus_3_bar_2_bar_2_bar_60)\n (receptacleAtLocation Desk_bar__plus_01_dot_58_bar_00_dot_00_bar__plus_00_dot_39 loc_bar_3_bar_2_bar_1_bar_60)\n (receptacleAtLocation Desk_bar__minus_01_dot_72_bar__plus_00_dot_01_bar__plus_01_dot_11 loc_bar__minus_4_bar_5_bar_3_bar_60)\n (receptacleAtLocation GarbageCan_bar__plus_01_dot_68_bar__plus_00_dot_00_bar__plus_01_dot_67 loc_bar_3_bar_5_bar_1_bar_60)\n (receptacleAtLocation Shelf_bar__plus_00_dot_63_bar__plus_00_dot_68_bar__minus_01_dot_71 loc_bar_3_bar__minus_3_bar_2_bar_45)\n (receptacleAtLocation Shelf_bar__minus_01_dot_73_bar__plus_00_dot_06_bar__plus_01_dot_51 loc_bar__minus_2_bar_4_bar_3_bar_45)\n (receptacleAtLocation Shelf_bar__minus_01_dot_73_bar__plus_00_dot_28_bar__plus_01_dot_51 loc_bar__minus_3_bar_5_bar_3_bar_60)\n (receptacleAtLocation Shelf_bar__minus_01_dot_73_bar__plus_00_dot_50_bar__plus_01_dot_51 loc_bar__minus_2_bar_4_bar_3_bar_45)\n (receptacleAtLocation Shelf_bar__minus_01_dot_88_bar__plus_01_dot_06_bar__plus_01_dot_19 loc_bar__minus_4_bar_5_bar_3_bar_30)\n (objectAtLocation CD_bar__minus_01_dot_91_bar__plus_01_dot_07_bar__plus_01_dot_63 loc_bar__minus_4_bar_5_bar_3_bar_30)\n (objectAtLocation Pillow_bar__minus_01_dot_76_bar__plus_00_dot_57_bar__minus_00_dot_77 loc_bar__minus_3_bar_2_bar_2_bar_60)\n (objectAtLocation CellPhone_bar__plus_01_dot_32_bar__plus_00_dot_71_bar__plus_00_dot_80 loc_bar_3_bar_2_bar_1_bar_60)\n (objectAtLocation CreditCard_bar__minus_01_dot_63_bar__plus_00_dot_51_bar__plus_01_dot_38 loc_bar__minus_2_bar_4_bar_3_bar_45)\n (objectAtLocation AlarmClock_bar__minus_01_dot_68_bar__plus_00_dot_68_bar__plus_01_dot_21 loc_bar__minus_4_bar_5_bar_3_bar_60)\n (objectAtLocation Book_bar__minus_01_dot_83_bar__plus_00_dot_64_bar__plus_00_dot_14 loc_bar__minus_4_bar_5_bar_3_bar_60)\n (objectAtLocation Book_bar__plus_01_dot_68_bar__plus_00_dot_71_bar__plus_00_dot_02 loc_bar_3_bar_2_bar_1_bar_60)\n (objectAtLocation CreditCard_bar__plus_01_dot_41_bar__plus_00_dot_71_bar__plus_00_dot_41 loc_bar_3_bar_2_bar_1_bar_60)\n (objectAtLocation CD_bar__minus_01_dot_55_bar__plus_00_dot_68_bar__plus_00_dot_78 loc_bar__minus_4_bar_5_bar_3_bar_60)\n (objectAtLocation Chair_bar__minus_01_dot_46_bar__plus_00_dot_00_bar__plus_00_dot_93 loc_bar__minus_4_bar_4_bar_3_bar_60)\n (objectAtLocation Curtains_bar__plus_01_dot_87_bar__plus_02_dot_04_bar__minus_00_dot_50 loc_bar_5_bar__minus_3_bar_1_bar__minus_30)\n (objectAtLocation Book_bar__minus_01_dot_79_bar__plus_00_dot_07_bar__plus_01_dot_45 loc_bar__minus_2_bar_4_bar_3_bar_45)\n (objectAtLocation Mirror_bar__plus_00_dot_55_bar__plus_01_dot_49_bar__plus_01_dot_88 loc_bar_2_bar_5_bar_0_bar_15)\n (objectAtLocation Curtains_bar__plus_00_dot_49_bar__plus_02_dot_04_bar__minus_01_dot_85 loc_bar_2_bar__minus_5_bar_2_bar__minus_30)\n (objectAtLocation AlarmClock_bar__plus_01_dot_50_bar__plus_00_dot_71_bar__plus_00_dot_60 loc_bar_3_bar_2_bar_1_bar_60)\n (objectAtLocation BasketBall_bar__plus_01_dot_51_bar__plus_00_dot_12_bar__minus_00_dot_11 loc_bar_3_bar_0_bar_1_bar_60)\n (objectAtLocation LightSwitch_bar__minus_00_dot_12_bar__plus_01_dot_32_bar__plus_01_dot_85 loc_bar_0_bar_5_bar_0_bar_30)\n (objectAtLocation TeddyBear_bar__minus_01_dot_70_bar__plus_00_dot_48_bar__minus_00_dot_33 loc_bar__minus_3_bar_2_bar_2_bar_60)\n (objectAtLocation TennisRacket_bar__plus_01_dot_55_bar__plus_00_dot_00_bar__plus_00_dot_65 loc_bar_3_bar_3_bar_1_bar_60)\n (objectAtLocation Pen_bar__minus_01_dot_75_bar__plus_00_dot_68_bar__plus_01_dot_64 loc_bar__minus_4_bar_5_bar_3_bar_60)\n (objectAtLocation Pencil_bar__minus_01_dot_76_bar__plus_00_dot_64_bar__plus_00_dot_53 loc_bar__minus_4_bar_5_bar_3_bar_60)\n (objectAtLocation KeyChain_bar__minus_01_dot_78_bar__plus_01_dot_07_bar__plus_01_dot_63 loc_bar__minus_4_bar_5_bar_3_bar_30)\n (objectAtLocation DeskLamp_bar__minus_01_dot_85_bar__plus_01_dot_06_bar__plus_00_dot_76 loc_bar__minus_4_bar_5_bar_3_bar_30)\n (objectAtLocation CreditCard_bar__minus_01_dot_68_bar__plus_00_dot_07_bar__plus_01_dot_72 loc_bar__minus_2_bar_4_bar_3_bar_45)\n (objectAtLocation Laptop_bar__minus_01_dot_06_bar__plus_00_dot_54_bar__minus_00_dot_41 loc_bar__minus_3_bar_2_bar_2_bar_60)\n (objectAtLocation CellPhone_bar__minus_01_dot_06_bar__plus_00_dot_54_bar__minus_00_dot_83 loc_bar__minus_3_bar_2_bar_2_bar_60)\n (objectAtLocation Pillow_bar__minus_00_dot_82_bar__plus_00_dot_62_bar__minus_00_dot_83 loc_bar__minus_3_bar_2_bar_2_bar_60)\n (objectAtLocation CD_bar__plus_01_dot_23_bar__plus_00_dot_71_bar__plus_00_dot_02 loc_bar_3_bar_2_bar_1_bar_60)\n (objectAtLocation Window_bar__plus_01_dot_93_bar__plus_01_dot_41_bar__minus_00_dot_51 loc_bar_5_bar__minus_3_bar_1_bar_15)\n (objectAtLocation Window_bar__plus_00_dot_48_bar__plus_01_dot_41_bar__minus_01_dot_93 loc_bar_2_bar__minus_5_bar_2_bar_15)\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 CDType)\n (holds ?a ?o)\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to desk 1", "take cd 1 from desk 1", "go to shelf 2", "use desklamp 1"]}
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alfworld__look_at_obj_in_light__3
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look_at_obj_in_light
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look_at_obj_in_light-CD-None-DeskLamp-320/trial_T20190907_224439_174735/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 cd under the desklamp.\"\n }\n ],\n\n \"GotoLocation.feedback\": [\n {\n \"rhs\": \"You arrive at {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"OpenObject.feedback\": [\n {\n \"rhs\": \"You open the {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"CloseObject.feedback\": [\n {\n \"rhs\": \"You close the {r.name}.\"\n }\n ],\n\n \"PickupObject.feedback\": [\n {\n \"rhs\": \"You pick up the {o.name} from the {r.name}.\"\n }\n ],\n\n \"PickupObjectFromReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupObjectFromReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupEmptyReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupEmptyReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupFullReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupFullReceptacleObject: You pick up the {outerr.name}.\"\n }\n ],\n\n \"PutObject.feedback\": [\n {\n \"rhs\": \"You move the {o.name} to the {r.name}.\"\n }\n ],\n\n \"PutObjectInReceptacleObject.feedback\": [\n {\n \"rhs\": \"PutObjectInReceptacleObject: You put the {o.name} in the {outero.name}.\"\n }\n ],\n\n \"PutEmptyReceptacleObjectinReceptacle.feedback\": [\n {\n \"rhs\": \"PutEmptyReceptacleObjectinReceptacle: You put the {o.name} in the {r.name}.\"\n }\n ],\n\n \"PutFullReceptacleObjectInReceptacle.feedback\": [\n {\n \"rhs\": \"PutFullReceptacleObjectInReceptacle: You put the {outero.name} in the {r.name}.\"\n }\n ],\n\n \"inventory.feedback\": [\n {\n \"condition\": \"holdsany(a:agent)\",\n \"rhs\": \"You are carrying: [{o.indefinite + ' ' + o.name | holds(a:agent, o:object)}].\"\n },\n {\n \"rhs\": \"You are not carrying anything.\"\n }\n ],\n\n \"examineReceptacle.feedback\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \"The {r.name} is open. In it, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \"The {r.name} is closed.\"\n },\n {\n \"rhs\": \"On the {r.name}, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n }\n ],\n\n \"examineObject.feedback\": [\n {\n \"condition\": \"isreceptacleobject(o:object)\",\n \"rhs\": \"This is a normal {o.name}. In it, you see [{o2.indefinite + ' ' + o2.name | inreceptacleobject(o2:object, o:object)}].\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a clean sliced {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot sliced {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object)\",\n \"rhs\": \"This is a hot and clean {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object)\",\n \"rhs\": \"This is a cool and clean {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object)\",\n \"rhs\": \"This is a hot {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object)\",\n \"rhs\": \"This is a clean {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object)\",\n \"rhs\": \"This is a cold {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"This {o.name} is on.\"\n },\n {\n \"condition\": \"toggleable(o:object) & not_istoggled(o:object)\",\n \"rhs\": \"This {o.name} is off.\"\n },\n {\n \"condition\": \"sliceable(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a sliced {o.name}.\"\n },\n {\n \"rhs\": \"There's nothing special about {o.name}.\"\n }\n ]\n }\n\"\"\";\n\naction GotoLocation {\n template :: \"go to [{r.name | receptacleatlocation(r:receptacle, lend:location)}]\";\n feedback :: \"#GotoLocation.feedback#\";\n}\n\naction OpenObject {\n template :: \"open {r}\";\n feedback :: \"#OpenObject.feedback#\";\n}\n\naction CloseObject {\n template :: \"close {r}\";\n feedback :: \"#CloseObject.feedback#\";\n}\n\naction PickupObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObject.feedback#\";\n}\n\naction PickupObjectFromReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObjectFromReceptacleObject.feedback#\";\n}\n\naction PickupEmptyReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupEmptyReceptacleObject.feedback#\";\n}\n\naction PickupFullReceptacleObject {\n template :: \"take {outerr} from {r}\";\n feedback :: \"#PickupFullReceptacleObject.feedback#\";\n}\n\naction PutObject {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutObject.feedback#\";\n}\n\naction PutObjectInReceptacleObject {\n template :: \"put {o} into {outero}\";\n feedback :: \"#PutObjectInReceptacleObject.feedback#\";\n}\n\naction PutEmptyReceptacleObjectinReceptacle {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutEmptyReceptacleObjectinReceptacle.feedback#\";\n}\n\naction PutFullReceptacleObjectInReceptacle {\n template :: \"put {outero} in {r}\";\n feedback :: \"#PutFullReceptacleObjectInReceptacle.feedback#\";\n}\n\naction inventory {\n template :: \"inventory\";\n feedback :: \"#inventory.feedback#\";\n}\n\naction examineReceptacle {\n template :: \"examine {r}\";\n feedback :: \"#examineReceptacle.feedback#\";\n}\n\naction examineObject {\n template :: \"examine {o}\";\n feedback :: \"#examineObject.feedback#\";\n}\n\naction ToggleObject {\n template :: \"use {o}\";\n feedback :: \"#toggleObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"toggleObject.feedback\": [\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"You turn on the {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object)\",\n \"rhs\": \"You turn off the {o.name}.\"\n },\n {\n \"rhs\": \"You don't see any switch on the {o.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction HeatObject {\n template :: \"heat {o} with {r}\";\n feedback :: \"#heatObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"heatObject.feedback\": [\n {\n \"rhs\": \"You heat the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CleanObject {\n template :: \"clean {o} with {r}\";\n feedback :: \"#cleanObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"cleanObject.feedback\": [\n {\n \"rhs\": \"You clean the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CoolObject {\n template :: \"cool {o} with {r}\";\n feedback :: \"#coolObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"coolObject.feedback\": [\n {\n \"rhs\": \"You cool the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction SliceObject {\n template :: \"slice {co} with {ko}\";\n feedback :: \"#sliceObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"sliceObject.feedback\": [\n {\n \"rhs\": \"You sliced the {co.name} with the {ko.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction look {\n template :: \"look\";\n feedback :: \"#look.feedback#\";\n\n grammar :: \"\"\"\n {\n \"look.feedback\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"#look-variations#. Next to it, you see #list_objects_on_the_floor#.\"\n },\n {\n \"rhs\": \"You are in the middle of a room. Looking quickly around you, you see #list_appliances#.\"\n }\n ],\n\n \"look-variations\": [\n {\n \"rhs\": \"You are facing the [{r.name | atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)}]\"\n }\n ],\n\n \"list_objects_on_the_floor\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)\",\n \"rhs\": \"[{#overview(o)# | atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"list_appliances\": [\n {\n \"condition\": \"receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"[{#overview(r)# | receptacleatlocation(r:receptacle, l:location)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"overview(o, r)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name} (in/on the {r.name})}\"\n }\n ],\n\n \"overview(o)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name}\"\n }\n ],\n \"overview(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}\"\n }\n ],\n \"overview_with_state(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}#overview_state(r)#\"\n }\n ],\n \"overview_state(r)\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \" (it is open)\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \" (it is closed)\"\n },\n {\n \"rhs\": \"\"\n }\n ],\n\n \"list_empty\": [\n {\n \"rhs\": \"nothing\"\n }\n ],\n \"list_separator\": [\n {\n \"rhs\": \", \"\n }\n ],\n \"list_last_separator\": [\n {\n \"rhs\": \", and \"\n }\n ]\n }\n \"\"\";\n}\n\naction help {\n template :: \"help\";\n feedback :: \"\nAvailable commands:\n look: look around your current location\n inventory: check your current inventory\n go to (receptacle): move to a receptacle\n open (receptacle): open a receptacle\n close (receptacle): close a receptacle\n take (object) from (receptacle): take an object from a receptacle\n move (object) to (receptacle): place an object in or on a receptacle\n examine (something): examine a receptacle or an object\n use (object): use an object\n heat (object) with (receptacle): heat an object using a receptacle\n clean (object) with (receptacle): clean an object using a receptacle\n cool (object) with (receptacle): cool an object using a receptacle\n slice (object) with (object): slice an object using a sharp object\n\";\n}\n", "pddl_problem": "\n(define (problem plan_trial_T20190907_224439_174735)\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_59_bar__plus_00_dot_71_bar__plus_00_dot_22 - object\n AlarmClock_bar__minus_01_dot_81_bar__plus_01_dot_07_bar__plus_01_dot_63 - object\n BasketBall_bar__plus_01_dot_51_bar__plus_00_dot_12_bar__minus_00_dot_11 - object\n Book_bar__minus_01_dot_68_bar__plus_00_dot_07_bar__plus_01_dot_58 - object\n Book_bar__minus_01_dot_68_bar__plus_00_dot_29_bar__plus_01_dot_45 - object\n Book_bar__minus_01_dot_82_bar__plus_00_dot_67_bar__plus_01_dot_06 - object\n CD_bar__plus_00_dot_36_bar__plus_00_dot_68_bar__minus_01_dot_62 - object\n CD_bar__plus_01_dot_59_bar__plus_00_dot_71_bar__plus_00_dot_02 - object\n CellPhone_bar__minus_00_dot_82_bar__plus_00_dot_54_bar__minus_01_dot_11 - object\n CellPhone_bar__minus_01_dot_54_bar__plus_00_dot_54_bar__minus_00_dot_69 - object\n Chair_bar__minus_01_dot_46_bar__plus_00_dot_00_bar__plus_00_dot_93 - object\n CreditCard_bar__plus_00_dot_51_bar__plus_00_dot_68_bar__minus_01_dot_66 - object\n CreditCard_bar__minus_01_dot_58_bar__plus_00_dot_29_bar__plus_01_dot_65 - object\n Curtains_bar__plus_00_dot_49_bar__plus_02_dot_04_bar__minus_01_dot_85 - object\n Curtains_bar__plus_01_dot_87_bar__plus_02_dot_04_bar__minus_00_dot_50 - object\n DeskLamp_bar__minus_01_dot_85_bar__plus_01_dot_06_bar__plus_00_dot_76 - object\n KeyChain_bar__plus_01_dot_41_bar__plus_00_dot_71_bar__plus_00_dot_80 - object\n KeyChain_bar__minus_01_dot_73_bar__plus_00_dot_29_bar__plus_01_dot_72 - object\n Laptop_bar__minus_01_dot_79_bar__plus_00_dot_63_bar__plus_00_dot_21 - object\n LightSwitch_bar__minus_00_dot_12_bar__plus_01_dot_32_bar__plus_01_dot_85 - object\n Mirror_bar__plus_00_dot_55_bar__plus_01_dot_49_bar__plus_01_dot_88 - object\n Pencil_bar__minus_01_dot_63_bar__plus_00_dot_64_bar__plus_00_dot_37 - object\n Pen_bar__minus_01_dot_62_bar__plus_00_dot_68_bar__plus_01_dot_35 - object\n Pillow_bar__minus_00_dot_34_bar__plus_00_dot_62_bar__minus_00_dot_55 - object\n Pillow_bar__minus_01_dot_30_bar__plus_00_dot_62_bar__minus_00_dot_69 - object\n TeddyBear_bar__minus_01_dot_70_bar__plus_00_dot_48_bar__minus_00_dot_33 - object\n TennisRacket_bar__plus_01_dot_55_bar__plus_00_dot_00_bar__plus_00_dot_65 - object\n Window_bar__plus_00_dot_48_bar__plus_01_dot_41_bar__minus_01_dot_93 - object\n Window_bar__plus_01_dot_93_bar__plus_01_dot_41_bar__minus_00_dot_51 - object\n Bed_bar__minus_01_dot_04_bar__plus_00_dot_01_bar__minus_00_dot_69 - receptacle\n Desk_bar__plus_01_dot_58_bar_00_dot_00_bar__plus_00_dot_39 - receptacle\n Desk_bar__minus_01_dot_72_bar__plus_00_dot_01_bar__plus_01_dot_11 - receptacle\n GarbageCan_bar__plus_01_dot_68_bar__plus_00_dot_00_bar__plus_01_dot_67 - receptacle\n Shelf_bar__plus_00_dot_63_bar__plus_00_dot_68_bar__minus_01_dot_71 - receptacle\n Shelf_bar__minus_01_dot_73_bar__plus_00_dot_06_bar__plus_01_dot_51 - receptacle\n Shelf_bar__minus_01_dot_73_bar__plus_00_dot_28_bar__plus_01_dot_51 - receptacle\n Shelf_bar__minus_01_dot_73_bar__plus_00_dot_50_bar__plus_01_dot_51 - receptacle\n Shelf_bar__minus_01_dot_88_bar__plus_01_dot_06_bar__plus_01_dot_19 - receptacle\n loc_bar__minus_4_bar_4_bar_3_bar_60 - location\n loc_bar_2_bar__minus_5_bar_2_bar_15 - location\n loc_bar_3_bar__minus_3_bar_2_bar_45 - location\n loc_bar_2_bar__minus_5_bar_2_bar__minus_30 - location\n loc_bar_3_bar_3_bar_1_bar_60 - location\n loc_bar_2_bar_5_bar_0_bar_15 - location\n loc_bar_5_bar__minus_3_bar_1_bar_15 - location\n loc_bar__minus_4_bar_5_bar_3_bar_60 - location\n loc_bar__minus_2_bar_4_bar_3_bar_45 - location\n loc_bar_3_bar_0_bar_1_bar_60 - location\n loc_bar__minus_3_bar_2_bar_2_bar_60 - location\n loc_bar_3_bar_2_bar_1_bar_60 - location\n loc_bar_3_bar_5_bar_1_bar_60 - location\n loc_bar_5_bar__minus_3_bar_1_bar__minus_30 - location\n loc_bar__minus_3_bar_5_bar_3_bar_60 - location\n loc_bar_0_bar_5_bar_0_bar_30 - location\n loc_bar__minus_4_bar_5_bar_3_bar_30 - location\n loc_bar_4_bar__minus_5_bar_0_bar_30 - location\n )\n \n\n(:init\n\n\n (receptacleType Shelf_bar__minus_01_dot_73_bar__plus_00_dot_06_bar__plus_01_dot_51 ShelfType)\n (receptacleType Shelf_bar__minus_01_dot_73_bar__plus_00_dot_50_bar__plus_01_dot_51 ShelfType)\n (receptacleType Bed_bar__minus_01_dot_04_bar__plus_00_dot_01_bar__minus_00_dot_69 BedType)\n (receptacleType GarbageCan_bar__plus_01_dot_68_bar__plus_00_dot_00_bar__plus_01_dot_67 GarbageCanType)\n (receptacleType Desk_bar__minus_01_dot_72_bar__plus_00_dot_01_bar__plus_01_dot_11 DeskType)\n (receptacleType Shelf_bar__minus_01_dot_88_bar__plus_01_dot_06_bar__plus_01_dot_19 ShelfType)\n (receptacleType Shelf_bar__minus_01_dot_73_bar__plus_00_dot_28_bar__plus_01_dot_51 ShelfType)\n (receptacleType Shelf_bar__plus_00_dot_63_bar__plus_00_dot_68_bar__minus_01_dot_71 ShelfType)\n (receptacleType Desk_bar__plus_01_dot_58_bar_00_dot_00_bar__plus_00_dot_39 DeskType)\n (objectType AlarmClock_bar__plus_01_dot_59_bar__plus_00_dot_71_bar__plus_00_dot_22 AlarmClockType)\n (objectType Book_bar__minus_01_dot_68_bar__plus_00_dot_07_bar__plus_01_dot_58 BookType)\n (objectType Laptop_bar__minus_01_dot_79_bar__plus_00_dot_63_bar__plus_00_dot_21 LaptopType)\n (objectType CreditCard_bar__plus_00_dot_51_bar__plus_00_dot_68_bar__minus_01_dot_66 CreditCardType)\n (objectType CreditCard_bar__minus_01_dot_58_bar__plus_00_dot_29_bar__plus_01_dot_65 CreditCardType)\n (objectType Mirror_bar__plus_00_dot_55_bar__plus_01_dot_49_bar__plus_01_dot_88 MirrorType)\n (objectType CellPhone_bar__minus_00_dot_82_bar__plus_00_dot_54_bar__minus_01_dot_11 CellPhoneType)\n (objectType TeddyBear_bar__minus_01_dot_70_bar__plus_00_dot_48_bar__minus_00_dot_33 TeddyBearType)\n (objectType Book_bar__minus_01_dot_68_bar__plus_00_dot_29_bar__plus_01_dot_45 BookType)\n (objectType Curtains_bar__plus_01_dot_87_bar__plus_02_dot_04_bar__minus_00_dot_50 CurtainsType)\n (objectType Curtains_bar__plus_00_dot_49_bar__plus_02_dot_04_bar__minus_01_dot_85 CurtainsType)\n (objectType TennisRacket_bar__plus_01_dot_55_bar__plus_00_dot_00_bar__plus_00_dot_65 TennisRacketType)\n (objectType CD_bar__plus_01_dot_59_bar__plus_00_dot_71_bar__plus_00_dot_02 CDType)\n (objectType Pillow_bar__minus_01_dot_30_bar__plus_00_dot_62_bar__minus_00_dot_69 PillowType)\n (objectType Pen_bar__minus_01_dot_62_bar__plus_00_dot_68_bar__plus_01_dot_35 PenType)\n (objectType BasketBall_bar__plus_01_dot_51_bar__plus_00_dot_12_bar__minus_00_dot_11 BasketBallType)\n (objectType Pencil_bar__minus_01_dot_63_bar__plus_00_dot_64_bar__plus_00_dot_37 PencilType)\n (objectType Window_bar__plus_00_dot_48_bar__plus_01_dot_41_bar__minus_01_dot_93 WindowType)\n (objectType Chair_bar__minus_01_dot_46_bar__plus_00_dot_00_bar__plus_00_dot_93 ChairType)\n (objectType Window_bar__plus_01_dot_93_bar__plus_01_dot_41_bar__minus_00_dot_51 WindowType)\n (objectType Book_bar__minus_01_dot_82_bar__plus_00_dot_67_bar__plus_01_dot_06 BookType)\n (objectType AlarmClock_bar__minus_01_dot_81_bar__plus_01_dot_07_bar__plus_01_dot_63 AlarmClockType)\n (objectType KeyChain_bar__minus_01_dot_73_bar__plus_00_dot_29_bar__plus_01_dot_72 KeyChainType)\n (objectType DeskLamp_bar__minus_01_dot_85_bar__plus_01_dot_06_bar__plus_00_dot_76 DeskLampType)\n (objectType CD_bar__plus_00_dot_36_bar__plus_00_dot_68_bar__minus_01_dot_62 CDType)\n (objectType LightSwitch_bar__minus_00_dot_12_bar__plus_01_dot_32_bar__plus_01_dot_85 LightSwitchType)\n (objectType KeyChain_bar__plus_01_dot_41_bar__plus_00_dot_71_bar__plus_00_dot_80 KeyChainType)\n (objectType CellPhone_bar__minus_01_dot_54_bar__plus_00_dot_54_bar__minus_00_dot_69 CellPhoneType)\n (objectType Pillow_bar__minus_00_dot_34_bar__plus_00_dot_62_bar__minus_00_dot_55 PillowType)\n (canContain ShelfType PenType)\n (canContain ShelfType BookType)\n (canContain ShelfType CDType)\n (canContain ShelfType CellPhoneType)\n (canContain ShelfType KeyChainType)\n (canContain ShelfType CreditCardType)\n (canContain ShelfType PencilType)\n (canContain ShelfType AlarmClockType)\n (canContain ShelfType PenType)\n (canContain ShelfType BookType)\n (canContain ShelfType CDType)\n (canContain ShelfType CellPhoneType)\n (canContain ShelfType KeyChainType)\n (canContain ShelfType CreditCardType)\n (canContain ShelfType PencilType)\n (canContain ShelfType AlarmClockType)\n (canContain BedType BasketBallType)\n (canContain BedType TennisRacketType)\n (canContain BedType LaptopType)\n (canContain BedType BookType)\n (canContain BedType CellPhoneType)\n (canContain BedType PillowType)\n (canContain GarbageCanType PenType)\n (canContain GarbageCanType CDType)\n (canContain GarbageCanType PencilType)\n (canContain DeskType PenType)\n (canContain DeskType BookType)\n (canContain DeskType CDType)\n (canContain DeskType CellPhoneType)\n (canContain DeskType KeyChainType)\n (canContain DeskType CreditCardType)\n (canContain DeskType BasketBallType)\n (canContain DeskType TennisRacketType)\n (canContain DeskType LaptopType)\n (canContain DeskType PencilType)\n (canContain DeskType AlarmClockType)\n (canContain ShelfType PenType)\n (canContain ShelfType BookType)\n (canContain ShelfType CDType)\n (canContain ShelfType CellPhoneType)\n (canContain ShelfType KeyChainType)\n (canContain ShelfType CreditCardType)\n (canContain ShelfType PencilType)\n (canContain ShelfType AlarmClockType)\n (canContain ShelfType PenType)\n (canContain ShelfType BookType)\n (canContain ShelfType CDType)\n (canContain ShelfType CellPhoneType)\n (canContain ShelfType KeyChainType)\n (canContain ShelfType CreditCardType)\n (canContain ShelfType PencilType)\n (canContain ShelfType AlarmClockType)\n (canContain ShelfType PenType)\n (canContain ShelfType BookType)\n (canContain ShelfType CDType)\n (canContain ShelfType CellPhoneType)\n (canContain ShelfType KeyChainType)\n (canContain ShelfType CreditCardType)\n (canContain ShelfType PencilType)\n (canContain ShelfType AlarmClockType)\n (canContain DeskType PenType)\n (canContain DeskType BookType)\n (canContain DeskType CDType)\n (canContain DeskType CellPhoneType)\n (canContain DeskType KeyChainType)\n (canContain DeskType CreditCardType)\n (canContain DeskType BasketBallType)\n (canContain DeskType TennisRacketType)\n (canContain DeskType LaptopType)\n (canContain DeskType PencilType)\n (canContain DeskType AlarmClockType)\n (pickupable AlarmClock_bar__plus_01_dot_59_bar__plus_00_dot_71_bar__plus_00_dot_22)\n (pickupable Book_bar__minus_01_dot_68_bar__plus_00_dot_07_bar__plus_01_dot_58)\n (pickupable Laptop_bar__minus_01_dot_79_bar__plus_00_dot_63_bar__plus_00_dot_21)\n (pickupable CreditCard_bar__plus_00_dot_51_bar__plus_00_dot_68_bar__minus_01_dot_66)\n (pickupable CreditCard_bar__minus_01_dot_58_bar__plus_00_dot_29_bar__plus_01_dot_65)\n (pickupable CellPhone_bar__minus_00_dot_82_bar__plus_00_dot_54_bar__minus_01_dot_11)\n (pickupable TeddyBear_bar__minus_01_dot_70_bar__plus_00_dot_48_bar__minus_00_dot_33)\n (pickupable Book_bar__minus_01_dot_68_bar__plus_00_dot_29_bar__plus_01_dot_45)\n (pickupable TennisRacket_bar__plus_01_dot_55_bar__plus_00_dot_00_bar__plus_00_dot_65)\n (pickupable CD_bar__plus_01_dot_59_bar__plus_00_dot_71_bar__plus_00_dot_02)\n (pickupable Pillow_bar__minus_01_dot_30_bar__plus_00_dot_62_bar__minus_00_dot_69)\n (pickupable Pen_bar__minus_01_dot_62_bar__plus_00_dot_68_bar__plus_01_dot_35)\n (pickupable BasketBall_bar__plus_01_dot_51_bar__plus_00_dot_12_bar__minus_00_dot_11)\n (pickupable Pencil_bar__minus_01_dot_63_bar__plus_00_dot_64_bar__plus_00_dot_37)\n (pickupable Book_bar__minus_01_dot_82_bar__plus_00_dot_67_bar__plus_01_dot_06)\n (pickupable AlarmClock_bar__minus_01_dot_81_bar__plus_01_dot_07_bar__plus_01_dot_63)\n (pickupable KeyChain_bar__minus_01_dot_73_bar__plus_00_dot_29_bar__plus_01_dot_72)\n (pickupable CD_bar__plus_00_dot_36_bar__plus_00_dot_68_bar__minus_01_dot_62)\n (pickupable KeyChain_bar__plus_01_dot_41_bar__plus_00_dot_71_bar__plus_00_dot_80)\n (pickupable CellPhone_bar__minus_01_dot_54_bar__plus_00_dot_54_bar__minus_00_dot_69)\n (pickupable Pillow_bar__minus_00_dot_34_bar__plus_00_dot_62_bar__minus_00_dot_55)\n \n \n \n (atLocation agent1 loc_bar_4_bar__minus_5_bar_0_bar_30)\n \n \n \n \n \n \n \n (toggleable DeskLamp_bar__minus_01_dot_85_bar__plus_01_dot_06_bar__plus_00_dot_76)\n \n \n \n \n (inReceptacle KeyChain_bar__plus_01_dot_41_bar__plus_00_dot_71_bar__plus_00_dot_80 Desk_bar__plus_01_dot_58_bar_00_dot_00_bar__plus_00_dot_39)\n (inReceptacle CD_bar__plus_01_dot_59_bar__plus_00_dot_71_bar__plus_00_dot_02 Desk_bar__plus_01_dot_58_bar_00_dot_00_bar__plus_00_dot_39)\n (inReceptacle AlarmClock_bar__plus_01_dot_59_bar__plus_00_dot_71_bar__plus_00_dot_22 Desk_bar__plus_01_dot_58_bar_00_dot_00_bar__plus_00_dot_39)\n (inReceptacle Book_bar__minus_01_dot_82_bar__plus_00_dot_67_bar__plus_01_dot_06 Desk_bar__minus_01_dot_72_bar__plus_00_dot_01_bar__plus_01_dot_11)\n (inReceptacle Laptop_bar__minus_01_dot_79_bar__plus_00_dot_63_bar__plus_00_dot_21 Desk_bar__minus_01_dot_72_bar__plus_00_dot_01_bar__plus_01_dot_11)\n (inReceptacle Pencil_bar__minus_01_dot_63_bar__plus_00_dot_64_bar__plus_00_dot_37 Desk_bar__minus_01_dot_72_bar__plus_00_dot_01_bar__plus_01_dot_11)\n (inReceptacle Pen_bar__minus_01_dot_62_bar__plus_00_dot_68_bar__plus_01_dot_35 Desk_bar__minus_01_dot_72_bar__plus_00_dot_01_bar__plus_01_dot_11)\n (inReceptacle CellPhone_bar__minus_00_dot_82_bar__plus_00_dot_54_bar__minus_01_dot_11 Bed_bar__minus_01_dot_04_bar__plus_00_dot_01_bar__minus_00_dot_69)\n (inReceptacle TeddyBear_bar__minus_01_dot_70_bar__plus_00_dot_48_bar__minus_00_dot_33 Bed_bar__minus_01_dot_04_bar__plus_00_dot_01_bar__minus_00_dot_69)\n (inReceptacle CellPhone_bar__minus_01_dot_54_bar__plus_00_dot_54_bar__minus_00_dot_69 Bed_bar__minus_01_dot_04_bar__plus_00_dot_01_bar__minus_00_dot_69)\n (inReceptacle Pillow_bar__minus_00_dot_34_bar__plus_00_dot_62_bar__minus_00_dot_55 Bed_bar__minus_01_dot_04_bar__plus_00_dot_01_bar__minus_00_dot_69)\n (inReceptacle Pillow_bar__minus_01_dot_30_bar__plus_00_dot_62_bar__minus_00_dot_69 Bed_bar__minus_01_dot_04_bar__plus_00_dot_01_bar__minus_00_dot_69)\n (inReceptacle CD_bar__plus_00_dot_36_bar__plus_00_dot_68_bar__minus_01_dot_62 Shelf_bar__plus_00_dot_63_bar__plus_00_dot_68_bar__minus_01_dot_71)\n (inReceptacle CreditCard_bar__plus_00_dot_51_bar__plus_00_dot_68_bar__minus_01_dot_66 Shelf_bar__plus_00_dot_63_bar__plus_00_dot_68_bar__minus_01_dot_71)\n (inReceptacle AlarmClock_bar__minus_01_dot_81_bar__plus_01_dot_07_bar__plus_01_dot_63 Shelf_bar__minus_01_dot_88_bar__plus_01_dot_06_bar__plus_01_dot_19)\n (inReceptacle DeskLamp_bar__minus_01_dot_85_bar__plus_01_dot_06_bar__plus_00_dot_76 Shelf_bar__minus_01_dot_88_bar__plus_01_dot_06_bar__plus_01_dot_19)\n (inReceptacle CreditCard_bar__minus_01_dot_58_bar__plus_00_dot_29_bar__plus_01_dot_65 Shelf_bar__minus_01_dot_73_bar__plus_00_dot_28_bar__plus_01_dot_51)\n (inReceptacle KeyChain_bar__minus_01_dot_73_bar__plus_00_dot_29_bar__plus_01_dot_72 Shelf_bar__minus_01_dot_73_bar__plus_00_dot_28_bar__plus_01_dot_51)\n (inReceptacle Book_bar__minus_01_dot_68_bar__plus_00_dot_29_bar__plus_01_dot_45 Shelf_bar__minus_01_dot_73_bar__plus_00_dot_28_bar__plus_01_dot_51)\n (inReceptacle Book_bar__minus_01_dot_68_bar__plus_00_dot_07_bar__plus_01_dot_58 Shelf_bar__minus_01_dot_73_bar__plus_00_dot_06_bar__plus_01_dot_51)\n \n \n (receptacleAtLocation Bed_bar__minus_01_dot_04_bar__plus_00_dot_01_bar__minus_00_dot_69 loc_bar__minus_3_bar_2_bar_2_bar_60)\n (receptacleAtLocation Desk_bar__plus_01_dot_58_bar_00_dot_00_bar__plus_00_dot_39 loc_bar_3_bar_2_bar_1_bar_60)\n (receptacleAtLocation Desk_bar__minus_01_dot_72_bar__plus_00_dot_01_bar__plus_01_dot_11 loc_bar__minus_4_bar_5_bar_3_bar_60)\n (receptacleAtLocation GarbageCan_bar__plus_01_dot_68_bar__plus_00_dot_00_bar__plus_01_dot_67 loc_bar_3_bar_5_bar_1_bar_60)\n (receptacleAtLocation Shelf_bar__plus_00_dot_63_bar__plus_00_dot_68_bar__minus_01_dot_71 loc_bar_3_bar__minus_3_bar_2_bar_45)\n (receptacleAtLocation Shelf_bar__minus_01_dot_73_bar__plus_00_dot_06_bar__plus_01_dot_51 loc_bar__minus_2_bar_4_bar_3_bar_45)\n (receptacleAtLocation Shelf_bar__minus_01_dot_73_bar__plus_00_dot_28_bar__plus_01_dot_51 loc_bar__minus_3_bar_5_bar_3_bar_60)\n (receptacleAtLocation Shelf_bar__minus_01_dot_73_bar__plus_00_dot_50_bar__plus_01_dot_51 loc_bar__minus_2_bar_4_bar_3_bar_45)\n (receptacleAtLocation Shelf_bar__minus_01_dot_88_bar__plus_01_dot_06_bar__plus_01_dot_19 loc_bar__minus_4_bar_5_bar_3_bar_30)\n (objectAtLocation CD_bar__plus_01_dot_59_bar__plus_00_dot_71_bar__plus_00_dot_02 loc_bar_3_bar_2_bar_1_bar_60)\n (objectAtLocation Pillow_bar__minus_00_dot_34_bar__plus_00_dot_62_bar__minus_00_dot_55 loc_bar__minus_3_bar_2_bar_2_bar_60)\n (objectAtLocation CellPhone_bar__minus_01_dot_54_bar__plus_00_dot_54_bar__minus_00_dot_69 loc_bar__minus_3_bar_2_bar_2_bar_60)\n (objectAtLocation CreditCard_bar__plus_00_dot_51_bar__plus_00_dot_68_bar__minus_01_dot_66 loc_bar_3_bar__minus_3_bar_2_bar_45)\n (objectAtLocation KeyChain_bar__minus_01_dot_73_bar__plus_00_dot_29_bar__plus_01_dot_72 loc_bar__minus_3_bar_5_bar_3_bar_60)\n (objectAtLocation AlarmClock_bar__minus_01_dot_81_bar__plus_01_dot_07_bar__plus_01_dot_63 loc_bar__minus_4_bar_5_bar_3_bar_30)\n (objectAtLocation Book_bar__minus_01_dot_82_bar__plus_00_dot_67_bar__plus_01_dot_06 loc_bar__minus_4_bar_5_bar_3_bar_60)\n (objectAtLocation Book_bar__minus_01_dot_68_bar__plus_00_dot_29_bar__plus_01_dot_45 loc_bar__minus_3_bar_5_bar_3_bar_60)\n (objectAtLocation Chair_bar__minus_01_dot_46_bar__plus_00_dot_00_bar__plus_00_dot_93 loc_bar__minus_4_bar_4_bar_3_bar_60)\n (objectAtLocation Curtains_bar__plus_01_dot_87_bar__plus_02_dot_04_bar__minus_00_dot_50 loc_bar_5_bar__minus_3_bar_1_bar__minus_30)\n (objectAtLocation Book_bar__minus_01_dot_68_bar__plus_00_dot_07_bar__plus_01_dot_58 loc_bar__minus_2_bar_4_bar_3_bar_45)\n (objectAtLocation Mirror_bar__plus_00_dot_55_bar__plus_01_dot_49_bar__plus_01_dot_88 loc_bar_2_bar_5_bar_0_bar_15)\n (objectAtLocation Curtains_bar__plus_00_dot_49_bar__plus_02_dot_04_bar__minus_01_dot_85 loc_bar_2_bar__minus_5_bar_2_bar__minus_30)\n (objectAtLocation AlarmClock_bar__plus_01_dot_59_bar__plus_00_dot_71_bar__plus_00_dot_22 loc_bar_3_bar_2_bar_1_bar_60)\n (objectAtLocation BasketBall_bar__plus_01_dot_51_bar__plus_00_dot_12_bar__minus_00_dot_11 loc_bar_3_bar_0_bar_1_bar_60)\n (objectAtLocation LightSwitch_bar__minus_00_dot_12_bar__plus_01_dot_32_bar__plus_01_dot_85 loc_bar_0_bar_5_bar_0_bar_30)\n (objectAtLocation TeddyBear_bar__minus_01_dot_70_bar__plus_00_dot_48_bar__minus_00_dot_33 loc_bar__minus_3_bar_2_bar_2_bar_60)\n (objectAtLocation TennisRacket_bar__plus_01_dot_55_bar__plus_00_dot_00_bar__plus_00_dot_65 loc_bar_3_bar_3_bar_1_bar_60)\n (objectAtLocation Pen_bar__minus_01_dot_62_bar__plus_00_dot_68_bar__plus_01_dot_35 loc_bar__minus_4_bar_5_bar_3_bar_60)\n (objectAtLocation Pencil_bar__minus_01_dot_63_bar__plus_00_dot_64_bar__plus_00_dot_37 loc_bar__minus_4_bar_5_bar_3_bar_60)\n (objectAtLocation KeyChain_bar__plus_01_dot_41_bar__plus_00_dot_71_bar__plus_00_dot_80 loc_bar_3_bar_2_bar_1_bar_60)\n (objectAtLocation DeskLamp_bar__minus_01_dot_85_bar__plus_01_dot_06_bar__plus_00_dot_76 loc_bar__minus_4_bar_5_bar_3_bar_30)\n (objectAtLocation CreditCard_bar__minus_01_dot_58_bar__plus_00_dot_29_bar__plus_01_dot_65 loc_bar__minus_3_bar_5_bar_3_bar_60)\n (objectAtLocation Laptop_bar__minus_01_dot_79_bar__plus_00_dot_63_bar__plus_00_dot_21 loc_bar__minus_4_bar_5_bar_3_bar_60)\n (objectAtLocation CellPhone_bar__minus_00_dot_82_bar__plus_00_dot_54_bar__minus_01_dot_11 loc_bar__minus_3_bar_2_bar_2_bar_60)\n (objectAtLocation Pillow_bar__minus_01_dot_30_bar__plus_00_dot_62_bar__minus_00_dot_69 loc_bar__minus_3_bar_2_bar_2_bar_60)\n (objectAtLocation CD_bar__plus_00_dot_36_bar__plus_00_dot_68_bar__minus_01_dot_62 loc_bar_3_bar__minus_3_bar_2_bar_45)\n (objectAtLocation Window_bar__plus_01_dot_93_bar__plus_01_dot_41_bar__minus_00_dot_51 loc_bar_5_bar__minus_3_bar_1_bar_15)\n (objectAtLocation Window_bar__plus_00_dot_48_bar__plus_01_dot_41_bar__minus_01_dot_93 loc_bar_2_bar__minus_5_bar_2_bar_15)\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 CDType)\n (holds ?a ?o)\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to desk 1", "take cd 1 from desk 1", "go to shelf 2", "use desklamp 1"]}
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alfworld__pick_cool_then_place_in_recep__0
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pick_cool_then_place_in_recep
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pick_cool_then_place_in_recep-Bowl-None-Shelf-5/trial_T20190908_083645_361274/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 cool bowl in shelf.\"\n }\n ],\n\n \"GotoLocation.feedback\": [\n {\n \"rhs\": \"You arrive at {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"OpenObject.feedback\": [\n {\n \"rhs\": \"You open the {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"CloseObject.feedback\": [\n {\n \"rhs\": \"You close the {r.name}.\"\n }\n ],\n\n \"PickupObject.feedback\": [\n {\n \"rhs\": \"You pick up the {o.name} from the {r.name}.\"\n }\n ],\n\n \"PickupObjectFromReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupObjectFromReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupEmptyReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupEmptyReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupFullReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupFullReceptacleObject: You pick up the {outerr.name}.\"\n }\n ],\n\n \"PutObject.feedback\": [\n {\n \"rhs\": \"You move the {o.name} to the {r.name}.\"\n }\n ],\n\n \"PutObjectInReceptacleObject.feedback\": [\n {\n \"rhs\": \"PutObjectInReceptacleObject: You put the {o.name} in the {outero.name}.\"\n }\n ],\n\n \"PutEmptyReceptacleObjectinReceptacle.feedback\": [\n {\n \"rhs\": \"PutEmptyReceptacleObjectinReceptacle: You put the {o.name} in the {r.name}.\"\n }\n ],\n\n \"PutFullReceptacleObjectInReceptacle.feedback\": [\n {\n \"rhs\": \"PutFullReceptacleObjectInReceptacle: You put the {outero.name} in the {r.name}.\"\n }\n ],\n\n \"inventory.feedback\": [\n {\n \"condition\": \"holdsany(a:agent)\",\n \"rhs\": \"You are carrying: [{o.indefinite + ' ' + o.name | holds(a:agent, o:object)}].\"\n },\n {\n \"rhs\": \"You are not carrying anything.\"\n }\n ],\n\n \"examineReceptacle.feedback\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \"The {r.name} is open. In it, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \"The {r.name} is closed.\"\n },\n {\n \"rhs\": \"On the {r.name}, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n }\n ],\n\n \"examineObject.feedback\": [\n {\n \"condition\": \"isreceptacleobject(o:object)\",\n \"rhs\": \"This is a normal {o.name}. In it, you see [{o2.indefinite + ' ' + o2.name | inreceptacleobject(o2:object, o:object)}].\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a clean sliced {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot sliced {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object)\",\n \"rhs\": \"This is a hot and clean {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object)\",\n \"rhs\": \"This is a cool and clean {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object)\",\n \"rhs\": \"This is a hot {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object)\",\n \"rhs\": \"This is a clean {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object)\",\n \"rhs\": \"This is a cold {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"This {o.name} is on.\"\n },\n {\n \"condition\": \"toggleable(o:object) & not_istoggled(o:object)\",\n \"rhs\": \"This {o.name} is off.\"\n },\n {\n \"condition\": \"sliceable(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a sliced {o.name}.\"\n },\n {\n \"rhs\": \"There's nothing special about {o.name}.\"\n }\n ]\n }\n\"\"\";\n\naction GotoLocation {\n template :: \"go to [{r.name | receptacleatlocation(r:receptacle, lend:location)}]\";\n feedback :: \"#GotoLocation.feedback#\";\n}\n\naction OpenObject {\n template :: \"open {r}\";\n feedback :: \"#OpenObject.feedback#\";\n}\n\naction CloseObject {\n template :: \"close {r}\";\n feedback :: \"#CloseObject.feedback#\";\n}\n\naction PickupObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObject.feedback#\";\n}\n\naction PickupObjectFromReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObjectFromReceptacleObject.feedback#\";\n}\n\naction PickupEmptyReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupEmptyReceptacleObject.feedback#\";\n}\n\naction PickupFullReceptacleObject {\n template :: \"take {outerr} from {r}\";\n feedback :: \"#PickupFullReceptacleObject.feedback#\";\n}\n\naction PutObject {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutObject.feedback#\";\n}\n\naction PutObjectInReceptacleObject {\n template :: \"put {o} into {outero}\";\n feedback :: \"#PutObjectInReceptacleObject.feedback#\";\n}\n\naction PutEmptyReceptacleObjectinReceptacle {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutEmptyReceptacleObjectinReceptacle.feedback#\";\n}\n\naction PutFullReceptacleObjectInReceptacle {\n template :: \"put {outero} in {r}\";\n feedback :: \"#PutFullReceptacleObjectInReceptacle.feedback#\";\n}\n\naction inventory {\n template :: \"inventory\";\n feedback :: \"#inventory.feedback#\";\n}\n\naction examineReceptacle {\n template :: \"examine {r}\";\n feedback :: \"#examineReceptacle.feedback#\";\n}\n\naction examineObject {\n template :: \"examine {o}\";\n feedback :: \"#examineObject.feedback#\";\n}\n\naction ToggleObject {\n template :: \"use {o}\";\n feedback :: \"#toggleObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"toggleObject.feedback\": [\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"You turn on the {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object)\",\n \"rhs\": \"You turn off the {o.name}.\"\n },\n {\n \"rhs\": \"You don't see any switch on the {o.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction HeatObject {\n template :: \"heat {o} with {r}\";\n feedback :: \"#heatObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"heatObject.feedback\": [\n {\n \"rhs\": \"You heat the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CleanObject {\n template :: \"clean {o} with {r}\";\n feedback :: \"#cleanObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"cleanObject.feedback\": [\n {\n \"rhs\": \"You clean the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CoolObject {\n template :: \"cool {o} with {r}\";\n feedback :: \"#coolObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"coolObject.feedback\": [\n {\n \"rhs\": \"You cool the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction SliceObject {\n template :: \"slice {co} with {ko}\";\n feedback :: \"#sliceObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"sliceObject.feedback\": [\n {\n \"rhs\": \"You sliced the {co.name} with the {ko.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction look {\n template :: \"look\";\n feedback :: \"#look.feedback#\";\n\n grammar :: \"\"\"\n {\n \"look.feedback\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"#look-variations#. Next to it, you see #list_objects_on_the_floor#.\"\n },\n {\n \"rhs\": \"You are in the middle of a room. Looking quickly around you, you see #list_appliances#.\"\n }\n ],\n\n \"look-variations\": [\n {\n \"rhs\": \"You are facing the [{r.name | atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)}]\"\n }\n ],\n\n \"list_objects_on_the_floor\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)\",\n \"rhs\": \"[{#overview(o)# | atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"list_appliances\": [\n {\n \"condition\": \"receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"[{#overview(r)# | receptacleatlocation(r:receptacle, l:location)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"overview(o, r)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name} (in/on the {r.name})}\"\n }\n ],\n\n \"overview(o)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name}\"\n }\n ],\n \"overview(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}\"\n }\n ],\n \"overview_with_state(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}#overview_state(r)#\"\n }\n ],\n \"overview_state(r)\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \" (it is open)\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \" (it is closed)\"\n },\n {\n \"rhs\": \"\"\n }\n ],\n\n \"list_empty\": [\n {\n \"rhs\": \"nothing\"\n }\n ],\n \"list_separator\": [\n {\n \"rhs\": \", \"\n }\n ],\n \"list_last_separator\": [\n {\n \"rhs\": \", and \"\n }\n ]\n }\n \"\"\";\n}\n\naction help {\n template :: \"help\";\n feedback :: \"\nAvailable commands:\n look: look around your current location\n inventory: check your current inventory\n go to (receptacle): move to a receptacle\n open (receptacle): open a receptacle\n close (receptacle): close a receptacle\n take (object) from (receptacle): take an object from a receptacle\n move (object) to (receptacle): place an object in or on a receptacle\n examine (something): examine a receptacle or an object\n use (object): use an object\n heat (object) with (receptacle): heat an object using a receptacle\n clean (object) with (receptacle): clean an object using a receptacle\n cool (object) with (receptacle): cool an object using a receptacle\n slice (object) with (object): slice an object using a sharp object\n\";\n}\n", "pddl_problem": "\n(define (problem plan_trial_T20190908_083645_361274)\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_60_bar__plus_01_dot_18_bar__plus_00_dot_53 - object\n Bowl_bar__plus_01_dot_85_bar__plus_01_dot_01_bar__minus_01_dot_25 - object\n Bowl_bar__minus_00_dot_12_bar__plus_00_dot_76_bar__minus_02_dot_06 - object\n Bowl_bar__minus_01_dot_35_bar__plus_01_dot_66_bar__plus_00_dot_03 - object\n Bread_bar__minus_01_dot_35_bar__plus_00_dot_97_bar__minus_00_dot_20 - object\n ButterKnife_bar__minus_00_dot_29_bar__plus_00_dot_76_bar__minus_02_dot_06 - object\n ButterKnife_bar__minus_00_dot_38_bar__plus_01_dot_13_bar__plus_00_dot_44 - object\n Chair_bar__minus_00_dot_08_bar__plus_00_dot_01_bar__plus_00_dot_76 - object\n Chair_bar__minus_00_dot_46_bar__plus_00_dot_01_bar__plus_00_dot_75 - object\n Cup_bar__plus_00_dot_10_bar__plus_00_dot_75_bar__minus_01_dot_94 - object\n DishSponge_bar__plus_00_dot_97_bar__plus_00_dot_91_bar__minus_02_dot_27 - object\n DishSponge_bar__plus_01_dot_96_bar__plus_00_dot_06_bar__plus_00_dot_14 - object\n DishSponge_bar__minus_00_dot_38_bar__plus_01_dot_13_bar__plus_00_dot_53 - object\n Egg_bar__minus_00_dot_29_bar__plus_00_dot_80_bar__minus_02_dot_01 - object\n Faucet_bar__minus_00_dot_16_bar__plus_01_dot_05_bar__minus_02_dot_20 - object\n Fork_bar__minus_00_dot_63_bar__plus_00_dot_91_bar__plus_00_dot_08 - object\n HousePlant_bar__minus_01_dot_25_bar__plus_01_dot_12_bar__plus_00_dot_61 - object\n Kettle_bar__minus_01_dot_05_bar__plus_00_dot_95_bar__minus_02_dot_09 - object\n Kettle_bar__minus_01_dot_29_bar__plus_00_dot_96_bar__minus_00_dot_76 - object\n Knife_bar__minus_00_dot_21_bar__plus_00_dot_94_bar__plus_00_dot_14 - object\n Knife_bar__minus_00_dot_60_bar__plus_01_dot_16_bar__plus_00_dot_62 - object\n Knife_bar__minus_00_dot_99_bar__plus_00_dot_93_bar__minus_01_dot_81 - object\n Ladle_bar__plus_00_dot_89_bar__plus_01_dot_69_bar__minus_02_dot_16 - object\n Ladle_bar__minus_00_dot_99_bar__plus_00_dot_93_bar__minus_00_dot_23 - object\n Lettuce_bar__plus_00_dot_07_bar__plus_01_dot_21_bar__plus_00_dot_57 - object\n Lettuce_bar__minus_00_dot_15_bar__plus_01_dot_21_bar__plus_00_dot_53 - object\n LightSwitch_bar__plus_00_dot_40_bar__plus_01_dot_30_bar__plus_02_dot_00 - object\n Mug_bar__plus_00_dot_50_bar__plus_00_dot_96_bar__minus_01_dot_90 - object\n Mug_bar__plus_01_dot_42_bar__plus_00_dot_91_bar__minus_02_dot_01 - object\n Pan_bar__plus_01_dot_74_bar__plus_00_dot_90_bar__minus_01_dot_97 - object\n PaperTowelRoll_bar__minus_00_dot_82_bar__plus_01_dot_24_bar__plus_00_dot_44 - object\n PepperShaker_bar__minus_00_dot_58_bar__plus_00_dot_69_bar__plus_00_dot_19 - object\n PepperShaker_bar__minus_00_dot_62_bar__plus_00_dot_69_bar__minus_01_dot_94 - object\n Plate_bar__plus_01_dot_19_bar__plus_00_dot_91_bar__minus_02_dot_01 - object\n Plate_bar__minus_00_dot_99_bar__plus_00_dot_13_bar__minus_01_dot_50 - object\n Potato_bar__minus_00_dot_85_bar__plus_00_dot_94_bar__plus_00_dot_24 - object\n Pot_bar__minus_01_dot_06_bar__plus_00_dot_96_bar__minus_00_dot_67 - object\n Pot_bar__minus_01_dot_06_bar__plus_00_dot_96_bar__minus_01_dot_13 - object\n Pot_bar__minus_01_dot_29_bar__plus_00_dot_96_bar__minus_01_dot_02 - object\n SaltShaker_bar__minus_00_dot_32_bar__plus_00_dot_69_bar__plus_00_dot_10 - object\n SaltShaker_bar__minus_00_dot_32_bar__plus_00_dot_69_bar__plus_00_dot_18 - object\n SaltShaker_bar__minus_00_dot_91_bar__plus_00_dot_91_bar__minus_01_dot_89 - object\n Sink_bar__minus_00_dot_12_bar__plus_00_dot_88_bar__minus_02_dot_01 - object\n SoapBottle_bar__plus_01_dot_85_bar__plus_00_dot_06_bar__plus_00_dot_11 - object\n Spatula_bar__plus_00_dot_07_bar__plus_01_dot_15_bar__plus_00_dot_49 - object\n Spatula_bar__minus_00_dot_68_bar__plus_00_dot_71_bar__plus_00_dot_10 - object\n Spatula_bar__minus_01_dot_41_bar__plus_00_dot_91_bar__minus_00_dot_29 - object\n Spoon_bar__plus_00_dot_01_bar__plus_00_dot_70_bar__plus_00_dot_18 - object\n Spoon_bar__minus_00_dot_03_bar__plus_00_dot_76_bar__minus_01_dot_95 - object\n Spoon_bar__minus_00_dot_19_bar__plus_00_dot_70_bar__plus_00_dot_22 - object\n Statue_bar__minus_01_dot_28_bar__plus_00_dot_92_bar__plus_00_dot_24 - object\n StoveKnob_bar__minus_00_dot_87_bar__plus_00_dot_90_bar__minus_00_dot_68 - object\n StoveKnob_bar__minus_00_dot_87_bar__plus_00_dot_90_bar__minus_00_dot_83 - object\n StoveKnob_bar__minus_00_dot_87_bar__plus_00_dot_90_bar__minus_00_dot_97 - object\n StoveKnob_bar__minus_00_dot_87_bar__plus_00_dot_90_bar__minus_01_dot_12 - object\n Tomato_bar__minus_00_dot_42_bar__plus_00_dot_96_bar__plus_00_dot_24 - object\n Vase_bar__plus_01_dot_63_bar__plus_00_dot_12_bar__minus_01_dot_46 - object\n Vase_bar__plus_01_dot_91_bar__plus_01_dot_66_bar__minus_01_dot_16 - object\n Vase_bar__minus_01_dot_40_bar__plus_00_dot_91_bar__minus_01_dot_47 - object\n Cabinet_bar__plus_00_dot_12_bar__plus_02_dot_27_bar__minus_02_dot_00 - receptacle\n Cabinet_bar__plus_00_dot_20_bar__plus_02_dot_02_bar__minus_02_dot_00 - receptacle\n Cabinet_bar__plus_01_dot_18_bar__plus_02_dot_02_bar__minus_02_dot_00 - receptacle\n Cabinet_bar__plus_01_dot_38_bar__plus_00_dot_46_bar__minus_01_dot_69 - receptacle\n 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loc_bar_0_bar__minus_2_bar_3_bar_60 - location\n loc_bar_11_bar_6_bar_2_bar_45 - location\n loc_bar_10_bar_5_bar_2_bar_45 - location\n loc_bar__minus_2_bar__minus_2_bar_0_bar_45 - location\n loc_bar_4_bar__minus_5_bar_2_bar_45 - location\n loc_bar_1_bar__minus_5_bar_2_bar__minus_30 - location\n loc_bar_0_bar__minus_5_bar_2_bar__minus_30 - location\n loc_bar__minus_2_bar__minus_5_bar_3_bar_45 - location\n loc_bar_0_bar__minus_5_bar_3_bar_45 - location\n loc_bar_0_bar__minus_5_bar_2_bar_45 - location\n loc_bar__minus_2_bar_5_bar_2_bar_60 - location\n loc_bar_4_bar__minus_3_bar_2_bar_45 - location\n loc_bar_2_bar__minus_5_bar_2_bar__minus_30 - location\n loc_bar__minus_2_bar__minus_3_bar_3_bar_60 - location\n loc_bar_0_bar__minus_4_bar_3_bar_60 - location\n loc_bar_4_bar__minus_5_bar_2_bar__minus_30 - location\n loc_bar__minus_1_bar__minus_4_bar_0_bar_45 - location\n loc_bar_0_bar__minus_2_bar_0_bar_60 - location\n loc_bar__minus_2_bar__minus_4_bar_0_bar_45 - location\n loc_bar_3_bar__minus_5_bar_2_bar_45 - location\n loc_bar__minus_2_bar__minus_4_bar_3_bar_60 - location\n loc_bar__minus_1_bar__minus_5_bar_3_bar__minus_15 - location\n loc_bar_2_bar_3_bar_3_bar_30 - location\n loc_bar__minus_2_bar__minus_5_bar_3_bar__minus_30 - location\n loc_bar_4_bar__minus_3_bar_2_bar_30 - location\n )\n \n\n(:init\n\n\n (receptacleType Cabinet_bar__minus_01_dot_15_bar__plus_02_dot_27_bar__minus_00_dot_84 CabinetType)\n (receptacleType Shelf_bar__plus_02_dot_81_bar__plus_00_dot_87_bar__plus_00_dot_14 ShelfType)\n (receptacleType Cabinet_bar__minus_00_dot_42_bar__plus_00_dot_37_bar__minus_00_dot_01 CabinetType)\n (receptacleType Cabinet_bar__plus_01_dot_39_bar__plus_00_dot_47_bar__minus_01_dot_06 CabinetType)\n (receptacleType Cabinet_bar__plus_01_dot_75_bar__plus_02_dot_02_bar__minus_01_dot_40 CabinetType)\n (receptacleType Cabinet_bar__minus_01_dot_15_bar__plus_02_dot_27_bar__minus_01_dot_42 CabinetType)\n (receptacleType 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Lettuce_bar__plus_00_dot_07_bar__plus_01_dot_21_bar__plus_00_dot_57)\n (coolable Potato_bar__minus_00_dot_85_bar__plus_00_dot_94_bar__plus_00_dot_24)\n (coolable Egg_bar__minus_00_dot_29_bar__plus_00_dot_80_bar__minus_02_dot_01)\n (coolable Pan_bar__plus_01_dot_74_bar__plus_00_dot_90_bar__minus_01_dot_97)\n (coolable Lettuce_bar__minus_00_dot_15_bar__plus_01_dot_21_bar__plus_00_dot_53)\n (coolable Cup_bar__plus_00_dot_10_bar__plus_00_dot_75_bar__minus_01_dot_94)\n (coolable Tomato_bar__minus_00_dot_42_bar__plus_00_dot_96_bar__plus_00_dot_24)\n (coolable Apple_bar__minus_00_dot_60_bar__plus_01_dot_18_bar__plus_00_dot_53)\n (coolable Bowl_bar__minus_00_dot_12_bar__plus_00_dot_76_bar__minus_02_dot_06)\n (coolable Pot_bar__minus_01_dot_06_bar__plus_00_dot_96_bar__minus_01_dot_13)\n (coolable Mug_bar__plus_00_dot_50_bar__plus_00_dot_96_bar__minus_01_dot_90)\n (coolable Bowl_bar__plus_01_dot_85_bar__plus_01_dot_01_bar__minus_01_dot_25)\n (coolable Mug_bar__plus_01_dot_42_bar__plus_00_dot_91_bar__minus_02_dot_01)\n \n \n \n \n \n (sliceable Bread_bar__minus_01_dot_35_bar__plus_00_dot_97_bar__minus_00_dot_20)\n (sliceable Lettuce_bar__plus_00_dot_07_bar__plus_01_dot_21_bar__plus_00_dot_57)\n (sliceable Potato_bar__minus_00_dot_85_bar__plus_00_dot_94_bar__plus_00_dot_24)\n (sliceable Egg_bar__minus_00_dot_29_bar__plus_00_dot_80_bar__minus_02_dot_01)\n (sliceable Lettuce_bar__minus_00_dot_15_bar__plus_01_dot_21_bar__plus_00_dot_53)\n (sliceable Tomato_bar__minus_00_dot_42_bar__plus_00_dot_96_bar__plus_00_dot_24)\n (sliceable Apple_bar__minus_00_dot_60_bar__plus_01_dot_18_bar__plus_00_dot_53)\n \n (inReceptacleObject ButterKnife_bar__minus_00_dot_29_bar__plus_00_dot_76_bar__minus_02_dot_06 Bowl_bar__minus_00_dot_12_bar__plus_00_dot_76_bar__minus_02_dot_06)\n (inReceptacle PepperShaker_bar__minus_00_dot_62_bar__plus_00_dot_69_bar__minus_01_dot_94 Drawer_bar__minus_00_dot_82_bar__plus_00_dot_75_bar__minus_01_dot_69)\n (inReceptacle Pot_bar__minus_01_dot_06_bar__plus_00_dot_96_bar__minus_00_dot_67 StoveBurner_bar__minus_01_dot_06_bar__plus_00_dot_95_bar__minus_00_dot_67)\n (inReceptacle Vase_bar__plus_01_dot_63_bar__plus_00_dot_12_bar__minus_01_dot_46 Cabinet_bar__plus_01_dot_39_bar__plus_00_dot_47_bar__minus_01_dot_06)\n (inReceptacle Kettle_bar__minus_01_dot_29_bar__plus_00_dot_96_bar__minus_00_dot_76 StoveBurner_bar__minus_01_dot_29_bar__plus_00_dot_95_bar__minus_00_dot_76)\n (inReceptacle Vase_bar__plus_01_dot_91_bar__plus_01_dot_66_bar__minus_01_dot_16 Cabinet_bar__plus_01_dot_75_bar__plus_02_dot_02_bar__minus_01_dot_03)\n (inReceptacle Ladle_bar__plus_00_dot_89_bar__plus_01_dot_69_bar__minus_02_dot_16 Cabinet_bar__plus_01_dot_18_bar__plus_02_dot_02_bar__minus_02_dot_00)\n (inReceptacle Bowl_bar__minus_01_dot_35_bar__plus_01_dot_66_bar__plus_00_dot_03 Cabinet_bar__minus_01_dot_15_bar__plus_02_dot_02_bar__plus_00_dot_38)\n (inReceptacle Plate_bar__minus_00_dot_99_bar__plus_00_dot_13_bar__minus_01_dot_50 Cabinet_bar__minus_00_dot_84_bar__plus_00_dot_47_bar__minus_01_dot_67)\n (inReceptacle Ladle_bar__minus_00_dot_99_bar__plus_00_dot_93_bar__minus_00_dot_23 Cabinet_bar__minus_00_dot_84_bar__plus_00_dot_47_bar__minus_00_dot_05)\n (inReceptacle Pot_bar__minus_01_dot_29_bar__plus_00_dot_96_bar__minus_01_dot_02 StoveBurner_bar__minus_01_dot_29_bar__plus_00_dot_95_bar__minus_01_dot_02)\n (inReceptacle Fork_bar__minus_00_dot_63_bar__plus_00_dot_91_bar__plus_00_dot_08 CounterTop_bar__minus_00_dot_67_bar__plus_00_dot_95_bar__plus_00_dot_19)\n (inReceptacle Statue_bar__minus_01_dot_28_bar__plus_00_dot_92_bar__plus_00_dot_24 CounterTop_bar__minus_00_dot_67_bar__plus_00_dot_95_bar__plus_00_dot_19)\n (inReceptacle Potato_bar__minus_00_dot_85_bar__plus_00_dot_94_bar__plus_00_dot_24 CounterTop_bar__minus_00_dot_67_bar__plus_00_dot_95_bar__plus_00_dot_19)\n (inReceptacle Tomato_bar__minus_00_dot_42_bar__plus_00_dot_96_bar__plus_00_dot_24 CounterTop_bar__minus_00_dot_67_bar__plus_00_dot_95_bar__plus_00_dot_19)\n (inReceptacle Knife_bar__minus_00_dot_21_bar__plus_00_dot_94_bar__plus_00_dot_14 CounterTop_bar__minus_00_dot_67_bar__plus_00_dot_95_bar__plus_00_dot_19)\n (inReceptacle Spatula_bar__minus_01_dot_41_bar__plus_00_dot_91_bar__minus_00_dot_29 CounterTop_bar__minus_00_dot_67_bar__plus_00_dot_95_bar__plus_00_dot_19)\n (inReceptacle Bread_bar__minus_01_dot_35_bar__plus_00_dot_97_bar__minus_00_dot_20 CounterTop_bar__minus_00_dot_67_bar__plus_00_dot_95_bar__plus_00_dot_19)\n (inReceptacle Ladle_bar__minus_00_dot_99_bar__plus_00_dot_93_bar__minus_00_dot_23 CounterTop_bar__minus_00_dot_67_bar__plus_00_dot_95_bar__plus_00_dot_19)\n (inReceptacle PepperShaker_bar__minus_00_dot_58_bar__plus_00_dot_69_bar__plus_00_dot_19 Drawer_bar__minus_00_dot_45_bar__plus_00_dot_75_bar__minus_00_dot_01)\n (inReceptacle Spatula_bar__minus_00_dot_68_bar__plus_00_dot_71_bar__plus_00_dot_10 Drawer_bar__minus_00_dot_45_bar__plus_00_dot_75_bar__minus_00_dot_01)\n (inReceptacle ButterKnife_bar__minus_00_dot_38_bar__plus_01_dot_13_bar__plus_00_dot_44 CounterTop_bar__minus_00_dot_63_bar__plus_01_dot_17_bar__plus_00_dot_57)\n (inReceptacle Knife_bar__minus_00_dot_60_bar__plus_01_dot_16_bar__plus_00_dot_62 CounterTop_bar__minus_00_dot_63_bar__plus_01_dot_17_bar__plus_00_dot_57)\n (inReceptacle Apple_bar__minus_00_dot_60_bar__plus_01_dot_18_bar__plus_00_dot_53 CounterTop_bar__minus_00_dot_63_bar__plus_01_dot_17_bar__plus_00_dot_57)\n (inReceptacle PaperTowelRoll_bar__minus_00_dot_82_bar__plus_01_dot_24_bar__plus_00_dot_44 CounterTop_bar__minus_00_dot_63_bar__plus_01_dot_17_bar__plus_00_dot_57)\n (inReceptacle Lettuce_bar__minus_00_dot_15_bar__plus_01_dot_21_bar__plus_00_dot_53 CounterTop_bar__minus_00_dot_63_bar__plus_01_dot_17_bar__plus_00_dot_57)\n (inReceptacle Spatula_bar__plus_00_dot_07_bar__plus_01_dot_15_bar__plus_00_dot_49 CounterTop_bar__minus_00_dot_63_bar__plus_01_dot_17_bar__plus_00_dot_57)\n (inReceptacle DishSponge_bar__minus_00_dot_38_bar__plus_01_dot_13_bar__plus_00_dot_53 CounterTop_bar__minus_00_dot_63_bar__plus_01_dot_17_bar__plus_00_dot_57)\n (inReceptacle Lettuce_bar__plus_00_dot_07_bar__plus_01_dot_21_bar__plus_00_dot_57 CounterTop_bar__minus_00_dot_63_bar__plus_01_dot_17_bar__plus_00_dot_57)\n (inReceptacle HousePlant_bar__minus_01_dot_25_bar__plus_01_dot_12_bar__plus_00_dot_61 CounterTop_bar__minus_00_dot_63_bar__plus_01_dot_17_bar__plus_00_dot_57)\n (inReceptacle Pot_bar__minus_01_dot_29_bar__plus_00_dot_96_bar__minus_01_dot_02 StoveBurner_bar__minus_01_dot_06_bar__plus_00_dot_95_bar__minus_01_dot_13)\n (inReceptacle Pot_bar__minus_01_dot_06_bar__plus_00_dot_96_bar__minus_01_dot_13 StoveBurner_bar__minus_01_dot_06_bar__plus_00_dot_95_bar__minus_01_dot_13)\n (inReceptacle SaltShaker_bar__minus_00_dot_32_bar__plus_00_dot_69_bar__plus_00_dot_18 Drawer_bar__minus_00_dot_07_bar__plus_00_dot_75_bar__minus_00_dot_01)\n (inReceptacle Spoon_bar__plus_00_dot_01_bar__plus_00_dot_70_bar__plus_00_dot_18 Drawer_bar__minus_00_dot_07_bar__plus_00_dot_75_bar__minus_00_dot_01)\n (inReceptacle Spoon_bar__minus_00_dot_19_bar__plus_00_dot_70_bar__plus_00_dot_22 Drawer_bar__minus_00_dot_07_bar__plus_00_dot_75_bar__minus_00_dot_01)\n (inReceptacle SaltShaker_bar__minus_00_dot_32_bar__plus_00_dot_69_bar__plus_00_dot_10 Drawer_bar__minus_00_dot_07_bar__plus_00_dot_75_bar__minus_00_dot_01)\n (inReceptacle Vase_bar__minus_01_dot_40_bar__plus_00_dot_91_bar__minus_01_dot_47 CounterTop_bar__plus_01_dot_16_bar__plus_00_dot_95_bar__minus_02_dot_01)\n (inReceptacle Pan_bar__plus_01_dot_74_bar__plus_00_dot_90_bar__minus_01_dot_97 CounterTop_bar__plus_01_dot_16_bar__plus_00_dot_95_bar__minus_02_dot_01)\n (inReceptacle Mug_bar__plus_00_dot_50_bar__plus_00_dot_96_bar__minus_01_dot_90 CounterTop_bar__plus_01_dot_16_bar__plus_00_dot_95_bar__minus_02_dot_01)\n (inReceptacle DishSponge_bar__plus_00_dot_97_bar__plus_00_dot_91_bar__minus_02_dot_27 CounterTop_bar__plus_01_dot_16_bar__plus_00_dot_95_bar__minus_02_dot_01)\n (inReceptacle Knife_bar__minus_00_dot_99_bar__plus_00_dot_93_bar__minus_01_dot_81 CounterTop_bar__plus_01_dot_16_bar__plus_00_dot_95_bar__minus_02_dot_01)\n (inReceptacle Plate_bar__plus_01_dot_19_bar__plus_00_dot_91_bar__minus_02_dot_01 CounterTop_bar__plus_01_dot_16_bar__plus_00_dot_95_bar__minus_02_dot_01)\n (inReceptacle Kettle_bar__minus_01_dot_05_bar__plus_00_dot_95_bar__minus_02_dot_09 CounterTop_bar__plus_01_dot_16_bar__plus_00_dot_95_bar__minus_02_dot_01)\n (inReceptacle SaltShaker_bar__minus_00_dot_91_bar__plus_00_dot_91_bar__minus_01_dot_89 CounterTop_bar__plus_01_dot_16_bar__plus_00_dot_95_bar__minus_02_dot_01)\n (inReceptacle Mug_bar__plus_01_dot_42_bar__plus_00_dot_91_bar__minus_02_dot_01 CounterTop_bar__plus_01_dot_16_bar__plus_00_dot_95_bar__minus_02_dot_01)\n (inReceptacle DishSponge_bar__plus_01_dot_96_bar__plus_00_dot_06_bar__plus_00_dot_14 GarbageCan_bar__plus_01_dot_92_bar__plus_00_dot_00_bar__plus_00_dot_14)\n (inReceptacle SoapBottle_bar__plus_01_dot_85_bar__plus_00_dot_06_bar__plus_00_dot_11 GarbageCan_bar__plus_01_dot_92_bar__plus_00_dot_00_bar__plus_00_dot_14)\n (inReceptacle Bowl_bar__plus_01_dot_85_bar__plus_01_dot_01_bar__minus_01_dot_25 Microwave_bar__plus_01_dot_83_bar__plus_00_dot_90_bar__minus_01_dot_35)\n (inReceptacleObject Spoon_bar__minus_00_dot_03_bar__plus_00_dot_76_bar__minus_01_dot_95 Cup_bar__plus_00_dot_10_bar__plus_00_dot_75_bar__minus_01_dot_94)\n (inReceptacle ButterKnife_bar__minus_00_dot_29_bar__plus_00_dot_76_bar__minus_02_dot_06 Sink_bar__minus_00_dot_12_bar__plus_00_dot_88_bar__minus_02_dot_01_bar_SinkBasin)\n (inReceptacle Egg_bar__minus_00_dot_29_bar__plus_00_dot_80_bar__minus_02_dot_01 Sink_bar__minus_00_dot_12_bar__plus_00_dot_88_bar__minus_02_dot_01_bar_SinkBasin)\n (inReceptacle Spoon_bar__minus_00_dot_03_bar__plus_00_dot_76_bar__minus_01_dot_95 Sink_bar__minus_00_dot_12_bar__plus_00_dot_88_bar__minus_02_dot_01_bar_SinkBasin)\n (inReceptacle Cup_bar__plus_00_dot_10_bar__plus_00_dot_75_bar__minus_01_dot_94 Sink_bar__minus_00_dot_12_bar__plus_00_dot_88_bar__minus_02_dot_01_bar_SinkBasin)\n (inReceptacle Bowl_bar__minus_00_dot_12_bar__plus_00_dot_76_bar__minus_02_dot_06 Sink_bar__minus_00_dot_12_bar__plus_00_dot_88_bar__minus_02_dot_01_bar_SinkBasin)\n (inReceptacle Mug_bar__plus_00_dot_50_bar__plus_00_dot_96_bar__minus_01_dot_90 CoffeeMachine_bar__plus_00_dot_50_bar__plus_00_dot_90_bar__minus_02_dot_13)\n \n \n (receptacleAtLocation Cabinet_bar__plus_00_dot_12_bar__plus_02_dot_27_bar__minus_02_dot_00 loc_bar_1_bar__minus_5_bar_2_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__plus_00_dot_20_bar__plus_02_dot_02_bar__minus_02_dot_00 loc_bar_2_bar__minus_5_bar_2_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__plus_01_dot_18_bar__plus_02_dot_02_bar__minus_02_dot_00 loc_bar_4_bar__minus_5_bar_2_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__plus_01_dot_38_bar__plus_00_dot_46_bar__minus_01_dot_69 loc_bar_4_bar__minus_3_bar_2_bar_45)\n (receptacleAtLocation Cabinet_bar__plus_01_dot_39_bar__plus_00_dot_47_bar__minus_01_dot_06 loc_bar_2_bar__minus_4_bar_1_bar_60)\n (receptacleAtLocation Cabinet_bar__plus_01_dot_74_bar__plus_02_dot_02_bar__minus_02_dot_00 loc_bar_4_bar__minus_5_bar_2_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__plus_01_dot_75_bar__plus_02_dot_02_bar__minus_01_dot_03 loc_bar_4_bar__minus_5_bar_1_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__plus_01_dot_75_bar__plus_02_dot_02_bar__minus_01_dot_40 loc_bar_4_bar__minus_5_bar_1_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_42_bar__plus_00_dot_37_bar__minus_00_dot_01 loc_bar__minus_1_bar__minus_4_bar_0_bar_45)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_45_bar__plus_00_dot_47_bar__minus_00_dot_01 loc_bar__minus_2_bar__minus_4_bar_0_bar_45)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_46_bar__plus_02_dot_27_bar__minus_02_dot_00 loc_bar_0_bar__minus_5_bar_2_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_82_bar__plus_00_dot_47_bar__minus_01_dot_69 loc_bar__minus_1_bar__minus_3_bar_2_bar_45)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_84_bar__plus_00_dot_47_bar__minus_00_dot_05 loc_bar_0_bar__minus_2_bar_3_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_84_bar__plus_00_dot_47_bar__minus_01_dot_67 loc_bar_0_bar__minus_4_bar_3_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_01_dot_10_bar__plus_02_dot_02_bar__minus_02_dot_00 loc_bar__minus_2_bar__minus_5_bar_2_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_01_dot_15_bar__plus_02_dot_02_bar__plus_00_dot_38 loc_bar__minus_2_bar__minus_1_bar_3_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_01_dot_15_bar__plus_02_dot_02_bar__minus_00_dot_77 loc_bar__minus_2_bar__minus_2_bar_3_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_01_dot_15_bar__plus_02_dot_02_bar__minus_01_dot_98 loc_bar__minus_1_bar__minus_5_bar_3_bar__minus_15)\n (receptacleAtLocation Cabinet_bar__minus_01_dot_15_bar__plus_02_dot_27_bar__minus_00_dot_84 loc_bar__minus_2_bar__minus_5_bar_3_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_01_dot_15_bar__plus_02_dot_27_bar__minus_01_dot_42 loc_bar__minus_2_bar__minus_4_bar_3_bar__minus_30)\n (receptacleAtLocation CoffeeMachine_bar__plus_00_dot_50_bar__plus_00_dot_90_bar__minus_02_dot_13 loc_bar_2_bar__minus_5_bar_2_bar_45)\n (receptacleAtLocation CounterTop_bar__plus_01_dot_16_bar__plus_00_dot_95_bar__minus_02_dot_01 loc_bar_4_bar__minus_5_bar_2_bar_45)\n (receptacleAtLocation CounterTop_bar__minus_00_dot_63_bar__plus_01_dot_17_bar__plus_00_dot_57 loc_bar_2_bar_3_bar_3_bar_30)\n (receptacleAtLocation CounterTop_bar__minus_00_dot_67_bar__plus_00_dot_95_bar__plus_00_dot_19 loc_bar__minus_2_bar__minus_2_bar_0_bar_45)\n (receptacleAtLocation Drawer_bar__minus_00_dot_07_bar__plus_00_dot_75_bar__minus_00_dot_01 loc_bar_3_bar__minus_2_bar_3_bar_45)\n (receptacleAtLocation Drawer_bar__minus_00_dot_45_bar__plus_00_dot_75_bar__minus_00_dot_01 loc_bar_0_bar__minus_2_bar_0_bar_60)\n (receptacleAtLocation Drawer_bar__minus_00_dot_82_bar__plus_00_dot_75_bar__minus_01_dot_69 loc_bar_0_bar__minus_5_bar_3_bar_45)\n (receptacleAtLocation Fridge_bar__plus_01_dot_98_bar__plus_00_dot_00_bar__minus_00_dot_54 loc_bar_4_bar__minus_3_bar_1_bar_60)\n (receptacleAtLocation GarbageCan_bar__plus_01_dot_92_bar__plus_00_dot_00_bar__plus_00_dot_14 loc_bar_8_bar_3_bar_2_bar_60)\n (receptacleAtLocation Microwave_bar__plus_01_dot_83_bar__plus_00_dot_90_bar__minus_01_dot_35 loc_bar_4_bar__minus_5_bar_1_bar_45)\n (receptacleAtLocation Shelf_bar__plus_02_dot_81_bar__plus_00_dot_16_bar__plus_00_dot_14 loc_bar_11_bar_6_bar_2_bar_45)\n (receptacleAtLocation Shelf_bar__plus_02_dot_81_bar__plus_00_dot_54_bar__plus_00_dot_14 loc_bar_10_bar_5_bar_2_bar_45)\n (receptacleAtLocation Shelf_bar__plus_02_dot_81_bar__plus_00_dot_87_bar__plus_00_dot_14 loc_bar_8_bar_3_bar_1_bar_45)\n (receptacleAtLocation Sink_bar__minus_00_dot_12_bar__plus_00_dot_88_bar__minus_02_dot_01_bar_SinkBasin loc_bar_0_bar__minus_5_bar_2_bar_45)\n (receptacleAtLocation StoveBurner_bar__minus_01_dot_06_bar__plus_00_dot_95_bar__minus_00_dot_67 loc_bar__minus_2_bar__minus_3_bar_3_bar_45)\n (receptacleAtLocation StoveBurner_bar__minus_01_dot_06_bar__plus_00_dot_95_bar__minus_01_dot_13 loc_bar__minus_2_bar__minus_5_bar_3_bar_45)\n (receptacleAtLocation StoveBurner_bar__minus_01_dot_29_bar__plus_00_dot_95_bar__minus_00_dot_76 loc_bar__minus_2_bar__minus_3_bar_3_bar_45)\n (receptacleAtLocation StoveBurner_bar__minus_01_dot_29_bar__plus_00_dot_95_bar__minus_01_dot_02 loc_bar__minus_2_bar__minus_4_bar_3_bar_45)\n (receptacleAtLocation Toaster_bar__plus_00_dot_84_bar__plus_00_dot_90_bar__minus_02_dot_06 loc_bar_3_bar__minus_5_bar_2_bar_45)\n (objectAtLocation Mug_bar__plus_00_dot_50_bar__plus_00_dot_96_bar__minus_01_dot_90 loc_bar_2_bar__minus_5_bar_2_bar_45)\n (objectAtLocation Spoon_bar__plus_00_dot_01_bar__plus_00_dot_70_bar__plus_00_dot_18 loc_bar_3_bar__minus_2_bar_3_bar_45)\n (objectAtLocation DishSponge_bar__plus_01_dot_96_bar__plus_00_dot_06_bar__plus_00_dot_14 loc_bar_8_bar_3_bar_2_bar_60)\n (objectAtLocation ButterKnife_bar__minus_00_dot_29_bar__plus_00_dot_76_bar__minus_02_dot_06 loc_bar_0_bar__minus_5_bar_2_bar_45)\n (objectAtLocation PepperShaker_bar__minus_00_dot_62_bar__plus_00_dot_69_bar__minus_01_dot_94 loc_bar_0_bar__minus_5_bar_3_bar_45)\n (objectAtLocation Lettuce_bar__plus_00_dot_07_bar__plus_01_dot_21_bar__plus_00_dot_57 loc_bar_2_bar_3_bar_3_bar_30)\n (objectAtLocation SaltShaker_bar__minus_00_dot_91_bar__plus_00_dot_91_bar__minus_01_dot_89 loc_bar_4_bar__minus_5_bar_2_bar_45)\n (objectAtLocation Spatula_bar__minus_00_dot_68_bar__plus_00_dot_71_bar__plus_00_dot_10 loc_bar_0_bar__minus_2_bar_0_bar_60)\n (objectAtLocation Plate_bar__minus_00_dot_99_bar__plus_00_dot_13_bar__minus_01_dot_50 loc_bar_0_bar__minus_4_bar_3_bar_60)\n (objectAtLocation Pot_bar__minus_01_dot_29_bar__plus_00_dot_96_bar__minus_01_dot_02 loc_bar__minus_2_bar__minus_5_bar_3_bar_45)\n (objectAtLocation Kettle_bar__minus_01_dot_05_bar__plus_00_dot_95_bar__minus_02_dot_09 loc_bar_4_bar__minus_5_bar_2_bar_45)\n (objectAtLocation Ladle_bar__plus_00_dot_89_bar__plus_01_dot_69_bar__minus_02_dot_16 loc_bar_4_bar__minus_5_bar_2_bar__minus_30)\n (objectAtLocation Bowl_bar__minus_00_dot_12_bar__plus_00_dot_76_bar__minus_02_dot_06 loc_bar_0_bar__minus_5_bar_2_bar_45)\n (objectAtLocation Knife_bar__minus_00_dot_21_bar__plus_00_dot_94_bar__plus_00_dot_14 loc_bar__minus_2_bar__minus_2_bar_0_bar_45)\n (objectAtLocation SaltShaker_bar__minus_00_dot_32_bar__plus_00_dot_69_bar__plus_00_dot_10 loc_bar_3_bar__minus_2_bar_3_bar_45)\n (objectAtLocation Bowl_bar__plus_01_dot_85_bar__plus_01_dot_01_bar__minus_01_dot_25 loc_bar_4_bar__minus_5_bar_1_bar_45)\n (objectAtLocation Knife_bar__minus_00_dot_99_bar__plus_00_dot_93_bar__minus_01_dot_81 loc_bar_4_bar__minus_5_bar_2_bar_45)\n (objectAtLocation Spoon_bar__minus_00_dot_19_bar__plus_00_dot_70_bar__plus_00_dot_22 loc_bar_3_bar__minus_2_bar_3_bar_45)\n (objectAtLocation Spatula_bar__plus_00_dot_07_bar__plus_01_dot_15_bar__plus_00_dot_49 loc_bar_2_bar_3_bar_3_bar_30)\n (objectAtLocation Pot_bar__minus_01_dot_06_bar__plus_00_dot_96_bar__minus_00_dot_67 loc_bar__minus_2_bar__minus_3_bar_3_bar_45)\n (objectAtLocation DishSponge_bar__plus_00_dot_97_bar__plus_00_dot_91_bar__minus_02_dot_27 loc_bar_4_bar__minus_5_bar_2_bar_45)\n (objectAtLocation Sink_bar__minus_00_dot_12_bar__plus_00_dot_88_bar__minus_02_dot_01 loc_bar_0_bar__minus_5_bar_2_bar_45)\n (objectAtLocation Chair_bar__minus_00_dot_46_bar__plus_00_dot_01_bar__plus_00_dot_75 loc_bar__minus_2_bar_5_bar_2_bar_60)\n (objectAtLocation Chair_bar__minus_00_dot_08_bar__plus_00_dot_01_bar__plus_00_dot_76 loc_bar_0_bar_5_bar_2_bar_60)\n (objectAtLocation HousePlant_bar__minus_01_dot_25_bar__plus_01_dot_12_bar__plus_00_dot_61 loc_bar_2_bar_3_bar_3_bar_30)\n (objectAtLocation Pan_bar__plus_01_dot_74_bar__plus_00_dot_90_bar__minus_01_dot_97 loc_bar_4_bar__minus_5_bar_2_bar_45)\n (objectAtLocation Knife_bar__minus_00_dot_60_bar__plus_01_dot_16_bar__plus_00_dot_62 loc_bar_2_bar_3_bar_3_bar_30)\n (objectAtLocation Bowl_bar__minus_01_dot_35_bar__plus_01_dot_66_bar__plus_00_dot_03 loc_bar__minus_2_bar__minus_1_bar_3_bar__minus_30)\n (objectAtLocation Fork_bar__minus_00_dot_63_bar__plus_00_dot_91_bar__plus_00_dot_08 loc_bar__minus_2_bar__minus_2_bar_0_bar_45)\n (objectAtLocation Cup_bar__plus_00_dot_10_bar__plus_00_dot_75_bar__minus_01_dot_94 loc_bar_0_bar__minus_5_bar_2_bar_45)\n (objectAtLocation Ladle_bar__minus_00_dot_99_bar__plus_00_dot_93_bar__minus_00_dot_23 loc_bar__minus_2_bar__minus_2_bar_0_bar_45)\n (objectAtLocation Apple_bar__minus_00_dot_60_bar__plus_01_dot_18_bar__plus_00_dot_53 loc_bar_2_bar_3_bar_3_bar_30)\n (objectAtLocation Kettle_bar__minus_01_dot_29_bar__plus_00_dot_96_bar__minus_00_dot_76 loc_bar__minus_2_bar__minus_3_bar_3_bar_45)\n (objectAtLocation Vase_bar__plus_01_dot_91_bar__plus_01_dot_66_bar__minus_01_dot_16 loc_bar_4_bar__minus_5_bar_1_bar__minus_30)\n (objectAtLocation Potato_bar__minus_00_dot_85_bar__plus_00_dot_94_bar__plus_00_dot_24 loc_bar__minus_2_bar__minus_2_bar_0_bar_45)\n (objectAtLocation Pot_bar__minus_01_dot_06_bar__plus_00_dot_96_bar__minus_01_dot_13 loc_bar__minus_2_bar__minus_5_bar_3_bar_45)\n (objectAtLocation Bread_bar__minus_01_dot_35_bar__plus_00_dot_97_bar__minus_00_dot_20 loc_bar__minus_2_bar__minus_2_bar_0_bar_45)\n (objectAtLocation Plate_bar__plus_01_dot_19_bar__plus_00_dot_91_bar__minus_02_dot_01 loc_bar_4_bar__minus_5_bar_2_bar_45)\n (objectAtLocation LightSwitch_bar__plus_00_dot_40_bar__plus_01_dot_30_bar__plus_02_dot_00 loc_bar_2_bar_6_bar_0_bar_30)\n (objectAtLocation Spatula_bar__minus_01_dot_41_bar__plus_00_dot_91_bar__minus_00_dot_29 loc_bar__minus_2_bar__minus_2_bar_0_bar_45)\n (objectAtLocation PaperTowelRoll_bar__minus_00_dot_82_bar__plus_01_dot_24_bar__plus_00_dot_44 loc_bar_2_bar_3_bar_3_bar_30)\n (objectAtLocation Vase_bar__plus_01_dot_63_bar__plus_00_dot_12_bar__minus_01_dot_46 loc_bar_2_bar__minus_4_bar_1_bar_60)\n (objectAtLocation Egg_bar__minus_00_dot_29_bar__plus_00_dot_80_bar__minus_02_dot_01 loc_bar_0_bar__minus_5_bar_2_bar_45)\n (objectAtLocation SoapBottle_bar__plus_01_dot_85_bar__plus_00_dot_06_bar__plus_00_dot_11 loc_bar_8_bar_3_bar_2_bar_60)\n (objectAtLocation SaltShaker_bar__minus_00_dot_32_bar__plus_00_dot_69_bar__plus_00_dot_18 loc_bar_3_bar__minus_2_bar_3_bar_45)\n (objectAtLocation Lettuce_bar__minus_00_dot_15_bar__plus_01_dot_21_bar__plus_00_dot_53 loc_bar_2_bar_3_bar_3_bar_30)\n (objectAtLocation PepperShaker_bar__minus_00_dot_58_bar__plus_00_dot_69_bar__plus_00_dot_19 loc_bar_0_bar__minus_2_bar_0_bar_60)\n (objectAtLocation ButterKnife_bar__minus_00_dot_38_bar__plus_01_dot_13_bar__plus_00_dot_44 loc_bar_2_bar_3_bar_3_bar_30)\n (objectAtLocation StoveKnob_bar__minus_00_dot_87_bar__plus_00_dot_90_bar__minus_00_dot_83 loc_bar__minus_2_bar__minus_3_bar_3_bar_60)\n (objectAtLocation StoveKnob_bar__minus_00_dot_87_bar__plus_00_dot_90_bar__minus_00_dot_68 loc_bar__minus_2_bar__minus_3_bar_3_bar_60)\n (objectAtLocation StoveKnob_bar__minus_00_dot_87_bar__plus_00_dot_90_bar__minus_00_dot_97 loc_bar__minus_2_bar__minus_4_bar_3_bar_60)\n (objectAtLocation StoveKnob_bar__minus_00_dot_87_bar__plus_00_dot_90_bar__minus_01_dot_12 loc_bar__minus_2_bar__minus_4_bar_3_bar_60)\n (objectAtLocation DishSponge_bar__minus_00_dot_38_bar__plus_01_dot_13_bar__plus_00_dot_53 loc_bar_2_bar_3_bar_3_bar_30)\n (objectAtLocation Vase_bar__minus_01_dot_40_bar__plus_00_dot_91_bar__minus_01_dot_47 loc_bar_4_bar__minus_5_bar_2_bar_45)\n (objectAtLocation Spoon_bar__minus_00_dot_03_bar__plus_00_dot_76_bar__minus_01_dot_95 loc_bar_0_bar__minus_5_bar_2_bar_45)\n (objectAtLocation Tomato_bar__minus_00_dot_42_bar__plus_00_dot_96_bar__plus_00_dot_24 loc_bar__minus_2_bar__minus_2_bar_0_bar_45)\n (objectAtLocation Mug_bar__plus_01_dot_42_bar__plus_00_dot_91_bar__minus_02_dot_01 loc_bar_4_bar__minus_5_bar_2_bar_45)\n (objectAtLocation Statue_bar__minus_01_dot_28_bar__plus_00_dot_92_bar__plus_00_dot_24 loc_bar__minus_2_bar__minus_2_bar_0_bar_45)\n )\n \n\n (:goal\n (and\n (exists (?r - receptacle)\n (exists (?o - object)\n (and\n (coolable ?o)\n (objectType ?o BowlType)\n (receptacleType ?r ShelfType)\n (isCool ?o)\n (inReceptacle ?o ?r)\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to sinkbasin 1", "take bowl 3 from sinkbasin 1", "go to fridge 1", "cool bowl 3 with fridge 1", "go to shelf 2", "move bowl 3 to shelf 2"]}
|
alfworld__pick_cool_then_place_in_recep__1
|
pick_cool_then_place_in_recep
|
pick_cool_then_place_in_recep-Bowl-None-Shelf-5/trial_T20190908_091641_481598/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 cool bowl in shelf.\"\n }\n ],\n\n \"GotoLocation.feedback\": [\n {\n \"rhs\": \"You arrive at {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"OpenObject.feedback\": [\n {\n \"rhs\": \"You open the {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"CloseObject.feedback\": [\n {\n \"rhs\": \"You close the {r.name}.\"\n }\n ],\n\n \"PickupObject.feedback\": [\n {\n \"rhs\": \"You pick up the {o.name} from the {r.name}.\"\n }\n ],\n\n \"PickupObjectFromReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupObjectFromReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupEmptyReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupEmptyReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupFullReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupFullReceptacleObject: You pick up the {outerr.name}.\"\n }\n ],\n\n \"PutObject.feedback\": [\n {\n \"rhs\": \"You move the {o.name} to the {r.name}.\"\n }\n ],\n\n \"PutObjectInReceptacleObject.feedback\": [\n {\n \"rhs\": \"PutObjectInReceptacleObject: You put the {o.name} in the {outero.name}.\"\n }\n ],\n\n \"PutEmptyReceptacleObjectinReceptacle.feedback\": [\n {\n \"rhs\": \"PutEmptyReceptacleObjectinReceptacle: You put the {o.name} in the {r.name}.\"\n }\n ],\n\n \"PutFullReceptacleObjectInReceptacle.feedback\": [\n {\n \"rhs\": \"PutFullReceptacleObjectInReceptacle: You put the {outero.name} in the {r.name}.\"\n }\n ],\n\n \"inventory.feedback\": [\n {\n \"condition\": \"holdsany(a:agent)\",\n \"rhs\": \"You are carrying: [{o.indefinite + ' ' + o.name | holds(a:agent, o:object)}].\"\n },\n {\n \"rhs\": \"You are not carrying anything.\"\n }\n ],\n\n \"examineReceptacle.feedback\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \"The {r.name} is open. In it, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \"The {r.name} is closed.\"\n },\n {\n \"rhs\": \"On the {r.name}, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n }\n ],\n\n \"examineObject.feedback\": [\n {\n \"condition\": \"isreceptacleobject(o:object)\",\n \"rhs\": \"This is a normal {o.name}. In it, you see [{o2.indefinite + ' ' + o2.name | inreceptacleobject(o2:object, o:object)}].\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a clean sliced {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot sliced {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object)\",\n \"rhs\": \"This is a hot and clean {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object)\",\n \"rhs\": \"This is a cool and clean {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object)\",\n \"rhs\": \"This is a hot {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object)\",\n \"rhs\": \"This is a clean {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object)\",\n \"rhs\": \"This is a cold {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"This {o.name} is on.\"\n },\n {\n \"condition\": \"toggleable(o:object) & not_istoggled(o:object)\",\n \"rhs\": \"This {o.name} is off.\"\n },\n {\n \"condition\": \"sliceable(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a sliced {o.name}.\"\n },\n {\n \"rhs\": \"There's nothing special about {o.name}.\"\n }\n ]\n }\n\"\"\";\n\naction GotoLocation {\n template :: \"go to [{r.name | receptacleatlocation(r:receptacle, lend:location)}]\";\n feedback :: \"#GotoLocation.feedback#\";\n}\n\naction OpenObject {\n template :: \"open {r}\";\n feedback :: \"#OpenObject.feedback#\";\n}\n\naction CloseObject {\n template :: \"close {r}\";\n feedback :: \"#CloseObject.feedback#\";\n}\n\naction PickupObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObject.feedback#\";\n}\n\naction PickupObjectFromReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObjectFromReceptacleObject.feedback#\";\n}\n\naction PickupEmptyReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupEmptyReceptacleObject.feedback#\";\n}\n\naction PickupFullReceptacleObject {\n template :: \"take {outerr} from {r}\";\n feedback :: \"#PickupFullReceptacleObject.feedback#\";\n}\n\naction PutObject {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutObject.feedback#\";\n}\n\naction PutObjectInReceptacleObject {\n template :: \"put {o} into {outero}\";\n feedback :: \"#PutObjectInReceptacleObject.feedback#\";\n}\n\naction PutEmptyReceptacleObjectinReceptacle {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutEmptyReceptacleObjectinReceptacle.feedback#\";\n}\n\naction PutFullReceptacleObjectInReceptacle {\n template :: \"put {outero} in {r}\";\n feedback :: \"#PutFullReceptacleObjectInReceptacle.feedback#\";\n}\n\naction inventory {\n template :: \"inventory\";\n feedback :: \"#inventory.feedback#\";\n}\n\naction examineReceptacle {\n template :: \"examine {r}\";\n feedback :: \"#examineReceptacle.feedback#\";\n}\n\naction examineObject {\n template :: \"examine {o}\";\n feedback :: \"#examineObject.feedback#\";\n}\n\naction ToggleObject {\n template :: \"use {o}\";\n feedback :: \"#toggleObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"toggleObject.feedback\": [\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"You turn on the {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object)\",\n \"rhs\": \"You turn off the {o.name}.\"\n },\n {\n \"rhs\": \"You don't see any switch on the {o.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction HeatObject {\n template :: \"heat {o} with {r}\";\n feedback :: \"#heatObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"heatObject.feedback\": [\n {\n \"rhs\": \"You heat the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CleanObject {\n template :: \"clean {o} with {r}\";\n feedback :: \"#cleanObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"cleanObject.feedback\": [\n {\n \"rhs\": \"You clean the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CoolObject {\n template :: \"cool {o} with {r}\";\n feedback :: \"#coolObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"coolObject.feedback\": [\n {\n \"rhs\": \"You cool the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction SliceObject {\n template :: \"slice {co} with {ko}\";\n feedback :: \"#sliceObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"sliceObject.feedback\": [\n {\n \"rhs\": \"You sliced the {co.name} with the {ko.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction look {\n template :: \"look\";\n feedback :: \"#look.feedback#\";\n\n grammar :: \"\"\"\n {\n \"look.feedback\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"#look-variations#. Next to it, you see #list_objects_on_the_floor#.\"\n },\n {\n \"rhs\": \"You are in the middle of a room. Looking quickly around you, you see #list_appliances#.\"\n }\n ],\n\n \"look-variations\": [\n {\n \"rhs\": \"You are facing the [{r.name | atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)}]\"\n }\n ],\n\n \"list_objects_on_the_floor\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)\",\n \"rhs\": \"[{#overview(o)# | atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"list_appliances\": [\n {\n \"condition\": \"receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"[{#overview(r)# | receptacleatlocation(r:receptacle, l:location)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"overview(o, r)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name} (in/on the {r.name})}\"\n }\n ],\n\n \"overview(o)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name}\"\n }\n ],\n \"overview(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}\"\n }\n ],\n \"overview_with_state(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}#overview_state(r)#\"\n }\n ],\n \"overview_state(r)\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \" (it is open)\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \" (it is closed)\"\n },\n {\n \"rhs\": \"\"\n }\n ],\n\n \"list_empty\": [\n {\n \"rhs\": \"nothing\"\n }\n ],\n \"list_separator\": [\n {\n \"rhs\": \", \"\n }\n ],\n \"list_last_separator\": [\n {\n \"rhs\": \", and \"\n }\n ]\n }\n \"\"\";\n}\n\naction help {\n template :: \"help\";\n feedback :: \"\nAvailable commands:\n look: look around your current location\n inventory: check your current inventory\n go to (receptacle): move to a receptacle\n open (receptacle): open a receptacle\n close (receptacle): close a receptacle\n take (object) from (receptacle): take an object from a receptacle\n move (object) to (receptacle): place an object in or on a receptacle\n examine (something): examine a receptacle or an object\n use (object): use an object\n heat (object) with (receptacle): heat an object using a receptacle\n clean (object) with (receptacle): clean an object using a receptacle\n cool (object) with (receptacle): cool an object using a receptacle\n slice (object) with (object): slice an object using a sharp object\n\";\n}\n", "pddl_problem": "\n(define (problem plan_trial_T20190908_091641_481598)\n(:domain alfred)\n(:objects\nagent1 - agent\nSaltShaker - object\n HousePlant - object\n Candle - object\n SprayBottle - object\n Bowl - object\n Window - object\n CD - object\n Egg - object\n Glassbottle - object\n Sink - object\n Pillow - object\n Spoon - object\n SoapBottle - object\n TeddyBear - object\n ButterKnife - object\n Cup - object\n Plate - object\n RemoteControl - object\n Tomato - object\n Statue - object\n HandTowel - object\n Knife - object\n StoveKnob - object\n LightSwitch - object\n Pen - object\n Painting - object\n DishSponge - object\n Vase - object\n Mug - object\n ToiletPaper - object\n Box - object\n Mirror - object\n Ladle - object\n Fork - object\n Blinds - object\n Footstool - object\n KeyChain - object\n Cloth - object\n Laptop - object\n TissueBox - object\n PepperShaker - object\n FloorLamp - object\n WateringCan - object\n Apple - object\n Pan - object\n PaperTowel - object\n PaperTowelRoll - object\n Newspaper - object\n Television - object\n Chair - object\n CellPhone - object\n CreditCard - object\n Lettuce - object\n BasketBall - object\n Potato - object\n Curtains - object\n Boots - object\n Pencil - object\n AlarmClock - object\n ToiletPaperRoll - object\n Spatula - object\n Book - object\n Bread - object\n SoapBar - object\n Watch - object\n DeskLamp - object\n Kettle - object\n Pot - object\n ScrubBrush - object\n WineBottle - object\n ShowerDoor - object\n Bathtub - object\n LaundryHamperLid - object\n ShowerGlass - object\n Poster - object\n TennisRacket - object\n BaseballBat - object\n Towel - object\n Plunger - object\nSaltShakerType - otype\n HousePlantType - otype\n CandleType - otype\n SprayBottleType - otype\n BowlType - otype\n WindowType - otype\n CDType - otype\n EggType - otype\n GlassbottleType - otype\n SinkType - otype\n PillowType - otype\n SpoonType - otype\n SoapBottleType - otype\n TeddyBearType - otype\n ButterKnifeType - otype\n CupType - otype\n PlateType - otype\n RemoteControlType - otype\n TomatoType - otype\n StatueType - otype\n HandTowelType - otype\n KnifeType - otype\n StoveKnobType - otype\n LightSwitchType - otype\n PenType - otype\n PaintingType - otype\n DishSpongeType - otype\n VaseType - otype\n MugType - otype\n ToiletPaperType - otype\n BoxType - otype\n MirrorType - otype\n LadleType - otype\n ForkType - otype\n BlindsType - otype\n FootstoolType - otype\n KeyChainType - otype\n ClothType - otype\n LaptopType - otype\n TissueBoxType - otype\n PepperShakerType - otype\n FloorLampType - otype\n WateringCanType - otype\n AppleType - otype\n PanType - otype\n PaperTowelType - otype\n PaperTowelRollType - otype\n NewspaperType - otype\n TelevisionType - otype\n ChairType - otype\n CellPhoneType - otype\n CreditCardType - otype\n LettuceType - otype\n BasketBallType - otype\n PotatoType - otype\n CurtainsType - otype\n BootsType - otype\n PencilType - otype\n AlarmClockType - otype\n ToiletPaperRollType - otype\n SpatulaType - otype\n BookType - otype\n BreadType - otype\n SoapBarType - otype\n WatchType - otype\n DeskLampType - otype\n KettleType - otype\n PotType - otype\n ScrubBrushType - otype\n WineBottleType - otype\n ShowerDoorType - otype\n BathtubType - otype\n LaundryHamperLidType - otype\n ShowerGlassType - otype\n PosterType - otype\n TennisRacketType - otype\n BaseballBatType - otype\n TowelType - otype\n PlungerType - otype\nSafeType - rtype\n DrawerType - rtype\n CoffeeMachineType - rtype\n HandTowelHolderType - rtype\n SinkBasinType - rtype\n DresserType - rtype\n LaundryHamperType - rtype\n TVStandType - rtype\n BathtubBasinType - rtype\n CabinetType - rtype\n FridgeType - rtype\n DeskType - rtype\n ToiletType - rtype\n CartType - rtype\n SideTableType - rtype\n SofaType - rtype\n CoffeeTableType - rtype\n DiningTableType - rtype\n CounterTopType - rtype\n GarbageCanType - rtype\n ArmChairType - rtype\n ShelfType - rtype\n MicrowaveType - rtype\n ToasterType - rtype\n BedType - rtype\n PaintingHangerType - rtype\n TowelHolderType - rtype\n ToiletPaperHangerType - rtype\n StoveBurnerType - rtype\n OttomanType - rtype\n\n\n Apple_bar__plus_01_dot_84_bar__plus_01_dot_15_bar__minus_00_dot_27 - object\n Apple_bar__plus_01_dot_85_bar__plus_00_dot_11_bar__plus_00_dot_14 - object\n Bowl_bar__minus_00_dot_42_bar__plus_00_dot_91_bar__plus_00_dot_19 - object\n Bread_bar__plus_01_dot_95_bar__plus_00_dot_90_bar__minus_00_dot_37 - object\n ButterKnife_bar__minus_00_dot_12_bar__plus_00_dot_76_bar__minus_02_dot_01 - object\n ButterKnife_bar__minus_00_dot_29_bar__plus_00_dot_76_bar__minus_02_dot_01 - object\n ButterKnife_bar__minus_00_dot_38_bar__plus_01_dot_13_bar__plus_00_dot_71 - object\n Chair_bar__minus_00_dot_08_bar__plus_00_dot_01_bar__plus_00_dot_76 - object\n Chair_bar__minus_00_dot_46_bar__plus_00_dot_01_bar__plus_00_dot_75 - object\n Cup_bar__plus_00_dot_10_bar__plus_00_dot_75_bar__minus_01_dot_94 - object\n DishSponge_bar__minus_00_dot_21_bar__plus_00_dot_91_bar__plus_00_dot_24 - object\n DishSponge_bar__minus_01_dot_26_bar__plus_00_dot_91_bar__minus_01_dot_93 - object\n Egg_bar__plus_02_dot_00_bar__plus_00_dot_85_bar__minus_00_dot_74 - object\n Egg_bar__plus_02_dot_00_bar__plus_01_dot_46_bar__minus_00_dot_55 - object\n Faucet_bar__minus_00_dot_16_bar__plus_01_dot_05_bar__minus_02_dot_20 - object\n Fork_bar__minus_00_dot_21_bar__plus_00_dot_91_bar__plus_00_dot_08 - object\n Fork_bar__minus_00_dot_76_bar__plus_00_dot_69_bar__minus_01_dot_89 - object\n Fork_bar__minus_01_dot_14_bar__plus_00_dot_91_bar__minus_01_dot_85 - object\n HousePlant_bar__minus_01_dot_25_bar__plus_01_dot_12_bar__plus_00_dot_61 - object\n Kettle_bar__minus_01_dot_05_bar__plus_00_dot_95_bar__minus_02_dot_09 - object\n Kettle_bar__minus_01_dot_29_bar__plus_00_dot_96_bar__minus_00_dot_76 - object\n Knife_bar__plus_00_dot_07_bar__plus_01_dot_16_bar__plus_00_dot_53 - object\n Knife_bar__plus_01_dot_42_bar__plus_00_dot_93_bar__minus_01_dot_76 - object\n Knife_bar__minus_00_dot_99_bar__plus_00_dot_93_bar__minus_01_dot_64 - object\n Ladle_bar__plus_00_dot_08_bar__plus_00_dot_73_bar__plus_00_dot_18 - object\n Ladle_bar__minus_00_dot_32_bar__plus_00_dot_73_bar__plus_00_dot_18 - object\n Ladle_bar__minus_01_dot_05_bar__plus_01_dot_17_bar__plus_00_dot_49 - object\n Lettuce_bar__minus_00_dot_26_bar__plus_00_dot_87_bar__minus_01_dot_97 - object\n LightSwitch_bar__plus_00_dot_40_bar__plus_01_dot_30_bar__plus_02_dot_00 - object\n Mug_bar__minus_00_dot_03_bar__plus_00_dot_76_bar__minus_02_dot_12 - object\n Pan_bar__plus_01_dot_74_bar__plus_00_dot_90_bar__minus_01_dot_97 - object\n Pan_bar__minus_01_dot_06_bar__plus_00_dot_96_bar__minus_00_dot_67 - object\n PaperTowelRoll_bar__minus_01_dot_25_bar__plus_01_dot_02_bar__minus_00_dot_29 - object\n PepperShaker_bar__plus_01_dot_59_bar__plus_01_dot_65_bar__minus_02_dot_20 - object\n Plate_bar__plus_01_dot_89_bar__plus_01_dot_10_bar__minus_00_dot_64 - object\n Plate_bar__minus_01_dot_31_bar__plus_01_dot_66_bar__plus_00_dot_16 - object\n Plate_bar__minus_01_dot_31_bar__plus_01_dot_66_bar__minus_00_dot_63 - object\n Potato_bar__plus_01_dot_84_bar__plus_01_dot_13_bar__minus_00_dot_83 - object\n Potato_bar__minus_00_dot_63_bar__plus_00_dot_94_bar__plus_00_dot_08 - object\n Potato_bar__minus_01_dot_32_bar__plus_00_dot_94_bar__minus_01_dot_47 - object\n Pot_bar__minus_01_dot_06_bar__plus_00_dot_96_bar__minus_01_dot_13 - object\n Pot_bar__minus_01_dot_29_bar__plus_00_dot_96_bar__minus_01_dot_02 - object\n SaltShaker_bar__plus_01_dot_81_bar__plus_01_dot_65_bar__minus_01_dot_61 - object\n Sink_bar__minus_00_dot_12_bar__plus_00_dot_88_bar__minus_02_dot_01 - object\n SoapBottle_bar__plus_02_dot_80_bar__plus_00_dot_55_bar__plus_00_dot_04 - object\n SoapBottle_bar__plus_03_dot_00_bar__plus_00_dot_88_bar__plus_00_dot_11 - object\n SoapBottle_bar__minus_00_dot_63_bar__plus_00_dot_91_bar__plus_00_dot_19 - object\n Spatula_bar__minus_00_dot_65_bar__plus_00_dot_71_bar__plus_00_dot_10 - object\n Spatula_bar__minus_00_dot_82_bar__plus_01_dot_15_bar__plus_00_dot_44 - object\n Spoon_bar__minus_00_dot_12_bar__plus_00_dot_70_bar__plus_00_dot_18 - object\n Spoon_bar__minus_00_dot_85_bar__plus_00_dot_91_bar__plus_00_dot_29 - object\n Spoon_bar__minus_01_dot_08_bar__plus_00_dot_91_bar__minus_01_dot_55 - object\n Statue_bar__plus_00_dot_01_bar__plus_00_dot_92_bar__plus_00_dot_03 - object\n Statue_bar__minus_00_dot_66_bar__plus_00_dot_92_bar__minus_02_dot_18 - object\n StoveKnob_bar__minus_00_dot_87_bar__plus_00_dot_90_bar__minus_00_dot_68 - object\n StoveKnob_bar__minus_00_dot_87_bar__plus_00_dot_90_bar__minus_00_dot_83 - object\n StoveKnob_bar__minus_00_dot_87_bar__plus_00_dot_90_bar__minus_00_dot_97 - object\n StoveKnob_bar__minus_00_dot_87_bar__plus_00_dot_90_bar__minus_01_dot_12 - object\n Tomato_bar__plus_02_dot_00_bar__plus_00_dot_11_bar__plus_00_dot_14 - object\n Tomato_bar__minus_00_dot_03_bar__plus_00_dot_81_bar__minus_01_dot_90 - object\n Tomato_bar__minus_01_dot_32_bar__plus_00_dot_96_bar__minus_01_dot_64 - object\n Vase_bar__minus_01_dot_06_bar__plus_00_dot_92_bar__plus_00_dot_14 - object\n Vase_bar__minus_01_dot_08_bar__plus_00_dot_92_bar__minus_00_dot_23 - object\n Vase_bar__minus_01_dot_26_bar__plus_00_dot_91_bar__minus_02_dot_10 - object\n Cabinet_bar__plus_00_dot_12_bar__plus_02_dot_27_bar__minus_02_dot_00 - receptacle\n Cabinet_bar__plus_00_dot_20_bar__plus_02_dot_02_bar__minus_02_dot_00 - receptacle\n Cabinet_bar__plus_01_dot_18_bar__plus_02_dot_02_bar__minus_02_dot_00 - receptacle\n Cabinet_bar__plus_01_dot_38_bar__plus_00_dot_46_bar__minus_01_dot_69 - receptacle\n Cabinet_bar__plus_01_dot_39_bar__plus_00_dot_47_bar__minus_01_dot_06 - receptacle\n Cabinet_bar__plus_01_dot_74_bar__plus_02_dot_02_bar__minus_02_dot_00 - receptacle\n Cabinet_bar__plus_01_dot_75_bar__plus_02_dot_02_bar__minus_01_dot_03 - receptacle\n Cabinet_bar__plus_01_dot_75_bar__plus_02_dot_02_bar__minus_01_dot_40 - receptacle\n Cabinet_bar__minus_00_dot_42_bar__plus_00_dot_37_bar__minus_00_dot_01 - receptacle\n Cabinet_bar__minus_00_dot_45_bar__plus_00_dot_47_bar__minus_00_dot_01 - receptacle\n Cabinet_bar__minus_00_dot_46_bar__plus_02_dot_27_bar__minus_02_dot_00 - receptacle\n Cabinet_bar__minus_00_dot_82_bar__plus_00_dot_47_bar__minus_01_dot_69 - receptacle\n Cabinet_bar__minus_00_dot_84_bar__plus_00_dot_47_bar__minus_00_dot_05 - receptacle\n Cabinet_bar__minus_00_dot_84_bar__plus_00_dot_47_bar__minus_01_dot_67 - receptacle\n Cabinet_bar__minus_01_dot_10_bar__plus_02_dot_02_bar__minus_02_dot_00 - receptacle\n Cabinet_bar__minus_01_dot_15_bar__plus_02_dot_02_bar__plus_00_dot_38 - receptacle\n Cabinet_bar__minus_01_dot_15_bar__plus_02_dot_02_bar__minus_00_dot_77 - receptacle\n Cabinet_bar__minus_01_dot_15_bar__plus_02_dot_02_bar__minus_01_dot_98 - receptacle\n Cabinet_bar__minus_01_dot_15_bar__plus_02_dot_27_bar__minus_00_dot_84 - receptacle\n Cabinet_bar__minus_01_dot_15_bar__plus_02_dot_27_bar__minus_01_dot_42 - receptacle\n CoffeeMachine_bar__plus_00_dot_50_bar__plus_00_dot_90_bar__minus_02_dot_13 - receptacle\n CounterTop_bar__plus_01_dot_16_bar__plus_00_dot_95_bar__minus_02_dot_01 - receptacle\n CounterTop_bar__minus_00_dot_63_bar__plus_01_dot_17_bar__plus_00_dot_57 - receptacle\n CounterTop_bar__minus_00_dot_67_bar__plus_00_dot_95_bar__plus_00_dot_19 - receptacle\n Drawer_bar__minus_00_dot_07_bar__plus_00_dot_75_bar__minus_00_dot_01 - receptacle\n Drawer_bar__minus_00_dot_45_bar__plus_00_dot_75_bar__minus_00_dot_01 - receptacle\n Drawer_bar__minus_00_dot_82_bar__plus_00_dot_75_bar__minus_01_dot_69 - receptacle\n Fridge_bar__plus_01_dot_98_bar__plus_00_dot_00_bar__minus_00_dot_54 - receptacle\n GarbageCan_bar__plus_01_dot_92_bar__plus_00_dot_00_bar__plus_00_dot_14 - receptacle\n Microwave_bar__plus_01_dot_83_bar__plus_00_dot_90_bar__minus_01_dot_35 - receptacle\n Shelf_bar__plus_02_dot_81_bar__plus_00_dot_16_bar__plus_00_dot_14 - receptacle\n Shelf_bar__plus_02_dot_81_bar__plus_00_dot_54_bar__plus_00_dot_14 - receptacle\n Shelf_bar__plus_02_dot_81_bar__plus_00_dot_87_bar__plus_00_dot_14 - receptacle\n Sink_bar__minus_00_dot_12_bar__plus_00_dot_88_bar__minus_02_dot_01_bar_SinkBasin - receptacle\n StoveBurner_bar__minus_01_dot_06_bar__plus_00_dot_95_bar__minus_00_dot_67 - receptacle\n StoveBurner_bar__minus_01_dot_06_bar__plus_00_dot_95_bar__minus_01_dot_13 - receptacle\n StoveBurner_bar__minus_01_dot_29_bar__plus_00_dot_95_bar__minus_00_dot_76 - receptacle\n StoveBurner_bar__minus_01_dot_29_bar__plus_00_dot_95_bar__minus_01_dot_02 - receptacle\n Toaster_bar__plus_00_dot_84_bar__plus_00_dot_90_bar__minus_02_dot_06 - receptacle\n loc_bar__minus_2_bar__minus_2_bar_3_bar__minus_30 - location\n loc_bar__minus_2_bar__minus_1_bar_3_bar__minus_30 - location\n loc_bar_3_bar__minus_2_bar_3_bar_45 - location\n loc_bar_8_bar_3_bar_2_bar_60 - location\n loc_bar_4_bar__minus_5_bar_1_bar__minus_30 - location\n loc_bar_2_bar__minus_4_bar_1_bar_60 - location\n loc_bar__minus_2_bar__minus_4_bar_3_bar_45 - location\n loc_bar_2_bar__minus_5_bar_2_bar_45 - location\n loc_bar_8_bar_3_bar_1_bar_45 - location\n loc_bar__minus_2_bar__minus_3_bar_3_bar_45 - location\n loc_bar__minus_1_bar__minus_3_bar_2_bar_45 - location\n loc_bar__minus_2_bar__minus_4_bar_3_bar__minus_30 - location\n loc_bar_4_bar__minus_5_bar_1_bar_45 - location\n loc_bar_4_bar__minus_3_bar_1_bar_60 - location\n loc_bar_0_bar_5_bar_2_bar_60 - location\n loc_bar_2_bar_6_bar_0_bar_30 - location\n loc_bar__minus_2_bar__minus_5_bar_2_bar__minus_30 - location\n loc_bar_0_bar__minus_2_bar_3_bar_60 - location\n loc_bar_11_bar_6_bar_2_bar_45 - location\n loc_bar_10_bar_5_bar_2_bar_45 - location\n loc_bar__minus_2_bar__minus_2_bar_0_bar_45 - location\n loc_bar_4_bar__minus_5_bar_2_bar_45 - location\n loc_bar_1_bar__minus_5_bar_2_bar__minus_30 - location\n loc_bar_0_bar__minus_5_bar_2_bar__minus_30 - location\n loc_bar__minus_2_bar__minus_5_bar_3_bar_45 - location\n loc_bar_0_bar__minus_5_bar_3_bar_45 - location\n loc_bar_0_bar__minus_5_bar_2_bar_45 - location\n loc_bar__minus_2_bar_5_bar_2_bar_60 - location\n loc_bar_4_bar__minus_3_bar_2_bar_45 - location\n loc_bar_2_bar__minus_5_bar_2_bar__minus_30 - location\n loc_bar__minus_2_bar__minus_3_bar_3_bar_60 - location\n loc_bar_0_bar__minus_4_bar_3_bar_60 - location\n loc_bar_4_bar__minus_5_bar_2_bar__minus_30 - location\n loc_bar__minus_1_bar__minus_4_bar_0_bar_45 - location\n loc_bar_0_bar__minus_2_bar_0_bar_60 - location\n loc_bar__minus_2_bar__minus_4_bar_0_bar_45 - location\n loc_bar_3_bar__minus_5_bar_2_bar_45 - location\n loc_bar__minus_2_bar__minus_4_bar_3_bar_60 - location\n loc_bar__minus_1_bar__minus_5_bar_3_bar__minus_15 - location\n loc_bar__minus_4_bar_5_bar_2_bar_30 - location\n loc_bar_2_bar_3_bar_3_bar_30 - location\n loc_bar__minus_2_bar__minus_5_bar_3_bar__minus_30 - location\n loc_bar__minus_1_bar__minus_1_bar_2_bar_30 - location\n )\n \n\n(:init\n\n\n (receptacleType Cabinet_bar__minus_01_dot_15_bar__plus_02_dot_27_bar__minus_00_dot_84 CabinetType)\n (receptacleType 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Spatula_bar__minus_00_dot_65_bar__plus_00_dot_71_bar__plus_00_dot_10)\n (cleanable DishSponge_bar__minus_00_dot_21_bar__plus_00_dot_91_bar__plus_00_dot_24)\n (cleanable Potato_bar__plus_01_dot_84_bar__plus_01_dot_13_bar__minus_00_dot_83)\n (cleanable Egg_bar__plus_02_dot_00_bar__plus_01_dot_46_bar__minus_00_dot_55)\n \n (heatable Potato_bar__minus_00_dot_63_bar__plus_00_dot_94_bar__plus_00_dot_08)\n (heatable Egg_bar__plus_02_dot_00_bar__plus_00_dot_85_bar__minus_00_dot_74)\n (heatable Bread_bar__plus_01_dot_95_bar__plus_00_dot_90_bar__minus_00_dot_37)\n (heatable Apple_bar__plus_01_dot_85_bar__plus_00_dot_11_bar__plus_00_dot_14)\n (heatable Tomato_bar__minus_00_dot_03_bar__plus_00_dot_81_bar__minus_01_dot_90)\n (heatable Apple_bar__plus_01_dot_84_bar__plus_01_dot_15_bar__minus_00_dot_27)\n (heatable Tomato_bar__minus_01_dot_32_bar__plus_00_dot_96_bar__minus_01_dot_64)\n (heatable Plate_bar__minus_01_dot_31_bar__plus_01_dot_66_bar__minus_00_dot_63)\n (heatable 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Pot_bar__minus_01_dot_29_bar__plus_00_dot_96_bar__minus_01_dot_02)\n (coolable Tomato_bar__minus_00_dot_03_bar__plus_00_dot_81_bar__minus_01_dot_90)\n (coolable Apple_bar__plus_01_dot_84_bar__plus_01_dot_15_bar__minus_00_dot_27)\n (coolable Pan_bar__minus_01_dot_06_bar__plus_00_dot_96_bar__minus_00_dot_67)\n (coolable Pan_bar__plus_01_dot_74_bar__plus_00_dot_90_bar__minus_01_dot_97)\n (coolable Tomato_bar__minus_01_dot_32_bar__plus_00_dot_96_bar__minus_01_dot_64)\n (coolable Plate_bar__minus_01_dot_31_bar__plus_01_dot_66_bar__minus_00_dot_63)\n (coolable Cup_bar__plus_00_dot_10_bar__plus_00_dot_75_bar__minus_01_dot_94)\n (coolable Lettuce_bar__minus_00_dot_26_bar__plus_00_dot_87_bar__minus_01_dot_97)\n (coolable Potato_bar__minus_01_dot_32_bar__plus_00_dot_94_bar__minus_01_dot_47)\n (coolable Tomato_bar__plus_02_dot_00_bar__plus_00_dot_11_bar__plus_00_dot_14)\n (coolable Pot_bar__minus_01_dot_06_bar__plus_00_dot_96_bar__minus_01_dot_13)\n (coolable Mug_bar__minus_00_dot_03_bar__plus_00_dot_76_bar__minus_02_dot_12)\n (coolable Plate_bar__minus_01_dot_31_bar__plus_01_dot_66_bar__plus_00_dot_16)\n (coolable Bowl_bar__minus_00_dot_42_bar__plus_00_dot_91_bar__plus_00_dot_19)\n (coolable Plate_bar__plus_01_dot_89_bar__plus_01_dot_10_bar__minus_00_dot_64)\n (coolable Potato_bar__plus_01_dot_84_bar__plus_01_dot_13_bar__minus_00_dot_83)\n (coolable Egg_bar__plus_02_dot_00_bar__plus_01_dot_46_bar__minus_00_dot_55)\n \n \n \n \n \n (sliceable Potato_bar__minus_00_dot_63_bar__plus_00_dot_94_bar__plus_00_dot_08)\n (sliceable Egg_bar__plus_02_dot_00_bar__plus_00_dot_85_bar__minus_00_dot_74)\n (sliceable Bread_bar__plus_01_dot_95_bar__plus_00_dot_90_bar__minus_00_dot_37)\n (sliceable Apple_bar__plus_01_dot_85_bar__plus_00_dot_11_bar__plus_00_dot_14)\n (sliceable Tomato_bar__minus_00_dot_03_bar__plus_00_dot_81_bar__minus_01_dot_90)\n (sliceable Apple_bar__plus_01_dot_84_bar__plus_01_dot_15_bar__minus_00_dot_27)\n (sliceable Tomato_bar__minus_01_dot_32_bar__plus_00_dot_96_bar__minus_01_dot_64)\n (sliceable Lettuce_bar__minus_00_dot_26_bar__plus_00_dot_87_bar__minus_01_dot_97)\n (sliceable Potato_bar__minus_01_dot_32_bar__plus_00_dot_94_bar__minus_01_dot_47)\n (sliceable Tomato_bar__plus_02_dot_00_bar__plus_00_dot_11_bar__plus_00_dot_14)\n (sliceable Potato_bar__plus_01_dot_84_bar__plus_01_dot_13_bar__minus_00_dot_83)\n (sliceable Egg_bar__plus_02_dot_00_bar__plus_01_dot_46_bar__minus_00_dot_55)\n \n (inReceptacle Fork_bar__minus_00_dot_76_bar__plus_00_dot_69_bar__minus_01_dot_89 Drawer_bar__minus_00_dot_82_bar__plus_00_dot_75_bar__minus_01_dot_69)\n (inReceptacle Pan_bar__minus_01_dot_06_bar__plus_00_dot_96_bar__minus_00_dot_67 StoveBurner_bar__minus_01_dot_06_bar__plus_00_dot_95_bar__minus_00_dot_67)\n (inReceptacle PepperShaker_bar__plus_01_dot_59_bar__plus_01_dot_65_bar__minus_02_dot_20 Cabinet_bar__plus_01_dot_74_bar__plus_02_dot_02_bar__minus_02_dot_00)\n (inReceptacle Kettle_bar__minus_01_dot_29_bar__plus_00_dot_96_bar__minus_00_dot_76 StoveBurner_bar__minus_01_dot_29_bar__plus_00_dot_95_bar__minus_00_dot_76)\n (inReceptacle SaltShaker_bar__plus_01_dot_81_bar__plus_01_dot_65_bar__minus_01_dot_61 Cabinet_bar__plus_01_dot_75_bar__plus_02_dot_02_bar__minus_01_dot_40)\n (inReceptacle Plate_bar__minus_01_dot_31_bar__plus_01_dot_66_bar__minus_00_dot_63 Cabinet_bar__minus_01_dot_15_bar__plus_02_dot_02_bar__minus_00_dot_77)\n (inReceptacle Plate_bar__minus_01_dot_31_bar__plus_01_dot_66_bar__plus_00_dot_16 Cabinet_bar__minus_01_dot_15_bar__plus_02_dot_02_bar__plus_00_dot_38)\n (inReceptacle Pot_bar__minus_01_dot_29_bar__plus_00_dot_96_bar__minus_01_dot_02 StoveBurner_bar__minus_01_dot_29_bar__plus_00_dot_95_bar__minus_01_dot_02)\n (inReceptacle Potato_bar__minus_00_dot_63_bar__plus_00_dot_94_bar__plus_00_dot_08 CounterTop_bar__minus_00_dot_67_bar__plus_00_dot_95_bar__plus_00_dot_19)\n (inReceptacle Pan_bar__minus_01_dot_06_bar__plus_00_dot_96_bar__minus_00_dot_67 CounterTop_bar__minus_00_dot_67_bar__plus_00_dot_95_bar__plus_00_dot_19)\n (inReceptacle SoapBottle_bar__minus_00_dot_63_bar__plus_00_dot_91_bar__plus_00_dot_19 CounterTop_bar__minus_00_dot_67_bar__plus_00_dot_95_bar__plus_00_dot_19)\n (inReceptacle Statue_bar__plus_00_dot_01_bar__plus_00_dot_92_bar__plus_00_dot_03 CounterTop_bar__minus_00_dot_67_bar__plus_00_dot_95_bar__plus_00_dot_19)\n (inReceptacle Vase_bar__minus_01_dot_08_bar__plus_00_dot_92_bar__minus_00_dot_23 CounterTop_bar__minus_00_dot_67_bar__plus_00_dot_95_bar__plus_00_dot_19)\n (inReceptacle Bowl_bar__minus_00_dot_42_bar__plus_00_dot_91_bar__plus_00_dot_19 CounterTop_bar__minus_00_dot_67_bar__plus_00_dot_95_bar__plus_00_dot_19)\n (inReceptacle DishSponge_bar__minus_00_dot_21_bar__plus_00_dot_91_bar__plus_00_dot_24 CounterTop_bar__minus_00_dot_67_bar__plus_00_dot_95_bar__plus_00_dot_19)\n (inReceptacle Spoon_bar__minus_00_dot_85_bar__plus_00_dot_91_bar__plus_00_dot_29 CounterTop_bar__minus_00_dot_67_bar__plus_00_dot_95_bar__plus_00_dot_19)\n (inReceptacle Fork_bar__minus_00_dot_21_bar__plus_00_dot_91_bar__plus_00_dot_08 CounterTop_bar__minus_00_dot_67_bar__plus_00_dot_95_bar__plus_00_dot_19)\n (inReceptacle Vase_bar__minus_01_dot_06_bar__plus_00_dot_92_bar__plus_00_dot_14 CounterTop_bar__minus_00_dot_67_bar__plus_00_dot_95_bar__plus_00_dot_19)\n (inReceptacle PaperTowelRoll_bar__minus_01_dot_25_bar__plus_01_dot_02_bar__minus_00_dot_29 CounterTop_bar__minus_00_dot_67_bar__plus_00_dot_95_bar__plus_00_dot_19)\n (inReceptacle Spatula_bar__minus_00_dot_65_bar__plus_00_dot_71_bar__plus_00_dot_10 Drawer_bar__minus_00_dot_45_bar__plus_00_dot_75_bar__minus_00_dot_01)\n (inReceptacle HousePlant_bar__minus_01_dot_25_bar__plus_01_dot_12_bar__plus_00_dot_61 CounterTop_bar__minus_00_dot_63_bar__plus_01_dot_17_bar__plus_00_dot_57)\n (inReceptacle Spatula_bar__minus_00_dot_82_bar__plus_01_dot_15_bar__plus_00_dot_44 CounterTop_bar__minus_00_dot_63_bar__plus_01_dot_17_bar__plus_00_dot_57)\n (inReceptacle ButterKnife_bar__minus_00_dot_38_bar__plus_01_dot_13_bar__plus_00_dot_71 CounterTop_bar__minus_00_dot_63_bar__plus_01_dot_17_bar__plus_00_dot_57)\n (inReceptacle Knife_bar__plus_00_dot_07_bar__plus_01_dot_16_bar__plus_00_dot_53 CounterTop_bar__minus_00_dot_63_bar__plus_01_dot_17_bar__plus_00_dot_57)\n (inReceptacle Pot_bar__minus_01_dot_29_bar__plus_00_dot_96_bar__minus_01_dot_02 StoveBurner_bar__minus_01_dot_06_bar__plus_00_dot_95_bar__minus_01_dot_13)\n (inReceptacle Pot_bar__minus_01_dot_06_bar__plus_00_dot_96_bar__minus_01_dot_13 StoveBurner_bar__minus_01_dot_06_bar__plus_00_dot_95_bar__minus_01_dot_13)\n (inReceptacle Spoon_bar__minus_00_dot_12_bar__plus_00_dot_70_bar__plus_00_dot_18 Drawer_bar__minus_00_dot_07_bar__plus_00_dot_75_bar__minus_00_dot_01)\n (inReceptacle Ladle_bar__plus_00_dot_08_bar__plus_00_dot_73_bar__plus_00_dot_18 Drawer_bar__minus_00_dot_07_bar__plus_00_dot_75_bar__minus_00_dot_01)\n (inReceptacle Ladle_bar__minus_00_dot_32_bar__plus_00_dot_73_bar__plus_00_dot_18 Drawer_bar__minus_00_dot_07_bar__plus_00_dot_75_bar__minus_00_dot_01)\n (inReceptacle Vase_bar__minus_01_dot_26_bar__plus_00_dot_91_bar__minus_02_dot_10 CounterTop_bar__plus_01_dot_16_bar__plus_00_dot_95_bar__minus_02_dot_01)\n (inReceptacle DishSponge_bar__minus_01_dot_26_bar__plus_00_dot_91_bar__minus_01_dot_93 CounterTop_bar__plus_01_dot_16_bar__plus_00_dot_95_bar__minus_02_dot_01)\n (inReceptacle Potato_bar__minus_01_dot_32_bar__plus_00_dot_94_bar__minus_01_dot_47 CounterTop_bar__plus_01_dot_16_bar__plus_00_dot_95_bar__minus_02_dot_01)\n (inReceptacle Fork_bar__minus_01_dot_14_bar__plus_00_dot_91_bar__minus_01_dot_85 CounterTop_bar__plus_01_dot_16_bar__plus_00_dot_95_bar__minus_02_dot_01)\n (inReceptacle Pan_bar__plus_01_dot_74_bar__plus_00_dot_90_bar__minus_01_dot_97 CounterTop_bar__plus_01_dot_16_bar__plus_00_dot_95_bar__minus_02_dot_01)\n (inReceptacle Statue_bar__minus_00_dot_66_bar__plus_00_dot_92_bar__minus_02_dot_18 CounterTop_bar__plus_01_dot_16_bar__plus_00_dot_95_bar__minus_02_dot_01)\n (inReceptacle Knife_bar__minus_00_dot_99_bar__plus_00_dot_93_bar__minus_01_dot_64 CounterTop_bar__plus_01_dot_16_bar__plus_00_dot_95_bar__minus_02_dot_01)\n (inReceptacle Tomato_bar__minus_01_dot_32_bar__plus_00_dot_96_bar__minus_01_dot_64 CounterTop_bar__plus_01_dot_16_bar__plus_00_dot_95_bar__minus_02_dot_01)\n (inReceptacle Knife_bar__plus_01_dot_42_bar__plus_00_dot_93_bar__minus_01_dot_76 CounterTop_bar__plus_01_dot_16_bar__plus_00_dot_95_bar__minus_02_dot_01)\n (inReceptacle Spoon_bar__minus_01_dot_08_bar__plus_00_dot_91_bar__minus_01_dot_55 CounterTop_bar__plus_01_dot_16_bar__plus_00_dot_95_bar__minus_02_dot_01)\n (inReceptacle Kettle_bar__minus_01_dot_05_bar__plus_00_dot_95_bar__minus_02_dot_09 CounterTop_bar__plus_01_dot_16_bar__plus_00_dot_95_bar__minus_02_dot_01)\n (inReceptacle Tomato_bar__plus_02_dot_00_bar__plus_00_dot_11_bar__plus_00_dot_14 GarbageCan_bar__plus_01_dot_92_bar__plus_00_dot_00_bar__plus_00_dot_14)\n (inReceptacle Apple_bar__plus_01_dot_85_bar__plus_00_dot_11_bar__plus_00_dot_14 GarbageCan_bar__plus_01_dot_92_bar__plus_00_dot_00_bar__plus_00_dot_14)\n (inReceptacle SoapBottle_bar__plus_03_dot_00_bar__plus_00_dot_88_bar__plus_00_dot_11 Shelf_bar__plus_02_dot_81_bar__plus_00_dot_87_bar__plus_00_dot_14)\n (inReceptacle SoapBottle_bar__plus_02_dot_80_bar__plus_00_dot_55_bar__plus_00_dot_04 Shelf_bar__plus_02_dot_81_bar__plus_00_dot_54_bar__plus_00_dot_14)\n (inReceptacle Apple_bar__plus_01_dot_84_bar__plus_01_dot_15_bar__minus_00_dot_27 Fridge_bar__plus_01_dot_98_bar__plus_00_dot_00_bar__minus_00_dot_54)\n (inReceptacle Egg_bar__plus_02_dot_00_bar__plus_00_dot_85_bar__minus_00_dot_74 Fridge_bar__plus_01_dot_98_bar__plus_00_dot_00_bar__minus_00_dot_54)\n (inReceptacle Bread_bar__plus_01_dot_95_bar__plus_00_dot_90_bar__minus_00_dot_37 Fridge_bar__plus_01_dot_98_bar__plus_00_dot_00_bar__minus_00_dot_54)\n (inReceptacle Plate_bar__plus_01_dot_89_bar__plus_01_dot_10_bar__minus_00_dot_64 Fridge_bar__plus_01_dot_98_bar__plus_00_dot_00_bar__minus_00_dot_54)\n (inReceptacle Potato_bar__plus_01_dot_84_bar__plus_01_dot_13_bar__minus_00_dot_83 Fridge_bar__plus_01_dot_98_bar__plus_00_dot_00_bar__minus_00_dot_54)\n (inReceptacle Egg_bar__plus_02_dot_00_bar__plus_01_dot_46_bar__minus_00_dot_55 Fridge_bar__plus_01_dot_98_bar__plus_00_dot_00_bar__minus_00_dot_54)\n (inReceptacle Tomato_bar__minus_00_dot_03_bar__plus_00_dot_81_bar__minus_01_dot_90 Sink_bar__minus_00_dot_12_bar__plus_00_dot_88_bar__minus_02_dot_01_bar_SinkBasin)\n (inReceptacle Lettuce_bar__minus_00_dot_26_bar__plus_00_dot_87_bar__minus_01_dot_97 Sink_bar__minus_00_dot_12_bar__plus_00_dot_88_bar__minus_02_dot_01_bar_SinkBasin)\n (inReceptacle Mug_bar__minus_00_dot_03_bar__plus_00_dot_76_bar__minus_02_dot_12 Sink_bar__minus_00_dot_12_bar__plus_00_dot_88_bar__minus_02_dot_01_bar_SinkBasin)\n (inReceptacle Cup_bar__plus_00_dot_10_bar__plus_00_dot_75_bar__minus_01_dot_94 Sink_bar__minus_00_dot_12_bar__plus_00_dot_88_bar__minus_02_dot_01_bar_SinkBasin)\n (inReceptacle ButterKnife_bar__minus_00_dot_12_bar__plus_00_dot_76_bar__minus_02_dot_01 Sink_bar__minus_00_dot_12_bar__plus_00_dot_88_bar__minus_02_dot_01_bar_SinkBasin)\n (inReceptacle ButterKnife_bar__minus_00_dot_29_bar__plus_00_dot_76_bar__minus_02_dot_01 Sink_bar__minus_00_dot_12_bar__plus_00_dot_88_bar__minus_02_dot_01_bar_SinkBasin)\n \n \n (receptacleAtLocation Cabinet_bar__plus_00_dot_12_bar__plus_02_dot_27_bar__minus_02_dot_00 loc_bar_1_bar__minus_5_bar_2_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__plus_00_dot_20_bar__plus_02_dot_02_bar__minus_02_dot_00 loc_bar_2_bar__minus_5_bar_2_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__plus_01_dot_18_bar__plus_02_dot_02_bar__minus_02_dot_00 loc_bar_4_bar__minus_5_bar_2_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__plus_01_dot_38_bar__plus_00_dot_46_bar__minus_01_dot_69 loc_bar_4_bar__minus_3_bar_2_bar_45)\n (receptacleAtLocation Cabinet_bar__plus_01_dot_39_bar__plus_00_dot_47_bar__minus_01_dot_06 loc_bar_2_bar__minus_4_bar_1_bar_60)\n (receptacleAtLocation Cabinet_bar__plus_01_dot_74_bar__plus_02_dot_02_bar__minus_02_dot_00 loc_bar_4_bar__minus_5_bar_2_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__plus_01_dot_75_bar__plus_02_dot_02_bar__minus_01_dot_03 loc_bar_4_bar__minus_5_bar_1_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__plus_01_dot_75_bar__plus_02_dot_02_bar__minus_01_dot_40 loc_bar_4_bar__minus_5_bar_1_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_42_bar__plus_00_dot_37_bar__minus_00_dot_01 loc_bar__minus_1_bar__minus_4_bar_0_bar_45)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_45_bar__plus_00_dot_47_bar__minus_00_dot_01 loc_bar__minus_2_bar__minus_4_bar_0_bar_45)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_46_bar__plus_02_dot_27_bar__minus_02_dot_00 loc_bar_0_bar__minus_5_bar_2_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_82_bar__plus_00_dot_47_bar__minus_01_dot_69 loc_bar__minus_1_bar__minus_3_bar_2_bar_45)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_84_bar__plus_00_dot_47_bar__minus_00_dot_05 loc_bar_0_bar__minus_2_bar_3_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_84_bar__plus_00_dot_47_bar__minus_01_dot_67 loc_bar_0_bar__minus_4_bar_3_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_01_dot_10_bar__plus_02_dot_02_bar__minus_02_dot_00 loc_bar__minus_2_bar__minus_5_bar_2_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_01_dot_15_bar__plus_02_dot_02_bar__plus_00_dot_38 loc_bar__minus_2_bar__minus_1_bar_3_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_01_dot_15_bar__plus_02_dot_02_bar__minus_00_dot_77 loc_bar__minus_2_bar__minus_2_bar_3_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_01_dot_15_bar__plus_02_dot_02_bar__minus_01_dot_98 loc_bar__minus_1_bar__minus_5_bar_3_bar__minus_15)\n (receptacleAtLocation Cabinet_bar__minus_01_dot_15_bar__plus_02_dot_27_bar__minus_00_dot_84 loc_bar__minus_2_bar__minus_5_bar_3_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_01_dot_15_bar__plus_02_dot_27_bar__minus_01_dot_42 loc_bar__minus_2_bar__minus_4_bar_3_bar__minus_30)\n (receptacleAtLocation CoffeeMachine_bar__plus_00_dot_50_bar__plus_00_dot_90_bar__minus_02_dot_13 loc_bar_2_bar__minus_5_bar_2_bar_45)\n (receptacleAtLocation CounterTop_bar__plus_01_dot_16_bar__plus_00_dot_95_bar__minus_02_dot_01 loc_bar_4_bar__minus_5_bar_2_bar_45)\n (receptacleAtLocation CounterTop_bar__minus_00_dot_63_bar__plus_01_dot_17_bar__plus_00_dot_57 loc_bar_2_bar_3_bar_3_bar_30)\n (receptacleAtLocation CounterTop_bar__minus_00_dot_67_bar__plus_00_dot_95_bar__plus_00_dot_19 loc_bar__minus_2_bar__minus_2_bar_0_bar_45)\n (receptacleAtLocation Drawer_bar__minus_00_dot_07_bar__plus_00_dot_75_bar__minus_00_dot_01 loc_bar_3_bar__minus_2_bar_3_bar_45)\n (receptacleAtLocation Drawer_bar__minus_00_dot_45_bar__plus_00_dot_75_bar__minus_00_dot_01 loc_bar_0_bar__minus_2_bar_0_bar_60)\n (receptacleAtLocation Drawer_bar__minus_00_dot_82_bar__plus_00_dot_75_bar__minus_01_dot_69 loc_bar_0_bar__minus_5_bar_3_bar_45)\n (receptacleAtLocation Fridge_bar__plus_01_dot_98_bar__plus_00_dot_00_bar__minus_00_dot_54 loc_bar_4_bar__minus_3_bar_1_bar_60)\n (receptacleAtLocation GarbageCan_bar__plus_01_dot_92_bar__plus_00_dot_00_bar__plus_00_dot_14 loc_bar_8_bar_3_bar_2_bar_60)\n (receptacleAtLocation Microwave_bar__plus_01_dot_83_bar__plus_00_dot_90_bar__minus_01_dot_35 loc_bar_4_bar__minus_5_bar_1_bar_45)\n (receptacleAtLocation Shelf_bar__plus_02_dot_81_bar__plus_00_dot_16_bar__plus_00_dot_14 loc_bar_11_bar_6_bar_2_bar_45)\n (receptacleAtLocation Shelf_bar__plus_02_dot_81_bar__plus_00_dot_54_bar__plus_00_dot_14 loc_bar_10_bar_5_bar_2_bar_45)\n (receptacleAtLocation Shelf_bar__plus_02_dot_81_bar__plus_00_dot_87_bar__plus_00_dot_14 loc_bar_8_bar_3_bar_1_bar_45)\n (receptacleAtLocation Sink_bar__minus_00_dot_12_bar__plus_00_dot_88_bar__minus_02_dot_01_bar_SinkBasin loc_bar_0_bar__minus_5_bar_2_bar_45)\n (receptacleAtLocation StoveBurner_bar__minus_01_dot_06_bar__plus_00_dot_95_bar__minus_00_dot_67 loc_bar__minus_2_bar__minus_3_bar_3_bar_45)\n (receptacleAtLocation StoveBurner_bar__minus_01_dot_06_bar__plus_00_dot_95_bar__minus_01_dot_13 loc_bar__minus_2_bar__minus_5_bar_3_bar_45)\n (receptacleAtLocation StoveBurner_bar__minus_01_dot_29_bar__plus_00_dot_95_bar__minus_00_dot_76 loc_bar__minus_2_bar__minus_3_bar_3_bar_45)\n (receptacleAtLocation StoveBurner_bar__minus_01_dot_29_bar__plus_00_dot_95_bar__minus_01_dot_02 loc_bar__minus_2_bar__minus_4_bar_3_bar_45)\n (receptacleAtLocation Toaster_bar__plus_00_dot_84_bar__plus_00_dot_90_bar__minus_02_dot_06 loc_bar_3_bar__minus_5_bar_2_bar_45)\n (objectAtLocation Statue_bar__minus_00_dot_66_bar__plus_00_dot_92_bar__minus_02_dot_18 loc_bar_4_bar__minus_5_bar_2_bar_45)\n (objectAtLocation Tomato_bar__minus_00_dot_03_bar__plus_00_dot_81_bar__minus_01_dot_90 loc_bar_0_bar__minus_5_bar_2_bar_45)\n (objectAtLocation Spoon_bar__minus_00_dot_12_bar__plus_00_dot_70_bar__plus_00_dot_18 loc_bar_3_bar__minus_2_bar_3_bar_45)\n (objectAtLocation DishSponge_bar__minus_01_dot_26_bar__plus_00_dot_91_bar__minus_01_dot_93 loc_bar_4_bar__minus_5_bar_2_bar_45)\n (objectAtLocation ButterKnife_bar__minus_00_dot_12_bar__plus_00_dot_76_bar__minus_02_dot_01 loc_bar_0_bar__minus_5_bar_2_bar_45)\n (objectAtLocation SoapBottle_bar__plus_03_dot_00_bar__plus_00_dot_88_bar__plus_00_dot_11 loc_bar_8_bar_3_bar_1_bar_45)\n (objectAtLocation Egg_bar__plus_02_dot_00_bar__plus_01_dot_46_bar__minus_00_dot_55 loc_bar_4_bar__minus_3_bar_1_bar_60)\n (objectAtLocation Spatula_bar__minus_00_dot_65_bar__plus_00_dot_71_bar__plus_00_dot_10 loc_bar_0_bar__minus_2_bar_0_bar_60)\n (objectAtLocation Plate_bar__minus_01_dot_31_bar__plus_01_dot_66_bar__plus_00_dot_16 loc_bar__minus_2_bar__minus_1_bar_3_bar__minus_30)\n (objectAtLocation Pot_bar__minus_01_dot_06_bar__plus_00_dot_96_bar__minus_01_dot_13 loc_bar__minus_2_bar__minus_5_bar_3_bar_45)\n (objectAtLocation Potato_bar__minus_01_dot_32_bar__plus_00_dot_94_bar__minus_01_dot_47 loc_bar_4_bar__minus_5_bar_2_bar_45)\n (objectAtLocation Kettle_bar__minus_01_dot_05_bar__plus_00_dot_95_bar__minus_02_dot_09 loc_bar_4_bar__minus_5_bar_2_bar_45)\n (objectAtLocation Apple_bar__plus_01_dot_85_bar__plus_00_dot_11_bar__plus_00_dot_14 loc_bar_8_bar_3_bar_2_bar_60)\n (objectAtLocation Ladle_bar__plus_00_dot_08_bar__plus_00_dot_73_bar__plus_00_dot_18 loc_bar_3_bar__minus_2_bar_3_bar_45)\n (objectAtLocation Fork_bar__minus_01_dot_14_bar__plus_00_dot_91_bar__minus_01_dot_85 loc_bar_4_bar__minus_5_bar_2_bar_45)\n (objectAtLocation Knife_bar__minus_00_dot_99_bar__plus_00_dot_93_bar__minus_01_dot_64 loc_bar_4_bar__minus_5_bar_2_bar_45)\n (objectAtLocation Pan_bar__plus_01_dot_74_bar__plus_00_dot_90_bar__minus_01_dot_97 loc_bar_4_bar__minus_5_bar_2_bar_45)\n (objectAtLocation Tomato_bar__minus_01_dot_32_bar__plus_00_dot_96_bar__minus_01_dot_64 loc_bar_4_bar__minus_5_bar_2_bar_45)\n (objectAtLocation SoapBottle_bar__plus_02_dot_80_bar__plus_00_dot_55_bar__plus_00_dot_04 loc_bar_10_bar_5_bar_2_bar_45)\n (objectAtLocation Knife_bar__plus_00_dot_07_bar__plus_01_dot_16_bar__plus_00_dot_53 loc_bar_2_bar_3_bar_3_bar_30)\n (objectAtLocation Plate_bar__minus_01_dot_31_bar__plus_01_dot_66_bar__minus_00_dot_63 loc_bar__minus_2_bar__minus_2_bar_3_bar__minus_30)\n (objectAtLocation Spoon_bar__minus_00_dot_85_bar__plus_00_dot_91_bar__plus_00_dot_29 loc_bar__minus_2_bar__minus_2_bar_0_bar_45)\n (objectAtLocation Fork_bar__minus_00_dot_21_bar__plus_00_dot_91_bar__plus_00_dot_08 loc_bar__minus_2_bar__minus_2_bar_0_bar_45)\n (objectAtLocation ButterKnife_bar__minus_00_dot_29_bar__plus_00_dot_76_bar__minus_02_dot_01 loc_bar_0_bar__minus_5_bar_2_bar_45)\n (objectAtLocation Ladle_bar__minus_00_dot_32_bar__plus_00_dot_73_bar__plus_00_dot_18 loc_bar_3_bar__minus_2_bar_3_bar_45)\n (objectAtLocation Potato_bar__plus_01_dot_84_bar__plus_01_dot_13_bar__minus_00_dot_83 loc_bar_4_bar__minus_3_bar_1_bar_60)\n (objectAtLocation Sink_bar__minus_00_dot_12_bar__plus_00_dot_88_bar__minus_02_dot_01 loc_bar_0_bar__minus_5_bar_2_bar_45)\n (objectAtLocation Chair_bar__minus_00_dot_46_bar__plus_00_dot_01_bar__plus_00_dot_75 loc_bar__minus_2_bar_5_bar_2_bar_60)\n (objectAtLocation Chair_bar__minus_00_dot_08_bar__plus_00_dot_01_bar__plus_00_dot_76 loc_bar_0_bar_5_bar_2_bar_60)\n (objectAtLocation HousePlant_bar__minus_01_dot_25_bar__plus_01_dot_12_bar__plus_00_dot_61 loc_bar_2_bar_3_bar_3_bar_30)\n (objectAtLocation Pan_bar__minus_01_dot_06_bar__plus_00_dot_96_bar__minus_00_dot_67 loc_bar__minus_2_bar__minus_2_bar_0_bar_45)\n (objectAtLocation Knife_bar__plus_01_dot_42_bar__plus_00_dot_93_bar__minus_01_dot_76 loc_bar_4_bar__minus_5_bar_2_bar_45)\n (objectAtLocation Bowl_bar__minus_00_dot_42_bar__plus_00_dot_91_bar__plus_00_dot_19 loc_bar__minus_2_bar__minus_2_bar_0_bar_45)\n (objectAtLocation Fork_bar__minus_00_dot_76_bar__plus_00_dot_69_bar__minus_01_dot_89 loc_bar_0_bar__minus_5_bar_3_bar_45)\n (objectAtLocation Cup_bar__plus_00_dot_10_bar__plus_00_dot_75_bar__minus_01_dot_94 loc_bar_0_bar__minus_5_bar_2_bar_45)\n (objectAtLocation Ladle_bar__minus_01_dot_05_bar__plus_01_dot_17_bar__plus_00_dot_49 loc_bar__minus_4_bar_5_bar_2_bar_30)\n (objectAtLocation Apple_bar__plus_01_dot_84_bar__plus_01_dot_15_bar__minus_00_dot_27 loc_bar_4_bar__minus_3_bar_1_bar_60)\n (objectAtLocation Kettle_bar__minus_01_dot_29_bar__plus_00_dot_96_bar__minus_00_dot_76 loc_bar__minus_2_bar__minus_3_bar_3_bar_45)\n (objectAtLocation Vase_bar__minus_01_dot_08_bar__plus_00_dot_92_bar__minus_00_dot_23 loc_bar__minus_2_bar__minus_2_bar_0_bar_45)\n (objectAtLocation Potato_bar__minus_00_dot_63_bar__plus_00_dot_94_bar__plus_00_dot_08 loc_bar__minus_2_bar__minus_2_bar_0_bar_45)\n (objectAtLocation Pot_bar__minus_01_dot_29_bar__plus_00_dot_96_bar__minus_01_dot_02 loc_bar__minus_2_bar__minus_5_bar_3_bar_45)\n (objectAtLocation Bread_bar__plus_01_dot_95_bar__plus_00_dot_90_bar__minus_00_dot_37 loc_bar_4_bar__minus_3_bar_1_bar_60)\n (objectAtLocation Plate_bar__plus_01_dot_89_bar__plus_01_dot_10_bar__minus_00_dot_64 loc_bar_4_bar__minus_3_bar_1_bar_60)\n (objectAtLocation LightSwitch_bar__plus_00_dot_40_bar__plus_01_dot_30_bar__plus_02_dot_00 loc_bar_2_bar_6_bar_0_bar_30)\n (objectAtLocation Spatula_bar__minus_00_dot_82_bar__plus_01_dot_15_bar__plus_00_dot_44 loc_bar_2_bar_3_bar_3_bar_30)\n (objectAtLocation PaperTowelRoll_bar__minus_01_dot_25_bar__plus_01_dot_02_bar__minus_00_dot_29 loc_bar__minus_2_bar__minus_2_bar_0_bar_45)\n (objectAtLocation Vase_bar__minus_01_dot_06_bar__plus_00_dot_92_bar__plus_00_dot_14 loc_bar__minus_2_bar__minus_2_bar_0_bar_45)\n (objectAtLocation Egg_bar__plus_02_dot_00_bar__plus_00_dot_85_bar__minus_00_dot_74 loc_bar_4_bar__minus_3_bar_1_bar_60)\n (objectAtLocation SoapBottle_bar__minus_00_dot_63_bar__plus_00_dot_91_bar__plus_00_dot_19 loc_bar__minus_2_bar__minus_2_bar_0_bar_45)\n (objectAtLocation SaltShaker_bar__plus_01_dot_81_bar__plus_01_dot_65_bar__minus_01_dot_61 loc_bar_4_bar__minus_5_bar_1_bar__minus_30)\n (objectAtLocation Lettuce_bar__minus_00_dot_26_bar__plus_00_dot_87_bar__minus_01_dot_97 loc_bar_0_bar__minus_5_bar_2_bar_45)\n (objectAtLocation PepperShaker_bar__plus_01_dot_59_bar__plus_01_dot_65_bar__minus_02_dot_20 loc_bar_4_bar__minus_5_bar_2_bar__minus_30)\n (objectAtLocation ButterKnife_bar__minus_00_dot_38_bar__plus_01_dot_13_bar__plus_00_dot_71 loc_bar_2_bar_3_bar_3_bar_30)\n (objectAtLocation StoveKnob_bar__minus_00_dot_87_bar__plus_00_dot_90_bar__minus_00_dot_83 loc_bar__minus_2_bar__minus_3_bar_3_bar_60)\n (objectAtLocation StoveKnob_bar__minus_00_dot_87_bar__plus_00_dot_90_bar__minus_00_dot_68 loc_bar__minus_2_bar__minus_3_bar_3_bar_60)\n (objectAtLocation StoveKnob_bar__minus_00_dot_87_bar__plus_00_dot_90_bar__minus_00_dot_97 loc_bar__minus_2_bar__minus_4_bar_3_bar_60)\n (objectAtLocation StoveKnob_bar__minus_00_dot_87_bar__plus_00_dot_90_bar__minus_01_dot_12 loc_bar__minus_2_bar__minus_4_bar_3_bar_60)\n (objectAtLocation DishSponge_bar__minus_00_dot_21_bar__plus_00_dot_91_bar__plus_00_dot_24 loc_bar__minus_2_bar__minus_2_bar_0_bar_45)\n (objectAtLocation Vase_bar__minus_01_dot_26_bar__plus_00_dot_91_bar__minus_02_dot_10 loc_bar_4_bar__minus_5_bar_2_bar_45)\n (objectAtLocation Spoon_bar__minus_01_dot_08_bar__plus_00_dot_91_bar__minus_01_dot_55 loc_bar_4_bar__minus_5_bar_2_bar_45)\n (objectAtLocation Tomato_bar__plus_02_dot_00_bar__plus_00_dot_11_bar__plus_00_dot_14 loc_bar_8_bar_3_bar_2_bar_60)\n (objectAtLocation Mug_bar__minus_00_dot_03_bar__plus_00_dot_76_bar__minus_02_dot_12 loc_bar_0_bar__minus_5_bar_2_bar_45)\n (objectAtLocation Statue_bar__plus_00_dot_01_bar__plus_00_dot_92_bar__plus_00_dot_03 loc_bar__minus_2_bar__minus_2_bar_0_bar_45)\n )\n \n\n (:goal\n (and\n (exists (?r - receptacle)\n (exists (?o - object)\n (and\n (coolable ?o)\n (objectType ?o BowlType)\n (receptacleType ?r ShelfType)\n (isCool ?o)\n (inReceptacle ?o ?r)\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to countertop 2", "take bowl 1 from countertop 2", "go to fridge 1", "cool bowl 1 with fridge 1", "go to shelf 2", "move bowl 1 to shelf 2"]}
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alfworld__pick_cool_then_place_in_recep__2
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pick_cool_then_place_in_recep
|
pick_cool_then_place_in_recep-Bowl-None-Shelf-5/trial_T20190907_170219_219243/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 bowl and put it in shelf.\"\n }\n ],\n\n \"GotoLocation.feedback\": [\n {\n \"rhs\": \"You arrive at {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"OpenObject.feedback\": [\n {\n \"rhs\": \"You open the {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"CloseObject.feedback\": [\n {\n \"rhs\": \"You close the {r.name}.\"\n }\n ],\n\n \"PickupObject.feedback\": [\n {\n \"rhs\": \"You pick up the {o.name} from the {r.name}.\"\n }\n ],\n\n \"PickupObjectFromReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupObjectFromReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupEmptyReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupEmptyReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupFullReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupFullReceptacleObject: You pick up the {outerr.name}.\"\n }\n ],\n\n \"PutObject.feedback\": [\n {\n \"rhs\": \"You move the {o.name} to the {r.name}.\"\n }\n ],\n\n \"PutObjectInReceptacleObject.feedback\": [\n {\n \"rhs\": \"PutObjectInReceptacleObject: You put the {o.name} in the {outero.name}.\"\n }\n ],\n\n \"PutEmptyReceptacleObjectinReceptacle.feedback\": [\n {\n \"rhs\": \"PutEmptyReceptacleObjectinReceptacle: You put the {o.name} in the {r.name}.\"\n }\n ],\n\n \"PutFullReceptacleObjectInReceptacle.feedback\": [\n {\n \"rhs\": \"PutFullReceptacleObjectInReceptacle: You put the {outero.name} in the {r.name}.\"\n }\n ],\n\n \"inventory.feedback\": [\n {\n \"condition\": \"holdsany(a:agent)\",\n \"rhs\": \"You are carrying: [{o.indefinite + ' ' + o.name | holds(a:agent, o:object)}].\"\n },\n {\n \"rhs\": \"You are not carrying anything.\"\n }\n ],\n\n \"examineReceptacle.feedback\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \"The {r.name} is open. In it, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \"The {r.name} is closed.\"\n },\n {\n \"rhs\": \"On the {r.name}, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n }\n ],\n\n \"examineObject.feedback\": [\n {\n \"condition\": \"isreceptacleobject(o:object)\",\n \"rhs\": \"This is a normal {o.name}. In it, you see [{o2.indefinite + ' ' + o2.name | inreceptacleobject(o2:object, o:object)}].\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a clean sliced {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot sliced {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object)\",\n \"rhs\": \"This is a hot and clean {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object)\",\n \"rhs\": \"This is a cool and clean {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object)\",\n \"rhs\": \"This is a hot {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object)\",\n \"rhs\": \"This is a clean {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object)\",\n \"rhs\": \"This is a cold {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"This {o.name} is on.\"\n },\n {\n \"condition\": \"toggleable(o:object) & not_istoggled(o:object)\",\n \"rhs\": \"This {o.name} is off.\"\n },\n {\n \"condition\": \"sliceable(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a sliced {o.name}.\"\n },\n {\n \"rhs\": \"There's nothing special about {o.name}.\"\n }\n ]\n }\n\"\"\";\n\naction GotoLocation {\n template :: \"go to [{r.name | receptacleatlocation(r:receptacle, lend:location)}]\";\n feedback :: \"#GotoLocation.feedback#\";\n}\n\naction OpenObject {\n template :: \"open {r}\";\n feedback :: \"#OpenObject.feedback#\";\n}\n\naction CloseObject {\n template :: \"close {r}\";\n feedback :: \"#CloseObject.feedback#\";\n}\n\naction PickupObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObject.feedback#\";\n}\n\naction PickupObjectFromReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObjectFromReceptacleObject.feedback#\";\n}\n\naction PickupEmptyReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupEmptyReceptacleObject.feedback#\";\n}\n\naction PickupFullReceptacleObject {\n template :: \"take {outerr} from {r}\";\n feedback :: \"#PickupFullReceptacleObject.feedback#\";\n}\n\naction PutObject {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutObject.feedback#\";\n}\n\naction PutObjectInReceptacleObject {\n template :: \"put {o} into {outero}\";\n feedback :: \"#PutObjectInReceptacleObject.feedback#\";\n}\n\naction PutEmptyReceptacleObjectinReceptacle {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutEmptyReceptacleObjectinReceptacle.feedback#\";\n}\n\naction PutFullReceptacleObjectInReceptacle {\n template :: \"put {outero} in {r}\";\n feedback :: \"#PutFullReceptacleObjectInReceptacle.feedback#\";\n}\n\naction inventory {\n template :: \"inventory\";\n feedback :: \"#inventory.feedback#\";\n}\n\naction examineReceptacle {\n template :: \"examine {r}\";\n feedback :: \"#examineReceptacle.feedback#\";\n}\n\naction examineObject {\n template :: \"examine {o}\";\n feedback :: \"#examineObject.feedback#\";\n}\n\naction ToggleObject {\n template :: \"use {o}\";\n feedback :: \"#toggleObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"toggleObject.feedback\": [\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"You turn on the {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object)\",\n \"rhs\": \"You turn off the {o.name}.\"\n },\n {\n \"rhs\": \"You don't see any switch on the {o.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction HeatObject {\n template :: \"heat {o} with {r}\";\n feedback :: \"#heatObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"heatObject.feedback\": [\n {\n \"rhs\": \"You heat the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CleanObject {\n template :: \"clean {o} with {r}\";\n feedback :: \"#cleanObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"cleanObject.feedback\": [\n {\n \"rhs\": \"You clean the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CoolObject {\n template :: \"cool {o} with {r}\";\n feedback :: \"#coolObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"coolObject.feedback\": [\n {\n \"rhs\": \"You cool the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction SliceObject {\n template :: \"slice {co} with {ko}\";\n feedback :: \"#sliceObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"sliceObject.feedback\": [\n {\n \"rhs\": \"You sliced the {co.name} with the {ko.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction look {\n template :: \"look\";\n feedback :: \"#look.feedback#\";\n\n grammar :: \"\"\"\n {\n \"look.feedback\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"#look-variations#. Next to it, you see #list_objects_on_the_floor#.\"\n },\n {\n \"rhs\": \"You are in the middle of a room. Looking quickly around you, you see #list_appliances#.\"\n }\n ],\n\n \"look-variations\": [\n {\n \"rhs\": \"You are facing the [{r.name | atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)}]\"\n }\n ],\n\n \"list_objects_on_the_floor\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)\",\n \"rhs\": \"[{#overview(o)# | atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"list_appliances\": [\n {\n \"condition\": \"receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"[{#overview(r)# | receptacleatlocation(r:receptacle, l:location)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"overview(o, r)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name} (in/on the {r.name})}\"\n }\n ],\n\n \"overview(o)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name}\"\n }\n ],\n \"overview(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}\"\n }\n ],\n \"overview_with_state(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}#overview_state(r)#\"\n }\n ],\n \"overview_state(r)\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \" (it is open)\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \" (it is closed)\"\n },\n {\n \"rhs\": \"\"\n }\n ],\n\n \"list_empty\": [\n {\n \"rhs\": \"nothing\"\n }\n ],\n \"list_separator\": [\n {\n \"rhs\": \", \"\n }\n ],\n \"list_last_separator\": [\n {\n \"rhs\": \", and \"\n }\n ]\n }\n \"\"\";\n}\n\naction help {\n template :: \"help\";\n feedback :: \"\nAvailable commands:\n look: look around your current location\n inventory: check your current inventory\n go to (receptacle): move to a receptacle\n open (receptacle): open a receptacle\n close (receptacle): close a receptacle\n take (object) from (receptacle): take an object from a receptacle\n move (object) to (receptacle): place an object in or on a receptacle\n examine (something): examine a receptacle or an object\n use (object): use an object\n heat (object) with (receptacle): heat an object using a receptacle\n clean (object) with (receptacle): clean an object using a receptacle\n cool (object) with (receptacle): cool an object using a receptacle\n slice (object) with (object): slice an object using a sharp object\n\";\n}\n", "pddl_problem": "\n(define (problem plan_trial_T20190907_170219_219243)\n(:domain alfred)\n(:objects\nagent1 - agent\nSaltShaker - object\n HousePlant - object\n Candle - object\n SprayBottle - object\n Bowl - object\n Window - object\n CD - object\n Egg - object\n Glassbottle - object\n Sink - object\n Pillow - object\n Spoon - object\n SoapBottle - object\n TeddyBear - object\n ButterKnife - object\n Cup - object\n Plate - object\n RemoteControl - object\n Tomato - object\n Statue - object\n HandTowel - object\n Knife - object\n StoveKnob - object\n LightSwitch - object\n Pen - object\n Painting - object\n DishSponge - object\n Vase - object\n Mug - object\n ToiletPaper - object\n Box - object\n Mirror - object\n Ladle - object\n Fork - object\n Blinds - object\n Footstool - object\n KeyChain - object\n Cloth - object\n Laptop - object\n TissueBox - object\n PepperShaker - object\n FloorLamp - object\n WateringCan - object\n Apple - object\n Pan - object\n PaperTowel - object\n PaperTowelRoll - object\n Newspaper - object\n Television - object\n Chair - object\n CellPhone - object\n CreditCard - object\n Lettuce - object\n BasketBall - object\n Potato - object\n Curtains - object\n Boots - object\n Pencil - object\n AlarmClock - object\n ToiletPaperRoll - object\n Spatula - object\n Book - object\n Bread - object\n SoapBar - object\n Watch - object\n DeskLamp - object\n Kettle - object\n Pot - object\n ScrubBrush - object\n WineBottle - object\n ShowerDoor - object\n Bathtub - object\n LaundryHamperLid - object\n ShowerGlass - object\n Poster - object\n TennisRacket - object\n BaseballBat - object\n Towel - object\n Plunger - object\nSaltShakerType - otype\n HousePlantType - otype\n CandleType - otype\n SprayBottleType - otype\n BowlType - otype\n WindowType - otype\n CDType - otype\n EggType - otype\n GlassbottleType - otype\n SinkType - otype\n PillowType - otype\n SpoonType - otype\n SoapBottleType - otype\n TeddyBearType - otype\n ButterKnifeType - otype\n CupType - otype\n PlateType - otype\n RemoteControlType - otype\n TomatoType - otype\n StatueType - otype\n HandTowelType - otype\n KnifeType - otype\n StoveKnobType - otype\n LightSwitchType - otype\n PenType - otype\n PaintingType - otype\n DishSpongeType - otype\n VaseType - otype\n MugType - otype\n ToiletPaperType - otype\n BoxType - otype\n MirrorType - otype\n LadleType - otype\n ForkType - otype\n BlindsType - otype\n FootstoolType - otype\n KeyChainType - otype\n ClothType - otype\n LaptopType - otype\n TissueBoxType - otype\n PepperShakerType - otype\n FloorLampType - otype\n WateringCanType - otype\n AppleType - otype\n PanType - otype\n PaperTowelType - otype\n PaperTowelRollType - otype\n NewspaperType - otype\n TelevisionType - otype\n ChairType - otype\n CellPhoneType - otype\n CreditCardType - otype\n LettuceType - otype\n BasketBallType - otype\n PotatoType - otype\n CurtainsType - otype\n BootsType - otype\n PencilType - otype\n AlarmClockType - otype\n ToiletPaperRollType - otype\n SpatulaType - otype\n BookType - otype\n BreadType - otype\n SoapBarType - otype\n WatchType - otype\n DeskLampType - otype\n KettleType - otype\n PotType - otype\n ScrubBrushType - otype\n WineBottleType - otype\n ShowerDoorType - otype\n BathtubType - otype\n LaundryHamperLidType - otype\n ShowerGlassType - otype\n PosterType - otype\n TennisRacketType - otype\n BaseballBatType - otype\n TowelType - otype\n PlungerType - otype\nSafeType - rtype\n DrawerType - rtype\n CoffeeMachineType - rtype\n HandTowelHolderType - rtype\n SinkBasinType - rtype\n DresserType - rtype\n LaundryHamperType - rtype\n TVStandType - rtype\n BathtubBasinType - rtype\n CabinetType - rtype\n FridgeType - rtype\n DeskType - rtype\n ToiletType - rtype\n CartType - rtype\n SideTableType - rtype\n SofaType - rtype\n CoffeeTableType - rtype\n DiningTableType - rtype\n CounterTopType - rtype\n GarbageCanType - rtype\n ArmChairType - rtype\n ShelfType - rtype\n MicrowaveType - rtype\n ToasterType - rtype\n BedType - rtype\n PaintingHangerType - rtype\n TowelHolderType - rtype\n ToiletPaperHangerType - rtype\n StoveBurnerType - rtype\n OttomanType - rtype\n\n\n Apple_bar__plus_01_dot_78_bar__plus_01_dot_06_bar__minus_01_dot_40 - object\n Apple_bar__plus_01_dot_84_bar__plus_01_dot_48_bar__minus_00_dot_55 - object\n Bowl_bar__plus_02_dot_90_bar__plus_00_dot_88_bar__plus_00_dot_14 - object\n 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Drawer_bar__minus_00_dot_07_bar__plus_00_dot_75_bar__minus_00_dot_01)\n (inReceptacle Vase_bar__plus_01_dot_64_bar__plus_00_dot_91_bar__minus_01_dot_93 CounterTop_bar__plus_01_dot_16_bar__plus_00_dot_95_bar__minus_02_dot_01)\n (inReceptacle Kettle_bar__minus_01_dot_05_bar__plus_00_dot_95_bar__minus_02_dot_09 CounterTop_bar__plus_01_dot_16_bar__plus_00_dot_95_bar__minus_02_dot_01)\n (inReceptacle Knife_bar__minus_01_dot_26_bar__plus_00_dot_93_bar__minus_02_dot_10 CounterTop_bar__plus_01_dot_16_bar__plus_00_dot_95_bar__minus_02_dot_01)\n (inReceptacle Potato_bar__minus_01_dot_32_bar__plus_00_dot_94_bar__minus_01_dot_81 CounterTop_bar__plus_01_dot_16_bar__plus_00_dot_95_bar__minus_02_dot_01)\n (inReceptacle PaperTowelRoll_bar__minus_01_dot_38_bar__plus_01_dot_02_bar__minus_02_dot_18 CounterTop_bar__plus_01_dot_16_bar__plus_00_dot_95_bar__minus_02_dot_01)\n (inReceptacle SoapBottle_bar__plus_01_dot_96_bar__plus_00_dot_06_bar__plus_00_dot_14 GarbageCan_bar__plus_01_dot_92_bar__plus_00_dot_00_bar__plus_00_dot_14)\n (inReceptacle Bowl_bar__plus_02_dot_90_bar__plus_00_dot_88_bar__plus_00_dot_14 Shelf_bar__plus_02_dot_81_bar__plus_00_dot_87_bar__plus_00_dot_14)\n (inReceptacle DishSponge_bar__plus_03_dot_11_bar__plus_00_dot_88_bar__plus_00_dot_14 Shelf_bar__plus_02_dot_81_bar__plus_00_dot_87_bar__plus_00_dot_14)\n (inReceptacle Mug_bar__plus_01_dot_91_bar__plus_01_dot_01_bar__minus_01_dot_30 Microwave_bar__plus_01_dot_83_bar__plus_00_dot_90_bar__minus_01_dot_35)\n (inReceptacle Potato_bar__plus_01_dot_91_bar__plus_01_dot_05_bar__minus_01_dot_19 Microwave_bar__plus_01_dot_83_bar__plus_00_dot_90_bar__minus_01_dot_35)\n (inReceptacle Apple_bar__plus_01_dot_78_bar__plus_01_dot_06_bar__minus_01_dot_40 Microwave_bar__plus_01_dot_83_bar__plus_00_dot_90_bar__minus_01_dot_35)\n (inReceptacle Statue_bar__plus_02_dot_80_bar__plus_00_dot_56_bar__plus_00_dot_14 Shelf_bar__plus_02_dot_81_bar__plus_00_dot_54_bar__plus_00_dot_14)\n (inReceptacle SaltShaker_bar__plus_02_dot_59_bar__plus_00_dot_55_bar__plus_00_dot_04 Shelf_bar__plus_02_dot_81_bar__plus_00_dot_54_bar__plus_00_dot_14)\n (inReceptacle PepperShaker_bar__plus_02_dot_49_bar__plus_00_dot_55_bar__plus_00_dot_09 Shelf_bar__plus_02_dot_81_bar__plus_00_dot_54_bar__plus_00_dot_14)\n (inReceptacle Vase_bar__plus_02_dot_98_bar__plus_00_dot_54_bar__plus_00_dot_13 Shelf_bar__plus_02_dot_81_bar__plus_00_dot_54_bar__plus_00_dot_14)\n (inReceptacle Bread_bar__plus_01_dot_95_bar__plus_00_dot_90_bar__minus_00_dot_55 Fridge_bar__plus_01_dot_98_bar__plus_00_dot_00_bar__minus_00_dot_54)\n (inReceptacle Mug_bar__plus_01_dot_84_bar__plus_00_dot_81_bar__minus_00_dot_83 Fridge_bar__plus_01_dot_98_bar__plus_00_dot_00_bar__minus_00_dot_54)\n (inReceptacle Lettuce_bar__plus_01_dot_89_bar__plus_01_dot_18_bar__minus_00_dot_46 Fridge_bar__plus_01_dot_98_bar__plus_00_dot_00_bar__minus_00_dot_54)\n (inReceptacle Tomato_bar__plus_01_dot_95_bar__plus_01_dot_15_bar__minus_00_dot_27 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Sink_bar__minus_00_dot_12_bar__plus_00_dot_88_bar__minus_02_dot_01_bar_SinkBasin)\n (inReceptacle Ladle_bar__minus_00_dot_20_bar__plus_00_dot_80_bar__minus_02_dot_01 Sink_bar__minus_00_dot_12_bar__plus_00_dot_88_bar__minus_02_dot_01_bar_SinkBasin)\n \n \n (receptacleAtLocation Cabinet_bar__plus_00_dot_12_bar__plus_02_dot_27_bar__minus_02_dot_00 loc_bar_1_bar__minus_5_bar_2_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__plus_00_dot_20_bar__plus_02_dot_02_bar__minus_02_dot_00 loc_bar_2_bar__minus_5_bar_2_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__plus_01_dot_18_bar__plus_02_dot_02_bar__minus_02_dot_00 loc_bar_4_bar__minus_5_bar_2_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__plus_01_dot_38_bar__plus_00_dot_46_bar__minus_01_dot_69 loc_bar_4_bar__minus_3_bar_2_bar_45)\n (receptacleAtLocation Cabinet_bar__plus_01_dot_39_bar__plus_00_dot_47_bar__minus_01_dot_06 loc_bar_2_bar__minus_4_bar_1_bar_60)\n (receptacleAtLocation 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loc_bar__minus_2_bar__minus_2_bar_0_bar_45)\n (objectAtLocation Spoon_bar__minus_01_dot_25_bar__plus_00_dot_90_bar__minus_00_dot_23 loc_bar__minus_2_bar__minus_2_bar_0_bar_45)\n (objectAtLocation Fork_bar__plus_00_dot_01_bar__plus_00_dot_70_bar__plus_00_dot_14 loc_bar_3_bar__minus_2_bar_3_bar_45)\n (objectAtLocation Potato_bar__plus_01_dot_89_bar__plus_01_dot_46_bar__minus_00_dot_74 loc_bar_4_bar__minus_3_bar_1_bar_60)\n (objectAtLocation Sink_bar__minus_00_dot_12_bar__plus_00_dot_88_bar__minus_02_dot_01 loc_bar_0_bar__minus_5_bar_2_bar_45)\n (objectAtLocation Chair_bar__minus_00_dot_46_bar__plus_00_dot_01_bar__plus_00_dot_75 loc_bar__minus_2_bar_5_bar_2_bar_60)\n (objectAtLocation Chair_bar__minus_00_dot_08_bar__plus_00_dot_01_bar__plus_00_dot_76 loc_bar_0_bar_5_bar_2_bar_60)\n (objectAtLocation HousePlant_bar__minus_01_dot_25_bar__plus_01_dot_12_bar__plus_00_dot_61 loc_bar_2_bar_3_bar_3_bar_30)\n (objectAtLocation Pan_bar__minus_01_dot_06_bar__plus_00_dot_96_bar__minus_00_dot_67 loc_bar__minus_2_bar__minus_2_bar_0_bar_45)\n (objectAtLocation Knife_bar__minus_00_dot_29_bar__plus_00_dot_79_bar__minus_02_dot_06 loc_bar_0_bar__minus_5_bar_2_bar_45)\n (objectAtLocation Bowl_bar__plus_02_dot_90_bar__plus_00_dot_88_bar__plus_00_dot_14 loc_bar_8_bar_3_bar_1_bar_45)\n (objectAtLocation Fork_bar__minus_00_dot_76_bar__plus_00_dot_69_bar__minus_01_dot_94 loc_bar_0_bar__minus_5_bar_3_bar_45)\n (objectAtLocation Cup_bar__plus_00_dot_10_bar__plus_00_dot_75_bar__minus_01_dot_94 loc_bar_0_bar__minus_5_bar_2_bar_45)\n (objectAtLocation Ladle_bar__minus_00_dot_20_bar__plus_00_dot_80_bar__minus_02_dot_01 loc_bar_0_bar__minus_5_bar_2_bar_45)\n (objectAtLocation Apple_bar__plus_01_dot_84_bar__plus_01_dot_48_bar__minus_00_dot_55 loc_bar_4_bar__minus_3_bar_1_bar_60)\n (objectAtLocation Kettle_bar__minus_01_dot_05_bar__plus_00_dot_95_bar__minus_02_dot_09 loc_bar_4_bar__minus_5_bar_2_bar_45)\n (objectAtLocation Vase_bar__plus_01_dot_64_bar__plus_00_dot_91_bar__minus_01_dot_93 loc_bar_4_bar__minus_5_bar_2_bar_45)\n (objectAtLocation Potato_bar__minus_01_dot_32_bar__plus_00_dot_94_bar__minus_01_dot_81 loc_bar_4_bar__minus_5_bar_2_bar_45)\n (objectAtLocation Pot_bar__minus_01_dot_06_bar__plus_00_dot_96_bar__minus_01_dot_13 loc_bar__minus_2_bar__minus_5_bar_3_bar_45)\n (objectAtLocation Bread_bar__plus_01_dot_95_bar__plus_00_dot_90_bar__minus_00_dot_55 loc_bar_4_bar__minus_3_bar_1_bar_60)\n (objectAtLocation Plate_bar__minus_01_dot_07_bar__plus_00_dot_13_bar__minus_00_dot_20 loc_bar_0_bar__minus_2_bar_3_bar_60)\n (objectAtLocation LightSwitch_bar__plus_00_dot_40_bar__plus_01_dot_30_bar__plus_02_dot_00 loc_bar_2_bar_6_bar_0_bar_30)\n (objectAtLocation Spatula_bar__minus_00_dot_42_bar__plus_00_dot_93_bar__plus_00_dot_24 loc_bar__minus_2_bar__minus_2_bar_0_bar_45)\n (objectAtLocation PaperTowelRoll_bar__minus_01_dot_38_bar__plus_01_dot_02_bar__minus_02_dot_18 loc_bar_4_bar__minus_5_bar_2_bar_45)\n (objectAtLocation Vase_bar__minus_00_dot_63_bar__plus_00_dot_92_bar__plus_00_dot_08 loc_bar__minus_2_bar__minus_2_bar_0_bar_45)\n (objectAtLocation Egg_bar__minus_00_dot_21_bar__plus_00_dot_95_bar__plus_00_dot_29 loc_bar__minus_2_bar__minus_2_bar_0_bar_45)\n (objectAtLocation SoapBottle_bar__minus_01_dot_12_bar__plus_00_dot_13_bar__minus_01_dot_43 loc_bar_0_bar__minus_4_bar_3_bar_60)\n (objectAtLocation SaltShaker_bar__plus_01_dot_06_bar__plus_01_dot_65_bar__minus_02_dot_05 loc_bar_4_bar__minus_5_bar_2_bar__minus_30)\n (objectAtLocation Lettuce_bar__plus_01_dot_89_bar__plus_01_dot_18_bar__minus_00_dot_46 loc_bar_4_bar__minus_3_bar_1_bar_60)\n (objectAtLocation PepperShaker_bar__plus_02_dot_49_bar__plus_00_dot_55_bar__plus_00_dot_09 loc_bar_10_bar_5_bar_2_bar_45)\n (objectAtLocation ButterKnife_bar__minus_00_dot_82_bar__plus_01_dot_13_bar__plus_00_dot_44 loc_bar_2_bar_3_bar_3_bar_30)\n (objectAtLocation StoveKnob_bar__minus_00_dot_87_bar__plus_00_dot_90_bar__minus_00_dot_83 loc_bar__minus_2_bar__minus_3_bar_3_bar_60)\n (objectAtLocation StoveKnob_bar__minus_00_dot_87_bar__plus_00_dot_90_bar__minus_00_dot_68 loc_bar__minus_2_bar__minus_3_bar_3_bar_60)\n (objectAtLocation StoveKnob_bar__minus_00_dot_87_bar__plus_00_dot_90_bar__minus_00_dot_97 loc_bar__minus_2_bar__minus_4_bar_3_bar_60)\n (objectAtLocation StoveKnob_bar__minus_00_dot_87_bar__plus_00_dot_90_bar__minus_01_dot_12 loc_bar__minus_2_bar__minus_4_bar_3_bar_60)\n (objectAtLocation DishSponge_bar__plus_03_dot_11_bar__plus_00_dot_88_bar__plus_00_dot_14 loc_bar_8_bar_3_bar_1_bar_45)\n (objectAtLocation Vase_bar__plus_02_dot_98_bar__plus_00_dot_54_bar__plus_00_dot_13 loc_bar_10_bar_5_bar_2_bar_45)\n (objectAtLocation Spoon_bar__minus_01_dot_05_bar__plus_01_dot_13_bar__plus_00_dot_44 loc_bar_2_bar_3_bar_3_bar_30)\n (objectAtLocation Tomato_bar__plus_01_dot_95_bar__plus_01_dot_15_bar__minus_00_dot_27 loc_bar_4_bar__minus_3_bar_1_bar_60)\n (objectAtLocation Mug_bar__plus_01_dot_91_bar__plus_01_dot_01_bar__minus_01_dot_30 loc_bar_4_bar__minus_5_bar_1_bar_45)\n (objectAtLocation Statue_bar__plus_02_dot_80_bar__plus_00_dot_56_bar__plus_00_dot_14 loc_bar_10_bar_5_bar_2_bar_45)\n )\n \n\n (:goal\n (and\n (exists (?r - receptacle)\n (exists (?o - object)\n (and\n (coolable ?o)\n (objectType ?o BowlType)\n (receptacleType ?r ShelfType)\n (isCool ?o)\n (inReceptacle ?o ?r)\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to shelf 1", "take bowl 1 from shelf 1", "go to fridge 1", "cool bowl 1 with fridge 1", "go to shelf 2", "move bowl 1 to shelf 2"]}
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alfworld__pick_two_obj_and_place__11
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pick_two_obj_and_place
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pick_two_obj_and_place-Egg-None-Microwave-30/trial_T20190907_163137_897997/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 egg in microwave.\"\n }\n ],\n\n \"GotoLocation.feedback\": [\n {\n \"rhs\": \"You arrive at {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"OpenObject.feedback\": [\n {\n \"rhs\": \"You open the {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"CloseObject.feedback\": [\n {\n \"rhs\": \"You close the {r.name}.\"\n }\n ],\n\n \"PickupObject.feedback\": [\n {\n \"rhs\": \"You pick up the {o.name} from the {r.name}.\"\n }\n ],\n\n \"PickupObjectFromReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupObjectFromReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupEmptyReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupEmptyReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupFullReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupFullReceptacleObject: You pick up the {outerr.name}.\"\n }\n ],\n\n \"PutObject.feedback\": [\n {\n \"rhs\": \"You move the {o.name} to the {r.name}.\"\n }\n ],\n\n \"PutObjectInReceptacleObject.feedback\": [\n {\n \"rhs\": \"PutObjectInReceptacleObject: You put the {o.name} in the {outero.name}.\"\n }\n ],\n\n \"PutEmptyReceptacleObjectinReceptacle.feedback\": [\n {\n \"rhs\": \"PutEmptyReceptacleObjectinReceptacle: You put the {o.name} in the {r.name}.\"\n }\n ],\n\n \"PutFullReceptacleObjectInReceptacle.feedback\": [\n {\n \"rhs\": \"PutFullReceptacleObjectInReceptacle: You put the {outero.name} in the {r.name}.\"\n }\n ],\n\n \"inventory.feedback\": [\n {\n \"condition\": \"holdsany(a:agent)\",\n \"rhs\": \"You are carrying: [{o.indefinite + ' ' + o.name | holds(a:agent, o:object)}].\"\n },\n {\n \"rhs\": \"You are not carrying anything.\"\n }\n ],\n\n \"examineReceptacle.feedback\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \"The {r.name} is open. In it, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \"The {r.name} is closed.\"\n },\n {\n \"rhs\": \"On the {r.name}, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n }\n ],\n\n \"examineObject.feedback\": [\n {\n \"condition\": \"isreceptacleobject(o:object)\",\n \"rhs\": \"This is a normal {o.name}. In it, you see [{o2.indefinite + ' ' + o2.name | inreceptacleobject(o2:object, o:object)}].\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a clean sliced {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot sliced {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object)\",\n \"rhs\": \"This is a hot and clean {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object)\",\n \"rhs\": \"This is a cool and clean {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object)\",\n \"rhs\": \"This is a hot {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object)\",\n \"rhs\": \"This is a clean {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object)\",\n \"rhs\": \"This is a cold {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"This {o.name} is on.\"\n },\n {\n \"condition\": \"toggleable(o:object) & not_istoggled(o:object)\",\n \"rhs\": \"This {o.name} is off.\"\n },\n {\n \"condition\": \"sliceable(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a sliced {o.name}.\"\n },\n {\n \"rhs\": \"There's nothing special about {o.name}.\"\n }\n ]\n }\n\"\"\";\n\naction GotoLocation {\n template :: \"go to [{r.name | receptacleatlocation(r:receptacle, lend:location)}]\";\n feedback :: \"#GotoLocation.feedback#\";\n}\n\naction OpenObject {\n template :: \"open {r}\";\n feedback :: \"#OpenObject.feedback#\";\n}\n\naction CloseObject {\n template :: \"close {r}\";\n feedback :: \"#CloseObject.feedback#\";\n}\n\naction PickupObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObject.feedback#\";\n}\n\naction PickupObjectFromReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObjectFromReceptacleObject.feedback#\";\n}\n\naction PickupEmptyReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupEmptyReceptacleObject.feedback#\";\n}\n\naction PickupFullReceptacleObject {\n template :: \"take {outerr} from {r}\";\n feedback :: \"#PickupFullReceptacleObject.feedback#\";\n}\n\naction PutObject {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutObject.feedback#\";\n}\n\naction PutObjectInReceptacleObject {\n template :: \"put {o} into {outero}\";\n feedback :: \"#PutObjectInReceptacleObject.feedback#\";\n}\n\naction PutEmptyReceptacleObjectinReceptacle {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutEmptyReceptacleObjectinReceptacle.feedback#\";\n}\n\naction PutFullReceptacleObjectInReceptacle {\n template :: \"put {outero} in {r}\";\n feedback :: \"#PutFullReceptacleObjectInReceptacle.feedback#\";\n}\n\naction inventory {\n template :: \"inventory\";\n feedback :: \"#inventory.feedback#\";\n}\n\naction examineReceptacle {\n template :: \"examine {r}\";\n feedback :: \"#examineReceptacle.feedback#\";\n}\n\naction examineObject {\n template :: \"examine {o}\";\n feedback :: \"#examineObject.feedback#\";\n}\n\naction ToggleObject {\n template :: \"use {o}\";\n feedback :: \"#toggleObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"toggleObject.feedback\": [\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"You turn on the {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object)\",\n \"rhs\": \"You turn off the {o.name}.\"\n },\n {\n \"rhs\": \"You don't see any switch on the {o.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction HeatObject {\n template :: \"heat {o} with {r}\";\n feedback :: \"#heatObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"heatObject.feedback\": [\n {\n \"rhs\": \"You heat the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CleanObject {\n template :: \"clean {o} with {r}\";\n feedback :: \"#cleanObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"cleanObject.feedback\": [\n {\n \"rhs\": \"You clean the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CoolObject {\n template :: \"cool {o} with {r}\";\n feedback :: \"#coolObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"coolObject.feedback\": [\n {\n \"rhs\": \"You cool the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction SliceObject {\n template :: \"slice {co} with {ko}\";\n feedback :: \"#sliceObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"sliceObject.feedback\": [\n {\n \"rhs\": \"You sliced the {co.name} with the {ko.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction look {\n template :: \"look\";\n feedback :: \"#look.feedback#\";\n\n grammar :: \"\"\"\n {\n \"look.feedback\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"#look-variations#. Next to it, you see #list_objects_on_the_floor#.\"\n },\n {\n \"rhs\": \"You are in the middle of a room. Looking quickly around you, you see #list_appliances#.\"\n }\n ],\n\n \"look-variations\": [\n {\n \"rhs\": \"You are facing the [{r.name | atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)}]\"\n }\n ],\n\n \"list_objects_on_the_floor\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)\",\n \"rhs\": \"[{#overview(o)# | atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"list_appliances\": [\n {\n \"condition\": \"receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"[{#overview(r)# | receptacleatlocation(r:receptacle, l:location)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"overview(o, r)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name} (in/on the {r.name})}\"\n }\n ],\n\n \"overview(o)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name}\"\n }\n ],\n \"overview(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}\"\n }\n ],\n \"overview_with_state(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}#overview_state(r)#\"\n }\n ],\n \"overview_state(r)\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \" (it is open)\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \" (it is closed)\"\n },\n {\n \"rhs\": \"\"\n }\n ],\n\n \"list_empty\": [\n {\n \"rhs\": \"nothing\"\n }\n ],\n \"list_separator\": [\n {\n \"rhs\": \", \"\n }\n ],\n \"list_last_separator\": [\n {\n \"rhs\": \", and \"\n }\n ]\n }\n \"\"\";\n}\n\naction help {\n template :: \"help\";\n feedback :: \"\nAvailable commands:\n look: look around your current location\n inventory: check your current inventory\n go to (receptacle): move to a receptacle\n open (receptacle): open a receptacle\n close (receptacle): close a receptacle\n take (object) from (receptacle): take an object from a receptacle\n move (object) to (receptacle): place an object in or on a receptacle\n examine (something): examine a receptacle or an object\n use (object): use an object\n heat (object) with (receptacle): heat an object using a receptacle\n clean (object) with (receptacle): clean an object using a receptacle\n cool (object) with (receptacle): cool an object using a receptacle\n slice (object) with (object): slice an object using a sharp object\n\";\n}\n", "pddl_problem": "\n(define (problem plan_trial_T20190907_163137_897997)\n(:domain alfred)\n(:objects\nagent1 - agent\nSaltShaker - object\n HousePlant - object\n Candle - object\n SprayBottle - object\n Bowl - object\n Window - object\n CD - object\n Egg - object\n Glassbottle - object\n Sink - object\n Pillow - object\n Spoon - object\n SoapBottle - object\n TeddyBear - object\n ButterKnife - object\n Cup - object\n Plate - object\n RemoteControl - object\n Tomato - object\n Statue - object\n HandTowel - object\n Knife - object\n StoveKnob - object\n LightSwitch - object\n Pen - object\n Painting - object\n DishSponge - object\n Vase - object\n Mug - object\n ToiletPaper - object\n Box - object\n Mirror - object\n Ladle - object\n Fork - object\n Blinds - object\n Footstool - object\n KeyChain - object\n Cloth - object\n Laptop - object\n TissueBox - object\n PepperShaker - object\n FloorLamp - object\n WateringCan - object\n Apple - object\n Pan - object\n PaperTowel - object\n PaperTowelRoll - object\n Newspaper - object\n Television - object\n Chair - object\n CellPhone - object\n CreditCard - object\n Lettuce - object\n BasketBall - object\n Potato - object\n Curtains - object\n Boots - object\n Pencil - object\n AlarmClock - object\n ToiletPaperRoll - object\n Spatula - object\n Book - object\n Bread - object\n SoapBar - object\n Watch - object\n DeskLamp - object\n Kettle - object\n Pot - object\n ScrubBrush - object\n WineBottle - object\n ShowerDoor - object\n Bathtub - object\n LaundryHamperLid - object\n ShowerGlass - object\n Poster - object\n TennisRacket - object\n BaseballBat - object\n Towel - object\n Plunger - object\nSaltShakerType - otype\n HousePlantType - otype\n CandleType - otype\n SprayBottleType - otype\n BowlType - otype\n WindowType - otype\n CDType - otype\n EggType - otype\n GlassbottleType - otype\n SinkType - otype\n PillowType - otype\n SpoonType - otype\n SoapBottleType - otype\n TeddyBearType - otype\n ButterKnifeType - otype\n CupType - otype\n PlateType - otype\n RemoteControlType - otype\n TomatoType - otype\n StatueType - otype\n HandTowelType - otype\n KnifeType - otype\n StoveKnobType - otype\n LightSwitchType - otype\n PenType - otype\n PaintingType - otype\n DishSpongeType - otype\n VaseType - otype\n MugType - otype\n ToiletPaperType - otype\n BoxType - otype\n MirrorType - otype\n LadleType - otype\n ForkType - otype\n BlindsType - otype\n FootstoolType - otype\n KeyChainType - otype\n ClothType - otype\n LaptopType - otype\n TissueBoxType - otype\n PepperShakerType - otype\n FloorLampType - otype\n WateringCanType - otype\n AppleType - otype\n PanType - otype\n PaperTowelType - otype\n PaperTowelRollType - otype\n NewspaperType - otype\n TelevisionType - otype\n ChairType - otype\n CellPhoneType - otype\n CreditCardType - otype\n LettuceType - otype\n BasketBallType - otype\n PotatoType - otype\n CurtainsType - otype\n BootsType - otype\n PencilType - otype\n AlarmClockType - otype\n ToiletPaperRollType - otype\n SpatulaType - otype\n BookType - otype\n BreadType - otype\n SoapBarType - otype\n WatchType - otype\n DeskLampType - otype\n KettleType - otype\n PotType - otype\n ScrubBrushType - otype\n WineBottleType - otype\n ShowerDoorType - otype\n BathtubType - otype\n LaundryHamperLidType - otype\n ShowerGlassType - otype\n PosterType - otype\n TennisRacketType - otype\n BaseballBatType - otype\n TowelType - otype\n PlungerType - otype\nSafeType - rtype\n DrawerType - rtype\n CoffeeMachineType - rtype\n HandTowelHolderType - rtype\n SinkBasinType - rtype\n DresserType - rtype\n LaundryHamperType - rtype\n TVStandType - rtype\n BathtubBasinType - rtype\n CabinetType - rtype\n FridgeType - rtype\n DeskType - rtype\n ToiletType - rtype\n CartType - rtype\n SideTableType - rtype\n SofaType - rtype\n CoffeeTableType - rtype\n DiningTableType - rtype\n CounterTopType - rtype\n GarbageCanType - rtype\n ArmChairType - rtype\n ShelfType - rtype\n MicrowaveType - rtype\n ToasterType - rtype\n BedType - rtype\n PaintingHangerType - rtype\n TowelHolderType - rtype\n ToiletPaperHangerType - rtype\n StoveBurnerType - rtype\n OttomanType - rtype\n\n\n Apple_bar__plus_01_dot_01_bar__plus_00_dot_79_bar__minus_01_dot_41 - object\n Apple_bar__minus_01_dot_02_bar__plus_01_dot_07_bar__plus_01_dot_26 - object\n Bowl_bar__plus_00_dot_76_bar__plus_01_dot_67_bar__minus_01_dot_69 - object\n Bread_bar__plus_01_dot_10_bar__plus_00_dot_99_bar__plus_00_dot_61 - object\n ButterKnife_bar__plus_00_dot_53_bar__plus_00_dot_91_bar__plus_00_dot_63 - object\n ButterKnife_bar__plus_00_dot_78_bar__plus_00_dot_91_bar__plus_00_dot_33 - object\n CellPhone_bar__plus_00_dot_89_bar__plus_00_dot_91_bar__plus_00_dot_37 - object\n CellPhone_bar__minus_00_dot_91_bar__plus_00_dot_13_bar__plus_01_dot_61 - object\n Cup_bar__minus_00_dot_86_bar__plus_00_dot_90_bar__plus_00_dot_40 - object\n Cup_bar__minus_01_dot_09_bar__plus_01_dot_00_bar__plus_01_dot_42 - object\n DishSponge_bar__minus_00_dot_87_bar__plus_00_dot_71_bar__minus_00_dot_10 - object\n Egg_bar__plus_01_dot_16_bar__plus_00_dot_76_bar__minus_01_dot_35 - object\n Egg_bar__plus_03_dot_24_bar__plus_00_dot_15_bar__plus_01_dot_49 - object\n Egg_bar__minus_00_dot_10_bar__plus_00_dot_95_bar__minus_01_dot_73 - object\n Faucet_bar__plus_03_dot_31_bar__plus_00_dot_89_bar__plus_00_dot_09 - object\n Fork_bar__plus_02_dot_99_bar__plus_00_dot_71_bar__plus_00_dot_63 - object\n Fork_bar__minus_00_dot_83_bar__plus_00_dot_33_bar__plus_01_dot_61 - object\n Fork_bar__minus_00_dot_87_bar__plus_00_dot_71_bar__plus_00_dot_75 - object\n Glassbottle_bar__plus_03_dot_18_bar__plus_01_dot_47_bar__minus_01_dot_65 - object\n Glassbottle_bar__minus_01_dot_08_bar__plus_00_dot_90_bar__minus_00_dot_05 - object\n HousePlant_bar__plus_03_dot_20_bar__plus_00_dot_89_bar__minus_00_dot_37 - object\n Kettle_bar__plus_03_dot_24_bar__plus_01_dot_47_bar__minus_01_dot_19 - object\n Knife_bar__plus_03_dot_03_bar__plus_00_dot_74_bar__minus_00_dot_36 - object\n Knife_bar__plus_03_dot_20_bar__plus_00_dot_93_bar__minus_00_dot_70 - object\n Knife_bar__minus_00_dot_79_bar__plus_00_dot_93_bar__plus_00_dot_40 - object\n Ladle_bar__plus_00_dot_00_bar__plus_00_dot_94_bar__minus_01_dot_53 - object\n Ladle_bar__minus_00_dot_99_bar__plus_00_dot_56_bar__plus_00_dot_08 - object\n Lettuce_bar__minus_00_dot_78_bar__plus_00_dot_97_bar__minus_00_dot_75 - object\n Lettuce_bar__minus_00_dot_79_bar__plus_00_dot_97_bar__minus_00_dot_05 - object\n LightSwitch_bar__plus_02_dot_59_bar__plus_01_dot_31_bar__minus_01_dot_88 - object\n Mirror_bar__minus_01_dot_30_bar__plus_01_dot_63_bar__plus_00_dot_05 - object\n Mug_bar__plus_00_dot_18_bar__plus_00_dot_90_bar__minus_01_dot_37 - object\n Mug_bar__plus_03_dot_05_bar__plus_00_dot_97_bar__plus_00_dot_59 - object\n Mug_bar__minus_00_dot_92_bar__plus_01_dot_25_bar__minus_00_dot_91 - object\n Pan_bar__plus_00_dot_34_bar__plus_00_dot_87_bar__minus_01_dot_65 - object\n PepperShaker_bar__plus_00_dot_02_bar__plus_00_dot_90_bar__minus_01_dot_80 - object\n PepperShaker_bar__plus_00_dot_34_bar__plus_00_dot_90_bar__minus_01_dot_59 - object\n PepperShaker_bar__minus_00_dot_34_bar__plus_00_dot_90_bar__minus_01_dot_50 - object\n Plate_bar__plus_03_dot_03_bar__plus_00_dot_19_bar__plus_00_dot_63 - object\n Potato_bar__plus_00_dot_10_bar__plus_00_dot_94_bar__minus_01_dot_53 - object\n Pot_bar__minus_00_dot_42_bar__plus_00_dot_90_bar__minus_00_dot_92 - object\n SaltShaker_bar__plus_01_dot_10_bar__plus_00_dot_90_bar__plus_00_dot_46 - object\n Sink_bar__plus_03_dot_08_bar__plus_00_dot_89_bar__plus_00_dot_09 - object\n SoapBottle_bar__plus_03_dot_29_bar__plus_00_dot_11_bar__plus_01_dot_60 - object\n Spatula_bar__plus_03_dot_15_bar__plus_00_dot_76_bar__plus_00_dot_03 - object\n Spatula_bar__minus_00_dot_72_bar__plus_00_dot_92_bar__plus_00_dot_62 - object\n Spatula_bar__minus_00_dot_87_bar__plus_00_dot_15_bar__plus_00_dot_40 - object\n Spoon_bar__plus_00_dot_97_bar__plus_00_dot_91_bar__plus_00_dot_18 - object\n StoveKnob_bar__minus_00_dot_09_bar__plus_00_dot_79_bar__minus_01_dot_01 - object\n StoveKnob_bar__minus_00_dot_18_bar__plus_00_dot_79_bar__minus_00_dot_92 - object\n StoveKnob_bar__minus_00_dot_28_bar__plus_00_dot_79_bar__minus_00_dot_82 - object\n 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Bread_bar__plus_01_dot_10_bar__plus_00_dot_99_bar__plus_00_dot_61)\n (coolable Potato_bar__plus_00_dot_10_bar__plus_00_dot_94_bar__minus_01_dot_53)\n (coolable Tomato_bar__minus_01_dot_09_bar__plus_00_dot_94_bar__minus_00_dot_74)\n (coolable Egg_bar__plus_03_dot_24_bar__plus_00_dot_15_bar__plus_01_dot_49)\n (coolable Cup_bar__minus_00_dot_86_bar__plus_00_dot_90_bar__plus_00_dot_40)\n (coolable Bowl_bar__plus_00_dot_76_bar__plus_01_dot_67_bar__minus_01_dot_69)\n (coolable Mug_bar__plus_00_dot_18_bar__plus_00_dot_90_bar__minus_01_dot_37)\n (coolable Egg_bar__minus_00_dot_10_bar__plus_00_dot_95_bar__minus_01_dot_73)\n (coolable Plate_bar__plus_03_dot_03_bar__plus_00_dot_19_bar__plus_00_dot_63)\n (coolable Mug_bar__minus_00_dot_92_bar__plus_01_dot_25_bar__minus_00_dot_91)\n (coolable Pot_bar__minus_00_dot_42_bar__plus_00_dot_90_bar__minus_00_dot_92)\n \n (isCool Egg_bar__plus_01_dot_16_bar__plus_00_dot_76_bar__minus_01_dot_35)\n \n \n \n (sliceable Lettuce_bar__minus_00_dot_79_bar__plus_00_dot_97_bar__minus_00_dot_05)\n (sliceable Tomato_bar__minus_00_dot_19_bar__plus_00_dot_94_bar__minus_01_dot_45)\n (sliceable Tomato_bar__plus_03_dot_03_bar__plus_00_dot_78_bar__minus_00_dot_10)\n (sliceable Egg_bar__plus_01_dot_16_bar__plus_00_dot_76_bar__minus_01_dot_35)\n (sliceable Apple_bar__minus_01_dot_02_bar__plus_01_dot_07_bar__plus_01_dot_26)\n (sliceable Apple_bar__plus_01_dot_01_bar__plus_00_dot_79_bar__minus_01_dot_41)\n (sliceable Lettuce_bar__minus_00_dot_78_bar__plus_00_dot_97_bar__minus_00_dot_75)\n (sliceable Bread_bar__plus_01_dot_10_bar__plus_00_dot_99_bar__plus_00_dot_61)\n (sliceable Potato_bar__plus_00_dot_10_bar__plus_00_dot_94_bar__minus_01_dot_53)\n (sliceable Tomato_bar__minus_01_dot_09_bar__plus_00_dot_94_bar__minus_00_dot_74)\n (sliceable Egg_bar__plus_03_dot_24_bar__plus_00_dot_15_bar__plus_01_dot_49)\n (sliceable Egg_bar__minus_00_dot_10_bar__plus_00_dot_95_bar__minus_01_dot_73)\n \n (inReceptacle Pot_bar__minus_00_dot_42_bar__plus_00_dot_90_bar__minus_00_dot_92 StoveBurner_bar__minus_00_dot_42_bar__plus_00_dot_90_bar__minus_00_dot_92)\n (inReceptacle Knife_bar__plus_03_dot_03_bar__plus_00_dot_74_bar__minus_00_dot_36 Drawer_bar__plus_03_dot_02_bar__plus_00_dot_77_bar__minus_00_dot_41)\n (inReceptacle Glassbottle_bar__plus_03_dot_18_bar__plus_01_dot_47_bar__minus_01_dot_65 Cabinet_bar__plus_02_dot_82_bar__plus_01_dot_77_bar__minus_01_dot_85)\n (inReceptacle HousePlant_bar__plus_03_dot_20_bar__plus_00_dot_89_bar__minus_00_dot_37 CounterTop_bar__plus_03_dot_11_bar__plus_00_dot_94_bar__plus_00_dot_02)\n (inReceptacle Mug_bar__plus_03_dot_05_bar__plus_00_dot_97_bar__plus_00_dot_59 CounterTop_bar__plus_03_dot_11_bar__plus_00_dot_94_bar__plus_00_dot_02)\n (inReceptacle Knife_bar__plus_03_dot_20_bar__plus_00_dot_93_bar__minus_00_dot_70 CounterTop_bar__plus_03_dot_11_bar__plus_00_dot_94_bar__plus_00_dot_02)\n (inReceptacle Spatula_bar__minus_00_dot_72_bar__plus_00_dot_92_bar__plus_00_dot_62 CounterTop_bar__minus_01_dot_01_bar__plus_00_dot_94_bar__minus_00_dot_04)\n (inReceptacle Cup_bar__minus_00_dot_86_bar__plus_00_dot_90_bar__plus_00_dot_40 CounterTop_bar__minus_01_dot_01_bar__plus_00_dot_94_bar__minus_00_dot_04)\n (inReceptacle Glassbottle_bar__minus_01_dot_08_bar__plus_00_dot_90_bar__minus_00_dot_05 CounterTop_bar__minus_01_dot_01_bar__plus_00_dot_94_bar__minus_00_dot_04)\n (inReceptacle Lettuce_bar__minus_00_dot_79_bar__plus_00_dot_97_bar__minus_00_dot_05 CounterTop_bar__minus_01_dot_01_bar__plus_00_dot_94_bar__minus_00_dot_04)\n (inReceptacle Tomato_bar__minus_01_dot_09_bar__plus_00_dot_94_bar__minus_00_dot_74 CounterTop_bar__minus_01_dot_01_bar__plus_00_dot_94_bar__minus_00_dot_04)\n (inReceptacle Lettuce_bar__minus_00_dot_78_bar__plus_00_dot_97_bar__minus_00_dot_75 CounterTop_bar__minus_01_dot_01_bar__plus_00_dot_94_bar__minus_00_dot_04)\n (inReceptacle Fork_bar__minus_00_dot_87_bar__plus_00_dot_71_bar__plus_00_dot_75 Drawer_bar__minus_00_dot_86_bar__plus_00_dot_77_bar__plus_00_dot_66)\n (inReceptacle DishSponge_bar__minus_00_dot_87_bar__plus_00_dot_71_bar__minus_00_dot_10 Drawer_bar__minus_00_dot_86_bar__plus_00_dot_77_bar__minus_00_dot_10)\n (inReceptacle Plate_bar__plus_03_dot_03_bar__plus_00_dot_19_bar__plus_00_dot_63 Cabinet_bar__plus_02_dot_85_bar__plus_00_dot_42_bar__plus_00_dot_41)\n (inReceptacle Kettle_bar__plus_03_dot_24_bar__plus_01_dot_47_bar__minus_01_dot_19 Cabinet_bar__plus_02_dot_82_bar__plus_01_dot_77_bar__minus_01_dot_05)\n (inReceptacle Bowl_bar__plus_00_dot_76_bar__plus_01_dot_67_bar__minus_01_dot_69 Cabinet_bar__plus_00_dot_62_bar__plus_01_dot_87_bar__minus_01_dot_26)\n (inReceptacle Mug_bar__minus_00_dot_92_bar__plus_01_dot_25_bar__minus_00_dot_91 Cabinet_bar__minus_00_dot_92_bar__plus_01_dot_67_bar__minus_00_dot_62)\n (inReceptacle Tomato_bar__minus_00_dot_19_bar__plus_00_dot_94_bar__minus_01_dot_45 CounterTop_bar__plus_00_dot_09_bar__plus_00_dot_89_bar__minus_01_dot_52)\n (inReceptacle PepperShaker_bar__plus_00_dot_02_bar__plus_00_dot_90_bar__minus_01_dot_80 CounterTop_bar__plus_00_dot_09_bar__plus_00_dot_89_bar__minus_01_dot_52)\n (inReceptacle PepperShaker_bar__minus_00_dot_34_bar__plus_00_dot_90_bar__minus_01_dot_50 CounterTop_bar__plus_00_dot_09_bar__plus_00_dot_89_bar__minus_01_dot_52)\n (inReceptacle Egg_bar__minus_00_dot_10_bar__plus_00_dot_95_bar__minus_01_dot_73 CounterTop_bar__plus_00_dot_09_bar__plus_00_dot_89_bar__minus_01_dot_52)\n (inReceptacle Potato_bar__plus_00_dot_10_bar__plus_00_dot_94_bar__minus_01_dot_53 CounterTop_bar__plus_00_dot_09_bar__plus_00_dot_89_bar__minus_01_dot_52)\n (inReceptacle PepperShaker_bar__plus_00_dot_34_bar__plus_00_dot_90_bar__minus_01_dot_59 CounterTop_bar__plus_00_dot_09_bar__plus_00_dot_89_bar__minus_01_dot_52)\n (inReceptacle Ladle_bar__plus_00_dot_00_bar__plus_00_dot_94_bar__minus_01_dot_53 CounterTop_bar__plus_00_dot_09_bar__plus_00_dot_89_bar__minus_01_dot_52)\n (inReceptacle Pan_bar__plus_00_dot_34_bar__plus_00_dot_87_bar__minus_01_dot_65 CounterTop_bar__plus_00_dot_09_bar__plus_00_dot_89_bar__minus_01_dot_52)\n (inReceptacle Fork_bar__plus_02_dot_99_bar__plus_00_dot_71_bar__plus_00_dot_63 Drawer_bar__plus_03_dot_02_bar__plus_00_dot_77_bar__plus_00_dot_70)\n (inReceptacle CellPhone_bar__minus_00_dot_91_bar__plus_00_dot_13_bar__plus_01_dot_61 Drawer_bar__minus_00_dot_86_bar__plus_00_dot_19_bar__plus_01_dot_43)\n (inReceptacle Ladle_bar__minus_00_dot_99_bar__plus_00_dot_56_bar__plus_00_dot_08 Drawer_bar__minus_00_dot_86_bar__plus_00_dot_58_bar__minus_00_dot_10)\n (inReceptacle Spatula_bar__minus_00_dot_87_bar__plus_00_dot_15_bar__plus_00_dot_40 Drawer_bar__minus_00_dot_86_bar__plus_00_dot_19_bar__plus_00_dot_66)\n (inReceptacle ButterKnife_bar__plus_00_dot_78_bar__plus_00_dot_91_bar__plus_00_dot_33 CounterTop_bar__plus_01_dot_21_bar__plus_00_dot_94_bar__plus_00_dot_46)\n (inReceptacle Bread_bar__plus_01_dot_10_bar__plus_00_dot_99_bar__plus_00_dot_61 CounterTop_bar__plus_01_dot_21_bar__plus_00_dot_94_bar__plus_00_dot_46)\n (inReceptacle Spoon_bar__plus_00_dot_97_bar__plus_00_dot_91_bar__plus_00_dot_18 CounterTop_bar__plus_01_dot_21_bar__plus_00_dot_94_bar__plus_00_dot_46)\n (inReceptacle SaltShaker_bar__plus_01_dot_10_bar__plus_00_dot_90_bar__plus_00_dot_46 CounterTop_bar__plus_01_dot_21_bar__plus_00_dot_94_bar__plus_00_dot_46)\n (inReceptacle CellPhone_bar__plus_00_dot_89_bar__plus_00_dot_91_bar__plus_00_dot_37 CounterTop_bar__plus_01_dot_21_bar__plus_00_dot_94_bar__plus_00_dot_46)\n (inReceptacle ButterKnife_bar__plus_00_dot_53_bar__plus_00_dot_91_bar__plus_00_dot_63 CounterTop_bar__plus_01_dot_21_bar__plus_00_dot_94_bar__plus_00_dot_46)\n (inReceptacle Fork_bar__minus_00_dot_83_bar__plus_00_dot_33_bar__plus_01_dot_61 Drawer_bar__minus_00_dot_86_bar__plus_00_dot_39_bar__plus_01_dot_43)\n (inReceptacle SoapBottle_bar__plus_03_dot_29_bar__plus_00_dot_11_bar__plus_01_dot_60 GarbageCan_bar__plus_03_dot_18_bar__plus_00_dot_03_bar__plus_01_dot_60)\n (inReceptacle Egg_bar__plus_03_dot_24_bar__plus_00_dot_15_bar__plus_01_dot_49 GarbageCan_bar__plus_03_dot_18_bar__plus_00_dot_03_bar__plus_01_dot_60)\n (inReceptacle Mug_bar__plus_03_dot_05_bar__plus_00_dot_97_bar__plus_00_dot_59 CoffeeMachine_bar__plus_03_dot_22_bar__plus_00_dot_89_bar__plus_00_dot_70)\n (inReceptacle Spatula_bar__plus_03_dot_15_bar__plus_00_dot_76_bar__plus_00_dot_03 Sink_bar__plus_03_dot_08_bar__plus_00_dot_89_bar__plus_00_dot_09_bar_SinkBasin)\n (inReceptacle Tomato_bar__plus_03_dot_03_bar__plus_00_dot_78_bar__minus_00_dot_10 Sink_bar__plus_03_dot_08_bar__plus_00_dot_89_bar__plus_00_dot_09_bar_SinkBasin)\n (inReceptacle Egg_bar__plus_01_dot_16_bar__plus_00_dot_76_bar__minus_01_dot_35 Fridge_bar__plus_01_dot_01_bar__plus_00_dot_03_bar__minus_01_dot_47)\n (inReceptacle Apple_bar__plus_01_dot_01_bar__plus_00_dot_79_bar__minus_01_dot_41 Fridge_bar__plus_01_dot_01_bar__plus_00_dot_03_bar__minus_01_dot_47)\n (inReceptacleObject PepperShaker_bar__plus_00_dot_34_bar__plus_00_dot_90_bar__minus_01_dot_59 Pan_bar__plus_00_dot_34_bar__plus_00_dot_87_bar__minus_01_dot_65)\n (inReceptacle Cup_bar__minus_01_dot_09_bar__plus_01_dot_00_bar__plus_01_dot_42 Microwave_bar__minus_01_dot_03_bar__plus_00_dot_89_bar__plus_01_dot_43)\n (inReceptacle Apple_bar__minus_01_dot_02_bar__plus_01_dot_07_bar__plus_01_dot_26 Microwave_bar__minus_01_dot_03_bar__plus_00_dot_89_bar__plus_01_dot_43)\n \n \n (receptacleAtLocation Cabinet_bar__plus_00_dot_14_bar__plus_01_dot_67_bar__minus_01_dot_56 loc_bar_2_bar__minus_3_bar_2_bar_0)\n (receptacleAtLocation Cabinet_bar__plus_00_dot_62_bar__plus_01_dot_87_bar__minus_01_dot_26 loc_bar_4_bar__minus_2_bar_2_bar__minus_15)\n (receptacleAtLocation Cabinet_bar__plus_01_dot_40_bar__plus_01_dot_87_bar__minus_01_dot_26 loc_bar_4_bar__minus_2_bar_2_bar__minus_15)\n (receptacleAtLocation Cabinet_bar__plus_02_dot_82_bar__plus_01_dot_77_bar__minus_01_dot_05 loc_bar_9_bar__minus_5_bar_1_bar__minus_15)\n (receptacleAtLocation Cabinet_bar__plus_02_dot_82_bar__plus_01_dot_77_bar__minus_01_dot_85 loc_bar_8_bar__minus_5_bar_1_bar_0)\n (receptacleAtLocation Cabinet_bar__plus_02_dot_85_bar__plus_00_dot_42_bar__plus_00_dot_41 loc_bar_8_bar_1_bar_1_bar_60)\n (receptacleAtLocation Cabinet_bar__plus_02_dot_85_bar__plus_00_dot_42_bar__minus_00_dot_61 loc_bar_8_bar_0_bar_1_bar_60)\n (receptacleAtLocation Cabinet_bar__plus_02_dot_85_bar__plus_00_dot_42_bar__minus_00_dot_96 loc_bar_8_bar__minus_5_bar_1_bar_60)\n (receptacleAtLocation Cabinet_bar__plus_03_dot_07_bar__plus_01_dot_67_bar__minus_00_dot_71 loc_bar_9_bar__minus_4_bar_1_bar_0)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_19_bar__plus_01_dot_67_bar__minus_01_dot_34 loc_bar_1_bar__minus_3_bar_2_bar_0)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_20_bar__plus_01_dot_96_bar__minus_01_dot_33 loc_bar_0_bar__minus_2_bar_2_bar__minus_15)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_71_bar__plus_01_dot_96_bar__minus_00_dot_82 loc_bar_0_bar__minus_3_bar_3_bar__minus_15)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_92_bar__plus_01_dot_67_bar__minus_00_dot_62 loc_bar__minus_1_bar__minus_2_bar_3_bar_0)\n (receptacleAtLocation CoffeeMachine_bar__plus_03_dot_22_bar__plus_00_dot_89_bar__plus_00_dot_70 loc_bar_10_bar_3_bar_1_bar_45)\n (receptacleAtLocation CounterTop_bar__plus_00_dot_09_bar__plus_00_dot_89_bar__minus_01_dot_52 loc_bar_1_bar__minus_3_bar_2_bar_45)\n (receptacleAtLocation CounterTop_bar__plus_01_dot_21_bar__plus_00_dot_94_bar__plus_00_dot_46 loc_bar_4_bar__minus_2_bar_0_bar_45)\n (receptacleAtLocation CounterTop_bar__plus_03_dot_11_bar__plus_00_dot_94_bar__plus_00_dot_02 loc_bar_10_bar__minus_2_bar_1_bar_45)\n (receptacleAtLocation CounterTop_bar__minus_01_dot_01_bar__plus_00_dot_94_bar__minus_00_dot_04 loc_bar__minus_1_bar_2_bar_3_bar_45)\n (receptacleAtLocation Drawer_bar__plus_00_dot_38_bar__plus_00_dot_19_bar__minus_01_dot_51 loc_bar_0_bar__minus_1_bar_2_bar_45)\n (receptacleAtLocation Drawer_bar__plus_00_dot_38_bar__plus_00_dot_38_bar__minus_01_dot_51 loc_bar__minus_1_bar__minus_1_bar_2_bar_45)\n (receptacleAtLocation Drawer_bar__plus_00_dot_38_bar__plus_00_dot_57_bar__minus_01_dot_51 loc_bar_0_bar__minus_2_bar_2_bar_45)\n (receptacleAtLocation Drawer_bar__plus_00_dot_38_bar__plus_00_dot_77_bar__minus_01_dot_51 loc_bar_0_bar__minus_2_bar_2_bar_45)\n (receptacleAtLocation Drawer_bar__plus_03_dot_02_bar__plus_00_dot_77_bar__plus_00_dot_70 loc_bar_9_bar__minus_1_bar_0_bar_45)\n (receptacleAtLocation Drawer_bar__plus_03_dot_02_bar__plus_00_dot_77_bar__minus_00_dot_41 loc_bar_9_bar_2_bar_2_bar_45)\n (receptacleAtLocation Drawer_bar__plus_03_dot_02_bar__plus_00_dot_77_bar__minus_00_dot_78 loc_bar_9_bar_0_bar_2_bar_45)\n (receptacleAtLocation Drawer_bar__minus_00_dot_05_bar__plus_00_dot_19_bar__minus_01_dot_32 loc_bar_4_bar__minus_2_bar_3_bar_60)\n (receptacleAtLocation Drawer_bar__minus_00_dot_05_bar__plus_00_dot_38_bar__minus_01_dot_32 loc_bar_2_bar__minus_1_bar_2_bar_45)\n (receptacleAtLocation Drawer_bar__minus_00_dot_05_bar__plus_00_dot_57_bar__minus_01_dot_32 loc_bar_2_bar__minus_2_bar_2_bar_60)\n (receptacleAtLocation Drawer_bar__minus_00_dot_05_bar__plus_00_dot_77_bar__minus_01_dot_32 loc_bar_2_bar__minus_2_bar_2_bar_45)\n (receptacleAtLocation Drawer_bar__minus_00_dot_68_bar__plus_00_dot_19_bar__minus_00_dot_70 loc_bar_0_bar_2_bar_2_bar_45)\n (receptacleAtLocation Drawer_bar__minus_00_dot_68_bar__plus_00_dot_39_bar__minus_00_dot_70 loc_bar_0_bar_1_bar_2_bar_60)\n (receptacleAtLocation Drawer_bar__minus_00_dot_68_bar__plus_00_dot_58_bar__minus_00_dot_70 loc_bar_0_bar_1_bar_2_bar_45)\n (receptacleAtLocation Drawer_bar__minus_00_dot_68_bar__plus_00_dot_77_bar__minus_00_dot_70 loc_bar__minus_1_bar_1_bar_2_bar_45)\n (receptacleAtLocation Drawer_bar__minus_00_dot_86_bar__plus_00_dot_19_bar__plus_00_dot_66 loc_bar_0_bar__minus_2_bar_0_bar_45)\n (receptacleAtLocation Drawer_bar__minus_00_dot_86_bar__plus_00_dot_19_bar__plus_01_dot_43 loc_bar_0_bar_1_bar_0_bar_45)\n (receptacleAtLocation Drawer_bar__minus_00_dot_86_bar__plus_00_dot_19_bar__minus_00_dot_10 loc_bar_0_bar_4_bar_2_bar_60)\n (receptacleAtLocation Drawer_bar__minus_00_dot_86_bar__plus_00_dot_39_bar__plus_00_dot_66 loc_bar_0_bar__minus_2_bar_0_bar_45)\n (receptacleAtLocation Drawer_bar__minus_00_dot_86_bar__plus_00_dot_39_bar__plus_01_dot_43 loc_bar_0_bar_2_bar_0_bar_60)\n (receptacleAtLocation Drawer_bar__minus_00_dot_86_bar__plus_00_dot_39_bar__minus_00_dot_10 loc_bar_0_bar_4_bar_2_bar_45)\n (receptacleAtLocation Drawer_bar__minus_00_dot_86_bar__plus_00_dot_58_bar__plus_00_dot_66 loc_bar_0_bar__minus_2_bar_0_bar_45)\n (receptacleAtLocation Drawer_bar__minus_00_dot_86_bar__plus_00_dot_58_bar__plus_01_dot_43 loc_bar_0_bar_1_bar_0_bar_45)\n (receptacleAtLocation Drawer_bar__minus_00_dot_86_bar__plus_00_dot_58_bar__minus_00_dot_10 loc_bar_0_bar_4_bar_2_bar_45)\n (receptacleAtLocation Drawer_bar__minus_00_dot_86_bar__plus_00_dot_77_bar__plus_00_dot_66 loc_bar__minus_1_bar__minus_1_bar_0_bar_45)\n (receptacleAtLocation Drawer_bar__minus_00_dot_86_bar__plus_00_dot_77_bar__plus_01_dot_43 loc_bar__minus_1_bar_2_bar_0_bar_45)\n (receptacleAtLocation Drawer_bar__minus_00_dot_86_bar__plus_00_dot_77_bar__minus_00_dot_10 loc_bar__minus_1_bar_3_bar_2_bar_45)\n (receptacleAtLocation Fridge_bar__plus_01_dot_01_bar__plus_00_dot_03_bar__minus_01_dot_47 loc_bar_4_bar__minus_2_bar_2_bar_60)\n (receptacleAtLocation GarbageCan_bar__plus_03_dot_18_bar__plus_00_dot_03_bar__plus_01_dot_60 loc_bar_11_bar_5_bar_1_bar_60)\n (receptacleAtLocation Microwave_bar__minus_01_dot_03_bar__plus_00_dot_89_bar__plus_01_dot_43 loc_bar__minus_1_bar_5_bar_3_bar_45)\n (receptacleAtLocation Sink_bar__plus_03_dot_08_bar__plus_00_dot_89_bar__plus_00_dot_09_bar_SinkBasin loc_bar_10_bar__minus_1_bar_1_bar_60)\n (receptacleAtLocation StoveBurner_bar__minus_00_dot_24_bar__plus_00_dot_90_bar__minus_01_dot_09 loc_bar_0_bar__minus_3_bar_2_bar_60)\n (receptacleAtLocation StoveBurner_bar__minus_00_dot_42_bar__plus_00_dot_90_bar__minus_00_dot_92 loc_bar_0_bar__minus_3_bar_3_bar_60)\n (receptacleAtLocation StoveBurner_bar__minus_00_dot_42_bar__plus_00_dot_90_bar__minus_01_dot_27 loc_bar_0_bar__minus_3_bar_2_bar_60)\n (receptacleAtLocation StoveBurner_bar__minus_00_dot_60_bar__plus_00_dot_90_bar__minus_01_dot_09 loc_bar_0_bar__minus_3_bar_3_bar_60)\n (receptacleAtLocation Toaster_bar__minus_01_dot_04_bar__plus_00_dot_87_bar__minus_00_dot_40 loc_bar__minus_1_bar__minus_2_bar_3_bar_45)\n (objectAtLocation Mug_bar__minus_00_dot_92_bar__plus_01_dot_25_bar__minus_00_dot_91 loc_bar__minus_1_bar__minus_2_bar_3_bar_0)\n (objectAtLocation Tomato_bar__plus_03_dot_03_bar__plus_00_dot_78_bar__minus_00_dot_10 loc_bar_10_bar__minus_1_bar_1_bar_60)\n (objectAtLocation CellPhone_bar__plus_00_dot_89_bar__plus_00_dot_91_bar__plus_00_dot_37 loc_bar_4_bar__minus_2_bar_0_bar_45)\n (objectAtLocation Apple_bar__plus_01_dot_01_bar__plus_00_dot_79_bar__minus_01_dot_41 loc_bar_4_bar__minus_2_bar_2_bar_60)\n (objectAtLocation ButterKnife_bar__plus_00_dot_78_bar__plus_00_dot_91_bar__plus_00_dot_33 loc_bar_4_bar__minus_2_bar_0_bar_45)\n (objectAtLocation PepperShaker_bar__plus_00_dot_02_bar__plus_00_dot_90_bar__minus_01_dot_80 loc_bar_1_bar__minus_3_bar_2_bar_45)\n (objectAtLocation Egg_bar__minus_00_dot_10_bar__plus_00_dot_95_bar__minus_01_dot_73 loc_bar_1_bar__minus_3_bar_2_bar_45)\n (objectAtLocation Cup_bar__minus_01_dot_09_bar__plus_01_dot_00_bar__plus_01_dot_42 loc_bar__minus_1_bar_5_bar_3_bar_45)\n (objectAtLocation Lettuce_bar__minus_00_dot_78_bar__plus_00_dot_97_bar__minus_00_dot_75 loc_bar__minus_1_bar_2_bar_3_bar_45)\n (objectAtLocation Knife_bar__minus_00_dot_79_bar__plus_00_dot_93_bar__plus_00_dot_40 loc_bar__minus_1_bar_2_bar_3_bar_60)\n (objectAtLocation Spatula_bar__plus_03_dot_15_bar__plus_00_dot_76_bar__plus_00_dot_03 loc_bar_10_bar__minus_1_bar_1_bar_60)\n (objectAtLocation Ladle_bar__plus_00_dot_00_bar__plus_00_dot_94_bar__minus_01_dot_53 loc_bar_1_bar__minus_3_bar_2_bar_45)\n (objectAtLocation Fork_bar__plus_02_dot_99_bar__plus_00_dot_71_bar__plus_00_dot_63 loc_bar_9_bar__minus_1_bar_0_bar_45)\n (objectAtLocation Glassbottle_bar__minus_01_dot_08_bar__plus_00_dot_90_bar__minus_00_dot_05 loc_bar__minus_1_bar_2_bar_3_bar_45)\n (objectAtLocation Knife_bar__plus_03_dot_20_bar__plus_00_dot_93_bar__minus_00_dot_70 loc_bar_10_bar__minus_2_bar_1_bar_45)\n (objectAtLocation Egg_bar__plus_01_dot_16_bar__plus_00_dot_76_bar__minus_01_dot_35 loc_bar_4_bar__minus_2_bar_2_bar_60)\n (objectAtLocation Tomato_bar__minus_01_dot_09_bar__plus_00_dot_94_bar__minus_00_dot_74 loc_bar__minus_1_bar_2_bar_3_bar_45)\n (objectAtLocation PepperShaker_bar__minus_00_dot_34_bar__plus_00_dot_90_bar__minus_01_dot_50 loc_bar_1_bar__minus_3_bar_2_bar_45)\n (objectAtLocation Mug_bar__plus_03_dot_05_bar__plus_00_dot_97_bar__plus_00_dot_59 loc_bar_10_bar_3_bar_1_bar_45)\n (objectAtLocation Fork_bar__minus_00_dot_83_bar__plus_00_dot_33_bar__plus_01_dot_61 loc_bar_0_bar_2_bar_0_bar_60)\n (objectAtLocation Spatula_bar__minus_00_dot_72_bar__plus_00_dot_92_bar__plus_00_dot_62 loc_bar__minus_1_bar_2_bar_3_bar_45)\n (objectAtLocation Sink_bar__plus_03_dot_08_bar__plus_00_dot_89_bar__plus_00_dot_09 loc_bar_10_bar_0_bar_1_bar_60)\n (objectAtLocation Mirror_bar__minus_01_dot_30_bar__plus_01_dot_63_bar__plus_00_dot_05 loc_bar__minus_1_bar_1_bar_3_bar_0)\n (objectAtLocation Plate_bar__plus_03_dot_03_bar__plus_00_dot_19_bar__plus_00_dot_63 loc_bar_8_bar_1_bar_1_bar_60)\n (objectAtLocation Glassbottle_bar__plus_03_dot_18_bar__plus_01_dot_47_bar__minus_01_dot_65 loc_bar_8_bar__minus_5_bar_1_bar_0)\n (objectAtLocation SoapBottle_bar__plus_03_dot_29_bar__plus_00_dot_11_bar__plus_01_dot_60 loc_bar_11_bar_5_bar_1_bar_60)\n (objectAtLocation Potato_bar__plus_00_dot_10_bar__plus_00_dot_94_bar__minus_01_dot_53 loc_bar_1_bar__minus_3_bar_2_bar_45)\n (objectAtLocation HousePlant_bar__plus_03_dot_20_bar__plus_00_dot_89_bar__minus_00_dot_37 loc_bar_10_bar__minus_2_bar_1_bar_45)\n (objectAtLocation StoveKnob_bar__minus_00_dot_09_bar__plus_00_dot_79_bar__minus_01_dot_01 loc_bar_0_bar__minus_3_bar_2_bar_60)\n (objectAtLocation StoveKnob_bar__minus_00_dot_28_bar__plus_00_dot_79_bar__minus_00_dot_82 loc_bar_0_bar__minus_3_bar_3_bar_60)\n (objectAtLocation StoveKnob_bar__minus_00_dot_18_bar__plus_00_dot_79_bar__minus_00_dot_92 loc_bar_0_bar__minus_3_bar_3_bar_60)\n (objectAtLocation StoveKnob_bar__minus_00_dot_37_bar__plus_00_dot_79_bar__minus_00_dot_72 loc_bar__minus_1_bar__minus_2_bar_2_bar_60)\n (objectAtLocation Fork_bar__minus_00_dot_87_bar__plus_00_dot_71_bar__plus_00_dot_75 loc_bar__minus_1_bar__minus_1_bar_0_bar_45)\n (objectAtLocation Ladle_bar__minus_00_dot_99_bar__plus_00_dot_56_bar__plus_00_dot_08 loc_bar_0_bar_4_bar_2_bar_45)\n (objectAtLocation Pot_bar__minus_00_dot_42_bar__plus_00_dot_90_bar__minus_00_dot_92 loc_bar_0_bar__minus_3_bar_3_bar_60)\n (objectAtLocation Kettle_bar__plus_03_dot_24_bar__plus_01_dot_47_bar__minus_01_dot_19 loc_bar_9_bar__minus_5_bar_1_bar__minus_15)\n (objectAtLocation Window_bar__plus_03_dot_70_bar__plus_01_dot_68_bar__plus_00_dot_05 loc_bar_10_bar_0_bar_1_bar_0)\n (objectAtLocation Spatula_bar__minus_00_dot_87_bar__plus_00_dot_15_bar__plus_00_dot_40 loc_bar_0_bar__minus_2_bar_0_bar_45)\n (objectAtLocation Knife_bar__plus_03_dot_03_bar__plus_00_dot_74_bar__minus_00_dot_36 loc_bar_9_bar_2_bar_2_bar_45)\n (objectAtLocation Lettuce_bar__minus_00_dot_79_bar__plus_00_dot_97_bar__minus_00_dot_05 loc_bar__minus_1_bar_2_bar_3_bar_45)\n (objectAtLocation LightSwitch_bar__plus_02_dot_59_bar__plus_01_dot_31_bar__minus_01_dot_88 loc_bar_9_bar__minus_5_bar_2_bar_30)\n (objectAtLocation Cup_bar__minus_00_dot_86_bar__plus_00_dot_90_bar__plus_00_dot_40 loc_bar__minus_1_bar_2_bar_3_bar_45)\n (objectAtLocation SaltShaker_bar__plus_01_dot_10_bar__plus_00_dot_90_bar__plus_00_dot_46 loc_bar_4_bar__minus_2_bar_0_bar_45)\n (objectAtLocation Egg_bar__plus_03_dot_24_bar__plus_00_dot_15_bar__plus_01_dot_49 loc_bar_11_bar_5_bar_1_bar_60)\n (objectAtLocation PepperShaker_bar__plus_00_dot_34_bar__plus_00_dot_90_bar__minus_01_dot_59 loc_bar_1_bar__minus_3_bar_2_bar_45)\n (objectAtLocation ButterKnife_bar__plus_00_dot_53_bar__plus_00_dot_91_bar__plus_00_dot_63 loc_bar_4_bar__minus_2_bar_0_bar_45)\n (objectAtLocation Apple_bar__minus_01_dot_02_bar__plus_01_dot_07_bar__plus_01_dot_26 loc_bar__minus_1_bar_5_bar_3_bar_45)\n (objectAtLocation Pan_bar__plus_00_dot_34_bar__plus_00_dot_87_bar__minus_01_dot_65 loc_bar_1_bar__minus_3_bar_2_bar_45)\n (objectAtLocation Bread_bar__plus_01_dot_10_bar__plus_00_dot_99_bar__plus_00_dot_61 loc_bar_4_bar__minus_2_bar_0_bar_45)\n (objectAtLocation CellPhone_bar__minus_00_dot_91_bar__plus_00_dot_13_bar__plus_01_dot_61 loc_bar_0_bar_1_bar_0_bar_45)\n (objectAtLocation DishSponge_bar__minus_00_dot_87_bar__plus_00_dot_71_bar__minus_00_dot_10 loc_bar__minus_1_bar_3_bar_2_bar_45)\n (objectAtLocation Tomato_bar__minus_00_dot_19_bar__plus_00_dot_94_bar__minus_01_dot_45 loc_bar_1_bar__minus_3_bar_2_bar_45)\n (objectAtLocation Spoon_bar__plus_00_dot_97_bar__plus_00_dot_91_bar__plus_00_dot_18 loc_bar_4_bar__minus_2_bar_0_bar_45)\n (objectAtLocation Bowl_bar__plus_00_dot_76_bar__plus_01_dot_67_bar__minus_01_dot_69 loc_bar_4_bar__minus_2_bar_2_bar__minus_15)\n (objectAtLocation Mug_bar__plus_00_dot_18_bar__plus_00_dot_90_bar__minus_01_dot_37 loc_bar_1_bar__minus_3_bar_2_bar_45)\n )\n \n\n (:goal\n (and\n (exists (?r - receptacle)\n (exists (?o1 - object)\n (and\n (objectType ?o1 EggType)\n (receptacleType ?r MicrowaveType)\n (inReceptacle ?o1 ?r)\n (exists (?o2 - object)\n (and\n (not (= ?o1 ?o2))\n (objectType ?o2 EggType)\n (receptacleType ?r MicrowaveType)\n (inReceptacle ?o2 ?r)\n )\n )\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to garbagecan 1", "take egg 1 from garbagecan 1", "go to microwave 1", "open microwave 1", "move egg 1 to microwave 1", "go to countertop 3", "take egg 3 from countertop 3", "go to microwave 1", "move egg 3 to microwave 1"]}
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alfworld__pick_two_obj_and_place__12
|
pick_two_obj_and_place
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pick_two_obj_and_place-Egg-None-Microwave-30/trial_T20190907_163255_256147/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 egg and put them in microwave.\"\n }\n ],\n\n \"GotoLocation.feedback\": [\n {\n \"rhs\": \"You arrive at {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"OpenObject.feedback\": [\n {\n \"rhs\": \"You open the {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"CloseObject.feedback\": [\n {\n \"rhs\": \"You close the {r.name}.\"\n }\n ],\n\n \"PickupObject.feedback\": [\n {\n \"rhs\": \"You pick up the {o.name} from the {r.name}.\"\n }\n ],\n\n \"PickupObjectFromReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupObjectFromReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupEmptyReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupEmptyReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupFullReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupFullReceptacleObject: You pick up the {outerr.name}.\"\n }\n ],\n\n \"PutObject.feedback\": [\n {\n \"rhs\": \"You move the {o.name} to the {r.name}.\"\n }\n ],\n\n \"PutObjectInReceptacleObject.feedback\": [\n {\n \"rhs\": \"PutObjectInReceptacleObject: You put the {o.name} in the {outero.name}.\"\n }\n ],\n\n \"PutEmptyReceptacleObjectinReceptacle.feedback\": [\n {\n \"rhs\": \"PutEmptyReceptacleObjectinReceptacle: You put the {o.name} in the {r.name}.\"\n }\n ],\n\n \"PutFullReceptacleObjectInReceptacle.feedback\": [\n {\n \"rhs\": \"PutFullReceptacleObjectInReceptacle: You put the {outero.name} in the {r.name}.\"\n }\n ],\n\n \"inventory.feedback\": [\n {\n \"condition\": \"holdsany(a:agent)\",\n \"rhs\": \"You are carrying: [{o.indefinite + ' ' + o.name | holds(a:agent, o:object)}].\"\n },\n {\n \"rhs\": \"You are not carrying anything.\"\n }\n ],\n\n \"examineReceptacle.feedback\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \"The {r.name} is open. In it, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \"The {r.name} is closed.\"\n },\n {\n \"rhs\": \"On the {r.name}, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n }\n ],\n\n \"examineObject.feedback\": [\n {\n \"condition\": \"isreceptacleobject(o:object)\",\n \"rhs\": \"This is a normal {o.name}. In it, you see [{o2.indefinite + ' ' + o2.name | inreceptacleobject(o2:object, o:object)}].\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a clean sliced {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot sliced {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object)\",\n \"rhs\": \"This is a hot and clean {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object)\",\n \"rhs\": \"This is a cool and clean {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object)\",\n \"rhs\": \"This is a hot {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object)\",\n \"rhs\": \"This is a clean {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object)\",\n \"rhs\": \"This is a cold {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"This {o.name} is on.\"\n },\n {\n \"condition\": \"toggleable(o:object) & not_istoggled(o:object)\",\n \"rhs\": \"This {o.name} is off.\"\n },\n {\n \"condition\": \"sliceable(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a sliced {o.name}.\"\n },\n {\n \"rhs\": \"There's nothing special about {o.name}.\"\n }\n ]\n }\n\"\"\";\n\naction GotoLocation {\n template :: \"go to [{r.name | receptacleatlocation(r:receptacle, lend:location)}]\";\n feedback :: \"#GotoLocation.feedback#\";\n}\n\naction OpenObject {\n template :: \"open {r}\";\n feedback :: \"#OpenObject.feedback#\";\n}\n\naction CloseObject {\n template :: \"close {r}\";\n feedback :: \"#CloseObject.feedback#\";\n}\n\naction PickupObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObject.feedback#\";\n}\n\naction PickupObjectFromReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObjectFromReceptacleObject.feedback#\";\n}\n\naction PickupEmptyReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupEmptyReceptacleObject.feedback#\";\n}\n\naction PickupFullReceptacleObject {\n template :: \"take {outerr} from {r}\";\n feedback :: \"#PickupFullReceptacleObject.feedback#\";\n}\n\naction PutObject {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutObject.feedback#\";\n}\n\naction PutObjectInReceptacleObject {\n template :: \"put {o} into {outero}\";\n feedback :: \"#PutObjectInReceptacleObject.feedback#\";\n}\n\naction PutEmptyReceptacleObjectinReceptacle {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutEmptyReceptacleObjectinReceptacle.feedback#\";\n}\n\naction PutFullReceptacleObjectInReceptacle {\n template :: \"put {outero} in {r}\";\n feedback :: \"#PutFullReceptacleObjectInReceptacle.feedback#\";\n}\n\naction inventory {\n template :: \"inventory\";\n feedback :: \"#inventory.feedback#\";\n}\n\naction examineReceptacle {\n template :: \"examine {r}\";\n feedback :: \"#examineReceptacle.feedback#\";\n}\n\naction examineObject {\n template :: \"examine {o}\";\n feedback :: \"#examineObject.feedback#\";\n}\n\naction ToggleObject {\n template :: \"use {o}\";\n feedback :: \"#toggleObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"toggleObject.feedback\": [\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"You turn on the {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object)\",\n \"rhs\": \"You turn off the {o.name}.\"\n },\n {\n \"rhs\": \"You don't see any switch on the {o.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction HeatObject {\n template :: \"heat {o} with {r}\";\n feedback :: \"#heatObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"heatObject.feedback\": [\n {\n \"rhs\": \"You heat the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CleanObject {\n template :: \"clean {o} with {r}\";\n feedback :: \"#cleanObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"cleanObject.feedback\": [\n {\n \"rhs\": \"You clean the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CoolObject {\n template :: \"cool {o} with {r}\";\n feedback :: \"#coolObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"coolObject.feedback\": [\n {\n \"rhs\": \"You cool the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction SliceObject {\n template :: \"slice {co} with {ko}\";\n feedback :: \"#sliceObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"sliceObject.feedback\": [\n {\n \"rhs\": \"You sliced the {co.name} with the {ko.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction look {\n template :: \"look\";\n feedback :: \"#look.feedback#\";\n\n grammar :: \"\"\"\n {\n \"look.feedback\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"#look-variations#. Next to it, you see #list_objects_on_the_floor#.\"\n },\n {\n \"rhs\": \"You are in the middle of a room. Looking quickly around you, you see #list_appliances#.\"\n }\n ],\n\n \"look-variations\": [\n {\n \"rhs\": \"You are facing the [{r.name | atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)}]\"\n }\n ],\n\n \"list_objects_on_the_floor\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)\",\n \"rhs\": \"[{#overview(o)# | atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"list_appliances\": [\n {\n \"condition\": \"receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"[{#overview(r)# | receptacleatlocation(r:receptacle, l:location)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"overview(o, r)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name} (in/on the {r.name})}\"\n }\n ],\n\n \"overview(o)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name}\"\n }\n ],\n \"overview(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}\"\n }\n ],\n \"overview_with_state(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}#overview_state(r)#\"\n }\n ],\n \"overview_state(r)\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \" (it is open)\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \" (it is closed)\"\n },\n {\n \"rhs\": \"\"\n }\n ],\n\n \"list_empty\": [\n {\n \"rhs\": \"nothing\"\n }\n ],\n \"list_separator\": [\n {\n \"rhs\": \", \"\n }\n ],\n \"list_last_separator\": [\n {\n \"rhs\": \", and \"\n }\n ]\n }\n \"\"\";\n}\n\naction help {\n template :: \"help\";\n feedback :: \"\nAvailable commands:\n look: look around your current location\n inventory: check your current inventory\n go to (receptacle): move to a receptacle\n open (receptacle): open a receptacle\n close (receptacle): close a receptacle\n take (object) from (receptacle): take an object from a receptacle\n move (object) to (receptacle): place an object in or on a receptacle\n examine (something): examine a receptacle or an object\n use (object): use an object\n heat (object) with (receptacle): heat an object using a receptacle\n clean (object) with (receptacle): clean an object using a receptacle\n cool (object) with (receptacle): cool an object using a receptacle\n slice (object) with (object): slice an object using a sharp object\n\";\n}\n", "pddl_problem": "\n(define (problem plan_trial_T20190907_163255_256147)\n(:domain alfred)\n(:objects\nagent1 - agent\nSaltShaker - object\n HousePlant - object\n Candle - object\n SprayBottle - object\n Bowl - object\n Window - object\n CD - object\n Egg - object\n Glassbottle - object\n Sink - object\n Pillow - object\n Spoon - object\n SoapBottle - object\n TeddyBear - object\n ButterKnife - object\n Cup - object\n Plate - object\n RemoteControl - object\n Tomato - object\n Statue - object\n HandTowel - object\n Knife - object\n StoveKnob - object\n LightSwitch - object\n Pen - object\n Painting - object\n DishSponge - object\n Vase - object\n Mug - object\n ToiletPaper - object\n Box - object\n Mirror - object\n Ladle - object\n Fork - object\n Blinds - object\n Footstool - object\n KeyChain - object\n Cloth - object\n Laptop - object\n TissueBox - object\n PepperShaker - object\n FloorLamp - object\n WateringCan - object\n Apple - object\n Pan - object\n PaperTowel - object\n PaperTowelRoll - object\n Newspaper - object\n Television - object\n Chair - object\n CellPhone - object\n CreditCard - object\n Lettuce - object\n BasketBall - object\n Potato - object\n Curtains - object\n Boots - object\n Pencil - object\n AlarmClock - object\n ToiletPaperRoll - object\n Spatula - object\n Book - object\n Bread - object\n SoapBar - object\n Watch - object\n DeskLamp - object\n Kettle - object\n Pot - object\n ScrubBrush - object\n WineBottle - object\n ShowerDoor - object\n Bathtub - object\n LaundryHamperLid - object\n ShowerGlass - object\n Poster - object\n TennisRacket - object\n BaseballBat - object\n Towel - object\n Plunger - object\nSaltShakerType - otype\n HousePlantType - otype\n CandleType - otype\n SprayBottleType - otype\n BowlType - otype\n WindowType - otype\n CDType - otype\n EggType - otype\n GlassbottleType - otype\n SinkType - otype\n PillowType - otype\n SpoonType - otype\n SoapBottleType - otype\n TeddyBearType - otype\n ButterKnifeType - otype\n CupType - otype\n PlateType - otype\n RemoteControlType - otype\n TomatoType - otype\n StatueType - otype\n HandTowelType - otype\n KnifeType - otype\n StoveKnobType - otype\n LightSwitchType - otype\n PenType - otype\n PaintingType - otype\n DishSpongeType - otype\n VaseType - otype\n MugType - otype\n ToiletPaperType - otype\n BoxType - otype\n MirrorType - otype\n LadleType - otype\n ForkType - otype\n BlindsType - otype\n FootstoolType - otype\n KeyChainType - otype\n ClothType - otype\n LaptopType - otype\n TissueBoxType - otype\n PepperShakerType - otype\n FloorLampType - otype\n WateringCanType - otype\n AppleType - otype\n PanType - otype\n PaperTowelType - otype\n PaperTowelRollType - otype\n NewspaperType - otype\n TelevisionType - otype\n ChairType - otype\n CellPhoneType - otype\n CreditCardType - otype\n LettuceType - otype\n BasketBallType - otype\n PotatoType - otype\n CurtainsType - otype\n BootsType - otype\n PencilType - otype\n AlarmClockType - otype\n ToiletPaperRollType - otype\n SpatulaType - otype\n BookType - otype\n BreadType - otype\n SoapBarType - otype\n WatchType - otype\n DeskLampType - otype\n KettleType - otype\n PotType - otype\n ScrubBrushType - otype\n WineBottleType - otype\n ShowerDoorType - otype\n BathtubType - otype\n LaundryHamperLidType - otype\n ShowerGlassType - otype\n PosterType - otype\n TennisRacketType - otype\n BaseballBatType - otype\n TowelType - otype\n PlungerType - otype\nSafeType - rtype\n DrawerType - rtype\n CoffeeMachineType - rtype\n HandTowelHolderType - rtype\n SinkBasinType - rtype\n DresserType - rtype\n LaundryHamperType - rtype\n TVStandType - rtype\n BathtubBasinType - rtype\n CabinetType - rtype\n FridgeType - rtype\n DeskType - rtype\n ToiletType - rtype\n CartType - rtype\n SideTableType - rtype\n SofaType - rtype\n CoffeeTableType - rtype\n DiningTableType - rtype\n CounterTopType - rtype\n GarbageCanType - rtype\n ArmChairType - rtype\n ShelfType - rtype\n MicrowaveType - rtype\n ToasterType - rtype\n BedType - rtype\n PaintingHangerType - rtype\n TowelHolderType - rtype\n ToiletPaperHangerType - rtype\n StoveBurnerType - rtype\n OttomanType - rtype\n\n\n Apple_bar__plus_01_dot_01_bar__plus_01_dot_32_bar__minus_01_dot_48 - object\n Apple_bar__minus_01_dot_02_bar__plus_01_dot_07_bar__plus_01_dot_26 - object\n Bowl_bar__plus_03_dot_18_bar__plus_01_dot_46_bar__minus_01_dot_60 - object\n 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StoveBurnerType KettleType)\n (canContain StoveBurnerType PotType)\n (canContain StoveBurnerType PanType)\n (canContain DrawerType SaltShakerType)\n (canContain DrawerType DishSpongeType)\n (canContain DrawerType LadleType)\n (canContain DrawerType ForkType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType SpoonType)\n (canContain DrawerType SoapBottleType)\n (canContain DrawerType ButterKnifeType)\n (canContain DrawerType PepperShakerType)\n (canContain DrawerType KnifeType)\n (canContain DrawerType SpatulaType)\n (canContain StoveBurnerType KettleType)\n (canContain StoveBurnerType PotType)\n (canContain StoveBurnerType PanType)\n (canContain DrawerType SaltShakerType)\n (canContain DrawerType DishSpongeType)\n (canContain DrawerType LadleType)\n (canContain DrawerType ForkType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType SpoonType)\n (canContain DrawerType SoapBottleType)\n (canContain DrawerType ButterKnifeType)\n (canContain DrawerType 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(canContain CounterTopType GlassbottleType)\n (canContain CounterTopType CellPhoneType)\n (canContain CounterTopType SpoonType)\n (canContain CounterTopType SoapBottleType)\n (canContain CounterTopType LettuceType)\n (canContain CounterTopType PotatoType)\n (canContain CounterTopType ButterKnifeType)\n (canContain CounterTopType CupType)\n (canContain CounterTopType PlateType)\n (canContain CounterTopType PepperShakerType)\n (canContain CounterTopType TomatoType)\n (canContain CounterTopType KnifeType)\n (canContain CounterTopType AppleType)\n (canContain CounterTopType PanType)\n (canContain CounterTopType SpatulaType)\n (canContain DrawerType SaltShakerType)\n (canContain DrawerType DishSpongeType)\n (canContain DrawerType LadleType)\n (canContain DrawerType ForkType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType SpoonType)\n (canContain DrawerType SoapBottleType)\n (canContain DrawerType ButterKnifeType)\n (canContain DrawerType PepperShakerType)\n (canContain DrawerType KnifeType)\n (canContain DrawerType SpatulaType)\n (canContain DrawerType SaltShakerType)\n (canContain DrawerType DishSpongeType)\n (canContain DrawerType LadleType)\n (canContain DrawerType ForkType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType SpoonType)\n (canContain DrawerType SoapBottleType)\n (canContain DrawerType ButterKnifeType)\n (canContain DrawerType PepperShakerType)\n (canContain DrawerType KnifeType)\n (canContain DrawerType SpatulaType)\n (canContain DrawerType SaltShakerType)\n (canContain DrawerType DishSpongeType)\n (canContain DrawerType LadleType)\n (canContain DrawerType ForkType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType SpoonType)\n (canContain DrawerType SoapBottleType)\n (canContain DrawerType ButterKnifeType)\n (canContain DrawerType PepperShakerType)\n (canContain DrawerType KnifeType)\n (canContain DrawerType SpatulaType)\n (canContain CounterTopType SaltShakerType)\n (canContain CounterTopType BreadType)\n (canContain CounterTopType DishSpongeType)\n (canContain CounterTopType BowlType)\n (canContain CounterTopType KettleType)\n (canContain CounterTopType PotType)\n (canContain CounterTopType MugType)\n (canContain CounterTopType EggType)\n (canContain CounterTopType LadleType)\n (canContain CounterTopType ForkType)\n (canContain CounterTopType GlassbottleType)\n (canContain CounterTopType CellPhoneType)\n (canContain CounterTopType SpoonType)\n (canContain CounterTopType SoapBottleType)\n (canContain CounterTopType LettuceType)\n (canContain CounterTopType PotatoType)\n (canContain CounterTopType ButterKnifeType)\n (canContain CounterTopType CupType)\n (canContain CounterTopType PlateType)\n (canContain CounterTopType PepperShakerType)\n (canContain CounterTopType TomatoType)\n (canContain CounterTopType KnifeType)\n (canContain CounterTopType AppleType)\n (canContain CounterTopType PanType)\n (canContain CounterTopType SpatulaType)\n (canContain CabinetType 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PotType)\n (canContain FridgeType MugType)\n (canContain FridgeType EggType)\n (canContain FridgeType GlassbottleType)\n (canContain FridgeType LettuceType)\n (canContain FridgeType PotatoType)\n (canContain FridgeType CupType)\n (canContain FridgeType PlateType)\n (canContain FridgeType TomatoType)\n (canContain FridgeType AppleType)\n (canContain FridgeType PanType)\n (canContain CabinetType SaltShakerType)\n (canContain CabinetType DishSpongeType)\n (canContain CabinetType BowlType)\n (canContain CabinetType KettleType)\n (canContain CabinetType PotType)\n (canContain CabinetType MugType)\n (canContain CabinetType LadleType)\n (canContain CabinetType GlassbottleType)\n (canContain CabinetType SoapBottleType)\n (canContain CabinetType CupType)\n (canContain CabinetType PlateType)\n (canContain CabinetType PepperShakerType)\n (canContain CabinetType PanType)\n (canContain CabinetType SaltShakerType)\n (canContain CabinetType DishSpongeType)\n (canContain CabinetType BowlType)\n (canContain CabinetType KettleType)\n (canContain CabinetType PotType)\n (canContain CabinetType MugType)\n (canContain CabinetType LadleType)\n (canContain CabinetType GlassbottleType)\n (canContain CabinetType SoapBottleType)\n (canContain CabinetType CupType)\n (canContain CabinetType PlateType)\n (canContain CabinetType PepperShakerType)\n (canContain CabinetType PanType)\n (canContain StoveBurnerType KettleType)\n (canContain StoveBurnerType PotType)\n (canContain StoveBurnerType PanType)\n (canContain DrawerType SaltShakerType)\n (canContain DrawerType DishSpongeType)\n (canContain DrawerType LadleType)\n (canContain DrawerType ForkType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType SpoonType)\n (canContain DrawerType SoapBottleType)\n (canContain DrawerType ButterKnifeType)\n (canContain DrawerType PepperShakerType)\n (canContain DrawerType KnifeType)\n (canContain DrawerType SpatulaType)\n (canContain CabinetType SaltShakerType)\n (canContain CabinetType DishSpongeType)\n (canContain CabinetType BowlType)\n (canContain CabinetType KettleType)\n (canContain CabinetType PotType)\n (canContain CabinetType MugType)\n (canContain CabinetType LadleType)\n (canContain CabinetType GlassbottleType)\n (canContain CabinetType SoapBottleType)\n (canContain CabinetType CupType)\n (canContain CabinetType PlateType)\n (canContain CabinetType PepperShakerType)\n (canContain CabinetType PanType)\n (canContain DrawerType SaltShakerType)\n (canContain DrawerType DishSpongeType)\n (canContain DrawerType LadleType)\n (canContain DrawerType ForkType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType SpoonType)\n (canContain DrawerType SoapBottleType)\n (canContain DrawerType ButterKnifeType)\n (canContain DrawerType PepperShakerType)\n (canContain DrawerType KnifeType)\n (canContain DrawerType SpatulaType)\n (canContain DrawerType SaltShakerType)\n (canContain DrawerType DishSpongeType)\n (canContain DrawerType LadleType)\n (canContain DrawerType ForkType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType SpoonType)\n (canContain DrawerType SoapBottleType)\n (canContain DrawerType ButterKnifeType)\n (canContain DrawerType PepperShakerType)\n (canContain DrawerType KnifeType)\n (canContain DrawerType SpatulaType)\n (canContain DrawerType SaltShakerType)\n (canContain DrawerType DishSpongeType)\n (canContain DrawerType LadleType)\n (canContain DrawerType ForkType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType SpoonType)\n (canContain DrawerType SoapBottleType)\n (canContain DrawerType ButterKnifeType)\n (canContain DrawerType PepperShakerType)\n (canContain DrawerType KnifeType)\n (canContain DrawerType SpatulaType)\n (pickupable CellPhone_bar__minus_00_dot_91_bar__plus_00_dot_13_bar__plus_00_dot_66)\n (pickupable Cup_bar__minus_00_dot_99_bar__plus_01_dot_00_bar__plus_01_dot_42)\n (pickupable ButterKnife_bar__minus_00_dot_87_bar__plus_00_dot_13_bar__plus_00_dot_08)\n (pickupable Knife_bar__plus_00_dot_53_bar__plus_00_dot_94_bar__plus_00_dot_33)\n (pickupable Kettle_bar__plus_03_dot_20_bar__plus_00_dot_90_bar__minus_00_dot_60)\n (pickupable DishSponge_bar__plus_00_dot_72_bar__plus_00_dot_91_bar__plus_00_dot_14)\n (pickupable SaltShaker_bar__plus_03_dot_20_bar__plus_00_dot_17_bar__minus_00_dot_55)\n (pickupable Kettle_bar__minus_00_dot_94_bar__plus_00_dot_90_bar__plus_00_dot_62)\n (pickupable Potato_bar__plus_00_dot_04_bar__plus_00_dot_94_bar__minus_01_dot_68)\n (pickupable Egg_bar__plus_00_dot_06_bar__plus_00_dot_95_bar__minus_01_dot_29)\n (pickupable Bowl_bar__plus_03_dot_18_bar__plus_01_dot_46_bar__minus_01_dot_60)\n (pickupable Kettle_bar__plus_03_dot_07_bar__plus_00_dot_75_bar__plus_00_dot_10)\n (pickupable Apple_bar__plus_01_dot_01_bar__plus_01_dot_32_bar__minus_01_dot_48)\n (pickupable SoapBottle_bar__plus_00_dot_81_bar__plus_01_dot_68_bar__minus_01_dot_69)\n (pickupable Lettuce_bar__minus_00_dot_86_bar__plus_00_dot_97_bar__plus_00_dot_18)\n (pickupable Apple_bar__minus_01_dot_02_bar__plus_01_dot_07_bar__plus_01_dot_26)\n (pickupable Mug_bar__plus_00_dot_77_bar__plus_01_dot_24_bar__minus_01_dot_50)\n (pickupable SaltShaker_bar__plus_02_dot_99_bar__plus_00_dot_71_bar__minus_00_dot_67)\n (pickupable Pan_bar__minus_00_dot_24_bar__plus_00_dot_90_bar__minus_01_dot_09)\n (pickupable Knife_bar__minus_00_dot_99_bar__plus_00_dot_73_bar__plus_00_dot_75)\n (pickupable Bowl_bar__minus_00_dot_99_bar__plus_00_dot_90_bar__minus_00_dot_75)\n (pickupable DishSponge_bar__plus_03_dot_08_bar__plus_00_dot_18_bar__minus_00_dot_31)\n (pickupable Spatula_bar__plus_01_dot_10_bar__plus_00_dot_93_bar__plus_00_dot_46)\n (pickupable Spoon_bar__plus_00_dot_34_bar__plus_00_dot_90_bar__minus_01_dot_37)\n (pickupable Bowl_bar__minus_00_dot_86_bar__plus_00_dot_90_bar__minus_00_dot_05)\n (pickupable Lettuce_bar__plus_00_dot_10_bar__plus_00_dot_97_bar__minus_01_dot_45)\n (pickupable Glassbottle_bar__plus_02_dot_91_bar__plus_01_dot_47_bar__minus_01_dot_65)\n (pickupable 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Egg_bar__plus_01_dot_16_bar__plus_00_dot_77_bar__minus_01_dot_41)\n (pickupable Egg_bar__plus_00_dot_85_bar__plus_01_dot_30_bar__minus_01_dot_45)\n (pickupable Ladle_bar__plus_00_dot_67_bar__plus_01_dot_71_bar__minus_01_dot_41)\n (pickupable ButterKnife_bar__minus_00_dot_87_bar__plus_00_dot_13_bar__plus_00_dot_75)\n (pickupable Pot_bar__plus_00_dot_42_bar__plus_00_dot_90_bar__plus_00_dot_87)\n (pickupable Fork_bar__plus_01_dot_23_bar__plus_00_dot_91_bar__plus_00_dot_75)\n (pickupable SaltShaker_bar__plus_02_dot_95_bar__plus_00_dot_71_bar__plus_00_dot_90)\n (pickupable Plate_bar__plus_00_dot_71_bar__plus_00_dot_92_bar__plus_00_dot_53)\n (isReceptacleObject Cup_bar__minus_00_dot_99_bar__plus_01_dot_00_bar__plus_01_dot_42)\n (isReceptacleObject Bowl_bar__plus_03_dot_18_bar__plus_01_dot_46_bar__minus_01_dot_60)\n (isReceptacleObject Mug_bar__plus_00_dot_77_bar__plus_01_dot_24_bar__minus_01_dot_50)\n (isReceptacleObject Pan_bar__minus_00_dot_24_bar__plus_00_dot_90_bar__minus_01_dot_09)\n 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Potato_bar__plus_00_dot_04_bar__plus_00_dot_94_bar__minus_01_dot_68)\n (sliceable Egg_bar__plus_00_dot_06_bar__plus_00_dot_95_bar__minus_01_dot_29)\n (sliceable Apple_bar__plus_01_dot_01_bar__plus_01_dot_32_bar__minus_01_dot_48)\n (sliceable Lettuce_bar__minus_00_dot_86_bar__plus_00_dot_97_bar__plus_00_dot_18)\n (sliceable Apple_bar__minus_01_dot_02_bar__plus_01_dot_07_bar__plus_01_dot_26)\n (sliceable Lettuce_bar__plus_00_dot_10_bar__plus_00_dot_97_bar__minus_01_dot_45)\n (sliceable Lettuce_bar__plus_01_dot_36_bar__plus_00_dot_97_bar__plus_00_dot_75)\n (sliceable Bread_bar__plus_01_dot_53_bar__plus_00_dot_97_bar__plus_00_dot_49)\n (sliceable Tomato_bar__plus_00_dot_55_bar__plus_00_dot_95_bar__plus_00_dot_14)\n (sliceable Tomato_bar__minus_00_dot_70_bar__plus_00_dot_94_bar__minus_00_dot_73)\n (sliceable Tomato_bar__minus_00_dot_06_bar__plus_00_dot_94_bar__minus_01_dot_78)\n (sliceable Egg_bar__plus_01_dot_16_bar__plus_00_dot_77_bar__minus_01_dot_41)\n (sliceable 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CounterTop_bar__plus_03_dot_11_bar__plus_00_dot_94_bar__plus_00_dot_02)\n (inReceptacle ButterKnife_bar__plus_03_dot_04_bar__plus_00_dot_90_bar__minus_00_dot_80 CounterTop_bar__plus_03_dot_11_bar__plus_00_dot_94_bar__plus_00_dot_02)\n (inReceptacle Kettle_bar__plus_03_dot_20_bar__plus_00_dot_90_bar__minus_00_dot_60 CounterTop_bar__plus_03_dot_11_bar__plus_00_dot_94_bar__plus_00_dot_02)\n (inReceptacle Lettuce_bar__minus_00_dot_86_bar__plus_00_dot_97_bar__plus_00_dot_18 CounterTop_bar__minus_01_dot_01_bar__plus_00_dot_94_bar__minus_00_dot_04)\n (inReceptacle Kettle_bar__minus_00_dot_94_bar__plus_00_dot_90_bar__plus_00_dot_62 CounterTop_bar__minus_01_dot_01_bar__plus_00_dot_94_bar__minus_00_dot_04)\n (inReceptacle Bowl_bar__minus_00_dot_99_bar__plus_00_dot_90_bar__minus_00_dot_75 CounterTop_bar__minus_01_dot_01_bar__plus_00_dot_94_bar__minus_00_dot_04)\n (inReceptacle Tomato_bar__minus_00_dot_70_bar__plus_00_dot_94_bar__minus_00_dot_73 CounterTop_bar__minus_01_dot_01_bar__plus_00_dot_94_bar__minus_00_dot_04)\n (inReceptacle Bowl_bar__minus_00_dot_86_bar__plus_00_dot_90_bar__minus_00_dot_05 CounterTop_bar__minus_01_dot_01_bar__plus_00_dot_94_bar__minus_00_dot_04)\n (inReceptacle Knife_bar__minus_00_dot_99_bar__plus_00_dot_73_bar__plus_00_dot_75 Drawer_bar__minus_00_dot_86_bar__plus_00_dot_77_bar__plus_00_dot_66)\n (inReceptacle Plate_bar__plus_03_dot_08_bar__plus_00_dot_19_bar__plus_00_dot_70 Cabinet_bar__plus_02_dot_85_bar__plus_00_dot_42_bar__plus_00_dot_41)\n (inReceptacle SaltShaker_bar__plus_03_dot_20_bar__plus_00_dot_17_bar__minus_00_dot_55 Cabinet_bar__plus_02_dot_85_bar__plus_00_dot_42_bar__minus_00_dot_61)\n (inReceptacle DishSponge_bar__plus_03_dot_08_bar__plus_00_dot_18_bar__minus_00_dot_31 Cabinet_bar__plus_02_dot_85_bar__plus_00_dot_42_bar__minus_00_dot_61)\n (inReceptacle Ladle_bar__plus_00_dot_67_bar__plus_01_dot_71_bar__minus_01_dot_41 Cabinet_bar__plus_00_dot_62_bar__plus_01_dot_87_bar__minus_01_dot_26)\n (inReceptacle SoapBottle_bar__plus_00_dot_81_bar__plus_01_dot_68_bar__minus_01_dot_69 Cabinet_bar__plus_00_dot_62_bar__plus_01_dot_87_bar__minus_01_dot_26)\n (inReceptacle ButterKnife_bar__minus_00_dot_87_bar__plus_00_dot_13_bar__plus_00_dot_08 Drawer_bar__minus_00_dot_86_bar__plus_00_dot_19_bar__minus_00_dot_10)\n (inReceptacle Pan_bar__minus_00_dot_24_bar__plus_00_dot_90_bar__minus_01_dot_09 CounterTop_bar__plus_00_dot_09_bar__plus_00_dot_89_bar__minus_01_dot_52)\n (inReceptacle Egg_bar__plus_00_dot_06_bar__plus_00_dot_95_bar__minus_01_dot_29 CounterTop_bar__plus_00_dot_09_bar__plus_00_dot_89_bar__minus_01_dot_52)\n (inReceptacle Potato_bar__plus_00_dot_04_bar__plus_00_dot_94_bar__minus_01_dot_68 CounterTop_bar__plus_00_dot_09_bar__plus_00_dot_89_bar__minus_01_dot_52)\n (inReceptacle Tomato_bar__minus_00_dot_06_bar__plus_00_dot_94_bar__minus_01_dot_78 CounterTop_bar__plus_00_dot_09_bar__plus_00_dot_89_bar__minus_01_dot_52)\n (inReceptacle Spoon_bar__plus_00_dot_34_bar__plus_00_dot_90_bar__minus_01_dot_37 CounterTop_bar__plus_00_dot_09_bar__plus_00_dot_89_bar__minus_01_dot_52)\n (inReceptacle Lettuce_bar__plus_00_dot_10_bar__plus_00_dot_97_bar__minus_01_dot_45 CounterTop_bar__plus_00_dot_09_bar__plus_00_dot_89_bar__minus_01_dot_52)\n (inReceptacle SaltShaker_bar__plus_02_dot_95_bar__plus_00_dot_71_bar__plus_00_dot_90 Drawer_bar__plus_03_dot_02_bar__plus_00_dot_77_bar__plus_00_dot_70)\n (inReceptacle Pan_bar__minus_00_dot_24_bar__plus_00_dot_90_bar__minus_01_dot_09 StoveBurner_bar__minus_00_dot_24_bar__plus_00_dot_90_bar__minus_01_dot_09)\n (inReceptacle CellPhone_bar__minus_00_dot_91_bar__plus_00_dot_13_bar__plus_00_dot_66 Drawer_bar__minus_00_dot_86_bar__plus_00_dot_19_bar__plus_00_dot_66)\n (inReceptacle ButterKnife_bar__minus_00_dot_87_bar__plus_00_dot_13_bar__plus_00_dot_75 Drawer_bar__minus_00_dot_86_bar__plus_00_dot_19_bar__plus_00_dot_66)\n (inReceptacle Knife_bar__plus_00_dot_53_bar__plus_00_dot_94_bar__plus_00_dot_33 CounterTop_bar__plus_01_dot_21_bar__plus_00_dot_94_bar__plus_00_dot_46)\n (inReceptacle Pot_bar__plus_00_dot_42_bar__plus_00_dot_90_bar__plus_00_dot_87 CounterTop_bar__plus_01_dot_21_bar__plus_00_dot_94_bar__plus_00_dot_46)\n (inReceptacle DishSponge_bar__plus_00_dot_72_bar__plus_00_dot_91_bar__plus_00_dot_14 CounterTop_bar__plus_01_dot_21_bar__plus_00_dot_94_bar__plus_00_dot_46)\n (inReceptacle Lettuce_bar__plus_01_dot_36_bar__plus_00_dot_97_bar__plus_00_dot_75 CounterTop_bar__plus_01_dot_21_bar__plus_00_dot_94_bar__plus_00_dot_46)\n (inReceptacle Spoon_bar__plus_00_dot_97_bar__plus_00_dot_91_bar__plus_00_dot_61 CounterTop_bar__plus_01_dot_21_bar__plus_00_dot_94_bar__plus_00_dot_46)\n (inReceptacle Fork_bar__plus_01_dot_23_bar__plus_00_dot_91_bar__plus_00_dot_75 CounterTop_bar__plus_01_dot_21_bar__plus_00_dot_94_bar__plus_00_dot_46)\n (inReceptacle Bread_bar__plus_01_dot_53_bar__plus_00_dot_97_bar__plus_00_dot_49 CounterTop_bar__plus_01_dot_21_bar__plus_00_dot_94_bar__plus_00_dot_46)\n (inReceptacle Fork_bar__plus_00_dot_97_bar__plus_00_dot_91_bar__plus_00_dot_75 CounterTop_bar__plus_01_dot_21_bar__plus_00_dot_94_bar__plus_00_dot_46)\n (inReceptacle Tomato_bar__plus_00_dot_55_bar__plus_00_dot_95_bar__plus_00_dot_14 CounterTop_bar__plus_01_dot_21_bar__plus_00_dot_94_bar__plus_00_dot_46)\n (inReceptacle Spatula_bar__plus_01_dot_10_bar__plus_00_dot_93_bar__plus_00_dot_46 CounterTop_bar__plus_01_dot_21_bar__plus_00_dot_94_bar__plus_00_dot_46)\n (inReceptacle Plate_bar__plus_00_dot_71_bar__plus_00_dot_92_bar__plus_00_dot_53 CounterTop_bar__plus_01_dot_21_bar__plus_00_dot_94_bar__plus_00_dot_46)\n (inReceptacle Kettle_bar__plus_03_dot_07_bar__plus_00_dot_75_bar__plus_00_dot_10 Sink_bar__plus_03_dot_08_bar__plus_00_dot_89_bar__plus_00_dot_09_bar_SinkBasin)\n (inReceptacle Apple_bar__plus_01_dot_01_bar__plus_01_dot_32_bar__minus_01_dot_48 Fridge_bar__plus_01_dot_01_bar__plus_00_dot_03_bar__minus_01_dot_47)\n (inReceptacle Mug_bar__plus_00_dot_77_bar__plus_01_dot_24_bar__minus_01_dot_50 Fridge_bar__plus_01_dot_01_bar__plus_00_dot_03_bar__minus_01_dot_47)\n (inReceptacle Mug_bar__plus_01_dot_24_bar__plus_01_dot_07_bar__minus_01_dot_48 Fridge_bar__plus_01_dot_01_bar__plus_00_dot_03_bar__minus_01_dot_47)\n (inReceptacle Egg_bar__plus_01_dot_16_bar__plus_00_dot_77_bar__minus_01_dot_41 Fridge_bar__plus_01_dot_01_bar__plus_00_dot_03_bar__minus_01_dot_47)\n (inReceptacle Egg_bar__plus_00_dot_85_bar__plus_01_dot_30_bar__minus_01_dot_45 Fridge_bar__plus_01_dot_01_bar__plus_00_dot_03_bar__minus_01_dot_47)\n (inReceptacle Cup_bar__minus_00_dot_99_bar__plus_01_dot_00_bar__plus_01_dot_42 Microwave_bar__minus_01_dot_03_bar__plus_00_dot_89_bar__plus_01_dot_43)\n (inReceptacle Apple_bar__minus_01_dot_02_bar__plus_01_dot_07_bar__plus_01_dot_26 Microwave_bar__minus_01_dot_03_bar__plus_00_dot_89_bar__plus_01_dot_43)\n \n \n (receptacleAtLocation Cabinet_bar__plus_00_dot_14_bar__plus_01_dot_67_bar__minus_01_dot_56 loc_bar_2_bar__minus_3_bar_2_bar_0)\n (receptacleAtLocation Cabinet_bar__plus_00_dot_62_bar__plus_01_dot_87_bar__minus_01_dot_26 loc_bar_4_bar__minus_2_bar_2_bar__minus_15)\n (receptacleAtLocation Cabinet_bar__plus_01_dot_40_bar__plus_01_dot_87_bar__minus_01_dot_26 loc_bar_4_bar__minus_2_bar_2_bar__minus_15)\n (receptacleAtLocation Cabinet_bar__plus_02_dot_82_bar__plus_01_dot_77_bar__minus_01_dot_05 loc_bar_9_bar__minus_5_bar_1_bar__minus_15)\n (receptacleAtLocation Cabinet_bar__plus_02_dot_82_bar__plus_01_dot_77_bar__minus_01_dot_85 loc_bar_8_bar__minus_5_bar_1_bar_0)\n (receptacleAtLocation Cabinet_bar__plus_02_dot_85_bar__plus_00_dot_42_bar__plus_00_dot_41 loc_bar_8_bar_1_bar_1_bar_60)\n (receptacleAtLocation Cabinet_bar__plus_02_dot_85_bar__plus_00_dot_42_bar__minus_00_dot_61 loc_bar_8_bar_0_bar_1_bar_60)\n (receptacleAtLocation Cabinet_bar__plus_02_dot_85_bar__plus_00_dot_42_bar__minus_00_dot_96 loc_bar_8_bar__minus_5_bar_1_bar_60)\n (receptacleAtLocation Cabinet_bar__plus_03_dot_07_bar__plus_01_dot_67_bar__minus_00_dot_71 loc_bar_9_bar__minus_4_bar_1_bar_0)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_19_bar__plus_01_dot_67_bar__minus_01_dot_34 loc_bar_1_bar__minus_3_bar_2_bar_0)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_20_bar__plus_01_dot_96_bar__minus_01_dot_33 loc_bar_0_bar__minus_2_bar_2_bar__minus_15)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_71_bar__plus_01_dot_96_bar__minus_00_dot_82 loc_bar_0_bar__minus_3_bar_3_bar__minus_15)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_92_bar__plus_01_dot_67_bar__minus_00_dot_62 loc_bar__minus_1_bar__minus_2_bar_3_bar_0)\n (receptacleAtLocation CoffeeMachine_bar__plus_03_dot_22_bar__plus_00_dot_89_bar__plus_00_dot_70 loc_bar_10_bar_3_bar_1_bar_45)\n (receptacleAtLocation CounterTop_bar__plus_00_dot_09_bar__plus_00_dot_89_bar__minus_01_dot_52 loc_bar_1_bar__minus_3_bar_2_bar_45)\n (receptacleAtLocation CounterTop_bar__plus_01_dot_21_bar__plus_00_dot_94_bar__plus_00_dot_46 loc_bar_4_bar__minus_2_bar_0_bar_45)\n (receptacleAtLocation CounterTop_bar__plus_03_dot_11_bar__plus_00_dot_94_bar__plus_00_dot_02 loc_bar_10_bar__minus_2_bar_1_bar_45)\n (receptacleAtLocation CounterTop_bar__minus_01_dot_01_bar__plus_00_dot_94_bar__minus_00_dot_04 loc_bar__minus_1_bar_2_bar_3_bar_45)\n (receptacleAtLocation Drawer_bar__plus_00_dot_38_bar__plus_00_dot_19_bar__minus_01_dot_51 loc_bar_0_bar__minus_1_bar_2_bar_45)\n (receptacleAtLocation Drawer_bar__plus_00_dot_38_bar__plus_00_dot_38_bar__minus_01_dot_51 loc_bar__minus_1_bar__minus_1_bar_2_bar_45)\n (receptacleAtLocation Drawer_bar__plus_00_dot_38_bar__plus_00_dot_57_bar__minus_01_dot_51 loc_bar_0_bar__minus_2_bar_2_bar_45)\n (receptacleAtLocation Drawer_bar__plus_00_dot_38_bar__plus_00_dot_77_bar__minus_01_dot_51 loc_bar_0_bar__minus_2_bar_2_bar_45)\n (receptacleAtLocation Drawer_bar__plus_03_dot_02_bar__plus_00_dot_77_bar__plus_00_dot_70 loc_bar_9_bar__minus_1_bar_0_bar_45)\n (receptacleAtLocation Drawer_bar__plus_03_dot_02_bar__plus_00_dot_77_bar__minus_00_dot_41 loc_bar_9_bar_2_bar_2_bar_45)\n (receptacleAtLocation Drawer_bar__plus_03_dot_02_bar__plus_00_dot_77_bar__minus_00_dot_78 loc_bar_9_bar_0_bar_2_bar_45)\n (receptacleAtLocation Drawer_bar__minus_00_dot_05_bar__plus_00_dot_19_bar__minus_01_dot_32 loc_bar_4_bar__minus_2_bar_3_bar_60)\n (receptacleAtLocation Drawer_bar__minus_00_dot_05_bar__plus_00_dot_38_bar__minus_01_dot_32 loc_bar_2_bar__minus_1_bar_2_bar_45)\n (receptacleAtLocation Drawer_bar__minus_00_dot_05_bar__plus_00_dot_57_bar__minus_01_dot_32 loc_bar_2_bar__minus_2_bar_2_bar_60)\n (receptacleAtLocation Drawer_bar__minus_00_dot_05_bar__plus_00_dot_77_bar__minus_01_dot_32 loc_bar_2_bar__minus_2_bar_2_bar_45)\n (receptacleAtLocation Drawer_bar__minus_00_dot_68_bar__plus_00_dot_19_bar__minus_00_dot_70 loc_bar_0_bar_2_bar_2_bar_45)\n (receptacleAtLocation Drawer_bar__minus_00_dot_68_bar__plus_00_dot_39_bar__minus_00_dot_70 loc_bar_0_bar_1_bar_2_bar_60)\n (receptacleAtLocation Drawer_bar__minus_00_dot_68_bar__plus_00_dot_58_bar__minus_00_dot_70 loc_bar_0_bar_1_bar_2_bar_45)\n (receptacleAtLocation Drawer_bar__minus_00_dot_68_bar__plus_00_dot_77_bar__minus_00_dot_70 loc_bar__minus_1_bar_1_bar_2_bar_45)\n (receptacleAtLocation Drawer_bar__minus_00_dot_86_bar__plus_00_dot_19_bar__plus_00_dot_66 loc_bar_0_bar__minus_2_bar_0_bar_45)\n (receptacleAtLocation Drawer_bar__minus_00_dot_86_bar__plus_00_dot_19_bar__plus_01_dot_43 loc_bar_0_bar_1_bar_0_bar_45)\n (receptacleAtLocation Drawer_bar__minus_00_dot_86_bar__plus_00_dot_19_bar__minus_00_dot_10 loc_bar_0_bar_4_bar_2_bar_60)\n (receptacleAtLocation Drawer_bar__minus_00_dot_86_bar__plus_00_dot_39_bar__plus_00_dot_66 loc_bar_0_bar__minus_2_bar_0_bar_45)\n (receptacleAtLocation Drawer_bar__minus_00_dot_86_bar__plus_00_dot_39_bar__plus_01_dot_43 loc_bar_0_bar_2_bar_0_bar_60)\n (receptacleAtLocation Drawer_bar__minus_00_dot_86_bar__plus_00_dot_39_bar__minus_00_dot_10 loc_bar_0_bar_4_bar_2_bar_45)\n (receptacleAtLocation Drawer_bar__minus_00_dot_86_bar__plus_00_dot_58_bar__plus_00_dot_66 loc_bar_0_bar__minus_2_bar_0_bar_45)\n (receptacleAtLocation Drawer_bar__minus_00_dot_86_bar__plus_00_dot_58_bar__plus_01_dot_43 loc_bar_0_bar_1_bar_0_bar_45)\n (receptacleAtLocation Drawer_bar__minus_00_dot_86_bar__plus_00_dot_58_bar__minus_00_dot_10 loc_bar_0_bar_4_bar_2_bar_45)\n (receptacleAtLocation Drawer_bar__minus_00_dot_86_bar__plus_00_dot_77_bar__plus_00_dot_66 loc_bar__minus_1_bar__minus_1_bar_0_bar_45)\n (receptacleAtLocation Drawer_bar__minus_00_dot_86_bar__plus_00_dot_77_bar__plus_01_dot_43 loc_bar__minus_1_bar_2_bar_0_bar_45)\n (receptacleAtLocation Drawer_bar__minus_00_dot_86_bar__plus_00_dot_77_bar__minus_00_dot_10 loc_bar__minus_1_bar_3_bar_2_bar_45)\n (receptacleAtLocation Fridge_bar__plus_01_dot_01_bar__plus_00_dot_03_bar__minus_01_dot_47 loc_bar_4_bar__minus_2_bar_2_bar_60)\n (receptacleAtLocation GarbageCan_bar__plus_03_dot_18_bar__plus_00_dot_03_bar__plus_01_dot_60 loc_bar_11_bar_5_bar_1_bar_60)\n (receptacleAtLocation Microwave_bar__minus_01_dot_03_bar__plus_00_dot_89_bar__plus_01_dot_43 loc_bar__minus_1_bar_5_bar_3_bar_45)\n (receptacleAtLocation Sink_bar__plus_03_dot_08_bar__plus_00_dot_89_bar__plus_00_dot_09_bar_SinkBasin loc_bar_10_bar__minus_1_bar_1_bar_60)\n (receptacleAtLocation StoveBurner_bar__minus_00_dot_24_bar__plus_00_dot_90_bar__minus_01_dot_09 loc_bar_0_bar__minus_3_bar_2_bar_60)\n (receptacleAtLocation StoveBurner_bar__minus_00_dot_42_bar__plus_00_dot_90_bar__minus_00_dot_92 loc_bar_0_bar__minus_3_bar_3_bar_60)\n (receptacleAtLocation StoveBurner_bar__minus_00_dot_42_bar__plus_00_dot_90_bar__minus_01_dot_27 loc_bar_0_bar__minus_3_bar_2_bar_60)\n (receptacleAtLocation StoveBurner_bar__minus_00_dot_60_bar__plus_00_dot_90_bar__minus_01_dot_09 loc_bar_0_bar__minus_3_bar_3_bar_60)\n (receptacleAtLocation Toaster_bar__minus_01_dot_04_bar__plus_00_dot_87_bar__minus_00_dot_40 loc_bar__minus_1_bar__minus_2_bar_3_bar_45)\n (objectAtLocation Mug_bar__plus_00_dot_77_bar__plus_01_dot_24_bar__minus_01_dot_50 loc_bar_4_bar__minus_2_bar_2_bar_60)\n (objectAtLocation Bowl_bar__plus_03_dot_18_bar__plus_01_dot_46_bar__minus_01_dot_60 loc_bar_8_bar__minus_5_bar_1_bar_0)\n (objectAtLocation Spoon_bar__plus_00_dot_97_bar__plus_00_dot_91_bar__plus_00_dot_61 loc_bar_4_bar__minus_2_bar_0_bar_45)\n (objectAtLocation Tomato_bar__minus_00_dot_06_bar__plus_00_dot_94_bar__minus_01_dot_78 loc_bar_1_bar__minus_3_bar_2_bar_45)\n (objectAtLocation DishSponge_bar__plus_03_dot_08_bar__plus_00_dot_18_bar__minus_00_dot_31 loc_bar_8_bar_0_bar_1_bar_60)\n (objectAtLocation Apple_bar__plus_01_dot_01_bar__plus_01_dot_32_bar__minus_01_dot_48 loc_bar_4_bar__minus_2_bar_2_bar_60)\n (objectAtLocation ButterKnife_bar__minus_00_dot_87_bar__plus_00_dot_13_bar__plus_00_dot_08 loc_bar_0_bar_4_bar_2_bar_60)\n (objectAtLocation Egg_bar__plus_00_dot_85_bar__plus_01_dot_30_bar__minus_01_dot_45 loc_bar_4_bar__minus_2_bar_2_bar_60)\n (objectAtLocation SaltShaker_bar__plus_02_dot_99_bar__plus_00_dot_71_bar__minus_00_dot_67 loc_bar_9_bar_0_bar_2_bar_45)\n (objectAtLocation Cup_bar__minus_00_dot_99_bar__plus_01_dot_00_bar__plus_01_dot_42 loc_bar__minus_1_bar_5_bar_3_bar_45)\n (objectAtLocation Lettuce_bar__plus_01_dot_36_bar__plus_00_dot_97_bar__plus_00_dot_75 loc_bar_4_bar__minus_2_bar_0_bar_45)\n (objectAtLocation Knife_bar__minus_00_dot_99_bar__plus_00_dot_73_bar__plus_00_dot_75 loc_bar__minus_1_bar__minus_1_bar_0_bar_45)\n (objectAtLocation Kettle_bar__plus_03_dot_07_bar__plus_00_dot_75_bar__plus_00_dot_10 loc_bar_10_bar__minus_1_bar_1_bar_60)\n (objectAtLocation Fork_bar__plus_01_dot_23_bar__plus_00_dot_91_bar__plus_00_dot_75 loc_bar_4_bar__minus_2_bar_0_bar_45)\n (objectAtLocation Plate_bar__plus_00_dot_71_bar__plus_00_dot_92_bar__plus_00_dot_53 loc_bar_4_bar__minus_2_bar_0_bar_45)\n (objectAtLocation Egg_bar__plus_01_dot_16_bar__plus_00_dot_77_bar__minus_01_dot_41 loc_bar_4_bar__minus_2_bar_2_bar_60)\n (objectAtLocation Tomato_bar__minus_00_dot_70_bar__plus_00_dot_94_bar__minus_00_dot_73 loc_bar__minus_1_bar_2_bar_3_bar_45)\n (objectAtLocation Bowl_bar__minus_00_dot_99_bar__plus_00_dot_90_bar__minus_00_dot_75 loc_bar__minus_1_bar_2_bar_3_bar_45)\n (objectAtLocation SaltShaker_bar__plus_03_dot_20_bar__plus_00_dot_17_bar__minus_00_dot_55 loc_bar_8_bar_0_bar_1_bar_60)\n (objectAtLocation Lettuce_bar__minus_00_dot_86_bar__plus_00_dot_97_bar__plus_00_dot_18 loc_bar__minus_1_bar_2_bar_3_bar_45)\n (objectAtLocation Kettle_bar__plus_03_dot_20_bar__plus_00_dot_90_bar__minus_00_dot_60 loc_bar_10_bar__minus_2_bar_1_bar_45)\n (objectAtLocation ButterKnife_bar__plus_03_dot_04_bar__plus_00_dot_90_bar__minus_00_dot_80 loc_bar_10_bar__minus_2_bar_1_bar_45)\n (objectAtLocation Sink_bar__plus_03_dot_08_bar__plus_00_dot_89_bar__plus_00_dot_09 loc_bar_10_bar_0_bar_1_bar_60)\n (objectAtLocation Mirror_bar__minus_01_dot_30_bar__plus_01_dot_63_bar__plus_00_dot_05 loc_bar__minus_1_bar_1_bar_3_bar_0)\n (objectAtLocation Plate_bar__plus_03_dot_08_bar__plus_00_dot_19_bar__plus_00_dot_70 loc_bar_8_bar_1_bar_1_bar_60)\n (objectAtLocation Glassbottle_bar__plus_02_dot_91_bar__plus_01_dot_47_bar__minus_01_dot_65 loc_bar_8_bar__minus_5_bar_1_bar_0)\n (objectAtLocation SoapBottle_bar__plus_00_dot_81_bar__plus_01_dot_68_bar__minus_01_dot_69 loc_bar_4_bar__minus_2_bar_2_bar__minus_15)\n (objectAtLocation Potato_bar__plus_00_dot_04_bar__plus_00_dot_94_bar__minus_01_dot_68 loc_bar_1_bar__minus_3_bar_2_bar_45)\n (objectAtLocation HousePlant_bar__plus_03_dot_20_bar__plus_00_dot_89_bar__minus_00_dot_37 loc_bar_10_bar__minus_2_bar_1_bar_45)\n (objectAtLocation StoveKnob_bar__minus_00_dot_09_bar__plus_00_dot_79_bar__minus_01_dot_01 loc_bar_0_bar__minus_3_bar_2_bar_60)\n (objectAtLocation StoveKnob_bar__minus_00_dot_28_bar__plus_00_dot_79_bar__minus_00_dot_82 loc_bar_0_bar__minus_3_bar_3_bar_60)\n (objectAtLocation StoveKnob_bar__minus_00_dot_18_bar__plus_00_dot_79_bar__minus_00_dot_92 loc_bar_0_bar__minus_3_bar_3_bar_60)\n (objectAtLocation StoveKnob_bar__minus_00_dot_37_bar__plus_00_dot_79_bar__minus_00_dot_72 loc_bar__minus_1_bar__minus_2_bar_2_bar_60)\n (objectAtLocation Fork_bar__plus_00_dot_97_bar__plus_00_dot_91_bar__plus_00_dot_75 loc_bar_4_bar__minus_2_bar_0_bar_45)\n (objectAtLocation Ladle_bar__plus_00_dot_67_bar__plus_01_dot_71_bar__minus_01_dot_41 loc_bar_4_bar__minus_2_bar_2_bar__minus_15)\n (objectAtLocation Pot_bar__plus_00_dot_42_bar__plus_00_dot_90_bar__plus_00_dot_87 loc_bar_4_bar__minus_2_bar_0_bar_45)\n (objectAtLocation Kettle_bar__minus_00_dot_94_bar__plus_00_dot_90_bar__plus_00_dot_62 loc_bar__minus_1_bar_2_bar_3_bar_45)\n (objectAtLocation Window_bar__plus_03_dot_70_bar__plus_01_dot_68_bar__plus_00_dot_05 loc_bar_10_bar_0_bar_1_bar_0)\n (objectAtLocation Spatula_bar__plus_01_dot_10_bar__plus_00_dot_93_bar__plus_00_dot_46 loc_bar_4_bar__minus_2_bar_0_bar_45)\n (objectAtLocation Knife_bar__plus_00_dot_53_bar__plus_00_dot_94_bar__plus_00_dot_33 loc_bar_4_bar__minus_2_bar_0_bar_45)\n (objectAtLocation Lettuce_bar__plus_00_dot_10_bar__plus_00_dot_97_bar__minus_01_dot_45 loc_bar_1_bar__minus_3_bar_2_bar_45)\n (objectAtLocation LightSwitch_bar__plus_02_dot_59_bar__plus_01_dot_31_bar__minus_01_dot_88 loc_bar_9_bar__minus_5_bar_2_bar_30)\n (objectAtLocation Cup_bar__plus_01_dot_11_bar__plus_01_dot_67_bar__minus_01_dot_55 loc_bar_4_bar__minus_2_bar_2_bar__minus_15)\n (objectAtLocation SaltShaker_bar__plus_02_dot_95_bar__plus_00_dot_71_bar__plus_00_dot_90 loc_bar_9_bar__minus_1_bar_0_bar_45)\n (objectAtLocation Egg_bar__plus_00_dot_06_bar__plus_00_dot_95_bar__minus_01_dot_29 loc_bar_1_bar__minus_3_bar_2_bar_45)\n (objectAtLocation PepperShaker_bar__plus_03_dot_15_bar__plus_00_dot_71_bar__minus_00_dot_36 loc_bar_9_bar_2_bar_2_bar_45)\n (objectAtLocation ButterKnife_bar__minus_00_dot_87_bar__plus_00_dot_13_bar__plus_00_dot_75 loc_bar_0_bar__minus_2_bar_0_bar_45)\n (objectAtLocation Apple_bar__minus_01_dot_02_bar__plus_01_dot_07_bar__plus_01_dot_26 loc_bar__minus_1_bar_5_bar_3_bar_45)\n (objectAtLocation Pan_bar__minus_00_dot_24_bar__plus_00_dot_90_bar__minus_01_dot_09 loc_bar_0_bar__minus_3_bar_2_bar_60)\n (objectAtLocation Bread_bar__plus_01_dot_53_bar__plus_00_dot_97_bar__plus_00_dot_49 loc_bar_4_bar__minus_2_bar_0_bar_45)\n (objectAtLocation CellPhone_bar__minus_00_dot_91_bar__plus_00_dot_13_bar__plus_00_dot_66 loc_bar_0_bar__minus_2_bar_0_bar_45)\n (objectAtLocation DishSponge_bar__plus_00_dot_72_bar__plus_00_dot_91_bar__plus_00_dot_14 loc_bar_4_bar__minus_2_bar_0_bar_45)\n (objectAtLocation Tomato_bar__plus_00_dot_55_bar__plus_00_dot_95_bar__plus_00_dot_14 loc_bar_4_bar__minus_2_bar_0_bar_45)\n (objectAtLocation Spoon_bar__plus_00_dot_34_bar__plus_00_dot_90_bar__minus_01_dot_37 loc_bar_1_bar__minus_3_bar_2_bar_45)\n (objectAtLocation Bowl_bar__minus_00_dot_86_bar__plus_00_dot_90_bar__minus_00_dot_05 loc_bar__minus_1_bar_2_bar_3_bar_45)\n (objectAtLocation Mug_bar__plus_01_dot_24_bar__plus_01_dot_07_bar__minus_01_dot_48 loc_bar_4_bar__minus_2_bar_2_bar_60)\n )\n \n\n (:goal\n (and\n (exists (?r - receptacle)\n (exists (?o1 - object)\n (and\n (objectType ?o1 EggType)\n (receptacleType ?r MicrowaveType)\n (inReceptacle ?o1 ?r)\n (exists (?o2 - object)\n (and\n (not (= ?o1 ?o2))\n (objectType ?o2 EggType)\n (receptacleType ?r MicrowaveType)\n (inReceptacle ?o2 ?r)\n )\n )\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to fridge 1", "open fridge 1", "take egg 1 from fridge 1", "go to microwave 1", "open microwave 1", "move egg 1 to microwave 1", "go to fridge 1", "take egg 2 from fridge 1", "go to microwave 1", "move egg 2 to microwave 1"]}
|
alfworld__pick_two_obj_and_place__13
|
pick_two_obj_and_place
|
pick_two_obj_and_place-Egg-None-Microwave-30/trial_T20190907_163511_185881/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 egg in microwave.\"\n }\n ],\n\n \"GotoLocation.feedback\": [\n {\n \"rhs\": \"You arrive at {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"OpenObject.feedback\": [\n {\n \"rhs\": \"You open the {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"CloseObject.feedback\": [\n {\n \"rhs\": \"You close the {r.name}.\"\n }\n ],\n\n \"PickupObject.feedback\": [\n {\n \"rhs\": \"You pick up the {o.name} from the {r.name}.\"\n }\n ],\n\n \"PickupObjectFromReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupObjectFromReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupEmptyReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupEmptyReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupFullReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupFullReceptacleObject: You pick up the {outerr.name}.\"\n }\n ],\n\n \"PutObject.feedback\": [\n {\n \"rhs\": \"You move the {o.name} to the {r.name}.\"\n }\n ],\n\n \"PutObjectInReceptacleObject.feedback\": [\n {\n \"rhs\": \"PutObjectInReceptacleObject: You put the {o.name} in the {outero.name}.\"\n }\n ],\n\n \"PutEmptyReceptacleObjectinReceptacle.feedback\": [\n {\n \"rhs\": \"PutEmptyReceptacleObjectinReceptacle: You put the {o.name} in the {r.name}.\"\n }\n ],\n\n \"PutFullReceptacleObjectInReceptacle.feedback\": [\n {\n \"rhs\": \"PutFullReceptacleObjectInReceptacle: You put the {outero.name} in the {r.name}.\"\n }\n ],\n\n \"inventory.feedback\": [\n {\n \"condition\": \"holdsany(a:agent)\",\n \"rhs\": \"You are carrying: [{o.indefinite + ' ' + o.name | holds(a:agent, o:object)}].\"\n },\n {\n \"rhs\": \"You are not carrying anything.\"\n }\n ],\n\n \"examineReceptacle.feedback\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \"The {r.name} is open. In it, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \"The {r.name} is closed.\"\n },\n {\n \"rhs\": \"On the {r.name}, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n }\n ],\n\n \"examineObject.feedback\": [\n {\n \"condition\": \"isreceptacleobject(o:object)\",\n \"rhs\": \"This is a normal {o.name}. In it, you see [{o2.indefinite + ' ' + o2.name | inreceptacleobject(o2:object, o:object)}].\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a clean sliced {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot sliced {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object)\",\n \"rhs\": \"This is a hot and clean {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object)\",\n \"rhs\": \"This is a cool and clean {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object)\",\n \"rhs\": \"This is a hot {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object)\",\n \"rhs\": \"This is a clean {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object)\",\n \"rhs\": \"This is a cold {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"This {o.name} is on.\"\n },\n {\n \"condition\": \"toggleable(o:object) & not_istoggled(o:object)\",\n \"rhs\": \"This {o.name} is off.\"\n },\n {\n \"condition\": \"sliceable(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a sliced {o.name}.\"\n },\n {\n \"rhs\": \"There's nothing special about {o.name}.\"\n }\n ]\n }\n\"\"\";\n\naction GotoLocation {\n template :: \"go to [{r.name | receptacleatlocation(r:receptacle, lend:location)}]\";\n feedback :: \"#GotoLocation.feedback#\";\n}\n\naction OpenObject {\n template :: \"open {r}\";\n feedback :: \"#OpenObject.feedback#\";\n}\n\naction CloseObject {\n template :: \"close {r}\";\n feedback :: \"#CloseObject.feedback#\";\n}\n\naction PickupObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObject.feedback#\";\n}\n\naction PickupObjectFromReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObjectFromReceptacleObject.feedback#\";\n}\n\naction PickupEmptyReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupEmptyReceptacleObject.feedback#\";\n}\n\naction PickupFullReceptacleObject {\n template :: \"take {outerr} from {r}\";\n feedback :: \"#PickupFullReceptacleObject.feedback#\";\n}\n\naction PutObject {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutObject.feedback#\";\n}\n\naction PutObjectInReceptacleObject {\n template :: \"put {o} into {outero}\";\n feedback :: \"#PutObjectInReceptacleObject.feedback#\";\n}\n\naction PutEmptyReceptacleObjectinReceptacle {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutEmptyReceptacleObjectinReceptacle.feedback#\";\n}\n\naction PutFullReceptacleObjectInReceptacle {\n template :: \"put {outero} in {r}\";\n feedback :: \"#PutFullReceptacleObjectInReceptacle.feedback#\";\n}\n\naction inventory {\n template :: \"inventory\";\n feedback :: \"#inventory.feedback#\";\n}\n\naction examineReceptacle {\n template :: \"examine {r}\";\n feedback :: \"#examineReceptacle.feedback#\";\n}\n\naction examineObject {\n template :: \"examine {o}\";\n feedback :: \"#examineObject.feedback#\";\n}\n\naction ToggleObject {\n template :: \"use {o}\";\n feedback :: \"#toggleObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"toggleObject.feedback\": [\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"You turn on the {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object)\",\n \"rhs\": \"You turn off the {o.name}.\"\n },\n {\n \"rhs\": \"You don't see any switch on the {o.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction HeatObject {\n template :: \"heat {o} with {r}\";\n feedback :: \"#heatObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"heatObject.feedback\": [\n {\n \"rhs\": \"You heat the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CleanObject {\n template :: \"clean {o} with {r}\";\n feedback :: \"#cleanObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"cleanObject.feedback\": [\n {\n \"rhs\": \"You clean the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CoolObject {\n template :: \"cool {o} with {r}\";\n feedback :: \"#coolObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"coolObject.feedback\": [\n {\n \"rhs\": \"You cool the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction SliceObject {\n template :: \"slice {co} with {ko}\";\n feedback :: \"#sliceObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"sliceObject.feedback\": [\n {\n \"rhs\": \"You sliced the {co.name} with the {ko.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction look {\n template :: \"look\";\n feedback :: \"#look.feedback#\";\n\n grammar :: \"\"\"\n {\n \"look.feedback\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"#look-variations#. Next to it, you see #list_objects_on_the_floor#.\"\n },\n {\n \"rhs\": \"You are in the middle of a room. Looking quickly around you, you see #list_appliances#.\"\n }\n ],\n\n \"look-variations\": [\n {\n \"rhs\": \"You are facing the [{r.name | atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)}]\"\n }\n ],\n\n \"list_objects_on_the_floor\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)\",\n \"rhs\": \"[{#overview(o)# | atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"list_appliances\": [\n {\n \"condition\": \"receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"[{#overview(r)# | receptacleatlocation(r:receptacle, l:location)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"overview(o, r)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name} (in/on the {r.name})}\"\n }\n ],\n\n \"overview(o)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name}\"\n }\n ],\n \"overview(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}\"\n }\n ],\n \"overview_with_state(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}#overview_state(r)#\"\n }\n ],\n \"overview_state(r)\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \" (it is open)\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \" (it is closed)\"\n },\n {\n \"rhs\": \"\"\n }\n ],\n\n \"list_empty\": [\n {\n \"rhs\": \"nothing\"\n }\n ],\n \"list_separator\": [\n {\n \"rhs\": \", \"\n }\n ],\n \"list_last_separator\": [\n {\n \"rhs\": \", and \"\n }\n ]\n }\n \"\"\";\n}\n\naction help {\n template :: \"help\";\n feedback :: \"\nAvailable commands:\n look: look around your current location\n inventory: check your current inventory\n go to (receptacle): move to a receptacle\n open (receptacle): open a receptacle\n close (receptacle): close a receptacle\n take (object) from (receptacle): take an object from a receptacle\n move (object) to (receptacle): place an object in or on a receptacle\n examine (something): examine a receptacle or an object\n use (object): use an object\n heat (object) with (receptacle): heat an object using a receptacle\n clean (object) with (receptacle): clean an object using a receptacle\n cool (object) with (receptacle): cool an object using a receptacle\n slice (object) with (object): slice an object using a sharp object\n\";\n}\n", "pddl_problem": "\n(define (problem plan_trial_T20190907_163511_185881)\n(:domain alfred)\n(:objects\nagent1 - agent\nSaltShaker - object\n HousePlant - object\n Candle - object\n SprayBottle - object\n Bowl - object\n Window - object\n CD - object\n Egg - object\n Glassbottle - object\n Sink - object\n Pillow - object\n Spoon - object\n SoapBottle - object\n TeddyBear - object\n ButterKnife - object\n Cup - object\n Plate - object\n RemoteControl - object\n Tomato - object\n Statue - object\n HandTowel - object\n Knife - object\n StoveKnob - object\n LightSwitch - object\n Pen - object\n Painting - object\n DishSponge - object\n Vase - object\n Mug - object\n ToiletPaper - object\n Box - object\n Mirror - object\n Ladle - object\n Fork - object\n Blinds - object\n Footstool - object\n KeyChain - object\n Cloth - object\n Laptop - object\n TissueBox - object\n PepperShaker - object\n FloorLamp - object\n WateringCan - object\n Apple - object\n Pan - object\n PaperTowel - object\n PaperTowelRoll - object\n Newspaper - object\n Television - object\n Chair - object\n CellPhone - object\n CreditCard - object\n Lettuce - object\n BasketBall - object\n Potato - object\n Curtains - object\n Boots - object\n Pencil - object\n AlarmClock - object\n ToiletPaperRoll - object\n Spatula - object\n Book - object\n Bread - object\n SoapBar - object\n Watch - object\n DeskLamp - object\n Kettle - object\n Pot - object\n ScrubBrush - object\n WineBottle - object\n ShowerDoor - object\n Bathtub - object\n LaundryHamperLid - object\n ShowerGlass - object\n Poster - object\n TennisRacket - object\n BaseballBat - object\n Towel - object\n Plunger - object\nSaltShakerType - otype\n HousePlantType - otype\n CandleType - otype\n SprayBottleType - otype\n BowlType - otype\n WindowType - otype\n CDType - otype\n EggType - otype\n GlassbottleType - otype\n SinkType - otype\n PillowType - otype\n SpoonType - otype\n SoapBottleType - otype\n TeddyBearType - otype\n ButterKnifeType - otype\n CupType - otype\n PlateType - otype\n RemoteControlType - otype\n TomatoType - otype\n StatueType - otype\n HandTowelType - otype\n KnifeType - otype\n StoveKnobType - otype\n LightSwitchType - otype\n PenType - otype\n PaintingType - otype\n DishSpongeType - otype\n VaseType - otype\n MugType - otype\n ToiletPaperType - otype\n BoxType - otype\n MirrorType - otype\n LadleType - otype\n ForkType - otype\n BlindsType - otype\n FootstoolType - otype\n KeyChainType - otype\n ClothType - otype\n LaptopType - otype\n TissueBoxType - otype\n PepperShakerType - otype\n FloorLampType - otype\n WateringCanType - otype\n AppleType - otype\n PanType - otype\n PaperTowelType - otype\n PaperTowelRollType - otype\n NewspaperType - otype\n TelevisionType - otype\n ChairType - otype\n CellPhoneType - otype\n CreditCardType - otype\n LettuceType - otype\n BasketBallType - otype\n PotatoType - otype\n CurtainsType - otype\n BootsType - otype\n PencilType - otype\n AlarmClockType - otype\n ToiletPaperRollType - otype\n SpatulaType - otype\n BookType - otype\n BreadType - otype\n SoapBarType - otype\n WatchType - otype\n DeskLampType - otype\n KettleType - otype\n PotType - otype\n ScrubBrushType - otype\n WineBottleType - otype\n ShowerDoorType - otype\n BathtubType - otype\n LaundryHamperLidType - otype\n ShowerGlassType - otype\n PosterType - otype\n TennisRacketType - otype\n BaseballBatType - otype\n TowelType - otype\n PlungerType - otype\nSafeType - rtype\n DrawerType - rtype\n CoffeeMachineType - rtype\n HandTowelHolderType - rtype\n SinkBasinType - rtype\n DresserType - rtype\n LaundryHamperType - rtype\n TVStandType - rtype\n BathtubBasinType - rtype\n CabinetType - rtype\n FridgeType - rtype\n DeskType - rtype\n ToiletType - rtype\n CartType - rtype\n SideTableType - rtype\n SofaType - rtype\n CoffeeTableType - rtype\n DiningTableType - rtype\n CounterTopType - rtype\n GarbageCanType - rtype\n ArmChairType - rtype\n ShelfType - rtype\n MicrowaveType - rtype\n ToasterType - rtype\n BedType - rtype\n PaintingHangerType - rtype\n TowelHolderType - rtype\n ToiletPaperHangerType - rtype\n StoveBurnerType - rtype\n OttomanType - rtype\n\n\n Apple_bar__plus_01_dot_16_bar__plus_01_dot_32_bar__minus_01_dot_48 - object\n Apple_bar__minus_01_dot_09_bar__plus_01_dot_07_bar__plus_01_dot_31 - object\n Bowl_bar__plus_01_dot_26_bar__plus_01_dot_67_bar__minus_01_dot_55 - object\n Bread_bar__plus_01_dot_53_bar__plus_00_dot_97_bar__plus_00_dot_49 - object\n ButterKnife_bar__plus_00_dot_80_bar__plus_00_dot_91_bar__plus_00_dot_73 - object\n ButterKnife_bar__plus_02_dot_97_bar__plus_00_dot_90_bar__minus_00_dot_70 - object\n ButterKnife_bar__minus_00_dot_87_bar__plus_00_dot_52_bar__minus_00_dot_27 - object\n CellPhone_bar__minus_00_dot_80_bar__plus_00_dot_90_bar__minus_00_dot_83 - object\n Cup_bar__plus_01_dot_26_bar__plus_01_dot_67_bar__minus_01_dot_34 - object\n Cup_bar__plus_03_dot_07_bar__plus_00_dot_75_bar__plus_00_dot_10 - object\n DishSponge_bar__plus_00_dot_53_bar__plus_00_dot_91_bar__plus_00_dot_73 - object\n DishSponge_bar__minus_00_dot_83_bar__plus_00_dot_52_bar__plus_00_dot_75 - object\n Egg_bar__plus_01_dot_01_bar__plus_00_dot_77_bar__minus_01_dot_43 - object\n Egg_bar__plus_03_dot_15_bar__plus_00_dot_80_bar__minus_00_dot_10 - object\n Egg_bar__plus_03_dot_29_bar__plus_00_dot_15_bar__plus_01_dot_55 - object\n Faucet_bar__plus_03_dot_31_bar__plus_00_dot_89_bar__plus_00_dot_09 - object\n Fork_bar__plus_01_dot_23_bar__plus_00_dot_91_bar__plus_00_dot_04 - object\n Fork_bar__plus_01_dot_23_bar__plus_00_dot_91_bar__plus_00_dot_75 - object\n Fork_bar__minus_00_dot_83_bar__plus_00_dot_33_bar__plus_00_dot_08 - object\n Glassbottle_bar__plus_00_dot_02_bar__plus_00_dot_90_bar__minus_01_dot_59 - object\n Glassbottle_bar__plus_03_dot_08_bar__plus_00_dot_18_bar__minus_00_dot_83 - object\n HousePlant_bar__plus_03_dot_20_bar__plus_00_dot_89_bar__minus_00_dot_37 - object\n Kettle_bar__plus_03_dot_12_bar__plus_00_dot_90_bar__minus_00_dot_80 - object\n Kettle_bar__minus_00_dot_42_bar__plus_00_dot_90_bar__minus_01_dot_27 - object\n Knife_bar__minus_00_dot_99_bar__plus_00_dot_16_bar__minus_00_dot_27 - object\n Ladle_bar__plus_00_dot_97_bar__plus_00_dot_95_bar__plus_00_dot_89 - object\n Ladle_bar__minus_00_dot_15_bar__plus_00_dot_94_bar__minus_01_dot_59 - object\n Lettuce_bar__plus_00_dot_84_bar__plus_00_dot_98_bar__plus_00_dot_32 - object\n LightSwitch_bar__plus_02_dot_59_bar__plus_01_dot_31_bar__minus_01_dot_88 - object\n Mirror_bar__minus_01_dot_30_bar__plus_01_dot_63_bar__plus_00_dot_05 - object\n Mug_bar__plus_02_dot_92_bar__plus_00_dot_17_bar__plus_00_dot_91 - object\n Mug_bar__plus_03_dot_05_bar__plus_00_dot_97_bar__plus_00_dot_59 - object\n Pan_bar__plus_00_dot_34_bar__plus_00_dot_87_bar__minus_01_dot_65 - object\n PepperShaker_bar__plus_03_dot_14_bar__plus_00_dot_17_bar__plus_00_dot_77 - object\n PepperShaker_bar__plus_03_dot_15_bar__plus_01_dot_26_bar__minus_00_dot_92 - object\n Plate_bar__plus_00_dot_81_bar__plus_01_dot_69_bar__minus_01_dot_62 - object\n Potato_bar__plus_03_dot_15_bar__plus_00_dot_79_bar__plus_00_dot_23 - object\n Pot_bar__minus_00_dot_42_bar__plus_00_dot_90_bar__minus_00_dot_92 - object\n Pot_bar__minus_00_dot_86_bar__plus_00_dot_90_bar__plus_00_dot_18 - object\n SaltShaker_bar__plus_00_dot_83_bar__plus_00_dot_91_bar__plus_00_dot_17 - object\n SaltShaker_bar__minus_00_dot_95_bar__plus_00_dot_32_bar__plus_01_dot_26 - object\n Sink_bar__plus_03_dot_08_bar__plus_00_dot_89_bar__plus_00_dot_09 - object\n SoapBottle_bar__plus_00_dot_16_bar__plus_00_dot_91_bar__minus_01_dot_38 - object\n Spatula_bar__plus_00_dot_15_bar__plus_00_dot_92_bar__minus_01_dot_48 - object\n Spatula_bar__plus_00_dot_84_bar__plus_00_dot_93_bar__plus_00_dot_53 - object\n Spatula_bar__minus_00_dot_79_bar__plus_00_dot_53_bar__plus_00_dot_66 - object\n Spoon_bar__plus_00_dot_49_bar__plus_00_dot_91_bar__plus_00_dot_18 - object\n Spoon_bar__plus_00_dot_71_bar__plus_00_dot_91_bar__plus_00_dot_43 - object\n Spoon_bar__minus_01_dot_08_bar__plus_00_dot_90_bar__plus_00_dot_40 - object\n StoveKnob_bar__minus_00_dot_09_bar__plus_00_dot_79_bar__minus_01_dot_01 - object\n StoveKnob_bar__minus_00_dot_18_bar__plus_00_dot_79_bar__minus_00_dot_92 - object\n StoveKnob_bar__minus_00_dot_28_bar__plus_00_dot_79_bar__minus_00_dot_82 - object\n StoveKnob_bar__minus_00_dot_37_bar__plus_00_dot_79_bar__minus_00_dot_72 - object\n Tomato_bar__minus_00_dot_04_bar__plus_00_dot_94_bar__minus_01_dot_39 - object\n Tomato_bar__minus_01_dot_15_bar__plus_00_dot_94_bar__plus_00_dot_18 - object\n Window_bar__plus_03_dot_70_bar__plus_01_dot_68_bar__plus_00_dot_05 - object\n Cabinet_bar__plus_00_dot_14_bar__plus_01_dot_67_bar__minus_01_dot_56 - receptacle\n Cabinet_bar__plus_00_dot_62_bar__plus_01_dot_87_bar__minus_01_dot_26 - receptacle\n Cabinet_bar__plus_01_dot_40_bar__plus_01_dot_87_bar__minus_01_dot_26 - receptacle\n Cabinet_bar__plus_02_dot_82_bar__plus_01_dot_77_bar__minus_01_dot_05 - receptacle\n Cabinet_bar__plus_02_dot_82_bar__plus_01_dot_77_bar__minus_01_dot_85 - receptacle\n Cabinet_bar__plus_02_dot_85_bar__plus_00_dot_42_bar__plus_00_dot_41 - receptacle\n Cabinet_bar__plus_02_dot_85_bar__plus_00_dot_42_bar__minus_00_dot_61 - receptacle\n Cabinet_bar__plus_02_dot_85_bar__plus_00_dot_42_bar__minus_00_dot_96 - receptacle\n Cabinet_bar__plus_03_dot_07_bar__plus_01_dot_67_bar__minus_00_dot_71 - receptacle\n Cabinet_bar__minus_00_dot_19_bar__plus_01_dot_67_bar__minus_01_dot_34 - receptacle\n Cabinet_bar__minus_00_dot_20_bar__plus_01_dot_96_bar__minus_01_dot_33 - receptacle\n Cabinet_bar__minus_00_dot_71_bar__plus_01_dot_96_bar__minus_00_dot_82 - receptacle\n Cabinet_bar__minus_00_dot_92_bar__plus_01_dot_67_bar__minus_00_dot_62 - receptacle\n CoffeeMachine_bar__plus_03_dot_22_bar__plus_00_dot_89_bar__plus_00_dot_70 - receptacle\n CounterTop_bar__plus_00_dot_09_bar__plus_00_dot_89_bar__minus_01_dot_52 - receptacle\n CounterTop_bar__plus_01_dot_21_bar__plus_00_dot_94_bar__plus_00_dot_46 - receptacle\n CounterTop_bar__plus_03_dot_11_bar__plus_00_dot_94_bar__plus_00_dot_02 - receptacle\n CounterTop_bar__minus_01_dot_01_bar__plus_00_dot_94_bar__minus_00_dot_04 - receptacle\n Drawer_bar__plus_00_dot_38_bar__plus_00_dot_19_bar__minus_01_dot_51 - receptacle\n Drawer_bar__plus_00_dot_38_bar__plus_00_dot_38_bar__minus_01_dot_51 - receptacle\n Drawer_bar__plus_00_dot_38_bar__plus_00_dot_57_bar__minus_01_dot_51 - receptacle\n Drawer_bar__plus_00_dot_38_bar__plus_00_dot_77_bar__minus_01_dot_51 - receptacle\n Drawer_bar__plus_03_dot_02_bar__plus_00_dot_77_bar__plus_00_dot_70 - receptacle\n Drawer_bar__plus_03_dot_02_bar__plus_00_dot_77_bar__minus_00_dot_41 - receptacle\n Drawer_bar__plus_03_dot_02_bar__plus_00_dot_77_bar__minus_00_dot_78 - receptacle\n Drawer_bar__minus_00_dot_05_bar__plus_00_dot_19_bar__minus_01_dot_32 - receptacle\n Drawer_bar__minus_00_dot_05_bar__plus_00_dot_38_bar__minus_01_dot_32 - receptacle\n Drawer_bar__minus_00_dot_05_bar__plus_00_dot_57_bar__minus_01_dot_32 - receptacle\n Drawer_bar__minus_00_dot_05_bar__plus_00_dot_77_bar__minus_01_dot_32 - receptacle\n Drawer_bar__minus_00_dot_68_bar__plus_00_dot_19_bar__minus_00_dot_70 - receptacle\n Drawer_bar__minus_00_dot_68_bar__plus_00_dot_39_bar__minus_00_dot_70 - receptacle\n Drawer_bar__minus_00_dot_68_bar__plus_00_dot_58_bar__minus_00_dot_70 - receptacle\n Drawer_bar__minus_00_dot_68_bar__plus_00_dot_77_bar__minus_00_dot_70 - receptacle\n Drawer_bar__minus_00_dot_86_bar__plus_00_dot_19_bar__plus_00_dot_66 - receptacle\n Drawer_bar__minus_00_dot_86_bar__plus_00_dot_19_bar__plus_01_dot_43 - receptacle\n Drawer_bar__minus_00_dot_86_bar__plus_00_dot_19_bar__minus_00_dot_10 - receptacle\n Drawer_bar__minus_00_dot_86_bar__plus_00_dot_39_bar__plus_00_dot_66 - receptacle\n Drawer_bar__minus_00_dot_86_bar__plus_00_dot_39_bar__plus_01_dot_43 - receptacle\n Drawer_bar__minus_00_dot_86_bar__plus_00_dot_39_bar__minus_00_dot_10 - receptacle\n Drawer_bar__minus_00_dot_86_bar__plus_00_dot_58_bar__plus_00_dot_66 - receptacle\n Drawer_bar__minus_00_dot_86_bar__plus_00_dot_58_bar__plus_01_dot_43 - receptacle\n Drawer_bar__minus_00_dot_86_bar__plus_00_dot_58_bar__minus_00_dot_10 - receptacle\n Drawer_bar__minus_00_dot_86_bar__plus_00_dot_77_bar__plus_00_dot_66 - receptacle\n Drawer_bar__minus_00_dot_86_bar__plus_00_dot_77_bar__plus_01_dot_43 - receptacle\n Drawer_bar__minus_00_dot_86_bar__plus_00_dot_77_bar__minus_00_dot_10 - receptacle\n Fridge_bar__plus_01_dot_01_bar__plus_00_dot_03_bar__minus_01_dot_47 - receptacle\n GarbageCan_bar__plus_03_dot_18_bar__plus_00_dot_03_bar__plus_01_dot_60 - receptacle\n Microwave_bar__minus_01_dot_03_bar__plus_00_dot_89_bar__plus_01_dot_43 - receptacle\n Sink_bar__plus_03_dot_08_bar__plus_00_dot_89_bar__plus_00_dot_09_bar_SinkBasin - receptacle\n StoveBurner_bar__minus_00_dot_24_bar__plus_00_dot_90_bar__minus_01_dot_09 - receptacle\n StoveBurner_bar__minus_00_dot_42_bar__plus_00_dot_90_bar__minus_00_dot_92 - receptacle\n StoveBurner_bar__minus_00_dot_42_bar__plus_00_dot_90_bar__minus_01_dot_27 - receptacle\n StoveBurner_bar__minus_00_dot_60_bar__plus_00_dot_90_bar__minus_01_dot_09 - receptacle\n Toaster_bar__minus_01_dot_04_bar__plus_00_dot_87_bar__minus_00_dot_40 - receptacle\n loc_bar__minus_1_bar_2_bar_3_bar_45 - location\n loc_bar_2_bar__minus_1_bar_2_bar_45 - location\n loc_bar_10_bar_0_bar_1_bar_0 - location\n loc_bar_10_bar_3_bar_1_bar_45 - location\n loc_bar__minus_1_bar_5_bar_3_bar_45 - location\n loc_bar_0_bar_2_bar_0_bar_60 - location\n loc_bar_0_bar_2_bar_2_bar_45 - location\n loc_bar_8_bar_1_bar_1_bar_60 - location\n loc_bar_10_bar__minus_2_bar_1_bar_45 - location\n loc_bar_4_bar__minus_2_bar_0_bar_45 - location\n loc_bar_2_bar__minus_2_bar_2_bar_60 - location\n loc_bar_1_bar__minus_3_bar_2_bar_0 - location\n loc_bar_11_bar_5_bar_1_bar_60 - location\n loc_bar_0_bar_1_bar_2_bar_60 - location\n loc_bar_9_bar_2_bar_2_bar_45 - location\n loc_bar__minus_1_bar_3_bar_2_bar_45 - location\n loc_bar_8_bar_0_bar_1_bar_60 - location\n loc_bar_9_bar__minus_5_bar_1_bar__minus_15 - location\n loc_bar_0_bar_4_bar_2_bar_45 - location\n loc_bar__minus_1_bar__minus_1_bar_2_bar_45 - location\n loc_bar_1_bar__minus_3_bar_2_bar_45 - location\n loc_bar__minus_1_bar__minus_2_bar_3_bar_45 - location\n loc_bar_0_bar__minus_2_bar_0_bar_45 - location\n loc_bar_0_bar_1_bar_2_bar_45 - location\n loc_bar_4_bar__minus_2_bar_2_bar__minus_15 - location\n loc_bar_0_bar__minus_2_bar_2_bar__minus_15 - location\n loc_bar_9_bar__minus_5_bar_2_bar_30 - location\n loc_bar__minus_1_bar__minus_1_bar_0_bar_45 - location\n loc_bar_2_bar__minus_3_bar_2_bar_0 - location\n loc_bar_4_bar__minus_2_bar_2_bar_60 - location\n loc_bar_0_bar__minus_3_bar_3_bar_60 - location\n loc_bar_8_bar__minus_5_bar_1_bar_0 - location\n loc_bar__minus_1_bar_1_bar_3_bar_0 - location\n loc_bar__minus_1_bar__minus_2_bar_3_bar_0 - location\n loc_bar_10_bar__minus_1_bar_1_bar_60 - location\n loc_bar_9_bar_0_bar_2_bar_45 - location\n loc_bar_10_bar_0_bar_1_bar_60 - location\n loc_bar_0_bar_4_bar_2_bar_60 - location\n loc_bar__minus_1_bar__minus_2_bar_2_bar_60 - location\n loc_bar_9_bar__minus_1_bar_0_bar_45 - location\n loc_bar_0_bar__minus_2_bar_2_bar_45 - location\n loc_bar_0_bar__minus_1_bar_2_bar_45 - location\n loc_bar_8_bar__minus_5_bar_1_bar_60 - location\n loc_bar_0_bar_1_bar_0_bar_45 - location\n loc_bar_0_bar__minus_3_bar_3_bar__minus_15 - location\n loc_bar_9_bar__minus_4_bar_1_bar_0 - location\n loc_bar__minus_1_bar_2_bar_0_bar_45 - location\n loc_bar_2_bar__minus_2_bar_2_bar_45 - location\n loc_bar_4_bar__minus_2_bar_3_bar_60 - location\n loc_bar__minus_1_bar_1_bar_2_bar_45 - location\n loc_bar_0_bar__minus_3_bar_2_bar_60 - location\n loc_bar_4_bar__minus_3_bar_2_bar_30 - location\n )\n \n\n(:init\n\n\n (receptacleType Drawer_bar__minus_00_dot_68_bar__plus_00_dot_19_bar__minus_00_dot_70 DrawerType)\n (receptacleType Drawer_bar__minus_00_dot_05_bar__plus_00_dot_38_bar__minus_01_dot_32 DrawerType)\n (receptacleType Cabinet_bar__minus_00_dot_92_bar__plus_01_dot_67_bar__minus_00_dot_62 CabinetType)\n (receptacleType CoffeeMachine_bar__plus_03_dot_22_bar__plus_00_dot_89_bar__plus_00_dot_70 CoffeeMachineType)\n (receptacleType Drawer_bar__plus_00_dot_38_bar__plus_00_dot_19_bar__minus_01_dot_51 DrawerType)\n (receptacleType Drawer_bar__plus_00_dot_38_bar__plus_00_dot_57_bar__minus_01_dot_51 DrawerType)\n (receptacleType Drawer_bar__minus_00_dot_86_bar__plus_00_dot_77_bar__plus_00_dot_66 DrawerType)\n (receptacleType Cabinet_bar__plus_03_dot_07_bar__plus_01_dot_67_bar__minus_00_dot_71 CabinetType)\n (receptacleType Cabinet_bar__minus_00_dot_20_bar__plus_01_dot_96_bar__minus_01_dot_33 CabinetType)\n (receptacleType Cabinet_bar__minus_00_dot_19_bar__plus_01_dot_67_bar__minus_01_dot_34 CabinetType)\n (receptacleType Drawer_bar__minus_00_dot_05_bar__plus_00_dot_57_bar__minus_01_dot_32 DrawerType)\n (receptacleType CounterTop_bar__plus_00_dot_09_bar__plus_00_dot_89_bar__minus_01_dot_52 CounterTopType)\n (receptacleType Drawer_bar__minus_00_dot_86_bar__plus_00_dot_58_bar__plus_00_dot_66 DrawerType)\n (receptacleType Cabinet_bar__minus_00_dot_71_bar__plus_01_dot_96_bar__minus_00_dot_82 CabinetType)\n (receptacleType Drawer_bar__minus_00_dot_86_bar__plus_00_dot_39_bar__plus_00_dot_66 DrawerType)\n (receptacleType Cabinet_bar__plus_02_dot_85_bar__plus_00_dot_42_bar__minus_00_dot_61 CabinetType)\n (receptacleType Cabinet_bar__plus_02_dot_82_bar__plus_01_dot_77_bar__minus_01_dot_05 CabinetType)\n (receptacleType Drawer_bar__minus_00_dot_86_bar__plus_00_dot_19_bar__plus_01_dot_43 DrawerType)\n (receptacleType Sink_bar__plus_03_dot_08_bar__plus_00_dot_89_bar__plus_00_dot_09_bar_SinkBasin SinkBasinType)\n (receptacleType Microwave_bar__minus_01_dot_03_bar__plus_00_dot_89_bar__plus_01_dot_43 MicrowaveType)\n (receptacleType Cabinet_bar__plus_02_dot_85_bar__plus_00_dot_42_bar__plus_00_dot_41 CabinetType)\n (receptacleType Drawer_bar__plus_00_dot_38_bar__plus_00_dot_38_bar__minus_01_dot_51 DrawerType)\n (receptacleType Drawer_bar__minus_00_dot_86_bar__plus_00_dot_19_bar__plus_00_dot_66 DrawerType)\n (receptacleType Drawer_bar__minus_00_dot_86_bar__plus_00_dot_19_bar__minus_00_dot_10 DrawerType)\n (receptacleType Drawer_bar__minus_00_dot_68_bar__plus_00_dot_58_bar__minus_00_dot_70 DrawerType)\n (receptacleType Toaster_bar__minus_01_dot_04_bar__plus_00_dot_87_bar__minus_00_dot_40 ToasterType)\n (receptacleType StoveBurner_bar__minus_00_dot_24_bar__plus_00_dot_90_bar__minus_01_dot_09 StoveBurnerType)\n (receptacleType CounterTop_bar__plus_01_dot_21_bar__plus_00_dot_94_bar__plus_00_dot_46 CounterTopType)\n (receptacleType Drawer_bar__minus_00_dot_86_bar__plus_00_dot_77_bar__minus_00_dot_10 DrawerType)\n (receptacleType Drawer_bar__minus_00_dot_05_bar__plus_00_dot_77_bar__minus_01_dot_32 DrawerType)\n (receptacleType Drawer_bar__minus_00_dot_86_bar__plus_00_dot_58_bar__plus_01_dot_43 DrawerType)\n (receptacleType GarbageCan_bar__plus_03_dot_18_bar__plus_00_dot_03_bar__plus_01_dot_60 GarbageCanType)\n (receptacleType Drawer_bar__plus_00_dot_38_bar__plus_00_dot_77_bar__minus_01_dot_51 DrawerType)\n (receptacleType StoveBurner_bar__minus_00_dot_60_bar__plus_00_dot_90_bar__minus_01_dot_09 StoveBurnerType)\n (receptacleType Drawer_bar__minus_00_dot_86_bar__plus_00_dot_39_bar__minus_00_dot_10 DrawerType)\n (receptacleType StoveBurner_bar__minus_00_dot_42_bar__plus_00_dot_90_bar__minus_00_dot_92 StoveBurnerType)\n (receptacleType Drawer_bar__plus_03_dot_02_bar__plus_00_dot_77_bar__minus_00_dot_78 DrawerType)\n (receptacleType Cabinet_bar__plus_02_dot_82_bar__plus_01_dot_77_bar__minus_01_dot_85 CabinetType)\n (receptacleType CounterTop_bar__minus_01_dot_01_bar__plus_00_dot_94_bar__minus_00_dot_04 CounterTopType)\n (receptacleType Drawer_bar__minus_00_dot_86_bar__plus_00_dot_39_bar__plus_01_dot_43 DrawerType)\n (receptacleType Drawer_bar__minus_00_dot_68_bar__plus_00_dot_77_bar__minus_00_dot_70 DrawerType)\n (receptacleType Drawer_bar__plus_03_dot_02_bar__plus_00_dot_77_bar__minus_00_dot_41 DrawerType)\n (receptacleType CounterTop_bar__plus_03_dot_11_bar__plus_00_dot_94_bar__plus_00_dot_02 CounterTopType)\n (receptacleType Cabinet_bar__plus_00_dot_62_bar__plus_01_dot_87_bar__minus_01_dot_26 CabinetType)\n (receptacleType Drawer_bar__minus_00_dot_86_bar__plus_00_dot_58_bar__minus_00_dot_10 DrawerType)\n (receptacleType Fridge_bar__plus_01_dot_01_bar__plus_00_dot_03_bar__minus_01_dot_47 FridgeType)\n (receptacleType Cabinet_bar__plus_02_dot_85_bar__plus_00_dot_42_bar__minus_00_dot_96 CabinetType)\n (receptacleType Cabinet_bar__plus_00_dot_14_bar__plus_01_dot_67_bar__minus_01_dot_56 CabinetType)\n (receptacleType StoveBurner_bar__minus_00_dot_42_bar__plus_00_dot_90_bar__minus_01_dot_27 StoveBurnerType)\n (receptacleType Drawer_bar__minus_00_dot_05_bar__plus_00_dot_19_bar__minus_01_dot_32 DrawerType)\n (receptacleType Cabinet_bar__plus_01_dot_40_bar__plus_01_dot_87_bar__minus_01_dot_26 CabinetType)\n (receptacleType Drawer_bar__minus_00_dot_68_bar__plus_00_dot_39_bar__minus_00_dot_70 DrawerType)\n (receptacleType Drawer_bar__minus_00_dot_86_bar__plus_00_dot_77_bar__plus_01_dot_43 DrawerType)\n (receptacleType Drawer_bar__plus_03_dot_02_bar__plus_00_dot_77_bar__plus_00_dot_70 DrawerType)\n (objectType Mug_bar__plus_03_dot_05_bar__plus_00_dot_97_bar__plus_00_dot_59 MugType)\n (objectType Knife_bar__minus_00_dot_99_bar__plus_00_dot_16_bar__minus_00_dot_27 KnifeType)\n (objectType Fork_bar__minus_00_dot_83_bar__plus_00_dot_33_bar__plus_00_dot_08 ForkType)\n (objectType Potato_bar__plus_03_dot_15_bar__plus_00_dot_79_bar__plus_00_dot_23 PotatoType)\n (objectType SaltShaker_bar__plus_00_dot_83_bar__plus_00_dot_91_bar__plus_00_dot_17 SaltShakerType)\n (objectType SaltShaker_bar__minus_00_dot_95_bar__plus_00_dot_32_bar__plus_01_dot_26 SaltShakerType)\n (objectType PepperShaker_bar__plus_03_dot_14_bar__plus_00_dot_17_bar__plus_00_dot_77 PepperShakerType)\n (objectType Sink_bar__plus_03_dot_08_bar__plus_00_dot_89_bar__plus_00_dot_09 SinkType)\n (objectType Bowl_bar__plus_01_dot_26_bar__plus_01_dot_67_bar__minus_01_dot_55 BowlType)\n (objectType ButterKnife_bar__plus_02_dot_97_bar__plus_00_dot_90_bar__minus_00_dot_70 ButterKnifeType)\n (objectType Egg_bar__plus_03_dot_29_bar__plus_00_dot_15_bar__plus_01_dot_55 EggType)\n (objectType Spoon_bar__minus_01_dot_08_bar__plus_00_dot_90_bar__plus_00_dot_40 SpoonType)\n (objectType DishSponge_bar__minus_00_dot_83_bar__plus_00_dot_52_bar__plus_00_dot_75 DishSpongeType)\n (objectType Egg_bar__plus_03_dot_15_bar__plus_00_dot_80_bar__minus_00_dot_10 EggType)\n (objectType StoveKnob_bar__minus_00_dot_37_bar__plus_00_dot_79_bar__minus_00_dot_72 StoveKnobType)\n (objectType Pan_bar__plus_00_dot_34_bar__plus_00_dot_87_bar__minus_01_dot_65 PanType)\n (objectType Spoon_bar__plus_00_dot_49_bar__plus_00_dot_91_bar__plus_00_dot_18 SpoonType)\n (objectType DishSponge_bar__plus_00_dot_53_bar__plus_00_dot_91_bar__plus_00_dot_73 DishSpongeType)\n (objectType Glassbottle_bar__plus_03_dot_08_bar__plus_00_dot_18_bar__minus_00_dot_83 GlassbottleType)\n (objectType Plate_bar__plus_00_dot_81_bar__plus_01_dot_69_bar__minus_01_dot_62 PlateType)\n (objectType ButterKnife_bar__minus_00_dot_87_bar__plus_00_dot_52_bar__minus_00_dot_27 ButterKnifeType)\n (objectType Cup_bar__plus_01_dot_26_bar__plus_01_dot_67_bar__minus_01_dot_34 CupType)\n (objectType ButterKnife_bar__plus_00_dot_80_bar__plus_00_dot_91_bar__plus_00_dot_73 ButterKnifeType)\n (objectType PepperShaker_bar__plus_03_dot_15_bar__plus_01_dot_26_bar__minus_00_dot_92 PepperShakerType)\n (objectType Kettle_bar__minus_00_dot_42_bar__plus_00_dot_90_bar__minus_01_dot_27 KettleType)\n (objectType Ladle_bar__plus_00_dot_97_bar__plus_00_dot_95_bar__plus_00_dot_89 LadleType)\n (objectType StoveKnob_bar__minus_00_dot_18_bar__plus_00_dot_79_bar__minus_00_dot_92 StoveKnobType)\n (objectType Window_bar__plus_03_dot_70_bar__plus_01_dot_68_bar__plus_00_dot_05 WindowType)\n (objectType Spatula_bar__plus_00_dot_84_bar__plus_00_dot_93_bar__plus_00_dot_53 SpatulaType)\n (objectType Lettuce_bar__plus_00_dot_84_bar__plus_00_dot_98_bar__plus_00_dot_32 LettuceType)\n (objectType Pot_bar__minus_00_dot_86_bar__plus_00_dot_90_bar__plus_00_dot_18 PotType)\n (objectType Kettle_bar__plus_03_dot_12_bar__plus_00_dot_90_bar__minus_00_dot_80 KettleType)\n (objectType Cup_bar__plus_03_dot_07_bar__plus_00_dot_75_bar__plus_00_dot_10 CupType)\n (objectType SoapBottle_bar__plus_00_dot_16_bar__plus_00_dot_91_bar__minus_01_dot_38 SoapBottleType)\n (objectType Spatula_bar__plus_00_dot_15_bar__plus_00_dot_92_bar__minus_01_dot_48 SpatulaType)\n (objectType Bread_bar__plus_01_dot_53_bar__plus_00_dot_97_bar__plus_00_dot_49 BreadType)\n (objectType Apple_bar__minus_01_dot_09_bar__plus_01_dot_07_bar__plus_01_dot_31 AppleType)\n (objectType StoveKnob_bar__minus_00_dot_28_bar__plus_00_dot_79_bar__minus_00_dot_82 StoveKnobType)\n (objectType CellPhone_bar__minus_00_dot_80_bar__plus_00_dot_90_bar__minus_00_dot_83 CellPhoneType)\n (objectType Apple_bar__plus_01_dot_16_bar__plus_01_dot_32_bar__minus_01_dot_48 AppleType)\n (objectType HousePlant_bar__plus_03_dot_20_bar__plus_00_dot_89_bar__minus_00_dot_37 HousePlantType)\n (objectType Mug_bar__plus_02_dot_92_bar__plus_00_dot_17_bar__plus_00_dot_91 MugType)\n (objectType Spoon_bar__plus_00_dot_71_bar__plus_00_dot_91_bar__plus_00_dot_43 SpoonType)\n (objectType Glassbottle_bar__plus_00_dot_02_bar__plus_00_dot_90_bar__minus_01_dot_59 GlassbottleType)\n (objectType StoveKnob_bar__minus_00_dot_09_bar__plus_00_dot_79_bar__minus_01_dot_01 StoveKnobType)\n (objectType Ladle_bar__minus_00_dot_15_bar__plus_00_dot_94_bar__minus_01_dot_59 LadleType)\n (objectType Fork_bar__plus_01_dot_23_bar__plus_00_dot_91_bar__plus_00_dot_75 ForkType)\n (objectType Mirror_bar__minus_01_dot_30_bar__plus_01_dot_63_bar__plus_00_dot_05 MirrorType)\n (objectType Fork_bar__plus_01_dot_23_bar__plus_00_dot_91_bar__plus_00_dot_04 ForkType)\n (objectType Spatula_bar__minus_00_dot_79_bar__plus_00_dot_53_bar__plus_00_dot_66 SpatulaType)\n (objectType LightSwitch_bar__plus_02_dot_59_bar__plus_01_dot_31_bar__minus_01_dot_88 LightSwitchType)\n (objectType Tomato_bar__minus_00_dot_04_bar__plus_00_dot_94_bar__minus_01_dot_39 TomatoType)\n (objectType Egg_bar__plus_01_dot_01_bar__plus_00_dot_77_bar__minus_01_dot_43 EggType)\n (objectType Tomato_bar__minus_01_dot_15_bar__plus_00_dot_94_bar__plus_00_dot_18 TomatoType)\n (objectType Pot_bar__minus_00_dot_42_bar__plus_00_dot_90_bar__minus_00_dot_92 PotType)\n (canContain DrawerType SaltShakerType)\n (canContain DrawerType DishSpongeType)\n (canContain DrawerType LadleType)\n (canContain DrawerType ForkType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType SpoonType)\n (canContain DrawerType SoapBottleType)\n (canContain DrawerType ButterKnifeType)\n (canContain DrawerType PepperShakerType)\n 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loc_bar_2_bar__minus_1_bar_2_bar_45)\n (receptacleAtLocation Drawer_bar__minus_00_dot_05_bar__plus_00_dot_57_bar__minus_01_dot_32 loc_bar_2_bar__minus_2_bar_2_bar_60)\n (receptacleAtLocation Drawer_bar__minus_00_dot_05_bar__plus_00_dot_77_bar__minus_01_dot_32 loc_bar_2_bar__minus_2_bar_2_bar_45)\n (receptacleAtLocation Drawer_bar__minus_00_dot_68_bar__plus_00_dot_19_bar__minus_00_dot_70 loc_bar_0_bar_2_bar_2_bar_45)\n (receptacleAtLocation Drawer_bar__minus_00_dot_68_bar__plus_00_dot_39_bar__minus_00_dot_70 loc_bar_0_bar_1_bar_2_bar_60)\n (receptacleAtLocation Drawer_bar__minus_00_dot_68_bar__plus_00_dot_58_bar__minus_00_dot_70 loc_bar_0_bar_1_bar_2_bar_45)\n (receptacleAtLocation Drawer_bar__minus_00_dot_68_bar__plus_00_dot_77_bar__minus_00_dot_70 loc_bar__minus_1_bar_1_bar_2_bar_45)\n (receptacleAtLocation Drawer_bar__minus_00_dot_86_bar__plus_00_dot_19_bar__plus_00_dot_66 loc_bar_0_bar__minus_2_bar_0_bar_45)\n (receptacleAtLocation 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loc_bar_0_bar__minus_3_bar_2_bar_60)\n (receptacleAtLocation StoveBurner_bar__minus_00_dot_42_bar__plus_00_dot_90_bar__minus_00_dot_92 loc_bar_0_bar__minus_3_bar_3_bar_60)\n (receptacleAtLocation StoveBurner_bar__minus_00_dot_42_bar__plus_00_dot_90_bar__minus_01_dot_27 loc_bar_0_bar__minus_3_bar_2_bar_60)\n (receptacleAtLocation StoveBurner_bar__minus_00_dot_60_bar__plus_00_dot_90_bar__minus_01_dot_09 loc_bar_0_bar__minus_3_bar_3_bar_60)\n (receptacleAtLocation Toaster_bar__minus_01_dot_04_bar__plus_00_dot_87_bar__minus_00_dot_40 loc_bar__minus_1_bar__minus_2_bar_3_bar_45)\n (objectAtLocation Mug_bar__plus_03_dot_05_bar__plus_00_dot_97_bar__plus_00_dot_59 loc_bar_10_bar_3_bar_1_bar_45)\n (objectAtLocation Spoon_bar__plus_00_dot_49_bar__plus_00_dot_91_bar__plus_00_dot_18 loc_bar_4_bar__minus_2_bar_0_bar_45)\n (objectAtLocation Tomato_bar__minus_00_dot_04_bar__plus_00_dot_94_bar__minus_01_dot_39 loc_bar_1_bar__minus_3_bar_2_bar_45)\n (objectAtLocation 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Pot_bar__minus_00_dot_86_bar__plus_00_dot_90_bar__plus_00_dot_18 loc_bar__minus_1_bar_2_bar_3_bar_45)\n (objectAtLocation Kettle_bar__plus_03_dot_12_bar__plus_00_dot_90_bar__minus_00_dot_80 loc_bar_10_bar__minus_2_bar_1_bar_45)\n (objectAtLocation Window_bar__plus_03_dot_70_bar__plus_01_dot_68_bar__plus_00_dot_05 loc_bar_10_bar_0_bar_1_bar_0)\n (objectAtLocation Spatula_bar__plus_00_dot_15_bar__plus_00_dot_92_bar__minus_01_dot_48 loc_bar_1_bar__minus_3_bar_2_bar_45)\n (objectAtLocation Knife_bar__minus_00_dot_99_bar__plus_00_dot_16_bar__minus_00_dot_27 loc_bar_0_bar_4_bar_2_bar_60)\n (objectAtLocation Lettuce_bar__plus_00_dot_84_bar__plus_00_dot_98_bar__plus_00_dot_32 loc_bar_4_bar__minus_2_bar_0_bar_45)\n (objectAtLocation LightSwitch_bar__plus_02_dot_59_bar__plus_01_dot_31_bar__minus_01_dot_88 loc_bar_9_bar__minus_5_bar_2_bar_30)\n (objectAtLocation Cup_bar__plus_03_dot_07_bar__plus_00_dot_75_bar__plus_00_dot_10 loc_bar_10_bar__minus_1_bar_1_bar_60)\n (objectAtLocation SaltShaker_bar__minus_00_dot_95_bar__plus_00_dot_32_bar__plus_01_dot_26 loc_bar_0_bar_2_bar_0_bar_60)\n (objectAtLocation Egg_bar__plus_01_dot_01_bar__plus_00_dot_77_bar__minus_01_dot_43 loc_bar_4_bar__minus_2_bar_2_bar_60)\n (objectAtLocation PepperShaker_bar__plus_03_dot_15_bar__plus_01_dot_26_bar__minus_00_dot_92 loc_bar_9_bar__minus_4_bar_1_bar_0)\n (objectAtLocation ButterKnife_bar__plus_00_dot_80_bar__plus_00_dot_91_bar__plus_00_dot_73 loc_bar_4_bar__minus_2_bar_0_bar_45)\n (objectAtLocation Apple_bar__plus_01_dot_16_bar__plus_01_dot_32_bar__minus_01_dot_48 loc_bar_4_bar__minus_2_bar_2_bar_60)\n (objectAtLocation Pan_bar__plus_00_dot_34_bar__plus_00_dot_87_bar__minus_01_dot_65 loc_bar_1_bar__minus_3_bar_2_bar_45)\n (objectAtLocation Bread_bar__plus_01_dot_53_bar__plus_00_dot_97_bar__plus_00_dot_49 loc_bar_4_bar__minus_2_bar_0_bar_45)\n (objectAtLocation CellPhone_bar__minus_00_dot_80_bar__plus_00_dot_90_bar__minus_00_dot_83 loc_bar__minus_1_bar_2_bar_3_bar_45)\n (objectAtLocation DishSponge_bar__minus_00_dot_83_bar__plus_00_dot_52_bar__plus_00_dot_75 loc_bar_0_bar__minus_2_bar_0_bar_45)\n (objectAtLocation Tomato_bar__minus_01_dot_15_bar__plus_00_dot_94_bar__plus_00_dot_18 loc_bar__minus_1_bar_2_bar_3_bar_45)\n (objectAtLocation Spoon_bar__minus_01_dot_08_bar__plus_00_dot_90_bar__plus_00_dot_40 loc_bar__minus_1_bar_2_bar_3_bar_45)\n (objectAtLocation Bowl_bar__plus_01_dot_26_bar__plus_01_dot_67_bar__minus_01_dot_55 loc_bar_4_bar__minus_2_bar_2_bar__minus_15)\n (objectAtLocation Mug_bar__plus_02_dot_92_bar__plus_00_dot_17_bar__plus_00_dot_91 loc_bar_8_bar_1_bar_1_bar_60)\n )\n \n\n (:goal\n (and\n (exists (?r - receptacle)\n (exists (?o1 - object)\n (and\n (objectType ?o1 EggType)\n (receptacleType ?r MicrowaveType)\n (inReceptacle ?o1 ?r)\n (exists (?o2 - object)\n (and\n (not (= ?o1 ?o2))\n (objectType ?o2 EggType)\n (receptacleType ?r MicrowaveType)\n (inReceptacle ?o2 ?r)\n )\n )\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to sinkbasin 1", "take egg 2 from sinkbasin 1", "go to microwave 1", "open microwave 1", "move egg 2 to microwave 1", "go to garbagecan 1", "take egg 1 from garbagecan 1", "go to microwave 1", "move egg 1 to microwave 1"]}
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alfworld__pick_and_place_simple__0
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pick_and_place_simple
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pick_and_place_simple-PepperShaker-None-Drawer-5/trial_T20190908_195258_714603/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 peppershaker 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_195258_714603)\n(:domain alfred)\n(:objects\nagent1 - agent\nSaltShaker - object\n HousePlant - object\n Candle - object\n SprayBottle - object\n Bowl - object\n Window - object\n CD - object\n Egg - object\n Glassbottle - object\n Sink - object\n Pillow - object\n Spoon - object\n SoapBottle - object\n TeddyBear - object\n ButterKnife - object\n Cup - object\n Plate - object\n RemoteControl - object\n Tomato - object\n Statue - object\n HandTowel - object\n Knife - object\n StoveKnob - object\n LightSwitch - object\n Pen - object\n Painting - object\n DishSponge - object\n Vase - object\n Mug - object\n ToiletPaper - object\n Box - object\n Mirror - object\n Ladle - object\n Fork - object\n Blinds - object\n Footstool - object\n KeyChain - object\n Cloth - object\n Laptop - object\n TissueBox - object\n PepperShaker - object\n FloorLamp - object\n WateringCan - object\n Apple - object\n Pan - object\n PaperTowel - object\n PaperTowelRoll - object\n Newspaper - object\n Television - object\n Chair - object\n CellPhone - object\n CreditCard - object\n Lettuce - object\n BasketBall - object\n Potato - object\n Curtains - object\n Boots - object\n Pencil - object\n AlarmClock - object\n ToiletPaperRoll - object\n Spatula - object\n Book - object\n Bread - object\n SoapBar - object\n Watch - object\n DeskLamp - object\n Kettle - object\n Pot - object\n ScrubBrush - object\n WineBottle - object\n ShowerDoor - object\n Bathtub - object\n LaundryHamperLid - object\n ShowerGlass - object\n Poster - object\n TennisRacket - object\n BaseballBat - object\n Towel - object\n Plunger - object\nSaltShakerType - otype\n HousePlantType - otype\n CandleType - otype\n SprayBottleType - otype\n BowlType - otype\n WindowType - otype\n CDType - otype\n EggType - otype\n GlassbottleType - otype\n SinkType - otype\n PillowType - otype\n SpoonType - otype\n SoapBottleType - otype\n TeddyBearType - otype\n ButterKnifeType - otype\n CupType - otype\n PlateType - otype\n RemoteControlType - otype\n TomatoType - otype\n StatueType - otype\n HandTowelType - otype\n KnifeType - otype\n StoveKnobType - otype\n LightSwitchType - otype\n PenType - otype\n PaintingType - otype\n DishSpongeType - otype\n VaseType - otype\n MugType - otype\n ToiletPaperType - otype\n BoxType - otype\n MirrorType - otype\n LadleType - otype\n ForkType - otype\n BlindsType - otype\n FootstoolType - otype\n KeyChainType - otype\n ClothType - otype\n LaptopType - otype\n TissueBoxType - otype\n PepperShakerType - otype\n FloorLampType - otype\n WateringCanType - otype\n AppleType - otype\n PanType - otype\n PaperTowelType - otype\n PaperTowelRollType - otype\n NewspaperType - otype\n TelevisionType - otype\n ChairType - otype\n CellPhoneType - otype\n CreditCardType - otype\n LettuceType - otype\n BasketBallType - otype\n PotatoType - otype\n CurtainsType - otype\n BootsType - otype\n PencilType - otype\n AlarmClockType - otype\n ToiletPaperRollType - otype\n SpatulaType - otype\n BookType - otype\n BreadType - otype\n SoapBarType - otype\n WatchType - otype\n DeskLampType - otype\n KettleType - otype\n PotType - otype\n ScrubBrushType - otype\n WineBottleType - otype\n ShowerDoorType - otype\n BathtubType - otype\n LaundryHamperLidType - otype\n ShowerGlassType - otype\n PosterType - otype\n TennisRacketType - otype\n BaseballBatType - otype\n TowelType - otype\n PlungerType - otype\nSafeType - rtype\n DrawerType - rtype\n CoffeeMachineType - rtype\n HandTowelHolderType - rtype\n SinkBasinType - rtype\n DresserType - rtype\n LaundryHamperType - rtype\n TVStandType - rtype\n BathtubBasinType - rtype\n CabinetType - rtype\n FridgeType - rtype\n DeskType - rtype\n ToiletType - rtype\n CartType - rtype\n SideTableType - rtype\n SofaType - rtype\n CoffeeTableType - rtype\n DiningTableType - rtype\n CounterTopType - rtype\n GarbageCanType - rtype\n ArmChairType - rtype\n ShelfType - rtype\n MicrowaveType - rtype\n ToasterType - rtype\n BedType - rtype\n PaintingHangerType - rtype\n TowelHolderType - rtype\n ToiletPaperHangerType - rtype\n StoveBurnerType - rtype\n OttomanType - rtype\n\n\n Apple_bar__plus_02_dot_06_bar__plus_00_dot_87_bar__minus_00_dot_64 - object\n Bowl_bar__minus_01_dot_28_bar__plus_01_dot_66_bar__minus_01_dot_66 - object\n Bread_bar__minus_00_dot_82_bar__plus_01_dot_21_bar__plus_00_dot_57 - object\n ButterKnife_bar__minus_00_dot_38_bar__plus_01_dot_13_bar__plus_00_dot_57 - object\n ButterKnife_bar__minus_01_dot_28_bar__plus_00_dot_91_bar__plus_00_dot_19 - object\n Chair_bar__minus_00_dot_08_bar__plus_00_dot_01_bar__plus_00_dot_76 - object\n Chair_bar__minus_00_dot_46_bar__plus_00_dot_01_bar__plus_00_dot_75 - object\n Cup_bar__plus_00_dot_10_bar__plus_00_dot_75_bar__minus_01_dot_94 - object\n DishSponge_bar__plus_00_dot_01_bar__plus_00_dot_91_bar__plus_00_dot_08 - object\n DishSponge_bar__plus_00_dot_07_bar__plus_01_dot_13_bar__plus_00_dot_66 - object\n DishSponge_bar__minus_00_dot_12_bar__plus_00_dot_70_bar__plus_00_dot_22 - object\n Egg_bar__plus_01_dot_92_bar__plus_00_dot_10_bar__plus_00_dot_08 - object\n Egg_bar__plus_02_dot_04_bar__plus_00_dot_10_bar__plus_00_dot_08 - object\n Faucet_bar__minus_00_dot_16_bar__plus_01_dot_05_bar__minus_02_dot_20 - object\n Fork_bar__minus_00_dot_71_bar__plus_00_dot_69_bar__plus_00_dot_15 - object\n HousePlant_bar__minus_01_dot_25_bar__plus_01_dot_12_bar__plus_00_dot_61 - object\n Kettle_bar__minus_01_dot_05_bar__plus_00_dot_95_bar__minus_02_dot_09 - object\n Knife_bar__minus_00_dot_38_bar__plus_00_dot_79_bar__minus_01_dot_95 - object\n Knife_bar__minus_01_dot_26_bar__plus_00_dot_93_bar__minus_02_dot_01 - object\n Ladle_bar__minus_00_dot_12_bar__plus_00_dot_80_bar__minus_02_dot_01 - object\n Ladle_bar__minus_00_dot_21_bar__plus_00_dot_95_bar__plus_00_dot_24 - object\n Ladle_bar__minus_01_dot_42_bar__plus_01_dot_70_bar__plus_00_dot_23 - object\n Lettuce_bar__minus_01_dot_25_bar__plus_00_dot_99_bar__minus_00_dot_17 - object\n LightSwitch_bar__plus_00_dot_40_bar__plus_01_dot_30_bar__plus_02_dot_00 - object\n Mug_bar__plus_00_dot_50_bar__plus_00_dot_96_bar__minus_01_dot_90 - object\n Mug_bar__plus_02_dot_06_bar__plus_00_dot_81_bar__minus_00_dot_83 - object\n Mug_bar__plus_02_dot_49_bar__plus_00_dot_55_bar__minus_00_dot_01 - object\n Pan_bar__plus_01_dot_74_bar__plus_00_dot_90_bar__minus_01_dot_97 - object\n Pan_bar__minus_01_dot_29_bar__plus_00_dot_96_bar__minus_01_dot_02 - object\n PaperTowelRoll_bar__plus_00_dot_07_bar__plus_01_dot_24_bar__plus_00_dot_49 - object\n PepperShaker_bar__plus_03_dot_11_bar__plus_00_dot_55_bar__plus_00_dot_04 - object\n PepperShaker_bar__minus_01_dot_33_bar__plus_00_dot_91_bar__minus_00_dot_05 - object\n Plate_bar__plus_01_dot_69_bar__plus_00_dot_12_bar__minus_01_dot_20 - object\n Potato_bar__plus_02_dot_00_bar__plus_01_dot_46_bar__minus_00_dot_37 - object\n Pot_bar__plus_01_dot_42_bar__plus_00_dot_91_bar__minus_02_dot_18 - object\n Pot_bar__minus_01_dot_06_bar__plus_00_dot_96_bar__minus_01_dot_13 - object\n SaltShaker_bar__minus_00_dot_58_bar__plus_00_dot_69_bar__plus_00_dot_19 - object\n SaltShaker_bar__minus_00_dot_62_bar__plus_00_dot_69_bar__minus_01_dot_76 - object\n SaltShaker_bar__minus_00_dot_65_bar__plus_00_dot_69_bar__plus_00_dot_23 - object\n Sink_bar__minus_00_dot_12_bar__plus_00_dot_88_bar__minus_02_dot_01 - object\n SoapBottle_bar__plus_03_dot_00_bar__plus_00_dot_88_bar__plus_00_dot_11 - object\n Spatula_bar__minus_01_dot_26_bar__plus_00_dot_93_bar__minus_01_dot_76 - object\n Spoon_bar__plus_00_dot_01_bar__plus_00_dot_91_bar__plus_00_dot_24 - object\n Spoon_bar__minus_00_dot_15_bar__plus_01_dot_13_bar__plus_00_dot_71 - object\n Statue_bar__minus_01_dot_38_bar__plus_00_dot_92_bar__minus_02_dot_18 - object\n StoveKnob_bar__minus_00_dot_87_bar__plus_00_dot_90_bar__minus_00_dot_68 - object\n StoveKnob_bar__minus_00_dot_87_bar__plus_00_dot_90_bar__minus_00_dot_83 - object\n StoveKnob_bar__minus_00_dot_87_bar__plus_00_dot_90_bar__minus_00_dot_97 - object\n StoveKnob_bar__minus_00_dot_87_bar__plus_00_dot_90_bar__minus_01_dot_12 - object\n Tomato_bar__plus_01_dot_85_bar__plus_00_dot_11_bar__plus_00_dot_17 - object\n Tomato_bar__plus_01_dot_89_bar__plus_01_dot_48_bar__minus_00_dot_46 - object\n Vase_bar__plus_00_dot_50_bar__plus_01_dot_66_bar__minus_02_dot_12 - object\n Vase_bar__plus_02_dot_98_bar__plus_00_dot_54_bar__plus_00_dot_13 - object\n Vase_bar__minus_00_dot_05_bar__plus_00_dot_12_bar__plus_00_dot_16 - object\n Cabinet_bar__plus_00_dot_12_bar__plus_02_dot_27_bar__minus_02_dot_00 - receptacle\n Cabinet_bar__plus_00_dot_20_bar__plus_02_dot_02_bar__minus_02_dot_00 - receptacle\n Cabinet_bar__plus_01_dot_18_bar__plus_02_dot_02_bar__minus_02_dot_00 - receptacle\n Cabinet_bar__plus_01_dot_38_bar__plus_00_dot_46_bar__minus_01_dot_69 - receptacle\n Cabinet_bar__plus_01_dot_39_bar__plus_00_dot_47_bar__minus_01_dot_06 - receptacle\n Cabinet_bar__plus_01_dot_74_bar__plus_02_dot_02_bar__minus_02_dot_00 - receptacle\n Cabinet_bar__plus_01_dot_75_bar__plus_02_dot_02_bar__minus_01_dot_03 - receptacle\n Cabinet_bar__plus_01_dot_75_bar__plus_02_dot_02_bar__minus_01_dot_40 - receptacle\n Cabinet_bar__minus_00_dot_42_bar__plus_00_dot_37_bar__minus_00_dot_01 - receptacle\n Cabinet_bar__minus_00_dot_45_bar__plus_00_dot_47_bar__minus_00_dot_01 - receptacle\n Cabinet_bar__minus_00_dot_46_bar__plus_02_dot_27_bar__minus_02_dot_00 - receptacle\n Cabinet_bar__minus_00_dot_82_bar__plus_00_dot_47_bar__minus_01_dot_69 - receptacle\n Cabinet_bar__minus_00_dot_84_bar__plus_00_dot_47_bar__minus_00_dot_05 - receptacle\n Cabinet_bar__minus_00_dot_84_bar__plus_00_dot_47_bar__minus_01_dot_67 - receptacle\n Cabinet_bar__minus_01_dot_10_bar__plus_02_dot_02_bar__minus_02_dot_00 - receptacle\n Cabinet_bar__minus_01_dot_15_bar__plus_02_dot_02_bar__plus_00_dot_38 - receptacle\n Cabinet_bar__minus_01_dot_15_bar__plus_02_dot_02_bar__minus_00_dot_77 - receptacle\n Cabinet_bar__minus_01_dot_15_bar__plus_02_dot_02_bar__minus_01_dot_98 - receptacle\n Cabinet_bar__minus_01_dot_15_bar__plus_02_dot_27_bar__minus_00_dot_84 - receptacle\n Cabinet_bar__minus_01_dot_15_bar__plus_02_dot_27_bar__minus_01_dot_42 - receptacle\n CoffeeMachine_bar__plus_00_dot_50_bar__plus_00_dot_90_bar__minus_02_dot_13 - receptacle\n CounterTop_bar__plus_01_dot_16_bar__plus_00_dot_95_bar__minus_02_dot_01 - receptacle\n CounterTop_bar__minus_00_dot_63_bar__plus_01_dot_17_bar__plus_00_dot_57 - receptacle\n CounterTop_bar__minus_00_dot_67_bar__plus_00_dot_95_bar__plus_00_dot_19 - receptacle\n Drawer_bar__minus_00_dot_07_bar__plus_00_dot_75_bar__minus_00_dot_01 - receptacle\n Drawer_bar__minus_00_dot_45_bar__plus_00_dot_75_bar__minus_00_dot_01 - receptacle\n Drawer_bar__minus_00_dot_82_bar__plus_00_dot_75_bar__minus_01_dot_69 - receptacle\n Fridge_bar__plus_01_dot_98_bar__plus_00_dot_00_bar__minus_00_dot_54 - receptacle\n GarbageCan_bar__plus_01_dot_92_bar__plus_00_dot_00_bar__plus_00_dot_14 - receptacle\n Microwave_bar__plus_01_dot_83_bar__plus_00_dot_90_bar__minus_01_dot_35 - receptacle\n Shelf_bar__plus_02_dot_81_bar__plus_00_dot_16_bar__plus_00_dot_14 - receptacle\n Shelf_bar__plus_02_dot_81_bar__plus_00_dot_54_bar__plus_00_dot_14 - receptacle\n Shelf_bar__plus_02_dot_81_bar__plus_00_dot_87_bar__plus_00_dot_14 - receptacle\n Sink_bar__minus_00_dot_12_bar__plus_00_dot_88_bar__minus_02_dot_01_bar_SinkBasin - receptacle\n StoveBurner_bar__minus_01_dot_06_bar__plus_00_dot_95_bar__minus_00_dot_67 - receptacle\n StoveBurner_bar__minus_01_dot_06_bar__plus_00_dot_95_bar__minus_01_dot_13 - receptacle\n StoveBurner_bar__minus_01_dot_29_bar__plus_00_dot_95_bar__minus_00_dot_76 - receptacle\n StoveBurner_bar__minus_01_dot_29_bar__plus_00_dot_95_bar__minus_01_dot_02 - receptacle\n Toaster_bar__plus_00_dot_84_bar__plus_00_dot_90_bar__minus_02_dot_06 - receptacle\n loc_bar__minus_2_bar__minus_2_bar_3_bar__minus_30 - location\n loc_bar__minus_2_bar__minus_1_bar_3_bar__minus_30 - location\n loc_bar_3_bar__minus_2_bar_3_bar_45 - location\n loc_bar_8_bar_3_bar_2_bar_60 - location\n loc_bar_4_bar__minus_5_bar_1_bar__minus_30 - location\n 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loc_bar__minus_2_bar__minus_5_bar_3_bar_45 - location\n loc_bar_0_bar__minus_5_bar_3_bar_45 - location\n loc_bar_0_bar__minus_5_bar_2_bar_45 - location\n loc_bar__minus_2_bar_5_bar_2_bar_60 - location\n loc_bar_4_bar__minus_3_bar_2_bar_45 - location\n loc_bar_2_bar__minus_5_bar_2_bar__minus_30 - location\n loc_bar__minus_2_bar__minus_3_bar_3_bar_60 - location\n loc_bar_0_bar__minus_4_bar_3_bar_60 - location\n loc_bar_4_bar__minus_5_bar_2_bar__minus_30 - location\n loc_bar__minus_1_bar__minus_4_bar_0_bar_45 - location\n loc_bar_0_bar__minus_2_bar_0_bar_60 - location\n loc_bar__minus_2_bar__minus_4_bar_0_bar_45 - location\n loc_bar_3_bar__minus_5_bar_2_bar_45 - location\n loc_bar__minus_2_bar__minus_4_bar_3_bar_60 - location\n loc_bar__minus_1_bar__minus_5_bar_3_bar__minus_15 - location\n loc_bar_2_bar_3_bar_3_bar_30 - location\n loc_bar__minus_2_bar__minus_5_bar_3_bar__minus_30 - location\n loc_bar__minus_2_bar_5_bar_2_bar_30 - location\n )\n \n\n(:init\n\n\n (receptacleType 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Tomato_bar__plus_01_dot_85_bar__plus_00_dot_11_bar__plus_00_dot_17)\n (heatable Egg_bar__plus_02_dot_04_bar__plus_00_dot_10_bar__plus_00_dot_08)\n (heatable Mug_bar__plus_02_dot_49_bar__plus_00_dot_55_bar__minus_00_dot_01)\n (heatable Tomato_bar__plus_01_dot_89_bar__plus_01_dot_48_bar__minus_00_dot_46)\n (heatable Mug_bar__plus_00_dot_50_bar__plus_00_dot_96_bar__minus_01_dot_90)\n (heatable Bread_bar__minus_00_dot_82_bar__plus_01_dot_21_bar__plus_00_dot_57)\n (heatable Potato_bar__plus_02_dot_00_bar__plus_01_dot_46_bar__minus_00_dot_37)\n (heatable Plate_bar__plus_01_dot_69_bar__plus_00_dot_12_bar__minus_01_dot_20)\n (coolable Egg_bar__plus_01_dot_92_bar__plus_00_dot_10_bar__plus_00_dot_08)\n (coolable Bowl_bar__minus_01_dot_28_bar__plus_01_dot_66_bar__minus_01_dot_66)\n (coolable Lettuce_bar__minus_01_dot_25_bar__plus_00_dot_99_bar__minus_00_dot_17)\n (coolable Mug_bar__plus_02_dot_06_bar__plus_00_dot_81_bar__minus_00_dot_83)\n (coolable Apple_bar__plus_02_dot_06_bar__plus_00_dot_87_bar__minus_00_dot_64)\n (coolable Pan_bar__plus_01_dot_74_bar__plus_00_dot_90_bar__minus_01_dot_97)\n (coolable Cup_bar__plus_00_dot_10_bar__plus_00_dot_75_bar__minus_01_dot_94)\n (coolable Tomato_bar__plus_01_dot_85_bar__plus_00_dot_11_bar__plus_00_dot_17)\n (coolable Egg_bar__plus_02_dot_04_bar__plus_00_dot_10_bar__plus_00_dot_08)\n (coolable Mug_bar__plus_02_dot_49_bar__plus_00_dot_55_bar__minus_00_dot_01)\n (coolable Pan_bar__minus_01_dot_29_bar__plus_00_dot_96_bar__minus_01_dot_02)\n (coolable Pot_bar__minus_01_dot_06_bar__plus_00_dot_96_bar__minus_01_dot_13)\n (coolable Tomato_bar__plus_01_dot_89_bar__plus_01_dot_48_bar__minus_00_dot_46)\n (coolable Mug_bar__plus_00_dot_50_bar__plus_00_dot_96_bar__minus_01_dot_90)\n (coolable Bread_bar__minus_00_dot_82_bar__plus_01_dot_21_bar__plus_00_dot_57)\n (coolable Pot_bar__plus_01_dot_42_bar__plus_00_dot_91_bar__minus_02_dot_18)\n (coolable Potato_bar__plus_02_dot_00_bar__plus_01_dot_46_bar__minus_00_dot_37)\n (coolable Plate_bar__plus_01_dot_69_bar__plus_00_dot_12_bar__minus_01_dot_20)\n \n \n \n \n \n (sliceable Egg_bar__plus_01_dot_92_bar__plus_00_dot_10_bar__plus_00_dot_08)\n (sliceable Lettuce_bar__minus_01_dot_25_bar__plus_00_dot_99_bar__minus_00_dot_17)\n (sliceable Apple_bar__plus_02_dot_06_bar__plus_00_dot_87_bar__minus_00_dot_64)\n (sliceable Tomato_bar__plus_01_dot_85_bar__plus_00_dot_11_bar__plus_00_dot_17)\n (sliceable Egg_bar__plus_02_dot_04_bar__plus_00_dot_10_bar__plus_00_dot_08)\n (sliceable Tomato_bar__plus_01_dot_89_bar__plus_01_dot_48_bar__minus_00_dot_46)\n (sliceable Bread_bar__minus_00_dot_82_bar__plus_01_dot_21_bar__plus_00_dot_57)\n (sliceable Potato_bar__plus_02_dot_00_bar__plus_01_dot_46_bar__minus_00_dot_37)\n \n (inReceptacle SaltShaker_bar__minus_00_dot_62_bar__plus_00_dot_69_bar__minus_01_dot_76 Drawer_bar__minus_00_dot_82_bar__plus_00_dot_75_bar__minus_01_dot_69)\n (inReceptacle Plate_bar__plus_01_dot_69_bar__plus_00_dot_12_bar__minus_01_dot_20 Cabinet_bar__plus_01_dot_39_bar__plus_00_dot_47_bar__minus_01_dot_06)\n (inReceptacle Vase_bar__plus_00_dot_50_bar__plus_01_dot_66_bar__minus_02_dot_12 Cabinet_bar__plus_00_dot_20_bar__plus_02_dot_02_bar__minus_02_dot_00)\n (inReceptacle Bowl_bar__minus_01_dot_28_bar__plus_01_dot_66_bar__minus_01_dot_66 Cabinet_bar__minus_01_dot_15_bar__plus_02_dot_02_bar__minus_01_dot_98)\n (inReceptacle Ladle_bar__minus_01_dot_42_bar__plus_01_dot_70_bar__plus_00_dot_23 Cabinet_bar__minus_01_dot_15_bar__plus_02_dot_02_bar__plus_00_dot_38)\n (inReceptacle Vase_bar__minus_00_dot_05_bar__plus_00_dot_12_bar__plus_00_dot_16 Cabinet_bar__minus_00_dot_42_bar__plus_00_dot_37_bar__minus_00_dot_01)\n (inReceptacle Pan_bar__minus_01_dot_29_bar__plus_00_dot_96_bar__minus_01_dot_02 StoveBurner_bar__minus_01_dot_29_bar__plus_00_dot_95_bar__minus_01_dot_02)\n (inReceptacle Lettuce_bar__minus_01_dot_25_bar__plus_00_dot_99_bar__minus_00_dot_17 CounterTop_bar__minus_00_dot_67_bar__plus_00_dot_95_bar__plus_00_dot_19)\n (inReceptacle DishSponge_bar__plus_00_dot_01_bar__plus_00_dot_91_bar__plus_00_dot_08 CounterTop_bar__minus_00_dot_67_bar__plus_00_dot_95_bar__plus_00_dot_19)\n (inReceptacle Spoon_bar__plus_00_dot_01_bar__plus_00_dot_91_bar__plus_00_dot_24 CounterTop_bar__minus_00_dot_67_bar__plus_00_dot_95_bar__plus_00_dot_19)\n (inReceptacle PepperShaker_bar__minus_01_dot_33_bar__plus_00_dot_91_bar__minus_00_dot_05 CounterTop_bar__minus_00_dot_67_bar__plus_00_dot_95_bar__plus_00_dot_19)\n (inReceptacle ButterKnife_bar__minus_01_dot_28_bar__plus_00_dot_91_bar__plus_00_dot_19 CounterTop_bar__minus_00_dot_67_bar__plus_00_dot_95_bar__plus_00_dot_19)\n (inReceptacle Ladle_bar__minus_00_dot_21_bar__plus_00_dot_95_bar__plus_00_dot_24 CounterTop_bar__minus_00_dot_67_bar__plus_00_dot_95_bar__plus_00_dot_19)\n (inReceptacle SaltShaker_bar__minus_00_dot_65_bar__plus_00_dot_69_bar__plus_00_dot_23 Drawer_bar__minus_00_dot_45_bar__plus_00_dot_75_bar__minus_00_dot_01)\n (inReceptacle SaltShaker_bar__minus_00_dot_58_bar__plus_00_dot_69_bar__plus_00_dot_19 Drawer_bar__minus_00_dot_45_bar__plus_00_dot_75_bar__minus_00_dot_01)\n (inReceptacle Fork_bar__minus_00_dot_71_bar__plus_00_dot_69_bar__plus_00_dot_15 Drawer_bar__minus_00_dot_45_bar__plus_00_dot_75_bar__minus_00_dot_01)\n (inReceptacle DishSponge_bar__plus_00_dot_07_bar__plus_01_dot_13_bar__plus_00_dot_66 CounterTop_bar__minus_00_dot_63_bar__plus_01_dot_17_bar__plus_00_dot_57)\n (inReceptacle ButterKnife_bar__minus_00_dot_38_bar__plus_01_dot_13_bar__plus_00_dot_57 CounterTop_bar__minus_00_dot_63_bar__plus_01_dot_17_bar__plus_00_dot_57)\n (inReceptacle Spoon_bar__minus_00_dot_15_bar__plus_01_dot_13_bar__plus_00_dot_71 CounterTop_bar__minus_00_dot_63_bar__plus_01_dot_17_bar__plus_00_dot_57)\n (inReceptacle Bread_bar__minus_00_dot_82_bar__plus_01_dot_21_bar__plus_00_dot_57 CounterTop_bar__minus_00_dot_63_bar__plus_01_dot_17_bar__plus_00_dot_57)\n (inReceptacle PaperTowelRoll_bar__plus_00_dot_07_bar__plus_01_dot_24_bar__plus_00_dot_49 CounterTop_bar__minus_00_dot_63_bar__plus_01_dot_17_bar__plus_00_dot_57)\n (inReceptacle HousePlant_bar__minus_01_dot_25_bar__plus_01_dot_12_bar__plus_00_dot_61 CounterTop_bar__minus_00_dot_63_bar__plus_01_dot_17_bar__plus_00_dot_57)\n (inReceptacle Pan_bar__minus_01_dot_29_bar__plus_00_dot_96_bar__minus_01_dot_02 StoveBurner_bar__minus_01_dot_06_bar__plus_00_dot_95_bar__minus_01_dot_13)\n (inReceptacle Pot_bar__minus_01_dot_06_bar__plus_00_dot_96_bar__minus_01_dot_13 StoveBurner_bar__minus_01_dot_06_bar__plus_00_dot_95_bar__minus_01_dot_13)\n (inReceptacle DishSponge_bar__minus_00_dot_12_bar__plus_00_dot_70_bar__plus_00_dot_22 Drawer_bar__minus_00_dot_07_bar__plus_00_dot_75_bar__minus_00_dot_01)\n (inReceptacle Knife_bar__minus_01_dot_26_bar__plus_00_dot_93_bar__minus_02_dot_01 CounterTop_bar__plus_01_dot_16_bar__plus_00_dot_95_bar__minus_02_dot_01)\n (inReceptacle Statue_bar__minus_01_dot_38_bar__plus_00_dot_92_bar__minus_02_dot_18 CounterTop_bar__plus_01_dot_16_bar__plus_00_dot_95_bar__minus_02_dot_01)\n (inReceptacle Pan_bar__plus_01_dot_74_bar__plus_00_dot_90_bar__minus_01_dot_97 CounterTop_bar__plus_01_dot_16_bar__plus_00_dot_95_bar__minus_02_dot_01)\n (inReceptacle Spatula_bar__minus_01_dot_26_bar__plus_00_dot_93_bar__minus_01_dot_76 CounterTop_bar__plus_01_dot_16_bar__plus_00_dot_95_bar__minus_02_dot_01)\n (inReceptacle Mug_bar__plus_00_dot_50_bar__plus_00_dot_96_bar__minus_01_dot_90 CounterTop_bar__plus_01_dot_16_bar__plus_00_dot_95_bar__minus_02_dot_01)\n (inReceptacle Pot_bar__plus_01_dot_42_bar__plus_00_dot_91_bar__minus_02_dot_18 CounterTop_bar__plus_01_dot_16_bar__plus_00_dot_95_bar__minus_02_dot_01)\n (inReceptacle Kettle_bar__minus_01_dot_05_bar__plus_00_dot_95_bar__minus_02_dot_09 CounterTop_bar__plus_01_dot_16_bar__plus_00_dot_95_bar__minus_02_dot_01)\n (inReceptacleObject Pot_bar__minus_01_dot_06_bar__plus_00_dot_96_bar__minus_01_dot_13 Pan_bar__minus_01_dot_29_bar__plus_00_dot_96_bar__minus_01_dot_02)\n (inReceptacle Egg_bar__plus_01_dot_92_bar__plus_00_dot_10_bar__plus_00_dot_08 GarbageCan_bar__plus_01_dot_92_bar__plus_00_dot_00_bar__plus_00_dot_14)\n (inReceptacle Tomato_bar__plus_01_dot_85_bar__plus_00_dot_11_bar__plus_00_dot_17 GarbageCan_bar__plus_01_dot_92_bar__plus_00_dot_00_bar__plus_00_dot_14)\n (inReceptacle Egg_bar__plus_02_dot_04_bar__plus_00_dot_10_bar__plus_00_dot_08 GarbageCan_bar__plus_01_dot_92_bar__plus_00_dot_00_bar__plus_00_dot_14)\n (inReceptacle SoapBottle_bar__plus_03_dot_00_bar__plus_00_dot_88_bar__plus_00_dot_11 Shelf_bar__plus_02_dot_81_bar__plus_00_dot_87_bar__plus_00_dot_14)\n (inReceptacle Mug_bar__plus_02_dot_49_bar__plus_00_dot_55_bar__minus_00_dot_01 Shelf_bar__plus_02_dot_81_bar__plus_00_dot_54_bar__plus_00_dot_14)\n (inReceptacle Vase_bar__plus_02_dot_98_bar__plus_00_dot_54_bar__plus_00_dot_13 Shelf_bar__plus_02_dot_81_bar__plus_00_dot_54_bar__plus_00_dot_14)\n (inReceptacle PepperShaker_bar__plus_03_dot_11_bar__plus_00_dot_55_bar__plus_00_dot_04 Shelf_bar__plus_02_dot_81_bar__plus_00_dot_54_bar__plus_00_dot_14)\n (inReceptacle Potato_bar__plus_02_dot_00_bar__plus_01_dot_46_bar__minus_00_dot_37 Fridge_bar__plus_01_dot_98_bar__plus_00_dot_00_bar__minus_00_dot_54)\n (inReceptacle Tomato_bar__plus_01_dot_89_bar__plus_01_dot_48_bar__minus_00_dot_46 Fridge_bar__plus_01_dot_98_bar__plus_00_dot_00_bar__minus_00_dot_54)\n (inReceptacle Mug_bar__plus_02_dot_06_bar__plus_00_dot_81_bar__minus_00_dot_83 Fridge_bar__plus_01_dot_98_bar__plus_00_dot_00_bar__minus_00_dot_54)\n (inReceptacle Apple_bar__plus_02_dot_06_bar__plus_00_dot_87_bar__minus_00_dot_64 Fridge_bar__plus_01_dot_98_bar__plus_00_dot_00_bar__minus_00_dot_54)\n (inReceptacle Cup_bar__plus_00_dot_10_bar__plus_00_dot_75_bar__minus_01_dot_94 Sink_bar__minus_00_dot_12_bar__plus_00_dot_88_bar__minus_02_dot_01_bar_SinkBasin)\n (inReceptacle Knife_bar__minus_00_dot_38_bar__plus_00_dot_79_bar__minus_01_dot_95 Sink_bar__minus_00_dot_12_bar__plus_00_dot_88_bar__minus_02_dot_01_bar_SinkBasin)\n (inReceptacle Ladle_bar__minus_00_dot_12_bar__plus_00_dot_80_bar__minus_02_dot_01 Sink_bar__minus_00_dot_12_bar__plus_00_dot_88_bar__minus_02_dot_01_bar_SinkBasin)\n (inReceptacle Mug_bar__plus_00_dot_50_bar__plus_00_dot_96_bar__minus_01_dot_90 CoffeeMachine_bar__plus_00_dot_50_bar__plus_00_dot_90_bar__minus_02_dot_13)\n \n \n (receptacleAtLocation Cabinet_bar__plus_00_dot_12_bar__plus_02_dot_27_bar__minus_02_dot_00 loc_bar_1_bar__minus_5_bar_2_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__plus_00_dot_20_bar__plus_02_dot_02_bar__minus_02_dot_00 loc_bar_2_bar__minus_5_bar_2_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__plus_01_dot_18_bar__plus_02_dot_02_bar__minus_02_dot_00 loc_bar_4_bar__minus_5_bar_2_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__plus_01_dot_38_bar__plus_00_dot_46_bar__minus_01_dot_69 loc_bar_4_bar__minus_3_bar_2_bar_45)\n (receptacleAtLocation Cabinet_bar__plus_01_dot_39_bar__plus_00_dot_47_bar__minus_01_dot_06 loc_bar_2_bar__minus_4_bar_1_bar_60)\n (receptacleAtLocation Cabinet_bar__plus_01_dot_74_bar__plus_02_dot_02_bar__minus_02_dot_00 loc_bar_4_bar__minus_5_bar_2_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__plus_01_dot_75_bar__plus_02_dot_02_bar__minus_01_dot_03 loc_bar_4_bar__minus_5_bar_1_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__plus_01_dot_75_bar__plus_02_dot_02_bar__minus_01_dot_40 loc_bar_4_bar__minus_5_bar_1_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_42_bar__plus_00_dot_37_bar__minus_00_dot_01 loc_bar__minus_1_bar__minus_4_bar_0_bar_45)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_45_bar__plus_00_dot_47_bar__minus_00_dot_01 loc_bar__minus_2_bar__minus_4_bar_0_bar_45)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_46_bar__plus_02_dot_27_bar__minus_02_dot_00 loc_bar_0_bar__minus_5_bar_2_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_82_bar__plus_00_dot_47_bar__minus_01_dot_69 loc_bar__minus_1_bar__minus_3_bar_2_bar_45)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_84_bar__plus_00_dot_47_bar__minus_00_dot_05 loc_bar_0_bar__minus_2_bar_3_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_84_bar__plus_00_dot_47_bar__minus_01_dot_67 loc_bar_0_bar__minus_4_bar_3_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_01_dot_10_bar__plus_02_dot_02_bar__minus_02_dot_00 loc_bar__minus_2_bar__minus_5_bar_2_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_01_dot_15_bar__plus_02_dot_02_bar__plus_00_dot_38 loc_bar__minus_2_bar__minus_1_bar_3_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_01_dot_15_bar__plus_02_dot_02_bar__minus_00_dot_77 loc_bar__minus_2_bar__minus_2_bar_3_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_01_dot_15_bar__plus_02_dot_02_bar__minus_01_dot_98 loc_bar__minus_1_bar__minus_5_bar_3_bar__minus_15)\n (receptacleAtLocation Cabinet_bar__minus_01_dot_15_bar__plus_02_dot_27_bar__minus_00_dot_84 loc_bar__minus_2_bar__minus_5_bar_3_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_01_dot_15_bar__plus_02_dot_27_bar__minus_01_dot_42 loc_bar__minus_2_bar__minus_4_bar_3_bar__minus_30)\n (receptacleAtLocation CoffeeMachine_bar__plus_00_dot_50_bar__plus_00_dot_90_bar__minus_02_dot_13 loc_bar_2_bar__minus_5_bar_2_bar_45)\n (receptacleAtLocation CounterTop_bar__plus_01_dot_16_bar__plus_00_dot_95_bar__minus_02_dot_01 loc_bar_4_bar__minus_5_bar_2_bar_45)\n (receptacleAtLocation CounterTop_bar__minus_00_dot_63_bar__plus_01_dot_17_bar__plus_00_dot_57 loc_bar_2_bar_3_bar_3_bar_30)\n (receptacleAtLocation CounterTop_bar__minus_00_dot_67_bar__plus_00_dot_95_bar__plus_00_dot_19 loc_bar__minus_2_bar__minus_2_bar_0_bar_45)\n (receptacleAtLocation Drawer_bar__minus_00_dot_07_bar__plus_00_dot_75_bar__minus_00_dot_01 loc_bar_3_bar__minus_2_bar_3_bar_45)\n (receptacleAtLocation Drawer_bar__minus_00_dot_45_bar__plus_00_dot_75_bar__minus_00_dot_01 loc_bar_0_bar__minus_2_bar_0_bar_60)\n (receptacleAtLocation Drawer_bar__minus_00_dot_82_bar__plus_00_dot_75_bar__minus_01_dot_69 loc_bar_0_bar__minus_5_bar_3_bar_45)\n (receptacleAtLocation Fridge_bar__plus_01_dot_98_bar__plus_00_dot_00_bar__minus_00_dot_54 loc_bar_4_bar__minus_3_bar_1_bar_60)\n (receptacleAtLocation GarbageCan_bar__plus_01_dot_92_bar__plus_00_dot_00_bar__plus_00_dot_14 loc_bar_8_bar_3_bar_2_bar_60)\n (receptacleAtLocation Microwave_bar__plus_01_dot_83_bar__plus_00_dot_90_bar__minus_01_dot_35 loc_bar_4_bar__minus_5_bar_1_bar_45)\n (receptacleAtLocation Shelf_bar__plus_02_dot_81_bar__plus_00_dot_16_bar__plus_00_dot_14 loc_bar_11_bar_6_bar_2_bar_45)\n (receptacleAtLocation Shelf_bar__plus_02_dot_81_bar__plus_00_dot_54_bar__plus_00_dot_14 loc_bar_10_bar_5_bar_2_bar_45)\n (receptacleAtLocation Shelf_bar__plus_02_dot_81_bar__plus_00_dot_87_bar__plus_00_dot_14 loc_bar_8_bar_3_bar_1_bar_45)\n (receptacleAtLocation Sink_bar__minus_00_dot_12_bar__plus_00_dot_88_bar__minus_02_dot_01_bar_SinkBasin loc_bar_0_bar__minus_5_bar_2_bar_45)\n (receptacleAtLocation StoveBurner_bar__minus_01_dot_06_bar__plus_00_dot_95_bar__minus_00_dot_67 loc_bar__minus_2_bar__minus_3_bar_3_bar_45)\n (receptacleAtLocation StoveBurner_bar__minus_01_dot_06_bar__plus_00_dot_95_bar__minus_01_dot_13 loc_bar__minus_2_bar__minus_5_bar_3_bar_45)\n (receptacleAtLocation StoveBurner_bar__minus_01_dot_29_bar__plus_00_dot_95_bar__minus_00_dot_76 loc_bar__minus_2_bar__minus_3_bar_3_bar_45)\n (receptacleAtLocation StoveBurner_bar__minus_01_dot_29_bar__plus_00_dot_95_bar__minus_01_dot_02 loc_bar__minus_2_bar__minus_4_bar_3_bar_45)\n (receptacleAtLocation Toaster_bar__plus_00_dot_84_bar__plus_00_dot_90_bar__minus_02_dot_06 loc_bar_3_bar__minus_5_bar_2_bar_45)\n (objectAtLocation Mug_bar__plus_02_dot_49_bar__plus_00_dot_55_bar__minus_00_dot_01 loc_bar_10_bar_5_bar_2_bar_45)\n (objectAtLocation Tomato_bar__plus_01_dot_89_bar__plus_01_dot_48_bar__minus_00_dot_46 loc_bar_4_bar__minus_3_bar_1_bar_60)\n (objectAtLocation Spoon_bar__plus_00_dot_01_bar__plus_00_dot_91_bar__plus_00_dot_24 loc_bar__minus_2_bar__minus_2_bar_0_bar_45)\n (objectAtLocation DishSponge_bar__plus_00_dot_01_bar__plus_00_dot_91_bar__plus_00_dot_08 loc_bar__minus_2_bar__minus_2_bar_0_bar_45)\n (objectAtLocation ButterKnife_bar__minus_00_dot_38_bar__plus_01_dot_13_bar__plus_00_dot_57 loc_bar_2_bar_3_bar_3_bar_30)\n (objectAtLocation PepperShaker_bar__plus_03_dot_11_bar__plus_00_dot_55_bar__plus_00_dot_04 loc_bar_10_bar_5_bar_2_bar_45)\n (objectAtLocation SaltShaker_bar__minus_00_dot_62_bar__plus_00_dot_69_bar__minus_01_dot_76 loc_bar_0_bar__minus_5_bar_3_bar_45)\n (objectAtLocation Egg_bar__plus_01_dot_92_bar__plus_00_dot_10_bar__plus_00_dot_08 loc_bar_8_bar_3_bar_2_bar_60)\n (objectAtLocation Pot_bar__plus_01_dot_42_bar__plus_00_dot_91_bar__minus_02_dot_18 loc_bar_4_bar__minus_5_bar_2_bar_45)\n (objectAtLocation Ladle_bar__minus_01_dot_42_bar__plus_01_dot_70_bar__plus_00_dot_23 loc_bar__minus_2_bar__minus_1_bar_3_bar__minus_30)\n (objectAtLocation Knife_bar__minus_00_dot_38_bar__plus_00_dot_79_bar__minus_01_dot_95 loc_bar_0_bar__minus_5_bar_2_bar_45)\n (objectAtLocation Pan_bar__plus_01_dot_74_bar__plus_00_dot_90_bar__minus_01_dot_97 loc_bar_4_bar__minus_5_bar_2_bar_45)\n (objectAtLocation Mug_bar__plus_00_dot_50_bar__plus_00_dot_96_bar__minus_01_dot_90 loc_bar_2_bar__minus_5_bar_2_bar_45)\n (objectAtLocation SaltShaker_bar__minus_00_dot_58_bar__plus_00_dot_69_bar__plus_00_dot_19 loc_bar_0_bar__minus_2_bar_0_bar_60)\n (objectAtLocation DishSponge_bar__minus_00_dot_12_bar__plus_00_dot_70_bar__plus_00_dot_22 loc_bar_3_bar__minus_2_bar_3_bar_45)\n (objectAtLocation Ladle_bar__minus_00_dot_21_bar__plus_00_dot_95_bar__plus_00_dot_24 loc_bar__minus_2_bar__minus_2_bar_0_bar_45)\n (objectAtLocation Sink_bar__minus_00_dot_12_bar__plus_00_dot_88_bar__minus_02_dot_01 loc_bar_0_bar__minus_5_bar_2_bar_45)\n (objectAtLocation Chair_bar__minus_00_dot_46_bar__plus_00_dot_01_bar__plus_00_dot_75 loc_bar__minus_2_bar_5_bar_2_bar_60)\n (objectAtLocation Chair_bar__minus_00_dot_08_bar__plus_00_dot_01_bar__plus_00_dot_76 loc_bar_0_bar_5_bar_2_bar_60)\n (objectAtLocation HousePlant_bar__minus_01_dot_25_bar__plus_01_dot_12_bar__plus_00_dot_61 loc_bar_2_bar_3_bar_3_bar_30)\n (objectAtLocation Pan_bar__minus_01_dot_29_bar__plus_00_dot_96_bar__minus_01_dot_02 loc_bar__minus_2_bar__minus_5_bar_3_bar_45)\n (objectAtLocation Knife_bar__minus_01_dot_26_bar__plus_00_dot_93_bar__minus_02_dot_01 loc_bar_4_bar__minus_5_bar_2_bar_45)\n (objectAtLocation Bowl_bar__minus_01_dot_28_bar__plus_01_dot_66_bar__minus_01_dot_66 loc_bar__minus_1_bar__minus_5_bar_3_bar__minus_15)\n (objectAtLocation Fork_bar__minus_00_dot_71_bar__plus_00_dot_69_bar__plus_00_dot_15 loc_bar_0_bar__minus_2_bar_0_bar_60)\n (objectAtLocation Cup_bar__plus_00_dot_10_bar__plus_00_dot_75_bar__minus_01_dot_94 loc_bar_0_bar__minus_5_bar_2_bar_45)\n (objectAtLocation Ladle_bar__minus_00_dot_12_bar__plus_00_dot_80_bar__minus_02_dot_01 loc_bar_0_bar__minus_5_bar_2_bar_45)\n (objectAtLocation Apple_bar__plus_02_dot_06_bar__plus_00_dot_87_bar__minus_00_dot_64 loc_bar_4_bar__minus_3_bar_1_bar_60)\n (objectAtLocation Kettle_bar__minus_01_dot_05_bar__plus_00_dot_95_bar__minus_02_dot_09 loc_bar_4_bar__minus_5_bar_2_bar_45)\n (objectAtLocation Vase_bar__plus_00_dot_50_bar__plus_01_dot_66_bar__minus_02_dot_12 loc_bar_2_bar__minus_5_bar_2_bar__minus_30)\n (objectAtLocation Potato_bar__plus_02_dot_00_bar__plus_01_dot_46_bar__minus_00_dot_37 loc_bar_4_bar__minus_3_bar_1_bar_60)\n (objectAtLocation Pot_bar__minus_01_dot_06_bar__plus_00_dot_96_bar__minus_01_dot_13 loc_bar__minus_2_bar__minus_4_bar_3_bar_45)\n (objectAtLocation Bread_bar__minus_00_dot_82_bar__plus_01_dot_21_bar__plus_00_dot_57 loc_bar_2_bar_3_bar_3_bar_30)\n (objectAtLocation Plate_bar__plus_01_dot_69_bar__plus_00_dot_12_bar__minus_01_dot_20 loc_bar_2_bar__minus_4_bar_1_bar_60)\n (objectAtLocation LightSwitch_bar__plus_00_dot_40_bar__plus_01_dot_30_bar__plus_02_dot_00 loc_bar_2_bar_6_bar_0_bar_30)\n (objectAtLocation Spatula_bar__minus_01_dot_26_bar__plus_00_dot_93_bar__minus_01_dot_76 loc_bar_4_bar__minus_5_bar_2_bar_45)\n (objectAtLocation PaperTowelRoll_bar__plus_00_dot_07_bar__plus_01_dot_24_bar__plus_00_dot_49 loc_bar_2_bar_3_bar_3_bar_30)\n (objectAtLocation Vase_bar__minus_00_dot_05_bar__plus_00_dot_12_bar__plus_00_dot_16 loc_bar__minus_1_bar__minus_4_bar_0_bar_45)\n (objectAtLocation Egg_bar__plus_02_dot_04_bar__plus_00_dot_10_bar__plus_00_dot_08 loc_bar_8_bar_3_bar_2_bar_60)\n (objectAtLocation SoapBottle_bar__plus_03_dot_00_bar__plus_00_dot_88_bar__plus_00_dot_11 loc_bar_8_bar_3_bar_1_bar_45)\n (objectAtLocation SaltShaker_bar__minus_00_dot_65_bar__plus_00_dot_69_bar__plus_00_dot_23 loc_bar_0_bar__minus_2_bar_0_bar_60)\n (objectAtLocation Lettuce_bar__minus_01_dot_25_bar__plus_00_dot_99_bar__minus_00_dot_17 loc_bar__minus_2_bar__minus_2_bar_0_bar_45)\n (objectAtLocation PepperShaker_bar__minus_01_dot_33_bar__plus_00_dot_91_bar__minus_00_dot_05 loc_bar__minus_2_bar__minus_2_bar_0_bar_45)\n (objectAtLocation ButterKnife_bar__minus_01_dot_28_bar__plus_00_dot_91_bar__plus_00_dot_19 loc_bar__minus_2_bar__minus_2_bar_0_bar_45)\n (objectAtLocation StoveKnob_bar__minus_00_dot_87_bar__plus_00_dot_90_bar__minus_00_dot_83 loc_bar__minus_2_bar__minus_3_bar_3_bar_60)\n (objectAtLocation StoveKnob_bar__minus_00_dot_87_bar__plus_00_dot_90_bar__minus_00_dot_68 loc_bar__minus_2_bar__minus_3_bar_3_bar_60)\n (objectAtLocation StoveKnob_bar__minus_00_dot_87_bar__plus_00_dot_90_bar__minus_00_dot_97 loc_bar__minus_2_bar__minus_4_bar_3_bar_60)\n (objectAtLocation StoveKnob_bar__minus_00_dot_87_bar__plus_00_dot_90_bar__minus_01_dot_12 loc_bar__minus_2_bar__minus_4_bar_3_bar_60)\n (objectAtLocation DishSponge_bar__plus_00_dot_07_bar__plus_01_dot_13_bar__plus_00_dot_66 loc_bar_2_bar_3_bar_3_bar_30)\n (objectAtLocation Vase_bar__plus_02_dot_98_bar__plus_00_dot_54_bar__plus_00_dot_13 loc_bar_10_bar_5_bar_2_bar_45)\n (objectAtLocation Spoon_bar__minus_00_dot_15_bar__plus_01_dot_13_bar__plus_00_dot_71 loc_bar_2_bar_3_bar_3_bar_30)\n (objectAtLocation Tomato_bar__plus_01_dot_85_bar__plus_00_dot_11_bar__plus_00_dot_17 loc_bar_8_bar_3_bar_2_bar_60)\n (objectAtLocation Mug_bar__plus_02_dot_06_bar__plus_00_dot_81_bar__minus_00_dot_83 loc_bar_4_bar__minus_3_bar_1_bar_60)\n (objectAtLocation Statue_bar__minus_01_dot_38_bar__plus_00_dot_92_bar__minus_02_dot_18 loc_bar_4_bar__minus_5_bar_2_bar_45)\n )\n \n\n (:goal\n (and\n (exists (?r - receptacle)\n (exists (?o - object)\n (and\n (inReceptacle ?o ?r)\n (objectType ?o PepperShakerType)\n (receptacleType ?r DrawerType)\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to shelf 2", "take peppershaker 1 from shelf 2", "go to drawer 2", "open drawer 2", "move peppershaker 1 to drawer 2"]}
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alfworld__pick_and_place_simple__1
|
pick_and_place_simple
|
pick_and_place_simple-PepperShaker-None-Drawer-5/trial_T20190908_195340_064065/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 peppershaker on drawer.\"\n }\n ],\n\n \"GotoLocation.feedback\": [\n {\n \"rhs\": \"You arrive at {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"OpenObject.feedback\": [\n {\n \"rhs\": \"You open the {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"CloseObject.feedback\": [\n {\n \"rhs\": \"You close the {r.name}.\"\n }\n ],\n\n \"PickupObject.feedback\": [\n {\n \"rhs\": \"You pick up the {o.name} from the {r.name}.\"\n }\n ],\n\n \"PickupObjectFromReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupObjectFromReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupEmptyReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupEmptyReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupFullReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupFullReceptacleObject: You pick up the {outerr.name}.\"\n }\n ],\n\n \"PutObject.feedback\": [\n {\n \"rhs\": \"You move the {o.name} to the {r.name}.\"\n }\n ],\n\n \"PutObjectInReceptacleObject.feedback\": [\n {\n \"rhs\": \"PutObjectInReceptacleObject: You put the {o.name} in the {outero.name}.\"\n }\n ],\n\n \"PutEmptyReceptacleObjectinReceptacle.feedback\": [\n {\n \"rhs\": \"PutEmptyReceptacleObjectinReceptacle: You put the {o.name} in the {r.name}.\"\n }\n ],\n\n \"PutFullReceptacleObjectInReceptacle.feedback\": [\n {\n \"rhs\": \"PutFullReceptacleObjectInReceptacle: You put the {outero.name} in the {r.name}.\"\n }\n ],\n\n \"inventory.feedback\": [\n {\n \"condition\": \"holdsany(a:agent)\",\n \"rhs\": \"You are carrying: [{o.indefinite + ' ' + o.name | holds(a:agent, o:object)}].\"\n },\n {\n \"rhs\": \"You are not carrying anything.\"\n }\n ],\n\n \"examineReceptacle.feedback\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \"The {r.name} is open. In it, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \"The {r.name} is closed.\"\n },\n {\n \"rhs\": \"On the {r.name}, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n }\n ],\n\n \"examineObject.feedback\": [\n {\n \"condition\": \"isreceptacleobject(o:object)\",\n \"rhs\": \"This is a normal {o.name}. In it, you see [{o2.indefinite + ' ' + o2.name | inreceptacleobject(o2:object, o:object)}].\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a clean sliced {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot sliced {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object)\",\n \"rhs\": \"This is a hot and clean {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object)\",\n \"rhs\": \"This is a cool and clean {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object)\",\n \"rhs\": \"This is a hot {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object)\",\n \"rhs\": \"This is a clean {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object)\",\n \"rhs\": \"This is a cold {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"This {o.name} is on.\"\n },\n {\n \"condition\": \"toggleable(o:object) & not_istoggled(o:object)\",\n \"rhs\": \"This {o.name} is off.\"\n },\n {\n \"condition\": \"sliceable(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a sliced {o.name}.\"\n },\n {\n \"rhs\": \"There's nothing special about {o.name}.\"\n }\n ]\n }\n\"\"\";\n\naction GotoLocation {\n template :: \"go to [{r.name | receptacleatlocation(r:receptacle, lend:location)}]\";\n feedback :: \"#GotoLocation.feedback#\";\n}\n\naction OpenObject {\n template :: \"open {r}\";\n feedback :: \"#OpenObject.feedback#\";\n}\n\naction CloseObject {\n template :: \"close {r}\";\n feedback :: \"#CloseObject.feedback#\";\n}\n\naction PickupObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObject.feedback#\";\n}\n\naction PickupObjectFromReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObjectFromReceptacleObject.feedback#\";\n}\n\naction PickupEmptyReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupEmptyReceptacleObject.feedback#\";\n}\n\naction PickupFullReceptacleObject {\n template :: \"take {outerr} from {r}\";\n feedback :: \"#PickupFullReceptacleObject.feedback#\";\n}\n\naction PutObject {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutObject.feedback#\";\n}\n\naction PutObjectInReceptacleObject {\n template :: \"put {o} into {outero}\";\n feedback :: \"#PutObjectInReceptacleObject.feedback#\";\n}\n\naction PutEmptyReceptacleObjectinReceptacle {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutEmptyReceptacleObjectinReceptacle.feedback#\";\n}\n\naction PutFullReceptacleObjectInReceptacle {\n template :: \"put {outero} in {r}\";\n feedback :: \"#PutFullReceptacleObjectInReceptacle.feedback#\";\n}\n\naction inventory {\n template :: \"inventory\";\n feedback :: \"#inventory.feedback#\";\n}\n\naction examineReceptacle {\n template :: \"examine {r}\";\n feedback :: \"#examineReceptacle.feedback#\";\n}\n\naction examineObject {\n template :: \"examine {o}\";\n feedback :: \"#examineObject.feedback#\";\n}\n\naction ToggleObject {\n template :: \"use {o}\";\n feedback :: \"#toggleObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"toggleObject.feedback\": [\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"You turn on the {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object)\",\n \"rhs\": \"You turn off the {o.name}.\"\n },\n {\n \"rhs\": \"You don't see any switch on the {o.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction HeatObject {\n template :: \"heat {o} with {r}\";\n feedback :: \"#heatObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"heatObject.feedback\": [\n {\n \"rhs\": \"You heat the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CleanObject {\n template :: \"clean {o} with {r}\";\n feedback :: \"#cleanObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"cleanObject.feedback\": [\n {\n \"rhs\": \"You clean the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CoolObject {\n template :: \"cool {o} with {r}\";\n feedback :: \"#coolObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"coolObject.feedback\": [\n {\n \"rhs\": \"You cool the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction SliceObject {\n template :: \"slice {co} with {ko}\";\n feedback :: \"#sliceObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"sliceObject.feedback\": [\n {\n \"rhs\": \"You sliced the {co.name} with the {ko.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction look {\n template :: \"look\";\n feedback :: \"#look.feedback#\";\n\n grammar :: \"\"\"\n {\n \"look.feedback\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"#look-variations#. Next to it, you see #list_objects_on_the_floor#.\"\n },\n {\n \"rhs\": \"You are in the middle of a room. Looking quickly around you, you see #list_appliances#.\"\n }\n ],\n\n \"look-variations\": [\n {\n \"rhs\": \"You are facing the [{r.name | atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)}]\"\n }\n ],\n\n \"list_objects_on_the_floor\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)\",\n \"rhs\": \"[{#overview(o)# | atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"list_appliances\": [\n {\n \"condition\": \"receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"[{#overview(r)# | receptacleatlocation(r:receptacle, l:location)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"overview(o, r)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name} (in/on the {r.name})}\"\n }\n ],\n\n \"overview(o)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name}\"\n }\n ],\n \"overview(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}\"\n }\n ],\n \"overview_with_state(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}#overview_state(r)#\"\n }\n ],\n \"overview_state(r)\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \" (it is open)\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \" (it is closed)\"\n },\n {\n \"rhs\": \"\"\n }\n ],\n\n \"list_empty\": [\n {\n \"rhs\": \"nothing\"\n }\n ],\n \"list_separator\": [\n {\n \"rhs\": \", \"\n }\n ],\n \"list_last_separator\": [\n {\n \"rhs\": \", and \"\n }\n ]\n }\n \"\"\";\n}\n\naction help {\n template :: \"help\";\n feedback :: \"\nAvailable commands:\n look: look around your current location\n inventory: check your current inventory\n go to (receptacle): move to a receptacle\n open (receptacle): open a receptacle\n close (receptacle): close a receptacle\n take (object) from (receptacle): take an object from a receptacle\n move (object) to (receptacle): place an object in or on a receptacle\n examine (something): examine a receptacle or an object\n use (object): use an object\n heat (object) with (receptacle): heat an object using a receptacle\n clean (object) with (receptacle): clean an object using a receptacle\n cool (object) with (receptacle): cool an object using a receptacle\n slice (object) with (object): slice an object using a sharp object\n\";\n}\n", "pddl_problem": "\n(define (problem plan_trial_T20190908_195340_064065)\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_91_bar__plus_01_dot_06_bar__minus_01_dot_19 - object\n Apple_bar__minus_00_dot_20_bar__plus_00_dot_81_bar__minus_02_dot_12 - object\n Apple_bar__minus_01_dot_33_bar__plus_00_dot_96_bar__minus_00_dot_35 - object\n Bowl_bar__plus_01_dot_35_bar__plus_01_dot_65_bar__minus_02_dot_13 - object\n Bowl_bar__plus_01_dot_95_bar__plus_01_dot_10_bar__minus_00_dot_74 - object\n Bowl_bar__minus_00_dot_42_bar__plus_00_dot_91_bar__plus_00_dot_08 - object\n Bread_bar__plus_01_dot_95_bar__plus_00_dot_90_bar__minus_00_dot_74 - object\n Bread_bar__minus_01_dot_16_bar__plus_01_dot_01_bar__minus_00_dot_24 - object\n ButterKnife_bar__minus_00_dot_03_bar__plus_00_dot_76_bar__minus_02_dot_06 - object\n ButterKnife_bar__minus_00_dot_15_bar__plus_01_dot_13_bar__plus_00_dot_57 - object\n ButterKnife_bar__minus_00_dot_60_bar__plus_01_dot_13_bar__plus_00_dot_44 - object\n Chair_bar__minus_00_dot_08_bar__plus_00_dot_01_bar__plus_00_dot_76 - object\n Chair_bar__minus_00_dot_46_bar__plus_00_dot_01_bar__plus_00_dot_75 - object\n Cup_bar__plus_00_dot_10_bar__plus_00_dot_75_bar__minus_01_dot_94 - object\n DishSponge_bar__plus_01_dot_85_bar__plus_00_dot_06_bar__plus_00_dot_11 - object\n DishSponge_bar__plus_02_dot_69_bar__plus_00_dot_55_bar__plus_00_dot_04 - object\n DishSponge_bar__minus_00_dot_65_bar__plus_00_dot_69_bar__plus_00_dot_23 - object\n Egg_bar__plus_00_dot_97_bar__plus_00_dot_94_bar__minus_01_dot_84 - object\n Faucet_bar__minus_00_dot_16_bar__plus_01_dot_05_bar__minus_02_dot_20 - object\n Fork_bar__minus_00_dot_12_bar__plus_00_dot_70_bar__plus_00_dot_18 - object\n Fork_bar__minus_00_dot_90_bar__plus_00_dot_91_bar__minus_01_dot_76 - object\n HousePlant_bar__minus_01_dot_25_bar__plus_01_dot_12_bar__plus_00_dot_61 - object\n Kettle_bar__plus_01_dot_87_bar__plus_01_dot_66_bar__minus_01_dot_20 - object\n Kettle_bar__minus_01_dot_29_bar__plus_00_dot_96_bar__minus_00_dot_76 - object\n Kettle_bar__minus_01_dot_29_bar__plus_00_dot_96_bar__minus_01_dot_02 - object\n Knife_bar__minus_00_dot_21_bar__plus_00_dot_94_bar__plus_00_dot_14 - object\n Knife_bar__minus_01_dot_26_bar__plus_00_dot_93_bar__minus_02_dot_01 - object\n 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Sink_bar__minus_00_dot_12_bar__plus_00_dot_88_bar__minus_02_dot_01_bar_SinkBasin)\n \n \n (receptacleAtLocation Cabinet_bar__plus_00_dot_12_bar__plus_02_dot_27_bar__minus_02_dot_00 loc_bar_1_bar__minus_5_bar_2_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__plus_00_dot_20_bar__plus_02_dot_02_bar__minus_02_dot_00 loc_bar_2_bar__minus_5_bar_2_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__plus_01_dot_18_bar__plus_02_dot_02_bar__minus_02_dot_00 loc_bar_4_bar__minus_5_bar_2_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__plus_01_dot_38_bar__plus_00_dot_46_bar__minus_01_dot_69 loc_bar_4_bar__minus_3_bar_2_bar_45)\n (receptacleAtLocation Cabinet_bar__plus_01_dot_39_bar__plus_00_dot_47_bar__minus_01_dot_06 loc_bar_2_bar__minus_4_bar_1_bar_60)\n (receptacleAtLocation Cabinet_bar__plus_01_dot_74_bar__plus_02_dot_02_bar__minus_02_dot_00 loc_bar_4_bar__minus_5_bar_2_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__plus_01_dot_75_bar__plus_02_dot_02_bar__minus_01_dot_03 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ButterKnife_bar__minus_00_dot_60_bar__plus_01_dot_13_bar__plus_00_dot_44 loc_bar_2_bar_3_bar_3_bar_30)\n (objectAtLocation Lettuce_bar__plus_01_dot_95_bar__plus_01_dot_50_bar__minus_00_dot_37 loc_bar_4_bar__minus_3_bar_1_bar_60)\n (objectAtLocation SoapBottle_bar__plus_00_dot_89_bar__plus_01_dot_66_bar__minus_02_dot_16 loc_bar_4_bar__minus_5_bar_2_bar__minus_30)\n (objectAtLocation Spatula_bar__minus_00_dot_63_bar__plus_00_dot_93_bar__plus_00_dot_03 loc_bar__minus_2_bar__minus_2_bar_0_bar_45)\n (objectAtLocation Bread_bar__minus_01_dot_16_bar__plus_01_dot_01_bar__minus_00_dot_24 loc_bar__minus_2_bar__minus_2_bar_0_bar_45)\n (objectAtLocation Potato_bar__plus_02_dot_11_bar__plus_01_dot_46_bar__minus_00_dot_83 loc_bar_4_bar__minus_3_bar_1_bar_60)\n (objectAtLocation Kettle_bar__minus_01_dot_29_bar__plus_00_dot_96_bar__minus_00_dot_76 loc_bar__minus_2_bar__minus_3_bar_3_bar_45)\n (objectAtLocation Apple_bar__plus_01_dot_91_bar__plus_01_dot_06_bar__minus_01_dot_19 loc_bar_4_bar__minus_5_bar_1_bar_45)\n (objectAtLocation Ladle_bar__minus_00_dot_99_bar__plus_00_dot_93_bar__minus_00_dot_05 loc_bar__minus_2_bar__minus_2_bar_0_bar_45)\n (objectAtLocation Fork_bar__minus_00_dot_90_bar__plus_00_dot_91_bar__minus_01_dot_76 loc_bar_4_bar__minus_5_bar_2_bar_45)\n (objectAtLocation Bowl_bar__plus_01_dot_95_bar__plus_01_dot_10_bar__minus_00_dot_74 loc_bar_4_bar__minus_3_bar_1_bar_60)\n (objectAtLocation Knife_bar__minus_01_dot_26_bar__plus_00_dot_93_bar__minus_02_dot_01 loc_bar_4_bar__minus_5_bar_2_bar_45)\n (objectAtLocation Pan_bar__plus_01_dot_74_bar__plus_00_dot_90_bar__minus_01_dot_97 loc_bar_4_bar__minus_5_bar_2_bar_45)\n (objectAtLocation Apple_bar__minus_01_dot_33_bar__plus_00_dot_96_bar__minus_00_dot_35 loc_bar__minus_2_bar__minus_2_bar_0_bar_45)\n (objectAtLocation Lettuce_bar__plus_01_dot_89_bar__plus_00_dot_89_bar__minus_00_dot_46 loc_bar_4_bar__minus_3_bar_1_bar_60)\n (objectAtLocation Bowl_bar__plus_01_dot_35_bar__plus_01_dot_65_bar__minus_02_dot_13 loc_bar_4_bar__minus_5_bar_2_bar__minus_30)\n (objectAtLocation Kettle_bar__plus_01_dot_87_bar__plus_01_dot_66_bar__minus_01_dot_20 loc_bar_4_bar__minus_5_bar_1_bar__minus_30)\n (objectAtLocation ButterKnife_bar__minus_00_dot_15_bar__plus_01_dot_13_bar__plus_00_dot_57 loc_bar_2_bar_3_bar_3_bar_30)\n (objectAtLocation DishSponge_bar__plus_01_dot_85_bar__plus_00_dot_06_bar__plus_00_dot_11 loc_bar_8_bar_3_bar_2_bar_60)\n (objectAtLocation Ladle_bar__minus_00_dot_29_bar__plus_00_dot_80_bar__minus_02_dot_01 loc_bar_0_bar__minus_5_bar_2_bar_45)\n (objectAtLocation Potato_bar__minus_01_dot_26_bar__plus_00_dot_94_bar__minus_02_dot_18 loc_bar_4_bar__minus_5_bar_2_bar_45)\n (objectAtLocation Statue_bar__plus_02_dot_80_bar__plus_00_dot_56_bar__plus_00_dot_14 loc_bar_10_bar_5_bar_2_bar_45)\n (objectAtLocation Pan_bar__minus_01_dot_06_bar__plus_00_dot_96_bar__minus_00_dot_67 loc_bar__minus_2_bar__minus_2_bar_0_bar_45)\n (objectAtLocation Sink_bar__minus_00_dot_12_bar__plus_00_dot_88_bar__minus_02_dot_01 loc_bar_0_bar__minus_5_bar_2_bar_45)\n (objectAtLocation Chair_bar__minus_00_dot_46_bar__plus_00_dot_01_bar__plus_00_dot_75 loc_bar__minus_2_bar_5_bar_2_bar_60)\n (objectAtLocation Chair_bar__minus_00_dot_08_bar__plus_00_dot_01_bar__plus_00_dot_76 loc_bar_1_bar_4_bar_3_bar_60)\n (objectAtLocation HousePlant_bar__minus_01_dot_25_bar__plus_01_dot_12_bar__plus_00_dot_61 loc_bar_2_bar_3_bar_3_bar_30)\n (objectAtLocation Pan_bar__plus_01_dot_42_bar__plus_00_dot_91_bar__minus_01_dot_93 loc_bar_4_bar__minus_5_bar_2_bar_45)\n (objectAtLocation Knife_bar__minus_00_dot_21_bar__plus_00_dot_94_bar__plus_00_dot_14 loc_bar__minus_2_bar__minus_2_bar_0_bar_45)\n (objectAtLocation Bowl_bar__minus_00_dot_42_bar__plus_00_dot_91_bar__plus_00_dot_08 loc_bar__minus_2_bar__minus_2_bar_0_bar_45)\n (objectAtLocation Fork_bar__minus_00_dot_12_bar__plus_00_dot_70_bar__plus_00_dot_18 loc_bar_3_bar__minus_2_bar_3_bar_45)\n (objectAtLocation Cup_bar__plus_00_dot_10_bar__plus_00_dot_75_bar__minus_01_dot_94 loc_bar_0_bar__minus_5_bar_2_bar_45)\n (objectAtLocation Ladle_bar__minus_01_dot_05_bar__plus_01_dot_17_bar__plus_00_dot_71 loc_bar_2_bar_3_bar_3_bar_30)\n (objectAtLocation Apple_bar__minus_00_dot_20_bar__plus_00_dot_81_bar__minus_02_dot_12 loc_bar_0_bar__minus_5_bar_2_bar_45)\n (objectAtLocation Kettle_bar__minus_01_dot_29_bar__plus_00_dot_96_bar__minus_01_dot_02 loc_bar__minus_2_bar__minus_4_bar_3_bar_45)\n (objectAtLocation Vase_bar__minus_00_dot_42_bar__plus_00_dot_92_bar__plus_00_dot_29 loc_bar__minus_2_bar__minus_2_bar_0_bar_45)\n (objectAtLocation Potato_bar__plus_00_dot_07_bar__plus_01_dot_16_bar__plus_00_dot_57 loc_bar_2_bar_3_bar_3_bar_30)\n (objectAtLocation Pot_bar__plus_01_dot_89_bar__plus_01_dot_43_bar__minus_00_dot_64 loc_bar_4_bar__minus_3_bar_1_bar_60)\n (objectAtLocation Bread_bar__plus_01_dot_95_bar__plus_00_dot_90_bar__minus_00_dot_74 loc_bar_4_bar__minus_3_bar_1_bar_60)\n (objectAtLocation Plate_bar__minus_00_dot_61_bar__plus_00_dot_11_bar__plus_00_dot_18 loc_bar__minus_2_bar__minus_4_bar_0_bar_45)\n (objectAtLocation LightSwitch_bar__plus_00_dot_40_bar__plus_01_dot_30_bar__plus_02_dot_00 loc_bar_2_bar_6_bar_0_bar_30)\n (objectAtLocation Spatula_bar__plus_00_dot_08_bar__plus_00_dot_71_bar__plus_00_dot_10 loc_bar_3_bar__minus_2_bar_3_bar_45)\n (objectAtLocation PaperTowelRoll_bar__plus_03_dot_00_bar__plus_00_dot_98_bar__plus_00_dot_09 loc_bar_8_bar_3_bar_1_bar_45)\n (objectAtLocation Vase_bar__plus_02_dot_70_bar__plus_00_dot_87_bar__plus_00_dot_18 loc_bar_8_bar_3_bar_1_bar_45)\n (objectAtLocation Egg_bar__plus_00_dot_97_bar__plus_00_dot_94_bar__minus_01_dot_84 loc_bar_4_bar__minus_5_bar_2_bar_45)\n (objectAtLocation SoapBottle_bar__plus_02_dot_00_bar__plus_00_dot_06_bar__plus_00_dot_17 loc_bar_8_bar_3_bar_2_bar_60)\n (objectAtLocation SaltShaker_bar__minus_00_dot_66_bar__plus_00_dot_69_bar__minus_01_dot_85 loc_bar_0_bar__minus_5_bar_3_bar_45)\n (objectAtLocation Lettuce_bar__plus_01_dot_89_bar__plus_01_dot_18_bar__minus_00_dot_37 loc_bar_4_bar__minus_3_bar_1_bar_60)\n (objectAtLocation PepperShaker_bar__plus_02_dot_49_bar__plus_00_dot_88_bar__plus_00_dot_09 loc_bar_8_bar_3_bar_1_bar_45)\n (objectAtLocation ButterKnife_bar__minus_00_dot_03_bar__plus_00_dot_76_bar__minus_02_dot_06 loc_bar_0_bar__minus_5_bar_2_bar_45)\n (objectAtLocation StoveKnob_bar__minus_00_dot_87_bar__plus_00_dot_90_bar__minus_00_dot_83 loc_bar__minus_2_bar__minus_3_bar_3_bar_60)\n (objectAtLocation StoveKnob_bar__minus_00_dot_87_bar__plus_00_dot_90_bar__minus_00_dot_68 loc_bar__minus_2_bar__minus_3_bar_3_bar_60)\n (objectAtLocation StoveKnob_bar__minus_00_dot_87_bar__plus_00_dot_90_bar__minus_00_dot_97 loc_bar__minus_2_bar__minus_4_bar_3_bar_60)\n (objectAtLocation StoveKnob_bar__minus_00_dot_87_bar__plus_00_dot_90_bar__minus_01_dot_12 loc_bar__minus_2_bar__minus_4_bar_3_bar_60)\n (objectAtLocation DishSponge_bar__minus_00_dot_65_bar__plus_00_dot_69_bar__plus_00_dot_23 loc_bar_0_bar__minus_2_bar_0_bar_60)\n (objectAtLocation Vase_bar__plus_02_dot_98_bar__plus_00_dot_54_bar__plus_00_dot_13 loc_bar_10_bar_5_bar_2_bar_45)\n (objectAtLocation Spoon_bar__minus_01_dot_32_bar__plus_00_dot_91_bar__minus_01_dot_47 loc_bar_4_bar__minus_5_bar_2_bar_45)\n (objectAtLocation Tomato_bar__minus_00_dot_82_bar__plus_01_dot_18_bar__plus_00_dot_57 loc_bar_2_bar_3_bar_3_bar_30)\n (objectAtLocation Mug_bar__minus_00_dot_12_bar__plus_00_dot_76_bar__minus_01_dot_95 loc_bar_0_bar__minus_5_bar_2_bar_45)\n (objectAtLocation Statue_bar__minus_00_dot_38_bar__plus_01_dot_14_bar__plus_00_dot_57 loc_bar_2_bar_3_bar_3_bar_30)\n )\n \n\n (:goal\n (and\n (exists (?r - receptacle)\n (exists (?o - object)\n (and\n (inReceptacle ?o ?r)\n (objectType ?o PepperShakerType)\n (receptacleType ?r DrawerType)\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to shelf 1", "take peppershaker 1 from shelf 1", "go to drawer 2", "open drawer 2", "move peppershaker 1 to drawer 2"]}
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alfworld__pick_and_place_simple__2
|
pick_and_place_simple
|
pick_and_place_simple-PepperShaker-None-Drawer-5/trial_T20190908_195236_701456/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 peppershaker 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_195236_701456)\n(:domain alfred)\n(:objects\nagent1 - agent\nSaltShaker - object\n HousePlant - object\n Candle - object\n SprayBottle - object\n Bowl - object\n Window - object\n CD - object\n Egg - object\n Glassbottle - object\n Sink - object\n Pillow - object\n Spoon - object\n SoapBottle - object\n TeddyBear - object\n ButterKnife - object\n Cup - object\n Plate - object\n RemoteControl - object\n Tomato - object\n Statue - object\n HandTowel - object\n Knife - object\n StoveKnob - object\n LightSwitch - object\n Pen - object\n Painting - object\n DishSponge - object\n Vase - object\n Mug - object\n ToiletPaper - object\n Box - object\n Mirror - object\n Ladle - object\n Fork - object\n Blinds - object\n Footstool - object\n KeyChain - object\n Cloth - object\n Laptop - object\n TissueBox - object\n PepperShaker - object\n FloorLamp - object\n WateringCan - object\n Apple - object\n Pan - object\n PaperTowel - object\n PaperTowelRoll - object\n Newspaper - object\n Television - object\n Chair - object\n CellPhone - object\n CreditCard - object\n Lettuce - object\n BasketBall - object\n Potato - object\n Curtains - object\n Boots - object\n Pencil - object\n AlarmClock - object\n ToiletPaperRoll - object\n Spatula - object\n Book - object\n Bread - object\n SoapBar - object\n Watch - object\n DeskLamp - object\n Kettle - object\n Pot - object\n ScrubBrush - object\n WineBottle - object\n ShowerDoor - object\n Bathtub - object\n LaundryHamperLid - object\n ShowerGlass - object\n Poster - object\n TennisRacket - object\n BaseballBat - object\n Towel - object\n Plunger - object\nSaltShakerType - otype\n HousePlantType - otype\n CandleType - otype\n SprayBottleType - otype\n BowlType - otype\n WindowType - otype\n CDType - otype\n EggType - otype\n GlassbottleType - otype\n SinkType - otype\n PillowType - otype\n SpoonType - otype\n SoapBottleType - otype\n TeddyBearType - otype\n ButterKnifeType - otype\n CupType - otype\n PlateType - otype\n RemoteControlType - otype\n TomatoType - otype\n StatueType - otype\n HandTowelType - otype\n KnifeType - otype\n StoveKnobType - otype\n LightSwitchType - otype\n PenType - otype\n PaintingType - otype\n DishSpongeType - otype\n VaseType - otype\n MugType - otype\n ToiletPaperType - otype\n BoxType - otype\n MirrorType - otype\n LadleType - otype\n ForkType - otype\n BlindsType - otype\n FootstoolType - otype\n KeyChainType - otype\n ClothType - otype\n LaptopType - otype\n TissueBoxType - otype\n PepperShakerType - otype\n FloorLampType - otype\n WateringCanType - otype\n AppleType - otype\n PanType - otype\n PaperTowelType - otype\n PaperTowelRollType - otype\n NewspaperType - otype\n TelevisionType - otype\n ChairType - otype\n CellPhoneType - otype\n CreditCardType - otype\n LettuceType - otype\n BasketBallType - otype\n PotatoType - otype\n CurtainsType - otype\n BootsType - otype\n PencilType - otype\n AlarmClockType - otype\n ToiletPaperRollType - otype\n SpatulaType - otype\n BookType - otype\n BreadType - otype\n SoapBarType - otype\n WatchType - otype\n DeskLampType - otype\n KettleType - otype\n PotType - otype\n ScrubBrushType - otype\n WineBottleType - otype\n ShowerDoorType - otype\n BathtubType - otype\n LaundryHamperLidType - otype\n ShowerGlassType - otype\n PosterType - otype\n TennisRacketType - otype\n BaseballBatType - otype\n TowelType - otype\n PlungerType - otype\nSafeType - rtype\n DrawerType - rtype\n CoffeeMachineType - rtype\n HandTowelHolderType - rtype\n SinkBasinType - rtype\n DresserType - rtype\n LaundryHamperType - rtype\n TVStandType - rtype\n BathtubBasinType - rtype\n CabinetType - rtype\n FridgeType - rtype\n DeskType - rtype\n ToiletType - rtype\n CartType - rtype\n SideTableType - rtype\n SofaType - rtype\n CoffeeTableType - rtype\n DiningTableType - rtype\n CounterTopType - rtype\n GarbageCanType - rtype\n ArmChairType - rtype\n ShelfType - rtype\n MicrowaveType - rtype\n ToasterType - rtype\n BedType - rtype\n PaintingHangerType - rtype\n TowelHolderType - rtype\n ToiletPaperHangerType - rtype\n StoveBurnerType - rtype\n OttomanType - rtype\n\n\n Apple_bar__plus_01_dot_78_bar__plus_01_dot_06_bar__minus_01_dot_40 - object\n Apple_bar__plus_01_dot_85_bar__plus_00_dot_11_bar__plus_00_dot_17 - object\n Apple_bar__plus_01_dot_95_bar__plus_01_dot_48_bar__minus_00_dot_83 - object\n Bowl_bar__minus_00_dot_66_bar__plus_00_dot_91_bar__minus_01_dot_93 - object\n Bread_bar__minus_01_dot_15_bar__plus_00_dot_98_bar__minus_00_dot_19 - object\n ButterKnife_bar__plus_00_dot_07_bar__plus_01_dot_13_bar__plus_00_dot_71 - object\n ButterKnife_bar__minus_00_dot_90_bar__plus_00_dot_91_bar__minus_02_dot_18 - object\n Chair_bar__minus_00_dot_08_bar__plus_00_dot_01_bar__plus_00_dot_76 - object\n Chair_bar__minus_00_dot_46_bar__plus_00_dot_01_bar__plus_00_dot_75 - object\n Cup_bar__plus_00_dot_10_bar__plus_00_dot_75_bar__minus_01_dot_94 - object\n DishSponge_bar__plus_02_dot_90_bar__plus_00_dot_88_bar__plus_00_dot_14 - object\n DishSponge_bar__minus_00_dot_62_bar__plus_00_dot_69_bar__minus_01_dot_94 - object\n Egg_bar__plus_00_dot_06_bar__plus_00_dot_80_bar__minus_02_dot_06 - object\n Egg_bar__minus_00_dot_20_bar__plus_00_dot_80_bar__minus_02_dot_12 - object\n Egg_bar__minus_00_dot_38_bar__plus_01_dot_17_bar__plus_00_dot_62 - object\n Faucet_bar__minus_00_dot_16_bar__plus_01_dot_05_bar__minus_02_dot_20 - object\n Fork_bar__minus_01_dot_28_bar__plus_00_dot_91_bar__plus_00_dot_03 - object\n HousePlant_bar__minus_01_dot_25_bar__plus_01_dot_12_bar__plus_00_dot_61 - object\n Kettle_bar__minus_01_dot_05_bar__plus_00_dot_95_bar__minus_02_dot_09 - object\n Knife_bar__minus_01_dot_05_bar__plus_01_dot_16_bar__plus_00_dot_66 - object\n Ladle_bar__minus_00_dot_21_bar__plus_00_dot_95_bar__plus_00_dot_14 - object\n Lettuce_bar__plus_01_dot_89_bar__plus_00_dot_89_bar__minus_00_dot_55 - object\n Lettuce_bar__plus_01_dot_95_bar__plus_00_dot_89_bar__minus_00_dot_74 - object\n Lettuce_bar__plus_02_dot_00_bar__plus_01_dot_50_bar__minus_00_dot_55 - object\n LightSwitch_bar__plus_00_dot_40_bar__plus_01_dot_30_bar__plus_02_dot_00 - object\n Mug_bar__plus_02_dot_06_bar__plus_00_dot_81_bar__minus_00_dot_46 - object\n Mug_bar__plus_02_dot_80_bar__plus_00_dot_55_bar__plus_00_dot_04 - object\n Mug_bar__minus_00_dot_12_bar__plus_00_dot_76_bar__minus_02_dot_06 - object\n Pan_bar__plus_01_dot_74_bar__plus_00_dot_90_bar__minus_01_dot_97 - object\n PaperTowelRoll_bar__plus_02_dot_04_bar__plus_00_dot_17_bar__plus_00_dot_20 - object\n PepperShaker_bar__minus_00_dot_90_bar__plus_00_dot_91_bar__minus_01_dot_93 - object\n Plate_bar__plus_01_dot_42_bar__plus_00_dot_91_bar__minus_02_dot_10 - object\n Plate_bar__plus_01_dot_47_bar__plus_01_dot_65_bar__minus_02_dot_16 - object\n Plate_bar__plus_01_dot_69_bar__plus_00_dot_12_bar__minus_01_dot_27 - object\n Potato_bar__plus_01_dot_88_bar__plus_00_dot_09_bar__plus_00_dot_08 - object\n Potato_bar__plus_01_dot_91_bar__plus_01_dot_05_bar__minus_01_dot_25 - object\n Potato_bar__minus_01_dot_32_bar__plus_00_dot_94_bar__minus_01_dot_89 - object\n Pot_bar__minus_01_dot_06_bar__plus_00_dot_96_bar__minus_00_dot_67 - object\n Pot_bar__minus_01_dot_29_bar__plus_00_dot_96_bar__minus_00_dot_76 - object\n 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loc_bar__minus_1_bar__minus_5_bar_3_bar__minus_15 - location\n loc_bar_2_bar_3_bar_3_bar_30 - location\n loc_bar__minus_2_bar__minus_5_bar_3_bar__minus_30 - location\n loc_bar_7_bar_6_bar_3_bar_30 - location\n )\n \n\n(:init\n\n\n (receptacleType Cabinet_bar__minus_01_dot_15_bar__plus_02_dot_27_bar__minus_00_dot_84 CabinetType)\n (receptacleType Shelf_bar__plus_02_dot_81_bar__plus_00_dot_87_bar__plus_00_dot_14 ShelfType)\n (receptacleType Cabinet_bar__minus_00_dot_42_bar__plus_00_dot_37_bar__minus_00_dot_01 CabinetType)\n (receptacleType Cabinet_bar__plus_01_dot_39_bar__plus_00_dot_47_bar__minus_01_dot_06 CabinetType)\n (receptacleType Cabinet_bar__plus_01_dot_75_bar__plus_02_dot_02_bar__minus_01_dot_40 CabinetType)\n (receptacleType Cabinet_bar__minus_01_dot_15_bar__plus_02_dot_27_bar__minus_01_dot_42 CabinetType)\n (receptacleType StoveBurner_bar__minus_01_dot_06_bar__plus_00_dot_95_bar__minus_01_dot_13 StoveBurnerType)\n (receptacleType 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SaltShaker_bar__minus_01_dot_14_bar__plus_00_dot_91_bar__minus_01_dot_93 CounterTop_bar__plus_01_dot_16_bar__plus_00_dot_95_bar__minus_02_dot_01)\n (inReceptacle ButterKnife_bar__minus_00_dot_90_bar__plus_00_dot_91_bar__minus_02_dot_18 CounterTop_bar__plus_01_dot_16_bar__plus_00_dot_95_bar__minus_02_dot_01)\n (inReceptacle Tomato_bar__minus_01_dot_14_bar__plus_00_dot_96_bar__minus_02_dot_27 CounterTop_bar__plus_01_dot_16_bar__plus_00_dot_95_bar__minus_02_dot_01)\n (inReceptacle Plate_bar__plus_01_dot_42_bar__plus_00_dot_91_bar__minus_02_dot_10 CounterTop_bar__plus_01_dot_16_bar__plus_00_dot_95_bar__minus_02_dot_01)\n (inReceptacle Kettle_bar__minus_01_dot_05_bar__plus_00_dot_95_bar__minus_02_dot_09 CounterTop_bar__plus_01_dot_16_bar__plus_00_dot_95_bar__minus_02_dot_01)\n (inReceptacle Vase_bar__minus_01_dot_24_bar__plus_00_dot_91_bar__minus_01_dot_47 CounterTop_bar__plus_01_dot_16_bar__plus_00_dot_95_bar__minus_02_dot_01)\n (inReceptacle PepperShaker_bar__minus_00_dot_90_bar__plus_00_dot_91_bar__minus_01_dot_93 CounterTop_bar__plus_01_dot_16_bar__plus_00_dot_95_bar__minus_02_dot_01)\n (inReceptacle PaperTowelRoll_bar__plus_02_dot_04_bar__plus_00_dot_17_bar__plus_00_dot_20 GarbageCan_bar__plus_01_dot_92_bar__plus_00_dot_00_bar__plus_00_dot_14)\n (inReceptacle Apple_bar__plus_01_dot_85_bar__plus_00_dot_11_bar__plus_00_dot_17 GarbageCan_bar__plus_01_dot_92_bar__plus_00_dot_00_bar__plus_00_dot_14)\n (inReceptacle Potato_bar__plus_01_dot_88_bar__plus_00_dot_09_bar__plus_00_dot_08 GarbageCan_bar__plus_01_dot_92_bar__plus_00_dot_00_bar__plus_00_dot_14)\n (inReceptacle DishSponge_bar__plus_02_dot_90_bar__plus_00_dot_88_bar__plus_00_dot_14 Shelf_bar__plus_02_dot_81_bar__plus_00_dot_87_bar__plus_00_dot_14)\n (inReceptacle Apple_bar__plus_01_dot_78_bar__plus_01_dot_06_bar__minus_01_dot_40 Microwave_bar__plus_01_dot_83_bar__plus_00_dot_90_bar__minus_01_dot_35)\n (inReceptacle Potato_bar__plus_01_dot_91_bar__plus_01_dot_05_bar__minus_01_dot_25 Microwave_bar__plus_01_dot_83_bar__plus_00_dot_90_bar__minus_01_dot_35)\n (inReceptacle Mug_bar__plus_02_dot_80_bar__plus_00_dot_55_bar__plus_00_dot_04 Shelf_bar__plus_02_dot_81_bar__plus_00_dot_54_bar__plus_00_dot_14)\n (inReceptacle Vase_bar__plus_02_dot_98_bar__plus_00_dot_54_bar__plus_00_dot_13 Shelf_bar__plus_02_dot_81_bar__plus_00_dot_54_bar__plus_00_dot_14)\n (inReceptacle Mug_bar__plus_02_dot_06_bar__plus_00_dot_81_bar__minus_00_dot_46 Fridge_bar__plus_01_dot_98_bar__plus_00_dot_00_bar__minus_00_dot_54)\n (inReceptacle Lettuce_bar__plus_01_dot_89_bar__plus_00_dot_89_bar__minus_00_dot_55 Fridge_bar__plus_01_dot_98_bar__plus_00_dot_00_bar__minus_00_dot_54)\n (inReceptacle Lettuce_bar__plus_01_dot_95_bar__plus_00_dot_89_bar__minus_00_dot_74 Fridge_bar__plus_01_dot_98_bar__plus_00_dot_00_bar__minus_00_dot_54)\n (inReceptacle Apple_bar__plus_01_dot_95_bar__plus_01_dot_48_bar__minus_00_dot_83 Fridge_bar__plus_01_dot_98_bar__plus_00_dot_00_bar__minus_00_dot_54)\n (inReceptacle Lettuce_bar__plus_02_dot_00_bar__plus_01_dot_50_bar__minus_00_dot_55 Fridge_bar__plus_01_dot_98_bar__plus_00_dot_00_bar__minus_00_dot_54)\n (inReceptacle Cup_bar__plus_00_dot_10_bar__plus_00_dot_75_bar__minus_01_dot_94 Sink_bar__minus_00_dot_12_bar__plus_00_dot_88_bar__minus_02_dot_01_bar_SinkBasin)\n (inReceptacle Mug_bar__minus_00_dot_12_bar__plus_00_dot_76_bar__minus_02_dot_06 Sink_bar__minus_00_dot_12_bar__plus_00_dot_88_bar__minus_02_dot_01_bar_SinkBasin)\n (inReceptacle Egg_bar__plus_00_dot_06_bar__plus_00_dot_80_bar__minus_02_dot_06 Sink_bar__minus_00_dot_12_bar__plus_00_dot_88_bar__minus_02_dot_01_bar_SinkBasin)\n (inReceptacle Spatula_bar__minus_00_dot_03_bar__plus_00_dot_78_bar__minus_02_dot_12 Sink_bar__minus_00_dot_12_bar__plus_00_dot_88_bar__minus_02_dot_01_bar_SinkBasin)\n (inReceptacle Egg_bar__minus_00_dot_20_bar__plus_00_dot_80_bar__minus_02_dot_12 Sink_bar__minus_00_dot_12_bar__plus_00_dot_88_bar__minus_02_dot_01_bar_SinkBasin)\n (inReceptacle Spoon_bar__minus_00_dot_29_bar__plus_00_dot_76_bar__minus_01_dot_95 Sink_bar__minus_00_dot_12_bar__plus_00_dot_88_bar__minus_02_dot_01_bar_SinkBasin)\n \n \n (receptacleAtLocation Cabinet_bar__plus_00_dot_12_bar__plus_02_dot_27_bar__minus_02_dot_00 loc_bar_1_bar__minus_5_bar_2_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__plus_00_dot_20_bar__plus_02_dot_02_bar__minus_02_dot_00 loc_bar_2_bar__minus_5_bar_2_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__plus_01_dot_18_bar__plus_02_dot_02_bar__minus_02_dot_00 loc_bar_4_bar__minus_5_bar_2_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__plus_01_dot_38_bar__plus_00_dot_46_bar__minus_01_dot_69 loc_bar_4_bar__minus_3_bar_2_bar_45)\n (receptacleAtLocation Cabinet_bar__plus_01_dot_39_bar__plus_00_dot_47_bar__minus_01_dot_06 loc_bar_2_bar__minus_4_bar_1_bar_60)\n (receptacleAtLocation Cabinet_bar__plus_01_dot_74_bar__plus_02_dot_02_bar__minus_02_dot_00 loc_bar_4_bar__minus_5_bar_2_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__plus_01_dot_75_bar__plus_02_dot_02_bar__minus_01_dot_03 loc_bar_4_bar__minus_5_bar_1_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__plus_01_dot_75_bar__plus_02_dot_02_bar__minus_01_dot_40 loc_bar_4_bar__minus_5_bar_1_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_42_bar__plus_00_dot_37_bar__minus_00_dot_01 loc_bar__minus_1_bar__minus_4_bar_0_bar_45)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_45_bar__plus_00_dot_47_bar__minus_00_dot_01 loc_bar__minus_2_bar__minus_4_bar_0_bar_45)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_46_bar__plus_02_dot_27_bar__minus_02_dot_00 loc_bar_0_bar__minus_5_bar_2_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_82_bar__plus_00_dot_47_bar__minus_01_dot_69 loc_bar__minus_1_bar__minus_3_bar_2_bar_45)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_84_bar__plus_00_dot_47_bar__minus_00_dot_05 loc_bar_0_bar__minus_2_bar_3_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_84_bar__plus_00_dot_47_bar__minus_01_dot_67 loc_bar_0_bar__minus_4_bar_3_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_01_dot_10_bar__plus_02_dot_02_bar__minus_02_dot_00 loc_bar__minus_2_bar__minus_5_bar_2_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_01_dot_15_bar__plus_02_dot_02_bar__plus_00_dot_38 loc_bar__minus_2_bar__minus_1_bar_3_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_01_dot_15_bar__plus_02_dot_02_bar__minus_00_dot_77 loc_bar__minus_2_bar__minus_2_bar_3_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_01_dot_15_bar__plus_02_dot_02_bar__minus_01_dot_98 loc_bar__minus_1_bar__minus_5_bar_3_bar__minus_15)\n (receptacleAtLocation Cabinet_bar__minus_01_dot_15_bar__plus_02_dot_27_bar__minus_00_dot_84 loc_bar__minus_2_bar__minus_5_bar_3_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_01_dot_15_bar__plus_02_dot_27_bar__minus_01_dot_42 loc_bar__minus_2_bar__minus_4_bar_3_bar__minus_30)\n (receptacleAtLocation CoffeeMachine_bar__plus_00_dot_50_bar__plus_00_dot_90_bar__minus_02_dot_13 loc_bar_2_bar__minus_5_bar_2_bar_45)\n (receptacleAtLocation CounterTop_bar__plus_01_dot_16_bar__plus_00_dot_95_bar__minus_02_dot_01 loc_bar_4_bar__minus_5_bar_2_bar_45)\n (receptacleAtLocation CounterTop_bar__minus_00_dot_63_bar__plus_01_dot_17_bar__plus_00_dot_57 loc_bar_2_bar_3_bar_3_bar_30)\n (receptacleAtLocation CounterTop_bar__minus_00_dot_67_bar__plus_00_dot_95_bar__plus_00_dot_19 loc_bar__minus_2_bar__minus_2_bar_0_bar_45)\n (receptacleAtLocation Drawer_bar__minus_00_dot_07_bar__plus_00_dot_75_bar__minus_00_dot_01 loc_bar_3_bar__minus_2_bar_3_bar_45)\n (receptacleAtLocation Drawer_bar__minus_00_dot_45_bar__plus_00_dot_75_bar__minus_00_dot_01 loc_bar_0_bar__minus_2_bar_0_bar_60)\n (receptacleAtLocation Drawer_bar__minus_00_dot_82_bar__plus_00_dot_75_bar__minus_01_dot_69 loc_bar_0_bar__minus_5_bar_3_bar_45)\n (receptacleAtLocation Fridge_bar__plus_01_dot_98_bar__plus_00_dot_00_bar__minus_00_dot_54 loc_bar_4_bar__minus_3_bar_1_bar_60)\n (receptacleAtLocation GarbageCan_bar__plus_01_dot_92_bar__plus_00_dot_00_bar__plus_00_dot_14 loc_bar_8_bar_3_bar_2_bar_60)\n (receptacleAtLocation Microwave_bar__plus_01_dot_83_bar__plus_00_dot_90_bar__minus_01_dot_35 loc_bar_4_bar__minus_5_bar_1_bar_45)\n (receptacleAtLocation Shelf_bar__plus_02_dot_81_bar__plus_00_dot_16_bar__plus_00_dot_14 loc_bar_11_bar_6_bar_2_bar_45)\n (receptacleAtLocation Shelf_bar__plus_02_dot_81_bar__plus_00_dot_54_bar__plus_00_dot_14 loc_bar_10_bar_5_bar_2_bar_45)\n (receptacleAtLocation Shelf_bar__plus_02_dot_81_bar__plus_00_dot_87_bar__plus_00_dot_14 loc_bar_8_bar_3_bar_1_bar_45)\n (receptacleAtLocation Sink_bar__minus_00_dot_12_bar__plus_00_dot_88_bar__minus_02_dot_01_bar_SinkBasin loc_bar_0_bar__minus_5_bar_2_bar_45)\n (receptacleAtLocation StoveBurner_bar__minus_01_dot_06_bar__plus_00_dot_95_bar__minus_00_dot_67 loc_bar__minus_2_bar__minus_3_bar_3_bar_45)\n (receptacleAtLocation StoveBurner_bar__minus_01_dot_06_bar__plus_00_dot_95_bar__minus_01_dot_13 loc_bar__minus_2_bar__minus_5_bar_3_bar_45)\n (receptacleAtLocation StoveBurner_bar__minus_01_dot_29_bar__plus_00_dot_95_bar__minus_00_dot_76 loc_bar__minus_2_bar__minus_3_bar_3_bar_45)\n (receptacleAtLocation StoveBurner_bar__minus_01_dot_29_bar__plus_00_dot_95_bar__minus_01_dot_02 loc_bar__minus_2_bar__minus_4_bar_3_bar_45)\n (receptacleAtLocation Toaster_bar__plus_00_dot_84_bar__plus_00_dot_90_bar__minus_02_dot_06 loc_bar_3_bar__minus_5_bar_2_bar_45)\n (objectAtLocation Mug_bar__minus_00_dot_12_bar__plus_00_dot_76_bar__minus_02_dot_06 loc_bar_0_bar__minus_5_bar_2_bar_45)\n (objectAtLocation Spoon_bar__minus_00_dot_15_bar__plus_01_dot_13_bar__plus_00_dot_57 loc_bar_2_bar_3_bar_3_bar_30)\n (objectAtLocation DishSponge_bar__plus_02_dot_90_bar__plus_00_dot_88_bar__plus_00_dot_14 loc_bar_8_bar_3_bar_1_bar_45)\n (objectAtLocation ButterKnife_bar__plus_00_dot_07_bar__plus_01_dot_13_bar__plus_00_dot_71 loc_bar_2_bar_3_bar_3_bar_30)\n (objectAtLocation Lettuce_bar__plus_02_dot_00_bar__plus_01_dot_50_bar__minus_00_dot_55 loc_bar_4_bar__minus_3_bar_1_bar_60)\n (objectAtLocation SaltShaker_bar__minus_01_dot_36_bar__plus_01_dot_65_bar__minus_01_dot_79 loc_bar__minus_1_bar__minus_5_bar_3_bar__minus_15)\n (objectAtLocation Egg_bar__minus_00_dot_38_bar__plus_01_dot_17_bar__plus_00_dot_62 loc_bar_2_bar_3_bar_3_bar_30)\n (objectAtLocation Spatula_bar__minus_00_dot_58_bar__plus_00_dot_71_bar__plus_00_dot_10 loc_bar_0_bar__minus_2_bar_0_bar_60)\n (objectAtLocation Plate_bar__plus_01_dot_47_bar__plus_01_dot_65_bar__minus_02_dot_16 loc_bar_4_bar__minus_5_bar_2_bar__minus_30)\n (objectAtLocation Pot_bar__minus_01_dot_29_bar__plus_00_dot_96_bar__minus_01_dot_02 loc_bar__minus_2_bar__minus_5_bar_3_bar_45)\n (objectAtLocation Potato_bar__plus_01_dot_88_bar__plus_00_dot_09_bar__plus_00_dot_08 loc_bar_8_bar_3_bar_2_bar_60)\n (objectAtLocation Apple_bar__plus_01_dot_85_bar__plus_00_dot_11_bar__plus_00_dot_17 loc_bar_8_bar_3_bar_2_bar_60)\n (objectAtLocation Apple_bar__plus_01_dot_78_bar__plus_01_dot_06_bar__minus_01_dot_40 loc_bar_4_bar__minus_5_bar_1_bar_45)\n (objectAtLocation Mug_bar__plus_02_dot_06_bar__plus_00_dot_81_bar__minus_00_dot_46 loc_bar_4_bar__minus_3_bar_1_bar_60)\n (objectAtLocation Lettuce_bar__plus_01_dot_89_bar__plus_00_dot_89_bar__minus_00_dot_55 loc_bar_4_bar__minus_3_bar_1_bar_60)\n (objectAtLocation Plate_bar__plus_01_dot_69_bar__plus_00_dot_12_bar__minus_01_dot_27 loc_bar_2_bar__minus_4_bar_1_bar_60)\n (objectAtLocation Egg_bar__plus_00_dot_06_bar__plus_00_dot_80_bar__minus_02_dot_06 loc_bar_0_bar__minus_5_bar_2_bar_45)\n (objectAtLocation Pot_bar__minus_01_dot_06_bar__plus_00_dot_96_bar__minus_00_dot_67 loc_bar__minus_2_bar__minus_3_bar_3_bar_45)\n (objectAtLocation Potato_bar__plus_01_dot_91_bar__plus_01_dot_05_bar__minus_01_dot_25 loc_bar_4_bar__minus_5_bar_1_bar_45)\n (objectAtLocation Sink_bar__minus_00_dot_12_bar__plus_00_dot_88_bar__minus_02_dot_01 loc_bar_0_bar__minus_5_bar_2_bar_45)\n (objectAtLocation Chair_bar__minus_00_dot_46_bar__plus_00_dot_01_bar__plus_00_dot_75 loc_bar__minus_2_bar_5_bar_2_bar_60)\n (objectAtLocation Chair_bar__minus_00_dot_08_bar__plus_00_dot_01_bar__plus_00_dot_76 loc_bar_0_bar_5_bar_2_bar_60)\n (objectAtLocation HousePlant_bar__minus_01_dot_25_bar__plus_01_dot_12_bar__plus_00_dot_61 loc_bar_2_bar_3_bar_3_bar_30)\n (objectAtLocation Pan_bar__plus_01_dot_74_bar__plus_00_dot_90_bar__minus_01_dot_97 loc_bar_4_bar__minus_5_bar_2_bar_45)\n (objectAtLocation Knife_bar__minus_01_dot_05_bar__plus_01_dot_16_bar__plus_00_dot_66 loc_bar_2_bar_3_bar_3_bar_30)\n (objectAtLocation Bowl_bar__minus_00_dot_66_bar__plus_00_dot_91_bar__minus_01_dot_93 loc_bar_4_bar__minus_5_bar_2_bar_45)\n (objectAtLocation Fork_bar__minus_01_dot_28_bar__plus_00_dot_91_bar__plus_00_dot_03 loc_bar__minus_2_bar__minus_2_bar_0_bar_45)\n (objectAtLocation Cup_bar__plus_00_dot_10_bar__plus_00_dot_75_bar__minus_01_dot_94 loc_bar_0_bar__minus_5_bar_2_bar_45)\n (objectAtLocation Ladle_bar__minus_00_dot_21_bar__plus_00_dot_95_bar__plus_00_dot_14 loc_bar__minus_2_bar__minus_2_bar_0_bar_45)\n (objectAtLocation Apple_bar__plus_01_dot_95_bar__plus_01_dot_48_bar__minus_00_dot_83 loc_bar_4_bar__minus_3_bar_1_bar_60)\n (objectAtLocation Kettle_bar__minus_01_dot_05_bar__plus_00_dot_95_bar__minus_02_dot_09 loc_bar_4_bar__minus_5_bar_2_bar_45)\n (objectAtLocation Vase_bar__minus_01_dot_24_bar__plus_00_dot_91_bar__minus_01_dot_47 loc_bar_4_bar__minus_5_bar_2_bar_45)\n (objectAtLocation Potato_bar__minus_01_dot_32_bar__plus_00_dot_94_bar__minus_01_dot_89 loc_bar_4_bar__minus_5_bar_2_bar_45)\n (objectAtLocation Pot_bar__minus_01_dot_29_bar__plus_00_dot_96_bar__minus_00_dot_76 loc_bar__minus_2_bar__minus_3_bar_3_bar_45)\n (objectAtLocation Bread_bar__minus_01_dot_15_bar__plus_00_dot_98_bar__minus_00_dot_19 loc_bar__minus_2_bar__minus_2_bar_0_bar_45)\n (objectAtLocation Plate_bar__plus_01_dot_42_bar__plus_00_dot_91_bar__minus_02_dot_10 loc_bar_4_bar__minus_5_bar_2_bar_45)\n (objectAtLocation LightSwitch_bar__plus_00_dot_40_bar__plus_01_dot_30_bar__plus_02_dot_00 loc_bar_2_bar_6_bar_0_bar_30)\n (objectAtLocation Spatula_bar__minus_00_dot_03_bar__plus_00_dot_78_bar__minus_02_dot_12 loc_bar_0_bar__minus_5_bar_2_bar_45)\n (objectAtLocation PaperTowelRoll_bar__plus_02_dot_04_bar__plus_00_dot_17_bar__plus_00_dot_20 loc_bar_8_bar_3_bar_2_bar_60)\n (objectAtLocation Vase_bar__minus_00_dot_26_bar__plus_00_dot_12_bar__plus_00_dot_12 loc_bar__minus_1_bar__minus_4_bar_0_bar_45)\n (objectAtLocation Egg_bar__minus_00_dot_20_bar__plus_00_dot_80_bar__minus_02_dot_12 loc_bar_0_bar__minus_5_bar_2_bar_45)\n (objectAtLocation SoapBottle_bar__plus_01_dot_95_bar__plus_01_dot_66_bar__minus_01_dot_28 loc_bar_4_bar__minus_5_bar_1_bar__minus_30)\n (objectAtLocation SaltShaker_bar__minus_01_dot_14_bar__plus_00_dot_91_bar__minus_01_dot_93 loc_bar_4_bar__minus_5_bar_2_bar_45)\n (objectAtLocation Lettuce_bar__plus_01_dot_95_bar__plus_00_dot_89_bar__minus_00_dot_74 loc_bar_4_bar__minus_3_bar_1_bar_60)\n (objectAtLocation PepperShaker_bar__minus_00_dot_90_bar__plus_00_dot_91_bar__minus_01_dot_93 loc_bar_4_bar__minus_5_bar_2_bar_45)\n (objectAtLocation ButterKnife_bar__minus_00_dot_90_bar__plus_00_dot_91_bar__minus_02_dot_18 loc_bar_4_bar__minus_5_bar_2_bar_45)\n (objectAtLocation StoveKnob_bar__minus_00_dot_87_bar__plus_00_dot_90_bar__minus_00_dot_83 loc_bar__minus_2_bar__minus_3_bar_3_bar_60)\n (objectAtLocation StoveKnob_bar__minus_00_dot_87_bar__plus_00_dot_90_bar__minus_00_dot_68 loc_bar__minus_2_bar__minus_3_bar_3_bar_60)\n (objectAtLocation StoveKnob_bar__minus_00_dot_87_bar__plus_00_dot_90_bar__minus_00_dot_97 loc_bar__minus_2_bar__minus_4_bar_3_bar_60)\n (objectAtLocation StoveKnob_bar__minus_00_dot_87_bar__plus_00_dot_90_bar__minus_01_dot_12 loc_bar__minus_2_bar__minus_4_bar_3_bar_60)\n (objectAtLocation DishSponge_bar__minus_00_dot_62_bar__plus_00_dot_69_bar__minus_01_dot_94 loc_bar_0_bar__minus_5_bar_3_bar_45)\n (objectAtLocation Vase_bar__plus_02_dot_98_bar__plus_00_dot_54_bar__plus_00_dot_13 loc_bar_10_bar_5_bar_2_bar_45)\n (objectAtLocation Spoon_bar__minus_00_dot_29_bar__plus_00_dot_76_bar__minus_01_dot_95 loc_bar_0_bar__minus_5_bar_2_bar_45)\n (objectAtLocation Tomato_bar__minus_01_dot_14_bar__plus_00_dot_96_bar__minus_02_dot_27 loc_bar_4_bar__minus_5_bar_2_bar_45)\n (objectAtLocation Mug_bar__plus_02_dot_80_bar__plus_00_dot_55_bar__plus_00_dot_04 loc_bar_10_bar_5_bar_2_bar_45)\n (objectAtLocation Statue_bar__plus_00_dot_07_bar__plus_01_dot_14_bar__plus_00_dot_57 loc_bar_2_bar_3_bar_3_bar_30)\n )\n \n\n (:goal\n (and\n (exists (?r - receptacle)\n (exists (?o - object)\n (and\n (inReceptacle ?o ?r)\n (objectType ?o PepperShakerType)\n (receptacleType ?r DrawerType)\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to countertop 1", "take peppershaker 1 from countertop 1", "go to drawer 2", "open drawer 2", "move peppershaker 1 to drawer 2"]}
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alfworld__pick_two_obj_and_place__14
|
pick_two_obj_and_place
|
pick_two_obj_and_place-SprayBottle-None-CounterTop-410/trial_T20190908_161608_081694/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 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_161608_081694)\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_04_dot_08_bar__plus_00_dot_30_bar__plus_02_dot_48 - object\n Candle_bar__minus_00_dot_94_bar__plus_00_dot_84_bar__plus_01_dot_76 - object\n Candle_bar__minus_01_dot_05_bar__plus_01_dot_05_bar__plus_04_dot_59 - object\n Candle_bar__minus_01_dot_08_bar__plus_01_dot_05_bar__plus_04_dot_39 - object\n Cloth_bar__minus_02_dot_36_bar__plus_00_dot_27_bar__plus_01_dot_83 - object\n Faucet_bar__minus_01_dot_42_bar__plus_00_dot_95_bar__plus_01_dot_51 - object\n Faucet_bar__minus_02_dot_94_bar__plus_00_dot_95_bar__plus_01_dot_51 - object\n Faucet_bar__minus_04_dot_65_bar__plus_00_dot_45_bar__plus_01_dot_69 - object\n HandTowel_bar__minus_00_dot_92_bar__plus_01_dot_59_bar__plus_02_dot_02 - object\n LightSwitch_bar__minus_02_dot_17_bar__plus_01_dot_45_bar__plus_04_dot_97 - object\n Mirror_bar__minus_02_dot_18_bar__plus_01_dot_86_bar__plus_01_dot_39 - object\n Plunger_bar__minus_01_dot_06_bar_00_dot_00_bar__plus_04_dot_84 - object\n ScrubBrush_bar__minus_01_dot_07_bar_00_dot_00_bar__plus_04_dot_05 - object\n ShowerDoor_bar__minus_04_dot_87_bar__plus_01_dot_24_bar__plus_03_dot_95 - object\n ShowerHead_bar__minus_05_dot_26_bar__plus_01_dot_73_bar__plus_04_dot_03 - object\n Sink_bar__minus_01_dot_42_bar__plus_00_dot_84_bar__plus_01_dot_78 - object\n Sink_bar__minus_02_dot_94_bar__plus_00_dot_84_bar__plus_01_dot_78 - object\n SoapBar_bar__minus_01_dot_05_bar__plus_01_dot_04_bar__plus_04_dot_26 - object\n SoapBar_bar__minus_01_dot_07_bar__plus_00_dot_12_bar__plus_03_dot_77 - object\n SoapBottle_bar__minus_02_dot_38_bar__plus_00_dot_81_bar__plus_01_dot_52 - object\n SprayBottle_bar__minus_00_dot_96_bar__plus_01_dot_05_bar__plus_04_dot_46 - object\n SprayBottle_bar__minus_01_dot_11_bar__plus_01_dot_05_bar__plus_04_dot_39 - object\n ToiletPaper_bar__minus_00_dot_96_bar__plus_01_dot_04_bar__plus_04_dot_33 - object\n ToiletPaper_bar__minus_00_dot_97_bar__plus_00_dot_89_bar__plus_03_dot_96 - object\n ToiletPaper_bar__minus_01_dot_50_bar__plus_00_dot_27_bar__plus_01_dot_78 - object\n Towel_bar__minus_04_dot_74_bar__plus_01_dot_52_bar__plus_03_dot_36 - object\n Bathtub_bar__minus_04_dot_08_bar__plus_00_dot_30_bar__plus_02_dot_48_bar_BathtubBasin - receptacle\n CounterTop_bar__minus_02_dot_18_bar__plus_00_dot_78_bar__plus_01_dot_89 - receptacle\n Drawer_bar__minus_01_dot_31_bar__plus_00_dot_34_bar__plus_01_dot_89 - receptacle\n Drawer_bar__minus_01_dot_31_bar__plus_00_dot_61_bar__plus_01_dot_89 - receptacle\n Drawer_bar__minus_02_dot_17_bar__plus_00_dot_34_bar__plus_01_dot_89 - receptacle\n Drawer_bar__minus_02_dot_17_bar__plus_00_dot_61_bar__plus_01_dot_89 - receptacle\n Drawer_bar__minus_03_dot_03_bar__plus_00_dot_34_bar__plus_01_dot_89 - receptacle\n Drawer_bar__minus_03_dot_03_bar__plus_00_dot_61_bar__plus_01_dot_89 - receptacle\n GarbageCan_bar__minus_01_dot_07_bar_00_dot_00_bar__plus_03_dot_71 - receptacle\n HandTowelHolder_bar__minus_00_dot_89_bar__plus_01_dot_69_bar__plus_02_dot_02 - receptacle\n HandTowelHolder_bar__minus_03_dot_73_bar__plus_01_dot_75_bar__plus_01_dot_29 - receptacle\n Sink_bar__minus_01_dot_42_bar__plus_00_dot_84_bar__plus_01_dot_78_bar_SinkBasin - receptacle\n Sink_bar__minus_02_dot_94_bar__plus_00_dot_84_bar__plus_01_dot_78_bar_SinkBasin - receptacle\n ToiletPaperHanger_bar__minus_00_dot_89_bar__plus_00_dot_89_bar__plus_03_dot_91 - receptacle\n Toilet_bar__minus_01_dot_34_bar_00_dot_00_bar__plus_04_dot_46 - receptacle\n TowelHolder_bar__minus_04_dot_85_bar__plus_01_dot_51_bar__plus_02_dot_43 - receptacle\n TowelHolder_bar__minus_04_dot_85_bar__plus_01_dot_51_bar__plus_03_dot_36 - receptacle\n loc_bar__minus_9_bar_17_bar_0_bar_15 - location\n loc_bar__minus_14_bar_10_bar_3_bar_0 - location\n loc_bar__minus_14_bar_10_bar_2_bar_0 - location\n loc_bar__minus_7_bar_10_bar_2_bar_45 - location\n loc_bar__minus_6_bar_16_bar_1_bar_60 - location\n loc_bar__minus_6_bar_15_bar_1_bar_60 - location\n loc_bar__minus_13_bar_13_bar_2_bar_45 - location\n loc_bar__minus_7_bar_14_bar_2_bar_45 - location\n loc_bar__minus_13_bar_10_bar_2_bar_45 - location\n loc_bar__minus_6_bar_16_bar_1_bar_45 - location\n loc_bar__minus_11_bar_14_bar_2_bar_45 - location\n loc_bar__minus_6_bar_10_bar_1_bar_0 - location\n loc_bar__minus_17_bar_16_bar_3_bar_30 - location\n loc_bar__minus_9_bar_10_bar_2_bar__minus_15 - location\n loc_bar__minus_10_bar_13_bar_2_bar_45 - location\n loc_bar__minus_17_bar_15_bar_3_bar_15 - location\n loc_bar__minus_12_bar_10_bar_2_bar_45 - location\n loc_bar__minus_6_bar_10_bar_2_bar_45 - location\n loc_bar__minus_10_bar_11_bar_2_bar_45 - location\n loc_bar__minus_6_bar_13_bar_2_bar_45 - location\n loc_bar__minus_15_bar_14_bar_2_bar_45 - location\n loc_bar__minus_14_bar_10_bar_3_bar_60 - location\n loc_bar__minus_6_bar_16_bar_0_bar_60 - location\n loc_bar__minus_14_bar_14_bar_2_bar_45 - location\n loc_bar__minus_7_bar_10_bar_3_bar_30 - location\n )\n \n\n(:init\n\n\n (receptacleType Drawer_bar__minus_03_dot_03_bar__plus_00_dot_34_bar__plus_01_dot_89 DrawerType)\n (receptacleType TowelHolder_bar__minus_04_dot_85_bar__plus_01_dot_51_bar__plus_03_dot_36 TowelHolderType)\n (receptacleType GarbageCan_bar__minus_01_dot_07_bar_00_dot_00_bar__plus_03_dot_71 GarbageCanType)\n (receptacleType HandTowelHolder_bar__minus_00_dot_89_bar__plus_01_dot_69_bar__plus_02_dot_02 HandTowelHolderType)\n (receptacleType Sink_bar__minus_01_dot_42_bar__plus_00_dot_84_bar__plus_01_dot_78_bar_SinkBasin SinkBasinType)\n (receptacleType CounterTop_bar__minus_02_dot_18_bar__plus_00_dot_78_bar__plus_01_dot_89 CounterTopType)\n (receptacleType Toilet_bar__minus_01_dot_34_bar_00_dot_00_bar__plus_04_dot_46 ToiletType)\n (receptacleType TowelHolder_bar__minus_04_dot_85_bar__plus_01_dot_51_bar__plus_02_dot_43 TowelHolderType)\n (receptacleType HandTowelHolder_bar__minus_03_dot_73_bar__plus_01_dot_75_bar__plus_01_dot_29 HandTowelHolderType)\n (receptacleType Sink_bar__minus_02_dot_94_bar__plus_00_dot_84_bar__plus_01_dot_78_bar_SinkBasin SinkBasinType)\n (receptacleType Drawer_bar__minus_02_dot_17_bar__plus_00_dot_34_bar__plus_01_dot_89 DrawerType)\n (receptacleType Drawer_bar__minus_02_dot_17_bar__plus_00_dot_61_bar__plus_01_dot_89 DrawerType)\n (receptacleType Bathtub_bar__minus_04_dot_08_bar__plus_00_dot_30_bar__plus_02_dot_48_bar_BathtubBasin BathtubBasinType)\n (receptacleType ToiletPaperHanger_bar__minus_00_dot_89_bar__plus_00_dot_89_bar__plus_03_dot_91 ToiletPaperHangerType)\n (receptacleType Drawer_bar__minus_01_dot_31_bar__plus_00_dot_61_bar__plus_01_dot_89 DrawerType)\n (receptacleType Drawer_bar__minus_01_dot_31_bar__plus_00_dot_34_bar__plus_01_dot_89 DrawerType)\n (receptacleType Drawer_bar__minus_03_dot_03_bar__plus_00_dot_61_bar__plus_01_dot_89 DrawerType)\n (objectType ToiletPaper_bar__minus_01_dot_50_bar__plus_00_dot_27_bar__plus_01_dot_78 ToiletPaperType)\n (objectType LightSwitch_bar__minus_02_dot_17_bar__plus_01_dot_45_bar__plus_04_dot_97 LightSwitchType)\n (objectType Cloth_bar__minus_02_dot_36_bar__plus_00_dot_27_bar__plus_01_dot_83 ClothType)\n (objectType Mirror_bar__minus_02_dot_18_bar__plus_01_dot_86_bar__plus_01_dot_39 MirrorType)\n (objectType Plunger_bar__minus_01_dot_06_bar_00_dot_00_bar__plus_04_dot_84 PlungerType)\n (objectType ToiletPaper_bar__minus_00_dot_97_bar__plus_00_dot_89_bar__plus_03_dot_96 ToiletPaperType)\n (objectType HandTowel_bar__minus_00_dot_92_bar__plus_01_dot_59_bar__plus_02_dot_02 HandTowelType)\n (objectType ScrubBrush_bar__minus_01_dot_07_bar_00_dot_00_bar__plus_04_dot_05 ScrubBrushType)\n (objectType ToiletPaper_bar__minus_00_dot_96_bar__plus_01_dot_04_bar__plus_04_dot_33 ToiletPaperType)\n (objectType SprayBottle_bar__minus_00_dot_96_bar__plus_01_dot_05_bar__plus_04_dot_46 SprayBottleType)\n (objectType Sink_bar__minus_01_dot_42_bar__plus_00_dot_84_bar__plus_01_dot_78 SinkType)\n (objectType SoapBar_bar__minus_01_dot_07_bar__plus_00_dot_12_bar__plus_03_dot_77 SoapBarType)\n (objectType Candle_bar__minus_01_dot_08_bar__plus_01_dot_05_bar__plus_04_dot_39 CandleType)\n (objectType Bathtub_bar__minus_04_dot_08_bar__plus_00_dot_30_bar__plus_02_dot_48 BathtubType)\n (objectType SoapBottle_bar__minus_02_dot_38_bar__plus_00_dot_81_bar__plus_01_dot_52 SoapBottleType)\n (objectType Candle_bar__minus_01_dot_05_bar__plus_01_dot_05_bar__plus_04_dot_59 CandleType)\n (objectType Candle_bar__minus_00_dot_94_bar__plus_00_dot_84_bar__plus_01_dot_76 CandleType)\n (objectType SoapBar_bar__minus_01_dot_05_bar__plus_01_dot_04_bar__plus_04_dot_26 SoapBarType)\n (objectType Sink_bar__minus_02_dot_94_bar__plus_00_dot_84_bar__plus_01_dot_78 SinkType)\n (objectType SprayBottle_bar__minus_01_dot_11_bar__plus_01_dot_05_bar__plus_04_dot_39 SprayBottleType)\n (objectType ShowerDoor_bar__minus_04_dot_87_bar__plus_01_dot_24_bar__plus_03_dot_95 ShowerDoorType)\n (objectType Towel_bar__minus_04_dot_74_bar__plus_01_dot_52_bar__plus_03_dot_36 TowelType)\n (canContain DrawerType CandleType)\n (canContain DrawerType SoapBarType)\n (canContain DrawerType SprayBottleType)\n (canContain DrawerType ToiletPaperType)\n (canContain DrawerType SoapBottleType)\n (canContain DrawerType ClothType)\n (canContain DrawerType HandTowelType)\n (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 HandTowelHolderType 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 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 TowelHolderType TowelType)\n (canContain HandTowelHolderType HandTowelType)\n (canContain SinkBasinType SoapBarType)\n (canContain SinkBasinType ClothType)\n (canContain SinkBasinType HandTowelType)\n (canContain DrawerType CandleType)\n (canContain DrawerType SoapBarType)\n (canContain DrawerType SprayBottleType)\n (canContain DrawerType ToiletPaperType)\n (canContain DrawerType SoapBottleType)\n (canContain DrawerType ClothType)\n (canContain DrawerType HandTowelType)\n (canContain DrawerType CandleType)\n (canContain DrawerType SoapBarType)\n (canContain DrawerType SprayBottleType)\n (canContain DrawerType ToiletPaperType)\n (canContain DrawerType SoapBottleType)\n (canContain DrawerType ClothType)\n (canContain DrawerType HandTowelType)\n (canContain BathtubBasinType ClothType)\n (canContain BathtubBasinType HandTowelType)\n (canContain BathtubBasinType SoapBarType)\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 DrawerType CandleType)\n (canContain DrawerType SoapBarType)\n (canContain DrawerType SprayBottleType)\n (canContain DrawerType ToiletPaperType)\n (canContain DrawerType SoapBottleType)\n (canContain DrawerType ClothType)\n (canContain DrawerType HandTowelType)\n (pickupable ToiletPaper_bar__minus_01_dot_50_bar__plus_00_dot_27_bar__plus_01_dot_78)\n (pickupable Cloth_bar__minus_02_dot_36_bar__plus_00_dot_27_bar__plus_01_dot_83)\n (pickupable Plunger_bar__minus_01_dot_06_bar_00_dot_00_bar__plus_04_dot_84)\n (pickupable ToiletPaper_bar__minus_00_dot_97_bar__plus_00_dot_89_bar__plus_03_dot_96)\n (pickupable HandTowel_bar__minus_00_dot_92_bar__plus_01_dot_59_bar__plus_02_dot_02)\n (pickupable ScrubBrush_bar__minus_01_dot_07_bar_00_dot_00_bar__plus_04_dot_05)\n (pickupable ToiletPaper_bar__minus_00_dot_96_bar__plus_01_dot_04_bar__plus_04_dot_33)\n (pickupable SprayBottle_bar__minus_00_dot_96_bar__plus_01_dot_05_bar__plus_04_dot_46)\n (pickupable SoapBar_bar__minus_01_dot_07_bar__plus_00_dot_12_bar__plus_03_dot_77)\n (pickupable Candle_bar__minus_01_dot_08_bar__plus_01_dot_05_bar__plus_04_dot_39)\n (pickupable SoapBottle_bar__minus_02_dot_38_bar__plus_00_dot_81_bar__plus_01_dot_52)\n (pickupable Candle_bar__minus_01_dot_05_bar__plus_01_dot_05_bar__plus_04_dot_59)\n (pickupable Candle_bar__minus_00_dot_94_bar__plus_00_dot_84_bar__plus_01_dot_76)\n (pickupable SoapBar_bar__minus_01_dot_05_bar__plus_01_dot_04_bar__plus_04_dot_26)\n (pickupable SprayBottle_bar__minus_01_dot_11_bar__plus_01_dot_05_bar__plus_04_dot_39)\n (pickupable Towel_bar__minus_04_dot_74_bar__plus_01_dot_52_bar__plus_03_dot_36)\n \n (openable Drawer_bar__minus_03_dot_03_bar__plus_00_dot_34_bar__plus_01_dot_89)\n (openable Drawer_bar__minus_02_dot_17_bar__plus_00_dot_34_bar__plus_01_dot_89)\n (openable Drawer_bar__minus_02_dot_17_bar__plus_00_dot_61_bar__plus_01_dot_89)\n (openable Drawer_bar__minus_01_dot_31_bar__plus_00_dot_61_bar__plus_01_dot_89)\n (openable Drawer_bar__minus_01_dot_31_bar__plus_00_dot_34_bar__plus_01_dot_89)\n (openable Drawer_bar__minus_03_dot_03_bar__plus_00_dot_61_bar__plus_01_dot_89)\n \n (atLocation agent1 loc_bar__minus_7_bar_10_bar_3_bar_30)\n \n (cleanable Cloth_bar__minus_02_dot_36_bar__plus_00_dot_27_bar__plus_01_dot_83)\n (cleanable SoapBar_bar__minus_01_dot_07_bar__plus_00_dot_12_bar__plus_03_dot_77)\n (cleanable SoapBar_bar__minus_01_dot_05_bar__plus_01_dot_04_bar__plus_04_dot_26)\n \n \n \n \n \n \n \n \n \n \n (inReceptacle Candle_bar__minus_00_dot_94_bar__plus_00_dot_84_bar__plus_01_dot_76 CounterTop_bar__minus_02_dot_18_bar__plus_00_dot_78_bar__plus_01_dot_89)\n (inReceptacle SoapBottle_bar__minus_02_dot_38_bar__plus_00_dot_81_bar__plus_01_dot_52 CounterTop_bar__minus_02_dot_18_bar__plus_00_dot_78_bar__plus_01_dot_89)\n (inReceptacle ToiletPaper_bar__minus_01_dot_50_bar__plus_00_dot_27_bar__plus_01_dot_78 Drawer_bar__minus_01_dot_31_bar__plus_00_dot_34_bar__plus_01_dot_89)\n (inReceptacle Cloth_bar__minus_02_dot_36_bar__plus_00_dot_27_bar__plus_01_dot_83 Drawer_bar__minus_02_dot_17_bar__plus_00_dot_34_bar__plus_01_dot_89)\n (inReceptacle Towel_bar__minus_04_dot_74_bar__plus_01_dot_52_bar__plus_03_dot_36 TowelHolder_bar__minus_04_dot_85_bar__plus_01_dot_51_bar__plus_03_dot_36)\n (inReceptacle SoapBar_bar__minus_01_dot_07_bar__plus_00_dot_12_bar__plus_03_dot_77 GarbageCan_bar__minus_01_dot_07_bar_00_dot_00_bar__plus_03_dot_71)\n (inReceptacle HandTowel_bar__minus_00_dot_92_bar__plus_01_dot_59_bar__plus_02_dot_02 HandTowelHolder_bar__minus_00_dot_89_bar__plus_01_dot_69_bar__plus_02_dot_02)\n (inReceptacle SoapBar_bar__minus_01_dot_05_bar__plus_01_dot_04_bar__plus_04_dot_26 Toilet_bar__minus_01_dot_34_bar_00_dot_00_bar__plus_04_dot_46)\n (inReceptacle Candle_bar__minus_01_dot_08_bar__plus_01_dot_05_bar__plus_04_dot_39 Toilet_bar__minus_01_dot_34_bar_00_dot_00_bar__plus_04_dot_46)\n (inReceptacle ToiletPaper_bar__minus_00_dot_96_bar__plus_01_dot_04_bar__plus_04_dot_33 Toilet_bar__minus_01_dot_34_bar_00_dot_00_bar__plus_04_dot_46)\n (inReceptacle SprayBottle_bar__minus_01_dot_11_bar__plus_01_dot_05_bar__plus_04_dot_39 Toilet_bar__minus_01_dot_34_bar_00_dot_00_bar__plus_04_dot_46)\n (inReceptacle SprayBottle_bar__minus_00_dot_96_bar__plus_01_dot_05_bar__plus_04_dot_46 Toilet_bar__minus_01_dot_34_bar_00_dot_00_bar__plus_04_dot_46)\n (inReceptacle Candle_bar__minus_01_dot_05_bar__plus_01_dot_05_bar__plus_04_dot_59 Toilet_bar__minus_01_dot_34_bar_00_dot_00_bar__plus_04_dot_46)\n (inReceptacle ToiletPaper_bar__minus_00_dot_97_bar__plus_00_dot_89_bar__plus_03_dot_96 ToiletPaperHanger_bar__minus_00_dot_89_bar__plus_00_dot_89_bar__plus_03_dot_91)\n \n \n (receptacleAtLocation Bathtub_bar__minus_04_dot_08_bar__plus_00_dot_30_bar__plus_02_dot_48_bar_BathtubBasin loc_bar__minus_15_bar_14_bar_2_bar_45)\n (receptacleAtLocation CounterTop_bar__minus_02_dot_18_bar__plus_00_dot_78_bar__plus_01_dot_89 loc_bar__minus_10_bar_11_bar_2_bar_45)\n (receptacleAtLocation Drawer_bar__minus_01_dot_31_bar__plus_00_dot_34_bar__plus_01_dot_89 loc_bar__minus_7_bar_14_bar_2_bar_45)\n (receptacleAtLocation Drawer_bar__minus_01_dot_31_bar__plus_00_dot_61_bar__plus_01_dot_89 loc_bar__minus_6_bar_13_bar_2_bar_45)\n (receptacleAtLocation Drawer_bar__minus_02_dot_17_bar__plus_00_dot_34_bar__plus_01_dot_89 loc_bar__minus_11_bar_14_bar_2_bar_45)\n (receptacleAtLocation Drawer_bar__minus_02_dot_17_bar__plus_00_dot_61_bar__plus_01_dot_89 loc_bar__minus_10_bar_13_bar_2_bar_45)\n (receptacleAtLocation Drawer_bar__minus_03_dot_03_bar__plus_00_dot_34_bar__plus_01_dot_89 loc_bar__minus_14_bar_14_bar_2_bar_45)\n (receptacleAtLocation Drawer_bar__minus_03_dot_03_bar__plus_00_dot_61_bar__plus_01_dot_89 loc_bar__minus_13_bar_13_bar_2_bar_45)\n (receptacleAtLocation GarbageCan_bar__minus_01_dot_07_bar_00_dot_00_bar__plus_03_dot_71 loc_bar__minus_6_bar_15_bar_1_bar_60)\n (receptacleAtLocation HandTowelHolder_bar__minus_00_dot_89_bar__plus_01_dot_69_bar__plus_02_dot_02 loc_bar__minus_6_bar_10_bar_1_bar_0)\n (receptacleAtLocation HandTowelHolder_bar__minus_03_dot_73_bar__plus_01_dot_75_bar__plus_01_dot_29 loc_bar__minus_14_bar_10_bar_2_bar_0)\n (receptacleAtLocation Sink_bar__minus_01_dot_42_bar__plus_00_dot_84_bar__plus_01_dot_78_bar_SinkBasin loc_bar__minus_7_bar_10_bar_2_bar_45)\n (receptacleAtLocation Sink_bar__minus_02_dot_94_bar__plus_00_dot_84_bar__plus_01_dot_78_bar_SinkBasin loc_bar__minus_13_bar_10_bar_2_bar_45)\n (receptacleAtLocation ToiletPaperHanger_bar__minus_00_dot_89_bar__plus_00_dot_89_bar__plus_03_dot_91 loc_bar__minus_6_bar_16_bar_1_bar_45)\n (receptacleAtLocation Toilet_bar__minus_01_dot_34_bar_00_dot_00_bar__plus_04_dot_46 loc_bar__minus_6_bar_16_bar_0_bar_60)\n (receptacleAtLocation TowelHolder_bar__minus_04_dot_85_bar__plus_01_dot_51_bar__plus_02_dot_43 loc_bar__minus_14_bar_10_bar_3_bar_0)\n (receptacleAtLocation TowelHolder_bar__minus_04_dot_85_bar__plus_01_dot_51_bar__plus_03_dot_36 loc_bar__minus_17_bar_15_bar_3_bar_15)\n (objectAtLocation SprayBottle_bar__minus_00_dot_96_bar__plus_01_dot_05_bar__plus_04_dot_46 loc_bar__minus_6_bar_16_bar_0_bar_60)\n (objectAtLocation ToiletPaper_bar__minus_00_dot_97_bar__plus_00_dot_89_bar__plus_03_dot_96 loc_bar__minus_6_bar_16_bar_1_bar_45)\n (objectAtLocation SoapBar_bar__minus_01_dot_05_bar__plus_01_dot_04_bar__plus_04_dot_26 loc_bar__minus_6_bar_16_bar_0_bar_60)\n (objectAtLocation Candle_bar__minus_00_dot_94_bar__plus_00_dot_84_bar__plus_01_dot_76 loc_bar__minus_10_bar_11_bar_2_bar_45)\n (objectAtLocation Candle_bar__minus_01_dot_05_bar__plus_01_dot_05_bar__plus_04_dot_59 loc_bar__minus_6_bar_16_bar_0_bar_60)\n (objectAtLocation ShowerDoor_bar__minus_04_dot_87_bar__plus_01_dot_24_bar__plus_03_dot_95 loc_bar__minus_17_bar_16_bar_3_bar_30)\n (objectAtLocation Bathtub_bar__minus_04_dot_08_bar__plus_00_dot_30_bar__plus_02_dot_48 loc_bar__minus_14_bar_10_bar_3_bar_60)\n (objectAtLocation Mirror_bar__minus_02_dot_18_bar__plus_01_dot_86_bar__plus_01_dot_39 loc_bar__minus_9_bar_10_bar_2_bar__minus_15)\n (objectAtLocation Sink_bar__minus_01_dot_42_bar__plus_00_dot_84_bar__plus_01_dot_78 loc_bar__minus_6_bar_10_bar_2_bar_45)\n (objectAtLocation Sink_bar__minus_02_dot_94_bar__plus_00_dot_84_bar__plus_01_dot_78 loc_bar__minus_12_bar_10_bar_2_bar_45)\n (objectAtLocation Candle_bar__minus_01_dot_08_bar__plus_01_dot_05_bar__plus_04_dot_39 loc_bar__minus_6_bar_16_bar_0_bar_60)\n (objectAtLocation HandTowel_bar__minus_00_dot_92_bar__plus_01_dot_59_bar__plus_02_dot_02 loc_bar__minus_6_bar_10_bar_1_bar_0)\n (objectAtLocation Plunger_bar__minus_01_dot_06_bar_00_dot_00_bar__plus_04_dot_84 loc_bar__minus_6_bar_16_bar_0_bar_60)\n (objectAtLocation LightSwitch_bar__minus_02_dot_17_bar__plus_01_dot_45_bar__plus_04_dot_97 loc_bar__minus_9_bar_17_bar_0_bar_15)\n (objectAtLocation SoapBar_bar__minus_01_dot_07_bar__plus_00_dot_12_bar__plus_03_dot_77 loc_bar__minus_6_bar_15_bar_1_bar_60)\n (objectAtLocation ToiletPaper_bar__minus_00_dot_96_bar__plus_01_dot_04_bar__plus_04_dot_33 loc_bar__minus_6_bar_16_bar_0_bar_60)\n (objectAtLocation Cloth_bar__minus_02_dot_36_bar__plus_00_dot_27_bar__plus_01_dot_83 loc_bar__minus_11_bar_14_bar_2_bar_45)\n (objectAtLocation ToiletPaper_bar__minus_01_dot_50_bar__plus_00_dot_27_bar__plus_01_dot_78 loc_bar__minus_7_bar_14_bar_2_bar_45)\n (objectAtLocation Towel_bar__minus_04_dot_74_bar__plus_01_dot_52_bar__plus_03_dot_36 loc_bar__minus_17_bar_15_bar_3_bar_15)\n (objectAtLocation ScrubBrush_bar__minus_01_dot_07_bar_00_dot_00_bar__plus_04_dot_05 loc_bar__minus_6_bar_16_bar_1_bar_60)\n (objectAtLocation SoapBottle_bar__minus_02_dot_38_bar__plus_00_dot_81_bar__plus_01_dot_52 loc_bar__minus_10_bar_11_bar_2_bar_45)\n (objectAtLocation SprayBottle_bar__minus_01_dot_11_bar__plus_01_dot_05_bar__plus_04_dot_39 loc_bar__minus_6_bar_16_bar_0_bar_60)\n )\n \n\n (:goal\n (and\n (exists (?r - receptacle)\n (exists (?o1 - object)\n (and\n (objectType ?o1 SprayBottleType)\n (receptacleType ?r CounterTopType)\n (inReceptacle ?o1 ?r)\n (exists (?o2 - object)\n (and\n (not (= ?o1 ?o2))\n (objectType ?o2 SprayBottleType)\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 spraybottle 2 from toilet 1", "go to countertop 1", "move spraybottle 2 to countertop 1", "go to toilet 1", "take spraybottle 1 from toilet 1", "go to countertop 1", "move spraybottle 1 to countertop 1"]}
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alfworld__pick_two_obj_and_place__15
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pick_two_obj_and_place
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pick_two_obj_and_place-SprayBottle-None-CounterTop-410/trial_T20190908_161634_318819/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 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_161634_318819)\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_04_dot_08_bar__plus_00_dot_30_bar__plus_02_dot_48 - object\n Candle_bar__minus_01_dot_05_bar__plus_01_dot_05_bar__plus_04_dot_33 - object\n Candle_bar__minus_03_dot_22_bar__plus_00_dot_28_bar__plus_01_dot_73 - object\n Candle_bar__minus_03_dot_40_bar__plus_00_dot_84_bar__plus_01_dot_65 - object\n Cloth_bar__minus_01_dot_59_bar__plus_00_dot_89_bar__plus_01_dot_79 - object\n Cloth_bar__minus_01_dot_98_bar__plus_00_dot_54_bar__plus_01_dot_83 - object\n Faucet_bar__minus_01_dot_42_bar__plus_00_dot_95_bar__plus_01_dot_51 - object\n Faucet_bar__minus_02_dot_94_bar__plus_00_dot_95_bar__plus_01_dot_51 - object\n Faucet_bar__minus_04_dot_65_bar__plus_00_dot_45_bar__plus_01_dot_69 - object\n HandTowel_bar__minus_00_dot_92_bar__plus_01_dot_59_bar__plus_02_dot_02 - object\n HandTowel_bar__minus_03_dot_73_bar__plus_01_dot_65_bar__plus_01_dot_33 - object\n LightSwitch_bar__minus_02_dot_17_bar__plus_01_dot_45_bar__plus_04_dot_97 - object\n Mirror_bar__minus_02_dot_18_bar__plus_01_dot_86_bar__plus_01_dot_39 - object\n Plunger_bar__minus_01_dot_06_bar_00_dot_00_bar__plus_04_dot_84 - object\n ScrubBrush_bar__minus_01_dot_07_bar_00_dot_00_bar__plus_04_dot_05 - object\n ShowerDoor_bar__minus_04_dot_87_bar__plus_01_dot_24_bar__plus_03_dot_95 - object\n ShowerHead_bar__minus_05_dot_26_bar__plus_01_dot_73_bar__plus_04_dot_03 - object\n Sink_bar__minus_01_dot_42_bar__plus_00_dot_84_bar__plus_01_dot_78 - object\n Sink_bar__minus_02_dot_94_bar__plus_00_dot_84_bar__plus_01_dot_78 - object\n SoapBar_bar__minus_01_dot_02_bar__plus_00_dot_54_bar__plus_01_dot_88 - object\n SoapBar_bar__minus_02_dot_19_bar__plus_00_dot_83_bar__plus_01_dot_97 - object\n SoapBottle_bar__minus_00_dot_99_bar__plus_01_dot_05_bar__plus_04_dot_46 - object\n SoapBottle_bar__minus_02_dot_10_bar__plus_00_dot_83_bar__plus_02_dot_07 - object\n SoapBottle_bar__minus_02_dot_38_bar__plus_00_dot_81_bar__plus_01_dot_52 - object\n SprayBottle_bar__minus_01_dot_04_bar__plus_00_dot_12_bar__plus_03_dot_80 - object\n SprayBottle_bar__minus_01_dot_08_bar__plus_01_dot_05_bar__plus_04_dot_26 - object\n SprayBottle_bar__minus_01_dot_11_bar__plus_01_dot_05_bar__plus_04_dot_59 - object\n ToiletPaper_bar__minus_00_dot_97_bar__plus_00_dot_82_bar__plus_01_dot_97 - object\n ToiletPaper_bar__minus_00_dot_97_bar__plus_00_dot_89_bar__plus_03_dot_96 - object\n Towel_bar__minus_04_dot_74_bar__plus_01_dot_52_bar__plus_02_dot_43 - object\n Bathtub_bar__minus_04_dot_08_bar__plus_00_dot_30_bar__plus_02_dot_48_bar_BathtubBasin - receptacle\n CounterTop_bar__minus_02_dot_18_bar__plus_00_dot_78_bar__plus_01_dot_89 - receptacle\n Drawer_bar__minus_01_dot_31_bar__plus_00_dot_34_bar__plus_01_dot_89 - receptacle\n Drawer_bar__minus_01_dot_31_bar__plus_00_dot_61_bar__plus_01_dot_89 - receptacle\n Drawer_bar__minus_02_dot_17_bar__plus_00_dot_34_bar__plus_01_dot_89 - receptacle\n Drawer_bar__minus_02_dot_17_bar__plus_00_dot_61_bar__plus_01_dot_89 - receptacle\n Drawer_bar__minus_03_dot_03_bar__plus_00_dot_34_bar__plus_01_dot_89 - receptacle\n Drawer_bar__minus_03_dot_03_bar__plus_00_dot_61_bar__plus_01_dot_89 - receptacle\n GarbageCan_bar__minus_01_dot_07_bar_00_dot_00_bar__plus_03_dot_71 - receptacle\n HandTowelHolder_bar__minus_00_dot_89_bar__plus_01_dot_69_bar__plus_02_dot_02 - receptacle\n HandTowelHolder_bar__minus_03_dot_73_bar__plus_01_dot_75_bar__plus_01_dot_29 - receptacle\n Sink_bar__minus_01_dot_42_bar__plus_00_dot_84_bar__plus_01_dot_78_bar_SinkBasin - receptacle\n Sink_bar__minus_02_dot_94_bar__plus_00_dot_84_bar__plus_01_dot_78_bar_SinkBasin - receptacle\n ToiletPaperHanger_bar__minus_00_dot_89_bar__plus_00_dot_89_bar__plus_03_dot_91 - receptacle\n Toilet_bar__minus_01_dot_34_bar_00_dot_00_bar__plus_04_dot_46 - receptacle\n TowelHolder_bar__minus_04_dot_85_bar__plus_01_dot_51_bar__plus_02_dot_43 - receptacle\n TowelHolder_bar__minus_04_dot_85_bar__plus_01_dot_51_bar__plus_03_dot_36 - receptacle\n loc_bar__minus_9_bar_17_bar_0_bar_15 - location\n loc_bar__minus_14_bar_10_bar_3_bar_0 - location\n loc_bar__minus_14_bar_10_bar_2_bar_0 - location\n loc_bar__minus_7_bar_10_bar_2_bar_45 - location\n loc_bar__minus_6_bar_16_bar_1_bar_60 - location\n loc_bar__minus_6_bar_15_bar_1_bar_60 - location\n loc_bar__minus_13_bar_13_bar_2_bar_45 - location\n loc_bar__minus_7_bar_14_bar_2_bar_45 - location\n loc_bar__minus_13_bar_10_bar_2_bar_45 - location\n loc_bar__minus_6_bar_16_bar_1_bar_45 - location\n loc_bar__minus_11_bar_14_bar_2_bar_45 - location\n loc_bar__minus_6_bar_10_bar_1_bar_0 - location\n loc_bar__minus_17_bar_16_bar_3_bar_30 - location\n loc_bar__minus_9_bar_10_bar_2_bar__minus_15 - location\n loc_bar__minus_10_bar_13_bar_2_bar_45 - location\n loc_bar__minus_17_bar_15_bar_3_bar_15 - location\n loc_bar__minus_12_bar_10_bar_2_bar_45 - location\n loc_bar__minus_6_bar_10_bar_2_bar_45 - location\n loc_bar__minus_10_bar_11_bar_2_bar_45 - location\n loc_bar__minus_6_bar_13_bar_2_bar_45 - location\n loc_bar__minus_15_bar_14_bar_2_bar_45 - location\n loc_bar__minus_14_bar_10_bar_3_bar_60 - location\n loc_bar__minus_6_bar_16_bar_0_bar_60 - location\n loc_bar__minus_14_bar_14_bar_2_bar_45 - location\n loc_bar__minus_13_bar_12_bar_0_bar_30 - location\n )\n \n\n(:init\n\n\n (receptacleType Drawer_bar__minus_03_dot_03_bar__plus_00_dot_34_bar__plus_01_dot_89 DrawerType)\n (receptacleType TowelHolder_bar__minus_04_dot_85_bar__plus_01_dot_51_bar__plus_03_dot_36 TowelHolderType)\n (receptacleType GarbageCan_bar__minus_01_dot_07_bar_00_dot_00_bar__plus_03_dot_71 GarbageCanType)\n (receptacleType HandTowelHolder_bar__minus_00_dot_89_bar__plus_01_dot_69_bar__plus_02_dot_02 HandTowelHolderType)\n (receptacleType Sink_bar__minus_01_dot_42_bar__plus_00_dot_84_bar__plus_01_dot_78_bar_SinkBasin SinkBasinType)\n (receptacleType CounterTop_bar__minus_02_dot_18_bar__plus_00_dot_78_bar__plus_01_dot_89 CounterTopType)\n (receptacleType Toilet_bar__minus_01_dot_34_bar_00_dot_00_bar__plus_04_dot_46 ToiletType)\n (receptacleType TowelHolder_bar__minus_04_dot_85_bar__plus_01_dot_51_bar__plus_02_dot_43 TowelHolderType)\n (receptacleType HandTowelHolder_bar__minus_03_dot_73_bar__plus_01_dot_75_bar__plus_01_dot_29 HandTowelHolderType)\n (receptacleType Sink_bar__minus_02_dot_94_bar__plus_00_dot_84_bar__plus_01_dot_78_bar_SinkBasin SinkBasinType)\n (receptacleType Drawer_bar__minus_02_dot_17_bar__plus_00_dot_34_bar__plus_01_dot_89 DrawerType)\n (receptacleType Drawer_bar__minus_02_dot_17_bar__plus_00_dot_61_bar__plus_01_dot_89 DrawerType)\n (receptacleType Bathtub_bar__minus_04_dot_08_bar__plus_00_dot_30_bar__plus_02_dot_48_bar_BathtubBasin BathtubBasinType)\n (receptacleType ToiletPaperHanger_bar__minus_00_dot_89_bar__plus_00_dot_89_bar__plus_03_dot_91 ToiletPaperHangerType)\n (receptacleType Drawer_bar__minus_01_dot_31_bar__plus_00_dot_61_bar__plus_01_dot_89 DrawerType)\n (receptacleType Drawer_bar__minus_01_dot_31_bar__plus_00_dot_34_bar__plus_01_dot_89 DrawerType)\n (receptacleType Drawer_bar__minus_03_dot_03_bar__plus_00_dot_61_bar__plus_01_dot_89 DrawerType)\n (objectType Candle_bar__minus_01_dot_05_bar__plus_01_dot_05_bar__plus_04_dot_33 CandleType)\n (objectType LightSwitch_bar__minus_02_dot_17_bar__plus_01_dot_45_bar__plus_04_dot_97 LightSwitchType)\n (objectType Mirror_bar__minus_02_dot_18_bar__plus_01_dot_86_bar__plus_01_dot_39 MirrorType)\n (objectType Plunger_bar__minus_01_dot_06_bar_00_dot_00_bar__plus_04_dot_84 PlungerType)\n (objectType SoapBottle_bar__minus_00_dot_99_bar__plus_01_dot_05_bar__plus_04_dot_46 SoapBottleType)\n (objectType ToiletPaper_bar__minus_00_dot_97_bar__plus_00_dot_89_bar__plus_03_dot_96 ToiletPaperType)\n (objectType HandTowel_bar__minus_00_dot_92_bar__plus_01_dot_59_bar__plus_02_dot_02 HandTowelType)\n (objectType SprayBottle_bar__minus_01_dot_11_bar__plus_01_dot_05_bar__plus_04_dot_59 SprayBottleType)\n (objectType ScrubBrush_bar__minus_01_dot_07_bar_00_dot_00_bar__plus_04_dot_05 ScrubBrushType)\n (objectType SprayBottle_bar__minus_01_dot_08_bar__plus_01_dot_05_bar__plus_04_dot_26 SprayBottleType)\n (objectType SprayBottle_bar__minus_01_dot_04_bar__plus_00_dot_12_bar__plus_03_dot_80 SprayBottleType)\n (objectType Sink_bar__minus_01_dot_42_bar__plus_00_dot_84_bar__plus_01_dot_78 SinkType)\n (objectType SoapBar_bar__minus_02_dot_19_bar__plus_00_dot_83_bar__plus_01_dot_97 SoapBarType)\n (objectType Candle_bar__minus_03_dot_40_bar__plus_00_dot_84_bar__plus_01_dot_65 CandleType)\n (objectType Bathtub_bar__minus_04_dot_08_bar__plus_00_dot_30_bar__plus_02_dot_48 BathtubType)\n (objectType SoapBottle_bar__minus_02_dot_10_bar__plus_00_dot_83_bar__plus_02_dot_07 SoapBottleType)\n (objectType Candle_bar__minus_03_dot_22_bar__plus_00_dot_28_bar__plus_01_dot_73 CandleType)\n (objectType HandTowel_bar__minus_03_dot_73_bar__plus_01_dot_65_bar__plus_01_dot_33 HandTowelType)\n (objectType SoapBottle_bar__minus_02_dot_38_bar__plus_00_dot_81_bar__plus_01_dot_52 SoapBottleType)\n (objectType Towel_bar__minus_04_dot_74_bar__plus_01_dot_52_bar__plus_02_dot_43 TowelType)\n (objectType Cloth_bar__minus_01_dot_98_bar__plus_00_dot_54_bar__plus_01_dot_83 ClothType)\n (objectType Sink_bar__minus_02_dot_94_bar__plus_00_dot_84_bar__plus_01_dot_78 SinkType)\n (objectType Cloth_bar__minus_01_dot_59_bar__plus_00_dot_89_bar__plus_01_dot_79 ClothType)\n (objectType ToiletPaper_bar__minus_00_dot_97_bar__plus_00_dot_82_bar__plus_01_dot_97 ToiletPaperType)\n (objectType SoapBar_bar__minus_01_dot_02_bar__plus_00_dot_54_bar__plus_01_dot_88 SoapBarType)\n (objectType ShowerDoor_bar__minus_04_dot_87_bar__plus_01_dot_24_bar__plus_03_dot_95 ShowerDoorType)\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 HandTowelHolderType 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 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 TowelHolderType TowelType)\n (canContain HandTowelHolderType HandTowelType)\n (canContain SinkBasinType SoapBarType)\n (canContain SinkBasinType ClothType)\n (canContain SinkBasinType HandTowelType)\n (canContain DrawerType CandleType)\n (canContain DrawerType SoapBarType)\n (canContain DrawerType SprayBottleType)\n (canContain DrawerType ToiletPaperType)\n (canContain DrawerType SoapBottleType)\n (canContain DrawerType ClothType)\n (canContain DrawerType HandTowelType)\n (canContain DrawerType CandleType)\n (canContain DrawerType SoapBarType)\n (canContain DrawerType SprayBottleType)\n (canContain DrawerType ToiletPaperType)\n (canContain DrawerType SoapBottleType)\n (canContain DrawerType ClothType)\n (canContain DrawerType HandTowelType)\n (canContain BathtubBasinType ClothType)\n (canContain BathtubBasinType HandTowelType)\n (canContain BathtubBasinType SoapBarType)\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 DrawerType CandleType)\n (canContain DrawerType SoapBarType)\n (canContain DrawerType SprayBottleType)\n (canContain DrawerType ToiletPaperType)\n (canContain DrawerType SoapBottleType)\n (canContain DrawerType ClothType)\n (canContain DrawerType HandTowelType)\n (pickupable Candle_bar__minus_01_dot_05_bar__plus_01_dot_05_bar__plus_04_dot_33)\n (pickupable Plunger_bar__minus_01_dot_06_bar_00_dot_00_bar__plus_04_dot_84)\n (pickupable SoapBottle_bar__minus_00_dot_99_bar__plus_01_dot_05_bar__plus_04_dot_46)\n (pickupable ToiletPaper_bar__minus_00_dot_97_bar__plus_00_dot_89_bar__plus_03_dot_96)\n (pickupable HandTowel_bar__minus_00_dot_92_bar__plus_01_dot_59_bar__plus_02_dot_02)\n (pickupable SprayBottle_bar__minus_01_dot_11_bar__plus_01_dot_05_bar__plus_04_dot_59)\n (pickupable ScrubBrush_bar__minus_01_dot_07_bar_00_dot_00_bar__plus_04_dot_05)\n (pickupable SprayBottle_bar__minus_01_dot_08_bar__plus_01_dot_05_bar__plus_04_dot_26)\n (pickupable SprayBottle_bar__minus_01_dot_04_bar__plus_00_dot_12_bar__plus_03_dot_80)\n (pickupable SoapBar_bar__minus_02_dot_19_bar__plus_00_dot_83_bar__plus_01_dot_97)\n (pickupable Candle_bar__minus_03_dot_40_bar__plus_00_dot_84_bar__plus_01_dot_65)\n (pickupable SoapBottle_bar__minus_02_dot_10_bar__plus_00_dot_83_bar__plus_02_dot_07)\n (pickupable Candle_bar__minus_03_dot_22_bar__plus_00_dot_28_bar__plus_01_dot_73)\n (pickupable HandTowel_bar__minus_03_dot_73_bar__plus_01_dot_65_bar__plus_01_dot_33)\n (pickupable SoapBottle_bar__minus_02_dot_38_bar__plus_00_dot_81_bar__plus_01_dot_52)\n (pickupable Towel_bar__minus_04_dot_74_bar__plus_01_dot_52_bar__plus_02_dot_43)\n (pickupable Cloth_bar__minus_01_dot_98_bar__plus_00_dot_54_bar__plus_01_dot_83)\n (pickupable Cloth_bar__minus_01_dot_59_bar__plus_00_dot_89_bar__plus_01_dot_79)\n (pickupable ToiletPaper_bar__minus_00_dot_97_bar__plus_00_dot_82_bar__plus_01_dot_97)\n (pickupable SoapBar_bar__minus_01_dot_02_bar__plus_00_dot_54_bar__plus_01_dot_88)\n \n (openable Drawer_bar__minus_03_dot_03_bar__plus_00_dot_34_bar__plus_01_dot_89)\n (openable Drawer_bar__minus_02_dot_17_bar__plus_00_dot_34_bar__plus_01_dot_89)\n (openable Drawer_bar__minus_02_dot_17_bar__plus_00_dot_61_bar__plus_01_dot_89)\n (openable Drawer_bar__minus_01_dot_31_bar__plus_00_dot_61_bar__plus_01_dot_89)\n (openable Drawer_bar__minus_01_dot_31_bar__plus_00_dot_34_bar__plus_01_dot_89)\n (openable Drawer_bar__minus_03_dot_03_bar__plus_00_dot_61_bar__plus_01_dot_89)\n \n (atLocation agent1 loc_bar__minus_13_bar_12_bar_0_bar_30)\n \n (cleanable SoapBar_bar__minus_02_dot_19_bar__plus_00_dot_83_bar__plus_01_dot_97)\n (cleanable Cloth_bar__minus_01_dot_98_bar__plus_00_dot_54_bar__plus_01_dot_83)\n (cleanable Cloth_bar__minus_01_dot_59_bar__plus_00_dot_89_bar__plus_01_dot_79)\n (cleanable SoapBar_bar__minus_01_dot_02_bar__plus_00_dot_54_bar__plus_01_dot_88)\n \n \n \n \n \n \n \n \n \n \n (inReceptacle SoapBar_bar__minus_02_dot_19_bar__plus_00_dot_83_bar__plus_01_dot_97 CounterTop_bar__minus_02_dot_18_bar__plus_00_dot_78_bar__plus_01_dot_89)\n (inReceptacle Candle_bar__minus_03_dot_40_bar__plus_00_dot_84_bar__plus_01_dot_65 CounterTop_bar__minus_02_dot_18_bar__plus_00_dot_78_bar__plus_01_dot_89)\n (inReceptacle ToiletPaper_bar__minus_00_dot_97_bar__plus_00_dot_82_bar__plus_01_dot_97 CounterTop_bar__minus_02_dot_18_bar__plus_00_dot_78_bar__plus_01_dot_89)\n (inReceptacle SoapBottle_bar__minus_02_dot_10_bar__plus_00_dot_83_bar__plus_02_dot_07 CounterTop_bar__minus_02_dot_18_bar__plus_00_dot_78_bar__plus_01_dot_89)\n (inReceptacle SoapBottle_bar__minus_02_dot_38_bar__plus_00_dot_81_bar__plus_01_dot_52 CounterTop_bar__minus_02_dot_18_bar__plus_00_dot_78_bar__plus_01_dot_89)\n (inReceptacle SoapBar_bar__minus_01_dot_02_bar__plus_00_dot_54_bar__plus_01_dot_88 Drawer_bar__minus_01_dot_31_bar__plus_00_dot_61_bar__plus_01_dot_89)\n (inReceptacle Candle_bar__minus_03_dot_22_bar__plus_00_dot_28_bar__plus_01_dot_73 Drawer_bar__minus_03_dot_03_bar__plus_00_dot_34_bar__plus_01_dot_89)\n (inReceptacle Cloth_bar__minus_01_dot_98_bar__plus_00_dot_54_bar__plus_01_dot_83 Drawer_bar__minus_02_dot_17_bar__plus_00_dot_61_bar__plus_01_dot_89)\n (inReceptacle Towel_bar__minus_04_dot_74_bar__plus_01_dot_52_bar__plus_02_dot_43 TowelHolder_bar__minus_04_dot_85_bar__plus_01_dot_51_bar__plus_02_dot_43)\n (inReceptacle SprayBottle_bar__minus_01_dot_04_bar__plus_00_dot_12_bar__plus_03_dot_80 GarbageCan_bar__minus_01_dot_07_bar_00_dot_00_bar__plus_03_dot_71)\n (inReceptacle Cloth_bar__minus_01_dot_59_bar__plus_00_dot_89_bar__plus_01_dot_79 Sink_bar__minus_01_dot_42_bar__plus_00_dot_84_bar__plus_01_dot_78_bar_SinkBasin)\n (inReceptacle HandTowel_bar__minus_00_dot_92_bar__plus_01_dot_59_bar__plus_02_dot_02 HandTowelHolder_bar__minus_00_dot_89_bar__plus_01_dot_69_bar__plus_02_dot_02)\n (inReceptacle HandTowel_bar__minus_03_dot_73_bar__plus_01_dot_65_bar__plus_01_dot_33 HandTowelHolder_bar__minus_03_dot_73_bar__plus_01_dot_75_bar__plus_01_dot_29)\n (inReceptacle SprayBottle_bar__minus_01_dot_11_bar__plus_01_dot_05_bar__plus_04_dot_59 Toilet_bar__minus_01_dot_34_bar_00_dot_00_bar__plus_04_dot_46)\n (inReceptacle SprayBottle_bar__minus_01_dot_08_bar__plus_01_dot_05_bar__plus_04_dot_26 Toilet_bar__minus_01_dot_34_bar_00_dot_00_bar__plus_04_dot_46)\n (inReceptacle Candle_bar__minus_01_dot_05_bar__plus_01_dot_05_bar__plus_04_dot_33 Toilet_bar__minus_01_dot_34_bar_00_dot_00_bar__plus_04_dot_46)\n (inReceptacle SoapBottle_bar__minus_00_dot_99_bar__plus_01_dot_05_bar__plus_04_dot_46 Toilet_bar__minus_01_dot_34_bar_00_dot_00_bar__plus_04_dot_46)\n (inReceptacle ToiletPaper_bar__minus_00_dot_97_bar__plus_00_dot_89_bar__plus_03_dot_96 ToiletPaperHanger_bar__minus_00_dot_89_bar__plus_00_dot_89_bar__plus_03_dot_91)\n \n \n (receptacleAtLocation Bathtub_bar__minus_04_dot_08_bar__plus_00_dot_30_bar__plus_02_dot_48_bar_BathtubBasin loc_bar__minus_15_bar_14_bar_2_bar_45)\n (receptacleAtLocation CounterTop_bar__minus_02_dot_18_bar__plus_00_dot_78_bar__plus_01_dot_89 loc_bar__minus_10_bar_11_bar_2_bar_45)\n (receptacleAtLocation Drawer_bar__minus_01_dot_31_bar__plus_00_dot_34_bar__plus_01_dot_89 loc_bar__minus_7_bar_14_bar_2_bar_45)\n (receptacleAtLocation Drawer_bar__minus_01_dot_31_bar__plus_00_dot_61_bar__plus_01_dot_89 loc_bar__minus_6_bar_13_bar_2_bar_45)\n (receptacleAtLocation Drawer_bar__minus_02_dot_17_bar__plus_00_dot_34_bar__plus_01_dot_89 loc_bar__minus_11_bar_14_bar_2_bar_45)\n (receptacleAtLocation Drawer_bar__minus_02_dot_17_bar__plus_00_dot_61_bar__plus_01_dot_89 loc_bar__minus_10_bar_13_bar_2_bar_45)\n (receptacleAtLocation Drawer_bar__minus_03_dot_03_bar__plus_00_dot_34_bar__plus_01_dot_89 loc_bar__minus_14_bar_14_bar_2_bar_45)\n (receptacleAtLocation Drawer_bar__minus_03_dot_03_bar__plus_00_dot_61_bar__plus_01_dot_89 loc_bar__minus_13_bar_13_bar_2_bar_45)\n (receptacleAtLocation GarbageCan_bar__minus_01_dot_07_bar_00_dot_00_bar__plus_03_dot_71 loc_bar__minus_6_bar_15_bar_1_bar_60)\n (receptacleAtLocation HandTowelHolder_bar__minus_00_dot_89_bar__plus_01_dot_69_bar__plus_02_dot_02 loc_bar__minus_6_bar_10_bar_1_bar_0)\n (receptacleAtLocation HandTowelHolder_bar__minus_03_dot_73_bar__plus_01_dot_75_bar__plus_01_dot_29 loc_bar__minus_14_bar_10_bar_2_bar_0)\n (receptacleAtLocation Sink_bar__minus_01_dot_42_bar__plus_00_dot_84_bar__plus_01_dot_78_bar_SinkBasin loc_bar__minus_7_bar_10_bar_2_bar_45)\n (receptacleAtLocation Sink_bar__minus_02_dot_94_bar__plus_00_dot_84_bar__plus_01_dot_78_bar_SinkBasin loc_bar__minus_13_bar_10_bar_2_bar_45)\n (receptacleAtLocation ToiletPaperHanger_bar__minus_00_dot_89_bar__plus_00_dot_89_bar__plus_03_dot_91 loc_bar__minus_6_bar_16_bar_1_bar_45)\n (receptacleAtLocation Toilet_bar__minus_01_dot_34_bar_00_dot_00_bar__plus_04_dot_46 loc_bar__minus_6_bar_16_bar_0_bar_60)\n (receptacleAtLocation TowelHolder_bar__minus_04_dot_85_bar__plus_01_dot_51_bar__plus_02_dot_43 loc_bar__minus_14_bar_10_bar_3_bar_0)\n (receptacleAtLocation TowelHolder_bar__minus_04_dot_85_bar__plus_01_dot_51_bar__plus_03_dot_36 loc_bar__minus_17_bar_15_bar_3_bar_15)\n (objectAtLocation SprayBottle_bar__minus_01_dot_11_bar__plus_01_dot_05_bar__plus_04_dot_59 loc_bar__minus_6_bar_16_bar_0_bar_60)\n (objectAtLocation SoapBottle_bar__minus_02_dot_38_bar__plus_00_dot_81_bar__plus_01_dot_52 loc_bar__minus_10_bar_11_bar_2_bar_45)\n (objectAtLocation Cloth_bar__minus_01_dot_98_bar__plus_00_dot_54_bar__plus_01_dot_83 loc_bar__minus_10_bar_13_bar_2_bar_45)\n (objectAtLocation SoapBar_bar__minus_02_dot_19_bar__plus_00_dot_83_bar__plus_01_dot_97 loc_bar__minus_10_bar_11_bar_2_bar_45)\n (objectAtLocation HandTowel_bar__minus_03_dot_73_bar__plus_01_dot_65_bar__plus_01_dot_33 loc_bar__minus_14_bar_10_bar_2_bar_0)\n (objectAtLocation Candle_bar__minus_03_dot_40_bar__plus_00_dot_84_bar__plus_01_dot_65 loc_bar__minus_10_bar_11_bar_2_bar_45)\n (objectAtLocation SoapBottle_bar__minus_00_dot_99_bar__plus_01_dot_05_bar__plus_04_dot_46 loc_bar__minus_6_bar_16_bar_0_bar_60)\n (objectAtLocation SprayBottle_bar__minus_01_dot_04_bar__plus_00_dot_12_bar__plus_03_dot_80 loc_bar__minus_6_bar_15_bar_1_bar_60)\n (objectAtLocation Candle_bar__minus_03_dot_22_bar__plus_00_dot_28_bar__plus_01_dot_73 loc_bar__minus_14_bar_14_bar_2_bar_45)\n (objectAtLocation ShowerDoor_bar__minus_04_dot_87_bar__plus_01_dot_24_bar__plus_03_dot_95 loc_bar__minus_17_bar_16_bar_3_bar_30)\n (objectAtLocation Bathtub_bar__minus_04_dot_08_bar__plus_00_dot_30_bar__plus_02_dot_48 loc_bar__minus_14_bar_10_bar_3_bar_60)\n (objectAtLocation Mirror_bar__minus_02_dot_18_bar__plus_01_dot_86_bar__plus_01_dot_39 loc_bar__minus_9_bar_10_bar_2_bar__minus_15)\n (objectAtLocation Sink_bar__minus_01_dot_42_bar__plus_00_dot_84_bar__plus_01_dot_78 loc_bar__minus_6_bar_10_bar_2_bar_45)\n (objectAtLocation Sink_bar__minus_02_dot_94_bar__plus_00_dot_84_bar__plus_01_dot_78 loc_bar__minus_12_bar_10_bar_2_bar_45)\n (objectAtLocation Candle_bar__minus_01_dot_05_bar__plus_01_dot_05_bar__plus_04_dot_33 loc_bar__minus_6_bar_16_bar_0_bar_60)\n (objectAtLocation HandTowel_bar__minus_00_dot_92_bar__plus_01_dot_59_bar__plus_02_dot_02 loc_bar__minus_6_bar_10_bar_1_bar_0)\n (objectAtLocation Plunger_bar__minus_01_dot_06_bar_00_dot_00_bar__plus_04_dot_84 loc_bar__minus_6_bar_16_bar_0_bar_60)\n (objectAtLocation LightSwitch_bar__minus_02_dot_17_bar__plus_01_dot_45_bar__plus_04_dot_97 loc_bar__minus_9_bar_17_bar_0_bar_15)\n (objectAtLocation SoapBar_bar__minus_01_dot_02_bar__plus_00_dot_54_bar__plus_01_dot_88 loc_bar__minus_6_bar_13_bar_2_bar_45)\n (objectAtLocation ToiletPaper_bar__minus_00_dot_97_bar__plus_00_dot_89_bar__plus_03_dot_96 loc_bar__minus_6_bar_16_bar_1_bar_45)\n (objectAtLocation Cloth_bar__minus_01_dot_59_bar__plus_00_dot_89_bar__plus_01_dot_79 loc_bar__minus_7_bar_10_bar_2_bar_45)\n (objectAtLocation ToiletPaper_bar__minus_00_dot_97_bar__plus_00_dot_82_bar__plus_01_dot_97 loc_bar__minus_10_bar_11_bar_2_bar_45)\n (objectAtLocation Towel_bar__minus_04_dot_74_bar__plus_01_dot_52_bar__plus_02_dot_43 loc_bar__minus_14_bar_10_bar_3_bar_0)\n (objectAtLocation ScrubBrush_bar__minus_01_dot_07_bar_00_dot_00_bar__plus_04_dot_05 loc_bar__minus_6_bar_16_bar_1_bar_60)\n (objectAtLocation SoapBottle_bar__minus_02_dot_10_bar__plus_00_dot_83_bar__plus_02_dot_07 loc_bar__minus_10_bar_11_bar_2_bar_45)\n (objectAtLocation SprayBottle_bar__minus_01_dot_08_bar__plus_01_dot_05_bar__plus_04_dot_26 loc_bar__minus_6_bar_16_bar_0_bar_60)\n )\n \n\n (:goal\n (and\n (exists (?r - receptacle)\n (exists (?o1 - object)\n (and\n (objectType ?o1 SprayBottleType)\n (receptacleType ?r CounterTopType)\n (inReceptacle ?o1 ?r)\n (exists (?o2 - object)\n (and\n (not (= ?o1 ?o2))\n (objectType ?o2 SprayBottleType)\n (receptacleType ?r CounterTopType)\n (inReceptacle ?o2 ?r)\n )\n )\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to garbagecan 1", "take spraybottle 3 from garbagecan 1", "go to countertop 1", "move spraybottle 3 to countertop 1", "go to toilet 1", "take spraybottle 2 from toilet 1", "go to countertop 1", "move spraybottle 2 to countertop 1"]}
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alfworld__pick_two_obj_and_place__16
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pick_two_obj_and_place
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pick_two_obj_and_place-SprayBottle-None-CounterTop-410/trial_T20190908_161543_945343/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 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_161543_945343)\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_04_dot_08_bar__plus_00_dot_30_bar__plus_02_dot_48 - object\n Candle_bar__minus_00_dot_94_bar__plus_00_dot_84_bar__plus_01_dot_76 - object\n Candle_bar__minus_02_dot_36_bar__plus_00_dot_55_bar__plus_01_dot_73 - object\n Cloth_bar__minus_01_dot_43_bar__plus_00_dot_89_bar__plus_01_dot_74 - object\n Cloth_bar__minus_02_dot_07_bar__plus_00_dot_27_bar__plus_01_dot_94 - object\n Faucet_bar__minus_01_dot_42_bar__plus_00_dot_95_bar__plus_01_dot_51 - object\n Faucet_bar__minus_02_dot_94_bar__plus_00_dot_95_bar__plus_01_dot_51 - object\n Faucet_bar__minus_04_dot_65_bar__plus_00_dot_45_bar__plus_01_dot_69 - object\n HandTowel_bar__minus_00_dot_92_bar__plus_01_dot_59_bar__plus_02_dot_02 - object\n HandTowel_bar__minus_03_dot_73_bar__plus_01_dot_65_bar__plus_01_dot_33 - object\n LightSwitch_bar__minus_02_dot_17_bar__plus_01_dot_45_bar__plus_04_dot_97 - object\n Mirror_bar__minus_02_dot_18_bar__plus_01_dot_86_bar__plus_01_dot_39 - object\n Plunger_bar__minus_01_dot_06_bar_00_dot_00_bar__plus_04_dot_84 - object\n ScrubBrush_bar__minus_01_dot_07_bar_00_dot_00_bar__plus_04_dot_05 - object\n ShowerDoor_bar__minus_04_dot_87_bar__plus_01_dot_24_bar__plus_03_dot_95 - object\n ShowerHead_bar__minus_05_dot_26_bar__plus_01_dot_73_bar__plus_04_dot_03 - object\n Sink_bar__minus_01_dot_42_bar__plus_00_dot_84_bar__plus_01_dot_78 - object\n Sink_bar__minus_02_dot_94_bar__plus_00_dot_84_bar__plus_01_dot_78 - object\n SoapBar_bar__minus_04_dot_31_bar__plus_00_dot_20_bar__plus_02_dot_21 - object\n SoapBar_bar__minus_04_dot_41_bar__plus_00_dot_20_bar__plus_02_dot_07 - object\n SoapBottle_bar__minus_02_dot_01_bar__plus_00_dot_83_bar__plus_01_dot_86 - object\n SoapBottle_bar__minus_03_dot_43_bar__plus_00_dot_83_bar__plus_01_dot_76 - object\n SprayBottle_bar__minus_01_dot_05_bar__plus_01_dot_05_bar__plus_04_dot_46 - object\n SprayBottle_bar__minus_01_dot_09_bar__plus_00_dot_12_bar__plus_03_dot_77 - object\n SprayBottle_bar__minus_01_dot_11_bar__plus_01_dot_05_bar__plus_04_dot_59 - object\n ToiletPaper_bar__minus_00_dot_97_bar__plus_00_dot_89_bar__plus_03_dot_96 - object\n ToiletPaper_bar__minus_03_dot_12_bar__plus_00_dot_53_bar__plus_01_dot_83 - object\n Towel_bar__minus_04_dot_74_bar__plus_01_dot_52_bar__plus_02_dot_43 - object\n Bathtub_bar__minus_04_dot_08_bar__plus_00_dot_30_bar__plus_02_dot_48_bar_BathtubBasin - receptacle\n CounterTop_bar__minus_02_dot_18_bar__plus_00_dot_78_bar__plus_01_dot_89 - receptacle\n Drawer_bar__minus_01_dot_31_bar__plus_00_dot_34_bar__plus_01_dot_89 - receptacle\n Drawer_bar__minus_01_dot_31_bar__plus_00_dot_61_bar__plus_01_dot_89 - receptacle\n Drawer_bar__minus_02_dot_17_bar__plus_00_dot_34_bar__plus_01_dot_89 - receptacle\n Drawer_bar__minus_02_dot_17_bar__plus_00_dot_61_bar__plus_01_dot_89 - receptacle\n Drawer_bar__minus_03_dot_03_bar__plus_00_dot_34_bar__plus_01_dot_89 - receptacle\n Drawer_bar__minus_03_dot_03_bar__plus_00_dot_61_bar__plus_01_dot_89 - receptacle\n GarbageCan_bar__minus_01_dot_07_bar_00_dot_00_bar__plus_03_dot_71 - receptacle\n HandTowelHolder_bar__minus_00_dot_89_bar__plus_01_dot_69_bar__plus_02_dot_02 - receptacle\n HandTowelHolder_bar__minus_03_dot_73_bar__plus_01_dot_75_bar__plus_01_dot_29 - receptacle\n Sink_bar__minus_01_dot_42_bar__plus_00_dot_84_bar__plus_01_dot_78_bar_SinkBasin - receptacle\n Sink_bar__minus_02_dot_94_bar__plus_00_dot_84_bar__plus_01_dot_78_bar_SinkBasin - receptacle\n ToiletPaperHanger_bar__minus_00_dot_89_bar__plus_00_dot_89_bar__plus_03_dot_91 - receptacle\n Toilet_bar__minus_01_dot_34_bar_00_dot_00_bar__plus_04_dot_46 - receptacle\n TowelHolder_bar__minus_04_dot_85_bar__plus_01_dot_51_bar__plus_02_dot_43 - receptacle\n TowelHolder_bar__minus_04_dot_85_bar__plus_01_dot_51_bar__plus_03_dot_36 - receptacle\n loc_bar__minus_9_bar_17_bar_0_bar_15 - location\n loc_bar__minus_14_bar_10_bar_3_bar_0 - location\n loc_bar__minus_14_bar_10_bar_2_bar_0 - location\n loc_bar__minus_7_bar_10_bar_2_bar_45 - location\n loc_bar__minus_6_bar_16_bar_1_bar_60 - location\n loc_bar__minus_6_bar_15_bar_1_bar_60 - location\n loc_bar__minus_13_bar_13_bar_2_bar_45 - location\n loc_bar__minus_7_bar_14_bar_2_bar_45 - location\n loc_bar__minus_13_bar_10_bar_2_bar_45 - location\n loc_bar__minus_6_bar_16_bar_1_bar_45 - location\n loc_bar__minus_11_bar_14_bar_2_bar_45 - location\n loc_bar__minus_6_bar_10_bar_1_bar_0 - location\n loc_bar__minus_17_bar_16_bar_3_bar_30 - location\n loc_bar__minus_9_bar_10_bar_2_bar__minus_15 - location\n loc_bar__minus_10_bar_13_bar_2_bar_45 - location\n loc_bar__minus_17_bar_15_bar_3_bar_15 - location\n loc_bar__minus_12_bar_10_bar_2_bar_45 - location\n loc_bar__minus_6_bar_10_bar_2_bar_45 - location\n loc_bar__minus_10_bar_11_bar_2_bar_45 - location\n loc_bar__minus_6_bar_13_bar_2_bar_45 - location\n loc_bar__minus_15_bar_14_bar_2_bar_45 - location\n loc_bar__minus_14_bar_10_bar_3_bar_60 - location\n loc_bar__minus_6_bar_16_bar_0_bar_60 - location\n loc_bar__minus_14_bar_14_bar_2_bar_45 - location\n loc_bar__minus_13_bar_15_bar_1_bar_30 - location\n )\n \n\n(:init\n\n\n (receptacleType Drawer_bar__minus_03_dot_03_bar__plus_00_dot_34_bar__plus_01_dot_89 DrawerType)\n (receptacleType TowelHolder_bar__minus_04_dot_85_bar__plus_01_dot_51_bar__plus_03_dot_36 TowelHolderType)\n (receptacleType GarbageCan_bar__minus_01_dot_07_bar_00_dot_00_bar__plus_03_dot_71 GarbageCanType)\n (receptacleType HandTowelHolder_bar__minus_00_dot_89_bar__plus_01_dot_69_bar__plus_02_dot_02 HandTowelHolderType)\n (receptacleType Sink_bar__minus_01_dot_42_bar__plus_00_dot_84_bar__plus_01_dot_78_bar_SinkBasin SinkBasinType)\n (receptacleType CounterTop_bar__minus_02_dot_18_bar__plus_00_dot_78_bar__plus_01_dot_89 CounterTopType)\n (receptacleType Toilet_bar__minus_01_dot_34_bar_00_dot_00_bar__plus_04_dot_46 ToiletType)\n (receptacleType TowelHolder_bar__minus_04_dot_85_bar__plus_01_dot_51_bar__plus_02_dot_43 TowelHolderType)\n (receptacleType HandTowelHolder_bar__minus_03_dot_73_bar__plus_01_dot_75_bar__plus_01_dot_29 HandTowelHolderType)\n (receptacleType Sink_bar__minus_02_dot_94_bar__plus_00_dot_84_bar__plus_01_dot_78_bar_SinkBasin SinkBasinType)\n (receptacleType Drawer_bar__minus_02_dot_17_bar__plus_00_dot_34_bar__plus_01_dot_89 DrawerType)\n (receptacleType Drawer_bar__minus_02_dot_17_bar__plus_00_dot_61_bar__plus_01_dot_89 DrawerType)\n (receptacleType Bathtub_bar__minus_04_dot_08_bar__plus_00_dot_30_bar__plus_02_dot_48_bar_BathtubBasin BathtubBasinType)\n (receptacleType ToiletPaperHanger_bar__minus_00_dot_89_bar__plus_00_dot_89_bar__plus_03_dot_91 ToiletPaperHangerType)\n (receptacleType Drawer_bar__minus_01_dot_31_bar__plus_00_dot_61_bar__plus_01_dot_89 DrawerType)\n (receptacleType Drawer_bar__minus_01_dot_31_bar__plus_00_dot_34_bar__plus_01_dot_89 DrawerType)\n (receptacleType Drawer_bar__minus_03_dot_03_bar__plus_00_dot_61_bar__plus_01_dot_89 DrawerType)\n (objectType LightSwitch_bar__minus_02_dot_17_bar__plus_01_dot_45_bar__plus_04_dot_97 LightSwitchType)\n (objectType Mirror_bar__minus_02_dot_18_bar__plus_01_dot_86_bar__plus_01_dot_39 MirrorType)\n (objectType Plunger_bar__minus_01_dot_06_bar_00_dot_00_bar__plus_04_dot_84 PlungerType)\n (objectType ToiletPaper_bar__minus_00_dot_97_bar__plus_00_dot_89_bar__plus_03_dot_96 ToiletPaperType)\n (objectType HandTowel_bar__minus_00_dot_92_bar__plus_01_dot_59_bar__plus_02_dot_02 HandTowelType)\n (objectType SprayBottle_bar__minus_01_dot_11_bar__plus_01_dot_05_bar__plus_04_dot_59 SprayBottleType)\n (objectType ScrubBrush_bar__minus_01_dot_07_bar_00_dot_00_bar__plus_04_dot_05 ScrubBrushType)\n (objectType Sink_bar__minus_01_dot_42_bar__plus_00_dot_84_bar__plus_01_dot_78 SinkType)\n (objectType Cloth_bar__minus_02_dot_07_bar__plus_00_dot_27_bar__plus_01_dot_94 ClothType)\n (objectType Cloth_bar__minus_01_dot_43_bar__plus_00_dot_89_bar__plus_01_dot_74 ClothType)\n (objectType SoapBar_bar__minus_04_dot_31_bar__plus_00_dot_20_bar__plus_02_dot_21 SoapBarType)\n (objectType Bathtub_bar__minus_04_dot_08_bar__plus_00_dot_30_bar__plus_02_dot_48 BathtubType)\n (objectType HandTowel_bar__minus_03_dot_73_bar__plus_01_dot_65_bar__plus_01_dot_33 HandTowelType)\n (objectType Candle_bar__minus_02_dot_36_bar__plus_00_dot_55_bar__plus_01_dot_73 CandleType)\n (objectType ToiletPaper_bar__minus_03_dot_12_bar__plus_00_dot_53_bar__plus_01_dot_83 ToiletPaperType)\n (objectType SprayBottle_bar__minus_01_dot_09_bar__plus_00_dot_12_bar__plus_03_dot_77 SprayBottleType)\n (objectType Towel_bar__minus_04_dot_74_bar__plus_01_dot_52_bar__plus_02_dot_43 TowelType)\n (objectType SoapBottle_bar__minus_02_dot_01_bar__plus_00_dot_83_bar__plus_01_dot_86 SoapBottleType)\n (objectType Candle_bar__minus_00_dot_94_bar__plus_00_dot_84_bar__plus_01_dot_76 CandleType)\n (objectType SprayBottle_bar__minus_01_dot_05_bar__plus_01_dot_05_bar__plus_04_dot_46 SprayBottleType)\n (objectType Sink_bar__minus_02_dot_94_bar__plus_00_dot_84_bar__plus_01_dot_78 SinkType)\n (objectType SoapBar_bar__minus_04_dot_41_bar__plus_00_dot_20_bar__plus_02_dot_07 SoapBarType)\n (objectType ShowerDoor_bar__minus_04_dot_87_bar__plus_01_dot_24_bar__plus_03_dot_95 ShowerDoorType)\n (objectType SoapBottle_bar__minus_03_dot_43_bar__plus_00_dot_83_bar__plus_01_dot_76 SoapBottleType)\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 HandTowelHolderType 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 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 TowelHolderType TowelType)\n (canContain HandTowelHolderType HandTowelType)\n (canContain SinkBasinType SoapBarType)\n (canContain SinkBasinType ClothType)\n (canContain SinkBasinType HandTowelType)\n (canContain DrawerType CandleType)\n (canContain DrawerType SoapBarType)\n (canContain DrawerType SprayBottleType)\n (canContain DrawerType ToiletPaperType)\n (canContain DrawerType SoapBottleType)\n (canContain DrawerType ClothType)\n (canContain DrawerType HandTowelType)\n (canContain DrawerType CandleType)\n (canContain DrawerType SoapBarType)\n (canContain DrawerType SprayBottleType)\n (canContain DrawerType ToiletPaperType)\n (canContain DrawerType SoapBottleType)\n (canContain DrawerType ClothType)\n (canContain DrawerType HandTowelType)\n (canContain BathtubBasinType ClothType)\n (canContain BathtubBasinType HandTowelType)\n (canContain BathtubBasinType SoapBarType)\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 DrawerType CandleType)\n (canContain DrawerType SoapBarType)\n (canContain DrawerType SprayBottleType)\n (canContain DrawerType ToiletPaperType)\n (canContain DrawerType SoapBottleType)\n (canContain DrawerType ClothType)\n (canContain DrawerType HandTowelType)\n (pickupable Plunger_bar__minus_01_dot_06_bar_00_dot_00_bar__plus_04_dot_84)\n (pickupable ToiletPaper_bar__minus_00_dot_97_bar__plus_00_dot_89_bar__plus_03_dot_96)\n (pickupable HandTowel_bar__minus_00_dot_92_bar__plus_01_dot_59_bar__plus_02_dot_02)\n (pickupable SprayBottle_bar__minus_01_dot_11_bar__plus_01_dot_05_bar__plus_04_dot_59)\n (pickupable ScrubBrush_bar__minus_01_dot_07_bar_00_dot_00_bar__plus_04_dot_05)\n (pickupable Cloth_bar__minus_02_dot_07_bar__plus_00_dot_27_bar__plus_01_dot_94)\n (pickupable Cloth_bar__minus_01_dot_43_bar__plus_00_dot_89_bar__plus_01_dot_74)\n (pickupable SoapBar_bar__minus_04_dot_31_bar__plus_00_dot_20_bar__plus_02_dot_21)\n (pickupable HandTowel_bar__minus_03_dot_73_bar__plus_01_dot_65_bar__plus_01_dot_33)\n (pickupable Candle_bar__minus_02_dot_36_bar__plus_00_dot_55_bar__plus_01_dot_73)\n (pickupable ToiletPaper_bar__minus_03_dot_12_bar__plus_00_dot_53_bar__plus_01_dot_83)\n (pickupable SprayBottle_bar__minus_01_dot_09_bar__plus_00_dot_12_bar__plus_03_dot_77)\n (pickupable Towel_bar__minus_04_dot_74_bar__plus_01_dot_52_bar__plus_02_dot_43)\n (pickupable SoapBottle_bar__minus_02_dot_01_bar__plus_00_dot_83_bar__plus_01_dot_86)\n (pickupable Candle_bar__minus_00_dot_94_bar__plus_00_dot_84_bar__plus_01_dot_76)\n (pickupable SprayBottle_bar__minus_01_dot_05_bar__plus_01_dot_05_bar__plus_04_dot_46)\n (pickupable SoapBar_bar__minus_04_dot_41_bar__plus_00_dot_20_bar__plus_02_dot_07)\n (pickupable SoapBottle_bar__minus_03_dot_43_bar__plus_00_dot_83_bar__plus_01_dot_76)\n \n (openable Drawer_bar__minus_03_dot_03_bar__plus_00_dot_34_bar__plus_01_dot_89)\n (openable Drawer_bar__minus_02_dot_17_bar__plus_00_dot_34_bar__plus_01_dot_89)\n (openable Drawer_bar__minus_02_dot_17_bar__plus_00_dot_61_bar__plus_01_dot_89)\n (openable Drawer_bar__minus_01_dot_31_bar__plus_00_dot_61_bar__plus_01_dot_89)\n (openable Drawer_bar__minus_01_dot_31_bar__plus_00_dot_34_bar__plus_01_dot_89)\n (openable Drawer_bar__minus_03_dot_03_bar__plus_00_dot_61_bar__plus_01_dot_89)\n \n (atLocation agent1 loc_bar__minus_13_bar_15_bar_1_bar_30)\n \n (cleanable Cloth_bar__minus_02_dot_07_bar__plus_00_dot_27_bar__plus_01_dot_94)\n (cleanable Cloth_bar__minus_01_dot_43_bar__plus_00_dot_89_bar__plus_01_dot_74)\n (cleanable SoapBar_bar__minus_04_dot_31_bar__plus_00_dot_20_bar__plus_02_dot_21)\n (cleanable SoapBar_bar__minus_04_dot_41_bar__plus_00_dot_20_bar__plus_02_dot_07)\n \n \n \n \n \n \n \n \n \n \n (inReceptacle SoapBottle_bar__minus_02_dot_01_bar__plus_00_dot_83_bar__plus_01_dot_86 CounterTop_bar__minus_02_dot_18_bar__plus_00_dot_78_bar__plus_01_dot_89)\n (inReceptacle Candle_bar__minus_00_dot_94_bar__plus_00_dot_84_bar__plus_01_dot_76 CounterTop_bar__minus_02_dot_18_bar__plus_00_dot_78_bar__plus_01_dot_89)\n (inReceptacle SoapBottle_bar__minus_03_dot_43_bar__plus_00_dot_83_bar__plus_01_dot_76 CounterTop_bar__minus_02_dot_18_bar__plus_00_dot_78_bar__plus_01_dot_89)\n (inReceptacle Candle_bar__minus_02_dot_36_bar__plus_00_dot_55_bar__plus_01_dot_73 Drawer_bar__minus_02_dot_17_bar__plus_00_dot_61_bar__plus_01_dot_89)\n (inReceptacle ToiletPaper_bar__minus_03_dot_12_bar__plus_00_dot_53_bar__plus_01_dot_83 Drawer_bar__minus_03_dot_03_bar__plus_00_dot_61_bar__plus_01_dot_89)\n (inReceptacle Cloth_bar__minus_02_dot_07_bar__plus_00_dot_27_bar__plus_01_dot_94 Drawer_bar__minus_02_dot_17_bar__plus_00_dot_34_bar__plus_01_dot_89)\n (inReceptacle Towel_bar__minus_04_dot_74_bar__plus_01_dot_52_bar__plus_02_dot_43 TowelHolder_bar__minus_04_dot_85_bar__plus_01_dot_51_bar__plus_02_dot_43)\n (inReceptacle SprayBottle_bar__minus_01_dot_09_bar__plus_00_dot_12_bar__plus_03_dot_77 GarbageCan_bar__minus_01_dot_07_bar_00_dot_00_bar__plus_03_dot_71)\n (inReceptacle SoapBar_bar__minus_04_dot_31_bar__plus_00_dot_20_bar__plus_02_dot_21 Bathtub_bar__minus_04_dot_08_bar__plus_00_dot_30_bar__plus_02_dot_48_bar_BathtubBasin)\n (inReceptacle SoapBar_bar__minus_04_dot_41_bar__plus_00_dot_20_bar__plus_02_dot_07 Bathtub_bar__minus_04_dot_08_bar__plus_00_dot_30_bar__plus_02_dot_48_bar_BathtubBasin)\n (inReceptacle Cloth_bar__minus_01_dot_43_bar__plus_00_dot_89_bar__plus_01_dot_74 Sink_bar__minus_01_dot_42_bar__plus_00_dot_84_bar__plus_01_dot_78_bar_SinkBasin)\n (inReceptacle HandTowel_bar__minus_00_dot_92_bar__plus_01_dot_59_bar__plus_02_dot_02 HandTowelHolder_bar__minus_00_dot_89_bar__plus_01_dot_69_bar__plus_02_dot_02)\n (inReceptacle HandTowel_bar__minus_03_dot_73_bar__plus_01_dot_65_bar__plus_01_dot_33 HandTowelHolder_bar__minus_03_dot_73_bar__plus_01_dot_75_bar__plus_01_dot_29)\n (inReceptacle SprayBottle_bar__minus_01_dot_11_bar__plus_01_dot_05_bar__plus_04_dot_59 Toilet_bar__minus_01_dot_34_bar_00_dot_00_bar__plus_04_dot_46)\n (inReceptacle SprayBottle_bar__minus_01_dot_05_bar__plus_01_dot_05_bar__plus_04_dot_46 Toilet_bar__minus_01_dot_34_bar_00_dot_00_bar__plus_04_dot_46)\n \n \n (receptacleAtLocation Bathtub_bar__minus_04_dot_08_bar__plus_00_dot_30_bar__plus_02_dot_48_bar_BathtubBasin loc_bar__minus_15_bar_14_bar_2_bar_45)\n (receptacleAtLocation CounterTop_bar__minus_02_dot_18_bar__plus_00_dot_78_bar__plus_01_dot_89 loc_bar__minus_10_bar_11_bar_2_bar_45)\n (receptacleAtLocation Drawer_bar__minus_01_dot_31_bar__plus_00_dot_34_bar__plus_01_dot_89 loc_bar__minus_7_bar_14_bar_2_bar_45)\n (receptacleAtLocation Drawer_bar__minus_01_dot_31_bar__plus_00_dot_61_bar__plus_01_dot_89 loc_bar__minus_6_bar_13_bar_2_bar_45)\n (receptacleAtLocation Drawer_bar__minus_02_dot_17_bar__plus_00_dot_34_bar__plus_01_dot_89 loc_bar__minus_11_bar_14_bar_2_bar_45)\n (receptacleAtLocation Drawer_bar__minus_02_dot_17_bar__plus_00_dot_61_bar__plus_01_dot_89 loc_bar__minus_10_bar_13_bar_2_bar_45)\n (receptacleAtLocation Drawer_bar__minus_03_dot_03_bar__plus_00_dot_34_bar__plus_01_dot_89 loc_bar__minus_14_bar_14_bar_2_bar_45)\n (receptacleAtLocation Drawer_bar__minus_03_dot_03_bar__plus_00_dot_61_bar__plus_01_dot_89 loc_bar__minus_13_bar_13_bar_2_bar_45)\n (receptacleAtLocation GarbageCan_bar__minus_01_dot_07_bar_00_dot_00_bar__plus_03_dot_71 loc_bar__minus_6_bar_15_bar_1_bar_60)\n (receptacleAtLocation HandTowelHolder_bar__minus_00_dot_89_bar__plus_01_dot_69_bar__plus_02_dot_02 loc_bar__minus_6_bar_10_bar_1_bar_0)\n (receptacleAtLocation HandTowelHolder_bar__minus_03_dot_73_bar__plus_01_dot_75_bar__plus_01_dot_29 loc_bar__minus_14_bar_10_bar_2_bar_0)\n (receptacleAtLocation Sink_bar__minus_01_dot_42_bar__plus_00_dot_84_bar__plus_01_dot_78_bar_SinkBasin loc_bar__minus_7_bar_10_bar_2_bar_45)\n (receptacleAtLocation Sink_bar__minus_02_dot_94_bar__plus_00_dot_84_bar__plus_01_dot_78_bar_SinkBasin loc_bar__minus_13_bar_10_bar_2_bar_45)\n (receptacleAtLocation ToiletPaperHanger_bar__minus_00_dot_89_bar__plus_00_dot_89_bar__plus_03_dot_91 loc_bar__minus_6_bar_16_bar_1_bar_45)\n (receptacleAtLocation Toilet_bar__minus_01_dot_34_bar_00_dot_00_bar__plus_04_dot_46 loc_bar__minus_6_bar_16_bar_0_bar_60)\n (receptacleAtLocation TowelHolder_bar__minus_04_dot_85_bar__plus_01_dot_51_bar__plus_02_dot_43 loc_bar__minus_14_bar_10_bar_3_bar_0)\n (receptacleAtLocation TowelHolder_bar__minus_04_dot_85_bar__plus_01_dot_51_bar__plus_03_dot_36 loc_bar__minus_17_bar_15_bar_3_bar_15)\n (objectAtLocation SprayBottle_bar__minus_01_dot_09_bar__plus_00_dot_12_bar__plus_03_dot_77 loc_bar__minus_6_bar_15_bar_1_bar_60)\n (objectAtLocation SoapBottle_bar__minus_02_dot_01_bar__plus_00_dot_83_bar__plus_01_dot_86 loc_bar__minus_10_bar_11_bar_2_bar_45)\n (objectAtLocation Cloth_bar__minus_01_dot_43_bar__plus_00_dot_89_bar__plus_01_dot_74 loc_bar__minus_7_bar_10_bar_2_bar_45)\n (objectAtLocation SoapBar_bar__minus_04_dot_41_bar__plus_00_dot_20_bar__plus_02_dot_07 loc_bar__minus_15_bar_14_bar_2_bar_45)\n (objectAtLocation HandTowel_bar__minus_00_dot_92_bar__plus_01_dot_59_bar__plus_02_dot_02 loc_bar__minus_6_bar_10_bar_1_bar_0)\n (objectAtLocation Candle_bar__minus_00_dot_94_bar__plus_00_dot_84_bar__plus_01_dot_76 loc_bar__minus_10_bar_11_bar_2_bar_45)\n (objectAtLocation SprayBottle_bar__minus_01_dot_05_bar__plus_01_dot_05_bar__plus_04_dot_46 loc_bar__minus_6_bar_16_bar_0_bar_60)\n (objectAtLocation ShowerDoor_bar__minus_04_dot_87_bar__plus_01_dot_24_bar__plus_03_dot_95 loc_bar__minus_17_bar_16_bar_3_bar_30)\n (objectAtLocation Bathtub_bar__minus_04_dot_08_bar__plus_00_dot_30_bar__plus_02_dot_48 loc_bar__minus_14_bar_10_bar_3_bar_60)\n (objectAtLocation Mirror_bar__minus_02_dot_18_bar__plus_01_dot_86_bar__plus_01_dot_39 loc_bar__minus_9_bar_10_bar_2_bar__minus_15)\n (objectAtLocation Sink_bar__minus_01_dot_42_bar__plus_00_dot_84_bar__plus_01_dot_78 loc_bar__minus_6_bar_10_bar_2_bar_45)\n (objectAtLocation Sink_bar__minus_02_dot_94_bar__plus_00_dot_84_bar__plus_01_dot_78 loc_bar__minus_12_bar_10_bar_2_bar_45)\n (objectAtLocation Candle_bar__minus_02_dot_36_bar__plus_00_dot_55_bar__plus_01_dot_73 loc_bar__minus_10_bar_13_bar_2_bar_45)\n (objectAtLocation HandTowel_bar__minus_03_dot_73_bar__plus_01_dot_65_bar__plus_01_dot_33 loc_bar__minus_14_bar_10_bar_2_bar_0)\n (objectAtLocation Plunger_bar__minus_01_dot_06_bar_00_dot_00_bar__plus_04_dot_84 loc_bar__minus_6_bar_16_bar_0_bar_60)\n (objectAtLocation LightSwitch_bar__minus_02_dot_17_bar__plus_01_dot_45_bar__plus_04_dot_97 loc_bar__minus_9_bar_17_bar_0_bar_15)\n (objectAtLocation SoapBar_bar__minus_04_dot_31_bar__plus_00_dot_20_bar__plus_02_dot_21 loc_bar__minus_15_bar_14_bar_2_bar_45)\n (objectAtLocation ToiletPaper_bar__minus_03_dot_12_bar__plus_00_dot_53_bar__plus_01_dot_83 loc_bar__minus_13_bar_13_bar_2_bar_45)\n (objectAtLocation Cloth_bar__minus_02_dot_07_bar__plus_00_dot_27_bar__plus_01_dot_94 loc_bar__minus_11_bar_14_bar_2_bar_45)\n (objectAtLocation ToiletPaper_bar__minus_00_dot_97_bar__plus_00_dot_89_bar__plus_03_dot_96 loc_bar__minus_6_bar_16_bar_1_bar_60)\n (objectAtLocation Towel_bar__minus_04_dot_74_bar__plus_01_dot_52_bar__plus_02_dot_43 loc_bar__minus_14_bar_10_bar_3_bar_0)\n (objectAtLocation ScrubBrush_bar__minus_01_dot_07_bar_00_dot_00_bar__plus_04_dot_05 loc_bar__minus_6_bar_16_bar_1_bar_60)\n (objectAtLocation SoapBottle_bar__minus_03_dot_43_bar__plus_00_dot_83_bar__plus_01_dot_76 loc_bar__minus_10_bar_11_bar_2_bar_45)\n (objectAtLocation SprayBottle_bar__minus_01_dot_11_bar__plus_01_dot_05_bar__plus_04_dot_59 loc_bar__minus_6_bar_16_bar_0_bar_60)\n )\n \n\n (:goal\n (and\n (exists (?r - receptacle)\n (exists (?o1 - object)\n (and\n (objectType ?o1 SprayBottleType)\n (receptacleType ?r CounterTopType)\n (inReceptacle ?o1 ?r)\n (exists (?o2 - object)\n (and\n (not (= ?o1 ?o2))\n (objectType ?o2 SprayBottleType)\n (receptacleType ?r CounterTopType)\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 countertop 1", "move spraybottle 2 to countertop 1", "go to toilet 1", "take spraybottle 3 from toilet 1", "go to countertop 1", "move spraybottle 3 to countertop 1"]}
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alfworld__pick_and_place_simple__3
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pick_and_place_simple
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pick_and_place_simple-KeyChain-None-Sofa-229/trial_T20190908_123332_888981/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 keychain 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_T20190908_123332_888981)\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_19_bar__plus_00_dot_41_bar__plus_02_dot_44 - object\n Boots_bar__plus_00_dot_03_bar__plus_00_dot_02_bar__plus_03_dot_09 - object\n Box_bar__minus_03_dot_43_bar__plus_00_dot_66_bar__plus_00_dot_47 - object\n CellPhone_bar__minus_05_dot_88_bar__plus_00_dot_73_bar__plus_02_dot_40 - object\n Chair_bar__minus_00_dot_73_bar__plus_00_dot_02_bar__plus_00_dot_50 - object\n Chair_bar__minus_02_dot_16_bar__plus_00_dot_02_bar__plus_03_dot_88 - object\n Chair_bar__minus_04_dot_01_bar__plus_00_dot_02_bar__plus_03_dot_90 - object\n CreditCard_bar__minus_00_dot_34_bar__plus_00_dot_77_bar__plus_01_dot_52 - object\n CreditCard_bar__minus_05_dot_72_bar__plus_00_dot_09_bar__plus_02_dot_13 - object\n FloorLamp_bar__minus_00_dot_20_bar__plus_00_dot_02_bar__plus_04_dot_49 - object\n HousePlant_bar__minus_05_dot_54_bar__plus_00_dot_72_bar__plus_00_dot_30 - object\n KeyChain_bar__minus_02_dot_75_bar__plus_00_dot_42_bar__plus_02_dot_05 - object\n Laptop_bar__minus_00_dot_33_bar__plus_00_dot_77_bar__plus_00_dot_72 - object\n LightSwitch_bar__minus_02_dot_50_bar__plus_01_dot_53_bar__plus_04_dot_85 - object\n Painting_bar__minus_00_dot_05_bar__plus_01_dot_22_bar__plus_00_dot_46 - object\n Painting_bar__minus_00_dot_05_bar__plus_01_dot_87_bar__plus_00_dot_50 - object\n Painting_bar__minus_01_dot_00_bar__plus_01_dot_70_bar__plus_00_dot_04 - object\n Painting_bar__minus_03_dot_31_bar__plus_01_dot_67_bar__plus_00_dot_04 - object\n Pencil_bar__minus_00_dot_43_bar__plus_00_dot_77_bar__plus_00_dot_46 - object\n Pencil_bar__minus_05_dot_72_bar__plus_00_dot_73_bar__plus_00_dot_29 - object\n Pencil_bar__minus_05_dot_79_bar__plus_00_dot_73_bar__plus_02_dot_55 - object\n Pen_bar__minus_03_dot_04_bar__plus_00_dot_42_bar__plus_02_dot_24 - object\n Pen_bar__minus_03_dot_19_bar__plus_00_dot_42_bar__plus_02_dot_63 - object\n Pillow_bar__minus_02_dot_15_bar__plus_00_dot_62_bar__plus_00_dot_59 - object\n RemoteControl_bar__minus_00_dot_43_bar__plus_00_dot_77_bar__plus_00_dot_31 - object\n Statue_bar__minus_02_dot_75_bar__plus_00_dot_42_bar__plus_02_dot_44 - object\n Statue_bar__minus_03_dot_33_bar__plus_00_dot_43_bar__plus_02_dot_24 - object\n Statue_bar__minus_03_dot_48_bar__plus_00_dot_42_bar__plus_02_dot_53 - object\n Television_bar__minus_05_dot_76_bar__plus_01_dot_21_bar__plus_02_dot_39 - object\n TissueBox_bar__minus_00_dot_14_bar__plus_00_dot_77_bar__plus_01_dot_38 - object\n TissueBox_bar__minus_02_dot_90_bar__plus_00_dot_42_bar__plus_02_dot_05 - object\n TissueBox_bar__minus_03_dot_48_bar__plus_00_dot_41_bar__plus_02_dot_05 - object\n WateringCan_bar__minus_05_dot_24_bar__plus_00_dot_02_bar__plus_00_dot_14 - object\n Window_bar__plus_00_dot_13_bar__plus_02_dot_38_bar__plus_02_dot_42 - object\n Window_bar__plus_00_dot_17_bar__plus_01_dot_02_bar__plus_02_dot_44 - object\n Window_bar__plus_00_dot_17_bar__plus_01_dot_74_bar__plus_01_dot_38 - object\n Window_bar__plus_00_dot_17_bar__plus_01_dot_74_bar__plus_03_dot_51 - object\n ArmChair_bar__minus_01_dot_32_bar__plus_00_dot_00_bar__plus_03_dot_65 - receptacle\n CoffeeTable_bar__minus_03_dot_04_bar__plus_00_dot_03_bar__plus_02_dot_34 - receptacle\n Drawer_bar__minus_05_dot_58_bar__plus_00_dot_21_bar__plus_02_dot_13 - receptacle\n Drawer_bar__minus_05_dot_58_bar__plus_00_dot_21_bar__plus_02_dot_68 - receptacle\n Drawer_bar__minus_05_dot_58_bar__plus_00_dot_52_bar__plus_02_dot_13 - receptacle\n Drawer_bar__minus_05_dot_58_bar__plus_00_dot_52_bar__plus_02_dot_68 - receptacle\n Dresser_bar__minus_05_dot_77_bar__plus_00_dot_02_bar__plus_02_dot_40 - receptacle\n GarbageCan_bar__minus_05_dot_82_bar__plus_00_dot_02_bar__plus_04_dot_66 - receptacle\n SideTable_bar__minus_00_dot_21_bar__plus_00_dot_02_bar__plus_01_dot_52 - receptacle\n SideTable_bar__minus_00_dot_31_bar__plus_00_dot_02_bar__plus_00_dot_62 - receptacle\n SideTable_bar__minus_05_dot_57_bar__plus_00_dot_02_bar__plus_00_dot_29 - receptacle\n Sofa_bar__minus_03_dot_13_bar__plus_00_dot_02_bar__plus_00_dot_41 - receptacle\n loc_bar__minus_11_bar_17_bar_0_bar_15 - location\n loc_bar__minus_20_bar_13_bar_2_bar_60 - location\n loc_bar__minus_22_bar_17_bar_0_bar_60 - location\n loc_bar__minus_5_bar_2_bar_1_bar_60 - location\n loc_bar__minus_2_bar_10_bar_1_bar__minus_30 - location\n loc_bar__minus_5_bar_2_bar_1_bar__minus_15 - location\n loc_bar__minus_2_bar_10_bar_1_bar_45 - location\n loc_bar__minus_17_bar_17_bar_2_bar_60 - location\n loc_bar__minus_5_bar_2_bar_2_bar_0 - location\n loc_bar__minus_21_bar_5_bar_2_bar_60 - location\n loc_bar__minus_1_bar_13_bar_1_bar_60 - location\n loc_bar__minus_21_bar_14_bar_2_bar_60 - location\n loc_bar__minus_14_bar_6_bar_2_bar_60 - location\n loc_bar__minus_1_bar_15_bar_0_bar_60 - location\n loc_bar__minus_4_bar_7_bar_1_bar_60 - location\n loc_bar__minus_19_bar_2_bar_3_bar_60 - location\n loc_bar__minus_20_bar_10_bar_3_bar_60 - location\n loc_bar__minus_21_bar_12_bar_2_bar_60 - location\n loc_bar__minus_20_bar_15_bar_2_bar_60 - location\n loc_bar__minus_5_bar_2_bar_1_bar_15 - location\n loc_bar__minus_12_bar_14_bar_2_bar_60 - location\n loc_bar__minus_11_bar_16_bar_1_bar_60 - location\n loc_bar__minus_2_bar_14_bar_1_bar_0 - location\n loc_bar__minus_6_bar_11_bar_0_bar_60 - location\n loc_bar__minus_3_bar_6_bar_1_bar_0 - location\n loc_bar__minus_13_bar_5_bar_2_bar_0 - location\n loc_bar__minus_18_bar_8_bar_0_bar_30 - location\n )\n \n\n(:init\n\n\n (receptacleType GarbageCan_bar__minus_05_dot_82_bar__plus_00_dot_02_bar__plus_04_dot_66 GarbageCanType)\n (receptacleType ArmChair_bar__minus_01_dot_32_bar__plus_00_dot_00_bar__plus_03_dot_65 ArmChairType)\n (receptacleType Sofa_bar__minus_03_dot_13_bar__plus_00_dot_02_bar__plus_00_dot_41 SofaType)\n (receptacleType Drawer_bar__minus_05_dot_58_bar__plus_00_dot_21_bar__plus_02_dot_68 DrawerType)\n (receptacleType Drawer_bar__minus_05_dot_58_bar__plus_00_dot_21_bar__plus_02_dot_13 DrawerType)\n (receptacleType Drawer_bar__minus_05_dot_58_bar__plus_00_dot_52_bar__plus_02_dot_68 DrawerType)\n (receptacleType CoffeeTable_bar__minus_03_dot_04_bar__plus_00_dot_03_bar__plus_02_dot_34 CoffeeTableType)\n (receptacleType SideTable_bar__minus_00_dot_31_bar__plus_00_dot_02_bar__plus_00_dot_62 SideTableType)\n (receptacleType SideTable_bar__minus_05_dot_57_bar__plus_00_dot_02_bar__plus_00_dot_29 SideTableType)\n (receptacleType Drawer_bar__minus_05_dot_58_bar__plus_00_dot_52_bar__plus_02_dot_13 DrawerType)\n (receptacleType SideTable_bar__minus_00_dot_21_bar__plus_00_dot_02_bar__plus_01_dot_52 SideTableType)\n (receptacleType Dresser_bar__minus_05_dot_77_bar__plus_00_dot_02_bar__plus_02_dot_40 DresserType)\n (objectType Chair_bar__minus_04_dot_01_bar__plus_00_dot_02_bar__plus_03_dot_90 ChairType)\n (objectType Painting_bar__minus_03_dot_31_bar__plus_01_dot_67_bar__plus_00_dot_04 PaintingType)\n (objectType TissueBox_bar__minus_03_dot_48_bar__plus_00_dot_41_bar__plus_02_dot_05 TissueBoxType)\n (objectType FloorLamp_bar__minus_00_dot_20_bar__plus_00_dot_02_bar__plus_04_dot_49 FloorLampType)\n (objectType HousePlant_bar__minus_05_dot_54_bar__plus_00_dot_72_bar__plus_00_dot_30 HousePlantType)\n (objectType Statue_bar__minus_02_dot_75_bar__plus_00_dot_42_bar__plus_02_dot_44 StatueType)\n (objectType Window_bar__plus_00_dot_17_bar__plus_01_dot_74_bar__plus_01_dot_38 WindowType)\n (objectType KeyChain_bar__minus_02_dot_75_bar__plus_00_dot_42_bar__plus_02_dot_05 KeyChainType)\n (objectType Painting_bar__minus_00_dot_05_bar__plus_01_dot_87_bar__plus_00_dot_50 PaintingType)\n (objectType Painting_bar__minus_00_dot_05_bar__plus_01_dot_22_bar__plus_00_dot_46 PaintingType)\n (objectType CreditCard_bar__minus_05_dot_72_bar__plus_00_dot_09_bar__plus_02_dot_13 CreditCardType)\n (objectType Pencil_bar__minus_00_dot_43_bar__plus_00_dot_77_bar__plus_00_dot_46 PencilType)\n (objectType Pencil_bar__minus_05_dot_72_bar__plus_00_dot_73_bar__plus_00_dot_29 PencilType)\n (objectType Chair_bar__minus_02_dot_16_bar__plus_00_dot_02_bar__plus_03_dot_88 ChairType)\n (objectType Pillow_bar__minus_02_dot_15_bar__plus_00_dot_62_bar__plus_00_dot_59 PillowType)\n (objectType LightSwitch_bar__minus_02_dot_50_bar__plus_01_dot_53_bar__plus_04_dot_85 LightSwitchType)\n (objectType Laptop_bar__minus_00_dot_33_bar__plus_00_dot_77_bar__plus_00_dot_72 LaptopType)\n (objectType Painting_bar__minus_01_dot_00_bar__plus_01_dot_70_bar__plus_00_dot_04 PaintingType)\n (objectType Pen_bar__minus_03_dot_19_bar__plus_00_dot_42_bar__plus_02_dot_63 PenType)\n (objectType CellPhone_bar__minus_05_dot_88_bar__plus_00_dot_73_bar__plus_02_dot_40 CellPhoneType)\n (objectType TissueBox_bar__minus_00_dot_14_bar__plus_00_dot_77_bar__plus_01_dot_38 TissueBoxType)\n (objectType Window_bar__plus_00_dot_17_bar__plus_01_dot_74_bar__plus_03_dot_51 WindowType)\n (objectType Pencil_bar__minus_05_dot_79_bar__plus_00_dot_73_bar__plus_02_dot_55 PencilType)\n (objectType CreditCard_bar__minus_00_dot_34_bar__plus_00_dot_77_bar__plus_01_dot_52 CreditCardType)\n (objectType RemoteControl_bar__minus_00_dot_43_bar__plus_00_dot_77_bar__plus_00_dot_31 RemoteControlType)\n (objectType Window_bar__plus_00_dot_13_bar__plus_02_dot_38_bar__plus_02_dot_42 WindowType)\n (objectType Boots_bar__plus_00_dot_03_bar__plus_00_dot_02_bar__plus_03_dot_09 BootsType)\n (objectType WateringCan_bar__minus_05_dot_24_bar__plus_00_dot_02_bar__plus_00_dot_14 WateringCanType)\n (objectType TissueBox_bar__minus_02_dot_90_bar__plus_00_dot_42_bar__plus_02_dot_05 TissueBoxType)\n (objectType Chair_bar__minus_00_dot_73_bar__plus_00_dot_02_bar__plus_00_dot_50 ChairType)\n (objectType Box_bar__minus_03_dot_43_bar__plus_00_dot_66_bar__plus_00_dot_47 BoxType)\n (objectType Statue_bar__minus_03_dot_33_bar__plus_00_dot_43_bar__plus_02_dot_24 StatueType)\n (objectType Pen_bar__minus_03_dot_04_bar__plus_00_dot_42_bar__plus_02_dot_24 PenType)\n (objectType Book_bar__minus_03_dot_19_bar__plus_00_dot_41_bar__plus_02_dot_44 BookType)\n (objectType Window_bar__plus_00_dot_17_bar__plus_01_dot_02_bar__plus_02_dot_44 WindowType)\n (objectType Statue_bar__minus_03_dot_48_bar__plus_00_dot_42_bar__plus_02_dot_53 StatueType)\n (objectType Television_bar__minus_05_dot_76_bar__plus_01_dot_21_bar__plus_02_dot_39 TelevisionType)\n (canContain GarbageCanType PenType)\n (canContain GarbageCanType PencilType)\n (canContain GarbageCanType TissueBoxType)\n (canContain ArmChairType BoxType)\n (canContain ArmChairType LaptopType)\n (canContain ArmChairType BookType)\n (canContain ArmChairType CellPhoneType)\n (canContain ArmChairType PillowType)\n (canContain ArmChairType RemoteControlType)\n (canContain ArmChairType KeyChainType)\n (canContain ArmChairType CreditCardType)\n (canContain SofaType BoxType)\n (canContain SofaType LaptopType)\n (canContain SofaType BookType)\n (canContain SofaType CellPhoneType)\n (canContain SofaType PillowType)\n (canContain SofaType RemoteControlType)\n (canContain SofaType KeyChainType)\n (canContain SofaType CreditCardType)\n (canContain DrawerType PenType)\n (canContain DrawerType BookType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType PencilType)\n (canContain DrawerType RemoteControlType)\n (canContain DrawerType TissueBoxType)\n (canContain DrawerType WateringCanType)\n (canContain DrawerType PenType)\n (canContain DrawerType BookType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType PencilType)\n (canContain DrawerType RemoteControlType)\n (canContain DrawerType TissueBoxType)\n (canContain DrawerType WateringCanType)\n (canContain DrawerType PenType)\n (canContain DrawerType BookType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType PencilType)\n (canContain DrawerType RemoteControlType)\n (canContain DrawerType TissueBoxType)\n (canContain DrawerType WateringCanType)\n (canContain CoffeeTableType PenType)\n (canContain CoffeeTableType BookType)\n (canContain CoffeeTableType BoxType)\n (canContain CoffeeTableType CellPhoneType)\n (canContain CoffeeTableType KeyChainType)\n (canContain CoffeeTableType CreditCardType)\n (canContain CoffeeTableType LaptopType)\n (canContain CoffeeTableType PencilType)\n (canContain CoffeeTableType RemoteControlType)\n (canContain CoffeeTableType TissueBoxType)\n (canContain CoffeeTableType StatueType)\n (canContain CoffeeTableType WateringCanType)\n (canContain SideTableType PenType)\n (canContain SideTableType BookType)\n (canContain SideTableType BoxType)\n (canContain SideTableType CellPhoneType)\n (canContain SideTableType KeyChainType)\n (canContain SideTableType CreditCardType)\n (canContain SideTableType LaptopType)\n (canContain SideTableType PencilType)\n (canContain SideTableType RemoteControlType)\n (canContain SideTableType TissueBoxType)\n (canContain SideTableType StatueType)\n (canContain SideTableType WateringCanType)\n (canContain SideTableType PenType)\n (canContain SideTableType BookType)\n (canContain SideTableType BoxType)\n (canContain SideTableType CellPhoneType)\n (canContain SideTableType KeyChainType)\n (canContain SideTableType CreditCardType)\n (canContain SideTableType LaptopType)\n (canContain SideTableType PencilType)\n (canContain SideTableType RemoteControlType)\n (canContain SideTableType TissueBoxType)\n (canContain SideTableType StatueType)\n (canContain SideTableType WateringCanType)\n (canContain DrawerType PenType)\n (canContain DrawerType BookType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType PencilType)\n (canContain DrawerType RemoteControlType)\n (canContain DrawerType TissueBoxType)\n (canContain DrawerType WateringCanType)\n (canContain SideTableType PenType)\n (canContain SideTableType BookType)\n (canContain SideTableType BoxType)\n (canContain SideTableType CellPhoneType)\n (canContain SideTableType KeyChainType)\n (canContain SideTableType CreditCardType)\n (canContain SideTableType LaptopType)\n (canContain SideTableType PencilType)\n (canContain SideTableType RemoteControlType)\n (canContain SideTableType TissueBoxType)\n (canContain SideTableType StatueType)\n (canContain SideTableType WateringCanType)\n (canContain DresserType PenType)\n (canContain DresserType BookType)\n (canContain DresserType BoxType)\n (canContain DresserType CellPhoneType)\n (canContain DresserType KeyChainType)\n (canContain DresserType CreditCardType)\n (canContain DresserType LaptopType)\n (canContain DresserType PencilType)\n (canContain DresserType RemoteControlType)\n (canContain DresserType TissueBoxType)\n (canContain DresserType StatueType)\n (canContain DresserType WateringCanType)\n (pickupable TissueBox_bar__minus_03_dot_48_bar__plus_00_dot_41_bar__plus_02_dot_05)\n (pickupable Statue_bar__minus_02_dot_75_bar__plus_00_dot_42_bar__plus_02_dot_44)\n (pickupable KeyChain_bar__minus_02_dot_75_bar__plus_00_dot_42_bar__plus_02_dot_05)\n (pickupable CreditCard_bar__minus_05_dot_72_bar__plus_00_dot_09_bar__plus_02_dot_13)\n (pickupable Pencil_bar__minus_00_dot_43_bar__plus_00_dot_77_bar__plus_00_dot_46)\n (pickupable Pencil_bar__minus_05_dot_72_bar__plus_00_dot_73_bar__plus_00_dot_29)\n (pickupable Pillow_bar__minus_02_dot_15_bar__plus_00_dot_62_bar__plus_00_dot_59)\n (pickupable Laptop_bar__minus_00_dot_33_bar__plus_00_dot_77_bar__plus_00_dot_72)\n (pickupable Pen_bar__minus_03_dot_19_bar__plus_00_dot_42_bar__plus_02_dot_63)\n (pickupable CellPhone_bar__minus_05_dot_88_bar__plus_00_dot_73_bar__plus_02_dot_40)\n (pickupable TissueBox_bar__minus_00_dot_14_bar__plus_00_dot_77_bar__plus_01_dot_38)\n (pickupable Pencil_bar__minus_05_dot_79_bar__plus_00_dot_73_bar__plus_02_dot_55)\n (pickupable CreditCard_bar__minus_00_dot_34_bar__plus_00_dot_77_bar__plus_01_dot_52)\n (pickupable RemoteControl_bar__minus_00_dot_43_bar__plus_00_dot_77_bar__plus_00_dot_31)\n (pickupable Boots_bar__plus_00_dot_03_bar__plus_00_dot_02_bar__plus_03_dot_09)\n (pickupable WateringCan_bar__minus_05_dot_24_bar__plus_00_dot_02_bar__plus_00_dot_14)\n (pickupable TissueBox_bar__minus_02_dot_90_bar__plus_00_dot_42_bar__plus_02_dot_05)\n (pickupable Box_bar__minus_03_dot_43_bar__plus_00_dot_66_bar__plus_00_dot_47)\n (pickupable Statue_bar__minus_03_dot_33_bar__plus_00_dot_43_bar__plus_02_dot_24)\n (pickupable Pen_bar__minus_03_dot_04_bar__plus_00_dot_42_bar__plus_02_dot_24)\n (pickupable Book_bar__minus_03_dot_19_bar__plus_00_dot_41_bar__plus_02_dot_44)\n (pickupable Statue_bar__minus_03_dot_48_bar__plus_00_dot_42_bar__plus_02_dot_53)\n (isReceptacleObject Box_bar__minus_03_dot_43_bar__plus_00_dot_66_bar__plus_00_dot_47)\n (openable Drawer_bar__minus_05_dot_58_bar__plus_00_dot_21_bar__plus_02_dot_68)\n (openable Drawer_bar__minus_05_dot_58_bar__plus_00_dot_21_bar__plus_02_dot_13)\n (openable Drawer_bar__minus_05_dot_58_bar__plus_00_dot_52_bar__plus_02_dot_68)\n (openable Drawer_bar__minus_05_dot_58_bar__plus_00_dot_52_bar__plus_02_dot_13)\n \n (atLocation agent1 loc_bar__minus_18_bar_8_bar_0_bar_30)\n \n \n \n \n \n \n \n (toggleable FloorLamp_bar__minus_00_dot_20_bar__plus_00_dot_02_bar__plus_04_dot_49)\n \n \n \n \n (inReceptacle CellPhone_bar__minus_05_dot_88_bar__plus_00_dot_73_bar__plus_02_dot_40 Dresser_bar__minus_05_dot_77_bar__plus_00_dot_02_bar__plus_02_dot_40)\n (inReceptacle Pencil_bar__minus_05_dot_79_bar__plus_00_dot_73_bar__plus_02_dot_55 Dresser_bar__minus_05_dot_77_bar__plus_00_dot_02_bar__plus_02_dot_40)\n (inReceptacle Television_bar__minus_05_dot_76_bar__plus_01_dot_21_bar__plus_02_dot_39 Dresser_bar__minus_05_dot_77_bar__plus_00_dot_02_bar__plus_02_dot_40)\n (inReceptacle TissueBox_bar__minus_00_dot_14_bar__plus_00_dot_77_bar__plus_01_dot_38 SideTable_bar__minus_00_dot_21_bar__plus_00_dot_02_bar__plus_01_dot_52)\n (inReceptacle CreditCard_bar__minus_00_dot_34_bar__plus_00_dot_77_bar__plus_01_dot_52 SideTable_bar__minus_00_dot_21_bar__plus_00_dot_02_bar__plus_01_dot_52)\n (inReceptacle Statue_bar__minus_02_dot_75_bar__plus_00_dot_42_bar__plus_02_dot_44 CoffeeTable_bar__minus_03_dot_04_bar__plus_00_dot_03_bar__plus_02_dot_34)\n (inReceptacle TissueBox_bar__minus_02_dot_90_bar__plus_00_dot_42_bar__plus_02_dot_05 CoffeeTable_bar__minus_03_dot_04_bar__plus_00_dot_03_bar__plus_02_dot_34)\n (inReceptacle KeyChain_bar__minus_02_dot_75_bar__plus_00_dot_42_bar__plus_02_dot_05 CoffeeTable_bar__minus_03_dot_04_bar__plus_00_dot_03_bar__plus_02_dot_34)\n (inReceptacle Statue_bar__minus_03_dot_33_bar__plus_00_dot_43_bar__plus_02_dot_24 CoffeeTable_bar__minus_03_dot_04_bar__plus_00_dot_03_bar__plus_02_dot_34)\n (inReceptacle TissueBox_bar__minus_03_dot_48_bar__plus_00_dot_41_bar__plus_02_dot_05 CoffeeTable_bar__minus_03_dot_04_bar__plus_00_dot_03_bar__plus_02_dot_34)\n (inReceptacle Pen_bar__minus_03_dot_04_bar__plus_00_dot_42_bar__plus_02_dot_24 CoffeeTable_bar__minus_03_dot_04_bar__plus_00_dot_03_bar__plus_02_dot_34)\n (inReceptacle Book_bar__minus_03_dot_19_bar__plus_00_dot_41_bar__plus_02_dot_44 CoffeeTable_bar__minus_03_dot_04_bar__plus_00_dot_03_bar__plus_02_dot_34)\n (inReceptacle Statue_bar__minus_03_dot_48_bar__plus_00_dot_42_bar__plus_02_dot_53 CoffeeTable_bar__minus_03_dot_04_bar__plus_00_dot_03_bar__plus_02_dot_34)\n (inReceptacle Pen_bar__minus_03_dot_19_bar__plus_00_dot_42_bar__plus_02_dot_63 CoffeeTable_bar__minus_03_dot_04_bar__plus_00_dot_03_bar__plus_02_dot_34)\n (inReceptacle Pencil_bar__minus_05_dot_72_bar__plus_00_dot_73_bar__plus_00_dot_29 SideTable_bar__minus_05_dot_57_bar__plus_00_dot_02_bar__plus_00_dot_29)\n (inReceptacle HousePlant_bar__minus_05_dot_54_bar__plus_00_dot_72_bar__plus_00_dot_30 SideTable_bar__minus_05_dot_57_bar__plus_00_dot_02_bar__plus_00_dot_29)\n (inReceptacle Pillow_bar__minus_02_dot_15_bar__plus_00_dot_62_bar__plus_00_dot_59 Sofa_bar__minus_03_dot_13_bar__plus_00_dot_02_bar__plus_00_dot_41)\n (inReceptacle Box_bar__minus_03_dot_43_bar__plus_00_dot_66_bar__plus_00_dot_47 Sofa_bar__minus_03_dot_13_bar__plus_00_dot_02_bar__plus_00_dot_41)\n (inReceptacle CreditCard_bar__minus_05_dot_72_bar__plus_00_dot_09_bar__plus_02_dot_13 Drawer_bar__minus_05_dot_58_bar__plus_00_dot_21_bar__plus_02_dot_13)\n (inReceptacle Pencil_bar__minus_00_dot_43_bar__plus_00_dot_77_bar__plus_00_dot_46 SideTable_bar__minus_00_dot_31_bar__plus_00_dot_02_bar__plus_00_dot_62)\n (inReceptacle Laptop_bar__minus_00_dot_33_bar__plus_00_dot_77_bar__plus_00_dot_72 SideTable_bar__minus_00_dot_31_bar__plus_00_dot_02_bar__plus_00_dot_62)\n (inReceptacle RemoteControl_bar__minus_00_dot_43_bar__plus_00_dot_77_bar__plus_00_dot_31 SideTable_bar__minus_00_dot_31_bar__plus_00_dot_02_bar__plus_00_dot_62)\n \n \n (receptacleAtLocation ArmChair_bar__minus_01_dot_32_bar__plus_00_dot_00_bar__plus_03_dot_65 loc_bar__minus_6_bar_11_bar_0_bar_60)\n (receptacleAtLocation CoffeeTable_bar__minus_03_dot_04_bar__plus_00_dot_03_bar__plus_02_dot_34 loc_bar__minus_12_bar_14_bar_2_bar_60)\n (receptacleAtLocation Drawer_bar__minus_05_dot_58_bar__plus_00_dot_21_bar__plus_02_dot_13 loc_bar__minus_20_bar_13_bar_2_bar_60)\n (receptacleAtLocation Drawer_bar__minus_05_dot_58_bar__plus_00_dot_21_bar__plus_02_dot_68 loc_bar__minus_20_bar_15_bar_2_bar_60)\n (receptacleAtLocation Drawer_bar__minus_05_dot_58_bar__plus_00_dot_52_bar__plus_02_dot_13 loc_bar__minus_21_bar_12_bar_2_bar_60)\n (receptacleAtLocation Drawer_bar__minus_05_dot_58_bar__plus_00_dot_52_bar__plus_02_dot_68 loc_bar__minus_21_bar_14_bar_2_bar_60)\n (receptacleAtLocation Dresser_bar__minus_05_dot_77_bar__plus_00_dot_02_bar__plus_02_dot_40 loc_bar__minus_20_bar_10_bar_3_bar_60)\n (receptacleAtLocation GarbageCan_bar__minus_05_dot_82_bar__plus_00_dot_02_bar__plus_04_dot_66 loc_bar__minus_22_bar_17_bar_0_bar_60)\n (receptacleAtLocation SideTable_bar__minus_00_dot_21_bar__plus_00_dot_02_bar__plus_01_dot_52 loc_bar__minus_4_bar_7_bar_1_bar_60)\n (receptacleAtLocation SideTable_bar__minus_00_dot_31_bar__plus_00_dot_02_bar__plus_00_dot_62 loc_bar__minus_5_bar_2_bar_1_bar_60)\n (receptacleAtLocation SideTable_bar__minus_05_dot_57_bar__plus_00_dot_02_bar__plus_00_dot_29 loc_bar__minus_21_bar_5_bar_2_bar_60)\n (receptacleAtLocation Sofa_bar__minus_03_dot_13_bar__plus_00_dot_02_bar__plus_00_dot_41 loc_bar__minus_14_bar_6_bar_2_bar_60)\n (objectAtLocation Statue_bar__minus_03_dot_33_bar__plus_00_dot_43_bar__plus_02_dot_24 loc_bar__minus_12_bar_14_bar_2_bar_60)\n (objectAtLocation Pencil_bar__minus_00_dot_43_bar__plus_00_dot_77_bar__plus_00_dot_46 loc_bar__minus_5_bar_2_bar_1_bar_60)\n (objectAtLocation Pen_bar__minus_03_dot_19_bar__plus_00_dot_42_bar__plus_02_dot_63 loc_bar__minus_12_bar_14_bar_2_bar_60)\n (objectAtLocation CreditCard_bar__minus_05_dot_72_bar__plus_00_dot_09_bar__plus_02_dot_13 loc_bar__minus_20_bar_13_bar_2_bar_60)\n (objectAtLocation TissueBox_bar__minus_00_dot_14_bar__plus_00_dot_77_bar__plus_01_dot_38 loc_bar__minus_4_bar_7_bar_1_bar_60)\n (objectAtLocation Pencil_bar__minus_05_dot_72_bar__plus_00_dot_73_bar__plus_00_dot_29 loc_bar__minus_21_bar_5_bar_2_bar_60)\n (objectAtLocation TissueBox_bar__minus_03_dot_48_bar__plus_00_dot_41_bar__plus_02_dot_05 loc_bar__minus_12_bar_14_bar_2_bar_60)\n (objectAtLocation Chair_bar__minus_02_dot_16_bar__plus_00_dot_02_bar__plus_03_dot_88 loc_bar__minus_11_bar_16_bar_1_bar_60)\n (objectAtLocation Chair_bar__minus_00_dot_73_bar__plus_00_dot_02_bar__plus_00_dot_50 loc_bar__minus_5_bar_2_bar_1_bar_60)\n (objectAtLocation Book_bar__minus_03_dot_19_bar__plus_00_dot_41_bar__plus_02_dot_44 loc_bar__minus_12_bar_14_bar_2_bar_60)\n (objectAtLocation Chair_bar__minus_04_dot_01_bar__plus_00_dot_02_bar__plus_03_dot_90 loc_bar__minus_17_bar_17_bar_2_bar_60)\n (objectAtLocation Box_bar__minus_03_dot_43_bar__plus_00_dot_66_bar__plus_00_dot_47 loc_bar__minus_14_bar_6_bar_2_bar_60)\n (objectAtLocation KeyChain_bar__minus_02_dot_75_bar__plus_00_dot_42_bar__plus_02_dot_05 loc_bar__minus_12_bar_14_bar_2_bar_60)\n (objectAtLocation Pillow_bar__minus_02_dot_15_bar__plus_00_dot_62_bar__plus_00_dot_59 loc_bar__minus_14_bar_6_bar_2_bar_60)\n (objectAtLocation FloorLamp_bar__minus_00_dot_20_bar__plus_00_dot_02_bar__plus_04_dot_49 loc_bar__minus_1_bar_15_bar_0_bar_60)\n (objectAtLocation WateringCan_bar__minus_05_dot_24_bar__plus_00_dot_02_bar__plus_00_dot_14 loc_bar__minus_19_bar_2_bar_3_bar_60)\n (objectAtLocation TissueBox_bar__minus_02_dot_90_bar__plus_00_dot_42_bar__plus_02_dot_05 loc_bar__minus_12_bar_14_bar_2_bar_60)\n (objectAtLocation HousePlant_bar__minus_05_dot_54_bar__plus_00_dot_72_bar__plus_00_dot_30 loc_bar__minus_21_bar_5_bar_2_bar_60)\n (objectAtLocation CreditCard_bar__minus_00_dot_34_bar__plus_00_dot_77_bar__plus_01_dot_52 loc_bar__minus_4_bar_7_bar_1_bar_60)\n (objectAtLocation RemoteControl_bar__minus_00_dot_43_bar__plus_00_dot_77_bar__plus_00_dot_31 loc_bar__minus_5_bar_2_bar_1_bar_60)\n (objectAtLocation Boots_bar__plus_00_dot_03_bar__plus_00_dot_02_bar__plus_03_dot_09 loc_bar__minus_1_bar_13_bar_1_bar_60)\n (objectAtLocation LightSwitch_bar__minus_02_dot_50_bar__plus_01_dot_53_bar__plus_04_dot_85 loc_bar__minus_11_bar_17_bar_0_bar_15)\n (objectAtLocation Window_bar__plus_00_dot_13_bar__plus_02_dot_38_bar__plus_02_dot_42 loc_bar__minus_2_bar_10_bar_1_bar__minus_30)\n (objectAtLocation Painting_bar__minus_00_dot_05_bar__plus_01_dot_22_bar__plus_00_dot_46 loc_bar__minus_5_bar_2_bar_1_bar_15)\n (objectAtLocation Painting_bar__minus_00_dot_05_bar__plus_01_dot_87_bar__plus_00_dot_50 loc_bar__minus_5_bar_2_bar_1_bar__minus_15)\n (objectAtLocation CellPhone_bar__minus_05_dot_88_bar__plus_00_dot_73_bar__plus_02_dot_40 loc_bar__minus_20_bar_10_bar_3_bar_60)\n (objectAtLocation Pen_bar__minus_03_dot_04_bar__plus_00_dot_42_bar__plus_02_dot_24 loc_bar__minus_12_bar_14_bar_2_bar_60)\n (objectAtLocation Television_bar__minus_05_dot_76_bar__plus_01_dot_21_bar__plus_02_dot_39 loc_bar__minus_20_bar_10_bar_3_bar_60)\n (objectAtLocation Laptop_bar__minus_00_dot_33_bar__plus_00_dot_77_bar__plus_00_dot_72 loc_bar__minus_5_bar_2_bar_1_bar_60)\n (objectAtLocation Window_bar__plus_00_dot_17_bar__plus_01_dot_74_bar__plus_03_dot_51 loc_bar__minus_2_bar_14_bar_1_bar_0)\n (objectAtLocation Window_bar__plus_00_dot_17_bar__plus_01_dot_74_bar__plus_01_dot_38 loc_bar__minus_3_bar_6_bar_1_bar_0)\n (objectAtLocation Window_bar__plus_00_dot_17_bar__plus_01_dot_02_bar__plus_02_dot_44 loc_bar__minus_2_bar_10_bar_1_bar_45)\n (objectAtLocation Painting_bar__minus_01_dot_00_bar__plus_01_dot_70_bar__plus_00_dot_04 loc_bar__minus_5_bar_2_bar_2_bar_0)\n (objectAtLocation Painting_bar__minus_03_dot_31_bar__plus_01_dot_67_bar__plus_00_dot_04 loc_bar__minus_13_bar_5_bar_2_bar_0)\n (objectAtLocation Pencil_bar__minus_05_dot_79_bar__plus_00_dot_73_bar__plus_02_dot_55 loc_bar__minus_20_bar_10_bar_3_bar_60)\n (objectAtLocation Statue_bar__minus_02_dot_75_bar__plus_00_dot_42_bar__plus_02_dot_44 loc_bar__minus_12_bar_14_bar_2_bar_60)\n (objectAtLocation Statue_bar__minus_03_dot_48_bar__plus_00_dot_42_bar__plus_02_dot_53 loc_bar__minus_12_bar_14_bar_2_bar_60)\n )\n \n\n (:goal\n (and\n (exists (?r - receptacle)\n (exists (?o - object)\n (and\n (inReceptacle ?o ?r)\n (objectType ?o KeyChainType)\n (receptacleType ?r SofaType)\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to coffeetable 1", "take keychain 1 from coffeetable 1", "go to sofa 1", "move keychain 1 to sofa 1"]}
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alfworld__pick_and_place_simple__4
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pick_and_place_simple
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pick_and_place_simple-KeyChain-None-Sofa-229/trial_T20190908_123422_029531/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 keychain 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_T20190908_123422_029531)\n(:domain alfred)\n(:objects\nagent1 - agent\nSaltShaker - object\n HousePlant - object\n Candle - object\n SprayBottle - object\n Bowl - object\n Window - object\n CD - object\n Egg - object\n Glassbottle - object\n Sink - object\n Pillow - object\n Spoon - object\n SoapBottle - object\n TeddyBear - object\n ButterKnife - object\n Cup - object\n Plate - object\n RemoteControl - object\n Tomato - object\n Statue - object\n HandTowel - object\n Knife - object\n StoveKnob - object\n LightSwitch - object\n Pen - object\n Painting - object\n DishSponge - object\n Vase - object\n Mug - object\n ToiletPaper - object\n Box - object\n Mirror - object\n Ladle - object\n Fork - object\n Blinds - object\n Footstool - object\n KeyChain - object\n Cloth - object\n Laptop - object\n TissueBox - object\n PepperShaker - object\n FloorLamp - object\n WateringCan - object\n Apple - object\n Pan - object\n PaperTowel - object\n PaperTowelRoll - object\n Newspaper - object\n Television - object\n Chair - object\n CellPhone - object\n CreditCard - object\n Lettuce - object\n BasketBall - object\n Potato - object\n Curtains - object\n Boots - object\n Pencil - object\n AlarmClock - object\n ToiletPaperRoll - object\n Spatula - object\n Book - object\n Bread - object\n SoapBar - object\n Watch - object\n DeskLamp - object\n Kettle - object\n Pot - object\n ScrubBrush - object\n WineBottle - object\n ShowerDoor - object\n Bathtub - object\n LaundryHamperLid - object\n ShowerGlass - object\n Poster - object\n TennisRacket - object\n BaseballBat - object\n Towel - object\n Plunger - object\nSaltShakerType - otype\n HousePlantType - otype\n CandleType - otype\n SprayBottleType - otype\n BowlType - otype\n WindowType - otype\n CDType - otype\n EggType - otype\n GlassbottleType - otype\n SinkType - otype\n PillowType - otype\n SpoonType - otype\n SoapBottleType - otype\n TeddyBearType - otype\n ButterKnifeType - otype\n CupType - otype\n PlateType - otype\n RemoteControlType - otype\n TomatoType - otype\n StatueType - otype\n HandTowelType - otype\n KnifeType - otype\n StoveKnobType - otype\n LightSwitchType - otype\n PenType - otype\n PaintingType - otype\n DishSpongeType - otype\n VaseType - otype\n MugType - otype\n ToiletPaperType - otype\n BoxType - otype\n MirrorType - otype\n LadleType - otype\n ForkType - otype\n BlindsType - otype\n FootstoolType - otype\n KeyChainType - otype\n ClothType - otype\n LaptopType - otype\n TissueBoxType - otype\n PepperShakerType - otype\n FloorLampType - otype\n WateringCanType - otype\n AppleType - otype\n PanType - otype\n PaperTowelType - otype\n PaperTowelRollType - otype\n NewspaperType - otype\n TelevisionType - otype\n ChairType - otype\n CellPhoneType - otype\n CreditCardType - otype\n LettuceType - otype\n BasketBallType - otype\n PotatoType - otype\n CurtainsType - otype\n BootsType - otype\n PencilType - otype\n AlarmClockType - otype\n ToiletPaperRollType - otype\n SpatulaType - otype\n BookType - otype\n BreadType - otype\n SoapBarType - otype\n WatchType - otype\n DeskLampType - otype\n KettleType - otype\n PotType - otype\n ScrubBrushType - otype\n WineBottleType - otype\n ShowerDoorType - otype\n BathtubType - otype\n LaundryHamperLidType - otype\n ShowerGlassType - otype\n PosterType - otype\n TennisRacketType - otype\n BaseballBatType - otype\n TowelType - otype\n PlungerType - otype\nSafeType - rtype\n DrawerType - rtype\n CoffeeMachineType - rtype\n HandTowelHolderType - rtype\n SinkBasinType - rtype\n DresserType - rtype\n LaundryHamperType - rtype\n TVStandType - rtype\n BathtubBasinType - rtype\n CabinetType - rtype\n FridgeType - rtype\n DeskType - rtype\n ToiletType - rtype\n CartType - rtype\n SideTableType - rtype\n SofaType - rtype\n CoffeeTableType - rtype\n DiningTableType - rtype\n CounterTopType - rtype\n GarbageCanType - rtype\n ArmChairType - rtype\n ShelfType - rtype\n MicrowaveType - rtype\n ToasterType - rtype\n BedType - rtype\n PaintingHangerType - rtype\n TowelHolderType - rtype\n ToiletPaperHangerType - rtype\n StoveBurnerType - rtype\n OttomanType - rtype\n\n\n Book_bar__minus_01_dot_37_bar__plus_00_dot_40_bar__plus_03_dot_55 - object\n Book_bar__minus_02_dot_90_bar__plus_00_dot_41_bar__plus_02_dot_44 - object\n Book_bar__minus_03_dot_19_bar__plus_00_dot_41_bar__plus_02_dot_53 - object\n Boots_bar__plus_00_dot_03_bar__plus_00_dot_02_bar__plus_03_dot_09 - object\n Box_bar__minus_03_dot_43_bar__plus_00_dot_64_bar__plus_02_dot_44 - object\n CellPhone_bar__minus_05_dot_79_bar__plus_00_dot_73_bar__plus_02_dot_85 - object\n Chair_bar__minus_00_dot_73_bar__plus_00_dot_02_bar__plus_00_dot_50 - object\n Chair_bar__minus_02_dot_16_bar__plus_00_dot_02_bar__plus_03_dot_88 - object\n Chair_bar__minus_04_dot_01_bar__plus_00_dot_02_bar__plus_03_dot_90 - object\n CreditCard_bar__minus_05_dot_65_bar__plus_00_dot_73_bar__plus_02_dot_85 - object\n FloorLamp_bar__minus_00_dot_20_bar__plus_00_dot_02_bar__plus_04_dot_49 - object\n HousePlant_bar__minus_05_dot_54_bar__plus_00_dot_72_bar__plus_00_dot_30 - object\n KeyChain_bar__minus_00_dot_43_bar__plus_00_dot_77_bar__plus_00_dot_17 - object\n Laptop_bar__minus_00_dot_33_bar__plus_00_dot_77_bar__plus_00_dot_72 - object\n LightSwitch_bar__minus_02_dot_50_bar__plus_01_dot_53_bar__plus_04_dot_85 - object\n Painting_bar__minus_00_dot_05_bar__plus_01_dot_22_bar__plus_00_dot_46 - object\n Painting_bar__minus_00_dot_05_bar__plus_01_dot_87_bar__plus_00_dot_50 - object\n Painting_bar__minus_01_dot_00_bar__plus_01_dot_70_bar__plus_00_dot_04 - object\n Painting_bar__minus_03_dot_31_bar__plus_01_dot_67_bar__plus_00_dot_04 - object\n Pencil_bar__minus_00_dot_07_bar__plus_00_dot_77_bar__plus_01_dot_52 - object\n Pencil_bar__minus_05_dot_88_bar__plus_00_dot_73_bar__plus_02_dot_55 - object\n Pen_bar__minus_02_dot_75_bar__plus_00_dot_42_bar__plus_02_dot_34 - object\n Pen_bar__minus_03_dot_48_bar__plus_00_dot_42_bar__plus_02_dot_63 - object\n Pen_bar__minus_05_dot_79_bar__plus_00_dot_73_bar__plus_02_dot_40 - object\n Pillow_bar__minus_02_dot_15_bar__plus_00_dot_62_bar__plus_00_dot_59 - object\n RemoteControl_bar__minus_00_dot_16_bar__plus_00_dot_77_bar__plus_00_dot_31 - object\n RemoteControl_bar__minus_00_dot_40_bar__plus_00_dot_77_bar__plus_01_dot_52 - object\n Statue_bar__minus_00_dot_18_bar__plus_00_dot_76_bar__plus_01_dot_55 - object\n Statue_bar__minus_02_dot_90_bar__plus_00_dot_42_bar__plus_02_dot_15 - object\n Television_bar__minus_05_dot_76_bar__plus_01_dot_21_bar__plus_02_dot_39 - object\n TissueBox_bar__minus_03_dot_04_bar__plus_00_dot_42_bar__plus_02_dot_15 - object\n WateringCan_bar__minus_05_dot_24_bar__plus_00_dot_02_bar__plus_00_dot_14 - object\n Window_bar__plus_00_dot_13_bar__plus_02_dot_38_bar__plus_02_dot_42 - object\n Window_bar__plus_00_dot_17_bar__plus_01_dot_02_bar__plus_02_dot_44 - object\n Window_bar__plus_00_dot_17_bar__plus_01_dot_74_bar__plus_01_dot_38 - object\n Window_bar__plus_00_dot_17_bar__plus_01_dot_74_bar__plus_03_dot_51 - object\n ArmChair_bar__minus_01_dot_32_bar__plus_00_dot_00_bar__plus_03_dot_65 - receptacle\n CoffeeTable_bar__minus_03_dot_04_bar__plus_00_dot_03_bar__plus_02_dot_34 - receptacle\n Drawer_bar__minus_05_dot_58_bar__plus_00_dot_21_bar__plus_02_dot_13 - receptacle\n Drawer_bar__minus_05_dot_58_bar__plus_00_dot_21_bar__plus_02_dot_68 - receptacle\n Drawer_bar__minus_05_dot_58_bar__plus_00_dot_52_bar__plus_02_dot_13 - receptacle\n Drawer_bar__minus_05_dot_58_bar__plus_00_dot_52_bar__plus_02_dot_68 - receptacle\n Dresser_bar__minus_05_dot_77_bar__plus_00_dot_02_bar__plus_02_dot_40 - receptacle\n GarbageCan_bar__minus_05_dot_82_bar__plus_00_dot_02_bar__plus_04_dot_66 - receptacle\n SideTable_bar__minus_00_dot_21_bar__plus_00_dot_02_bar__plus_01_dot_52 - receptacle\n SideTable_bar__minus_00_dot_31_bar__plus_00_dot_02_bar__plus_00_dot_62 - receptacle\n SideTable_bar__minus_05_dot_57_bar__plus_00_dot_02_bar__plus_00_dot_29 - receptacle\n Sofa_bar__minus_03_dot_13_bar__plus_00_dot_02_bar__plus_00_dot_41 - receptacle\n loc_bar__minus_11_bar_17_bar_0_bar_15 - location\n loc_bar__minus_20_bar_13_bar_2_bar_60 - location\n loc_bar__minus_22_bar_17_bar_0_bar_60 - location\n loc_bar__minus_5_bar_2_bar_1_bar_60 - location\n loc_bar__minus_2_bar_10_bar_1_bar__minus_30 - location\n loc_bar__minus_5_bar_2_bar_1_bar__minus_15 - location\n loc_bar__minus_2_bar_10_bar_1_bar_45 - location\n loc_bar__minus_17_bar_17_bar_2_bar_60 - location\n loc_bar__minus_5_bar_2_bar_2_bar_0 - location\n loc_bar__minus_21_bar_5_bar_2_bar_60 - location\n loc_bar__minus_1_bar_13_bar_1_bar_60 - location\n loc_bar__minus_21_bar_14_bar_2_bar_60 - location\n loc_bar__minus_14_bar_6_bar_2_bar_60 - location\n loc_bar__minus_1_bar_15_bar_0_bar_60 - location\n loc_bar__minus_4_bar_7_bar_1_bar_60 - location\n loc_bar__minus_19_bar_2_bar_3_bar_60 - location\n loc_bar__minus_20_bar_10_bar_3_bar_60 - location\n loc_bar__minus_21_bar_12_bar_2_bar_60 - location\n loc_bar__minus_20_bar_15_bar_2_bar_60 - location\n loc_bar__minus_5_bar_2_bar_1_bar_15 - location\n loc_bar__minus_12_bar_14_bar_2_bar_60 - location\n loc_bar__minus_11_bar_16_bar_1_bar_60 - location\n loc_bar__minus_2_bar_14_bar_1_bar_0 - location\n loc_bar__minus_6_bar_11_bar_0_bar_60 - location\n loc_bar__minus_3_bar_6_bar_1_bar_0 - location\n loc_bar__minus_13_bar_5_bar_2_bar_0 - location\n loc_bar__minus_5_bar_3_bar_3_bar_30 - location\n )\n \n\n(:init\n\n\n (receptacleType GarbageCan_bar__minus_05_dot_82_bar__plus_00_dot_02_bar__plus_04_dot_66 GarbageCanType)\n (receptacleType ArmChair_bar__minus_01_dot_32_bar__plus_00_dot_00_bar__plus_03_dot_65 ArmChairType)\n (receptacleType Sofa_bar__minus_03_dot_13_bar__plus_00_dot_02_bar__plus_00_dot_41 SofaType)\n (receptacleType Drawer_bar__minus_05_dot_58_bar__plus_00_dot_21_bar__plus_02_dot_68 DrawerType)\n (receptacleType Drawer_bar__minus_05_dot_58_bar__plus_00_dot_21_bar__plus_02_dot_13 DrawerType)\n (receptacleType Drawer_bar__minus_05_dot_58_bar__plus_00_dot_52_bar__plus_02_dot_68 DrawerType)\n (receptacleType CoffeeTable_bar__minus_03_dot_04_bar__plus_00_dot_03_bar__plus_02_dot_34 CoffeeTableType)\n (receptacleType SideTable_bar__minus_00_dot_31_bar__plus_00_dot_02_bar__plus_00_dot_62 SideTableType)\n (receptacleType SideTable_bar__minus_05_dot_57_bar__plus_00_dot_02_bar__plus_00_dot_29 SideTableType)\n (receptacleType Drawer_bar__minus_05_dot_58_bar__plus_00_dot_52_bar__plus_02_dot_13 DrawerType)\n (receptacleType SideTable_bar__minus_00_dot_21_bar__plus_00_dot_02_bar__plus_01_dot_52 SideTableType)\n (receptacleType Dresser_bar__minus_05_dot_77_bar__plus_00_dot_02_bar__plus_02_dot_40 DresserType)\n (objectType Book_bar__minus_02_dot_90_bar__plus_00_dot_41_bar__plus_02_dot_44 BookType)\n (objectType Chair_bar__minus_04_dot_01_bar__plus_00_dot_02_bar__plus_03_dot_90 ChairType)\n (objectType Painting_bar__minus_03_dot_31_bar__plus_01_dot_67_bar__plus_00_dot_04 PaintingType)\n (objectType RemoteControl_bar__minus_00_dot_40_bar__plus_00_dot_77_bar__plus_01_dot_52 RemoteControlType)\n (objectType CreditCard_bar__minus_05_dot_65_bar__plus_00_dot_73_bar__plus_02_dot_85 CreditCardType)\n (objectType Statue_bar__minus_00_dot_18_bar__plus_00_dot_76_bar__plus_01_dot_55 StatueType)\n (objectType FloorLamp_bar__minus_00_dot_20_bar__plus_00_dot_02_bar__plus_04_dot_49 FloorLampType)\n (objectType Box_bar__minus_03_dot_43_bar__plus_00_dot_64_bar__plus_02_dot_44 BoxType)\n (objectType HousePlant_bar__minus_05_dot_54_bar__plus_00_dot_72_bar__plus_00_dot_30 HousePlantType)\n (objectType Window_bar__plus_00_dot_17_bar__plus_01_dot_74_bar__plus_01_dot_38 WindowType)\n (objectType Painting_bar__minus_00_dot_05_bar__plus_01_dot_87_bar__plus_00_dot_50 PaintingType)\n (objectType Painting_bar__minus_00_dot_05_bar__plus_01_dot_22_bar__plus_00_dot_46 PaintingType)\n (objectType Pen_bar__minus_05_dot_79_bar__plus_00_dot_73_bar__plus_02_dot_40 PenType)\n (objectType CellPhone_bar__minus_05_dot_79_bar__plus_00_dot_73_bar__plus_02_dot_85 CellPhoneType)\n (objectType Chair_bar__minus_02_dot_16_bar__plus_00_dot_02_bar__plus_03_dot_88 ChairType)\n (objectType Statue_bar__minus_02_dot_90_bar__plus_00_dot_42_bar__plus_02_dot_15 StatueType)\n (objectType Pencil_bar__minus_05_dot_88_bar__plus_00_dot_73_bar__plus_02_dot_55 PencilType)\n (objectType RemoteControl_bar__minus_00_dot_16_bar__plus_00_dot_77_bar__plus_00_dot_31 RemoteControlType)\n (objectType Pillow_bar__minus_02_dot_15_bar__plus_00_dot_62_bar__plus_00_dot_59 PillowType)\n (objectType LightSwitch_bar__minus_02_dot_50_bar__plus_01_dot_53_bar__plus_04_dot_85 LightSwitchType)\n (objectType Laptop_bar__minus_00_dot_33_bar__plus_00_dot_77_bar__plus_00_dot_72 LaptopType)\n (objectType Painting_bar__minus_01_dot_00_bar__plus_01_dot_70_bar__plus_00_dot_04 PaintingType)\n (objectType Pencil_bar__minus_00_dot_07_bar__plus_00_dot_77_bar__plus_01_dot_52 PencilType)\n (objectType Pen_bar__minus_03_dot_48_bar__plus_00_dot_42_bar__plus_02_dot_63 PenType)\n (objectType Window_bar__plus_00_dot_17_bar__plus_01_dot_74_bar__plus_03_dot_51 WindowType)\n (objectType Pen_bar__minus_02_dot_75_bar__plus_00_dot_42_bar__plus_02_dot_34 PenType)\n (objectType Window_bar__plus_00_dot_13_bar__plus_02_dot_38_bar__plus_02_dot_42 WindowType)\n (objectType Book_bar__minus_03_dot_19_bar__plus_00_dot_41_bar__plus_02_dot_53 BookType)\n (objectType Boots_bar__plus_00_dot_03_bar__plus_00_dot_02_bar__plus_03_dot_09 BootsType)\n (objectType WateringCan_bar__minus_05_dot_24_bar__plus_00_dot_02_bar__plus_00_dot_14 WateringCanType)\n (objectType TissueBox_bar__minus_03_dot_04_bar__plus_00_dot_42_bar__plus_02_dot_15 TissueBoxType)\n (objectType Chair_bar__minus_00_dot_73_bar__plus_00_dot_02_bar__plus_00_dot_50 ChairType)\n (objectType KeyChain_bar__minus_00_dot_43_bar__plus_00_dot_77_bar__plus_00_dot_17 KeyChainType)\n (objectType Book_bar__minus_01_dot_37_bar__plus_00_dot_40_bar__plus_03_dot_55 BookType)\n (objectType Window_bar__plus_00_dot_17_bar__plus_01_dot_02_bar__plus_02_dot_44 WindowType)\n (objectType Television_bar__minus_05_dot_76_bar__plus_01_dot_21_bar__plus_02_dot_39 TelevisionType)\n (canContain GarbageCanType PenType)\n (canContain GarbageCanType PencilType)\n (canContain GarbageCanType TissueBoxType)\n (canContain ArmChairType BoxType)\n (canContain ArmChairType LaptopType)\n (canContain ArmChairType BookType)\n (canContain ArmChairType CellPhoneType)\n (canContain ArmChairType PillowType)\n (canContain ArmChairType RemoteControlType)\n (canContain ArmChairType KeyChainType)\n (canContain ArmChairType CreditCardType)\n (canContain SofaType BoxType)\n (canContain SofaType LaptopType)\n (canContain SofaType BookType)\n (canContain SofaType CellPhoneType)\n (canContain SofaType PillowType)\n (canContain SofaType RemoteControlType)\n (canContain SofaType KeyChainType)\n (canContain SofaType CreditCardType)\n (canContain DrawerType PenType)\n (canContain DrawerType BookType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType PencilType)\n (canContain DrawerType RemoteControlType)\n (canContain DrawerType TissueBoxType)\n (canContain DrawerType WateringCanType)\n (canContain DrawerType PenType)\n (canContain DrawerType BookType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType PencilType)\n (canContain DrawerType RemoteControlType)\n (canContain DrawerType TissueBoxType)\n (canContain DrawerType WateringCanType)\n (canContain DrawerType PenType)\n (canContain DrawerType BookType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType PencilType)\n (canContain DrawerType RemoteControlType)\n (canContain DrawerType TissueBoxType)\n (canContain DrawerType WateringCanType)\n (canContain CoffeeTableType PenType)\n (canContain CoffeeTableType BookType)\n (canContain CoffeeTableType BoxType)\n (canContain CoffeeTableType CellPhoneType)\n (canContain CoffeeTableType KeyChainType)\n (canContain CoffeeTableType CreditCardType)\n (canContain CoffeeTableType LaptopType)\n (canContain CoffeeTableType PencilType)\n (canContain CoffeeTableType RemoteControlType)\n (canContain CoffeeTableType TissueBoxType)\n (canContain CoffeeTableType StatueType)\n (canContain CoffeeTableType WateringCanType)\n (canContain SideTableType PenType)\n (canContain SideTableType BookType)\n (canContain SideTableType BoxType)\n (canContain SideTableType CellPhoneType)\n (canContain SideTableType KeyChainType)\n (canContain SideTableType CreditCardType)\n (canContain SideTableType LaptopType)\n (canContain SideTableType PencilType)\n (canContain SideTableType RemoteControlType)\n (canContain SideTableType TissueBoxType)\n (canContain SideTableType StatueType)\n (canContain SideTableType WateringCanType)\n (canContain SideTableType PenType)\n (canContain SideTableType BookType)\n (canContain SideTableType BoxType)\n (canContain SideTableType CellPhoneType)\n (canContain SideTableType KeyChainType)\n (canContain SideTableType CreditCardType)\n (canContain SideTableType LaptopType)\n (canContain SideTableType PencilType)\n (canContain SideTableType RemoteControlType)\n (canContain SideTableType TissueBoxType)\n (canContain SideTableType StatueType)\n (canContain SideTableType WateringCanType)\n (canContain DrawerType PenType)\n (canContain DrawerType BookType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType PencilType)\n (canContain DrawerType RemoteControlType)\n (canContain DrawerType TissueBoxType)\n (canContain DrawerType WateringCanType)\n (canContain SideTableType PenType)\n (canContain SideTableType BookType)\n (canContain SideTableType BoxType)\n (canContain SideTableType CellPhoneType)\n (canContain SideTableType KeyChainType)\n (canContain SideTableType CreditCardType)\n (canContain SideTableType LaptopType)\n (canContain SideTableType PencilType)\n (canContain SideTableType RemoteControlType)\n (canContain SideTableType TissueBoxType)\n (canContain SideTableType StatueType)\n (canContain SideTableType WateringCanType)\n (canContain DresserType PenType)\n (canContain DresserType BookType)\n (canContain DresserType BoxType)\n (canContain DresserType CellPhoneType)\n (canContain DresserType KeyChainType)\n (canContain DresserType CreditCardType)\n (canContain DresserType LaptopType)\n (canContain DresserType PencilType)\n (canContain DresserType RemoteControlType)\n (canContain DresserType TissueBoxType)\n (canContain DresserType StatueType)\n (canContain DresserType WateringCanType)\n (pickupable Book_bar__minus_02_dot_90_bar__plus_00_dot_41_bar__plus_02_dot_44)\n (pickupable RemoteControl_bar__minus_00_dot_40_bar__plus_00_dot_77_bar__plus_01_dot_52)\n (pickupable CreditCard_bar__minus_05_dot_65_bar__plus_00_dot_73_bar__plus_02_dot_85)\n (pickupable Statue_bar__minus_00_dot_18_bar__plus_00_dot_76_bar__plus_01_dot_55)\n (pickupable Box_bar__minus_03_dot_43_bar__plus_00_dot_64_bar__plus_02_dot_44)\n (pickupable Pen_bar__minus_05_dot_79_bar__plus_00_dot_73_bar__plus_02_dot_40)\n (pickupable CellPhone_bar__minus_05_dot_79_bar__plus_00_dot_73_bar__plus_02_dot_85)\n (pickupable Statue_bar__minus_02_dot_90_bar__plus_00_dot_42_bar__plus_02_dot_15)\n (pickupable Pencil_bar__minus_05_dot_88_bar__plus_00_dot_73_bar__plus_02_dot_55)\n (pickupable RemoteControl_bar__minus_00_dot_16_bar__plus_00_dot_77_bar__plus_00_dot_31)\n (pickupable Pillow_bar__minus_02_dot_15_bar__plus_00_dot_62_bar__plus_00_dot_59)\n (pickupable Laptop_bar__minus_00_dot_33_bar__plus_00_dot_77_bar__plus_00_dot_72)\n (pickupable Pencil_bar__minus_00_dot_07_bar__plus_00_dot_77_bar__plus_01_dot_52)\n (pickupable Pen_bar__minus_03_dot_48_bar__plus_00_dot_42_bar__plus_02_dot_63)\n (pickupable Pen_bar__minus_02_dot_75_bar__plus_00_dot_42_bar__plus_02_dot_34)\n (pickupable Book_bar__minus_03_dot_19_bar__plus_00_dot_41_bar__plus_02_dot_53)\n (pickupable Boots_bar__plus_00_dot_03_bar__plus_00_dot_02_bar__plus_03_dot_09)\n (pickupable WateringCan_bar__minus_05_dot_24_bar__plus_00_dot_02_bar__plus_00_dot_14)\n (pickupable TissueBox_bar__minus_03_dot_04_bar__plus_00_dot_42_bar__plus_02_dot_15)\n (pickupable KeyChain_bar__minus_00_dot_43_bar__plus_00_dot_77_bar__plus_00_dot_17)\n (pickupable Book_bar__minus_01_dot_37_bar__plus_00_dot_40_bar__plus_03_dot_55)\n (isReceptacleObject Box_bar__minus_03_dot_43_bar__plus_00_dot_64_bar__plus_02_dot_44)\n (openable Drawer_bar__minus_05_dot_58_bar__plus_00_dot_21_bar__plus_02_dot_68)\n (openable Drawer_bar__minus_05_dot_58_bar__plus_00_dot_21_bar__plus_02_dot_13)\n (openable Drawer_bar__minus_05_dot_58_bar__plus_00_dot_52_bar__plus_02_dot_68)\n (openable Drawer_bar__minus_05_dot_58_bar__plus_00_dot_52_bar__plus_02_dot_13)\n \n (atLocation agent1 loc_bar__minus_5_bar_3_bar_3_bar_30)\n \n \n \n \n \n \n \n (toggleable FloorLamp_bar__minus_00_dot_20_bar__plus_00_dot_02_bar__plus_04_dot_49)\n \n \n \n \n (inReceptacle Pen_bar__minus_05_dot_79_bar__plus_00_dot_73_bar__plus_02_dot_40 Dresser_bar__minus_05_dot_77_bar__plus_00_dot_02_bar__plus_02_dot_40)\n (inReceptacle CellPhone_bar__minus_05_dot_79_bar__plus_00_dot_73_bar__plus_02_dot_85 Dresser_bar__minus_05_dot_77_bar__plus_00_dot_02_bar__plus_02_dot_40)\n (inReceptacle CreditCard_bar__minus_05_dot_65_bar__plus_00_dot_73_bar__plus_02_dot_85 Dresser_bar__minus_05_dot_77_bar__plus_00_dot_02_bar__plus_02_dot_40)\n (inReceptacle Pencil_bar__minus_05_dot_88_bar__plus_00_dot_73_bar__plus_02_dot_55 Dresser_bar__minus_05_dot_77_bar__plus_00_dot_02_bar__plus_02_dot_40)\n (inReceptacle Television_bar__minus_05_dot_76_bar__plus_01_dot_21_bar__plus_02_dot_39 Dresser_bar__minus_05_dot_77_bar__plus_00_dot_02_bar__plus_02_dot_40)\n (inReceptacle Book_bar__minus_01_dot_37_bar__plus_00_dot_40_bar__plus_03_dot_55 ArmChair_bar__minus_01_dot_32_bar__plus_00_dot_00_bar__plus_03_dot_65)\n (inReceptacle Pencil_bar__minus_00_dot_07_bar__plus_00_dot_77_bar__plus_01_dot_52 SideTable_bar__minus_00_dot_21_bar__plus_00_dot_02_bar__plus_01_dot_52)\n (inReceptacle RemoteControl_bar__minus_00_dot_40_bar__plus_00_dot_77_bar__plus_01_dot_52 SideTable_bar__minus_00_dot_21_bar__plus_00_dot_02_bar__plus_01_dot_52)\n (inReceptacle Statue_bar__minus_00_dot_18_bar__plus_00_dot_76_bar__plus_01_dot_55 SideTable_bar__minus_00_dot_21_bar__plus_00_dot_02_bar__plus_01_dot_52)\n (inReceptacle Pen_bar__minus_03_dot_48_bar__plus_00_dot_42_bar__plus_02_dot_63 CoffeeTable_bar__minus_03_dot_04_bar__plus_00_dot_03_bar__plus_02_dot_34)\n (inReceptacle TissueBox_bar__minus_03_dot_04_bar__plus_00_dot_42_bar__plus_02_dot_15 CoffeeTable_bar__minus_03_dot_04_bar__plus_00_dot_03_bar__plus_02_dot_34)\n (inReceptacle Book_bar__minus_02_dot_90_bar__plus_00_dot_41_bar__plus_02_dot_44 CoffeeTable_bar__minus_03_dot_04_bar__plus_00_dot_03_bar__plus_02_dot_34)\n (inReceptacle Statue_bar__minus_02_dot_90_bar__plus_00_dot_42_bar__plus_02_dot_15 CoffeeTable_bar__minus_03_dot_04_bar__plus_00_dot_03_bar__plus_02_dot_34)\n (inReceptacle Pen_bar__minus_02_dot_75_bar__plus_00_dot_42_bar__plus_02_dot_34 CoffeeTable_bar__minus_03_dot_04_bar__plus_00_dot_03_bar__plus_02_dot_34)\n (inReceptacle Box_bar__minus_03_dot_43_bar__plus_00_dot_64_bar__plus_02_dot_44 CoffeeTable_bar__minus_03_dot_04_bar__plus_00_dot_03_bar__plus_02_dot_34)\n (inReceptacle Book_bar__minus_03_dot_19_bar__plus_00_dot_41_bar__plus_02_dot_53 CoffeeTable_bar__minus_03_dot_04_bar__plus_00_dot_03_bar__plus_02_dot_34)\n (inReceptacle HousePlant_bar__minus_05_dot_54_bar__plus_00_dot_72_bar__plus_00_dot_30 SideTable_bar__minus_05_dot_57_bar__plus_00_dot_02_bar__plus_00_dot_29)\n (inReceptacle Pillow_bar__minus_02_dot_15_bar__plus_00_dot_62_bar__plus_00_dot_59 Sofa_bar__minus_03_dot_13_bar__plus_00_dot_02_bar__plus_00_dot_41)\n (inReceptacle RemoteControl_bar__minus_00_dot_16_bar__plus_00_dot_77_bar__plus_00_dot_31 SideTable_bar__minus_00_dot_31_bar__plus_00_dot_02_bar__plus_00_dot_62)\n (inReceptacle KeyChain_bar__minus_00_dot_43_bar__plus_00_dot_77_bar__plus_00_dot_17 SideTable_bar__minus_00_dot_31_bar__plus_00_dot_02_bar__plus_00_dot_62)\n (inReceptacle Laptop_bar__minus_00_dot_33_bar__plus_00_dot_77_bar__plus_00_dot_72 SideTable_bar__minus_00_dot_31_bar__plus_00_dot_02_bar__plus_00_dot_62)\n \n \n (receptacleAtLocation ArmChair_bar__minus_01_dot_32_bar__plus_00_dot_00_bar__plus_03_dot_65 loc_bar__minus_6_bar_11_bar_0_bar_60)\n (receptacleAtLocation CoffeeTable_bar__minus_03_dot_04_bar__plus_00_dot_03_bar__plus_02_dot_34 loc_bar__minus_12_bar_14_bar_2_bar_60)\n (receptacleAtLocation Drawer_bar__minus_05_dot_58_bar__plus_00_dot_21_bar__plus_02_dot_13 loc_bar__minus_20_bar_13_bar_2_bar_60)\n (receptacleAtLocation Drawer_bar__minus_05_dot_58_bar__plus_00_dot_21_bar__plus_02_dot_68 loc_bar__minus_20_bar_15_bar_2_bar_60)\n (receptacleAtLocation Drawer_bar__minus_05_dot_58_bar__plus_00_dot_52_bar__plus_02_dot_13 loc_bar__minus_21_bar_12_bar_2_bar_60)\n (receptacleAtLocation Drawer_bar__minus_05_dot_58_bar__plus_00_dot_52_bar__plus_02_dot_68 loc_bar__minus_21_bar_14_bar_2_bar_60)\n (receptacleAtLocation Dresser_bar__minus_05_dot_77_bar__plus_00_dot_02_bar__plus_02_dot_40 loc_bar__minus_20_bar_10_bar_3_bar_60)\n (receptacleAtLocation GarbageCan_bar__minus_05_dot_82_bar__plus_00_dot_02_bar__plus_04_dot_66 loc_bar__minus_22_bar_17_bar_0_bar_60)\n (receptacleAtLocation SideTable_bar__minus_00_dot_21_bar__plus_00_dot_02_bar__plus_01_dot_52 loc_bar__minus_4_bar_7_bar_1_bar_60)\n (receptacleAtLocation SideTable_bar__minus_00_dot_31_bar__plus_00_dot_02_bar__plus_00_dot_62 loc_bar__minus_5_bar_2_bar_1_bar_60)\n (receptacleAtLocation SideTable_bar__minus_05_dot_57_bar__plus_00_dot_02_bar__plus_00_dot_29 loc_bar__minus_21_bar_5_bar_2_bar_60)\n (receptacleAtLocation Sofa_bar__minus_03_dot_13_bar__plus_00_dot_02_bar__plus_00_dot_41 loc_bar__minus_14_bar_6_bar_2_bar_60)\n (objectAtLocation Pencil_bar__minus_00_dot_07_bar__plus_00_dot_77_bar__plus_01_dot_52 loc_bar__minus_4_bar_7_bar_1_bar_60)\n (objectAtLocation Pen_bar__minus_03_dot_48_bar__plus_00_dot_42_bar__plus_02_dot_63 loc_bar__minus_12_bar_14_bar_2_bar_60)\n (objectAtLocation RemoteControl_bar__minus_00_dot_40_bar__plus_00_dot_77_bar__plus_01_dot_52 loc_bar__minus_4_bar_7_bar_1_bar_60)\n (objectAtLocation Book_bar__minus_02_dot_90_bar__plus_00_dot_41_bar__plus_02_dot_44 loc_bar__minus_12_bar_14_bar_2_bar_60)\n (objectAtLocation Book_bar__minus_01_dot_37_bar__plus_00_dot_40_bar__plus_03_dot_55 loc_bar__minus_6_bar_11_bar_0_bar_60)\n (objectAtLocation Pen_bar__minus_05_dot_79_bar__plus_00_dot_73_bar__plus_02_dot_40 loc_bar__minus_20_bar_10_bar_3_bar_60)\n (objectAtLocation Chair_bar__minus_02_dot_16_bar__plus_00_dot_02_bar__plus_03_dot_88 loc_bar__minus_11_bar_16_bar_1_bar_60)\n (objectAtLocation Chair_bar__minus_00_dot_73_bar__plus_00_dot_02_bar__plus_00_dot_50 loc_bar__minus_5_bar_2_bar_1_bar_60)\n (objectAtLocation Book_bar__minus_03_dot_19_bar__plus_00_dot_41_bar__plus_02_dot_53 loc_bar__minus_12_bar_14_bar_2_bar_60)\n (objectAtLocation Chair_bar__minus_04_dot_01_bar__plus_00_dot_02_bar__plus_03_dot_90 loc_bar__minus_17_bar_17_bar_2_bar_60)\n (objectAtLocation Box_bar__minus_03_dot_43_bar__plus_00_dot_64_bar__plus_02_dot_44 loc_bar__minus_12_bar_14_bar_2_bar_60)\n (objectAtLocation KeyChain_bar__minus_00_dot_43_bar__plus_00_dot_77_bar__plus_00_dot_17 loc_bar__minus_5_bar_2_bar_1_bar_60)\n (objectAtLocation Pillow_bar__minus_02_dot_15_bar__plus_00_dot_62_bar__plus_00_dot_59 loc_bar__minus_14_bar_6_bar_2_bar_60)\n (objectAtLocation FloorLamp_bar__minus_00_dot_20_bar__plus_00_dot_02_bar__plus_04_dot_49 loc_bar__minus_1_bar_15_bar_0_bar_60)\n (objectAtLocation WateringCan_bar__minus_05_dot_24_bar__plus_00_dot_02_bar__plus_00_dot_14 loc_bar__minus_19_bar_2_bar_3_bar_60)\n (objectAtLocation TissueBox_bar__minus_03_dot_04_bar__plus_00_dot_42_bar__plus_02_dot_15 loc_bar__minus_12_bar_14_bar_2_bar_60)\n (objectAtLocation HousePlant_bar__minus_05_dot_54_bar__plus_00_dot_72_bar__plus_00_dot_30 loc_bar__minus_21_bar_5_bar_2_bar_60)\n (objectAtLocation CreditCard_bar__minus_05_dot_65_bar__plus_00_dot_73_bar__plus_02_dot_85 loc_bar__minus_20_bar_10_bar_3_bar_60)\n (objectAtLocation RemoteControl_bar__minus_00_dot_16_bar__plus_00_dot_77_bar__plus_00_dot_31 loc_bar__minus_5_bar_2_bar_1_bar_60)\n (objectAtLocation Boots_bar__plus_00_dot_03_bar__plus_00_dot_02_bar__plus_03_dot_09 loc_bar__minus_1_bar_13_bar_1_bar_60)\n (objectAtLocation LightSwitch_bar__minus_02_dot_50_bar__plus_01_dot_53_bar__plus_04_dot_85 loc_bar__minus_11_bar_17_bar_0_bar_15)\n (objectAtLocation Window_bar__plus_00_dot_13_bar__plus_02_dot_38_bar__plus_02_dot_42 loc_bar__minus_2_bar_10_bar_1_bar__minus_30)\n (objectAtLocation Painting_bar__minus_00_dot_05_bar__plus_01_dot_22_bar__plus_00_dot_46 loc_bar__minus_5_bar_2_bar_1_bar_15)\n (objectAtLocation Painting_bar__minus_00_dot_05_bar__plus_01_dot_87_bar__plus_00_dot_50 loc_bar__minus_5_bar_2_bar_1_bar__minus_15)\n (objectAtLocation CellPhone_bar__minus_05_dot_79_bar__plus_00_dot_73_bar__plus_02_dot_85 loc_bar__minus_20_bar_10_bar_3_bar_60)\n (objectAtLocation Pen_bar__minus_02_dot_75_bar__plus_00_dot_42_bar__plus_02_dot_34 loc_bar__minus_12_bar_14_bar_2_bar_60)\n (objectAtLocation Television_bar__minus_05_dot_76_bar__plus_01_dot_21_bar__plus_02_dot_39 loc_bar__minus_20_bar_10_bar_3_bar_60)\n (objectAtLocation Laptop_bar__minus_00_dot_33_bar__plus_00_dot_77_bar__plus_00_dot_72 loc_bar__minus_5_bar_2_bar_1_bar_60)\n (objectAtLocation Window_bar__plus_00_dot_17_bar__plus_01_dot_74_bar__plus_03_dot_51 loc_bar__minus_2_bar_14_bar_1_bar_0)\n (objectAtLocation Window_bar__plus_00_dot_17_bar__plus_01_dot_74_bar__plus_01_dot_38 loc_bar__minus_3_bar_6_bar_1_bar_0)\n (objectAtLocation Window_bar__plus_00_dot_17_bar__plus_01_dot_02_bar__plus_02_dot_44 loc_bar__minus_2_bar_10_bar_1_bar_45)\n (objectAtLocation Painting_bar__minus_01_dot_00_bar__plus_01_dot_70_bar__plus_00_dot_04 loc_bar__minus_5_bar_2_bar_2_bar_0)\n (objectAtLocation Painting_bar__minus_03_dot_31_bar__plus_01_dot_67_bar__plus_00_dot_04 loc_bar__minus_13_bar_5_bar_2_bar_0)\n (objectAtLocation Pencil_bar__minus_05_dot_88_bar__plus_00_dot_73_bar__plus_02_dot_55 loc_bar__minus_20_bar_10_bar_3_bar_60)\n (objectAtLocation Statue_bar__minus_02_dot_90_bar__plus_00_dot_42_bar__plus_02_dot_15 loc_bar__minus_12_bar_14_bar_2_bar_60)\n (objectAtLocation Statue_bar__minus_00_dot_18_bar__plus_00_dot_76_bar__plus_01_dot_55 loc_bar__minus_4_bar_7_bar_1_bar_60)\n )\n \n\n (:goal\n (and\n (exists (?r - receptacle)\n (exists (?o - object)\n (and\n (inReceptacle ?o ?r)\n (objectType ?o KeyChainType)\n (receptacleType ?r SofaType)\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to sidetable 2", "take keychain 1 from sidetable 2", "go to sofa 1", "move keychain 1 to sofa 1"]}
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alfworld__pick_clean_then_place_in_recep__0
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pick_clean_then_place_in_recep
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pick_clean_then_place_in_recep-Knife-None-CounterTop-24/trial_T20190907_234956_921701/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 knife 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_234956_921701)\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_64_bar__plus_01_dot_42_bar__plus_03_dot_84 - object\n Bowl_bar__plus_00_dot_74_bar__plus_00_dot_12_bar__plus_00_dot_98 - object\n Bowl_bar__plus_00_dot_78_bar__plus_00_dot_12_bar__plus_02_dot_53 - object\n Bowl_bar__minus_01_dot_32_bar__plus_00_dot_90_bar__plus_01_dot_45 - object\n Bread_bar__plus_00_dot_80_bar__plus_00_dot_88_bar__plus_02_dot_44 - object\n ButterKnife_bar__plus_00_dot_95_bar__plus_00_dot_82_bar__plus_02_dot_20 - object\n ButterKnife_bar__minus_01_dot_34_bar__plus_00_dot_82_bar__plus_03_dot_57 - object\n Chair_bar__minus_00_dot_87_bar__plus_00_dot_49_bar__plus_01_dot_50 - object\n Cup_bar__plus_00_dot_65_bar__plus_00_dot_82_bar__plus_01_dot_07 - object\n Cup_bar__minus_01_dot_05_bar__plus_00_dot_90_bar__plus_01_dot_56 - object\n Cup_bar__minus_02_dot_92_bar__plus_00_dot_82_bar__plus_03_dot_48 - object\n DishSponge_bar__plus_00_dot_93_bar__plus_00_dot_02_bar__plus_02_dot_89 - object\n DishSponge_bar__minus_01_dot_32_bar__plus_00_dot_90_bar__plus_00_dot_94 - object\n Egg_bar__minus_01_dot_87_bar__plus_00_dot_73_bar__plus_03_dot_86 - object\n Egg_bar__minus_02_dot_71_bar__plus_00_dot_86_bar__plus_03_dot_41 - 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_74_bar__plus_00_dot_69_bar__plus_01_dot_02 - object\n Fork_bar__minus_00_dot_92_bar__plus_00_dot_90_bar__plus_01_dot_35 - object\n Knife_bar__plus_00_dot_94_bar__plus_00_dot_84_bar__plus_02_dot_46 - object\n Knife_bar__minus_01_dot_58_bar__plus_00_dot_85_bar__plus_03_dot_51 - object\n Lettuce_bar__minus_00_dot_58_bar__plus_00_dot_96_bar__plus_01_dot_36 - object\n Lettuce_bar__minus_02_dot_64_bar__plus_00_dot_84_bar__plus_02_dot_17 - object\n LightSwitch_bar__plus_00_dot_83_bar__plus_01_dot_40_bar__plus_04_dot_08 - object\n Mug_bar__minus_00_dot_52_bar__plus_00_dot_90_bar__plus_01_dot_14 - object\n Mug_bar__minus_01_dot_49_bar__plus_01_dot_35_bar__plus_03_dot_84 - object\n Mug_bar__minus_02_dot_68_bar__plus_01_dot_40_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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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 - 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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_1_bar_14_bar_1_bar_30 - location\n )\n \n\n(:init\n\n\n (receptacleType Cabinet_bar__plus_00_dot_58_bar__plus_00_dot_39_bar__plus_02_dot_36 CabinetType)\n (receptacleType CoffeeMachine_bar__minus_01_dot_00_bar__plus_00_dot_89_bar__plus_01_dot_03 CoffeeMachineType)\n (receptacleType Drawer_bar__plus_00_dot_73_bar__plus_00_dot_70_bar__plus_02_dot_20 DrawerType)\n (receptacleType Cabinet_bar__minus_02_dot_43_bar__plus_00_dot_44_bar__plus_03_dot_42 CabinetType)\n (receptacleType Cabinet_bar__minus_02_dot_38_bar__plus_01_dot_41_bar__plus_01_dot_68 CabinetType)\n (receptacleType Cabinet_bar__minus_02_dot_38_bar__plus_01_dot_69_bar__plus_02_dot_57 CabinetType)\n (receptacleType Cabinet_bar__minus_02_dot_38_bar__plus_01_dot_93_bar__plus_01_dot_69 CabinetType)\n (receptacleType Drawer_bar__minus_02_dot_11_bar__plus_00_dot_71_bar__plus_03_dot_66 DrawerType)\n (receptacleType CounterTop_bar__plus_00_dot_86_bar__plus_00_dot_86_bar__plus_00_dot_98 CounterTopType)\n (receptacleType Drawer_bar__plus_00_dot_73_bar__plus_00_dot_70_bar__plus_02_dot_53 DrawerType)\n (receptacleType Cabinet_bar__minus_00_dot_42_bar__plus_01_dot_70_bar__plus_03_dot_74 CabinetType)\n (receptacleType Cabinet_bar__minus_00_dot_42_bar__plus_00_dot_67_bar__plus_03_dot_74 CabinetType)\n (receptacleType Cabinet_bar__minus_01_dot_14_bar__plus_00_dot_39_bar__plus_03_dot_52 CabinetType)\n (receptacleType Toaster_bar__minus_02_dot_25_bar__plus_00_dot_81_bar__plus_03_dot_86 ToasterType)\n (receptacleType Cabinet_bar__minus_02_dot_38_bar__plus_00_dot_64_bar__plus_01_dot_68 CabinetType)\n (receptacleType Cabinet_bar__minus_02_dot_38_bar__plus_02_dot_01_bar__plus_03_dot_18 CabinetType)\n (receptacleType DiningTable_bar__minus_00_dot_88_bar__plus_00_dot_01_bar__plus_01_dot_32 DiningTableType)\n (receptacleType Cabinet_bar__minus_01_dot_96_bar__plus_01_dot_93_bar__plus_03_dot_73 CabinetType)\n (receptacleType StoveBurner_bar__plus_00_dot_91_bar__plus_00_dot_84_bar__plus_01_dot_77 StoveBurnerType)\n (receptacleType Cabinet_bar__minus_02_dot_38_bar__plus_02_dot_01_bar__plus_01_dot_06 CabinetType)\n (receptacleType Cabinet_bar__minus_02_dot_95_bar__plus_01_dot_93_bar__plus_03_dot_73 CabinetType)\n (receptacleType CounterTop_bar__minus_02_dot_08_bar__plus_00_dot_86_bar__plus_03_dot_80 CounterTopType)\n (receptacleType Cabinet_bar__minus_02_dot_43_bar__plus_00_dot_44_bar__plus_03_dot_17 CabinetType)\n (receptacleType 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Cabinet_bar__plus_00_dot_58_bar__plus_00_dot_39_bar__plus_02_dot_69)\n (openable Cabinet_bar__minus_02_dot_38_bar__plus_02_dot_01_bar__plus_02_dot_56)\n (openable Cabinet_bar__minus_02_dot_62_bar__plus_01_dot_93_bar__plus_03_dot_73)\n (openable Drawer_bar__plus_00_dot_73_bar__plus_00_dot_70_bar__plus_00_dot_98)\n \n (atLocation agent1 loc_bar_1_bar_14_bar_1_bar_30)\n \n (cleanable Spatula_bar__plus_00_dot_73_bar__plus_00_dot_84_bar__plus_01_dot_07)\n (cleanable Cup_bar__minus_01_dot_05_bar__plus_00_dot_90_bar__plus_01_dot_56)\n (cleanable Fork_bar__plus_00_dot_74_bar__plus_00_dot_69_bar__plus_01_dot_02)\n (cleanable Spoon_bar__minus_00_dot_66_bar__plus_00_dot_90_bar__plus_01_dot_25)\n (cleanable Cup_bar__minus_02_dot_92_bar__plus_00_dot_82_bar__plus_03_dot_48)\n (cleanable Plate_bar__minus_02_dot_46_bar__plus_01_dot_40_bar__plus_03_dot_90)\n (cleanable Knife_bar__minus_01_dot_58_bar__plus_00_dot_85_bar__plus_03_dot_51)\n (cleanable Pot_bar__plus_00_dot_91_bar__plus_00_dot_85_bar__plus_01_dot_38)\n (cleanable Pan_bar__minus_02_dot_67_bar__plus_00_dot_81_bar__plus_03_dot_74)\n (cleanable DishSponge_bar__plus_00_dot_93_bar__plus_00_dot_02_bar__plus_02_dot_89)\n (cleanable Potato_bar__plus_00_dot_80_bar__plus_00_dot_87_bar__plus_00_dot_98)\n (cleanable Bowl_bar__plus_00_dot_74_bar__plus_00_dot_12_bar__plus_00_dot_98)\n (cleanable Lettuce_bar__minus_00_dot_58_bar__plus_00_dot_96_bar__plus_01_dot_36)\n (cleanable Bowl_bar__plus_00_dot_78_bar__plus_00_dot_12_bar__plus_02_dot_53)\n (cleanable Pot_bar__plus_00_dot_64_bar__plus_00_dot_85_bar__plus_01_dot_77)\n (cleanable Potato_bar__minus_01_dot_47_bar__plus_00_dot_74_bar__plus_03_dot_86)\n (cleanable DishSponge_bar__minus_01_dot_32_bar__plus_00_dot_90_bar__plus_00_dot_94)\n (cleanable Mug_bar__minus_00_dot_52_bar__plus_00_dot_90_bar__plus_01_dot_14)\n (cleanable ButterKnife_bar__minus_01_dot_34_bar__plus_00_dot_82_bar__plus_03_dot_57)\n (cleanable Fork_bar__minus_00_dot_92_bar__plus_00_dot_90_bar__plus_01_dot_35)\n (cleanable Mug_bar__minus_02_dot_68_bar__plus_01_dot_40_bar__plus_02_dot_11)\n (cleanable Cup_bar__plus_00_dot_65_bar__plus_00_dot_82_bar__plus_01_dot_07)\n (cleanable Lettuce_bar__minus_02_dot_64_bar__plus_00_dot_84_bar__plus_02_dot_17)\n (cleanable ButterKnife_bar__plus_00_dot_95_bar__plus_00_dot_82_bar__plus_02_dot_20)\n (cleanable Tomato_bar__minus_02_dot_64_bar__plus_01_dot_48_bar__plus_02_dot_39)\n (cleanable Egg_bar__minus_02_dot_71_bar__plus_00_dot_86_bar__plus_03_dot_41)\n (cleanable Spoon_bar__minus_02_dot_64_bar__plus_00_dot_82_bar__plus_03_dot_41)\n (cleanable Egg_bar__minus_01_dot_87_bar__plus_00_dot_73_bar__plus_03_dot_86)\n (cleanable Bowl_bar__minus_01_dot_32_bar__plus_00_dot_90_bar__plus_01_dot_45)\n (cleanable Knife_bar__plus_00_dot_94_bar__plus_00_dot_84_bar__plus_02_dot_46)\n (cleanable Mug_bar__minus_01_dot_49_bar__plus_01_dot_35_bar__plus_03_dot_84)\n (cleanable Apple_bar__minus_01_dot_64_bar__plus_01_dot_42_bar__plus_03_dot_84)\n \n (heatable Cup_bar__minus_01_dot_05_bar__plus_00_dot_90_bar__plus_01_dot_56)\n (heatable Cup_bar__minus_02_dot_92_bar__plus_00_dot_82_bar__plus_03_dot_48)\n (heatable Plate_bar__minus_02_dot_46_bar__plus_01_dot_40_bar__plus_03_dot_90)\n (heatable Potato_bar__plus_00_dot_80_bar__plus_00_dot_87_bar__plus_00_dot_98)\n (heatable Bread_bar__plus_00_dot_80_bar__plus_00_dot_88_bar__plus_02_dot_44)\n (heatable Potato_bar__minus_01_dot_47_bar__plus_00_dot_74_bar__plus_03_dot_86)\n (heatable Mug_bar__minus_00_dot_52_bar__plus_00_dot_90_bar__plus_01_dot_14)\n (heatable Mug_bar__minus_02_dot_68_bar__plus_01_dot_40_bar__plus_02_dot_11)\n (heatable Cup_bar__plus_00_dot_65_bar__plus_00_dot_82_bar__plus_01_dot_07)\n (heatable Tomato_bar__minus_02_dot_64_bar__plus_01_dot_48_bar__plus_02_dot_39)\n (heatable Egg_bar__minus_02_dot_71_bar__plus_00_dot_86_bar__plus_03_dot_41)\n (heatable Egg_bar__minus_01_dot_87_bar__plus_00_dot_73_bar__plus_03_dot_86)\n (heatable Mug_bar__minus_01_dot_49_bar__plus_01_dot_35_bar__plus_03_dot_84)\n (heatable Apple_bar__minus_01_dot_64_bar__plus_01_dot_42_bar__plus_03_dot_84)\n (coolable Cup_bar__minus_01_dot_05_bar__plus_00_dot_90_bar__plus_01_dot_56)\n (coolable Cup_bar__minus_02_dot_92_bar__plus_00_dot_82_bar__plus_03_dot_48)\n (coolable Plate_bar__minus_02_dot_46_bar__plus_01_dot_40_bar__plus_03_dot_90)\n (coolable Pot_bar__plus_00_dot_91_bar__plus_00_dot_85_bar__plus_01_dot_38)\n (coolable Pan_bar__minus_02_dot_67_bar__plus_00_dot_81_bar__plus_03_dot_74)\n (coolable Potato_bar__plus_00_dot_80_bar__plus_00_dot_87_bar__plus_00_dot_98)\n (coolable Bowl_bar__plus_00_dot_74_bar__plus_00_dot_12_bar__plus_00_dot_98)\n (coolable Lettuce_bar__minus_00_dot_58_bar__plus_00_dot_96_bar__plus_01_dot_36)\n (coolable Bread_bar__plus_00_dot_80_bar__plus_00_dot_88_bar__plus_02_dot_44)\n (coolable Bowl_bar__plus_00_dot_78_bar__plus_00_dot_12_bar__plus_02_dot_53)\n (coolable Pot_bar__plus_00_dot_64_bar__plus_00_dot_85_bar__plus_01_dot_77)\n (coolable Potato_bar__minus_01_dot_47_bar__plus_00_dot_74_bar__plus_03_dot_86)\n (coolable Mug_bar__minus_00_dot_52_bar__plus_00_dot_90_bar__plus_01_dot_14)\n (coolable Mug_bar__minus_02_dot_68_bar__plus_01_dot_40_bar__plus_02_dot_11)\n (coolable Cup_bar__plus_00_dot_65_bar__plus_00_dot_82_bar__plus_01_dot_07)\n (coolable Lettuce_bar__minus_02_dot_64_bar__plus_00_dot_84_bar__plus_02_dot_17)\n (coolable Tomato_bar__minus_02_dot_64_bar__plus_01_dot_48_bar__plus_02_dot_39)\n (coolable Egg_bar__minus_02_dot_71_bar__plus_00_dot_86_bar__plus_03_dot_41)\n (coolable Egg_bar__minus_01_dot_87_bar__plus_00_dot_73_bar__plus_03_dot_86)\n (coolable Bowl_bar__minus_01_dot_32_bar__plus_00_dot_90_bar__plus_01_dot_45)\n (coolable Mug_bar__minus_01_dot_49_bar__plus_01_dot_35_bar__plus_03_dot_84)\n (coolable Apple_bar__minus_01_dot_64_bar__plus_01_dot_42_bar__plus_03_dot_84)\n \n \n \n \n \n (sliceable Potato_bar__plus_00_dot_80_bar__plus_00_dot_87_bar__plus_00_dot_98)\n (sliceable Lettuce_bar__minus_00_dot_58_bar__plus_00_dot_96_bar__plus_01_dot_36)\n (sliceable Bread_bar__plus_00_dot_80_bar__plus_00_dot_88_bar__plus_02_dot_44)\n (sliceable Potato_bar__minus_01_dot_47_bar__plus_00_dot_74_bar__plus_03_dot_86)\n (sliceable Lettuce_bar__minus_02_dot_64_bar__plus_00_dot_84_bar__plus_02_dot_17)\n (sliceable Tomato_bar__minus_02_dot_64_bar__plus_01_dot_48_bar__plus_02_dot_39)\n (sliceable Egg_bar__minus_02_dot_71_bar__plus_00_dot_86_bar__plus_03_dot_41)\n (sliceable Egg_bar__minus_01_dot_87_bar__plus_00_dot_73_bar__plus_03_dot_86)\n (sliceable Apple_bar__minus_01_dot_64_bar__plus_01_dot_42_bar__plus_03_dot_84)\n \n (inReceptacle Plate_bar__minus_02_dot_46_bar__plus_01_dot_40_bar__plus_03_dot_90 Cabinet_bar__minus_02_dot_62_bar__plus_01_dot_93_bar__plus_03_dot_73)\n (inReceptacle Pot_bar__plus_00_dot_91_bar__plus_00_dot_85_bar__plus_01_dot_38 StoveBurner_bar__plus_00_dot_91_bar__plus_00_dot_84_bar__plus_01_dot_38)\n (inReceptacle Spatula_bar__plus_00_dot_73_bar__plus_00_dot_84_bar__plus_01_dot_07 CounterTop_bar__plus_00_dot_86_bar__plus_00_dot_86_bar__plus_00_dot_98)\n (inReceptacle Cup_bar__plus_00_dot_65_bar__plus_00_dot_82_bar__plus_01_dot_07 CounterTop_bar__plus_00_dot_86_bar__plus_00_dot_86_bar__plus_00_dot_98)\n (inReceptacle Potato_bar__plus_00_dot_80_bar__plus_00_dot_87_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_98 Cabinet_bar__plus_00_dot_58_bar__plus_00_dot_39_bar__plus_00_dot_82)\n (inReceptacle SaltShaker_bar__minus_02_dot_52_bar__plus_01_dot_04_bar__plus_01_dot_30 Cabinet_bar__minus_02_dot_38_bar__plus_01_dot_41_bar__plus_01_dot_68)\n (inReceptacle Bread_bar__plus_00_dot_80_bar__plus_00_dot_88_bar__plus_02_dot_44 CounterTop_bar__plus_00_dot_86_bar__plus_00_dot_86_bar__plus_02_dot_37)\n (inReceptacle ButterKnife_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 PepperShaker_bar__plus_00_dot_65_bar__plus_00_dot_82_bar__plus_02_dot_55 CounterTop_bar__plus_00_dot_86_bar__plus_00_dot_86_bar__plus_02_dot_37)\n (inReceptacle Knife_bar__plus_00_dot_94_bar__plus_00_dot_84_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_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 Bowl_bar__plus_00_dot_78_bar__plus_00_dot_12_bar__plus_02_dot_53 Cabinet_bar__plus_00_dot_58_bar__plus_00_dot_39_bar__plus_02_dot_69)\n (inReceptacle Fork_bar__plus_00_dot_74_bar__plus_00_dot_69_bar__plus_01_dot_02 Drawer_bar__plus_00_dot_73_bar__plus_00_dot_70_bar__plus_00_dot_98)\n (inReceptacle SaltShaker_bar__minus_00_dot_52_bar__plus_00_dot_90_bar__plus_01_dot_56 DiningTable_bar__minus_00_dot_88_bar__plus_00_dot_01_bar__plus_01_dot_32)\n (inReceptacle Cup_bar__minus_01_dot_05_bar__plus_00_dot_90_bar__plus_01_dot_56 DiningTable_bar__minus_00_dot_88_bar__plus_00_dot_01_bar__plus_01_dot_32)\n (inReceptacle PaperTowelRoll_bar__minus_00_dot_52_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 PepperShaker_bar__minus_01_dot_05_bar__plus_00_dot_90_bar__plus_01_dot_45 DiningTable_bar__minus_00_dot_88_bar__plus_00_dot_01_bar__plus_01_dot_32)\n (inReceptacle DishSponge_bar__minus_01_dot_32_bar__plus_00_dot_90_bar__plus_00_dot_94 DiningTable_bar__minus_00_dot_88_bar__plus_00_dot_01_bar__plus_01_dot_32)\n (inReceptacle Bowl_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 Mug_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 Fork_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 Spoon_bar__minus_00_dot_66_bar__plus_00_dot_90_bar__plus_01_dot_25 DiningTable_bar__minus_00_dot_88_bar__plus_00_dot_01_bar__plus_01_dot_32)\n (inReceptacle 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 Knife_bar__minus_01_dot_58_bar__plus_00_dot_85_bar__plus_03_dot_51 CounterTop_bar__minus_02_dot_08_bar__plus_00_dot_86_bar__plus_03_dot_80)\n (inReceptacle Egg_bar__minus_02_dot_71_bar__plus_00_dot_86_bar__plus_03_dot_41 CounterTop_bar__minus_02_dot_08_bar__plus_00_dot_86_bar__plus_03_dot_80)\n (inReceptacle Pan_bar__minus_02_dot_67_bar__plus_00_dot_81_bar__plus_03_dot_74 CounterTop_bar__minus_02_dot_08_bar__plus_00_dot_86_bar__plus_03_dot_80)\n (inReceptacle Spoon_bar__minus_02_dot_64_bar__plus_00_dot_82_bar__plus_03_dot_41 CounterTop_bar__minus_02_dot_08_bar__plus_00_dot_86_bar__plus_03_dot_80)\n (inReceptacle SaltShaker_bar__minus_02_dot_87_bar__plus_00_dot_82_bar__plus_03_dot_65 CounterTop_bar__minus_02_dot_08_bar__plus_00_dot_86_bar__plus_03_dot_80)\n (inReceptacle ButterKnife_bar__minus_01_dot_34_bar__plus_00_dot_82_bar__plus_03_dot_57 CounterTop_bar__minus_02_dot_08_bar__plus_00_dot_86_bar__plus_03_dot_80)\n (inReceptacle Cup_bar__minus_02_dot_92_bar__plus_00_dot_82_bar__plus_03_dot_48 CounterTop_bar__minus_02_dot_08_bar__plus_00_dot_86_bar__plus_03_dot_80)\n (inReceptacle PepperShaker_bar__minus_02_dot_09_bar__plus_00_dot_12_bar__plus_03_dot_60 Cabinet_bar__minus_01_dot_99_bar__plus_00_dot_39_bar__plus_03_dot_51)\n (inReceptacle Pot_bar__plus_00_dot_64_bar__plus_00_dot_85_bar__plus_01_dot_77 StoveBurner_bar__plus_00_dot_64_bar__plus_00_dot_84_bar__plus_01_dot_77)\n (inReceptacle Mug_bar__minus_01_dot_49_bar__plus_01_dot_35_bar__plus_03_dot_84 Microwave_bar__minus_01_dot_53_bar__plus_01_dot_25_bar__plus_03_dot_88)\n (inReceptacle Apple_bar__minus_01_dot_64_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 Lettuce_bar__minus_02_dot_64_bar__plus_00_dot_84_bar__plus_02_dot_17 Fridge_bar__minus_02_dot_64_bar__plus_00_dot_00_bar__plus_02_dot_13)\n (inReceptacle Mug_bar__minus_02_dot_68_bar__plus_01_dot_40_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_64_bar__plus_01_dot_48_bar__plus_02_dot_39 Fridge_bar__minus_02_dot_64_bar__plus_00_dot_00_bar__plus_02_dot_13)\n (inReceptacle DishSponge_bar__plus_00_dot_93_bar__plus_00_dot_02_bar__plus_02_dot_89 GarbageCan_bar__plus_00_dot_93_bar__plus_00_dot_00_bar__plus_02_dot_92)\n (inReceptacle Potato_bar__minus_01_dot_47_bar__plus_00_dot_74_bar__plus_03_dot_86 Sink_bar__minus_01_dot_70_bar__plus_00_dot_73_bar__plus_03_dot_83_bar_SinkBasin)\n (inReceptacle Egg_bar__minus_01_dot_87_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 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__plus_00_dot_78_bar__plus_00_dot_12_bar__plus_02_dot_53 loc_bar__minus_1_bar_12_bar_1_bar_60)\n (objectAtLocation Mug_bar__minus_01_dot_49_bar__plus_01_dot_35_bar__plus_03_dot_84 loc_bar__minus_6_bar_13_bar_0_bar_30)\n (objectAtLocation Knife_bar__minus_01_dot_58_bar__plus_00_dot_85_bar__plus_03_dot_51 loc_bar__minus_7_bar_12_bar_0_bar_45)\n (objectAtLocation Spoon_bar__minus_00_dot_66_bar__plus_00_dot_90_bar__plus_01_dot_25 loc_bar__minus_4_bar_8_bar_2_bar_60)\n (objectAtLocation Lettuce_bar__minus_00_dot_58_bar__plus_00_dot_96_bar__plus_01_dot_36 loc_bar__minus_4_bar_8_bar_2_bar_60)\n (objectAtLocation DishSponge_bar__plus_00_dot_93_bar__plus_00_dot_02_bar__plus_02_dot_89 loc_bar_2_bar_12_bar_1_bar_60)\n (objectAtLocation ButterKnife_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 PepperShaker_bar__minus_01_dot_05_bar__plus_00_dot_90_bar__plus_01_dot_45 loc_bar__minus_4_bar_8_bar_2_bar_60)\n (objectAtLocation SaltShaker_bar__minus_02_dot_52_bar__plus_01_dot_04_bar__plus_01_dot_30 loc_bar__minus_7_bar_6_bar_3_bar_15)\n (objectAtLocation Pot_bar__plus_00_dot_64_bar__plus_00_dot_85_bar__plus_01_dot_77 loc_bar_0_bar_7_bar_1_bar_45)\n (objectAtLocation Cup_bar__plus_00_dot_65_bar__plus_00_dot_82_bar__plus_01_dot_07 loc_bar_0_bar_5_bar_1_bar_45)\n (objectAtLocation Egg_bar__minus_01_dot_87_bar__plus_00_dot_73_bar__plus_03_dot_86 loc_bar__minus_6_bar_13_bar_0_bar_60)\n (objectAtLocation Potato_bar__minus_01_dot_47_bar__plus_00_dot_74_bar__plus_03_dot_86 loc_bar__minus_6_bar_13_bar_0_bar_60)\n (objectAtLocation Fork_bar__plus_00_dot_74_bar__plus_00_dot_69_bar__plus_01_dot_02 loc_bar_0_bar_7_bar_2_bar_45)\n (objectAtLocation Mug_bar__minus_02_dot_68_bar__plus_01_dot_40_bar__plus_02_dot_11 loc_bar__minus_7_bar_9_bar_3_bar_60)\n (objectAtLocation SaltShaker_bar__minus_02_dot_87_bar__plus_00_dot_82_bar__plus_03_dot_65 loc_bar__minus_7_bar_12_bar_0_bar_45)\n (objectAtLocation PepperShaker_bar__plus_00_dot_65_bar__plus_00_dot_82_bar__plus_02_dot_55 loc_bar_1_bar_10_bar_1_bar_45)\n (objectAtLocation Bowl_bar__plus_00_dot_74_bar__plus_00_dot_12_bar__plus_00_dot_98 loc_bar_0_bar_5_bar_1_bar_60)\n (objectAtLocation Cup_bar__minus_02_dot_92_bar__plus_00_dot_82_bar__plus_03_dot_48 loc_bar__minus_7_bar_12_bar_0_bar_45)\n (objectAtLocation Sink_bar__minus_01_dot_70_bar__plus_00_dot_73_bar__plus_03_dot_83 loc_bar__minus_6_bar_13_bar_0_bar_60)\n (objectAtLocation Plate_bar__minus_02_dot_46_bar__plus_01_dot_40_bar__plus_03_dot_90 loc_bar__minus_6_bar_13_bar_3_bar__minus_15)\n (objectAtLocation Fork_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 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_80_bar__plus_00_dot_88_bar__plus_02_dot_44 loc_bar_1_bar_10_bar_1_bar_45)\n (objectAtLocation Chair_bar__minus_00_dot_87_bar__plus_00_dot_49_bar__plus_01_dot_50 loc_bar__minus_3_bar_8_bar_2_bar_60)\n (objectAtLocation Window_bar__minus_01_dot_13_bar__plus_01_dot_67_bar__plus_00_dot_81 loc_bar__minus_7_bar_6_bar_2_bar_0)\n (objectAtLocation Spatula_bar__plus_00_dot_73_bar__plus_00_dot_84_bar__plus_01_dot_07 loc_bar_0_bar_5_bar_1_bar_45)\n (objectAtLocation PaperTowelRoll_bar__minus_00_dot_52_bar__plus_01_dot_00_bar__plus_01_dot_04 loc_bar__minus_4_bar_8_bar_2_bar_60)\n (objectAtLocation Potato_bar__plus_00_dot_80_bar__plus_00_dot_87_bar__plus_00_dot_98 loc_bar_0_bar_5_bar_1_bar_45)\n (objectAtLocation SoapBottle_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 Egg_bar__minus_02_dot_71_bar__plus_00_dot_86_bar__plus_03_dot_41 loc_bar__minus_7_bar_12_bar_0_bar_45)\n (objectAtLocation Cup_bar__minus_01_dot_05_bar__plus_00_dot_90_bar__plus_01_dot_56 loc_bar__minus_4_bar_8_bar_2_bar_60)\n (objectAtLocation Pot_bar__plus_00_dot_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_52_bar__plus_00_dot_90_bar__plus_01_dot_56 loc_bar__minus_4_bar_8_bar_2_bar_60)\n (objectAtLocation Pan_bar__minus_02_dot_67_bar__plus_00_dot_81_bar__plus_03_dot_74 loc_bar__minus_7_bar_12_bar_0_bar_45)\n (objectAtLocation PepperShaker_bar__minus_02_dot_09_bar__plus_00_dot_12_bar__plus_03_dot_60 loc_bar__minus_7_bar_12_bar_0_bar_60)\n (objectAtLocation ButterKnife_bar__minus_01_dot_34_bar__plus_00_dot_82_bar__plus_03_dot_57 loc_bar__minus_7_bar_12_bar_0_bar_45)\n (objectAtLocation StoveKnob_bar__plus_01_dot_10_bar__plus_01_dot_00_bar__plus_01_dot_89 loc_bar_0_bar_8_bar_1_bar_30)\n (objectAtLocation StoveKnob_bar__plus_01_dot_10_bar__plus_01_dot_00_bar__plus_01_dot_73 loc_bar_0_bar_7_bar_1_bar_30)\n (objectAtLocation StoveKnob_bar__plus_01_dot_10_bar__plus_01_dot_00_bar__plus_01_dot_32 loc_bar_0_bar_5_bar_1_bar_30)\n (objectAtLocation StoveKnob_bar__plus_01_dot_10_bar__plus_01_dot_00_bar__plus_01_dot_48 loc_bar_0_bar_6_bar_1_bar_30)\n (objectAtLocation Tomato_bar__minus_02_dot_64_bar__plus_01_dot_48_bar__plus_02_dot_39 loc_bar__minus_7_bar_9_bar_3_bar_60)\n (objectAtLocation DishSponge_bar__minus_01_dot_32_bar__plus_00_dot_90_bar__plus_00_dot_94 loc_bar__minus_4_bar_8_bar_2_bar_60)\n (objectAtLocation Lettuce_bar__minus_02_dot_64_bar__plus_00_dot_84_bar__plus_02_dot_17 loc_bar__minus_7_bar_9_bar_3_bar_60)\n (objectAtLocation Spoon_bar__minus_02_dot_64_bar__plus_00_dot_82_bar__plus_03_dot_41 loc_bar__minus_7_bar_12_bar_0_bar_45)\n (objectAtLocation Apple_bar__minus_01_dot_64_bar__plus_01_dot_42_bar__plus_03_dot_84 loc_bar__minus_6_bar_13_bar_0_bar_30)\n (objectAtLocation Knife_bar__plus_00_dot_94_bar__plus_00_dot_84_bar__plus_02_dot_46 loc_bar_1_bar_10_bar_1_bar_45)\n (objectAtLocation Mug_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 Bowl_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 )\n \n\n (:goal\n (and\n (exists (?r - receptacle)\n (exists (?o - object)\n (and\n (cleanable ?o)\n (objectType ?o KnifeType)\n (receptacleType ?r CounterTopType)\n (isClean ?o)\n (inReceptacle ?o ?r)\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to countertop 1", "take knife 1 from countertop 1", "go to sinkbasin 1", "clean knife 1 with sinkbasin 1", "go to countertop 2", "move knife 1 to countertop 2"]}
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alfworld__pick_clean_then_place_in_recep__1
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pick_clean_then_place_in_recep
|
pick_clean_then_place_in_recep-Knife-None-CounterTop-24/trial_T20190907_235023_869746/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: clean some knife 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_235023_869746)\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_65_bar__plus_00_dot_88_bar__plus_01_dot_03 - object\n Apple_bar__minus_02_dot_69_bar__plus_00_dot_83_bar__plus_02_dot_22 - object\n Bowl_bar__plus_00_dot_74_bar__plus_00_dot_12_bar__plus_02_dot_16 - object\n Bread_bar__plus_00_dot_83_bar__plus_00_dot_86_bar__plus_02_dot_45 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StoveKnob_bar__plus_01_dot_10_bar__plus_01_dot_00_bar__plus_01_dot_89 - object\n Tomato_bar__minus_02_dot_71_bar__plus_01_dot_48_bar__plus_02_dot_17 - object\n Window_bar__minus_01_dot_13_bar__plus_01_dot_67_bar__plus_00_dot_81 - object\n Cabinet_bar__plus_00_dot_58_bar__plus_00_dot_39_bar__plus_00_dot_82 - receptacle\n Cabinet_bar__plus_00_dot_58_bar__plus_00_dot_39_bar__plus_02_dot_36 - receptacle\n Cabinet_bar__plus_00_dot_58_bar__plus_00_dot_39_bar__plus_02_dot_69 - receptacle\n Cabinet_bar__minus_00_dot_42_bar__plus_00_dot_67_bar__plus_03_dot_74 - receptacle\n Cabinet_bar__minus_00_dot_42_bar__plus_01_dot_70_bar__plus_03_dot_74 - receptacle\n Cabinet_bar__minus_01_dot_10_bar__plus_01_dot_93_bar__plus_03_dot_73 - receptacle\n Cabinet_bar__minus_01_dot_14_bar__plus_00_dot_39_bar__plus_03_dot_52 - receptacle\n Cabinet_bar__minus_01_dot_96_bar__plus_01_dot_93_bar__plus_03_dot_73 - receptacle\n Cabinet_bar__minus_01_dot_97_bar__plus_00_dot_39_bar__plus_03_dot_52 - receptacle\n 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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 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location\n loc_bar__minus_7_bar_7_bar_3_bar__minus_30 - location\n loc_bar_2_bar_14_bar_0_bar_30 - location\n loc_bar__minus_7_bar_12_bar_0_bar_60 - location\n loc_bar__minus_4_bar_8_bar_2_bar_60 - location\n loc_bar__minus_6_bar_13_bar_3_bar__minus_15 - location\n loc_bar_0_bar_5_bar_1_bar_45 - location\n loc_bar_0_bar_5_bar_1_bar_30 - location\n loc_bar__minus_5_bar_8_bar_3_bar_45 - location\n loc_bar_0_bar_6_bar_1_bar_45 - location\n loc_bar__minus_7_bar_12_bar_0_bar_45 - location\n loc_bar__minus_7_bar_6_bar_3_bar__minus_30 - location\n loc_bar__minus_3_bar_13_bar_0_bar_0 - location\n loc_bar__minus_1_bar_11_bar_1_bar_60 - location\n loc_bar__minus_7_bar_6_bar_2_bar_0 - location\n loc_bar__minus_6_bar_12_bar_3_bar_60 - location\n loc_bar__minus_1_bar_12_bar_1_bar_45 - location\n loc_bar__minus_7_bar_5_bar_1_bar_30 - location\n )\n \n\n(:init\n\n\n (receptacleType Cabinet_bar__plus_00_dot_58_bar__plus_00_dot_39_bar__plus_02_dot_36 CabinetType)\n (receptacleType 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(receptacleType Cabinet_bar__minus_00_dot_42_bar__plus_00_dot_67_bar__plus_03_dot_74 CabinetType)\n (receptacleType Cabinet_bar__minus_01_dot_14_bar__plus_00_dot_39_bar__plus_03_dot_52 CabinetType)\n (receptacleType Toaster_bar__minus_02_dot_25_bar__plus_00_dot_81_bar__plus_03_dot_86 ToasterType)\n (receptacleType Cabinet_bar__minus_02_dot_38_bar__plus_00_dot_64_bar__plus_01_dot_68 CabinetType)\n (receptacleType Cabinet_bar__minus_02_dot_38_bar__plus_02_dot_01_bar__plus_03_dot_18 CabinetType)\n (receptacleType DiningTable_bar__minus_00_dot_88_bar__plus_00_dot_01_bar__plus_01_dot_32 DiningTableType)\n (receptacleType Cabinet_bar__minus_01_dot_96_bar__plus_01_dot_93_bar__plus_03_dot_73 CabinetType)\n (receptacleType StoveBurner_bar__plus_00_dot_91_bar__plus_00_dot_84_bar__plus_01_dot_77 StoveBurnerType)\n (receptacleType Cabinet_bar__minus_02_dot_38_bar__plus_02_dot_01_bar__plus_01_dot_06 CabinetType)\n (receptacleType Cabinet_bar__minus_02_dot_95_bar__plus_01_dot_93_bar__plus_03_dot_73 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Spatula_bar__minus_01_dot_05_bar__plus_00_dot_92_bar__plus_01_dot_35)\n (cleanable Cup_bar__plus_01_dot_10_bar__plus_00_dot_82_bar__plus_00_dot_90)\n (cleanable ButterKnife_bar__minus_00_dot_52_bar__plus_00_dot_90_bar__plus_01_dot_35)\n (cleanable Pot_bar__plus_00_dot_91_bar__plus_00_dot_85_bar__plus_01_dot_38)\n (cleanable Knife_bar__plus_01_dot_02_bar__plus_00_dot_85_bar__plus_02_dot_63)\n (cleanable Pan_bar__minus_02_dot_67_bar__plus_00_dot_81_bar__plus_03_dot_74)\n (cleanable Spatula_bar__minus_01_dot_32_bar__plus_00_dot_92_bar__plus_01_dot_45)\n (cleanable DishSponge_bar__minus_00_dot_66_bar__plus_00_dot_90_bar__plus_01_dot_25)\n (cleanable Cup_bar__plus_01_dot_02_bar__plus_00_dot_82_bar__plus_01_dot_03)\n (cleanable Fork_bar__minus_00_dot_66_bar__plus_00_dot_90_bar__plus_00_dot_94)\n (cleanable Mug_bar__minus_01_dot_11_bar__plus_00_dot_94_bar__plus_01_dot_20)\n (cleanable Bowl_bar__plus_00_dot_74_bar__plus_00_dot_12_bar__plus_02_dot_16)\n (cleanable Tomato_bar__minus_02_dot_71_bar__plus_01_dot_48_bar__plus_02_dot_17)\n (cleanable Egg_bar__minus_00_dot_92_bar__plus_00_dot_94_bar__plus_01_dot_25)\n (cleanable Potato_bar__plus_00_dot_93_bar__plus_00_dot_07_bar__plus_02_dot_89)\n (cleanable Lettuce_bar__minus_02_dot_69_bar__plus_01_dot_27_bar__plus_02_dot_28)\n (cleanable Apple_bar__minus_02_dot_69_bar__plus_00_dot_83_bar__plus_02_dot_22)\n (cleanable Apple_bar__plus_00_dot_65_bar__plus_00_dot_88_bar__plus_01_dot_03)\n (cleanable Pot_bar__plus_00_dot_91_bar__plus_00_dot_85_bar__plus_01_dot_77)\n (cleanable Knife_bar__minus_01_dot_82_bar__plus_00_dot_85_bar__plus_03_dot_57)\n (cleanable Spoon_bar__minus_01_dot_42_bar__plus_00_dot_70_bar__plus_03_dot_77)\n (cleanable Plate_bar__plus_00_dot_86_bar__plus_00_dot_81_bar__plus_00_dot_98)\n \n (heatable Egg_bar__minus_02_dot_58_bar__plus_00_dot_80_bar__plus_02_dot_22)\n (heatable Cup_bar__plus_01_dot_10_bar__plus_00_dot_82_bar__plus_00_dot_90)\n (heatable Cup_bar__plus_01_dot_02_bar__plus_00_dot_82_bar__plus_01_dot_03)\n (heatable Mug_bar__minus_01_dot_11_bar__plus_00_dot_94_bar__plus_01_dot_20)\n (heatable Tomato_bar__minus_02_dot_71_bar__plus_01_dot_48_bar__plus_02_dot_17)\n (heatable Egg_bar__minus_00_dot_92_bar__plus_00_dot_94_bar__plus_01_dot_25)\n (heatable Potato_bar__plus_00_dot_93_bar__plus_00_dot_07_bar__plus_02_dot_89)\n (heatable Bread_bar__plus_00_dot_83_bar__plus_00_dot_86_bar__plus_02_dot_45)\n (heatable Apple_bar__minus_02_dot_69_bar__plus_00_dot_83_bar__plus_02_dot_22)\n (heatable Apple_bar__plus_00_dot_65_bar__plus_00_dot_88_bar__plus_01_dot_03)\n (heatable Plate_bar__plus_00_dot_86_bar__plus_00_dot_81_bar__plus_00_dot_98)\n (coolable Egg_bar__minus_02_dot_58_bar__plus_00_dot_80_bar__plus_02_dot_22)\n (coolable Lettuce_bar__minus_01_dot_19_bar__plus_00_dot_98_bar__plus_01_dot_56)\n (coolable Cup_bar__plus_01_dot_10_bar__plus_00_dot_82_bar__plus_00_dot_90)\n (coolable Pot_bar__plus_00_dot_91_bar__plus_00_dot_85_bar__plus_01_dot_38)\n (coolable Pan_bar__minus_02_dot_67_bar__plus_00_dot_81_bar__plus_03_dot_74)\n (coolable Cup_bar__plus_01_dot_02_bar__plus_00_dot_82_bar__plus_01_dot_03)\n (coolable Mug_bar__minus_01_dot_11_bar__plus_00_dot_94_bar__plus_01_dot_20)\n (coolable Bowl_bar__plus_00_dot_74_bar__plus_00_dot_12_bar__plus_02_dot_16)\n (coolable Tomato_bar__minus_02_dot_71_bar__plus_01_dot_48_bar__plus_02_dot_17)\n (coolable Egg_bar__minus_00_dot_92_bar__plus_00_dot_94_bar__plus_01_dot_25)\n (coolable Potato_bar__plus_00_dot_93_bar__plus_00_dot_07_bar__plus_02_dot_89)\n (coolable Lettuce_bar__minus_02_dot_69_bar__plus_01_dot_27_bar__plus_02_dot_28)\n (coolable Bread_bar__plus_00_dot_83_bar__plus_00_dot_86_bar__plus_02_dot_45)\n (coolable Apple_bar__minus_02_dot_69_bar__plus_00_dot_83_bar__plus_02_dot_22)\n (coolable Apple_bar__plus_00_dot_65_bar__plus_00_dot_88_bar__plus_01_dot_03)\n (coolable Pot_bar__plus_00_dot_91_bar__plus_00_dot_85_bar__plus_01_dot_77)\n (coolable Plate_bar__plus_00_dot_86_bar__plus_00_dot_81_bar__plus_00_dot_98)\n \n \n \n \n \n (sliceable Egg_bar__minus_02_dot_58_bar__plus_00_dot_80_bar__plus_02_dot_22)\n (sliceable Lettuce_bar__minus_01_dot_19_bar__plus_00_dot_98_bar__plus_01_dot_56)\n (sliceable Tomato_bar__minus_02_dot_71_bar__plus_01_dot_48_bar__plus_02_dot_17)\n (sliceable Egg_bar__minus_00_dot_92_bar__plus_00_dot_94_bar__plus_01_dot_25)\n (sliceable Potato_bar__plus_00_dot_93_bar__plus_00_dot_07_bar__plus_02_dot_89)\n (sliceable Lettuce_bar__minus_02_dot_69_bar__plus_01_dot_27_bar__plus_02_dot_28)\n (sliceable Bread_bar__plus_00_dot_83_bar__plus_00_dot_86_bar__plus_02_dot_45)\n (sliceable Apple_bar__minus_02_dot_69_bar__plus_00_dot_83_bar__plus_02_dot_22)\n (sliceable Apple_bar__plus_00_dot_65_bar__plus_00_dot_88_bar__plus_01_dot_03)\n \n (inReceptacle Pot_bar__plus_00_dot_91_bar__plus_00_dot_85_bar__plus_01_dot_38 StoveBurner_bar__plus_00_dot_91_bar__plus_00_dot_84_bar__plus_01_dot_38)\n (inReceptacle Apple_bar__plus_00_dot_65_bar__plus_00_dot_88_bar__plus_01_dot_03 CounterTop_bar__plus_00_dot_86_bar__plus_00_dot_86_bar__plus_00_dot_98)\n (inReceptacle Cup_bar__plus_01_dot_10_bar__plus_00_dot_82_bar__plus_00_dot_90 CounterTop_bar__plus_00_dot_86_bar__plus_00_dot_86_bar__plus_00_dot_98)\n (inReceptacle Cup_bar__plus_01_dot_02_bar__plus_00_dot_82_bar__plus_01_dot_03 CounterTop_bar__plus_00_dot_86_bar__plus_00_dot_86_bar__plus_00_dot_98)\n (inReceptacle 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 SoapBottle_bar__minus_00_dot_92_bar__plus_01_dot_24_bar__plus_03_dot_83 Cabinet_bar__minus_00_dot_42_bar__plus_01_dot_70_bar__plus_03_dot_74)\n (inReceptacle Knife_bar__plus_01_dot_02_bar__plus_00_dot_85_bar__plus_02_dot_63 CounterTop_bar__plus_00_dot_86_bar__plus_00_dot_86_bar__plus_02_dot_37)\n (inReceptacle PaperTowelRoll_bar__plus_00_dot_65_bar__plus_00_dot_93_bar__plus_02_dot_37 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 SaltShaker_bar__minus_02_dot_48_bar__plus_00_dot_15_bar__plus_01_dot_22 Cabinet_bar__minus_02_dot_38_bar__plus_00_dot_64_bar__plus_01_dot_68)\n (inReceptacle Bowl_bar__plus_00_dot_74_bar__plus_00_dot_12_bar__plus_02_dot_16 Cabinet_bar__plus_00_dot_58_bar__plus_00_dot_39_bar__plus_02_dot_36)\n (inReceptacle PepperShaker_bar__plus_00_dot_63_bar__plus_00_dot_12_bar__plus_02_dot_32 Cabinet_bar__plus_00_dot_58_bar__plus_00_dot_39_bar__plus_02_dot_36)\n (inReceptacle SaltShaker_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 ButterKnife_bar__minus_00_dot_52_bar__plus_00_dot_90_bar__plus_01_dot_35 DiningTable_bar__minus_00_dot_88_bar__plus_00_dot_01_bar__plus_01_dot_32)\n (inReceptacle Lettuce_bar__minus_01_dot_19_bar__plus_00_dot_98_bar__plus_01_dot_56 DiningTable_bar__minus_00_dot_88_bar__plus_00_dot_01_bar__plus_01_dot_32)\n (inReceptacle Egg_bar__minus_00_dot_92_bar__plus_00_dot_94_bar__plus_01_dot_25 DiningTable_bar__minus_00_dot_88_bar__plus_00_dot_01_bar__plus_01_dot_32)\n (inReceptacle Spatula_bar__minus_01_dot_32_bar__plus_00_dot_92_bar__plus_01_dot_45 DiningTable_bar__minus_00_dot_88_bar__plus_00_dot_01_bar__plus_01_dot_32)\n (inReceptacle Spatula_bar__minus_01_dot_05_bar__plus_00_dot_92_bar__plus_01_dot_35 DiningTable_bar__minus_00_dot_88_bar__plus_00_dot_01_bar__plus_01_dot_32)\n (inReceptacle SoapBottle_bar__minus_00_dot_79_bar__plus_00_dot_90_bar__plus_01_dot_25 DiningTable_bar__minus_00_dot_88_bar__plus_00_dot_01_bar__plus_01_dot_32)\n (inReceptacle Mug_bar__minus_01_dot_11_bar__plus_00_dot_94_bar__plus_01_dot_20 DiningTable_bar__minus_00_dot_88_bar__plus_00_dot_01_bar__plus_01_dot_32)\n (inReceptacle DishSponge_bar__minus_00_dot_66_bar__plus_00_dot_90_bar__plus_01_dot_25 DiningTable_bar__minus_00_dot_88_bar__plus_00_dot_01_bar__plus_01_dot_32)\n (inReceptacle Fork_bar__minus_00_dot_66_bar__plus_00_dot_90_bar__plus_00_dot_94 DiningTable_bar__minus_00_dot_88_bar__plus_00_dot_01_bar__plus_01_dot_32)\n (inReceptacle SoapBottle_bar__minus_01_dot_32_bar__plus_00_dot_90_bar__plus_01_dot_14 DiningTable_bar__minus_00_dot_88_bar__plus_00_dot_01_bar__plus_01_dot_32)\n (inReceptacle SaltShaker_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 Pot_bar__plus_00_dot_91_bar__plus_00_dot_85_bar__plus_01_dot_77 StoveBurner_bar__plus_00_dot_91_bar__plus_00_dot_84_bar__plus_01_dot_77)\n (inReceptacle Knife_bar__minus_01_dot_82_bar__plus_00_dot_85_bar__plus_03_dot_57 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 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 Tomato_bar__minus_02_dot_71_bar__plus_01_dot_48_bar__plus_02_dot_17 Fridge_bar__minus_02_dot_64_bar__plus_00_dot_00_bar__plus_02_dot_13)\n (inReceptacle Lettuce_bar__minus_02_dot_69_bar__plus_01_dot_27_bar__plus_02_dot_28 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_22 Fridge_bar__minus_02_dot_64_bar__plus_00_dot_00_bar__plus_02_dot_13)\n (inReceptacle Apple_bar__minus_02_dot_69_bar__plus_00_dot_83_bar__plus_02_dot_22 Fridge_bar__minus_02_dot_64_bar__plus_00_dot_00_bar__plus_02_dot_13)\n (inReceptacle Potato_bar__plus_00_dot_93_bar__plus_00_dot_07_bar__plus_02_dot_89 GarbageCan_bar__plus_00_dot_93_bar__plus_00_dot_00_bar__plus_02_dot_92)\n (inReceptacle Spoon_bar__minus_01_dot_42_bar__plus_00_dot_70_bar__plus_03_dot_77 Sink_bar__minus_01_dot_70_bar__plus_00_dot_73_bar__plus_03_dot_83_bar_SinkBasin)\n \n \n (receptacleAtLocation Cabinet_bar__plus_00_dot_58_bar__plus_00_dot_39_bar__plus_00_dot_82 loc_bar_0_bar_5_bar_1_bar_60)\n (receptacleAtLocation Cabinet_bar__plus_00_dot_58_bar__plus_00_dot_39_bar__plus_02_dot_36 loc_bar__minus_1_bar_11_bar_1_bar_60)\n (receptacleAtLocation Cabinet_bar__plus_00_dot_58_bar__plus_00_dot_39_bar__plus_02_dot_69 loc_bar__minus_1_bar_12_bar_1_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_42_bar__plus_00_dot_67_bar__plus_03_dot_74 loc_bar__minus_3_bar_12_bar_0_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_42_bar__plus_01_dot_70_bar__plus_03_dot_74 loc_bar__minus_3_bar_13_bar_0_bar_0)\n (receptacleAtLocation Cabinet_bar__minus_01_dot_10_bar__plus_01_dot_93_bar__plus_03_dot_73 loc_bar__minus_6_bar_13_bar_0_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_01_dot_14_bar__plus_00_dot_39_bar__plus_03_dot_52 loc_bar__minus_3_bar_10_bar_0_bar_45)\n (receptacleAtLocation Cabinet_bar__minus_01_dot_96_bar__plus_01_dot_93_bar__plus_03_dot_73 loc_bar__minus_6_bar_13_bar_0_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_01_dot_97_bar__plus_00_dot_39_bar__plus_03_dot_52 loc_bar__minus_5_bar_10_bar_0_bar_45)\n (receptacleAtLocation Cabinet_bar__minus_01_dot_98_bar__plus_01_dot_78_bar__plus_03_dot_73 loc_bar__minus_7_bar_11_bar_0_bar_0)\n (receptacleAtLocation Cabinet_bar__minus_01_dot_99_bar__plus_00_dot_39_bar__plus_03_dot_51 loc_bar__minus_7_bar_12_bar_0_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_02_dot_38_bar__plus_00_dot_64_bar__plus_01_dot_68 loc_bar__minus_5_bar_8_bar_3_bar_45)\n (receptacleAtLocation Cabinet_bar__minus_02_dot_38_bar__plus_01_dot_41_bar__plus_01_dot_68 loc_bar__minus_7_bar_6_bar_3_bar_15)\n (receptacleAtLocation Cabinet_bar__minus_02_dot_38_bar__plus_01_dot_69_bar__plus_02_dot_57 loc_bar__minus_7_bar_11_bar_3_bar_0)\n (receptacleAtLocation Cabinet_bar__minus_02_dot_38_bar__plus_01_dot_93_bar__plus_01_dot_69 loc_bar__minus_7_bar_6_bar_3_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_02_dot_38_bar__plus_02_dot_01_bar__plus_01_dot_06 loc_bar__minus_7_bar_6_bar_3_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_02_dot_38_bar__plus_02_dot_01_bar__plus_01_dot_69 loc_bar__minus_7_bar_7_bar_3_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_02_dot_38_bar__plus_02_dot_01_bar__plus_02_dot_56 loc_bar__minus_6_bar_9_bar_3_bar__minus_15)\n (receptacleAtLocation Cabinet_bar__minus_02_dot_38_bar__plus_02_dot_01_bar__plus_03_dot_18 loc_bar__minus_7_bar_12_bar_3_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_02_dot_43_bar__plus_00_dot_44_bar__plus_03_dot_17 loc_bar__minus_5_bar_13_bar_3_bar_45)\n (receptacleAtLocation Cabinet_bar__minus_02_dot_43_bar__plus_00_dot_44_bar__plus_03_dot_42 loc_bar__minus_6_bar_12_bar_3_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_02_dot_62_bar__plus_01_dot_93_bar__plus_03_dot_73 loc_bar__minus_6_bar_13_bar_3_bar__minus_15)\n (receptacleAtLocation Cabinet_bar__minus_02_dot_95_bar__plus_01_dot_93_bar__plus_03_dot_73 loc_bar__minus_6_bar_13_bar_3_bar__minus_15)\n (receptacleAtLocation CoffeeMachine_bar__minus_01_dot_00_bar__plus_00_dot_89_bar__plus_01_dot_03 loc_bar__minus_4_bar_8_bar_2_bar_45)\n (receptacleAtLocation CounterTop_bar__plus_00_dot_86_bar__plus_00_dot_86_bar__plus_00_dot_98 loc_bar_0_bar_5_bar_1_bar_45)\n (receptacleAtLocation CounterTop_bar__plus_00_dot_86_bar__plus_00_dot_86_bar__plus_02_dot_37 loc_bar_1_bar_10_bar_1_bar_45)\n (receptacleAtLocation CounterTop_bar__minus_02_dot_08_bar__plus_00_dot_86_bar__plus_03_dot_80 loc_bar__minus_7_bar_12_bar_0_bar_45)\n (receptacleAtLocation DiningTable_bar__minus_00_dot_88_bar__plus_00_dot_01_bar__plus_01_dot_32 loc_bar__minus_4_bar_8_bar_2_bar_60)\n (receptacleAtLocation Drawer_bar__plus_00_dot_73_bar__plus_00_dot_70_bar__plus_00_dot_98 loc_bar_0_bar_7_bar_2_bar_45)\n (receptacleAtLocation Drawer_bar__plus_00_dot_73_bar__plus_00_dot_70_bar__plus_02_dot_20 loc_bar__minus_1_bar_10_bar_1_bar_45)\n (receptacleAtLocation Drawer_bar__plus_00_dot_73_bar__plus_00_dot_70_bar__plus_02_dot_53 loc_bar__minus_1_bar_12_bar_1_bar_45)\n (receptacleAtLocation Drawer_bar__minus_02_dot_11_bar__plus_00_dot_71_bar__plus_03_dot_66 loc_bar__minus_7_bar_12_bar_0_bar_60)\n (receptacleAtLocation Fridge_bar__minus_02_dot_64_bar__plus_00_dot_00_bar__plus_02_dot_13 loc_bar__minus_7_bar_9_bar_3_bar_60)\n (receptacleAtLocation GarbageCan_bar__plus_00_dot_93_bar__plus_00_dot_00_bar__plus_02_dot_92 loc_bar_2_bar_12_bar_1_bar_60)\n (receptacleAtLocation Microwave_bar__minus_01_dot_53_bar__plus_01_dot_25_bar__plus_03_dot_88 loc_bar__minus_6_bar_13_bar_0_bar_30)\n (receptacleAtLocation Sink_bar__minus_01_dot_70_bar__plus_00_dot_73_bar__plus_03_dot_83_bar_SinkBasin loc_bar__minus_6_bar_13_bar_0_bar_60)\n (receptacleAtLocation StoveBurner_bar__plus_00_dot_64_bar__plus_00_dot_84_bar__plus_01_dot_38 loc_bar_0_bar_6_bar_1_bar_45)\n (receptacleAtLocation StoveBurner_bar__plus_00_dot_64_bar__plus_00_dot_84_bar__plus_01_dot_77 loc_bar_0_bar_7_bar_1_bar_45)\n (receptacleAtLocation StoveBurner_bar__plus_00_dot_91_bar__plus_00_dot_84_bar__plus_01_dot_38 loc_bar_0_bar_6_bar_1_bar_45)\n (receptacleAtLocation StoveBurner_bar__plus_00_dot_91_bar__plus_00_dot_84_bar__plus_01_dot_77 loc_bar_0_bar_7_bar_1_bar_45)\n (receptacleAtLocation Toaster_bar__minus_02_dot_25_bar__plus_00_dot_81_bar__plus_03_dot_86 loc_bar__minus_7_bar_12_bar_0_bar_45)\n (objectAtLocation Knife_bar__plus_01_dot_02_bar__plus_00_dot_85_bar__plus_02_dot_63 loc_bar_1_bar_10_bar_1_bar_45)\n (objectAtLocation Apple_bar__plus_00_dot_65_bar__plus_00_dot_88_bar__plus_01_dot_03 loc_bar_0_bar_5_bar_1_bar_45)\n (objectAtLocation Lettuce_bar__minus_01_dot_19_bar__plus_00_dot_98_bar__plus_01_dot_56 loc_bar__minus_4_bar_8_bar_2_bar_60)\n (objectAtLocation SaltShaker_bar__minus_02_dot_48_bar__plus_00_dot_15_bar__plus_01_dot_22 loc_bar__minus_5_bar_8_bar_3_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 Cup_bar__plus_01_dot_10_bar__plus_00_dot_82_bar__plus_00_dot_90 loc_bar_0_bar_5_bar_1_bar_45)\n (objectAtLocation Egg_bar__minus_00_dot_92_bar__plus_00_dot_94_bar__plus_01_dot_25 loc_bar__minus_4_bar_8_bar_2_bar_60)\n (objectAtLocation SoapBottle_bar__minus_00_dot_79_bar__plus_00_dot_90_bar__plus_01_dot_25 loc_bar__minus_4_bar_8_bar_2_bar_60)\n (objectAtLocation Spatula_bar__minus_01_dot_05_bar__plus_00_dot_92_bar__plus_01_dot_35 loc_bar__minus_4_bar_8_bar_2_bar_60)\n (objectAtLocation SaltShaker_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 SoapBottle_bar__minus_01_dot_32_bar__plus_00_dot_90_bar__plus_01_dot_14 loc_bar__minus_4_bar_8_bar_2_bar_60)\n (objectAtLocation Sink_bar__minus_01_dot_70_bar__plus_00_dot_73_bar__plus_03_dot_83 loc_bar__minus_6_bar_13_bar_0_bar_60)\n (objectAtLocation Plate_bar__plus_00_dot_86_bar__plus_00_dot_81_bar__plus_00_dot_98 loc_bar_0_bar_5_bar_1_bar_45)\n (objectAtLocation Fork_bar__minus_00_dot_66_bar__plus_00_dot_90_bar__plus_00_dot_94 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_01_dot_32_bar__plus_00_dot_92_bar__plus_01_dot_45 loc_bar__minus_4_bar_8_bar_2_bar_60)\n (objectAtLocation PaperTowelRoll_bar__plus_00_dot_65_bar__plus_00_dot_93_bar__plus_02_dot_37 loc_bar_1_bar_10_bar_1_bar_45)\n (objectAtLocation Potato_bar__plus_00_dot_93_bar__plus_00_dot_07_bar__plus_02_dot_89 loc_bar_2_bar_12_bar_1_bar_60)\n (objectAtLocation SoapBottle_bar__minus_00_dot_92_bar__plus_01_dot_24_bar__plus_03_dot_83 loc_bar__minus_3_bar_13_bar_0_bar_0)\n (objectAtLocation Egg_bar__minus_02_dot_58_bar__plus_00_dot_80_bar__plus_02_dot_22 loc_bar__minus_7_bar_9_bar_3_bar_60)\n (objectAtLocation Cup_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 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_56 loc_bar__minus_4_bar_8_bar_2_bar_60)\n (objectAtLocation Pan_bar__minus_02_dot_67_bar__plus_00_dot_81_bar__plus_03_dot_74 loc_bar__minus_7_bar_12_bar_0_bar_45)\n (objectAtLocation PepperShaker_bar__plus_00_dot_63_bar__plus_00_dot_12_bar__plus_02_dot_32 loc_bar__minus_1_bar_11_bar_1_bar_60)\n (objectAtLocation ButterKnife_bar__minus_00_dot_52_bar__plus_00_dot_90_bar__plus_01_dot_35 loc_bar__minus_4_bar_8_bar_2_bar_60)\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_71_bar__plus_01_dot_48_bar__plus_02_dot_17 loc_bar__minus_7_bar_9_bar_3_bar_60)\n (objectAtLocation DishSponge_bar__minus_00_dot_66_bar__plus_00_dot_90_bar__plus_01_dot_25 loc_bar__minus_4_bar_8_bar_2_bar_60)\n (objectAtLocation Lettuce_bar__minus_02_dot_69_bar__plus_01_dot_27_bar__plus_02_dot_28 loc_bar__minus_7_bar_9_bar_3_bar_60)\n (objectAtLocation Spoon_bar__minus_01_dot_42_bar__plus_00_dot_70_bar__plus_03_dot_77 loc_bar__minus_6_bar_13_bar_0_bar_60)\n (objectAtLocation Apple_bar__minus_02_dot_69_bar__plus_00_dot_83_bar__plus_02_dot_22 loc_bar__minus_7_bar_9_bar_3_bar_60)\n (objectAtLocation Knife_bar__minus_01_dot_82_bar__plus_00_dot_85_bar__plus_03_dot_57 loc_bar__minus_7_bar_12_bar_0_bar_45)\n (objectAtLocation Mug_bar__minus_01_dot_11_bar__plus_00_dot_94_bar__plus_01_dot_20 loc_bar__minus_4_bar_8_bar_2_bar_45)\n (objectAtLocation Bowl_bar__plus_00_dot_74_bar__plus_00_dot_12_bar__plus_02_dot_16 loc_bar__minus_1_bar_11_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 KnifeType)\n (receptacleType ?r CounterTopType)\n (isClean ?o)\n (inReceptacle ?o ?r)\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to countertop 1", "take knife 1 from countertop 1", "go to sinkbasin 1", "clean knife 1 with sinkbasin 1", "go to countertop 2", "move knife 1 to countertop 2"]}
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alfworld__pick_clean_then_place_in_recep__2
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pick_clean_then_place_in_recep
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pick_clean_then_place_in_recep-Knife-None-CounterTop-24/trial_T20190907_234930_784591/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 knife 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_234930_784591)\n(:domain alfred)\n(:objects\nagent1 - agent\nSaltShaker - object\n HousePlant - object\n Candle - object\n SprayBottle - object\n Bowl - object\n Window - object\n CD - object\n Egg - object\n Glassbottle - object\n Sink - object\n Pillow - object\n Spoon - object\n SoapBottle - object\n TeddyBear - object\n ButterKnife - object\n Cup - object\n Plate - object\n RemoteControl - object\n Tomato - object\n Statue - object\n HandTowel - object\n Knife - object\n StoveKnob - object\n LightSwitch - object\n Pen - object\n Painting - object\n DishSponge - object\n Vase - object\n Mug - object\n ToiletPaper - object\n Box - object\n Mirror - object\n Ladle - object\n Fork - object\n Blinds - object\n Footstool - object\n KeyChain - object\n Cloth - object\n Laptop - object\n TissueBox - object\n PepperShaker - object\n FloorLamp - object\n WateringCan - object\n Apple - object\n Pan - object\n PaperTowel - object\n PaperTowelRoll - object\n Newspaper - object\n Television - object\n Chair - object\n CellPhone - object\n CreditCard - object\n Lettuce - object\n BasketBall - object\n Potato - object\n Curtains - object\n Boots - object\n Pencil - object\n AlarmClock - object\n ToiletPaperRoll - object\n Spatula - object\n Book - object\n Bread - object\n SoapBar - object\n Watch - object\n DeskLamp - object\n Kettle - object\n Pot - object\n ScrubBrush - object\n WineBottle - object\n ShowerDoor - object\n Bathtub - object\n LaundryHamperLid - object\n ShowerGlass - object\n Poster - object\n TennisRacket - object\n BaseballBat - object\n Towel - object\n Plunger - object\nSaltShakerType - otype\n HousePlantType - otype\n CandleType - otype\n SprayBottleType - otype\n BowlType - otype\n WindowType - otype\n CDType - otype\n EggType - otype\n GlassbottleType - otype\n SinkType - otype\n PillowType - otype\n SpoonType - otype\n SoapBottleType - otype\n TeddyBearType - otype\n ButterKnifeType - otype\n CupType - otype\n PlateType - otype\n RemoteControlType - otype\n TomatoType - otype\n StatueType - otype\n HandTowelType - otype\n KnifeType - otype\n StoveKnobType - otype\n LightSwitchType - otype\n PenType - otype\n PaintingType - otype\n DishSpongeType - otype\n VaseType - otype\n MugType - otype\n ToiletPaperType - otype\n BoxType - otype\n MirrorType - otype\n LadleType - otype\n ForkType - otype\n BlindsType - otype\n FootstoolType - otype\n KeyChainType - otype\n ClothType - otype\n LaptopType - otype\n TissueBoxType - otype\n PepperShakerType - otype\n FloorLampType - otype\n WateringCanType - otype\n AppleType - otype\n PanType - otype\n PaperTowelType - otype\n PaperTowelRollType - otype\n NewspaperType - otype\n TelevisionType - otype\n ChairType - otype\n CellPhoneType - otype\n CreditCardType - otype\n LettuceType - otype\n BasketBallType - otype\n PotatoType - otype\n CurtainsType - otype\n BootsType - otype\n PencilType - otype\n AlarmClockType - otype\n ToiletPaperRollType - otype\n SpatulaType - otype\n BookType - otype\n BreadType - otype\n SoapBarType - otype\n WatchType - otype\n DeskLampType - otype\n KettleType - otype\n PotType - otype\n ScrubBrushType - otype\n WineBottleType - otype\n ShowerDoorType - otype\n BathtubType - otype\n LaundryHamperLidType - otype\n ShowerGlassType - otype\n PosterType - otype\n TennisRacketType - otype\n BaseballBatType - otype\n TowelType - otype\n PlungerType - otype\nSafeType - rtype\n DrawerType - rtype\n CoffeeMachineType - rtype\n HandTowelHolderType - rtype\n SinkBasinType - rtype\n DresserType - rtype\n LaundryHamperType - rtype\n TVStandType - rtype\n BathtubBasinType - rtype\n CabinetType - rtype\n FridgeType - rtype\n DeskType - rtype\n ToiletType - rtype\n CartType - rtype\n SideTableType - rtype\n SofaType - rtype\n CoffeeTableType - rtype\n DiningTableType - rtype\n CounterTopType - rtype\n GarbageCanType - rtype\n ArmChairType - rtype\n ShelfType - rtype\n MicrowaveType - rtype\n ToasterType - rtype\n BedType - rtype\n PaintingHangerType - rtype\n TowelHolderType - rtype\n ToiletPaperHangerType - rtype\n StoveBurnerType - rtype\n OttomanType - rtype\n\n\n Apple_bar__minus_00_dot_92_bar__plus_00_dot_96_bar__plus_01_dot_25 - object\n Bowl_bar__minus_02_dot_46_bar__plus_01_dot_40_bar__plus_03_dot_94 - object\n Bowl_bar__minus_02_dot_64_bar__plus_01_dot_19_bar__plus_02_dot_17 - object\n Bread_bar__plus_00_dot_83_bar__plus_00_dot_86_bar__plus_02_dot_45 - object\n ButterKnife_bar__plus_01_dot_01_bar__plus_00_dot_81_bar__plus_02_dot_37 - object\n ButterKnife_bar__minus_00_dot_52_bar__plus_00_dot_90_bar__plus_01_dot_45 - object\n ButterKnife_bar__minus_01_dot_82_bar__plus_00_dot_82_bar__plus_03_dot_56 - object\n Chair_bar__minus_00_dot_87_bar__plus_00_dot_49_bar__plus_01_dot_50 - object\n Cup_bar__plus_01_dot_10_bar__plus_00_dot_82_bar__plus_00_dot_90 - object\n Cup_bar__minus_01_dot_94_bar__plus_00_dot_82_bar__plus_03_dot_55 - object\n Cup_bar__minus_02_dot_43_bar__plus_01_dot_04_bar__plus_01_dot_22 - object\n DishSponge_bar__minus_00_dot_66_bar__plus_00_dot_90_bar__plus_01_dot_04 - object\n Egg_bar__minus_01_dot_47_bar__plus_00_dot_73_bar__plus_03_dot_77 - 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_81_bar__plus_00_dot_98 - object\n 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Cabinet_bar__plus_00_dot_58_bar__plus_00_dot_39_bar__plus_02_dot_36 - receptacle\n Cabinet_bar__plus_00_dot_58_bar__plus_00_dot_39_bar__plus_02_dot_69 - receptacle\n Cabinet_bar__minus_00_dot_42_bar__plus_00_dot_67_bar__plus_03_dot_74 - receptacle\n Cabinet_bar__minus_00_dot_42_bar__plus_01_dot_70_bar__plus_03_dot_74 - receptacle\n Cabinet_bar__minus_01_dot_10_bar__plus_01_dot_93_bar__plus_03_dot_73 - receptacle\n Cabinet_bar__minus_01_dot_14_bar__plus_00_dot_39_bar__plus_03_dot_52 - receptacle\n Cabinet_bar__minus_01_dot_96_bar__plus_01_dot_93_bar__plus_03_dot_73 - receptacle\n Cabinet_bar__minus_01_dot_97_bar__plus_00_dot_39_bar__plus_03_dot_52 - receptacle\n Cabinet_bar__minus_01_dot_98_bar__plus_01_dot_78_bar__plus_03_dot_73 - receptacle\n Cabinet_bar__minus_01_dot_99_bar__plus_00_dot_39_bar__plus_03_dot_51 - receptacle\n Cabinet_bar__minus_02_dot_38_bar__plus_00_dot_64_bar__plus_01_dot_68 - receptacle\n Cabinet_bar__minus_02_dot_38_bar__plus_01_dot_41_bar__plus_01_dot_68 - receptacle\n Cabinet_bar__minus_02_dot_38_bar__plus_01_dot_69_bar__plus_02_dot_57 - receptacle\n Cabinet_bar__minus_02_dot_38_bar__plus_01_dot_93_bar__plus_01_dot_69 - receptacle\n Cabinet_bar__minus_02_dot_38_bar__plus_02_dot_01_bar__plus_01_dot_06 - receptacle\n Cabinet_bar__minus_02_dot_38_bar__plus_02_dot_01_bar__plus_01_dot_69 - receptacle\n Cabinet_bar__minus_02_dot_38_bar__plus_02_dot_01_bar__plus_02_dot_56 - receptacle\n Cabinet_bar__minus_02_dot_38_bar__plus_02_dot_01_bar__plus_03_dot_18 - receptacle\n Cabinet_bar__minus_02_dot_43_bar__plus_00_dot_44_bar__plus_03_dot_17 - receptacle\n Cabinet_bar__minus_02_dot_43_bar__plus_00_dot_44_bar__plus_03_dot_42 - receptacle\n Cabinet_bar__minus_02_dot_62_bar__plus_01_dot_93_bar__plus_03_dot_73 - receptacle\n Cabinet_bar__minus_02_dot_95_bar__plus_01_dot_93_bar__plus_03_dot_73 - receptacle\n CoffeeMachine_bar__minus_01_dot_00_bar__plus_00_dot_89_bar__plus_01_dot_03 - receptacle\n CounterTop_bar__plus_00_dot_86_bar__plus_00_dot_86_bar__plus_00_dot_98 - receptacle\n CounterTop_bar__plus_00_dot_86_bar__plus_00_dot_86_bar__plus_02_dot_37 - receptacle\n CounterTop_bar__minus_02_dot_08_bar__plus_00_dot_86_bar__plus_03_dot_80 - receptacle\n DiningTable_bar__minus_00_dot_88_bar__plus_00_dot_01_bar__plus_01_dot_32 - receptacle\n Drawer_bar__plus_00_dot_73_bar__plus_00_dot_70_bar__plus_00_dot_98 - receptacle\n Drawer_bar__plus_00_dot_73_bar__plus_00_dot_70_bar__plus_02_dot_20 - receptacle\n Drawer_bar__plus_00_dot_73_bar__plus_00_dot_70_bar__plus_02_dot_53 - receptacle\n Drawer_bar__minus_02_dot_11_bar__plus_00_dot_71_bar__plus_03_dot_66 - receptacle\n Fridge_bar__minus_02_dot_64_bar__plus_00_dot_00_bar__plus_02_dot_13 - receptacle\n GarbageCan_bar__plus_00_dot_93_bar__plus_00_dot_00_bar__plus_02_dot_92 - receptacle\n Microwave_bar__minus_01_dot_53_bar__plus_01_dot_25_bar__plus_03_dot_88 - receptacle\n Sink_bar__minus_01_dot_70_bar__plus_00_dot_73_bar__plus_03_dot_83_bar_SinkBasin - receptacle\n StoveBurner_bar__plus_00_dot_64_bar__plus_00_dot_84_bar__plus_01_dot_38 - receptacle\n StoveBurner_bar__plus_00_dot_64_bar__plus_00_dot_84_bar__plus_01_dot_77 - receptacle\n StoveBurner_bar__plus_00_dot_91_bar__plus_00_dot_84_bar__plus_01_dot_38 - receptacle\n StoveBurner_bar__plus_00_dot_91_bar__plus_00_dot_84_bar__plus_01_dot_77 - receptacle\n Toaster_bar__minus_02_dot_25_bar__plus_00_dot_81_bar__plus_03_dot_86 - receptacle\n loc_bar__minus_6_bar_13_bar_0_bar_60 - location\n loc_bar__minus_7_bar_11_bar_3_bar_0 - location\n loc_bar__minus_5_bar_13_bar_3_bar_45 - location\n loc_bar_1_bar_10_bar_1_bar_45 - location\n loc_bar_0_bar_6_bar_1_bar_30 - location\n loc_bar_0_bar_7_bar_1_bar_45 - location\n loc_bar__minus_7_bar_6_bar_3_bar_15 - location\n loc_bar__minus_7_bar_11_bar_0_bar_0 - location\n loc_bar__minus_6_bar_13_bar_0_bar__minus_30 - location\n loc_bar__minus_3_bar_12_bar_0_bar_60 - location\n loc_bar_2_bar_12_bar_1_bar_60 - location\n loc_bar_0_bar_5_bar_1_bar_60 - location\n loc_bar__minus_3_bar_10_bar_0_bar_45 - location\n loc_bar__minus_1_bar_10_bar_1_bar_45 - location\n loc_bar__minus_6_bar_9_bar_3_bar__minus_15 - location\n loc_bar_0_bar_7_bar_2_bar_45 - location\n loc_bar__minus_7_bar_12_bar_3_bar__minus_30 - location\n loc_bar__minus_5_bar_10_bar_0_bar_45 - location\n loc_bar__minus_6_bar_13_bar_0_bar_30 - location\n loc_bar_0_bar_7_bar_1_bar_30 - location\n loc_bar__minus_7_bar_9_bar_3_bar_60 - location\n loc_bar__minus_4_bar_8_bar_2_bar_45 - location\n loc_bar_0_bar_8_bar_1_bar_30 - location\n loc_bar__minus_1_bar_12_bar_1_bar_60 - location\n loc_bar__minus_3_bar_8_bar_2_bar_60 - location\n loc_bar__minus_7_bar_7_bar_3_bar__minus_30 - location\n loc_bar_2_bar_14_bar_0_bar_30 - location\n loc_bar__minus_7_bar_12_bar_0_bar_60 - location\n loc_bar__minus_4_bar_8_bar_2_bar_60 - location\n loc_bar__minus_6_bar_13_bar_3_bar__minus_15 - location\n loc_bar_0_bar_5_bar_1_bar_45 - location\n loc_bar_0_bar_5_bar_1_bar_30 - location\n loc_bar__minus_5_bar_8_bar_3_bar_45 - location\n loc_bar_0_bar_6_bar_1_bar_45 - location\n loc_bar__minus_7_bar_12_bar_0_bar_45 - location\n loc_bar__minus_7_bar_6_bar_3_bar__minus_30 - location\n loc_bar__minus_3_bar_13_bar_0_bar_0 - location\n loc_bar__minus_1_bar_11_bar_1_bar_60 - location\n loc_bar__minus_7_bar_6_bar_2_bar_0 - location\n loc_bar__minus_6_bar_12_bar_3_bar_60 - location\n loc_bar__minus_1_bar_12_bar_1_bar_45 - location\n loc_bar__minus_1_bar_11_bar_3_bar_30 - location\n )\n \n\n(:init\n\n\n (receptacleType Cabinet_bar__plus_00_dot_58_bar__plus_00_dot_39_bar__plus_02_dot_36 CabinetType)\n (receptacleType CoffeeMachine_bar__minus_01_dot_00_bar__plus_00_dot_89_bar__plus_01_dot_03 CoffeeMachineType)\n (receptacleType Drawer_bar__plus_00_dot_73_bar__plus_00_dot_70_bar__plus_02_dot_20 DrawerType)\n (receptacleType Cabinet_bar__minus_02_dot_43_bar__plus_00_dot_44_bar__plus_03_dot_42 CabinetType)\n (receptacleType Cabinet_bar__minus_02_dot_38_bar__plus_01_dot_41_bar__plus_01_dot_68 CabinetType)\n (receptacleType Cabinet_bar__minus_02_dot_38_bar__plus_01_dot_69_bar__plus_02_dot_57 CabinetType)\n (receptacleType Cabinet_bar__minus_02_dot_38_bar__plus_01_dot_93_bar__plus_01_dot_69 CabinetType)\n (receptacleType Drawer_bar__minus_02_dot_11_bar__plus_00_dot_71_bar__plus_03_dot_66 DrawerType)\n (receptacleType CounterTop_bar__plus_00_dot_86_bar__plus_00_dot_86_bar__plus_00_dot_98 CounterTopType)\n (receptacleType Drawer_bar__plus_00_dot_73_bar__plus_00_dot_70_bar__plus_02_dot_53 DrawerType)\n (receptacleType Cabinet_bar__minus_00_dot_42_bar__plus_01_dot_70_bar__plus_03_dot_74 CabinetType)\n (receptacleType Cabinet_bar__minus_00_dot_42_bar__plus_00_dot_67_bar__plus_03_dot_74 CabinetType)\n (receptacleType Cabinet_bar__minus_01_dot_14_bar__plus_00_dot_39_bar__plus_03_dot_52 CabinetType)\n (receptacleType Toaster_bar__minus_02_dot_25_bar__plus_00_dot_81_bar__plus_03_dot_86 ToasterType)\n (receptacleType Cabinet_bar__minus_02_dot_38_bar__plus_00_dot_64_bar__plus_01_dot_68 CabinetType)\n (receptacleType Cabinet_bar__minus_02_dot_38_bar__plus_02_dot_01_bar__plus_03_dot_18 CabinetType)\n (receptacleType DiningTable_bar__minus_00_dot_88_bar__plus_00_dot_01_bar__plus_01_dot_32 DiningTableType)\n (receptacleType Cabinet_bar__minus_01_dot_96_bar__plus_01_dot_93_bar__plus_03_dot_73 CabinetType)\n (receptacleType StoveBurner_bar__plus_00_dot_91_bar__plus_00_dot_84_bar__plus_01_dot_77 StoveBurnerType)\n (receptacleType Cabinet_bar__minus_02_dot_38_bar__plus_02_dot_01_bar__plus_01_dot_06 CabinetType)\n (receptacleType Cabinet_bar__minus_02_dot_95_bar__plus_01_dot_93_bar__plus_03_dot_73 CabinetType)\n (receptacleType CounterTop_bar__minus_02_dot_08_bar__plus_00_dot_86_bar__plus_03_dot_80 CounterTopType)\n (receptacleType Cabinet_bar__minus_02_dot_43_bar__plus_00_dot_44_bar__plus_03_dot_17 CabinetType)\n (receptacleType StoveBurner_bar__plus_00_dot_64_bar__plus_00_dot_84_bar__plus_01_dot_38 StoveBurnerType)\n (receptacleType Microwave_bar__minus_01_dot_53_bar__plus_01_dot_25_bar__plus_03_dot_88 MicrowaveType)\n (receptacleType Fridge_bar__minus_02_dot_64_bar__plus_00_dot_00_bar__plus_02_dot_13 FridgeType)\n (receptacleType StoveBurner_bar__plus_00_dot_64_bar__plus_00_dot_84_bar__plus_01_dot_77 StoveBurnerType)\n (receptacleType Cabinet_bar__minus_01_dot_10_bar__plus_01_dot_93_bar__plus_03_dot_73 CabinetType)\n (receptacleType Cabinet_bar__minus_01_dot_98_bar__plus_01_dot_78_bar__plus_03_dot_73 CabinetType)\n (receptacleType Cabinet_bar__minus_01_dot_99_bar__plus_00_dot_39_bar__plus_03_dot_51 CabinetType)\n (receptacleType Cabinet_bar__minus_02_dot_38_bar__plus_02_dot_01_bar__plus_01_dot_69 CabinetType)\n (receptacleType StoveBurner_bar__plus_00_dot_91_bar__plus_00_dot_84_bar__plus_01_dot_38 StoveBurnerType)\n (receptacleType CounterTop_bar__plus_00_dot_86_bar__plus_00_dot_86_bar__plus_02_dot_37 CounterTopType)\n (receptacleType GarbageCan_bar__plus_00_dot_93_bar__plus_00_dot_00_bar__plus_02_dot_92 GarbageCanType)\n (receptacleType Sink_bar__minus_01_dot_70_bar__plus_00_dot_73_bar__plus_03_dot_83_bar_SinkBasin SinkBasinType)\n (receptacleType Cabinet_bar__minus_01_dot_97_bar__plus_00_dot_39_bar__plus_03_dot_52 CabinetType)\n (receptacleType Cabinet_bar__plus_00_dot_58_bar__plus_00_dot_39_bar__plus_00_dot_82 CabinetType)\n (receptacleType Cabinet_bar__plus_00_dot_58_bar__plus_00_dot_39_bar__plus_02_dot_69 CabinetType)\n (receptacleType Cabinet_bar__minus_02_dot_38_bar__plus_02_dot_01_bar__plus_02_dot_56 CabinetType)\n (receptacleType Cabinet_bar__minus_02_dot_62_bar__plus_01_dot_93_bar__plus_03_dot_73 CabinetType)\n (receptacleType Drawer_bar__plus_00_dot_73_bar__plus_00_dot_70_bar__plus_00_dot_98 DrawerType)\n (objectType LightSwitch_bar__plus_00_dot_83_bar__plus_01_dot_40_bar__plus_04_dot_08 LightSwitchType)\n (objectType SaltShaker_bar__minus_02_dot_62_bar__plus_00_dot_82_bar__plus_04_dot_02 SaltShakerType)\n (objectType SoapBottle_bar__minus_01_dot_32_bar__plus_00_dot_90_bar__plus_01_dot_56 SoapBottleType)\n (objectType Cup_bar__minus_02_dot_43_bar__plus_01_dot_04_bar__plus_01_dot_22 CupType)\n (objectType Sink_bar__minus_01_dot_70_bar__plus_00_dot_73_bar__plus_03_dot_83 SinkType)\n (objectType Cup_bar__minus_01_dot_94_bar__plus_00_dot_82_bar__plus_03_dot_55 CupType)\n (objectType PepperShaker_bar__minus_00_dot_66_bar__plus_00_dot_90_bar__plus_01_dot_25 PepperShakerType)\n (objectType Lettuce_bar__minus_02_dot_58_bar__plus_00_dot_84_bar__plus_02_dot_28 LettuceType)\n (objectType Chair_bar__minus_00_dot_87_bar__plus_00_dot_49_bar__plus_01_dot_50 ChairType)\n (objectType PaperTowelRoll_bar__plus_00_dot_96_bar__plus_00_dot_13_bar__plus_02_dot_86 PaperTowelRollType)\n (objectType ButterKnife_bar__minus_01_dot_82_bar__plus_00_dot_82_bar__plus_03_dot_56 ButterKnifeType)\n (objectType 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Tomato_bar__minus_00_dot_52_bar__plus_00_dot_97_bar__plus_01_dot_25)\n (cleanable Bowl_bar__minus_02_dot_46_bar__plus_01_dot_40_bar__plus_03_dot_94)\n (cleanable Bowl_bar__minus_02_dot_64_bar__plus_01_dot_19_bar__plus_02_dot_17)\n (cleanable Spatula_bar__minus_00_dot_52_bar__plus_00_dot_92_bar__plus_01_dot_04)\n (cleanable Lettuce_bar__minus_02_dot_46_bar__plus_01_dot_07_bar__plus_02_dot_22)\n (cleanable Spoon_bar__plus_01_dot_02_bar__plus_00_dot_82_bar__plus_02_dot_37)\n (cleanable Fork_bar__plus_00_dot_73_bar__plus_00_dot_81_bar__plus_00_dot_98)\n (cleanable Fork_bar__minus_01_dot_19_bar__plus_00_dot_90_bar__plus_01_dot_35)\n (cleanable Mug_bar__minus_02_dot_87_bar__plus_00_dot_82_bar__plus_03_dot_65)\n (cleanable Potato_bar__minus_01_dot_49_bar__plus_01_dot_40_bar__plus_03_dot_97)\n (cleanable ButterKnife_bar__plus_01_dot_01_bar__plus_00_dot_81_bar__plus_02_dot_37)\n (cleanable Plate_bar__plus_00_dot_86_bar__plus_00_dot_81_bar__plus_00_dot_98)\n \n (heatable Cup_bar__minus_02_dot_43_bar__plus_01_dot_04_bar__plus_01_dot_22)\n (heatable Cup_bar__minus_01_dot_94_bar__plus_00_dot_82_bar__plus_03_dot_55)\n (heatable Cup_bar__plus_01_dot_10_bar__plus_00_dot_82_bar__plus_00_dot_90)\n (heatable Egg_bar__minus_01_dot_47_bar__plus_00_dot_73_bar__plus_03_dot_77)\n (heatable Tomato_bar__minus_02_dot_71_bar__plus_01_dot_48_bar__plus_02_dot_33)\n (heatable Mug_bar__minus_01_dot_11_bar__plus_00_dot_94_bar__plus_01_dot_20)\n (heatable Apple_bar__minus_00_dot_92_bar__plus_00_dot_96_bar__plus_01_dot_25)\n (heatable Tomato_bar__minus_00_dot_52_bar__plus_00_dot_97_bar__plus_01_dot_25)\n (heatable Bread_bar__plus_00_dot_83_bar__plus_00_dot_86_bar__plus_02_dot_45)\n (heatable Mug_bar__minus_02_dot_87_bar__plus_00_dot_82_bar__plus_03_dot_65)\n (heatable Potato_bar__minus_01_dot_49_bar__plus_01_dot_40_bar__plus_03_dot_97)\n (heatable Plate_bar__plus_00_dot_86_bar__plus_00_dot_81_bar__plus_00_dot_98)\n (coolable 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Bowl_bar__minus_02_dot_64_bar__plus_01_dot_19_bar__plus_02_dot_17)\n (coolable Lettuce_bar__minus_02_dot_46_bar__plus_01_dot_07_bar__plus_02_dot_22)\n (coolable Bread_bar__plus_00_dot_83_bar__plus_00_dot_86_bar__plus_02_dot_45)\n (coolable Mug_bar__minus_02_dot_87_bar__plus_00_dot_82_bar__plus_03_dot_65)\n (coolable Potato_bar__minus_01_dot_49_bar__plus_01_dot_40_bar__plus_03_dot_97)\n (coolable Plate_bar__plus_00_dot_86_bar__plus_00_dot_81_bar__plus_00_dot_98)\n \n \n \n \n \n (sliceable Lettuce_bar__minus_02_dot_58_bar__plus_00_dot_84_bar__plus_02_dot_28)\n (sliceable Egg_bar__minus_01_dot_47_bar__plus_00_dot_73_bar__plus_03_dot_77)\n (sliceable Tomato_bar__minus_02_dot_71_bar__plus_01_dot_48_bar__plus_02_dot_33)\n (sliceable Apple_bar__minus_00_dot_92_bar__plus_00_dot_96_bar__plus_01_dot_25)\n (sliceable Tomato_bar__minus_00_dot_52_bar__plus_00_dot_97_bar__plus_01_dot_25)\n (sliceable Lettuce_bar__minus_02_dot_46_bar__plus_01_dot_07_bar__plus_02_dot_22)\n (sliceable 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Plate_bar__plus_00_dot_86_bar__plus_00_dot_81_bar__plus_00_dot_98 CounterTop_bar__plus_00_dot_86_bar__plus_00_dot_86_bar__plus_00_dot_98)\n (inReceptacle SaltShaker_bar__plus_00_dot_86_bar__plus_00_dot_12_bar__plus_01_dot_02 Cabinet_bar__plus_00_dot_58_bar__plus_00_dot_39_bar__plus_00_dot_82)\n (inReceptacle Cup_bar__minus_02_dot_43_bar__plus_01_dot_04_bar__plus_01_dot_22 Cabinet_bar__minus_02_dot_38_bar__plus_01_dot_41_bar__plus_01_dot_68)\n (inReceptacle Knife_bar__plus_01_dot_02_bar__plus_00_dot_85_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 Spoon_bar__plus_01_dot_02_bar__plus_00_dot_82_bar__plus_02_dot_37 CounterTop_bar__plus_00_dot_86_bar__plus_00_dot_86_bar__plus_02_dot_37)\n (inReceptacle ButterKnife_bar__plus_01_dot_01_bar__plus_00_dot_81_bar__plus_02_dot_37 CounterTop_bar__plus_00_dot_86_bar__plus_00_dot_86_bar__plus_02_dot_37)\n (inReceptacle PepperShaker_bar__plus_00_dot_65_bar__plus_00_dot_82_bar__plus_02_dot_37 CounterTop_bar__plus_00_dot_86_bar__plus_00_dot_86_bar__plus_02_dot_37)\n (inReceptacle Spoon_bar__minus_02_dot_17_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_55_bar__plus_00_dot_12_bar__plus_03_dot_45 Cabinet_bar__minus_02_dot_43_bar__plus_00_dot_44_bar__plus_03_dot_42)\n (inReceptacle SoapBottle_bar__minus_01_dot_32_bar__plus_00_dot_90_bar__plus_01_dot_56 DiningTable_bar__minus_00_dot_88_bar__plus_00_dot_01_bar__plus_01_dot_32)\n (inReceptacle PepperShaker_bar__minus_00_dot_66_bar__plus_00_dot_90_bar__plus_01_dot_25 DiningTable_bar__minus_00_dot_88_bar__plus_00_dot_01_bar__plus_01_dot_32)\n (inReceptacle Apple_bar__minus_00_dot_92_bar__plus_00_dot_96_bar__plus_01_dot_25 DiningTable_bar__minus_00_dot_88_bar__plus_00_dot_01_bar__plus_01_dot_32)\n (inReceptacle Knife_bar__minus_00_dot_79_bar__plus_00_dot_92_bar__plus_01_dot_25 DiningTable_bar__minus_00_dot_88_bar__plus_00_dot_01_bar__plus_01_dot_32)\n (inReceptacle Tomato_bar__minus_00_dot_52_bar__plus_00_dot_97_bar__plus_01_dot_25 DiningTable_bar__minus_00_dot_88_bar__plus_00_dot_01_bar__plus_01_dot_32)\n (inReceptacle DishSponge_bar__minus_00_dot_66_bar__plus_00_dot_90_bar__plus_01_dot_04 DiningTable_bar__minus_00_dot_88_bar__plus_00_dot_01_bar__plus_01_dot_32)\n (inReceptacle ButterKnife_bar__minus_00_dot_52_bar__plus_00_dot_90_bar__plus_01_dot_45 DiningTable_bar__minus_00_dot_88_bar__plus_00_dot_01_bar__plus_01_dot_32)\n (inReceptacle Fork_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 Spoon_bar__minus_01_dot_32_bar__plus_00_dot_90_bar__plus_01_dot_04 DiningTable_bar__minus_00_dot_88_bar__plus_00_dot_01_bar__plus_01_dot_32)\n (inReceptacle Knife_bar__minus_01_dot_05_bar__plus_00_dot_92_bar__plus_01_dot_35 DiningTable_bar__minus_00_dot_88_bar__plus_00_dot_01_bar__plus_01_dot_32)\n (inReceptacle Spatula_bar__minus_00_dot_52_bar__plus_00_dot_92_bar__plus_01_dot_04 DiningTable_bar__minus_00_dot_88_bar__plus_00_dot_01_bar__plus_01_dot_32)\n (inReceptacle SaltShaker_bar__minus_02_dot_62_bar__plus_00_dot_82_bar__plus_04_dot_02 CounterTop_bar__minus_02_dot_08_bar__plus_00_dot_86_bar__plus_03_dot_80)\n (inReceptacle Knife_bar__minus_01_dot_58_bar__plus_00_dot_85_bar__plus_03_dot_57 CounterTop_bar__minus_02_dot_08_bar__plus_00_dot_86_bar__plus_03_dot_80)\n (inReceptacle Cup_bar__minus_01_dot_94_bar__plus_00_dot_82_bar__plus_03_dot_55 CounterTop_bar__minus_02_dot_08_bar__plus_00_dot_86_bar__plus_03_dot_80)\n (inReceptacle Pan_bar__minus_02_dot_67_bar__plus_00_dot_81_bar__plus_03_dot_74 CounterTop_bar__minus_02_dot_08_bar__plus_00_dot_86_bar__plus_03_dot_80)\n (inReceptacle ButterKnife_bar__minus_01_dot_82_bar__plus_00_dot_82_bar__plus_03_dot_56 CounterTop_bar__minus_02_dot_08_bar__plus_00_dot_86_bar__plus_03_dot_80)\n (inReceptacle Spatula_bar__minus_02_dot_49_bar__plus_00_dot_84_bar__plus_03_dot_33 CounterTop_bar__minus_02_dot_08_bar__plus_00_dot_86_bar__plus_03_dot_80)\n (inReceptacle Mug_bar__minus_02_dot_87_bar__plus_00_dot_82_bar__plus_03_dot_65 CounterTop_bar__minus_02_dot_08_bar__plus_00_dot_86_bar__plus_03_dot_80)\n (inReceptacle Potato_bar__minus_01_dot_49_bar__plus_01_dot_40_bar__plus_03_dot_97 Microwave_bar__minus_01_dot_53_bar__plus_01_dot_25_bar__plus_03_dot_88)\n (inReceptacleObject SoapBottle_bar__plus_01_dot_02_bar__plus_00_dot_82_bar__plus_00_dot_99 Plate_bar__plus_00_dot_86_bar__plus_00_dot_81_bar__plus_00_dot_98)\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 Lettuce_bar__minus_02_dot_58_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 Tomato_bar__minus_02_dot_71_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 Lettuce_bar__minus_02_dot_46_bar__plus_01_dot_07_bar__plus_02_dot_22 Fridge_bar__minus_02_dot_64_bar__plus_00_dot_00_bar__plus_02_dot_13)\n (inReceptacle Bowl_bar__minus_02_dot_64_bar__plus_01_dot_19_bar__plus_02_dot_17 Fridge_bar__minus_02_dot_64_bar__plus_00_dot_00_bar__plus_02_dot_13)\n (inReceptacle PaperTowelRoll_bar__plus_00_dot_96_bar__plus_00_dot_13_bar__plus_02_dot_86 GarbageCan_bar__plus_00_dot_93_bar__plus_00_dot_00_bar__plus_02_dot_92)\n (inReceptacle Egg_bar__minus_01_dot_47_bar__plus_00_dot_73_bar__plus_03_dot_77 Sink_bar__minus_01_dot_70_bar__plus_00_dot_73_bar__plus_03_dot_83_bar_SinkBasin)\n \n \n (receptacleAtLocation Cabinet_bar__plus_00_dot_58_bar__plus_00_dot_39_bar__plus_00_dot_82 loc_bar_0_bar_5_bar_1_bar_60)\n (receptacleAtLocation Cabinet_bar__plus_00_dot_58_bar__plus_00_dot_39_bar__plus_02_dot_36 loc_bar__minus_1_bar_11_bar_1_bar_60)\n (receptacleAtLocation Cabinet_bar__plus_00_dot_58_bar__plus_00_dot_39_bar__plus_02_dot_69 loc_bar__minus_1_bar_12_bar_1_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_42_bar__plus_00_dot_67_bar__plus_03_dot_74 loc_bar__minus_3_bar_12_bar_0_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_42_bar__plus_01_dot_70_bar__plus_03_dot_74 loc_bar__minus_3_bar_13_bar_0_bar_0)\n (receptacleAtLocation Cabinet_bar__minus_01_dot_10_bar__plus_01_dot_93_bar__plus_03_dot_73 loc_bar__minus_6_bar_13_bar_0_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_01_dot_14_bar__plus_00_dot_39_bar__plus_03_dot_52 loc_bar__minus_3_bar_10_bar_0_bar_45)\n (receptacleAtLocation Cabinet_bar__minus_01_dot_96_bar__plus_01_dot_93_bar__plus_03_dot_73 loc_bar__minus_6_bar_13_bar_0_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_01_dot_97_bar__plus_00_dot_39_bar__plus_03_dot_52 loc_bar__minus_5_bar_10_bar_0_bar_45)\n (receptacleAtLocation Cabinet_bar__minus_01_dot_98_bar__plus_01_dot_78_bar__plus_03_dot_73 loc_bar__minus_7_bar_11_bar_0_bar_0)\n (receptacleAtLocation Cabinet_bar__minus_01_dot_99_bar__plus_00_dot_39_bar__plus_03_dot_51 loc_bar__minus_7_bar_12_bar_0_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_02_dot_38_bar__plus_00_dot_64_bar__plus_01_dot_68 loc_bar__minus_5_bar_8_bar_3_bar_45)\n (receptacleAtLocation Cabinet_bar__minus_02_dot_38_bar__plus_01_dot_41_bar__plus_01_dot_68 loc_bar__minus_7_bar_6_bar_3_bar_15)\n (receptacleAtLocation Cabinet_bar__minus_02_dot_38_bar__plus_01_dot_69_bar__plus_02_dot_57 loc_bar__minus_7_bar_11_bar_3_bar_0)\n (receptacleAtLocation Cabinet_bar__minus_02_dot_38_bar__plus_01_dot_93_bar__plus_01_dot_69 loc_bar__minus_7_bar_6_bar_3_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_02_dot_38_bar__plus_02_dot_01_bar__plus_01_dot_06 loc_bar__minus_7_bar_6_bar_3_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_02_dot_38_bar__plus_02_dot_01_bar__plus_01_dot_69 loc_bar__minus_7_bar_7_bar_3_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_02_dot_38_bar__plus_02_dot_01_bar__plus_02_dot_56 loc_bar__minus_6_bar_9_bar_3_bar__minus_15)\n (receptacleAtLocation Cabinet_bar__minus_02_dot_38_bar__plus_02_dot_01_bar__plus_03_dot_18 loc_bar__minus_7_bar_12_bar_3_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_02_dot_43_bar__plus_00_dot_44_bar__plus_03_dot_17 loc_bar__minus_5_bar_13_bar_3_bar_45)\n (receptacleAtLocation Cabinet_bar__minus_02_dot_43_bar__plus_00_dot_44_bar__plus_03_dot_42 loc_bar__minus_6_bar_12_bar_3_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_02_dot_62_bar__plus_01_dot_93_bar__plus_03_dot_73 loc_bar__minus_6_bar_13_bar_3_bar__minus_15)\n (receptacleAtLocation Cabinet_bar__minus_02_dot_95_bar__plus_01_dot_93_bar__plus_03_dot_73 loc_bar__minus_6_bar_13_bar_3_bar__minus_15)\n (receptacleAtLocation CoffeeMachine_bar__minus_01_dot_00_bar__plus_00_dot_89_bar__plus_01_dot_03 loc_bar__minus_4_bar_8_bar_2_bar_45)\n (receptacleAtLocation CounterTop_bar__plus_00_dot_86_bar__plus_00_dot_86_bar__plus_00_dot_98 loc_bar_0_bar_5_bar_1_bar_45)\n (receptacleAtLocation CounterTop_bar__plus_00_dot_86_bar__plus_00_dot_86_bar__plus_02_dot_37 loc_bar_1_bar_10_bar_1_bar_45)\n (receptacleAtLocation CounterTop_bar__minus_02_dot_08_bar__plus_00_dot_86_bar__plus_03_dot_80 loc_bar__minus_7_bar_12_bar_0_bar_45)\n (receptacleAtLocation DiningTable_bar__minus_00_dot_88_bar__plus_00_dot_01_bar__plus_01_dot_32 loc_bar__minus_4_bar_8_bar_2_bar_60)\n (receptacleAtLocation Drawer_bar__plus_00_dot_73_bar__plus_00_dot_70_bar__plus_00_dot_98 loc_bar_0_bar_7_bar_2_bar_45)\n (receptacleAtLocation Drawer_bar__plus_00_dot_73_bar__plus_00_dot_70_bar__plus_02_dot_20 loc_bar__minus_1_bar_10_bar_1_bar_45)\n (receptacleAtLocation Drawer_bar__plus_00_dot_73_bar__plus_00_dot_70_bar__plus_02_dot_53 loc_bar__minus_1_bar_12_bar_1_bar_45)\n (receptacleAtLocation Drawer_bar__minus_02_dot_11_bar__plus_00_dot_71_bar__plus_03_dot_66 loc_bar__minus_7_bar_12_bar_0_bar_60)\n (receptacleAtLocation Fridge_bar__minus_02_dot_64_bar__plus_00_dot_00_bar__plus_02_dot_13 loc_bar__minus_7_bar_9_bar_3_bar_60)\n (receptacleAtLocation GarbageCan_bar__plus_00_dot_93_bar__plus_00_dot_00_bar__plus_02_dot_92 loc_bar_2_bar_12_bar_1_bar_60)\n (receptacleAtLocation Microwave_bar__minus_01_dot_53_bar__plus_01_dot_25_bar__plus_03_dot_88 loc_bar__minus_6_bar_13_bar_0_bar_30)\n (receptacleAtLocation Sink_bar__minus_01_dot_70_bar__plus_00_dot_73_bar__plus_03_dot_83_bar_SinkBasin loc_bar__minus_6_bar_13_bar_0_bar_60)\n (receptacleAtLocation StoveBurner_bar__plus_00_dot_64_bar__plus_00_dot_84_bar__plus_01_dot_38 loc_bar_0_bar_6_bar_1_bar_45)\n (receptacleAtLocation StoveBurner_bar__plus_00_dot_64_bar__plus_00_dot_84_bar__plus_01_dot_77 loc_bar_0_bar_7_bar_1_bar_45)\n (receptacleAtLocation StoveBurner_bar__plus_00_dot_91_bar__plus_00_dot_84_bar__plus_01_dot_38 loc_bar_0_bar_6_bar_1_bar_45)\n (receptacleAtLocation StoveBurner_bar__plus_00_dot_91_bar__plus_00_dot_84_bar__plus_01_dot_77 loc_bar_0_bar_7_bar_1_bar_45)\n (receptacleAtLocation Toaster_bar__minus_02_dot_25_bar__plus_00_dot_81_bar__plus_03_dot_86 loc_bar__minus_7_bar_12_bar_0_bar_45)\n (objectAtLocation Bowl_bar__minus_02_dot_64_bar__plus_01_dot_19_bar__plus_02_dot_17 loc_bar__minus_7_bar_9_bar_3_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 Knife_bar__minus_00_dot_79_bar__plus_00_dot_92_bar__plus_01_dot_25 loc_bar__minus_4_bar_8_bar_2_bar_60)\n (objectAtLocation Spoon_bar__plus_01_dot_02_bar__plus_00_dot_82_bar__plus_02_dot_37 loc_bar_1_bar_10_bar_1_bar_45)\n (objectAtLocation Lettuce_bar__minus_02_dot_46_bar__plus_01_dot_07_bar__plus_02_dot_22 loc_bar__minus_7_bar_9_bar_3_bar_60)\n (objectAtLocation Tomato_bar__minus_02_dot_71_bar__plus_01_dot_48_bar__plus_02_dot_33 loc_bar__minus_7_bar_9_bar_3_bar_60)\n (objectAtLocation ButterKnife_bar__plus_01_dot_01_bar__plus_00_dot_81_bar__plus_02_dot_37 loc_bar_1_bar_10_bar_1_bar_45)\n (objectAtLocation PepperShaker_bar__plus_00_dot_65_bar__plus_00_dot_82_bar__plus_02_dot_37 loc_bar_1_bar_10_bar_1_bar_45)\n (objectAtLocation SaltShaker_bar__minus_02_dot_62_bar__plus_00_dot_82_bar__plus_04_dot_02 loc_bar__minus_7_bar_12_bar_0_bar_45)\n (objectAtLocation Cup_bar__minus_01_dot_94_bar__plus_00_dot_82_bar__plus_03_dot_55 loc_bar__minus_7_bar_12_bar_0_bar_45)\n (objectAtLocation SoapBottle_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 Spatula_bar__minus_00_dot_52_bar__plus_00_dot_92_bar__plus_01_dot_04 loc_bar__minus_4_bar_8_bar_2_bar_60)\n (objectAtLocation Fork_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 PepperShaker_bar__minus_00_dot_66_bar__plus_00_dot_90_bar__plus_01_dot_25 loc_bar__minus_4_bar_8_bar_2_bar_60)\n (objectAtLocation Knife_bar__minus_01_dot_05_bar__plus_00_dot_92_bar__plus_01_dot_35 loc_bar__minus_4_bar_8_bar_2_bar_60)\n (objectAtLocation Knife_bar__minus_01_dot_58_bar__plus_00_dot_85_bar__plus_03_dot_57 loc_bar__minus_7_bar_12_bar_0_bar_45)\n (objectAtLocation Cup_bar__minus_02_dot_43_bar__plus_01_dot_04_bar__plus_01_dot_22 loc_bar__minus_7_bar_6_bar_3_bar_15)\n (objectAtLocation Spoon_bar__minus_01_dot_32_bar__plus_00_dot_90_bar__plus_01_dot_04 loc_bar__minus_4_bar_8_bar_2_bar_60)\n (objectAtLocation ButterKnife_bar__minus_01_dot_82_bar__plus_00_dot_82_bar__plus_03_dot_56 loc_bar__minus_7_bar_12_bar_0_bar_45)\n (objectAtLocation Sink_bar__minus_01_dot_70_bar__plus_00_dot_73_bar__plus_03_dot_83 loc_bar__minus_6_bar_13_bar_0_bar_60)\n (objectAtLocation Plate_bar__plus_00_dot_86_bar__plus_00_dot_81_bar__plus_00_dot_98 loc_bar_0_bar_5_bar_1_bar_45)\n (objectAtLocation Fork_bar__plus_00_dot_73_bar__plus_00_dot_81_bar__plus_00_dot_98 loc_bar_0_bar_5_bar_1_bar_45)\n (objectAtLocation LightSwitch_bar__plus_00_dot_83_bar__plus_01_dot_40_bar__plus_04_dot_08 loc_bar_2_bar_14_bar_0_bar_30)\n (objectAtLocation Bread_bar__plus_00_dot_83_bar__plus_00_dot_86_bar__plus_02_dot_45 loc_bar_1_bar_10_bar_1_bar_45)\n (objectAtLocation Chair_bar__minus_00_dot_87_bar__plus_00_dot_49_bar__plus_01_dot_50 loc_bar__minus_3_bar_8_bar_2_bar_60)\n (objectAtLocation Window_bar__minus_01_dot_13_bar__plus_01_dot_67_bar__plus_00_dot_81 loc_bar__minus_7_bar_6_bar_2_bar_0)\n (objectAtLocation Spatula_bar__minus_02_dot_49_bar__plus_00_dot_84_bar__plus_03_dot_33 loc_bar__minus_7_bar_12_bar_0_bar_45)\n (objectAtLocation PaperTowelRoll_bar__plus_00_dot_96_bar__plus_00_dot_13_bar__plus_02_dot_86 loc_bar_2_bar_12_bar_1_bar_60)\n (objectAtLocation Potato_bar__minus_01_dot_49_bar__plus_01_dot_40_bar__plus_03_dot_97 loc_bar__minus_6_bar_13_bar_0_bar_30)\n (objectAtLocation SoapBottle_bar__plus_01_dot_02_bar__plus_00_dot_82_bar__plus_00_dot_99 loc_bar_0_bar_5_bar_1_bar_45)\n (objectAtLocation Egg_bar__minus_01_dot_47_bar__plus_00_dot_73_bar__plus_03_dot_77 loc_bar__minus_6_bar_13_bar_0_bar_60)\n (objectAtLocation Cup_bar__plus_01_dot_10_bar__plus_00_dot_82_bar__plus_00_dot_90 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_38 loc_bar_0_bar_6_bar_1_bar_45)\n (objectAtLocation SaltShaker_bar__plus_00_dot_86_bar__plus_00_dot_12_bar__plus_01_dot_02 loc_bar_0_bar_5_bar_1_bar_60)\n (objectAtLocation Pan_bar__minus_02_dot_67_bar__plus_00_dot_81_bar__plus_03_dot_74 loc_bar__minus_7_bar_12_bar_0_bar_45)\n (objectAtLocation PepperShaker_bar__minus_02_dot_55_bar__plus_00_dot_12_bar__plus_03_dot_45 loc_bar__minus_6_bar_12_bar_3_bar_60)\n (objectAtLocation ButterKnife_bar__minus_00_dot_52_bar__plus_00_dot_90_bar__plus_01_dot_45 loc_bar__minus_4_bar_8_bar_2_bar_60)\n (objectAtLocation StoveKnob_bar__plus_01_dot_10_bar__plus_01_dot_00_bar__plus_01_dot_89 loc_bar_0_bar_8_bar_1_bar_30)\n (objectAtLocation StoveKnob_bar__plus_01_dot_10_bar__plus_01_dot_00_bar__plus_01_dot_73 loc_bar_0_bar_7_bar_1_bar_30)\n (objectAtLocation StoveKnob_bar__plus_01_dot_10_bar__plus_01_dot_00_bar__plus_01_dot_32 loc_bar_0_bar_5_bar_1_bar_30)\n (objectAtLocation StoveKnob_bar__plus_01_dot_10_bar__plus_01_dot_00_bar__plus_01_dot_48 loc_bar_0_bar_6_bar_1_bar_30)\n (objectAtLocation Tomato_bar__minus_00_dot_52_bar__plus_00_dot_97_bar__plus_01_dot_25 loc_bar__minus_4_bar_8_bar_2_bar_60)\n (objectAtLocation DishSponge_bar__minus_00_dot_66_bar__plus_00_dot_90_bar__plus_01_dot_04 loc_bar__minus_4_bar_8_bar_2_bar_60)\n (objectAtLocation Lettuce_bar__minus_02_dot_58_bar__plus_00_dot_84_bar__plus_02_dot_28 loc_bar__minus_7_bar_9_bar_3_bar_60)\n (objectAtLocation Spoon_bar__minus_02_dot_17_bar__plus_00_dot_70_bar__plus_03_dot_63 loc_bar__minus_7_bar_12_bar_0_bar_60)\n (objectAtLocation Apple_bar__minus_00_dot_92_bar__plus_00_dot_96_bar__plus_01_dot_25 loc_bar__minus_4_bar_8_bar_2_bar_60)\n (objectAtLocation Knife_bar__plus_01_dot_02_bar__plus_00_dot_85_bar__plus_02_dot_20 loc_bar_1_bar_10_bar_1_bar_45)\n (objectAtLocation Mug_bar__minus_02_dot_87_bar__plus_00_dot_82_bar__plus_03_dot_65 loc_bar__minus_7_bar_12_bar_0_bar_45)\n (objectAtLocation Bowl_bar__minus_02_dot_46_bar__plus_01_dot_40_bar__plus_03_dot_94 loc_bar__minus_6_bar_13_bar_3_bar__minus_15)\n )\n \n\n (:goal\n (and\n (exists (?r - receptacle)\n (exists (?o - object)\n (and\n (cleanable ?o)\n (objectType ?o KnifeType)\n (receptacleType ?r CounterTopType)\n (isClean ?o)\n (inReceptacle ?o ?r)\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to countertop 1", "take knife 1 from countertop 1", "go to sinkbasin 1", "clean knife 1 with sinkbasin 1", "go to countertop 2", "move knife 1 to countertop 2"]}
|
alfworld__pick_two_obj_and_place__17
|
pick_two_obj_and_place
|
pick_two_obj_and_place-Spoon-None-Drawer-11/trial_T20190918_143344_541468/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 spoon in drawer.\"\n }\n ],\n\n \"GotoLocation.feedback\": [\n {\n \"rhs\": \"You arrive at {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"OpenObject.feedback\": [\n {\n \"rhs\": \"You open the {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"CloseObject.feedback\": [\n {\n \"rhs\": \"You close the {r.name}.\"\n }\n ],\n\n \"PickupObject.feedback\": [\n {\n \"rhs\": \"You pick up the {o.name} from the {r.name}.\"\n }\n ],\n\n \"PickupObjectFromReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupObjectFromReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupEmptyReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupEmptyReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupFullReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupFullReceptacleObject: You pick up the {outerr.name}.\"\n }\n ],\n\n \"PutObject.feedback\": [\n {\n \"rhs\": \"You move the {o.name} to the {r.name}.\"\n }\n ],\n\n \"PutObjectInReceptacleObject.feedback\": [\n {\n \"rhs\": \"PutObjectInReceptacleObject: You put the {o.name} in the {outero.name}.\"\n }\n ],\n\n \"PutEmptyReceptacleObjectinReceptacle.feedback\": [\n {\n \"rhs\": \"PutEmptyReceptacleObjectinReceptacle: You put the {o.name} in the {r.name}.\"\n }\n ],\n\n \"PutFullReceptacleObjectInReceptacle.feedback\": [\n {\n \"rhs\": \"PutFullReceptacleObjectInReceptacle: You put the {outero.name} in the {r.name}.\"\n }\n ],\n\n \"inventory.feedback\": [\n {\n \"condition\": \"holdsany(a:agent)\",\n \"rhs\": \"You are carrying: [{o.indefinite + ' ' + o.name | holds(a:agent, o:object)}].\"\n },\n {\n \"rhs\": \"You are not carrying anything.\"\n }\n ],\n\n \"examineReceptacle.feedback\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \"The {r.name} is open. In it, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \"The {r.name} is closed.\"\n },\n {\n \"rhs\": \"On the {r.name}, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n }\n ],\n\n \"examineObject.feedback\": [\n {\n \"condition\": \"isreceptacleobject(o:object)\",\n \"rhs\": \"This is a normal {o.name}. In it, you see [{o2.indefinite + ' ' + o2.name | inreceptacleobject(o2:object, o:object)}].\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a clean sliced {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot sliced {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object)\",\n \"rhs\": \"This is a hot and clean {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object)\",\n \"rhs\": \"This is a cool and clean {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object)\",\n \"rhs\": \"This is a hot {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object)\",\n \"rhs\": \"This is a clean {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object)\",\n \"rhs\": \"This is a cold {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"This {o.name} is on.\"\n },\n {\n \"condition\": \"toggleable(o:object) & not_istoggled(o:object)\",\n \"rhs\": \"This {o.name} is off.\"\n },\n {\n \"condition\": \"sliceable(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a sliced {o.name}.\"\n },\n {\n \"rhs\": \"There's nothing special about {o.name}.\"\n }\n ]\n }\n\"\"\";\n\naction GotoLocation {\n template :: \"go to [{r.name | receptacleatlocation(r:receptacle, lend:location)}]\";\n feedback :: \"#GotoLocation.feedback#\";\n}\n\naction OpenObject {\n template :: \"open {r}\";\n feedback :: \"#OpenObject.feedback#\";\n}\n\naction CloseObject {\n template :: \"close {r}\";\n feedback :: \"#CloseObject.feedback#\";\n}\n\naction PickupObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObject.feedback#\";\n}\n\naction PickupObjectFromReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObjectFromReceptacleObject.feedback#\";\n}\n\naction PickupEmptyReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupEmptyReceptacleObject.feedback#\";\n}\n\naction PickupFullReceptacleObject {\n template :: \"take {outerr} from {r}\";\n feedback :: \"#PickupFullReceptacleObject.feedback#\";\n}\n\naction PutObject {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutObject.feedback#\";\n}\n\naction PutObjectInReceptacleObject {\n template :: \"put {o} into {outero}\";\n feedback :: \"#PutObjectInReceptacleObject.feedback#\";\n}\n\naction PutEmptyReceptacleObjectinReceptacle {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutEmptyReceptacleObjectinReceptacle.feedback#\";\n}\n\naction PutFullReceptacleObjectInReceptacle {\n template :: \"put {outero} in {r}\";\n feedback :: \"#PutFullReceptacleObjectInReceptacle.feedback#\";\n}\n\naction inventory {\n template :: \"inventory\";\n feedback :: \"#inventory.feedback#\";\n}\n\naction examineReceptacle {\n template :: \"examine {r}\";\n feedback :: \"#examineReceptacle.feedback#\";\n}\n\naction examineObject {\n template :: \"examine {o}\";\n feedback :: \"#examineObject.feedback#\";\n}\n\naction ToggleObject {\n template :: \"use {o}\";\n feedback :: \"#toggleObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"toggleObject.feedback\": [\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"You turn on the {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object)\",\n \"rhs\": \"You turn off the {o.name}.\"\n },\n {\n \"rhs\": \"You don't see any switch on the {o.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction HeatObject {\n template :: \"heat {o} with {r}\";\n feedback :: \"#heatObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"heatObject.feedback\": [\n {\n \"rhs\": \"You heat the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CleanObject {\n template :: \"clean {o} with {r}\";\n feedback :: \"#cleanObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"cleanObject.feedback\": [\n {\n \"rhs\": \"You clean the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CoolObject {\n template :: \"cool {o} with {r}\";\n feedback :: \"#coolObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"coolObject.feedback\": [\n {\n \"rhs\": \"You cool the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction SliceObject {\n template :: \"slice {co} with {ko}\";\n feedback :: \"#sliceObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"sliceObject.feedback\": [\n {\n \"rhs\": \"You sliced the {co.name} with the {ko.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction look {\n template :: \"look\";\n feedback :: \"#look.feedback#\";\n\n grammar :: \"\"\"\n {\n \"look.feedback\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"#look-variations#. Next to it, you see #list_objects_on_the_floor#.\"\n },\n {\n \"rhs\": \"You are in the middle of a room. Looking quickly around you, you see #list_appliances#.\"\n }\n ],\n\n \"look-variations\": [\n {\n \"rhs\": \"You are facing the [{r.name | atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)}]\"\n }\n ],\n\n \"list_objects_on_the_floor\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)\",\n \"rhs\": \"[{#overview(o)# | atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"list_appliances\": [\n {\n \"condition\": \"receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"[{#overview(r)# | receptacleatlocation(r:receptacle, l:location)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"overview(o, r)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name} (in/on the {r.name})}\"\n }\n ],\n\n \"overview(o)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name}\"\n }\n ],\n \"overview(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}\"\n }\n ],\n \"overview_with_state(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}#overview_state(r)#\"\n }\n ],\n \"overview_state(r)\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \" (it is open)\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \" (it is closed)\"\n },\n {\n \"rhs\": \"\"\n }\n ],\n\n \"list_empty\": [\n {\n \"rhs\": \"nothing\"\n }\n ],\n \"list_separator\": [\n {\n \"rhs\": \", \"\n }\n ],\n \"list_last_separator\": [\n {\n \"rhs\": \", and \"\n }\n ]\n }\n \"\"\";\n}\n\naction help {\n template :: \"help\";\n feedback :: \"\nAvailable commands:\n look: look around your current location\n inventory: check your current inventory\n go to (receptacle): move to a receptacle\n open (receptacle): open a receptacle\n close (receptacle): close a receptacle\n take (object) from (receptacle): take an object from a receptacle\n move (object) to (receptacle): place an object in or on a receptacle\n examine (something): examine a receptacle or an object\n use (object): use an object\n heat (object) with (receptacle): heat an object using a receptacle\n clean (object) with (receptacle): clean an object using a receptacle\n cool (object) with (receptacle): cool an object using a receptacle\n slice (object) with (object): slice an object using a sharp object\n\";\n}\n", "pddl_problem": "\n(define (problem plan_trial_T20190918_143344_541468)\n(:domain alfred)\n(:objects\nagent1 - agent\nSaltShaker - object\n HousePlant - object\n Candle - object\n SprayBottle - object\n Bowl - object\n Window - object\n CD - object\n Egg - object\n Glassbottle - object\n Sink - object\n Pillow - object\n Spoon - object\n SoapBottle - object\n TeddyBear - object\n ButterKnife - object\n Cup - object\n Plate - object\n RemoteControl - object\n Tomato - object\n Statue - object\n HandTowel - object\n Knife - object\n StoveKnob - object\n LightSwitch - object\n Pen - object\n Painting - object\n DishSponge - object\n Vase - object\n Mug - object\n ToiletPaper - object\n Box - object\n Mirror - object\n Ladle - object\n Fork - object\n Blinds - object\n Footstool - object\n KeyChain - object\n Cloth - object\n Laptop - object\n TissueBox - object\n PepperShaker - object\n FloorLamp - object\n WateringCan - object\n Apple - object\n Pan - object\n PaperTowel - object\n PaperTowelRoll - object\n Newspaper - object\n Television - object\n Chair - object\n CellPhone - object\n CreditCard - object\n Lettuce - object\n BasketBall - object\n Potato - object\n Curtains - object\n Boots - object\n Pencil - object\n AlarmClock - object\n ToiletPaperRoll - object\n Spatula - object\n Book - object\n Bread - object\n SoapBar - object\n Watch - object\n DeskLamp - object\n Kettle - object\n Pot - object\n ScrubBrush - object\n WineBottle - object\n ShowerDoor - object\n Bathtub - object\n LaundryHamperLid - object\n ShowerGlass - object\n Poster - object\n TennisRacket - object\n BaseballBat - object\n Towel - object\n Plunger - object\nSaltShakerType - otype\n HousePlantType - otype\n CandleType - otype\n SprayBottleType - otype\n BowlType - otype\n WindowType - otype\n CDType - otype\n EggType - otype\n GlassbottleType - otype\n SinkType - otype\n PillowType - otype\n SpoonType - otype\n SoapBottleType - otype\n TeddyBearType - otype\n ButterKnifeType - otype\n CupType - otype\n PlateType - otype\n RemoteControlType - otype\n TomatoType - otype\n StatueType - otype\n HandTowelType - otype\n KnifeType - otype\n StoveKnobType - otype\n LightSwitchType - otype\n PenType - otype\n PaintingType - otype\n DishSpongeType - otype\n VaseType - otype\n MugType - otype\n ToiletPaperType - otype\n BoxType - otype\n MirrorType - otype\n LadleType - otype\n ForkType - otype\n BlindsType - otype\n FootstoolType - otype\n KeyChainType - otype\n ClothType - otype\n LaptopType - otype\n TissueBoxType - otype\n PepperShakerType - otype\n FloorLampType - otype\n WateringCanType - otype\n AppleType - otype\n PanType - otype\n PaperTowelType - otype\n PaperTowelRollType - otype\n NewspaperType - otype\n TelevisionType - otype\n ChairType - otype\n CellPhoneType - otype\n CreditCardType - otype\n LettuceType - otype\n BasketBallType - otype\n PotatoType - otype\n CurtainsType - otype\n BootsType - otype\n PencilType - otype\n AlarmClockType - otype\n ToiletPaperRollType - otype\n SpatulaType - otype\n BookType - otype\n BreadType - otype\n SoapBarType - otype\n WatchType - otype\n DeskLampType - otype\n KettleType - otype\n PotType - otype\n ScrubBrushType - otype\n WineBottleType - otype\n ShowerDoorType - otype\n BathtubType - otype\n LaundryHamperLidType - otype\n ShowerGlassType - otype\n PosterType - otype\n TennisRacketType - otype\n BaseballBatType - otype\n TowelType - otype\n PlungerType - otype\nSafeType - rtype\n DrawerType - rtype\n CoffeeMachineType - rtype\n HandTowelHolderType - rtype\n SinkBasinType - rtype\n DresserType - rtype\n LaundryHamperType - rtype\n TVStandType - rtype\n BathtubBasinType - rtype\n CabinetType - rtype\n FridgeType - rtype\n DeskType - rtype\n ToiletType - rtype\n CartType - rtype\n SideTableType - rtype\n SofaType - rtype\n CoffeeTableType - rtype\n DiningTableType - rtype\n CounterTopType - rtype\n GarbageCanType - rtype\n ArmChairType - rtype\n ShelfType - rtype\n MicrowaveType - rtype\n ToasterType - rtype\n BedType - rtype\n PaintingHangerType - rtype\n TowelHolderType - rtype\n ToiletPaperHangerType - rtype\n StoveBurnerType - rtype\n OttomanType - rtype\n\n\n Apple_bar__plus_00_dot_91_bar__plus_00_dot_99_bar__minus_01_dot_72 - object\n Bowl_bar__plus_01_dot_83_bar__plus_00_dot_11_bar__plus_00_dot_31 - object\n Bread_bar__plus_01_dot_78_bar__plus_01_dot_00_bar__minus_01_dot_57 - object\n Bread_bar__minus_00_dot_45_bar__plus_01_dot_00_bar__minus_01_dot_65 - object\n Bread_bar__minus_02_dot_07_bar__plus_01_dot_04_bar__plus_00_dot_35 - object\n ButterKnife_bar__plus_00_dot_70_bar__plus_00_dot_92_bar__minus_01_dot_65 - object\n Chair_bar__minus_02_dot_42_bar__plus_00_dot_56_bar__plus_00_dot_41 - object\n Cup_bar__plus_01_dot_29_bar__plus_00_dot_91_bar__minus_01_dot_41 - object\n Cup_bar__minus_01_dot_93_bar__plus_00_dot_95_bar__plus_00_dot_70 - object\n Cup_bar__minus_02_dot_07_bar__plus_00_dot_95_bar__plus_00_dot_52 - object\n DishSponge_bar__minus_00_dot_34_bar__plus_01_dot_33_bar__minus_01_dot_85 - object\n DishSponge_bar__minus_00_dot_97_bar__plus_00_dot_77_bar__minus_01_dot_51 - object\n Egg_bar__plus_00_dot_30_bar__plus_00_dot_95_bar__plus_00_dot_29 - object\n Egg_bar__plus_01_dot_54_bar__plus_00_dot_95_bar__minus_01_dot_49 - object\n Faucet_bar__plus_00_dot_55_bar__plus_01_dot_05_bar__minus_01_dot_83 - object\n Fork_bar__minus_02_dot_34_bar__plus_00_dot_95_bar__plus_00_dot_52 - object\n Kettle_bar__minus_02_dot_48_bar__plus_00_dot_95_bar__plus_00_dot_52 - object\n Knife_bar__plus_00_dot_04_bar__plus_00_dot_94_bar__plus_00_dot_29 - object\n Knife_bar__plus_00_dot_17_bar__plus_00_dot_94_bar__plus_00_dot_54 - object\n Knife_bar__minus_02_dot_34_bar__plus_00_dot_98_bar__plus_00_dot_35 - object\n Lettuce_bar__plus_01_dot_85_bar__plus_01_dot_00_bar__plus_00_dot_29 - object\n Lettuce_bar__minus_01_dot_79_bar__plus_01_dot_04_bar__plus_00_dot_26 - object\n LightSwitch_bar__minus_02_dot_76_bar__plus_01_dot_31_bar__minus_00_dot_99 - object\n Mug_bar__plus_00_dot_15_bar__plus_00_dot_10_bar__minus_01_dot_58 - object\n Mug_bar__plus_00_dot_70_bar__plus_00_dot_91_bar__minus_01_dot_72 - object\n Pan_bar__plus_01_dot_02_bar__plus_00_dot_96_bar__plus_00_dot_29 - object\n PaperTowelRoll_bar__minus_00_dot_30_bar__plus_00_dot_17_bar__plus_00_dot_44 - object\n PepperShaker_bar__plus_00_dot_27_bar__plus_00_dot_10_bar__minus_01_dot_43 - object\n PepperShaker_bar__minus_00_dot_49_bar__plus_01_dot_33_bar__minus_01_dot_88 - object\n PepperShaker_bar__minus_01_dot_93_bar__plus_00_dot_95_bar__plus_00_dot_52 - object\n Plate_bar__plus_00_dot_02_bar__plus_00_dot_11_bar__plus_00_dot_32 - object\n Plate_bar__plus_01_dot_72_bar__plus_00_dot_91_bar__plus_00_dot_62 - object\n Plate_bar__minus_02_dot_31_bar__plus_00_dot_51_bar__minus_01_dot_81 - object\n Potato_bar__minus_01_dot_03_bar__plus_01_dot_05_bar__minus_01_dot_74 - object\n Pot_bar__plus_01_dot_01_bar__plus_00_dot_96_bar__plus_00_dot_56 - object\n Pot_bar__plus_01_dot_36_bar__plus_00_dot_96_bar__plus_00_dot_56 - object\n SaltShaker_bar__plus_00_dot_17_bar__plus_00_dot_91_bar__plus_00_dot_62 - object\n Sink_bar__plus_00_dot_71_bar__plus_00_dot_82_bar__minus_01_dot_77 - object\n SoapBottle_bar__minus_00_dot_33_bar__plus_00_dot_07_bar__plus_00_dot_61 - object\n Spatula_bar__minus_02_dot_20_bar__plus_00_dot_97_bar__plus_00_dot_17 - object\n Spoon_bar__plus_00_dot_17_bar__plus_00_dot_91_bar__plus_00_dot_29 - object\n Spoon_bar__plus_00_dot_43_bar__plus_00_dot_91_bar__plus_00_dot_21 - object\n Spoon_bar__plus_01_dot_29_bar__plus_00_dot_91_bar__minus_01_dot_74 - object\n Spoon_bar__minus_01_dot_93_bar__plus_00_dot_95_bar__plus_00_dot_61 - object\n StoveKnob_bar__plus_01_dot_00_bar__plus_00_dot_91_bar__plus_00_dot_12 - object\n StoveKnob_bar__plus_01_dot_13_bar__plus_00_dot_91_bar__plus_00_dot_12 - object\n StoveKnob_bar__plus_01_dot_25_bar__plus_00_dot_91_bar__plus_00_dot_12 - object\n StoveKnob_bar__plus_01_dot_37_bar__plus_00_dot_91_bar__plus_00_dot_12 - object\n Tomato_bar__plus_00_dot_86_bar__plus_00_dot_97_bar__minus_01_dot_58 - object\n Tomato_bar__minus_02_dot_22_bar__plus_01_dot_54_bar__minus_01_dot_81 - object\n Window_bar__plus_00_dot_58_bar__plus_01_dot_61_bar__minus_01_dot_97 - object\n Window_bar__plus_01_dot_97_bar__plus_01_dot_50_bar__minus_00_dot_62 - object\n Cabinet_bar__plus_00_dot_06_bar__plus_00_dot_40_bar__minus_01_dot_35 - receptacle\n Cabinet_bar__plus_00_dot_10_bar__plus_00_dot_40_bar__minus_01_dot_35 - receptacle\n Cabinet_bar__plus_00_dot_73_bar__plus_00_dot_40_bar__plus_00_dot_15 - receptacle\n Cabinet_bar__plus_01_dot_08_bar__plus_00_dot_40_bar__minus_01_dot_35 - receptacle\n Cabinet_bar__plus_01_dot_67_bar__plus_00_dot_40_bar__plus_00_dot_15 - receptacle\n Cabinet_bar__plus_01_dot_97_bar__plus_01_dot_69_bar__minus_01_dot_65 - receptacle\n Cabinet_bar__minus_00_dot_18_bar__plus_00_dot_40_bar__plus_00_dot_15 - receptacle\n Cabinet_bar__minus_00_dot_19_bar__plus_01_dot_69_bar__minus_01_dot_65 - receptacle\n Cabinet_bar__minus_00_dot_40_bar__plus_00_dot_40_bar__minus_01_dot_35 - receptacle\n Cabinet_bar__minus_00_dot_82_bar__plus_00_dot_40_bar__minus_01_dot_35 - receptacle\n CoffeeMachine_bar__plus_00_dot_62_bar__plus_00_dot_90_bar__plus_00_dot_60 - receptacle\n CounterTop_bar__plus_00_dot_28_bar__plus_00_dot_95_bar__plus_00_dot_46 - receptacle\n CounterTop_bar__plus_01_dot_78_bar__plus_00_dot_95_bar__plus_00_dot_46 - receptacle\n CounterTop_bar__minus_00_dot_68_bar__plus_00_dot_95_bar__minus_01_dot_65 - receptacle\n DiningTable_bar__minus_02_dot_20_bar__plus_00_dot_99_bar__plus_00_dot_45 - receptacle\n Drawer_bar__plus_00_dot_02_bar__plus_00_dot_79_bar__plus_00_dot_30 - receptacle\n Drawer_bar__plus_00_dot_50_bar__plus_00_dot_79_bar__plus_00_dot_30 - receptacle\n Drawer_bar__plus_01_dot_83_bar__plus_00_dot_79_bar__plus_00_dot_30 - receptacle\n Drawer_bar__minus_00_dot_15_bar__plus_00_dot_79_bar__minus_01_dot_50 - receptacle\n Drawer_bar__minus_00_dot_59_bar__plus_00_dot_79_bar__minus_01_dot_50 - receptacle\n Drawer_bar__minus_01_dot_10_bar__plus_00_dot_79_bar__minus_01_dot_50 - receptacle\n Fridge_bar__minus_02_dot_14_bar__plus_00_dot_00_bar__minus_01_dot_69 - receptacle\n GarbageCan_bar__minus_00_dot_36_bar__plus_00_dot_00_bar__plus_00_dot_54 - receptacle\n Microwave_bar__minus_01_dot_04_bar__plus_00_dot_90_bar__minus_01_dot_72 - receptacle\n Sink_bar__plus_00_dot_71_bar__plus_00_dot_82_bar__minus_01_dot_77_bar_SinkBasin - receptacle\n StoveBurner_bar__plus_01_dot_01_bar__plus_00_dot_96_bar__plus_00_dot_29 - receptacle\n StoveBurner_bar__plus_01_dot_01_bar__plus_00_dot_96_bar__plus_00_dot_56 - receptacle\n StoveBurner_bar__plus_01_dot_36_bar__plus_00_dot_96_bar__plus_00_dot_29 - receptacle\n StoveBurner_bar__plus_01_dot_36_bar__plus_00_dot_96_bar__plus_00_dot_56 - receptacle\n Toaster_bar__plus_00_dot_31_bar__plus_00_dot_90_bar__plus_00_dot_55 - receptacle\n loc_bar_5_bar__minus_2_bar_2_bar_60 - location\n loc_bar_6_bar__minus_4_bar_0_bar_45 - location\n loc_bar_6_bar__minus_4_bar_3_bar_15 - location\n loc_bar_1_bar__minus_2_bar_0_bar_45 - location\n loc_bar_1_bar__minus_1_bar_0_bar_45 - location\n loc_bar_0_bar__minus_3_bar_3_bar_45 - location\n loc_bar_4_bar__minus_1_bar_0_bar_45 - location\n loc_bar__minus_9_bar__minus_3_bar_2_bar_60 - location\n loc_bar_1_bar__minus_4_bar_2_bar_60 - location\n loc_bar_3_bar__minus_4_bar_2_bar_60 - location\n loc_bar_5_bar__minus_1_bar_0_bar_60 - location\n loc_bar__minus_6_bar__minus_2_bar_2_bar_60 - location\n loc_bar__minus_2_bar__minus_4_bar_2_bar_0 - location\n loc_bar_2_bar__minus_4_bar_3_bar_60 - location\n loc_bar_6_bar__minus_4_bar_2_bar_0 - location\n loc_bar__minus_9_bar__minus_1_bar_0_bar_60 - location\n loc_bar_4_bar__minus_1_bar_0_bar_60 - location\n loc_bar_6_bar__minus_1_bar_0_bar_45 - location\n loc_bar__minus_9_bar__minus_3_bar_3_bar_30 - location\n loc_bar_1_bar__minus_2_bar_2_bar_60 - location\n loc_bar__minus_1_bar__minus_2_bar_0_bar_45 - location\n loc_bar_6_bar__minus_2_bar_1_bar_15 - location\n loc_bar__minus_4_bar__minus_2_bar_2_bar_60 - location\n loc_bar_5_bar__minus_1_bar_0_bar_45 - location\n loc_bar__minus_2_bar_0_bar_0_bar_60 - location\n loc_bar_4_bar__minus_3_bar_0_bar_60 - location\n loc_bar__minus_4_bar__minus_4_bar_2_bar_45 - location\n loc_bar__minus_9_bar__minus_1_bar_0_bar_45 - location\n loc_bar__minus_5_bar__minus_4_bar_1_bar_45 - location\n loc_bar_2_bar__minus_4_bar_2_bar_0 - location\n loc_bar_3_bar__minus_2_bar_2_bar_60 - location\n loc_bar_6_bar__minus_1_bar_0_bar_60 - location\n loc_bar__minus_2_bar__minus_3_bar_0_bar_60 - location\n loc_bar_2_bar__minus_1_bar_0_bar_45 - location\n loc_bar__minus_2_bar__minus_3_bar_0_bar_30 - location\n )\n \n\n(:init\n\n\n (receptacleType Drawer_bar__plus_00_dot_50_bar__plus_00_dot_79_bar__plus_00_dot_30 DrawerType)\n (receptacleType GarbageCan_bar__minus_00_dot_36_bar__plus_00_dot_00_bar__plus_00_dot_54 GarbageCanType)\n (receptacleType StoveBurner_bar__plus_01_dot_01_bar__plus_00_dot_96_bar__plus_00_dot_56 StoveBurnerType)\n (receptacleType Cabinet_bar__minus_00_dot_18_bar__plus_00_dot_40_bar__plus_00_dot_15 CabinetType)\n (receptacleType Sink_bar__plus_00_dot_71_bar__plus_00_dot_82_bar__minus_01_dot_77_bar_SinkBasin SinkBasinType)\n (receptacleType Cabinet_bar__plus_01_dot_08_bar__plus_00_dot_40_bar__minus_01_dot_35 CabinetType)\n (receptacleType Cabinet_bar__minus_00_dot_19_bar__plus_01_dot_69_bar__minus_01_dot_65 CabinetType)\n (receptacleType Cabinet_bar__plus_00_dot_10_bar__plus_00_dot_40_bar__minus_01_dot_35 CabinetType)\n (receptacleType Drawer_bar__minus_01_dot_10_bar__plus_00_dot_79_bar__minus_01_dot_50 DrawerType)\n (receptacleType Drawer_bar__minus_00_dot_59_bar__plus_00_dot_79_bar__minus_01_dot_50 DrawerType)\n (receptacleType CounterTop_bar__plus_01_dot_78_bar__plus_00_dot_95_bar__plus_00_dot_46 CounterTopType)\n (receptacleType CounterTop_bar__minus_00_dot_68_bar__plus_00_dot_95_bar__minus_01_dot_65 CounterTopType)\n (receptacleType StoveBurner_bar__plus_01_dot_36_bar__plus_00_dot_96_bar__plus_00_dot_56 StoveBurnerType)\n (receptacleType Cabinet_bar__plus_00_dot_06_bar__plus_00_dot_40_bar__minus_01_dot_35 CabinetType)\n (receptacleType Microwave_bar__minus_01_dot_04_bar__plus_00_dot_90_bar__minus_01_dot_72 MicrowaveType)\n (receptacleType StoveBurner_bar__plus_01_dot_36_bar__plus_00_dot_96_bar__plus_00_dot_29 StoveBurnerType)\n (receptacleType Cabinet_bar__plus_01_dot_67_bar__plus_00_dot_40_bar__plus_00_dot_15 CabinetType)\n (receptacleType CoffeeMachine_bar__plus_00_dot_62_bar__plus_00_dot_90_bar__plus_00_dot_60 CoffeeMachineType)\n (receptacleType Drawer_bar__plus_00_dot_02_bar__plus_00_dot_79_bar__plus_00_dot_30 DrawerType)\n (receptacleType Cabinet_bar__plus_01_dot_97_bar__plus_01_dot_69_bar__minus_01_dot_65 CabinetType)\n (receptacleType Cabinet_bar__minus_00_dot_40_bar__plus_00_dot_40_bar__minus_01_dot_35 CabinetType)\n (receptacleType Fridge_bar__minus_02_dot_14_bar__plus_00_dot_00_bar__minus_01_dot_69 FridgeType)\n (receptacleType Toaster_bar__plus_00_dot_31_bar__plus_00_dot_90_bar__plus_00_dot_55 ToasterType)\n (receptacleType StoveBurner_bar__plus_01_dot_01_bar__plus_00_dot_96_bar__plus_00_dot_29 StoveBurnerType)\n (receptacleType Cabinet_bar__minus_00_dot_82_bar__plus_00_dot_40_bar__minus_01_dot_35 CabinetType)\n (receptacleType Drawer_bar__minus_00_dot_15_bar__plus_00_dot_79_bar__minus_01_dot_50 DrawerType)\n (receptacleType DiningTable_bar__minus_02_dot_20_bar__plus_00_dot_99_bar__plus_00_dot_45 DiningTableType)\n (receptacleType CounterTop_bar__plus_00_dot_28_bar__plus_00_dot_95_bar__plus_00_dot_46 CounterTopType)\n (receptacleType Drawer_bar__plus_01_dot_83_bar__plus_00_dot_79_bar__plus_00_dot_30 DrawerType)\n (receptacleType Cabinet_bar__plus_00_dot_73_bar__plus_00_dot_40_bar__plus_00_dot_15 CabinetType)\n (objectType Spoon_bar__minus_01_dot_93_bar__plus_00_dot_95_bar__plus_00_dot_61 SpoonType)\n (objectType PepperShaker_bar__plus_00_dot_27_bar__plus_00_dot_10_bar__minus_01_dot_43 PepperShakerType)\n (objectType Cup_bar__minus_02_dot_07_bar__plus_00_dot_95_bar__plus_00_dot_52 CupType)\n (objectType Knife_bar__plus_00_dot_04_bar__plus_00_dot_94_bar__plus_00_dot_29 KnifeType)\n (objectType Sink_bar__plus_00_dot_71_bar__plus_00_dot_82_bar__minus_01_dot_77 SinkType)\n (objectType Window_bar__plus_01_dot_97_bar__plus_01_dot_50_bar__minus_00_dot_62 WindowType)\n (objectType LightSwitch_bar__minus_02_dot_76_bar__plus_01_dot_31_bar__minus_00_dot_99 LightSwitchType)\n (objectType PepperShaker_bar__minus_01_dot_93_bar__plus_00_dot_95_bar__plus_00_dot_52 PepperShakerType)\n (objectType StoveKnob_bar__plus_01_dot_37_bar__plus_00_dot_91_bar__plus_00_dot_12 StoveKnobType)\n (objectType Pot_bar__plus_01_dot_36_bar__plus_00_dot_96_bar__plus_00_dot_56 PotType)\n (objectType StoveKnob_bar__plus_01_dot_13_bar__plus_00_dot_91_bar__plus_00_dot_12 StoveKnobType)\n (objectType Bread_bar__minus_02_dot_07_bar__plus_01_dot_04_bar__plus_00_dot_35 BreadType)\n (objectType Egg_bar__plus_00_dot_30_bar__plus_00_dot_95_bar__plus_00_dot_29 EggType)\n (objectType Tomato_bar__plus_00_dot_86_bar__plus_00_dot_97_bar__minus_01_dot_58 TomatoType)\n (objectType Mug_bar__plus_00_dot_15_bar__plus_00_dot_10_bar__minus_01_dot_58 MugType)\n (objectType Plate_bar__plus_01_dot_72_bar__plus_00_dot_91_bar__plus_00_dot_62 PlateType)\n (objectType Knife_bar__plus_00_dot_17_bar__plus_00_dot_94_bar__plus_00_dot_54 KnifeType)\n (objectType Lettuce_bar__minus_01_dot_79_bar__plus_01_dot_04_bar__plus_00_dot_26 LettuceType)\n (objectType Bowl_bar__plus_01_dot_83_bar__plus_00_dot_11_bar__plus_00_dot_31 BowlType)\n (objectType Cup_bar__plus_01_dot_29_bar__plus_00_dot_91_bar__minus_01_dot_41 CupType)\n (objectType Apple_bar__plus_00_dot_91_bar__plus_00_dot_99_bar__minus_01_dot_72 AppleType)\n (objectType Spoon_bar__plus_01_dot_29_bar__plus_00_dot_91_bar__minus_01_dot_74 SpoonType)\n (objectType Kettle_bar__minus_02_dot_48_bar__plus_00_dot_95_bar__plus_00_dot_52 KettleType)\n (objectType Mug_bar__plus_00_dot_70_bar__plus_00_dot_91_bar__minus_01_dot_72 MugType)\n (objectType PaperTowelRoll_bar__minus_00_dot_30_bar__plus_00_dot_17_bar__plus_00_dot_44 PaperTowelRollType)\n (objectType Fork_bar__minus_02_dot_34_bar__plus_00_dot_95_bar__plus_00_dot_52 ForkType)\n (objectType Chair_bar__minus_02_dot_42_bar__plus_00_dot_56_bar__plus_00_dot_41 ChairType)\n (objectType Potato_bar__minus_01_dot_03_bar__plus_01_dot_05_bar__minus_01_dot_74 PotatoType)\n (objectType Cup_bar__minus_01_dot_93_bar__plus_00_dot_95_bar__plus_00_dot_70 CupType)\n (objectType Spoon_bar__plus_00_dot_17_bar__plus_00_dot_91_bar__plus_00_dot_29 SpoonType)\n (objectType Pot_bar__plus_01_dot_01_bar__plus_00_dot_96_bar__plus_00_dot_56 PotType)\n (objectType Plate_bar__plus_00_dot_02_bar__plus_00_dot_11_bar__plus_00_dot_32 PlateType)\n (objectType Bread_bar__minus_00_dot_45_bar__plus_01_dot_00_bar__minus_01_dot_65 BreadType)\n (objectType Window_bar__plus_00_dot_58_bar__plus_01_dot_61_bar__minus_01_dot_97 WindowType)\n (objectType 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(canContain DrawerType SpatulaType)\n (canContain GarbageCanType BreadType)\n (canContain GarbageCanType DishSpongeType)\n (canContain GarbageCanType EggType)\n (canContain GarbageCanType SoapBottleType)\n (canContain GarbageCanType LettuceType)\n (canContain GarbageCanType PotatoType)\n (canContain GarbageCanType TomatoType)\n (canContain GarbageCanType AppleType)\n (canContain StoveBurnerType KettleType)\n (canContain StoveBurnerType PotType)\n (canContain StoveBurnerType PanType)\n (canContain CabinetType SaltShakerType)\n (canContain CabinetType DishSpongeType)\n (canContain CabinetType BowlType)\n (canContain CabinetType KettleType)\n (canContain CabinetType PotType)\n (canContain CabinetType MugType)\n (canContain CabinetType SoapBottleType)\n (canContain CabinetType CupType)\n (canContain CabinetType PlateType)\n (canContain CabinetType PepperShakerType)\n (canContain CabinetType PanType)\n (canContain SinkBasinType DishSpongeType)\n (canContain SinkBasinType BowlType)\n (canContain SinkBasinType KettleType)\n (canContain SinkBasinType PotType)\n (canContain SinkBasinType MugType)\n (canContain SinkBasinType EggType)\n (canContain SinkBasinType ForkType)\n (canContain SinkBasinType SpoonType)\n (canContain SinkBasinType LettuceType)\n (canContain SinkBasinType PotatoType)\n (canContain SinkBasinType ButterKnifeType)\n (canContain SinkBasinType CupType)\n (canContain SinkBasinType PlateType)\n (canContain SinkBasinType TomatoType)\n (canContain SinkBasinType KnifeType)\n (canContain SinkBasinType AppleType)\n (canContain SinkBasinType PanType)\n (canContain SinkBasinType SpatulaType)\n (canContain CabinetType SaltShakerType)\n (canContain CabinetType DishSpongeType)\n (canContain CabinetType BowlType)\n (canContain CabinetType KettleType)\n (canContain CabinetType PotType)\n (canContain CabinetType MugType)\n (canContain CabinetType SoapBottleType)\n (canContain CabinetType CupType)\n (canContain CabinetType PlateType)\n (canContain CabinetType 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DrawerType ForkType)\n (canContain DrawerType SpoonType)\n (canContain DrawerType SoapBottleType)\n (canContain DrawerType ButterKnifeType)\n (canContain DrawerType PepperShakerType)\n (canContain DrawerType KnifeType)\n (canContain DrawerType SpatulaType)\n (canContain DrawerType SaltShakerType)\n (canContain DrawerType DishSpongeType)\n (canContain DrawerType ForkType)\n (canContain DrawerType SpoonType)\n (canContain DrawerType SoapBottleType)\n (canContain DrawerType ButterKnifeType)\n (canContain DrawerType PepperShakerType)\n (canContain DrawerType KnifeType)\n (canContain DrawerType SpatulaType)\n (canContain CounterTopType SaltShakerType)\n (canContain CounterTopType BreadType)\n (canContain CounterTopType DishSpongeType)\n (canContain CounterTopType BowlType)\n (canContain CounterTopType KettleType)\n (canContain CounterTopType PotType)\n (canContain CounterTopType MugType)\n (canContain CounterTopType EggType)\n (canContain CounterTopType ForkType)\n (canContain 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Bread_bar__minus_00_dot_45_bar__plus_01_dot_00_bar__minus_01_dot_65)\n (heatable Egg_bar__plus_01_dot_54_bar__plus_00_dot_95_bar__minus_01_dot_49)\n (heatable Bread_bar__plus_01_dot_78_bar__plus_01_dot_00_bar__minus_01_dot_57)\n (heatable Plate_bar__minus_02_dot_31_bar__plus_00_dot_51_bar__minus_01_dot_81)\n (heatable Tomato_bar__minus_02_dot_22_bar__plus_01_dot_54_bar__minus_01_dot_81)\n (coolable Cup_bar__minus_02_dot_07_bar__plus_00_dot_95_bar__plus_00_dot_52)\n (coolable Pot_bar__plus_01_dot_36_bar__plus_00_dot_96_bar__plus_00_dot_56)\n (coolable Bread_bar__minus_02_dot_07_bar__plus_01_dot_04_bar__plus_00_dot_35)\n (coolable Egg_bar__plus_00_dot_30_bar__plus_00_dot_95_bar__plus_00_dot_29)\n (coolable Tomato_bar__plus_00_dot_86_bar__plus_00_dot_97_bar__minus_01_dot_58)\n (coolable Mug_bar__plus_00_dot_15_bar__plus_00_dot_10_bar__minus_01_dot_58)\n (coolable Plate_bar__plus_01_dot_72_bar__plus_00_dot_91_bar__plus_00_dot_62)\n (coolable Lettuce_bar__minus_01_dot_79_bar__plus_01_dot_04_bar__plus_00_dot_26)\n (coolable Bowl_bar__plus_01_dot_83_bar__plus_00_dot_11_bar__plus_00_dot_31)\n (coolable Cup_bar__plus_01_dot_29_bar__plus_00_dot_91_bar__minus_01_dot_41)\n (coolable Apple_bar__plus_00_dot_91_bar__plus_00_dot_99_bar__minus_01_dot_72)\n (coolable Mug_bar__plus_00_dot_70_bar__plus_00_dot_91_bar__minus_01_dot_72)\n (coolable Potato_bar__minus_01_dot_03_bar__plus_01_dot_05_bar__minus_01_dot_74)\n (coolable Cup_bar__minus_01_dot_93_bar__plus_00_dot_95_bar__plus_00_dot_70)\n (coolable Pot_bar__plus_01_dot_01_bar__plus_00_dot_96_bar__plus_00_dot_56)\n (coolable Plate_bar__plus_00_dot_02_bar__plus_00_dot_11_bar__plus_00_dot_32)\n (coolable Bread_bar__minus_00_dot_45_bar__plus_01_dot_00_bar__minus_01_dot_65)\n (coolable Lettuce_bar__plus_01_dot_85_bar__plus_01_dot_00_bar__plus_00_dot_29)\n (coolable Egg_bar__plus_01_dot_54_bar__plus_00_dot_95_bar__minus_01_dot_49)\n (coolable Pan_bar__plus_01_dot_02_bar__plus_00_dot_96_bar__plus_00_dot_29)\n (coolable Bread_bar__plus_01_dot_78_bar__plus_01_dot_00_bar__minus_01_dot_57)\n (coolable Plate_bar__minus_02_dot_31_bar__plus_00_dot_51_bar__minus_01_dot_81)\n (coolable Tomato_bar__minus_02_dot_22_bar__plus_01_dot_54_bar__minus_01_dot_81)\n \n \n \n \n \n (sliceable Bread_bar__minus_02_dot_07_bar__plus_01_dot_04_bar__plus_00_dot_35)\n (sliceable Egg_bar__plus_00_dot_30_bar__plus_00_dot_95_bar__plus_00_dot_29)\n (sliceable Tomato_bar__plus_00_dot_86_bar__plus_00_dot_97_bar__minus_01_dot_58)\n (sliceable Lettuce_bar__minus_01_dot_79_bar__plus_01_dot_04_bar__plus_00_dot_26)\n (sliceable Apple_bar__plus_00_dot_91_bar__plus_00_dot_99_bar__minus_01_dot_72)\n (sliceable Potato_bar__minus_01_dot_03_bar__plus_01_dot_05_bar__minus_01_dot_74)\n (sliceable Bread_bar__minus_00_dot_45_bar__plus_01_dot_00_bar__minus_01_dot_65)\n (sliceable Lettuce_bar__plus_01_dot_85_bar__plus_01_dot_00_bar__plus_00_dot_29)\n (sliceable Egg_bar__plus_01_dot_54_bar__plus_00_dot_95_bar__minus_01_dot_49)\n (sliceable Bread_bar__plus_01_dot_78_bar__plus_01_dot_00_bar__minus_01_dot_57)\n (sliceable Tomato_bar__minus_02_dot_22_bar__plus_01_dot_54_bar__minus_01_dot_81)\n \n (inReceptacle DishSponge_bar__minus_00_dot_34_bar__plus_01_dot_33_bar__minus_01_dot_85 Cabinet_bar__minus_00_dot_19_bar__plus_01_dot_69_bar__minus_01_dot_65)\n (inReceptacle PepperShaker_bar__minus_00_dot_49_bar__plus_01_dot_33_bar__minus_01_dot_88 Cabinet_bar__minus_00_dot_19_bar__plus_01_dot_69_bar__minus_01_dot_65)\n (inReceptacle Kettle_bar__minus_02_dot_48_bar__plus_00_dot_95_bar__plus_00_dot_52 DiningTable_bar__minus_02_dot_20_bar__plus_00_dot_99_bar__plus_00_dot_45)\n (inReceptacle Bread_bar__minus_02_dot_07_bar__plus_01_dot_04_bar__plus_00_dot_35 DiningTable_bar__minus_02_dot_20_bar__plus_00_dot_99_bar__plus_00_dot_45)\n (inReceptacle Spatula_bar__minus_02_dot_20_bar__plus_00_dot_97_bar__plus_00_dot_17 DiningTable_bar__minus_02_dot_20_bar__plus_00_dot_99_bar__plus_00_dot_45)\n (inReceptacle Spoon_bar__minus_01_dot_93_bar__plus_00_dot_95_bar__plus_00_dot_61 DiningTable_bar__minus_02_dot_20_bar__plus_00_dot_99_bar__plus_00_dot_45)\n (inReceptacle Fork_bar__minus_02_dot_34_bar__plus_00_dot_95_bar__plus_00_dot_52 DiningTable_bar__minus_02_dot_20_bar__plus_00_dot_99_bar__plus_00_dot_45)\n (inReceptacle Knife_bar__minus_02_dot_34_bar__plus_00_dot_98_bar__plus_00_dot_35 DiningTable_bar__minus_02_dot_20_bar__plus_00_dot_99_bar__plus_00_dot_45)\n (inReceptacle Cup_bar__minus_02_dot_07_bar__plus_00_dot_95_bar__plus_00_dot_52 DiningTable_bar__minus_02_dot_20_bar__plus_00_dot_99_bar__plus_00_dot_45)\n (inReceptacle Cup_bar__minus_01_dot_93_bar__plus_00_dot_95_bar__plus_00_dot_70 DiningTable_bar__minus_02_dot_20_bar__plus_00_dot_99_bar__plus_00_dot_45)\n (inReceptacle PepperShaker_bar__minus_01_dot_93_bar__plus_00_dot_95_bar__plus_00_dot_52 DiningTable_bar__minus_02_dot_20_bar__plus_00_dot_99_bar__plus_00_dot_45)\n (inReceptacle Lettuce_bar__minus_01_dot_79_bar__plus_01_dot_04_bar__plus_00_dot_26 DiningTable_bar__minus_02_dot_20_bar__plus_00_dot_99_bar__plus_00_dot_45)\n (inReceptacle Mug_bar__plus_00_dot_15_bar__plus_00_dot_10_bar__minus_01_dot_58 Cabinet_bar__plus_00_dot_10_bar__plus_00_dot_40_bar__minus_01_dot_35)\n (inReceptacle PepperShaker_bar__plus_00_dot_27_bar__plus_00_dot_10_bar__minus_01_dot_43 Cabinet_bar__plus_00_dot_10_bar__plus_00_dot_40_bar__minus_01_dot_35)\n (inReceptacle Egg_bar__plus_00_dot_30_bar__plus_00_dot_95_bar__plus_00_dot_29 CounterTop_bar__plus_00_dot_28_bar__plus_00_dot_95_bar__plus_00_dot_46)\n (inReceptacle Knife_bar__plus_00_dot_04_bar__plus_00_dot_94_bar__plus_00_dot_29 CounterTop_bar__plus_00_dot_28_bar__plus_00_dot_95_bar__plus_00_dot_46)\n (inReceptacle SaltShaker_bar__plus_00_dot_17_bar__plus_00_dot_91_bar__plus_00_dot_62 CounterTop_bar__plus_00_dot_28_bar__plus_00_dot_95_bar__plus_00_dot_46)\n (inReceptacle Spoon_bar__plus_00_dot_17_bar__plus_00_dot_91_bar__plus_00_dot_29 CounterTop_bar__plus_00_dot_28_bar__plus_00_dot_95_bar__plus_00_dot_46)\n (inReceptacle Spoon_bar__plus_00_dot_43_bar__plus_00_dot_91_bar__plus_00_dot_21 CounterTop_bar__plus_00_dot_28_bar__plus_00_dot_95_bar__plus_00_dot_46)\n (inReceptacle Spoon_bar__plus_01_dot_29_bar__plus_00_dot_91_bar__minus_01_dot_74 CounterTop_bar__minus_00_dot_68_bar__plus_00_dot_95_bar__minus_01_dot_65)\n (inReceptacle Bread_bar__plus_01_dot_78_bar__plus_01_dot_00_bar__minus_01_dot_57 CounterTop_bar__minus_00_dot_68_bar__plus_00_dot_95_bar__minus_01_dot_65)\n (inReceptacle Sink_bar__plus_00_dot_71_bar__plus_00_dot_82_bar__minus_01_dot_77 CounterTop_bar__minus_00_dot_68_bar__plus_00_dot_95_bar__minus_01_dot_65)\n (inReceptacle Bread_bar__minus_00_dot_45_bar__plus_01_dot_00_bar__minus_01_dot_65 CounterTop_bar__minus_00_dot_68_bar__plus_00_dot_95_bar__minus_01_dot_65)\n (inReceptacle Cup_bar__plus_01_dot_29_bar__plus_00_dot_91_bar__minus_01_dot_41 CounterTop_bar__minus_00_dot_68_bar__plus_00_dot_95_bar__minus_01_dot_65)\n (inReceptacle Egg_bar__plus_01_dot_54_bar__plus_00_dot_95_bar__minus_01_dot_49 CounterTop_bar__minus_00_dot_68_bar__plus_00_dot_95_bar__minus_01_dot_65)\n (inReceptacle Pot_bar__plus_01_dot_01_bar__plus_00_dot_96_bar__plus_00_dot_56 StoveBurner_bar__plus_01_dot_01_bar__plus_00_dot_96_bar__plus_00_dot_56)\n (inReceptacle Pot_bar__plus_01_dot_36_bar__plus_00_dot_96_bar__plus_00_dot_56 StoveBurner_bar__plus_01_dot_36_bar__plus_00_dot_96_bar__plus_00_dot_56)\n (inReceptacle Bowl_bar__plus_01_dot_83_bar__plus_00_dot_11_bar__plus_00_dot_31 Cabinet_bar__plus_01_dot_67_bar__plus_00_dot_40_bar__plus_00_dot_15)\n (inReceptacle Plate_bar__plus_00_dot_02_bar__plus_00_dot_11_bar__plus_00_dot_32 Cabinet_bar__minus_00_dot_18_bar__plus_00_dot_40_bar__plus_00_dot_15)\n (inReceptacle Pan_bar__plus_01_dot_02_bar__plus_00_dot_96_bar__plus_00_dot_29 StoveBurner_bar__plus_01_dot_01_bar__plus_00_dot_96_bar__plus_00_dot_29)\n (inReceptacle DishSponge_bar__minus_00_dot_97_bar__plus_00_dot_77_bar__minus_01_dot_51 Drawer_bar__minus_01_dot_10_bar__plus_00_dot_79_bar__minus_01_dot_50)\n (inReceptacle Plate_bar__plus_01_dot_72_bar__plus_00_dot_91_bar__plus_00_dot_62 CounterTop_bar__plus_01_dot_78_bar__plus_00_dot_95_bar__plus_00_dot_46)\n (inReceptacle Lettuce_bar__plus_01_dot_85_bar__plus_01_dot_00_bar__plus_00_dot_29 CounterTop_bar__plus_01_dot_78_bar__plus_00_dot_95_bar__plus_00_dot_46)\n (inReceptacle Potato_bar__minus_01_dot_03_bar__plus_01_dot_05_bar__minus_01_dot_74 Microwave_bar__minus_01_dot_04_bar__plus_00_dot_90_bar__minus_01_dot_72)\n (inReceptacle SoapBottle_bar__minus_00_dot_33_bar__plus_00_dot_07_bar__plus_00_dot_61 GarbageCan_bar__minus_00_dot_36_bar__plus_00_dot_00_bar__plus_00_dot_54)\n (inReceptacle PaperTowelRoll_bar__minus_00_dot_30_bar__plus_00_dot_17_bar__plus_00_dot_44 GarbageCan_bar__minus_00_dot_36_bar__plus_00_dot_00_bar__plus_00_dot_54)\n (inReceptacle Tomato_bar__minus_02_dot_22_bar__plus_01_dot_54_bar__minus_01_dot_81 Fridge_bar__minus_02_dot_14_bar__plus_00_dot_00_bar__minus_01_dot_69)\n (inReceptacle Plate_bar__minus_02_dot_31_bar__plus_00_dot_51_bar__minus_01_dot_81 Fridge_bar__minus_02_dot_14_bar__plus_00_dot_00_bar__minus_01_dot_69)\n (inReceptacleObject ButterKnife_bar__plus_00_dot_70_bar__plus_00_dot_92_bar__minus_01_dot_65 Mug_bar__plus_00_dot_70_bar__plus_00_dot_91_bar__minus_01_dot_72)\n \n \n (receptacleAtLocation Cabinet_bar__plus_00_dot_06_bar__plus_00_dot_40_bar__minus_01_dot_35 loc_bar_1_bar__minus_2_bar_2_bar_60)\n (receptacleAtLocation Cabinet_bar__plus_00_dot_10_bar__plus_00_dot_40_bar__minus_01_dot_35 loc_bar_3_bar__minus_2_bar_2_bar_60)\n (receptacleAtLocation Cabinet_bar__plus_00_dot_73_bar__plus_00_dot_40_bar__plus_00_dot_15 loc_bar_4_bar__minus_3_bar_0_bar_60)\n (receptacleAtLocation Cabinet_bar__plus_01_dot_08_bar__plus_00_dot_40_bar__minus_01_dot_35 loc_bar_5_bar__minus_2_bar_2_bar_60)\n (receptacleAtLocation Cabinet_bar__plus_01_dot_67_bar__plus_00_dot_40_bar__plus_00_dot_15 loc_bar_6_bar__minus_4_bar_0_bar_45)\n (receptacleAtLocation Cabinet_bar__plus_01_dot_97_bar__plus_01_dot_69_bar__minus_01_dot_65 loc_bar_6_bar__minus_4_bar_2_bar_0)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_18_bar__plus_00_dot_40_bar__plus_00_dot_15 loc_bar__minus_2_bar__minus_3_bar_0_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_19_bar__plus_01_dot_69_bar__minus_01_dot_65 loc_bar__minus_2_bar__minus_4_bar_2_bar_0)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_40_bar__plus_00_dot_40_bar__minus_01_dot_35 loc_bar__minus_4_bar__minus_2_bar_2_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_82_bar__plus_00_dot_40_bar__minus_01_dot_35 loc_bar__minus_6_bar__minus_2_bar_2_bar_60)\n (receptacleAtLocation CoffeeMachine_bar__plus_00_dot_62_bar__plus_00_dot_90_bar__plus_00_dot_60 loc_bar_2_bar__minus_1_bar_0_bar_45)\n (receptacleAtLocation CounterTop_bar__plus_00_dot_28_bar__plus_00_dot_95_bar__plus_00_dot_46 loc_bar_1_bar__minus_1_bar_0_bar_45)\n (receptacleAtLocation CounterTop_bar__plus_01_dot_78_bar__plus_00_dot_95_bar__plus_00_dot_46 loc_bar_6_bar__minus_1_bar_0_bar_45)\n (receptacleAtLocation CounterTop_bar__minus_00_dot_68_bar__plus_00_dot_95_bar__minus_01_dot_65 loc_bar_6_bar__minus_4_bar_3_bar_15)\n (receptacleAtLocation DiningTable_bar__minus_02_dot_20_bar__plus_00_dot_99_bar__plus_00_dot_45 loc_bar__minus_9_bar__minus_1_bar_0_bar_45)\n (receptacleAtLocation Drawer_bar__plus_00_dot_02_bar__plus_00_dot_79_bar__plus_00_dot_30 loc_bar__minus_1_bar__minus_2_bar_0_bar_45)\n (receptacleAtLocation Drawer_bar__plus_00_dot_50_bar__plus_00_dot_79_bar__plus_00_dot_30 loc_bar_1_bar__minus_2_bar_0_bar_45)\n (receptacleAtLocation Drawer_bar__plus_01_dot_83_bar__plus_00_dot_79_bar__plus_00_dot_30 loc_bar_6_bar__minus_1_bar_0_bar_60)\n (receptacleAtLocation Drawer_bar__minus_00_dot_15_bar__plus_00_dot_79_bar__minus_01_dot_50 loc_bar_2_bar__minus_4_bar_3_bar_60)\n (receptacleAtLocation Drawer_bar__minus_00_dot_59_bar__plus_00_dot_79_bar__minus_01_dot_50 loc_bar__minus_5_bar__minus_4_bar_1_bar_45)\n (receptacleAtLocation Drawer_bar__minus_01_dot_10_bar__plus_00_dot_79_bar__minus_01_dot_50 loc_bar_0_bar__minus_3_bar_3_bar_45)\n (receptacleAtLocation Fridge_bar__minus_02_dot_14_bar__plus_00_dot_00_bar__minus_01_dot_69 loc_bar__minus_9_bar__minus_3_bar_2_bar_60)\n (receptacleAtLocation GarbageCan_bar__minus_00_dot_36_bar__plus_00_dot_00_bar__plus_00_dot_54 loc_bar__minus_2_bar_0_bar_0_bar_60)\n (receptacleAtLocation Microwave_bar__minus_01_dot_04_bar__plus_00_dot_90_bar__minus_01_dot_72 loc_bar__minus_4_bar__minus_4_bar_2_bar_45)\n (receptacleAtLocation Sink_bar__plus_00_dot_71_bar__plus_00_dot_82_bar__minus_01_dot_77_bar_SinkBasin loc_bar_1_bar__minus_4_bar_2_bar_60)\n (receptacleAtLocation StoveBurner_bar__plus_01_dot_01_bar__plus_00_dot_96_bar__plus_00_dot_29 loc_bar_4_bar__minus_1_bar_0_bar_45)\n (receptacleAtLocation StoveBurner_bar__plus_01_dot_01_bar__plus_00_dot_96_bar__plus_00_dot_56 loc_bar_4_bar__minus_1_bar_0_bar_45)\n (receptacleAtLocation StoveBurner_bar__plus_01_dot_36_bar__plus_00_dot_96_bar__plus_00_dot_29 loc_bar_5_bar__minus_1_bar_0_bar_45)\n (receptacleAtLocation StoveBurner_bar__plus_01_dot_36_bar__plus_00_dot_96_bar__plus_00_dot_56 loc_bar_5_bar__minus_1_bar_0_bar_45)\n (receptacleAtLocation Toaster_bar__plus_00_dot_31_bar__plus_00_dot_90_bar__plus_00_dot_55 loc_bar_1_bar__minus_1_bar_0_bar_45)\n (objectAtLocation Mug_bar__plus_00_dot_15_bar__plus_00_dot_10_bar__minus_01_dot_58 loc_bar_3_bar__minus_2_bar_2_bar_60)\n (objectAtLocation Spoon_bar__plus_00_dot_17_bar__plus_00_dot_91_bar__plus_00_dot_29 loc_bar_1_bar__minus_1_bar_0_bar_45)\n (objectAtLocation DishSponge_bar__minus_00_dot_34_bar__plus_01_dot_33_bar__minus_01_dot_85 loc_bar__minus_2_bar__minus_4_bar_2_bar_0)\n (objectAtLocation PepperShaker_bar__plus_00_dot_27_bar__plus_00_dot_10_bar__minus_01_dot_43 loc_bar_3_bar__minus_2_bar_2_bar_60)\n (objectAtLocation Lettuce_bar__minus_01_dot_79_bar__plus_01_dot_04_bar__plus_00_dot_26 loc_bar__minus_9_bar__minus_1_bar_0_bar_45)\n (objectAtLocation Egg_bar__plus_01_dot_54_bar__plus_00_dot_95_bar__minus_01_dot_49 loc_bar_6_bar__minus_4_bar_3_bar_15)\n (objectAtLocation Pot_bar__plus_01_dot_01_bar__plus_00_dot_96_bar__plus_00_dot_56 loc_bar_4_bar__minus_1_bar_0_bar_45)\n (objectAtLocation Plate_bar__plus_00_dot_02_bar__plus_00_dot_11_bar__plus_00_dot_32 loc_bar__minus_2_bar__minus_3_bar_0_bar_60)\n (objectAtLocation Tomato_bar__minus_02_dot_22_bar__plus_01_dot_54_bar__minus_01_dot_81 loc_bar__minus_9_bar__minus_3_bar_2_bar_60)\n (objectAtLocation Cup_bar__minus_01_dot_93_bar__plus_00_dot_95_bar__plus_00_dot_70 loc_bar__minus_9_bar__minus_1_bar_0_bar_45)\n (objectAtLocation Knife_bar__minus_02_dot_34_bar__plus_00_dot_98_bar__plus_00_dot_35 loc_bar__minus_9_bar__minus_1_bar_0_bar_45)\n (objectAtLocation Bread_bar__plus_01_dot_78_bar__plus_01_dot_00_bar__minus_01_dot_57 loc_bar_6_bar__minus_4_bar_3_bar_15)\n (objectAtLocation Bread_bar__minus_02_dot_07_bar__plus_01_dot_04_bar__plus_00_dot_35 loc_bar__minus_9_bar__minus_1_bar_0_bar_45)\n (objectAtLocation PepperShaker_bar__minus_01_dot_93_bar__plus_00_dot_95_bar__plus_00_dot_52 loc_bar__minus_9_bar__minus_1_bar_0_bar_45)\n (objectAtLocation Knife_bar__plus_00_dot_04_bar__plus_00_dot_94_bar__plus_00_dot_29 loc_bar_1_bar__minus_1_bar_0_bar_45)\n (objectAtLocation Plate_bar__minus_02_dot_31_bar__plus_00_dot_51_bar__minus_01_dot_81 loc_bar__minus_9_bar__minus_3_bar_2_bar_60)\n (objectAtLocation Cup_bar__minus_02_dot_07_bar__plus_00_dot_95_bar__plus_00_dot_52 loc_bar__minus_9_bar__minus_1_bar_0_bar_45)\n (objectAtLocation Spoon_bar__minus_01_dot_93_bar__plus_00_dot_95_bar__plus_00_dot_61 loc_bar__minus_9_bar__minus_1_bar_0_bar_45)\n (objectAtLocation Spoon_bar__plus_01_dot_29_bar__plus_00_dot_91_bar__minus_01_dot_74 loc_bar_6_bar__minus_4_bar_3_bar_15)\n (objectAtLocation Sink_bar__plus_00_dot_71_bar__plus_00_dot_82_bar__minus_01_dot_77 loc_bar_6_bar__minus_4_bar_3_bar_15)\n (objectAtLocation Bread_bar__minus_00_dot_45_bar__plus_01_dot_00_bar__minus_01_dot_65 loc_bar_6_bar__minus_4_bar_3_bar_15)\n (objectAtLocation Knife_bar__plus_00_dot_17_bar__plus_00_dot_94_bar__plus_00_dot_54 loc_bar_1_bar__minus_1_bar_0_bar_45)\n (objectAtLocation Fork_bar__minus_02_dot_34_bar__plus_00_dot_95_bar__plus_00_dot_52 loc_bar__minus_9_bar__minus_1_bar_0_bar_45)\n (objectAtLocation Bowl_bar__plus_01_dot_83_bar__plus_00_dot_11_bar__plus_00_dot_31 loc_bar_6_bar__minus_4_bar_0_bar_45)\n (objectAtLocation Kettle_bar__minus_02_dot_48_bar__plus_00_dot_95_bar__plus_00_dot_52 loc_bar__minus_9_bar__minus_1_bar_0_bar_45)\n (objectAtLocation Cup_bar__plus_01_dot_29_bar__plus_00_dot_91_bar__minus_01_dot_41 loc_bar_6_bar__minus_4_bar_3_bar_15)\n (objectAtLocation Tomato_bar__plus_00_dot_86_bar__plus_00_dot_97_bar__minus_01_dot_58 loc_bar_1_bar__minus_4_bar_2_bar_60)\n (objectAtLocation SoapBottle_bar__minus_00_dot_33_bar__plus_00_dot_07_bar__plus_00_dot_61 loc_bar__minus_2_bar_0_bar_0_bar_60)\n (objectAtLocation Plate_bar__plus_01_dot_72_bar__plus_00_dot_91_bar__plus_00_dot_62 loc_bar_6_bar__minus_1_bar_0_bar_45)\n (objectAtLocation LightSwitch_bar__minus_02_dot_76_bar__plus_01_dot_31_bar__minus_00_dot_99 loc_bar__minus_9_bar__minus_3_bar_3_bar_30)\n (objectAtLocation Pot_bar__plus_01_dot_36_bar__plus_00_dot_96_bar__plus_00_dot_56 loc_bar_5_bar__minus_1_bar_0_bar_45)\n (objectAtLocation Window_bar__plus_00_dot_58_bar__plus_01_dot_61_bar__minus_01_dot_97 loc_bar_2_bar__minus_4_bar_2_bar_0)\n (objectAtLocation Window_bar__plus_01_dot_97_bar__plus_01_dot_50_bar__minus_00_dot_62 loc_bar_6_bar__minus_2_bar_1_bar_15)\n (objectAtLocation Spatula_bar__minus_02_dot_20_bar__plus_00_dot_97_bar__plus_00_dot_17 loc_bar__minus_9_bar__minus_1_bar_0_bar_45)\n (objectAtLocation PaperTowelRoll_bar__minus_00_dot_30_bar__plus_00_dot_17_bar__plus_00_dot_44 loc_bar__minus_2_bar_0_bar_0_bar_60)\n (objectAtLocation Egg_bar__plus_00_dot_30_bar__plus_00_dot_95_bar__plus_00_dot_29 loc_bar_1_bar__minus_1_bar_0_bar_45)\n (objectAtLocation Lettuce_bar__plus_01_dot_85_bar__plus_01_dot_00_bar__plus_00_dot_29 loc_bar_6_bar__minus_1_bar_0_bar_45)\n (objectAtLocation SaltShaker_bar__plus_00_dot_17_bar__plus_00_dot_91_bar__plus_00_dot_62 loc_bar_1_bar__minus_1_bar_0_bar_45)\n (objectAtLocation PepperShaker_bar__minus_00_dot_49_bar__plus_01_dot_33_bar__minus_01_dot_88 loc_bar__minus_2_bar__minus_4_bar_2_bar_0)\n (objectAtLocation Apple_bar__plus_00_dot_91_bar__plus_00_dot_99_bar__minus_01_dot_72 loc_bar_1_bar__minus_4_bar_2_bar_60)\n (objectAtLocation ButterKnife_bar__plus_00_dot_70_bar__plus_00_dot_92_bar__minus_01_dot_65 loc_bar_3_bar__minus_4_bar_2_bar_60)\n (objectAtLocation StoveKnob_bar__plus_01_dot_25_bar__plus_00_dot_91_bar__plus_00_dot_12 loc_bar_5_bar__minus_1_bar_0_bar_60)\n (objectAtLocation StoveKnob_bar__plus_01_dot_37_bar__plus_00_dot_91_bar__plus_00_dot_12 loc_bar_5_bar__minus_1_bar_0_bar_60)\n (objectAtLocation StoveKnob_bar__plus_01_dot_00_bar__plus_00_dot_91_bar__plus_00_dot_12 loc_bar_4_bar__minus_1_bar_0_bar_60)\n (objectAtLocation StoveKnob_bar__plus_01_dot_13_bar__plus_00_dot_91_bar__plus_00_dot_12 loc_bar_5_bar__minus_1_bar_0_bar_60)\n (objectAtLocation Potato_bar__minus_01_dot_03_bar__plus_01_dot_05_bar__minus_01_dot_74 loc_bar__minus_4_bar__minus_4_bar_2_bar_45)\n (objectAtLocation Pan_bar__plus_01_dot_02_bar__plus_00_dot_96_bar__plus_00_dot_29 loc_bar_4_bar__minus_1_bar_0_bar_45)\n (objectAtLocation Chair_bar__minus_02_dot_42_bar__plus_00_dot_56_bar__plus_00_dot_41 loc_bar__minus_9_bar__minus_1_bar_0_bar_60)\n (objectAtLocation DishSponge_bar__minus_00_dot_97_bar__plus_00_dot_77_bar__minus_01_dot_51 loc_bar_0_bar__minus_3_bar_3_bar_45)\n (objectAtLocation Spoon_bar__plus_00_dot_43_bar__plus_00_dot_91_bar__plus_00_dot_21 loc_bar_1_bar__minus_1_bar_0_bar_45)\n (objectAtLocation Mug_bar__plus_00_dot_70_bar__plus_00_dot_91_bar__minus_01_dot_72 loc_bar_1_bar__minus_4_bar_2_bar_60)\n )\n \n\n (:goal\n (and\n (exists (?r - receptacle)\n (exists (?o1 - object)\n (and\n (objectType ?o1 SpoonType)\n (receptacleType ?r DrawerType)\n (inReceptacle ?o1 ?r)\n (exists (?o2 - object)\n (and\n (not (= ?o1 ?o2))\n (objectType ?o2 SpoonType)\n (receptacleType ?r DrawerType)\n (inReceptacle ?o2 ?r)\n )\n )\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to countertop 2", "take spoon 3 from countertop 2", "go to drawer 1", "move spoon 3 to drawer 1", "go to countertop 2", "take spoon 2 from countertop 2", "go to drawer 1", "move spoon 2 to drawer 1"]}
|
alfworld__pick_and_place_simple__5
|
pick_and_place_simple
|
pick_and_place_simple-Vase-None-SideTable-209/trial_T20190909_053401_266687/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 vase on sidetable.\"\n }\n ],\n\n \"GotoLocation.feedback\": [\n {\n \"rhs\": \"You arrive at {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"OpenObject.feedback\": [\n {\n \"rhs\": \"You open the {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"CloseObject.feedback\": [\n {\n \"rhs\": \"You close the {r.name}.\"\n }\n ],\n\n \"PickupObject.feedback\": [\n {\n \"rhs\": \"You pick up the {o.name} from the {r.name}.\"\n }\n ],\n\n \"PickupObjectFromReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupObjectFromReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupEmptyReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupEmptyReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupFullReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupFullReceptacleObject: You pick up the {outerr.name}.\"\n }\n ],\n\n \"PutObject.feedback\": [\n {\n \"rhs\": \"You move the {o.name} to the {r.name}.\"\n }\n ],\n\n \"PutObjectInReceptacleObject.feedback\": [\n {\n \"rhs\": \"PutObjectInReceptacleObject: You put the {o.name} in the {outero.name}.\"\n }\n ],\n\n \"PutEmptyReceptacleObjectinReceptacle.feedback\": [\n {\n \"rhs\": \"PutEmptyReceptacleObjectinReceptacle: You put the {o.name} in the {r.name}.\"\n }\n ],\n\n \"PutFullReceptacleObjectInReceptacle.feedback\": [\n {\n \"rhs\": \"PutFullReceptacleObjectInReceptacle: You put the {outero.name} in the {r.name}.\"\n }\n ],\n\n \"inventory.feedback\": [\n {\n \"condition\": \"holdsany(a:agent)\",\n \"rhs\": \"You are carrying: [{o.indefinite + ' ' + o.name | holds(a:agent, o:object)}].\"\n },\n {\n \"rhs\": \"You are not carrying anything.\"\n }\n ],\n\n \"examineReceptacle.feedback\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \"The {r.name} is open. In it, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \"The {r.name} is closed.\"\n },\n {\n \"rhs\": \"On the {r.name}, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n }\n ],\n\n \"examineObject.feedback\": [\n {\n \"condition\": \"isreceptacleobject(o:object)\",\n \"rhs\": \"This is a normal {o.name}. In it, you see [{o2.indefinite + ' ' + o2.name | inreceptacleobject(o2:object, o:object)}].\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a clean sliced {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot sliced {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object)\",\n \"rhs\": \"This is a hot and clean {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object)\",\n \"rhs\": \"This is a cool and clean {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object)\",\n \"rhs\": \"This is a hot {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object)\",\n \"rhs\": \"This is a clean {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object)\",\n \"rhs\": \"This is a cold {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"This {o.name} is on.\"\n },\n {\n \"condition\": \"toggleable(o:object) & not_istoggled(o:object)\",\n \"rhs\": \"This {o.name} is off.\"\n },\n {\n \"condition\": \"sliceable(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a sliced {o.name}.\"\n },\n {\n \"rhs\": \"There's nothing special about {o.name}.\"\n }\n ]\n }\n\"\"\";\n\naction GotoLocation {\n template :: \"go to [{r.name | receptacleatlocation(r:receptacle, lend:location)}]\";\n feedback :: \"#GotoLocation.feedback#\";\n}\n\naction OpenObject {\n template :: \"open {r}\";\n feedback :: \"#OpenObject.feedback#\";\n}\n\naction CloseObject {\n template :: \"close {r}\";\n feedback :: \"#CloseObject.feedback#\";\n}\n\naction PickupObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObject.feedback#\";\n}\n\naction PickupObjectFromReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObjectFromReceptacleObject.feedback#\";\n}\n\naction PickupEmptyReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupEmptyReceptacleObject.feedback#\";\n}\n\naction PickupFullReceptacleObject {\n template :: \"take {outerr} from {r}\";\n feedback :: \"#PickupFullReceptacleObject.feedback#\";\n}\n\naction PutObject {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutObject.feedback#\";\n}\n\naction PutObjectInReceptacleObject {\n template :: \"put {o} into {outero}\";\n feedback :: \"#PutObjectInReceptacleObject.feedback#\";\n}\n\naction PutEmptyReceptacleObjectinReceptacle {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutEmptyReceptacleObjectinReceptacle.feedback#\";\n}\n\naction PutFullReceptacleObjectInReceptacle {\n template :: \"put {outero} in {r}\";\n feedback :: \"#PutFullReceptacleObjectInReceptacle.feedback#\";\n}\n\naction inventory {\n template :: \"inventory\";\n feedback :: \"#inventory.feedback#\";\n}\n\naction examineReceptacle {\n template :: \"examine {r}\";\n feedback :: \"#examineReceptacle.feedback#\";\n}\n\naction examineObject {\n template :: \"examine {o}\";\n feedback :: \"#examineObject.feedback#\";\n}\n\naction ToggleObject {\n template :: \"use {o}\";\n feedback :: \"#toggleObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"toggleObject.feedback\": [\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"You turn on the {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object)\",\n \"rhs\": \"You turn off the {o.name}.\"\n },\n {\n \"rhs\": \"You don't see any switch on the {o.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction HeatObject {\n template :: \"heat {o} with {r}\";\n feedback :: \"#heatObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"heatObject.feedback\": [\n {\n \"rhs\": \"You heat the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CleanObject {\n template :: \"clean {o} with {r}\";\n feedback :: \"#cleanObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"cleanObject.feedback\": [\n {\n \"rhs\": \"You clean the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CoolObject {\n template :: \"cool {o} with {r}\";\n feedback :: \"#coolObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"coolObject.feedback\": [\n {\n \"rhs\": \"You cool the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction SliceObject {\n template :: \"slice {co} with {ko}\";\n feedback :: \"#sliceObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"sliceObject.feedback\": [\n {\n \"rhs\": \"You sliced the {co.name} with the {ko.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction look {\n template :: \"look\";\n feedback :: \"#look.feedback#\";\n\n grammar :: \"\"\"\n {\n \"look.feedback\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"#look-variations#. Next to it, you see #list_objects_on_the_floor#.\"\n },\n {\n \"rhs\": \"You are in the middle of a room. Looking quickly around you, you see #list_appliances#.\"\n }\n ],\n\n \"look-variations\": [\n {\n \"rhs\": \"You are facing the [{r.name | atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)}]\"\n }\n ],\n\n \"list_objects_on_the_floor\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)\",\n \"rhs\": \"[{#overview(o)# | atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"list_appliances\": [\n {\n \"condition\": \"receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"[{#overview(r)# | receptacleatlocation(r:receptacle, l:location)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"overview(o, r)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name} (in/on the {r.name})}\"\n }\n ],\n\n \"overview(o)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name}\"\n }\n ],\n \"overview(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}\"\n }\n ],\n \"overview_with_state(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}#overview_state(r)#\"\n }\n ],\n \"overview_state(r)\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \" (it is open)\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \" (it is closed)\"\n },\n {\n \"rhs\": \"\"\n }\n ],\n\n \"list_empty\": [\n {\n \"rhs\": \"nothing\"\n }\n ],\n \"list_separator\": [\n {\n \"rhs\": \", \"\n }\n ],\n \"list_last_separator\": [\n {\n \"rhs\": \", and \"\n }\n ]\n }\n \"\"\";\n}\n\naction help {\n template :: \"help\";\n feedback :: \"\nAvailable commands:\n look: look around your current location\n inventory: check your current inventory\n go to (receptacle): move to a receptacle\n open (receptacle): open a receptacle\n close (receptacle): close a receptacle\n take (object) from (receptacle): take an object from a receptacle\n move (object) to (receptacle): place an object in or on a receptacle\n examine (something): examine a receptacle or an object\n use (object): use an object\n heat (object) with (receptacle): heat an object using a receptacle\n clean (object) with (receptacle): clean an object using a receptacle\n cool (object) with (receptacle): cool an object using a receptacle\n slice (object) with (object): slice an object using a sharp object\n\";\n}\n", "pddl_problem": "\n(define (problem plan_trial_T20190909_053401_266687)\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_02_dot_57_bar__plus_00_dot_59_bar__minus_02_dot_00 - object\n Book_bar__minus_04_dot_26_bar__plus_00_dot_33_bar__minus_03_dot_45 - object\n Box_bar__minus_02_dot_36_bar__plus_00_dot_26_bar__minus_01_dot_65 - object\n CreditCard_bar__minus_02_dot_47_bar__plus_00_dot_59_bar__minus_02_dot_99 - object\n CreditCard_bar__minus_04_dot_07_bar__plus_00_dot_70_bar__minus_04_dot_95 - object\n CreditCard_bar__minus_04_dot_26_bar__plus_00_dot_34_bar__minus_03_dot_74 - object\n FloorLamp_bar__minus_04_dot_82_bar__plus_00_dot_00_bar__minus_05_dot_12 - object\n HousePlant_bar__minus_05_dot_63_bar__plus_00_dot_48_bar__minus_05_dot_13 - object\n KeyChain_bar__minus_04_dot_36_bar__plus_00_dot_71_bar__minus_05_dot_14 - object\n Laptop_bar__minus_02_dot_26_bar__plus_00_dot_59_bar__minus_02_dot_00 - object\n Laptop_bar__minus_02_dot_57_bar__plus_00_dot_58_bar__minus_02_dot_51 - object\n LightSwitch_bar__minus_05_dot_76_bar__plus_01_dot_33_bar__plus_00_dot_01 - object\n Mirror_bar__minus_03_dot_40_bar__plus_02_dot_03_bar__plus_00_dot_00 - object\n Newspaper_bar__minus_02_dot_65_bar__plus_00_dot_71_bar__minus_05_dot_05 - object\n Painting_bar__minus_03_dot_37_bar__plus_01_dot_80_bar__minus_05_dot_39 - object\n Pen_bar__minus_02_dot_47_bar__plus_00_dot_59_bar__minus_02_dot_16 - object\n Pen_bar__minus_03_dot_22_bar__plus_00_dot_71_bar__minus_05_dot_00 - object\n Pen_bar__minus_04_dot_36_bar__plus_00_dot_71_bar__minus_05_dot_19 - object\n Pillow_bar__minus_04_dot_28_bar__plus_00_dot_45_bar__minus_01_dot_74 - object\n RemoteControl_bar__minus_02_dot_79_bar__plus_00_dot_59_bar__minus_02_dot_00 - object\n RemoteControl_bar__minus_04_dot_07_bar__plus_00_dot_71_bar__minus_05_dot_14 - object\n RemoteControl_bar__minus_04_dot_08_bar__plus_00_dot_34_bar__minus_01_dot_67 - object\n Statue_bar__minus_02_dot_93_bar__plus_00_dot_71_bar__minus_05_dot_05 - object\n Statue_bar__minus_03_dot_50_bar__plus_00_dot_71_bar__minus_05_dot_14 - object\n Television_bar__minus_00_dot_61_bar__plus_01_dot_67_bar__minus_02_dot_60 - object\n Vase_bar__minus_02_dot_61_bar__plus_00_dot_58_bar__minus_02_dot_94 - object\n Vase_bar__minus_03_dot_90_bar__plus_00_dot_70_bar__minus_05_dot_10 - object\n Vase_bar__minus_04_dot_22_bar__plus_00_dot_70_bar__minus_05_dot_05 - object\n Vase_bar__minus_04_dot_48_bar__plus_00_dot_70_bar__minus_05_dot_08 - object\n Watch_bar__minus_03_dot_50_bar__plus_00_dot_71_bar__minus_04_dot_95 - object\n WateringCan_bar__minus_07_dot_99_bar__plus_00_dot_00_bar__minus_04_dot_63 - object\n Window_bar__minus_08_dot_24_bar__plus_01_dot_41_bar__minus_01_dot_51 - object\n Window_bar__minus_08_dot_24_bar__plus_01_dot_41_bar__minus_04_dot_08 - object\n ArmChair_bar__minus_04_dot_39_bar__plus_00_dot_00_bar__minus_03_dot_55 - receptacle\n CoffeeTable_bar__minus_02_dot_47_bar__plus_00_dot_00_bar__minus_02_dot_49 - receptacle\n Drawer_bar__minus_02_dot_98_bar__plus_00_dot_17_bar__minus_05_dot_01 - receptacle\n Drawer_bar__minus_02_dot_98_bar__plus_00_dot_48_bar__minus_05_dot_01 - receptacle\n Drawer_bar__minus_04_dot_02_bar__plus_00_dot_17_bar__minus_05_dot_01 - receptacle\n Drawer_bar__minus_04_dot_02_bar__plus_00_dot_48_bar__minus_05_dot_01 - receptacle\n Dresser_bar__minus_03_dot_51_bar__plus_00_dot_00_bar__minus_05_dot_10 - receptacle\n GarbageCan_bar__minus_00_dot_97_bar__plus_00_dot_00_bar__minus_05_dot_06 - receptacle\n SideTable_bar__minus_02_dot_02_bar__minus_00_dot_01_bar__minus_05_dot_08 - receptacle\n SideTable_bar__minus_05_dot_43_bar__minus_00_dot_01_bar__minus_05_dot_12 - receptacle\n Sofa_bar__minus_04_dot_36_bar__plus_00_dot_00_bar__minus_02_dot_09 - receptacle\n loc_bar__minus_31_bar__minus_6_bar_3_bar_30 - location\n loc_bar__minus_7_bar__minus_18_bar_3_bar_45 - location\n loc_bar__minus_16_bar__minus_18_bar_1_bar_45 - location\n loc_bar__minus_18_bar__minus_18_bar_2_bar_60 - location\n loc_bar__minus_31_bar__minus_16_bar_3_bar_30 - location\n loc_bar__minus_8_bar__minus_6_bar_3_bar_60 - location\n loc_bar__minus_6_bar__minus_19_bar_1_bar_60 - location\n loc_bar__minus_31_bar__minus_17_bar_2_bar_60 - location\n loc_bar__minus_13_bar__minus_15_bar_3_bar_60 - location\n loc_bar__minus_23_bar__minus_17_bar_2_bar_60 - location\n loc_bar__minus_13_bar__minus_17_bar_2_bar_60 - location\n loc_bar__minus_13_bar__minus_8_bar_3_bar_60 - location\n loc_bar__minus_14_bar__minus_3_bar_0_bar__minus_30 - location\n loc_bar__minus_16_bar__minus_18_bar_2_bar_60 - location\n loc_bar__minus_5_bar__minus_10_bar_1_bar_0 - location\n loc_bar__minus_5_bar__minus_10_bar_3_bar_60 - location\n loc_bar__minus_10_bar__minus_17_bar_2_bar_60 - location\n loc_bar__minus_12_bar__minus_18_bar_3_bar_45 - location\n loc_bar__minus_13_bar__minus_18_bar_2_bar__minus_15 - location\n loc_bar__minus_23_bar__minus_2_bar_0_bar_30 - location\n loc_bar__minus_4_bar__minus_17_bar_1_bar_30 - location\n )\n \n\n(:init\n\n\n (receptacleType ArmChair_bar__minus_04_dot_39_bar__plus_00_dot_00_bar__minus_03_dot_55 ArmChairType)\n (receptacleType GarbageCan_bar__minus_00_dot_97_bar__plus_00_dot_00_bar__minus_05_dot_06 GarbageCanType)\n (receptacleType Drawer_bar__minus_02_dot_98_bar__plus_00_dot_48_bar__minus_05_dot_01 DrawerType)\n (receptacleType SideTable_bar__minus_02_dot_02_bar__minus_00_dot_01_bar__minus_05_dot_08 SideTableType)\n (receptacleType SideTable_bar__minus_05_dot_43_bar__minus_00_dot_01_bar__minus_05_dot_12 SideTableType)\n (receptacleType Drawer_bar__minus_04_dot_02_bar__plus_00_dot_48_bar__minus_05_dot_01 DrawerType)\n (receptacleType Dresser_bar__minus_03_dot_51_bar__plus_00_dot_00_bar__minus_05_dot_10 DresserType)\n (receptacleType Drawer_bar__minus_02_dot_98_bar__plus_00_dot_17_bar__minus_05_dot_01 DrawerType)\n (receptacleType CoffeeTable_bar__minus_02_dot_47_bar__plus_00_dot_00_bar__minus_02_dot_49 CoffeeTableType)\n (receptacleType Drawer_bar__minus_04_dot_02_bar__plus_00_dot_17_bar__minus_05_dot_01 DrawerType)\n (receptacleType Sofa_bar__minus_04_dot_36_bar__plus_00_dot_00_bar__minus_02_dot_09 SofaType)\n (objectType KeyChain_bar__minus_04_dot_36_bar__plus_00_dot_71_bar__minus_05_dot_14 KeyChainType)\n (objectType LightSwitch_bar__minus_05_dot_76_bar__plus_01_dot_33_bar__plus_00_dot_01 LightSwitchType)\n (objectType WateringCan_bar__minus_07_dot_99_bar__plus_00_dot_00_bar__minus_04_dot_63 WateringCanType)\n (objectType Book_bar__minus_02_dot_57_bar__plus_00_dot_59_bar__minus_02_dot_00 BookType)\n (objectType Vase_bar__minus_04_dot_48_bar__plus_00_dot_70_bar__minus_05_dot_08 VaseType)\n (objectType Vase_bar__minus_03_dot_90_bar__plus_00_dot_70_bar__minus_05_dot_10 VaseType)\n (objectType FloorLamp_bar__minus_04_dot_82_bar__plus_00_dot_00_bar__minus_05_dot_12 FloorLampType)\n (objectType Vase_bar__minus_02_dot_61_bar__plus_00_dot_58_bar__minus_02_dot_94 VaseType)\n (objectType RemoteControl_bar__minus_04_dot_07_bar__plus_00_dot_71_bar__minus_05_dot_14 RemoteControlType)\n (objectType RemoteControl_bar__minus_04_dot_08_bar__plus_00_dot_34_bar__minus_01_dot_67 RemoteControlType)\n (objectType Window_bar__minus_08_dot_24_bar__plus_01_dot_41_bar__minus_01_dot_51 WindowType)\n (objectType Television_bar__minus_00_dot_61_bar__plus_01_dot_67_bar__minus_02_dot_60 TelevisionType)\n (objectType Box_bar__minus_02_dot_36_bar__plus_00_dot_26_bar__minus_01_dot_65 BoxType)\n (objectType Mirror_bar__minus_03_dot_40_bar__plus_02_dot_03_bar__plus_00_dot_00 MirrorType)\n (objectType Window_bar__minus_08_dot_24_bar__plus_01_dot_41_bar__minus_04_dot_08 WindowType)\n (objectType Laptop_bar__minus_02_dot_26_bar__plus_00_dot_59_bar__minus_02_dot_00 LaptopType)\n (objectType Watch_bar__minus_03_dot_50_bar__plus_00_dot_71_bar__minus_04_dot_95 WatchType)\n (objectType CreditCard_bar__minus_02_dot_47_bar__plus_00_dot_59_bar__minus_02_dot_99 CreditCardType)\n (objectType Pen_bar__minus_02_dot_47_bar__plus_00_dot_59_bar__minus_02_dot_16 PenType)\n (objectType RemoteControl_bar__minus_02_dot_79_bar__plus_00_dot_59_bar__minus_02_dot_00 RemoteControlType)\n (objectType HousePlant_bar__minus_05_dot_63_bar__plus_00_dot_48_bar__minus_05_dot_13 HousePlantType)\n (objectType CreditCard_bar__minus_04_dot_26_bar__plus_00_dot_34_bar__minus_03_dot_74 CreditCardType)\n (objectType Pillow_bar__minus_04_dot_28_bar__plus_00_dot_45_bar__minus_01_dot_74 PillowType)\n (objectType Pen_bar__minus_04_dot_36_bar__plus_00_dot_71_bar__minus_05_dot_19 PenType)\n (objectType CreditCard_bar__minus_04_dot_07_bar__plus_00_dot_70_bar__minus_04_dot_95 CreditCardType)\n (objectType Newspaper_bar__minus_02_dot_65_bar__plus_00_dot_71_bar__minus_05_dot_05 NewspaperType)\n (objectType Pen_bar__minus_03_dot_22_bar__plus_00_dot_71_bar__minus_05_dot_00 PenType)\n (objectType Vase_bar__minus_04_dot_22_bar__plus_00_dot_70_bar__minus_05_dot_05 VaseType)\n (objectType Laptop_bar__minus_02_dot_57_bar__plus_00_dot_58_bar__minus_02_dot_51 LaptopType)\n (objectType Painting_bar__minus_03_dot_37_bar__plus_01_dot_80_bar__minus_05_dot_39 PaintingType)\n (objectType Book_bar__minus_04_dot_26_bar__plus_00_dot_33_bar__minus_03_dot_45 BookType)\n (objectType Statue_bar__minus_02_dot_93_bar__plus_00_dot_71_bar__minus_05_dot_05 StatueType)\n (objectType Statue_bar__minus_03_dot_50_bar__plus_00_dot_71_bar__minus_05_dot_14 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 NewspaperType)\n (canContain ArmChairType CreditCardType)\n (canContain GarbageCanType PenType)\n (canContain GarbageCanType NewspaperType)\n (canContain DrawerType PenType)\n (canContain DrawerType BookType)\n (canContain DrawerType WatchType)\n (canContain DrawerType NewspaperType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType RemoteControlType)\n (canContain DrawerType WateringCanType)\n (canContain SideTableType PenType)\n (canContain SideTableType BookType)\n (canContain SideTableType WatchType)\n (canContain SideTableType NewspaperType)\n (canContain SideTableType VaseType)\n (canContain SideTableType BoxType)\n (canContain SideTableType KeyChainType)\n (canContain SideTableType CreditCardType)\n (canContain SideTableType LaptopType)\n (canContain SideTableType RemoteControlType)\n (canContain SideTableType StatueType)\n (canContain SideTableType WateringCanType)\n (canContain SideTableType PenType)\n (canContain SideTableType BookType)\n (canContain SideTableType WatchType)\n (canContain SideTableType NewspaperType)\n (canContain SideTableType VaseType)\n (canContain SideTableType BoxType)\n (canContain SideTableType KeyChainType)\n (canContain SideTableType CreditCardType)\n (canContain SideTableType LaptopType)\n (canContain SideTableType RemoteControlType)\n (canContain SideTableType StatueType)\n (canContain SideTableType WateringCanType)\n (canContain DrawerType PenType)\n (canContain DrawerType BookType)\n (canContain DrawerType WatchType)\n (canContain DrawerType NewspaperType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType RemoteControlType)\n (canContain DrawerType WateringCanType)\n (canContain DresserType PenType)\n (canContain DresserType BookType)\n (canContain DresserType WatchType)\n (canContain DresserType NewspaperType)\n (canContain DresserType VaseType)\n (canContain DresserType BoxType)\n (canContain DresserType KeyChainType)\n (canContain DresserType CreditCardType)\n (canContain DresserType LaptopType)\n (canContain DresserType RemoteControlType)\n (canContain DresserType StatueType)\n (canContain DresserType WateringCanType)\n (canContain DrawerType PenType)\n (canContain DrawerType BookType)\n (canContain DrawerType WatchType)\n (canContain DrawerType NewspaperType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType RemoteControlType)\n (canContain DrawerType WateringCanType)\n (canContain CoffeeTableType PenType)\n (canContain CoffeeTableType BookType)\n (canContain CoffeeTableType WatchType)\n (canContain CoffeeTableType NewspaperType)\n (canContain CoffeeTableType VaseType)\n (canContain CoffeeTableType BoxType)\n (canContain CoffeeTableType KeyChainType)\n (canContain CoffeeTableType CreditCardType)\n (canContain CoffeeTableType LaptopType)\n (canContain CoffeeTableType RemoteControlType)\n (canContain CoffeeTableType StatueType)\n (canContain CoffeeTableType WateringCanType)\n (canContain DrawerType PenType)\n (canContain DrawerType BookType)\n (canContain DrawerType WatchType)\n (canContain DrawerType NewspaperType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType RemoteControlType)\n (canContain DrawerType WateringCanType)\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 NewspaperType)\n (canContain SofaType CreditCardType)\n (pickupable KeyChain_bar__minus_04_dot_36_bar__plus_00_dot_71_bar__minus_05_dot_14)\n (pickupable WateringCan_bar__minus_07_dot_99_bar__plus_00_dot_00_bar__minus_04_dot_63)\n (pickupable Book_bar__minus_02_dot_57_bar__plus_00_dot_59_bar__minus_02_dot_00)\n (pickupable Vase_bar__minus_04_dot_48_bar__plus_00_dot_70_bar__minus_05_dot_08)\n (pickupable Vase_bar__minus_03_dot_90_bar__plus_00_dot_70_bar__minus_05_dot_10)\n (pickupable Vase_bar__minus_02_dot_61_bar__plus_00_dot_58_bar__minus_02_dot_94)\n (pickupable RemoteControl_bar__minus_04_dot_07_bar__plus_00_dot_71_bar__minus_05_dot_14)\n (pickupable RemoteControl_bar__minus_04_dot_08_bar__plus_00_dot_34_bar__minus_01_dot_67)\n (pickupable Box_bar__minus_02_dot_36_bar__plus_00_dot_26_bar__minus_01_dot_65)\n (pickupable Laptop_bar__minus_02_dot_26_bar__plus_00_dot_59_bar__minus_02_dot_00)\n (pickupable Watch_bar__minus_03_dot_50_bar__plus_00_dot_71_bar__minus_04_dot_95)\n (pickupable CreditCard_bar__minus_02_dot_47_bar__plus_00_dot_59_bar__minus_02_dot_99)\n (pickupable Pen_bar__minus_02_dot_47_bar__plus_00_dot_59_bar__minus_02_dot_16)\n (pickupable RemoteControl_bar__minus_02_dot_79_bar__plus_00_dot_59_bar__minus_02_dot_00)\n (pickupable CreditCard_bar__minus_04_dot_26_bar__plus_00_dot_34_bar__minus_03_dot_74)\n (pickupable Pillow_bar__minus_04_dot_28_bar__plus_00_dot_45_bar__minus_01_dot_74)\n (pickupable Pen_bar__minus_04_dot_36_bar__plus_00_dot_71_bar__minus_05_dot_19)\n (pickupable CreditCard_bar__minus_04_dot_07_bar__plus_00_dot_70_bar__minus_04_dot_95)\n (pickupable Newspaper_bar__minus_02_dot_65_bar__plus_00_dot_71_bar__minus_05_dot_05)\n (pickupable Pen_bar__minus_03_dot_22_bar__plus_00_dot_71_bar__minus_05_dot_00)\n (pickupable Vase_bar__minus_04_dot_22_bar__plus_00_dot_70_bar__minus_05_dot_05)\n (pickupable Laptop_bar__minus_02_dot_57_bar__plus_00_dot_58_bar__minus_02_dot_51)\n (pickupable Book_bar__minus_04_dot_26_bar__plus_00_dot_33_bar__minus_03_dot_45)\n (pickupable Statue_bar__minus_02_dot_93_bar__plus_00_dot_71_bar__minus_05_dot_05)\n (pickupable Statue_bar__minus_03_dot_50_bar__plus_00_dot_71_bar__minus_05_dot_14)\n (isReceptacleObject Box_bar__minus_02_dot_36_bar__plus_00_dot_26_bar__minus_01_dot_65)\n (openable Drawer_bar__minus_02_dot_98_bar__plus_00_dot_48_bar__minus_05_dot_01)\n (openable Drawer_bar__minus_04_dot_02_bar__plus_00_dot_48_bar__minus_05_dot_01)\n (openable Drawer_bar__minus_02_dot_98_bar__plus_00_dot_17_bar__minus_05_dot_01)\n \n (atLocation agent1 loc_bar__minus_4_bar__minus_17_bar_1_bar_30)\n \n \n \n \n \n \n \n (toggleable FloorLamp_bar__minus_04_dot_82_bar__plus_00_dot_00_bar__minus_05_dot_12)\n \n \n \n \n (inReceptacle KeyChain_bar__minus_04_dot_36_bar__plus_00_dot_71_bar__minus_05_dot_14 Dresser_bar__minus_03_dot_51_bar__plus_00_dot_00_bar__minus_05_dot_10)\n (inReceptacle Newspaper_bar__minus_02_dot_65_bar__plus_00_dot_71_bar__minus_05_dot_05 Dresser_bar__minus_03_dot_51_bar__plus_00_dot_00_bar__minus_05_dot_10)\n (inReceptacle RemoteControl_bar__minus_04_dot_07_bar__plus_00_dot_71_bar__minus_05_dot_14 Dresser_bar__minus_03_dot_51_bar__plus_00_dot_00_bar__minus_05_dot_10)\n (inReceptacle Pen_bar__minus_03_dot_22_bar__plus_00_dot_71_bar__minus_05_dot_00 Dresser_bar__minus_03_dot_51_bar__plus_00_dot_00_bar__minus_05_dot_10)\n (inReceptacle Vase_bar__minus_04_dot_22_bar__plus_00_dot_70_bar__minus_05_dot_05 Dresser_bar__minus_03_dot_51_bar__plus_00_dot_00_bar__minus_05_dot_10)\n (inReceptacle Vase_bar__minus_03_dot_90_bar__plus_00_dot_70_bar__minus_05_dot_10 Dresser_bar__minus_03_dot_51_bar__plus_00_dot_00_bar__minus_05_dot_10)\n (inReceptacle Pen_bar__minus_04_dot_36_bar__plus_00_dot_71_bar__minus_05_dot_19 Dresser_bar__minus_03_dot_51_bar__plus_00_dot_00_bar__minus_05_dot_10)\n (inReceptacle Statue_bar__minus_02_dot_93_bar__plus_00_dot_71_bar__minus_05_dot_05 Dresser_bar__minus_03_dot_51_bar__plus_00_dot_00_bar__minus_05_dot_10)\n (inReceptacle Vase_bar__minus_04_dot_48_bar__plus_00_dot_70_bar__minus_05_dot_08 Dresser_bar__minus_03_dot_51_bar__plus_00_dot_00_bar__minus_05_dot_10)\n (inReceptacle CreditCard_bar__minus_04_dot_07_bar__plus_00_dot_70_bar__minus_04_dot_95 Dresser_bar__minus_03_dot_51_bar__plus_00_dot_00_bar__minus_05_dot_10)\n (inReceptacle Statue_bar__minus_03_dot_50_bar__plus_00_dot_71_bar__minus_05_dot_14 Dresser_bar__minus_03_dot_51_bar__plus_00_dot_00_bar__minus_05_dot_10)\n (inReceptacle Watch_bar__minus_03_dot_50_bar__plus_00_dot_71_bar__minus_04_dot_95 Dresser_bar__minus_03_dot_51_bar__plus_00_dot_00_bar__minus_05_dot_10)\n (inReceptacle HousePlant_bar__minus_05_dot_63_bar__plus_00_dot_48_bar__minus_05_dot_13 SideTable_bar__minus_05_dot_43_bar__minus_00_dot_01_bar__minus_05_dot_12)\n (inReceptacle CreditCard_bar__minus_04_dot_26_bar__plus_00_dot_34_bar__minus_03_dot_74 ArmChair_bar__minus_04_dot_39_bar__plus_00_dot_00_bar__minus_03_dot_55)\n (inReceptacle Book_bar__minus_04_dot_26_bar__plus_00_dot_33_bar__minus_03_dot_45 ArmChair_bar__minus_04_dot_39_bar__plus_00_dot_00_bar__minus_03_dot_55)\n (inReceptacle RemoteControl_bar__minus_04_dot_08_bar__plus_00_dot_34_bar__minus_01_dot_67 Sofa_bar__minus_04_dot_36_bar__plus_00_dot_00_bar__minus_02_dot_09)\n (inReceptacle Pillow_bar__minus_04_dot_28_bar__plus_00_dot_45_bar__minus_01_dot_74 Sofa_bar__minus_04_dot_36_bar__plus_00_dot_00_bar__minus_02_dot_09)\n (inReceptacle CreditCard_bar__minus_02_dot_47_bar__plus_00_dot_59_bar__minus_02_dot_99 CoffeeTable_bar__minus_02_dot_47_bar__plus_00_dot_00_bar__minus_02_dot_49)\n (inReceptacle Pen_bar__minus_02_dot_47_bar__plus_00_dot_59_bar__minus_02_dot_16 CoffeeTable_bar__minus_02_dot_47_bar__plus_00_dot_00_bar__minus_02_dot_49)\n (inReceptacle RemoteControl_bar__minus_02_dot_79_bar__plus_00_dot_59_bar__minus_02_dot_00 CoffeeTable_bar__minus_02_dot_47_bar__plus_00_dot_00_bar__minus_02_dot_49)\n (inReceptacle Vase_bar__minus_02_dot_61_bar__plus_00_dot_58_bar__minus_02_dot_94 CoffeeTable_bar__minus_02_dot_47_bar__plus_00_dot_00_bar__minus_02_dot_49)\n (inReceptacle Book_bar__minus_02_dot_57_bar__plus_00_dot_59_bar__minus_02_dot_00 CoffeeTable_bar__minus_02_dot_47_bar__plus_00_dot_00_bar__minus_02_dot_49)\n (inReceptacle Laptop_bar__minus_02_dot_57_bar__plus_00_dot_58_bar__minus_02_dot_51 CoffeeTable_bar__minus_02_dot_47_bar__plus_00_dot_00_bar__minus_02_dot_49)\n (inReceptacle Laptop_bar__minus_02_dot_26_bar__plus_00_dot_59_bar__minus_02_dot_00 CoffeeTable_bar__minus_02_dot_47_bar__plus_00_dot_00_bar__minus_02_dot_49)\n \n \n (receptacleAtLocation ArmChair_bar__minus_04_dot_39_bar__plus_00_dot_00_bar__minus_03_dot_55 loc_bar__minus_13_bar__minus_15_bar_3_bar_60)\n (receptacleAtLocation CoffeeTable_bar__minus_02_dot_47_bar__plus_00_dot_00_bar__minus_02_dot_49 loc_bar__minus_5_bar__minus_10_bar_3_bar_60)\n (receptacleAtLocation Drawer_bar__minus_02_dot_98_bar__plus_00_dot_17_bar__minus_05_dot_01 loc_bar__minus_7_bar__minus_18_bar_3_bar_45)\n (receptacleAtLocation Drawer_bar__minus_02_dot_98_bar__plus_00_dot_48_bar__minus_05_dot_01 loc_bar__minus_16_bar__minus_18_bar_1_bar_45)\n (receptacleAtLocation Drawer_bar__minus_04_dot_02_bar__plus_00_dot_17_bar__minus_05_dot_01 loc_bar__minus_16_bar__minus_18_bar_2_bar_60)\n (receptacleAtLocation Drawer_bar__minus_04_dot_02_bar__plus_00_dot_48_bar__minus_05_dot_01 loc_bar__minus_12_bar__minus_18_bar_3_bar_45)\n (receptacleAtLocation Dresser_bar__minus_03_dot_51_bar__plus_00_dot_00_bar__minus_05_dot_10 loc_bar__minus_13_bar__minus_17_bar_2_bar_60)\n (receptacleAtLocation GarbageCan_bar__minus_00_dot_97_bar__plus_00_dot_00_bar__minus_05_dot_06 loc_bar__minus_6_bar__minus_19_bar_1_bar_60)\n (receptacleAtLocation SideTable_bar__minus_02_dot_02_bar__minus_00_dot_01_bar__minus_05_dot_08 loc_bar__minus_10_bar__minus_17_bar_2_bar_60)\n (receptacleAtLocation SideTable_bar__minus_05_dot_43_bar__minus_00_dot_01_bar__minus_05_dot_12 loc_bar__minus_23_bar__minus_17_bar_2_bar_60)\n (receptacleAtLocation Sofa_bar__minus_04_dot_36_bar__plus_00_dot_00_bar__minus_02_dot_09 loc_bar__minus_13_bar__minus_8_bar_3_bar_60)\n (objectAtLocation RemoteControl_bar__minus_02_dot_79_bar__plus_00_dot_59_bar__minus_02_dot_00 loc_bar__minus_5_bar__minus_10_bar_3_bar_60)\n (objectAtLocation Statue_bar__minus_03_dot_50_bar__plus_00_dot_71_bar__minus_05_dot_14 loc_bar__minus_13_bar__minus_17_bar_2_bar_60)\n (objectAtLocation Laptop_bar__minus_02_dot_57_bar__plus_00_dot_58_bar__minus_02_dot_51 loc_bar__minus_5_bar__minus_10_bar_3_bar_60)\n (objectAtLocation CreditCard_bar__minus_02_dot_47_bar__plus_00_dot_59_bar__minus_02_dot_99 loc_bar__minus_5_bar__minus_10_bar_3_bar_60)\n (objectAtLocation Pen_bar__minus_03_dot_22_bar__plus_00_dot_71_bar__minus_05_dot_00 loc_bar__minus_13_bar__minus_17_bar_2_bar_60)\n (objectAtLocation Book_bar__minus_02_dot_57_bar__plus_00_dot_59_bar__minus_02_dot_00 loc_bar__minus_5_bar__minus_10_bar_3_bar_60)\n (objectAtLocation RemoteControl_bar__minus_04_dot_08_bar__plus_00_dot_34_bar__minus_01_dot_67 loc_bar__minus_13_bar__minus_8_bar_3_bar_60)\n (objectAtLocation CreditCard_bar__minus_04_dot_26_bar__plus_00_dot_34_bar__minus_03_dot_74 loc_bar__minus_13_bar__minus_15_bar_3_bar_60)\n (objectAtLocation Pen_bar__minus_04_dot_36_bar__plus_00_dot_71_bar__minus_05_dot_19 loc_bar__minus_13_bar__minus_17_bar_2_bar_60)\n (objectAtLocation Box_bar__minus_02_dot_36_bar__plus_00_dot_26_bar__minus_01_dot_65 loc_bar__minus_8_bar__minus_6_bar_3_bar_60)\n (objectAtLocation Book_bar__minus_04_dot_26_bar__plus_00_dot_33_bar__minus_03_dot_45 loc_bar__minus_13_bar__minus_15_bar_3_bar_60)\n (objectAtLocation Mirror_bar__minus_03_dot_40_bar__plus_02_dot_03_bar__plus_00_dot_00 loc_bar__minus_14_bar__minus_3_bar_0_bar__minus_30)\n (objectAtLocation Newspaper_bar__minus_02_dot_65_bar__plus_00_dot_71_bar__minus_05_dot_05 loc_bar__minus_13_bar__minus_17_bar_2_bar_60)\n (objectAtLocation Watch_bar__minus_03_dot_50_bar__plus_00_dot_71_bar__minus_04_dot_95 loc_bar__minus_13_bar__minus_17_bar_2_bar_60)\n (objectAtLocation Pen_bar__minus_02_dot_47_bar__plus_00_dot_59_bar__minus_02_dot_16 loc_bar__minus_5_bar__minus_10_bar_3_bar_60)\n (objectAtLocation FloorLamp_bar__minus_04_dot_82_bar__plus_00_dot_00_bar__minus_05_dot_12 loc_bar__minus_18_bar__minus_18_bar_2_bar_60)\n (objectAtLocation LightSwitch_bar__minus_05_dot_76_bar__plus_01_dot_33_bar__plus_00_dot_01 loc_bar__minus_23_bar__minus_2_bar_0_bar_30)\n (objectAtLocation WateringCan_bar__minus_07_dot_99_bar__plus_00_dot_00_bar__minus_04_dot_63 loc_bar__minus_31_bar__minus_17_bar_2_bar_60)\n (objectAtLocation Pillow_bar__minus_04_dot_28_bar__plus_00_dot_45_bar__minus_01_dot_74 loc_bar__minus_13_bar__minus_8_bar_3_bar_60)\n (objectAtLocation CreditCard_bar__minus_04_dot_07_bar__plus_00_dot_70_bar__minus_04_dot_95 loc_bar__minus_13_bar__minus_17_bar_2_bar_60)\n (objectAtLocation Vase_bar__minus_04_dot_48_bar__plus_00_dot_70_bar__minus_05_dot_08 loc_bar__minus_13_bar__minus_17_bar_2_bar_60)\n (objectAtLocation KeyChain_bar__minus_04_dot_36_bar__plus_00_dot_71_bar__minus_05_dot_14 loc_bar__minus_13_bar__minus_17_bar_2_bar_60)\n (objectAtLocation Vase_bar__minus_04_dot_22_bar__plus_00_dot_70_bar__minus_05_dot_05 loc_bar__minus_13_bar__minus_17_bar_2_bar_60)\n (objectAtLocation Laptop_bar__minus_02_dot_26_bar__plus_00_dot_59_bar__minus_02_dot_00 loc_bar__minus_5_bar__minus_10_bar_3_bar_60)\n (objectAtLocation HousePlant_bar__minus_05_dot_63_bar__plus_00_dot_48_bar__minus_05_dot_13 loc_bar__minus_23_bar__minus_17_bar_2_bar_60)\n (objectAtLocation Statue_bar__minus_02_dot_93_bar__plus_00_dot_71_bar__minus_05_dot_05 loc_bar__minus_13_bar__minus_17_bar_2_bar_60)\n (objectAtLocation Vase_bar__minus_03_dot_90_bar__plus_00_dot_70_bar__minus_05_dot_10 loc_bar__minus_13_bar__minus_17_bar_2_bar_60)\n (objectAtLocation Painting_bar__minus_03_dot_37_bar__plus_01_dot_80_bar__minus_05_dot_39 loc_bar__minus_13_bar__minus_18_bar_2_bar__minus_15)\n (objectAtLocation RemoteControl_bar__minus_04_dot_07_bar__plus_00_dot_71_bar__minus_05_dot_14 loc_bar__minus_13_bar__minus_17_bar_2_bar_60)\n (objectAtLocation Television_bar__minus_00_dot_61_bar__plus_01_dot_67_bar__minus_02_dot_60 loc_bar__minus_5_bar__minus_10_bar_1_bar_0)\n (objectAtLocation Vase_bar__minus_02_dot_61_bar__plus_00_dot_58_bar__minus_02_dot_94 loc_bar__minus_5_bar__minus_10_bar_3_bar_60)\n (objectAtLocation Window_bar__minus_08_dot_24_bar__plus_01_dot_41_bar__minus_01_dot_51 loc_bar__minus_31_bar__minus_6_bar_3_bar_30)\n (objectAtLocation Window_bar__minus_08_dot_24_bar__plus_01_dot_41_bar__minus_04_dot_08 loc_bar__minus_31_bar__minus_16_bar_3_bar_30)\n )\n \n\n (:goal\n (and\n (exists (?r - receptacle)\n (exists (?o - object)\n (and\n (inReceptacle ?o ?r)\n (objectType ?o VaseType)\n (receptacleType ?r SideTableType)\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to dresser 1", "take vase 3 from dresser 1", "go to sidetable 2", "move vase 3 to sidetable 2"]}
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alfworld__pick_and_place_simple__6
|
pick_and_place_simple
|
pick_and_place_simple-Vase-None-SideTable-209/trial_T20190909_053413_979971/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 vase 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_053413_979971)\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_02_dot_15_bar__plus_00_dot_59_bar__minus_02_dot_33 - object\n Box_bar__minus_04_dot_26_bar__plus_00_dot_58_bar__minus_03_dot_59 - object\n CreditCard_bar__minus_02_dot_75_bar__plus_00_dot_38_bar__minus_05_dot_03 - object\n FloorLamp_bar__minus_04_dot_82_bar__plus_00_dot_00_bar__minus_05_dot_12 - object\n HousePlant_bar__minus_05_dot_63_bar__plus_00_dot_48_bar__minus_05_dot_13 - object\n KeyChain_bar__minus_02_dot_79_bar__plus_00_dot_59_bar__minus_02_dot_99 - object\n KeyChain_bar__minus_04_dot_23_bar__plus_00_dot_34_bar__minus_02_dot_50 - object\n KeyChain_bar__minus_04_dot_41_bar__plus_00_dot_34_bar__minus_03_dot_59 - object\n Laptop_bar__minus_02_dot_57_bar__plus_00_dot_58_bar__minus_02_dot_51 - object\n LightSwitch_bar__minus_05_dot_76_bar__plus_01_dot_33_bar__plus_00_dot_01 - object\n Mirror_bar__minus_03_dot_40_bar__plus_02_dot_03_bar__plus_00_dot_00 - object\n Newspaper_bar__minus_04_dot_27_bar__plus_00_dot_34_bar__minus_02_dot_16 - object\n Painting_bar__minus_03_dot_37_bar__plus_01_dot_80_bar__minus_05_dot_39 - object\n Pen_bar__minus_02_dot_47_bar__plus_00_dot_59_bar__minus_02_dot_00 - object\n Pen_bar__minus_03_dot_22_bar__plus_00_dot_71_bar__minus_05_dot_00 - object\n Pillow_bar__minus_04_dot_28_bar__plus_00_dot_45_bar__minus_01_dot_74 - object\n RemoteControl_bar__minus_02_dot_15_bar__plus_00_dot_59_bar__minus_02_dot_66 - object\n Statue_bar__minus_02_dot_65_bar__plus_00_dot_71_bar__minus_05_dot_09 - object\n Statue_bar__minus_02_dot_93_bar__plus_00_dot_71_bar__minus_05_dot_00 - object\n Television_bar__minus_00_dot_61_bar__plus_01_dot_67_bar__minus_02_dot_60 - object\n Vase_bar__minus_02_dot_26_bar__plus_00_dot_59_bar__minus_02_dot_00 - object\n Vase_bar__minus_02_dot_68_bar__plus_00_dot_59_bar__minus_02_dot_00 - object\n Vase_bar__minus_03_dot_50_bar__plus_00_dot_71_bar__minus_05_dot_09 - object\n Vase_bar__minus_04_dot_48_bar__plus_00_dot_70_bar__minus_05_dot_08 - object\n Watch_bar__minus_02_dot_36_bar__plus_00_dot_59_bar__minus_02_dot_66 - object\n Watch_bar__minus_02_dot_47_bar__plus_00_dot_59_bar__minus_02_dot_16 - object\n WateringCan_bar__minus_07_dot_99_bar__plus_00_dot_00_bar__minus_04_dot_63 - object\n Window_bar__minus_08_dot_24_bar__plus_01_dot_41_bar__minus_01_dot_51 - object\n Window_bar__minus_08_dot_24_bar__plus_01_dot_41_bar__minus_04_dot_08 - object\n ArmChair_bar__minus_04_dot_39_bar__plus_00_dot_00_bar__minus_03_dot_55 - receptacle\n CoffeeTable_bar__minus_02_dot_47_bar__plus_00_dot_00_bar__minus_02_dot_49 - receptacle\n Drawer_bar__minus_02_dot_98_bar__plus_00_dot_17_bar__minus_05_dot_01 - receptacle\n Drawer_bar__minus_02_dot_98_bar__plus_00_dot_48_bar__minus_05_dot_01 - receptacle\n Drawer_bar__minus_04_dot_02_bar__plus_00_dot_17_bar__minus_05_dot_01 - receptacle\n Drawer_bar__minus_04_dot_02_bar__plus_00_dot_48_bar__minus_05_dot_01 - receptacle\n Dresser_bar__minus_03_dot_51_bar__plus_00_dot_00_bar__minus_05_dot_10 - receptacle\n GarbageCan_bar__minus_00_dot_97_bar__plus_00_dot_00_bar__minus_05_dot_06 - receptacle\n SideTable_bar__minus_02_dot_02_bar__minus_00_dot_01_bar__minus_05_dot_08 - receptacle\n SideTable_bar__minus_05_dot_43_bar__minus_00_dot_01_bar__minus_05_dot_12 - receptacle\n Sofa_bar__minus_04_dot_36_bar__plus_00_dot_00_bar__minus_02_dot_09 - receptacle\n loc_bar__minus_31_bar__minus_6_bar_3_bar_30 - location\n loc_bar__minus_7_bar__minus_18_bar_3_bar_45 - location\n loc_bar__minus_18_bar__minus_17_bar_0_bar_60 - location\n loc_bar__minus_16_bar__minus_18_bar_1_bar_45 - location\n loc_bar__minus_18_bar__minus_18_bar_2_bar_60 - location\n loc_bar__minus_31_bar__minus_16_bar_3_bar_30 - location\n loc_bar__minus_6_bar__minus_19_bar_1_bar_60 - location\n loc_bar__minus_31_bar__minus_17_bar_2_bar_60 - location\n loc_bar__minus_13_bar__minus_15_bar_3_bar_60 - location\n loc_bar__minus_23_bar__minus_17_bar_2_bar_60 - location\n loc_bar__minus_13_bar__minus_17_bar_2_bar_60 - location\n loc_bar__minus_13_bar__minus_8_bar_3_bar_60 - location\n loc_bar__minus_14_bar__minus_3_bar_0_bar__minus_30 - location\n loc_bar__minus_16_bar__minus_18_bar_2_bar_60 - location\n loc_bar__minus_5_bar__minus_10_bar_1_bar_0 - location\n loc_bar__minus_5_bar__minus_10_bar_3_bar_60 - location\n loc_bar__minus_10_bar__minus_17_bar_2_bar_60 - location\n loc_bar__minus_12_bar__minus_18_bar_3_bar_45 - location\n loc_bar__minus_13_bar__minus_18_bar_2_bar__minus_15 - location\n loc_bar__minus_23_bar__minus_2_bar_0_bar_30 - location\n loc_bar__minus_31_bar__minus_5_bar_2_bar_30 - location\n )\n \n\n(:init\n\n\n (receptacleType ArmChair_bar__minus_04_dot_39_bar__plus_00_dot_00_bar__minus_03_dot_55 ArmChairType)\n (receptacleType GarbageCan_bar__minus_00_dot_97_bar__plus_00_dot_00_bar__minus_05_dot_06 GarbageCanType)\n (receptacleType Drawer_bar__minus_02_dot_98_bar__plus_00_dot_48_bar__minus_05_dot_01 DrawerType)\n (receptacleType SideTable_bar__minus_02_dot_02_bar__minus_00_dot_01_bar__minus_05_dot_08 SideTableType)\n (receptacleType SideTable_bar__minus_05_dot_43_bar__minus_00_dot_01_bar__minus_05_dot_12 SideTableType)\n (receptacleType Drawer_bar__minus_04_dot_02_bar__plus_00_dot_48_bar__minus_05_dot_01 DrawerType)\n (receptacleType Dresser_bar__minus_03_dot_51_bar__plus_00_dot_00_bar__minus_05_dot_10 DresserType)\n (receptacleType Drawer_bar__minus_02_dot_98_bar__plus_00_dot_17_bar__minus_05_dot_01 DrawerType)\n (receptacleType CoffeeTable_bar__minus_02_dot_47_bar__plus_00_dot_00_bar__minus_02_dot_49 CoffeeTableType)\n (receptacleType Drawer_bar__minus_04_dot_02_bar__plus_00_dot_17_bar__minus_05_dot_01 DrawerType)\n (receptacleType Sofa_bar__minus_04_dot_36_bar__plus_00_dot_00_bar__minus_02_dot_09 SofaType)\n (objectType LightSwitch_bar__minus_05_dot_76_bar__plus_01_dot_33_bar__plus_00_dot_01 LightSwitchType)\n (objectType Newspaper_bar__minus_04_dot_27_bar__plus_00_dot_34_bar__minus_02_dot_16 NewspaperType)\n (objectType WateringCan_bar__minus_07_dot_99_bar__plus_00_dot_00_bar__minus_04_dot_63 WateringCanType)\n (objectType Vase_bar__minus_04_dot_48_bar__plus_00_dot_70_bar__minus_05_dot_08 VaseType)\n (objectType Watch_bar__minus_02_dot_36_bar__plus_00_dot_59_bar__minus_02_dot_66 WatchType)\n (objectType KeyChain_bar__minus_04_dot_23_bar__plus_00_dot_34_bar__minus_02_dot_50 KeyChainType)\n (objectType Pen_bar__minus_02_dot_47_bar__plus_00_dot_59_bar__minus_02_dot_00 PenType)\n (objectType Box_bar__minus_04_dot_26_bar__plus_00_dot_58_bar__minus_03_dot_59 BoxType)\n (objectType FloorLamp_bar__minus_04_dot_82_bar__plus_00_dot_00_bar__minus_05_dot_12 FloorLampType)\n (objectType Window_bar__minus_08_dot_24_bar__plus_01_dot_41_bar__minus_01_dot_51 WindowType)\n (objectType Television_bar__minus_00_dot_61_bar__plus_01_dot_67_bar__minus_02_dot_60 TelevisionType)\n (objectType RemoteControl_bar__minus_02_dot_15_bar__plus_00_dot_59_bar__minus_02_dot_66 RemoteControlType)\n (objectType KeyChain_bar__minus_04_dot_41_bar__plus_00_dot_34_bar__minus_03_dot_59 KeyChainType)\n (objectType Mirror_bar__minus_03_dot_40_bar__plus_02_dot_03_bar__plus_00_dot_00 MirrorType)\n (objectType Window_bar__minus_08_dot_24_bar__plus_01_dot_41_bar__minus_04_dot_08 WindowType)\n (objectType HousePlant_bar__minus_05_dot_63_bar__plus_00_dot_48_bar__minus_05_dot_13 HousePlantType)\n (objectType Statue_bar__minus_02_dot_93_bar__plus_00_dot_71_bar__minus_05_dot_00 StatueType)\n (objectType Vase_bar__minus_02_dot_26_bar__plus_00_dot_59_bar__minus_02_dot_00 VaseType)\n (objectType Statue_bar__minus_02_dot_65_bar__plus_00_dot_71_bar__minus_05_dot_09 StatueType)\n (objectType Pillow_bar__minus_04_dot_28_bar__plus_00_dot_45_bar__minus_01_dot_74 PillowType)\n (objectType Vase_bar__minus_03_dot_50_bar__plus_00_dot_71_bar__minus_05_dot_09 VaseType)\n (objectType CreditCard_bar__minus_02_dot_75_bar__plus_00_dot_38_bar__minus_05_dot_03 CreditCardType)\n (objectType Pen_bar__minus_03_dot_22_bar__plus_00_dot_71_bar__minus_05_dot_00 PenType)\n (objectType KeyChain_bar__minus_02_dot_79_bar__plus_00_dot_59_bar__minus_02_dot_99 KeyChainType)\n (objectType Watch_bar__minus_02_dot_47_bar__plus_00_dot_59_bar__minus_02_dot_16 WatchType)\n (objectType Laptop_bar__minus_02_dot_57_bar__plus_00_dot_58_bar__minus_02_dot_51 LaptopType)\n (objectType Painting_bar__minus_03_dot_37_bar__plus_01_dot_80_bar__minus_05_dot_39 PaintingType)\n (objectType Vase_bar__minus_02_dot_68_bar__plus_00_dot_59_bar__minus_02_dot_00 VaseType)\n (objectType Book_bar__minus_02_dot_15_bar__plus_00_dot_59_bar__minus_02_dot_33 BookType)\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 NewspaperType)\n (canContain ArmChairType CreditCardType)\n (canContain GarbageCanType PenType)\n (canContain GarbageCanType NewspaperType)\n (canContain DrawerType PenType)\n (canContain DrawerType BookType)\n (canContain DrawerType WatchType)\n (canContain DrawerType NewspaperType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType RemoteControlType)\n (canContain DrawerType WateringCanType)\n (canContain SideTableType PenType)\n (canContain SideTableType BookType)\n (canContain SideTableType WatchType)\n (canContain SideTableType NewspaperType)\n (canContain SideTableType VaseType)\n (canContain SideTableType BoxType)\n (canContain SideTableType KeyChainType)\n (canContain SideTableType CreditCardType)\n (canContain SideTableType LaptopType)\n (canContain SideTableType RemoteControlType)\n (canContain SideTableType StatueType)\n (canContain SideTableType WateringCanType)\n (canContain SideTableType PenType)\n (canContain SideTableType BookType)\n (canContain SideTableType WatchType)\n (canContain SideTableType NewspaperType)\n (canContain SideTableType VaseType)\n (canContain SideTableType BoxType)\n (canContain SideTableType KeyChainType)\n (canContain SideTableType CreditCardType)\n (canContain SideTableType LaptopType)\n (canContain SideTableType RemoteControlType)\n (canContain SideTableType StatueType)\n (canContain SideTableType WateringCanType)\n (canContain DrawerType PenType)\n (canContain DrawerType BookType)\n (canContain DrawerType WatchType)\n (canContain DrawerType NewspaperType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType RemoteControlType)\n (canContain DrawerType WateringCanType)\n (canContain DresserType PenType)\n (canContain DresserType BookType)\n (canContain DresserType WatchType)\n (canContain DresserType NewspaperType)\n (canContain DresserType VaseType)\n (canContain DresserType BoxType)\n (canContain DresserType KeyChainType)\n (canContain DresserType CreditCardType)\n (canContain DresserType LaptopType)\n (canContain DresserType RemoteControlType)\n (canContain DresserType StatueType)\n (canContain DresserType WateringCanType)\n (canContain DrawerType PenType)\n (canContain DrawerType BookType)\n (canContain DrawerType WatchType)\n (canContain DrawerType NewspaperType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType RemoteControlType)\n (canContain DrawerType WateringCanType)\n (canContain CoffeeTableType PenType)\n (canContain CoffeeTableType BookType)\n (canContain CoffeeTableType WatchType)\n (canContain CoffeeTableType NewspaperType)\n (canContain CoffeeTableType VaseType)\n (canContain CoffeeTableType BoxType)\n (canContain CoffeeTableType KeyChainType)\n (canContain CoffeeTableType CreditCardType)\n (canContain CoffeeTableType LaptopType)\n (canContain CoffeeTableType RemoteControlType)\n (canContain CoffeeTableType StatueType)\n (canContain CoffeeTableType WateringCanType)\n (canContain DrawerType PenType)\n (canContain DrawerType BookType)\n (canContain DrawerType WatchType)\n (canContain DrawerType NewspaperType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType RemoteControlType)\n (canContain DrawerType WateringCanType)\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 NewspaperType)\n (canContain SofaType CreditCardType)\n (pickupable Newspaper_bar__minus_04_dot_27_bar__plus_00_dot_34_bar__minus_02_dot_16)\n (pickupable WateringCan_bar__minus_07_dot_99_bar__plus_00_dot_00_bar__minus_04_dot_63)\n (pickupable Vase_bar__minus_04_dot_48_bar__plus_00_dot_70_bar__minus_05_dot_08)\n (pickupable Watch_bar__minus_02_dot_36_bar__plus_00_dot_59_bar__minus_02_dot_66)\n (pickupable KeyChain_bar__minus_04_dot_23_bar__plus_00_dot_34_bar__minus_02_dot_50)\n (pickupable Pen_bar__minus_02_dot_47_bar__plus_00_dot_59_bar__minus_02_dot_00)\n (pickupable Box_bar__minus_04_dot_26_bar__plus_00_dot_58_bar__minus_03_dot_59)\n (pickupable RemoteControl_bar__minus_02_dot_15_bar__plus_00_dot_59_bar__minus_02_dot_66)\n (pickupable KeyChain_bar__minus_04_dot_41_bar__plus_00_dot_34_bar__minus_03_dot_59)\n (pickupable Statue_bar__minus_02_dot_93_bar__plus_00_dot_71_bar__minus_05_dot_00)\n (pickupable Vase_bar__minus_02_dot_26_bar__plus_00_dot_59_bar__minus_02_dot_00)\n (pickupable Statue_bar__minus_02_dot_65_bar__plus_00_dot_71_bar__minus_05_dot_09)\n (pickupable Pillow_bar__minus_04_dot_28_bar__plus_00_dot_45_bar__minus_01_dot_74)\n (pickupable Vase_bar__minus_03_dot_50_bar__plus_00_dot_71_bar__minus_05_dot_09)\n (pickupable CreditCard_bar__minus_02_dot_75_bar__plus_00_dot_38_bar__minus_05_dot_03)\n (pickupable Pen_bar__minus_03_dot_22_bar__plus_00_dot_71_bar__minus_05_dot_00)\n (pickupable KeyChain_bar__minus_02_dot_79_bar__plus_00_dot_59_bar__minus_02_dot_99)\n (pickupable Watch_bar__minus_02_dot_47_bar__plus_00_dot_59_bar__minus_02_dot_16)\n (pickupable Laptop_bar__minus_02_dot_57_bar__plus_00_dot_58_bar__minus_02_dot_51)\n (pickupable Vase_bar__minus_02_dot_68_bar__plus_00_dot_59_bar__minus_02_dot_00)\n (pickupable Book_bar__minus_02_dot_15_bar__plus_00_dot_59_bar__minus_02_dot_33)\n (isReceptacleObject Box_bar__minus_04_dot_26_bar__plus_00_dot_58_bar__minus_03_dot_59)\n (openable Drawer_bar__minus_02_dot_98_bar__plus_00_dot_48_bar__minus_05_dot_01)\n (openable Drawer_bar__minus_04_dot_02_bar__plus_00_dot_48_bar__minus_05_dot_01)\n (openable Drawer_bar__minus_02_dot_98_bar__plus_00_dot_17_bar__minus_05_dot_01)\n \n (atLocation agent1 loc_bar__minus_31_bar__minus_5_bar_2_bar_30)\n \n \n \n \n \n \n \n (toggleable FloorLamp_bar__minus_04_dot_82_bar__plus_00_dot_00_bar__minus_05_dot_12)\n \n \n \n \n (inReceptacle Statue_bar__minus_02_dot_93_bar__plus_00_dot_71_bar__minus_05_dot_00 Dresser_bar__minus_03_dot_51_bar__plus_00_dot_00_bar__minus_05_dot_10)\n (inReceptacle Pen_bar__minus_03_dot_22_bar__plus_00_dot_71_bar__minus_05_dot_00 Dresser_bar__minus_03_dot_51_bar__plus_00_dot_00_bar__minus_05_dot_10)\n (inReceptacle Statue_bar__minus_02_dot_65_bar__plus_00_dot_71_bar__minus_05_dot_09 Dresser_bar__minus_03_dot_51_bar__plus_00_dot_00_bar__minus_05_dot_10)\n (inReceptacle Vase_bar__minus_03_dot_50_bar__plus_00_dot_71_bar__minus_05_dot_09 Dresser_bar__minus_03_dot_51_bar__plus_00_dot_00_bar__minus_05_dot_10)\n (inReceptacle Vase_bar__minus_04_dot_48_bar__plus_00_dot_70_bar__minus_05_dot_08 Dresser_bar__minus_03_dot_51_bar__plus_00_dot_00_bar__minus_05_dot_10)\n (inReceptacle HousePlant_bar__minus_05_dot_63_bar__plus_00_dot_48_bar__minus_05_dot_13 SideTable_bar__minus_05_dot_43_bar__minus_00_dot_01_bar__minus_05_dot_12)\n (inReceptacle Box_bar__minus_04_dot_26_bar__plus_00_dot_58_bar__minus_03_dot_59 ArmChair_bar__minus_04_dot_39_bar__plus_00_dot_00_bar__minus_03_dot_55)\n (inReceptacle CreditCard_bar__minus_02_dot_75_bar__plus_00_dot_38_bar__minus_05_dot_03 Drawer_bar__minus_02_dot_98_bar__plus_00_dot_48_bar__minus_05_dot_01)\n (inReceptacle Pillow_bar__minus_04_dot_28_bar__plus_00_dot_45_bar__minus_01_dot_74 Sofa_bar__minus_04_dot_36_bar__plus_00_dot_00_bar__minus_02_dot_09)\n (inReceptacle Newspaper_bar__minus_04_dot_27_bar__plus_00_dot_34_bar__minus_02_dot_16 Sofa_bar__minus_04_dot_36_bar__plus_00_dot_00_bar__minus_02_dot_09)\n (inReceptacle KeyChain_bar__minus_04_dot_23_bar__plus_00_dot_34_bar__minus_02_dot_50 Sofa_bar__minus_04_dot_36_bar__plus_00_dot_00_bar__minus_02_dot_09)\n (inReceptacle Vase_bar__minus_02_dot_26_bar__plus_00_dot_59_bar__minus_02_dot_00 CoffeeTable_bar__minus_02_dot_47_bar__plus_00_dot_00_bar__minus_02_dot_49)\n (inReceptacle KeyChain_bar__minus_02_dot_79_bar__plus_00_dot_59_bar__minus_02_dot_99 CoffeeTable_bar__minus_02_dot_47_bar__plus_00_dot_00_bar__minus_02_dot_49)\n (inReceptacle Watch_bar__minus_02_dot_47_bar__plus_00_dot_59_bar__minus_02_dot_16 CoffeeTable_bar__minus_02_dot_47_bar__plus_00_dot_00_bar__minus_02_dot_49)\n (inReceptacle Laptop_bar__minus_02_dot_57_bar__plus_00_dot_58_bar__minus_02_dot_51 CoffeeTable_bar__minus_02_dot_47_bar__plus_00_dot_00_bar__minus_02_dot_49)\n (inReceptacle Vase_bar__minus_02_dot_68_bar__plus_00_dot_59_bar__minus_02_dot_00 CoffeeTable_bar__minus_02_dot_47_bar__plus_00_dot_00_bar__minus_02_dot_49)\n (inReceptacle RemoteControl_bar__minus_02_dot_15_bar__plus_00_dot_59_bar__minus_02_dot_66 CoffeeTable_bar__minus_02_dot_47_bar__plus_00_dot_00_bar__minus_02_dot_49)\n (inReceptacle Book_bar__minus_02_dot_15_bar__plus_00_dot_59_bar__minus_02_dot_33 CoffeeTable_bar__minus_02_dot_47_bar__plus_00_dot_00_bar__minus_02_dot_49)\n (inReceptacle Watch_bar__minus_02_dot_36_bar__plus_00_dot_59_bar__minus_02_dot_66 CoffeeTable_bar__minus_02_dot_47_bar__plus_00_dot_00_bar__minus_02_dot_49)\n (inReceptacle Pen_bar__minus_02_dot_47_bar__plus_00_dot_59_bar__minus_02_dot_00 CoffeeTable_bar__minus_02_dot_47_bar__plus_00_dot_00_bar__minus_02_dot_49)\n \n \n (receptacleAtLocation ArmChair_bar__minus_04_dot_39_bar__plus_00_dot_00_bar__minus_03_dot_55 loc_bar__minus_13_bar__minus_15_bar_3_bar_60)\n (receptacleAtLocation CoffeeTable_bar__minus_02_dot_47_bar__plus_00_dot_00_bar__minus_02_dot_49 loc_bar__minus_5_bar__minus_10_bar_3_bar_60)\n (receptacleAtLocation Drawer_bar__minus_02_dot_98_bar__plus_00_dot_17_bar__minus_05_dot_01 loc_bar__minus_7_bar__minus_18_bar_3_bar_45)\n (receptacleAtLocation Drawer_bar__minus_02_dot_98_bar__plus_00_dot_48_bar__minus_05_dot_01 loc_bar__minus_16_bar__minus_18_bar_1_bar_45)\n (receptacleAtLocation Drawer_bar__minus_04_dot_02_bar__plus_00_dot_17_bar__minus_05_dot_01 loc_bar__minus_16_bar__minus_18_bar_2_bar_60)\n (receptacleAtLocation Drawer_bar__minus_04_dot_02_bar__plus_00_dot_48_bar__minus_05_dot_01 loc_bar__minus_12_bar__minus_18_bar_3_bar_45)\n (receptacleAtLocation Dresser_bar__minus_03_dot_51_bar__plus_00_dot_00_bar__minus_05_dot_10 loc_bar__minus_13_bar__minus_17_bar_2_bar_60)\n (receptacleAtLocation GarbageCan_bar__minus_00_dot_97_bar__plus_00_dot_00_bar__minus_05_dot_06 loc_bar__minus_6_bar__minus_19_bar_1_bar_60)\n (receptacleAtLocation SideTable_bar__minus_02_dot_02_bar__minus_00_dot_01_bar__minus_05_dot_08 loc_bar__minus_10_bar__minus_17_bar_2_bar_60)\n (receptacleAtLocation SideTable_bar__minus_05_dot_43_bar__minus_00_dot_01_bar__minus_05_dot_12 loc_bar__minus_23_bar__minus_17_bar_2_bar_60)\n (receptacleAtLocation Sofa_bar__minus_04_dot_36_bar__plus_00_dot_00_bar__minus_02_dot_09 loc_bar__minus_13_bar__minus_8_bar_3_bar_60)\n (objectAtLocation Statue_bar__minus_02_dot_93_bar__plus_00_dot_71_bar__minus_05_dot_00 loc_bar__minus_13_bar__minus_17_bar_2_bar_60)\n (objectAtLocation KeyChain_bar__minus_04_dot_41_bar__plus_00_dot_34_bar__minus_03_dot_59 loc_bar__minus_18_bar__minus_17_bar_0_bar_60)\n (objectAtLocation Pen_bar__minus_02_dot_47_bar__plus_00_dot_59_bar__minus_02_dot_00 loc_bar__minus_5_bar__minus_10_bar_3_bar_60)\n (objectAtLocation Watch_bar__minus_02_dot_36_bar__plus_00_dot_59_bar__minus_02_dot_66 loc_bar__minus_5_bar__minus_10_bar_3_bar_60)\n (objectAtLocation KeyChain_bar__minus_04_dot_23_bar__plus_00_dot_34_bar__minus_02_dot_50 loc_bar__minus_13_bar__minus_8_bar_3_bar_60)\n (objectAtLocation Box_bar__minus_04_dot_26_bar__plus_00_dot_58_bar__minus_03_dot_59 loc_bar__minus_13_bar__minus_15_bar_3_bar_60)\n (objectAtLocation Book_bar__minus_02_dot_15_bar__plus_00_dot_59_bar__minus_02_dot_33 loc_bar__minus_5_bar__minus_10_bar_3_bar_60)\n (objectAtLocation Mirror_bar__minus_03_dot_40_bar__plus_02_dot_03_bar__plus_00_dot_00 loc_bar__minus_14_bar__minus_3_bar_0_bar__minus_30)\n (objectAtLocation Newspaper_bar__minus_04_dot_27_bar__plus_00_dot_34_bar__minus_02_dot_16 loc_bar__minus_13_bar__minus_8_bar_3_bar_60)\n (objectAtLocation Watch_bar__minus_02_dot_47_bar__plus_00_dot_59_bar__minus_02_dot_16 loc_bar__minus_5_bar__minus_10_bar_3_bar_60)\n (objectAtLocation Pen_bar__minus_03_dot_22_bar__plus_00_dot_71_bar__minus_05_dot_00 loc_bar__minus_13_bar__minus_17_bar_2_bar_60)\n (objectAtLocation FloorLamp_bar__minus_04_dot_82_bar__plus_00_dot_00_bar__minus_05_dot_12 loc_bar__minus_18_bar__minus_18_bar_2_bar_60)\n (objectAtLocation LightSwitch_bar__minus_05_dot_76_bar__plus_01_dot_33_bar__plus_00_dot_01 loc_bar__minus_23_bar__minus_2_bar_0_bar_30)\n (objectAtLocation WateringCan_bar__minus_07_dot_99_bar__plus_00_dot_00_bar__minus_04_dot_63 loc_bar__minus_31_bar__minus_17_bar_2_bar_60)\n (objectAtLocation Pillow_bar__minus_04_dot_28_bar__plus_00_dot_45_bar__minus_01_dot_74 loc_bar__minus_13_bar__minus_8_bar_3_bar_60)\n (objectAtLocation CreditCard_bar__minus_02_dot_75_bar__plus_00_dot_38_bar__minus_05_dot_03 loc_bar__minus_16_bar__minus_18_bar_1_bar_45)\n (objectAtLocation Vase_bar__minus_04_dot_48_bar__plus_00_dot_70_bar__minus_05_dot_08 loc_bar__minus_13_bar__minus_17_bar_2_bar_60)\n (objectAtLocation KeyChain_bar__minus_02_dot_79_bar__plus_00_dot_59_bar__minus_02_dot_99 loc_bar__minus_5_bar__minus_10_bar_3_bar_60)\n (objectAtLocation Vase_bar__minus_03_dot_50_bar__plus_00_dot_71_bar__minus_05_dot_09 loc_bar__minus_13_bar__minus_17_bar_2_bar_60)\n (objectAtLocation Laptop_bar__minus_02_dot_57_bar__plus_00_dot_58_bar__minus_02_dot_51 loc_bar__minus_5_bar__minus_10_bar_3_bar_60)\n (objectAtLocation HousePlant_bar__minus_05_dot_63_bar__plus_00_dot_48_bar__minus_05_dot_13 loc_bar__minus_23_bar__minus_17_bar_2_bar_60)\n (objectAtLocation Statue_bar__minus_02_dot_65_bar__plus_00_dot_71_bar__minus_05_dot_09 loc_bar__minus_13_bar__minus_17_bar_2_bar_60)\n (objectAtLocation Vase_bar__minus_02_dot_26_bar__plus_00_dot_59_bar__minus_02_dot_00 loc_bar__minus_5_bar__minus_10_bar_3_bar_60)\n (objectAtLocation Painting_bar__minus_03_dot_37_bar__plus_01_dot_80_bar__minus_05_dot_39 loc_bar__minus_13_bar__minus_18_bar_2_bar__minus_15)\n (objectAtLocation RemoteControl_bar__minus_02_dot_15_bar__plus_00_dot_59_bar__minus_02_dot_66 loc_bar__minus_5_bar__minus_10_bar_3_bar_60)\n (objectAtLocation Television_bar__minus_00_dot_61_bar__plus_01_dot_67_bar__minus_02_dot_60 loc_bar__minus_5_bar__minus_10_bar_1_bar_0)\n (objectAtLocation Vase_bar__minus_02_dot_68_bar__plus_00_dot_59_bar__minus_02_dot_00 loc_bar__minus_5_bar__minus_10_bar_3_bar_60)\n (objectAtLocation Window_bar__minus_08_dot_24_bar__plus_01_dot_41_bar__minus_01_dot_51 loc_bar__minus_31_bar__minus_6_bar_3_bar_30)\n (objectAtLocation Window_bar__minus_08_dot_24_bar__plus_01_dot_41_bar__minus_04_dot_08 loc_bar__minus_31_bar__minus_16_bar_3_bar_30)\n )\n \n\n (:goal\n (and\n (exists (?r - receptacle)\n (exists (?o - object)\n (and\n (inReceptacle ?o ?r)\n (objectType ?o VaseType)\n (receptacleType ?r SideTableType)\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to dresser 1", "take vase 2 from dresser 1", "go to sidetable 2", "move vase 2 to sidetable 2"]}
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alfworld__pick_and_place_simple__7
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pick_and_place_simple
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pick_and_place_simple-Vase-None-SideTable-209/trial_T20190909_053321_571622/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 vase 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_053321_571622)\n(:domain alfred)\n(:objects\nagent1 - agent\nSaltShaker - object\n HousePlant - object\n Candle - object\n SprayBottle - object\n Bowl - object\n Window - object\n CD - object\n Egg - object\n Glassbottle - object\n Sink - object\n Pillow - object\n Spoon - object\n SoapBottle - object\n TeddyBear - object\n ButterKnife - object\n Cup - object\n Plate - object\n RemoteControl - object\n Tomato - object\n Statue - object\n HandTowel - object\n Knife - object\n StoveKnob - object\n LightSwitch - object\n Pen - object\n Painting - object\n DishSponge - object\n Vase - object\n Mug - object\n ToiletPaper - object\n Box - object\n Mirror - object\n Ladle - object\n Fork - object\n Blinds - object\n Footstool - object\n KeyChain - object\n Cloth - object\n Laptop - object\n TissueBox - object\n PepperShaker - object\n FloorLamp - object\n WateringCan - object\n Apple - object\n Pan - object\n PaperTowel - object\n PaperTowelRoll - object\n Newspaper - object\n Television - object\n Chair - object\n CellPhone - object\n CreditCard - object\n Lettuce - object\n BasketBall - object\n Potato - object\n Curtains - object\n Boots - object\n Pencil - object\n AlarmClock - object\n ToiletPaperRoll - object\n Spatula - object\n Book - object\n Bread - object\n SoapBar - object\n Watch - object\n DeskLamp - object\n Kettle - object\n Pot - object\n ScrubBrush - object\n WineBottle - object\n ShowerDoor - object\n Bathtub - object\n LaundryHamperLid - object\n ShowerGlass - object\n Poster - object\n TennisRacket - object\n BaseballBat - object\n Towel - object\n Plunger - object\nSaltShakerType - otype\n HousePlantType - otype\n CandleType - otype\n SprayBottleType - otype\n BowlType - otype\n WindowType - otype\n CDType - otype\n EggType - otype\n GlassbottleType - otype\n SinkType - otype\n PillowType - otype\n SpoonType - otype\n SoapBottleType - otype\n TeddyBearType - otype\n ButterKnifeType - otype\n CupType - otype\n PlateType - otype\n RemoteControlType - otype\n TomatoType - otype\n StatueType - otype\n HandTowelType - otype\n KnifeType - otype\n StoveKnobType - otype\n LightSwitchType - otype\n PenType - otype\n PaintingType - otype\n DishSpongeType - otype\n VaseType - otype\n MugType - otype\n ToiletPaperType - otype\n BoxType - otype\n MirrorType - otype\n LadleType - otype\n ForkType - otype\n BlindsType - otype\n FootstoolType - otype\n KeyChainType - otype\n ClothType - otype\n LaptopType - otype\n TissueBoxType - otype\n PepperShakerType - otype\n FloorLampType - otype\n WateringCanType - otype\n AppleType - otype\n PanType - otype\n PaperTowelType - otype\n PaperTowelRollType - otype\n NewspaperType - otype\n TelevisionType - otype\n ChairType - otype\n CellPhoneType - otype\n CreditCardType - otype\n LettuceType - otype\n BasketBallType - otype\n PotatoType - otype\n CurtainsType - otype\n BootsType - otype\n PencilType - otype\n AlarmClockType - otype\n ToiletPaperRollType - otype\n SpatulaType - otype\n BookType - otype\n BreadType - otype\n SoapBarType - otype\n WatchType - otype\n DeskLampType - otype\n KettleType - otype\n PotType - otype\n ScrubBrushType - otype\n WineBottleType - otype\n ShowerDoorType - otype\n BathtubType - otype\n LaundryHamperLidType - otype\n ShowerGlassType - otype\n PosterType - otype\n TennisRacketType - otype\n BaseballBatType - otype\n TowelType - otype\n PlungerType - otype\nSafeType - rtype\n DrawerType - rtype\n CoffeeMachineType - rtype\n HandTowelHolderType - rtype\n SinkBasinType - rtype\n DresserType - rtype\n LaundryHamperType - rtype\n TVStandType - rtype\n BathtubBasinType - rtype\n CabinetType - rtype\n FridgeType - rtype\n DeskType - rtype\n ToiletType - rtype\n CartType - rtype\n SideTableType - rtype\n SofaType - rtype\n CoffeeTableType - rtype\n DiningTableType - rtype\n CounterTopType - rtype\n GarbageCanType - rtype\n ArmChairType - rtype\n ShelfType - rtype\n MicrowaveType - rtype\n ToasterType - rtype\n BedType - rtype\n PaintingHangerType - rtype\n TowelHolderType - rtype\n ToiletPaperHangerType - rtype\n StoveBurnerType - rtype\n OttomanType - rtype\n\n\n Book_bar__minus_01_dot_93_bar__plus_00_dot_48_bar__minus_05_dot_03 - object\n Box_bar__minus_02_dot_36_bar__plus_00_dot_26_bar__minus_01_dot_65 - object\n CreditCard_bar__minus_04_dot_34_bar__plus_00_dot_34_bar__minus_03_dot_37 - object\n FloorLamp_bar__minus_04_dot_82_bar__plus_00_dot_00_bar__minus_05_dot_12 - object\n HousePlant_bar__minus_05_dot_63_bar__plus_00_dot_48_bar__minus_05_dot_13 - object\n KeyChain_bar__minus_02_dot_93_bar__plus_00_dot_70_bar__minus_05_dot_00 - object\n KeyChain_bar__minus_04_dot_19_bar__plus_00_dot_34_bar__minus_03_dot_30 - object\n KeyChain_bar__minus_04_dot_23_bar__plus_00_dot_33_bar__minus_01_dot_46 - object\n Laptop_bar__minus_02_dot_36_bar__plus_00_dot_59_bar__minus_02_dot_00 - object\n Laptop_bar__minus_02_dot_57_bar__plus_00_dot_58_bar__minus_02_dot_51 - object\n Laptop_bar__minus_03_dot_50_bar__plus_00_dot_70_bar__minus_05_dot_09 - object\n LightSwitch_bar__minus_05_dot_76_bar__plus_01_dot_33_bar__plus_00_dot_01 - object\n Mirror_bar__minus_03_dot_40_bar__plus_02_dot_03_bar__plus_00_dot_00 - object\n Newspaper_bar__minus_04_dot_19_bar__plus_00_dot_34_bar__minus_03_dot_59 - object\n Painting_bar__minus_03_dot_37_bar__plus_01_dot_80_bar__minus_05_dot_39 - object\n Pen_bar__minus_02_dot_65_bar__plus_00_dot_71_bar__minus_05_dot_24 - object\n Pen_bar__minus_04_dot_36_bar__plus_00_dot_71_bar__minus_05_dot_19 - object\n Pillow_bar__minus_04_dot_28_bar__plus_00_dot_45_bar__minus_01_dot_74 - object\n RemoteControl_bar__minus_02_dot_79_bar__plus_00_dot_59_bar__minus_02_dot_33 - object\n RemoteControl_bar__minus_05_dot_32_bar__plus_00_dot_48_bar__minus_05_dot_09 - object\n Statue_bar__minus_02_dot_26_bar__plus_00_dot_59_bar__minus_02_dot_99 - object\n Television_bar__minus_00_dot_61_bar__plus_01_dot_67_bar__minus_02_dot_60 - object\n Vase_bar__minus_02_dot_15_bar__plus_00_dot_59_bar__minus_02_dot_82 - object\n Vase_bar__minus_03_dot_90_bar__plus_00_dot_70_bar__minus_05_dot_10 - object\n Vase_bar__minus_04_dot_22_bar__plus_00_dot_70_bar__minus_05_dot_05 - object\n Vase_bar__minus_04_dot_48_bar__plus_00_dot_70_bar__minus_05_dot_08 - object\n Watch_bar__minus_03_dot_22_bar__plus_00_dot_70_bar__minus_05_dot_09 - object\n WateringCan_bar__minus_07_dot_99_bar__plus_00_dot_00_bar__minus_04_dot_63 - object\n Window_bar__minus_08_dot_24_bar__plus_01_dot_41_bar__minus_01_dot_51 - object\n Window_bar__minus_08_dot_24_bar__plus_01_dot_41_bar__minus_04_dot_08 - object\n ArmChair_bar__minus_04_dot_39_bar__plus_00_dot_00_bar__minus_03_dot_55 - receptacle\n CoffeeTable_bar__minus_02_dot_47_bar__plus_00_dot_00_bar__minus_02_dot_49 - receptacle\n Drawer_bar__minus_02_dot_98_bar__plus_00_dot_17_bar__minus_05_dot_01 - receptacle\n Drawer_bar__minus_02_dot_98_bar__plus_00_dot_48_bar__minus_05_dot_01 - receptacle\n Drawer_bar__minus_04_dot_02_bar__plus_00_dot_17_bar__minus_05_dot_01 - receptacle\n Drawer_bar__minus_04_dot_02_bar__plus_00_dot_48_bar__minus_05_dot_01 - receptacle\n Dresser_bar__minus_03_dot_51_bar__plus_00_dot_00_bar__minus_05_dot_10 - receptacle\n GarbageCan_bar__minus_00_dot_97_bar__plus_00_dot_00_bar__minus_05_dot_06 - receptacle\n SideTable_bar__minus_02_dot_02_bar__minus_00_dot_01_bar__minus_05_dot_08 - receptacle\n SideTable_bar__minus_05_dot_43_bar__minus_00_dot_01_bar__minus_05_dot_12 - receptacle\n Sofa_bar__minus_04_dot_36_bar__plus_00_dot_00_bar__minus_02_dot_09 - receptacle\n loc_bar__minus_15_bar__minus_6_bar_3_bar_60 - location\n loc_bar__minus_31_bar__minus_6_bar_3_bar_30 - location\n loc_bar__minus_7_bar__minus_18_bar_3_bar_45 - location\n loc_bar__minus_16_bar__minus_18_bar_1_bar_45 - location\n loc_bar__minus_18_bar__minus_18_bar_2_bar_60 - location\n loc_bar__minus_31_bar__minus_16_bar_3_bar_30 - location\n loc_bar__minus_8_bar__minus_6_bar_3_bar_60 - location\n loc_bar__minus_6_bar__minus_19_bar_1_bar_60 - location\n loc_bar__minus_31_bar__minus_17_bar_2_bar_60 - location\n loc_bar__minus_15_bar__minus_13_bar_3_bar_60 - location\n loc_bar__minus_13_bar__minus_15_bar_3_bar_60 - location\n loc_bar__minus_23_bar__minus_17_bar_2_bar_60 - location\n loc_bar__minus_13_bar__minus_17_bar_2_bar_60 - location\n loc_bar__minus_13_bar__minus_8_bar_3_bar_60 - location\n loc_bar__minus_14_bar__minus_3_bar_0_bar__minus_30 - location\n loc_bar__minus_16_bar__minus_18_bar_2_bar_60 - location\n loc_bar__minus_5_bar__minus_10_bar_1_bar_0 - location\n loc_bar__minus_5_bar__minus_10_bar_3_bar_60 - location\n loc_bar__minus_10_bar__minus_17_bar_2_bar_60 - location\n loc_bar__minus_12_bar__minus_18_bar_3_bar_45 - location\n loc_bar__minus_13_bar__minus_18_bar_2_bar__minus_15 - location\n loc_bar__minus_23_bar__minus_2_bar_0_bar_30 - location\n loc_bar__minus_4_bar__minus_7_bar_2_bar_30 - location\n )\n \n\n(:init\n\n\n (receptacleType ArmChair_bar__minus_04_dot_39_bar__plus_00_dot_00_bar__minus_03_dot_55 ArmChairType)\n (receptacleType GarbageCan_bar__minus_00_dot_97_bar__plus_00_dot_00_bar__minus_05_dot_06 GarbageCanType)\n (receptacleType Drawer_bar__minus_02_dot_98_bar__plus_00_dot_48_bar__minus_05_dot_01 DrawerType)\n (receptacleType SideTable_bar__minus_02_dot_02_bar__minus_00_dot_01_bar__minus_05_dot_08 SideTableType)\n (receptacleType SideTable_bar__minus_05_dot_43_bar__minus_00_dot_01_bar__minus_05_dot_12 SideTableType)\n (receptacleType Drawer_bar__minus_04_dot_02_bar__plus_00_dot_48_bar__minus_05_dot_01 DrawerType)\n (receptacleType Dresser_bar__minus_03_dot_51_bar__plus_00_dot_00_bar__minus_05_dot_10 DresserType)\n (receptacleType Drawer_bar__minus_02_dot_98_bar__plus_00_dot_17_bar__minus_05_dot_01 DrawerType)\n (receptacleType CoffeeTable_bar__minus_02_dot_47_bar__plus_00_dot_00_bar__minus_02_dot_49 CoffeeTableType)\n (receptacleType Drawer_bar__minus_04_dot_02_bar__plus_00_dot_17_bar__minus_05_dot_01 DrawerType)\n (receptacleType Sofa_bar__minus_04_dot_36_bar__plus_00_dot_00_bar__minus_02_dot_09 SofaType)\n (objectType LightSwitch_bar__minus_05_dot_76_bar__plus_01_dot_33_bar__plus_00_dot_01 LightSwitchType)\n (objectType WateringCan_bar__minus_07_dot_99_bar__plus_00_dot_00_bar__minus_04_dot_63 WateringCanType)\n (objectType Vase_bar__minus_02_dot_15_bar__plus_00_dot_59_bar__minus_02_dot_82 VaseType)\n (objectType Vase_bar__minus_04_dot_48_bar__plus_00_dot_70_bar__minus_05_dot_08 VaseType)\n (objectType Pen_bar__minus_02_dot_65_bar__plus_00_dot_71_bar__minus_05_dot_24 PenType)\n (objectType Newspaper_bar__minus_04_dot_19_bar__plus_00_dot_34_bar__minus_03_dot_59 NewspaperType)\n (objectType Vase_bar__minus_03_dot_90_bar__plus_00_dot_70_bar__minus_05_dot_10 VaseType)\n (objectType FloorLamp_bar__minus_04_dot_82_bar__plus_00_dot_00_bar__minus_05_dot_12 FloorLampType)\n (objectType RemoteControl_bar__minus_05_dot_32_bar__plus_00_dot_48_bar__minus_05_dot_09 RemoteControlType)\n (objectType Window_bar__minus_08_dot_24_bar__plus_01_dot_41_bar__minus_01_dot_51 WindowType)\n (objectType Laptop_bar__minus_02_dot_36_bar__plus_00_dot_59_bar__minus_02_dot_00 LaptopType)\n (objectType Television_bar__minus_00_dot_61_bar__plus_01_dot_67_bar__minus_02_dot_60 TelevisionType)\n (objectType Box_bar__minus_02_dot_36_bar__plus_00_dot_26_bar__minus_01_dot_65 BoxType)\n (objectType Mirror_bar__minus_03_dot_40_bar__plus_02_dot_03_bar__plus_00_dot_00 MirrorType)\n (objectType Statue_bar__minus_02_dot_26_bar__plus_00_dot_59_bar__minus_02_dot_99 StatueType)\n (objectType Window_bar__minus_08_dot_24_bar__plus_01_dot_41_bar__minus_04_dot_08 WindowType)\n (objectType HousePlant_bar__minus_05_dot_63_bar__plus_00_dot_48_bar__minus_05_dot_13 HousePlantType)\n (objectType Watch_bar__minus_03_dot_22_bar__plus_00_dot_70_bar__minus_05_dot_09 WatchType)\n (objectType CreditCard_bar__minus_04_dot_34_bar__plus_00_dot_34_bar__minus_03_dot_37 CreditCardType)\n (objectType Pillow_bar__minus_04_dot_28_bar__plus_00_dot_45_bar__minus_01_dot_74 PillowType)\n (objectType Pen_bar__minus_04_dot_36_bar__plus_00_dot_71_bar__minus_05_dot_19 PenType)\n (objectType Laptop_bar__minus_03_dot_50_bar__plus_00_dot_70_bar__minus_05_dot_09 LaptopType)\n (objectType Book_bar__minus_01_dot_93_bar__plus_00_dot_48_bar__minus_05_dot_03 BookType)\n (objectType KeyChain_bar__minus_02_dot_93_bar__plus_00_dot_70_bar__minus_05_dot_00 KeyChainType)\n (objectType KeyChain_bar__minus_04_dot_23_bar__plus_00_dot_33_bar__minus_01_dot_46 KeyChainType)\n (objectType RemoteControl_bar__minus_02_dot_79_bar__plus_00_dot_59_bar__minus_02_dot_33 RemoteControlType)\n (objectType Vase_bar__minus_04_dot_22_bar__plus_00_dot_70_bar__minus_05_dot_05 VaseType)\n (objectType Laptop_bar__minus_02_dot_57_bar__plus_00_dot_58_bar__minus_02_dot_51 LaptopType)\n (objectType Painting_bar__minus_03_dot_37_bar__plus_01_dot_80_bar__minus_05_dot_39 PaintingType)\n (objectType KeyChain_bar__minus_04_dot_19_bar__plus_00_dot_34_bar__minus_03_dot_30 KeyChainType)\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 NewspaperType)\n (canContain ArmChairType CreditCardType)\n (canContain GarbageCanType PenType)\n (canContain GarbageCanType NewspaperType)\n (canContain DrawerType PenType)\n (canContain DrawerType BookType)\n (canContain DrawerType WatchType)\n (canContain DrawerType NewspaperType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType RemoteControlType)\n (canContain DrawerType WateringCanType)\n (canContain SideTableType PenType)\n (canContain SideTableType BookType)\n (canContain SideTableType WatchType)\n (canContain SideTableType NewspaperType)\n (canContain SideTableType VaseType)\n (canContain SideTableType BoxType)\n (canContain SideTableType KeyChainType)\n (canContain SideTableType CreditCardType)\n (canContain SideTableType LaptopType)\n (canContain SideTableType RemoteControlType)\n (canContain SideTableType StatueType)\n (canContain SideTableType WateringCanType)\n (canContain SideTableType PenType)\n (canContain SideTableType BookType)\n (canContain SideTableType WatchType)\n (canContain SideTableType NewspaperType)\n (canContain SideTableType VaseType)\n (canContain SideTableType BoxType)\n (canContain SideTableType KeyChainType)\n (canContain SideTableType CreditCardType)\n (canContain SideTableType LaptopType)\n (canContain SideTableType RemoteControlType)\n (canContain SideTableType StatueType)\n (canContain SideTableType WateringCanType)\n (canContain DrawerType PenType)\n (canContain DrawerType BookType)\n (canContain DrawerType WatchType)\n (canContain DrawerType NewspaperType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType RemoteControlType)\n (canContain DrawerType WateringCanType)\n (canContain DresserType PenType)\n (canContain DresserType BookType)\n (canContain DresserType WatchType)\n (canContain DresserType NewspaperType)\n (canContain DresserType VaseType)\n (canContain DresserType BoxType)\n (canContain DresserType KeyChainType)\n (canContain DresserType CreditCardType)\n (canContain DresserType LaptopType)\n (canContain DresserType RemoteControlType)\n (canContain DresserType StatueType)\n (canContain DresserType WateringCanType)\n (canContain DrawerType PenType)\n (canContain DrawerType BookType)\n (canContain DrawerType WatchType)\n (canContain DrawerType NewspaperType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType RemoteControlType)\n (canContain DrawerType WateringCanType)\n (canContain CoffeeTableType PenType)\n (canContain CoffeeTableType BookType)\n (canContain CoffeeTableType WatchType)\n (canContain CoffeeTableType NewspaperType)\n (canContain CoffeeTableType VaseType)\n (canContain CoffeeTableType BoxType)\n (canContain CoffeeTableType KeyChainType)\n (canContain CoffeeTableType CreditCardType)\n (canContain CoffeeTableType LaptopType)\n (canContain CoffeeTableType RemoteControlType)\n (canContain CoffeeTableType StatueType)\n (canContain CoffeeTableType WateringCanType)\n (canContain DrawerType PenType)\n (canContain DrawerType BookType)\n (canContain DrawerType WatchType)\n (canContain DrawerType NewspaperType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType RemoteControlType)\n (canContain DrawerType WateringCanType)\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 NewspaperType)\n (canContain SofaType CreditCardType)\n (pickupable WateringCan_bar__minus_07_dot_99_bar__plus_00_dot_00_bar__minus_04_dot_63)\n (pickupable Vase_bar__minus_02_dot_15_bar__plus_00_dot_59_bar__minus_02_dot_82)\n (pickupable Vase_bar__minus_04_dot_48_bar__plus_00_dot_70_bar__minus_05_dot_08)\n (pickupable Pen_bar__minus_02_dot_65_bar__plus_00_dot_71_bar__minus_05_dot_24)\n (pickupable Newspaper_bar__minus_04_dot_19_bar__plus_00_dot_34_bar__minus_03_dot_59)\n (pickupable Vase_bar__minus_03_dot_90_bar__plus_00_dot_70_bar__minus_05_dot_10)\n (pickupable RemoteControl_bar__minus_05_dot_32_bar__plus_00_dot_48_bar__minus_05_dot_09)\n (pickupable Laptop_bar__minus_02_dot_36_bar__plus_00_dot_59_bar__minus_02_dot_00)\n (pickupable Box_bar__minus_02_dot_36_bar__plus_00_dot_26_bar__minus_01_dot_65)\n (pickupable Statue_bar__minus_02_dot_26_bar__plus_00_dot_59_bar__minus_02_dot_99)\n (pickupable Watch_bar__minus_03_dot_22_bar__plus_00_dot_70_bar__minus_05_dot_09)\n (pickupable CreditCard_bar__minus_04_dot_34_bar__plus_00_dot_34_bar__minus_03_dot_37)\n (pickupable Pillow_bar__minus_04_dot_28_bar__plus_00_dot_45_bar__minus_01_dot_74)\n (pickupable Pen_bar__minus_04_dot_36_bar__plus_00_dot_71_bar__minus_05_dot_19)\n (pickupable Laptop_bar__minus_03_dot_50_bar__plus_00_dot_70_bar__minus_05_dot_09)\n (pickupable Book_bar__minus_01_dot_93_bar__plus_00_dot_48_bar__minus_05_dot_03)\n (pickupable KeyChain_bar__minus_02_dot_93_bar__plus_00_dot_70_bar__minus_05_dot_00)\n (pickupable KeyChain_bar__minus_04_dot_23_bar__plus_00_dot_33_bar__minus_01_dot_46)\n (pickupable RemoteControl_bar__minus_02_dot_79_bar__plus_00_dot_59_bar__minus_02_dot_33)\n (pickupable Vase_bar__minus_04_dot_22_bar__plus_00_dot_70_bar__minus_05_dot_05)\n (pickupable Laptop_bar__minus_02_dot_57_bar__plus_00_dot_58_bar__minus_02_dot_51)\n (pickupable KeyChain_bar__minus_04_dot_19_bar__plus_00_dot_34_bar__minus_03_dot_30)\n (isReceptacleObject Box_bar__minus_02_dot_36_bar__plus_00_dot_26_bar__minus_01_dot_65)\n (openable Drawer_bar__minus_02_dot_98_bar__plus_00_dot_48_bar__minus_05_dot_01)\n (openable Drawer_bar__minus_04_dot_02_bar__plus_00_dot_48_bar__minus_05_dot_01)\n (openable Drawer_bar__minus_02_dot_98_bar__plus_00_dot_17_bar__minus_05_dot_01)\n \n (atLocation agent1 loc_bar__minus_4_bar__minus_7_bar_2_bar_30)\n \n \n \n \n \n \n \n (toggleable FloorLamp_bar__minus_04_dot_82_bar__plus_00_dot_00_bar__minus_05_dot_12)\n \n \n \n \n (inReceptacle KeyChain_bar__minus_02_dot_93_bar__plus_00_dot_70_bar__minus_05_dot_00 Dresser_bar__minus_03_dot_51_bar__plus_00_dot_00_bar__minus_05_dot_10)\n (inReceptacle Vase_bar__minus_04_dot_22_bar__plus_00_dot_70_bar__minus_05_dot_05 Dresser_bar__minus_03_dot_51_bar__plus_00_dot_00_bar__minus_05_dot_10)\n (inReceptacle Watch_bar__minus_03_dot_22_bar__plus_00_dot_70_bar__minus_05_dot_09 Dresser_bar__minus_03_dot_51_bar__plus_00_dot_00_bar__minus_05_dot_10)\n (inReceptacle Pen_bar__minus_04_dot_36_bar__plus_00_dot_71_bar__minus_05_dot_19 Dresser_bar__minus_03_dot_51_bar__plus_00_dot_00_bar__minus_05_dot_10)\n (inReceptacle Laptop_bar__minus_03_dot_50_bar__plus_00_dot_70_bar__minus_05_dot_09 Dresser_bar__minus_03_dot_51_bar__plus_00_dot_00_bar__minus_05_dot_10)\n (inReceptacle Vase_bar__minus_04_dot_48_bar__plus_00_dot_70_bar__minus_05_dot_08 Dresser_bar__minus_03_dot_51_bar__plus_00_dot_00_bar__minus_05_dot_10)\n (inReceptacle Pen_bar__minus_02_dot_65_bar__plus_00_dot_71_bar__minus_05_dot_24 Dresser_bar__minus_03_dot_51_bar__plus_00_dot_00_bar__minus_05_dot_10)\n (inReceptacle Vase_bar__minus_03_dot_90_bar__plus_00_dot_70_bar__minus_05_dot_10 Dresser_bar__minus_03_dot_51_bar__plus_00_dot_00_bar__minus_05_dot_10)\n (inReceptacle RemoteControl_bar__minus_05_dot_32_bar__plus_00_dot_48_bar__minus_05_dot_09 SideTable_bar__minus_05_dot_43_bar__minus_00_dot_01_bar__minus_05_dot_12)\n (inReceptacle HousePlant_bar__minus_05_dot_63_bar__plus_00_dot_48_bar__minus_05_dot_13 SideTable_bar__minus_05_dot_43_bar__minus_00_dot_01_bar__minus_05_dot_12)\n (inReceptacle Newspaper_bar__minus_04_dot_19_bar__plus_00_dot_34_bar__minus_03_dot_59 ArmChair_bar__minus_04_dot_39_bar__plus_00_dot_00_bar__minus_03_dot_55)\n (inReceptacle CreditCard_bar__minus_04_dot_34_bar__plus_00_dot_34_bar__minus_03_dot_37 ArmChair_bar__minus_04_dot_39_bar__plus_00_dot_00_bar__minus_03_dot_55)\n (inReceptacle Pillow_bar__minus_04_dot_28_bar__plus_00_dot_45_bar__minus_01_dot_74 Sofa_bar__minus_04_dot_36_bar__plus_00_dot_00_bar__minus_02_dot_09)\n (inReceptacle RemoteControl_bar__minus_02_dot_79_bar__plus_00_dot_59_bar__minus_02_dot_33 CoffeeTable_bar__minus_02_dot_47_bar__plus_00_dot_00_bar__minus_02_dot_49)\n (inReceptacle Laptop_bar__minus_02_dot_57_bar__plus_00_dot_58_bar__minus_02_dot_51 CoffeeTable_bar__minus_02_dot_47_bar__plus_00_dot_00_bar__minus_02_dot_49)\n (inReceptacle Vase_bar__minus_02_dot_15_bar__plus_00_dot_59_bar__minus_02_dot_82 CoffeeTable_bar__minus_02_dot_47_bar__plus_00_dot_00_bar__minus_02_dot_49)\n (inReceptacle Laptop_bar__minus_02_dot_36_bar__plus_00_dot_59_bar__minus_02_dot_00 CoffeeTable_bar__minus_02_dot_47_bar__plus_00_dot_00_bar__minus_02_dot_49)\n (inReceptacle Statue_bar__minus_02_dot_26_bar__plus_00_dot_59_bar__minus_02_dot_99 CoffeeTable_bar__minus_02_dot_47_bar__plus_00_dot_00_bar__minus_02_dot_49)\n (inReceptacle Book_bar__minus_01_dot_93_bar__plus_00_dot_48_bar__minus_05_dot_03 SideTable_bar__minus_02_dot_02_bar__minus_00_dot_01_bar__minus_05_dot_08)\n \n \n (receptacleAtLocation ArmChair_bar__minus_04_dot_39_bar__plus_00_dot_00_bar__minus_03_dot_55 loc_bar__minus_13_bar__minus_15_bar_3_bar_60)\n (receptacleAtLocation CoffeeTable_bar__minus_02_dot_47_bar__plus_00_dot_00_bar__minus_02_dot_49 loc_bar__minus_5_bar__minus_10_bar_3_bar_60)\n (receptacleAtLocation Drawer_bar__minus_02_dot_98_bar__plus_00_dot_17_bar__minus_05_dot_01 loc_bar__minus_7_bar__minus_18_bar_3_bar_45)\n (receptacleAtLocation Drawer_bar__minus_02_dot_98_bar__plus_00_dot_48_bar__minus_05_dot_01 loc_bar__minus_16_bar__minus_18_bar_1_bar_45)\n (receptacleAtLocation Drawer_bar__minus_04_dot_02_bar__plus_00_dot_17_bar__minus_05_dot_01 loc_bar__minus_16_bar__minus_18_bar_2_bar_60)\n (receptacleAtLocation Drawer_bar__minus_04_dot_02_bar__plus_00_dot_48_bar__minus_05_dot_01 loc_bar__minus_12_bar__minus_18_bar_3_bar_45)\n (receptacleAtLocation Dresser_bar__minus_03_dot_51_bar__plus_00_dot_00_bar__minus_05_dot_10 loc_bar__minus_13_bar__minus_17_bar_2_bar_60)\n (receptacleAtLocation GarbageCan_bar__minus_00_dot_97_bar__plus_00_dot_00_bar__minus_05_dot_06 loc_bar__minus_6_bar__minus_19_bar_1_bar_60)\n (receptacleAtLocation SideTable_bar__minus_02_dot_02_bar__minus_00_dot_01_bar__minus_05_dot_08 loc_bar__minus_10_bar__minus_17_bar_2_bar_60)\n (receptacleAtLocation SideTable_bar__minus_05_dot_43_bar__minus_00_dot_01_bar__minus_05_dot_12 loc_bar__minus_23_bar__minus_17_bar_2_bar_60)\n (receptacleAtLocation Sofa_bar__minus_04_dot_36_bar__plus_00_dot_00_bar__minus_02_dot_09 loc_bar__minus_13_bar__minus_8_bar_3_bar_60)\n (objectAtLocation RemoteControl_bar__minus_02_dot_79_bar__plus_00_dot_59_bar__minus_02_dot_33 loc_bar__minus_5_bar__minus_10_bar_3_bar_60)\n (objectAtLocation Laptop_bar__minus_02_dot_57_bar__plus_00_dot_58_bar__minus_02_dot_51 loc_bar__minus_5_bar__minus_10_bar_3_bar_60)\n (objectAtLocation KeyChain_bar__minus_04_dot_23_bar__plus_00_dot_33_bar__minus_01_dot_46 loc_bar__minus_15_bar__minus_6_bar_3_bar_60)\n (objectAtLocation Pen_bar__minus_04_dot_36_bar__plus_00_dot_71_bar__minus_05_dot_19 loc_bar__minus_13_bar__minus_17_bar_2_bar_60)\n (objectAtLocation Laptop_bar__minus_03_dot_50_bar__plus_00_dot_70_bar__minus_05_dot_09 loc_bar__minus_13_bar__minus_17_bar_2_bar_60)\n (objectAtLocation KeyChain_bar__minus_02_dot_93_bar__plus_00_dot_70_bar__minus_05_dot_00 loc_bar__minus_13_bar__minus_17_bar_2_bar_60)\n (objectAtLocation Box_bar__minus_02_dot_36_bar__plus_00_dot_26_bar__minus_01_dot_65 loc_bar__minus_8_bar__minus_6_bar_3_bar_60)\n (objectAtLocation Book_bar__minus_01_dot_93_bar__plus_00_dot_48_bar__minus_05_dot_03 loc_bar__minus_10_bar__minus_17_bar_2_bar_60)\n (objectAtLocation Mirror_bar__minus_03_dot_40_bar__plus_02_dot_03_bar__plus_00_dot_00 loc_bar__minus_14_bar__minus_3_bar_0_bar__minus_30)\n (objectAtLocation Newspaper_bar__minus_04_dot_19_bar__plus_00_dot_34_bar__minus_03_dot_59 loc_bar__minus_13_bar__minus_15_bar_3_bar_60)\n (objectAtLocation Watch_bar__minus_03_dot_22_bar__plus_00_dot_70_bar__minus_05_dot_09 loc_bar__minus_13_bar__minus_17_bar_2_bar_60)\n (objectAtLocation Pen_bar__minus_02_dot_65_bar__plus_00_dot_71_bar__minus_05_dot_24 loc_bar__minus_13_bar__minus_17_bar_2_bar_60)\n (objectAtLocation FloorLamp_bar__minus_04_dot_82_bar__plus_00_dot_00_bar__minus_05_dot_12 loc_bar__minus_18_bar__minus_18_bar_2_bar_60)\n (objectAtLocation LightSwitch_bar__minus_05_dot_76_bar__plus_01_dot_33_bar__plus_00_dot_01 loc_bar__minus_23_bar__minus_2_bar_0_bar_30)\n (objectAtLocation WateringCan_bar__minus_07_dot_99_bar__plus_00_dot_00_bar__minus_04_dot_63 loc_bar__minus_31_bar__minus_17_bar_2_bar_60)\n (objectAtLocation Pillow_bar__minus_04_dot_28_bar__plus_00_dot_45_bar__minus_01_dot_74 loc_bar__minus_13_bar__minus_8_bar_3_bar_60)\n (objectAtLocation CreditCard_bar__minus_04_dot_34_bar__plus_00_dot_34_bar__minus_03_dot_37 loc_bar__minus_13_bar__minus_15_bar_3_bar_60)\n (objectAtLocation Vase_bar__minus_04_dot_48_bar__plus_00_dot_70_bar__minus_05_dot_08 loc_bar__minus_13_bar__minus_17_bar_2_bar_60)\n (objectAtLocation KeyChain_bar__minus_04_dot_19_bar__plus_00_dot_34_bar__minus_03_dot_30 loc_bar__minus_15_bar__minus_13_bar_3_bar_60)\n (objectAtLocation Vase_bar__minus_04_dot_22_bar__plus_00_dot_70_bar__minus_05_dot_05 loc_bar__minus_13_bar__minus_17_bar_2_bar_60)\n (objectAtLocation Laptop_bar__minus_02_dot_36_bar__plus_00_dot_59_bar__minus_02_dot_00 loc_bar__minus_5_bar__minus_10_bar_3_bar_60)\n (objectAtLocation HousePlant_bar__minus_05_dot_63_bar__plus_00_dot_48_bar__minus_05_dot_13 loc_bar__minus_23_bar__minus_17_bar_2_bar_60)\n (objectAtLocation Statue_bar__minus_02_dot_26_bar__plus_00_dot_59_bar__minus_02_dot_99 loc_bar__minus_5_bar__minus_10_bar_3_bar_60)\n (objectAtLocation Vase_bar__minus_03_dot_90_bar__plus_00_dot_70_bar__minus_05_dot_10 loc_bar__minus_13_bar__minus_17_bar_2_bar_60)\n (objectAtLocation Painting_bar__minus_03_dot_37_bar__plus_01_dot_80_bar__minus_05_dot_39 loc_bar__minus_13_bar__minus_18_bar_2_bar__minus_15)\n (objectAtLocation RemoteControl_bar__minus_05_dot_32_bar__plus_00_dot_48_bar__minus_05_dot_09 loc_bar__minus_23_bar__minus_17_bar_2_bar_60)\n (objectAtLocation Television_bar__minus_00_dot_61_bar__plus_01_dot_67_bar__minus_02_dot_60 loc_bar__minus_5_bar__minus_10_bar_1_bar_0)\n (objectAtLocation Vase_bar__minus_02_dot_15_bar__plus_00_dot_59_bar__minus_02_dot_82 loc_bar__minus_5_bar__minus_10_bar_3_bar_60)\n (objectAtLocation Window_bar__minus_08_dot_24_bar__plus_01_dot_41_bar__minus_01_dot_51 loc_bar__minus_31_bar__minus_6_bar_3_bar_30)\n (objectAtLocation Window_bar__minus_08_dot_24_bar__plus_01_dot_41_bar__minus_04_dot_08 loc_bar__minus_31_bar__minus_16_bar_3_bar_30)\n )\n \n\n (:goal\n (and\n (exists (?r - receptacle)\n (exists (?o - object)\n (and\n (inReceptacle ?o ?r)\n (objectType ?o VaseType)\n (receptacleType ?r SideTableType)\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to dresser 1", "take vase 3 from dresser 1", "go to sidetable 2", "move vase 3 to sidetable 2"]}
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alfworld__pick_clean_then_place_in_recep__3
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pick_clean_then_place_in_recep
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pick_clean_then_place_in_recep-Mug-None-CoffeeMachine-21/trial_T20190907_143413_653855/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 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_143413_653855)\n(:domain alfred)\n(:objects\nagent1 - agent\nSaltShaker - object\n HousePlant - object\n Candle - object\n SprayBottle - object\n Bowl - object\n Window - object\n CD - object\n Egg - object\n Glassbottle - object\n Sink - object\n Pillow - object\n Spoon - object\n SoapBottle - object\n TeddyBear - object\n ButterKnife - object\n Cup - object\n Plate - object\n RemoteControl - object\n Tomato - object\n Statue - object\n HandTowel - object\n Knife - object\n StoveKnob - object\n LightSwitch - object\n Pen - object\n Painting - object\n DishSponge - object\n Vase - object\n Mug - object\n ToiletPaper - object\n Box - object\n Mirror - object\n Ladle - object\n Fork - object\n Blinds - object\n Footstool - object\n KeyChain - object\n Cloth - object\n Laptop - object\n TissueBox - object\n PepperShaker - object\n FloorLamp - object\n WateringCan - object\n Apple - object\n Pan - object\n PaperTowel - object\n PaperTowelRoll - object\n Newspaper - object\n Television - object\n Chair - object\n CellPhone - object\n CreditCard - object\n Lettuce - object\n BasketBall - object\n Potato - object\n Curtains - object\n Boots - object\n Pencil - object\n AlarmClock - object\n ToiletPaperRoll - object\n Spatula - object\n Book - object\n Bread - object\n SoapBar - object\n Watch - object\n DeskLamp - object\n Kettle - object\n Pot - object\n ScrubBrush - object\n WineBottle - object\n ShowerDoor - object\n Bathtub - object\n LaundryHamperLid - object\n ShowerGlass - object\n Poster - object\n TennisRacket - object\n BaseballBat - object\n Towel - object\n Plunger - object\nSaltShakerType - otype\n HousePlantType - otype\n CandleType - otype\n SprayBottleType - otype\n BowlType - otype\n WindowType - otype\n CDType - otype\n EggType - otype\n GlassbottleType - otype\n SinkType - otype\n PillowType - otype\n SpoonType - otype\n SoapBottleType - otype\n TeddyBearType - otype\n ButterKnifeType - otype\n CupType - otype\n PlateType - otype\n RemoteControlType - otype\n TomatoType - otype\n StatueType - otype\n HandTowelType - otype\n KnifeType - otype\n StoveKnobType - otype\n LightSwitchType - otype\n PenType - otype\n PaintingType - otype\n DishSpongeType - otype\n VaseType - otype\n MugType - otype\n ToiletPaperType - otype\n BoxType - otype\n MirrorType - otype\n LadleType - otype\n ForkType - otype\n BlindsType - otype\n FootstoolType - otype\n KeyChainType - otype\n ClothType - otype\n LaptopType - otype\n TissueBoxType - otype\n PepperShakerType - otype\n FloorLampType - otype\n WateringCanType - otype\n AppleType - otype\n PanType - otype\n PaperTowelType - otype\n PaperTowelRollType - otype\n NewspaperType - otype\n TelevisionType - otype\n ChairType - otype\n CellPhoneType - otype\n CreditCardType - otype\n LettuceType - otype\n BasketBallType - otype\n PotatoType - otype\n CurtainsType - otype\n BootsType - otype\n PencilType - otype\n AlarmClockType - otype\n ToiletPaperRollType - otype\n SpatulaType - otype\n BookType - otype\n BreadType - otype\n SoapBarType - otype\n WatchType - otype\n DeskLampType - otype\n KettleType - otype\n PotType - otype\n ScrubBrushType - otype\n WineBottleType - otype\n ShowerDoorType - otype\n BathtubType - otype\n LaundryHamperLidType - otype\n ShowerGlassType - otype\n PosterType - otype\n TennisRacketType - otype\n BaseballBatType - otype\n TowelType - otype\n PlungerType - otype\nSafeType - rtype\n DrawerType - rtype\n CoffeeMachineType - rtype\n HandTowelHolderType - rtype\n SinkBasinType - rtype\n DresserType - rtype\n LaundryHamperType - rtype\n TVStandType - rtype\n BathtubBasinType - rtype\n CabinetType - rtype\n FridgeType - rtype\n DeskType - rtype\n ToiletType - rtype\n CartType - rtype\n SideTableType - rtype\n SofaType - rtype\n CoffeeTableType - rtype\n DiningTableType - rtype\n CounterTopType - rtype\n GarbageCanType - rtype\n ArmChairType - rtype\n ShelfType - rtype\n MicrowaveType - rtype\n ToasterType - rtype\n BedType - rtype\n PaintingHangerType - rtype\n TowelHolderType - rtype\n ToiletPaperHangerType - rtype\n StoveBurnerType - rtype\n OttomanType - rtype\n\n\n Apple_bar__plus_00_dot_68_bar__plus_00_dot_24_bar__minus_01_dot_80 - object\n Apple_bar__plus_00_dot_84_bar__plus_00_dot_83_bar__minus_00_dot_68 - object\n Apple_bar__minus_02_dot_05_bar__plus_00_dot_76_bar__minus_01_dot_20 - object\n Blinds_bar__minus_02_dot_34_bar__plus_02_dot_15_bar__minus_02_dot_44 - object\n Bowl_bar__plus_00_dot_78_bar__plus_00_dot_66_bar__plus_00_dot_51 - object\n Bowl_bar__plus_00_dot_90_bar__plus_01_dot_46_bar__plus_00_dot_41 - object\n Bread_bar__minus_00_dot_87_bar__plus_00_dot_93_bar__plus_00_dot_98 - object\n ButterKnife_bar__plus_00_dot_75_bar__plus_00_dot_76_bar__minus_00_dot_74 - object\n Chair_bar__minus_01_dot_90_bar__minus_00_dot_03_bar__minus_01_dot_87 - object\n Cup_bar__plus_00_dot_80_bar__plus_00_dot_88_bar__minus_00_dot_25 - object\n Cup_bar__minus_00_dot_05_bar__plus_00_dot_90_bar__plus_00_dot_84 - object\n Cup_bar__minus_01_dot_97_bar__plus_00_dot_70_bar__minus_00_dot_98 - object\n DishSponge_bar__plus_00_dot_58_bar__plus_00_dot_88_bar__plus_00_dot_03 - object\n Egg_bar__minus_00_dot_86_bar__plus_00_dot_94_bar__plus_01_dot_27 - object\n Faucet_bar__plus_01_dot_03_bar__plus_00_dot_87_bar__minus_00_dot_68 - object\n Fork_bar__minus_01_dot_80_bar__plus_00_dot_70_bar__minus_00_dot_98 - object\n Knife_bar__plus_00_dot_15_bar__plus_00_dot_92_bar__plus_01_dot_02 - object\n Knife_bar__plus_00_dot_77_bar__plus_00_dot_78_bar__minus_00_dot_06 - object\n Knife_bar__minus_00_dot_45_bar__plus_00_dot_92_bar__plus_01_dot_27 - object\n Lettuce_bar__plus_00_dot_71_bar__plus_01_dot_46_bar__minus_02_dot_11 - object\n LightSwitch_bar__plus_01_dot_10_bar__plus_01_dot_37_bar__minus_03_dot_74 - object\n Mirror_bar__plus_01_dot_09_bar__plus_01_dot_60_bar__minus_00_dot_64 - object\n Mug_bar__plus_00_dot_66_bar__plus_00_dot_66_bar__plus_00_dot_27 - object\n Mug_bar__plus_00_dot_71_bar__plus_00_dot_46_bar__minus_01_dot_80 - object\n Mug_bar__plus_00_dot_75_bar__plus_00_dot_66_bar__minus_01_dot_96 - object\n Pan_bar__plus_00_dot_74_bar__minus_00_dot_01_bar__minus_00_dot_60 - object\n PepperShaker_bar__minus_01_dot_56_bar__plus_00_dot_70_bar__minus_03_dot_28 - object\n PepperShaker_bar__minus_01_dot_58_bar__plus_00_dot_69_bar__minus_03_dot_36 - object\n PepperShaker_bar__minus_01_dot_89_bar__plus_00_dot_70_bar__minus_01_dot_20 - object\n Plate_bar__minus_02_dot_02_bar__plus_00_dot_69_bar__minus_01_dot_45 - object\n Potato_bar__plus_01_dot_06_bar__plus_00_dot_92_bar__minus_00_dot_46 - object\n Potato_bar__minus_01_dot_90_bar__plus_00_dot_83_bar__minus_03_dot_77 - object\n Pot_bar__minus_01_dot_55_bar__plus_00_dot_93_bar__plus_00_dot_79 - object\n Pot_bar__minus_02_dot_10_bar__plus_00_dot_93_bar__plus_01_dot_05 - object\n SaltShaker_bar__minus_01_dot_80_bar__plus_00_dot_70_bar__minus_01_dot_31 - object\n Sink_bar__plus_00_dot_75_bar__plus_00_dot_88_bar__minus_00_dot_68 - object\n SoapBottle_bar__plus_00_dot_84_bar__plus_00_dot_01_bar__plus_00_dot_01 - object\n SoapBottle_bar__minus_00_dot_86_bar__plus_00_dot_90_bar__plus_01_dot_19 - object\n Spatula_bar__plus_00_dot_96_bar__plus_00_dot_68_bar__plus_00_dot_39 - object\n Spatula_bar__minus_01_dot_62_bar__plus_00_dot_71_bar__minus_03_dot_78 - object\n Spoon_bar__plus_00_dot_77_bar__plus_00_dot_76_bar__minus_00_dot_25 - object\n Spoon_bar__minus_00_dot_05_bar__plus_00_dot_90_bar__plus_01_dot_19 - object\n Spoon_bar__minus_01_dot_97_bar__plus_00_dot_70_bar__minus_01_dot_20 - object\n StoveKnob_bar__minus_01_dot_60_bar__plus_00_dot_87_bar__plus_00_dot_52 - object\n StoveKnob_bar__minus_01_dot_75_bar__plus_00_dot_87_bar__plus_00_dot_52 - object\n StoveKnob_bar__minus_01_dot_90_bar__plus_00_dot_87_bar__plus_00_dot_52 - object\n StoveKnob_bar__minus_02_dot_06_bar__plus_00_dot_87_bar__plus_00_dot_52 - object\n Tomato_bar__plus_00_dot_84_bar__plus_00_dot_82_bar__minus_00_dot_79 - object\n Tomato_bar__minus_01_dot_30_bar__plus_00_dot_10_bar__minus_03_dot_65 - object\n Window_bar__minus_02_dot_42_bar__plus_01_dot_64_bar__minus_02_dot_45 - object\n Cabinet_bar__plus_00_dot_51_bar__plus_00_dot_35_bar__plus_00_dot_16 - receptacle\n Cabinet_bar__plus_00_dot_51_bar__plus_00_dot_35_bar__minus_00_dot_43 - receptacle\n Cabinet_bar__plus_00_dot_72_bar__plus_01_dot_82_bar__plus_00_dot_67 - receptacle\n Cabinet_bar__plus_00_dot_72_bar__plus_01_dot_82_bar__minus_00_dot_40 - receptacle\n CoffeeMachine_bar__plus_00_dot_88_bar__plus_00_dot_86_bar__minus_01_dot_26 - receptacle\n CounterTop_bar__plus_00_dot_79_bar__plus_00_dot_92_bar__minus_00_dot_11 - receptacle\n DiningTable_bar__minus_00_dot_52_bar__plus_00_dot_01_bar__plus_00_dot_95 - receptacle\n DiningTable_bar__minus_01_dot_73_bar__minus_00_dot_03_bar__minus_00_dot_96 - receptacle\n DiningTable_bar__minus_02_dot_17_bar__minus_00_dot_03_bar__minus_03_dot_37 - receptacle\n Drawer_bar__plus_00_dot_71_bar__plus_00_dot_77_bar__minus_00_dot_13 - receptacle\n Fridge_bar__plus_00_dot_68_bar__minus_00_dot_03_bar__minus_01_dot_96 - receptacle\n GarbageCan_bar__minus_01_dot_26_bar__minus_00_dot_03_bar__minus_03_dot_61 - receptacle\n Microwave_bar__minus_02_dot_01_bar__plus_00_dot_69_bar__minus_03_dot_69 - receptacle\n SideTable_bar__plus_00_dot_77_bar__plus_00_dot_70_bar__plus_00_dot_45 - receptacle\n Sink_bar__plus_00_dot_75_bar__plus_00_dot_88_bar__minus_00_dot_68_bar_SinkBasin - receptacle\n StoveBurner_bar__minus_01_dot_55_bar__plus_00_dot_89_bar__plus_00_dot_79 - receptacle\n StoveBurner_bar__minus_01_dot_56_bar__plus_00_dot_89_bar__plus_01_dot_05 - receptacle\n StoveBurner_bar__minus_02_dot_10_bar__plus_00_dot_89_bar__plus_00_dot_79 - receptacle\n StoveBurner_bar__minus_02_dot_10_bar__plus_00_dot_89_bar__plus_01_dot_05 - receptacle\n Toaster_bar__minus_00_dot_52_bar__plus_00_dot_89_bar__plus_01_dot_07 - receptacle\n loc_bar__minus_6_bar_0_bar_0_bar_45 - location\n loc_bar__minus_4_bar__minus_5_bar_3_bar_60 - location\n loc_bar_1_bar__minus_3_bar_1_bar_0 - location\n loc_bar__minus_7_bar_0_bar_0_bar_30 - location\n loc_bar__minus_7_bar__minus_11_bar_2_bar_45 - location\n loc_bar_1_bar_1_bar_1_bar__minus_30 - location\n loc_bar__minus_7_bar_0_bar_0_bar_60 - location\n loc_bar__minus_6_bar_0_bar_0_bar_60 - location\n loc_bar__minus_7_bar__minus_11_bar_2_bar_60 - location\n loc_bar_1_bar__minus_2_bar_1_bar_60 - location\n loc_bar__minus_7_bar_0_bar_0_bar_45 - location\n loc_bar_0_bar_1_bar_0_bar_60 - location\n loc_bar__minus_1_bar__minus_8_bar_1_bar_60 - location\n loc_bar__minus_2_bar__minus_1_bar_1_bar_45 - location\n loc_bar__minus_1_bar__minus_1_bar_1_bar_45 - location\n loc_bar__minus_6_bar_0_bar_0_bar_30 - location\n loc_bar__minus_7_bar__minus_10_bar_3_bar_0 - location\n loc_bar_1_bar_0_bar_1_bar_45 - location\n loc_bar_2_bar__minus_13_bar_1_bar_30 - location\n loc_bar_0_bar__minus_5_bar_1_bar_45 - location\n loc_bar__minus_1_bar_1_bar_1_bar_45 - location\n loc_bar__minus_4_bar__minus_13_bar_2_bar_60 - location\n loc_bar__minus_2_bar_1_bar_1_bar_45 - location\n loc_bar_1_bar__minus_3_bar_1_bar_60 - location\n loc_bar__minus_2_bar_1_bar_0_bar_45 - location\n loc_bar__minus_5_bar__minus_7_bar_3_bar_60 - location\n loc_bar_1_bar_0_bar_1_bar__minus_30 - location\n loc_bar__minus_7_bar__minus_10_bar_3_bar__minus_30 - location\n loc_bar__minus_1_bar__minus_12_bar_3_bar_30 - location\n )\n \n\n(:init\n\n\n (receptacleType Fridge_bar__plus_00_dot_68_bar__minus_00_dot_03_bar__minus_01_dot_96 FridgeType)\n (receptacleType StoveBurner_bar__minus_01_dot_55_bar__plus_00_dot_89_bar__plus_00_dot_79 StoveBurnerType)\n (receptacleType CoffeeMachine_bar__plus_00_dot_88_bar__plus_00_dot_86_bar__minus_01_dot_26 CoffeeMachineType)\n (receptacleType GarbageCan_bar__minus_01_dot_26_bar__minus_00_dot_03_bar__minus_03_dot_61 GarbageCanType)\n (receptacleType SideTable_bar__plus_00_dot_77_bar__plus_00_dot_70_bar__plus_00_dot_45 SideTableType)\n (receptacleType Microwave_bar__minus_02_dot_01_bar__plus_00_dot_69_bar__minus_03_dot_69 MicrowaveType)\n (receptacleType Cabinet_bar__plus_00_dot_72_bar__plus_01_dot_82_bar__plus_00_dot_67 CabinetType)\n (receptacleType CounterTop_bar__plus_00_dot_79_bar__plus_00_dot_92_bar__minus_00_dot_11 CounterTopType)\n (receptacleType Cabinet_bar__plus_00_dot_72_bar__plus_01_dot_82_bar__minus_00_dot_40 CabinetType)\n (receptacleType Sink_bar__plus_00_dot_75_bar__plus_00_dot_88_bar__minus_00_dot_68_bar_SinkBasin SinkBasinType)\n (receptacleType Cabinet_bar__plus_00_dot_51_bar__plus_00_dot_35_bar__plus_00_dot_16 CabinetType)\n (receptacleType DiningTable_bar__minus_01_dot_73_bar__minus_00_dot_03_bar__minus_00_dot_96 DiningTableType)\n (receptacleType Drawer_bar__plus_00_dot_71_bar__plus_00_dot_77_bar__minus_00_dot_13 DrawerType)\n (receptacleType Toaster_bar__minus_00_dot_52_bar__plus_00_dot_89_bar__plus_01_dot_07 ToasterType)\n (receptacleType StoveBurner_bar__minus_02_dot_10_bar__plus_00_dot_89_bar__plus_00_dot_79 StoveBurnerType)\n (receptacleType DiningTable_bar__minus_00_dot_52_bar__plus_00_dot_01_bar__plus_00_dot_95 DiningTableType)\n (receptacleType StoveBurner_bar__minus_02_dot_10_bar__plus_00_dot_89_bar__plus_01_dot_05 StoveBurnerType)\n (receptacleType Cabinet_bar__plus_00_dot_51_bar__plus_00_dot_35_bar__minus_00_dot_43 CabinetType)\n (receptacleType DiningTable_bar__minus_02_dot_17_bar__minus_00_dot_03_bar__minus_03_dot_37 DiningTableType)\n (receptacleType StoveBurner_bar__minus_01_dot_56_bar__plus_00_dot_89_bar__plus_01_dot_05 StoveBurnerType)\n (objectType Apple_bar__plus_00_dot_84_bar__plus_00_dot_83_bar__minus_00_dot_68 AppleType)\n (objectType Potato_bar__minus_01_dot_90_bar__plus_00_dot_83_bar__minus_03_dot_77 PotatoType)\n (objectType SoapBottle_bar__minus_00_dot_86_bar__plus_00_dot_90_bar__plus_01_dot_19 SoapBottleType)\n (objectType Pot_bar__minus_02_dot_10_bar__plus_00_dot_93_bar__plus_01_dot_05 PotType)\n (objectType StoveKnob_bar__minus_01_dot_90_bar__plus_00_dot_87_bar__plus_00_dot_52 StoveKnobType)\n (objectType Spatula_bar__minus_01_dot_62_bar__plus_00_dot_71_bar__minus_03_dot_78 SpatulaType)\n (objectType Egg_bar__minus_00_dot_86_bar__plus_00_dot_94_bar__plus_01_dot_27 EggType)\n (objectType SoapBottle_bar__plus_00_dot_84_bar__plus_00_dot_01_bar__plus_00_dot_01 SoapBottleType)\n (objectType DishSponge_bar__plus_00_dot_58_bar__plus_00_dot_88_bar__plus_00_dot_03 DishSpongeType)\n (objectType Apple_bar__plus_00_dot_68_bar__plus_00_dot_24_bar__minus_01_dot_80 AppleType)\n (objectType StoveKnob_bar__minus_01_dot_60_bar__plus_00_dot_87_bar__plus_00_dot_52 StoveKnobType)\n (objectType StoveKnob_bar__minus_02_dot_06_bar__plus_00_dot_87_bar__plus_00_dot_52 StoveKnobType)\n (objectType StoveKnob_bar__minus_01_dot_75_bar__plus_00_dot_87_bar__plus_00_dot_52 StoveKnobType)\n (objectType Potato_bar__plus_01_dot_06_bar__plus_00_dot_92_bar__minus_00_dot_46 PotatoType)\n (objectType ButterKnife_bar__plus_00_dot_75_bar__plus_00_dot_76_bar__minus_00_dot_74 ButterKnifeType)\n (objectType Bowl_bar__plus_00_dot_78_bar__plus_00_dot_66_bar__plus_00_dot_51 BowlType)\n (objectType PepperShaker_bar__minus_01_dot_58_bar__plus_00_dot_69_bar__minus_03_dot_36 PepperShakerType)\n (objectType Mug_bar__plus_00_dot_75_bar__plus_00_dot_66_bar__minus_01_dot_96 MugType)\n (objectType Mirror_bar__plus_01_dot_09_bar__plus_01_dot_60_bar__minus_00_dot_64 MirrorType)\n (objectType Window_bar__minus_02_dot_42_bar__plus_01_dot_64_bar__minus_02_dot_45 WindowType)\n (objectType Spoon_bar__plus_00_dot_77_bar__plus_00_dot_76_bar__minus_00_dot_25 SpoonType)\n (objectType Tomato_bar__plus_00_dot_84_bar__plus_00_dot_82_bar__minus_00_dot_79 TomatoType)\n (objectType PepperShaker_bar__minus_01_dot_89_bar__plus_00_dot_70_bar__minus_01_dot_20 PepperShakerType)\n (objectType Blinds_bar__minus_02_dot_34_bar__plus_02_dot_15_bar__minus_02_dot_44 BlindsType)\n (objectType Knife_bar__minus_00_dot_45_bar__plus_00_dot_92_bar__plus_01_dot_27 KnifeType)\n (objectType SaltShaker_bar__minus_01_dot_80_bar__plus_00_dot_70_bar__minus_01_dot_31 SaltShakerType)\n (objectType Mug_bar__plus_00_dot_71_bar__plus_00_dot_46_bar__minus_01_dot_80 MugType)\n (objectType Cup_bar__plus_00_dot_80_bar__plus_00_dot_88_bar__minus_00_dot_25 CupType)\n (objectType Mug_bar__plus_00_dot_66_bar__plus_00_dot_66_bar__plus_00_dot_27 MugType)\n (objectType Spoon_bar__minus_01_dot_97_bar__plus_00_dot_70_bar__minus_01_dot_20 SpoonType)\n (objectType Chair_bar__minus_01_dot_90_bar__minus_00_dot_03_bar__minus_01_dot_87 ChairType)\n (objectType Plate_bar__minus_02_dot_02_bar__plus_00_dot_69_bar__minus_01_dot_45 PlateType)\n (objectType PepperShaker_bar__minus_01_dot_56_bar__plus_00_dot_70_bar__minus_03_dot_28 PepperShakerType)\n (objectType Spatula_bar__plus_00_dot_96_bar__plus_00_dot_68_bar__plus_00_dot_39 SpatulaType)\n (objectType LightSwitch_bar__plus_01_dot_10_bar__plus_01_dot_37_bar__minus_03_dot_74 LightSwitchType)\n (objectType Sink_bar__plus_00_dot_75_bar__plus_00_dot_88_bar__minus_00_dot_68 SinkType)\n (objectType Lettuce_bar__plus_00_dot_71_bar__plus_01_dot_46_bar__minus_02_dot_11 LettuceType)\n (objectType Spoon_bar__minus_00_dot_05_bar__plus_00_dot_90_bar__plus_01_dot_19 SpoonType)\n (objectType Fork_bar__minus_01_dot_80_bar__plus_00_dot_70_bar__minus_00_dot_98 ForkType)\n (objectType Knife_bar__plus_00_dot_15_bar__plus_00_dot_92_bar__plus_01_dot_02 KnifeType)\n (objectType Bowl_bar__plus_00_dot_90_bar__plus_01_dot_46_bar__plus_00_dot_41 BowlType)\n (objectType Pot_bar__minus_01_dot_55_bar__plus_00_dot_93_bar__plus_00_dot_79 PotType)\n (objectType Apple_bar__minus_02_dot_05_bar__plus_00_dot_76_bar__minus_01_dot_20 AppleType)\n (objectType Pan_bar__plus_00_dot_74_bar__minus_00_dot_01_bar__minus_00_dot_60 PanType)\n (objectType Knife_bar__plus_00_dot_77_bar__plus_00_dot_78_bar__minus_00_dot_06 KnifeType)\n (objectType Tomato_bar__minus_01_dot_30_bar__plus_00_dot_10_bar__minus_03_dot_65 TomatoType)\n (objectType Bread_bar__minus_00_dot_87_bar__plus_00_dot_93_bar__plus_00_dot_98 BreadType)\n (objectType Cup_bar__minus_00_dot_05_bar__plus_00_dot_90_bar__plus_00_dot_84 CupType)\n (objectType Cup_bar__minus_01_dot_97_bar__plus_00_dot_70_bar__minus_00_dot_98 CupType)\n (canContain FridgeType BreadType)\n (canContain FridgeType BowlType)\n (canContain FridgeType PotType)\n (canContain FridgeType MugType)\n (canContain FridgeType EggType)\n (canContain FridgeType LettuceType)\n (canContain FridgeType PotatoType)\n (canContain FridgeType CupType)\n (canContain FridgeType PlateType)\n (canContain FridgeType TomatoType)\n (canContain FridgeType AppleType)\n (canContain FridgeType PanType)\n (canContain StoveBurnerType PotType)\n (canContain StoveBurnerType PanType)\n (canContain CoffeeMachineType MugType)\n (canContain GarbageCanType BreadType)\n (canContain GarbageCanType DishSpongeType)\n (canContain GarbageCanType EggType)\n (canContain GarbageCanType SoapBottleType)\n (canContain GarbageCanType LettuceType)\n (canContain GarbageCanType PotatoType)\n (canContain GarbageCanType TomatoType)\n (canContain GarbageCanType AppleType)\n (canContain SideTableType SaltShakerType)\n (canContain SideTableType BreadType)\n (canContain SideTableType DishSpongeType)\n (canContain SideTableType BowlType)\n (canContain SideTableType PotType)\n (canContain SideTableType MugType)\n (canContain SideTableType EggType)\n (canContain SideTableType ForkType)\n (canContain SideTableType SpoonType)\n (canContain SideTableType SoapBottleType)\n (canContain SideTableType LettuceType)\n (canContain SideTableType PotatoType)\n (canContain SideTableType ButterKnifeType)\n (canContain SideTableType CupType)\n (canContain SideTableType PlateType)\n (canContain SideTableType PepperShakerType)\n (canContain SideTableType TomatoType)\n (canContain SideTableType KnifeType)\n (canContain SideTableType AppleType)\n (canContain SideTableType PanType)\n (canContain SideTableType SpatulaType)\n (canContain MicrowaveType MugType)\n (canContain MicrowaveType PotatoType)\n (canContain MicrowaveType 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CounterTopType SoapBottleType)\n (canContain CounterTopType LettuceType)\n (canContain CounterTopType PotatoType)\n (canContain CounterTopType ButterKnifeType)\n (canContain CounterTopType CupType)\n (canContain CounterTopType PlateType)\n (canContain CounterTopType PepperShakerType)\n (canContain CounterTopType TomatoType)\n (canContain CounterTopType KnifeType)\n (canContain CounterTopType AppleType)\n (canContain CounterTopType PanType)\n (canContain CounterTopType SpatulaType)\n (canContain CabinetType SaltShakerType)\n (canContain CabinetType DishSpongeType)\n (canContain CabinetType BowlType)\n (canContain CabinetType PotType)\n (canContain CabinetType MugType)\n (canContain CabinetType SoapBottleType)\n (canContain CabinetType CupType)\n (canContain CabinetType PlateType)\n (canContain CabinetType PepperShakerType)\n (canContain CabinetType PanType)\n (canContain SinkBasinType DishSpongeType)\n (canContain SinkBasinType BowlType)\n (canContain SinkBasinType PotType)\n (canContain SinkBasinType MugType)\n (canContain SinkBasinType EggType)\n (canContain SinkBasinType ForkType)\n (canContain SinkBasinType SpoonType)\n (canContain SinkBasinType LettuceType)\n (canContain SinkBasinType PotatoType)\n (canContain SinkBasinType ButterKnifeType)\n (canContain SinkBasinType CupType)\n (canContain SinkBasinType PlateType)\n (canContain SinkBasinType TomatoType)\n (canContain SinkBasinType KnifeType)\n (canContain SinkBasinType AppleType)\n (canContain SinkBasinType PanType)\n (canContain SinkBasinType SpatulaType)\n (canContain CabinetType SaltShakerType)\n (canContain CabinetType DishSpongeType)\n (canContain CabinetType BowlType)\n (canContain CabinetType 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 DiningTableType SaltShakerType)\n (canContain DiningTableType BreadType)\n (canContain DiningTableType DishSpongeType)\n (canContain DiningTableType BowlType)\n (canContain DiningTableType PotType)\n (canContain DiningTableType MugType)\n (canContain DiningTableType EggType)\n (canContain DiningTableType ForkType)\n (canContain DiningTableType SpoonType)\n (canContain DiningTableType SoapBottleType)\n (canContain DiningTableType LettuceType)\n (canContain DiningTableType PotatoType)\n (canContain DiningTableType ButterKnifeType)\n (canContain DiningTableType CupType)\n (canContain DiningTableType PlateType)\n (canContain DiningTableType PepperShakerType)\n (canContain DiningTableType TomatoType)\n (canContain DiningTableType KnifeType)\n (canContain DiningTableType AppleType)\n (canContain DiningTableType PanType)\n (canContain DiningTableType SpatulaType)\n (canContain DrawerType SaltShakerType)\n (canContain DrawerType DishSpongeType)\n (canContain DrawerType ForkType)\n (canContain DrawerType SpoonType)\n (canContain DrawerType 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DiningTableType KnifeType)\n (canContain DiningTableType AppleType)\n (canContain DiningTableType PanType)\n (canContain DiningTableType SpatulaType)\n (canContain StoveBurnerType PotType)\n (canContain StoveBurnerType PanType)\n (canContain CabinetType SaltShakerType)\n (canContain CabinetType DishSpongeType)\n (canContain CabinetType BowlType)\n (canContain CabinetType PotType)\n (canContain CabinetType MugType)\n (canContain CabinetType SoapBottleType)\n (canContain CabinetType CupType)\n (canContain CabinetType PlateType)\n (canContain CabinetType PepperShakerType)\n (canContain CabinetType PanType)\n (canContain DiningTableType SaltShakerType)\n (canContain DiningTableType BreadType)\n (canContain DiningTableType DishSpongeType)\n (canContain DiningTableType BowlType)\n (canContain DiningTableType PotType)\n (canContain DiningTableType MugType)\n (canContain DiningTableType EggType)\n (canContain DiningTableType ForkType)\n (canContain DiningTableType SpoonType)\n (canContain 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DiningTable_bar__minus_00_dot_52_bar__plus_00_dot_01_bar__plus_00_dot_95)\n (inReceptacle SoapBottle_bar__minus_00_dot_86_bar__plus_00_dot_90_bar__plus_01_dot_19 DiningTable_bar__minus_00_dot_52_bar__plus_00_dot_01_bar__plus_00_dot_95)\n (inReceptacle Egg_bar__minus_00_dot_86_bar__plus_00_dot_94_bar__plus_01_dot_27 DiningTable_bar__minus_00_dot_52_bar__plus_00_dot_01_bar__plus_00_dot_95)\n (inReceptacle Knife_bar__plus_00_dot_15_bar__plus_00_dot_92_bar__plus_01_dot_02 DiningTable_bar__minus_00_dot_52_bar__plus_00_dot_01_bar__plus_00_dot_95)\n (inReceptacle Knife_bar__minus_00_dot_45_bar__plus_00_dot_92_bar__plus_01_dot_27 DiningTable_bar__minus_00_dot_52_bar__plus_00_dot_01_bar__plus_00_dot_95)\n (inReceptacle Bread_bar__minus_00_dot_87_bar__plus_00_dot_93_bar__plus_00_dot_98 DiningTable_bar__minus_00_dot_52_bar__plus_00_dot_01_bar__plus_00_dot_95)\n (inReceptacle Cup_bar__minus_00_dot_05_bar__plus_00_dot_90_bar__plus_00_dot_84 DiningTable_bar__minus_00_dot_52_bar__plus_00_dot_01_bar__plus_00_dot_95)\n (inReceptacle PepperShaker_bar__minus_01_dot_56_bar__plus_00_dot_70_bar__minus_03_dot_28 DiningTable_bar__minus_02_dot_17_bar__minus_00_dot_03_bar__minus_03_dot_37)\n (inReceptacle PepperShaker_bar__minus_01_dot_58_bar__plus_00_dot_69_bar__minus_03_dot_36 DiningTable_bar__minus_02_dot_17_bar__minus_00_dot_03_bar__minus_03_dot_37)\n (inReceptacle Spatula_bar__minus_01_dot_62_bar__plus_00_dot_71_bar__minus_03_dot_78 DiningTable_bar__minus_02_dot_17_bar__minus_00_dot_03_bar__minus_03_dot_37)\n (inReceptacle Tomato_bar__minus_01_dot_30_bar__plus_00_dot_10_bar__minus_03_dot_65 GarbageCan_bar__minus_01_dot_26_bar__minus_00_dot_03_bar__minus_03_dot_61)\n (inReceptacle Mug_bar__plus_00_dot_71_bar__plus_00_dot_46_bar__minus_01_dot_80 Fridge_bar__plus_00_dot_68_bar__minus_00_dot_03_bar__minus_01_dot_96)\n (inReceptacle Apple_bar__plus_00_dot_68_bar__plus_00_dot_24_bar__minus_01_dot_80 Fridge_bar__plus_00_dot_68_bar__minus_00_dot_03_bar__minus_01_dot_96)\n (inReceptacle Lettuce_bar__plus_00_dot_71_bar__plus_01_dot_46_bar__minus_02_dot_11 Fridge_bar__plus_00_dot_68_bar__minus_00_dot_03_bar__minus_01_dot_96)\n (inReceptacle Mug_bar__plus_00_dot_75_bar__plus_00_dot_66_bar__minus_01_dot_96 Fridge_bar__plus_00_dot_68_bar__minus_00_dot_03_bar__minus_01_dot_96)\n (inReceptacle Potato_bar__minus_01_dot_90_bar__plus_00_dot_83_bar__minus_03_dot_77 Microwave_bar__minus_02_dot_01_bar__plus_00_dot_69_bar__minus_03_dot_69)\n (inReceptacle Apple_bar__plus_00_dot_84_bar__plus_00_dot_83_bar__minus_00_dot_68 Sink_bar__plus_00_dot_75_bar__plus_00_dot_88_bar__minus_00_dot_68_bar_SinkBasin)\n (inReceptacle Tomato_bar__plus_00_dot_84_bar__plus_00_dot_82_bar__minus_00_dot_79 Sink_bar__plus_00_dot_75_bar__plus_00_dot_88_bar__minus_00_dot_68_bar_SinkBasin)\n \n \n (receptacleAtLocation Cabinet_bar__plus_00_dot_51_bar__plus_00_dot_35_bar__plus_00_dot_16 loc_bar__minus_2_bar_1_bar_1_bar_45)\n (receptacleAtLocation Cabinet_bar__plus_00_dot_51_bar__plus_00_dot_35_bar__minus_00_dot_43 loc_bar__minus_2_bar__minus_1_bar_1_bar_45)\n (receptacleAtLocation Cabinet_bar__plus_00_dot_72_bar__plus_01_dot_82_bar__plus_00_dot_67 loc_bar_1_bar_1_bar_1_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__plus_00_dot_72_bar__plus_01_dot_82_bar__minus_00_dot_40 loc_bar_1_bar_0_bar_1_bar__minus_30)\n (receptacleAtLocation CoffeeMachine_bar__plus_00_dot_88_bar__plus_00_dot_86_bar__minus_01_dot_26 loc_bar_0_bar__minus_5_bar_1_bar_45)\n (receptacleAtLocation CounterTop_bar__plus_00_dot_79_bar__plus_00_dot_92_bar__minus_00_dot_11 loc_bar_1_bar_0_bar_1_bar_45)\n (receptacleAtLocation DiningTable_bar__minus_00_dot_52_bar__plus_00_dot_01_bar__plus_00_dot_95 loc_bar_0_bar_1_bar_0_bar_60)\n (receptacleAtLocation DiningTable_bar__minus_01_dot_73_bar__minus_00_dot_03_bar__minus_00_dot_96 loc_bar__minus_4_bar__minus_5_bar_3_bar_60)\n (receptacleAtLocation DiningTable_bar__minus_02_dot_17_bar__minus_00_dot_03_bar__minus_03_dot_37 loc_bar__minus_7_bar__minus_11_bar_2_bar_60)\n (receptacleAtLocation Drawer_bar__plus_00_dot_71_bar__plus_00_dot_77_bar__minus_00_dot_13 loc_bar__minus_1_bar__minus_1_bar_1_bar_45)\n (receptacleAtLocation Fridge_bar__plus_00_dot_68_bar__minus_00_dot_03_bar__minus_01_dot_96 loc_bar__minus_1_bar__minus_8_bar_1_bar_60)\n (receptacleAtLocation GarbageCan_bar__minus_01_dot_26_bar__minus_00_dot_03_bar__minus_03_dot_61 loc_bar__minus_4_bar__minus_13_bar_2_bar_60)\n (receptacleAtLocation Microwave_bar__minus_02_dot_01_bar__plus_00_dot_69_bar__minus_03_dot_69 loc_bar__minus_7_bar__minus_11_bar_2_bar_45)\n (receptacleAtLocation SideTable_bar__plus_00_dot_77_bar__plus_00_dot_70_bar__plus_00_dot_45 loc_bar__minus_1_bar_1_bar_1_bar_45)\n (receptacleAtLocation Sink_bar__plus_00_dot_75_bar__plus_00_dot_88_bar__minus_00_dot_68_bar_SinkBasin loc_bar_1_bar__minus_2_bar_1_bar_60)\n (receptacleAtLocation StoveBurner_bar__minus_01_dot_55_bar__plus_00_dot_89_bar__plus_00_dot_79 loc_bar__minus_6_bar_0_bar_0_bar_45)\n (receptacleAtLocation StoveBurner_bar__minus_01_dot_56_bar__plus_00_dot_89_bar__plus_01_dot_05 loc_bar__minus_6_bar_0_bar_0_bar_30)\n (receptacleAtLocation StoveBurner_bar__minus_02_dot_10_bar__plus_00_dot_89_bar__plus_00_dot_79 loc_bar__minus_7_bar_0_bar_0_bar_45)\n (receptacleAtLocation StoveBurner_bar__minus_02_dot_10_bar__plus_00_dot_89_bar__plus_01_dot_05 loc_bar__minus_7_bar_0_bar_0_bar_30)\n (receptacleAtLocation Toaster_bar__minus_00_dot_52_bar__plus_00_dot_89_bar__plus_01_dot_07 loc_bar__minus_2_bar_1_bar_0_bar_45)\n (objectAtLocation Bowl_bar__plus_00_dot_78_bar__plus_00_dot_66_bar__plus_00_dot_51 loc_bar__minus_1_bar_1_bar_1_bar_45)\n (objectAtLocation Mug_bar__plus_00_dot_71_bar__plus_00_dot_46_bar__minus_01_dot_80 loc_bar__minus_1_bar__minus_8_bar_1_bar_60)\n (objectAtLocation Knife_bar__minus_00_dot_45_bar__plus_00_dot_92_bar__plus_01_dot_27 loc_bar_0_bar_1_bar_0_bar_60)\n (objectAtLocation Spoon_bar__minus_00_dot_05_bar__plus_00_dot_90_bar__plus_01_dot_19 loc_bar_0_bar_1_bar_0_bar_60)\n (objectAtLocation Tomato_bar__minus_01_dot_30_bar__plus_00_dot_10_bar__minus_03_dot_65 loc_bar__minus_4_bar__minus_13_bar_2_bar_60)\n (objectAtLocation PepperShaker_bar__minus_01_dot_58_bar__plus_00_dot_69_bar__minus_03_dot_36 loc_bar__minus_7_bar__minus_11_bar_2_bar_60)\n (objectAtLocation Cup_bar__plus_00_dot_80_bar__plus_00_dot_88_bar__minus_00_dot_25 loc_bar_1_bar_0_bar_1_bar_45)\n (objectAtLocation Potato_bar__plus_01_dot_06_bar__plus_00_dot_92_bar__minus_00_dot_46 loc_bar_1_bar_0_bar_1_bar_45)\n (objectAtLocation Spatula_bar__minus_01_dot_62_bar__plus_00_dot_71_bar__minus_03_dot_78 loc_bar__minus_7_bar__minus_11_bar_2_bar_60)\n (objectAtLocation Apple_bar__plus_00_dot_84_bar__plus_00_dot_83_bar__minus_00_dot_68 loc_bar_1_bar__minus_2_bar_1_bar_60)\n (objectAtLocation SoapBottle_bar__minus_00_dot_86_bar__plus_00_dot_90_bar__plus_01_dot_19 loc_bar_0_bar_1_bar_0_bar_60)\n (objectAtLocation Pot_bar__minus_01_dot_55_bar__plus_00_dot_93_bar__plus_00_dot_79 loc_bar__minus_6_bar_0_bar_0_bar_45)\n (objectAtLocation Apple_bar__plus_00_dot_68_bar__plus_00_dot_24_bar__minus_01_dot_80 loc_bar__minus_1_bar__minus_8_bar_1_bar_60)\n (objectAtLocation Mug_bar__plus_00_dot_66_bar__plus_00_dot_66_bar__plus_00_dot_27 loc_bar__minus_1_bar_1_bar_1_bar_45)\n (objectAtLocation PepperShaker_bar__minus_01_dot_56_bar__plus_00_dot_70_bar__minus_03_dot_28 loc_bar__minus_7_bar__minus_11_bar_2_bar_60)\n (objectAtLocation Knife_bar__plus_00_dot_77_bar__plus_00_dot_78_bar__minus_00_dot_06 loc_bar__minus_1_bar__minus_1_bar_1_bar_45)\n (objectAtLocation Cup_bar__minus_00_dot_05_bar__plus_00_dot_90_bar__plus_00_dot_84 loc_bar_0_bar_1_bar_0_bar_60)\n (objectAtLocation Spoon_bar__minus_01_dot_97_bar__plus_00_dot_70_bar__minus_01_dot_20 loc_bar__minus_4_bar__minus_5_bar_3_bar_60)\n (objectAtLocation Mirror_bar__plus_01_dot_09_bar__plus_01_dot_60_bar__minus_00_dot_64 loc_bar_1_bar__minus_3_bar_1_bar_0)\n (objectAtLocation Sink_bar__plus_00_dot_75_bar__plus_00_dot_88_bar__minus_00_dot_68 loc_bar_1_bar__minus_3_bar_1_bar_60)\n (objectAtLocation Pot_bar__minus_02_dot_10_bar__plus_00_dot_93_bar__plus_01_dot_05 loc_bar__minus_7_bar_0_bar_0_bar_30)\n (objectAtLocation Plate_bar__minus_02_dot_02_bar__plus_00_dot_69_bar__minus_01_dot_45 loc_bar__minus_4_bar__minus_5_bar_3_bar_60)\n (objectAtLocation StoveKnob_bar__minus_01_dot_90_bar__plus_00_dot_87_bar__plus_00_dot_52 loc_bar__minus_7_bar_0_bar_0_bar_60)\n (objectAtLocation StoveKnob_bar__minus_01_dot_75_bar__plus_00_dot_87_bar__plus_00_dot_52 loc_bar__minus_7_bar_0_bar_0_bar_60)\n (objectAtLocation StoveKnob_bar__minus_02_dot_06_bar__plus_00_dot_87_bar__plus_00_dot_52 loc_bar__minus_7_bar_0_bar_0_bar_60)\n (objectAtLocation StoveKnob_bar__minus_01_dot_60_bar__plus_00_dot_87_bar__plus_00_dot_52 loc_bar__minus_6_bar_0_bar_0_bar_60)\n (objectAtLocation Fork_bar__minus_01_dot_80_bar__plus_00_dot_70_bar__minus_00_dot_98 loc_bar__minus_4_bar__minus_5_bar_3_bar_60)\n (objectAtLocation SoapBottle_bar__plus_00_dot_84_bar__plus_00_dot_01_bar__plus_00_dot_01 loc_bar__minus_2_bar_1_bar_1_bar_45)\n (objectAtLocation Apple_bar__minus_02_dot_05_bar__plus_00_dot_76_bar__minus_01_dot_20 loc_bar__minus_4_bar__minus_5_bar_3_bar_60)\n (objectAtLocation Pan_bar__plus_00_dot_74_bar__minus_00_dot_01_bar__minus_00_dot_60 loc_bar__minus_2_bar__minus_1_bar_1_bar_45)\n (objectAtLocation Window_bar__minus_02_dot_42_bar__plus_01_dot_64_bar__minus_02_dot_45 loc_bar__minus_7_bar__minus_10_bar_3_bar_0)\n (objectAtLocation Egg_bar__minus_00_dot_86_bar__plus_00_dot_94_bar__plus_01_dot_27 loc_bar_0_bar_1_bar_0_bar_60)\n (objectAtLocation Spatula_bar__plus_00_dot_96_bar__plus_00_dot_68_bar__plus_00_dot_39 loc_bar__minus_1_bar_1_bar_1_bar_45)\n (objectAtLocation Potato_bar__minus_01_dot_90_bar__plus_00_dot_83_bar__minus_03_dot_77 loc_bar__minus_7_bar__minus_11_bar_2_bar_45)\n (objectAtLocation Cup_bar__minus_01_dot_97_bar__plus_00_dot_70_bar__minus_00_dot_98 loc_bar__minus_4_bar__minus_5_bar_3_bar_60)\n (objectAtLocation SaltShaker_bar__minus_01_dot_80_bar__plus_00_dot_70_bar__minus_01_dot_31 loc_bar__minus_4_bar__minus_5_bar_3_bar_60)\n (objectAtLocation PepperShaker_bar__minus_01_dot_89_bar__plus_00_dot_70_bar__minus_01_dot_20 loc_bar__minus_4_bar__minus_5_bar_3_bar_60)\n (objectAtLocation ButterKnife_bar__plus_00_dot_75_bar__plus_00_dot_76_bar__minus_00_dot_74 loc_bar_1_bar__minus_3_bar_1_bar_60)\n (objectAtLocation DishSponge_bar__plus_00_dot_58_bar__plus_00_dot_88_bar__plus_00_dot_03 loc_bar_1_bar_0_bar_1_bar_45)\n (objectAtLocation Bread_bar__minus_00_dot_87_bar__plus_00_dot_93_bar__plus_00_dot_98 loc_bar_0_bar_1_bar_0_bar_60)\n (objectAtLocation LightSwitch_bar__plus_01_dot_10_bar__plus_01_dot_37_bar__minus_03_dot_74 loc_bar_2_bar__minus_13_bar_1_bar_30)\n (objectAtLocation Lettuce_bar__plus_00_dot_71_bar__plus_01_dot_46_bar__minus_02_dot_11 loc_bar__minus_1_bar__minus_8_bar_1_bar_60)\n (objectAtLocation Chair_bar__minus_01_dot_90_bar__minus_00_dot_03_bar__minus_01_dot_87 loc_bar__minus_5_bar__minus_7_bar_3_bar_60)\n (objectAtLocation Tomato_bar__plus_00_dot_84_bar__plus_00_dot_82_bar__minus_00_dot_79 loc_bar_1_bar__minus_2_bar_1_bar_60)\n (objectAtLocation Spoon_bar__plus_00_dot_77_bar__plus_00_dot_76_bar__minus_00_dot_25 loc_bar__minus_1_bar__minus_1_bar_1_bar_45)\n (objectAtLocation Knife_bar__plus_00_dot_15_bar__plus_00_dot_92_bar__plus_01_dot_02 loc_bar_0_bar_1_bar_0_bar_60)\n (objectAtLocation Mug_bar__plus_00_dot_75_bar__plus_00_dot_66_bar__minus_01_dot_96 loc_bar__minus_1_bar__minus_8_bar_1_bar_60)\n (objectAtLocation Blinds_bar__minus_02_dot_34_bar__plus_02_dot_15_bar__minus_02_dot_44 loc_bar__minus_7_bar__minus_10_bar_3_bar__minus_30)\n (objectAtLocation Bowl_bar__plus_00_dot_90_bar__plus_01_dot_46_bar__plus_00_dot_41 loc_bar_1_bar_1_bar_1_bar__minus_30)\n )\n \n\n (:goal\n (and\n (exists (?r - receptacle)\n (exists (?o - object)\n (and\n (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 sidetable 1", "take mug 3 from sidetable 1", "go to sinkbasin 1", "clean mug 3 with sinkbasin 1", "go to coffeemachine 1", "move mug 3 to coffeemachine 1"]}
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alfworld__pick_clean_then_place_in_recep__4
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pick_clean_then_place_in_recep
|
pick_clean_then_place_in_recep-Mug-None-CoffeeMachine-21/trial_T20190907_143348_068782/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: clean some mug and put it in coffeemachine.\"\n }\n ],\n\n \"GotoLocation.feedback\": [\n {\n \"rhs\": \"You arrive at {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"OpenObject.feedback\": [\n {\n \"rhs\": \"You open the {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"CloseObject.feedback\": [\n {\n \"rhs\": \"You close the {r.name}.\"\n }\n ],\n\n \"PickupObject.feedback\": [\n {\n \"rhs\": \"You pick up the {o.name} from the {r.name}.\"\n }\n ],\n\n \"PickupObjectFromReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupObjectFromReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupEmptyReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupEmptyReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupFullReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupFullReceptacleObject: You pick up the {outerr.name}.\"\n }\n ],\n\n \"PutObject.feedback\": [\n {\n \"rhs\": \"You move the {o.name} to the {r.name}.\"\n }\n ],\n\n \"PutObjectInReceptacleObject.feedback\": [\n {\n \"rhs\": \"PutObjectInReceptacleObject: You put the {o.name} in the {outero.name}.\"\n }\n ],\n\n \"PutEmptyReceptacleObjectinReceptacle.feedback\": [\n {\n \"rhs\": \"PutEmptyReceptacleObjectinReceptacle: You put the {o.name} in the {r.name}.\"\n }\n ],\n\n \"PutFullReceptacleObjectInReceptacle.feedback\": [\n {\n \"rhs\": \"PutFullReceptacleObjectInReceptacle: You put the {outero.name} in the {r.name}.\"\n }\n ],\n\n \"inventory.feedback\": [\n {\n \"condition\": \"holdsany(a:agent)\",\n \"rhs\": \"You are carrying: [{o.indefinite + ' ' + o.name | holds(a:agent, o:object)}].\"\n },\n {\n \"rhs\": \"You are not carrying anything.\"\n }\n ],\n\n \"examineReceptacle.feedback\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \"The {r.name} is open. In it, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \"The {r.name} is closed.\"\n },\n {\n \"rhs\": \"On the {r.name}, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n }\n ],\n\n \"examineObject.feedback\": [\n {\n \"condition\": \"isreceptacleobject(o:object)\",\n \"rhs\": \"This is a normal {o.name}. In it, you see [{o2.indefinite + ' ' + o2.name | inreceptacleobject(o2:object, o:object)}].\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a clean sliced {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot sliced {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object)\",\n \"rhs\": \"This is a hot and clean {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object)\",\n \"rhs\": \"This is a cool and clean {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object)\",\n \"rhs\": \"This is a hot {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object)\",\n \"rhs\": \"This is a clean {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object)\",\n \"rhs\": \"This is a cold {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"This {o.name} is on.\"\n },\n {\n \"condition\": \"toggleable(o:object) & not_istoggled(o:object)\",\n \"rhs\": \"This {o.name} is off.\"\n },\n {\n \"condition\": \"sliceable(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a sliced {o.name}.\"\n },\n {\n \"rhs\": \"There's nothing special about {o.name}.\"\n }\n ]\n }\n\"\"\";\n\naction GotoLocation {\n template :: \"go to [{r.name | receptacleatlocation(r:receptacle, lend:location)}]\";\n feedback :: \"#GotoLocation.feedback#\";\n}\n\naction OpenObject {\n template :: \"open {r}\";\n feedback :: \"#OpenObject.feedback#\";\n}\n\naction CloseObject {\n template :: \"close {r}\";\n feedback :: \"#CloseObject.feedback#\";\n}\n\naction PickupObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObject.feedback#\";\n}\n\naction PickupObjectFromReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObjectFromReceptacleObject.feedback#\";\n}\n\naction PickupEmptyReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupEmptyReceptacleObject.feedback#\";\n}\n\naction PickupFullReceptacleObject {\n template :: \"take {outerr} from {r}\";\n feedback :: \"#PickupFullReceptacleObject.feedback#\";\n}\n\naction PutObject {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutObject.feedback#\";\n}\n\naction PutObjectInReceptacleObject {\n template :: \"put {o} into {outero}\";\n feedback :: \"#PutObjectInReceptacleObject.feedback#\";\n}\n\naction PutEmptyReceptacleObjectinReceptacle {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutEmptyReceptacleObjectinReceptacle.feedback#\";\n}\n\naction PutFullReceptacleObjectInReceptacle {\n template :: \"put {outero} in {r}\";\n feedback :: \"#PutFullReceptacleObjectInReceptacle.feedback#\";\n}\n\naction inventory {\n template :: \"inventory\";\n feedback :: \"#inventory.feedback#\";\n}\n\naction examineReceptacle {\n template :: \"examine {r}\";\n feedback :: \"#examineReceptacle.feedback#\";\n}\n\naction examineObject {\n template :: \"examine {o}\";\n feedback :: \"#examineObject.feedback#\";\n}\n\naction ToggleObject {\n template :: \"use {o}\";\n feedback :: \"#toggleObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"toggleObject.feedback\": [\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"You turn on the {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object)\",\n \"rhs\": \"You turn off the {o.name}.\"\n },\n {\n \"rhs\": \"You don't see any switch on the {o.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction HeatObject {\n template :: \"heat {o} with {r}\";\n feedback :: \"#heatObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"heatObject.feedback\": [\n {\n \"rhs\": \"You heat the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CleanObject {\n template :: \"clean {o} with {r}\";\n feedback :: \"#cleanObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"cleanObject.feedback\": [\n {\n \"rhs\": \"You clean the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CoolObject {\n template :: \"cool {o} with {r}\";\n feedback :: \"#coolObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"coolObject.feedback\": [\n {\n \"rhs\": \"You cool the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction SliceObject {\n template :: \"slice {co} with {ko}\";\n feedback :: \"#sliceObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"sliceObject.feedback\": [\n {\n \"rhs\": \"You sliced the {co.name} with the {ko.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction look {\n template :: \"look\";\n feedback :: \"#look.feedback#\";\n\n grammar :: \"\"\"\n {\n \"look.feedback\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"#look-variations#. Next to it, you see #list_objects_on_the_floor#.\"\n },\n {\n \"rhs\": \"You are in the middle of a room. Looking quickly around you, you see #list_appliances#.\"\n }\n ],\n\n \"look-variations\": [\n {\n \"rhs\": \"You are facing the [{r.name | atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)}]\"\n }\n ],\n\n \"list_objects_on_the_floor\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)\",\n \"rhs\": \"[{#overview(o)# | atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"list_appliances\": [\n {\n \"condition\": \"receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"[{#overview(r)# | receptacleatlocation(r:receptacle, l:location)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"overview(o, r)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name} (in/on the {r.name})}\"\n }\n ],\n\n \"overview(o)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name}\"\n }\n ],\n \"overview(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}\"\n }\n ],\n \"overview_with_state(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}#overview_state(r)#\"\n }\n ],\n \"overview_state(r)\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \" (it is open)\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \" (it is closed)\"\n },\n {\n \"rhs\": \"\"\n }\n ],\n\n \"list_empty\": [\n {\n \"rhs\": \"nothing\"\n }\n ],\n \"list_separator\": [\n {\n \"rhs\": \", \"\n }\n ],\n \"list_last_separator\": [\n {\n \"rhs\": \", and \"\n }\n ]\n }\n \"\"\";\n}\n\naction help {\n template :: \"help\";\n feedback :: \"\nAvailable commands:\n look: look around your current location\n inventory: check your current inventory\n go to (receptacle): move to a receptacle\n open (receptacle): open a receptacle\n close (receptacle): close a receptacle\n take (object) from (receptacle): take an object from a receptacle\n move (object) to (receptacle): place an object in or on a receptacle\n examine (something): examine a receptacle or an object\n use (object): use an object\n heat (object) with (receptacle): heat an object using a receptacle\n clean (object) with (receptacle): clean an object using a receptacle\n cool (object) with (receptacle): cool an object using a receptacle\n slice (object) with (object): slice an object using a sharp object\n\";\n}\n", "pddl_problem": "\n(define (problem plan_trial_T20190907_143348_068782)\n(:domain alfred)\n(:objects\nagent1 - agent\nSaltShaker - object\n HousePlant - object\n Candle - object\n SprayBottle - object\n Bowl - object\n Window - object\n CD - object\n Egg - object\n Glassbottle - object\n Sink - object\n Pillow - object\n Spoon - object\n SoapBottle - object\n TeddyBear - object\n ButterKnife - object\n Cup - object\n Plate - object\n RemoteControl - object\n Tomato - object\n Statue - object\n HandTowel - object\n Knife - object\n StoveKnob - object\n LightSwitch - object\n Pen - object\n Painting - object\n DishSponge - object\n Vase - object\n Mug - object\n ToiletPaper - object\n Box - object\n Mirror - object\n Ladle - object\n Fork - object\n Blinds - object\n Footstool - object\n KeyChain - object\n Cloth - object\n Laptop - object\n TissueBox - object\n PepperShaker - object\n FloorLamp - object\n WateringCan - object\n Apple - object\n Pan - object\n PaperTowel - object\n PaperTowelRoll - object\n Newspaper - object\n Television - object\n Chair - object\n CellPhone - object\n CreditCard - object\n Lettuce - object\n BasketBall - object\n Potato - object\n Curtains - object\n Boots - object\n Pencil - object\n AlarmClock - object\n ToiletPaperRoll - object\n Spatula - object\n Book - object\n Bread - object\n SoapBar - object\n Watch - object\n DeskLamp - object\n Kettle - object\n Pot - object\n ScrubBrush - object\n WineBottle - object\n ShowerDoor - object\n Bathtub - object\n LaundryHamperLid - object\n ShowerGlass - object\n Poster - object\n TennisRacket - object\n BaseballBat - object\n Towel - object\n Plunger - object\nSaltShakerType - otype\n HousePlantType - otype\n CandleType - otype\n SprayBottleType - otype\n BowlType - otype\n WindowType - otype\n CDType - otype\n EggType - otype\n GlassbottleType - otype\n SinkType - otype\n PillowType - otype\n SpoonType - otype\n SoapBottleType - otype\n TeddyBearType - otype\n ButterKnifeType - otype\n CupType - otype\n PlateType - otype\n RemoteControlType - otype\n TomatoType - otype\n StatueType - otype\n HandTowelType - otype\n KnifeType - otype\n StoveKnobType - otype\n LightSwitchType - otype\n PenType - otype\n PaintingType - otype\n DishSpongeType - otype\n VaseType - otype\n MugType - otype\n ToiletPaperType - otype\n BoxType - otype\n MirrorType - otype\n LadleType - otype\n ForkType - otype\n BlindsType - otype\n FootstoolType - otype\n KeyChainType - otype\n ClothType - otype\n LaptopType - otype\n TissueBoxType - otype\n PepperShakerType - otype\n FloorLampType - otype\n WateringCanType - otype\n AppleType - otype\n PanType - otype\n PaperTowelType - otype\n PaperTowelRollType - otype\n NewspaperType - otype\n TelevisionType - otype\n ChairType - otype\n CellPhoneType - otype\n CreditCardType - otype\n LettuceType - otype\n BasketBallType - otype\n PotatoType - otype\n CurtainsType - otype\n BootsType - otype\n PencilType - otype\n AlarmClockType - otype\n ToiletPaperRollType - otype\n SpatulaType - otype\n BookType - otype\n BreadType - otype\n SoapBarType - otype\n WatchType - otype\n DeskLampType - otype\n KettleType - otype\n PotType - otype\n ScrubBrushType - otype\n WineBottleType - otype\n ShowerDoorType - otype\n BathtubType - otype\n LaundryHamperLidType - otype\n ShowerGlassType - otype\n PosterType - otype\n TennisRacketType - otype\n BaseballBatType - otype\n TowelType - otype\n PlungerType - otype\nSafeType - rtype\n DrawerType - rtype\n CoffeeMachineType - rtype\n HandTowelHolderType - rtype\n SinkBasinType - rtype\n DresserType - rtype\n LaundryHamperType - rtype\n TVStandType - rtype\n BathtubBasinType - rtype\n CabinetType - rtype\n FridgeType - rtype\n DeskType - rtype\n ToiletType - rtype\n CartType - rtype\n SideTableType - rtype\n SofaType - rtype\n CoffeeTableType - rtype\n DiningTableType - rtype\n CounterTopType - rtype\n GarbageCanType - rtype\n ArmChairType - rtype\n ShelfType - rtype\n MicrowaveType - rtype\n ToasterType - rtype\n BedType - rtype\n PaintingHangerType - rtype\n TowelHolderType - rtype\n ToiletPaperHangerType - rtype\n StoveBurnerType - rtype\n OttomanType - rtype\n\n\n Apple_bar__plus_00_dot_88_bar__plus_00_dot_94_bar__minus_00_dot_18 - object\n Apple_bar__minus_00_dot_65_bar__plus_00_dot_95_bar__plus_00_dot_76 - object\n Apple_bar__minus_01_dot_22_bar__plus_00_dot_11_bar__minus_03_dot_61 - object\n 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Egg_bar__minus_01_dot_26_bar__plus_00_dot_09_bar__minus_03_dot_72 - object\n Faucet_bar__plus_01_dot_03_bar__plus_00_dot_87_bar__minus_00_dot_68 - object\n Fork_bar__plus_00_dot_66_bar__plus_00_dot_67_bar__plus_00_dot_51 - object\n Fork_bar__plus_00_dot_82_bar__plus_00_dot_76_bar__plus_00_dot_00 - object\n Fork_bar__minus_01_dot_06_bar__plus_00_dot_90_bar__plus_01_dot_10 - object\n Knife_bar__plus_00_dot_77_bar__plus_00_dot_78_bar__minus_00_dot_19 - object\n Knife_bar__minus_00_dot_86_bar__plus_00_dot_92_bar__plus_00_dot_93 - object\n Lettuce_bar__plus_00_dot_66_bar__plus_00_dot_75_bar__plus_00_dot_33 - object\n Lettuce_bar__plus_00_dot_75_bar__plus_01_dot_25_bar__minus_01_dot_80 - object\n Lettuce_bar__plus_00_dot_79_bar__plus_01_dot_25_bar__minus_02_dot_11 - object\n LightSwitch_bar__plus_01_dot_10_bar__plus_01_dot_37_bar__minus_03_dot_74 - object\n Mirror_bar__plus_01_dot_09_bar__plus_01_dot_60_bar__minus_00_dot_64 - object\n Mug_bar__minus_01_dot_90_bar__plus_00_dot_79_bar__minus_03_dot_77 - object\n Pan_bar__plus_00_dot_74_bar__minus_00_dot_01_bar__minus_00_dot_60 - object\n PepperShaker_bar__plus_00_dot_86_bar__plus_01_dot_46_bar__plus_00_dot_60 - object\n Plate_bar__minus_01_dot_80_bar__plus_00_dot_71_bar__minus_01_dot_09 - object\n Potato_bar__minus_02_dot_00_bar__plus_00_dot_83_bar__minus_03_dot_67 - object\n Pot_bar__plus_00_dot_75_bar__plus_00_dot_47_bar__minus_02_dot_04 - object\n Pot_bar__minus_01_dot_56_bar__plus_00_dot_93_bar__plus_01_dot_05 - object\n Pot_bar__minus_02_dot_10_bar__plus_00_dot_93_bar__plus_01_dot_05 - object\n SaltShaker_bar__plus_01_dot_02_bar__plus_00_dot_88_bar__plus_00_dot_10 - object\n Sink_bar__plus_00_dot_75_bar__plus_00_dot_88_bar__minus_00_dot_68 - object\n SoapBottle_bar__minus_01_dot_80_bar__plus_00_dot_70_bar__minus_01_dot_52 - object\n Spatula_bar__plus_00_dot_15_bar__plus_00_dot_92_bar__plus_01_dot_02 - object\n Spatula_bar__plus_00_dot_72_bar__plus_00_dot_68_bar__plus_00_dot_33 - object\n Spatula_bar__plus_00_dot_96_bar__plus_00_dot_68_bar__plus_00_dot_39 - object\n Spoon_bar__plus_00_dot_90_bar__plus_00_dot_67_bar__plus_00_dot_63 - object\n StoveKnob_bar__minus_01_dot_60_bar__plus_00_dot_87_bar__plus_00_dot_52 - object\n StoveKnob_bar__minus_01_dot_75_bar__plus_00_dot_87_bar__plus_00_dot_52 - object\n StoveKnob_bar__minus_01_dot_90_bar__plus_00_dot_87_bar__plus_00_dot_52 - object\n StoveKnob_bar__minus_02_dot_06_bar__plus_00_dot_87_bar__plus_00_dot_52 - object\n Tomato_bar__plus_00_dot_75_bar__plus_00_dot_71_bar__minus_02_dot_11 - object\n Tomato_bar__plus_00_dot_79_bar__plus_01_dot_42_bar__minus_01_dot_80 - object\n Tomato_bar__minus_01_dot_60_bar__plus_00_dot_74_bar__minus_03_dot_28 - object\n Window_bar__minus_02_dot_42_bar__plus_01_dot_64_bar__minus_02_dot_45 - object\n Cabinet_bar__plus_00_dot_51_bar__plus_00_dot_35_bar__plus_00_dot_16 - receptacle\n Cabinet_bar__plus_00_dot_51_bar__plus_00_dot_35_bar__minus_00_dot_43 - receptacle\n Cabinet_bar__plus_00_dot_72_bar__plus_01_dot_82_bar__plus_00_dot_67 - receptacle\n Cabinet_bar__plus_00_dot_72_bar__plus_01_dot_82_bar__minus_00_dot_40 - receptacle\n CoffeeMachine_bar__plus_00_dot_88_bar__plus_00_dot_86_bar__minus_01_dot_26 - receptacle\n CounterTop_bar__plus_00_dot_79_bar__plus_00_dot_92_bar__minus_00_dot_11 - receptacle\n DiningTable_bar__minus_00_dot_52_bar__plus_00_dot_01_bar__plus_00_dot_95 - receptacle\n DiningTable_bar__minus_01_dot_73_bar__minus_00_dot_03_bar__minus_00_dot_96 - receptacle\n DiningTable_bar__minus_02_dot_17_bar__minus_00_dot_03_bar__minus_03_dot_37 - receptacle\n Drawer_bar__plus_00_dot_71_bar__plus_00_dot_77_bar__minus_00_dot_13 - receptacle\n Fridge_bar__plus_00_dot_68_bar__minus_00_dot_03_bar__minus_01_dot_96 - receptacle\n GarbageCan_bar__minus_01_dot_26_bar__minus_00_dot_03_bar__minus_03_dot_61 - receptacle\n Microwave_bar__minus_02_dot_01_bar__plus_00_dot_69_bar__minus_03_dot_69 - receptacle\n SideTable_bar__plus_00_dot_77_bar__plus_00_dot_70_bar__plus_00_dot_45 - receptacle\n Sink_bar__plus_00_dot_75_bar__plus_00_dot_88_bar__minus_00_dot_68_bar_SinkBasin - receptacle\n StoveBurner_bar__minus_01_dot_55_bar__plus_00_dot_89_bar__plus_00_dot_79 - receptacle\n StoveBurner_bar__minus_01_dot_56_bar__plus_00_dot_89_bar__plus_01_dot_05 - receptacle\n StoveBurner_bar__minus_02_dot_10_bar__plus_00_dot_89_bar__plus_00_dot_79 - receptacle\n StoveBurner_bar__minus_02_dot_10_bar__plus_00_dot_89_bar__plus_01_dot_05 - receptacle\n Toaster_bar__minus_00_dot_52_bar__plus_00_dot_89_bar__plus_01_dot_07 - receptacle\n loc_bar__minus_6_bar_0_bar_0_bar_45 - location\n loc_bar__minus_4_bar__minus_5_bar_3_bar_60 - location\n loc_bar_1_bar__minus_3_bar_1_bar_0 - location\n loc_bar__minus_7_bar_0_bar_0_bar_30 - location\n loc_bar__minus_7_bar__minus_11_bar_2_bar_45 - location\n loc_bar_1_bar_1_bar_1_bar__minus_30 - location\n loc_bar__minus_7_bar_0_bar_0_bar_60 - location\n loc_bar__minus_6_bar_0_bar_0_bar_60 - location\n loc_bar__minus_7_bar__minus_11_bar_2_bar_60 - location\n loc_bar_1_bar__minus_2_bar_1_bar_60 - location\n loc_bar__minus_7_bar_0_bar_0_bar_45 - location\n loc_bar_0_bar_1_bar_0_bar_60 - location\n loc_bar__minus_1_bar__minus_8_bar_1_bar_60 - location\n loc_bar__minus_2_bar__minus_1_bar_1_bar_45 - location\n loc_bar__minus_1_bar__minus_1_bar_1_bar_45 - location\n loc_bar__minus_6_bar_0_bar_0_bar_30 - location\n loc_bar__minus_7_bar__minus_10_bar_3_bar_0 - location\n loc_bar_1_bar_0_bar_1_bar_45 - location\n loc_bar_2_bar__minus_13_bar_1_bar_30 - location\n loc_bar_0_bar__minus_5_bar_1_bar_45 - location\n loc_bar__minus_1_bar_1_bar_1_bar_45 - location\n loc_bar__minus_4_bar__minus_13_bar_2_bar_60 - location\n loc_bar__minus_2_bar_1_bar_1_bar_45 - location\n loc_bar_1_bar__minus_3_bar_1_bar_60 - location\n loc_bar__minus_2_bar_1_bar_0_bar_45 - location\n loc_bar__minus_5_bar__minus_7_bar_3_bar_60 - location\n loc_bar_1_bar_0_bar_1_bar__minus_30 - location\n loc_bar__minus_7_bar__minus_10_bar_3_bar__minus_30 - location\n loc_bar__minus_2_bar_0_bar_0_bar_30 - location\n )\n \n\n(:init\n\n\n (receptacleType Fridge_bar__plus_00_dot_68_bar__minus_00_dot_03_bar__minus_01_dot_96 FridgeType)\n (receptacleType StoveBurner_bar__minus_01_dot_55_bar__plus_00_dot_89_bar__plus_00_dot_79 StoveBurnerType)\n (receptacleType CoffeeMachine_bar__plus_00_dot_88_bar__plus_00_dot_86_bar__minus_01_dot_26 CoffeeMachineType)\n (receptacleType GarbageCan_bar__minus_01_dot_26_bar__minus_00_dot_03_bar__minus_03_dot_61 GarbageCanType)\n (receptacleType SideTable_bar__plus_00_dot_77_bar__plus_00_dot_70_bar__plus_00_dot_45 SideTableType)\n (receptacleType Microwave_bar__minus_02_dot_01_bar__plus_00_dot_69_bar__minus_03_dot_69 MicrowaveType)\n (receptacleType Cabinet_bar__plus_00_dot_72_bar__plus_01_dot_82_bar__plus_00_dot_67 CabinetType)\n (receptacleType CounterTop_bar__plus_00_dot_79_bar__plus_00_dot_92_bar__minus_00_dot_11 CounterTopType)\n (receptacleType Cabinet_bar__plus_00_dot_72_bar__plus_01_dot_82_bar__minus_00_dot_40 CabinetType)\n (receptacleType Sink_bar__plus_00_dot_75_bar__plus_00_dot_88_bar__minus_00_dot_68_bar_SinkBasin SinkBasinType)\n (receptacleType Cabinet_bar__plus_00_dot_51_bar__plus_00_dot_35_bar__plus_00_dot_16 CabinetType)\n (receptacleType DiningTable_bar__minus_01_dot_73_bar__minus_00_dot_03_bar__minus_00_dot_96 DiningTableType)\n (receptacleType Drawer_bar__plus_00_dot_71_bar__plus_00_dot_77_bar__minus_00_dot_13 DrawerType)\n (receptacleType Toaster_bar__minus_00_dot_52_bar__plus_00_dot_89_bar__plus_01_dot_07 ToasterType)\n (receptacleType StoveBurner_bar__minus_02_dot_10_bar__plus_00_dot_89_bar__plus_00_dot_79 StoveBurnerType)\n (receptacleType DiningTable_bar__minus_00_dot_52_bar__plus_00_dot_01_bar__plus_00_dot_95 DiningTableType)\n (receptacleType StoveBurner_bar__minus_02_dot_10_bar__plus_00_dot_89_bar__plus_01_dot_05 StoveBurnerType)\n (receptacleType Cabinet_bar__plus_00_dot_51_bar__plus_00_dot_35_bar__minus_00_dot_43 CabinetType)\n (receptacleType DiningTable_bar__minus_02_dot_17_bar__minus_00_dot_03_bar__minus_03_dot_37 DiningTableType)\n (receptacleType StoveBurner_bar__minus_01_dot_56_bar__plus_00_dot_89_bar__plus_01_dot_05 StoveBurnerType)\n (objectType Egg_bar__minus_01_dot_26_bar__plus_00_dot_09_bar__minus_03_dot_72 EggType)\n (objectType PepperShaker_bar__plus_00_dot_86_bar__plus_01_dot_46_bar__plus_00_dot_60 PepperShakerType)\n (objectType Pot_bar__minus_02_dot_10_bar__plus_00_dot_93_bar__plus_01_dot_05 PotType)\n (objectType StoveKnob_bar__minus_01_dot_90_bar__plus_00_dot_87_bar__plus_00_dot_52 StoveKnobType)\n (objectType Cup_bar__plus_00_dot_84_bar__plus_00_dot_01_bar__minus_00_dot_18 CupType)\n (objectType Knife_bar__plus_00_dot_77_bar__plus_00_dot_78_bar__minus_00_dot_19 KnifeType)\n (objectType 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MirrorType)\n (objectType Window_bar__minus_02_dot_42_bar__plus_01_dot_64_bar__minus_02_dot_45 WindowType)\n (objectType Apple_bar__minus_01_dot_22_bar__plus_00_dot_11_bar__minus_03_dot_61 AppleType)\n (objectType Knife_bar__minus_00_dot_86_bar__plus_00_dot_92_bar__plus_00_dot_93 KnifeType)\n (objectType Tomato_bar__plus_00_dot_79_bar__plus_01_dot_42_bar__minus_01_dot_80 TomatoType)\n (objectType Fork_bar__plus_00_dot_66_bar__plus_00_dot_67_bar__plus_00_dot_51 ForkType)\n (objectType Blinds_bar__minus_02_dot_34_bar__plus_02_dot_15_bar__minus_02_dot_44 BlindsType)\n (objectType Pot_bar__plus_00_dot_75_bar__plus_00_dot_47_bar__minus_02_dot_04 PotType)\n (objectType SoapBottle_bar__minus_01_dot_80_bar__plus_00_dot_70_bar__minus_01_dot_52 SoapBottleType)\n (objectType Fork_bar__minus_01_dot_06_bar__plus_00_dot_90_bar__plus_01_dot_10 ForkType)\n (objectType ButterKnife_bar__minus_01_dot_06_bar__plus_00_dot_90_bar__plus_00_dot_84 ButterKnifeType)\n (objectType 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Drawer_bar__plus_00_dot_71_bar__plus_00_dot_77_bar__minus_00_dot_13)\n (inReceptacle ButterKnife_bar__plus_00_dot_80_bar__plus_00_dot_88_bar__minus_00_dot_11 CounterTop_bar__plus_00_dot_79_bar__plus_00_dot_92_bar__minus_00_dot_11)\n (inReceptacle SaltShaker_bar__plus_01_dot_02_bar__plus_00_dot_88_bar__plus_00_dot_10 CounterTop_bar__plus_00_dot_79_bar__plus_00_dot_92_bar__minus_00_dot_11)\n (inReceptacle Apple_bar__plus_00_dot_88_bar__plus_00_dot_94_bar__minus_00_dot_18 CounterTop_bar__plus_00_dot_79_bar__plus_00_dot_92_bar__minus_00_dot_11)\n (inReceptacle Pot_bar__minus_02_dot_10_bar__plus_00_dot_93_bar__plus_01_dot_05 StoveBurner_bar__minus_02_dot_10_bar__plus_00_dot_89_bar__plus_00_dot_79)\n (inReceptacle Pan_bar__plus_00_dot_74_bar__minus_00_dot_01_bar__minus_00_dot_60 Cabinet_bar__plus_00_dot_51_bar__plus_00_dot_35_bar__minus_00_dot_43)\n (inReceptacle Pot_bar__minus_01_dot_56_bar__plus_00_dot_93_bar__plus_01_dot_05 StoveBurner_bar__minus_01_dot_55_bar__plus_00_dot_89_bar__plus_00_dot_79)\n (inReceptacle SoapBottle_bar__minus_01_dot_80_bar__plus_00_dot_70_bar__minus_01_dot_52 DiningTable_bar__minus_01_dot_73_bar__minus_00_dot_03_bar__minus_00_dot_96)\n (inReceptacle Plate_bar__minus_01_dot_80_bar__plus_00_dot_71_bar__minus_01_dot_09 DiningTable_bar__minus_01_dot_73_bar__minus_00_dot_03_bar__minus_00_dot_96)\n (inReceptacle Pot_bar__minus_02_dot_10_bar__plus_00_dot_93_bar__plus_01_dot_05 StoveBurner_bar__minus_02_dot_10_bar__plus_00_dot_89_bar__plus_01_dot_05)\n (inReceptacle Lettuce_bar__plus_00_dot_66_bar__plus_00_dot_75_bar__plus_00_dot_33 SideTable_bar__plus_00_dot_77_bar__plus_00_dot_70_bar__plus_00_dot_45)\n (inReceptacle Fork_bar__plus_00_dot_66_bar__plus_00_dot_67_bar__plus_00_dot_51 SideTable_bar__plus_00_dot_77_bar__plus_00_dot_70_bar__plus_00_dot_45)\n (inReceptacle Spoon_bar__plus_00_dot_90_bar__plus_00_dot_67_bar__plus_00_dot_63 SideTable_bar__plus_00_dot_77_bar__plus_00_dot_70_bar__plus_00_dot_45)\n (inReceptacle Cup_bar__plus_00_dot_60_bar__plus_00_dot_66_bar__plus_00_dot_63 SideTable_bar__plus_00_dot_77_bar__plus_00_dot_70_bar__plus_00_dot_45)\n (inReceptacle Spatula_bar__plus_00_dot_96_bar__plus_00_dot_68_bar__plus_00_dot_39 SideTable_bar__plus_00_dot_77_bar__plus_00_dot_70_bar__plus_00_dot_45)\n (inReceptacle Spatula_bar__plus_00_dot_72_bar__plus_00_dot_68_bar__plus_00_dot_33 SideTable_bar__plus_00_dot_77_bar__plus_00_dot_70_bar__plus_00_dot_45)\n (inReceptacle Pot_bar__minus_01_dot_56_bar__plus_00_dot_93_bar__plus_01_dot_05 StoveBurner_bar__minus_01_dot_56_bar__plus_00_dot_89_bar__plus_01_dot_05)\n (inReceptacle Cup_bar__plus_00_dot_84_bar__plus_00_dot_01_bar__minus_00_dot_18 Cabinet_bar__plus_00_dot_51_bar__plus_00_dot_35_bar__plus_00_dot_16)\n (inReceptacle DishSponge_bar__plus_00_dot_62_bar__plus_00_dot_02_bar__minus_00_dot_25 Cabinet_bar__plus_00_dot_51_bar__plus_00_dot_35_bar__plus_00_dot_16)\n (inReceptacle PepperShaker_bar__plus_00_dot_86_bar__plus_01_dot_46_bar__plus_00_dot_60 Cabinet_bar__plus_00_dot_72_bar__plus_01_dot_82_bar__plus_00_dot_67)\n (inReceptacle ButterKnife_bar__minus_01_dot_06_bar__plus_00_dot_90_bar__plus_00_dot_84 DiningTable_bar__minus_00_dot_52_bar__plus_00_dot_01_bar__plus_00_dot_95)\n (inReceptacle Bread_bar__minus_00_dot_25_bar__plus_00_dot_94_bar__plus_00_dot_84 DiningTable_bar__minus_00_dot_52_bar__plus_00_dot_01_bar__plus_00_dot_95)\n (inReceptacle Apple_bar__minus_00_dot_65_bar__plus_00_dot_95_bar__plus_00_dot_76 DiningTable_bar__minus_00_dot_52_bar__plus_00_dot_01_bar__plus_00_dot_95)\n (inReceptacle Knife_bar__minus_00_dot_86_bar__plus_00_dot_92_bar__plus_00_dot_93 DiningTable_bar__minus_00_dot_52_bar__plus_00_dot_01_bar__plus_00_dot_95)\n (inReceptacle Spatula_bar__plus_00_dot_15_bar__plus_00_dot_92_bar__plus_01_dot_02 DiningTable_bar__minus_00_dot_52_bar__plus_00_dot_01_bar__plus_00_dot_95)\n (inReceptacle Bread_bar__minus_00_dot_05_bar__plus_00_dot_94_bar__plus_01_dot_10 DiningTable_bar__minus_00_dot_52_bar__plus_00_dot_01_bar__plus_00_dot_95)\n (inReceptacle Fork_bar__minus_01_dot_06_bar__plus_00_dot_90_bar__plus_01_dot_10 DiningTable_bar__minus_00_dot_52_bar__plus_00_dot_01_bar__plus_00_dot_95)\n (inReceptacle Tomato_bar__minus_01_dot_60_bar__plus_00_dot_74_bar__minus_03_dot_28 DiningTable_bar__minus_02_dot_17_bar__minus_00_dot_03_bar__minus_03_dot_37)\n (inReceptacle Cup_bar__minus_01_dot_56_bar__plus_00_dot_70_bar__minus_03_dot_70 DiningTable_bar__minus_02_dot_17_bar__minus_00_dot_03_bar__minus_03_dot_37)\n (inReceptacle Apple_bar__minus_01_dot_22_bar__plus_00_dot_11_bar__minus_03_dot_61 GarbageCan_bar__minus_01_dot_26_bar__minus_00_dot_03_bar__minus_03_dot_61)\n (inReceptacle Egg_bar__minus_01_dot_26_bar__plus_00_dot_09_bar__minus_03_dot_72 GarbageCan_bar__minus_01_dot_26_bar__minus_00_dot_03_bar__minus_03_dot_61)\n (inReceptacle Tomato_bar__plus_00_dot_75_bar__plus_00_dot_71_bar__minus_02_dot_11 Fridge_bar__plus_00_dot_68_bar__minus_00_dot_03_bar__minus_01_dot_96)\n (inReceptacle Lettuce_bar__plus_00_dot_79_bar__plus_01_dot_25_bar__minus_02_dot_11 Fridge_bar__plus_00_dot_68_bar__minus_00_dot_03_bar__minus_01_dot_96)\n (inReceptacle Tomato_bar__plus_00_dot_79_bar__plus_01_dot_42_bar__minus_01_dot_80 Fridge_bar__plus_00_dot_68_bar__minus_00_dot_03_bar__minus_01_dot_96)\n (inReceptacle Bowl_bar__plus_00_dot_75_bar__plus_01_dot_37_bar__minus_02_dot_11 Fridge_bar__plus_00_dot_68_bar__minus_00_dot_03_bar__minus_01_dot_96)\n (inReceptacle Pot_bar__plus_00_dot_75_bar__plus_00_dot_47_bar__minus_02_dot_04 Fridge_bar__plus_00_dot_68_bar__minus_00_dot_03_bar__minus_01_dot_96)\n (inReceptacle Lettuce_bar__plus_00_dot_75_bar__plus_01_dot_25_bar__minus_01_dot_80 Fridge_bar__plus_00_dot_68_bar__minus_00_dot_03_bar__minus_01_dot_96)\n (inReceptacle Potato_bar__minus_02_dot_00_bar__plus_00_dot_83_bar__minus_03_dot_67 Microwave_bar__minus_02_dot_01_bar__plus_00_dot_69_bar__minus_03_dot_69)\n (inReceptacle Mug_bar__minus_01_dot_90_bar__plus_00_dot_79_bar__minus_03_dot_77 Microwave_bar__minus_02_dot_01_bar__plus_00_dot_69_bar__minus_03_dot_69)\n (inReceptacle Bowl_bar__plus_00_dot_76_bar__plus_00_dot_77_bar__minus_00_dot_74 Sink_bar__plus_00_dot_75_bar__plus_00_dot_88_bar__minus_00_dot_68_bar_SinkBasin)\n \n \n (receptacleAtLocation Cabinet_bar__plus_00_dot_51_bar__plus_00_dot_35_bar__plus_00_dot_16 loc_bar__minus_2_bar_1_bar_1_bar_45)\n (receptacleAtLocation Cabinet_bar__plus_00_dot_51_bar__plus_00_dot_35_bar__minus_00_dot_43 loc_bar__minus_2_bar__minus_1_bar_1_bar_45)\n (receptacleAtLocation Cabinet_bar__plus_00_dot_72_bar__plus_01_dot_82_bar__plus_00_dot_67 loc_bar_1_bar_1_bar_1_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__plus_00_dot_72_bar__plus_01_dot_82_bar__minus_00_dot_40 loc_bar_1_bar_0_bar_1_bar__minus_30)\n (receptacleAtLocation CoffeeMachine_bar__plus_00_dot_88_bar__plus_00_dot_86_bar__minus_01_dot_26 loc_bar_0_bar__minus_5_bar_1_bar_45)\n (receptacleAtLocation CounterTop_bar__plus_00_dot_79_bar__plus_00_dot_92_bar__minus_00_dot_11 loc_bar_1_bar_0_bar_1_bar_45)\n (receptacleAtLocation DiningTable_bar__minus_00_dot_52_bar__plus_00_dot_01_bar__plus_00_dot_95 loc_bar_0_bar_1_bar_0_bar_60)\n (receptacleAtLocation DiningTable_bar__minus_01_dot_73_bar__minus_00_dot_03_bar__minus_00_dot_96 loc_bar__minus_4_bar__minus_5_bar_3_bar_60)\n (receptacleAtLocation DiningTable_bar__minus_02_dot_17_bar__minus_00_dot_03_bar__minus_03_dot_37 loc_bar__minus_7_bar__minus_11_bar_2_bar_60)\n (receptacleAtLocation Drawer_bar__plus_00_dot_71_bar__plus_00_dot_77_bar__minus_00_dot_13 loc_bar__minus_1_bar__minus_1_bar_1_bar_45)\n (receptacleAtLocation Fridge_bar__plus_00_dot_68_bar__minus_00_dot_03_bar__minus_01_dot_96 loc_bar__minus_1_bar__minus_8_bar_1_bar_60)\n (receptacleAtLocation GarbageCan_bar__minus_01_dot_26_bar__minus_00_dot_03_bar__minus_03_dot_61 loc_bar__minus_4_bar__minus_13_bar_2_bar_60)\n (receptacleAtLocation Microwave_bar__minus_02_dot_01_bar__plus_00_dot_69_bar__minus_03_dot_69 loc_bar__minus_7_bar__minus_11_bar_2_bar_45)\n (receptacleAtLocation SideTable_bar__plus_00_dot_77_bar__plus_00_dot_70_bar__plus_00_dot_45 loc_bar__minus_1_bar_1_bar_1_bar_45)\n (receptacleAtLocation Sink_bar__plus_00_dot_75_bar__plus_00_dot_88_bar__minus_00_dot_68_bar_SinkBasin loc_bar_1_bar__minus_2_bar_1_bar_60)\n (receptacleAtLocation StoveBurner_bar__minus_01_dot_55_bar__plus_00_dot_89_bar__plus_00_dot_79 loc_bar__minus_6_bar_0_bar_0_bar_45)\n (receptacleAtLocation StoveBurner_bar__minus_01_dot_56_bar__plus_00_dot_89_bar__plus_01_dot_05 loc_bar__minus_6_bar_0_bar_0_bar_30)\n (receptacleAtLocation StoveBurner_bar__minus_02_dot_10_bar__plus_00_dot_89_bar__plus_00_dot_79 loc_bar__minus_7_bar_0_bar_0_bar_45)\n (receptacleAtLocation StoveBurner_bar__minus_02_dot_10_bar__plus_00_dot_89_bar__plus_01_dot_05 loc_bar__minus_7_bar_0_bar_0_bar_30)\n (receptacleAtLocation Toaster_bar__minus_00_dot_52_bar__plus_00_dot_89_bar__plus_01_dot_07 loc_bar__minus_2_bar_1_bar_0_bar_45)\n (objectAtLocation Bowl_bar__plus_00_dot_75_bar__plus_01_dot_37_bar__minus_02_dot_11 loc_bar__minus_1_bar__minus_8_bar_1_bar_60)\n (objectAtLocation Knife_bar__minus_00_dot_86_bar__plus_00_dot_92_bar__plus_00_dot_93 loc_bar_0_bar_1_bar_0_bar_60)\n (objectAtLocation Tomato_bar__plus_00_dot_79_bar__plus_01_dot_42_bar__minus_01_dot_80 loc_bar__minus_1_bar__minus_8_bar_1_bar_60)\n (objectAtLocation Lettuce_bar__plus_00_dot_66_bar__plus_00_dot_75_bar__plus_00_dot_33 loc_bar__minus_1_bar_1_bar_1_bar_45)\n (objectAtLocation Bread_bar__minus_00_dot_05_bar__plus_00_dot_94_bar__plus_01_dot_10 loc_bar_0_bar_1_bar_0_bar_60)\n (objectAtLocation ButterKnife_bar__minus_01_dot_06_bar__plus_00_dot_90_bar__plus_00_dot_84 loc_bar_0_bar_1_bar_0_bar_60)\n (objectAtLocation Cup_bar__minus_01_dot_56_bar__plus_00_dot_70_bar__minus_03_dot_70 loc_bar__minus_7_bar__minus_11_bar_2_bar_60)\n (objectAtLocation Spatula_bar__plus_00_dot_96_bar__plus_00_dot_68_bar__plus_00_dot_39 loc_bar__minus_1_bar_1_bar_1_bar_45)\n (objectAtLocation Apple_bar__minus_01_dot_22_bar__plus_00_dot_11_bar__minus_03_dot_61 loc_bar__minus_4_bar__minus_13_bar_2_bar_60)\n (objectAtLocation Fork_bar__minus_01_dot_06_bar__plus_00_dot_90_bar__plus_01_dot_10 loc_bar_0_bar_1_bar_0_bar_60)\n (objectAtLocation Pot_bar__plus_00_dot_75_bar__plus_00_dot_47_bar__minus_02_dot_04 loc_bar__minus_1_bar__minus_8_bar_1_bar_60)\n (objectAtLocation Apple_bar__minus_00_dot_65_bar__plus_00_dot_95_bar__plus_00_dot_76 loc_bar_0_bar_1_bar_0_bar_60)\n (objectAtLocation Lettuce_bar__plus_00_dot_79_bar__plus_01_dot_25_bar__minus_02_dot_11 loc_bar__minus_1_bar__minus_8_bar_1_bar_60)\n (objectAtLocation Tomato_bar__minus_01_dot_60_bar__plus_00_dot_74_bar__minus_03_dot_28 loc_bar__minus_7_bar__minus_11_bar_2_bar_60)\n (objectAtLocation Cup_bar__plus_00_dot_60_bar__plus_00_dot_66_bar__plus_00_dot_63 loc_bar__minus_1_bar_1_bar_1_bar_45)\n (objectAtLocation Pot_bar__minus_01_dot_56_bar__plus_00_dot_93_bar__plus_01_dot_05 loc_bar__minus_6_bar_0_bar_0_bar_30)\n (objectAtLocation Fork_bar__plus_00_dot_66_bar__plus_00_dot_67_bar__plus_00_dot_51 loc_bar__minus_1_bar_1_bar_1_bar_45)\n (objectAtLocation Spatula_bar__plus_00_dot_72_bar__plus_00_dot_68_bar__plus_00_dot_33 loc_bar__minus_1_bar_1_bar_1_bar_45)\n (objectAtLocation Mirror_bar__plus_01_dot_09_bar__plus_01_dot_60_bar__minus_00_dot_64 loc_bar_1_bar__minus_3_bar_1_bar_0)\n (objectAtLocation Sink_bar__plus_00_dot_75_bar__plus_00_dot_88_bar__minus_00_dot_68 loc_bar_1_bar__minus_3_bar_1_bar_60)\n (objectAtLocation Pot_bar__minus_02_dot_10_bar__plus_00_dot_93_bar__plus_01_dot_05 loc_bar__minus_7_bar_0_bar_0_bar_30)\n (objectAtLocation Plate_bar__minus_01_dot_80_bar__plus_00_dot_71_bar__minus_01_dot_09 loc_bar__minus_4_bar__minus_5_bar_3_bar_60)\n (objectAtLocation StoveKnob_bar__minus_01_dot_90_bar__plus_00_dot_87_bar__plus_00_dot_52 loc_bar__minus_7_bar_0_bar_0_bar_60)\n (objectAtLocation StoveKnob_bar__minus_01_dot_75_bar__plus_00_dot_87_bar__plus_00_dot_52 loc_bar__minus_7_bar_0_bar_0_bar_60)\n (objectAtLocation StoveKnob_bar__minus_02_dot_06_bar__plus_00_dot_87_bar__plus_00_dot_52 loc_bar__minus_7_bar_0_bar_0_bar_60)\n (objectAtLocation StoveKnob_bar__minus_01_dot_60_bar__plus_00_dot_87_bar__plus_00_dot_52 loc_bar__minus_6_bar_0_bar_0_bar_60)\n (objectAtLocation Fork_bar__plus_00_dot_82_bar__plus_00_dot_76_bar__plus_00_dot_00 loc_bar__minus_1_bar__minus_1_bar_1_bar_45)\n (objectAtLocation SoapBottle_bar__minus_01_dot_80_bar__plus_00_dot_70_bar__minus_01_dot_52 loc_bar__minus_4_bar__minus_5_bar_3_bar_60)\n (objectAtLocation Apple_bar__plus_00_dot_88_bar__plus_00_dot_94_bar__minus_00_dot_18 loc_bar_1_bar_0_bar_1_bar_45)\n (objectAtLocation Pan_bar__plus_00_dot_74_bar__minus_00_dot_01_bar__minus_00_dot_60 loc_bar__minus_2_bar__minus_1_bar_1_bar_45)\n (objectAtLocation Window_bar__minus_02_dot_42_bar__plus_01_dot_64_bar__minus_02_dot_45 loc_bar__minus_7_bar__minus_10_bar_3_bar_0)\n (objectAtLocation Egg_bar__minus_01_dot_26_bar__plus_00_dot_09_bar__minus_03_dot_72 loc_bar__minus_4_bar__minus_13_bar_2_bar_60)\n (objectAtLocation Spatula_bar__plus_00_dot_15_bar__plus_00_dot_92_bar__plus_01_dot_02 loc_bar_0_bar_1_bar_0_bar_60)\n (objectAtLocation Potato_bar__minus_02_dot_00_bar__plus_00_dot_83_bar__minus_03_dot_67 loc_bar__minus_7_bar__minus_11_bar_2_bar_45)\n (objectAtLocation Cup_bar__plus_00_dot_84_bar__plus_00_dot_01_bar__minus_00_dot_18 loc_bar__minus_2_bar_1_bar_1_bar_45)\n (objectAtLocation SaltShaker_bar__plus_01_dot_02_bar__plus_00_dot_88_bar__plus_00_dot_10 loc_bar_1_bar_0_bar_1_bar_45)\n (objectAtLocation PepperShaker_bar__plus_00_dot_86_bar__plus_01_dot_46_bar__plus_00_dot_60 loc_bar_1_bar_1_bar_1_bar__minus_30)\n (objectAtLocation ButterKnife_bar__plus_00_dot_80_bar__plus_00_dot_88_bar__minus_00_dot_11 loc_bar_1_bar_0_bar_1_bar_45)\n (objectAtLocation DishSponge_bar__plus_00_dot_62_bar__plus_00_dot_02_bar__minus_00_dot_25 loc_bar__minus_2_bar_1_bar_1_bar_45)\n (objectAtLocation Bread_bar__minus_00_dot_25_bar__plus_00_dot_94_bar__plus_00_dot_84 loc_bar_0_bar_1_bar_0_bar_60)\n (objectAtLocation LightSwitch_bar__plus_01_dot_10_bar__plus_01_dot_37_bar__minus_03_dot_74 loc_bar_2_bar__minus_13_bar_1_bar_30)\n (objectAtLocation Lettuce_bar__plus_00_dot_75_bar__plus_01_dot_25_bar__minus_01_dot_80 loc_bar__minus_1_bar__minus_8_bar_1_bar_60)\n (objectAtLocation Chair_bar__minus_01_dot_90_bar__minus_00_dot_03_bar__minus_01_dot_87 loc_bar__minus_5_bar__minus_7_bar_3_bar_60)\n (objectAtLocation Tomato_bar__plus_00_dot_75_bar__plus_00_dot_71_bar__minus_02_dot_11 loc_bar__minus_1_bar__minus_8_bar_1_bar_60)\n (objectAtLocation Spoon_bar__plus_00_dot_90_bar__plus_00_dot_67_bar__plus_00_dot_63 loc_bar__minus_1_bar_1_bar_1_bar_45)\n (objectAtLocation Knife_bar__plus_00_dot_77_bar__plus_00_dot_78_bar__minus_00_dot_19 loc_bar__minus_1_bar__minus_1_bar_1_bar_45)\n (objectAtLocation Mug_bar__minus_01_dot_90_bar__plus_00_dot_79_bar__minus_03_dot_77 loc_bar__minus_7_bar__minus_11_bar_2_bar_45)\n (objectAtLocation Blinds_bar__minus_02_dot_34_bar__plus_02_dot_15_bar__minus_02_dot_44 loc_bar__minus_7_bar__minus_10_bar_3_bar__minus_30)\n (objectAtLocation Bowl_bar__plus_00_dot_76_bar__plus_00_dot_77_bar__minus_00_dot_74 loc_bar_1_bar__minus_2_bar_1_bar_60)\n )\n \n\n (:goal\n (and\n (exists (?r - receptacle)\n (exists (?o - object)\n (and\n (cleanable ?o)\n (objectType ?o MugType)\n (receptacleType ?r CoffeeMachineType)\n (isClean ?o)\n (inReceptacle ?o ?r)\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to microwave 1", "open microwave 1", "take mug 1 from microwave 1", "go to sinkbasin 1", "clean mug 1 with sinkbasin 1", "go to coffeemachine 1", "move mug 1 to coffeemachine 1"]}
|
alfworld__pick_heat_then_place_in_recep__3
|
pick_heat_then_place_in_recep
|
pick_heat_then_place_in_recep-Apple-None-Fridge-25/trial_T20190908_050921_727654/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 apple in fridge.\"\n }\n ],\n\n \"GotoLocation.feedback\": [\n {\n \"rhs\": \"You arrive at {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"OpenObject.feedback\": [\n {\n \"rhs\": \"You open the {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"CloseObject.feedback\": [\n {\n \"rhs\": \"You close the {r.name}.\"\n }\n ],\n\n \"PickupObject.feedback\": [\n {\n \"rhs\": \"You pick up the {o.name} from the {r.name}.\"\n }\n ],\n\n \"PickupObjectFromReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupObjectFromReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupEmptyReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupEmptyReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupFullReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupFullReceptacleObject: You pick up the {outerr.name}.\"\n }\n ],\n\n \"PutObject.feedback\": [\n {\n \"rhs\": \"You move the {o.name} to the {r.name}.\"\n }\n ],\n\n \"PutObjectInReceptacleObject.feedback\": [\n {\n \"rhs\": \"PutObjectInReceptacleObject: You put the {o.name} in the {outero.name}.\"\n }\n ],\n\n \"PutEmptyReceptacleObjectinReceptacle.feedback\": [\n {\n \"rhs\": \"PutEmptyReceptacleObjectinReceptacle: You put the {o.name} in the {r.name}.\"\n }\n ],\n\n \"PutFullReceptacleObjectInReceptacle.feedback\": [\n {\n \"rhs\": \"PutFullReceptacleObjectInReceptacle: You put the {outero.name} in the {r.name}.\"\n }\n ],\n\n \"inventory.feedback\": [\n {\n \"condition\": \"holdsany(a:agent)\",\n \"rhs\": \"You are carrying: [{o.indefinite + ' ' + o.name | holds(a:agent, o:object)}].\"\n },\n {\n \"rhs\": \"You are not carrying anything.\"\n }\n ],\n\n \"examineReceptacle.feedback\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \"The {r.name} is open. In it, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \"The {r.name} is closed.\"\n },\n {\n \"rhs\": \"On the {r.name}, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n }\n ],\n\n \"examineObject.feedback\": [\n {\n \"condition\": \"isreceptacleobject(o:object)\",\n \"rhs\": \"This is a normal {o.name}. In it, you see [{o2.indefinite + ' ' + o2.name | inreceptacleobject(o2:object, o:object)}].\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a clean sliced {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot sliced {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object)\",\n \"rhs\": \"This is a hot and clean {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object)\",\n \"rhs\": \"This is a cool and clean {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object)\",\n \"rhs\": \"This is a hot {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object)\",\n \"rhs\": \"This is a clean {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object)\",\n \"rhs\": \"This is a cold {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"This {o.name} is on.\"\n },\n {\n \"condition\": \"toggleable(o:object) & not_istoggled(o:object)\",\n \"rhs\": \"This {o.name} is off.\"\n },\n {\n \"condition\": \"sliceable(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a sliced {o.name}.\"\n },\n {\n \"rhs\": \"There's nothing special about {o.name}.\"\n }\n ]\n }\n\"\"\";\n\naction GotoLocation {\n template :: \"go to [{r.name | receptacleatlocation(r:receptacle, lend:location)}]\";\n feedback :: \"#GotoLocation.feedback#\";\n}\n\naction OpenObject {\n template :: \"open {r}\";\n feedback :: \"#OpenObject.feedback#\";\n}\n\naction CloseObject {\n template :: \"close {r}\";\n feedback :: \"#CloseObject.feedback#\";\n}\n\naction PickupObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObject.feedback#\";\n}\n\naction PickupObjectFromReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObjectFromReceptacleObject.feedback#\";\n}\n\naction PickupEmptyReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupEmptyReceptacleObject.feedback#\";\n}\n\naction PickupFullReceptacleObject {\n template :: \"take {outerr} from {r}\";\n feedback :: \"#PickupFullReceptacleObject.feedback#\";\n}\n\naction PutObject {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutObject.feedback#\";\n}\n\naction PutObjectInReceptacleObject {\n template :: \"put {o} into {outero}\";\n feedback :: \"#PutObjectInReceptacleObject.feedback#\";\n}\n\naction PutEmptyReceptacleObjectinReceptacle {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutEmptyReceptacleObjectinReceptacle.feedback#\";\n}\n\naction PutFullReceptacleObjectInReceptacle {\n template :: \"put {outero} in {r}\";\n feedback :: \"#PutFullReceptacleObjectInReceptacle.feedback#\";\n}\n\naction inventory {\n template :: \"inventory\";\n feedback :: \"#inventory.feedback#\";\n}\n\naction examineReceptacle {\n template :: \"examine {r}\";\n feedback :: \"#examineReceptacle.feedback#\";\n}\n\naction examineObject {\n template :: \"examine {o}\";\n feedback :: \"#examineObject.feedback#\";\n}\n\naction ToggleObject {\n template :: \"use {o}\";\n feedback :: \"#toggleObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"toggleObject.feedback\": [\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"You turn on the {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object)\",\n \"rhs\": \"You turn off the {o.name}.\"\n },\n {\n \"rhs\": \"You don't see any switch on the {o.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction HeatObject {\n template :: \"heat {o} with {r}\";\n feedback :: \"#heatObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"heatObject.feedback\": [\n {\n \"rhs\": \"You heat the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CleanObject {\n template :: \"clean {o} with {r}\";\n feedback :: \"#cleanObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"cleanObject.feedback\": [\n {\n \"rhs\": \"You clean the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CoolObject {\n template :: \"cool {o} with {r}\";\n feedback :: \"#coolObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"coolObject.feedback\": [\n {\n \"rhs\": \"You cool the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction SliceObject {\n template :: \"slice {co} with {ko}\";\n feedback :: \"#sliceObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"sliceObject.feedback\": [\n {\n \"rhs\": \"You sliced the {co.name} with the {ko.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction look {\n template :: \"look\";\n feedback :: \"#look.feedback#\";\n\n grammar :: \"\"\"\n {\n \"look.feedback\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"#look-variations#. Next to it, you see #list_objects_on_the_floor#.\"\n },\n {\n \"rhs\": \"You are in the middle of a room. Looking quickly around you, you see #list_appliances#.\"\n }\n ],\n\n \"look-variations\": [\n {\n \"rhs\": \"You are facing the [{r.name | atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)}]\"\n }\n ],\n\n \"list_objects_on_the_floor\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)\",\n \"rhs\": \"[{#overview(o)# | atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"list_appliances\": [\n {\n \"condition\": \"receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"[{#overview(r)# | receptacleatlocation(r:receptacle, l:location)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"overview(o, r)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name} (in/on the {r.name})}\"\n }\n ],\n\n \"overview(o)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name}\"\n }\n ],\n \"overview(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}\"\n }\n ],\n \"overview_with_state(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}#overview_state(r)#\"\n }\n ],\n \"overview_state(r)\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \" (it is open)\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \" (it is closed)\"\n },\n {\n \"rhs\": \"\"\n }\n ],\n\n \"list_empty\": [\n {\n \"rhs\": \"nothing\"\n }\n ],\n \"list_separator\": [\n {\n \"rhs\": \", \"\n }\n ],\n \"list_last_separator\": [\n {\n \"rhs\": \", and \"\n }\n ]\n }\n \"\"\";\n}\n\naction help {\n template :: \"help\";\n feedback :: \"\nAvailable commands:\n look: look around your current location\n inventory: check your current inventory\n go to (receptacle): move to a receptacle\n open (receptacle): open a receptacle\n close (receptacle): close a receptacle\n take (object) from (receptacle): take an object from a receptacle\n move (object) to (receptacle): place an object in or on a receptacle\n examine (something): examine a receptacle or an object\n use (object): use an object\n heat (object) with (receptacle): heat an object using a receptacle\n clean (object) with (receptacle): clean an object using a receptacle\n cool (object) with (receptacle): cool an object using a receptacle\n slice (object) with (object): slice an object using a sharp object\n\";\n}\n", "pddl_problem": "\n(define (problem plan_trial_T20190908_050921_727654)\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_09_bar__plus_00_dot_90_bar__plus_01_dot_21 - object\n Apple_bar__minus_00_dot_36_bar__plus_00_dot_13_bar__plus_02_dot_61 - object\n Bowl_bar__minus_02_dot_00_bar__plus_00_dot_12_bar__plus_00_dot_40 - object\n Bread_bar__minus_00_dot_98_bar__plus_00_dot_86_bar__plus_00_dot_25 - object\n ButterKnife_bar__minus_02_dot_21_bar__plus_00_dot_82_bar__plus_00_dot_55 - object\n Chair_bar__minus_00_dot_91_bar__plus_00_dot_01_bar__plus_02_dot_12 - object\n Cup_bar__minus_02_dot_38_bar__plus_01_dot_44_bar__plus_00_dot_11 - object\n Cup_bar__minus_02_dot_84_bar__plus_00_dot_83_bar__plus_02_dot_05 - object\n DishSponge_bar__minus_00_dot_15_bar__plus_00_dot_82_bar__plus_00_dot_43 - object\n DishSponge_bar__minus_01_dot_16_bar__plus_00_dot_70_bar__plus_00_dot_38 - object\n Egg_bar__minus_02_dot_67_bar__plus_01_dot_47_bar__plus_01_dot_96 - object\n Egg_bar__minus_02_dot_72_bar__plus_00_dot_85_bar__plus_00_dot_06 - object\n Faucet_bar__minus_01_dot_69_bar__plus_00_dot_95_bar__plus_00_dot_18 - object\n Fork_bar__minus_01_dot_71_bar__plus_00_dot_82_bar__plus_00_dot_52 - object\n Knife_bar__minus_01_dot_37_bar__plus_00_dot_85_bar__plus_00_dot_55 - object\n Knife_bar__minus_02_dot_66_bar__plus_00_dot_82_bar__plus_00_dot_56 - object\n Ladle_bar__minus_00_dot_37_bar__plus_00_dot_74_bar__plus_00_dot_88 - object\n Ladle_bar__minus_02_dot_54_bar__plus_01_dot_89_bar__plus_01_dot_98 - object\n Lettuce_bar__minus_01_dot_84_bar__plus_00_dot_74_bar__plus_00_dot_24 - object\n Lettuce_bar__minus_02_dot_84_bar__plus_00_dot_91_bar__plus_00_dot_20 - object\n Lettuce_bar__minus_02_dot_84_bar__plus_01_dot_53_bar__plus_02_dot_22 - object\n LightSwitch_bar__minus_00_dot_62_bar__plus_01_dot_38_bar__plus_03_dot_00 - object\n Mug_bar__minus_00_dot_65_bar__plus_00_dot_89_bar__plus_00_dot_37 - object\n Mug_bar__minus_02_dot_38_bar__plus_00_dot_82_bar__plus_00_dot_28 - object\n Pan_bar__minus_00_dot_24_bar__plus_00_dot_83_bar__plus_01_dot_68 - object\n Pan_bar__minus_00_dot_24_bar__plus_00_dot_83_bar__plus_02_dot_08 - object\n PepperShaker_bar__minus_02_dot_17_bar__plus_00_dot_12_bar__plus_00_dot_52 - object\n PepperShaker_bar__minus_02_dot_53_bar__plus_00_dot_12_bar__plus_01_dot_51 - object\n PepperShaker_bar__minus_02_dot_66_bar__plus_01_dot_43_bar__plus_00_dot_22 - object\n Plate_bar__minus_01_dot_52_bar__plus_00_dot_13_bar__plus_00_dot_44 - object\n Plate_bar__minus_02_dot_67_bar__plus_01_dot_15_bar__plus_02_dot_13 - object\n Potato_bar__minus_02_dot_73_bar__plus_01_dot_18_bar__plus_01_dot_96 - object\n Pot_bar__minus_00_dot_53_bar__plus_00_dot_82_bar__plus_02_dot_10 - object\n SaltShaker_bar__minus_01_dot_15_bar__plus_00_dot_82_bar__plus_00_dot_06 - object\n SaltShaker_bar__minus_02_dot_93_bar__plus_01_dot_43_bar__plus_00_dot_94 - object\n Sink_bar__minus_01_dot_84_bar__plus_00_dot_73_bar__plus_00_dot_34 - object\n SoapBottle_bar__minus_02_dot_91_bar__plus_01_dot_43_bar__plus_00_dot_67 - object\n Spatula_bar__minus_02_dot_61_bar__plus_00_dot_84_bar__plus_00_dot_43 - object\n Spoon_bar__minus_01_dot_08_bar__plus_00_dot_70_bar__plus_00_dot_44 - object\n StoveKnob_bar__minus_00_dot_07_bar__plus_01_dot_00_bar__plus_01_dot_61 - object\n StoveKnob_bar__minus_00_dot_07_bar__plus_01_dot_00_bar__plus_01_dot_77 - object\n StoveKnob_bar__minus_00_dot_07_bar__plus_01_dot_00_bar__plus_02_dot_02 - object\n StoveKnob_bar__minus_00_dot_07_bar__plus_01_dot_00_bar__plus_02_dot_17 - object\n Tomato_bar__minus_02_dot_81_bar__plus_00_dot_87_bar__plus_00_dot_87 - object\n Tomato_bar__minus_02_dot_84_bar__plus_01_dot_50_bar__plus_02_dot_40 - object\n Window_bar__minus_01_dot_72_bar__plus_01_dot_34_bar__minus_00_dot_21 - object\n Cabinet_bar__minus_00_dot_55_bar__plus_00_dot_39_bar__plus_00_dot_75 - receptacle\n Cabinet_bar__minus_00_dot_55_bar__plus_00_dot_39_bar__plus_01_dot_41 - receptacle\n Cabinet_bar__minus_00_dot_73_bar__plus_00_dot_39_bar__plus_00_dot_57 - receptacle\n Cabinet_bar__minus_01_dot_26_bar__plus_00_dot_39_bar__plus_00_dot_57 - receptacle\n Cabinet_bar__minus_01_dot_29_bar__plus_00_dot_39_bar__plus_00_dot_56 - receptacle\n Cabinet_bar__minus_02_dot_24_bar__plus_00_dot_39_bar__plus_00_dot_56 - receptacle\n Cabinet_bar__minus_02_dot_38_bar__plus_02_dot_01_bar__plus_02_dot_58 - receptacle\n Cabinet_bar__minus_02_dot_38_bar__plus_02_dot_02_bar__plus_01_dot_72 - receptacle\n Cabinet_bar__minus_02_dot_44_bar__plus_00_dot_39_bar__plus_01_dot_67 - receptacle\n Cabinet_bar__minus_02_dot_46_bar__plus_01_dot_80_bar__plus_00_dot_23 - receptacle\n Cabinet_bar__minus_02_dot_77_bar__plus_01_dot_80_bar__plus_00_dot_51 - receptacle\n Cabinet_bar__minus_02_dot_78_bar__plus_01_dot_80_bar__plus_00_dot_82 - receptacle\n Cabinet_bar__minus_02_dot_78_bar__plus_01_dot_80_bar__plus_00_dot_83 - receptacle\n CoffeeMachine_bar__minus_00_dot_54_bar__plus_00_dot_81_bar__plus_00_dot_19 - receptacle\n CounterTop_bar__minus_01_dot_56_bar__plus_00_dot_86_bar__plus_00_dot_28 - receptacle\n Drawer_bar__minus_00_dot_40_bar__plus_00_dot_70_bar__plus_00_dot_91 - receptacle\n Drawer_bar__minus_00_dot_40_bar__plus_00_dot_70_bar__plus_01_dot_25 - receptacle\n Drawer_bar__minus_00_dot_86_bar__plus_00_dot_71_bar__plus_00_dot_42 - receptacle\n Drawer_bar__minus_01_dot_13_bar__plus_00_dot_71_bar__plus_00_dot_42 - receptacle\n Drawer_bar__minus_02_dot_59_bar__plus_00_dot_70_bar__plus_01_dot_51 - receptacle\n Fridge_bar__minus_02_dot_78_bar__plus_00_dot_00_bar__plus_02_dot_22 - receptacle\n GarbageCan_bar__minus_00_dot_33_bar__plus_00_dot_00_bar__plus_02_dot_61 - receptacle\n Microwave_bar__minus_02_dot_80_bar__plus_00_dot_81_bar__plus_01_dot_35 - receptacle\n Sink_bar__minus_01_dot_84_bar__plus_00_dot_73_bar__plus_00_dot_34_bar_SinkBasin - receptacle\n StoveBurner_bar__minus_00_dot_24_bar__plus_00_dot_82_bar__plus_01_dot_68 - receptacle\n StoveBurner_bar__minus_00_dot_24_bar__plus_00_dot_82_bar__plus_02_dot_08 - receptacle\n StoveBurner_bar__minus_00_dot_52_bar__plus_00_dot_82_bar__plus_01_dot_68 - receptacle\n StoveBurner_bar__minus_00_dot_52_bar__plus_00_dot_82_bar__plus_02_dot_08 - receptacle\n Toaster_bar__minus_00_dot_17_bar__plus_00_dot_81_bar__plus_00_dot_74 - receptacle\n loc_bar__minus_8_bar_4_bar_2_bar__minus_15 - location\n loc_bar__minus_4_bar_10_bar_1_bar_45 - location\n loc_bar__minus_7_bar_7_bar_3_bar_45 - location\n loc_bar__minus_5_bar_5_bar_2_bar_45 - location\n loc_bar__minus_6_bar_5_bar_2_bar_45 - location\n loc_bar__minus_5_bar_4_bar_2_bar_60 - location\n loc_bar__minus_6_bar_4_bar_2_bar_60 - location\n loc_bar__minus_8_bar_5_bar_3_bar__minus_15 - location\n loc_bar__minus_5_bar_5_bar_1_bar_45 - location\n loc_bar__minus_4_bar_11_bar_1_bar_30 - location\n loc_bar__minus_7_bar_4_bar_2_bar_15 - location\n loc_bar__minus_4_bar_10_bar_2_bar_60 - location\n loc_bar__minus_6_bar_4_bar_3_bar_0 - location\n loc_bar__minus_4_bar_4_bar_1_bar_60 - location\n loc_bar__minus_7_bar_9_bar_3_bar_60 - location\n loc_bar__minus_5_bar_4_bar_1_bar_45 - location\n loc_bar__minus_6_bar_6_bar_2_bar_60 - location\n loc_bar__minus_7_bar_4_bar_2_bar_60 - location\n loc_bar__minus_4_bar_6_bar_2_bar_60 - location\n loc_bar__minus_7_bar_7_bar_3_bar__minus_30 - location\n loc_bar__minus_4_bar_10_bar_1_bar_60 - location\n loc_bar__minus_8_bar_4_bar_3_bar__minus_15 - location\n loc_bar__minus_6_bar_4_bar_3_bar_60 - location\n loc_bar__minus_4_bar_6_bar_1_bar_30 - location\n loc_bar__minus_4_bar_4_bar_2_bar_45 - location\n loc_bar__minus_7_bar_9_bar_3_bar__minus_30 - location\n loc_bar__minus_4_bar_6_bar_1_bar_60 - location\n loc_bar__minus_8_bar_5_bar_3_bar_45 - location\n loc_bar__minus_4_bar_4_bar_2_bar_60 - location\n loc_bar__minus_4_bar_4_bar_1_bar_45 - location\n loc_bar__minus_4_bar_6_bar_1_bar_45 - location\n loc_bar__minus_4_bar_10_bar_1_bar_30 - location\n loc_bar__minus_8_bar_8_bar_3_bar_30 - location\n )\n \n\n(:init\n\n\n (receptacleType Drawer_bar__minus_00_dot_40_bar__plus_00_dot_70_bar__plus_00_dot_91 DrawerType)\n (receptacleType Cabinet_bar__minus_02_dot_77_bar__plus_01_dot_80_bar__plus_00_dot_51 CabinetType)\n (receptacleType Cabinet_bar__minus_02_dot_46_bar__plus_01_dot_80_bar__plus_00_dot_23 CabinetType)\n (receptacleType StoveBurner_bar__minus_00_dot_24_bar__plus_00_dot_82_bar__plus_01_dot_68 StoveBurnerType)\n (receptacleType Cabinet_bar__minus_02_dot_38_bar__plus_02_dot_02_bar__plus_01_dot_72 CabinetType)\n (receptacleType Cabinet_bar__minus_02_dot_44_bar__plus_00_dot_39_bar__plus_01_dot_67 CabinetType)\n (receptacleType Drawer_bar__minus_01_dot_13_bar__plus_00_dot_71_bar__plus_00_dot_42 DrawerType)\n (receptacleType Microwave_bar__minus_02_dot_80_bar__plus_00_dot_81_bar__plus_01_dot_35 MicrowaveType)\n (receptacleType Cabinet_bar__minus_02_dot_78_bar__plus_01_dot_80_bar__plus_00_dot_82 CabinetType)\n (receptacleType Cabinet_bar__minus_02_dot_78_bar__plus_01_dot_80_bar__plus_00_dot_83 CabinetType)\n (receptacleType StoveBurner_bar__minus_00_dot_52_bar__plus_00_dot_82_bar__plus_01_dot_68 StoveBurnerType)\n (receptacleType Toaster_bar__minus_00_dot_17_bar__plus_00_dot_81_bar__plus_00_dot_74 ToasterType)\n (receptacleType Cabinet_bar__minus_00_dot_73_bar__plus_00_dot_39_bar__plus_00_dot_57 CabinetType)\n (receptacleType Drawer_bar__minus_00_dot_40_bar__plus_00_dot_70_bar__plus_01_dot_25 DrawerType)\n (receptacleType StoveBurner_bar__minus_00_dot_52_bar__plus_00_dot_82_bar__plus_02_dot_08 StoveBurnerType)\n (receptacleType Cabinet_bar__minus_00_dot_55_bar__plus_00_dot_39_bar__plus_01_dot_41 CabinetType)\n (receptacleType GarbageCan_bar__minus_00_dot_33_bar__plus_00_dot_00_bar__plus_02_dot_61 GarbageCanType)\n (receptacleType CoffeeMachine_bar__minus_00_dot_54_bar__plus_00_dot_81_bar__plus_00_dot_19 CoffeeMachineType)\n (receptacleType Drawer_bar__minus_00_dot_86_bar__plus_00_dot_71_bar__plus_00_dot_42 DrawerType)\n (receptacleType Cabinet_bar__minus_00_dot_55_bar__plus_00_dot_39_bar__plus_00_dot_75 CabinetType)\n (receptacleType CounterTop_bar__minus_01_dot_56_bar__plus_00_dot_86_bar__plus_00_dot_28 CounterTopType)\n (receptacleType Fridge_bar__minus_02_dot_78_bar__plus_00_dot_00_bar__plus_02_dot_22 FridgeType)\n (receptacleType Cabinet_bar__minus_01_dot_29_bar__plus_00_dot_39_bar__plus_00_dot_56 CabinetType)\n (receptacleType Drawer_bar__minus_02_dot_59_bar__plus_00_dot_70_bar__plus_01_dot_51 DrawerType)\n (receptacleType Cabinet_bar__minus_01_dot_26_bar__plus_00_dot_39_bar__plus_00_dot_57 CabinetType)\n (receptacleType Sink_bar__minus_01_dot_84_bar__plus_00_dot_73_bar__plus_00_dot_34_bar_SinkBasin SinkBasinType)\n (receptacleType StoveBurner_bar__minus_00_dot_24_bar__plus_00_dot_82_bar__plus_02_dot_08 StoveBurnerType)\n (receptacleType Cabinet_bar__minus_02_dot_24_bar__plus_00_dot_39_bar__plus_00_dot_56 CabinetType)\n (receptacleType Cabinet_bar__minus_02_dot_38_bar__plus_02_dot_01_bar__plus_02_dot_58 CabinetType)\n (objectType StoveKnob_bar__minus_00_dot_07_bar__plus_01_dot_00_bar__plus_02_dot_17 StoveKnobType)\n (objectType Chair_bar__minus_00_dot_91_bar__plus_00_dot_01_bar__plus_02_dot_12 ChairType)\n (objectType Apple_bar__minus_00_dot_36_bar__plus_00_dot_13_bar__plus_02_dot_61 AppleType)\n (objectType Sink_bar__minus_01_dot_84_bar__plus_00_dot_73_bar__plus_00_dot_34 SinkType)\n (objectType ButterKnife_bar__minus_02_dot_21_bar__plus_00_dot_82_bar__plus_00_dot_55 ButterKnifeType)\n (objectType Spatula_bar__minus_02_dot_61_bar__plus_00_dot_84_bar__plus_00_dot_43 SpatulaType)\n (objectType Tomato_bar__minus_02_dot_81_bar__plus_00_dot_87_bar__plus_00_dot_87 TomatoType)\n (objectType SaltShaker_bar__minus_02_dot_93_bar__plus_01_dot_43_bar__plus_00_dot_94 SaltShakerType)\n (objectType PepperShaker_bar__minus_02_dot_53_bar__plus_00_dot_12_bar__plus_01_dot_51 PepperShakerType)\n (objectType Pan_bar__minus_00_dot_24_bar__plus_00_dot_83_bar__plus_02_dot_08 PanType)\n (objectType Apple_bar__minus_00_dot_09_bar__plus_00_dot_90_bar__plus_01_dot_21 AppleType)\n (objectType Lettuce_bar__minus_01_dot_84_bar__plus_00_dot_74_bar__plus_00_dot_24 LettuceType)\n (objectType 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Egg_bar__minus_02_dot_67_bar__plus_01_dot_47_bar__plus_01_dot_96)\n (cleanable Cup_bar__minus_02_dot_38_bar__plus_01_dot_44_bar__plus_00_dot_11)\n (cleanable Mug_bar__minus_02_dot_38_bar__plus_00_dot_82_bar__plus_00_dot_28)\n (cleanable Ladle_bar__minus_02_dot_54_bar__plus_01_dot_89_bar__plus_01_dot_98)\n (cleanable Cup_bar__minus_02_dot_84_bar__plus_00_dot_83_bar__plus_02_dot_05)\n (cleanable DishSponge_bar__minus_01_dot_16_bar__plus_00_dot_70_bar__plus_00_dot_38)\n (cleanable Potato_bar__minus_02_dot_73_bar__plus_01_dot_18_bar__plus_01_dot_96)\n (cleanable Knife_bar__minus_02_dot_66_bar__plus_00_dot_82_bar__plus_00_dot_56)\n \n (heatable Apple_bar__minus_00_dot_36_bar__plus_00_dot_13_bar__plus_02_dot_61)\n (heatable Tomato_bar__minus_02_dot_81_bar__plus_00_dot_87_bar__plus_00_dot_87)\n (heatable Apple_bar__minus_00_dot_09_bar__plus_00_dot_90_bar__plus_01_dot_21)\n (heatable Plate_bar__minus_01_dot_52_bar__plus_00_dot_13_bar__plus_00_dot_44)\n (heatable Plate_bar__minus_02_dot_67_bar__plus_01_dot_15_bar__plus_02_dot_13)\n (heatable Tomato_bar__minus_02_dot_84_bar__plus_01_dot_50_bar__plus_02_dot_40)\n (heatable Mug_bar__minus_00_dot_65_bar__plus_00_dot_89_bar__plus_00_dot_37)\n (heatable Egg_bar__minus_02_dot_72_bar__plus_00_dot_85_bar__plus_00_dot_06)\n (heatable Bread_bar__minus_00_dot_98_bar__plus_00_dot_86_bar__plus_00_dot_25)\n (heatable Egg_bar__minus_02_dot_67_bar__plus_01_dot_47_bar__plus_01_dot_96)\n (heatable Cup_bar__minus_02_dot_38_bar__plus_01_dot_44_bar__plus_00_dot_11)\n (heatable Mug_bar__minus_02_dot_38_bar__plus_00_dot_82_bar__plus_00_dot_28)\n (heatable Cup_bar__minus_02_dot_84_bar__plus_00_dot_83_bar__plus_02_dot_05)\n (heatable Potato_bar__minus_02_dot_73_bar__plus_01_dot_18_bar__plus_01_dot_96)\n (coolable Apple_bar__minus_00_dot_36_bar__plus_00_dot_13_bar__plus_02_dot_61)\n (coolable Tomato_bar__minus_02_dot_81_bar__plus_00_dot_87_bar__plus_00_dot_87)\n (coolable 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Pan_bar__minus_00_dot_24_bar__plus_00_dot_83_bar__plus_01_dot_68)\n (coolable Pot_bar__minus_00_dot_53_bar__plus_00_dot_82_bar__plus_02_dot_10)\n (coolable Egg_bar__minus_02_dot_67_bar__plus_01_dot_47_bar__plus_01_dot_96)\n (coolable Cup_bar__minus_02_dot_38_bar__plus_01_dot_44_bar__plus_00_dot_11)\n (coolable Mug_bar__minus_02_dot_38_bar__plus_00_dot_82_bar__plus_00_dot_28)\n (coolable Cup_bar__minus_02_dot_84_bar__plus_00_dot_83_bar__plus_02_dot_05)\n (coolable Potato_bar__minus_02_dot_73_bar__plus_01_dot_18_bar__plus_01_dot_96)\n \n \n \n \n \n (sliceable Apple_bar__minus_00_dot_36_bar__plus_00_dot_13_bar__plus_02_dot_61)\n (sliceable Tomato_bar__minus_02_dot_81_bar__plus_00_dot_87_bar__plus_00_dot_87)\n (sliceable Apple_bar__minus_00_dot_09_bar__plus_00_dot_90_bar__plus_01_dot_21)\n (sliceable Lettuce_bar__minus_01_dot_84_bar__plus_00_dot_74_bar__plus_00_dot_24)\n (sliceable Lettuce_bar__minus_02_dot_84_bar__plus_01_dot_53_bar__plus_02_dot_22)\n (sliceable Lettuce_bar__minus_02_dot_84_bar__plus_00_dot_91_bar__plus_00_dot_20)\n (sliceable Tomato_bar__minus_02_dot_84_bar__plus_01_dot_50_bar__plus_02_dot_40)\n (sliceable Egg_bar__minus_02_dot_72_bar__plus_00_dot_85_bar__plus_00_dot_06)\n (sliceable Bread_bar__minus_00_dot_98_bar__plus_00_dot_86_bar__plus_00_dot_25)\n (sliceable Egg_bar__minus_02_dot_67_bar__plus_01_dot_47_bar__plus_01_dot_96)\n (sliceable Potato_bar__minus_02_dot_73_bar__plus_01_dot_18_bar__plus_01_dot_96)\n \n (inReceptacle Ladle_bar__minus_02_dot_54_bar__plus_01_dot_89_bar__plus_01_dot_98 Cabinet_bar__minus_02_dot_38_bar__plus_02_dot_02_bar__plus_01_dot_72)\n (inReceptacle Pan_bar__minus_00_dot_24_bar__plus_00_dot_83_bar__plus_02_dot_08 StoveBurner_bar__minus_00_dot_24_bar__plus_00_dot_82_bar__plus_02_dot_08)\n (inReceptacle Pot_bar__minus_00_dot_53_bar__plus_00_dot_82_bar__plus_02_dot_10 StoveBurner_bar__minus_00_dot_52_bar__plus_00_dot_82_bar__plus_02_dot_08)\n (inReceptacle Pan_bar__minus_00_dot_24_bar__plus_00_dot_83_bar__plus_01_dot_68 StoveBurner_bar__minus_00_dot_24_bar__plus_00_dot_82_bar__plus_01_dot_68)\n (inReceptacle Apple_bar__minus_00_dot_09_bar__plus_00_dot_90_bar__plus_01_dot_21 CounterTop_bar__minus_01_dot_56_bar__plus_00_dot_86_bar__plus_00_dot_28)\n (inReceptacle Mug_bar__minus_02_dot_38_bar__plus_00_dot_82_bar__plus_00_dot_28 CounterTop_bar__minus_01_dot_56_bar__plus_00_dot_86_bar__plus_00_dot_28)\n (inReceptacle SaltShaker_bar__minus_01_dot_15_bar__plus_00_dot_82_bar__plus_00_dot_06 CounterTop_bar__minus_01_dot_56_bar__plus_00_dot_86_bar__plus_00_dot_28)\n (inReceptacle Fork_bar__minus_01_dot_71_bar__plus_00_dot_82_bar__plus_00_dot_52 CounterTop_bar__minus_01_dot_56_bar__plus_00_dot_86_bar__plus_00_dot_28)\n (inReceptacle Mug_bar__minus_00_dot_65_bar__plus_00_dot_89_bar__plus_00_dot_37 CounterTop_bar__minus_01_dot_56_bar__plus_00_dot_86_bar__plus_00_dot_28)\n (inReceptacle Egg_bar__minus_02_dot_72_bar__plus_00_dot_85_bar__plus_00_dot_06 CounterTop_bar__minus_01_dot_56_bar__plus_00_dot_86_bar__plus_00_dot_28)\n (inReceptacle ButterKnife_bar__minus_02_dot_21_bar__plus_00_dot_82_bar__plus_00_dot_55 CounterTop_bar__minus_01_dot_56_bar__plus_00_dot_86_bar__plus_00_dot_28)\n (inReceptacle Spatula_bar__minus_02_dot_61_bar__plus_00_dot_84_bar__plus_00_dot_43 CounterTop_bar__minus_01_dot_56_bar__plus_00_dot_86_bar__plus_00_dot_28)\n (inReceptacle Bread_bar__minus_00_dot_98_bar__plus_00_dot_86_bar__plus_00_dot_25 CounterTop_bar__minus_01_dot_56_bar__plus_00_dot_86_bar__plus_00_dot_28)\n (inReceptacle Tomato_bar__minus_02_dot_81_bar__plus_00_dot_87_bar__plus_00_dot_87 CounterTop_bar__minus_01_dot_56_bar__plus_00_dot_86_bar__plus_00_dot_28)\n (inReceptacle DishSponge_bar__minus_00_dot_15_bar__plus_00_dot_82_bar__plus_00_dot_43 CounterTop_bar__minus_01_dot_56_bar__plus_00_dot_86_bar__plus_00_dot_28)\n (inReceptacle Pan_bar__minus_00_dot_24_bar__plus_00_dot_83_bar__plus_01_dot_68 CounterTop_bar__minus_01_dot_56_bar__plus_00_dot_86_bar__plus_00_dot_28)\n (inReceptacle Knife_bar__minus_02_dot_66_bar__plus_00_dot_82_bar__plus_00_dot_56 CounterTop_bar__minus_01_dot_56_bar__plus_00_dot_86_bar__plus_00_dot_28)\n (inReceptacle Lettuce_bar__minus_02_dot_84_bar__plus_00_dot_91_bar__plus_00_dot_20 CounterTop_bar__minus_01_dot_56_bar__plus_00_dot_86_bar__plus_00_dot_28)\n (inReceptacle Ladle_bar__minus_00_dot_37_bar__plus_00_dot_74_bar__plus_00_dot_88 Drawer_bar__minus_00_dot_40_bar__plus_00_dot_70_bar__plus_00_dot_91)\n (inReceptacle DishSponge_bar__minus_01_dot_16_bar__plus_00_dot_70_bar__plus_00_dot_38 Drawer_bar__minus_01_dot_13_bar__plus_00_dot_71_bar__plus_00_dot_42)\n (inReceptacle Spoon_bar__minus_01_dot_08_bar__plus_00_dot_70_bar__plus_00_dot_44 Drawer_bar__minus_01_dot_13_bar__plus_00_dot_71_bar__plus_00_dot_42)\n (inReceptacle PepperShaker_bar__minus_02_dot_66_bar__plus_01_dot_43_bar__plus_00_dot_22 Cabinet_bar__minus_02_dot_77_bar__plus_01_dot_80_bar__plus_00_dot_51)\n (inReceptacle Cup_bar__minus_02_dot_38_bar__plus_01_dot_44_bar__plus_00_dot_11 Cabinet_bar__minus_02_dot_46_bar__plus_01_dot_80_bar__plus_00_dot_23)\n (inReceptacle SaltShaker_bar__minus_02_dot_93_bar__plus_01_dot_43_bar__plus_00_dot_94 Cabinet_bar__minus_02_dot_78_bar__plus_01_dot_80_bar__plus_00_dot_83)\n (inReceptacle SoapBottle_bar__minus_02_dot_91_bar__plus_01_dot_43_bar__plus_00_dot_67 Cabinet_bar__minus_02_dot_78_bar__plus_01_dot_80_bar__plus_00_dot_82)\n (inReceptacle PepperShaker_bar__minus_02_dot_53_bar__plus_00_dot_12_bar__plus_01_dot_51 Cabinet_bar__minus_02_dot_44_bar__plus_00_dot_39_bar__plus_01_dot_67)\n (inReceptacle PepperShaker_bar__minus_02_dot_17_bar__plus_00_dot_12_bar__plus_00_dot_52 Cabinet_bar__minus_02_dot_24_bar__plus_00_dot_39_bar__plus_00_dot_56)\n (inReceptacle Bowl_bar__minus_02_dot_00_bar__plus_00_dot_12_bar__plus_00_dot_40 Cabinet_bar__minus_02_dot_24_bar__plus_00_dot_39_bar__plus_00_dot_56)\n (inReceptacle Plate_bar__minus_01_dot_52_bar__plus_00_dot_13_bar__plus_00_dot_44 Cabinet_bar__minus_01_dot_29_bar__plus_00_dot_39_bar__plus_00_dot_56)\n (inReceptacle Egg_bar__minus_02_dot_67_bar__plus_01_dot_47_bar__plus_01_dot_96 Fridge_bar__minus_02_dot_78_bar__plus_00_dot_00_bar__plus_02_dot_22)\n (inReceptacle Plate_bar__minus_02_dot_67_bar__plus_01_dot_15_bar__plus_02_dot_13 Fridge_bar__minus_02_dot_78_bar__plus_00_dot_00_bar__plus_02_dot_22)\n (inReceptacle Cup_bar__minus_02_dot_84_bar__plus_00_dot_83_bar__plus_02_dot_05 Fridge_bar__minus_02_dot_78_bar__plus_00_dot_00_bar__plus_02_dot_22)\n (inReceptacle Tomato_bar__minus_02_dot_84_bar__plus_01_dot_50_bar__plus_02_dot_40 Fridge_bar__minus_02_dot_78_bar__plus_00_dot_00_bar__plus_02_dot_22)\n (inReceptacle Potato_bar__minus_02_dot_73_bar__plus_01_dot_18_bar__plus_01_dot_96 Fridge_bar__minus_02_dot_78_bar__plus_00_dot_00_bar__plus_02_dot_22)\n (inReceptacle Lettuce_bar__minus_02_dot_84_bar__plus_01_dot_53_bar__plus_02_dot_22 Fridge_bar__minus_02_dot_78_bar__plus_00_dot_00_bar__plus_02_dot_22)\n (inReceptacle Apple_bar__minus_00_dot_36_bar__plus_00_dot_13_bar__plus_02_dot_61 GarbageCan_bar__minus_00_dot_33_bar__plus_00_dot_00_bar__plus_02_dot_61)\n (inReceptacle Lettuce_bar__minus_01_dot_84_bar__plus_00_dot_74_bar__plus_00_dot_24 Sink_bar__minus_01_dot_84_bar__plus_00_dot_73_bar__plus_00_dot_34_bar_SinkBasin)\n (inReceptacle Mug_bar__minus_00_dot_65_bar__plus_00_dot_89_bar__plus_00_dot_37 CoffeeMachine_bar__minus_00_dot_54_bar__plus_00_dot_81_bar__plus_00_dot_19)\n \n \n (receptacleAtLocation Cabinet_bar__minus_00_dot_55_bar__plus_00_dot_39_bar__plus_00_dot_75 loc_bar__minus_4_bar_4_bar_1_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_55_bar__plus_00_dot_39_bar__plus_01_dot_41 loc_bar__minus_4_bar_6_bar_1_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_73_bar__plus_00_dot_39_bar__plus_00_dot_57 loc_bar__minus_4_bar_4_bar_2_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_01_dot_26_bar__plus_00_dot_39_bar__plus_00_dot_57 loc_bar__minus_5_bar_4_bar_2_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_01_dot_29_bar__plus_00_dot_39_bar__plus_00_dot_56 loc_bar__minus_4_bar_6_bar_2_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_02_dot_24_bar__plus_00_dot_39_bar__plus_00_dot_56 loc_bar__minus_6_bar_6_bar_2_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_02_dot_38_bar__plus_02_dot_01_bar__plus_02_dot_58 loc_bar__minus_7_bar_9_bar_3_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_02_dot_38_bar__plus_02_dot_02_bar__plus_01_dot_72 loc_bar__minus_7_bar_7_bar_3_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_02_dot_44_bar__plus_00_dot_39_bar__plus_01_dot_67 loc_bar__minus_6_bar_4_bar_3_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_02_dot_46_bar__plus_01_dot_80_bar__plus_00_dot_23 loc_bar__minus_8_bar_4_bar_2_bar__minus_15)\n (receptacleAtLocation Cabinet_bar__minus_02_dot_77_bar__plus_01_dot_80_bar__plus_00_dot_51 loc_bar__minus_6_bar_4_bar_3_bar_0)\n (receptacleAtLocation Cabinet_bar__minus_02_dot_78_bar__plus_01_dot_80_bar__plus_00_dot_82 loc_bar__minus_8_bar_4_bar_3_bar__minus_15)\n (receptacleAtLocation Cabinet_bar__minus_02_dot_78_bar__plus_01_dot_80_bar__plus_00_dot_83 loc_bar__minus_8_bar_5_bar_3_bar__minus_15)\n (receptacleAtLocation CoffeeMachine_bar__minus_00_dot_54_bar__plus_00_dot_81_bar__plus_00_dot_19 loc_bar__minus_4_bar_4_bar_2_bar_45)\n (receptacleAtLocation CounterTop_bar__minus_01_dot_56_bar__plus_00_dot_86_bar__plus_00_dot_28 loc_bar__minus_4_bar_4_bar_2_bar_45)\n (receptacleAtLocation Drawer_bar__minus_00_dot_40_bar__plus_00_dot_70_bar__plus_00_dot_91 loc_bar__minus_5_bar_5_bar_1_bar_45)\n (receptacleAtLocation Drawer_bar__minus_00_dot_40_bar__plus_00_dot_70_bar__plus_01_dot_25 loc_bar__minus_5_bar_4_bar_1_bar_45)\n (receptacleAtLocation Drawer_bar__minus_00_dot_86_bar__plus_00_dot_71_bar__plus_00_dot_42 loc_bar__minus_5_bar_5_bar_2_bar_45)\n (receptacleAtLocation Drawer_bar__minus_01_dot_13_bar__plus_00_dot_71_bar__plus_00_dot_42 loc_bar__minus_6_bar_5_bar_2_bar_45)\n (receptacleAtLocation Drawer_bar__minus_02_dot_59_bar__plus_00_dot_70_bar__plus_01_dot_51 loc_bar__minus_7_bar_7_bar_3_bar_45)\n (receptacleAtLocation Fridge_bar__minus_02_dot_78_bar__plus_00_dot_00_bar__plus_02_dot_22 loc_bar__minus_7_bar_9_bar_3_bar_60)\n (receptacleAtLocation GarbageCan_bar__minus_00_dot_33_bar__plus_00_dot_00_bar__plus_02_dot_61 loc_bar__minus_4_bar_10_bar_1_bar_60)\n (receptacleAtLocation Microwave_bar__minus_02_dot_80_bar__plus_00_dot_81_bar__plus_01_dot_35 loc_bar__minus_8_bar_5_bar_3_bar_45)\n (receptacleAtLocation Sink_bar__minus_01_dot_84_bar__plus_00_dot_73_bar__plus_00_dot_34_bar_SinkBasin loc_bar__minus_6_bar_5_bar_2_bar_45)\n (receptacleAtLocation StoveBurner_bar__minus_00_dot_24_bar__plus_00_dot_82_bar__plus_01_dot_68 loc_bar__minus_4_bar_6_bar_1_bar_45)\n (receptacleAtLocation StoveBurner_bar__minus_00_dot_24_bar__plus_00_dot_82_bar__plus_02_dot_08 loc_bar__minus_4_bar_10_bar_1_bar_45)\n (receptacleAtLocation StoveBurner_bar__minus_00_dot_52_bar__plus_00_dot_82_bar__plus_01_dot_68 loc_bar__minus_4_bar_6_bar_1_bar_60)\n (receptacleAtLocation StoveBurner_bar__minus_00_dot_52_bar__plus_00_dot_82_bar__plus_02_dot_08 loc_bar__minus_4_bar_10_bar_1_bar_60)\n (receptacleAtLocation Toaster_bar__minus_00_dot_17_bar__plus_00_dot_81_bar__plus_00_dot_74 loc_bar__minus_4_bar_4_bar_1_bar_45)\n (objectAtLocation Mug_bar__minus_02_dot_38_bar__plus_00_dot_82_bar__plus_00_dot_28 loc_bar__minus_4_bar_4_bar_2_bar_45)\n (objectAtLocation DishSponge_bar__minus_00_dot_15_bar__plus_00_dot_82_bar__plus_00_dot_43 loc_bar__minus_4_bar_4_bar_2_bar_45)\n (objectAtLocation PepperShaker_bar__minus_02_dot_53_bar__plus_00_dot_12_bar__plus_01_dot_51 loc_bar__minus_6_bar_4_bar_3_bar_60)\n (objectAtLocation Lettuce_bar__minus_01_dot_84_bar__plus_00_dot_74_bar__plus_00_dot_24 loc_bar__minus_6_bar_5_bar_2_bar_45)\n (objectAtLocation Cup_bar__minus_02_dot_38_bar__plus_01_dot_44_bar__plus_00_dot_11 loc_bar__minus_8_bar_4_bar_2_bar__minus_15)\n (objectAtLocation Egg_bar__minus_02_dot_72_bar__plus_00_dot_85_bar__plus_00_dot_06 loc_bar__minus_4_bar_4_bar_2_bar_45)\n (objectAtLocation Knife_bar__minus_02_dot_66_bar__plus_00_dot_82_bar__plus_00_dot_56 loc_bar__minus_4_bar_4_bar_2_bar_45)\n (objectAtLocation Plate_bar__minus_02_dot_67_bar__plus_01_dot_15_bar__plus_02_dot_13 loc_bar__minus_7_bar_9_bar_3_bar_60)\n (objectAtLocation SaltShaker_bar__minus_02_dot_93_bar__plus_01_dot_43_bar__plus_00_dot_94 loc_bar__minus_8_bar_5_bar_3_bar__minus_15)\n (objectAtLocation Tomato_bar__minus_02_dot_84_bar__plus_01_dot_50_bar__plus_02_dot_40 loc_bar__minus_7_bar_9_bar_3_bar_60)\n (objectAtLocation Pan_bar__minus_00_dot_24_bar__plus_00_dot_83_bar__plus_02_dot_08 loc_bar__minus_4_bar_10_bar_1_bar_45)\n (objectAtLocation Ladle_bar__minus_00_dot_37_bar__plus_00_dot_74_bar__plus_00_dot_88 loc_bar__minus_5_bar_5_bar_1_bar_45)\n (objectAtLocation Apple_bar__minus_00_dot_36_bar__plus_00_dot_13_bar__plus_02_dot_61 loc_bar__minus_4_bar_10_bar_1_bar_60)\n (objectAtLocation Lettuce_bar__minus_02_dot_84_bar__plus_01_dot_53_bar__plus_02_dot_22 loc_bar__minus_7_bar_9_bar_3_bar_60)\n (objectAtLocation PepperShaker_bar__minus_02_dot_66_bar__plus_01_dot_43_bar__plus_00_dot_22 loc_bar__minus_6_bar_4_bar_3_bar_0)\n (objectAtLocation Sink_bar__minus_01_dot_84_bar__plus_00_dot_73_bar__plus_00_dot_34 loc_bar__minus_7_bar_4_bar_2_bar_60)\n (objectAtLocation Chair_bar__minus_00_dot_91_bar__plus_00_dot_01_bar__plus_02_dot_12 loc_bar__minus_4_bar_10_bar_2_bar_60)\n (objectAtLocation Apple_bar__minus_00_dot_09_bar__plus_00_dot_90_bar__plus_01_dot_21 loc_bar__minus_4_bar_4_bar_2_bar_45)\n (objectAtLocation StoveKnob_bar__minus_00_dot_07_bar__plus_01_dot_00_bar__plus_01_dot_77 loc_bar__minus_4_bar_6_bar_1_bar_30)\n (objectAtLocation StoveKnob_bar__minus_00_dot_07_bar__plus_01_dot_00_bar__plus_01_dot_61 loc_bar__minus_4_bar_6_bar_1_bar_30)\n (objectAtLocation StoveKnob_bar__minus_00_dot_07_bar__plus_01_dot_00_bar__plus_02_dot_17 loc_bar__minus_4_bar_10_bar_1_bar_30)\n (objectAtLocation StoveKnob_bar__minus_00_dot_07_bar__plus_01_dot_00_bar__plus_02_dot_02 loc_bar__minus_4_bar_10_bar_1_bar_30)\n (objectAtLocation Fork_bar__minus_01_dot_71_bar__plus_00_dot_82_bar__plus_00_dot_52 loc_bar__minus_4_bar_4_bar_2_bar_45)\n (objectAtLocation Ladle_bar__minus_02_dot_54_bar__plus_01_dot_89_bar__plus_01_dot_98 loc_bar__minus_7_bar_7_bar_3_bar__minus_30)\n (objectAtLocation Pan_bar__minus_00_dot_24_bar__plus_00_dot_83_bar__plus_01_dot_68 loc_bar__minus_4_bar_4_bar_2_bar_45)\n (objectAtLocation SoapBottle_bar__minus_02_dot_91_bar__plus_01_dot_43_bar__plus_00_dot_67 loc_bar__minus_8_bar_4_bar_3_bar__minus_15)\n (objectAtLocation Pot_bar__minus_00_dot_53_bar__plus_00_dot_82_bar__plus_02_dot_10 loc_bar__minus_4_bar_10_bar_1_bar_60)\n (objectAtLocation Tomato_bar__minus_02_dot_81_bar__plus_00_dot_87_bar__plus_00_dot_87 loc_bar__minus_4_bar_4_bar_2_bar_45)\n (objectAtLocation Potato_bar__minus_02_dot_73_bar__plus_01_dot_18_bar__plus_01_dot_96 loc_bar__minus_7_bar_9_bar_3_bar_60)\n (objectAtLocation SaltShaker_bar__minus_01_dot_15_bar__plus_00_dot_82_bar__plus_00_dot_06 loc_bar__minus_4_bar_4_bar_2_bar_45)\n (objectAtLocation Plate_bar__minus_01_dot_52_bar__plus_00_dot_13_bar__plus_00_dot_44 loc_bar__minus_4_bar_6_bar_2_bar_60)\n (objectAtLocation Window_bar__minus_01_dot_72_bar__plus_01_dot_34_bar__minus_00_dot_21 loc_bar__minus_7_bar_4_bar_2_bar_15)\n (objectAtLocation Spatula_bar__minus_02_dot_61_bar__plus_00_dot_84_bar__plus_00_dot_43 loc_bar__minus_4_bar_4_bar_2_bar_45)\n (objectAtLocation Knife_bar__minus_01_dot_37_bar__plus_00_dot_85_bar__plus_00_dot_55 loc_bar__minus_6_bar_4_bar_2_bar_60)\n (objectAtLocation Egg_bar__minus_02_dot_67_bar__plus_01_dot_47_bar__plus_01_dot_96 loc_bar__minus_7_bar_9_bar_3_bar_60)\n (objectAtLocation Cup_bar__minus_02_dot_84_bar__plus_00_dot_83_bar__plus_02_dot_05 loc_bar__minus_7_bar_9_bar_3_bar_60)\n (objectAtLocation ButterKnife_bar__minus_02_dot_21_bar__plus_00_dot_82_bar__plus_00_dot_55 loc_bar__minus_4_bar_4_bar_2_bar_45)\n (objectAtLocation Lettuce_bar__minus_02_dot_84_bar__plus_00_dot_91_bar__plus_00_dot_20 loc_bar__minus_4_bar_4_bar_2_bar_45)\n (objectAtLocation PepperShaker_bar__minus_02_dot_17_bar__plus_00_dot_12_bar__plus_00_dot_52 loc_bar__minus_6_bar_6_bar_2_bar_60)\n (objectAtLocation LightSwitch_bar__minus_00_dot_62_bar__plus_01_dot_38_bar__plus_03_dot_00 loc_bar__minus_4_bar_11_bar_1_bar_30)\n (objectAtLocation DishSponge_bar__minus_01_dot_16_bar__plus_00_dot_70_bar__plus_00_dot_38 loc_bar__minus_6_bar_5_bar_2_bar_45)\n (objectAtLocation Bread_bar__minus_00_dot_98_bar__plus_00_dot_86_bar__plus_00_dot_25 loc_bar__minus_4_bar_4_bar_2_bar_45)\n (objectAtLocation Spoon_bar__minus_01_dot_08_bar__plus_00_dot_70_bar__plus_00_dot_44 loc_bar__minus_6_bar_5_bar_2_bar_45)\n (objectAtLocation Mug_bar__minus_00_dot_65_bar__plus_00_dot_89_bar__plus_00_dot_37 loc_bar__minus_4_bar_4_bar_2_bar_45)\n (objectAtLocation Bowl_bar__minus_02_dot_00_bar__plus_00_dot_12_bar__plus_00_dot_40 loc_bar__minus_6_bar_6_bar_2_bar_60)\n )\n \n\n (:goal\n (and\n (exists (?r - receptacle)\n (exists (?o - object)\n (and\n (heatable ?o)\n (objectType ?o AppleType)\n (receptacleType ?r FridgeType)\n (isHot ?o)\n (inReceptacle ?o ?r)\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to garbagecan 1", "take apple 1 from garbagecan 1", "go to microwave 1", "heat apple 1 with microwave 1", "go to fridge 1", "open fridge 1", "move apple 1 to fridge 1"]}
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alfworld__pick_heat_then_place_in_recep__4
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pick_heat_then_place_in_recep
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pick_heat_then_place_in_recep-Apple-None-Fridge-25/trial_T20190908_050852_487447/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 apple in fridge.\"\n }\n ],\n\n \"GotoLocation.feedback\": [\n {\n \"rhs\": \"You arrive at {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"OpenObject.feedback\": [\n {\n \"rhs\": \"You open the {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"CloseObject.feedback\": [\n {\n \"rhs\": \"You close the {r.name}.\"\n }\n ],\n\n \"PickupObject.feedback\": [\n {\n \"rhs\": \"You pick up the {o.name} from the {r.name}.\"\n }\n ],\n\n \"PickupObjectFromReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupObjectFromReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupEmptyReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupEmptyReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupFullReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupFullReceptacleObject: You pick up the {outerr.name}.\"\n }\n ],\n\n \"PutObject.feedback\": [\n {\n \"rhs\": \"You move the {o.name} to the {r.name}.\"\n }\n ],\n\n \"PutObjectInReceptacleObject.feedback\": [\n {\n \"rhs\": \"PutObjectInReceptacleObject: You put the {o.name} in the {outero.name}.\"\n }\n ],\n\n \"PutEmptyReceptacleObjectinReceptacle.feedback\": [\n {\n \"rhs\": \"PutEmptyReceptacleObjectinReceptacle: You put the {o.name} in the {r.name}.\"\n }\n ],\n\n \"PutFullReceptacleObjectInReceptacle.feedback\": [\n {\n \"rhs\": \"PutFullReceptacleObjectInReceptacle: You put the {outero.name} in the {r.name}.\"\n }\n ],\n\n \"inventory.feedback\": [\n {\n \"condition\": \"holdsany(a:agent)\",\n \"rhs\": \"You are carrying: [{o.indefinite + ' ' + o.name | holds(a:agent, o:object)}].\"\n },\n {\n \"rhs\": \"You are not carrying anything.\"\n }\n ],\n\n \"examineReceptacle.feedback\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \"The {r.name} is open. In it, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \"The {r.name} is closed.\"\n },\n {\n \"rhs\": \"On the {r.name}, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n }\n ],\n\n \"examineObject.feedback\": [\n {\n \"condition\": \"isreceptacleobject(o:object)\",\n \"rhs\": \"This is a normal {o.name}. In it, you see [{o2.indefinite + ' ' + o2.name | inreceptacleobject(o2:object, o:object)}].\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a clean sliced {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot sliced {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object)\",\n \"rhs\": \"This is a hot and clean {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object)\",\n \"rhs\": \"This is a cool and clean {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object)\",\n \"rhs\": \"This is a hot {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object)\",\n \"rhs\": \"This is a clean {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object)\",\n \"rhs\": \"This is a cold {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"This {o.name} is on.\"\n },\n {\n \"condition\": \"toggleable(o:object) & not_istoggled(o:object)\",\n \"rhs\": \"This {o.name} is off.\"\n },\n {\n \"condition\": \"sliceable(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a sliced {o.name}.\"\n },\n {\n \"rhs\": \"There's nothing special about {o.name}.\"\n }\n ]\n }\n\"\"\";\n\naction GotoLocation {\n template :: \"go to [{r.name | receptacleatlocation(r:receptacle, lend:location)}]\";\n feedback :: \"#GotoLocation.feedback#\";\n}\n\naction OpenObject {\n template :: \"open {r}\";\n feedback :: \"#OpenObject.feedback#\";\n}\n\naction CloseObject {\n template :: \"close {r}\";\n feedback :: \"#CloseObject.feedback#\";\n}\n\naction PickupObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObject.feedback#\";\n}\n\naction PickupObjectFromReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObjectFromReceptacleObject.feedback#\";\n}\n\naction PickupEmptyReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupEmptyReceptacleObject.feedback#\";\n}\n\naction PickupFullReceptacleObject {\n template :: \"take {outerr} from {r}\";\n feedback :: \"#PickupFullReceptacleObject.feedback#\";\n}\n\naction PutObject {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutObject.feedback#\";\n}\n\naction PutObjectInReceptacleObject {\n template :: \"put {o} into {outero}\";\n feedback :: \"#PutObjectInReceptacleObject.feedback#\";\n}\n\naction PutEmptyReceptacleObjectinReceptacle {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutEmptyReceptacleObjectinReceptacle.feedback#\";\n}\n\naction PutFullReceptacleObjectInReceptacle {\n template :: \"put {outero} in {r}\";\n feedback :: \"#PutFullReceptacleObjectInReceptacle.feedback#\";\n}\n\naction inventory {\n template :: \"inventory\";\n feedback :: \"#inventory.feedback#\";\n}\n\naction examineReceptacle {\n template :: \"examine {r}\";\n feedback :: \"#examineReceptacle.feedback#\";\n}\n\naction examineObject {\n template :: \"examine {o}\";\n feedback :: \"#examineObject.feedback#\";\n}\n\naction ToggleObject {\n template :: \"use {o}\";\n feedback :: \"#toggleObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"toggleObject.feedback\": [\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"You turn on the {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object)\",\n \"rhs\": \"You turn off the {o.name}.\"\n },\n {\n \"rhs\": \"You don't see any switch on the {o.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction HeatObject {\n template :: \"heat {o} with {r}\";\n feedback :: \"#heatObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"heatObject.feedback\": [\n {\n \"rhs\": \"You heat the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CleanObject {\n template :: \"clean {o} with {r}\";\n feedback :: \"#cleanObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"cleanObject.feedback\": [\n {\n \"rhs\": \"You clean the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CoolObject {\n template :: \"cool {o} with {r}\";\n feedback :: \"#coolObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"coolObject.feedback\": [\n {\n \"rhs\": \"You cool the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction SliceObject {\n template :: \"slice {co} with {ko}\";\n feedback :: \"#sliceObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"sliceObject.feedback\": [\n {\n \"rhs\": \"You sliced the {co.name} with the {ko.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction look {\n template :: \"look\";\n feedback :: \"#look.feedback#\";\n\n grammar :: \"\"\"\n {\n \"look.feedback\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"#look-variations#. Next to it, you see #list_objects_on_the_floor#.\"\n },\n {\n \"rhs\": \"You are in the middle of a room. Looking quickly around you, you see #list_appliances#.\"\n }\n ],\n\n \"look-variations\": [\n {\n \"rhs\": \"You are facing the [{r.name | atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)}]\"\n }\n ],\n\n \"list_objects_on_the_floor\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)\",\n \"rhs\": \"[{#overview(o)# | atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"list_appliances\": [\n {\n \"condition\": \"receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"[{#overview(r)# | receptacleatlocation(r:receptacle, l:location)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"overview(o, r)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name} (in/on the {r.name})}\"\n }\n ],\n\n \"overview(o)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name}\"\n }\n ],\n \"overview(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}\"\n }\n ],\n \"overview_with_state(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}#overview_state(r)#\"\n }\n ],\n \"overview_state(r)\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \" (it is open)\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \" (it is closed)\"\n },\n {\n \"rhs\": \"\"\n }\n ],\n\n \"list_empty\": [\n {\n \"rhs\": \"nothing\"\n }\n ],\n \"list_separator\": [\n {\n \"rhs\": \", \"\n }\n ],\n \"list_last_separator\": [\n {\n \"rhs\": \", and \"\n }\n ]\n }\n \"\"\";\n}\n\naction help {\n template :: \"help\";\n feedback :: \"\nAvailable commands:\n look: look around your current location\n inventory: check your current inventory\n go to (receptacle): move to a receptacle\n open (receptacle): open a receptacle\n close (receptacle): close a receptacle\n take (object) from (receptacle): take an object from a receptacle\n move (object) to (receptacle): place an object in or on a receptacle\n examine (something): examine a receptacle or an object\n use (object): use an object\n heat (object) with (receptacle): heat an object using a receptacle\n clean (object) with (receptacle): clean an object using a receptacle\n cool (object) with (receptacle): cool an object using a receptacle\n slice (object) with (object): slice an object using a sharp object\n\";\n}\n", "pddl_problem": "\n(define (problem plan_trial_T20190908_050852_487447)\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_09_bar__plus_00_dot_90_bar__plus_01_dot_33 - object\n Apple_bar__minus_00_dot_26_bar__plus_00_dot_13_bar__plus_02_dot_64 - object\n Bowl_bar__minus_01_dot_94_bar__plus_00_dot_12_bar__plus_00_dot_40 - object\n Bowl_bar__minus_02_dot_78_bar__plus_01_dot_44_bar__plus_02_dot_13 - object\n Bread_bar__minus_00_dot_98_bar__plus_00_dot_86_bar__plus_00_dot_25 - object\n ButterKnife_bar__minus_02_dot_04_bar__plus_00_dot_82_bar__plus_00_dot_53 - object\n ButterKnife_bar__minus_02_dot_49_bar__plus_00_dot_82_bar__plus_00_dot_28 - object\n Chair_bar__minus_00_dot_91_bar__plus_00_dot_01_bar__plus_02_dot_12 - object\n Cup_bar__minus_02_dot_67_bar__plus_00_dot_83_bar__plus_02_dot_05 - object\n Cup_bar__minus_02_dot_78_bar__plus_01_dot_44_bar__plus_00_dot_29 - object\n Cup_bar__minus_02_dot_89_bar__plus_01_dot_14_bar__plus_01_dot_96 - object\n DishSponge_bar__minus_02_dot_61_bar__plus_00_dot_82_bar__plus_00_dot_43 - object\n Egg_bar__minus_02_dot_67_bar__plus_01_dot_17_bar__plus_02_dot_13 - object\n Faucet_bar__minus_01_dot_69_bar__plus_00_dot_95_bar__plus_00_dot_18 - object\n Fork_bar__minus_01_dot_21_bar__plus_00_dot_81_bar__plus_00_dot_50 - object\n Fork_bar__minus_02_dot_81_bar__plus_00_dot_82_bar__plus_00_dot_87 - object\n Knife_bar__minus_02_dot_66_bar__plus_00_dot_82_bar__plus_00_dot_56 - object\n Ladle_bar__minus_02_dot_61_bar__plus_00_dot_17_bar__plus_01_dot_43 - object\n Ladle_bar__minus_02_dot_66_bar__plus_00_dot_87_bar__plus_00_dot_87 - object\n Lettuce_bar__minus_02_dot_73_bar__plus_01_dot_53_bar__plus_02_dot_40 - object\n LightSwitch_bar__minus_00_dot_62_bar__plus_01_dot_38_bar__plus_03_dot_00 - object\n Mug_bar__minus_00_dot_98_bar__plus_00_dot_82_bar__plus_00_dot_50 - object\n Pan_bar__minus_00_dot_24_bar__plus_00_dot_83_bar__plus_01_dot_68 - object\n Pan_bar__minus_00_dot_24_bar__plus_00_dot_83_bar__plus_02_dot_08 - object\n PepperShaker_bar__minus_00_dot_82_bar__plus_00_dot_82_bar__plus_00_dot_43 - object\n PepperShaker_bar__minus_02_dot_38_bar__plus_00_dot_82_bar__plus_00_dot_20 - object\n Plate_bar__minus_01_dot_47_bar__plus_00_dot_13_bar__plus_00_dot_36 - object\n Plate_bar__minus_02_dot_78_bar__plus_00_dot_83_bar__plus_02_dot_22 - object\n Potato_bar__minus_02_dot_02_bar__plus_00_dot_74_bar__plus_00_dot_30 - object\n Potato_bar__minus_02_dot_62_bar__plus_00_dot_86_bar__plus_02_dot_31 - object\n Potato_bar__minus_02_dot_78_bar__plus_01_dot_18_bar__plus_02_dot_13 - object\n Pot_bar__minus_00_dot_53_bar__plus_00_dot_82_bar__plus_02_dot_10 - object\n SaltShaker_bar__minus_02_dot_89_bar__plus_00_dot_82_bar__plus_00_dot_46 - object\n Sink_bar__minus_01_dot_84_bar__plus_00_dot_73_bar__plus_00_dot_34 - object\n SoapBottle_bar__minus_00_dot_25_bar__plus_00_dot_82_bar__plus_00_dot_99 - object\n Spatula_bar__minus_00_dot_34_bar__plus_00_dot_70_bar__plus_01_dot_19 - object\n Spatula_bar__minus_01_dot_37_bar__plus_00_dot_84_bar__plus_00_dot_53 - object\n Spoon_bar__minus_02_dot_60_bar__plus_00_dot_69_bar__plus_01_dot_47 - object\n Spoon_bar__minus_02_dot_66_bar__plus_00_dot_69_bar__plus_01_dot_47 - object\n 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Cabinet_bar__minus_02_dot_38_bar__plus_02_dot_01_bar__plus_02_dot_58 - receptacle\n Cabinet_bar__minus_02_dot_38_bar__plus_02_dot_02_bar__plus_01_dot_72 - receptacle\n Cabinet_bar__minus_02_dot_44_bar__plus_00_dot_39_bar__plus_01_dot_67 - receptacle\n Cabinet_bar__minus_02_dot_46_bar__plus_01_dot_80_bar__plus_00_dot_23 - receptacle\n Cabinet_bar__minus_02_dot_77_bar__plus_01_dot_80_bar__plus_00_dot_51 - receptacle\n Cabinet_bar__minus_02_dot_78_bar__plus_01_dot_80_bar__plus_00_dot_82 - receptacle\n Cabinet_bar__minus_02_dot_78_bar__plus_01_dot_80_bar__plus_00_dot_83 - receptacle\n CoffeeMachine_bar__minus_00_dot_54_bar__plus_00_dot_81_bar__plus_00_dot_19 - receptacle\n CounterTop_bar__minus_01_dot_56_bar__plus_00_dot_86_bar__plus_00_dot_28 - receptacle\n Drawer_bar__minus_00_dot_40_bar__plus_00_dot_70_bar__plus_00_dot_91 - receptacle\n Drawer_bar__minus_00_dot_40_bar__plus_00_dot_70_bar__plus_01_dot_25 - receptacle\n Drawer_bar__minus_00_dot_86_bar__plus_00_dot_71_bar__plus_00_dot_42 - receptacle\n Drawer_bar__minus_01_dot_13_bar__plus_00_dot_71_bar__plus_00_dot_42 - receptacle\n Drawer_bar__minus_02_dot_59_bar__plus_00_dot_70_bar__plus_01_dot_51 - receptacle\n Fridge_bar__minus_02_dot_78_bar__plus_00_dot_00_bar__plus_02_dot_22 - receptacle\n GarbageCan_bar__minus_00_dot_33_bar__plus_00_dot_00_bar__plus_02_dot_61 - receptacle\n Microwave_bar__minus_02_dot_80_bar__plus_00_dot_81_bar__plus_01_dot_35 - receptacle\n Sink_bar__minus_01_dot_84_bar__plus_00_dot_73_bar__plus_00_dot_34_bar_SinkBasin - receptacle\n StoveBurner_bar__minus_00_dot_24_bar__plus_00_dot_82_bar__plus_01_dot_68 - receptacle\n StoveBurner_bar__minus_00_dot_24_bar__plus_00_dot_82_bar__plus_02_dot_08 - receptacle\n StoveBurner_bar__minus_00_dot_52_bar__plus_00_dot_82_bar__plus_01_dot_68 - receptacle\n StoveBurner_bar__minus_00_dot_52_bar__plus_00_dot_82_bar__plus_02_dot_08 - receptacle\n Toaster_bar__minus_00_dot_17_bar__plus_00_dot_81_bar__plus_00_dot_74 - receptacle\n loc_bar__minus_8_bar_4_bar_2_bar__minus_15 - location\n loc_bar__minus_4_bar_10_bar_1_bar_45 - location\n loc_bar__minus_7_bar_7_bar_3_bar_45 - location\n loc_bar__minus_5_bar_5_bar_2_bar_45 - location\n loc_bar__minus_6_bar_5_bar_2_bar_45 - location\n loc_bar__minus_5_bar_4_bar_2_bar_60 - location\n loc_bar__minus_8_bar_5_bar_3_bar__minus_15 - location\n loc_bar__minus_5_bar_5_bar_1_bar_45 - location\n loc_bar__minus_4_bar_11_bar_1_bar_30 - location\n loc_bar__minus_7_bar_4_bar_2_bar_15 - location\n loc_bar__minus_4_bar_10_bar_2_bar_60 - location\n loc_bar__minus_6_bar_4_bar_3_bar_0 - location\n loc_bar__minus_4_bar_4_bar_1_bar_60 - location\n loc_bar__minus_7_bar_9_bar_3_bar_60 - location\n loc_bar__minus_5_bar_4_bar_1_bar_45 - location\n loc_bar__minus_6_bar_6_bar_2_bar_60 - location\n loc_bar__minus_7_bar_4_bar_2_bar_60 - location\n loc_bar__minus_4_bar_6_bar_2_bar_60 - location\n loc_bar__minus_7_bar_7_bar_3_bar__minus_30 - location\n loc_bar__minus_4_bar_10_bar_1_bar_60 - location\n loc_bar__minus_8_bar_4_bar_3_bar__minus_15 - location\n loc_bar__minus_6_bar_4_bar_3_bar_60 - location\n loc_bar__minus_4_bar_6_bar_1_bar_30 - location\n loc_bar__minus_4_bar_4_bar_2_bar_45 - location\n loc_bar__minus_7_bar_9_bar_3_bar__minus_30 - location\n loc_bar__minus_4_bar_6_bar_1_bar_60 - location\n loc_bar__minus_8_bar_5_bar_3_bar_45 - location\n loc_bar__minus_4_bar_4_bar_2_bar_60 - location\n loc_bar__minus_4_bar_4_bar_1_bar_45 - location\n loc_bar__minus_4_bar_6_bar_1_bar_45 - location\n loc_bar__minus_4_bar_10_bar_1_bar_30 - location\n loc_bar__minus_8_bar_6_bar_3_bar_30 - location\n )\n \n\n(:init\n\n\n (receptacleType Drawer_bar__minus_00_dot_40_bar__plus_00_dot_70_bar__plus_00_dot_91 DrawerType)\n (receptacleType Cabinet_bar__minus_02_dot_77_bar__plus_01_dot_80_bar__plus_00_dot_51 CabinetType)\n (receptacleType Cabinet_bar__minus_02_dot_46_bar__plus_01_dot_80_bar__plus_00_dot_23 CabinetType)\n (receptacleType 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CabinetType)\n (receptacleType Drawer_bar__minus_00_dot_40_bar__plus_00_dot_70_bar__plus_01_dot_25 DrawerType)\n (receptacleType StoveBurner_bar__minus_00_dot_52_bar__plus_00_dot_82_bar__plus_02_dot_08 StoveBurnerType)\n (receptacleType Cabinet_bar__minus_00_dot_55_bar__plus_00_dot_39_bar__plus_01_dot_41 CabinetType)\n (receptacleType GarbageCan_bar__minus_00_dot_33_bar__plus_00_dot_00_bar__plus_02_dot_61 GarbageCanType)\n (receptacleType CoffeeMachine_bar__minus_00_dot_54_bar__plus_00_dot_81_bar__plus_00_dot_19 CoffeeMachineType)\n (receptacleType Drawer_bar__minus_00_dot_86_bar__plus_00_dot_71_bar__plus_00_dot_42 DrawerType)\n (receptacleType Cabinet_bar__minus_00_dot_55_bar__plus_00_dot_39_bar__plus_00_dot_75 CabinetType)\n (receptacleType CounterTop_bar__minus_01_dot_56_bar__plus_00_dot_86_bar__plus_00_dot_28 CounterTopType)\n (receptacleType Fridge_bar__minus_02_dot_78_bar__plus_00_dot_00_bar__plus_02_dot_22 FridgeType)\n (receptacleType 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CounterTop_bar__minus_01_dot_56_bar__plus_00_dot_86_bar__plus_00_dot_28)\n (inReceptacle Spatula_bar__minus_01_dot_37_bar__plus_00_dot_84_bar__plus_00_dot_53 CounterTop_bar__minus_01_dot_56_bar__plus_00_dot_86_bar__plus_00_dot_28)\n (inReceptacle PepperShaker_bar__minus_02_dot_38_bar__plus_00_dot_82_bar__plus_00_dot_20 CounterTop_bar__minus_01_dot_56_bar__plus_00_dot_86_bar__plus_00_dot_28)\n (inReceptacle Mug_bar__minus_00_dot_98_bar__plus_00_dot_82_bar__plus_00_dot_50 CounterTop_bar__minus_01_dot_56_bar__plus_00_dot_86_bar__plus_00_dot_28)\n (inReceptacle Apple_bar__minus_00_dot_09_bar__plus_00_dot_90_bar__plus_01_dot_33 CounterTop_bar__minus_01_dot_56_bar__plus_00_dot_86_bar__plus_00_dot_28)\n (inReceptacle SaltShaker_bar__minus_02_dot_89_bar__plus_00_dot_82_bar__plus_00_dot_46 CounterTop_bar__minus_01_dot_56_bar__plus_00_dot_86_bar__plus_00_dot_28)\n (inReceptacle DishSponge_bar__minus_02_dot_61_bar__plus_00_dot_82_bar__plus_00_dot_43 CounterTop_bar__minus_01_dot_56_bar__plus_00_dot_86_bar__plus_00_dot_28)\n (inReceptacle Bread_bar__minus_00_dot_98_bar__plus_00_dot_86_bar__plus_00_dot_25 CounterTop_bar__minus_01_dot_56_bar__plus_00_dot_86_bar__plus_00_dot_28)\n (inReceptacle Fork_bar__minus_01_dot_21_bar__plus_00_dot_81_bar__plus_00_dot_50 CounterTop_bar__minus_01_dot_56_bar__plus_00_dot_86_bar__plus_00_dot_28)\n (inReceptacle PepperShaker_bar__minus_00_dot_82_bar__plus_00_dot_82_bar__plus_00_dot_43 CounterTop_bar__minus_01_dot_56_bar__plus_00_dot_86_bar__plus_00_dot_28)\n (inReceptacle ButterKnife_bar__minus_02_dot_49_bar__plus_00_dot_82_bar__plus_00_dot_28 CounterTop_bar__minus_01_dot_56_bar__plus_00_dot_86_bar__plus_00_dot_28)\n (inReceptacle Pan_bar__minus_00_dot_24_bar__plus_00_dot_83_bar__plus_01_dot_68 CounterTop_bar__minus_01_dot_56_bar__plus_00_dot_86_bar__plus_00_dot_28)\n (inReceptacle Knife_bar__minus_02_dot_66_bar__plus_00_dot_82_bar__plus_00_dot_56 CounterTop_bar__minus_01_dot_56_bar__plus_00_dot_86_bar__plus_00_dot_28)\n (inReceptacle SoapBottle_bar__minus_00_dot_25_bar__plus_00_dot_82_bar__plus_00_dot_99 CounterTop_bar__minus_01_dot_56_bar__plus_00_dot_86_bar__plus_00_dot_28)\n (inReceptacle Fork_bar__minus_02_dot_81_bar__plus_00_dot_82_bar__plus_00_dot_87 CounterTop_bar__minus_01_dot_56_bar__plus_00_dot_86_bar__plus_00_dot_28)\n (inReceptacle Spoon_bar__minus_02_dot_66_bar__plus_00_dot_69_bar__plus_01_dot_47 Drawer_bar__minus_02_dot_59_bar__plus_00_dot_70_bar__plus_01_dot_51)\n (inReceptacle Spoon_bar__minus_02_dot_60_bar__plus_00_dot_69_bar__plus_01_dot_47 Drawer_bar__minus_02_dot_59_bar__plus_00_dot_70_bar__plus_01_dot_51)\n (inReceptacle Cup_bar__minus_02_dot_78_bar__plus_01_dot_44_bar__plus_00_dot_29 Cabinet_bar__minus_02_dot_77_bar__plus_01_dot_80_bar__plus_00_dot_51)\n (inReceptacle Ladle_bar__minus_02_dot_61_bar__plus_00_dot_17_bar__plus_01_dot_43 Cabinet_bar__minus_02_dot_44_bar__plus_00_dot_39_bar__plus_01_dot_67)\n (inReceptacle Bowl_bar__minus_01_dot_94_bar__plus_00_dot_12_bar__plus_00_dot_40 Cabinet_bar__minus_02_dot_24_bar__plus_00_dot_39_bar__plus_00_dot_56)\n (inReceptacle Plate_bar__minus_01_dot_47_bar__plus_00_dot_13_bar__plus_00_dot_36 Cabinet_bar__minus_01_dot_29_bar__plus_00_dot_39_bar__plus_00_dot_56)\n (inReceptacle Cup_bar__minus_02_dot_67_bar__plus_00_dot_83_bar__plus_02_dot_05 Fridge_bar__minus_02_dot_78_bar__plus_00_dot_00_bar__plus_02_dot_22)\n (inReceptacle Potato_bar__minus_02_dot_78_bar__plus_01_dot_18_bar__plus_02_dot_13 Fridge_bar__minus_02_dot_78_bar__plus_00_dot_00_bar__plus_02_dot_22)\n (inReceptacle Egg_bar__minus_02_dot_67_bar__plus_01_dot_17_bar__plus_02_dot_13 Fridge_bar__minus_02_dot_78_bar__plus_00_dot_00_bar__plus_02_dot_22)\n (inReceptacle Cup_bar__minus_02_dot_89_bar__plus_01_dot_14_bar__plus_01_dot_96 Fridge_bar__minus_02_dot_78_bar__plus_00_dot_00_bar__plus_02_dot_22)\n (inReceptacle Bowl_bar__minus_02_dot_78_bar__plus_01_dot_44_bar__plus_02_dot_13 Fridge_bar__minus_02_dot_78_bar__plus_00_dot_00_bar__plus_02_dot_22)\n (inReceptacle Lettuce_bar__minus_02_dot_73_bar__plus_01_dot_53_bar__plus_02_dot_40 Fridge_bar__minus_02_dot_78_bar__plus_00_dot_00_bar__plus_02_dot_22)\n (inReceptacle Tomato_bar__minus_02_dot_84_bar__plus_01_dot_19_bar__plus_02_dot_49 Fridge_bar__minus_02_dot_78_bar__plus_00_dot_00_bar__plus_02_dot_22)\n (inReceptacle Plate_bar__minus_02_dot_78_bar__plus_00_dot_83_bar__plus_02_dot_22 Fridge_bar__minus_02_dot_78_bar__plus_00_dot_00_bar__plus_02_dot_22)\n (inReceptacle Potato_bar__minus_02_dot_62_bar__plus_00_dot_86_bar__plus_02_dot_31 Fridge_bar__minus_02_dot_78_bar__plus_00_dot_00_bar__plus_02_dot_22)\n (inReceptacle Apple_bar__minus_00_dot_26_bar__plus_00_dot_13_bar__plus_02_dot_64 GarbageCan_bar__minus_00_dot_33_bar__plus_00_dot_00_bar__plus_02_dot_61)\n (inReceptacle Potato_bar__minus_02_dot_02_bar__plus_00_dot_74_bar__plus_00_dot_30 Sink_bar__minus_01_dot_84_bar__plus_00_dot_73_bar__plus_00_dot_34_bar_SinkBasin)\n \n \n (receptacleAtLocation Cabinet_bar__minus_00_dot_55_bar__plus_00_dot_39_bar__plus_00_dot_75 loc_bar__minus_4_bar_4_bar_1_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_55_bar__plus_00_dot_39_bar__plus_01_dot_41 loc_bar__minus_4_bar_6_bar_1_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_73_bar__plus_00_dot_39_bar__plus_00_dot_57 loc_bar__minus_4_bar_4_bar_2_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_01_dot_26_bar__plus_00_dot_39_bar__plus_00_dot_57 loc_bar__minus_5_bar_4_bar_2_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_01_dot_29_bar__plus_00_dot_39_bar__plus_00_dot_56 loc_bar__minus_4_bar_6_bar_2_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_02_dot_24_bar__plus_00_dot_39_bar__plus_00_dot_56 loc_bar__minus_6_bar_6_bar_2_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_02_dot_38_bar__plus_02_dot_01_bar__plus_02_dot_58 loc_bar__minus_7_bar_9_bar_3_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_02_dot_38_bar__plus_02_dot_02_bar__plus_01_dot_72 loc_bar__minus_7_bar_7_bar_3_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_02_dot_44_bar__plus_00_dot_39_bar__plus_01_dot_67 loc_bar__minus_6_bar_4_bar_3_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_02_dot_46_bar__plus_01_dot_80_bar__plus_00_dot_23 loc_bar__minus_8_bar_4_bar_2_bar__minus_15)\n (receptacleAtLocation Cabinet_bar__minus_02_dot_77_bar__plus_01_dot_80_bar__plus_00_dot_51 loc_bar__minus_6_bar_4_bar_3_bar_0)\n (receptacleAtLocation Cabinet_bar__minus_02_dot_78_bar__plus_01_dot_80_bar__plus_00_dot_82 loc_bar__minus_8_bar_4_bar_3_bar__minus_15)\n (receptacleAtLocation Cabinet_bar__minus_02_dot_78_bar__plus_01_dot_80_bar__plus_00_dot_83 loc_bar__minus_8_bar_5_bar_3_bar__minus_15)\n (receptacleAtLocation CoffeeMachine_bar__minus_00_dot_54_bar__plus_00_dot_81_bar__plus_00_dot_19 loc_bar__minus_4_bar_4_bar_2_bar_45)\n (receptacleAtLocation CounterTop_bar__minus_01_dot_56_bar__plus_00_dot_86_bar__plus_00_dot_28 loc_bar__minus_4_bar_4_bar_2_bar_45)\n (receptacleAtLocation Drawer_bar__minus_00_dot_40_bar__plus_00_dot_70_bar__plus_00_dot_91 loc_bar__minus_5_bar_5_bar_1_bar_45)\n (receptacleAtLocation Drawer_bar__minus_00_dot_40_bar__plus_00_dot_70_bar__plus_01_dot_25 loc_bar__minus_5_bar_4_bar_1_bar_45)\n (receptacleAtLocation Drawer_bar__minus_00_dot_86_bar__plus_00_dot_71_bar__plus_00_dot_42 loc_bar__minus_5_bar_5_bar_2_bar_45)\n (receptacleAtLocation Drawer_bar__minus_01_dot_13_bar__plus_00_dot_71_bar__plus_00_dot_42 loc_bar__minus_6_bar_5_bar_2_bar_45)\n (receptacleAtLocation Drawer_bar__minus_02_dot_59_bar__plus_00_dot_70_bar__plus_01_dot_51 loc_bar__minus_7_bar_7_bar_3_bar_45)\n (receptacleAtLocation Fridge_bar__minus_02_dot_78_bar__plus_00_dot_00_bar__plus_02_dot_22 loc_bar__minus_7_bar_9_bar_3_bar_60)\n (receptacleAtLocation GarbageCan_bar__minus_00_dot_33_bar__plus_00_dot_00_bar__plus_02_dot_61 loc_bar__minus_4_bar_10_bar_1_bar_60)\n (receptacleAtLocation Microwave_bar__minus_02_dot_80_bar__plus_00_dot_81_bar__plus_01_dot_35 loc_bar__minus_8_bar_5_bar_3_bar_45)\n (receptacleAtLocation Sink_bar__minus_01_dot_84_bar__plus_00_dot_73_bar__plus_00_dot_34_bar_SinkBasin loc_bar__minus_6_bar_5_bar_2_bar_45)\n (receptacleAtLocation StoveBurner_bar__minus_00_dot_24_bar__plus_00_dot_82_bar__plus_01_dot_68 loc_bar__minus_4_bar_6_bar_1_bar_45)\n (receptacleAtLocation StoveBurner_bar__minus_00_dot_24_bar__plus_00_dot_82_bar__plus_02_dot_08 loc_bar__minus_4_bar_10_bar_1_bar_45)\n (receptacleAtLocation StoveBurner_bar__minus_00_dot_52_bar__plus_00_dot_82_bar__plus_01_dot_68 loc_bar__minus_4_bar_6_bar_1_bar_60)\n (receptacleAtLocation StoveBurner_bar__minus_00_dot_52_bar__plus_00_dot_82_bar__plus_02_dot_08 loc_bar__minus_4_bar_10_bar_1_bar_60)\n (receptacleAtLocation Toaster_bar__minus_00_dot_17_bar__plus_00_dot_81_bar__plus_00_dot_74 loc_bar__minus_4_bar_4_bar_1_bar_45)\n (objectAtLocation Bowl_bar__minus_01_dot_94_bar__plus_00_dot_12_bar__plus_00_dot_40 loc_bar__minus_6_bar_6_bar_2_bar_60)\n (objectAtLocation Spoon_bar__minus_02_dot_60_bar__plus_00_dot_69_bar__plus_01_dot_47 loc_bar__minus_7_bar_7_bar_3_bar_45)\n (objectAtLocation PepperShaker_bar__minus_00_dot_82_bar__plus_00_dot_82_bar__plus_00_dot_43 loc_bar__minus_4_bar_4_bar_2_bar_45)\n (objectAtLocation ButterKnife_bar__minus_02_dot_04_bar__plus_00_dot_82_bar__plus_00_dot_53 loc_bar__minus_4_bar_4_bar_2_bar_45)\n (objectAtLocation Cup_bar__minus_02_dot_67_bar__plus_00_dot_83_bar__plus_02_dot_05 loc_bar__minus_7_bar_9_bar_3_bar_60)\n (objectAtLocation Spatula_bar__minus_00_dot_34_bar__plus_00_dot_70_bar__plus_01_dot_19 loc_bar__minus_5_bar_4_bar_1_bar_45)\n (objectAtLocation Plate_bar__minus_01_dot_47_bar__plus_00_dot_13_bar__plus_00_dot_36 loc_bar__minus_4_bar_6_bar_2_bar_60)\n (objectAtLocation Potato_bar__minus_02_dot_62_bar__plus_00_dot_86_bar__plus_02_dot_31 loc_bar__minus_7_bar_9_bar_3_bar_60)\n (objectAtLocation Pan_bar__minus_00_dot_24_bar__plus_00_dot_83_bar__plus_01_dot_68 loc_bar__minus_4_bar_4_bar_2_bar_45)\n (objectAtLocation Ladle_bar__minus_02_dot_61_bar__plus_00_dot_17_bar__plus_01_dot_43 loc_bar__minus_6_bar_4_bar_3_bar_60)\n (objectAtLocation Fork_bar__minus_01_dot_21_bar__plus_00_dot_81_bar__plus_00_dot_50 loc_bar__minus_4_bar_4_bar_2_bar_45)\n (objectAtLocation Apple_bar__minus_00_dot_26_bar__plus_00_dot_13_bar__plus_02_dot_64 loc_bar__minus_4_bar_10_bar_1_bar_60)\n (objectAtLocation Cup_bar__minus_02_dot_89_bar__plus_01_dot_14_bar__plus_01_dot_96 loc_bar__minus_7_bar_9_bar_3_bar_60)\n (objectAtLocation Potato_bar__minus_02_dot_78_bar__plus_01_dot_18_bar__plus_02_dot_13 loc_bar__minus_7_bar_9_bar_3_bar_60)\n (objectAtLocation Sink_bar__minus_01_dot_84_bar__plus_00_dot_73_bar__plus_00_dot_34 loc_bar__minus_7_bar_4_bar_2_bar_60)\n (objectAtLocation Chair_bar__minus_00_dot_91_bar__plus_00_dot_01_bar__plus_02_dot_12 loc_bar__minus_4_bar_10_bar_2_bar_60)\n (objectAtLocation Apple_bar__minus_00_dot_09_bar__plus_00_dot_90_bar__plus_01_dot_33 loc_bar__minus_4_bar_4_bar_2_bar_45)\n (objectAtLocation StoveKnob_bar__minus_00_dot_07_bar__plus_01_dot_00_bar__plus_01_dot_77 loc_bar__minus_4_bar_6_bar_1_bar_30)\n (objectAtLocation StoveKnob_bar__minus_00_dot_07_bar__plus_01_dot_00_bar__plus_01_dot_61 loc_bar__minus_4_bar_6_bar_1_bar_30)\n (objectAtLocation StoveKnob_bar__minus_00_dot_07_bar__plus_01_dot_00_bar__plus_02_dot_17 loc_bar__minus_4_bar_10_bar_1_bar_30)\n (objectAtLocation StoveKnob_bar__minus_00_dot_07_bar__plus_01_dot_00_bar__plus_02_dot_02 loc_bar__minus_4_bar_10_bar_1_bar_30)\n (objectAtLocation Fork_bar__minus_02_dot_81_bar__plus_00_dot_82_bar__plus_00_dot_87 loc_bar__minus_4_bar_4_bar_2_bar_45)\n (objectAtLocation Ladle_bar__minus_02_dot_66_bar__plus_00_dot_87_bar__plus_00_dot_87 loc_bar__minus_4_bar_4_bar_2_bar_45)\n (objectAtLocation Pan_bar__minus_00_dot_24_bar__plus_00_dot_83_bar__plus_02_dot_08 loc_bar__minus_4_bar_10_bar_1_bar_45)\n (objectAtLocation SoapBottle_bar__minus_00_dot_25_bar__plus_00_dot_82_bar__plus_00_dot_99 loc_bar__minus_4_bar_4_bar_2_bar_45)\n (objectAtLocation Pot_bar__minus_00_dot_53_bar__plus_00_dot_82_bar__plus_02_dot_10 loc_bar__minus_4_bar_10_bar_1_bar_60)\n (objectAtLocation Tomato_bar__minus_02_dot_84_bar__plus_01_dot_19_bar__plus_02_dot_49 loc_bar__minus_7_bar_9_bar_3_bar_60)\n (objectAtLocation Potato_bar__minus_02_dot_02_bar__plus_00_dot_74_bar__plus_00_dot_30 loc_bar__minus_6_bar_5_bar_2_bar_45)\n (objectAtLocation SaltShaker_bar__minus_02_dot_89_bar__plus_00_dot_82_bar__plus_00_dot_46 loc_bar__minus_4_bar_4_bar_2_bar_45)\n (objectAtLocation Plate_bar__minus_02_dot_78_bar__plus_00_dot_83_bar__plus_02_dot_22 loc_bar__minus_7_bar_9_bar_3_bar_60)\n (objectAtLocation Window_bar__minus_01_dot_72_bar__plus_01_dot_34_bar__minus_00_dot_21 loc_bar__minus_7_bar_4_bar_2_bar_15)\n (objectAtLocation Spatula_bar__minus_01_dot_37_bar__plus_00_dot_84_bar__plus_00_dot_53 loc_bar__minus_4_bar_4_bar_2_bar_45)\n (objectAtLocation Knife_bar__minus_02_dot_66_bar__plus_00_dot_82_bar__plus_00_dot_56 loc_bar__minus_4_bar_4_bar_2_bar_45)\n (objectAtLocation Egg_bar__minus_02_dot_67_bar__plus_01_dot_17_bar__plus_02_dot_13 loc_bar__minus_7_bar_9_bar_3_bar_60)\n (objectAtLocation Cup_bar__minus_02_dot_78_bar__plus_01_dot_44_bar__plus_00_dot_29 loc_bar__minus_6_bar_4_bar_3_bar_0)\n (objectAtLocation ButterKnife_bar__minus_02_dot_49_bar__plus_00_dot_82_bar__plus_00_dot_28 loc_bar__minus_4_bar_4_bar_2_bar_45)\n (objectAtLocation Lettuce_bar__minus_02_dot_73_bar__plus_01_dot_53_bar__plus_02_dot_40 loc_bar__minus_7_bar_9_bar_3_bar_60)\n (objectAtLocation PepperShaker_bar__minus_02_dot_38_bar__plus_00_dot_82_bar__plus_00_dot_20 loc_bar__minus_4_bar_4_bar_2_bar_45)\n (objectAtLocation LightSwitch_bar__minus_00_dot_62_bar__plus_01_dot_38_bar__plus_03_dot_00 loc_bar__minus_4_bar_11_bar_1_bar_30)\n (objectAtLocation DishSponge_bar__minus_02_dot_61_bar__plus_00_dot_82_bar__plus_00_dot_43 loc_bar__minus_4_bar_4_bar_2_bar_45)\n (objectAtLocation Bread_bar__minus_00_dot_98_bar__plus_00_dot_86_bar__plus_00_dot_25 loc_bar__minus_4_bar_4_bar_2_bar_45)\n (objectAtLocation Spoon_bar__minus_02_dot_66_bar__plus_00_dot_69_bar__plus_01_dot_47 loc_bar__minus_7_bar_7_bar_3_bar_45)\n (objectAtLocation Mug_bar__minus_00_dot_98_bar__plus_00_dot_82_bar__plus_00_dot_50 loc_bar__minus_4_bar_4_bar_2_bar_45)\n (objectAtLocation Bowl_bar__minus_02_dot_78_bar__plus_01_dot_44_bar__plus_02_dot_13 loc_bar__minus_7_bar_9_bar_3_bar_60)\n )\n \n\n (:goal\n (and\n (exists (?r - receptacle)\n (exists (?o - object)\n (and\n (heatable ?o)\n (objectType ?o AppleType)\n (receptacleType ?r FridgeType)\n (isHot ?o)\n (inReceptacle ?o ?r)\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to garbagecan 1", "take apple 1 from garbagecan 1", "go to microwave 1", "heat apple 1 with microwave 1", "go to fridge 1", "open fridge 1", "move apple 1 to fridge 1"]}
|
alfworld__pick_clean_then_place_in_recep__5
|
pick_clean_then_place_in_recep
|
pick_clean_then_place_in_recep-Cloth-None-Drawer-416/trial_T20190908_040609_717998/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: clean some cloth and put it 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_040609_717998)\n(:domain alfred)\n(:objects\nagent1 - agent\nSaltShaker - object\n HousePlant - object\n Candle - object\n SprayBottle - object\n Bowl - object\n Window - object\n CD - object\n Egg - object\n Glassbottle - object\n Sink - object\n Pillow - object\n Spoon - object\n SoapBottle - object\n TeddyBear - object\n ButterKnife - object\n Cup - object\n Plate - object\n RemoteControl - object\n Tomato - object\n Statue - object\n HandTowel - object\n Knife - object\n StoveKnob - object\n LightSwitch - object\n Pen - object\n Painting - object\n DishSponge - object\n Vase - object\n Mug - object\n ToiletPaper - object\n Box - object\n Mirror - object\n Ladle - object\n Fork - object\n Blinds - object\n Footstool - object\n KeyChain - object\n Cloth - object\n Laptop - object\n TissueBox - object\n PepperShaker - object\n FloorLamp - object\n WateringCan - object\n Apple - object\n Pan - object\n PaperTowel - object\n PaperTowelRoll - object\n Newspaper - object\n Television - object\n Chair - object\n CellPhone - object\n CreditCard - object\n Lettuce - object\n BasketBall - object\n Potato - object\n Curtains - object\n Boots - object\n Pencil - object\n AlarmClock - object\n ToiletPaperRoll - object\n Spatula - object\n Book - object\n Bread - object\n SoapBar - object\n Watch - object\n DeskLamp - object\n Kettle - object\n Pot - object\n ScrubBrush - object\n WineBottle - object\n ShowerDoor - object\n Bathtub - object\n LaundryHamperLid - object\n ShowerGlass - object\n Poster - object\n TennisRacket - object\n BaseballBat - object\n Towel - object\n Plunger - object\nSaltShakerType - otype\n HousePlantType - otype\n CandleType - otype\n SprayBottleType - otype\n BowlType - otype\n WindowType - otype\n CDType - otype\n EggType - otype\n GlassbottleType - otype\n SinkType - otype\n PillowType - otype\n SpoonType - otype\n SoapBottleType - otype\n TeddyBearType - otype\n ButterKnifeType - otype\n CupType - otype\n PlateType - otype\n RemoteControlType - otype\n TomatoType - otype\n StatueType - otype\n HandTowelType - otype\n KnifeType - otype\n StoveKnobType - otype\n LightSwitchType - otype\n PenType - otype\n PaintingType - otype\n DishSpongeType - otype\n VaseType - otype\n MugType - otype\n ToiletPaperType - otype\n BoxType - otype\n MirrorType - otype\n LadleType - otype\n ForkType - otype\n BlindsType - otype\n FootstoolType - otype\n KeyChainType - otype\n ClothType - otype\n LaptopType - otype\n TissueBoxType - otype\n PepperShakerType - otype\n FloorLampType - otype\n WateringCanType - otype\n AppleType - otype\n PanType - otype\n PaperTowelType - otype\n PaperTowelRollType - otype\n NewspaperType - otype\n TelevisionType - otype\n ChairType - otype\n CellPhoneType - otype\n CreditCardType - otype\n LettuceType - otype\n BasketBallType - otype\n PotatoType - otype\n CurtainsType - otype\n BootsType - otype\n PencilType - otype\n AlarmClockType - otype\n ToiletPaperRollType - otype\n SpatulaType - otype\n BookType - otype\n BreadType - otype\n SoapBarType - otype\n WatchType - otype\n DeskLampType - otype\n KettleType - otype\n PotType - otype\n ScrubBrushType - otype\n WineBottleType - otype\n ShowerDoorType - otype\n BathtubType - otype\n LaundryHamperLidType - otype\n ShowerGlassType - otype\n PosterType - otype\n TennisRacketType - otype\n BaseballBatType - otype\n TowelType - otype\n PlungerType - otype\nSafeType - rtype\n DrawerType - rtype\n CoffeeMachineType - rtype\n HandTowelHolderType - rtype\n SinkBasinType - rtype\n DresserType - rtype\n LaundryHamperType - rtype\n TVStandType - rtype\n BathtubBasinType - rtype\n CabinetType - rtype\n FridgeType - rtype\n DeskType - rtype\n ToiletType - rtype\n CartType - rtype\n SideTableType - rtype\n SofaType - rtype\n CoffeeTableType - rtype\n DiningTableType - rtype\n CounterTopType - rtype\n GarbageCanType - rtype\n ArmChairType - rtype\n ShelfType - rtype\n MicrowaveType - rtype\n ToasterType - rtype\n BedType - rtype\n PaintingHangerType - rtype\n TowelHolderType - rtype\n ToiletPaperHangerType - rtype\n StoveBurnerType - rtype\n OttomanType - rtype\n\n\n Candle_bar__minus_01_dot_80_bar__plus_01_dot_09_bar__plus_00_dot_68 - object\n Cloth_bar__minus_01_dot_46_bar__plus_00_dot_74_bar__plus_02_dot_73 - object\n Cloth_bar__minus_01_dot_57_bar__plus_00_dot_24_bar__plus_02_dot_13 - object\n Cloth_bar__minus_01_dot_80_bar__plus_00_dot_74_bar__plus_02_dot_73 - object\n Faucet_bar__plus_00_dot_85_bar__plus_01_dot_80_bar__plus_01_dot_11 - object\n Faucet_bar__minus_01_dot_93_bar__plus_00_dot_72_bar__plus_02_dot_29 - object\n Faucet_bar__minus_01_dot_93_bar__plus_00_dot_72_bar__plus_03_dot_37 - object\n HandTowel_bar__minus_01_dot_51_bar__plus_01_dot_46_bar__plus_03_dot_96 - object\n HandTowel_bar__minus_01_dot_96_bar__plus_01_dot_59_bar__plus_01_dot_32 - object\n LightSwitch_bar__plus_01_dot_25_bar__plus_01_dot_27_bar__plus_03_dot_64 - object\n Mirror_bar__minus_01_dot_92_bar__plus_01_dot_41_bar__plus_02_dot_76 - object\n Plunger_bar__minus_01_dot_69_bar__plus_00_dot_00_bar__plus_00_dot_33 - object\n ScrubBrush_bar__minus_01_dot_85_bar__plus_00_dot_00_bar__plus_00_dot_14 - object\n ShowerDoor_bar__plus_00_dot_57_bar__plus_01_dot_02_bar__plus_01_dot_12 - object\n Sink_bar__minus_01_dot_70_bar__plus_00_dot_62_bar__plus_02_dot_28 - object\n Sink_bar__minus_01_dot_70_bar__plus_00_dot_62_bar__plus_03_dot_37 - object\n SoapBar_bar__minus_01_dot_45_bar__plus_00_dot_24_bar__plus_03_dot_60 - object\n SoapBottle_bar__minus_01_dot_46_bar__plus_00_dot_73_bar__plus_02_dot_93 - object\n SoapBottle_bar__minus_01_dot_85_bar__plus_01_dot_05_bar__plus_00_dot_81 - object\n SprayBottle_bar__minus_01_dot_85_bar__plus_01_dot_05_bar__plus_00_dot_62 - object\n ToiletPaper_bar__minus_01_dot_55_bar__plus_00_dot_62_bar__plus_00_dot_05 - object\n ToiletPaper_bar__minus_01_dot_89_bar__plus_00_dot_73_bar__plus_02_dot_88 - object\n Towel_bar__plus_00_dot_87_bar__plus_01_dot_17_bar__plus_02_dot_36 - object\n Window_bar__minus_01_dot_04_bar__plus_01_dot_40_bar__plus_00_dot_02 - object\n Window_bar__minus_01_dot_99_bar__plus_01_dot_40_bar__plus_00_dot_71 - object\n CounterTop_bar__minus_01_dot_61_bar__plus_00_dot_70_bar__plus_02_dot_83 - receptacle\n Drawer_bar__minus_01_dot_34_bar__plus_00_dot_30_bar__plus_02_dot_13 - receptacle\n Drawer_bar__minus_01_dot_34_bar__plus_00_dot_30_bar__plus_03_dot_33 - receptacle\n GarbageCan_bar__minus_01_dot_74_bar__plus_00_dot_00_bar__plus_01_dot_34 - receptacle\n HandTowelHolder_bar__minus_01_dot_51_bar__plus_01_dot_56_bar__plus_04_dot_00 - receptacle\n HandTowelHolder_bar__minus_02_dot_00_bar__plus_01_dot_69_bar__plus_01_dot_32 - receptacle\n Sink_bar__minus_01_dot_70_bar__plus_00_dot_62_bar__plus_02_dot_28_bar_SinkBasin - receptacle\n Sink_bar__minus_01_dot_70_bar__plus_00_dot_62_bar__plus_03_dot_37_bar_SinkBasin - receptacle\n ToiletPaperHanger_bar__minus_01_dot_50_bar__plus_00_dot_72_bar__plus_00_dot_00 - receptacle\n Toilet_bar__minus_01_dot_55_bar__plus_00_dot_00_bar__plus_00_dot_69 - receptacle\n TowelHolder_bar__plus_00_dot_87_bar__plus_01_dot_16_bar__plus_02_dot_25 - receptacle\n loc_bar__minus_5_bar_5_bar_2_bar_60 - location\n loc_bar_0_bar_5_bar_1_bar_45 - location\n loc_bar_3_bar_14_bar_1_bar_30 - location\n loc_bar_0_bar_12_bar_3_bar_45 - location\n loc_bar__minus_4_bar_13_bar_3_bar_60 - location\n loc_bar__minus_3_bar_3_bar_2_bar_45 - location\n loc_bar__minus_4_bar_11_bar_3_bar_15 - location\n loc_bar_0_bar_10_bar_3_bar_45 - location\n loc_bar__minus_5_bar_5_bar_3_bar_0 - location\n loc_bar__minus_4_bar_11_bar_3_bar_60 - location\n loc_bar__minus_3_bar_3_bar_3_bar_60 - location\n loc_bar__minus_3_bar_3_bar_3_bar_15 - location\n loc_bar__minus_4_bar_12_bar_3_bar_60 - location\n loc_bar__minus_4_bar_14_bar_3_bar_15 - location\n loc_bar__minus_3_bar_3_bar_2_bar_15 - location\n loc_bar__minus_4_bar_9_bar_3_bar_60 - location\n loc_bar_3_bar_11_bar_2_bar_45 - location\n loc_bar__minus_3_bar_9_bar_3_bar_45 - location\n loc_bar_3_bar_14_bar_2_bar_30 - location\n )\n \n\n(:init\n\n\n (receptacleType CounterTop_bar__minus_01_dot_61_bar__plus_00_dot_70_bar__plus_02_dot_83 CounterTopType)\n (receptacleType HandTowelHolder_bar__minus_02_dot_00_bar__plus_01_dot_69_bar__plus_01_dot_32 HandTowelHolderType)\n (receptacleType GarbageCan_bar__minus_01_dot_74_bar__plus_00_dot_00_bar__plus_01_dot_34 GarbageCanType)\n (receptacleType Sink_bar__minus_01_dot_70_bar__plus_00_dot_62_bar__plus_03_dot_37_bar_SinkBasin SinkBasinType)\n (receptacleType HandTowelHolder_bar__minus_01_dot_51_bar__plus_01_dot_56_bar__plus_04_dot_00 HandTowelHolderType)\n (receptacleType Drawer_bar__minus_01_dot_34_bar__plus_00_dot_30_bar__plus_03_dot_33 DrawerType)\n (receptacleType Sink_bar__minus_01_dot_70_bar__plus_00_dot_62_bar__plus_02_dot_28_bar_SinkBasin SinkBasinType)\n (receptacleType ToiletPaperHanger_bar__minus_01_dot_50_bar__plus_00_dot_72_bar__plus_00_dot_00 ToiletPaperHangerType)\n (receptacleType Toilet_bar__minus_01_dot_55_bar__plus_00_dot_00_bar__plus_00_dot_69 ToiletType)\n (receptacleType TowelHolder_bar__plus_00_dot_87_bar__plus_01_dot_16_bar__plus_02_dot_25 TowelHolderType)\n (receptacleType Drawer_bar__minus_01_dot_34_bar__plus_00_dot_30_bar__plus_02_dot_13 DrawerType)\n (objectType SoapBottle_bar__minus_01_dot_46_bar__plus_00_dot_73_bar__plus_02_dot_93 SoapBottleType)\n (objectType Sink_bar__minus_01_dot_70_bar__plus_00_dot_62_bar__plus_03_dot_37 SinkType)\n (objectType LightSwitch_bar__plus_01_dot_25_bar__plus_01_dot_27_bar__plus_03_dot_64 LightSwitchType)\n (objectType Plunger_bar__minus_01_dot_69_bar__plus_00_dot_00_bar__plus_00_dot_33 PlungerType)\n (objectType SoapBottle_bar__minus_01_dot_85_bar__plus_01_dot_05_bar__plus_00_dot_81 SoapBottleType)\n (objectType Cloth_bar__minus_01_dot_57_bar__plus_00_dot_24_bar__plus_02_dot_13 ClothType)\n (objectType HandTowel_bar__minus_01_dot_96_bar__plus_01_dot_59_bar__plus_01_dot_32 HandTowelType)\n (objectType Cloth_bar__minus_01_dot_80_bar__plus_00_dot_74_bar__plus_02_dot_73 ClothType)\n (objectType Window_bar__minus_01_dot_04_bar__plus_01_dot_40_bar__plus_00_dot_02 WindowType)\n (objectType Window_bar__minus_01_dot_99_bar__plus_01_dot_40_bar__plus_00_dot_71 WindowType)\n (objectType Mirror_bar__minus_01_dot_92_bar__plus_01_dot_41_bar__plus_02_dot_76 MirrorType)\n (objectType ScrubBrush_bar__minus_01_dot_85_bar__plus_00_dot_00_bar__plus_00_dot_14 ScrubBrushType)\n (objectType ToiletPaper_bar__minus_01_dot_89_bar__plus_00_dot_73_bar__plus_02_dot_88 ToiletPaperType)\n (objectType SprayBottle_bar__minus_01_dot_85_bar__plus_01_dot_05_bar__plus_00_dot_62 SprayBottleType)\n (objectType Sink_bar__minus_01_dot_70_bar__plus_00_dot_62_bar__plus_02_dot_28 SinkType)\n (objectType SoapBar_bar__minus_01_dot_45_bar__plus_00_dot_24_bar__plus_03_dot_60 SoapBarType)\n (objectType Towel_bar__plus_00_dot_87_bar__plus_01_dot_17_bar__plus_02_dot_36 TowelType)\n (objectType Candle_bar__minus_01_dot_80_bar__plus_01_dot_09_bar__plus_00_dot_68 CandleType)\n (objectType Cloth_bar__minus_01_dot_46_bar__plus_00_dot_74_bar__plus_02_dot_73 ClothType)\n (objectType ToiletPaper_bar__minus_01_dot_55_bar__plus_00_dot_62_bar__plus_00_dot_05 ToiletPaperType)\n (objectType ShowerDoor_bar__plus_00_dot_57_bar__plus_01_dot_02_bar__plus_01_dot_12 ShowerDoorType)\n (objectType HandTowel_bar__minus_01_dot_51_bar__plus_01_dot_46_bar__plus_03_dot_96 HandTowelType)\n (canContain CounterTopType CandleType)\n (canContain CounterTopType SoapBarType)\n (canContain CounterTopType SprayBottleType)\n (canContain CounterTopType ToiletPaperType)\n (canContain CounterTopType SoapBottleType)\n (canContain CounterTopType ClothType)\n (canContain CounterTopType HandTowelType)\n (canContain HandTowelHolderType HandTowelType)\n (canContain GarbageCanType SoapBarType)\n (canContain GarbageCanType SprayBottleType)\n (canContain GarbageCanType ToiletPaperType)\n (canContain GarbageCanType SoapBottleType)\n (canContain GarbageCanType ClothType)\n (canContain GarbageCanType HandTowelType)\n (canContain SinkBasinType SoapBarType)\n (canContain SinkBasinType ClothType)\n (canContain SinkBasinType HandTowelType)\n (canContain HandTowelHolderType HandTowelType)\n (canContain DrawerType CandleType)\n (canContain DrawerType SoapBarType)\n (canContain DrawerType SprayBottleType)\n (canContain DrawerType ToiletPaperType)\n (canContain DrawerType SoapBottleType)\n (canContain DrawerType ClothType)\n (canContain DrawerType HandTowelType)\n (canContain SinkBasinType SoapBarType)\n (canContain SinkBasinType ClothType)\n (canContain SinkBasinType HandTowelType)\n (canContain ToiletPaperHangerType ToiletPaperType)\n (canContain ToiletType SoapBottleType)\n (canContain ToiletType HandTowelType)\n (canContain ToiletType ToiletPaperType)\n (canContain ToiletType ClothType)\n (canContain ToiletType CandleType)\n (canContain ToiletType SoapBarType)\n (canContain ToiletType SprayBottleType)\n (canContain TowelHolderType TowelType)\n (canContain DrawerType CandleType)\n (canContain DrawerType SoapBarType)\n (canContain DrawerType SprayBottleType)\n (canContain DrawerType ToiletPaperType)\n (canContain DrawerType SoapBottleType)\n (canContain DrawerType ClothType)\n (canContain DrawerType HandTowelType)\n (pickupable SoapBottle_bar__minus_01_dot_46_bar__plus_00_dot_73_bar__plus_02_dot_93)\n (pickupable Plunger_bar__minus_01_dot_69_bar__plus_00_dot_00_bar__plus_00_dot_33)\n (pickupable SoapBottle_bar__minus_01_dot_85_bar__plus_01_dot_05_bar__plus_00_dot_81)\n (pickupable Cloth_bar__minus_01_dot_57_bar__plus_00_dot_24_bar__plus_02_dot_13)\n (pickupable HandTowel_bar__minus_01_dot_96_bar__plus_01_dot_59_bar__plus_01_dot_32)\n (pickupable Cloth_bar__minus_01_dot_80_bar__plus_00_dot_74_bar__plus_02_dot_73)\n (pickupable ScrubBrush_bar__minus_01_dot_85_bar__plus_00_dot_00_bar__plus_00_dot_14)\n (pickupable ToiletPaper_bar__minus_01_dot_89_bar__plus_00_dot_73_bar__plus_02_dot_88)\n (pickupable SprayBottle_bar__minus_01_dot_85_bar__plus_01_dot_05_bar__plus_00_dot_62)\n (pickupable SoapBar_bar__minus_01_dot_45_bar__plus_00_dot_24_bar__plus_03_dot_60)\n (pickupable Towel_bar__plus_00_dot_87_bar__plus_01_dot_17_bar__plus_02_dot_36)\n (pickupable Candle_bar__minus_01_dot_80_bar__plus_01_dot_09_bar__plus_00_dot_68)\n (pickupable Cloth_bar__minus_01_dot_46_bar__plus_00_dot_74_bar__plus_02_dot_73)\n (pickupable ToiletPaper_bar__minus_01_dot_55_bar__plus_00_dot_62_bar__plus_00_dot_05)\n (pickupable HandTowel_bar__minus_01_dot_51_bar__plus_01_dot_46_bar__plus_03_dot_96)\n \n (openable Drawer_bar__minus_01_dot_34_bar__plus_00_dot_30_bar__plus_03_dot_33)\n (openable Drawer_bar__minus_01_dot_34_bar__plus_00_dot_30_bar__plus_02_dot_13)\n \n (atLocation agent1 loc_bar_3_bar_14_bar_2_bar_30)\n \n (cleanable Cloth_bar__minus_01_dot_57_bar__plus_00_dot_24_bar__plus_02_dot_13)\n (cleanable Cloth_bar__minus_01_dot_80_bar__plus_00_dot_74_bar__plus_02_dot_73)\n (cleanable SoapBar_bar__minus_01_dot_45_bar__plus_00_dot_24_bar__plus_03_dot_60)\n (cleanable Cloth_bar__minus_01_dot_46_bar__plus_00_dot_74_bar__plus_02_dot_73)\n \n \n \n \n \n \n \n \n \n \n (inReceptacle SoapBar_bar__minus_01_dot_45_bar__plus_00_dot_24_bar__plus_03_dot_60 Drawer_bar__minus_01_dot_34_bar__plus_00_dot_30_bar__plus_03_dot_33)\n (inReceptacle Cloth_bar__minus_01_dot_80_bar__plus_00_dot_74_bar__plus_02_dot_73 CounterTop_bar__minus_01_dot_61_bar__plus_00_dot_70_bar__plus_02_dot_83)\n (inReceptacle SoapBottle_bar__minus_01_dot_46_bar__plus_00_dot_73_bar__plus_02_dot_93 CounterTop_bar__minus_01_dot_61_bar__plus_00_dot_70_bar__plus_02_dot_83)\n (inReceptacle ToiletPaper_bar__minus_01_dot_89_bar__plus_00_dot_73_bar__plus_02_dot_88 CounterTop_bar__minus_01_dot_61_bar__plus_00_dot_70_bar__plus_02_dot_83)\n (inReceptacle Cloth_bar__minus_01_dot_46_bar__plus_00_dot_74_bar__plus_02_dot_73 CounterTop_bar__minus_01_dot_61_bar__plus_00_dot_70_bar__plus_02_dot_83)\n (inReceptacle Cloth_bar__minus_01_dot_57_bar__plus_00_dot_24_bar__plus_02_dot_13 Drawer_bar__minus_01_dot_34_bar__plus_00_dot_30_bar__plus_02_dot_13)\n (inReceptacle Towel_bar__plus_00_dot_87_bar__plus_01_dot_17_bar__plus_02_dot_36 TowelHolder_bar__plus_00_dot_87_bar__plus_01_dot_16_bar__plus_02_dot_25)\n (inReceptacle HandTowel_bar__minus_01_dot_51_bar__plus_01_dot_46_bar__plus_03_dot_96 HandTowelHolder_bar__minus_01_dot_51_bar__plus_01_dot_56_bar__plus_04_dot_00)\n (inReceptacle HandTowel_bar__minus_01_dot_96_bar__plus_01_dot_59_bar__plus_01_dot_32 HandTowelHolder_bar__minus_02_dot_00_bar__plus_01_dot_69_bar__plus_01_dot_32)\n (inReceptacle SoapBottle_bar__minus_01_dot_85_bar__plus_01_dot_05_bar__plus_00_dot_81 Toilet_bar__minus_01_dot_55_bar__plus_00_dot_00_bar__plus_00_dot_69)\n (inReceptacle SprayBottle_bar__minus_01_dot_85_bar__plus_01_dot_05_bar__plus_00_dot_62 Toilet_bar__minus_01_dot_55_bar__plus_00_dot_00_bar__plus_00_dot_69)\n (inReceptacle Candle_bar__minus_01_dot_80_bar__plus_01_dot_09_bar__plus_00_dot_68 Toilet_bar__minus_01_dot_55_bar__plus_00_dot_00_bar__plus_00_dot_69)\n \n \n (receptacleAtLocation CounterTop_bar__minus_01_dot_61_bar__plus_00_dot_70_bar__plus_02_dot_83 loc_bar__minus_3_bar_9_bar_3_bar_45)\n (receptacleAtLocation Drawer_bar__minus_01_dot_34_bar__plus_00_dot_30_bar__plus_02_dot_13 loc_bar_0_bar_10_bar_3_bar_45)\n (receptacleAtLocation Drawer_bar__minus_01_dot_34_bar__plus_00_dot_30_bar__plus_03_dot_33 loc_bar_0_bar_12_bar_3_bar_45)\n (receptacleAtLocation GarbageCan_bar__minus_01_dot_74_bar__plus_00_dot_00_bar__plus_01_dot_34 loc_bar__minus_3_bar_3_bar_3_bar_60)\n (receptacleAtLocation HandTowelHolder_bar__minus_01_dot_51_bar__plus_01_dot_56_bar__plus_04_dot_00 loc_bar__minus_4_bar_14_bar_3_bar_15)\n (receptacleAtLocation HandTowelHolder_bar__minus_02_dot_00_bar__plus_01_dot_69_bar__plus_01_dot_32 loc_bar__minus_5_bar_5_bar_3_bar_0)\n (receptacleAtLocation Sink_bar__minus_01_dot_70_bar__plus_00_dot_62_bar__plus_02_dot_28_bar_SinkBasin loc_bar__minus_4_bar_11_bar_3_bar_60)\n (receptacleAtLocation Sink_bar__minus_01_dot_70_bar__plus_00_dot_62_bar__plus_03_dot_37_bar_SinkBasin loc_bar__minus_4_bar_12_bar_3_bar_60)\n (receptacleAtLocation ToiletPaperHanger_bar__minus_01_dot_50_bar__plus_00_dot_72_bar__plus_00_dot_00 loc_bar__minus_3_bar_3_bar_2_bar_45)\n (receptacleAtLocation Toilet_bar__minus_01_dot_55_bar__plus_00_dot_00_bar__plus_00_dot_69 loc_bar__minus_5_bar_5_bar_2_bar_60)\n (receptacleAtLocation TowelHolder_bar__plus_00_dot_87_bar__plus_01_dot_16_bar__plus_02_dot_25 loc_bar_3_bar_11_bar_2_bar_45)\n (objectAtLocation Cloth_bar__minus_01_dot_57_bar__plus_00_dot_24_bar__plus_02_dot_13 loc_bar_0_bar_10_bar_3_bar_45)\n (objectAtLocation SoapBottle_bar__minus_01_dot_85_bar__plus_01_dot_05_bar__plus_00_dot_81 loc_bar__minus_5_bar_5_bar_2_bar_60)\n (objectAtLocation HandTowel_bar__minus_01_dot_96_bar__plus_01_dot_59_bar__plus_01_dot_32 loc_bar__minus_5_bar_5_bar_3_bar_0)\n (objectAtLocation Cloth_bar__minus_01_dot_80_bar__plus_00_dot_74_bar__plus_02_dot_73 loc_bar__minus_3_bar_9_bar_3_bar_45)\n (objectAtLocation Sink_bar__minus_01_dot_70_bar__plus_00_dot_62_bar__plus_03_dot_37 loc_bar__minus_4_bar_13_bar_3_bar_60)\n (objectAtLocation ShowerDoor_bar__plus_00_dot_57_bar__plus_01_dot_02_bar__plus_01_dot_12 loc_bar_0_bar_5_bar_1_bar_45)\n (objectAtLocation Mirror_bar__minus_01_dot_92_bar__plus_01_dot_41_bar__plus_02_dot_76 loc_bar__minus_4_bar_11_bar_3_bar_15)\n (objectAtLocation Sink_bar__minus_01_dot_70_bar__plus_00_dot_62_bar__plus_02_dot_28 loc_bar__minus_4_bar_9_bar_3_bar_60)\n (objectAtLocation Candle_bar__minus_01_dot_80_bar__plus_01_dot_09_bar__plus_00_dot_68 loc_bar__minus_5_bar_5_bar_2_bar_60)\n (objectAtLocation HandTowel_bar__minus_01_dot_51_bar__plus_01_dot_46_bar__plus_03_dot_96 loc_bar__minus_4_bar_14_bar_3_bar_15)\n (objectAtLocation Plunger_bar__minus_01_dot_69_bar__plus_00_dot_00_bar__plus_00_dot_33 loc_bar__minus_3_bar_3_bar_3_bar_60)\n (objectAtLocation Towel_bar__plus_00_dot_87_bar__plus_01_dot_17_bar__plus_02_dot_36 loc_bar_3_bar_11_bar_2_bar_45)\n (objectAtLocation SoapBottle_bar__minus_01_dot_46_bar__plus_00_dot_73_bar__plus_02_dot_93 loc_bar__minus_3_bar_9_bar_3_bar_45)\n (objectAtLocation SoapBar_bar__minus_01_dot_45_bar__plus_00_dot_24_bar__plus_03_dot_60 loc_bar_0_bar_12_bar_3_bar_45)\n (objectAtLocation ToiletPaper_bar__minus_01_dot_89_bar__plus_00_dot_73_bar__plus_02_dot_88 loc_bar__minus_3_bar_9_bar_3_bar_45)\n (objectAtLocation Cloth_bar__minus_01_dot_46_bar__plus_00_dot_74_bar__plus_02_dot_73 loc_bar__minus_3_bar_9_bar_3_bar_45)\n (objectAtLocation ToiletPaper_bar__minus_01_dot_55_bar__plus_00_dot_62_bar__plus_00_dot_05 loc_bar__minus_3_bar_3_bar_3_bar_60)\n (objectAtLocation Window_bar__minus_01_dot_04_bar__plus_01_dot_40_bar__plus_00_dot_02 loc_bar__minus_3_bar_3_bar_2_bar_15)\n (objectAtLocation Window_bar__minus_01_dot_99_bar__plus_01_dot_40_bar__plus_00_dot_71 loc_bar__minus_3_bar_3_bar_3_bar_15)\n (objectAtLocation LightSwitch_bar__plus_01_dot_25_bar__plus_01_dot_27_bar__plus_03_dot_64 loc_bar_3_bar_14_bar_1_bar_30)\n (objectAtLocation ScrubBrush_bar__minus_01_dot_85_bar__plus_00_dot_00_bar__plus_00_dot_14 loc_bar__minus_3_bar_3_bar_3_bar_60)\n (objectAtLocation SprayBottle_bar__minus_01_dot_85_bar__plus_01_dot_05_bar__plus_00_dot_62 loc_bar__minus_5_bar_5_bar_2_bar_60)\n )\n \n\n (:goal\n (and\n (exists (?r - receptacle)\n (exists (?o - object)\n (and\n (cleanable ?o)\n (objectType ?o ClothType)\n (receptacleType ?r DrawerType)\n (isClean ?o)\n (inReceptacle ?o ?r)\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to drawer 2", "open drawer 2", "take cloth 2 from drawer 2", "go to sinkbasin 2", "clean cloth 2 with sinkbasin 2", "go to drawer 2", "move cloth 2 to drawer 2"]}
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alfworld__pick_clean_then_place_in_recep__6
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pick_clean_then_place_in_recep
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pick_clean_then_place_in_recep-Cloth-None-Drawer-416/trial_T20190908_040658_918781/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 cloth and put it 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_040658_918781)\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_63_bar__plus_00_dot_77_bar__plus_02_dot_88 - object\n Candle_bar__minus_01_dot_72_bar__plus_00_dot_77_bar__plus_02_dot_83 - object\n Candle_bar__minus_01_dot_89_bar__plus_00_dot_77_bar__plus_02_dot_93 - object\n Cloth_bar__minus_01_dot_46_bar__plus_00_dot_74_bar__plus_02_dot_88 - object\n Cloth_bar__minus_01_dot_53_bar__plus_00_dot_24_bar__plus_03_dot_60 - object\n Faucet_bar__plus_00_dot_85_bar__plus_01_dot_80_bar__plus_01_dot_11 - object\n Faucet_bar__minus_01_dot_93_bar__plus_00_dot_72_bar__plus_02_dot_29 - object\n Faucet_bar__minus_01_dot_93_bar__plus_00_dot_72_bar__plus_03_dot_37 - object\n HandTowel_bar__minus_01_dot_51_bar__plus_01_dot_46_bar__plus_03_dot_96 - object\n LightSwitch_bar__plus_01_dot_25_bar__plus_01_dot_27_bar__plus_03_dot_64 - object\n Mirror_bar__minus_01_dot_92_bar__plus_01_dot_41_bar__plus_02_dot_76 - object\n Plunger_bar__minus_01_dot_69_bar__plus_00_dot_00_bar__plus_00_dot_33 - object\n ScrubBrush_bar__minus_01_dot_85_bar__plus_00_dot_00_bar__plus_00_dot_14 - object\n ShowerDoor_bar__plus_00_dot_57_bar__plus_01_dot_02_bar__plus_01_dot_12 - object\n Sink_bar__minus_01_dot_70_bar__plus_00_dot_62_bar__plus_02_dot_28 - object\n Sink_bar__minus_01_dot_70_bar__plus_00_dot_62_bar__plus_03_dot_37 - object\n SoapBar_bar__minus_01_dot_53_bar__plus_00_dot_24_bar__plus_01_dot_87 - object\n SoapBar_bar__minus_01_dot_65_bar__plus_00_dot_64_bar__plus_03_dot_36 - object\n SoapBar_bar__minus_01_dot_90_bar__plus_01_dot_05_bar__plus_00_dot_68 - object\n SoapBottle_bar__minus_01_dot_74_bar__plus_00_dot_05_bar__plus_01_dot_37 - object\n SoapBottle_bar__minus_01_dot_87_bar__plus_01_dot_05_bar__plus_00_dot_81 - object\n SprayBottle_bar__minus_01_dot_90_bar__plus_01_dot_05_bar__plus_00_dot_62 - object\n ToiletPaper_bar__minus_01_dot_55_bar__plus_00_dot_62_bar__plus_00_dot_05 - object\n ToiletPaper_bar__minus_01_dot_87_bar__plus_00_dot_72_bar__plus_01_dot_86 - object\n Towel_bar__plus_00_dot_87_bar__plus_01_dot_17_bar__plus_02_dot_36 - object\n Window_bar__minus_01_dot_04_bar__plus_01_dot_40_bar__plus_00_dot_02 - object\n Window_bar__minus_01_dot_99_bar__plus_01_dot_40_bar__plus_00_dot_71 - object\n CounterTop_bar__minus_01_dot_61_bar__plus_00_dot_70_bar__plus_02_dot_83 - receptacle\n Drawer_bar__minus_01_dot_34_bar__plus_00_dot_30_bar__plus_02_dot_13 - receptacle\n Drawer_bar__minus_01_dot_34_bar__plus_00_dot_30_bar__plus_03_dot_33 - receptacle\n GarbageCan_bar__minus_01_dot_74_bar__plus_00_dot_00_bar__plus_01_dot_34 - receptacle\n HandTowelHolder_bar__minus_01_dot_51_bar__plus_01_dot_56_bar__plus_04_dot_00 - receptacle\n HandTowelHolder_bar__minus_02_dot_00_bar__plus_01_dot_69_bar__plus_01_dot_32 - receptacle\n Sink_bar__minus_01_dot_70_bar__plus_00_dot_62_bar__plus_02_dot_28_bar_SinkBasin - receptacle\n Sink_bar__minus_01_dot_70_bar__plus_00_dot_62_bar__plus_03_dot_37_bar_SinkBasin - receptacle\n ToiletPaperHanger_bar__minus_01_dot_50_bar__plus_00_dot_72_bar__plus_00_dot_00 - receptacle\n Toilet_bar__minus_01_dot_55_bar__plus_00_dot_00_bar__plus_00_dot_69 - receptacle\n TowelHolder_bar__plus_00_dot_87_bar__plus_01_dot_16_bar__plus_02_dot_25 - receptacle\n loc_bar_3_bar_14_bar_1_bar_30 - location\n loc_bar__minus_3_bar_3_bar_2_bar_45 - location\n loc_bar_0_bar_12_bar_3_bar_45 - location\n loc_bar__minus_4_bar_9_bar_3_bar_60 - location\n loc_bar__minus_3_bar_9_bar_3_bar_45 - location\n loc_bar__minus_5_bar_5_bar_2_bar_60 - location\n loc_bar_0_bar_10_bar_3_bar_45 - location\n loc_bar__minus_4_bar_7_bar_3_bar_45 - location\n loc_bar__minus_4_bar_11_bar_3_bar_60 - location\n loc_bar_0_bar_5_bar_1_bar_45 - location\n loc_bar__minus_4_bar_13_bar_3_bar_60 - location\n loc_bar__minus_4_bar_11_bar_3_bar_15 - location\n loc_bar__minus_5_bar_5_bar_3_bar_0 - location\n loc_bar__minus_3_bar_3_bar_3_bar_60 - location\n loc_bar__minus_4_bar_12_bar_3_bar_60 - location\n loc_bar__minus_4_bar_14_bar_3_bar_15 - location\n loc_bar__minus_3_bar_3_bar_2_bar_15 - location\n loc_bar_3_bar_11_bar_2_bar_45 - location\n loc_bar__minus_3_bar_3_bar_3_bar_15 - location\n loc_bar__minus_4_bar_9_bar_3_bar_30 - location\n )\n \n\n(:init\n\n\n (receptacleType CounterTop_bar__minus_01_dot_61_bar__plus_00_dot_70_bar__plus_02_dot_83 CounterTopType)\n (receptacleType HandTowelHolder_bar__minus_02_dot_00_bar__plus_01_dot_69_bar__plus_01_dot_32 HandTowelHolderType)\n (receptacleType GarbageCan_bar__minus_01_dot_74_bar__plus_00_dot_00_bar__plus_01_dot_34 GarbageCanType)\n (receptacleType Sink_bar__minus_01_dot_70_bar__plus_00_dot_62_bar__plus_03_dot_37_bar_SinkBasin SinkBasinType)\n (receptacleType HandTowelHolder_bar__minus_01_dot_51_bar__plus_01_dot_56_bar__plus_04_dot_00 HandTowelHolderType)\n (receptacleType Drawer_bar__minus_01_dot_34_bar__plus_00_dot_30_bar__plus_03_dot_33 DrawerType)\n (receptacleType Sink_bar__minus_01_dot_70_bar__plus_00_dot_62_bar__plus_02_dot_28_bar_SinkBasin SinkBasinType)\n (receptacleType ToiletPaperHanger_bar__minus_01_dot_50_bar__plus_00_dot_72_bar__plus_00_dot_00 ToiletPaperHangerType)\n (receptacleType Toilet_bar__minus_01_dot_55_bar__plus_00_dot_00_bar__plus_00_dot_69 ToiletType)\n (receptacleType TowelHolder_bar__plus_00_dot_87_bar__plus_01_dot_16_bar__plus_02_dot_25 TowelHolderType)\n (receptacleType Drawer_bar__minus_01_dot_34_bar__plus_00_dot_30_bar__plus_02_dot_13 DrawerType)\n (objectType Sink_bar__minus_01_dot_70_bar__plus_00_dot_62_bar__plus_03_dot_37 SinkType)\n (objectType LightSwitch_bar__plus_01_dot_25_bar__plus_01_dot_27_bar__plus_03_dot_64 LightSwitchType)\n (objectType Candle_bar__minus_01_dot_89_bar__plus_00_dot_77_bar__plus_02_dot_93 CandleType)\n (objectType Plunger_bar__minus_01_dot_69_bar__plus_00_dot_00_bar__plus_00_dot_33 PlungerType)\n (objectType Candle_bar__minus_01_dot_63_bar__plus_00_dot_77_bar__plus_02_dot_88 CandleType)\n (objectType SoapBottle_bar__minus_01_dot_74_bar__plus_00_dot_05_bar__plus_01_dot_37 SoapBottleType)\n (objectType SoapBottle_bar__minus_01_dot_87_bar__plus_01_dot_05_bar__plus_00_dot_81 SoapBottleType)\n (objectType Window_bar__minus_01_dot_04_bar__plus_01_dot_40_bar__plus_00_dot_02 WindowType)\n (objectType Window_bar__minus_01_dot_99_bar__plus_01_dot_40_bar__plus_00_dot_71 WindowType)\n (objectType Mirror_bar__minus_01_dot_92_bar__plus_01_dot_41_bar__plus_02_dot_76 MirrorType)\n (objectType ScrubBrush_bar__minus_01_dot_85_bar__plus_00_dot_00_bar__plus_00_dot_14 ScrubBrushType)\n (objectType ToiletPaper_bar__minus_01_dot_87_bar__plus_00_dot_72_bar__plus_01_dot_86 ToiletPaperType)\n (objectType Cloth_bar__minus_01_dot_46_bar__plus_00_dot_74_bar__plus_02_dot_88 ClothType)\n (objectType Sink_bar__minus_01_dot_70_bar__plus_00_dot_62_bar__plus_02_dot_28 SinkType)\n (objectType Cloth_bar__minus_01_dot_53_bar__plus_00_dot_24_bar__plus_03_dot_60 ClothType)\n (objectType SprayBottle_bar__minus_01_dot_90_bar__plus_01_dot_05_bar__plus_00_dot_62 SprayBottleType)\n (objectType SoapBar_bar__minus_01_dot_53_bar__plus_00_dot_24_bar__plus_01_dot_87 SoapBarType)\n (objectType SoapBar_bar__minus_01_dot_65_bar__plus_00_dot_64_bar__plus_03_dot_36 SoapBarType)\n (objectType Towel_bar__plus_00_dot_87_bar__plus_01_dot_17_bar__plus_02_dot_36 TowelType)\n (objectType SoapBar_bar__minus_01_dot_90_bar__plus_01_dot_05_bar__plus_00_dot_68 SoapBarType)\n (objectType Candle_bar__minus_01_dot_72_bar__plus_00_dot_77_bar__plus_02_dot_83 CandleType)\n (objectType ToiletPaper_bar__minus_01_dot_55_bar__plus_00_dot_62_bar__plus_00_dot_05 ToiletPaperType)\n (objectType ShowerDoor_bar__plus_00_dot_57_bar__plus_01_dot_02_bar__plus_01_dot_12 ShowerDoorType)\n (objectType HandTowel_bar__minus_01_dot_51_bar__plus_01_dot_46_bar__plus_03_dot_96 HandTowelType)\n (canContain CounterTopType CandleType)\n (canContain CounterTopType SoapBarType)\n (canContain CounterTopType SprayBottleType)\n (canContain CounterTopType ToiletPaperType)\n (canContain CounterTopType SoapBottleType)\n (canContain CounterTopType ClothType)\n (canContain CounterTopType HandTowelType)\n (canContain HandTowelHolderType HandTowelType)\n (canContain GarbageCanType SoapBarType)\n (canContain GarbageCanType SprayBottleType)\n (canContain GarbageCanType ToiletPaperType)\n (canContain GarbageCanType SoapBottleType)\n (canContain GarbageCanType ClothType)\n (canContain GarbageCanType HandTowelType)\n (canContain SinkBasinType SoapBarType)\n (canContain SinkBasinType ClothType)\n (canContain SinkBasinType HandTowelType)\n (canContain HandTowelHolderType HandTowelType)\n (canContain DrawerType CandleType)\n (canContain DrawerType SoapBarType)\n (canContain DrawerType SprayBottleType)\n (canContain DrawerType ToiletPaperType)\n (canContain DrawerType SoapBottleType)\n (canContain DrawerType ClothType)\n (canContain DrawerType HandTowelType)\n (canContain SinkBasinType SoapBarType)\n (canContain SinkBasinType ClothType)\n (canContain SinkBasinType HandTowelType)\n (canContain ToiletPaperHangerType ToiletPaperType)\n (canContain ToiletType SoapBottleType)\n (canContain ToiletType HandTowelType)\n (canContain ToiletType ToiletPaperType)\n (canContain ToiletType ClothType)\n (canContain ToiletType CandleType)\n (canContain ToiletType SoapBarType)\n (canContain ToiletType SprayBottleType)\n (canContain TowelHolderType TowelType)\n (canContain DrawerType CandleType)\n (canContain DrawerType SoapBarType)\n (canContain DrawerType SprayBottleType)\n (canContain DrawerType ToiletPaperType)\n (canContain DrawerType SoapBottleType)\n (canContain DrawerType ClothType)\n (canContain DrawerType HandTowelType)\n (pickupable Candle_bar__minus_01_dot_89_bar__plus_00_dot_77_bar__plus_02_dot_93)\n (pickupable Plunger_bar__minus_01_dot_69_bar__plus_00_dot_00_bar__plus_00_dot_33)\n (pickupable Candle_bar__minus_01_dot_63_bar__plus_00_dot_77_bar__plus_02_dot_88)\n (pickupable SoapBottle_bar__minus_01_dot_74_bar__plus_00_dot_05_bar__plus_01_dot_37)\n (pickupable SoapBottle_bar__minus_01_dot_87_bar__plus_01_dot_05_bar__plus_00_dot_81)\n (pickupable ScrubBrush_bar__minus_01_dot_85_bar__plus_00_dot_00_bar__plus_00_dot_14)\n (pickupable ToiletPaper_bar__minus_01_dot_87_bar__plus_00_dot_72_bar__plus_01_dot_86)\n (pickupable Cloth_bar__minus_01_dot_46_bar__plus_00_dot_74_bar__plus_02_dot_88)\n (pickupable Cloth_bar__minus_01_dot_53_bar__plus_00_dot_24_bar__plus_03_dot_60)\n (pickupable SprayBottle_bar__minus_01_dot_90_bar__plus_01_dot_05_bar__plus_00_dot_62)\n (pickupable SoapBar_bar__minus_01_dot_53_bar__plus_00_dot_24_bar__plus_01_dot_87)\n (pickupable SoapBar_bar__minus_01_dot_65_bar__plus_00_dot_64_bar__plus_03_dot_36)\n (pickupable Towel_bar__plus_00_dot_87_bar__plus_01_dot_17_bar__plus_02_dot_36)\n (pickupable SoapBar_bar__minus_01_dot_90_bar__plus_01_dot_05_bar__plus_00_dot_68)\n (pickupable Candle_bar__minus_01_dot_72_bar__plus_00_dot_77_bar__plus_02_dot_83)\n (pickupable ToiletPaper_bar__minus_01_dot_55_bar__plus_00_dot_62_bar__plus_00_dot_05)\n (pickupable HandTowel_bar__minus_01_dot_51_bar__plus_01_dot_46_bar__plus_03_dot_96)\n \n (openable Drawer_bar__minus_01_dot_34_bar__plus_00_dot_30_bar__plus_03_dot_33)\n (openable Drawer_bar__minus_01_dot_34_bar__plus_00_dot_30_bar__plus_02_dot_13)\n \n (atLocation agent1 loc_bar__minus_4_bar_9_bar_3_bar_30)\n \n (cleanable Cloth_bar__minus_01_dot_46_bar__plus_00_dot_74_bar__plus_02_dot_88)\n (cleanable Cloth_bar__minus_01_dot_53_bar__plus_00_dot_24_bar__plus_03_dot_60)\n (cleanable SoapBar_bar__minus_01_dot_53_bar__plus_00_dot_24_bar__plus_01_dot_87)\n (cleanable SoapBar_bar__minus_01_dot_65_bar__plus_00_dot_64_bar__plus_03_dot_36)\n (cleanable SoapBar_bar__minus_01_dot_90_bar__plus_01_dot_05_bar__plus_00_dot_68)\n \n \n \n \n \n \n \n \n \n \n (inReceptacle Cloth_bar__minus_01_dot_53_bar__plus_00_dot_24_bar__plus_03_dot_60 Drawer_bar__minus_01_dot_34_bar__plus_00_dot_30_bar__plus_03_dot_33)\n (inReceptacle Candle_bar__minus_01_dot_89_bar__plus_00_dot_77_bar__plus_02_dot_93 CounterTop_bar__minus_01_dot_61_bar__plus_00_dot_70_bar__plus_02_dot_83)\n (inReceptacle Cloth_bar__minus_01_dot_46_bar__plus_00_dot_74_bar__plus_02_dot_88 CounterTop_bar__minus_01_dot_61_bar__plus_00_dot_70_bar__plus_02_dot_83)\n (inReceptacle Candle_bar__minus_01_dot_63_bar__plus_00_dot_77_bar__plus_02_dot_88 CounterTop_bar__minus_01_dot_61_bar__plus_00_dot_70_bar__plus_02_dot_83)\n (inReceptacle Candle_bar__minus_01_dot_72_bar__plus_00_dot_77_bar__plus_02_dot_83 CounterTop_bar__minus_01_dot_61_bar__plus_00_dot_70_bar__plus_02_dot_83)\n (inReceptacle SoapBar_bar__minus_01_dot_53_bar__plus_00_dot_24_bar__plus_01_dot_87 Drawer_bar__minus_01_dot_34_bar__plus_00_dot_30_bar__plus_02_dot_13)\n (inReceptacle Towel_bar__plus_00_dot_87_bar__plus_01_dot_17_bar__plus_02_dot_36 TowelHolder_bar__plus_00_dot_87_bar__plus_01_dot_16_bar__plus_02_dot_25)\n (inReceptacle HandTowel_bar__minus_01_dot_51_bar__plus_01_dot_46_bar__plus_03_dot_96 HandTowelHolder_bar__minus_01_dot_51_bar__plus_01_dot_56_bar__plus_04_dot_00)\n (inReceptacle ToiletPaper_bar__minus_01_dot_55_bar__plus_00_dot_62_bar__plus_00_dot_05 ToiletPaperHanger_bar__minus_01_dot_50_bar__plus_00_dot_72_bar__plus_00_dot_00)\n (inReceptacle SoapBottle_bar__minus_01_dot_74_bar__plus_00_dot_05_bar__plus_01_dot_37 GarbageCan_bar__minus_01_dot_74_bar__plus_00_dot_00_bar__plus_01_dot_34)\n (inReceptacle SoapBar_bar__minus_01_dot_65_bar__plus_00_dot_64_bar__plus_03_dot_36 Sink_bar__minus_01_dot_70_bar__plus_00_dot_62_bar__plus_03_dot_37_bar_SinkBasin)\n (inReceptacle SoapBottle_bar__minus_01_dot_87_bar__plus_01_dot_05_bar__plus_00_dot_81 Toilet_bar__minus_01_dot_55_bar__plus_00_dot_00_bar__plus_00_dot_69)\n (inReceptacle SoapBar_bar__minus_01_dot_90_bar__plus_01_dot_05_bar__plus_00_dot_68 Toilet_bar__minus_01_dot_55_bar__plus_00_dot_00_bar__plus_00_dot_69)\n (inReceptacle SprayBottle_bar__minus_01_dot_90_bar__plus_01_dot_05_bar__plus_00_dot_62 Toilet_bar__minus_01_dot_55_bar__plus_00_dot_00_bar__plus_00_dot_69)\n \n \n (receptacleAtLocation CounterTop_bar__minus_01_dot_61_bar__plus_00_dot_70_bar__plus_02_dot_83 loc_bar__minus_3_bar_9_bar_3_bar_45)\n (receptacleAtLocation Drawer_bar__minus_01_dot_34_bar__plus_00_dot_30_bar__plus_02_dot_13 loc_bar_0_bar_10_bar_3_bar_45)\n (receptacleAtLocation Drawer_bar__minus_01_dot_34_bar__plus_00_dot_30_bar__plus_03_dot_33 loc_bar_0_bar_12_bar_3_bar_45)\n (receptacleAtLocation GarbageCan_bar__minus_01_dot_74_bar__plus_00_dot_00_bar__plus_01_dot_34 loc_bar__minus_3_bar_3_bar_3_bar_60)\n (receptacleAtLocation HandTowelHolder_bar__minus_01_dot_51_bar__plus_01_dot_56_bar__plus_04_dot_00 loc_bar__minus_4_bar_14_bar_3_bar_15)\n (receptacleAtLocation HandTowelHolder_bar__minus_02_dot_00_bar__plus_01_dot_69_bar__plus_01_dot_32 loc_bar__minus_5_bar_5_bar_3_bar_0)\n (receptacleAtLocation Sink_bar__minus_01_dot_70_bar__plus_00_dot_62_bar__plus_02_dot_28_bar_SinkBasin loc_bar__minus_4_bar_11_bar_3_bar_60)\n (receptacleAtLocation Sink_bar__minus_01_dot_70_bar__plus_00_dot_62_bar__plus_03_dot_37_bar_SinkBasin loc_bar__minus_4_bar_12_bar_3_bar_60)\n (receptacleAtLocation ToiletPaperHanger_bar__minus_01_dot_50_bar__plus_00_dot_72_bar__plus_00_dot_00 loc_bar__minus_3_bar_3_bar_2_bar_45)\n (receptacleAtLocation Toilet_bar__minus_01_dot_55_bar__plus_00_dot_00_bar__plus_00_dot_69 loc_bar__minus_5_bar_5_bar_2_bar_60)\n (receptacleAtLocation TowelHolder_bar__plus_00_dot_87_bar__plus_01_dot_16_bar__plus_02_dot_25 loc_bar_3_bar_11_bar_2_bar_45)\n (objectAtLocation Cloth_bar__minus_01_dot_53_bar__plus_00_dot_24_bar__plus_03_dot_60 loc_bar_0_bar_12_bar_3_bar_45)\n (objectAtLocation SoapBar_bar__minus_01_dot_65_bar__plus_00_dot_64_bar__plus_03_dot_36 loc_bar__minus_4_bar_12_bar_3_bar_60)\n (objectAtLocation SoapBottle_bar__minus_01_dot_87_bar__plus_01_dot_05_bar__plus_00_dot_81 loc_bar__minus_5_bar_5_bar_2_bar_60)\n (objectAtLocation Candle_bar__minus_01_dot_89_bar__plus_00_dot_77_bar__plus_02_dot_93 loc_bar__minus_3_bar_9_bar_3_bar_45)\n (objectAtLocation Candle_bar__minus_01_dot_72_bar__plus_00_dot_77_bar__plus_02_dot_83 loc_bar__minus_3_bar_9_bar_3_bar_45)\n (objectAtLocation SoapBar_bar__minus_01_dot_90_bar__plus_01_dot_05_bar__plus_00_dot_68 loc_bar__minus_5_bar_5_bar_2_bar_60)\n (objectAtLocation Sink_bar__minus_01_dot_70_bar__plus_00_dot_62_bar__plus_03_dot_37 loc_bar__minus_4_bar_13_bar_3_bar_60)\n (objectAtLocation ShowerDoor_bar__plus_00_dot_57_bar__plus_01_dot_02_bar__plus_01_dot_12 loc_bar_0_bar_5_bar_1_bar_45)\n (objectAtLocation Mirror_bar__minus_01_dot_92_bar__plus_01_dot_41_bar__plus_02_dot_76 loc_bar__minus_4_bar_11_bar_3_bar_15)\n (objectAtLocation Sink_bar__minus_01_dot_70_bar__plus_00_dot_62_bar__plus_02_dot_28 loc_bar__minus_4_bar_9_bar_3_bar_60)\n (objectAtLocation Candle_bar__minus_01_dot_63_bar__plus_00_dot_77_bar__plus_02_dot_88 loc_bar__minus_3_bar_9_bar_3_bar_45)\n (objectAtLocation HandTowel_bar__minus_01_dot_51_bar__plus_01_dot_46_bar__plus_03_dot_96 loc_bar__minus_4_bar_14_bar_3_bar_15)\n (objectAtLocation Plunger_bar__minus_01_dot_69_bar__plus_00_dot_00_bar__plus_00_dot_33 loc_bar__minus_3_bar_3_bar_3_bar_60)\n (objectAtLocation Towel_bar__plus_00_dot_87_bar__plus_01_dot_17_bar__plus_02_dot_36 loc_bar_3_bar_11_bar_2_bar_45)\n (objectAtLocation SoapBottle_bar__minus_01_dot_74_bar__plus_00_dot_05_bar__plus_01_dot_37 loc_bar__minus_3_bar_3_bar_3_bar_60)\n (objectAtLocation SoapBar_bar__minus_01_dot_53_bar__plus_00_dot_24_bar__plus_01_dot_87 loc_bar_0_bar_10_bar_3_bar_45)\n (objectAtLocation ToiletPaper_bar__minus_01_dot_55_bar__plus_00_dot_62_bar__plus_00_dot_05 loc_bar__minus_3_bar_3_bar_2_bar_45)\n (objectAtLocation Cloth_bar__minus_01_dot_46_bar__plus_00_dot_74_bar__plus_02_dot_88 loc_bar__minus_3_bar_9_bar_3_bar_45)\n (objectAtLocation ToiletPaper_bar__minus_01_dot_87_bar__plus_00_dot_72_bar__plus_01_dot_86 loc_bar__minus_4_bar_7_bar_3_bar_45)\n (objectAtLocation Window_bar__minus_01_dot_04_bar__plus_01_dot_40_bar__plus_00_dot_02 loc_bar__minus_3_bar_3_bar_2_bar_15)\n (objectAtLocation Window_bar__minus_01_dot_99_bar__plus_01_dot_40_bar__plus_00_dot_71 loc_bar__minus_3_bar_3_bar_3_bar_15)\n (objectAtLocation LightSwitch_bar__plus_01_dot_25_bar__plus_01_dot_27_bar__plus_03_dot_64 loc_bar_3_bar_14_bar_1_bar_30)\n (objectAtLocation ScrubBrush_bar__minus_01_dot_85_bar__plus_00_dot_00_bar__plus_00_dot_14 loc_bar__minus_3_bar_3_bar_3_bar_60)\n (objectAtLocation SprayBottle_bar__minus_01_dot_90_bar__plus_01_dot_05_bar__plus_00_dot_62 loc_bar__minus_5_bar_5_bar_2_bar_60)\n )\n \n\n (:goal\n (and\n (exists (?r - receptacle)\n (exists (?o - object)\n (and\n (cleanable ?o)\n (objectType ?o ClothType)\n (receptacleType ?r DrawerType)\n (isClean ?o)\n (inReceptacle ?o ?r)\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to drawer 1", "open drawer 1", "take cloth 1 from drawer 1", "go to sinkbasin 2", "clean cloth 1 with sinkbasin 2", "go to drawer 1", "move cloth 1 to drawer 1"]}
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alfworld__pick_cool_then_place_in_recep__3
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pick_cool_then_place_in_recep
|
pick_cool_then_place_in_recep-Mug-None-CoffeeMachine-30/trial_T20190907_153036_598316/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 cool 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_T20190907_153036_598316)\n(:domain alfred)\n(:objects\nagent1 - agent\nSaltShaker - object\n HousePlant - object\n Candle - object\n SprayBottle - object\n Bowl - object\n Window - object\n CD - object\n Egg - object\n Glassbottle - object\n Sink - object\n Pillow - object\n Spoon - object\n SoapBottle - object\n TeddyBear - object\n ButterKnife - object\n Cup - object\n Plate - object\n RemoteControl - object\n Tomato - object\n Statue - object\n HandTowel - object\n Knife - object\n StoveKnob - object\n LightSwitch - object\n Pen - object\n Painting - object\n DishSponge - object\n Vase - object\n Mug - object\n ToiletPaper - object\n Box - object\n Mirror - object\n Ladle - object\n Fork - object\n Blinds - object\n Footstool - object\n KeyChain - object\n Cloth - object\n Laptop - object\n TissueBox - object\n PepperShaker - object\n FloorLamp - object\n WateringCan - object\n Apple - object\n Pan - object\n PaperTowel - object\n PaperTowelRoll - object\n Newspaper - object\n Television - object\n Chair - object\n CellPhone - object\n CreditCard - object\n Lettuce - object\n BasketBall - object\n Potato - object\n Curtains - object\n Boots - object\n Pencil - object\n AlarmClock - object\n ToiletPaperRoll - object\n Spatula - object\n Book - object\n Bread - object\n SoapBar - object\n Watch - object\n DeskLamp - object\n Kettle - object\n Pot - object\n ScrubBrush - object\n WineBottle - object\n ShowerDoor - object\n Bathtub - object\n LaundryHamperLid - object\n ShowerGlass - object\n Poster - object\n TennisRacket - object\n BaseballBat - object\n Towel - object\n Plunger - object\nSaltShakerType - otype\n HousePlantType - otype\n CandleType - otype\n SprayBottleType - otype\n BowlType - otype\n WindowType - otype\n CDType - otype\n EggType - otype\n GlassbottleType - otype\n SinkType - otype\n PillowType - otype\n SpoonType - otype\n SoapBottleType - otype\n TeddyBearType - otype\n ButterKnifeType - otype\n CupType - otype\n PlateType - otype\n RemoteControlType - otype\n TomatoType - otype\n StatueType - otype\n HandTowelType - otype\n KnifeType - otype\n StoveKnobType - otype\n LightSwitchType - otype\n PenType - otype\n PaintingType - otype\n DishSpongeType - otype\n VaseType - otype\n MugType - otype\n ToiletPaperType - otype\n BoxType - otype\n MirrorType - otype\n LadleType - otype\n ForkType - otype\n BlindsType - otype\n FootstoolType - otype\n KeyChainType - otype\n ClothType - otype\n LaptopType - otype\n TissueBoxType - otype\n PepperShakerType - otype\n FloorLampType - otype\n WateringCanType - otype\n AppleType - otype\n PanType - otype\n PaperTowelType - otype\n PaperTowelRollType - otype\n NewspaperType - otype\n TelevisionType - otype\n ChairType - otype\n CellPhoneType - otype\n CreditCardType - otype\n LettuceType - otype\n BasketBallType - otype\n PotatoType - otype\n CurtainsType - otype\n BootsType - otype\n PencilType - otype\n AlarmClockType - otype\n ToiletPaperRollType - otype\n SpatulaType - otype\n BookType - otype\n BreadType - otype\n SoapBarType - otype\n WatchType - otype\n DeskLampType - otype\n KettleType - otype\n PotType - otype\n ScrubBrushType - otype\n WineBottleType - otype\n ShowerDoorType - otype\n BathtubType - otype\n LaundryHamperLidType - otype\n ShowerGlassType - otype\n PosterType - otype\n TennisRacketType - otype\n BaseballBatType - otype\n TowelType - otype\n PlungerType - otype\nSafeType - rtype\n DrawerType - rtype\n CoffeeMachineType - rtype\n HandTowelHolderType - rtype\n SinkBasinType - rtype\n DresserType - rtype\n LaundryHamperType - rtype\n TVStandType - rtype\n BathtubBasinType - rtype\n CabinetType - rtype\n FridgeType - rtype\n DeskType - rtype\n ToiletType - rtype\n CartType - rtype\n SideTableType - rtype\n SofaType - rtype\n CoffeeTableType - rtype\n DiningTableType - rtype\n CounterTopType - rtype\n GarbageCanType - rtype\n ArmChairType - rtype\n ShelfType - rtype\n MicrowaveType - rtype\n ToasterType - rtype\n BedType - rtype\n PaintingHangerType - rtype\n TowelHolderType - rtype\n ToiletPaperHangerType - rtype\n StoveBurnerType - rtype\n OttomanType - rtype\n\n\n Apple_bar__plus_01_dot_01_bar__plus_00_dot_96_bar__minus_01_dot_48 - object\n Apple_bar__plus_01_dot_09_bar__plus_00_dot_79_bar__minus_01_dot_43 - object\n Apple_bar__minus_01_dot_02_bar__plus_01_dot_07_bar__plus_01_dot_47 - object\n Bowl_bar__plus_03_dot_07_bar__plus_00_dot_74_bar__plus_00_dot_23 - object\n Bread_bar__plus_01_dot_53_bar__plus_00_dot_97_bar__plus_00_dot_49 - object\n ButterKnife_bar__plus_00_dot_10_bar__plus_00_dot_90_bar__minus_01_dot_73 - object\n ButterKnife_bar__plus_03_dot_20_bar__plus_00_dot_90_bar__minus_00_dot_70 - object\n ButterKnife_bar__minus_00_dot_87_bar__plus_00_dot_71_bar__plus_00_dot_75 - object\n CellPhone_bar__plus_00_dot_67_bar__plus_00_dot_91_bar__plus_00_dot_42 - object\n CellPhone_bar__minus_00_dot_83_bar__plus_00_dot_32_bar__plus_00_dot_75 - object\n CellPhone_bar__minus_00_dot_95_bar__plus_00_dot_13_bar__minus_00_dot_10 - object\n Cup_bar__plus_03_dot_17_bar__plus_01_dot_46_bar__minus_01_dot_19 - object\n Cup_bar__minus_01_dot_04_bar__plus_00_dot_90_bar__minus_00_dot_69 - object\n DishSponge_bar__plus_00_dot_42_bar__plus_00_dot_32_bar__minus_01_dot_56 - object\n DishSponge_bar__minus_00_dot_62_bar__plus_00_dot_90_bar__minus_00_dot_70 - object\n DishSponge_bar__minus_00_dot_87_bar__plus_00_dot_71_bar__minus_00_dot_10 - object\n Egg_bar__minus_00_dot_66_bar__plus_00_dot_95_bar__minus_00_dot_57 - object\n Egg_bar__minus_01_dot_02_bar__plus_01_dot_05_bar__plus_01_dot_31 - object\n Egg_bar__minus_01_dot_12_bar__plus_01_dot_05_bar__plus_01_dot_36 - object\n Faucet_bar__plus_03_dot_31_bar__plus_00_dot_89_bar__plus_00_dot_09 - object\n Fork_bar__plus_03_dot_07_bar__plus_00_dot_75_bar__minus_00_dot_03 - object\n Glassbottle_bar__minus_01_dot_08_bar__plus_00_dot_90_bar__plus_00_dot_85 - object\n HousePlant_bar__plus_03_dot_20_bar__plus_00_dot_89_bar__minus_00_dot_37 - object\n Kettle_bar__plus_03_dot_20_bar__plus_00_dot_18_bar__minus_00_dot_40 - object\n Kettle_bar__minus_00_dot_42_bar__plus_00_dot_90_bar__minus_01_dot_27 - object\n Knife_bar__plus_00_dot_10_bar__plus_00_dot_93_bar__minus_01_dot_53 - object\n Knife_bar__plus_00_dot_60_bar__plus_00_dot_93_bar__plus_00_dot_10 - object\n Knife_bar__minus_00_dot_99_bar__plus_00_dot_35_bar__plus_00_dot_58 - object\n Ladle_bar__plus_00_dot_62_bar__plus_00_dot_95_bar__plus_00_dot_73 - object\n Ladle_bar__plus_01_dot_35_bar__plus_01_dot_71_bar__minus_01_dot_41 - object\n Ladle_bar__minus_01_dot_01_bar__plus_00_dot_94_bar__plus_00_dot_18 - object\n Lettuce_bar__plus_01_dot_16_bar__plus_01_dot_14_bar__minus_01_dot_50 - object\n Lettuce_bar__minus_00_dot_73_bar__plus_00_dot_97_bar__minus_00_dot_80 - object\n LightSwitch_bar__plus_02_dot_59_bar__plus_01_dot_31_bar__minus_01_dot_88 - object\n Mirror_bar__minus_01_dot_30_bar__plus_01_dot_63_bar__plus_00_dot_05 - object\n Mug_bar__plus_03_dot_05_bar__plus_00_dot_97_bar__plus_00_dot_59 - object\n Pan_bar__plus_00_dot_34_bar__plus_00_dot_87_bar__minus_01_dot_65 - object\n PepperShaker_bar__plus_00_dot_38_bar__plus_00_dot_51_bar__minus_01_dot_43 - object\n PepperShaker_bar__minus_00_dot_68_bar__plus_00_dot_13_bar__minus_00_dot_71 - object\n Plate_bar__minus_01_dot_01_bar__plus_00_dot_91_bar__plus_00_dot_40 - object\n Potato_bar__plus_00_dot_77_bar__plus_00_dot_75_bar__minus_01_dot_41 - object\n Pot_bar__plus_00_dot_42_bar__plus_00_dot_90_bar__plus_00_dot_87 - object\n Pot_bar__plus_03_dot_18_bar__plus_01_dot_46_bar__minus_01_dot_65 - object\n SaltShaker_bar__plus_00_dot_49_bar__plus_00_dot_90_bar__minus_01_dot_37 - object\n SaltShaker_bar__plus_00_dot_97_bar__plus_00_dot_90_bar__plus_00_dot_75 - object\n SaltShaker_bar__minus_00_dot_05_bar__plus_00_dot_70_bar__minus_01_dot_28 - object\n Sink_bar__plus_03_dot_08_bar__plus_00_dot_89_bar__plus_00_dot_09 - object\n SoapBottle_bar__plus_03_dot_20_bar__plus_00_dot_19_bar__plus_00_dot_84 - object\n SoapBottle_bar__minus_00_dot_96_bar__plus_00_dot_91_bar__minus_00_dot_87 - object\n Spatula_bar__plus_00_dot_84_bar__plus_00_dot_93_bar__plus_00_dot_53 - object\n Spatula_bar__plus_01_dot_36_bar__plus_00_dot_92_bar__plus_00_dot_32 - object\n Spoon_bar__plus_00_dot_06_bar__plus_00_dot_90_bar__minus_01_dot_29 - object\n Spoon_bar__plus_03_dot_20_bar__plus_00_dot_90_bar__minus_00_dot_70 - object\n Spoon_bar__minus_00_dot_83_bar__plus_00_dot_71_bar__plus_00_dot_49 - object\n StoveKnob_bar__minus_00_dot_09_bar__plus_00_dot_79_bar__minus_01_dot_01 - object\n StoveKnob_bar__minus_00_dot_18_bar__plus_00_dot_79_bar__minus_00_dot_92 - object\n StoveKnob_bar__minus_00_dot_28_bar__plus_00_dot_79_bar__minus_00_dot_82 - object\n StoveKnob_bar__minus_00_dot_37_bar__plus_00_dot_79_bar__minus_00_dot_72 - object\n Tomato_bar__plus_00_dot_02_bar__plus_00_dot_94_bar__minus_01_dot_66 - object\n Tomato_bar__plus_00_dot_11_bar__plus_00_dot_94_bar__minus_01_dot_33 - object\n Tomato_bar__plus_03_dot_34_bar__plus_00_dot_94_bar__minus_00_dot_28 - object\n Window_bar__plus_03_dot_70_bar__plus_01_dot_68_bar__plus_00_dot_05 - object\n Cabinet_bar__plus_00_dot_14_bar__plus_01_dot_67_bar__minus_01_dot_56 - receptacle\n Cabinet_bar__plus_00_dot_62_bar__plus_01_dot_87_bar__minus_01_dot_26 - receptacle\n Cabinet_bar__plus_01_dot_40_bar__plus_01_dot_87_bar__minus_01_dot_26 - receptacle\n Cabinet_bar__plus_02_dot_82_bar__plus_01_dot_77_bar__minus_01_dot_05 - receptacle\n Cabinet_bar__plus_02_dot_82_bar__plus_01_dot_77_bar__minus_01_dot_85 - receptacle\n Cabinet_bar__plus_02_dot_85_bar__plus_00_dot_42_bar__plus_00_dot_41 - receptacle\n Cabinet_bar__plus_02_dot_85_bar__plus_00_dot_42_bar__minus_00_dot_61 - receptacle\n Cabinet_bar__plus_02_dot_85_bar__plus_00_dot_42_bar__minus_00_dot_96 - receptacle\n Cabinet_bar__plus_03_dot_07_bar__plus_01_dot_67_bar__minus_00_dot_71 - receptacle\n Cabinet_bar__minus_00_dot_19_bar__plus_01_dot_67_bar__minus_01_dot_34 - receptacle\n Cabinet_bar__minus_00_dot_20_bar__plus_01_dot_96_bar__minus_01_dot_33 - receptacle\n Cabinet_bar__minus_00_dot_71_bar__plus_01_dot_96_bar__minus_00_dot_82 - receptacle\n Cabinet_bar__minus_00_dot_92_bar__plus_01_dot_67_bar__minus_00_dot_62 - receptacle\n CoffeeMachine_bar__plus_03_dot_22_bar__plus_00_dot_89_bar__plus_00_dot_70 - receptacle\n CounterTop_bar__plus_00_dot_09_bar__plus_00_dot_89_bar__minus_01_dot_52 - receptacle\n CounterTop_bar__plus_01_dot_21_bar__plus_00_dot_94_bar__plus_00_dot_46 - receptacle\n CounterTop_bar__plus_03_dot_11_bar__plus_00_dot_94_bar__plus_00_dot_02 - receptacle\n CounterTop_bar__minus_01_dot_01_bar__plus_00_dot_94_bar__minus_00_dot_04 - receptacle\n Drawer_bar__plus_00_dot_38_bar__plus_00_dot_19_bar__minus_01_dot_51 - receptacle\n Drawer_bar__plus_00_dot_38_bar__plus_00_dot_38_bar__minus_01_dot_51 - receptacle\n Drawer_bar__plus_00_dot_38_bar__plus_00_dot_57_bar__minus_01_dot_51 - receptacle\n Drawer_bar__plus_00_dot_38_bar__plus_00_dot_77_bar__minus_01_dot_51 - receptacle\n Drawer_bar__plus_03_dot_02_bar__plus_00_dot_77_bar__plus_00_dot_70 - receptacle\n Drawer_bar__plus_03_dot_02_bar__plus_00_dot_77_bar__minus_00_dot_41 - receptacle\n Drawer_bar__plus_03_dot_02_bar__plus_00_dot_77_bar__minus_00_dot_78 - receptacle\n Drawer_bar__minus_00_dot_05_bar__plus_00_dot_19_bar__minus_01_dot_32 - receptacle\n Drawer_bar__minus_00_dot_05_bar__plus_00_dot_38_bar__minus_01_dot_32 - receptacle\n Drawer_bar__minus_00_dot_05_bar__plus_00_dot_57_bar__minus_01_dot_32 - receptacle\n Drawer_bar__minus_00_dot_05_bar__plus_00_dot_77_bar__minus_01_dot_32 - receptacle\n Drawer_bar__minus_00_dot_68_bar__plus_00_dot_19_bar__minus_00_dot_70 - receptacle\n Drawer_bar__minus_00_dot_68_bar__plus_00_dot_39_bar__minus_00_dot_70 - receptacle\n Drawer_bar__minus_00_dot_68_bar__plus_00_dot_58_bar__minus_00_dot_70 - receptacle\n Drawer_bar__minus_00_dot_68_bar__plus_00_dot_77_bar__minus_00_dot_70 - receptacle\n Drawer_bar__minus_00_dot_86_bar__plus_00_dot_19_bar__plus_00_dot_66 - receptacle\n Drawer_bar__minus_00_dot_86_bar__plus_00_dot_19_bar__plus_01_dot_43 - receptacle\n Drawer_bar__minus_00_dot_86_bar__plus_00_dot_19_bar__minus_00_dot_10 - receptacle\n Drawer_bar__minus_00_dot_86_bar__plus_00_dot_39_bar__plus_00_dot_66 - receptacle\n Drawer_bar__minus_00_dot_86_bar__plus_00_dot_39_bar__plus_01_dot_43 - receptacle\n Drawer_bar__minus_00_dot_86_bar__plus_00_dot_39_bar__minus_00_dot_10 - receptacle\n Drawer_bar__minus_00_dot_86_bar__plus_00_dot_58_bar__plus_00_dot_66 - receptacle\n Drawer_bar__minus_00_dot_86_bar__plus_00_dot_58_bar__plus_01_dot_43 - receptacle\n Drawer_bar__minus_00_dot_86_bar__plus_00_dot_58_bar__minus_00_dot_10 - receptacle\n Drawer_bar__minus_00_dot_86_bar__plus_00_dot_77_bar__plus_00_dot_66 - receptacle\n Drawer_bar__minus_00_dot_86_bar__plus_00_dot_77_bar__plus_01_dot_43 - receptacle\n Drawer_bar__minus_00_dot_86_bar__plus_00_dot_77_bar__minus_00_dot_10 - receptacle\n Fridge_bar__plus_01_dot_01_bar__plus_00_dot_03_bar__minus_01_dot_47 - receptacle\n GarbageCan_bar__plus_03_dot_18_bar__plus_00_dot_03_bar__plus_01_dot_60 - receptacle\n Microwave_bar__minus_01_dot_03_bar__plus_00_dot_89_bar__plus_01_dot_43 - receptacle\n Sink_bar__plus_03_dot_08_bar__plus_00_dot_89_bar__plus_00_dot_09_bar_SinkBasin - receptacle\n StoveBurner_bar__minus_00_dot_24_bar__plus_00_dot_90_bar__minus_01_dot_09 - receptacle\n StoveBurner_bar__minus_00_dot_42_bar__plus_00_dot_90_bar__minus_00_dot_92 - receptacle\n StoveBurner_bar__minus_00_dot_42_bar__plus_00_dot_90_bar__minus_01_dot_27 - receptacle\n StoveBurner_bar__minus_00_dot_60_bar__plus_00_dot_90_bar__minus_01_dot_09 - receptacle\n Toaster_bar__minus_01_dot_04_bar__plus_00_dot_87_bar__minus_00_dot_40 - receptacle\n loc_bar__minus_1_bar_2_bar_3_bar_45 - location\n loc_bar_2_bar__minus_1_bar_2_bar_45 - location\n loc_bar_10_bar_0_bar_1_bar_0 - location\n loc_bar_10_bar_3_bar_1_bar_45 - location\n loc_bar__minus_1_bar_5_bar_3_bar_45 - location\n loc_bar_0_bar_2_bar_0_bar_60 - location\n loc_bar_0_bar_2_bar_2_bar_45 - location\n loc_bar_8_bar_1_bar_1_bar_60 - location\n loc_bar_10_bar__minus_2_bar_1_bar_45 - location\n loc_bar_4_bar__minus_2_bar_0_bar_45 - location\n loc_bar_2_bar__minus_2_bar_2_bar_60 - location\n loc_bar_1_bar__minus_3_bar_2_bar_0 - location\n loc_bar_11_bar_5_bar_1_bar_60 - location\n loc_bar_0_bar_1_bar_2_bar_60 - location\n loc_bar_9_bar_2_bar_2_bar_45 - location\n loc_bar__minus_1_bar_3_bar_2_bar_45 - location\n loc_bar_8_bar_0_bar_1_bar_60 - location\n loc_bar_9_bar__minus_5_bar_1_bar__minus_15 - location\n loc_bar_0_bar_4_bar_2_bar_45 - location\n loc_bar__minus_1_bar__minus_1_bar_2_bar_45 - location\n loc_bar_1_bar__minus_3_bar_2_bar_45 - location\n loc_bar__minus_1_bar__minus_2_bar_3_bar_45 - location\n loc_bar_0_bar__minus_2_bar_0_bar_45 - location\n loc_bar_0_bar_1_bar_2_bar_45 - location\n loc_bar_4_bar__minus_2_bar_2_bar__minus_15 - location\n loc_bar_0_bar__minus_2_bar_2_bar__minus_15 - location\n loc_bar_9_bar__minus_5_bar_2_bar_30 - location\n loc_bar__minus_1_bar__minus_1_bar_0_bar_45 - location\n loc_bar_2_bar__minus_3_bar_2_bar_0 - location\n loc_bar_4_bar__minus_2_bar_2_bar_60 - location\n loc_bar_0_bar__minus_3_bar_3_bar_60 - location\n loc_bar_8_bar__minus_5_bar_1_bar_0 - location\n loc_bar__minus_1_bar_1_bar_3_bar_0 - location\n loc_bar__minus_1_bar__minus_2_bar_3_bar_0 - location\n loc_bar_10_bar__minus_1_bar_1_bar_60 - location\n loc_bar_9_bar_0_bar_2_bar_45 - location\n loc_bar_10_bar_0_bar_1_bar_60 - location\n loc_bar_0_bar_4_bar_2_bar_60 - location\n loc_bar__minus_1_bar__minus_2_bar_2_bar_60 - location\n loc_bar_9_bar__minus_1_bar_0_bar_45 - location\n loc_bar_0_bar__minus_2_bar_2_bar_45 - location\n loc_bar_0_bar__minus_1_bar_2_bar_45 - location\n loc_bar_8_bar__minus_5_bar_1_bar_60 - location\n loc_bar_0_bar_1_bar_0_bar_45 - location\n loc_bar_0_bar__minus_3_bar_3_bar__minus_15 - location\n loc_bar_9_bar__minus_4_bar_1_bar_0 - location\n loc_bar__minus_1_bar_2_bar_0_bar_45 - location\n loc_bar_2_bar__minus_2_bar_2_bar_45 - location\n loc_bar_4_bar__minus_2_bar_3_bar_60 - location\n loc_bar__minus_1_bar_1_bar_2_bar_45 - location\n loc_bar_0_bar__minus_3_bar_2_bar_60 - location\n loc_bar_10_bar_0_bar_1_bar_30 - location\n )\n \n\n(:init\n\n\n (receptacleType Drawer_bar__minus_00_dot_68_bar__plus_00_dot_19_bar__minus_00_dot_70 DrawerType)\n (receptacleType Drawer_bar__minus_00_dot_05_bar__plus_00_dot_38_bar__minus_01_dot_32 DrawerType)\n (receptacleType Cabinet_bar__minus_00_dot_92_bar__plus_01_dot_67_bar__minus_00_dot_62 CabinetType)\n (receptacleType CoffeeMachine_bar__plus_03_dot_22_bar__plus_00_dot_89_bar__plus_00_dot_70 CoffeeMachineType)\n (receptacleType Drawer_bar__plus_00_dot_38_bar__plus_00_dot_19_bar__minus_01_dot_51 DrawerType)\n (receptacleType Drawer_bar__plus_00_dot_38_bar__plus_00_dot_57_bar__minus_01_dot_51 DrawerType)\n (receptacleType Drawer_bar__minus_00_dot_86_bar__plus_00_dot_77_bar__plus_00_dot_66 DrawerType)\n (receptacleType Cabinet_bar__plus_03_dot_07_bar__plus_01_dot_67_bar__minus_00_dot_71 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Drawer_bar__minus_00_dot_86_bar__plus_00_dot_19_bar__plus_01_dot_43 DrawerType)\n (receptacleType Sink_bar__plus_03_dot_08_bar__plus_00_dot_89_bar__plus_00_dot_09_bar_SinkBasin SinkBasinType)\n (receptacleType Microwave_bar__minus_01_dot_03_bar__plus_00_dot_89_bar__plus_01_dot_43 MicrowaveType)\n (receptacleType Cabinet_bar__plus_02_dot_85_bar__plus_00_dot_42_bar__plus_00_dot_41 CabinetType)\n (receptacleType Drawer_bar__plus_00_dot_38_bar__plus_00_dot_38_bar__minus_01_dot_51 DrawerType)\n (receptacleType Drawer_bar__minus_00_dot_86_bar__plus_00_dot_19_bar__plus_00_dot_66 DrawerType)\n (receptacleType Drawer_bar__minus_00_dot_86_bar__plus_00_dot_19_bar__minus_00_dot_10 DrawerType)\n (receptacleType Drawer_bar__minus_00_dot_68_bar__plus_00_dot_58_bar__minus_00_dot_70 DrawerType)\n (receptacleType Toaster_bar__minus_01_dot_04_bar__plus_00_dot_87_bar__minus_00_dot_40 ToasterType)\n (receptacleType StoveBurner_bar__minus_00_dot_24_bar__plus_00_dot_90_bar__minus_01_dot_09 StoveBurnerType)\n 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Drawer_bar__plus_03_dot_02_bar__plus_00_dot_77_bar__minus_00_dot_78 DrawerType)\n (receptacleType Cabinet_bar__plus_02_dot_82_bar__plus_01_dot_77_bar__minus_01_dot_85 CabinetType)\n (receptacleType CounterTop_bar__minus_01_dot_01_bar__plus_00_dot_94_bar__minus_00_dot_04 CounterTopType)\n (receptacleType Drawer_bar__minus_00_dot_86_bar__plus_00_dot_39_bar__plus_01_dot_43 DrawerType)\n (receptacleType Drawer_bar__minus_00_dot_68_bar__plus_00_dot_77_bar__minus_00_dot_70 DrawerType)\n (receptacleType Drawer_bar__plus_03_dot_02_bar__plus_00_dot_77_bar__minus_00_dot_41 DrawerType)\n (receptacleType CounterTop_bar__plus_03_dot_11_bar__plus_00_dot_94_bar__plus_00_dot_02 CounterTopType)\n (receptacleType Cabinet_bar__plus_00_dot_62_bar__plus_01_dot_87_bar__minus_01_dot_26 CabinetType)\n (receptacleType Drawer_bar__minus_00_dot_86_bar__plus_00_dot_58_bar__minus_00_dot_10 DrawerType)\n (receptacleType Fridge_bar__plus_01_dot_01_bar__plus_00_dot_03_bar__minus_01_dot_47 FridgeType)\n (receptacleType Cabinet_bar__plus_02_dot_85_bar__plus_00_dot_42_bar__minus_00_dot_96 CabinetType)\n (receptacleType Cabinet_bar__plus_00_dot_14_bar__plus_01_dot_67_bar__minus_01_dot_56 CabinetType)\n (receptacleType StoveBurner_bar__minus_00_dot_42_bar__plus_00_dot_90_bar__minus_01_dot_27 StoveBurnerType)\n (receptacleType Drawer_bar__minus_00_dot_05_bar__plus_00_dot_19_bar__minus_01_dot_32 DrawerType)\n (receptacleType Cabinet_bar__plus_01_dot_40_bar__plus_01_dot_87_bar__minus_01_dot_26 CabinetType)\n (receptacleType Drawer_bar__minus_00_dot_68_bar__plus_00_dot_39_bar__minus_00_dot_70 DrawerType)\n (receptacleType Drawer_bar__minus_00_dot_86_bar__plus_00_dot_77_bar__plus_01_dot_43 DrawerType)\n (receptacleType Drawer_bar__plus_03_dot_02_bar__plus_00_dot_77_bar__plus_00_dot_70 DrawerType)\n (objectType Apple_bar__plus_01_dot_09_bar__plus_00_dot_79_bar__minus_01_dot_43 AppleType)\n (objectType Mug_bar__plus_03_dot_05_bar__plus_00_dot_97_bar__plus_00_dot_59 MugType)\n (objectType DishSponge_bar__plus_00_dot_42_bar__plus_00_dot_32_bar__minus_01_dot_56 DishSpongeType)\n (objectType SaltShaker_bar__plus_00_dot_49_bar__plus_00_dot_90_bar__minus_01_dot_37 SaltShakerType)\n (objectType Tomato_bar__plus_03_dot_34_bar__plus_00_dot_94_bar__minus_00_dot_28 TomatoType)\n (objectType Apple_bar__minus_01_dot_02_bar__plus_01_dot_07_bar__plus_01_dot_47 AppleType)\n (objectType DishSponge_bar__minus_00_dot_62_bar__plus_00_dot_90_bar__minus_00_dot_70 DishSpongeType)\n (objectType PepperShaker_bar__plus_00_dot_38_bar__plus_00_dot_51_bar__minus_01_dot_43 PepperShakerType)\n (objectType Sink_bar__plus_03_dot_08_bar__plus_00_dot_89_bar__plus_00_dot_09 SinkType)\n (objectType Pot_bar__plus_03_dot_18_bar__plus_01_dot_46_bar__minus_01_dot_65 PotType)\n (objectType CellPhone_bar__plus_00_dot_67_bar__plus_00_dot_91_bar__plus_00_dot_42 CellPhoneType)\n (objectType PepperShaker_bar__minus_00_dot_68_bar__plus_00_dot_13_bar__minus_00_dot_71 PepperShakerType)\n (objectType Knife_bar__plus_00_dot_10_bar__plus_00_dot_93_bar__minus_01_dot_53 KnifeType)\n (objectType StoveKnob_bar__minus_00_dot_37_bar__plus_00_dot_79_bar__minus_00_dot_72 StoveKnobType)\n (objectType ButterKnife_bar__minus_00_dot_87_bar__plus_00_dot_71_bar__plus_00_dot_75 ButterKnifeType)\n (objectType Knife_bar__minus_00_dot_99_bar__plus_00_dot_35_bar__plus_00_dot_58 KnifeType)\n (objectType Pan_bar__plus_00_dot_34_bar__plus_00_dot_87_bar__minus_01_dot_65 PanType)\n (objectType Tomato_bar__plus_00_dot_11_bar__plus_00_dot_94_bar__minus_01_dot_33 TomatoType)\n (objectType Apple_bar__plus_01_dot_01_bar__plus_00_dot_96_bar__minus_01_dot_48 AppleType)\n (objectType Lettuce_bar__plus_01_dot_16_bar__plus_01_dot_14_bar__minus_01_dot_50 LettuceType)\n (objectType Kettle_bar__minus_00_dot_42_bar__plus_00_dot_90_bar__minus_01_dot_27 KettleType)\n (objectType StoveKnob_bar__minus_00_dot_18_bar__plus_00_dot_79_bar__minus_00_dot_92 StoveKnobType)\n (objectType 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SoapBottle_bar__minus_00_dot_96_bar__plus_00_dot_91_bar__minus_00_dot_87 SoapBottleType)\n (objectType DishSponge_bar__minus_00_dot_87_bar__plus_00_dot_71_bar__minus_00_dot_10 DishSpongeType)\n (objectType Cup_bar__minus_01_dot_04_bar__plus_00_dot_90_bar__minus_00_dot_69 CupType)\n (objectType Bread_bar__plus_01_dot_53_bar__plus_00_dot_97_bar__plus_00_dot_49 BreadType)\n (objectType StoveKnob_bar__minus_00_dot_28_bar__plus_00_dot_79_bar__minus_00_dot_82 StoveKnobType)\n (objectType Spatula_bar__plus_01_dot_36_bar__plus_00_dot_92_bar__plus_00_dot_32 SpatulaType)\n (objectType HousePlant_bar__plus_03_dot_20_bar__plus_00_dot_89_bar__minus_00_dot_37 HousePlantType)\n (objectType Egg_bar__minus_01_dot_02_bar__plus_01_dot_05_bar__plus_01_dot_31 EggType)\n (objectType CellPhone_bar__minus_00_dot_95_bar__plus_00_dot_13_bar__minus_00_dot_10 CellPhoneType)\n (objectType Ladle_bar__minus_01_dot_01_bar__plus_00_dot_94_bar__plus_00_dot_18 LadleType)\n (objectType 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(canContain SinkBasinType AppleType)\n (canContain SinkBasinType PanType)\n (canContain SinkBasinType SpatulaType)\n (canContain MicrowaveType MugType)\n (canContain MicrowaveType PotatoType)\n (canContain MicrowaveType EggType)\n (canContain MicrowaveType AppleType)\n (canContain MicrowaveType TomatoType)\n (canContain MicrowaveType BreadType)\n (canContain MicrowaveType CupType)\n (canContain MicrowaveType GlassbottleType)\n (canContain MicrowaveType PlateType)\n (canContain MicrowaveType BowlType)\n (canContain CabinetType SaltShakerType)\n (canContain CabinetType DishSpongeType)\n (canContain CabinetType BowlType)\n (canContain CabinetType KettleType)\n (canContain CabinetType PotType)\n (canContain CabinetType MugType)\n (canContain CabinetType LadleType)\n (canContain CabinetType GlassbottleType)\n (canContain CabinetType SoapBottleType)\n (canContain CabinetType CupType)\n (canContain CabinetType PlateType)\n (canContain CabinetType PepperShakerType)\n (canContain CabinetType 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(canContain DrawerType SpatulaType)\n (canContain DrawerType SaltShakerType)\n (canContain DrawerType DishSpongeType)\n (canContain DrawerType LadleType)\n (canContain DrawerType ForkType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType SpoonType)\n (canContain DrawerType SoapBottleType)\n (canContain DrawerType ButterKnifeType)\n (canContain DrawerType PepperShakerType)\n (canContain DrawerType KnifeType)\n (canContain DrawerType SpatulaType)\n (canContain DrawerType SaltShakerType)\n (canContain DrawerType DishSpongeType)\n (canContain DrawerType LadleType)\n (canContain DrawerType ForkType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType SpoonType)\n (canContain DrawerType SoapBottleType)\n (canContain DrawerType ButterKnifeType)\n (canContain DrawerType PepperShakerType)\n (canContain DrawerType KnifeType)\n (canContain DrawerType SpatulaType)\n (canContain CounterTopType SaltShakerType)\n (canContain CounterTopType BreadType)\n (canContain 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CounterTop_bar__plus_00_dot_09_bar__plus_00_dot_89_bar__minus_01_dot_52)\n (inReceptacle Knife_bar__plus_00_dot_10_bar__plus_00_dot_93_bar__minus_01_dot_53 CounterTop_bar__plus_00_dot_09_bar__plus_00_dot_89_bar__minus_01_dot_52)\n (inReceptacle Pan_bar__plus_00_dot_34_bar__plus_00_dot_87_bar__minus_01_dot_65 CounterTop_bar__plus_00_dot_09_bar__plus_00_dot_89_bar__minus_01_dot_52)\n (inReceptacle PepperShaker_bar__minus_00_dot_68_bar__plus_00_dot_13_bar__minus_00_dot_71 Drawer_bar__minus_00_dot_68_bar__plus_00_dot_19_bar__minus_00_dot_70)\n (inReceptacle Pot_bar__plus_00_dot_42_bar__plus_00_dot_90_bar__plus_00_dot_87 CounterTop_bar__plus_01_dot_21_bar__plus_00_dot_94_bar__plus_00_dot_46)\n (inReceptacle CellPhone_bar__plus_00_dot_67_bar__plus_00_dot_91_bar__plus_00_dot_42 CounterTop_bar__plus_01_dot_21_bar__plus_00_dot_94_bar__plus_00_dot_46)\n (inReceptacle Ladle_bar__plus_00_dot_62_bar__plus_00_dot_95_bar__plus_00_dot_73 CounterTop_bar__plus_01_dot_21_bar__plus_00_dot_94_bar__plus_00_dot_46)\n (inReceptacle Bread_bar__plus_01_dot_53_bar__plus_00_dot_97_bar__plus_00_dot_49 CounterTop_bar__plus_01_dot_21_bar__plus_00_dot_94_bar__plus_00_dot_46)\n (inReceptacle Spatula_bar__plus_00_dot_84_bar__plus_00_dot_93_bar__plus_00_dot_53 CounterTop_bar__plus_01_dot_21_bar__plus_00_dot_94_bar__plus_00_dot_46)\n (inReceptacle Spatula_bar__plus_01_dot_36_bar__plus_00_dot_92_bar__plus_00_dot_32 CounterTop_bar__plus_01_dot_21_bar__plus_00_dot_94_bar__plus_00_dot_46)\n (inReceptacle SaltShaker_bar__plus_00_dot_97_bar__plus_00_dot_90_bar__plus_00_dot_75 CounterTop_bar__plus_01_dot_21_bar__plus_00_dot_94_bar__plus_00_dot_46)\n (inReceptacle Knife_bar__plus_00_dot_60_bar__plus_00_dot_93_bar__plus_00_dot_10 CounterTop_bar__plus_01_dot_21_bar__plus_00_dot_94_bar__plus_00_dot_46)\n (inReceptacle Mug_bar__plus_03_dot_05_bar__plus_00_dot_97_bar__plus_00_dot_59 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Cabinet_bar__plus_02_dot_82_bar__plus_01_dot_77_bar__minus_01_dot_05 loc_bar_9_bar__minus_5_bar_1_bar__minus_15)\n (receptacleAtLocation Cabinet_bar__plus_02_dot_82_bar__plus_01_dot_77_bar__minus_01_dot_85 loc_bar_8_bar__minus_5_bar_1_bar_0)\n (receptacleAtLocation Cabinet_bar__plus_02_dot_85_bar__plus_00_dot_42_bar__plus_00_dot_41 loc_bar_8_bar_1_bar_1_bar_60)\n (receptacleAtLocation Cabinet_bar__plus_02_dot_85_bar__plus_00_dot_42_bar__minus_00_dot_61 loc_bar_8_bar_0_bar_1_bar_60)\n (receptacleAtLocation Cabinet_bar__plus_02_dot_85_bar__plus_00_dot_42_bar__minus_00_dot_96 loc_bar_8_bar__minus_5_bar_1_bar_60)\n (receptacleAtLocation Cabinet_bar__plus_03_dot_07_bar__plus_01_dot_67_bar__minus_00_dot_71 loc_bar_9_bar__minus_4_bar_1_bar_0)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_19_bar__plus_01_dot_67_bar__minus_01_dot_34 loc_bar_1_bar__minus_3_bar_2_bar_0)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_20_bar__plus_01_dot_96_bar__minus_01_dot_33 loc_bar_0_bar__minus_2_bar_2_bar__minus_15)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_71_bar__plus_01_dot_96_bar__minus_00_dot_82 loc_bar_0_bar__minus_3_bar_3_bar__minus_15)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_92_bar__plus_01_dot_67_bar__minus_00_dot_62 loc_bar__minus_1_bar__minus_2_bar_3_bar_0)\n (receptacleAtLocation CoffeeMachine_bar__plus_03_dot_22_bar__plus_00_dot_89_bar__plus_00_dot_70 loc_bar_10_bar_3_bar_1_bar_45)\n (receptacleAtLocation CounterTop_bar__plus_00_dot_09_bar__plus_00_dot_89_bar__minus_01_dot_52 loc_bar_1_bar__minus_3_bar_2_bar_45)\n (receptacleAtLocation CounterTop_bar__plus_01_dot_21_bar__plus_00_dot_94_bar__plus_00_dot_46 loc_bar_4_bar__minus_2_bar_0_bar_45)\n (receptacleAtLocation CounterTop_bar__plus_03_dot_11_bar__plus_00_dot_94_bar__plus_00_dot_02 loc_bar_10_bar__minus_2_bar_1_bar_45)\n (receptacleAtLocation CounterTop_bar__minus_01_dot_01_bar__plus_00_dot_94_bar__minus_00_dot_04 loc_bar__minus_1_bar_2_bar_3_bar_45)\n (receptacleAtLocation Drawer_bar__plus_00_dot_38_bar__plus_00_dot_19_bar__minus_01_dot_51 loc_bar_0_bar__minus_1_bar_2_bar_45)\n (receptacleAtLocation Drawer_bar__plus_00_dot_38_bar__plus_00_dot_38_bar__minus_01_dot_51 loc_bar__minus_1_bar__minus_1_bar_2_bar_45)\n (receptacleAtLocation Drawer_bar__plus_00_dot_38_bar__plus_00_dot_57_bar__minus_01_dot_51 loc_bar_0_bar__minus_2_bar_2_bar_45)\n (receptacleAtLocation Drawer_bar__plus_00_dot_38_bar__plus_00_dot_77_bar__minus_01_dot_51 loc_bar_0_bar__minus_2_bar_2_bar_45)\n (receptacleAtLocation Drawer_bar__plus_03_dot_02_bar__plus_00_dot_77_bar__plus_00_dot_70 loc_bar_9_bar__minus_1_bar_0_bar_45)\n (receptacleAtLocation Drawer_bar__plus_03_dot_02_bar__plus_00_dot_77_bar__minus_00_dot_41 loc_bar_9_bar_2_bar_2_bar_45)\n (receptacleAtLocation Drawer_bar__plus_03_dot_02_bar__plus_00_dot_77_bar__minus_00_dot_78 loc_bar_9_bar_0_bar_2_bar_45)\n (receptacleAtLocation Drawer_bar__minus_00_dot_05_bar__plus_00_dot_19_bar__minus_01_dot_32 loc_bar_4_bar__minus_2_bar_3_bar_60)\n (receptacleAtLocation Drawer_bar__minus_00_dot_05_bar__plus_00_dot_38_bar__minus_01_dot_32 loc_bar_2_bar__minus_1_bar_2_bar_45)\n (receptacleAtLocation Drawer_bar__minus_00_dot_05_bar__plus_00_dot_57_bar__minus_01_dot_32 loc_bar_2_bar__minus_2_bar_2_bar_60)\n (receptacleAtLocation Drawer_bar__minus_00_dot_05_bar__plus_00_dot_77_bar__minus_01_dot_32 loc_bar_2_bar__minus_2_bar_2_bar_45)\n (receptacleAtLocation Drawer_bar__minus_00_dot_68_bar__plus_00_dot_19_bar__minus_00_dot_70 loc_bar_0_bar_2_bar_2_bar_45)\n (receptacleAtLocation Drawer_bar__minus_00_dot_68_bar__plus_00_dot_39_bar__minus_00_dot_70 loc_bar_0_bar_1_bar_2_bar_60)\n (receptacleAtLocation Drawer_bar__minus_00_dot_68_bar__plus_00_dot_58_bar__minus_00_dot_70 loc_bar_0_bar_1_bar_2_bar_45)\n (receptacleAtLocation Drawer_bar__minus_00_dot_68_bar__plus_00_dot_77_bar__minus_00_dot_70 loc_bar__minus_1_bar_1_bar_2_bar_45)\n (receptacleAtLocation 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Drawer_bar__minus_00_dot_86_bar__plus_00_dot_58_bar__minus_00_dot_10 loc_bar_0_bar_4_bar_2_bar_45)\n (receptacleAtLocation Drawer_bar__minus_00_dot_86_bar__plus_00_dot_77_bar__plus_00_dot_66 loc_bar__minus_1_bar__minus_1_bar_0_bar_45)\n (receptacleAtLocation Drawer_bar__minus_00_dot_86_bar__plus_00_dot_77_bar__plus_01_dot_43 loc_bar__minus_1_bar_2_bar_0_bar_45)\n (receptacleAtLocation Drawer_bar__minus_00_dot_86_bar__plus_00_dot_77_bar__minus_00_dot_10 loc_bar__minus_1_bar_3_bar_2_bar_45)\n (receptacleAtLocation Fridge_bar__plus_01_dot_01_bar__plus_00_dot_03_bar__minus_01_dot_47 loc_bar_4_bar__minus_2_bar_2_bar_60)\n (receptacleAtLocation GarbageCan_bar__plus_03_dot_18_bar__plus_00_dot_03_bar__plus_01_dot_60 loc_bar_11_bar_5_bar_1_bar_60)\n (receptacleAtLocation Microwave_bar__minus_01_dot_03_bar__plus_00_dot_89_bar__plus_01_dot_43 loc_bar__minus_1_bar_5_bar_3_bar_45)\n (receptacleAtLocation Sink_bar__plus_03_dot_08_bar__plus_00_dot_89_bar__plus_00_dot_09_bar_SinkBasin 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(objectAtLocation Lettuce_bar__plus_01_dot_16_bar__plus_01_dot_14_bar__minus_01_dot_50 loc_bar_4_bar__minus_2_bar_2_bar_60)\n (objectAtLocation Knife_bar__plus_00_dot_10_bar__plus_00_dot_93_bar__minus_01_dot_53 loc_bar_1_bar__minus_3_bar_2_bar_45)\n (objectAtLocation Spatula_bar__plus_00_dot_84_bar__plus_00_dot_93_bar__plus_00_dot_53 loc_bar_4_bar__minus_2_bar_0_bar_45)\n (objectAtLocation Kettle_bar__minus_00_dot_42_bar__plus_00_dot_90_bar__minus_01_dot_27 loc_bar_0_bar__minus_3_bar_2_bar_60)\n (objectAtLocation Pot_bar__plus_00_dot_42_bar__plus_00_dot_90_bar__plus_00_dot_87 loc_bar_4_bar__minus_2_bar_0_bar_45)\n (objectAtLocation Ladle_bar__plus_01_dot_35_bar__plus_01_dot_71_bar__minus_01_dot_41 loc_bar_4_bar__minus_2_bar_2_bar__minus_15)\n (objectAtLocation SoapBottle_bar__plus_03_dot_20_bar__plus_00_dot_19_bar__plus_00_dot_84 loc_bar_8_bar_1_bar_1_bar_60)\n (objectAtLocation Knife_bar__minus_00_dot_99_bar__plus_00_dot_35_bar__plus_00_dot_58 loc_bar_0_bar__minus_2_bar_0_bar_45)\n (objectAtLocation Egg_bar__minus_01_dot_02_bar__plus_01_dot_05_bar__plus_01_dot_31 loc_bar__minus_1_bar_5_bar_3_bar_45)\n (objectAtLocation Tomato_bar__plus_00_dot_02_bar__plus_00_dot_94_bar__minus_01_dot_66 loc_bar_1_bar__minus_3_bar_2_bar_45)\n (objectAtLocation SaltShaker_bar__minus_00_dot_05_bar__plus_00_dot_70_bar__minus_01_dot_28 loc_bar_2_bar__minus_2_bar_2_bar_45)\n (objectAtLocation Apple_bar__plus_01_dot_01_bar__plus_00_dot_96_bar__minus_01_dot_48 loc_bar_4_bar__minus_2_bar_2_bar_60)\n (objectAtLocation CellPhone_bar__minus_00_dot_95_bar__plus_00_dot_13_bar__minus_00_dot_10 loc_bar_0_bar_4_bar_2_bar_60)\n (objectAtLocation Spoon_bar__plus_00_dot_06_bar__plus_00_dot_90_bar__minus_01_dot_29 loc_bar_0_bar__minus_3_bar_2_bar_60)\n (objectAtLocation ButterKnife_bar__plus_00_dot_10_bar__plus_00_dot_90_bar__minus_01_dot_73 loc_bar_1_bar__minus_3_bar_2_bar_45)\n (objectAtLocation DishSponge_bar__plus_00_dot_42_bar__plus_00_dot_32_bar__minus_01_dot_56 loc_bar__minus_1_bar__minus_1_bar_2_bar_45)\n (objectAtLocation Ladle_bar__minus_01_dot_01_bar__plus_00_dot_94_bar__plus_00_dot_18 loc_bar__minus_1_bar_2_bar_3_bar_45)\n (objectAtLocation Sink_bar__plus_03_dot_08_bar__plus_00_dot_89_bar__plus_00_dot_09 loc_bar_10_bar_0_bar_1_bar_60)\n (objectAtLocation Mirror_bar__minus_01_dot_30_bar__plus_01_dot_63_bar__plus_00_dot_05 loc_bar__minus_1_bar_1_bar_3_bar_0)\n (objectAtLocation Plate_bar__minus_01_dot_01_bar__plus_00_dot_91_bar__plus_00_dot_40 loc_bar__minus_1_bar_2_bar_3_bar_45)\n (objectAtLocation Glassbottle_bar__minus_01_dot_08_bar__plus_00_dot_90_bar__plus_00_dot_85 loc_bar__minus_1_bar_2_bar_3_bar_45)\n (objectAtLocation SoapBottle_bar__minus_00_dot_96_bar__plus_00_dot_91_bar__minus_00_dot_87 loc_bar__minus_1_bar_2_bar_3_bar_45)\n (objectAtLocation Potato_bar__plus_00_dot_77_bar__plus_00_dot_75_bar__minus_01_dot_41 loc_bar_4_bar__minus_2_bar_2_bar_60)\n (objectAtLocation HousePlant_bar__plus_03_dot_20_bar__plus_00_dot_89_bar__minus_00_dot_37 loc_bar_10_bar__minus_2_bar_1_bar_45)\n (objectAtLocation StoveKnob_bar__minus_00_dot_09_bar__plus_00_dot_79_bar__minus_01_dot_01 loc_bar_0_bar__minus_3_bar_2_bar_60)\n (objectAtLocation StoveKnob_bar__minus_00_dot_28_bar__plus_00_dot_79_bar__minus_00_dot_82 loc_bar_0_bar__minus_3_bar_3_bar_60)\n (objectAtLocation StoveKnob_bar__minus_00_dot_18_bar__plus_00_dot_79_bar__minus_00_dot_92 loc_bar_0_bar__minus_3_bar_3_bar_60)\n (objectAtLocation StoveKnob_bar__minus_00_dot_37_bar__plus_00_dot_79_bar__minus_00_dot_72 loc_bar__minus_1_bar__minus_2_bar_2_bar_60)\n (objectAtLocation Fork_bar__plus_03_dot_07_bar__plus_00_dot_75_bar__minus_00_dot_03 loc_bar_10_bar__minus_1_bar_1_bar_60)\n (objectAtLocation Ladle_bar__plus_00_dot_62_bar__plus_00_dot_95_bar__plus_00_dot_73 loc_bar_4_bar__minus_2_bar_0_bar_45)\n (objectAtLocation Pot_bar__plus_03_dot_18_bar__plus_01_dot_46_bar__minus_01_dot_65 loc_bar_8_bar__minus_5_bar_1_bar_0)\n (objectAtLocation Kettle_bar__plus_03_dot_20_bar__plus_00_dot_18_bar__minus_00_dot_40 loc_bar_8_bar_0_bar_1_bar_60)\n (objectAtLocation Window_bar__plus_03_dot_70_bar__plus_01_dot_68_bar__plus_00_dot_05 loc_bar_10_bar_0_bar_1_bar_0)\n (objectAtLocation Spatula_bar__plus_01_dot_36_bar__plus_00_dot_92_bar__plus_00_dot_32 loc_bar_4_bar__minus_2_bar_0_bar_45)\n (objectAtLocation Knife_bar__plus_00_dot_60_bar__plus_00_dot_93_bar__plus_00_dot_10 loc_bar_4_bar__minus_2_bar_0_bar_45)\n (objectAtLocation Lettuce_bar__minus_00_dot_73_bar__plus_00_dot_97_bar__minus_00_dot_80 loc_bar__minus_1_bar_2_bar_3_bar_45)\n (objectAtLocation LightSwitch_bar__plus_02_dot_59_bar__plus_01_dot_31_bar__minus_01_dot_88 loc_bar_9_bar__minus_5_bar_2_bar_30)\n (objectAtLocation Cup_bar__plus_03_dot_17_bar__plus_01_dot_46_bar__minus_01_dot_19 loc_bar_9_bar__minus_5_bar_1_bar__minus_15)\n (objectAtLocation SaltShaker_bar__plus_00_dot_97_bar__plus_00_dot_90_bar__plus_00_dot_75 loc_bar_4_bar__minus_2_bar_0_bar_45)\n (objectAtLocation Egg_bar__minus_01_dot_12_bar__plus_01_dot_05_bar__plus_01_dot_36 loc_bar__minus_1_bar_5_bar_3_bar_45)\n (objectAtLocation PepperShaker_bar__minus_00_dot_68_bar__plus_00_dot_13_bar__minus_00_dot_71 loc_bar_0_bar_2_bar_2_bar_45)\n (objectAtLocation ButterKnife_bar__minus_00_dot_87_bar__plus_00_dot_71_bar__plus_00_dot_75 loc_bar__minus_1_bar__minus_1_bar_0_bar_45)\n (objectAtLocation Apple_bar__minus_01_dot_02_bar__plus_01_dot_07_bar__plus_01_dot_47 loc_bar__minus_1_bar_5_bar_3_bar_45)\n (objectAtLocation Pan_bar__plus_00_dot_34_bar__plus_00_dot_87_bar__minus_01_dot_65 loc_bar_1_bar__minus_3_bar_2_bar_45)\n (objectAtLocation Bread_bar__plus_01_dot_53_bar__plus_00_dot_97_bar__plus_00_dot_49 loc_bar_4_bar__minus_2_bar_0_bar_45)\n (objectAtLocation CellPhone_bar__plus_00_dot_67_bar__plus_00_dot_91_bar__plus_00_dot_42 loc_bar_4_bar__minus_2_bar_0_bar_45)\n (objectAtLocation DishSponge_bar__minus_00_dot_87_bar__plus_00_dot_71_bar__minus_00_dot_10 loc_bar__minus_1_bar_3_bar_2_bar_45)\n (objectAtLocation Tomato_bar__plus_00_dot_11_bar__plus_00_dot_94_bar__minus_01_dot_33 loc_bar_1_bar__minus_3_bar_2_bar_45)\n (objectAtLocation Spoon_bar__plus_03_dot_20_bar__plus_00_dot_90_bar__minus_00_dot_70 loc_bar_10_bar__minus_2_bar_1_bar_45)\n (objectAtLocation Bowl_bar__plus_03_dot_07_bar__plus_00_dot_74_bar__plus_00_dot_23 loc_bar_10_bar__minus_1_bar_1_bar_60)\n (objectAtLocation Mug_bar__plus_03_dot_05_bar__plus_00_dot_97_bar__plus_00_dot_59 loc_bar_10_bar_3_bar_1_bar_45)\n )\n \n\n (:goal\n (and\n (exists (?r - receptacle)\n (exists (?o - object)\n (and\n (coolable ?o)\n (objectType ?o MugType)\n (receptacleType ?r CoffeeMachineType)\n (isCool ?o)\n (inReceptacle ?o ?r)\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to countertop 1", "take mug 1 from countertop 1", "go to fridge 1", "cool mug 1 with fridge 1"]}
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alfworld__pick_cool_then_place_in_recep__4
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pick_cool_then_place_in_recep
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pick_cool_then_place_in_recep-Mug-None-CoffeeMachine-30/trial_T20190907_152956_792394/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 cool 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_T20190907_152956_792394)\n(:domain alfred)\n(:objects\nagent1 - agent\nSaltShaker - object\n HousePlant - object\n Candle - object\n SprayBottle - object\n Bowl - object\n Window - object\n CD - object\n Egg - object\n Glassbottle - object\n Sink - object\n Pillow - object\n Spoon - object\n SoapBottle - object\n TeddyBear - object\n ButterKnife - object\n Cup - object\n Plate - object\n RemoteControl - object\n Tomato - object\n Statue - object\n HandTowel - object\n Knife - object\n StoveKnob - object\n LightSwitch - object\n Pen - object\n Painting - object\n DishSponge - object\n Vase - object\n Mug - object\n ToiletPaper - object\n Box - object\n Mirror - object\n Ladle - object\n Fork - object\n Blinds - object\n Footstool - object\n KeyChain - object\n Cloth - object\n Laptop - object\n TissueBox - object\n PepperShaker - object\n FloorLamp - object\n WateringCan - object\n Apple - object\n Pan - object\n PaperTowel - object\n PaperTowelRoll - object\n Newspaper - object\n Television - object\n Chair - object\n CellPhone - object\n CreditCard - object\n Lettuce - object\n BasketBall - object\n Potato - object\n Curtains - object\n Boots - object\n Pencil - object\n AlarmClock - object\n ToiletPaperRoll - object\n Spatula - object\n Book - object\n Bread - object\n SoapBar - object\n Watch - object\n DeskLamp - object\n Kettle - object\n Pot - object\n ScrubBrush - object\n WineBottle - object\n ShowerDoor - object\n Bathtub - object\n LaundryHamperLid - object\n ShowerGlass - object\n Poster - object\n TennisRacket - object\n BaseballBat - object\n Towel - object\n Plunger - object\nSaltShakerType - otype\n HousePlantType - otype\n CandleType - otype\n SprayBottleType - otype\n BowlType - otype\n WindowType - otype\n CDType - otype\n EggType - otype\n GlassbottleType - otype\n SinkType - otype\n PillowType - otype\n SpoonType - otype\n SoapBottleType - otype\n TeddyBearType - otype\n ButterKnifeType - otype\n CupType - otype\n PlateType - otype\n RemoteControlType - otype\n TomatoType - otype\n StatueType - otype\n HandTowelType - otype\n KnifeType - otype\n StoveKnobType - otype\n LightSwitchType - otype\n PenType - otype\n PaintingType - otype\n DishSpongeType - otype\n VaseType - otype\n MugType - otype\n ToiletPaperType - otype\n BoxType - otype\n MirrorType - otype\n LadleType - otype\n ForkType - otype\n BlindsType - otype\n FootstoolType - otype\n KeyChainType - otype\n ClothType - otype\n LaptopType - otype\n TissueBoxType - otype\n PepperShakerType - otype\n FloorLampType - otype\n WateringCanType - otype\n AppleType - otype\n PanType - otype\n PaperTowelType - otype\n PaperTowelRollType - otype\n NewspaperType - otype\n TelevisionType - otype\n ChairType - otype\n CellPhoneType - otype\n CreditCardType - otype\n LettuceType - otype\n BasketBallType - otype\n PotatoType - otype\n CurtainsType - otype\n BootsType - otype\n PencilType - otype\n AlarmClockType - otype\n ToiletPaperRollType - otype\n SpatulaType - otype\n BookType - otype\n BreadType - otype\n SoapBarType - otype\n WatchType - otype\n DeskLampType - otype\n KettleType - otype\n PotType - otype\n ScrubBrushType - otype\n WineBottleType - otype\n ShowerDoorType - otype\n BathtubType - otype\n LaundryHamperLidType - otype\n ShowerGlassType - otype\n PosterType - otype\n TennisRacketType - otype\n BaseballBatType - otype\n TowelType - otype\n PlungerType - otype\nSafeType - rtype\n DrawerType - rtype\n CoffeeMachineType - rtype\n HandTowelHolderType - rtype\n SinkBasinType - rtype\n DresserType - rtype\n LaundryHamperType - rtype\n TVStandType - rtype\n BathtubBasinType - rtype\n CabinetType - rtype\n FridgeType - rtype\n DeskType - rtype\n ToiletType - rtype\n CartType - rtype\n SideTableType - rtype\n SofaType - rtype\n CoffeeTableType - rtype\n DiningTableType - rtype\n CounterTopType - rtype\n GarbageCanType - rtype\n ArmChairType - rtype\n ShelfType - rtype\n MicrowaveType - rtype\n ToasterType - rtype\n BedType - rtype\n PaintingHangerType - rtype\n TowelHolderType - rtype\n ToiletPaperHangerType - rtype\n StoveBurnerType - rtype\n OttomanType - rtype\n\n\n Apple_bar__plus_00_dot_45_bar__plus_00_dot_98_bar__plus_00_dot_63 - object\n Bowl_bar__plus_00_dot_80_bar__plus_00_dot_91_bar__plus_00_dot_73 - object\n Bowl_bar__plus_03_dot_14_bar__plus_00_dot_17_bar__minus_00_dot_83 - object\n Bowl_bar__minus_01_dot_05_bar__plus_00_dot_99_bar__plus_01_dot_42 - object\n Bread_bar__plus_00_dot_71_bar__plus_00_dot_99_bar__plus_00_dot_53 - object\n Bread_bar__minus_00_dot_94_bar__plus_00_dot_98_bar__plus_00_dot_85 - object\n ButterKnife_bar__plus_00_dot_45_bar__plus_00_dot_91_bar__plus_00_dot_93 - object\n ButterKnife_bar__plus_00_dot_97_bar__plus_00_dot_91_bar__plus_00_dot_75 - object\n CellPhone_bar__plus_00_dot_04_bar__plus_00_dot_90_bar__minus_01_dot_68 - object\n CellPhone_bar__plus_00_dot_36_bar__plus_00_dot_91_bar__plus_00_dot_43 - object\n Cup_bar__plus_00_dot_11_bar__plus_00_dot_90_bar__minus_01_dot_43 - object\n Cup_bar__plus_01_dot_16_bar__plus_00_dot_88_bar__minus_01_dot_50 - object\n Cup_bar__plus_01_dot_36_bar__plus_00_dot_91_bar__plus_00_dot_75 - object\n DishSponge_bar__plus_00_dot_47_bar__plus_00_dot_70_bar__minus_01_dot_43 - object\n Egg_bar__plus_00_dot_93_bar__plus_01_dot_13_bar__minus_01_dot_50 - object\n Faucet_bar__plus_03_dot_31_bar__plus_00_dot_89_bar__plus_00_dot_09 - object\n Fork_bar__minus_00_dot_83_bar__plus_00_dot_13_bar__plus_01_dot_52 - object\n Glassbottle_bar__minus_00_dot_79_bar__plus_00_dot_90_bar__minus_00_dot_05 - object\n Glassbottle_bar__minus_00_dot_86_bar__plus_00_dot_90_bar__plus_00_dot_62 - object\n HousePlant_bar__plus_03_dot_20_bar__plus_00_dot_89_bar__minus_00_dot_37 - object\n Kettle_bar__plus_01_dot_21_bar__plus_01_dot_68_bar__minus_01_dot_41 - object\n Kettle_bar__minus_00_dot_42_bar__plus_00_dot_90_bar__minus_00_dot_92 - object\n Knife_bar__minus_00_dot_99_bar__plus_00_dot_54_bar__plus_01_dot_26 - object\n Ladle_bar__minus_00_dot_87_bar__plus_00_dot_74_bar__plus_01_dot_61 - object\n Lettuce_bar__plus_00_dot_78_bar__plus_00_dot_98_bar__plus_00_dot_21 - object\n Lettuce_bar__minus_00_dot_03_bar__plus_00_dot_97_bar__minus_01_dot_29 - object\n LightSwitch_bar__plus_02_dot_59_bar__plus_01_dot_31_bar__minus_01_dot_88 - object\n Mirror_bar__minus_01_dot_30_bar__plus_01_dot_63_bar__plus_00_dot_05 - object\n Mug_bar__plus_00_dot_20_bar__plus_01_dot_25_bar__minus_01_dot_71 - object\n Mug_bar__minus_01_dot_12_bar__plus_00_dot_99_bar__plus_01_dot_26 - object\n Pan_bar__plus_00_dot_34_bar__plus_00_dot_87_bar__minus_01_dot_65 - object\n PepperShaker_bar__plus_03_dot_21_bar__plus_01_dot_26_bar__minus_00_dot_92 - object\n Plate_bar__plus_03_dot_03_bar__plus_00_dot_19_bar__minus_00_dot_40 - object\n Plate_bar__plus_03_dot_18_bar__plus_01_dot_48_bar__minus_01_dot_65 - object\n Plate_bar__minus_00_dot_70_bar__plus_00_dot_91_bar__minus_00_dot_73 - object\n Potato_bar__plus_00_dot_42_bar__plus_00_dot_94_bar__minus_01_dot_45 - object\n Pot_bar__plus_03_dot_08_bar__plus_00_dot_18_bar__plus_00_dot_63 - object\n SaltShaker_bar__plus_03_dot_28_bar__plus_00_dot_90_bar__minus_00_dot_90 - object\n Sink_bar__plus_03_dot_08_bar__plus_00_dot_89_bar__plus_00_dot_09 - object\n SoapBottle_bar__plus_01_dot_35_bar__plus_01_dot_68_bar__minus_01_dot_76 - object\n 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Cup_bar__plus_01_dot_16_bar__plus_00_dot_88_bar__minus_01_dot_50)\n (coolable Bowl_bar__plus_00_dot_80_bar__plus_00_dot_91_bar__plus_00_dot_73)\n (coolable Potato_bar__plus_00_dot_42_bar__plus_00_dot_94_bar__minus_01_dot_45)\n (coolable Mug_bar__plus_00_dot_20_bar__plus_01_dot_25_bar__minus_01_dot_71)\n (coolable Plate_bar__minus_00_dot_70_bar__plus_00_dot_91_bar__minus_00_dot_73)\n (coolable Bread_bar__minus_00_dot_94_bar__plus_00_dot_98_bar__plus_00_dot_85)\n \n \n \n \n \n (sliceable Apple_bar__plus_00_dot_45_bar__plus_00_dot_98_bar__plus_00_dot_63)\n (sliceable Lettuce_bar__minus_00_dot_03_bar__plus_00_dot_97_bar__minus_01_dot_29)\n (sliceable Egg_bar__plus_00_dot_93_bar__plus_01_dot_13_bar__minus_01_dot_50)\n (sliceable Bread_bar__plus_00_dot_71_bar__plus_00_dot_99_bar__plus_00_dot_53)\n (sliceable Tomato_bar__plus_00_dot_93_bar__plus_01_dot_28_bar__minus_01_dot_50)\n (sliceable Lettuce_bar__plus_00_dot_78_bar__plus_00_dot_98_bar__plus_00_dot_21)\n (sliceable Potato_bar__plus_00_dot_42_bar__plus_00_dot_94_bar__minus_01_dot_45)\n (sliceable Bread_bar__minus_00_dot_94_bar__plus_00_dot_98_bar__plus_00_dot_85)\n \n (inReceptacle Knife_bar__minus_00_dot_99_bar__plus_00_dot_54_bar__plus_01_dot_26 Drawer_bar__minus_00_dot_86_bar__plus_00_dot_58_bar__plus_01_dot_43)\n (inReceptacle Kettle_bar__plus_01_dot_21_bar__plus_01_dot_68_bar__minus_01_dot_41 Cabinet_bar__plus_01_dot_40_bar__plus_01_dot_87_bar__minus_01_dot_26)\n (inReceptacle SoapBottle_bar__plus_01_dot_35_bar__plus_01_dot_68_bar__minus_01_dot_76 Cabinet_bar__plus_01_dot_40_bar__plus_01_dot_87_bar__minus_01_dot_26)\n (inReceptacle Ladle_bar__minus_00_dot_87_bar__plus_00_dot_74_bar__plus_01_dot_61 Drawer_bar__minus_00_dot_86_bar__plus_00_dot_77_bar__plus_01_dot_43)\n (inReceptacle Kettle_bar__minus_00_dot_42_bar__plus_00_dot_90_bar__minus_00_dot_92 StoveBurner_bar__minus_00_dot_42_bar__plus_00_dot_90_bar__minus_00_dot_92)\n (inReceptacle Plate_bar__plus_03_dot_18_bar__plus_01_dot_48_bar__minus_01_dot_65 Cabinet_bar__plus_02_dot_82_bar__plus_01_dot_77_bar__minus_01_dot_85)\n (inReceptacle HousePlant_bar__plus_03_dot_20_bar__plus_00_dot_89_bar__minus_00_dot_37 CounterTop_bar__plus_03_dot_11_bar__plus_00_dot_94_bar__plus_00_dot_02)\n (inReceptacle SoapBottle_bar__plus_03_dot_20_bar__plus_00_dot_91_bar__minus_00_dot_60 CounterTop_bar__plus_03_dot_11_bar__plus_00_dot_94_bar__plus_00_dot_02)\n (inReceptacle SaltShaker_bar__plus_03_dot_28_bar__plus_00_dot_90_bar__minus_00_dot_90 CounterTop_bar__plus_03_dot_11_bar__plus_00_dot_94_bar__plus_00_dot_02)\n (inReceptacle Spatula_bar__plus_03_dot_36_bar__plus_00_dot_92_bar__minus_00_dot_50 CounterTop_bar__plus_03_dot_11_bar__plus_00_dot_94_bar__plus_00_dot_02)\n (inReceptacle Glassbottle_bar__minus_00_dot_79_bar__plus_00_dot_90_bar__minus_00_dot_05 CounterTop_bar__minus_01_dot_01_bar__plus_00_dot_94_bar__minus_00_dot_04)\n (inReceptacle Bread_bar__minus_00_dot_94_bar__plus_00_dot_98_bar__plus_00_dot_85 CounterTop_bar__minus_01_dot_01_bar__plus_00_dot_94_bar__minus_00_dot_04)\n (inReceptacle Glassbottle_bar__minus_00_dot_86_bar__plus_00_dot_90_bar__plus_00_dot_62 CounterTop_bar__minus_01_dot_01_bar__plus_00_dot_94_bar__minus_00_dot_04)\n (inReceptacle Spoon_bar__plus_00_dot_04_bar__plus_00_dot_52_bar__minus_01_dot_37 Drawer_bar__minus_00_dot_05_bar__plus_00_dot_57_bar__minus_01_dot_32)\n (inReceptacle DishSponge_bar__plus_00_dot_47_bar__plus_00_dot_70_bar__minus_01_dot_43 Drawer_bar__plus_00_dot_38_bar__plus_00_dot_77_bar__minus_01_dot_51)\n (inReceptacle Pot_bar__plus_03_dot_08_bar__plus_00_dot_18_bar__plus_00_dot_63 Cabinet_bar__plus_02_dot_85_bar__plus_00_dot_42_bar__plus_00_dot_41)\n (inReceptacle Plate_bar__plus_03_dot_03_bar__plus_00_dot_19_bar__minus_00_dot_40 Cabinet_bar__plus_02_dot_85_bar__plus_00_dot_42_bar__minus_00_dot_61)\n (inReceptacle Bowl_bar__plus_03_dot_14_bar__plus_00_dot_17_bar__minus_00_dot_83 Cabinet_bar__plus_02_dot_85_bar__plus_00_dot_42_bar__minus_00_dot_96)\n (inReceptacle PepperShaker_bar__plus_03_dot_21_bar__plus_01_dot_26_bar__minus_00_dot_92 Cabinet_bar__plus_03_dot_07_bar__plus_01_dot_67_bar__minus_00_dot_71)\n (inReceptacle Mug_bar__plus_00_dot_20_bar__plus_01_dot_25_bar__minus_01_dot_71 Cabinet_bar__plus_00_dot_14_bar__plus_01_dot_67_bar__minus_01_dot_56)\n (inReceptacle Potato_bar__plus_00_dot_42_bar__plus_00_dot_94_bar__minus_01_dot_45 CounterTop_bar__plus_00_dot_09_bar__plus_00_dot_89_bar__minus_01_dot_52)\n (inReceptacle CellPhone_bar__plus_00_dot_04_bar__plus_00_dot_90_bar__minus_01_dot_68 CounterTop_bar__plus_00_dot_09_bar__plus_00_dot_89_bar__minus_01_dot_52)\n (inReceptacle Cup_bar__plus_00_dot_11_bar__plus_00_dot_90_bar__minus_01_dot_43 CounterTop_bar__plus_00_dot_09_bar__plus_00_dot_89_bar__minus_01_dot_52)\n (inReceptacle Spoon_bar__minus_00_dot_14_bar__plus_00_dot_90_bar__minus_01_dot_49 CounterTop_bar__plus_00_dot_09_bar__plus_00_dot_89_bar__minus_01_dot_52)\n (inReceptacle Lettuce_bar__minus_00_dot_03_bar__plus_00_dot_97_bar__minus_01_dot_29 CounterTop_bar__plus_00_dot_09_bar__plus_00_dot_89_bar__minus_01_dot_52)\n (inReceptacle Pan_bar__plus_00_dot_34_bar__plus_00_dot_87_bar__minus_01_dot_65 CounterTop_bar__plus_00_dot_09_bar__plus_00_dot_89_bar__minus_01_dot_52)\n (inReceptacle Fork_bar__minus_00_dot_83_bar__plus_00_dot_13_bar__plus_01_dot_52 Drawer_bar__minus_00_dot_86_bar__plus_00_dot_19_bar__plus_01_dot_43)\n (inReceptacle Bowl_bar__plus_00_dot_80_bar__plus_00_dot_91_bar__plus_00_dot_73 CounterTop_bar__plus_01_dot_21_bar__plus_00_dot_94_bar__plus_00_dot_46)\n (inReceptacle ButterKnife_bar__plus_00_dot_45_bar__plus_00_dot_91_bar__plus_00_dot_93 CounterTop_bar__plus_01_dot_21_bar__plus_00_dot_94_bar__plus_00_dot_46)\n (inReceptacle CellPhone_bar__plus_00_dot_36_bar__plus_00_dot_91_bar__plus_00_dot_43 CounterTop_bar__plus_01_dot_21_bar__plus_00_dot_94_bar__plus_00_dot_46)\n (inReceptacle ButterKnife_bar__plus_00_dot_97_bar__plus_00_dot_91_bar__plus_00_dot_75 CounterTop_bar__plus_01_dot_21_bar__plus_00_dot_94_bar__plus_00_dot_46)\n (inReceptacle Apple_bar__plus_00_dot_45_bar__plus_00_dot_98_bar__plus_00_dot_63 CounterTop_bar__plus_01_dot_21_bar__plus_00_dot_94_bar__plus_00_dot_46)\n (inReceptacle Cup_bar__plus_01_dot_36_bar__plus_00_dot_91_bar__plus_00_dot_75 CounterTop_bar__plus_01_dot_21_bar__plus_00_dot_94_bar__plus_00_dot_46)\n (inReceptacle Bread_bar__plus_00_dot_71_bar__plus_00_dot_99_bar__plus_00_dot_53 CounterTop_bar__plus_01_dot_21_bar__plus_00_dot_94_bar__plus_00_dot_46)\n (inReceptacle Lettuce_bar__plus_00_dot_78_bar__plus_00_dot_98_bar__plus_00_dot_21 CounterTop_bar__plus_01_dot_21_bar__plus_00_dot_94_bar__plus_00_dot_46)\n (inReceptacle Spatula_bar__minus_00_dot_91_bar__plus_00_dot_34_bar__plus_01_dot_69 Drawer_bar__minus_00_dot_86_bar__plus_00_dot_39_bar__plus_01_dot_43)\n (inReceptacle Spoon_bar__plus_03_dot_11_bar__plus_00_dot_75_bar__plus_00_dot_03 Sink_bar__plus_03_dot_08_bar__plus_00_dot_89_bar__plus_00_dot_09_bar_SinkBasin)\n (inReceptacle Egg_bar__plus_00_dot_93_bar__plus_01_dot_13_bar__minus_01_dot_50 Fridge_bar__plus_01_dot_01_bar__plus_00_dot_03_bar__minus_01_dot_47)\n (inReceptacle Tomato_bar__plus_00_dot_93_bar__plus_01_dot_28_bar__minus_01_dot_50 Fridge_bar__plus_01_dot_01_bar__plus_00_dot_03_bar__minus_01_dot_47)\n (inReceptacle Cup_bar__plus_01_dot_16_bar__plus_00_dot_88_bar__minus_01_dot_50 Fridge_bar__plus_01_dot_01_bar__plus_00_dot_03_bar__minus_01_dot_47)\n (inReceptacle Bowl_bar__minus_01_dot_05_bar__plus_00_dot_99_bar__plus_01_dot_42 Microwave_bar__minus_01_dot_03_bar__plus_00_dot_89_bar__plus_01_dot_43)\n (inReceptacle Mug_bar__minus_01_dot_12_bar__plus_00_dot_99_bar__plus_01_dot_26 Microwave_bar__minus_01_dot_03_bar__plus_00_dot_89_bar__plus_01_dot_43)\n \n \n (receptacleAtLocation Cabinet_bar__plus_00_dot_14_bar__plus_01_dot_67_bar__minus_01_dot_56 loc_bar_2_bar__minus_3_bar_2_bar_0)\n (receptacleAtLocation Cabinet_bar__plus_00_dot_62_bar__plus_01_dot_87_bar__minus_01_dot_26 loc_bar_4_bar__minus_2_bar_2_bar__minus_15)\n (receptacleAtLocation Cabinet_bar__plus_01_dot_40_bar__plus_01_dot_87_bar__minus_01_dot_26 loc_bar_4_bar__minus_2_bar_2_bar__minus_15)\n (receptacleAtLocation Cabinet_bar__plus_02_dot_82_bar__plus_01_dot_77_bar__minus_01_dot_05 loc_bar_9_bar__minus_5_bar_1_bar__minus_15)\n (receptacleAtLocation Cabinet_bar__plus_02_dot_82_bar__plus_01_dot_77_bar__minus_01_dot_85 loc_bar_8_bar__minus_5_bar_1_bar_0)\n (receptacleAtLocation Cabinet_bar__plus_02_dot_85_bar__plus_00_dot_42_bar__plus_00_dot_41 loc_bar_8_bar_1_bar_1_bar_60)\n (receptacleAtLocation Cabinet_bar__plus_02_dot_85_bar__plus_00_dot_42_bar__minus_00_dot_61 loc_bar_8_bar_0_bar_1_bar_60)\n (receptacleAtLocation Cabinet_bar__plus_02_dot_85_bar__plus_00_dot_42_bar__minus_00_dot_96 loc_bar_8_bar__minus_5_bar_1_bar_60)\n (receptacleAtLocation Cabinet_bar__plus_03_dot_07_bar__plus_01_dot_67_bar__minus_00_dot_71 loc_bar_9_bar__minus_4_bar_1_bar_0)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_19_bar__plus_01_dot_67_bar__minus_01_dot_34 loc_bar_1_bar__minus_3_bar_2_bar_0)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_20_bar__plus_01_dot_96_bar__minus_01_dot_33 loc_bar_0_bar__minus_2_bar_2_bar__minus_15)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_71_bar__plus_01_dot_96_bar__minus_00_dot_82 loc_bar_0_bar__minus_3_bar_3_bar__minus_15)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_92_bar__plus_01_dot_67_bar__minus_00_dot_62 loc_bar__minus_1_bar__minus_2_bar_3_bar_0)\n (receptacleAtLocation CoffeeMachine_bar__plus_03_dot_22_bar__plus_00_dot_89_bar__plus_00_dot_70 loc_bar_10_bar_3_bar_1_bar_45)\n (receptacleAtLocation CounterTop_bar__plus_00_dot_09_bar__plus_00_dot_89_bar__minus_01_dot_52 loc_bar_1_bar__minus_3_bar_2_bar_45)\n (receptacleAtLocation CounterTop_bar__plus_01_dot_21_bar__plus_00_dot_94_bar__plus_00_dot_46 loc_bar_4_bar__minus_2_bar_0_bar_45)\n (receptacleAtLocation CounterTop_bar__plus_03_dot_11_bar__plus_00_dot_94_bar__plus_00_dot_02 loc_bar_10_bar__minus_2_bar_1_bar_45)\n (receptacleAtLocation CounterTop_bar__minus_01_dot_01_bar__plus_00_dot_94_bar__minus_00_dot_04 loc_bar__minus_1_bar_2_bar_3_bar_45)\n (receptacleAtLocation Drawer_bar__plus_00_dot_38_bar__plus_00_dot_19_bar__minus_01_dot_51 loc_bar_0_bar__minus_1_bar_2_bar_45)\n (receptacleAtLocation Drawer_bar__plus_00_dot_38_bar__plus_00_dot_38_bar__minus_01_dot_51 loc_bar__minus_1_bar__minus_1_bar_2_bar_45)\n (receptacleAtLocation Drawer_bar__plus_00_dot_38_bar__plus_00_dot_57_bar__minus_01_dot_51 loc_bar_0_bar__minus_2_bar_2_bar_45)\n (receptacleAtLocation Drawer_bar__plus_00_dot_38_bar__plus_00_dot_77_bar__minus_01_dot_51 loc_bar_0_bar__minus_2_bar_2_bar_45)\n (receptacleAtLocation Drawer_bar__plus_03_dot_02_bar__plus_00_dot_77_bar__plus_00_dot_70 loc_bar_9_bar__minus_1_bar_0_bar_45)\n (receptacleAtLocation Drawer_bar__plus_03_dot_02_bar__plus_00_dot_77_bar__minus_00_dot_41 loc_bar_9_bar_2_bar_2_bar_45)\n (receptacleAtLocation Drawer_bar__plus_03_dot_02_bar__plus_00_dot_77_bar__minus_00_dot_78 loc_bar_9_bar_0_bar_2_bar_45)\n (receptacleAtLocation Drawer_bar__minus_00_dot_05_bar__plus_00_dot_19_bar__minus_01_dot_32 loc_bar_4_bar__minus_2_bar_3_bar_60)\n (receptacleAtLocation Drawer_bar__minus_00_dot_05_bar__plus_00_dot_38_bar__minus_01_dot_32 loc_bar_2_bar__minus_1_bar_2_bar_45)\n (receptacleAtLocation Drawer_bar__minus_00_dot_05_bar__plus_00_dot_57_bar__minus_01_dot_32 loc_bar_2_bar__minus_2_bar_2_bar_60)\n (receptacleAtLocation Drawer_bar__minus_00_dot_05_bar__plus_00_dot_77_bar__minus_01_dot_32 loc_bar_2_bar__minus_2_bar_2_bar_45)\n (receptacleAtLocation Drawer_bar__minus_00_dot_68_bar__plus_00_dot_19_bar__minus_00_dot_70 loc_bar_0_bar_2_bar_2_bar_45)\n (receptacleAtLocation Drawer_bar__minus_00_dot_68_bar__plus_00_dot_39_bar__minus_00_dot_70 loc_bar_0_bar_1_bar_2_bar_60)\n (receptacleAtLocation Drawer_bar__minus_00_dot_68_bar__plus_00_dot_58_bar__minus_00_dot_70 loc_bar_0_bar_1_bar_2_bar_45)\n (receptacleAtLocation Drawer_bar__minus_00_dot_68_bar__plus_00_dot_77_bar__minus_00_dot_70 loc_bar__minus_1_bar_1_bar_2_bar_45)\n (receptacleAtLocation Drawer_bar__minus_00_dot_86_bar__plus_00_dot_19_bar__plus_00_dot_66 loc_bar_0_bar__minus_2_bar_0_bar_45)\n (receptacleAtLocation Drawer_bar__minus_00_dot_86_bar__plus_00_dot_19_bar__plus_01_dot_43 loc_bar_0_bar_1_bar_0_bar_45)\n (receptacleAtLocation Drawer_bar__minus_00_dot_86_bar__plus_00_dot_19_bar__minus_00_dot_10 loc_bar_0_bar_4_bar_2_bar_60)\n (receptacleAtLocation Drawer_bar__minus_00_dot_86_bar__plus_00_dot_39_bar__plus_00_dot_66 loc_bar_0_bar__minus_2_bar_0_bar_45)\n (receptacleAtLocation Drawer_bar__minus_00_dot_86_bar__plus_00_dot_39_bar__plus_01_dot_43 loc_bar_0_bar_2_bar_0_bar_60)\n (receptacleAtLocation Drawer_bar__minus_00_dot_86_bar__plus_00_dot_39_bar__minus_00_dot_10 loc_bar_0_bar_4_bar_2_bar_45)\n (receptacleAtLocation Drawer_bar__minus_00_dot_86_bar__plus_00_dot_58_bar__plus_00_dot_66 loc_bar_0_bar__minus_2_bar_0_bar_45)\n (receptacleAtLocation Drawer_bar__minus_00_dot_86_bar__plus_00_dot_58_bar__plus_01_dot_43 loc_bar_0_bar_1_bar_0_bar_45)\n (receptacleAtLocation Drawer_bar__minus_00_dot_86_bar__plus_00_dot_58_bar__minus_00_dot_10 loc_bar_0_bar_4_bar_2_bar_45)\n (receptacleAtLocation Drawer_bar__minus_00_dot_86_bar__plus_00_dot_77_bar__plus_00_dot_66 loc_bar__minus_1_bar__minus_1_bar_0_bar_45)\n (receptacleAtLocation Drawer_bar__minus_00_dot_86_bar__plus_00_dot_77_bar__plus_01_dot_43 loc_bar__minus_1_bar_2_bar_0_bar_45)\n (receptacleAtLocation Drawer_bar__minus_00_dot_86_bar__plus_00_dot_77_bar__minus_00_dot_10 loc_bar__minus_1_bar_3_bar_2_bar_45)\n (receptacleAtLocation Fridge_bar__plus_01_dot_01_bar__plus_00_dot_03_bar__minus_01_dot_47 loc_bar_4_bar__minus_2_bar_2_bar_60)\n (receptacleAtLocation GarbageCan_bar__plus_03_dot_18_bar__plus_00_dot_03_bar__plus_01_dot_60 loc_bar_11_bar_5_bar_1_bar_60)\n (receptacleAtLocation Microwave_bar__minus_01_dot_03_bar__plus_00_dot_89_bar__plus_01_dot_43 loc_bar__minus_1_bar_5_bar_3_bar_45)\n (receptacleAtLocation Sink_bar__plus_03_dot_08_bar__plus_00_dot_89_bar__plus_00_dot_09_bar_SinkBasin loc_bar_10_bar__minus_1_bar_1_bar_60)\n (receptacleAtLocation StoveBurner_bar__minus_00_dot_24_bar__plus_00_dot_90_bar__minus_01_dot_09 loc_bar_0_bar__minus_3_bar_2_bar_60)\n (receptacleAtLocation StoveBurner_bar__minus_00_dot_42_bar__plus_00_dot_90_bar__minus_00_dot_92 loc_bar_0_bar__minus_3_bar_3_bar_60)\n (receptacleAtLocation StoveBurner_bar__minus_00_dot_42_bar__plus_00_dot_90_bar__minus_01_dot_27 loc_bar_0_bar__minus_3_bar_2_bar_60)\n (receptacleAtLocation StoveBurner_bar__minus_00_dot_60_bar__plus_00_dot_90_bar__minus_01_dot_09 loc_bar_0_bar__minus_3_bar_3_bar_60)\n (receptacleAtLocation Toaster_bar__minus_01_dot_04_bar__plus_00_dot_87_bar__minus_00_dot_40 loc_bar__minus_1_bar__minus_2_bar_3_bar_45)\n (objectAtLocation Mug_bar__plus_00_dot_20_bar__plus_01_dot_25_bar__minus_01_dot_71 loc_bar_2_bar__minus_3_bar_2_bar_0)\n (objectAtLocation Bowl_bar__plus_00_dot_80_bar__plus_00_dot_91_bar__plus_00_dot_73 loc_bar_4_bar__minus_2_bar_0_bar_45)\n (objectAtLocation Spoon_bar__plus_00_dot_04_bar__plus_00_dot_52_bar__minus_01_dot_37 loc_bar_2_bar__minus_2_bar_2_bar_60)\n (objectAtLocation CellPhone_bar__plus_00_dot_36_bar__plus_00_dot_91_bar__plus_00_dot_43 loc_bar_4_bar__minus_2_bar_0_bar_45)\n (objectAtLocation Bread_bar__minus_00_dot_94_bar__plus_00_dot_98_bar__plus_00_dot_85 loc_bar__minus_1_bar_2_bar_3_bar_45)\n (objectAtLocation ButterKnife_bar__plus_00_dot_45_bar__plus_00_dot_91_bar__plus_00_dot_93 loc_bar_4_bar__minus_2_bar_0_bar_45)\n (objectAtLocation Cup_bar__plus_01_dot_16_bar__plus_00_dot_88_bar__minus_01_dot_50 loc_bar_4_bar__minus_2_bar_2_bar_60)\n (objectAtLocation Lettuce_bar__plus_00_dot_78_bar__plus_00_dot_98_bar__plus_00_dot_21 loc_bar_4_bar__minus_2_bar_0_bar_45)\n (objectAtLocation Spatula_bar__plus_03_dot_36_bar__plus_00_dot_92_bar__minus_00_dot_50 loc_bar_10_bar__minus_2_bar_1_bar_45)\n (objectAtLocation Kettle_bar__plus_01_dot_21_bar__plus_01_dot_68_bar__minus_01_dot_41 loc_bar_4_bar__minus_2_bar_2_bar__minus_15)\n (objectAtLocation SoapBottle_bar__plus_03_dot_20_bar__plus_00_dot_91_bar__minus_00_dot_60 loc_bar_10_bar__minus_2_bar_1_bar_45)\n (objectAtLocation Glassbottle_bar__minus_00_dot_86_bar__plus_00_dot_90_bar__plus_00_dot_62 loc_bar__minus_1_bar_2_bar_3_bar_45)\n (objectAtLocation Plate_bar__minus_00_dot_70_bar__plus_00_dot_91_bar__minus_00_dot_73 loc_bar__minus_1_bar__minus_2_bar_3_bar_60)\n (objectAtLocation Plate_bar__plus_03_dot_18_bar__plus_01_dot_48_bar__minus_01_dot_65 loc_bar_8_bar__minus_5_bar_1_bar_0)\n (objectAtLocation Cup_bar__plus_00_dot_11_bar__plus_00_dot_90_bar__minus_01_dot_43 loc_bar_1_bar__minus_3_bar_2_bar_45)\n (objectAtLocation Bowl_bar__minus_01_dot_05_bar__plus_00_dot_99_bar__plus_01_dot_42 loc_bar__minus_1_bar_5_bar_3_bar_45)\n (objectAtLocation Spoon_bar__minus_00_dot_14_bar__plus_00_dot_90_bar__minus_01_dot_49 loc_bar_1_bar__minus_3_bar_2_bar_45)\n (objectAtLocation Sink_bar__plus_03_dot_08_bar__plus_00_dot_89_bar__plus_00_dot_09 loc_bar_10_bar_0_bar_1_bar_60)\n (objectAtLocation Mirror_bar__minus_01_dot_30_bar__plus_01_dot_63_bar__plus_00_dot_05 loc_bar__minus_1_bar_1_bar_3_bar_0)\n (objectAtLocation Plate_bar__plus_03_dot_03_bar__plus_00_dot_19_bar__minus_00_dot_40 loc_bar_8_bar_0_bar_1_bar_60)\n (objectAtLocation Glassbottle_bar__minus_00_dot_79_bar__plus_00_dot_90_bar__minus_00_dot_05 loc_bar__minus_1_bar_2_bar_3_bar_45)\n (objectAtLocation SoapBottle_bar__plus_01_dot_35_bar__plus_01_dot_68_bar__minus_01_dot_76 loc_bar_4_bar__minus_2_bar_2_bar__minus_15)\n (objectAtLocation Potato_bar__plus_00_dot_42_bar__plus_00_dot_94_bar__minus_01_dot_45 loc_bar_1_bar__minus_3_bar_2_bar_45)\n (objectAtLocation HousePlant_bar__plus_03_dot_20_bar__plus_00_dot_89_bar__minus_00_dot_37 loc_bar_10_bar__minus_2_bar_1_bar_45)\n (objectAtLocation StoveKnob_bar__minus_00_dot_09_bar__plus_00_dot_79_bar__minus_01_dot_01 loc_bar_0_bar__minus_3_bar_2_bar_60)\n (objectAtLocation StoveKnob_bar__minus_00_dot_28_bar__plus_00_dot_79_bar__minus_00_dot_82 loc_bar_0_bar__minus_3_bar_3_bar_60)\n (objectAtLocation StoveKnob_bar__minus_00_dot_18_bar__plus_00_dot_79_bar__minus_00_dot_92 loc_bar_0_bar__minus_3_bar_3_bar_60)\n (objectAtLocation StoveKnob_bar__minus_00_dot_37_bar__plus_00_dot_79_bar__minus_00_dot_72 loc_bar__minus_1_bar__minus_2_bar_2_bar_60)\n (objectAtLocation Fork_bar__minus_00_dot_83_bar__plus_00_dot_13_bar__plus_01_dot_52 loc_bar_0_bar_1_bar_0_bar_45)\n (objectAtLocation Ladle_bar__minus_00_dot_87_bar__plus_00_dot_74_bar__plus_01_dot_61 loc_bar__minus_1_bar_2_bar_0_bar_45)\n (objectAtLocation Pot_bar__plus_03_dot_08_bar__plus_00_dot_18_bar__plus_00_dot_63 loc_bar_8_bar_1_bar_1_bar_60)\n (objectAtLocation Kettle_bar__minus_00_dot_42_bar__plus_00_dot_90_bar__minus_00_dot_92 loc_bar_0_bar__minus_3_bar_3_bar_60)\n (objectAtLocation Window_bar__plus_03_dot_70_bar__plus_01_dot_68_bar__plus_00_dot_05 loc_bar_10_bar_0_bar_1_bar_0)\n (objectAtLocation Spatula_bar__minus_00_dot_91_bar__plus_00_dot_34_bar__plus_01_dot_69 loc_bar_0_bar_2_bar_0_bar_60)\n (objectAtLocation Knife_bar__minus_00_dot_99_bar__plus_00_dot_54_bar__plus_01_dot_26 loc_bar_0_bar_1_bar_0_bar_45)\n (objectAtLocation Lettuce_bar__minus_00_dot_03_bar__plus_00_dot_97_bar__minus_01_dot_29 loc_bar_1_bar__minus_3_bar_2_bar_45)\n (objectAtLocation LightSwitch_bar__plus_02_dot_59_bar__plus_01_dot_31_bar__minus_01_dot_88 loc_bar_9_bar__minus_5_bar_2_bar_30)\n (objectAtLocation Cup_bar__plus_01_dot_36_bar__plus_00_dot_91_bar__plus_00_dot_75 loc_bar_4_bar__minus_2_bar_0_bar_45)\n (objectAtLocation SaltShaker_bar__plus_03_dot_28_bar__plus_00_dot_90_bar__minus_00_dot_90 loc_bar_10_bar__minus_2_bar_1_bar_45)\n (objectAtLocation Egg_bar__plus_00_dot_93_bar__plus_01_dot_13_bar__minus_01_dot_50 loc_bar_4_bar__minus_2_bar_2_bar_60)\n (objectAtLocation PepperShaker_bar__plus_03_dot_21_bar__plus_01_dot_26_bar__minus_00_dot_92 loc_bar_9_bar__minus_4_bar_1_bar_0)\n (objectAtLocation ButterKnife_bar__plus_00_dot_97_bar__plus_00_dot_91_bar__plus_00_dot_75 loc_bar_4_bar__minus_2_bar_0_bar_45)\n (objectAtLocation Apple_bar__plus_00_dot_45_bar__plus_00_dot_98_bar__plus_00_dot_63 loc_bar_4_bar__minus_2_bar_0_bar_45)\n (objectAtLocation Pan_bar__plus_00_dot_34_bar__plus_00_dot_87_bar__minus_01_dot_65 loc_bar_1_bar__minus_3_bar_2_bar_45)\n (objectAtLocation Bread_bar__plus_00_dot_71_bar__plus_00_dot_99_bar__plus_00_dot_53 loc_bar_4_bar__minus_2_bar_0_bar_45)\n (objectAtLocation CellPhone_bar__plus_00_dot_04_bar__plus_00_dot_90_bar__minus_01_dot_68 loc_bar_1_bar__minus_3_bar_2_bar_45)\n (objectAtLocation DishSponge_bar__plus_00_dot_47_bar__plus_00_dot_70_bar__minus_01_dot_43 loc_bar_0_bar__minus_2_bar_2_bar_45)\n (objectAtLocation Tomato_bar__plus_00_dot_93_bar__plus_01_dot_28_bar__minus_01_dot_50 loc_bar_4_bar__minus_2_bar_2_bar_60)\n (objectAtLocation Spoon_bar__plus_03_dot_11_bar__plus_00_dot_75_bar__plus_00_dot_03 loc_bar_10_bar__minus_1_bar_1_bar_60)\n (objectAtLocation Bowl_bar__plus_03_dot_14_bar__plus_00_dot_17_bar__minus_00_dot_83 loc_bar_8_bar__minus_5_bar_1_bar_60)\n (objectAtLocation Mug_bar__minus_01_dot_12_bar__plus_00_dot_99_bar__plus_01_dot_26 loc_bar__minus_1_bar_5_bar_3_bar_45)\n )\n \n\n (:goal\n (and\n (exists (?r - receptacle)\n (exists (?o - object)\n (and\n (coolable ?o)\n (objectType ?o MugType)\n (receptacleType ?r CoffeeMachineType)\n (isCool ?o)\n (inReceptacle ?o ?r)\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to cabinet 9", "open cabinet 9", "take mug 1 from cabinet 9", "go to fridge 1", "cool mug 1 with fridge 1", "go to coffeemachine 1", "move mug 1 to coffeemachine 1"]}
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alfworld__pick_cool_then_place_in_recep__5
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pick_cool_then_place_in_recep
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pick_cool_then_place_in_recep-Mug-None-CoffeeMachine-30/trial_T20190907_153111_234827/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 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_153111_234827)\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_10_bar__plus_00_dot_97_bar__minus_01_dot_52 - object\n Apple_bar__plus_00_dot_44_bar__plus_00_dot_98_bar__plus_00_dot_22 - object\n Bowl_bar__plus_00_dot_76_bar__plus_01_dot_67_bar__minus_01_dot_55 - object\n Bowl_bar__plus_03_dot_14_bar__plus_00_dot_17_bar__minus_00_dot_40 - object\n Bread_bar__minus_00_dot_86_bar__plus_00_dot_98_bar__plus_00_dot_18 - object\n ButterKnife_bar__plus_00_dot_62_bar__plus_00_dot_91_bar__plus_00_dot_63 - object\n ButterKnife_bar__minus_00_dot_87_bar__plus_00_dot_71_bar__plus_00_dot_49 - object\n CellPhone_bar__plus_00_dot_45_bar__plus_00_dot_91_bar__plus_00_dot_53 - object\n Cup_bar__plus_03_dot_21_bar__plus_01_dot_26_bar__minus_00_dot_85 - object\n DishSponge_bar__minus_00_dot_72_bar__plus_00_dot_90_bar__minus_00_dot_49 - object\n DishSponge_bar__minus_00_dot_79_bar__plus_00_dot_71_bar__plus_00_dot_40 - object\n Egg_bar__plus_01_dot_09_bar__plus_01_dot_13_bar__minus_01_dot_50 - object\n Egg_bar__plus_02_dot_89_bar__plus_00_dot_95_bar__plus_00_dot_56 - object\n Faucet_bar__plus_03_dot_31_bar__plus_00_dot_89_bar__plus_00_dot_09 - object\n Fork_bar__minus_00_dot_86_bar__plus_00_dot_90_bar__plus_00_dot_40 - object\n Glassbottle_bar__plus_00_dot_86_bar__plus_01_dot_68_bar__minus_01_dot_34 - object\n Glassbottle_bar__plus_02_dot_89_bar__plus_00_dot_90_bar__minus_00_dot_60 - object\n HousePlant_bar__plus_03_dot_20_bar__plus_00_dot_89_bar__minus_00_dot_37 - object\n Kettle_bar__plus_00_dot_66_bar__plus_00_dot_91_bar__plus_00_dot_18 - object\n Kettle_bar__minus_00_dot_42_bar__plus_00_dot_90_bar__minus_01_dot_27 - object\n Knife_bar__plus_01_dot_36_bar__plus_00_dot_93_bar__plus_00_dot_75 - object\n Knife_bar__minus_00_dot_19_bar__plus_00_dot_93_bar__minus_01_dot_54 - object\n Knife_bar__minus_00_dot_79_bar__plus_00_dot_93_bar__plus_00_dot_40 - object\n Ladle_bar__plus_02_dot_97_bar__plus_00_dot_21_bar__plus_00_dot_56 - object\n Ladle_bar__plus_03_dot_03_bar__plus_00_dot_21_bar__plus_00_dot_70 - object\n Ladle_bar__minus_00_dot_10_bar__plus_00_dot_94_bar__minus_01_dot_64 - object\n Lettuce_bar__plus_01_dot_10_bar__plus_00_dot_97_bar__plus_00_dot_89 - object\n Lettuce_bar__minus_00_dot_72_bar__plus_00_dot_97_bar__minus_00_dot_05 - object\n LightSwitch_bar__plus_02_dot_59_bar__plus_01_dot_31_bar__minus_01_dot_88 - object\n Mirror_bar__minus_01_dot_30_bar__plus_01_dot_63_bar__plus_00_dot_05 - object\n Mug_bar__plus_03_dot_05_bar__plus_00_dot_97_bar__plus_00_dot_59 - object\n Pan_bar__plus_00_dot_34_bar__plus_00_dot_87_bar__minus_01_dot_65 - object\n Pan_bar__plus_03_dot_12_bar__plus_00_dot_90_bar__minus_00_dot_70 - object\n PepperShaker_bar__plus_03_dot_39_bar__plus_00_dot_90_bar__minus_00_dot_02 - object\n Plate_bar__plus_00_dot_80_bar__plus_00_dot_92_bar__plus_00_dot_53 - object\n Plate_bar__plus_03_dot_10_bar__plus_01_dot_48_bar__minus_01_dot_24 - object\n Plate_bar__plus_03_dot_11_bar__plus_01_dot_48_bar__minus_01_dot_65 - object\n Potato_bar__minus_01_dot_12_bar__plus_01_dot_04_bar__plus_01_dot_52 - object\n Pot_bar__minus_00_dot_42_bar__plus_00_dot_90_bar__minus_00_dot_92 - object\n Pot_bar__minus_00_dot_94_bar__plus_00_dot_90_bar__plus_00_dot_85 - object\n 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Pan_bar__plus_03_dot_12_bar__plus_00_dot_90_bar__minus_00_dot_70)\n (cleanable Egg_bar__plus_02_dot_89_bar__plus_00_dot_95_bar__plus_00_dot_56)\n (cleanable Tomato_bar__plus_01_dot_24_bar__plus_00_dot_75_bar__minus_01_dot_41)\n (cleanable Egg_bar__plus_01_dot_09_bar__plus_01_dot_13_bar__minus_01_dot_50)\n (cleanable DishSponge_bar__minus_00_dot_72_bar__plus_00_dot_90_bar__minus_00_dot_49)\n (cleanable Apple_bar__plus_00_dot_44_bar__plus_00_dot_98_bar__plus_00_dot_22)\n (cleanable Bowl_bar__plus_03_dot_14_bar__plus_00_dot_17_bar__minus_00_dot_40)\n (cleanable Plate_bar__plus_03_dot_10_bar__plus_01_dot_48_bar__minus_01_dot_24)\n (cleanable Plate_bar__plus_03_dot_11_bar__plus_01_dot_48_bar__minus_01_dot_65)\n (cleanable Pot_bar__minus_00_dot_42_bar__plus_00_dot_90_bar__minus_00_dot_92)\n \n (heatable Bread_bar__minus_00_dot_86_bar__plus_00_dot_98_bar__plus_00_dot_18)\n (heatable Mug_bar__plus_03_dot_05_bar__plus_00_dot_97_bar__plus_00_dot_59)\n (heatable Cup_bar__plus_03_dot_21_bar__plus_01_dot_26_bar__minus_00_dot_85)\n (heatable Tomato_bar__plus_03_dot_16_bar__plus_00_dot_14_bar__plus_01_dot_52)\n (heatable Apple_bar__plus_00_dot_10_bar__plus_00_dot_97_bar__minus_01_dot_52)\n (heatable Tomato_bar__plus_01_dot_01_bar__plus_01_dot_28_bar__minus_01_dot_50)\n (heatable Plate_bar__plus_00_dot_80_bar__plus_00_dot_92_bar__plus_00_dot_53)\n (heatable Potato_bar__minus_01_dot_12_bar__plus_01_dot_04_bar__plus_01_dot_52)\n (heatable Egg_bar__plus_02_dot_89_bar__plus_00_dot_95_bar__plus_00_dot_56)\n (heatable Tomato_bar__plus_01_dot_24_bar__plus_00_dot_75_bar__minus_01_dot_41)\n (heatable Egg_bar__plus_01_dot_09_bar__plus_01_dot_13_bar__minus_01_dot_50)\n (heatable Apple_bar__plus_00_dot_44_bar__plus_00_dot_98_bar__plus_00_dot_22)\n (heatable Plate_bar__plus_03_dot_10_bar__plus_01_dot_48_bar__minus_01_dot_24)\n (heatable Plate_bar__plus_03_dot_11_bar__plus_01_dot_48_bar__minus_01_dot_65)\n (coolable Bread_bar__minus_00_dot_86_bar__plus_00_dot_98_bar__plus_00_dot_18)\n (coolable Mug_bar__plus_03_dot_05_bar__plus_00_dot_97_bar__plus_00_dot_59)\n (coolable Lettuce_bar__plus_01_dot_10_bar__plus_00_dot_97_bar__plus_00_dot_89)\n (coolable Cup_bar__plus_03_dot_21_bar__plus_01_dot_26_bar__minus_00_dot_85)\n (coolable Pan_bar__plus_00_dot_34_bar__plus_00_dot_87_bar__minus_01_dot_65)\n (coolable Tomato_bar__plus_03_dot_16_bar__plus_00_dot_14_bar__plus_01_dot_52)\n (coolable Apple_bar__plus_00_dot_10_bar__plus_00_dot_97_bar__minus_01_dot_52)\n (coolable Bowl_bar__plus_00_dot_76_bar__plus_01_dot_67_bar__minus_01_dot_55)\n (coolable Tomato_bar__plus_01_dot_01_bar__plus_01_dot_28_bar__minus_01_dot_50)\n (coolable Lettuce_bar__minus_00_dot_72_bar__plus_00_dot_97_bar__minus_00_dot_05)\n (coolable Plate_bar__plus_00_dot_80_bar__plus_00_dot_92_bar__plus_00_dot_53)\n (coolable Pot_bar__minus_00_dot_94_bar__plus_00_dot_90_bar__plus_00_dot_85)\n (coolable Potato_bar__minus_01_dot_12_bar__plus_01_dot_04_bar__plus_01_dot_52)\n (coolable Pan_bar__plus_03_dot_12_bar__plus_00_dot_90_bar__minus_00_dot_70)\n (coolable Egg_bar__plus_02_dot_89_bar__plus_00_dot_95_bar__plus_00_dot_56)\n (coolable Tomato_bar__plus_01_dot_24_bar__plus_00_dot_75_bar__minus_01_dot_41)\n (coolable Egg_bar__plus_01_dot_09_bar__plus_01_dot_13_bar__minus_01_dot_50)\n (coolable Apple_bar__plus_00_dot_44_bar__plus_00_dot_98_bar__plus_00_dot_22)\n (coolable Bowl_bar__plus_03_dot_14_bar__plus_00_dot_17_bar__minus_00_dot_40)\n (coolable Plate_bar__plus_03_dot_10_bar__plus_01_dot_48_bar__minus_01_dot_24)\n (coolable Plate_bar__plus_03_dot_11_bar__plus_01_dot_48_bar__minus_01_dot_65)\n (coolable Pot_bar__minus_00_dot_42_bar__plus_00_dot_90_bar__minus_00_dot_92)\n \n \n \n \n \n (sliceable Bread_bar__minus_00_dot_86_bar__plus_00_dot_98_bar__plus_00_dot_18)\n (sliceable Lettuce_bar__plus_01_dot_10_bar__plus_00_dot_97_bar__plus_00_dot_89)\n (sliceable Tomato_bar__plus_03_dot_16_bar__plus_00_dot_14_bar__plus_01_dot_52)\n (sliceable Apple_bar__plus_00_dot_10_bar__plus_00_dot_97_bar__minus_01_dot_52)\n (sliceable Tomato_bar__plus_01_dot_01_bar__plus_01_dot_28_bar__minus_01_dot_50)\n (sliceable Lettuce_bar__minus_00_dot_72_bar__plus_00_dot_97_bar__minus_00_dot_05)\n (sliceable Potato_bar__minus_01_dot_12_bar__plus_01_dot_04_bar__plus_01_dot_52)\n (sliceable Egg_bar__plus_02_dot_89_bar__plus_00_dot_95_bar__plus_00_dot_56)\n (sliceable Tomato_bar__plus_01_dot_24_bar__plus_00_dot_75_bar__minus_01_dot_41)\n (sliceable Egg_bar__plus_01_dot_09_bar__plus_01_dot_13_bar__minus_01_dot_50)\n (sliceable Apple_bar__plus_00_dot_44_bar__plus_00_dot_98_bar__plus_00_dot_22)\n \n (inReceptacle SoapBottle_bar__plus_01_dot_35_bar__plus_01_dot_68_bar__minus_01_dot_41 Cabinet_bar__plus_01_dot_40_bar__plus_01_dot_87_bar__minus_01_dot_26)\n (inReceptacle Pot_bar__minus_00_dot_42_bar__plus_00_dot_90_bar__minus_00_dot_92 StoveBurner_bar__minus_00_dot_42_bar__plus_00_dot_90_bar__minus_00_dot_92)\n (inReceptacle Plate_bar__plus_03_dot_11_bar__plus_01_dot_48_bar__minus_01_dot_65 Cabinet_bar__plus_02_dot_82_bar__plus_01_dot_77_bar__minus_01_dot_85)\n (inReceptacle Mug_bar__plus_03_dot_05_bar__plus_00_dot_97_bar__plus_00_dot_59 CounterTop_bar__plus_03_dot_11_bar__plus_00_dot_94_bar__plus_00_dot_02)\n (inReceptacle Spatula_bar__plus_03_dot_39_bar__plus_00_dot_92_bar__plus_00_dot_10 CounterTop_bar__plus_03_dot_11_bar__plus_00_dot_94_bar__plus_00_dot_02)\n (inReceptacle Spoon_bar__plus_02_dot_97_bar__plus_00_dot_90_bar__minus_00_dot_50 CounterTop_bar__plus_03_dot_11_bar__plus_00_dot_94_bar__plus_00_dot_02)\n (inReceptacle PepperShaker_bar__plus_03_dot_39_bar__plus_00_dot_90_bar__minus_00_dot_02 CounterTop_bar__plus_03_dot_11_bar__plus_00_dot_94_bar__plus_00_dot_02)\n (inReceptacle SaltShaker_bar__plus_03_dot_12_bar__plus_00_dot_90_bar__minus_00_dot_50 CounterTop_bar__plus_03_dot_11_bar__plus_00_dot_94_bar__plus_00_dot_02)\n (inReceptacle Pan_bar__plus_03_dot_12_bar__plus_00_dot_90_bar__minus_00_dot_70 CounterTop_bar__plus_03_dot_11_bar__plus_00_dot_94_bar__plus_00_dot_02)\n (inReceptacle Egg_bar__plus_02_dot_89_bar__plus_00_dot_95_bar__plus_00_dot_56 CounterTop_bar__plus_03_dot_11_bar__plus_00_dot_94_bar__plus_00_dot_02)\n (inReceptacle HousePlant_bar__plus_03_dot_20_bar__plus_00_dot_89_bar__minus_00_dot_37 CounterTop_bar__plus_03_dot_11_bar__plus_00_dot_94_bar__plus_00_dot_02)\n (inReceptacle Glassbottle_bar__plus_02_dot_89_bar__plus_00_dot_90_bar__minus_00_dot_60 CounterTop_bar__plus_03_dot_11_bar__plus_00_dot_94_bar__plus_00_dot_02)\n (inReceptacle Pot_bar__minus_00_dot_94_bar__plus_00_dot_90_bar__plus_00_dot_85 CounterTop_bar__minus_01_dot_01_bar__plus_00_dot_94_bar__minus_00_dot_04)\n (inReceptacle Bread_bar__minus_00_dot_86_bar__plus_00_dot_98_bar__plus_00_dot_18 CounterTop_bar__minus_01_dot_01_bar__plus_00_dot_94_bar__minus_00_dot_04)\n (inReceptacle Knife_bar__minus_00_dot_79_bar__plus_00_dot_93_bar__plus_00_dot_40 CounterTop_bar__minus_01_dot_01_bar__plus_00_dot_94_bar__minus_00_dot_04)\n (inReceptacle DishSponge_bar__minus_00_dot_72_bar__plus_00_dot_90_bar__minus_00_dot_49 CounterTop_bar__minus_01_dot_01_bar__plus_00_dot_94_bar__minus_00_dot_04)\n (inReceptacle Lettuce_bar__minus_00_dot_72_bar__plus_00_dot_97_bar__minus_00_dot_05 CounterTop_bar__minus_01_dot_01_bar__plus_00_dot_94_bar__minus_00_dot_04)\n (inReceptacle Kettle_bar__minus_00_dot_42_bar__plus_00_dot_90_bar__minus_01_dot_27 StoveBurner_bar__minus_00_dot_42_bar__plus_00_dot_90_bar__minus_01_dot_27)\n (inReceptacle ButterKnife_bar__minus_00_dot_87_bar__plus_00_dot_71_bar__plus_00_dot_49 Drawer_bar__minus_00_dot_86_bar__plus_00_dot_77_bar__plus_00_dot_66)\n (inReceptacle DishSponge_bar__minus_00_dot_79_bar__plus_00_dot_71_bar__plus_00_dot_40 Drawer_bar__minus_00_dot_86_bar__plus_00_dot_77_bar__plus_00_dot_66)\n (inReceptacle Ladle_bar__plus_02_dot_97_bar__plus_00_dot_21_bar__plus_00_dot_56 Cabinet_bar__plus_02_dot_85_bar__plus_00_dot_42_bar__plus_00_dot_41)\n (inReceptacle Ladle_bar__plus_03_dot_03_bar__plus_00_dot_21_bar__plus_00_dot_70 Cabinet_bar__plus_02_dot_85_bar__plus_00_dot_42_bar__plus_00_dot_41)\n (inReceptacle Bowl_bar__plus_03_dot_14_bar__plus_00_dot_17_bar__minus_00_dot_40 Cabinet_bar__plus_02_dot_85_bar__plus_00_dot_42_bar__minus_00_dot_61)\n (inReceptacle Cup_bar__plus_03_dot_21_bar__plus_01_dot_26_bar__minus_00_dot_85 Cabinet_bar__plus_03_dot_07_bar__plus_01_dot_67_bar__minus_00_dot_71)\n (inReceptacle Plate_bar__plus_03_dot_10_bar__plus_01_dot_48_bar__minus_01_dot_24 Cabinet_bar__plus_02_dot_82_bar__plus_01_dot_77_bar__minus_01_dot_05)\n (inReceptacle Glassbottle_bar__plus_00_dot_86_bar__plus_01_dot_68_bar__minus_01_dot_34 Cabinet_bar__plus_00_dot_62_bar__plus_01_dot_87_bar__minus_01_dot_26)\n (inReceptacle Bowl_bar__plus_00_dot_76_bar__plus_01_dot_67_bar__minus_01_dot_55 Cabinet_bar__plus_00_dot_62_bar__plus_01_dot_87_bar__minus_01_dot_26)\n (inReceptacle Spoon_bar__minus_00_dot_87_bar__plus_00_dot_13_bar__minus_00_dot_19 Drawer_bar__minus_00_dot_86_bar__plus_00_dot_19_bar__minus_00_dot_10)\n (inReceptacle Apple_bar__plus_00_dot_10_bar__plus_00_dot_97_bar__minus_01_dot_52 CounterTop_bar__plus_00_dot_09_bar__plus_00_dot_89_bar__minus_01_dot_52)\n (inReceptacle Ladle_bar__minus_00_dot_10_bar__plus_00_dot_94_bar__minus_01_dot_64 CounterTop_bar__plus_00_dot_09_bar__plus_00_dot_89_bar__minus_01_dot_52)\n (inReceptacle Pan_bar__plus_00_dot_34_bar__plus_00_dot_87_bar__minus_01_dot_65 CounterTop_bar__plus_00_dot_09_bar__plus_00_dot_89_bar__minus_01_dot_52)\n (inReceptacle Knife_bar__plus_01_dot_36_bar__plus_00_dot_93_bar__plus_00_dot_75 CounterTop_bar__plus_01_dot_21_bar__plus_00_dot_94_bar__plus_00_dot_46)\n (inReceptacle Kettle_bar__plus_00_dot_66_bar__plus_00_dot_91_bar__plus_00_dot_18 CounterTop_bar__plus_01_dot_21_bar__plus_00_dot_94_bar__plus_00_dot_46)\n (inReceptacle Lettuce_bar__plus_01_dot_10_bar__plus_00_dot_97_bar__plus_00_dot_89 CounterTop_bar__plus_01_dot_21_bar__plus_00_dot_94_bar__plus_00_dot_46)\n (inReceptacle Apple_bar__plus_00_dot_44_bar__plus_00_dot_98_bar__plus_00_dot_22 CounterTop_bar__plus_01_dot_21_bar__plus_00_dot_94_bar__plus_00_dot_46)\n (inReceptacle ButterKnife_bar__plus_00_dot_62_bar__plus_00_dot_91_bar__plus_00_dot_63 CounterTop_bar__plus_01_dot_21_bar__plus_00_dot_94_bar__plus_00_dot_46)\n (inReceptacle CellPhone_bar__plus_00_dot_45_bar__plus_00_dot_91_bar__plus_00_dot_53 CounterTop_bar__plus_01_dot_21_bar__plus_00_dot_94_bar__plus_00_dot_46)\n (inReceptacle Plate_bar__plus_00_dot_80_bar__plus_00_dot_92_bar__plus_00_dot_53 CounterTop_bar__plus_01_dot_21_bar__plus_00_dot_94_bar__plus_00_dot_46)\n (inReceptacle SaltShaker_bar__minus_00_dot_87_bar__plus_00_dot_32_bar__plus_01_dot_17 Drawer_bar__minus_00_dot_86_bar__plus_00_dot_39_bar__plus_01_dot_43)\n (inReceptacle Tomato_bar__plus_03_dot_16_bar__plus_00_dot_14_bar__plus_01_dot_52 GarbageCan_bar__plus_03_dot_18_bar__plus_00_dot_03_bar__plus_01_dot_60)\n (inReceptacle Mug_bar__plus_03_dot_05_bar__plus_00_dot_97_bar__plus_00_dot_59 CoffeeMachine_bar__plus_03_dot_22_bar__plus_00_dot_89_bar__plus_00_dot_70)\n (inReceptacle Tomato_bar__plus_01_dot_01_bar__plus_01_dot_28_bar__minus_01_dot_50 Fridge_bar__plus_01_dot_01_bar__plus_00_dot_03_bar__minus_01_dot_47)\n (inReceptacle Egg_bar__plus_01_dot_09_bar__plus_01_dot_13_bar__minus_01_dot_50 Fridge_bar__plus_01_dot_01_bar__plus_00_dot_03_bar__minus_01_dot_47)\n (inReceptacle Tomato_bar__plus_01_dot_24_bar__plus_00_dot_75_bar__minus_01_dot_41 Fridge_bar__plus_01_dot_01_bar__plus_00_dot_03_bar__minus_01_dot_47)\n (inReceptacle Potato_bar__minus_01_dot_12_bar__plus_01_dot_04_bar__plus_01_dot_52 Microwave_bar__minus_01_dot_03_bar__plus_00_dot_89_bar__plus_01_dot_43)\n \n \n (receptacleAtLocation Cabinet_bar__plus_00_dot_14_bar__plus_01_dot_67_bar__minus_01_dot_56 loc_bar_2_bar__minus_3_bar_2_bar_0)\n (receptacleAtLocation Cabinet_bar__plus_00_dot_62_bar__plus_01_dot_87_bar__minus_01_dot_26 loc_bar_4_bar__minus_2_bar_2_bar__minus_15)\n (receptacleAtLocation Cabinet_bar__plus_01_dot_40_bar__plus_01_dot_87_bar__minus_01_dot_26 loc_bar_4_bar__minus_2_bar_2_bar__minus_15)\n (receptacleAtLocation Cabinet_bar__plus_02_dot_82_bar__plus_01_dot_77_bar__minus_01_dot_05 loc_bar_9_bar__minus_5_bar_1_bar__minus_15)\n (receptacleAtLocation Cabinet_bar__plus_02_dot_82_bar__plus_01_dot_77_bar__minus_01_dot_85 loc_bar_8_bar__minus_5_bar_1_bar_0)\n (receptacleAtLocation Cabinet_bar__plus_02_dot_85_bar__plus_00_dot_42_bar__plus_00_dot_41 loc_bar_8_bar_1_bar_1_bar_60)\n (receptacleAtLocation Cabinet_bar__plus_02_dot_85_bar__plus_00_dot_42_bar__minus_00_dot_61 loc_bar_8_bar_0_bar_1_bar_60)\n (receptacleAtLocation Cabinet_bar__plus_02_dot_85_bar__plus_00_dot_42_bar__minus_00_dot_96 loc_bar_8_bar__minus_5_bar_1_bar_60)\n (receptacleAtLocation Cabinet_bar__plus_03_dot_07_bar__plus_01_dot_67_bar__minus_00_dot_71 loc_bar_9_bar__minus_4_bar_1_bar_0)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_19_bar__plus_01_dot_67_bar__minus_01_dot_34 loc_bar_1_bar__minus_3_bar_2_bar_0)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_20_bar__plus_01_dot_96_bar__minus_01_dot_33 loc_bar_0_bar__minus_2_bar_2_bar__minus_15)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_71_bar__plus_01_dot_96_bar__minus_00_dot_82 loc_bar_0_bar__minus_3_bar_3_bar__minus_15)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_92_bar__plus_01_dot_67_bar__minus_00_dot_62 loc_bar__minus_1_bar__minus_2_bar_3_bar_0)\n (receptacleAtLocation CoffeeMachine_bar__plus_03_dot_22_bar__plus_00_dot_89_bar__plus_00_dot_70 loc_bar_10_bar_3_bar_1_bar_45)\n (receptacleAtLocation CounterTop_bar__plus_00_dot_09_bar__plus_00_dot_89_bar__minus_01_dot_52 loc_bar_1_bar__minus_3_bar_2_bar_45)\n (receptacleAtLocation CounterTop_bar__plus_01_dot_21_bar__plus_00_dot_94_bar__plus_00_dot_46 loc_bar_4_bar__minus_2_bar_0_bar_45)\n (receptacleAtLocation CounterTop_bar__plus_03_dot_11_bar__plus_00_dot_94_bar__plus_00_dot_02 loc_bar_10_bar__minus_2_bar_1_bar_45)\n (receptacleAtLocation CounterTop_bar__minus_01_dot_01_bar__plus_00_dot_94_bar__minus_00_dot_04 loc_bar__minus_1_bar_2_bar_3_bar_45)\n (receptacleAtLocation Drawer_bar__plus_00_dot_38_bar__plus_00_dot_19_bar__minus_01_dot_51 loc_bar_0_bar__minus_1_bar_2_bar_45)\n (receptacleAtLocation Drawer_bar__plus_00_dot_38_bar__plus_00_dot_38_bar__minus_01_dot_51 loc_bar__minus_1_bar__minus_1_bar_2_bar_45)\n (receptacleAtLocation Drawer_bar__plus_00_dot_38_bar__plus_00_dot_57_bar__minus_01_dot_51 loc_bar_0_bar__minus_2_bar_2_bar_45)\n (receptacleAtLocation Drawer_bar__plus_00_dot_38_bar__plus_00_dot_77_bar__minus_01_dot_51 loc_bar_0_bar__minus_2_bar_2_bar_45)\n (receptacleAtLocation Drawer_bar__plus_03_dot_02_bar__plus_00_dot_77_bar__plus_00_dot_70 loc_bar_9_bar__minus_1_bar_0_bar_45)\n (receptacleAtLocation Drawer_bar__plus_03_dot_02_bar__plus_00_dot_77_bar__minus_00_dot_41 loc_bar_9_bar_2_bar_2_bar_45)\n (receptacleAtLocation Drawer_bar__plus_03_dot_02_bar__plus_00_dot_77_bar__minus_00_dot_78 loc_bar_9_bar_0_bar_2_bar_45)\n (receptacleAtLocation Drawer_bar__minus_00_dot_05_bar__plus_00_dot_19_bar__minus_01_dot_32 loc_bar_4_bar__minus_2_bar_3_bar_60)\n (receptacleAtLocation Drawer_bar__minus_00_dot_05_bar__plus_00_dot_38_bar__minus_01_dot_32 loc_bar_2_bar__minus_1_bar_2_bar_45)\n (receptacleAtLocation Drawer_bar__minus_00_dot_05_bar__plus_00_dot_57_bar__minus_01_dot_32 loc_bar_2_bar__minus_2_bar_2_bar_60)\n (receptacleAtLocation Drawer_bar__minus_00_dot_05_bar__plus_00_dot_77_bar__minus_01_dot_32 loc_bar_2_bar__minus_2_bar_2_bar_45)\n (receptacleAtLocation Drawer_bar__minus_00_dot_68_bar__plus_00_dot_19_bar__minus_00_dot_70 loc_bar_0_bar_2_bar_2_bar_45)\n (receptacleAtLocation Drawer_bar__minus_00_dot_68_bar__plus_00_dot_39_bar__minus_00_dot_70 loc_bar_0_bar_1_bar_2_bar_60)\n (receptacleAtLocation Drawer_bar__minus_00_dot_68_bar__plus_00_dot_58_bar__minus_00_dot_70 loc_bar_0_bar_1_bar_2_bar_45)\n (receptacleAtLocation Drawer_bar__minus_00_dot_68_bar__plus_00_dot_77_bar__minus_00_dot_70 loc_bar__minus_1_bar_1_bar_2_bar_45)\n (receptacleAtLocation Drawer_bar__minus_00_dot_86_bar__plus_00_dot_19_bar__plus_00_dot_66 loc_bar_0_bar__minus_2_bar_0_bar_45)\n (receptacleAtLocation Drawer_bar__minus_00_dot_86_bar__plus_00_dot_19_bar__plus_01_dot_43 loc_bar_0_bar_1_bar_0_bar_45)\n (receptacleAtLocation Drawer_bar__minus_00_dot_86_bar__plus_00_dot_19_bar__minus_00_dot_10 loc_bar_0_bar_4_bar_2_bar_60)\n (receptacleAtLocation Drawer_bar__minus_00_dot_86_bar__plus_00_dot_39_bar__plus_00_dot_66 loc_bar_0_bar__minus_2_bar_0_bar_45)\n (receptacleAtLocation Drawer_bar__minus_00_dot_86_bar__plus_00_dot_39_bar__plus_01_dot_43 loc_bar_0_bar_2_bar_0_bar_60)\n (receptacleAtLocation Drawer_bar__minus_00_dot_86_bar__plus_00_dot_39_bar__minus_00_dot_10 loc_bar_0_bar_4_bar_2_bar_45)\n (receptacleAtLocation Drawer_bar__minus_00_dot_86_bar__plus_00_dot_58_bar__plus_00_dot_66 loc_bar_0_bar__minus_2_bar_0_bar_45)\n (receptacleAtLocation Drawer_bar__minus_00_dot_86_bar__plus_00_dot_58_bar__plus_01_dot_43 loc_bar_0_bar_1_bar_0_bar_45)\n (receptacleAtLocation Drawer_bar__minus_00_dot_86_bar__plus_00_dot_58_bar__minus_00_dot_10 loc_bar_0_bar_4_bar_2_bar_45)\n (receptacleAtLocation Drawer_bar__minus_00_dot_86_bar__plus_00_dot_77_bar__plus_00_dot_66 loc_bar__minus_1_bar__minus_1_bar_0_bar_45)\n (receptacleAtLocation Drawer_bar__minus_00_dot_86_bar__plus_00_dot_77_bar__plus_01_dot_43 loc_bar__minus_1_bar_2_bar_0_bar_45)\n (receptacleAtLocation Drawer_bar__minus_00_dot_86_bar__plus_00_dot_77_bar__minus_00_dot_10 loc_bar__minus_1_bar_3_bar_2_bar_45)\n (receptacleAtLocation Fridge_bar__plus_01_dot_01_bar__plus_00_dot_03_bar__minus_01_dot_47 loc_bar_4_bar__minus_2_bar_2_bar_60)\n (receptacleAtLocation GarbageCan_bar__plus_03_dot_18_bar__plus_00_dot_03_bar__plus_01_dot_60 loc_bar_11_bar_5_bar_1_bar_60)\n (receptacleAtLocation Microwave_bar__minus_01_dot_03_bar__plus_00_dot_89_bar__plus_01_dot_43 loc_bar__minus_1_bar_5_bar_3_bar_45)\n (receptacleAtLocation Sink_bar__plus_03_dot_08_bar__plus_00_dot_89_bar__plus_00_dot_09_bar_SinkBasin loc_bar_10_bar__minus_1_bar_1_bar_60)\n (receptacleAtLocation StoveBurner_bar__minus_00_dot_24_bar__plus_00_dot_90_bar__minus_01_dot_09 loc_bar_0_bar__minus_3_bar_2_bar_60)\n (receptacleAtLocation StoveBurner_bar__minus_00_dot_42_bar__plus_00_dot_90_bar__minus_00_dot_92 loc_bar_0_bar__minus_3_bar_3_bar_60)\n (receptacleAtLocation StoveBurner_bar__minus_00_dot_42_bar__plus_00_dot_90_bar__minus_01_dot_27 loc_bar_0_bar__minus_3_bar_2_bar_60)\n (receptacleAtLocation StoveBurner_bar__minus_00_dot_60_bar__plus_00_dot_90_bar__minus_01_dot_09 loc_bar_0_bar__minus_3_bar_3_bar_60)\n (receptacleAtLocation Toaster_bar__minus_01_dot_04_bar__plus_00_dot_87_bar__minus_00_dot_40 loc_bar__minus_1_bar__minus_2_bar_3_bar_45)\n (objectAtLocation Bowl_bar__plus_03_dot_14_bar__plus_00_dot_17_bar__minus_00_dot_40 loc_bar_8_bar_0_bar_1_bar_60)\n (objectAtLocation Spoon_bar__plus_02_dot_97_bar__plus_00_dot_90_bar__minus_00_dot_50 loc_bar_10_bar__minus_2_bar_1_bar_45)\n (objectAtLocation Tomato_bar__plus_01_dot_24_bar__plus_00_dot_75_bar__minus_01_dot_41 loc_bar_4_bar__minus_2_bar_2_bar_60)\n (objectAtLocation DishSponge_bar__minus_00_dot_79_bar__plus_00_dot_71_bar__plus_00_dot_40 loc_bar__minus_1_bar__minus_1_bar_0_bar_45)\n (objectAtLocation Pan_bar__plus_00_dot_34_bar__plus_00_dot_87_bar__minus_01_dot_65 loc_bar_1_bar__minus_3_bar_2_bar_45)\n (objectAtLocation Apple_bar__plus_00_dot_44_bar__plus_00_dot_98_bar__plus_00_dot_22 loc_bar_4_bar__minus_2_bar_0_bar_45)\n (objectAtLocation ButterKnife_bar__plus_00_dot_62_bar__plus_00_dot_91_bar__plus_00_dot_63 loc_bar_4_bar__minus_2_bar_0_bar_45)\n (objectAtLocation Egg_bar__plus_02_dot_89_bar__plus_00_dot_95_bar__plus_00_dot_56 loc_bar_10_bar__minus_2_bar_1_bar_45)\n (objectAtLocation SaltShaker_bar__minus_00_dot_87_bar__plus_00_dot_32_bar__plus_01_dot_17 loc_bar_0_bar_2_bar_0_bar_60)\n (objectAtLocation Lettuce_bar__minus_00_dot_72_bar__plus_00_dot_97_bar__minus_00_dot_05 loc_bar__minus_1_bar_2_bar_3_bar_45)\n (objectAtLocation Knife_bar__plus_01_dot_36_bar__plus_00_dot_93_bar__plus_00_dot_75 loc_bar_4_bar__minus_2_bar_0_bar_45)\n (objectAtLocation Kettle_bar__plus_00_dot_66_bar__plus_00_dot_91_bar__plus_00_dot_18 loc_bar_4_bar__minus_2_bar_0_bar_45)\n (objectAtLocation Pot_bar__minus_00_dot_94_bar__plus_00_dot_90_bar__plus_00_dot_85 loc_bar__minus_1_bar_2_bar_3_bar_45)\n (objectAtLocation Ladle_bar__plus_02_dot_97_bar__plus_00_dot_21_bar__plus_00_dot_56 loc_bar_8_bar_1_bar_1_bar_60)\n (objectAtLocation Glassbottle_bar__plus_02_dot_89_bar__plus_00_dot_90_bar__minus_00_dot_60 loc_bar_10_bar__minus_2_bar_1_bar_45)\n (objectAtLocation Plate_bar__plus_00_dot_80_bar__plus_00_dot_92_bar__plus_00_dot_53 loc_bar_4_bar__minus_2_bar_0_bar_45)\n (objectAtLocation Knife_bar__minus_00_dot_19_bar__plus_00_dot_93_bar__minus_01_dot_54 loc_bar_0_bar__minus_3_bar_2_bar_45)\n (objectAtLocation Plate_bar__plus_03_dot_11_bar__plus_01_dot_48_bar__minus_01_dot_65 loc_bar_8_bar__minus_5_bar_1_bar_0)\n (objectAtLocation Tomato_bar__plus_03_dot_16_bar__plus_00_dot_14_bar__plus_01_dot_52 loc_bar_11_bar_5_bar_1_bar_60)\n (objectAtLocation Ladle_bar__minus_00_dot_10_bar__plus_00_dot_94_bar__minus_01_dot_64 loc_bar_1_bar__minus_3_bar_2_bar_45)\n (objectAtLocation Sink_bar__plus_03_dot_08_bar__plus_00_dot_89_bar__plus_00_dot_09 loc_bar_10_bar_0_bar_1_bar_60)\n (objectAtLocation Mirror_bar__minus_01_dot_30_bar__plus_01_dot_63_bar__plus_00_dot_05 loc_bar__minus_1_bar_1_bar_3_bar_0)\n (objectAtLocation Plate_bar__plus_03_dot_10_bar__plus_01_dot_48_bar__minus_01_dot_24 loc_bar_9_bar__minus_5_bar_1_bar__minus_15)\n (objectAtLocation Glassbottle_bar__plus_00_dot_86_bar__plus_01_dot_68_bar__minus_01_dot_34 loc_bar_4_bar__minus_2_bar_2_bar__minus_15)\n (objectAtLocation SoapBottle_bar__plus_01_dot_35_bar__plus_01_dot_68_bar__minus_01_dot_41 loc_bar_4_bar__minus_2_bar_2_bar__minus_15)\n (objectAtLocation Potato_bar__minus_01_dot_12_bar__plus_01_dot_04_bar__plus_01_dot_52 loc_bar__minus_1_bar_5_bar_3_bar_45)\n (objectAtLocation HousePlant_bar__plus_03_dot_20_bar__plus_00_dot_89_bar__minus_00_dot_37 loc_bar_10_bar__minus_2_bar_1_bar_45)\n (objectAtLocation StoveKnob_bar__minus_00_dot_09_bar__plus_00_dot_79_bar__minus_01_dot_01 loc_bar_0_bar__minus_3_bar_2_bar_60)\n (objectAtLocation StoveKnob_bar__minus_00_dot_28_bar__plus_00_dot_79_bar__minus_00_dot_82 loc_bar_0_bar__minus_3_bar_3_bar_60)\n (objectAtLocation StoveKnob_bar__minus_00_dot_18_bar__plus_00_dot_79_bar__minus_00_dot_92 loc_bar_0_bar__minus_3_bar_3_bar_60)\n (objectAtLocation StoveKnob_bar__minus_00_dot_37_bar__plus_00_dot_79_bar__minus_00_dot_72 loc_bar__minus_1_bar__minus_2_bar_2_bar_60)\n (objectAtLocation Fork_bar__minus_00_dot_86_bar__plus_00_dot_90_bar__plus_00_dot_40 loc_bar__minus_1_bar_2_bar_3_bar_60)\n (objectAtLocation Ladle_bar__plus_03_dot_03_bar__plus_00_dot_21_bar__plus_00_dot_70 loc_bar_8_bar_1_bar_1_bar_60)\n (objectAtLocation Pot_bar__minus_00_dot_42_bar__plus_00_dot_90_bar__minus_00_dot_92 loc_bar_0_bar__minus_3_bar_3_bar_60)\n (objectAtLocation Kettle_bar__minus_00_dot_42_bar__plus_00_dot_90_bar__minus_01_dot_27 loc_bar_0_bar__minus_3_bar_2_bar_60)\n (objectAtLocation Window_bar__plus_03_dot_70_bar__plus_01_dot_68_bar__plus_00_dot_05 loc_bar_10_bar_0_bar_1_bar_0)\n (objectAtLocation Spatula_bar__plus_03_dot_39_bar__plus_00_dot_92_bar__plus_00_dot_10 loc_bar_10_bar__minus_2_bar_1_bar_45)\n (objectAtLocation Knife_bar__minus_00_dot_79_bar__plus_00_dot_93_bar__plus_00_dot_40 loc_bar__minus_1_bar_2_bar_3_bar_45)\n (objectAtLocation Lettuce_bar__plus_01_dot_10_bar__plus_00_dot_97_bar__plus_00_dot_89 loc_bar_4_bar__minus_2_bar_0_bar_45)\n (objectAtLocation LightSwitch_bar__plus_02_dot_59_bar__plus_01_dot_31_bar__minus_01_dot_88 loc_bar_9_bar__minus_5_bar_2_bar_30)\n (objectAtLocation Cup_bar__plus_03_dot_21_bar__plus_01_dot_26_bar__minus_00_dot_85 loc_bar_9_bar__minus_4_bar_1_bar_0)\n (objectAtLocation SaltShaker_bar__plus_03_dot_12_bar__plus_00_dot_90_bar__minus_00_dot_50 loc_bar_10_bar__minus_2_bar_1_bar_45)\n (objectAtLocation Egg_bar__plus_01_dot_09_bar__plus_01_dot_13_bar__minus_01_dot_50 loc_bar_4_bar__minus_2_bar_2_bar_60)\n (objectAtLocation PepperShaker_bar__plus_03_dot_39_bar__plus_00_dot_90_bar__minus_00_dot_02 loc_bar_10_bar__minus_2_bar_1_bar_45)\n (objectAtLocation ButterKnife_bar__minus_00_dot_87_bar__plus_00_dot_71_bar__plus_00_dot_49 loc_bar__minus_1_bar__minus_1_bar_0_bar_45)\n (objectAtLocation Apple_bar__plus_00_dot_10_bar__plus_00_dot_97_bar__minus_01_dot_52 loc_bar_1_bar__minus_3_bar_2_bar_45)\n (objectAtLocation Pan_bar__plus_03_dot_12_bar__plus_00_dot_90_bar__minus_00_dot_70 loc_bar_10_bar__minus_2_bar_1_bar_45)\n (objectAtLocation Bread_bar__minus_00_dot_86_bar__plus_00_dot_98_bar__plus_00_dot_18 loc_bar__minus_1_bar_2_bar_3_bar_45)\n (objectAtLocation CellPhone_bar__plus_00_dot_45_bar__plus_00_dot_91_bar__plus_00_dot_53 loc_bar_4_bar__minus_2_bar_0_bar_45)\n (objectAtLocation DishSponge_bar__minus_00_dot_72_bar__plus_00_dot_90_bar__minus_00_dot_49 loc_bar__minus_1_bar_2_bar_3_bar_45)\n (objectAtLocation Tomato_bar__plus_01_dot_01_bar__plus_01_dot_28_bar__minus_01_dot_50 loc_bar_4_bar__minus_2_bar_2_bar_60)\n (objectAtLocation Spoon_bar__minus_00_dot_87_bar__plus_00_dot_13_bar__minus_00_dot_19 loc_bar_0_bar_4_bar_2_bar_60)\n (objectAtLocation Bowl_bar__plus_00_dot_76_bar__plus_01_dot_67_bar__minus_01_dot_55 loc_bar_4_bar__minus_2_bar_2_bar__minus_15)\n (objectAtLocation Mug_bar__plus_03_dot_05_bar__plus_00_dot_97_bar__plus_00_dot_59 loc_bar_10_bar_3_bar_1_bar_45)\n )\n \n\n (:goal\n (and\n (exists (?r - receptacle)\n (exists (?o - object)\n (and\n (coolable ?o)\n (objectType ?o MugType)\n (receptacleType ?r CoffeeMachineType)\n (isCool ?o)\n (inReceptacle ?o ?r)\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to countertop 1", "take mug 1 from countertop 1", "go to fridge 1", "cool mug 1 with fridge 1"]}
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alfworld__pick_two_obj_and_place__18
|
pick_two_obj_and_place
|
pick_two_obj_and_place-Mug-None-Cabinet-318/trial_T20190910_055356_172564/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 mug 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_055356_172564)\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_00_bar__plus_00_dot_73_bar__plus_00_dot_48 - object\n AlarmClock_bar__minus_00_dot_78_bar__plus_00_dot_68_bar__plus_01_dot_80 - object\n AlarmClock_bar__minus_00_dot_86_bar__plus_00_dot_67_bar__plus_03_dot_25 - 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_61_bar__plus_00_dot_73_bar__minus_00_dot_75 - object\n Book_bar__minus_00_dot_63_bar__plus_01_dot_84_bar__plus_01_dot_63 - object\n Book_bar__minus_00_dot_67_bar__plus_00_dot_07_bar__plus_02_dot_24 - 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_50_bar__plus_00_dot_43_bar__plus_01_dot_88 - object\n CellPhone_bar__plus_01_dot_67_bar__plus_00_dot_44_bar__plus_01_dot_88 - object\n CellPhone_bar__minus_00_dot_70_bar__plus_00_dot_74_bar__minus_01_dot_32 - 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_59_bar__plus_00_dot_44_bar__plus_01_dot_61 - object\n CreditCard_bar__minus_00_dot_48_bar__plus_00_dot_67_bar__plus_03_dot_25 - 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_63_bar__plus_00_dot_98_bar__minus_01_dot_51 - object\n Laptop_bar__plus_01_dot_61_bar__plus_00_dot_72_bar__plus_00_dot_48 - object\n Laptop_bar__minus_00_dot_63_bar__plus_01_dot_84_bar__plus_02_dot_48 - object\n Laptop_bar__minus_00_dot_86_bar__plus_00_dot_67_bar__plus_02_dot_99 - 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_51_bar__plus_00_dot_68_bar__plus_01_dot_80 - object\n Mug_bar__minus_00_dot_78_bar__plus_00_dot_68_bar__plus_02_dot_36 - object\n Painting_bar__plus_02_dot_20_bar__plus_01_dot_77_bar__minus_00_dot_10 - object\n Pencil_bar__minus_00_dot_51_bar__plus_00_dot_68_bar__plus_02_dot_36 - object\n Pencil_bar__minus_00_dot_58_bar__plus_00_dot_98_bar__minus_01_dot_32 - object\n Pen_bar__minus_00_dot_48_bar__plus_00_dot_67_bar__plus_02_dot_82 - object\n Pillow_bar__minus_00_dot_60_bar__plus_01_dot_59_bar__minus_00_dot_94 - 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_87_bar__plus_01_dot_59_bar__minus_00_dot_50 - 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_1_bar_11_bar_2_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 Pillow_bar__minus_00_dot_87_bar__plus_01_dot_59_bar__minus_00_dot_50 PillowType)\n (objectType AlarmClock_bar__minus_00_dot_86_bar__plus_00_dot_67_bar__plus_03_dot_25 AlarmClockType)\n (objectType Mug_bar__minus_00_dot_78_bar__plus_00_dot_68_bar__plus_02_dot_36 MugType)\n (objectType Pencil_bar__minus_00_dot_58_bar__plus_00_dot_98_bar__minus_01_dot_32 PencilType)\n (objectType Pillow_bar__minus_00_dot_60_bar__plus_01_dot_59_bar__minus_00_dot_94 PillowType)\n (objectType CreditCard_bar__plus_01_dot_59_bar__plus_00_dot_44_bar__plus_01_dot_61 CreditCardType)\n (objectType Chair_bar__minus_00_dot_25_bar__plus_00_dot_43_bar__plus_01_dot_46 ChairType)\n (objectType Mug_bar__minus_00_dot_51_bar__plus_00_dot_68_bar__plus_01_dot_80 MugType)\n (objectType Pen_bar__minus_00_dot_48_bar__plus_00_dot_67_bar__plus_02_dot_82 PenType)\n (objectType DeskLamp_bar__plus_02_dot_01_bar__plus_00_dot_72_bar__plus_00_dot_71 DeskLampType)\n (objectType Book_bar__minus_00_dot_63_bar__plus_01_dot_84_bar__plus_01_dot_63 BookType)\n (objectType 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Mirror_bar__plus_02_dot_23_bar__plus_01_dot_26_bar__plus_02_dot_66 MirrorType)\n (objectType Laptop_bar__minus_00_dot_63_bar__plus_01_dot_84_bar__plus_02_dot_48 LaptopType)\n (objectType Blinds_bar__plus_01_dot_55_bar__plus_02_dot_44_bar__minus_01_dot_89 BlindsType)\n (objectType AlarmClock_bar__minus_00_dot_78_bar__plus_00_dot_68_bar__plus_01_dot_80 AlarmClockType)\n (objectType TennisRacket_bar__minus_01_dot_35_bar__plus_00_dot_29_bar__plus_00_dot_23 TennisRacketType)\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_61_bar__plus_00_dot_73_bar__minus_00_dot_75 BookType)\n (objectType KeyChain_bar__minus_00_dot_63_bar__plus_00_dot_98_bar__minus_01_dot_51 KeyChainType)\n (objectType Book_bar__minus_00_dot_67_bar__plus_00_dot_07_bar__plus_02_dot_24 BookType)\n (objectType CD_bar__plus_01_dot_50_bar__plus_00_dot_43_bar__plus_01_dot_88 CDType)\n (objectType Laptop_bar__plus_01_dot_61_bar__plus_00_dot_72_bar__plus_00_dot_48 LaptopType)\n (objectType Pencil_bar__minus_00_dot_51_bar__plus_00_dot_68_bar__plus_02_dot_36 PencilType)\n (canContain DrawerType PenType)\n (canContain DrawerType BookType)\n (canContain DrawerType CDType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType PencilType)\n (canContain DrawerType PenType)\n (canContain DrawerType BookType)\n (canContain DrawerType CDType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType PencilType)\n (canContain DresserType PenType)\n (canContain DresserType BookType)\n (canContain DresserType 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 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(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 Pillow_bar__minus_00_dot_87_bar__plus_01_dot_59_bar__minus_00_dot_50)\n (pickupable AlarmClock_bar__minus_00_dot_86_bar__plus_00_dot_67_bar__plus_03_dot_25)\n (pickupable Mug_bar__minus_00_dot_78_bar__plus_00_dot_68_bar__plus_02_dot_36)\n (pickupable Pencil_bar__minus_00_dot_58_bar__plus_00_dot_98_bar__minus_01_dot_32)\n (pickupable Pillow_bar__minus_00_dot_60_bar__plus_01_dot_59_bar__minus_00_dot_94)\n (pickupable CreditCard_bar__plus_01_dot_59_bar__plus_00_dot_44_bar__plus_01_dot_61)\n (pickupable Mug_bar__minus_00_dot_51_bar__plus_00_dot_68_bar__plus_01_dot_80)\n (pickupable Pen_bar__minus_00_dot_48_bar__plus_00_dot_67_bar__plus_02_dot_82)\n (pickupable Book_bar__minus_00_dot_63_bar__plus_01_dot_84_bar__plus_01_dot_63)\n (pickupable AlarmClock_bar__plus_02_dot_00_bar__plus_00_dot_73_bar__plus_00_dot_48)\n (pickupable CellPhone_bar__minus_00_dot_70_bar__plus_00_dot_74_bar__minus_01_dot_32)\n (pickupable CreditCard_bar__minus_00_dot_48_bar__plus_00_dot_67_bar__plus_03_dot_25)\n (pickupable CellPhone_bar__plus_01_dot_67_bar__plus_00_dot_44_bar__plus_01_dot_88)\n (pickupable Pillow_bar__minus_00_dot_63_bar__plus_01_dot_87_bar__plus_03_dot_05)\n (pickupable Laptop_bar__minus_00_dot_86_bar__plus_00_dot_67_bar__plus_02_dot_99)\n (pickupable Laptop_bar__minus_00_dot_63_bar__plus_01_dot_84_bar__plus_02_dot_48)\n (pickupable AlarmClock_bar__minus_00_dot_78_bar__plus_00_dot_68_bar__plus_01_dot_80)\n (pickupable TennisRacket_bar__minus_01_dot_35_bar__plus_00_dot_29_bar__plus_00_dot_23)\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_61_bar__plus_00_dot_73_bar__minus_00_dot_75)\n (pickupable KeyChain_bar__minus_00_dot_63_bar__plus_00_dot_98_bar__minus_01_dot_51)\n (pickupable Book_bar__minus_00_dot_67_bar__plus_00_dot_07_bar__plus_02_dot_24)\n (pickupable CD_bar__plus_01_dot_50_bar__plus_00_dot_43_bar__plus_01_dot_88)\n (pickupable Laptop_bar__plus_01_dot_61_bar__plus_00_dot_72_bar__plus_00_dot_48)\n (pickupable Pencil_bar__minus_00_dot_51_bar__plus_00_dot_68_bar__plus_02_dot_36)\n (isReceptacleObject Mug_bar__minus_00_dot_78_bar__plus_00_dot_68_bar__plus_02_dot_36)\n (isReceptacleObject Mug_bar__minus_00_dot_51_bar__plus_00_dot_68_bar__plus_01_dot_80)\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_1_bar_11_bar_2_bar_30)\n \n (cleanable Mug_bar__minus_00_dot_78_bar__plus_00_dot_68_bar__plus_02_dot_36)\n (cleanable Mug_bar__minus_00_dot_51_bar__plus_00_dot_68_bar__plus_01_dot_80)\n \n (heatable Mug_bar__minus_00_dot_78_bar__plus_00_dot_68_bar__plus_02_dot_36)\n (heatable Mug_bar__minus_00_dot_51_bar__plus_00_dot_68_bar__plus_01_dot_80)\n (coolable Mug_bar__minus_00_dot_78_bar__plus_00_dot_68_bar__plus_02_dot_36)\n (coolable Mug_bar__minus_00_dot_51_bar__plus_00_dot_68_bar__plus_01_dot_80)\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 Book_bar__minus_00_dot_63_bar__plus_01_dot_84_bar__plus_01_dot_63 Bed_bar__minus_00_dot_88_bar__plus_01_dot_65_bar__plus_02_dot_17)\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 Laptop_bar__minus_00_dot_63_bar__plus_01_dot_84_bar__plus_02_dot_48 Bed_bar__minus_00_dot_88_bar__plus_01_dot_65_bar__plus_02_dot_17)\n (inReceptacle CellPhone_bar__plus_01_dot_67_bar__plus_00_dot_44_bar__plus_01_dot_88 ArmChair_bar__plus_01_dot_83_bar__plus_00_dot_01_bar__plus_01_dot_61)\n (inReceptacle CD_bar__plus_01_dot_50_bar__plus_00_dot_43_bar__plus_01_dot_88 ArmChair_bar__plus_01_dot_83_bar__plus_00_dot_01_bar__plus_01_dot_61)\n (inReceptacle CreditCard_bar__plus_01_dot_59_bar__plus_00_dot_44_bar__plus_01_dot_61 ArmChair_bar__plus_01_dot_83_bar__plus_00_dot_01_bar__plus_01_dot_61)\n (inReceptacle Book_bar__minus_00_dot_67_bar__plus_00_dot_07_bar__plus_02_dot_24 Cabinet_bar__minus_00_dot_36_bar__plus_00_dot_26_bar__plus_02_dot_53)\n (inReceptacle Mug_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 AlarmClock_bar__minus_00_dot_78_bar__plus_00_dot_68_bar__plus_01_dot_80 Desk_bar__minus_00_dot_65_bar__plus_00_dot_01_bar__plus_01_dot_80)\n (inReceptacle Mug_bar__minus_00_dot_51_bar__plus_00_dot_68_bar__plus_01_dot_80 Desk_bar__minus_00_dot_65_bar__plus_00_dot_01_bar__plus_01_dot_80)\n (inReceptacle Pencil_bar__minus_00_dot_51_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 Pillow_bar__minus_00_dot_60_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 Pillow_bar__minus_00_dot_87_bar__plus_01_dot_59_bar__minus_00_dot_50 Bed_bar__minus_00_dot_87_bar__plus_00_dot_00_bar__minus_00_dot_92)\n (inReceptacle CreditCard_bar__minus_00_dot_48_bar__plus_00_dot_67_bar__plus_03_dot_25 Dresser_bar__minus_00_dot_66_bar__minus_00_dot_01_bar__plus_02_dot_97)\n (inReceptacle Laptop_bar__minus_00_dot_86_bar__plus_00_dot_67_bar__plus_02_dot_99 Dresser_bar__minus_00_dot_66_bar__minus_00_dot_01_bar__plus_02_dot_97)\n (inReceptacle AlarmClock_bar__minus_00_dot_86_bar__plus_00_dot_67_bar__plus_03_dot_25 Dresser_bar__minus_00_dot_66_bar__minus_00_dot_01_bar__plus_02_dot_97)\n (inReceptacle Pen_bar__minus_00_dot_48_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 KeyChain_bar__minus_00_dot_63_bar__plus_00_dot_98_bar__minus_01_dot_51 Dresser_bar__minus_00_dot_77_bar__minus_00_dot_01_bar__minus_01_dot_31)\n (inReceptacle Pencil_bar__minus_00_dot_58_bar__plus_00_dot_98_bar__minus_01_dot_32 Dresser_bar__minus_00_dot_77_bar__minus_00_dot_01_bar__minus_01_dot_31)\n (inReceptacle Book_bar__plus_01_dot_61_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 Laptop_bar__plus_01_dot_61_bar__plus_00_dot_72_bar__plus_00_dot_48 Desk_bar__plus_01_dot_81_bar__minus_00_dot_01_bar__minus_00_dot_12)\n (inReceptacle AlarmClock_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 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 CellPhone_bar__minus_00_dot_70_bar__plus_00_dot_74_bar__minus_01_dot_32 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_51_bar__plus_00_dot_68_bar__plus_01_dot_80 loc_bar_1_bar_7_bar_3_bar_60)\n (objectAtLocation Laptop_bar__minus_00_dot_63_bar__plus_01_dot_84_bar__plus_02_dot_48 loc_bar_4_bar_9_bar_3_bar_0)\n (objectAtLocation Pencil_bar__minus_00_dot_58_bar__plus_00_dot_98_bar__minus_01_dot_32 loc_bar_1_bar__minus_5_bar_3_bar_60)\n (objectAtLocation CreditCard_bar__minus_00_dot_48_bar__plus_00_dot_67_bar__plus_03_dot_25 loc_bar_1_bar_12_bar_3_bar_60)\n (objectAtLocation CellPhone_bar__plus_01_dot_67_bar__plus_00_dot_44_bar__plus_01_dot_88 loc_bar_4_bar_6_bar_1_bar_60)\n (objectAtLocation Pillow_bar__minus_00_dot_60_bar__plus_01_dot_59_bar__minus_00_dot_94 loc_bar_1_bar__minus_3_bar_3_bar_60)\n (objectAtLocation AlarmClock_bar__minus_00_dot_78_bar__plus_00_dot_68_bar__plus_01_dot_80 loc_bar_1_bar_7_bar_3_bar_60)\n (objectAtLocation Book_bar__minus_00_dot_67_bar__plus_00_dot_07_bar__plus_02_dot_24 loc_bar_2_bar_7_bar_3_bar_60)\n (objectAtLocation AlarmClock_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 Laptop_bar__minus_00_dot_86_bar__plus_00_dot_67_bar__plus_02_dot_99 loc_bar_1_bar_12_bar_3_bar_60)\n (objectAtLocation Book_bar__minus_00_dot_63_bar__plus_01_dot_84_bar__plus_01_dot_63 loc_bar_4_bar_9_bar_3_bar_0)\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_61_bar__plus_00_dot_73_bar__minus_00_dot_75 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_48_bar__plus_00_dot_67_bar__plus_02_dot_82 loc_bar_1_bar_12_bar_3_bar_60)\n (objectAtLocation AlarmClock_bar__minus_00_dot_86_bar__plus_00_dot_67_bar__plus_03_dot_25 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_87_bar__plus_01_dot_59_bar__minus_00_dot_50 loc_bar_1_bar__minus_3_bar_3_bar_60)\n (objectAtLocation CellPhone_bar__minus_00_dot_70_bar__plus_00_dot_74_bar__minus_01_dot_32 loc_bar_1_bar__minus_5_bar_3_bar_45)\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_63_bar__plus_00_dot_98_bar__minus_01_dot_51 loc_bar_1_bar__minus_5_bar_3_bar_60)\n (objectAtLocation CreditCard_bar__plus_01_dot_59_bar__plus_00_dot_44_bar__plus_01_dot_61 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__plus_01_dot_50_bar__plus_00_dot_43_bar__plus_01_dot_88 loc_bar_4_bar_6_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_51_bar__plus_00_dot_68_bar__plus_02_dot_36 loc_bar_1_bar_7_bar_3_bar_60)\n (objectAtLocation Laptop_bar__plus_01_dot_61_bar__plus_00_dot_72_bar__plus_00_dot_48 loc_bar_4_bar_1_bar_1_bar_60)\n (objectAtLocation Mug_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 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 MugType)\n (receptacleType ?r CabinetType)\n (inReceptacle ?o1 ?r)\n (exists (?o2 - object)\n (and\n (not (= ?o1 ?o2))\n (objectType ?o2 MugType)\n (receptacleType ?r CabinetType)\n (inReceptacle ?o2 ?r)\n )\n )\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to desk 2", "take mug 2 from desk 2", "go to cabinet 1", "open cabinet 1", "move mug 2 to cabinet 1", "go to desk 2", "take mug 1 from desk 2", "go to cabinet 1", "move mug 1 to cabinet 1"]}
|
alfworld__pick_two_obj_and_place__19
|
pick_two_obj_and_place
|
pick_two_obj_and_place-Mug-None-Cabinet-318/trial_T20190907_222852_159147/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 mug and put them in cabinet.\"\n }\n ],\n\n \"GotoLocation.feedback\": [\n {\n \"rhs\": \"You arrive at {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"OpenObject.feedback\": [\n {\n \"rhs\": \"You open the {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"CloseObject.feedback\": [\n {\n \"rhs\": \"You close the {r.name}.\"\n }\n ],\n\n \"PickupObject.feedback\": [\n {\n \"rhs\": \"You pick up the {o.name} from the {r.name}.\"\n }\n ],\n\n \"PickupObjectFromReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupObjectFromReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupEmptyReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupEmptyReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupFullReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupFullReceptacleObject: You pick up the {outerr.name}.\"\n }\n ],\n\n \"PutObject.feedback\": [\n {\n \"rhs\": \"You move the {o.name} to the {r.name}.\"\n }\n ],\n\n \"PutObjectInReceptacleObject.feedback\": [\n {\n \"rhs\": \"PutObjectInReceptacleObject: You put the {o.name} in the {outero.name}.\"\n }\n ],\n\n \"PutEmptyReceptacleObjectinReceptacle.feedback\": [\n {\n \"rhs\": \"PutEmptyReceptacleObjectinReceptacle: You put the {o.name} in the {r.name}.\"\n }\n ],\n\n \"PutFullReceptacleObjectInReceptacle.feedback\": [\n {\n \"rhs\": \"PutFullReceptacleObjectInReceptacle: You put the {outero.name} in the {r.name}.\"\n }\n ],\n\n \"inventory.feedback\": [\n {\n \"condition\": \"holdsany(a:agent)\",\n \"rhs\": \"You are carrying: [{o.indefinite + ' ' + o.name | holds(a:agent, o:object)}].\"\n },\n {\n \"rhs\": \"You are not carrying anything.\"\n }\n ],\n\n \"examineReceptacle.feedback\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \"The {r.name} is open. In it, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \"The {r.name} is closed.\"\n },\n {\n \"rhs\": \"On the {r.name}, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n }\n ],\n\n \"examineObject.feedback\": [\n {\n \"condition\": \"isreceptacleobject(o:object)\",\n \"rhs\": \"This is a normal {o.name}. In it, you see [{o2.indefinite + ' ' + o2.name | inreceptacleobject(o2:object, o:object)}].\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a clean sliced {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot sliced {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object)\",\n \"rhs\": \"This is a hot and clean {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object)\",\n \"rhs\": \"This is a cool and clean {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object)\",\n \"rhs\": \"This is a hot {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object)\",\n \"rhs\": \"This is a clean {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object)\",\n \"rhs\": \"This is a cold {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"This {o.name} is on.\"\n },\n {\n \"condition\": \"toggleable(o:object) & not_istoggled(o:object)\",\n \"rhs\": \"This {o.name} is off.\"\n },\n {\n \"condition\": \"sliceable(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a sliced {o.name}.\"\n },\n {\n \"rhs\": \"There's nothing special about {o.name}.\"\n }\n ]\n }\n\"\"\";\n\naction GotoLocation {\n template :: \"go to [{r.name | receptacleatlocation(r:receptacle, lend:location)}]\";\n feedback :: \"#GotoLocation.feedback#\";\n}\n\naction OpenObject {\n template :: \"open {r}\";\n feedback :: \"#OpenObject.feedback#\";\n}\n\naction CloseObject {\n template :: \"close {r}\";\n feedback :: \"#CloseObject.feedback#\";\n}\n\naction PickupObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObject.feedback#\";\n}\n\naction PickupObjectFromReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObjectFromReceptacleObject.feedback#\";\n}\n\naction PickupEmptyReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupEmptyReceptacleObject.feedback#\";\n}\n\naction PickupFullReceptacleObject {\n template :: \"take {outerr} from {r}\";\n feedback :: \"#PickupFullReceptacleObject.feedback#\";\n}\n\naction PutObject {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutObject.feedback#\";\n}\n\naction PutObjectInReceptacleObject {\n template :: \"put {o} into {outero}\";\n feedback :: \"#PutObjectInReceptacleObject.feedback#\";\n}\n\naction PutEmptyReceptacleObjectinReceptacle {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutEmptyReceptacleObjectinReceptacle.feedback#\";\n}\n\naction PutFullReceptacleObjectInReceptacle {\n template :: \"put {outero} in {r}\";\n feedback :: \"#PutFullReceptacleObjectInReceptacle.feedback#\";\n}\n\naction inventory {\n template :: \"inventory\";\n feedback :: \"#inventory.feedback#\";\n}\n\naction examineReceptacle {\n template :: \"examine {r}\";\n feedback :: \"#examineReceptacle.feedback#\";\n}\n\naction examineObject {\n template :: \"examine {o}\";\n feedback :: \"#examineObject.feedback#\";\n}\n\naction ToggleObject {\n template :: \"use {o}\";\n feedback :: \"#toggleObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"toggleObject.feedback\": [\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"You turn on the {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object)\",\n \"rhs\": \"You turn off the {o.name}.\"\n },\n {\n \"rhs\": \"You don't see any switch on the {o.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction HeatObject {\n template :: \"heat {o} with {r}\";\n feedback :: \"#heatObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"heatObject.feedback\": [\n {\n \"rhs\": \"You heat the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CleanObject {\n template :: \"clean {o} with {r}\";\n feedback :: \"#cleanObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"cleanObject.feedback\": [\n {\n \"rhs\": \"You clean the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CoolObject {\n template :: \"cool {o} with {r}\";\n feedback :: \"#coolObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"coolObject.feedback\": [\n {\n \"rhs\": \"You cool the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction SliceObject {\n template :: \"slice {co} with {ko}\";\n feedback :: \"#sliceObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"sliceObject.feedback\": [\n {\n \"rhs\": \"You sliced the {co.name} with the {ko.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction look {\n template :: \"look\";\n feedback :: \"#look.feedback#\";\n\n grammar :: \"\"\"\n {\n \"look.feedback\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"#look-variations#. Next to it, you see #list_objects_on_the_floor#.\"\n },\n {\n \"rhs\": \"You are in the middle of a room. Looking quickly around you, you see #list_appliances#.\"\n }\n ],\n\n \"look-variations\": [\n {\n \"rhs\": \"You are facing the [{r.name | atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)}]\"\n }\n ],\n\n \"list_objects_on_the_floor\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)\",\n \"rhs\": \"[{#overview(o)# | atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"list_appliances\": [\n {\n \"condition\": \"receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"[{#overview(r)# | receptacleatlocation(r:receptacle, l:location)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"overview(o, r)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name} (in/on the {r.name})}\"\n }\n ],\n\n \"overview(o)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name}\"\n }\n ],\n \"overview(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}\"\n }\n ],\n \"overview_with_state(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}#overview_state(r)#\"\n }\n ],\n \"overview_state(r)\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \" (it is open)\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \" (it is closed)\"\n },\n {\n \"rhs\": \"\"\n }\n ],\n\n \"list_empty\": [\n {\n \"rhs\": \"nothing\"\n }\n ],\n \"list_separator\": [\n {\n \"rhs\": \", \"\n }\n ],\n \"list_last_separator\": [\n {\n \"rhs\": \", and \"\n }\n ]\n }\n \"\"\";\n}\n\naction help {\n template :: \"help\";\n feedback :: \"\nAvailable commands:\n look: look around your current location\n inventory: check your current inventory\n go to (receptacle): move to a receptacle\n open (receptacle): open a receptacle\n close (receptacle): close a receptacle\n take (object) from (receptacle): take an object from a receptacle\n move (object) to (receptacle): place an object in or on a receptacle\n examine (something): examine a receptacle or an object\n use (object): use an object\n heat (object) with (receptacle): heat an object using a receptacle\n clean (object) with (receptacle): clean an object using a receptacle\n cool (object) with (receptacle): cool an object using a receptacle\n slice (object) with (object): slice an object using a sharp object\n\";\n}\n", "pddl_problem": "\n(define (problem plan_trial_T20190907_222852_159147)\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_98_bar__minus_01_dot_42 - object\n AlarmClock_bar__minus_00_dot_87_bar__plus_00_dot_68_bar__plus_01_dot_99 - object\n AlarmClock_bar__minus_00_dot_95_bar__plus_00_dot_67_bar__plus_02_dot_90 - object\n Blinds_bar__plus_01_dot_55_bar__plus_02_dot_44_bar__minus_01_dot_89 - object\n Book_bar__minus_00_dot_75_bar__plus_00_dot_07_bar__plus_02_dot_24 - object\n Box_bar__minus_00_dot_49_bar__plus_00_dot_20_bar__minus_00_dot_29 - object\n CD_bar__minus_00_dot_60_bar__plus_00_dot_68_bar__plus_01_dot_80 - object\n CellPhone_bar__plus_01_dot_72_bar__plus_00_dot_52_bar__minus_00_dot_87 - object\n CellPhone_bar__minus_00_dot_76_bar__plus_00_dot_67_bar__plus_03_dot_08 - 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_67_bar__plus_00_dot_45_bar__plus_01_dot_61 - object\n CreditCard_bar__minus_00_dot_63_bar__plus_00_dot_98_bar__minus_01_dot_60 - object\n DeskLamp_bar__plus_02_dot_01_bar__plus_00_dot_72_bar__plus_00_dot_71 - object\n KeyChain_bar__plus_01_dot_71_bar__plus_00_dot_73_bar__plus_00_dot_73 - object\n KeyChain_bar__plus_01_dot_82_bar__plus_00_dot_32_bar__minus_00_dot_45 - object\n KeyChain_bar__plus_02_dot_10_bar__plus_00_dot_73_bar__plus_00_dot_48 - object\n Laptop_bar__plus_01_dot_80_bar__plus_00_dot_72_bar__minus_00_dot_63 - 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_01_dot_91_bar__plus_00_dot_72_bar__plus_00_dot_48 - object\n Mug_bar__minus_00_dot_86_bar__plus_00_dot_67_bar__plus_02_dot_73 - 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_00_bar__plus_00_dot_73_bar__plus_00_dot_24 - object\n Pen_bar__minus_00_dot_58_bar__plus_00_dot_98_bar__minus_01_dot_13 - object\n Pen_bar__minus_00_dot_75_bar__plus_00_dot_42_bar__minus_01_dot_15 - object\n Pen_bar__minus_00_dot_80_bar__plus_00_dot_74_bar__minus_01_dot_49 - object\n Pillow_bar__minus_00_dot_73_bar__plus_01_dot_59_bar__minus_00_dot_50 - 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_9_bar_2_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 Pen_bar__minus_00_dot_58_bar__plus_00_dot_98_bar__minus_01_dot_13 PenType)\n (objectType AlarmClock_bar__minus_00_dot_67_bar__plus_00_dot_98_bar__minus_01_dot_42 AlarmClockType)\n (objectType Pen_bar__minus_00_dot_75_bar__plus_00_dot_42_bar__minus_01_dot_15 PenType)\n (objectType Mug_bar__minus_00_dot_86_bar__plus_00_dot_67_bar__plus_02_dot_73 MugType)\n (objectType Pillow_bar__minus_00_dot_73_bar__plus_01_dot_59_bar__minus_00_dot_50 PillowType)\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_72_bar__plus_00_dot_52_bar__minus_00_dot_87 CellPhoneType)\n (objectType DeskLamp_bar__plus_02_dot_01_bar__plus_00_dot_72_bar__plus_00_dot_71 DeskLampType)\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 Pencil_bar__plus_02_dot_00_bar__plus_00_dot_73_bar__plus_00_dot_24 PencilType)\n (objectType Painting_bar__plus_02_dot_20_bar__plus_01_dot_77_bar__minus_00_dot_10 PaintingType)\n (objectType KeyChain_bar__plus_01_dot_71_bar__plus_00_dot_73_bar__plus_00_dot_73 KeyChainType)\n (objectType Laptop_bar__plus_01_dot_80_bar__plus_00_dot_72_bar__minus_00_dot_63 LaptopType)\n (objectType KeyChain_bar__plus_02_dot_10_bar__plus_00_dot_73_bar__plus_00_dot_48 KeyChainType)\n (objectType KeyChain_bar__plus_01_dot_82_bar__plus_00_dot_32_bar__minus_00_dot_45 KeyChainType)\n (objectType CreditCard_bar__minus_00_dot_63_bar__plus_00_dot_98_bar__minus_01_dot_60 CreditCardType)\n (objectType AlarmClock_bar__minus_00_dot_87_bar__plus_00_dot_68_bar__plus_01_dot_99 AlarmClockType)\n (objectType CreditCard_bar__plus_01_dot_67_bar__plus_00_dot_45_bar__plus_01_dot_61 CreditCardType)\n (objectType Pen_bar__minus_00_dot_80_bar__plus_00_dot_74_bar__minus_01_dot_49 PenType)\n (objectType LightSwitch_bar__plus_02_dot_20_bar__plus_01_dot_26_bar__plus_01_dot_99 LightSwitchType)\n (objectType AlarmClock_bar__minus_00_dot_95_bar__plus_00_dot_67_bar__plus_02_dot_90 AlarmClockType)\n (objectType Book_bar__minus_00_dot_75_bar__plus_00_dot_07_bar__plus_02_dot_24 BookType)\n (objectType Mug_bar__plus_01_dot_91_bar__plus_00_dot_72_bar__plus_00_dot_48 MugType)\n (objectType CellPhone_bar__minus_00_dot_76_bar__plus_00_dot_67_bar__plus_03_dot_08 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 CD_bar__minus_00_dot_60_bar__plus_00_dot_68_bar__plus_01_dot_80 CDType)\n (objectType Box_bar__minus_00_dot_49_bar__plus_00_dot_20_bar__minus_00_dot_29 BoxType)\n (canContain DrawerType PenType)\n (canContain DrawerType BookType)\n (canContain DrawerType CDType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType PencilType)\n (canContain DrawerType 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 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(pickupable CreditCard_bar__plus_01_dot_67_bar__plus_00_dot_45_bar__plus_01_dot_61)\n (pickupable Pen_bar__minus_00_dot_80_bar__plus_00_dot_74_bar__minus_01_dot_49)\n (pickupable AlarmClock_bar__minus_00_dot_95_bar__plus_00_dot_67_bar__plus_02_dot_90)\n (pickupable Book_bar__minus_00_dot_75_bar__plus_00_dot_07_bar__plus_02_dot_24)\n (pickupable Mug_bar__plus_01_dot_91_bar__plus_00_dot_72_bar__plus_00_dot_48)\n (pickupable CellPhone_bar__minus_00_dot_76_bar__plus_00_dot_67_bar__plus_03_dot_08)\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 CD_bar__minus_00_dot_60_bar__plus_00_dot_68_bar__plus_01_dot_80)\n (pickupable Box_bar__minus_00_dot_49_bar__plus_00_dot_20_bar__minus_00_dot_29)\n (isReceptacleObject Mug_bar__minus_00_dot_86_bar__plus_00_dot_67_bar__plus_02_dot_73)\n (isReceptacleObject 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Pen_bar__minus_00_dot_75_bar__plus_00_dot_42_bar__minus_01_dot_15 Drawer_bar__minus_00_dot_70_bar__plus_00_dot_54_bar__minus_01_dot_32)\n (inReceptacle AlarmClock_bar__minus_00_dot_95_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 Mug_bar__minus_00_dot_86_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 CellPhone_bar__minus_00_dot_76_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 Pen_bar__minus_00_dot_58_bar__plus_00_dot_98_bar__minus_01_dot_13 Dresser_bar__minus_00_dot_77_bar__minus_00_dot_01_bar__minus_01_dot_31)\n (inReceptacle CreditCard_bar__minus_00_dot_63_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 AlarmClock_bar__minus_00_dot_67_bar__plus_00_dot_98_bar__minus_01_dot_42 Dresser_bar__minus_00_dot_77_bar__minus_00_dot_01_bar__minus_01_dot_31)\n (inReceptacle KeyChain_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 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 Pencil_bar__plus_02_dot_00_bar__plus_00_dot_73_bar__plus_00_dot_24 Desk_bar__plus_01_dot_81_bar__minus_00_dot_01_bar__minus_00_dot_12)\n (inReceptacle Mug_bar__plus_01_dot_91_bar__plus_00_dot_72_bar__plus_00_dot_48 Desk_bar__plus_01_dot_81_bar__minus_00_dot_01_bar__minus_00_dot_12)\n (inReceptacle KeyChain_bar__plus_01_dot_71_bar__plus_00_dot_73_bar__plus_00_dot_73 Desk_bar__plus_01_dot_81_bar__minus_00_dot_01_bar__minus_00_dot_12)\n (inReceptacle Laptop_bar__plus_01_dot_80_bar__plus_00_dot_72_bar__minus_00_dot_63 Desk_bar__plus_01_dot_81_bar__minus_00_dot_01_bar__minus_00_dot_12)\n (inReceptacle Pen_bar__minus_00_dot_80_bar__plus_00_dot_74_bar__minus_01_dot_49 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_86_bar__plus_00_dot_67_bar__plus_02_dot_73 loc_bar_1_bar_12_bar_3_bar_60)\n (objectAtLocation CreditCard_bar__plus_01_dot_67_bar__plus_00_dot_45_bar__plus_01_dot_61 loc_bar_4_bar_6_bar_1_bar_60)\n (objectAtLocation KeyChain_bar__plus_01_dot_82_bar__plus_00_dot_32_bar__minus_00_dot_45 loc_bar_2_bar__minus_3_bar_1_bar_45)\n (objectAtLocation CellPhone_bar__minus_00_dot_76_bar__plus_00_dot_67_bar__plus_03_dot_08 loc_bar_1_bar_12_bar_3_bar_60)\n (objectAtLocation AlarmClock_bar__minus_00_dot_87_bar__plus_00_dot_68_bar__plus_01_dot_99 loc_bar_1_bar_7_bar_3_bar_60)\n (objectAtLocation Pen_bar__minus_00_dot_75_bar__plus_00_dot_42_bar__minus_01_dot_15 loc_bar_1_bar__minus_5_bar_3_bar_45)\n (objectAtLocation AlarmClock_bar__minus_00_dot_67_bar__plus_00_dot_98_bar__minus_01_dot_42 loc_bar_1_bar__minus_5_bar_3_bar_60)\n (objectAtLocation KeyChain_bar__plus_01_dot_71_bar__plus_00_dot_73_bar__plus_00_dot_73 loc_bar_4_bar_1_bar_1_bar_60)\n (objectAtLocation Pen_bar__minus_00_dot_80_bar__plus_00_dot_74_bar__minus_01_dot_49 loc_bar_1_bar__minus_5_bar_3_bar_45)\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__minus_00_dot_75_bar__plus_00_dot_07_bar__plus_02_dot_24 loc_bar_2_bar_7_bar_3_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_58_bar__plus_00_dot_98_bar__minus_01_dot_13 loc_bar_1_bar__minus_5_bar_3_bar_60)\n (objectAtLocation AlarmClock_bar__minus_00_dot_95_bar__plus_00_dot_67_bar__plus_02_dot_90 loc_bar_1_bar_12_bar_3_bar_60)\n (objectAtLocation Pillow_bar__minus_00_dot_73_bar__plus_01_dot_59_bar__minus_00_dot_50 loc_bar_1_bar__minus_3_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 CellPhone_bar__plus_01_dot_72_bar__plus_00_dot_52_bar__minus_00_dot_87 loc_bar_3_bar__minus_2_bar_1_bar_45)\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__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 CreditCard_bar__minus_00_dot_63_bar__plus_00_dot_98_bar__minus_01_dot_60 loc_bar_1_bar__minus_5_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__minus_00_dot_60_bar__plus_00_dot_68_bar__plus_01_dot_80 loc_bar_1_bar_7_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_00_bar__plus_00_dot_73_bar__plus_00_dot_24 loc_bar_4_bar_1_bar_1_bar_60)\n (objectAtLocation Laptop_bar__plus_01_dot_80_bar__plus_00_dot_72_bar__minus_00_dot_63 loc_bar_4_bar_1_bar_1_bar_60)\n (objectAtLocation Mug_bar__plus_01_dot_91_bar__plus_00_dot_72_bar__plus_00_dot_48 loc_bar_4_bar_1_bar_1_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 MugType)\n (receptacleType ?r CabinetType)\n (inReceptacle ?o1 ?r)\n (exists (?o2 - object)\n (and\n (not (= ?o1 ?o2))\n (objectType ?o2 MugType)\n (receptacleType ?r CabinetType)\n (inReceptacle ?o2 ?r)\n )\n )\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to dresser 2", "take mug 2 from dresser 2", "go to cabinet 1", "open cabinet 1", "move mug 2 to cabinet 1", "go to desk 1", "take mug 1 from desk 1", "go to cabinet 1", "move mug 1 to cabinet 1"]}
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alfworld__pick_two_obj_and_place__20
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pick_two_obj_and_place
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pick_two_obj_and_place-CreditCard-None-Sofa-206/trial_T20190906_203503_354880/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 creditcard 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_T20190906_203503_354880)\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 Bowl_bar__minus_01_dot_63_bar__plus_00_dot_17_bar__minus_01_dot_80 - object\n Bowl_bar__minus_01_dot_87_bar__plus_00_dot_76_bar__minus_01_dot_53 - object\n Box_bar__plus_02_dot_51_bar__plus_00_dot_14_bar__minus_01_dot_09 - object\n Box_bar__minus_01_dot_74_bar__plus_00_dot_89_bar__minus_00_dot_82 - object\n CreditCard_bar__plus_00_dot_34_bar__plus_00_dot_48_bar__minus_01_dot_25 - object\n CreditCard_bar__plus_00_dot_45_bar__plus_00_dot_76_bar__minus_02_dot_32 - object\n CreditCard_bar__plus_00_dot_49_bar__plus_00_dot_47_bar__minus_01_dot_12 - object\n CreditCard_bar_00_dot_00_bar__plus_00_dot_76_bar__minus_02_dot_25 - object\n FloorLamp_bar__minus_01_dot_57_bar__plus_00_dot_00_bar__plus_01_dot_30 - object\n HousePlant_bar__minus_01_dot_65_bar__plus_00_dot_75_bar__minus_01_dot_79 - object\n KeyChain_bar__minus_00_dot_31_bar__plus_00_dot_55_bar__plus_00_dot_91 - object\n Laptop_bar__plus_00_dot_13_bar__plus_00_dot_56_bar__plus_00_dot_91 - object\n Laptop_bar__minus_00_dot_27_bar__plus_00_dot_48_bar__minus_01_dot_12 - object\n LightSwitch_bar__plus_01_dot_41_bar__plus_01_dot_29_bar__plus_01_dot_65 - object\n Painting_bar__plus_00_dot_17_bar__plus_01_dot_78_bar__plus_01_dot_93 - object\n Pillow_bar__minus_00_dot_50_bar__plus_00_dot_59_bar__plus_00_dot_96 - object\n RemoteControl_bar__plus_00_dot_13_bar__plus_00_dot_55_bar__plus_01_dot_09 - object\n RemoteControl_bar__plus_02_dot_15_bar__plus_00_dot_45_bar__minus_02_dot_14 - object\n Statue_bar__plus_00_dot_15_bar__plus_00_dot_55_bar__minus_01_dot_13 - object\n Statue_bar__minus_01_dot_70_bar__plus_00_dot_75_bar__minus_01_dot_29 - object\n Statue_bar__minus_01_dot_80_bar__plus_01_dot_32_bar__minus_02_dot_47 - object\n Television_bar__minus_00_dot_01_bar__plus_01_dot_23_bar__minus_02_dot_44 - object\n Vase_bar__minus_01_dot_59_bar__plus_00_dot_17_bar__minus_00_dot_53 - object\n Vase_bar__minus_01_dot_62_bar__plus_00_dot_76_bar__minus_01_dot_53 - object\n Vase_bar__minus_01_dot_70_bar__plus_00_dot_17_bar__minus_00_dot_72 - object\n Vase_bar__minus_01_dot_87_bar__plus_00_dot_77_bar__minus_01_dot_29 - object\n Window_bar__plus_00_dot_79_bar__plus_01_dot_54_bar__minus_02_dot_72 - object\n Window_bar__minus_00_dot_82_bar__plus_01_dot_54_bar__minus_02_dot_72 - object\n ArmChair_bar__plus_02_dot_29_bar__plus_00_dot_01_bar__minus_02_dot_02 - receptacle\n CoffeeTable_bar__plus_00_dot_02_bar_00_dot_00_bar__minus_01_dot_11 - receptacle\n GarbageCan_bar__plus_00_dot_74_bar__plus_00_dot_00_bar__minus_02_dot_53 - receptacle\n Shelf_bar__plus_00_dot_36_bar__plus_00_dot_17_bar__minus_02_dot_24 - receptacle\n Shelf_bar__plus_00_dot_36_bar__plus_00_dot_41_bar__minus_02_dot_24 - receptacle\n Shelf_bar__plus_00_dot_36_bar__plus_00_dot_56_bar__minus_02_dot_28 - receptacle\n Shelf_bar__minus_00_dot_01_bar__plus_00_dot_17_bar__minus_02_dot_39 - receptacle\n Shelf_bar__minus_00_dot_38_bar__plus_00_dot_17_bar__minus_02_dot_23 - receptacle\n Shelf_bar__minus_00_dot_38_bar__plus_00_dot_47_bar__minus_02_dot_25 - receptacle\n Shelf_bar__minus_01_dot_63_bar__plus_00_dot_16_bar__minus_01_dot_62 - receptacle\n Shelf_bar__minus_01_dot_64_bar__plus_00_dot_41_bar__minus_01_dot_62 - receptacle\n Shelf_bar__minus_01_dot_64_bar__plus_00_dot_47_bar__minus_00_dot_46 - receptacle\n Shelf_bar__minus_01_dot_64_bar__plus_00_dot_56_bar__minus_01_dot_62 - receptacle\n Shelf_bar__minus_01_dot_66_bar__plus_00_dot_16_bar__minus_00_dot_46 - receptacle\n Shelf_bar__minus_01_dot_74_bar__plus_00_dot_16_bar__minus_01_dot_05 - receptacle\n Shelf_bar__minus_01_dot_83_bar__plus_01_dot_32_bar__minus_02_dot_41 - receptacle\n Shelf_bar__minus_01_dot_83_bar__plus_01_dot_61_bar__minus_02_dot_41 - receptacle\n Sofa_bar__plus_00_dot_13_bar__plus_00_dot_00_bar__plus_01_dot_19 - receptacle\n TVStand_bar__plus_00_dot_00_bar__plus_00_dot_00_bar__minus_02_dot_39 - receptacle\n TVStand_bar__minus_01_dot_74_bar__plus_00_dot_00_bar__minus_01_dot_06 - receptacle\n loc_bar_4_bar__minus_6_bar_3_bar_60 - location\n loc_bar_1_bar__minus_2_bar_0_bar_45 - location\n loc_bar__minus_4_bar__minus_3_bar_3_bar_60 - location\n loc_bar__minus_3_bar__minus_6_bar_2_bar_60 - location\n loc_bar_5_bar__minus_8_bar_1_bar_60 - location\n loc_bar__minus_2_bar__minus_7_bar_3_bar_45 - location\n loc_bar__minus_1_bar__minus_7_bar_3_bar_45 - location\n loc_bar_4_bar__minus_5_bar_2_bar_60 - location\n loc_bar__minus_3_bar__minus_7_bar_3_bar_0 - location\n loc_bar__minus_4_bar__minus_5_bar_2_bar_60 - location\n loc_bar_5_bar__minus_9_bar_3_bar_60 - location\n loc_bar__minus_3_bar_0_bar_3_bar_60 - location\n loc_bar_6_bar__minus_9_bar_1_bar_60 - location\n loc_bar__minus_3_bar__minus_3_bar_3_bar_60 - location\n loc_bar__minus_4_bar__minus_8_bar_2_bar_15 - location\n loc_bar__minus_4_bar__minus_8_bar_3_bar_15 - location\n loc_bar_4_bar__minus_5_bar_2_bar_45 - location\n loc_bar_4_bar__minus_4_bar_2_bar_45 - location\n loc_bar__minus_3_bar__minus_7_bar_3_bar_60 - location\n loc_bar_7_bar_4_bar_0_bar_30 - location\n loc_bar__minus_2_bar_0_bar_3_bar_45 - location\n loc_bar_5_bar__minus_6_bar_3_bar_60 - location\n loc_bar_1_bar_1_bar_0_bar_0 - location\n loc_bar_8_bar__minus_4_bar_1_bar_60 - location\n loc_bar__minus_6_bar_2_bar_0_bar_60 - location\n loc_bar_5_bar__minus_9_bar_2_bar_15 - location\n loc_bar_8_bar_1_bar_1_bar_30 - location\n )\n \n\n(:init\n\n\n (receptacleType Shelf_bar__plus_00_dot_36_bar__plus_00_dot_41_bar__minus_02_dot_24 ShelfType)\n (receptacleType TVStand_bar__minus_01_dot_74_bar__plus_00_dot_00_bar__minus_01_dot_06 TVStandType)\n (receptacleType Shelf_bar__minus_01_dot_83_bar__plus_01_dot_32_bar__minus_02_dot_41 ShelfType)\n (receptacleType Shelf_bar__minus_00_dot_38_bar__plus_00_dot_17_bar__minus_02_dot_23 ShelfType)\n (receptacleType ArmChair_bar__plus_02_dot_29_bar__plus_00_dot_01_bar__minus_02_dot_02 ArmChairType)\n (receptacleType Shelf_bar__minus_01_dot_63_bar__plus_00_dot_16_bar__minus_01_dot_62 ShelfType)\n (receptacleType Sofa_bar__plus_00_dot_13_bar__plus_00_dot_00_bar__plus_01_dot_19 SofaType)\n (receptacleType CoffeeTable_bar__plus_00_dot_02_bar_00_dot_00_bar__minus_01_dot_11 CoffeeTableType)\n (receptacleType Shelf_bar__minus_01_dot_64_bar__plus_00_dot_47_bar__minus_00_dot_46 ShelfType)\n (receptacleType Shelf_bar__plus_00_dot_36_bar__plus_00_dot_56_bar__minus_02_dot_28 ShelfType)\n (receptacleType Shelf_bar__minus_01_dot_83_bar__plus_01_dot_61_bar__minus_02_dot_41 ShelfType)\n (receptacleType Shelf_bar__plus_00_dot_36_bar__plus_00_dot_17_bar__minus_02_dot_24 ShelfType)\n (receptacleType Shelf_bar__minus_01_dot_64_bar__plus_00_dot_56_bar__minus_01_dot_62 ShelfType)\n (receptacleType Shelf_bar__minus_01_dot_64_bar__plus_00_dot_41_bar__minus_01_dot_62 ShelfType)\n (receptacleType Shelf_bar__minus_00_dot_01_bar__plus_00_dot_17_bar__minus_02_dot_39 ShelfType)\n (receptacleType TVStand_bar__plus_00_dot_00_bar__plus_00_dot_00_bar__minus_02_dot_39 TVStandType)\n (receptacleType Shelf_bar__minus_01_dot_74_bar__plus_00_dot_16_bar__minus_01_dot_05 ShelfType)\n (receptacleType GarbageCan_bar__plus_00_dot_74_bar__plus_00_dot_00_bar__minus_02_dot_53 GarbageCanType)\n (receptacleType Shelf_bar__minus_01_dot_66_bar__plus_00_dot_16_bar__minus_00_dot_46 ShelfType)\n (receptacleType Shelf_bar__minus_00_dot_38_bar__plus_00_dot_47_bar__minus_02_dot_25 ShelfType)\n (objectType RemoteControl_bar__plus_02_dot_15_bar__plus_00_dot_45_bar__minus_02_dot_14 RemoteControlType)\n (objectType Laptop_bar__minus_00_dot_27_bar__plus_00_dot_48_bar__minus_01_dot_12 LaptopType)\n (objectType HousePlant_bar__minus_01_dot_65_bar__plus_00_dot_75_bar__minus_01_dot_79 HousePlantType)\n (objectType Statue_bar__minus_01_dot_80_bar__plus_01_dot_32_bar__minus_02_dot_47 StatueType)\n (objectType Vase_bar__minus_01_dot_70_bar__plus_00_dot_17_bar__minus_00_dot_72 VaseType)\n (objectType Vase_bar__minus_01_dot_62_bar__plus_00_dot_76_bar__minus_01_dot_53 VaseType)\n (objectType Painting_bar__plus_00_dot_17_bar__plus_01_dot_78_bar__plus_01_dot_93 PaintingType)\n (objectType Window_bar__minus_00_dot_82_bar__plus_01_dot_54_bar__minus_02_dot_72 WindowType)\n (objectType Pillow_bar__minus_00_dot_50_bar__plus_00_dot_59_bar__plus_00_dot_96 PillowType)\n (objectType Bowl_bar__minus_01_dot_87_bar__plus_00_dot_76_bar__minus_01_dot_53 BowlType)\n (objectType Television_bar__minus_00_dot_01_bar__plus_01_dot_23_bar__minus_02_dot_44 TelevisionType)\n (objectType CreditCard_bar__plus_00_dot_45_bar__plus_00_dot_76_bar__minus_02_dot_32 CreditCardType)\n (objectType CreditCard_bar_00_dot_00_bar__plus_00_dot_76_bar__minus_02_dot_25 CreditCardType)\n (objectType KeyChain_bar__minus_00_dot_31_bar__plus_00_dot_55_bar__plus_00_dot_91 KeyChainType)\n (objectType Statue_bar__minus_01_dot_70_bar__plus_00_dot_75_bar__minus_01_dot_29 StatueType)\n (objectType Box_bar__minus_01_dot_74_bar__plus_00_dot_89_bar__minus_00_dot_82 BoxType)\n (objectType Vase_bar__minus_01_dot_87_bar__plus_00_dot_77_bar__minus_01_dot_29 VaseType)\n (objectType Bowl_bar__minus_01_dot_63_bar__plus_00_dot_17_bar__minus_01_dot_80 BowlType)\n (objectType FloorLamp_bar__minus_01_dot_57_bar__plus_00_dot_00_bar__plus_01_dot_30 FloorLampType)\n (objectType 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Painting_bar__plus_00_dot_17_bar__plus_01_dot_78_bar__plus_01_dot_93 loc_bar_1_bar_1_bar_0_bar_0)\n (objectAtLocation HousePlant_bar__minus_01_dot_65_bar__plus_00_dot_75_bar__minus_01_dot_79 loc_bar__minus_4_bar__minus_3_bar_3_bar_60)\n (objectAtLocation Bowl_bar__minus_01_dot_63_bar__plus_00_dot_17_bar__minus_01_dot_80 loc_bar__minus_1_bar__minus_7_bar_3_bar_45)\n (objectAtLocation LightSwitch_bar__plus_01_dot_41_bar__plus_01_dot_29_bar__plus_01_dot_65 loc_bar_7_bar_4_bar_0_bar_30)\n (objectAtLocation KeyChain_bar__minus_00_dot_31_bar__plus_00_dot_55_bar__plus_00_dot_91 loc_bar_1_bar__minus_2_bar_0_bar_45)\n (objectAtLocation Television_bar__minus_00_dot_01_bar__plus_01_dot_23_bar__minus_02_dot_44 loc_bar_5_bar__minus_9_bar_3_bar_60)\n (objectAtLocation Vase_bar__minus_01_dot_59_bar__plus_00_dot_17_bar__minus_00_dot_53 loc_bar__minus_2_bar_0_bar_3_bar_45)\n (objectAtLocation Statue_bar__minus_01_dot_80_bar__plus_01_dot_32_bar__minus_02_dot_47 loc_bar__minus_4_bar__minus_8_bar_3_bar_15)\n (objectAtLocation Pillow_bar__minus_00_dot_50_bar__plus_00_dot_59_bar__plus_00_dot_96 loc_bar_1_bar__minus_2_bar_0_bar_45)\n (objectAtLocation Laptop_bar__minus_00_dot_27_bar__plus_00_dot_48_bar__minus_01_dot_12 loc_bar_5_bar__minus_6_bar_3_bar_60)\n (objectAtLocation Vase_bar__minus_01_dot_70_bar__plus_00_dot_17_bar__minus_00_dot_72 loc_bar__minus_2_bar_0_bar_3_bar_45)\n (objectAtLocation Statue_bar__plus_00_dot_15_bar__plus_00_dot_55_bar__minus_01_dot_13 loc_bar_5_bar__minus_6_bar_3_bar_60)\n (objectAtLocation RemoteControl_bar__plus_02_dot_15_bar__plus_00_dot_45_bar__minus_02_dot_14 loc_bar_6_bar__minus_9_bar_1_bar_60)\n (objectAtLocation FloorLamp_bar__minus_01_dot_57_bar__plus_00_dot_00_bar__plus_01_dot_30 loc_bar__minus_6_bar_2_bar_0_bar_60)\n (objectAtLocation Vase_bar__minus_01_dot_87_bar__plus_00_dot_77_bar__minus_01_dot_29 loc_bar__minus_4_bar__minus_3_bar_3_bar_60)\n (objectAtLocation CreditCard_bar__plus_00_dot_45_bar__plus_00_dot_76_bar__minus_02_dot_32 loc_bar_5_bar__minus_9_bar_3_bar_60)\n (objectAtLocation Vase_bar__minus_01_dot_62_bar__plus_00_dot_76_bar__minus_01_dot_53 loc_bar__minus_4_bar__minus_3_bar_3_bar_60)\n (objectAtLocation Window_bar__minus_00_dot_82_bar__plus_01_dot_54_bar__minus_02_dot_72 loc_bar__minus_4_bar__minus_8_bar_2_bar_15)\n (objectAtLocation Window_bar__plus_00_dot_79_bar__plus_01_dot_54_bar__minus_02_dot_72 loc_bar_5_bar__minus_9_bar_2_bar_15)\n (objectAtLocation Statue_bar__minus_01_dot_70_bar__plus_00_dot_75_bar__minus_01_dot_29 loc_bar__minus_4_bar__minus_3_bar_3_bar_60)\n )\n \n\n (:goal\n (and\n (exists (?r - receptacle)\n (exists (?o1 - object)\n (and\n (objectType ?o1 CreditCardType)\n (receptacleType ?r SofaType)\n (inReceptacle ?o1 ?r)\n (exists (?o2 - object)\n (and\n (not (= ?o1 ?o2))\n (objectType ?o2 CreditCardType)\n (receptacleType ?r SofaType)\n (inReceptacle ?o2 ?r)\n )\n )\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to coffeetable 1", "take creditcard 3 from coffeetable 1", "go to sofa 1", "move creditcard 3 to sofa 1", "go to coffeetable 1", "take creditcard 1 from coffeetable 1", "go to sofa 1", "move creditcard 1 to sofa 1"]}
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alfworld__pick_and_place_simple__8
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pick_and_place_simple
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pick_and_place_simple-Pencil-None-SideTable-322/trial_T20190908_112718_743066/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 pencil on sidetable.\"\n }\n ],\n\n \"GotoLocation.feedback\": [\n {\n \"rhs\": \"You arrive at {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"OpenObject.feedback\": [\n {\n \"rhs\": \"You open the {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"CloseObject.feedback\": [\n {\n \"rhs\": \"You close the {r.name}.\"\n }\n ],\n\n \"PickupObject.feedback\": [\n {\n \"rhs\": \"You pick up the {o.name} from the {r.name}.\"\n }\n ],\n\n \"PickupObjectFromReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupObjectFromReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupEmptyReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupEmptyReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupFullReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupFullReceptacleObject: You pick up the {outerr.name}.\"\n }\n ],\n\n \"PutObject.feedback\": [\n {\n \"rhs\": \"You move the {o.name} to the {r.name}.\"\n }\n ],\n\n \"PutObjectInReceptacleObject.feedback\": [\n {\n \"rhs\": \"PutObjectInReceptacleObject: You put the {o.name} in the {outero.name}.\"\n }\n ],\n\n \"PutEmptyReceptacleObjectinReceptacle.feedback\": [\n {\n \"rhs\": \"PutEmptyReceptacleObjectinReceptacle: You put the {o.name} in the {r.name}.\"\n }\n ],\n\n \"PutFullReceptacleObjectInReceptacle.feedback\": [\n {\n \"rhs\": \"PutFullReceptacleObjectInReceptacle: You put the {outero.name} in the {r.name}.\"\n }\n ],\n\n \"inventory.feedback\": [\n {\n \"condition\": \"holdsany(a:agent)\",\n \"rhs\": \"You are carrying: [{o.indefinite + ' ' + o.name | holds(a:agent, o:object)}].\"\n },\n {\n \"rhs\": \"You are not carrying anything.\"\n }\n ],\n\n \"examineReceptacle.feedback\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \"The {r.name} is open. In it, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \"The {r.name} is closed.\"\n },\n {\n \"rhs\": \"On the {r.name}, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n }\n ],\n\n \"examineObject.feedback\": [\n {\n \"condition\": \"isreceptacleobject(o:object)\",\n \"rhs\": \"This is a normal {o.name}. In it, you see [{o2.indefinite + ' ' + o2.name | inreceptacleobject(o2:object, o:object)}].\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a clean sliced {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot sliced {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object)\",\n \"rhs\": \"This is a hot and clean {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object)\",\n \"rhs\": \"This is a cool and clean {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object)\",\n \"rhs\": \"This is a hot {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object)\",\n \"rhs\": \"This is a clean {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object)\",\n \"rhs\": \"This is a cold {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"This {o.name} is on.\"\n },\n {\n \"condition\": \"toggleable(o:object) & not_istoggled(o:object)\",\n \"rhs\": \"This {o.name} is off.\"\n },\n {\n \"condition\": \"sliceable(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a sliced {o.name}.\"\n },\n {\n \"rhs\": \"There's nothing special about {o.name}.\"\n }\n ]\n }\n\"\"\";\n\naction GotoLocation {\n template :: \"go to [{r.name | receptacleatlocation(r:receptacle, lend:location)}]\";\n feedback :: \"#GotoLocation.feedback#\";\n}\n\naction OpenObject {\n template :: \"open {r}\";\n feedback :: \"#OpenObject.feedback#\";\n}\n\naction CloseObject {\n template :: \"close {r}\";\n feedback :: \"#CloseObject.feedback#\";\n}\n\naction PickupObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObject.feedback#\";\n}\n\naction PickupObjectFromReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObjectFromReceptacleObject.feedback#\";\n}\n\naction PickupEmptyReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupEmptyReceptacleObject.feedback#\";\n}\n\naction PickupFullReceptacleObject {\n template :: \"take {outerr} from {r}\";\n feedback :: \"#PickupFullReceptacleObject.feedback#\";\n}\n\naction PutObject {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutObject.feedback#\";\n}\n\naction PutObjectInReceptacleObject {\n template :: \"put {o} into {outero}\";\n feedback :: \"#PutObjectInReceptacleObject.feedback#\";\n}\n\naction PutEmptyReceptacleObjectinReceptacle {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutEmptyReceptacleObjectinReceptacle.feedback#\";\n}\n\naction PutFullReceptacleObjectInReceptacle {\n template :: \"put {outero} in {r}\";\n feedback :: \"#PutFullReceptacleObjectInReceptacle.feedback#\";\n}\n\naction inventory {\n template :: \"inventory\";\n feedback :: \"#inventory.feedback#\";\n}\n\naction examineReceptacle {\n template :: \"examine {r}\";\n feedback :: \"#examineReceptacle.feedback#\";\n}\n\naction examineObject {\n template :: \"examine {o}\";\n feedback :: \"#examineObject.feedback#\";\n}\n\naction ToggleObject {\n template :: \"use {o}\";\n feedback :: \"#toggleObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"toggleObject.feedback\": [\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"You turn on the {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object)\",\n \"rhs\": \"You turn off the {o.name}.\"\n },\n {\n \"rhs\": \"You don't see any switch on the {o.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction HeatObject {\n template :: \"heat {o} with {r}\";\n feedback :: \"#heatObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"heatObject.feedback\": [\n {\n \"rhs\": \"You heat the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CleanObject {\n template :: \"clean {o} with {r}\";\n feedback :: \"#cleanObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"cleanObject.feedback\": [\n {\n \"rhs\": \"You clean the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CoolObject {\n template :: \"cool {o} with {r}\";\n feedback :: \"#coolObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"coolObject.feedback\": [\n {\n \"rhs\": \"You cool the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction SliceObject {\n template :: \"slice {co} with {ko}\";\n feedback :: \"#sliceObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"sliceObject.feedback\": [\n {\n \"rhs\": \"You sliced the {co.name} with the {ko.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction look {\n template :: \"look\";\n feedback :: \"#look.feedback#\";\n\n grammar :: \"\"\"\n {\n \"look.feedback\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"#look-variations#. Next to it, you see #list_objects_on_the_floor#.\"\n },\n {\n \"rhs\": \"You are in the middle of a room. Looking quickly around you, you see #list_appliances#.\"\n }\n ],\n\n \"look-variations\": [\n {\n \"rhs\": \"You are facing the [{r.name | atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)}]\"\n }\n ],\n\n \"list_objects_on_the_floor\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)\",\n \"rhs\": \"[{#overview(o)# | atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"list_appliances\": [\n {\n \"condition\": \"receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"[{#overview(r)# | receptacleatlocation(r:receptacle, l:location)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"overview(o, r)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name} (in/on the {r.name})}\"\n }\n ],\n\n \"overview(o)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name}\"\n }\n ],\n \"overview(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}\"\n }\n ],\n \"overview_with_state(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}#overview_state(r)#\"\n }\n ],\n \"overview_state(r)\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \" (it is open)\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \" (it is closed)\"\n },\n {\n \"rhs\": \"\"\n }\n ],\n\n \"list_empty\": [\n {\n \"rhs\": \"nothing\"\n }\n ],\n \"list_separator\": [\n {\n \"rhs\": \", \"\n }\n ],\n \"list_last_separator\": [\n {\n \"rhs\": \", and \"\n }\n ]\n }\n \"\"\";\n}\n\naction help {\n template :: \"help\";\n feedback :: \"\nAvailable commands:\n look: look around your current location\n inventory: check your current inventory\n go to (receptacle): move to a receptacle\n open (receptacle): open a receptacle\n close (receptacle): close a receptacle\n take (object) from (receptacle): take an object from a receptacle\n move (object) to (receptacle): place an object in or on a receptacle\n examine (something): examine a receptacle or an object\n use (object): use an object\n heat (object) with (receptacle): heat an object using a receptacle\n clean (object) with (receptacle): clean an object using a receptacle\n cool (object) with (receptacle): cool an object using a receptacle\n slice (object) with (object): slice an object using a sharp object\n\";\n}\n", "pddl_problem": "\n(define (problem plan_trial_T20190908_112718_743066)\n(:domain alfred)\n(:objects\nagent1 - agent\nSaltShaker - object\n HousePlant - object\n Candle - object\n SprayBottle - object\n Bowl - object\n Window - object\n CD - object\n Egg - object\n Glassbottle - object\n Sink - object\n Pillow - object\n Spoon - object\n SoapBottle - object\n TeddyBear - object\n ButterKnife - object\n Cup - object\n Plate - object\n RemoteControl - object\n Tomato - object\n Statue - object\n HandTowel - object\n Knife - object\n StoveKnob - object\n LightSwitch - object\n Pen - object\n Painting - object\n DishSponge - object\n Vase - object\n Mug - object\n ToiletPaper - object\n Box - object\n Mirror - object\n Ladle - object\n Fork - object\n Blinds - object\n Footstool - object\n KeyChain - object\n Cloth - object\n Laptop - object\n TissueBox - object\n PepperShaker - object\n FloorLamp - object\n WateringCan - object\n Apple - object\n Pan - object\n PaperTowel - object\n PaperTowelRoll - object\n Newspaper - object\n Television - object\n Chair - object\n CellPhone - object\n CreditCard - object\n Lettuce - object\n BasketBall - object\n Potato - object\n Curtains - object\n Boots - object\n Pencil - object\n AlarmClock - object\n ToiletPaperRoll - object\n Spatula - object\n Book - object\n Bread - object\n SoapBar - object\n Watch - object\n DeskLamp - object\n Kettle - object\n Pot - object\n ScrubBrush - object\n WineBottle - object\n ShowerDoor - object\n Bathtub - object\n LaundryHamperLid - object\n ShowerGlass - object\n Poster - object\n TennisRacket - object\n BaseballBat - object\n Towel - object\n Plunger - object\nSaltShakerType - otype\n HousePlantType - otype\n CandleType - otype\n SprayBottleType - otype\n BowlType - otype\n WindowType - otype\n CDType - otype\n EggType - otype\n GlassbottleType - otype\n SinkType - otype\n PillowType - otype\n SpoonType - otype\n SoapBottleType - otype\n TeddyBearType - otype\n ButterKnifeType - otype\n CupType - otype\n PlateType - otype\n RemoteControlType - otype\n TomatoType - otype\n StatueType - otype\n HandTowelType - otype\n KnifeType - otype\n StoveKnobType - otype\n LightSwitchType - otype\n PenType - otype\n PaintingType - otype\n DishSpongeType - otype\n VaseType - otype\n MugType - otype\n ToiletPaperType - otype\n BoxType - otype\n MirrorType - otype\n LadleType - otype\n ForkType - otype\n BlindsType - otype\n FootstoolType - otype\n KeyChainType - otype\n ClothType - otype\n LaptopType - otype\n TissueBoxType - otype\n PepperShakerType - otype\n FloorLampType - otype\n WateringCanType - otype\n AppleType - otype\n PanType - otype\n PaperTowelType - otype\n PaperTowelRollType - otype\n NewspaperType - otype\n TelevisionType - otype\n ChairType - otype\n CellPhoneType - otype\n CreditCardType - otype\n LettuceType - otype\n BasketBallType - otype\n PotatoType - otype\n CurtainsType - otype\n BootsType - otype\n PencilType - otype\n AlarmClockType - otype\n ToiletPaperRollType - otype\n SpatulaType - otype\n BookType - otype\n BreadType - otype\n SoapBarType - otype\n WatchType - otype\n DeskLampType - otype\n KettleType - otype\n PotType - otype\n ScrubBrushType - otype\n WineBottleType - otype\n ShowerDoorType - otype\n BathtubType - otype\n LaundryHamperLidType - otype\n ShowerGlassType - otype\n PosterType - otype\n TennisRacketType - otype\n BaseballBatType - otype\n TowelType - otype\n PlungerType - otype\nSafeType - rtype\n DrawerType - rtype\n CoffeeMachineType - rtype\n HandTowelHolderType - rtype\n SinkBasinType - rtype\n DresserType - rtype\n LaundryHamperType - rtype\n TVStandType - rtype\n BathtubBasinType - rtype\n CabinetType - rtype\n FridgeType - rtype\n DeskType - rtype\n ToiletType - rtype\n CartType - rtype\n SideTableType - rtype\n SofaType - rtype\n CoffeeTableType - rtype\n DiningTableType - rtype\n CounterTopType - rtype\n GarbageCanType - rtype\n ArmChairType - rtype\n ShelfType - rtype\n MicrowaveType - rtype\n ToasterType - rtype\n BedType - rtype\n PaintingHangerType - rtype\n TowelHolderType - rtype\n ToiletPaperHangerType - rtype\n StoveBurnerType - rtype\n OttomanType - rtype\n\n\n AlarmClock_bar__plus_02_dot_82_bar__plus_00_dot_99_bar__plus_01_dot_58 - object\n AlarmClock_bar__plus_02_dot_91_bar__plus_00_dot_99_bar__plus_01_dot_29 - object\n BaseballBat_bar__plus_00_dot_81_bar__plus_00_dot_05_bar__plus_02_dot_15 - object\n BaseballBat_bar__plus_03_dot_08_bar__plus_00_dot_63_bar__minus_01_dot_76 - object\n Book_bar__plus_02_dot_50_bar__plus_00_dot_45_bar__minus_00_dot_77 - object\n Book_bar__minus_00_dot_18_bar__plus_00_dot_69_bar__minus_00_dot_56 - object\n CD_bar__plus_02_dot_52_bar__plus_00_dot_45_bar__minus_00_dot_46 - object\n CD_bar__plus_02_dot_91_bar__plus_00_dot_99_bar__plus_00_dot_72 - object\n CellPhone_bar__plus_02_dot_58_bar__plus_00_dot_89_bar__plus_00_dot_65 - object\n CellPhone_bar__plus_02_dot_75_bar__plus_00_dot_45_bar__minus_00_dot_59 - object\n CellPhone_bar__plus_02_dot_82_bar__plus_00_dot_99_bar__plus_01_dot_01 - object\n Cloth_bar__plus_01_dot_76_bar__plus_00_dot_00_bar__minus_01_dot_73 - object\n CreditCard_bar__plus_02_dot_41_bar__plus_00_dot_45_bar__minus_01_dot_05 - object\n CreditCard_bar__plus_02_dot_56_bar__plus_00_dot_99_bar__plus_00_dot_44 - object\n CreditCard_bar__plus_03_dot_00_bar__plus_00_dot_99_bar__plus_01_dot_01 - object\n Curtains_bar__minus_00_dot_02_bar__plus_02_dot_92_bar__minus_01_dot_85 - object\n KeyChain_bar__plus_02_dot_24_bar__plus_00_dot_45_bar__minus_00_dot_95 - object\n KeyChain_bar__plus_02_dot_56_bar__plus_00_dot_99_bar__plus_01_dot_58 - object\n KeyChain_bar__minus_01_dot_60_bar__plus_00_dot_66_bar__plus_01_dot_56 - object\n Lamp_bar__minus_01_dot_62_bar__plus_00_dot_65_bar__plus_01_dot_49 - object\n Lamp_bar__minus_01_dot_63_bar__plus_00_dot_65_bar__minus_01_dot_31 - object\n Laptop_bar__plus_00_dot_09_bar__plus_00_dot_69_bar__minus_00_dot_11 - object\n Laptop_bar__minus_00_dot_45_bar__plus_00_dot_69_bar__plus_00_dot_56 - object\n Laptop_bar__minus_00_dot_98_bar__plus_00_dot_69_bar__minus_00_dot_11 - object\n LightSwitch_bar__plus_01_dot_32_bar__plus_01_dot_30_bar__plus_02_dot_20 - object\n Mirror_bar__plus_00_dot_58_bar__plus_01_dot_35_bar__plus_02_dot_20 - object\n Mug_bar__minus_01_dot_51_bar__plus_00_dot_66_bar__plus_01_dot_71 - object\n Painting_bar__plus_01_dot_53_bar__plus_01_dot_52_bar__minus_01_dot_85 - object\n Pencil_bar__plus_02_dot_91_bar__plus_00_dot_99_bar__plus_00_dot_16 - object\n Pen_bar__plus_02_dot_64_bar__plus_00_dot_99_bar__plus_01_dot_86 - object\n Pen_bar__plus_03_dot_00_bar__plus_00_dot_99_bar__plus_01_dot_58 - object\n Pen_bar__minus_01_dot_60_bar__plus_00_dot_67_bar__plus_01_dot_40 - object\n Pillow_bar__plus_00_dot_09_bar__plus_00_dot_78_bar__plus_00_dot_78 - object\n Pillow_bar__minus_01_dot_37_bar__plus_00_dot_75_bar__minus_00_dot_20 - object\n Window_bar__minus_00_dot_01_bar__plus_01_dot_69_bar__minus_01_dot_92 - object\n ArmChair_bar__plus_02_dot_58_bar__minus_00_dot_01_bar__minus_00_dot_82 - receptacle\n Bed_bar__minus_00_dot_75_bar__plus_00_dot_03_bar__plus_00_dot_11 - receptacle\n Cabinet_bar__plus_02_dot_48_bar__plus_00_dot_50_bar__plus_01_dot_00 - receptacle\n Cabinet_bar__plus_02_dot_48_bar__plus_00_dot_50_bar__plus_01_dot_01 - receptacle\n Cabinet_bar__plus_02_dot_48_bar__plus_00_dot_50_bar__plus_02_dot_03 - receptacle\n Cabinet_bar__plus_02_dot_48_bar__plus_00_dot_50_bar__minus_00_dot_02 - receptacle\n Drawer_bar__plus_02_dot_57_bar__plus_00_dot_90_bar__plus_00_dot_23 - receptacle\n Drawer_bar__plus_02_dot_57_bar__plus_00_dot_90_bar__plus_00_dot_75 - receptacle\n Drawer_bar__plus_02_dot_57_bar__plus_00_dot_90_bar__plus_01_dot_27 - receptacle\n Drawer_bar__plus_02_dot_57_bar__plus_00_dot_90_bar__plus_01_dot_78 - receptacle\n Drawer_bar__minus_01_dot_53_bar__plus_00_dot_44_bar__plus_01_dot_48 - receptacle\n Drawer_bar__minus_01_dot_53_bar__plus_00_dot_44_bar__minus_01_dot_25 - receptacle\n Dresser_bar__plus_02_dot_82_bar__plus_00_dot_00_bar__plus_01_dot_01 - receptacle\n GarbageCan_bar__plus_01_dot_35_bar__plus_00_dot_00_bar__minus_01_dot_69 - receptacle\n SideTable_bar__minus_01_dot_60_bar__minus_00_dot_01_bar__plus_01_dot_48 - receptacle\n SideTable_bar__minus_01_dot_60_bar__minus_00_dot_01_bar__minus_01_dot_25 - receptacle\n loc_bar__minus_4_bar__minus_5_bar_3_bar_60 - location\n loc_bar_4_bar_7_bar_0_bar_60 - location\n loc_bar_8_bar_1_bar_1_bar_60 - location\n loc_bar_5_bar_7_bar_0_bar_45 - location\n loc_bar__minus_4_bar_6_bar_3_bar_60 - location\n loc_bar_6_bar_3_bar_1_bar_45 - location\n loc_bar_8_bar_5_bar_1_bar_60 - location\n loc_bar_6_bar__minus_5_bar_2_bar_15 - location\n loc_bar_8_bar_3_bar_1_bar_60 - location\n loc_bar_2_bar_6_bar_0_bar_30 - location\n loc_bar_7_bar_6_bar_1_bar_60 - location\n loc_bar_6_bar__minus_1_bar_1_bar_45 - location\n loc_bar_5_bar__minus_5_bar_2_bar_60 - location\n loc_bar_7_bar__minus_5_bar_1_bar_45 - location\n loc_bar_0_bar__minus_5_bar_2_bar_0 - location\n loc_bar_8_bar_7_bar_1_bar_60 - location\n loc_bar_7_bar_2_bar_1_bar_60 - location\n loc_bar_7_bar__minus_3_bar_1_bar_60 - location\n loc_bar_0_bar__minus_5_bar_2_bar__minus_30 - location\n loc_bar_9_bar_1_bar_0_bar_60 - location\n loc_bar_4_bar_0_bar_3_bar_45 - location\n loc_bar__minus_2_bar_6_bar_3_bar_60 - location\n loc_bar__minus_2_bar__minus_5_bar_3_bar_60 - location\n loc_bar_7_bar__minus_5_bar_2_bar_60 - location\n loc_bar_9_bar_5_bar_1_bar__minus_30 - location\n loc_bar_4_bar_6_bar_1_bar_30 - location\n )\n \n\n(:init\n\n\n (receptacleType Bed_bar__minus_00_dot_75_bar__plus_00_dot_03_bar__plus_00_dot_11 BedType)\n (receptacleType Drawer_bar__minus_01_dot_53_bar__plus_00_dot_44_bar__plus_01_dot_48 DrawerType)\n (receptacleType Drawer_bar__plus_02_dot_57_bar__plus_00_dot_90_bar__plus_01_dot_27 DrawerType)\n (receptacleType Drawer_bar__plus_02_dot_57_bar__plus_00_dot_90_bar__plus_01_dot_78 DrawerType)\n (receptacleType SideTable_bar__minus_01_dot_60_bar__minus_00_dot_01_bar__plus_01_dot_48 SideTableType)\n (receptacleType Cabinet_bar__plus_02_dot_48_bar__plus_00_dot_50_bar__plus_01_dot_00 CabinetType)\n (receptacleType Drawer_bar__plus_02_dot_57_bar__plus_00_dot_90_bar__plus_00_dot_23 DrawerType)\n (receptacleType Drawer_bar__minus_01_dot_53_bar__plus_00_dot_44_bar__minus_01_dot_25 DrawerType)\n (receptacleType Cabinet_bar__plus_02_dot_48_bar__plus_00_dot_50_bar__minus_00_dot_02 CabinetType)\n (receptacleType GarbageCan_bar__plus_01_dot_35_bar__plus_00_dot_00_bar__minus_01_dot_69 GarbageCanType)\n (receptacleType Drawer_bar__plus_02_dot_57_bar__plus_00_dot_90_bar__plus_00_dot_75 DrawerType)\n (receptacleType Cabinet_bar__plus_02_dot_48_bar__plus_00_dot_50_bar__plus_01_dot_01 CabinetType)\n (receptacleType ArmChair_bar__plus_02_dot_58_bar__minus_00_dot_01_bar__minus_00_dot_82 ArmChairType)\n (receptacleType Dresser_bar__plus_02_dot_82_bar__plus_00_dot_00_bar__plus_01_dot_01 DresserType)\n (receptacleType SideTable_bar__minus_01_dot_60_bar__minus_00_dot_01_bar__minus_01_dot_25 SideTableType)\n (receptacleType Cabinet_bar__plus_02_dot_48_bar__plus_00_dot_50_bar__plus_02_dot_03 CabinetType)\n (objectType Painting_bar__plus_01_dot_53_bar__plus_01_dot_52_bar__minus_01_dot_85 PaintingType)\n (objectType Pen_bar__plus_03_dot_00_bar__plus_00_dot_99_bar__plus_01_dot_58 PenType)\n (objectType Laptop_bar__minus_00_dot_98_bar__plus_00_dot_69_bar__minus_00_dot_11 LaptopType)\n (objectType CreditCard_bar__plus_02_dot_56_bar__plus_00_dot_99_bar__plus_00_dot_44 CreditCardType)\n (objectType BaseballBat_bar__plus_00_dot_81_bar__plus_00_dot_05_bar__plus_02_dot_15 BaseballBatType)\n (objectType LightSwitch_bar__plus_01_dot_32_bar__plus_01_dot_30_bar__plus_02_dot_20 LightSwitchType)\n (objectType KeyChain_bar__minus_01_dot_60_bar__plus_00_dot_66_bar__plus_01_dot_56 KeyChainType)\n (objectType KeyChain_bar__plus_02_dot_56_bar__plus_00_dot_99_bar__plus_01_dot_58 KeyChainType)\n (objectType Book_bar__plus_02_dot_50_bar__plus_00_dot_45_bar__minus_00_dot_77 BookType)\n (objectType KeyChain_bar__plus_02_dot_24_bar__plus_00_dot_45_bar__minus_00_dot_95 KeyChainType)\n (objectType Laptop_bar__plus_00_dot_09_bar__plus_00_dot_69_bar__minus_00_dot_11 LaptopType)\n (objectType 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ClothType)\n (objectType Laptop_bar__minus_00_dot_45_bar__plus_00_dot_69_bar__plus_00_dot_56 LaptopType)\n (canContain BedType BaseballBatType)\n (canContain BedType LaptopType)\n (canContain BedType BookType)\n (canContain BedType CellPhoneType)\n (canContain BedType PillowType)\n (canContain DrawerType PenType)\n (canContain DrawerType BookType)\n (canContain DrawerType CDType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType ClothType)\n (canContain DrawerType PencilType)\n (canContain DrawerType PenType)\n (canContain DrawerType BookType)\n (canContain DrawerType CDType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType ClothType)\n (canContain DrawerType PencilType)\n (canContain DrawerType PenType)\n (canContain DrawerType BookType)\n (canContain DrawerType CDType)\n (canContain DrawerType 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Pen_bar__minus_01_dot_60_bar__plus_00_dot_67_bar__plus_01_dot_40 SideTable_bar__minus_01_dot_60_bar__minus_00_dot_01_bar__plus_01_dot_48)\n (inReceptacle KeyChain_bar__minus_01_dot_60_bar__plus_00_dot_66_bar__plus_01_dot_56 SideTable_bar__minus_01_dot_60_bar__minus_00_dot_01_bar__plus_01_dot_48)\n (inReceptacle Mug_bar__minus_01_dot_51_bar__plus_00_dot_66_bar__plus_01_dot_71 SideTable_bar__minus_01_dot_60_bar__minus_00_dot_01_bar__plus_01_dot_48)\n (inReceptacle CellPhone_bar__plus_02_dot_58_bar__plus_00_dot_89_bar__plus_00_dot_65 Drawer_bar__plus_02_dot_57_bar__plus_00_dot_90_bar__plus_00_dot_75)\n (inReceptacle Book_bar__plus_02_dot_50_bar__plus_00_dot_45_bar__minus_00_dot_77 ArmChair_bar__plus_02_dot_58_bar__minus_00_dot_01_bar__minus_00_dot_82)\n (inReceptacle CreditCard_bar__plus_02_dot_41_bar__plus_00_dot_45_bar__minus_01_dot_05 ArmChair_bar__plus_02_dot_58_bar__minus_00_dot_01_bar__minus_00_dot_82)\n (inReceptacle KeyChain_bar__plus_02_dot_24_bar__plus_00_dot_45_bar__minus_00_dot_95 ArmChair_bar__plus_02_dot_58_bar__minus_00_dot_01_bar__minus_00_dot_82)\n (inReceptacle CD_bar__plus_02_dot_52_bar__plus_00_dot_45_bar__minus_00_dot_46 ArmChair_bar__plus_02_dot_58_bar__minus_00_dot_01_bar__minus_00_dot_82)\n (inReceptacle CellPhone_bar__plus_02_dot_75_bar__plus_00_dot_45_bar__minus_00_dot_59 ArmChair_bar__plus_02_dot_58_bar__minus_00_dot_01_bar__minus_00_dot_82)\n (inReceptacle Pencil_bar__plus_02_dot_91_bar__plus_00_dot_99_bar__plus_00_dot_16 Dresser_bar__plus_02_dot_82_bar__plus_00_dot_00_bar__plus_01_dot_01)\n (inReceptacle Pen_bar__plus_02_dot_64_bar__plus_00_dot_99_bar__plus_01_dot_86 Dresser_bar__plus_02_dot_82_bar__plus_00_dot_00_bar__plus_01_dot_01)\n (inReceptacle CreditCard_bar__plus_02_dot_56_bar__plus_00_dot_99_bar__plus_00_dot_44 Dresser_bar__plus_02_dot_82_bar__plus_00_dot_00_bar__plus_01_dot_01)\n (inReceptacle CellPhone_bar__plus_02_dot_82_bar__plus_00_dot_99_bar__plus_01_dot_01 Dresser_bar__plus_02_dot_82_bar__plus_00_dot_00_bar__plus_01_dot_01)\n (inReceptacle CreditCard_bar__plus_03_dot_00_bar__plus_00_dot_99_bar__plus_01_dot_01 Dresser_bar__plus_02_dot_82_bar__plus_00_dot_00_bar__plus_01_dot_01)\n (inReceptacle AlarmClock_bar__plus_02_dot_82_bar__plus_00_dot_99_bar__plus_01_dot_58 Dresser_bar__plus_02_dot_82_bar__plus_00_dot_00_bar__plus_01_dot_01)\n (inReceptacle CD_bar__plus_02_dot_91_bar__plus_00_dot_99_bar__plus_00_dot_72 Dresser_bar__plus_02_dot_82_bar__plus_00_dot_00_bar__plus_01_dot_01)\n (inReceptacle AlarmClock_bar__plus_02_dot_91_bar__plus_00_dot_99_bar__plus_01_dot_29 Dresser_bar__plus_02_dot_82_bar__plus_00_dot_00_bar__plus_01_dot_01)\n (inReceptacle KeyChain_bar__plus_02_dot_56_bar__plus_00_dot_99_bar__plus_01_dot_58 Dresser_bar__plus_02_dot_82_bar__plus_00_dot_00_bar__plus_01_dot_01)\n (inReceptacle Pillow_bar__plus_00_dot_09_bar__plus_00_dot_78_bar__plus_00_dot_78 Bed_bar__minus_00_dot_75_bar__plus_00_dot_03_bar__plus_00_dot_11)\n (inReceptacle Laptop_bar__plus_00_dot_09_bar__plus_00_dot_69_bar__minus_00_dot_11 Bed_bar__minus_00_dot_75_bar__plus_00_dot_03_bar__plus_00_dot_11)\n (inReceptacle Laptop_bar__minus_00_dot_98_bar__plus_00_dot_69_bar__minus_00_dot_11 Bed_bar__minus_00_dot_75_bar__plus_00_dot_03_bar__plus_00_dot_11)\n (inReceptacle Book_bar__minus_00_dot_18_bar__plus_00_dot_69_bar__minus_00_dot_56 Bed_bar__minus_00_dot_75_bar__plus_00_dot_03_bar__plus_00_dot_11)\n (inReceptacle Laptop_bar__minus_00_dot_45_bar__plus_00_dot_69_bar__plus_00_dot_56 Bed_bar__minus_00_dot_75_bar__plus_00_dot_03_bar__plus_00_dot_11)\n (inReceptacle Pillow_bar__minus_01_dot_37_bar__plus_00_dot_75_bar__minus_00_dot_20 Bed_bar__minus_00_dot_75_bar__plus_00_dot_03_bar__plus_00_dot_11)\n \n \n (receptacleAtLocation ArmChair_bar__plus_02_dot_58_bar__minus_00_dot_01_bar__minus_00_dot_82 loc_bar_7_bar__minus_3_bar_1_bar_60)\n (receptacleAtLocation Bed_bar__minus_00_dot_75_bar__plus_00_dot_03_bar__plus_00_dot_11 loc_bar_4_bar_0_bar_3_bar_45)\n (receptacleAtLocation Cabinet_bar__plus_02_dot_48_bar__plus_00_dot_50_bar__plus_01_dot_00 loc_bar_7_bar_2_bar_1_bar_60)\n (receptacleAtLocation Cabinet_bar__plus_02_dot_48_bar__plus_00_dot_50_bar__plus_01_dot_01 loc_bar_6_bar_3_bar_1_bar_45)\n (receptacleAtLocation Cabinet_bar__plus_02_dot_48_bar__plus_00_dot_50_bar__plus_02_dot_03 loc_bar_7_bar_6_bar_1_bar_60)\n (receptacleAtLocation Cabinet_bar__plus_02_dot_48_bar__plus_00_dot_50_bar__minus_00_dot_02 loc_bar_6_bar__minus_1_bar_1_bar_45)\n (receptacleAtLocation Drawer_bar__plus_02_dot_57_bar__plus_00_dot_90_bar__plus_00_dot_23 loc_bar_8_bar_1_bar_1_bar_60)\n (receptacleAtLocation Drawer_bar__plus_02_dot_57_bar__plus_00_dot_90_bar__plus_00_dot_75 loc_bar_8_bar_3_bar_1_bar_60)\n (receptacleAtLocation Drawer_bar__plus_02_dot_57_bar__plus_00_dot_90_bar__plus_01_dot_27 loc_bar_8_bar_5_bar_1_bar_60)\n (receptacleAtLocation Drawer_bar__plus_02_dot_57_bar__plus_00_dot_90_bar__plus_01_dot_78 loc_bar_8_bar_7_bar_1_bar_60)\n (receptacleAtLocation Drawer_bar__minus_01_dot_53_bar__plus_00_dot_44_bar__plus_01_dot_48 loc_bar__minus_4_bar_6_bar_3_bar_60)\n (receptacleAtLocation Drawer_bar__minus_01_dot_53_bar__plus_00_dot_44_bar__minus_01_dot_25 loc_bar__minus_4_bar__minus_5_bar_3_bar_60)\n (receptacleAtLocation Dresser_bar__plus_02_dot_82_bar__plus_00_dot_00_bar__plus_01_dot_01 loc_bar_9_bar_1_bar_0_bar_60)\n (receptacleAtLocation GarbageCan_bar__plus_01_dot_35_bar__plus_00_dot_00_bar__minus_01_dot_69 loc_bar_5_bar__minus_5_bar_2_bar_60)\n (receptacleAtLocation SideTable_bar__minus_01_dot_60_bar__minus_00_dot_01_bar__plus_01_dot_48 loc_bar__minus_2_bar_6_bar_3_bar_60)\n (receptacleAtLocation SideTable_bar__minus_01_dot_60_bar__minus_00_dot_01_bar__minus_01_dot_25 loc_bar__minus_2_bar__minus_5_bar_3_bar_60)\n (objectAtLocation CD_bar__plus_02_dot_91_bar__plus_00_dot_99_bar__plus_00_dot_72 loc_bar_9_bar_1_bar_0_bar_60)\n (objectAtLocation CellPhone_bar__plus_02_dot_58_bar__plus_00_dot_89_bar__plus_00_dot_65 loc_bar_8_bar_3_bar_1_bar_60)\n (objectAtLocation AlarmClock_bar__plus_02_dot_91_bar__plus_00_dot_99_bar__plus_01_dot_29 loc_bar_9_bar_1_bar_0_bar_60)\n (objectAtLocation Pen_bar__plus_03_dot_00_bar__plus_00_dot_99_bar__plus_01_dot_58 loc_bar_9_bar_5_bar_1_bar__minus_30)\n (objectAtLocation CreditCard_bar__plus_03_dot_00_bar__plus_00_dot_99_bar__plus_01_dot_01 loc_bar_9_bar_1_bar_0_bar_60)\n (objectAtLocation Laptop_bar__plus_00_dot_09_bar__plus_00_dot_69_bar__minus_00_dot_11 loc_bar_4_bar_0_bar_3_bar_45)\n (objectAtLocation KeyChain_bar__plus_02_dot_56_bar__plus_00_dot_99_bar__plus_01_dot_58 loc_bar_9_bar_1_bar_0_bar_60)\n (objectAtLocation Book_bar__minus_00_dot_18_bar__plus_00_dot_69_bar__minus_00_dot_56 loc_bar_4_bar_0_bar_3_bar_45)\n (objectAtLocation Laptop_bar__minus_00_dot_98_bar__plus_00_dot_69_bar__minus_00_dot_11 loc_bar_4_bar_0_bar_3_bar_45)\n (objectAtLocation KeyChain_bar__plus_02_dot_24_bar__plus_00_dot_45_bar__minus_00_dot_95 loc_bar_7_bar__minus_3_bar_1_bar_60)\n (objectAtLocation CreditCard_bar__plus_02_dot_56_bar__plus_00_dot_99_bar__plus_00_dot_44 loc_bar_9_bar_1_bar_0_bar_60)\n (objectAtLocation Pen_bar__minus_01_dot_60_bar__plus_00_dot_67_bar__plus_01_dot_40 loc_bar__minus_2_bar_6_bar_3_bar_60)\n (objectAtLocation CellPhone_bar__plus_02_dot_75_bar__plus_00_dot_45_bar__minus_00_dot_59 loc_bar_7_bar__minus_3_bar_1_bar_60)\n (objectAtLocation Book_bar__plus_02_dot_50_bar__plus_00_dot_45_bar__minus_00_dot_77 loc_bar_7_bar__minus_3_bar_1_bar_60)\n (objectAtLocation Curtains_bar__minus_00_dot_02_bar__plus_02_dot_92_bar__minus_01_dot_85 loc_bar_0_bar__minus_5_bar_2_bar__minus_30)\n (objectAtLocation KeyChain_bar__minus_01_dot_60_bar__plus_00_dot_66_bar__plus_01_dot_56 loc_bar__minus_2_bar_6_bar_3_bar_60)\n (objectAtLocation Laptop_bar__minus_00_dot_45_bar__plus_00_dot_69_bar__plus_00_dot_56 loc_bar_4_bar_0_bar_3_bar_45)\n (objectAtLocation Cloth_bar__plus_01_dot_76_bar__plus_00_dot_00_bar__minus_01_dot_73 loc_bar_7_bar__minus_5_bar_2_bar_60)\n (objectAtLocation CreditCard_bar__plus_02_dot_41_bar__plus_00_dot_45_bar__minus_01_dot_05 loc_bar_7_bar__minus_3_bar_1_bar_60)\n (objectAtLocation Pen_bar__plus_02_dot_64_bar__plus_00_dot_99_bar__plus_01_dot_86 loc_bar_9_bar_1_bar_0_bar_60)\n (objectAtLocation Pencil_bar__plus_02_dot_91_bar__plus_00_dot_99_bar__plus_00_dot_16 loc_bar_9_bar_1_bar_0_bar_60)\n (objectAtLocation BaseballBat_bar__plus_03_dot_08_bar__plus_00_dot_63_bar__minus_01_dot_76 loc_bar_7_bar__minus_5_bar_1_bar_45)\n (objectAtLocation LightSwitch_bar__plus_01_dot_32_bar__plus_01_dot_30_bar__plus_02_dot_20 loc_bar_5_bar_7_bar_0_bar_45)\n (objectAtLocation AlarmClock_bar__plus_02_dot_82_bar__plus_00_dot_99_bar__plus_01_dot_58 loc_bar_9_bar_1_bar_0_bar_60)\n (objectAtLocation BaseballBat_bar__plus_00_dot_81_bar__plus_00_dot_05_bar__plus_02_dot_15 loc_bar_4_bar_7_bar_0_bar_60)\n (objectAtLocation Pillow_bar__minus_01_dot_37_bar__plus_00_dot_75_bar__minus_00_dot_20 loc_bar_4_bar_0_bar_3_bar_45)\n (objectAtLocation Pillow_bar__plus_00_dot_09_bar__plus_00_dot_78_bar__plus_00_dot_78 loc_bar_4_bar_0_bar_3_bar_45)\n (objectAtLocation Painting_bar__plus_01_dot_53_bar__plus_01_dot_52_bar__minus_01_dot_85 loc_bar_6_bar__minus_5_bar_2_bar_15)\n (objectAtLocation Mirror_bar__plus_00_dot_58_bar__plus_01_dot_35_bar__plus_02_dot_20 loc_bar_2_bar_6_bar_0_bar_30)\n (objectAtLocation CellPhone_bar__plus_02_dot_82_bar__plus_00_dot_99_bar__plus_01_dot_01 loc_bar_9_bar_1_bar_0_bar_60)\n (objectAtLocation CD_bar__plus_02_dot_52_bar__plus_00_dot_45_bar__minus_00_dot_46 loc_bar_7_bar__minus_3_bar_1_bar_60)\n (objectAtLocation Window_bar__minus_00_dot_01_bar__plus_01_dot_69_bar__minus_01_dot_92 loc_bar_0_bar__minus_5_bar_2_bar_0)\n (objectAtLocation Mug_bar__minus_01_dot_51_bar__plus_00_dot_66_bar__plus_01_dot_71 loc_bar__minus_2_bar_6_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 PencilType)\n (receptacleType ?r SideTableType)\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to dresser 1", "take pencil 1 from dresser 1", "go to sidetable 1", "move pencil 1 to sidetable 1"]}
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alfworld__pick_and_place_simple__9
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pick_and_place_simple
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pick_and_place_simple-Pencil-None-SideTable-322/trial_T20190908_112657_423751/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 pencil on sidetable.\"\n }\n ],\n\n \"GotoLocation.feedback\": [\n {\n \"rhs\": \"You arrive at {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"OpenObject.feedback\": [\n {\n \"rhs\": \"You open the {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"CloseObject.feedback\": [\n {\n \"rhs\": \"You close the {r.name}.\"\n }\n ],\n\n \"PickupObject.feedback\": [\n {\n \"rhs\": \"You pick up the {o.name} from the {r.name}.\"\n }\n ],\n\n \"PickupObjectFromReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupObjectFromReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupEmptyReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupEmptyReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupFullReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupFullReceptacleObject: You pick up the {outerr.name}.\"\n }\n ],\n\n \"PutObject.feedback\": [\n {\n \"rhs\": \"You move the {o.name} to the {r.name}.\"\n }\n ],\n\n \"PutObjectInReceptacleObject.feedback\": [\n {\n \"rhs\": \"PutObjectInReceptacleObject: You put the {o.name} in the {outero.name}.\"\n }\n ],\n\n \"PutEmptyReceptacleObjectinReceptacle.feedback\": [\n {\n \"rhs\": \"PutEmptyReceptacleObjectinReceptacle: You put the {o.name} in the {r.name}.\"\n }\n ],\n\n \"PutFullReceptacleObjectInReceptacle.feedback\": [\n {\n \"rhs\": \"PutFullReceptacleObjectInReceptacle: You put the {outero.name} in the {r.name}.\"\n }\n ],\n\n \"inventory.feedback\": [\n {\n \"condition\": \"holdsany(a:agent)\",\n \"rhs\": \"You are carrying: [{o.indefinite + ' ' + o.name | holds(a:agent, o:object)}].\"\n },\n {\n \"rhs\": \"You are not carrying anything.\"\n }\n ],\n\n \"examineReceptacle.feedback\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \"The {r.name} is open. In it, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \"The {r.name} is closed.\"\n },\n {\n \"rhs\": \"On the {r.name}, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n }\n ],\n\n \"examineObject.feedback\": [\n {\n \"condition\": \"isreceptacleobject(o:object)\",\n \"rhs\": \"This is a normal {o.name}. In it, you see [{o2.indefinite + ' ' + o2.name | inreceptacleobject(o2:object, o:object)}].\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a clean sliced {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot sliced {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object)\",\n \"rhs\": \"This is a hot and clean {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object)\",\n \"rhs\": \"This is a cool and clean {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object)\",\n \"rhs\": \"This is a hot {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object)\",\n \"rhs\": \"This is a clean {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object)\",\n \"rhs\": \"This is a cold {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"This {o.name} is on.\"\n },\n {\n \"condition\": \"toggleable(o:object) & not_istoggled(o:object)\",\n \"rhs\": \"This {o.name} is off.\"\n },\n {\n \"condition\": \"sliceable(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a sliced {o.name}.\"\n },\n {\n \"rhs\": \"There's nothing special about {o.name}.\"\n }\n ]\n }\n\"\"\";\n\naction GotoLocation {\n template :: \"go to [{r.name | receptacleatlocation(r:receptacle, lend:location)}]\";\n feedback :: \"#GotoLocation.feedback#\";\n}\n\naction OpenObject {\n template :: \"open {r}\";\n feedback :: \"#OpenObject.feedback#\";\n}\n\naction CloseObject {\n template :: \"close {r}\";\n feedback :: \"#CloseObject.feedback#\";\n}\n\naction PickupObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObject.feedback#\";\n}\n\naction PickupObjectFromReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObjectFromReceptacleObject.feedback#\";\n}\n\naction PickupEmptyReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupEmptyReceptacleObject.feedback#\";\n}\n\naction PickupFullReceptacleObject {\n template :: \"take {outerr} from {r}\";\n feedback :: \"#PickupFullReceptacleObject.feedback#\";\n}\n\naction PutObject {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutObject.feedback#\";\n}\n\naction PutObjectInReceptacleObject {\n template :: \"put {o} into {outero}\";\n feedback :: \"#PutObjectInReceptacleObject.feedback#\";\n}\n\naction PutEmptyReceptacleObjectinReceptacle {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutEmptyReceptacleObjectinReceptacle.feedback#\";\n}\n\naction PutFullReceptacleObjectInReceptacle {\n template :: \"put {outero} in {r}\";\n feedback :: \"#PutFullReceptacleObjectInReceptacle.feedback#\";\n}\n\naction inventory {\n template :: \"inventory\";\n feedback :: \"#inventory.feedback#\";\n}\n\naction examineReceptacle {\n template :: \"examine {r}\";\n feedback :: \"#examineReceptacle.feedback#\";\n}\n\naction examineObject {\n template :: \"examine {o}\";\n feedback :: \"#examineObject.feedback#\";\n}\n\naction ToggleObject {\n template :: \"use {o}\";\n feedback :: \"#toggleObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"toggleObject.feedback\": [\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"You turn on the {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object)\",\n \"rhs\": \"You turn off the {o.name}.\"\n },\n {\n \"rhs\": \"You don't see any switch on the {o.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction HeatObject {\n template :: \"heat {o} with {r}\";\n feedback :: \"#heatObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"heatObject.feedback\": [\n {\n \"rhs\": \"You heat the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CleanObject {\n template :: \"clean {o} with {r}\";\n feedback :: \"#cleanObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"cleanObject.feedback\": [\n {\n \"rhs\": \"You clean the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CoolObject {\n template :: \"cool {o} with {r}\";\n feedback :: \"#coolObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"coolObject.feedback\": [\n {\n \"rhs\": \"You cool the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction SliceObject {\n template :: \"slice {co} with {ko}\";\n feedback :: \"#sliceObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"sliceObject.feedback\": [\n {\n \"rhs\": \"You sliced the {co.name} with the {ko.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction look {\n template :: \"look\";\n feedback :: \"#look.feedback#\";\n\n grammar :: \"\"\"\n {\n \"look.feedback\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"#look-variations#. Next to it, you see #list_objects_on_the_floor#.\"\n },\n {\n \"rhs\": \"You are in the middle of a room. Looking quickly around you, you see #list_appliances#.\"\n }\n ],\n\n \"look-variations\": [\n {\n \"rhs\": \"You are facing the [{r.name | atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)}]\"\n }\n ],\n\n \"list_objects_on_the_floor\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)\",\n \"rhs\": \"[{#overview(o)# | atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"list_appliances\": [\n {\n \"condition\": \"receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"[{#overview(r)# | receptacleatlocation(r:receptacle, l:location)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"overview(o, r)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name} (in/on the {r.name})}\"\n }\n ],\n\n \"overview(o)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name}\"\n }\n ],\n \"overview(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}\"\n }\n ],\n \"overview_with_state(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}#overview_state(r)#\"\n }\n ],\n \"overview_state(r)\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \" (it is open)\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \" (it is closed)\"\n },\n {\n \"rhs\": \"\"\n }\n ],\n\n \"list_empty\": [\n {\n \"rhs\": \"nothing\"\n }\n ],\n \"list_separator\": [\n {\n \"rhs\": \", \"\n }\n ],\n \"list_last_separator\": [\n {\n \"rhs\": \", and \"\n }\n ]\n }\n \"\"\";\n}\n\naction help {\n template :: \"help\";\n feedback :: \"\nAvailable commands:\n look: look around your current location\n inventory: check your current inventory\n go to (receptacle): move to a receptacle\n open (receptacle): open a receptacle\n close (receptacle): close a receptacle\n take (object) from (receptacle): take an object from a receptacle\n move (object) to (receptacle): place an object in or on a receptacle\n examine (something): examine a receptacle or an object\n use (object): use an object\n heat (object) with (receptacle): heat an object using a receptacle\n clean (object) with (receptacle): clean an object using a receptacle\n cool (object) with (receptacle): cool an object using a receptacle\n slice (object) with (object): slice an object using a sharp object\n\";\n}\n", "pddl_problem": "\n(define (problem plan_trial_T20190908_112657_423751)\n(:domain alfred)\n(:objects\nagent1 - agent\nSaltShaker - object\n HousePlant - object\n Candle - object\n SprayBottle - object\n Bowl - object\n Window - object\n CD - object\n Egg - object\n Glassbottle - object\n Sink - object\n Pillow - object\n Spoon - object\n SoapBottle - object\n TeddyBear - object\n ButterKnife - object\n Cup - object\n Plate - object\n RemoteControl - object\n Tomato - object\n Statue - object\n HandTowel - object\n Knife - object\n StoveKnob - object\n LightSwitch - object\n Pen - object\n Painting - object\n DishSponge - object\n Vase - object\n Mug - object\n ToiletPaper - object\n Box - object\n Mirror - object\n Ladle - object\n Fork - object\n Blinds - object\n Footstool - object\n KeyChain - object\n Cloth - object\n Laptop - object\n TissueBox - object\n PepperShaker - object\n FloorLamp - object\n WateringCan - object\n Apple - object\n Pan - object\n PaperTowel - object\n PaperTowelRoll - object\n Newspaper - object\n Television - object\n Chair - object\n CellPhone - object\n CreditCard - object\n Lettuce - object\n BasketBall - object\n Potato - object\n Curtains - object\n Boots - object\n Pencil - object\n AlarmClock - object\n ToiletPaperRoll - object\n Spatula - object\n Book - object\n Bread - object\n SoapBar - object\n Watch - object\n DeskLamp - object\n Kettle - object\n Pot - object\n ScrubBrush - object\n WineBottle - object\n ShowerDoor - object\n Bathtub - object\n LaundryHamperLid - object\n ShowerGlass - object\n Poster - object\n TennisRacket - object\n BaseballBat - object\n Towel - object\n Plunger - object\nSaltShakerType - otype\n HousePlantType - otype\n CandleType - otype\n SprayBottleType - otype\n BowlType - otype\n WindowType - otype\n CDType - otype\n EggType - otype\n GlassbottleType - otype\n SinkType - otype\n PillowType - otype\n SpoonType - otype\n SoapBottleType - otype\n TeddyBearType - otype\n ButterKnifeType - otype\n CupType - otype\n PlateType - otype\n RemoteControlType - otype\n TomatoType - otype\n StatueType - otype\n HandTowelType - otype\n KnifeType - otype\n StoveKnobType - otype\n LightSwitchType - otype\n PenType - otype\n PaintingType - otype\n DishSpongeType - otype\n VaseType - otype\n MugType - otype\n ToiletPaperType - otype\n BoxType - otype\n MirrorType - otype\n LadleType - otype\n ForkType - otype\n BlindsType - otype\n FootstoolType - otype\n KeyChainType - otype\n ClothType - otype\n LaptopType - otype\n TissueBoxType - otype\n PepperShakerType - otype\n FloorLampType - otype\n WateringCanType - otype\n AppleType - otype\n PanType - otype\n PaperTowelType - otype\n PaperTowelRollType - otype\n NewspaperType - otype\n TelevisionType - otype\n ChairType - otype\n CellPhoneType - otype\n CreditCardType - otype\n LettuceType - otype\n BasketBallType - otype\n PotatoType - otype\n CurtainsType - otype\n BootsType - otype\n PencilType - otype\n AlarmClockType - otype\n ToiletPaperRollType - otype\n SpatulaType - otype\n BookType - otype\n BreadType - otype\n SoapBarType - otype\n WatchType - otype\n DeskLampType - otype\n KettleType - otype\n PotType - otype\n ScrubBrushType - otype\n WineBottleType - otype\n ShowerDoorType - otype\n BathtubType - otype\n LaundryHamperLidType - otype\n ShowerGlassType - otype\n PosterType - otype\n TennisRacketType - otype\n BaseballBatType - otype\n TowelType - otype\n PlungerType - otype\nSafeType - rtype\n DrawerType - rtype\n CoffeeMachineType - rtype\n HandTowelHolderType - rtype\n SinkBasinType - rtype\n DresserType - rtype\n LaundryHamperType - rtype\n TVStandType - rtype\n BathtubBasinType - rtype\n CabinetType - rtype\n FridgeType - rtype\n DeskType - rtype\n ToiletType - rtype\n CartType - rtype\n SideTableType - rtype\n SofaType - rtype\n CoffeeTableType - rtype\n DiningTableType - rtype\n CounterTopType - rtype\n GarbageCanType - rtype\n ArmChairType - rtype\n ShelfType - rtype\n MicrowaveType - rtype\n ToasterType - rtype\n BedType - rtype\n PaintingHangerType - rtype\n TowelHolderType - rtype\n ToiletPaperHangerType - rtype\n StoveBurnerType - rtype\n OttomanType - rtype\n\n\n AlarmClock_bar__plus_03_dot_00_bar__plus_00_dot_99_bar__plus_01_dot_01 - object\n BaseballBat_bar__plus_00_dot_81_bar__plus_00_dot_05_bar__plus_02_dot_15 - object\n BaseballBat_bar__plus_03_dot_08_bar__plus_00_dot_63_bar__minus_01_dot_76 - object\n Book_bar__plus_00_dot_09_bar__plus_00_dot_69_bar__plus_00_dot_11 - object\n Book_bar__minus_00_dot_18_bar__plus_00_dot_69_bar__plus_00_dot_56 - object\n CD_bar__plus_02_dot_51_bar__plus_00_dot_45_bar__minus_01_dot_00 - object\n CD_bar__minus_01_dot_56_bar__plus_00_dot_36_bar__minus_01_dot_36 - object\n CellPhone_bar__plus_02_dot_28_bar__plus_00_dot_45_bar__minus_00_dot_87 - object\n CellPhone_bar__plus_02_dot_58_bar__plus_00_dot_89_bar__plus_00_dot_70 - object\n CellPhone_bar__plus_02_dot_82_bar__plus_00_dot_99_bar__plus_01_dot_29 - object\n Cloth_bar__plus_01_dot_76_bar__plus_00_dot_00_bar__minus_01_dot_73 - object\n CreditCard_bar__minus_01_dot_65_bar__plus_00_dot_66_bar__minus_01_dot_41 - object\n CreditCard_bar__minus_01_dot_74_bar__plus_00_dot_66_bar__plus_01_dot_71 - object\n Curtains_bar__minus_00_dot_02_bar__plus_02_dot_92_bar__minus_01_dot_85 - object\n KeyChain_bar__plus_02_dot_60_bar__plus_00_dot_45_bar__minus_00_dot_72 - object\n KeyChain_bar__plus_03_dot_00_bar__plus_00_dot_99_bar__plus_01_dot_58 - object\n KeyChain_bar__minus_01_dot_51_bar__plus_00_dot_66_bar__minus_01_dot_41 - object\n Lamp_bar__minus_01_dot_62_bar__plus_00_dot_65_bar__plus_01_dot_49 - object\n Lamp_bar__minus_01_dot_63_bar__plus_00_dot_65_bar__minus_01_dot_31 - object\n Laptop_bar__minus_00_dot_98_bar__plus_00_dot_69_bar__plus_00_dot_11 - object\n LightSwitch_bar__plus_01_dot_32_bar__plus_01_dot_30_bar__plus_02_dot_20 - object\n Mirror_bar__plus_00_dot_58_bar__plus_01_dot_35_bar__plus_02_dot_20 - object\n Mug_bar__plus_02_dot_53_bar__plus_00_dot_18_bar__plus_01_dot_79 - object\n Painting_bar__plus_01_dot_53_bar__plus_01_dot_52_bar__minus_01_dot_85 - object\n Pencil_bar__plus_01_dot_35_bar__plus_00_dot_03_bar__minus_01_dot_72 - object\n Pen_bar__plus_02_dot_91_bar__plus_00_dot_99_bar__plus_00_dot_72 - object\n Pen_bar__minus_01_dot_60_bar__plus_00_dot_67_bar__plus_01_dot_63 - object\n Pen_bar__minus_01_dot_60_bar__plus_00_dot_67_bar__minus_01_dot_33 - object\n Pillow_bar__minus_01_dot_37_bar__plus_00_dot_75_bar__minus_00_dot_20 - object\n Pillow_bar__minus_01_dot_46_bar__plus_00_dot_75_bar__plus_00_dot_49 - object\n Window_bar__minus_00_dot_01_bar__plus_01_dot_69_bar__minus_01_dot_92 - object\n ArmChair_bar__plus_02_dot_58_bar__minus_00_dot_01_bar__minus_00_dot_82 - receptacle\n Bed_bar__minus_00_dot_75_bar__plus_00_dot_03_bar__plus_00_dot_11 - receptacle\n Cabinet_bar__plus_02_dot_48_bar__plus_00_dot_50_bar__plus_01_dot_00 - receptacle\n Cabinet_bar__plus_02_dot_48_bar__plus_00_dot_50_bar__plus_01_dot_01 - receptacle\n Cabinet_bar__plus_02_dot_48_bar__plus_00_dot_50_bar__plus_02_dot_03 - receptacle\n Cabinet_bar__plus_02_dot_48_bar__plus_00_dot_50_bar__minus_00_dot_02 - receptacle\n Drawer_bar__plus_02_dot_57_bar__plus_00_dot_90_bar__plus_00_dot_23 - receptacle\n Drawer_bar__plus_02_dot_57_bar__plus_00_dot_90_bar__plus_00_dot_75 - receptacle\n Drawer_bar__plus_02_dot_57_bar__plus_00_dot_90_bar__plus_01_dot_27 - receptacle\n Drawer_bar__plus_02_dot_57_bar__plus_00_dot_90_bar__plus_01_dot_78 - receptacle\n Drawer_bar__minus_01_dot_53_bar__plus_00_dot_44_bar__plus_01_dot_48 - receptacle\n Drawer_bar__minus_01_dot_53_bar__plus_00_dot_44_bar__minus_01_dot_25 - receptacle\n Dresser_bar__plus_02_dot_82_bar__plus_00_dot_00_bar__plus_01_dot_01 - receptacle\n GarbageCan_bar__plus_01_dot_35_bar__plus_00_dot_00_bar__minus_01_dot_69 - receptacle\n SideTable_bar__minus_01_dot_60_bar__minus_00_dot_01_bar__plus_01_dot_48 - receptacle\n SideTable_bar__minus_01_dot_60_bar__minus_00_dot_01_bar__minus_01_dot_25 - receptacle\n loc_bar__minus_4_bar__minus_5_bar_3_bar_60 - location\n loc_bar_4_bar_7_bar_0_bar_60 - location\n loc_bar_8_bar_1_bar_1_bar_60 - location\n loc_bar_8_bar__minus_2_bar_1_bar_60 - location\n loc_bar_5_bar_7_bar_0_bar_45 - location\n loc_bar_6_bar_3_bar_1_bar_45 - location\n loc_bar_8_bar_5_bar_1_bar_60 - location\n loc_bar_6_bar__minus_5_bar_2_bar_15 - location\n loc_bar_8_bar_3_bar_1_bar_60 - location\n loc_bar_2_bar_6_bar_0_bar_30 - location\n loc_bar_7_bar_6_bar_1_bar_60 - location\n loc_bar_7_bar__minus_4_bar_1_bar_60 - location\n loc_bar_6_bar__minus_1_bar_1_bar_45 - location\n loc_bar_5_bar__minus_5_bar_2_bar_60 - location\n loc_bar_7_bar__minus_5_bar_1_bar_45 - location\n loc_bar_0_bar__minus_5_bar_2_bar_0 - location\n loc_bar_8_bar_7_bar_1_bar_60 - location\n loc_bar_7_bar_2_bar_1_bar_60 - location\n loc_bar_7_bar__minus_3_bar_1_bar_60 - location\n loc_bar_0_bar__minus_5_bar_2_bar__minus_30 - location\n loc_bar_9_bar_1_bar_0_bar_60 - location\n loc_bar_4_bar_0_bar_3_bar_45 - location\n loc_bar__minus_2_bar_6_bar_3_bar_60 - location\n loc_bar__minus_2_bar__minus_5_bar_3_bar_60 - location\n loc_bar_7_bar__minus_5_bar_2_bar_60 - location\n loc_bar_9_bar_7_bar_1_bar_60 - location\n loc_bar__minus_4_bar_6_bar_3_bar_60 - location\n loc_bar_9_bar_5_bar_1_bar_30 - location\n )\n \n\n(:init\n\n\n (receptacleType Bed_bar__minus_00_dot_75_bar__plus_00_dot_03_bar__plus_00_dot_11 BedType)\n (receptacleType Drawer_bar__minus_01_dot_53_bar__plus_00_dot_44_bar__plus_01_dot_48 DrawerType)\n (receptacleType Drawer_bar__plus_02_dot_57_bar__plus_00_dot_90_bar__plus_01_dot_27 DrawerType)\n (receptacleType Drawer_bar__plus_02_dot_57_bar__plus_00_dot_90_bar__plus_01_dot_78 DrawerType)\n (receptacleType SideTable_bar__minus_01_dot_60_bar__minus_00_dot_01_bar__plus_01_dot_48 SideTableType)\n (receptacleType Cabinet_bar__plus_02_dot_48_bar__plus_00_dot_50_bar__plus_01_dot_00 CabinetType)\n (receptacleType Drawer_bar__plus_02_dot_57_bar__plus_00_dot_90_bar__plus_00_dot_23 DrawerType)\n (receptacleType Drawer_bar__minus_01_dot_53_bar__plus_00_dot_44_bar__minus_01_dot_25 DrawerType)\n (receptacleType Cabinet_bar__plus_02_dot_48_bar__plus_00_dot_50_bar__minus_00_dot_02 CabinetType)\n (receptacleType GarbageCan_bar__plus_01_dot_35_bar__plus_00_dot_00_bar__minus_01_dot_69 GarbageCanType)\n (receptacleType Drawer_bar__plus_02_dot_57_bar__plus_00_dot_90_bar__plus_00_dot_75 DrawerType)\n (receptacleType Cabinet_bar__plus_02_dot_48_bar__plus_00_dot_50_bar__plus_01_dot_01 CabinetType)\n (receptacleType ArmChair_bar__plus_02_dot_58_bar__minus_00_dot_01_bar__minus_00_dot_82 ArmChairType)\n (receptacleType Dresser_bar__plus_02_dot_82_bar__plus_00_dot_00_bar__plus_01_dot_01 DresserType)\n (receptacleType SideTable_bar__minus_01_dot_60_bar__minus_00_dot_01_bar__minus_01_dot_25 SideTableType)\n (receptacleType Cabinet_bar__plus_02_dot_48_bar__plus_00_dot_50_bar__plus_02_dot_03 CabinetType)\n (objectType Painting_bar__plus_01_dot_53_bar__plus_01_dot_52_bar__minus_01_dot_85 PaintingType)\n (objectType Pencil_bar__plus_01_dot_35_bar__plus_00_dot_03_bar__minus_01_dot_72 PencilType)\n (objectType CellPhone_bar__plus_02_dot_28_bar__plus_00_dot_45_bar__minus_00_dot_87 CellPhoneType)\n (objectType BaseballBat_bar__plus_00_dot_81_bar__plus_00_dot_05_bar__plus_02_dot_15 BaseballBatType)\n (objectType LightSwitch_bar__plus_01_dot_32_bar__plus_01_dot_30_bar__plus_02_dot_20 LightSwitchType)\n (objectType CreditCard_bar__minus_01_dot_65_bar__plus_00_dot_66_bar__minus_01_dot_41 CreditCardType)\n (objectType Book_bar__plus_00_dot_09_bar__plus_00_dot_69_bar__plus_00_dot_11 BookType)\n (objectType Pen_bar__minus_01_dot_60_bar__plus_00_dot_67_bar__plus_01_dot_63 PenType)\n (objectType KeyChain_bar__plus_03_dot_00_bar__plus_00_dot_99_bar__plus_01_dot_58 KeyChainType)\n (objectType KeyChain_bar__plus_02_dot_60_bar__plus_00_dot_45_bar__minus_00_dot_72 KeyChainType)\n (objectType BaseballBat_bar__plus_03_dot_08_bar__plus_00_dot_63_bar__minus_01_dot_76 BaseballBatType)\n (objectType KeyChain_bar__minus_01_dot_51_bar__plus_00_dot_66_bar__minus_01_dot_41 KeyChainType)\n (objectType Laptop_bar__minus_00_dot_98_bar__plus_00_dot_69_bar__plus_00_dot_11 LaptopType)\n (objectType CD_bar__minus_01_dot_56_bar__plus_00_dot_36_bar__minus_01_dot_36 CDType)\n (objectType CD_bar__plus_02_dot_51_bar__plus_00_dot_45_bar__minus_01_dot_00 CDType)\n (objectType Pen_bar__minus_01_dot_60_bar__plus_00_dot_67_bar__minus_01_dot_33 PenType)\n (objectType Book_bar__minus_00_dot_18_bar__plus_00_dot_69_bar__plus_00_dot_56 BookType)\n (objectType CreditCard_bar__minus_01_dot_74_bar__plus_00_dot_66_bar__plus_01_dot_71 CreditCardType)\n (objectType AlarmClock_bar__plus_03_dot_00_bar__plus_00_dot_99_bar__plus_01_dot_01 AlarmClockType)\n (objectType Pillow_bar__minus_01_dot_46_bar__plus_00_dot_75_bar__plus_00_dot_49 PillowType)\n (objectType Window_bar__minus_00_dot_01_bar__plus_01_dot_69_bar__minus_01_dot_92 WindowType)\n (objectType CellPhone_bar__plus_02_dot_58_bar__plus_00_dot_89_bar__plus_00_dot_70 CellPhoneType)\n (objectType Mug_bar__plus_02_dot_53_bar__plus_00_dot_18_bar__plus_01_dot_79 MugType)\n (objectType Pillow_bar__minus_01_dot_37_bar__plus_00_dot_75_bar__minus_00_dot_20 PillowType)\n (objectType Curtains_bar__minus_00_dot_02_bar__plus_02_dot_92_bar__minus_01_dot_85 CurtainsType)\n (objectType CellPhone_bar__plus_02_dot_82_bar__plus_00_dot_99_bar__plus_01_dot_29 CellPhoneType)\n (objectType Mirror_bar__plus_00_dot_58_bar__plus_01_dot_35_bar__plus_02_dot_20 MirrorType)\n (objectType Cloth_bar__plus_01_dot_76_bar__plus_00_dot_00_bar__minus_01_dot_73 ClothType)\n (objectType Pen_bar__plus_02_dot_91_bar__plus_00_dot_99_bar__plus_00_dot_72 PenType)\n (canContain BedType BaseballBatType)\n (canContain BedType LaptopType)\n (canContain BedType BookType)\n (canContain BedType CellPhoneType)\n (canContain BedType PillowType)\n (canContain DrawerType PenType)\n (canContain DrawerType BookType)\n (canContain DrawerType CDType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType ClothType)\n (canContain DrawerType PencilType)\n (canContain DrawerType PenType)\n (canContain DrawerType BookType)\n (canContain DrawerType CDType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType ClothType)\n (canContain DrawerType PencilType)\n (canContain DrawerType PenType)\n (canContain DrawerType BookType)\n (canContain DrawerType CDType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType ClothType)\n (canContain DrawerType PencilType)\n (canContain SideTableType PenType)\n (canContain SideTableType BookType)\n (canContain SideTableType CDType)\n (canContain SideTableType MugType)\n (canContain SideTableType CellPhoneType)\n (canContain SideTableType KeyChainType)\n (canContain SideTableType CreditCardType)\n (canContain SideTableType BaseballBatType)\n (canContain SideTableType ClothType)\n (canContain SideTableType LaptopType)\n (canContain SideTableType PencilType)\n (canContain SideTableType AlarmClockType)\n (canContain CabinetType BookType)\n (canContain CabinetType CDType)\n (canContain CabinetType MugType)\n (canContain CabinetType ClothType)\n (canContain DrawerType PenType)\n (canContain DrawerType BookType)\n (canContain DrawerType CDType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType ClothType)\n (canContain DrawerType PencilType)\n (canContain DrawerType PenType)\n (canContain DrawerType BookType)\n (canContain DrawerType CDType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType ClothType)\n (canContain DrawerType PencilType)\n (canContain CabinetType BookType)\n (canContain CabinetType CDType)\n (canContain CabinetType MugType)\n (canContain CabinetType ClothType)\n (canContain GarbageCanType PenType)\n (canContain GarbageCanType CDType)\n (canContain GarbageCanType ClothType)\n (canContain GarbageCanType PencilType)\n (canContain DrawerType PenType)\n (canContain DrawerType BookType)\n (canContain DrawerType CDType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType ClothType)\n (canContain DrawerType PencilType)\n (canContain CabinetType BookType)\n (canContain CabinetType CDType)\n (canContain CabinetType MugType)\n (canContain CabinetType ClothType)\n (canContain ArmChairType ClothType)\n (canContain ArmChairType LaptopType)\n (canContain ArmChairType BookType)\n (canContain ArmChairType CellPhoneType)\n (canContain ArmChairType PillowType)\n (canContain ArmChairType KeyChainType)\n (canContain ArmChairType CreditCardType)\n (canContain DresserType PenType)\n (canContain DresserType BookType)\n (canContain DresserType CDType)\n (canContain DresserType MugType)\n (canContain DresserType CellPhoneType)\n (canContain DresserType KeyChainType)\n (canContain DresserType CreditCardType)\n (canContain DresserType ClothType)\n (canContain DresserType LaptopType)\n (canContain DresserType PencilType)\n (canContain DresserType AlarmClockType)\n (canContain SideTableType PenType)\n (canContain SideTableType BookType)\n (canContain SideTableType CDType)\n (canContain SideTableType MugType)\n (canContain SideTableType CellPhoneType)\n (canContain SideTableType KeyChainType)\n (canContain SideTableType CreditCardType)\n (canContain SideTableType BaseballBatType)\n (canContain SideTableType ClothType)\n (canContain SideTableType LaptopType)\n (canContain SideTableType PencilType)\n (canContain SideTableType AlarmClockType)\n (canContain CabinetType BookType)\n (canContain CabinetType CDType)\n (canContain CabinetType MugType)\n (canContain CabinetType ClothType)\n (pickupable Pencil_bar__plus_01_dot_35_bar__plus_00_dot_03_bar__minus_01_dot_72)\n (pickupable CellPhone_bar__plus_02_dot_28_bar__plus_00_dot_45_bar__minus_00_dot_87)\n (pickupable BaseballBat_bar__plus_00_dot_81_bar__plus_00_dot_05_bar__plus_02_dot_15)\n (pickupable CreditCard_bar__minus_01_dot_65_bar__plus_00_dot_66_bar__minus_01_dot_41)\n (pickupable Book_bar__plus_00_dot_09_bar__plus_00_dot_69_bar__plus_00_dot_11)\n (pickupable Pen_bar__minus_01_dot_60_bar__plus_00_dot_67_bar__plus_01_dot_63)\n (pickupable KeyChain_bar__plus_03_dot_00_bar__plus_00_dot_99_bar__plus_01_dot_58)\n (pickupable KeyChain_bar__plus_02_dot_60_bar__plus_00_dot_45_bar__minus_00_dot_72)\n (pickupable BaseballBat_bar__plus_03_dot_08_bar__plus_00_dot_63_bar__minus_01_dot_76)\n (pickupable KeyChain_bar__minus_01_dot_51_bar__plus_00_dot_66_bar__minus_01_dot_41)\n (pickupable Laptop_bar__minus_00_dot_98_bar__plus_00_dot_69_bar__plus_00_dot_11)\n (pickupable CD_bar__minus_01_dot_56_bar__plus_00_dot_36_bar__minus_01_dot_36)\n (pickupable CD_bar__plus_02_dot_51_bar__plus_00_dot_45_bar__minus_01_dot_00)\n (pickupable Pen_bar__minus_01_dot_60_bar__plus_00_dot_67_bar__minus_01_dot_33)\n (pickupable Book_bar__minus_00_dot_18_bar__plus_00_dot_69_bar__plus_00_dot_56)\n (pickupable CreditCard_bar__minus_01_dot_74_bar__plus_00_dot_66_bar__plus_01_dot_71)\n (pickupable AlarmClock_bar__plus_03_dot_00_bar__plus_00_dot_99_bar__plus_01_dot_01)\n (pickupable Pillow_bar__minus_01_dot_46_bar__plus_00_dot_75_bar__plus_00_dot_49)\n (pickupable CellPhone_bar__plus_02_dot_58_bar__plus_00_dot_89_bar__plus_00_dot_70)\n (pickupable Mug_bar__plus_02_dot_53_bar__plus_00_dot_18_bar__plus_01_dot_79)\n (pickupable Pillow_bar__minus_01_dot_37_bar__plus_00_dot_75_bar__minus_00_dot_20)\n (pickupable CellPhone_bar__plus_02_dot_82_bar__plus_00_dot_99_bar__plus_01_dot_29)\n (pickupable Cloth_bar__plus_01_dot_76_bar__plus_00_dot_00_bar__minus_01_dot_73)\n (pickupable Pen_bar__plus_02_dot_91_bar__plus_00_dot_99_bar__plus_00_dot_72)\n (isReceptacleObject Mug_bar__plus_02_dot_53_bar__plus_00_dot_18_bar__plus_01_dot_79)\n (openable Drawer_bar__plus_02_dot_57_bar__plus_00_dot_90_bar__plus_01_dot_27)\n (openable Drawer_bar__plus_02_dot_57_bar__plus_00_dot_90_bar__plus_01_dot_78)\n (openable Cabinet_bar__plus_02_dot_48_bar__plus_00_dot_50_bar__plus_01_dot_00)\n (openable Drawer_bar__plus_02_dot_57_bar__plus_00_dot_90_bar__plus_00_dot_23)\n (openable Cabinet_bar__plus_02_dot_48_bar__plus_00_dot_50_bar__minus_00_dot_02)\n (openable Drawer_bar__plus_02_dot_57_bar__plus_00_dot_90_bar__plus_00_dot_75)\n (openable Cabinet_bar__plus_02_dot_48_bar__plus_00_dot_50_bar__plus_01_dot_01)\n (openable Cabinet_bar__plus_02_dot_48_bar__plus_00_dot_50_bar__plus_02_dot_03)\n \n (atLocation agent1 loc_bar_9_bar_5_bar_1_bar_30)\n \n (cleanable Mug_bar__plus_02_dot_53_bar__plus_00_dot_18_bar__plus_01_dot_79)\n (cleanable Cloth_bar__plus_01_dot_76_bar__plus_00_dot_00_bar__minus_01_dot_73)\n \n (heatable Mug_bar__plus_02_dot_53_bar__plus_00_dot_18_bar__plus_01_dot_79)\n (coolable Mug_bar__plus_02_dot_53_bar__plus_00_dot_18_bar__plus_01_dot_79)\n \n \n \n \n \n \n \n (inReceptacle CreditCard_bar__minus_01_dot_74_bar__plus_00_dot_66_bar__plus_01_dot_71 SideTable_bar__minus_01_dot_60_bar__minus_00_dot_01_bar__plus_01_dot_48)\n (inReceptacle Pen_bar__minus_01_dot_60_bar__plus_00_dot_67_bar__plus_01_dot_63 SideTable_bar__minus_01_dot_60_bar__minus_00_dot_01_bar__plus_01_dot_48)\n (inReceptacle CellPhone_bar__plus_02_dot_58_bar__plus_00_dot_89_bar__plus_00_dot_70 Drawer_bar__plus_02_dot_57_bar__plus_00_dot_90_bar__plus_00_dot_75)\n (inReceptacle Pen_bar__minus_01_dot_60_bar__plus_00_dot_67_bar__minus_01_dot_33 SideTable_bar__minus_01_dot_60_bar__minus_00_dot_01_bar__minus_01_dot_25)\n (inReceptacle CreditCard_bar__minus_01_dot_65_bar__plus_00_dot_66_bar__minus_01_dot_41 SideTable_bar__minus_01_dot_60_bar__minus_00_dot_01_bar__minus_01_dot_25)\n (inReceptacle KeyChain_bar__minus_01_dot_51_bar__plus_00_dot_66_bar__minus_01_dot_41 SideTable_bar__minus_01_dot_60_bar__minus_00_dot_01_bar__minus_01_dot_25)\n (inReceptacle CD_bar__minus_01_dot_56_bar__plus_00_dot_36_bar__minus_01_dot_36 Drawer_bar__minus_01_dot_53_bar__plus_00_dot_44_bar__minus_01_dot_25)\n (inReceptacle CellPhone_bar__plus_02_dot_28_bar__plus_00_dot_45_bar__minus_00_dot_87 ArmChair_bar__plus_02_dot_58_bar__minus_00_dot_01_bar__minus_00_dot_82)\n (inReceptacle KeyChain_bar__plus_03_dot_00_bar__plus_00_dot_99_bar__plus_01_dot_58 Dresser_bar__plus_02_dot_82_bar__plus_00_dot_00_bar__plus_01_dot_01)\n (inReceptacle CellPhone_bar__plus_02_dot_82_bar__plus_00_dot_99_bar__plus_01_dot_29 Dresser_bar__plus_02_dot_82_bar__plus_00_dot_00_bar__plus_01_dot_01)\n (inReceptacle Pen_bar__plus_02_dot_91_bar__plus_00_dot_99_bar__plus_00_dot_72 Dresser_bar__plus_02_dot_82_bar__plus_00_dot_00_bar__plus_01_dot_01)\n (inReceptacle AlarmClock_bar__plus_03_dot_00_bar__plus_00_dot_99_bar__plus_01_dot_01 Dresser_bar__plus_02_dot_82_bar__plus_00_dot_00_bar__plus_01_dot_01)\n (inReceptacle Book_bar__minus_00_dot_18_bar__plus_00_dot_69_bar__plus_00_dot_56 Bed_bar__minus_00_dot_75_bar__plus_00_dot_03_bar__plus_00_dot_11)\n (inReceptacle Book_bar__plus_00_dot_09_bar__plus_00_dot_69_bar__plus_00_dot_11 Bed_bar__minus_00_dot_75_bar__plus_00_dot_03_bar__plus_00_dot_11)\n (inReceptacle Laptop_bar__minus_00_dot_98_bar__plus_00_dot_69_bar__plus_00_dot_11 Bed_bar__minus_00_dot_75_bar__plus_00_dot_03_bar__plus_00_dot_11)\n (inReceptacle Pillow_bar__minus_01_dot_37_bar__plus_00_dot_75_bar__minus_00_dot_20 Bed_bar__minus_00_dot_75_bar__plus_00_dot_03_bar__plus_00_dot_11)\n (inReceptacle Pillow_bar__minus_01_dot_46_bar__plus_00_dot_75_bar__plus_00_dot_49 Bed_bar__minus_00_dot_75_bar__plus_00_dot_03_bar__plus_00_dot_11)\n (inReceptacle Pencil_bar__plus_01_dot_35_bar__plus_00_dot_03_bar__minus_01_dot_72 GarbageCan_bar__plus_01_dot_35_bar__plus_00_dot_00_bar__minus_01_dot_69)\n \n \n (receptacleAtLocation ArmChair_bar__plus_02_dot_58_bar__minus_00_dot_01_bar__minus_00_dot_82 loc_bar_7_bar__minus_3_bar_1_bar_60)\n (receptacleAtLocation Bed_bar__minus_00_dot_75_bar__plus_00_dot_03_bar__plus_00_dot_11 loc_bar_4_bar_0_bar_3_bar_45)\n (receptacleAtLocation Cabinet_bar__plus_02_dot_48_bar__plus_00_dot_50_bar__plus_01_dot_00 loc_bar_7_bar_2_bar_1_bar_60)\n (receptacleAtLocation Cabinet_bar__plus_02_dot_48_bar__plus_00_dot_50_bar__plus_01_dot_01 loc_bar_6_bar_3_bar_1_bar_45)\n (receptacleAtLocation Cabinet_bar__plus_02_dot_48_bar__plus_00_dot_50_bar__plus_02_dot_03 loc_bar_7_bar_6_bar_1_bar_60)\n (receptacleAtLocation Cabinet_bar__plus_02_dot_48_bar__plus_00_dot_50_bar__minus_00_dot_02 loc_bar_6_bar__minus_1_bar_1_bar_45)\n (receptacleAtLocation Drawer_bar__plus_02_dot_57_bar__plus_00_dot_90_bar__plus_00_dot_23 loc_bar_8_bar_1_bar_1_bar_60)\n (receptacleAtLocation Drawer_bar__plus_02_dot_57_bar__plus_00_dot_90_bar__plus_00_dot_75 loc_bar_8_bar_3_bar_1_bar_60)\n (receptacleAtLocation Drawer_bar__plus_02_dot_57_bar__plus_00_dot_90_bar__plus_01_dot_27 loc_bar_8_bar_5_bar_1_bar_60)\n (receptacleAtLocation Drawer_bar__plus_02_dot_57_bar__plus_00_dot_90_bar__plus_01_dot_78 loc_bar_8_bar_7_bar_1_bar_60)\n (receptacleAtLocation Drawer_bar__minus_01_dot_53_bar__plus_00_dot_44_bar__plus_01_dot_48 loc_bar__minus_4_bar_6_bar_3_bar_60)\n (receptacleAtLocation Drawer_bar__minus_01_dot_53_bar__plus_00_dot_44_bar__minus_01_dot_25 loc_bar__minus_4_bar__minus_5_bar_3_bar_60)\n (receptacleAtLocation Dresser_bar__plus_02_dot_82_bar__plus_00_dot_00_bar__plus_01_dot_01 loc_bar_9_bar_1_bar_0_bar_60)\n (receptacleAtLocation GarbageCan_bar__plus_01_dot_35_bar__plus_00_dot_00_bar__minus_01_dot_69 loc_bar_5_bar__minus_5_bar_2_bar_60)\n (receptacleAtLocation SideTable_bar__minus_01_dot_60_bar__minus_00_dot_01_bar__plus_01_dot_48 loc_bar__minus_2_bar_6_bar_3_bar_60)\n (receptacleAtLocation SideTable_bar__minus_01_dot_60_bar__minus_00_dot_01_bar__minus_01_dot_25 loc_bar__minus_2_bar__minus_5_bar_3_bar_60)\n (objectAtLocation CD_bar__plus_02_dot_51_bar__plus_00_dot_45_bar__minus_01_dot_00 loc_bar_7_bar__minus_4_bar_1_bar_60)\n (objectAtLocation CellPhone_bar__plus_02_dot_82_bar__plus_00_dot_99_bar__plus_01_dot_29 loc_bar_9_bar_1_bar_0_bar_60)\n (objectAtLocation Pen_bar__minus_01_dot_60_bar__plus_00_dot_67_bar__minus_01_dot_33 loc_bar__minus_2_bar__minus_5_bar_3_bar_60)\n (objectAtLocation CreditCard_bar__minus_01_dot_65_bar__plus_00_dot_66_bar__minus_01_dot_41 loc_bar__minus_2_bar__minus_5_bar_3_bar_60)\n (objectAtLocation KeyChain_bar__plus_02_dot_60_bar__plus_00_dot_45_bar__minus_00_dot_72 loc_bar_8_bar__minus_2_bar_1_bar_60)\n (objectAtLocation Book_bar__plus_00_dot_09_bar__plus_00_dot_69_bar__plus_00_dot_11 loc_bar_4_bar_0_bar_3_bar_45)\n (objectAtLocation KeyChain_bar__plus_03_dot_00_bar__plus_00_dot_99_bar__plus_01_dot_58 loc_bar_9_bar_1_bar_0_bar_60)\n (objectAtLocation Pen_bar__plus_02_dot_91_bar__plus_00_dot_99_bar__plus_00_dot_72 loc_bar_9_bar_1_bar_0_bar_60)\n (objectAtLocation CellPhone_bar__plus_02_dot_28_bar__plus_00_dot_45_bar__minus_00_dot_87 loc_bar_7_bar__minus_3_bar_1_bar_60)\n (objectAtLocation Book_bar__minus_00_dot_18_bar__plus_00_dot_69_bar__plus_00_dot_56 loc_bar_4_bar_0_bar_3_bar_45)\n (objectAtLocation Curtains_bar__minus_00_dot_02_bar__plus_02_dot_92_bar__minus_01_dot_85 loc_bar_0_bar__minus_5_bar_2_bar__minus_30)\n (objectAtLocation KeyChain_bar__minus_01_dot_51_bar__plus_00_dot_66_bar__minus_01_dot_41 loc_bar__minus_2_bar__minus_5_bar_3_bar_60)\n (objectAtLocation Laptop_bar__minus_00_dot_98_bar__plus_00_dot_69_bar__plus_00_dot_11 loc_bar_4_bar_0_bar_3_bar_45)\n (objectAtLocation Cloth_bar__plus_01_dot_76_bar__plus_00_dot_00_bar__minus_01_dot_73 loc_bar_7_bar__minus_5_bar_2_bar_60)\n (objectAtLocation CreditCard_bar__minus_01_dot_74_bar__plus_00_dot_66_bar__plus_01_dot_71 loc_bar__minus_2_bar_6_bar_3_bar_60)\n (objectAtLocation Pen_bar__minus_01_dot_60_bar__plus_00_dot_67_bar__plus_01_dot_63 loc_bar__minus_2_bar_6_bar_3_bar_60)\n (objectAtLocation Pencil_bar__plus_01_dot_35_bar__plus_00_dot_03_bar__minus_01_dot_72 loc_bar_5_bar__minus_5_bar_2_bar_60)\n (objectAtLocation BaseballBat_bar__plus_03_dot_08_bar__plus_00_dot_63_bar__minus_01_dot_76 loc_bar_7_bar__minus_5_bar_1_bar_45)\n (objectAtLocation LightSwitch_bar__plus_01_dot_32_bar__plus_01_dot_30_bar__plus_02_dot_20 loc_bar_5_bar_7_bar_0_bar_45)\n (objectAtLocation AlarmClock_bar__plus_03_dot_00_bar__plus_00_dot_99_bar__plus_01_dot_01 loc_bar_9_bar_1_bar_0_bar_60)\n (objectAtLocation BaseballBat_bar__plus_00_dot_81_bar__plus_00_dot_05_bar__plus_02_dot_15 loc_bar_4_bar_7_bar_0_bar_60)\n (objectAtLocation Pillow_bar__minus_01_dot_37_bar__plus_00_dot_75_bar__minus_00_dot_20 loc_bar_4_bar_0_bar_3_bar_45)\n (objectAtLocation Pillow_bar__minus_01_dot_46_bar__plus_00_dot_75_bar__plus_00_dot_49 loc_bar_4_bar_0_bar_3_bar_45)\n (objectAtLocation Painting_bar__plus_01_dot_53_bar__plus_01_dot_52_bar__minus_01_dot_85 loc_bar_6_bar__minus_5_bar_2_bar_15)\n (objectAtLocation Mirror_bar__plus_00_dot_58_bar__plus_01_dot_35_bar__plus_02_dot_20 loc_bar_2_bar_6_bar_0_bar_30)\n (objectAtLocation CellPhone_bar__plus_02_dot_58_bar__plus_00_dot_89_bar__plus_00_dot_70 loc_bar_8_bar_3_bar_1_bar_60)\n (objectAtLocation CD_bar__minus_01_dot_56_bar__plus_00_dot_36_bar__minus_01_dot_36 loc_bar__minus_4_bar__minus_5_bar_3_bar_60)\n (objectAtLocation Window_bar__minus_00_dot_01_bar__plus_01_dot_69_bar__minus_01_dot_92 loc_bar_0_bar__minus_5_bar_2_bar_0)\n (objectAtLocation Mug_bar__plus_02_dot_53_bar__plus_00_dot_18_bar__plus_01_dot_79 loc_bar_9_bar_7_bar_1_bar_60)\n )\n \n\n (:goal\n (and\n (exists (?r - receptacle)\n (exists (?o - object)\n (and\n (inReceptacle ?o ?r)\n (objectType ?o PencilType)\n (receptacleType ?r SideTableType)\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to garbagecan 1", "take pencil 1 from garbagecan 1", "go to sidetable 1", "move pencil 1 to sidetable 1"]}
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alfworld__pick_and_place_simple__10
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pick_and_place_simple
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pick_and_place_simple-Pencil-None-SideTable-322/trial_T20190908_112624_358795/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 pencil in sidetable.\"\n }\n ],\n\n \"GotoLocation.feedback\": [\n {\n \"rhs\": \"You arrive at {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"OpenObject.feedback\": [\n {\n \"rhs\": \"You open the {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"CloseObject.feedback\": [\n {\n \"rhs\": \"You close the {r.name}.\"\n }\n ],\n\n \"PickupObject.feedback\": [\n {\n \"rhs\": \"You pick up the {o.name} from the {r.name}.\"\n }\n ],\n\n \"PickupObjectFromReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupObjectFromReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupEmptyReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupEmptyReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupFullReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupFullReceptacleObject: You pick up the {outerr.name}.\"\n }\n ],\n\n \"PutObject.feedback\": [\n {\n \"rhs\": \"You move the {o.name} to the {r.name}.\"\n }\n ],\n\n \"PutObjectInReceptacleObject.feedback\": [\n {\n \"rhs\": \"PutObjectInReceptacleObject: You put the {o.name} in the {outero.name}.\"\n }\n ],\n\n \"PutEmptyReceptacleObjectinReceptacle.feedback\": [\n {\n \"rhs\": \"PutEmptyReceptacleObjectinReceptacle: You put the {o.name} in the {r.name}.\"\n }\n ],\n\n \"PutFullReceptacleObjectInReceptacle.feedback\": [\n {\n \"rhs\": \"PutFullReceptacleObjectInReceptacle: You put the {outero.name} in the {r.name}.\"\n }\n ],\n\n \"inventory.feedback\": [\n {\n \"condition\": \"holdsany(a:agent)\",\n \"rhs\": \"You are carrying: [{o.indefinite + ' ' + o.name | holds(a:agent, o:object)}].\"\n },\n {\n \"rhs\": \"You are not carrying anything.\"\n }\n ],\n\n \"examineReceptacle.feedback\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \"The {r.name} is open. In it, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \"The {r.name} is closed.\"\n },\n {\n \"rhs\": \"On the {r.name}, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n }\n ],\n\n \"examineObject.feedback\": [\n {\n \"condition\": \"isreceptacleobject(o:object)\",\n \"rhs\": \"This is a normal {o.name}. In it, you see [{o2.indefinite + ' ' + o2.name | inreceptacleobject(o2:object, o:object)}].\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a clean sliced {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot sliced {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object)\",\n \"rhs\": \"This is a hot and clean {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object)\",\n \"rhs\": \"This is a cool and clean {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object)\",\n \"rhs\": \"This is a hot {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object)\",\n \"rhs\": \"This is a clean {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object)\",\n \"rhs\": \"This is a cold {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"This {o.name} is on.\"\n },\n {\n \"condition\": \"toggleable(o:object) & not_istoggled(o:object)\",\n \"rhs\": \"This {o.name} is off.\"\n },\n {\n \"condition\": \"sliceable(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a sliced {o.name}.\"\n },\n {\n \"rhs\": \"There's nothing special about {o.name}.\"\n }\n ]\n }\n\"\"\";\n\naction GotoLocation {\n template :: \"go to [{r.name | receptacleatlocation(r:receptacle, lend:location)}]\";\n feedback :: \"#GotoLocation.feedback#\";\n}\n\naction OpenObject {\n template :: \"open {r}\";\n feedback :: \"#OpenObject.feedback#\";\n}\n\naction CloseObject {\n template :: \"close {r}\";\n feedback :: \"#CloseObject.feedback#\";\n}\n\naction PickupObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObject.feedback#\";\n}\n\naction PickupObjectFromReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObjectFromReceptacleObject.feedback#\";\n}\n\naction PickupEmptyReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupEmptyReceptacleObject.feedback#\";\n}\n\naction PickupFullReceptacleObject {\n template :: \"take {outerr} from {r}\";\n feedback :: \"#PickupFullReceptacleObject.feedback#\";\n}\n\naction PutObject {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutObject.feedback#\";\n}\n\naction PutObjectInReceptacleObject {\n template :: \"put {o} into {outero}\";\n feedback :: \"#PutObjectInReceptacleObject.feedback#\";\n}\n\naction PutEmptyReceptacleObjectinReceptacle {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutEmptyReceptacleObjectinReceptacle.feedback#\";\n}\n\naction PutFullReceptacleObjectInReceptacle {\n template :: \"put {outero} in {r}\";\n feedback :: \"#PutFullReceptacleObjectInReceptacle.feedback#\";\n}\n\naction inventory {\n template :: \"inventory\";\n feedback :: \"#inventory.feedback#\";\n}\n\naction examineReceptacle {\n template :: \"examine {r}\";\n feedback :: \"#examineReceptacle.feedback#\";\n}\n\naction examineObject {\n template :: \"examine {o}\";\n feedback :: \"#examineObject.feedback#\";\n}\n\naction ToggleObject {\n template :: \"use {o}\";\n feedback :: \"#toggleObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"toggleObject.feedback\": [\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"You turn on the {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object)\",\n \"rhs\": \"You turn off the {o.name}.\"\n },\n {\n \"rhs\": \"You don't see any switch on the {o.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction HeatObject {\n template :: \"heat {o} with {r}\";\n feedback :: \"#heatObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"heatObject.feedback\": [\n {\n \"rhs\": \"You heat the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CleanObject {\n template :: \"clean {o} with {r}\";\n feedback :: \"#cleanObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"cleanObject.feedback\": [\n {\n \"rhs\": \"You clean the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CoolObject {\n template :: \"cool {o} with {r}\";\n feedback :: \"#coolObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"coolObject.feedback\": [\n {\n \"rhs\": \"You cool the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction SliceObject {\n template :: \"slice {co} with {ko}\";\n feedback :: \"#sliceObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"sliceObject.feedback\": [\n {\n \"rhs\": \"You sliced the {co.name} with the {ko.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction look {\n template :: \"look\";\n feedback :: \"#look.feedback#\";\n\n grammar :: \"\"\"\n {\n \"look.feedback\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"#look-variations#. Next to it, you see #list_objects_on_the_floor#.\"\n },\n {\n \"rhs\": \"You are in the middle of a room. Looking quickly around you, you see #list_appliances#.\"\n }\n ],\n\n \"look-variations\": [\n {\n \"rhs\": \"You are facing the [{r.name | atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)}]\"\n }\n ],\n\n \"list_objects_on_the_floor\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)\",\n \"rhs\": \"[{#overview(o)# | atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"list_appliances\": [\n {\n \"condition\": \"receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"[{#overview(r)# | receptacleatlocation(r:receptacle, l:location)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"overview(o, r)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name} (in/on the {r.name})}\"\n }\n ],\n\n \"overview(o)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name}\"\n }\n ],\n \"overview(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}\"\n }\n ],\n \"overview_with_state(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}#overview_state(r)#\"\n }\n ],\n \"overview_state(r)\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \" (it is open)\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \" (it is closed)\"\n },\n {\n \"rhs\": \"\"\n }\n ],\n\n \"list_empty\": [\n {\n \"rhs\": \"nothing\"\n }\n ],\n \"list_separator\": [\n {\n \"rhs\": \", \"\n }\n ],\n \"list_last_separator\": [\n {\n \"rhs\": \", and \"\n }\n ]\n }\n \"\"\";\n}\n\naction help {\n template :: \"help\";\n feedback :: \"\nAvailable commands:\n look: look around your current location\n inventory: check your current inventory\n go to (receptacle): move to a receptacle\n open (receptacle): open a receptacle\n close (receptacle): close a receptacle\n take (object) from (receptacle): take an object from a receptacle\n move (object) to (receptacle): place an object in or on a receptacle\n examine (something): examine a receptacle or an object\n use (object): use an object\n heat (object) with (receptacle): heat an object using a receptacle\n clean (object) with (receptacle): clean an object using a receptacle\n cool (object) with (receptacle): cool an object using a receptacle\n slice (object) with (object): slice an object using a sharp object\n\";\n}\n", "pddl_problem": "\n(define (problem plan_trial_T20190908_112624_358795)\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_00_dot_98_bar__plus_00_dot_44 - object\n AlarmClock_bar__minus_01_dot_59_bar__plus_00_dot_66_bar__minus_01_dot_06 - object\n BaseballBat_bar__plus_00_dot_81_bar__plus_00_dot_05_bar__plus_02_dot_15 - object\n BaseballBat_bar__plus_03_dot_08_bar__plus_00_dot_63_bar__minus_01_dot_76 - object\n Book_bar__plus_00_dot_09_bar__plus_00_dot_69_bar__minus_00_dot_33 - object\n CD_bar__plus_02_dot_55_bar__plus_00_dot_45_bar__minus_00_dot_80 - object\n CD_bar__plus_02_dot_82_bar__plus_00_dot_18_bar__plus_01_dot_33 - object\n CellPhone_bar__plus_02_dot_64_bar__plus_00_dot_99_bar__plus_00_dot_16 - object\n CellPhone_bar__minus_00_dot_18_bar__plus_00_dot_69_bar__plus_00_dot_78 - object\n CellPhone_bar__minus_01_dot_51_bar__plus_00_dot_66_bar__plus_01_dot_63 - object\n Cloth_bar__plus_01_dot_76_bar__plus_00_dot_00_bar__minus_01_dot_73 - object\n CreditCard_bar__plus_02_dot_58_bar__plus_00_dot_89_bar__plus_01_dot_63 - object\n CreditCard_bar__plus_03_dot_00_bar__plus_00_dot_99_bar__plus_01_dot_86 - object\n CreditCard_bar__minus_01_dot_56_bar__plus_00_dot_66_bar__minus_01_dot_33 - object\n Curtains_bar__minus_00_dot_02_bar__plus_02_dot_92_bar__minus_01_dot_85 - object\n KeyChain_bar__plus_02_dot_28_bar__plus_00_dot_45_bar__minus_00_dot_75 - object\n Lamp_bar__minus_01_dot_62_bar__plus_00_dot_65_bar__plus_01_dot_49 - object\n Lamp_bar__minus_01_dot_63_bar__plus_00_dot_65_bar__minus_01_dot_31 - object\n Laptop_bar__plus_02_dot_82_bar__plus_00_dot_99_bar__plus_01_dot_29 - object\n LightSwitch_bar__plus_01_dot_32_bar__plus_01_dot_30_bar__plus_02_dot_20 - object\n Mirror_bar__plus_00_dot_58_bar__plus_01_dot_35_bar__plus_02_dot_20 - object\n Mug_bar__plus_03_dot_08_bar__plus_00_dot_99_bar__plus_00_dot_16 - object\n Painting_bar__plus_01_dot_53_bar__plus_01_dot_52_bar__minus_01_dot_85 - object\n Pencil_bar__plus_02_dot_64_bar__plus_00_dot_99_bar__plus_01_dot_58 - object\n Pen_bar__minus_01_dot_60_bar__plus_00_dot_67_bar__plus_01_dot_71 - object\n Pillow_bar__minus_00_dot_72_bar__plus_00_dot_78_bar__minus_00_dot_33 - object\n Pillow_bar__minus_01_dot_46_bar__plus_00_dot_75_bar__plus_00_dot_49 - object\n Window_bar__minus_00_dot_01_bar__plus_01_dot_69_bar__minus_01_dot_92 - object\n ArmChair_bar__plus_02_dot_58_bar__minus_00_dot_01_bar__minus_00_dot_82 - receptacle\n Bed_bar__minus_00_dot_75_bar__plus_00_dot_03_bar__plus_00_dot_11 - receptacle\n Cabinet_bar__plus_02_dot_48_bar__plus_00_dot_50_bar__plus_01_dot_00 - receptacle\n Cabinet_bar__plus_02_dot_48_bar__plus_00_dot_50_bar__plus_01_dot_01 - receptacle\n Cabinet_bar__plus_02_dot_48_bar__plus_00_dot_50_bar__plus_02_dot_03 - receptacle\n Cabinet_bar__plus_02_dot_48_bar__plus_00_dot_50_bar__minus_00_dot_02 - receptacle\n Drawer_bar__plus_02_dot_57_bar__plus_00_dot_90_bar__plus_00_dot_23 - receptacle\n Drawer_bar__plus_02_dot_57_bar__plus_00_dot_90_bar__plus_00_dot_75 - receptacle\n Drawer_bar__plus_02_dot_57_bar__plus_00_dot_90_bar__plus_01_dot_27 - receptacle\n Drawer_bar__plus_02_dot_57_bar__plus_00_dot_90_bar__plus_01_dot_78 - receptacle\n Drawer_bar__minus_01_dot_53_bar__plus_00_dot_44_bar__plus_01_dot_48 - receptacle\n Drawer_bar__minus_01_dot_53_bar__plus_00_dot_44_bar__minus_01_dot_25 - receptacle\n Dresser_bar__plus_02_dot_82_bar__plus_00_dot_00_bar__plus_01_dot_01 - receptacle\n GarbageCan_bar__plus_01_dot_35_bar__plus_00_dot_00_bar__minus_01_dot_69 - receptacle\n SideTable_bar__minus_01_dot_60_bar__minus_00_dot_01_bar__plus_01_dot_48 - receptacle\n SideTable_bar__minus_01_dot_60_bar__minus_00_dot_01_bar__minus_01_dot_25 - receptacle\n loc_bar__minus_4_bar__minus_5_bar_3_bar_60 - location\n loc_bar_4_bar_7_bar_0_bar_60 - location\n loc_bar_8_bar_1_bar_1_bar_60 - location\n loc_bar_5_bar_7_bar_0_bar_45 - location\n loc_bar_9_bar_5_bar_1_bar_60 - location\n loc_bar_6_bar_3_bar_1_bar_45 - location\n loc_bar_8_bar_5_bar_1_bar_60 - location\n loc_bar_6_bar__minus_5_bar_2_bar_15 - location\n loc_bar_8_bar_3_bar_1_bar_60 - location\n loc_bar_2_bar_6_bar_0_bar_30 - location\n loc_bar_7_bar_6_bar_1_bar_60 - location\n loc_bar_6_bar__minus_1_bar_1_bar_45 - location\n loc_bar_5_bar__minus_5_bar_2_bar_60 - location\n loc_bar_7_bar__minus_5_bar_1_bar_45 - location\n loc_bar_0_bar__minus_5_bar_2_bar_0 - location\n loc_bar_8_bar_7_bar_1_bar_60 - location\n loc_bar_7_bar_2_bar_1_bar_60 - location\n loc_bar_7_bar__minus_3_bar_1_bar_60 - location\n loc_bar_0_bar__minus_5_bar_2_bar__minus_30 - location\n loc_bar_9_bar_1_bar_0_bar_60 - location\n loc_bar_4_bar_0_bar_3_bar_45 - location\n loc_bar__minus_2_bar_6_bar_3_bar_60 - location\n loc_bar__minus_2_bar__minus_5_bar_3_bar_60 - location\n loc_bar_7_bar__minus_5_bar_2_bar_60 - location\n loc_bar__minus_4_bar_6_bar_3_bar_60 - location\n loc_bar_3_bar_2_bar_3_bar_30 - location\n )\n \n\n(:init\n\n\n (receptacleType Bed_bar__minus_00_dot_75_bar__plus_00_dot_03_bar__plus_00_dot_11 BedType)\n (receptacleType Drawer_bar__minus_01_dot_53_bar__plus_00_dot_44_bar__plus_01_dot_48 DrawerType)\n (receptacleType Drawer_bar__plus_02_dot_57_bar__plus_00_dot_90_bar__plus_01_dot_27 DrawerType)\n (receptacleType Drawer_bar__plus_02_dot_57_bar__plus_00_dot_90_bar__plus_01_dot_78 DrawerType)\n (receptacleType SideTable_bar__minus_01_dot_60_bar__minus_00_dot_01_bar__plus_01_dot_48 SideTableType)\n (receptacleType Cabinet_bar__plus_02_dot_48_bar__plus_00_dot_50_bar__plus_01_dot_00 CabinetType)\n (receptacleType Drawer_bar__plus_02_dot_57_bar__plus_00_dot_90_bar__plus_00_dot_23 DrawerType)\n (receptacleType Drawer_bar__minus_01_dot_53_bar__plus_00_dot_44_bar__minus_01_dot_25 DrawerType)\n (receptacleType Cabinet_bar__plus_02_dot_48_bar__plus_00_dot_50_bar__minus_00_dot_02 CabinetType)\n (receptacleType GarbageCan_bar__plus_01_dot_35_bar__plus_00_dot_00_bar__minus_01_dot_69 GarbageCanType)\n (receptacleType Drawer_bar__plus_02_dot_57_bar__plus_00_dot_90_bar__plus_00_dot_75 DrawerType)\n (receptacleType Cabinet_bar__plus_02_dot_48_bar__plus_00_dot_50_bar__plus_01_dot_01 CabinetType)\n (receptacleType ArmChair_bar__plus_02_dot_58_bar__minus_00_dot_01_bar__minus_00_dot_82 ArmChairType)\n (receptacleType Dresser_bar__plus_02_dot_82_bar__plus_00_dot_00_bar__plus_01_dot_01 DresserType)\n (receptacleType SideTable_bar__minus_01_dot_60_bar__minus_00_dot_01_bar__minus_01_dot_25 SideTableType)\n (receptacleType Cabinet_bar__plus_02_dot_48_bar__plus_00_dot_50_bar__plus_02_dot_03 CabinetType)\n (objectType Painting_bar__plus_01_dot_53_bar__plus_01_dot_52_bar__minus_01_dot_85 PaintingType)\n (objectType CD_bar__plus_02_dot_55_bar__plus_00_dot_45_bar__minus_00_dot_80 CDType)\n (objectType BaseballBat_bar__plus_00_dot_81_bar__plus_00_dot_05_bar__plus_02_dot_15 BaseballBatType)\n (objectType LightSwitch_bar__plus_01_dot_32_bar__plus_01_dot_30_bar__plus_02_dot_20 LightSwitchType)\n (objectType Book_bar__plus_00_dot_09_bar__plus_00_dot_69_bar__minus_00_dot_33 BookType)\n (objectType AlarmClock_bar__plus_02_dot_64_bar__plus_00_dot_98_bar__plus_00_dot_44 AlarmClockType)\n (objectType Pen_bar__minus_01_dot_60_bar__plus_00_dot_67_bar__plus_01_dot_71 PenType)\n (objectType BaseballBat_bar__plus_03_dot_08_bar__plus_00_dot_63_bar__minus_01_dot_76 BaseballBatType)\n (objectType CellPhone_bar__minus_01_dot_51_bar__plus_00_dot_66_bar__plus_01_dot_63 CellPhoneType)\n (objectType CreditCard_bar__minus_01_dot_56_bar__plus_00_dot_66_bar__minus_01_dot_33 CreditCardType)\n (objectType CD_bar__plus_02_dot_82_bar__plus_00_dot_18_bar__plus_01_dot_33 CDType)\n (objectType Window_bar__minus_00_dot_01_bar__plus_01_dot_69_bar__minus_01_dot_92 WindowType)\n (objectType CreditCard_bar__plus_03_dot_00_bar__plus_00_dot_99_bar__plus_01_dot_86 CreditCardType)\n (objectType Curtains_bar__minus_00_dot_02_bar__plus_02_dot_92_bar__minus_01_dot_85 CurtainsType)\n (objectType Pillow_bar__minus_00_dot_72_bar__plus_00_dot_78_bar__minus_00_dot_33 PillowType)\n (objectType Mug_bar__plus_03_dot_08_bar__plus_00_dot_99_bar__plus_00_dot_16 MugType)\n (objectType CellPhone_bar__minus_00_dot_18_bar__plus_00_dot_69_bar__plus_00_dot_78 CellPhoneType)\n (objectType CellPhone_bar__plus_02_dot_64_bar__plus_00_dot_99_bar__plus_00_dot_16 CellPhoneType)\n (objectType CreditCard_bar__plus_02_dot_58_bar__plus_00_dot_89_bar__plus_01_dot_63 CreditCardType)\n (objectType Mirror_bar__plus_00_dot_58_bar__plus_01_dot_35_bar__plus_02_dot_20 MirrorType)\n (objectType Pencil_bar__plus_02_dot_64_bar__plus_00_dot_99_bar__plus_01_dot_58 PencilType)\n (objectType KeyChain_bar__plus_02_dot_28_bar__plus_00_dot_45_bar__minus_00_dot_75 KeyChainType)\n (objectType Cloth_bar__plus_01_dot_76_bar__plus_00_dot_00_bar__minus_01_dot_73 ClothType)\n (objectType Laptop_bar__plus_02_dot_82_bar__plus_00_dot_99_bar__plus_01_dot_29 LaptopType)\n (objectType AlarmClock_bar__minus_01_dot_59_bar__plus_00_dot_66_bar__minus_01_dot_06 AlarmClockType)\n (objectType Pillow_bar__minus_01_dot_46_bar__plus_00_dot_75_bar__plus_00_dot_49 PillowType)\n (canContain BedType BaseballBatType)\n (canContain BedType LaptopType)\n (canContain BedType BookType)\n (canContain BedType CellPhoneType)\n (canContain BedType PillowType)\n (canContain DrawerType PenType)\n (canContain DrawerType BookType)\n (canContain DrawerType CDType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType ClothType)\n (canContain DrawerType PencilType)\n (canContain DrawerType PenType)\n (canContain DrawerType BookType)\n (canContain DrawerType CDType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType ClothType)\n (canContain DrawerType PencilType)\n (canContain DrawerType PenType)\n (canContain DrawerType BookType)\n (canContain DrawerType CDType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType ClothType)\n (canContain DrawerType PencilType)\n (canContain SideTableType PenType)\n (canContain SideTableType BookType)\n (canContain SideTableType CDType)\n (canContain SideTableType MugType)\n (canContain SideTableType CellPhoneType)\n (canContain SideTableType KeyChainType)\n (canContain SideTableType CreditCardType)\n (canContain SideTableType BaseballBatType)\n (canContain SideTableType ClothType)\n (canContain SideTableType LaptopType)\n (canContain SideTableType PencilType)\n (canContain SideTableType AlarmClockType)\n (canContain CabinetType BookType)\n (canContain CabinetType CDType)\n (canContain CabinetType MugType)\n (canContain CabinetType ClothType)\n (canContain DrawerType PenType)\n (canContain DrawerType BookType)\n (canContain DrawerType CDType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType ClothType)\n (canContain DrawerType PencilType)\n (canContain DrawerType PenType)\n (canContain DrawerType BookType)\n (canContain DrawerType CDType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType ClothType)\n (canContain DrawerType PencilType)\n (canContain CabinetType BookType)\n (canContain CabinetType CDType)\n (canContain CabinetType MugType)\n (canContain CabinetType ClothType)\n (canContain GarbageCanType PenType)\n (canContain GarbageCanType CDType)\n (canContain GarbageCanType ClothType)\n (canContain GarbageCanType PencilType)\n (canContain DrawerType PenType)\n (canContain DrawerType BookType)\n (canContain DrawerType CDType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType ClothType)\n (canContain DrawerType PencilType)\n (canContain CabinetType BookType)\n (canContain CabinetType CDType)\n (canContain CabinetType MugType)\n (canContain CabinetType ClothType)\n (canContain ArmChairType ClothType)\n (canContain ArmChairType LaptopType)\n (canContain ArmChairType BookType)\n (canContain ArmChairType CellPhoneType)\n (canContain ArmChairType PillowType)\n (canContain ArmChairType KeyChainType)\n (canContain ArmChairType CreditCardType)\n (canContain DresserType PenType)\n (canContain DresserType BookType)\n (canContain DresserType CDType)\n (canContain DresserType MugType)\n (canContain DresserType CellPhoneType)\n (canContain DresserType KeyChainType)\n (canContain DresserType CreditCardType)\n (canContain DresserType ClothType)\n (canContain DresserType LaptopType)\n (canContain DresserType PencilType)\n (canContain DresserType AlarmClockType)\n (canContain SideTableType PenType)\n (canContain SideTableType BookType)\n (canContain SideTableType CDType)\n (canContain SideTableType MugType)\n (canContain SideTableType CellPhoneType)\n (canContain SideTableType KeyChainType)\n (canContain SideTableType CreditCardType)\n (canContain SideTableType BaseballBatType)\n (canContain SideTableType ClothType)\n (canContain SideTableType LaptopType)\n (canContain SideTableType PencilType)\n (canContain SideTableType AlarmClockType)\n (canContain CabinetType BookType)\n (canContain CabinetType CDType)\n (canContain CabinetType MugType)\n (canContain CabinetType ClothType)\n (pickupable CD_bar__plus_02_dot_55_bar__plus_00_dot_45_bar__minus_00_dot_80)\n (pickupable BaseballBat_bar__plus_00_dot_81_bar__plus_00_dot_05_bar__plus_02_dot_15)\n (pickupable Book_bar__plus_00_dot_09_bar__plus_00_dot_69_bar__minus_00_dot_33)\n (pickupable AlarmClock_bar__plus_02_dot_64_bar__plus_00_dot_98_bar__plus_00_dot_44)\n (pickupable Pen_bar__minus_01_dot_60_bar__plus_00_dot_67_bar__plus_01_dot_71)\n (pickupable BaseballBat_bar__plus_03_dot_08_bar__plus_00_dot_63_bar__minus_01_dot_76)\n (pickupable CellPhone_bar__minus_01_dot_51_bar__plus_00_dot_66_bar__plus_01_dot_63)\n (pickupable CreditCard_bar__minus_01_dot_56_bar__plus_00_dot_66_bar__minus_01_dot_33)\n (pickupable CD_bar__plus_02_dot_82_bar__plus_00_dot_18_bar__plus_01_dot_33)\n (pickupable CreditCard_bar__plus_03_dot_00_bar__plus_00_dot_99_bar__plus_01_dot_86)\n (pickupable Pillow_bar__minus_00_dot_72_bar__plus_00_dot_78_bar__minus_00_dot_33)\n (pickupable Mug_bar__plus_03_dot_08_bar__plus_00_dot_99_bar__plus_00_dot_16)\n (pickupable CellPhone_bar__minus_00_dot_18_bar__plus_00_dot_69_bar__plus_00_dot_78)\n (pickupable CellPhone_bar__plus_02_dot_64_bar__plus_00_dot_99_bar__plus_00_dot_16)\n (pickupable CreditCard_bar__plus_02_dot_58_bar__plus_00_dot_89_bar__plus_01_dot_63)\n (pickupable Pencil_bar__plus_02_dot_64_bar__plus_00_dot_99_bar__plus_01_dot_58)\n (pickupable KeyChain_bar__plus_02_dot_28_bar__plus_00_dot_45_bar__minus_00_dot_75)\n (pickupable Cloth_bar__plus_01_dot_76_bar__plus_00_dot_00_bar__minus_01_dot_73)\n (pickupable Laptop_bar__plus_02_dot_82_bar__plus_00_dot_99_bar__plus_01_dot_29)\n (pickupable AlarmClock_bar__minus_01_dot_59_bar__plus_00_dot_66_bar__minus_01_dot_06)\n (pickupable Pillow_bar__minus_01_dot_46_bar__plus_00_dot_75_bar__plus_00_dot_49)\n (isReceptacleObject Mug_bar__plus_03_dot_08_bar__plus_00_dot_99_bar__plus_00_dot_16)\n (openable Drawer_bar__plus_02_dot_57_bar__plus_00_dot_90_bar__plus_01_dot_27)\n (openable Drawer_bar__plus_02_dot_57_bar__plus_00_dot_90_bar__plus_01_dot_78)\n (openable Cabinet_bar__plus_02_dot_48_bar__plus_00_dot_50_bar__plus_01_dot_00)\n (openable Drawer_bar__plus_02_dot_57_bar__plus_00_dot_90_bar__plus_00_dot_23)\n (openable Cabinet_bar__plus_02_dot_48_bar__plus_00_dot_50_bar__minus_00_dot_02)\n (openable Drawer_bar__plus_02_dot_57_bar__plus_00_dot_90_bar__plus_00_dot_75)\n (openable Cabinet_bar__plus_02_dot_48_bar__plus_00_dot_50_bar__plus_01_dot_01)\n (openable Cabinet_bar__plus_02_dot_48_bar__plus_00_dot_50_bar__plus_02_dot_03)\n \n (atLocation agent1 loc_bar_3_bar_2_bar_3_bar_30)\n \n (cleanable Mug_bar__plus_03_dot_08_bar__plus_00_dot_99_bar__plus_00_dot_16)\n (cleanable Cloth_bar__plus_01_dot_76_bar__plus_00_dot_00_bar__minus_01_dot_73)\n \n (heatable Mug_bar__plus_03_dot_08_bar__plus_00_dot_99_bar__plus_00_dot_16)\n (coolable Mug_bar__plus_03_dot_08_bar__plus_00_dot_99_bar__plus_00_dot_16)\n \n \n \n \n \n \n \n (inReceptacle Pen_bar__minus_01_dot_60_bar__plus_00_dot_67_bar__plus_01_dot_71 SideTable_bar__minus_01_dot_60_bar__minus_00_dot_01_bar__plus_01_dot_48)\n (inReceptacle CellPhone_bar__minus_01_dot_51_bar__plus_00_dot_66_bar__plus_01_dot_63 SideTable_bar__minus_01_dot_60_bar__minus_00_dot_01_bar__plus_01_dot_48)\n (inReceptacle AlarmClock_bar__minus_01_dot_59_bar__plus_00_dot_66_bar__minus_01_dot_06 SideTable_bar__minus_01_dot_60_bar__minus_00_dot_01_bar__minus_01_dot_25)\n (inReceptacle CreditCard_bar__minus_01_dot_56_bar__plus_00_dot_66_bar__minus_01_dot_33 SideTable_bar__minus_01_dot_60_bar__minus_00_dot_01_bar__minus_01_dot_25)\n (inReceptacle KeyChain_bar__plus_02_dot_28_bar__plus_00_dot_45_bar__minus_00_dot_75 ArmChair_bar__plus_02_dot_58_bar__minus_00_dot_01_bar__minus_00_dot_82)\n (inReceptacle AlarmClock_bar__plus_02_dot_64_bar__plus_00_dot_98_bar__plus_00_dot_44 Dresser_bar__plus_02_dot_82_bar__plus_00_dot_00_bar__plus_01_dot_01)\n (inReceptacle Mug_bar__plus_03_dot_08_bar__plus_00_dot_99_bar__plus_00_dot_16 Dresser_bar__plus_02_dot_82_bar__plus_00_dot_00_bar__plus_01_dot_01)\n (inReceptacle CellPhone_bar__plus_02_dot_64_bar__plus_00_dot_99_bar__plus_00_dot_16 Dresser_bar__plus_02_dot_82_bar__plus_00_dot_00_bar__plus_01_dot_01)\n (inReceptacle Pencil_bar__plus_02_dot_64_bar__plus_00_dot_99_bar__plus_01_dot_58 Dresser_bar__plus_02_dot_82_bar__plus_00_dot_00_bar__plus_01_dot_01)\n (inReceptacle Laptop_bar__plus_02_dot_82_bar__plus_00_dot_99_bar__plus_01_dot_29 Dresser_bar__plus_02_dot_82_bar__plus_00_dot_00_bar__plus_01_dot_01)\n (inReceptacle CreditCard_bar__plus_03_dot_00_bar__plus_00_dot_99_bar__plus_01_dot_86 Dresser_bar__plus_02_dot_82_bar__plus_00_dot_00_bar__plus_01_dot_01)\n (inReceptacle CellPhone_bar__minus_00_dot_18_bar__plus_00_dot_69_bar__plus_00_dot_78 Bed_bar__minus_00_dot_75_bar__plus_00_dot_03_bar__plus_00_dot_11)\n (inReceptacle Book_bar__plus_00_dot_09_bar__plus_00_dot_69_bar__minus_00_dot_33 Bed_bar__minus_00_dot_75_bar__plus_00_dot_03_bar__plus_00_dot_11)\n (inReceptacle Pillow_bar__minus_01_dot_46_bar__plus_00_dot_75_bar__plus_00_dot_49 Bed_bar__minus_00_dot_75_bar__plus_00_dot_03_bar__plus_00_dot_11)\n (inReceptacle Pillow_bar__minus_00_dot_72_bar__plus_00_dot_78_bar__minus_00_dot_33 Bed_bar__minus_00_dot_75_bar__plus_00_dot_03_bar__plus_00_dot_11)\n (inReceptacle CreditCard_bar__plus_02_dot_58_bar__plus_00_dot_89_bar__plus_01_dot_63 Drawer_bar__plus_02_dot_57_bar__plus_00_dot_90_bar__plus_01_dot_78)\n \n \n (receptacleAtLocation ArmChair_bar__plus_02_dot_58_bar__minus_00_dot_01_bar__minus_00_dot_82 loc_bar_7_bar__minus_3_bar_1_bar_60)\n (receptacleAtLocation Bed_bar__minus_00_dot_75_bar__plus_00_dot_03_bar__plus_00_dot_11 loc_bar_4_bar_0_bar_3_bar_45)\n (receptacleAtLocation Cabinet_bar__plus_02_dot_48_bar__plus_00_dot_50_bar__plus_01_dot_00 loc_bar_7_bar_2_bar_1_bar_60)\n (receptacleAtLocation Cabinet_bar__plus_02_dot_48_bar__plus_00_dot_50_bar__plus_01_dot_01 loc_bar_6_bar_3_bar_1_bar_45)\n (receptacleAtLocation Cabinet_bar__plus_02_dot_48_bar__plus_00_dot_50_bar__plus_02_dot_03 loc_bar_7_bar_6_bar_1_bar_60)\n (receptacleAtLocation Cabinet_bar__plus_02_dot_48_bar__plus_00_dot_50_bar__minus_00_dot_02 loc_bar_6_bar__minus_1_bar_1_bar_45)\n (receptacleAtLocation Drawer_bar__plus_02_dot_57_bar__plus_00_dot_90_bar__plus_00_dot_23 loc_bar_8_bar_1_bar_1_bar_60)\n (receptacleAtLocation Drawer_bar__plus_02_dot_57_bar__plus_00_dot_90_bar__plus_00_dot_75 loc_bar_8_bar_3_bar_1_bar_60)\n (receptacleAtLocation Drawer_bar__plus_02_dot_57_bar__plus_00_dot_90_bar__plus_01_dot_27 loc_bar_8_bar_5_bar_1_bar_60)\n (receptacleAtLocation Drawer_bar__plus_02_dot_57_bar__plus_00_dot_90_bar__plus_01_dot_78 loc_bar_8_bar_7_bar_1_bar_60)\n (receptacleAtLocation Drawer_bar__minus_01_dot_53_bar__plus_00_dot_44_bar__plus_01_dot_48 loc_bar__minus_4_bar_6_bar_3_bar_60)\n (receptacleAtLocation Drawer_bar__minus_01_dot_53_bar__plus_00_dot_44_bar__minus_01_dot_25 loc_bar__minus_4_bar__minus_5_bar_3_bar_60)\n (receptacleAtLocation Dresser_bar__plus_02_dot_82_bar__plus_00_dot_00_bar__plus_01_dot_01 loc_bar_9_bar_1_bar_0_bar_60)\n (receptacleAtLocation GarbageCan_bar__plus_01_dot_35_bar__plus_00_dot_00_bar__minus_01_dot_69 loc_bar_5_bar__minus_5_bar_2_bar_60)\n (receptacleAtLocation SideTable_bar__minus_01_dot_60_bar__minus_00_dot_01_bar__plus_01_dot_48 loc_bar__minus_2_bar_6_bar_3_bar_60)\n (receptacleAtLocation SideTable_bar__minus_01_dot_60_bar__minus_00_dot_01_bar__minus_01_dot_25 loc_bar__minus_2_bar__minus_5_bar_3_bar_60)\n (objectAtLocation CD_bar__plus_02_dot_82_bar__plus_00_dot_18_bar__plus_01_dot_33 loc_bar_9_bar_5_bar_1_bar_60)\n (objectAtLocation CellPhone_bar__minus_01_dot_51_bar__plus_00_dot_66_bar__plus_01_dot_63 loc_bar__minus_2_bar_6_bar_3_bar_60)\n (objectAtLocation AlarmClock_bar__minus_01_dot_59_bar__plus_00_dot_66_bar__minus_01_dot_06 loc_bar__minus_2_bar__minus_5_bar_3_bar_60)\n (objectAtLocation CreditCard_bar__plus_03_dot_00_bar__plus_00_dot_99_bar__plus_01_dot_86 loc_bar_9_bar_1_bar_0_bar_60)\n (objectAtLocation CreditCard_bar__plus_02_dot_58_bar__plus_00_dot_89_bar__plus_01_dot_63 loc_bar_8_bar_7_bar_1_bar_60)\n (objectAtLocation CellPhone_bar__plus_02_dot_64_bar__plus_00_dot_99_bar__plus_00_dot_16 loc_bar_9_bar_1_bar_0_bar_60)\n (objectAtLocation Book_bar__plus_00_dot_09_bar__plus_00_dot_69_bar__minus_00_dot_33 loc_bar_4_bar_0_bar_3_bar_45)\n (objectAtLocation Curtains_bar__minus_00_dot_02_bar__plus_02_dot_92_bar__minus_01_dot_85 loc_bar_0_bar__minus_5_bar_2_bar__minus_30)\n (objectAtLocation KeyChain_bar__plus_02_dot_28_bar__plus_00_dot_45_bar__minus_00_dot_75 loc_bar_7_bar__minus_3_bar_1_bar_60)\n (objectAtLocation Laptop_bar__plus_02_dot_82_bar__plus_00_dot_99_bar__plus_01_dot_29 loc_bar_9_bar_1_bar_0_bar_60)\n (objectAtLocation Cloth_bar__plus_01_dot_76_bar__plus_00_dot_00_bar__minus_01_dot_73 loc_bar_7_bar__minus_5_bar_2_bar_60)\n (objectAtLocation CreditCard_bar__minus_01_dot_56_bar__plus_00_dot_66_bar__minus_01_dot_33 loc_bar__minus_2_bar__minus_5_bar_3_bar_60)\n (objectAtLocation Pen_bar__minus_01_dot_60_bar__plus_00_dot_67_bar__plus_01_dot_71 loc_bar__minus_2_bar_6_bar_3_bar_60)\n (objectAtLocation Pencil_bar__plus_02_dot_64_bar__plus_00_dot_99_bar__plus_01_dot_58 loc_bar_9_bar_1_bar_0_bar_60)\n (objectAtLocation BaseballBat_bar__plus_03_dot_08_bar__plus_00_dot_63_bar__minus_01_dot_76 loc_bar_7_bar__minus_5_bar_1_bar_45)\n (objectAtLocation LightSwitch_bar__plus_01_dot_32_bar__plus_01_dot_30_bar__plus_02_dot_20 loc_bar_5_bar_7_bar_0_bar_45)\n (objectAtLocation AlarmClock_bar__plus_02_dot_64_bar__plus_00_dot_98_bar__plus_00_dot_44 loc_bar_9_bar_1_bar_0_bar_60)\n (objectAtLocation BaseballBat_bar__plus_00_dot_81_bar__plus_00_dot_05_bar__plus_02_dot_15 loc_bar_4_bar_7_bar_0_bar_60)\n (objectAtLocation Pillow_bar__minus_00_dot_72_bar__plus_00_dot_78_bar__minus_00_dot_33 loc_bar_4_bar_0_bar_3_bar_45)\n (objectAtLocation Pillow_bar__minus_01_dot_46_bar__plus_00_dot_75_bar__plus_00_dot_49 loc_bar_4_bar_0_bar_3_bar_45)\n (objectAtLocation Painting_bar__plus_01_dot_53_bar__plus_01_dot_52_bar__minus_01_dot_85 loc_bar_6_bar__minus_5_bar_2_bar_15)\n (objectAtLocation Mirror_bar__plus_00_dot_58_bar__plus_01_dot_35_bar__plus_02_dot_20 loc_bar_2_bar_6_bar_0_bar_30)\n (objectAtLocation CellPhone_bar__minus_00_dot_18_bar__plus_00_dot_69_bar__plus_00_dot_78 loc_bar_4_bar_0_bar_3_bar_45)\n (objectAtLocation CD_bar__plus_02_dot_55_bar__plus_00_dot_45_bar__minus_00_dot_80 loc_bar_7_bar__minus_3_bar_1_bar_60)\n (objectAtLocation Window_bar__minus_00_dot_01_bar__plus_01_dot_69_bar__minus_01_dot_92 loc_bar_0_bar__minus_5_bar_2_bar_0)\n (objectAtLocation Mug_bar__plus_03_dot_08_bar__plus_00_dot_99_bar__plus_00_dot_16 loc_bar_9_bar_1_bar_0_bar_60)\n )\n \n\n (:goal\n (and\n (exists (?r - receptacle)\n (exists (?o - object)\n (and\n (inReceptacle ?o ?r)\n (objectType ?o PencilType)\n (receptacleType ?r SideTableType)\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to dresser 1", "take pencil 1 from dresser 1", "go to sidetable 1", "move pencil 1 to sidetable 1"]}
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alfworld__look_at_obj_in_light__4
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look_at_obj_in_light
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look_at_obj_in_light-Pencil-None-DeskLamp-307/trial_T20190909_014346_726857/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 pencil with the desklamp.\"\n }\n ],\n\n \"GotoLocation.feedback\": [\n {\n \"rhs\": \"You arrive at {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"OpenObject.feedback\": [\n {\n \"rhs\": \"You open the {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"CloseObject.feedback\": [\n {\n \"rhs\": \"You close the {r.name}.\"\n }\n ],\n\n \"PickupObject.feedback\": [\n {\n \"rhs\": \"You pick up the {o.name} from the {r.name}.\"\n }\n ],\n\n \"PickupObjectFromReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupObjectFromReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupEmptyReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupEmptyReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupFullReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupFullReceptacleObject: You pick up the {outerr.name}.\"\n }\n ],\n\n \"PutObject.feedback\": [\n {\n \"rhs\": \"You move the {o.name} to the {r.name}.\"\n }\n ],\n\n \"PutObjectInReceptacleObject.feedback\": [\n {\n \"rhs\": \"PutObjectInReceptacleObject: You put the {o.name} in the {outero.name}.\"\n }\n ],\n\n \"PutEmptyReceptacleObjectinReceptacle.feedback\": [\n {\n \"rhs\": \"PutEmptyReceptacleObjectinReceptacle: You put the {o.name} in the {r.name}.\"\n }\n ],\n\n \"PutFullReceptacleObjectInReceptacle.feedback\": [\n {\n \"rhs\": \"PutFullReceptacleObjectInReceptacle: You put the {outero.name} in the {r.name}.\"\n }\n ],\n\n \"inventory.feedback\": [\n {\n \"condition\": \"holdsany(a:agent)\",\n \"rhs\": \"You are carrying: [{o.indefinite + ' ' + o.name | holds(a:agent, o:object)}].\"\n },\n {\n \"rhs\": \"You are not carrying anything.\"\n }\n ],\n\n \"examineReceptacle.feedback\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \"The {r.name} is open. In it, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \"The {r.name} is closed.\"\n },\n {\n \"rhs\": \"On the {r.name}, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n }\n ],\n\n \"examineObject.feedback\": [\n {\n \"condition\": \"isreceptacleobject(o:object)\",\n \"rhs\": \"This is a normal {o.name}. In it, you see [{o2.indefinite + ' ' + o2.name | inreceptacleobject(o2:object, o:object)}].\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a clean sliced {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot sliced {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object)\",\n \"rhs\": \"This is a hot and clean {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object)\",\n \"rhs\": \"This is a cool and clean {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object)\",\n \"rhs\": \"This is a hot {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object)\",\n \"rhs\": \"This is a clean {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object)\",\n \"rhs\": \"This is a cold {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"This {o.name} is on.\"\n },\n {\n \"condition\": \"toggleable(o:object) & not_istoggled(o:object)\",\n \"rhs\": \"This {o.name} is off.\"\n },\n {\n \"condition\": \"sliceable(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a sliced {o.name}.\"\n },\n {\n \"rhs\": \"There's nothing special about {o.name}.\"\n }\n ]\n }\n\"\"\";\n\naction GotoLocation {\n template :: \"go to [{r.name | receptacleatlocation(r:receptacle, lend:location)}]\";\n feedback :: \"#GotoLocation.feedback#\";\n}\n\naction OpenObject {\n template :: \"open {r}\";\n feedback :: \"#OpenObject.feedback#\";\n}\n\naction CloseObject {\n template :: \"close {r}\";\n feedback :: \"#CloseObject.feedback#\";\n}\n\naction PickupObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObject.feedback#\";\n}\n\naction PickupObjectFromReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObjectFromReceptacleObject.feedback#\";\n}\n\naction PickupEmptyReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupEmptyReceptacleObject.feedback#\";\n}\n\naction PickupFullReceptacleObject {\n template :: \"take {outerr} from {r}\";\n feedback :: \"#PickupFullReceptacleObject.feedback#\";\n}\n\naction PutObject {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutObject.feedback#\";\n}\n\naction PutObjectInReceptacleObject {\n template :: \"put {o} into {outero}\";\n feedback :: \"#PutObjectInReceptacleObject.feedback#\";\n}\n\naction PutEmptyReceptacleObjectinReceptacle {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutEmptyReceptacleObjectinReceptacle.feedback#\";\n}\n\naction PutFullReceptacleObjectInReceptacle {\n template :: \"put {outero} in {r}\";\n feedback :: \"#PutFullReceptacleObjectInReceptacle.feedback#\";\n}\n\naction inventory {\n template :: \"inventory\";\n feedback :: \"#inventory.feedback#\";\n}\n\naction examineReceptacle {\n template :: \"examine {r}\";\n feedback :: \"#examineReceptacle.feedback#\";\n}\n\naction examineObject {\n template :: \"examine {o}\";\n feedback :: \"#examineObject.feedback#\";\n}\n\naction ToggleObject {\n template :: \"use {o}\";\n feedback :: \"#toggleObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"toggleObject.feedback\": [\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"You turn on the {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object)\",\n \"rhs\": \"You turn off the {o.name}.\"\n },\n {\n \"rhs\": \"You don't see any switch on the {o.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction HeatObject {\n template :: \"heat {o} with {r}\";\n feedback :: \"#heatObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"heatObject.feedback\": [\n {\n \"rhs\": \"You heat the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CleanObject {\n template :: \"clean {o} with {r}\";\n feedback :: \"#cleanObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"cleanObject.feedback\": [\n {\n \"rhs\": \"You clean the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CoolObject {\n template :: \"cool {o} with {r}\";\n feedback :: \"#coolObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"coolObject.feedback\": [\n {\n \"rhs\": \"You cool the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction SliceObject {\n template :: \"slice {co} with {ko}\";\n feedback :: \"#sliceObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"sliceObject.feedback\": [\n {\n \"rhs\": \"You sliced the {co.name} with the {ko.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction look {\n template :: \"look\";\n feedback :: \"#look.feedback#\";\n\n grammar :: \"\"\"\n {\n \"look.feedback\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"#look-variations#. Next to it, you see #list_objects_on_the_floor#.\"\n },\n {\n \"rhs\": \"You are in the middle of a room. Looking quickly around you, you see #list_appliances#.\"\n }\n ],\n\n \"look-variations\": [\n {\n \"rhs\": \"You are facing the [{r.name | atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)}]\"\n }\n ],\n\n \"list_objects_on_the_floor\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)\",\n \"rhs\": \"[{#overview(o)# | atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"list_appliances\": [\n {\n \"condition\": \"receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"[{#overview(r)# | receptacleatlocation(r:receptacle, l:location)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"overview(o, r)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name} (in/on the {r.name})}\"\n }\n ],\n\n \"overview(o)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name}\"\n }\n ],\n \"overview(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}\"\n }\n ],\n \"overview_with_state(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}#overview_state(r)#\"\n }\n ],\n \"overview_state(r)\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \" (it is open)\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \" (it is closed)\"\n },\n {\n \"rhs\": \"\"\n }\n ],\n\n \"list_empty\": [\n {\n \"rhs\": \"nothing\"\n }\n ],\n \"list_separator\": [\n {\n \"rhs\": \", \"\n }\n ],\n \"list_last_separator\": [\n {\n \"rhs\": \", and \"\n }\n ]\n }\n \"\"\";\n}\n\naction help {\n template :: \"help\";\n feedback :: \"\nAvailable commands:\n look: look around your current location\n inventory: check your current inventory\n go to (receptacle): move to a receptacle\n open (receptacle): open a receptacle\n close (receptacle): close a receptacle\n take (object) from (receptacle): take an object from a receptacle\n move (object) to (receptacle): place an object in or on a receptacle\n examine (something): examine a receptacle or an object\n use (object): use an object\n heat (object) with (receptacle): heat an object using a receptacle\n clean (object) with (receptacle): clean an object using a receptacle\n cool (object) with (receptacle): cool an object using a receptacle\n slice (object) with (object): slice an object using a sharp object\n\";\n}\n", "pddl_problem": "\n(define (problem plan_trial_T20190909_014346_726857)\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_46_bar__plus_00_dot_81_bar__minus_02_dot_37 - object\n AlarmClock_bar__minus_00_dot_06_bar__plus_00_dot_81_bar__minus_02_dot_30 - object\n AlarmClock_bar__minus_01_dot_39_bar__plus_00_dot_86_bar__minus_02_dot_25 - object\n Blinds_bar__plus_01_dot_70_bar__plus_02_dot_10_bar__minus_01_dot_58 - object\n Book_bar__minus_00_dot_62_bar__plus_00_dot_77_bar__plus_01_dot_17 - object\n Book_bar__minus_01_dot_39_bar__plus_00_dot_86_bar__minus_02_dot_44 - object\n Bowl_bar__minus_00_dot_67_bar__plus_00_dot_86_bar__minus_02_dot_50 - object\n CD_bar__plus_01_dot_30_bar__plus_00_dot_15_bar__minus_02_dot_50 - object\n CD_bar__plus_01_dot_52_bar__plus_00_dot_82_bar__minus_01_dot_73 - object\n CD_bar__minus_01_dot_58_bar__plus_00_dot_65_bar__minus_02_dot_33 - object\n CellPhone_bar__minus_00_dot_39_bar__plus_00_dot_86_bar__minus_02_dot_37 - object\n Chair_bar__plus_00_dot_22_bar__plus_00_dot_00_bar__minus_02_dot_21 - object\n Chair_bar__minus_00_dot_63_bar__plus_00_dot_00_bar__minus_02_dot_20 - object\n Cloth_bar__plus_01_dot_27_bar__plus_00_dot_00_bar__minus_00_dot_97 - object\n Cloth_bar__plus_01_dot_30_bar__plus_00_dot_00_bar__minus_00_dot_70 - object\n CreditCard_bar__plus_00_dot_46_bar__plus_00_dot_81_bar__minus_02_dot_24 - object\n CreditCard_bar__plus_01_dot_52_bar__plus_00_dot_82_bar__minus_01_dot_57 - object\n CreditCard_bar__minus_01_dot_32_bar__plus_00_dot_37_bar__minus_02_dot_36 - object\n DeskLamp_bar__plus_00_dot_05_bar__plus_00_dot_81_bar__minus_02_dot_48 - object\n KeyChain_bar__minus_01_dot_41_bar__plus_00_dot_65_bar__minus_02_dot_29 - object\n Laptop_bar__minus_00_dot_05_bar__plus_00_dot_77_bar__plus_01_dot_01 - object\n LaundryHamperLid_bar__minus_01_dot_44_bar__plus_00_dot_48_bar__plus_01_dot_76 - object\n LightSwitch_bar__minus_01_dot_80_bar__plus_01_dot_21_bar__plus_00_dot_68 - object\n Mirror_bar__plus_01_dot_50_bar__plus_01_dot_36_bar__minus_00_dot_54 - object\n Painting_bar__plus_00_dot_49_bar__plus_01_dot_68_bar__minus_02_dot_63 - object\n Pencil_bar__plus_00_dot_15_bar__plus_00_dot_82_bar__minus_02_dot_17 - object\n Pencil_bar__plus_01_dot_47_bar__plus_00_dot_83_bar__minus_01_dot_26 - object\n Pencil_bar__minus_01_dot_41_bar__plus_00_dot_66_bar__minus_02_dot_36 - object\n Pencil_bar__minus_01_dot_59_bar__plus_00_dot_87_bar__minus_02_dot_44 - object\n Pen_bar__plus_00_dot_36_bar__plus_00_dot_82_bar__minus_02_dot_24 - object\n Pen_bar__plus_01_dot_47_bar__plus_00_dot_83_bar__minus_01_dot_47 - object\n Pillow_bar__plus_00_dot_24_bar__plus_00_dot_90_bar__plus_01_dot_66 - object\n Pillow_bar__plus_00_dot_53_bar__plus_00_dot_90_bar__plus_01_dot_17 - object\n Pillow_bar__minus_00_dot_33_bar__plus_00_dot_90_bar__plus_01_dot_50 - object\n Poster_bar__minus_01_dot_80_bar__plus_01_dot_69_bar__minus_01_dot_49 - object\n RemoteControl_bar__minus_01_dot_19_bar__plus_00_dot_86_bar__minus_02_dot_56 - object\n RemoteControl_bar__minus_01_dot_23_bar__plus_00_dot_65_bar__minus_02_dot_36 - object\n RemoteControl_bar__minus_01_dot_41_bar__plus_00_dot_37_bar__minus_02_dot_33 - object\n Television_bar__minus_01_dot_70_bar__plus_01_dot_47_bar__minus_00_dot_90 - object\n TennisRacket_bar__minus_01_dot_70_bar__plus_00_dot_35_bar__plus_01_dot_74 - object\n Window_bar__plus_01_dot_72_bar__plus_01_dot_37_bar__minus_01_dot_60 - object\n Bed_bar__plus_00_dot_27_bar__plus_00_dot_00_bar__plus_01_dot_33 - receptacle\n Desk_bar__minus_00_dot_87_bar__minus_00_dot_01_bar__minus_02_dot_44 - receptacle\n Drawer_bar__minus_01_dot_41_bar__plus_00_dot_20_bar__minus_02_dot_32 - receptacle\n Drawer_bar__minus_01_dot_41_bar__plus_00_dot_48_bar__minus_02_dot_32 - receptacle\n Drawer_bar__minus_01_dot_41_bar__plus_00_dot_73_bar__minus_02_dot_32 - receptacle\n GarbageCan_bar__plus_01_dot_32_bar__plus_00_dot_00_bar__minus_02_dot_47 - receptacle\n LaundryHamper_bar__minus_01_dot_44_bar__plus_00_dot_01_bar__plus_01_dot_77 - receptacle\n Shelf_bar__plus_01_dot_49_bar__plus_00_dot_82_bar__minus_01_dot_48 - receptacle\n Shelf_bar__minus_01_dot_02_bar__plus_01_dot_35_bar__minus_02_dot_54 - receptacle\n SideTable_bar__plus_00_dot_25_bar_00_dot_00_bar__minus_02_dot_38 - receptacle\n loc_bar_4_bar__minus_8_bar_2_bar_60 - location\n loc_bar__minus_4_bar__minus_4_bar_3_bar_15 - location\n loc_bar_4_bar__minus_8_bar_0_bar_60 - location\n loc_bar__minus_3_bar__minus_7_bar_2_bar_60 - location\n loc_bar__minus_4_bar__minus_7_bar_2_bar_15 - location\n loc_bar_4_bar__minus_3_bar_1_bar_60 - location\n loc_bar__minus_5_bar__minus_6_bar_3_bar_0 - location\n loc_bar__minus_1_bar__minus_7_bar_3_bar_45 - location\n loc_bar_1_bar__minus_7_bar_2_bar_60 - location\n loc_bar_2_bar__minus_7_bar_2_bar_0 - location\n loc_bar__minus_5_bar__minus_7_bar_2_bar_60 - location\n loc_bar_4_bar__minus_4_bar_1_bar_60 - location\n loc_bar__minus_1_bar_0_bar_0_bar_45 - location\n loc_bar_4_bar__minus_2_bar_1_bar_30 - location\n loc_bar__minus_3_bar__minus_7_bar_3_bar_60 - location\n loc_bar__minus_5_bar_5_bar_0_bar_60 - location\n loc_bar_4_bar__minus_6_bar_1_bar__minus_30 - location\n loc_bar__minus_5_bar_3_bar_3_bar_45 - location\n loc_bar_4_bar__minus_6_bar_1_bar_15 - location\n loc_bar__minus_4_bar__minus_5_bar_1_bar_30 - location\n )\n \n\n(:init\n\n\n (receptacleType Shelf_bar__plus_01_dot_49_bar__plus_00_dot_82_bar__minus_01_dot_48 ShelfType)\n (receptacleType Drawer_bar__minus_01_dot_41_bar__plus_00_dot_48_bar__minus_02_dot_32 DrawerType)\n (receptacleType Shelf_bar__minus_01_dot_02_bar__plus_01_dot_35_bar__minus_02_dot_54 ShelfType)\n (receptacleType Bed_bar__plus_00_dot_27_bar__plus_00_dot_00_bar__plus_01_dot_33 BedType)\n (receptacleType SideTable_bar__plus_00_dot_25_bar_00_dot_00_bar__minus_02_dot_38 SideTableType)\n (receptacleType LaundryHamper_bar__minus_01_dot_44_bar__plus_00_dot_01_bar__plus_01_dot_77 LaundryHamperType)\n (receptacleType Drawer_bar__minus_01_dot_41_bar__plus_00_dot_73_bar__minus_02_dot_32 DrawerType)\n (receptacleType GarbageCan_bar__plus_01_dot_32_bar__plus_00_dot_00_bar__minus_02_dot_47 GarbageCanType)\n (receptacleType Drawer_bar__minus_01_dot_41_bar__plus_00_dot_20_bar__minus_02_dot_32 DrawerType)\n (receptacleType Desk_bar__minus_00_dot_87_bar__minus_00_dot_01_bar__minus_02_dot_44 DeskType)\n (objectType TennisRacket_bar__minus_01_dot_70_bar__plus_00_dot_35_bar__plus_01_dot_74 TennisRacketType)\n (objectType Chair_bar__minus_00_dot_63_bar__plus_00_dot_00_bar__minus_02_dot_20 ChairType)\n (objectType LightSwitch_bar__minus_01_dot_80_bar__plus_01_dot_21_bar__plus_00_dot_68 LightSwitchType)\n (objectType Television_bar__minus_01_dot_70_bar__plus_01_dot_47_bar__minus_00_dot_90 TelevisionType)\n (objectType CD_bar__plus_01_dot_30_bar__plus_00_dot_15_bar__minus_02_dot_50 CDType)\n (objectType CellPhone_bar__minus_00_dot_39_bar__plus_00_dot_86_bar__minus_02_dot_37 CellPhoneType)\n (objectType LaundryHamperLid_bar__minus_01_dot_44_bar__plus_00_dot_48_bar__plus_01_dot_76 LaundryHamperLidType)\n (objectType Pencil_bar__plus_00_dot_15_bar__plus_00_dot_82_bar__minus_02_dot_17 PencilType)\n (objectType Painting_bar__plus_00_dot_49_bar__plus_01_dot_68_bar__minus_02_dot_63 PaintingType)\n (objectType Cloth_bar__plus_01_dot_30_bar__plus_00_dot_00_bar__minus_00_dot_70 ClothType)\n (objectType Pillow_bar__minus_00_dot_33_bar__plus_00_dot_90_bar__plus_01_dot_50 PillowType)\n (objectType Pen_bar__plus_01_dot_47_bar__plus_00_dot_83_bar__minus_01_dot_47 PenType)\n (objectType Laptop_bar__minus_00_dot_05_bar__plus_00_dot_77_bar__plus_01_dot_01 LaptopType)\n (objectType Pillow_bar__plus_00_dot_53_bar__plus_00_dot_90_bar__plus_01_dot_17 PillowType)\n (objectType CreditCard_bar__minus_01_dot_32_bar__plus_00_dot_37_bar__minus_02_dot_36 CreditCardType)\n (objectType Mirror_bar__plus_01_dot_50_bar__plus_01_dot_36_bar__minus_00_dot_54 MirrorType)\n (objectType Pencil_bar__minus_01_dot_41_bar__plus_00_dot_66_bar__minus_02_dot_36 PencilType)\n (objectType Pencil_bar__plus_01_dot_47_bar__plus_00_dot_83_bar__minus_01_dot_26 PencilType)\n (objectType Book_bar__minus_00_dot_62_bar__plus_00_dot_77_bar__plus_01_dot_17 BookType)\n (objectType Book_bar__minus_01_dot_39_bar__plus_00_dot_86_bar__minus_02_dot_44 BookType)\n (objectType Pillow_bar__plus_00_dot_24_bar__plus_00_dot_90_bar__plus_01_dot_66 PillowType)\n (objectType AlarmClock_bar__minus_00_dot_06_bar__plus_00_dot_81_bar__minus_02_dot_30 AlarmClockType)\n (objectType AlarmClock_bar__plus_00_dot_46_bar__plus_00_dot_81_bar__minus_02_dot_37 AlarmClockType)\n (objectType Poster_bar__minus_01_dot_80_bar__plus_01_dot_69_bar__minus_01_dot_49 PosterType)\n (objectType Window_bar__plus_01_dot_72_bar__plus_01_dot_37_bar__minus_01_dot_60 WindowType)\n (objectType AlarmClock_bar__minus_01_dot_39_bar__plus_00_dot_86_bar__minus_02_dot_25 AlarmClockType)\n (objectType Blinds_bar__plus_01_dot_70_bar__plus_02_dot_10_bar__minus_01_dot_58 BlindsType)\n (objectType CreditCard_bar__plus_00_dot_46_bar__plus_00_dot_81_bar__minus_02_dot_24 CreditCardType)\n (objectType Cloth_bar__plus_01_dot_27_bar__plus_00_dot_00_bar__minus_00_dot_97 ClothType)\n (objectType KeyChain_bar__minus_01_dot_41_bar__plus_00_dot_65_bar__minus_02_dot_29 KeyChainType)\n (objectType Pencil_bar__minus_01_dot_59_bar__plus_00_dot_87_bar__minus_02_dot_44 PencilType)\n (objectType Pen_bar__plus_00_dot_36_bar__plus_00_dot_82_bar__minus_02_dot_24 PenType)\n (objectType RemoteControl_bar__minus_01_dot_41_bar__plus_00_dot_37_bar__minus_02_dot_33 RemoteControlType)\n (objectType DeskLamp_bar__plus_00_dot_05_bar__plus_00_dot_81_bar__minus_02_dot_48 DeskLampType)\n (objectType CreditCard_bar__plus_01_dot_52_bar__plus_00_dot_82_bar__minus_01_dot_57 CreditCardType)\n (objectType Bowl_bar__minus_00_dot_67_bar__plus_00_dot_86_bar__minus_02_dot_50 BowlType)\n (objectType Chair_bar__plus_00_dot_22_bar__plus_00_dot_00_bar__minus_02_dot_21 ChairType)\n (objectType CD_bar__plus_01_dot_52_bar__plus_00_dot_82_bar__minus_01_dot_73 CDType)\n (objectType CD_bar__minus_01_dot_58_bar__plus_00_dot_65_bar__minus_02_dot_33 CDType)\n (objectType RemoteControl_bar__minus_01_dot_19_bar__plus_00_dot_86_bar__minus_02_dot_56 RemoteControlType)\n (objectType RemoteControl_bar__minus_01_dot_23_bar__plus_00_dot_65_bar__minus_02_dot_36 RemoteControlType)\n (canContain ShelfType PenType)\n (canContain ShelfType BookType)\n (canContain ShelfType BowlType)\n (canContain ShelfType CDType)\n (canContain ShelfType CellPhoneType)\n (canContain ShelfType KeyChainType)\n (canContain ShelfType CreditCardType)\n (canContain ShelfType ClothType)\n (canContain ShelfType PencilType)\n (canContain ShelfType RemoteControlType)\n (canContain ShelfType AlarmClockType)\n (canContain DrawerType PenType)\n (canContain DrawerType BookType)\n (canContain DrawerType CDType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType ClothType)\n (canContain DrawerType PencilType)\n (canContain DrawerType RemoteControlType)\n (canContain ShelfType PenType)\n (canContain ShelfType BookType)\n (canContain ShelfType BowlType)\n (canContain ShelfType CDType)\n (canContain ShelfType CellPhoneType)\n (canContain ShelfType KeyChainType)\n (canContain ShelfType CreditCardType)\n (canContain ShelfType ClothType)\n (canContain ShelfType PencilType)\n (canContain ShelfType RemoteControlType)\n (canContain ShelfType AlarmClockType)\n (canContain BedType TennisRacketType)\n (canContain BedType LaptopType)\n (canContain BedType BookType)\n (canContain BedType CellPhoneType)\n (canContain BedType PillowType)\n (canContain SideTableType PenType)\n (canContain SideTableType BookType)\n (canContain SideTableType BowlType)\n (canContain SideTableType CDType)\n (canContain SideTableType CellPhoneType)\n (canContain SideTableType KeyChainType)\n (canContain SideTableType CreditCardType)\n (canContain SideTableType TennisRacketType)\n (canContain SideTableType ClothType)\n (canContain SideTableType LaptopType)\n (canContain SideTableType PencilType)\n (canContain SideTableType RemoteControlType)\n (canContain SideTableType AlarmClockType)\n (canContain LaundryHamperType ClothType)\n (canContain DrawerType PenType)\n (canContain DrawerType BookType)\n (canContain DrawerType CDType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType ClothType)\n (canContain DrawerType PencilType)\n (canContain DrawerType RemoteControlType)\n (canContain GarbageCanType PenType)\n (canContain GarbageCanType CDType)\n (canContain GarbageCanType ClothType)\n (canContain GarbageCanType PencilType)\n (canContain DrawerType PenType)\n (canContain DrawerType BookType)\n (canContain DrawerType CDType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType ClothType)\n (canContain DrawerType PencilType)\n (canContain DrawerType RemoteControlType)\n (canContain DeskType PenType)\n (canContain DeskType BookType)\n (canContain DeskType BowlType)\n (canContain DeskType CDType)\n (canContain DeskType CellPhoneType)\n (canContain DeskType KeyChainType)\n (canContain DeskType CreditCardType)\n (canContain DeskType TennisRacketType)\n (canContain DeskType ClothType)\n (canContain DeskType LaptopType)\n (canContain DeskType PencilType)\n (canContain DeskType RemoteControlType)\n (canContain DeskType AlarmClockType)\n (pickupable TennisRacket_bar__minus_01_dot_70_bar__plus_00_dot_35_bar__plus_01_dot_74)\n (pickupable CD_bar__plus_01_dot_30_bar__plus_00_dot_15_bar__minus_02_dot_50)\n (pickupable CellPhone_bar__minus_00_dot_39_bar__plus_00_dot_86_bar__minus_02_dot_37)\n (pickupable Pencil_bar__plus_00_dot_15_bar__plus_00_dot_82_bar__minus_02_dot_17)\n (pickupable Cloth_bar__plus_01_dot_30_bar__plus_00_dot_00_bar__minus_00_dot_70)\n (pickupable Pillow_bar__minus_00_dot_33_bar__plus_00_dot_90_bar__plus_01_dot_50)\n (pickupable 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(pickupable CreditCard_bar__plus_00_dot_46_bar__plus_00_dot_81_bar__minus_02_dot_24)\n (pickupable Cloth_bar__plus_01_dot_27_bar__plus_00_dot_00_bar__minus_00_dot_97)\n (pickupable KeyChain_bar__minus_01_dot_41_bar__plus_00_dot_65_bar__minus_02_dot_29)\n (pickupable Pencil_bar__minus_01_dot_59_bar__plus_00_dot_87_bar__minus_02_dot_44)\n (pickupable Pen_bar__plus_00_dot_36_bar__plus_00_dot_82_bar__minus_02_dot_24)\n (pickupable RemoteControl_bar__minus_01_dot_41_bar__plus_00_dot_37_bar__minus_02_dot_33)\n (pickupable CreditCard_bar__plus_01_dot_52_bar__plus_00_dot_82_bar__minus_01_dot_57)\n (pickupable Bowl_bar__minus_00_dot_67_bar__plus_00_dot_86_bar__minus_02_dot_50)\n (pickupable CD_bar__plus_01_dot_52_bar__plus_00_dot_82_bar__minus_01_dot_73)\n (pickupable CD_bar__minus_01_dot_58_bar__plus_00_dot_65_bar__minus_02_dot_33)\n (pickupable RemoteControl_bar__minus_01_dot_19_bar__plus_00_dot_86_bar__minus_02_dot_56)\n (pickupable RemoteControl_bar__minus_01_dot_23_bar__plus_00_dot_65_bar__minus_02_dot_36)\n (isReceptacleObject Bowl_bar__minus_00_dot_67_bar__plus_00_dot_86_bar__minus_02_dot_50)\n (openable Drawer_bar__minus_01_dot_41_bar__plus_00_dot_48_bar__minus_02_dot_32)\n (openable Drawer_bar__minus_01_dot_41_bar__plus_00_dot_73_bar__minus_02_dot_32)\n (openable Drawer_bar__minus_01_dot_41_bar__plus_00_dot_20_bar__minus_02_dot_32)\n \n (atLocation agent1 loc_bar__minus_4_bar__minus_5_bar_1_bar_30)\n \n (cleanable Cloth_bar__plus_01_dot_30_bar__plus_00_dot_00_bar__minus_00_dot_70)\n (cleanable Cloth_bar__plus_01_dot_27_bar__plus_00_dot_00_bar__minus_00_dot_97)\n (cleanable Bowl_bar__minus_00_dot_67_bar__plus_00_dot_86_bar__minus_02_dot_50)\n \n \n (coolable Bowl_bar__minus_00_dot_67_bar__plus_00_dot_86_bar__minus_02_dot_50)\n \n \n (toggleable DeskLamp_bar__plus_00_dot_05_bar__plus_00_dot_81_bar__minus_02_dot_48)\n \n \n \n \n (inReceptacle AlarmClock_bar__minus_01_dot_39_bar__plus_00_dot_86_bar__minus_02_dot_25 Desk_bar__minus_00_dot_87_bar__minus_00_dot_01_bar__minus_02_dot_44)\n (inReceptacle CellPhone_bar__minus_00_dot_39_bar__plus_00_dot_86_bar__minus_02_dot_37 Desk_bar__minus_00_dot_87_bar__minus_00_dot_01_bar__minus_02_dot_44)\n (inReceptacle Bowl_bar__minus_00_dot_67_bar__plus_00_dot_86_bar__minus_02_dot_50 Desk_bar__minus_00_dot_87_bar__minus_00_dot_01_bar__minus_02_dot_44)\n (inReceptacle Book_bar__minus_01_dot_39_bar__plus_00_dot_86_bar__minus_02_dot_44 Desk_bar__minus_00_dot_87_bar__minus_00_dot_01_bar__minus_02_dot_44)\n (inReceptacle RemoteControl_bar__minus_01_dot_19_bar__plus_00_dot_86_bar__minus_02_dot_56 Desk_bar__minus_00_dot_87_bar__minus_00_dot_01_bar__minus_02_dot_44)\n (inReceptacle Pencil_bar__minus_01_dot_59_bar__plus_00_dot_87_bar__minus_02_dot_44 Desk_bar__minus_00_dot_87_bar__minus_00_dot_01_bar__minus_02_dot_44)\n (inReceptacle Pen_bar__plus_00_dot_36_bar__plus_00_dot_82_bar__minus_02_dot_24 SideTable_bar__plus_00_dot_25_bar_00_dot_00_bar__minus_02_dot_38)\n (inReceptacle AlarmClock_bar__plus_00_dot_46_bar__plus_00_dot_81_bar__minus_02_dot_37 SideTable_bar__plus_00_dot_25_bar_00_dot_00_bar__minus_02_dot_38)\n (inReceptacle DeskLamp_bar__plus_00_dot_05_bar__plus_00_dot_81_bar__minus_02_dot_48 SideTable_bar__plus_00_dot_25_bar_00_dot_00_bar__minus_02_dot_38)\n (inReceptacle Pencil_bar__plus_00_dot_15_bar__plus_00_dot_82_bar__minus_02_dot_17 SideTable_bar__plus_00_dot_25_bar_00_dot_00_bar__minus_02_dot_38)\n (inReceptacle AlarmClock_bar__minus_00_dot_06_bar__plus_00_dot_81_bar__minus_02_dot_30 SideTable_bar__plus_00_dot_25_bar_00_dot_00_bar__minus_02_dot_38)\n (inReceptacle CreditCard_bar__plus_00_dot_46_bar__plus_00_dot_81_bar__minus_02_dot_24 SideTable_bar__plus_00_dot_25_bar_00_dot_00_bar__minus_02_dot_38)\n (inReceptacle CreditCard_bar__minus_01_dot_32_bar__plus_00_dot_37_bar__minus_02_dot_36 Drawer_bar__minus_01_dot_41_bar__plus_00_dot_48_bar__minus_02_dot_32)\n (inReceptacle RemoteControl_bar__minus_01_dot_41_bar__plus_00_dot_37_bar__minus_02_dot_33 Drawer_bar__minus_01_dot_41_bar__plus_00_dot_48_bar__minus_02_dot_32)\n (inReceptacle Pencil_bar__minus_01_dot_41_bar__plus_00_dot_66_bar__minus_02_dot_36 Drawer_bar__minus_01_dot_41_bar__plus_00_dot_73_bar__minus_02_dot_32)\n (inReceptacle CD_bar__minus_01_dot_58_bar__plus_00_dot_65_bar__minus_02_dot_33 Drawer_bar__minus_01_dot_41_bar__plus_00_dot_73_bar__minus_02_dot_32)\n (inReceptacle RemoteControl_bar__minus_01_dot_23_bar__plus_00_dot_65_bar__minus_02_dot_36 Drawer_bar__minus_01_dot_41_bar__plus_00_dot_73_bar__minus_02_dot_32)\n (inReceptacle KeyChain_bar__minus_01_dot_41_bar__plus_00_dot_65_bar__minus_02_dot_29 Drawer_bar__minus_01_dot_41_bar__plus_00_dot_73_bar__minus_02_dot_32)\n (inReceptacle Pillow_bar__minus_00_dot_33_bar__plus_00_dot_90_bar__plus_01_dot_50 Bed_bar__plus_00_dot_27_bar__plus_00_dot_00_bar__plus_01_dot_33)\n (inReceptacle Laptop_bar__minus_00_dot_05_bar__plus_00_dot_77_bar__plus_01_dot_01 Bed_bar__plus_00_dot_27_bar__plus_00_dot_00_bar__plus_01_dot_33)\n (inReceptacle Pillow_bar__plus_00_dot_53_bar__plus_00_dot_90_bar__plus_01_dot_17 Bed_bar__plus_00_dot_27_bar__plus_00_dot_00_bar__plus_01_dot_33)\n (inReceptacle Book_bar__minus_00_dot_62_bar__plus_00_dot_77_bar__plus_01_dot_17 Bed_bar__plus_00_dot_27_bar__plus_00_dot_00_bar__plus_01_dot_33)\n (inReceptacle Pillow_bar__plus_00_dot_24_bar__plus_00_dot_90_bar__plus_01_dot_66 Bed_bar__plus_00_dot_27_bar__plus_00_dot_00_bar__plus_01_dot_33)\n (inReceptacle Pencil_bar__plus_01_dot_47_bar__plus_00_dot_83_bar__minus_01_dot_26 Shelf_bar__plus_01_dot_49_bar__plus_00_dot_82_bar__minus_01_dot_48)\n (inReceptacle Pen_bar__plus_01_dot_47_bar__plus_00_dot_83_bar__minus_01_dot_47 Shelf_bar__plus_01_dot_49_bar__plus_00_dot_82_bar__minus_01_dot_48)\n (inReceptacle CreditCard_bar__plus_01_dot_52_bar__plus_00_dot_82_bar__minus_01_dot_57 Shelf_bar__plus_01_dot_49_bar__plus_00_dot_82_bar__minus_01_dot_48)\n (inReceptacle CD_bar__plus_01_dot_52_bar__plus_00_dot_82_bar__minus_01_dot_73 Shelf_bar__plus_01_dot_49_bar__plus_00_dot_82_bar__minus_01_dot_48)\n (inReceptacle CD_bar__plus_01_dot_30_bar__plus_00_dot_15_bar__minus_02_dot_50 GarbageCan_bar__plus_01_dot_32_bar__plus_00_dot_00_bar__minus_02_dot_47)\n \n \n (receptacleAtLocation Bed_bar__plus_00_dot_27_bar__plus_00_dot_00_bar__plus_01_dot_33 loc_bar__minus_1_bar_0_bar_0_bar_45)\n (receptacleAtLocation Desk_bar__minus_00_dot_87_bar__minus_00_dot_01_bar__minus_02_dot_44 loc_bar__minus_5_bar__minus_7_bar_2_bar_60)\n (receptacleAtLocation Drawer_bar__minus_01_dot_41_bar__plus_00_dot_20_bar__minus_02_dot_32 loc_bar__minus_1_bar__minus_7_bar_3_bar_45)\n (receptacleAtLocation Drawer_bar__minus_01_dot_41_bar__plus_00_dot_48_bar__minus_02_dot_32 loc_bar__minus_1_bar__minus_7_bar_3_bar_45)\n (receptacleAtLocation Drawer_bar__minus_01_dot_41_bar__plus_00_dot_73_bar__minus_02_dot_32 loc_bar__minus_3_bar__minus_7_bar_3_bar_60)\n (receptacleAtLocation GarbageCan_bar__plus_01_dot_32_bar__plus_00_dot_00_bar__minus_02_dot_47 loc_bar_4_bar__minus_8_bar_2_bar_60)\n (receptacleAtLocation LaundryHamper_bar__minus_01_dot_44_bar__plus_00_dot_01_bar__plus_01_dot_77 loc_bar__minus_5_bar_5_bar_0_bar_60)\n (receptacleAtLocation Shelf_bar__plus_01_dot_49_bar__plus_00_dot_82_bar__minus_01_dot_48 loc_bar_4_bar__minus_8_bar_0_bar_60)\n (receptacleAtLocation Shelf_bar__minus_01_dot_02_bar__plus_01_dot_35_bar__minus_02_dot_54 loc_bar__minus_4_bar__minus_7_bar_2_bar_15)\n (receptacleAtLocation SideTable_bar__plus_00_dot_25_bar_00_dot_00_bar__minus_02_dot_38 loc_bar_1_bar__minus_7_bar_2_bar_60)\n (objectAtLocation Pen_bar__plus_01_dot_47_bar__plus_00_dot_83_bar__minus_01_dot_47 loc_bar_4_bar__minus_8_bar_0_bar_60)\n (objectAtLocation Pillow_bar__minus_00_dot_33_bar__plus_00_dot_90_bar__plus_01_dot_50 loc_bar__minus_1_bar_0_bar_0_bar_45)\n (objectAtLocation RemoteControl_bar__minus_01_dot_19_bar__plus_00_dot_86_bar__minus_02_dot_56 loc_bar__minus_5_bar__minus_7_bar_2_bar_60)\n (objectAtLocation CreditCard_bar__plus_01_dot_52_bar__plus_00_dot_82_bar__minus_01_dot_57 loc_bar_4_bar__minus_8_bar_0_bar_60)\n (objectAtLocation AlarmClock_bar__minus_01_dot_39_bar__plus_00_dot_86_bar__minus_02_dot_25 loc_bar__minus_5_bar__minus_7_bar_2_bar_60)\n (objectAtLocation Pencil_bar__plus_01_dot_47_bar__plus_00_dot_83_bar__minus_01_dot_26 loc_bar_4_bar__minus_8_bar_0_bar_60)\n (objectAtLocation Book_bar__minus_00_dot_62_bar__plus_00_dot_77_bar__plus_01_dot_17 loc_bar__minus_1_bar_0_bar_0_bar_45)\n (objectAtLocation AlarmClock_bar__minus_00_dot_06_bar__plus_00_dot_81_bar__minus_02_dot_30 loc_bar_1_bar__minus_7_bar_2_bar_60)\n (objectAtLocation Pillow_bar__plus_00_dot_53_bar__plus_00_dot_90_bar__plus_01_dot_17 loc_bar__minus_1_bar_0_bar_0_bar_45)\n (objectAtLocation RemoteControl_bar__minus_01_dot_23_bar__plus_00_dot_65_bar__minus_02_dot_36 loc_bar__minus_3_bar__minus_7_bar_3_bar_60)\n (objectAtLocation CreditCard_bar__plus_00_dot_46_bar__plus_00_dot_81_bar__minus_02_dot_24 loc_bar_1_bar__minus_7_bar_2_bar_60)\n (objectAtLocation Pencil_bar__minus_01_dot_59_bar__plus_00_dot_87_bar__minus_02_dot_44 loc_bar__minus_5_bar__minus_7_bar_2_bar_60)\n (objectAtLocation Pencil_bar__minus_01_dot_41_bar__plus_00_dot_66_bar__minus_02_dot_36 loc_bar__minus_3_bar__minus_7_bar_3_bar_60)\n (objectAtLocation Book_bar__minus_01_dot_39_bar__plus_00_dot_86_bar__minus_02_dot_44 loc_bar__minus_5_bar__minus_7_bar_2_bar_60)\n (objectAtLocation LaundryHamperLid_bar__minus_01_dot_44_bar__plus_00_dot_48_bar__plus_01_dot_76 loc_bar__minus_5_bar_5_bar_0_bar_60)\n (objectAtLocation Chair_bar__minus_00_dot_63_bar__plus_00_dot_00_bar__minus_02_dot_20 loc_bar__minus_3_bar__minus_7_bar_2_bar_60)\n (objectAtLocation Chair_bar__plus_00_dot_22_bar__plus_00_dot_00_bar__minus_02_dot_21 loc_bar_1_bar__minus_7_bar_2_bar_60)\n (objectAtLocation Cloth_bar__plus_01_dot_30_bar__plus_00_dot_00_bar__minus_00_dot_70 loc_bar_4_bar__minus_3_bar_1_bar_60)\n (objectAtLocation Cloth_bar__plus_01_dot_27_bar__plus_00_dot_00_bar__minus_00_dot_97 loc_bar_4_bar__minus_4_bar_1_bar_60)\n (objectAtLocation CellPhone_bar__minus_00_dot_39_bar__plus_00_dot_86_bar__minus_02_dot_37 loc_bar__minus_5_bar__minus_7_bar_2_bar_60)\n (objectAtLocation Television_bar__minus_01_dot_70_bar__plus_01_dot_47_bar__minus_00_dot_90 loc_bar__minus_4_bar__minus_4_bar_3_bar_15)\n (objectAtLocation Pencil_bar__plus_00_dot_15_bar__plus_00_dot_82_bar__minus_02_dot_17 loc_bar_1_bar__minus_7_bar_2_bar_60)\n (objectAtLocation DeskLamp_bar__plus_00_dot_05_bar__plus_00_dot_81_bar__minus_02_dot_48 loc_bar_1_bar__minus_7_bar_2_bar_60)\n (objectAtLocation Laptop_bar__minus_00_dot_05_bar__plus_00_dot_77_bar__plus_01_dot_01 loc_bar__minus_1_bar_0_bar_0_bar_45)\n (objectAtLocation LightSwitch_bar__minus_01_dot_80_bar__plus_01_dot_21_bar__plus_00_dot_68 loc_bar__minus_5_bar_3_bar_3_bar_45)\n (objectAtLocation AlarmClock_bar__plus_00_dot_46_bar__plus_00_dot_81_bar__minus_02_dot_37 loc_bar_1_bar__minus_7_bar_2_bar_60)\n (objectAtLocation CreditCard_bar__minus_01_dot_32_bar__plus_00_dot_37_bar__minus_02_dot_36 loc_bar__minus_1_bar__minus_7_bar_3_bar_45)\n (objectAtLocation KeyChain_bar__minus_01_dot_41_bar__plus_00_dot_65_bar__minus_02_dot_29 loc_bar__minus_3_bar__minus_7_bar_3_bar_60)\n (objectAtLocation TennisRacket_bar__minus_01_dot_70_bar__plus_00_dot_35_bar__plus_01_dot_74 loc_bar__minus_5_bar_5_bar_0_bar_60)\n (objectAtLocation Painting_bar__plus_00_dot_49_bar__plus_01_dot_68_bar__minus_02_dot_63 loc_bar_2_bar__minus_7_bar_2_bar_0)\n (objectAtLocation RemoteControl_bar__minus_01_dot_41_bar__plus_00_dot_37_bar__minus_02_dot_33 loc_bar__minus_1_bar__minus_7_bar_3_bar_45)\n (objectAtLocation Pillow_bar__plus_00_dot_24_bar__plus_00_dot_90_bar__plus_01_dot_66 loc_bar__minus_1_bar_0_bar_0_bar_45)\n (objectAtLocation Poster_bar__minus_01_dot_80_bar__plus_01_dot_69_bar__minus_01_dot_49 loc_bar__minus_5_bar__minus_6_bar_3_bar_0)\n (objectAtLocation Mirror_bar__plus_01_dot_50_bar__plus_01_dot_36_bar__minus_00_dot_54 loc_bar_4_bar__minus_2_bar_1_bar_30)\n (objectAtLocation CD_bar__plus_01_dot_52_bar__plus_00_dot_82_bar__minus_01_dot_73 loc_bar_4_bar__minus_8_bar_0_bar_60)\n (objectAtLocation CD_bar__plus_01_dot_30_bar__plus_00_dot_15_bar__minus_02_dot_50 loc_bar_4_bar__minus_8_bar_2_bar_60)\n (objectAtLocation CD_bar__minus_01_dot_58_bar__plus_00_dot_65_bar__minus_02_dot_33 loc_bar__minus_3_bar__minus_7_bar_3_bar_60)\n (objectAtLocation Pen_bar__plus_00_dot_36_bar__plus_00_dot_82_bar__minus_02_dot_24 loc_bar_1_bar__minus_7_bar_2_bar_60)\n (objectAtLocation Window_bar__plus_01_dot_72_bar__plus_01_dot_37_bar__minus_01_dot_60 loc_bar_4_bar__minus_6_bar_1_bar_15)\n (objectAtLocation Blinds_bar__plus_01_dot_70_bar__plus_02_dot_10_bar__minus_01_dot_58 loc_bar_4_bar__minus_6_bar_1_bar__minus_30)\n (objectAtLocation Bowl_bar__minus_00_dot_67_bar__plus_00_dot_86_bar__minus_02_dot_50 loc_bar__minus_5_bar__minus_7_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 PencilType)\n (holds ?a ?o)\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to sidetable 1", "use desklamp 1", "take pencil 2 from sidetable 1"]}
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alfworld__look_at_obj_in_light__5
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look_at_obj_in_light
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look_at_obj_in_light-Pencil-None-DeskLamp-307/trial_T20190909_014411_219923/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 pencil under the desklamp.\"\n }\n ],\n\n \"GotoLocation.feedback\": [\n {\n \"rhs\": \"You arrive at {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"OpenObject.feedback\": [\n {\n \"rhs\": \"You open the {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"CloseObject.feedback\": [\n {\n \"rhs\": \"You close the {r.name}.\"\n }\n ],\n\n \"PickupObject.feedback\": [\n {\n \"rhs\": \"You pick up the {o.name} from the {r.name}.\"\n }\n ],\n\n \"PickupObjectFromReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupObjectFromReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupEmptyReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupEmptyReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupFullReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupFullReceptacleObject: You pick up the {outerr.name}.\"\n }\n ],\n\n \"PutObject.feedback\": [\n {\n \"rhs\": \"You move the {o.name} to the {r.name}.\"\n }\n ],\n\n \"PutObjectInReceptacleObject.feedback\": [\n {\n \"rhs\": \"PutObjectInReceptacleObject: You put the {o.name} in the {outero.name}.\"\n }\n ],\n\n \"PutEmptyReceptacleObjectinReceptacle.feedback\": [\n {\n \"rhs\": \"PutEmptyReceptacleObjectinReceptacle: You put the {o.name} in the {r.name}.\"\n }\n ],\n\n \"PutFullReceptacleObjectInReceptacle.feedback\": [\n {\n \"rhs\": \"PutFullReceptacleObjectInReceptacle: You put the {outero.name} in the {r.name}.\"\n }\n ],\n\n \"inventory.feedback\": [\n {\n \"condition\": \"holdsany(a:agent)\",\n \"rhs\": \"You are carrying: [{o.indefinite + ' ' + o.name | holds(a:agent, o:object)}].\"\n },\n {\n \"rhs\": \"You are not carrying anything.\"\n }\n ],\n\n \"examineReceptacle.feedback\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \"The {r.name} is open. In it, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \"The {r.name} is closed.\"\n },\n {\n \"rhs\": \"On the {r.name}, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n }\n ],\n\n \"examineObject.feedback\": [\n {\n \"condition\": \"isreceptacleobject(o:object)\",\n \"rhs\": \"This is a normal {o.name}. In it, you see [{o2.indefinite + ' ' + o2.name | inreceptacleobject(o2:object, o:object)}].\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a clean sliced {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot sliced {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object)\",\n \"rhs\": \"This is a hot and clean {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object)\",\n \"rhs\": \"This is a cool and clean {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object)\",\n \"rhs\": \"This is a hot {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object)\",\n \"rhs\": \"This is a clean {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object)\",\n \"rhs\": \"This is a cold {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"This {o.name} is on.\"\n },\n {\n \"condition\": \"toggleable(o:object) & not_istoggled(o:object)\",\n \"rhs\": \"This {o.name} is off.\"\n },\n {\n \"condition\": \"sliceable(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a sliced {o.name}.\"\n },\n {\n \"rhs\": \"There's nothing special about {o.name}.\"\n }\n ]\n }\n\"\"\";\n\naction GotoLocation {\n template :: \"go to [{r.name | receptacleatlocation(r:receptacle, lend:location)}]\";\n feedback :: \"#GotoLocation.feedback#\";\n}\n\naction OpenObject {\n template :: \"open {r}\";\n feedback :: \"#OpenObject.feedback#\";\n}\n\naction CloseObject {\n template :: \"close {r}\";\n feedback :: \"#CloseObject.feedback#\";\n}\n\naction PickupObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObject.feedback#\";\n}\n\naction PickupObjectFromReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObjectFromReceptacleObject.feedback#\";\n}\n\naction PickupEmptyReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupEmptyReceptacleObject.feedback#\";\n}\n\naction PickupFullReceptacleObject {\n template :: \"take {outerr} from {r}\";\n feedback :: \"#PickupFullReceptacleObject.feedback#\";\n}\n\naction PutObject {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutObject.feedback#\";\n}\n\naction PutObjectInReceptacleObject {\n template :: \"put {o} into {outero}\";\n feedback :: \"#PutObjectInReceptacleObject.feedback#\";\n}\n\naction PutEmptyReceptacleObjectinReceptacle {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutEmptyReceptacleObjectinReceptacle.feedback#\";\n}\n\naction PutFullReceptacleObjectInReceptacle {\n template :: \"put {outero} in {r}\";\n feedback :: \"#PutFullReceptacleObjectInReceptacle.feedback#\";\n}\n\naction inventory {\n template :: \"inventory\";\n feedback :: \"#inventory.feedback#\";\n}\n\naction examineReceptacle {\n template :: \"examine {r}\";\n feedback :: \"#examineReceptacle.feedback#\";\n}\n\naction examineObject {\n template :: \"examine {o}\";\n feedback :: \"#examineObject.feedback#\";\n}\n\naction ToggleObject {\n template :: \"use {o}\";\n feedback :: \"#toggleObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"toggleObject.feedback\": [\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"You turn on the {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object)\",\n \"rhs\": \"You turn off the {o.name}.\"\n },\n {\n \"rhs\": \"You don't see any switch on the {o.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction HeatObject {\n template :: \"heat {o} with {r}\";\n feedback :: \"#heatObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"heatObject.feedback\": [\n {\n \"rhs\": \"You heat the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CleanObject {\n template :: \"clean {o} with {r}\";\n feedback :: \"#cleanObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"cleanObject.feedback\": [\n {\n \"rhs\": \"You clean the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CoolObject {\n template :: \"cool {o} with {r}\";\n feedback :: \"#coolObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"coolObject.feedback\": [\n {\n \"rhs\": \"You cool the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction SliceObject {\n template :: \"slice {co} with {ko}\";\n feedback :: \"#sliceObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"sliceObject.feedback\": [\n {\n \"rhs\": \"You sliced the {co.name} with the {ko.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction look {\n template :: \"look\";\n feedback :: \"#look.feedback#\";\n\n grammar :: \"\"\"\n {\n \"look.feedback\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"#look-variations#. Next to it, you see #list_objects_on_the_floor#.\"\n },\n {\n \"rhs\": \"You are in the middle of a room. Looking quickly around you, you see #list_appliances#.\"\n }\n ],\n\n \"look-variations\": [\n {\n \"rhs\": \"You are facing the [{r.name | atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)}]\"\n }\n ],\n\n \"list_objects_on_the_floor\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)\",\n \"rhs\": \"[{#overview(o)# | atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"list_appliances\": [\n {\n \"condition\": \"receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"[{#overview(r)# | receptacleatlocation(r:receptacle, l:location)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"overview(o, r)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name} (in/on the {r.name})}\"\n }\n ],\n\n \"overview(o)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name}\"\n }\n ],\n \"overview(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}\"\n }\n ],\n \"overview_with_state(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}#overview_state(r)#\"\n }\n ],\n \"overview_state(r)\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \" (it is open)\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \" (it is closed)\"\n },\n {\n \"rhs\": \"\"\n }\n ],\n\n \"list_empty\": [\n {\n \"rhs\": \"nothing\"\n }\n ],\n \"list_separator\": [\n {\n \"rhs\": \", \"\n }\n ],\n \"list_last_separator\": [\n {\n \"rhs\": \", and \"\n }\n ]\n }\n \"\"\";\n}\n\naction help {\n template :: \"help\";\n feedback :: \"\nAvailable commands:\n look: look around your current location\n inventory: check your current inventory\n go to (receptacle): move to a receptacle\n open (receptacle): open a receptacle\n close (receptacle): close a receptacle\n take (object) from (receptacle): take an object from a receptacle\n move (object) to (receptacle): place an object in or on a receptacle\n examine (something): examine a receptacle or an object\n use (object): use an object\n heat (object) with (receptacle): heat an object using a receptacle\n clean (object) with (receptacle): clean an object using a receptacle\n cool (object) with (receptacle): cool an object using a receptacle\n slice (object) with (object): slice an object using a sharp object\n\";\n}\n", "pddl_problem": "\n(define (problem plan_trial_T20190909_014411_219923)\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_47_bar__plus_00_dot_82_bar__minus_01_dot_50 - object\n Blinds_bar__plus_01_dot_70_bar__plus_02_dot_10_bar__minus_01_dot_58 - object\n Book_bar__plus_00_dot_82_bar__plus_00_dot_77_bar__plus_01_dot_66 - object\n Book_bar__minus_01_dot_58_bar__plus_00_dot_37_bar__minus_02_dot_33 - object\n Bowl_bar__minus_00_dot_67_bar__plus_00_dot_86_bar__minus_02_dot_50 - object\n CD_bar__plus_00_dot_25_bar__plus_00_dot_81_bar__minus_02_dot_58 - object\n CD_bar__plus_00_dot_53_bar__plus_00_dot_81_bar__minus_02_dot_49 - object\n CD_bar__plus_01_dot_52_bar__plus_00_dot_82_bar__minus_01_dot_73 - object\n CellPhone_bar__minus_00_dot_33_bar__plus_00_dot_77_bar__plus_01_dot_01 - object\n CellPhone_bar__minus_01_dot_39_bar__plus_00_dot_86_bar__minus_02_dot_37 - object\n Chair_bar__plus_00_dot_22_bar__plus_00_dot_00_bar__minus_02_dot_21 - object\n Chair_bar__minus_00_dot_63_bar__plus_00_dot_00_bar__minus_02_dot_20 - object\n Cloth_bar__plus_01_dot_27_bar__plus_00_dot_00_bar__minus_00_dot_97 - object\n Cloth_bar__plus_01_dot_30_bar__plus_00_dot_00_bar__minus_00_dot_70 - object\n CreditCard_bar__plus_00_dot_15_bar__plus_00_dot_81_bar__minus_02_dot_30 - object\n CreditCard_bar__minus_00_dot_99_bar__plus_00_dot_86_bar__minus_02_dot_25 - object\n DeskLamp_bar__plus_00_dot_05_bar__plus_00_dot_81_bar__minus_02_dot_48 - object\n KeyChain_bar__plus_00_dot_04_bar__plus_00_dot_81_bar__minus_02_dot_17 - object\n KeyChain_bar__plus_00_dot_36_bar__plus_00_dot_81_bar__minus_02_dot_37 - object\n KeyChain_bar__minus_00_dot_79_bar__plus_00_dot_86_bar__minus_02_dot_25 - object\n Laptop_bar__plus_00_dot_53_bar__plus_00_dot_77_bar__plus_01_dot_01 - object\n Laptop_bar__minus_00_dot_33_bar__plus_00_dot_77_bar__plus_01_dot_34 - object\n Laptop_bar__minus_00_dot_62_bar__plus_00_dot_77_bar__plus_00_dot_85 - object\n LaundryHamperLid_bar__minus_01_dot_44_bar__plus_00_dot_48_bar__plus_01_dot_76 - object\n LightSwitch_bar__minus_01_dot_80_bar__plus_01_dot_21_bar__plus_00_dot_68 - object\n Mirror_bar__plus_01_dot_50_bar__plus_01_dot_36_bar__minus_00_dot_54 - object\n Painting_bar__plus_00_dot_49_bar__plus_01_dot_68_bar__minus_02_dot_63 - object\n Pencil_bar__minus_00_dot_06_bar__plus_00_dot_81_bar__minus_02_dot_51 - object\n Pencil_bar__minus_00_dot_06_bar__plus_00_dot_82_bar__minus_02_dot_37 - object\n Pencil_bar__minus_01_dot_23_bar__plus_00_dot_38_bar__minus_02_dot_29 - object\n Pencil_bar__minus_01_dot_39_bar__plus_00_dot_87_bar__minus_02_dot_44 - object\n Pen_bar__plus_01_dot_41_bar__plus_00_dot_83_bar__minus_01_dot_78 - object\n Pen_bar__minus_01_dot_32_bar__plus_00_dot_09_bar__minus_02_dot_36 - object\n Pen_bar__minus_01_dot_59_bar__plus_00_dot_87_bar__minus_02_dot_31 - object\n Pillow_bar__plus_00_dot_24_bar__plus_00_dot_90_bar__plus_01_dot_50 - object\n Pillow_bar__plus_01_dot_07_bar__plus_00_dot_88_bar__plus_01_dot_33 - object\n Poster_bar__minus_01_dot_80_bar__plus_01_dot_69_bar__minus_01_dot_49 - object\n RemoteControl_bar__minus_00_dot_39_bar__plus_00_dot_86_bar__minus_02_dot_56 - object\n RemoteControl_bar__minus_01_dot_19_bar__plus_00_dot_86_bar__minus_02_dot_31 - object\n RemoteControl_bar__minus_01_dot_59_bar__plus_00_dot_86_bar__minus_02_dot_56 - object\n Television_bar__minus_01_dot_70_bar__plus_01_dot_47_bar__minus_00_dot_90 - object\n TennisRacket_bar__minus_01_dot_70_bar__plus_00_dot_35_bar__plus_01_dot_74 - object\n Window_bar__plus_01_dot_72_bar__plus_01_dot_37_bar__minus_01_dot_60 - object\n Bed_bar__plus_00_dot_27_bar__plus_00_dot_00_bar__plus_01_dot_33 - receptacle\n Desk_bar__minus_00_dot_87_bar__minus_00_dot_01_bar__minus_02_dot_44 - receptacle\n Drawer_bar__minus_01_dot_41_bar__plus_00_dot_20_bar__minus_02_dot_32 - receptacle\n Drawer_bar__minus_01_dot_41_bar__plus_00_dot_48_bar__minus_02_dot_32 - receptacle\n Drawer_bar__minus_01_dot_41_bar__plus_00_dot_73_bar__minus_02_dot_32 - receptacle\n GarbageCan_bar__plus_01_dot_32_bar__plus_00_dot_00_bar__minus_02_dot_47 - receptacle\n LaundryHamper_bar__minus_01_dot_44_bar__plus_00_dot_01_bar__plus_01_dot_77 - receptacle\n Shelf_bar__plus_01_dot_49_bar__plus_00_dot_82_bar__minus_01_dot_48 - receptacle\n Shelf_bar__minus_01_dot_02_bar__plus_01_dot_35_bar__minus_02_dot_54 - receptacle\n SideTable_bar__plus_00_dot_25_bar_00_dot_00_bar__minus_02_dot_38 - receptacle\n loc_bar_4_bar__minus_8_bar_2_bar_60 - location\n loc_bar__minus_4_bar__minus_4_bar_3_bar_15 - location\n loc_bar_4_bar__minus_8_bar_0_bar_60 - location\n loc_bar__minus_3_bar__minus_7_bar_2_bar_60 - location\n loc_bar__minus_4_bar__minus_7_bar_2_bar_15 - location\n loc_bar_4_bar__minus_3_bar_1_bar_60 - location\n loc_bar__minus_5_bar__minus_6_bar_3_bar_0 - location\n loc_bar__minus_1_bar__minus_7_bar_3_bar_45 - location\n loc_bar_1_bar__minus_7_bar_2_bar_60 - location\n loc_bar_2_bar__minus_7_bar_2_bar_0 - location\n loc_bar__minus_5_bar__minus_7_bar_2_bar_60 - location\n loc_bar_4_bar__minus_4_bar_1_bar_60 - location\n loc_bar__minus_1_bar_0_bar_0_bar_45 - location\n loc_bar_4_bar__minus_2_bar_1_bar_30 - location\n loc_bar__minus_3_bar__minus_7_bar_3_bar_60 - location\n loc_bar__minus_5_bar_5_bar_0_bar_60 - location\n loc_bar_4_bar__minus_6_bar_1_bar__minus_30 - location\n loc_bar__minus_5_bar_3_bar_3_bar_45 - location\n loc_bar_4_bar__minus_6_bar_1_bar_15 - location\n loc_bar_3_bar_1_bar_3_bar_30 - location\n )\n \n\n(:init\n\n\n (receptacleType Shelf_bar__plus_01_dot_49_bar__plus_00_dot_82_bar__minus_01_dot_48 ShelfType)\n (receptacleType Drawer_bar__minus_01_dot_41_bar__plus_00_dot_48_bar__minus_02_dot_32 DrawerType)\n (receptacleType Shelf_bar__minus_01_dot_02_bar__plus_01_dot_35_bar__minus_02_dot_54 ShelfType)\n (receptacleType Bed_bar__plus_00_dot_27_bar__plus_00_dot_00_bar__plus_01_dot_33 BedType)\n (receptacleType SideTable_bar__plus_00_dot_25_bar_00_dot_00_bar__minus_02_dot_38 SideTableType)\n (receptacleType LaundryHamper_bar__minus_01_dot_44_bar__plus_00_dot_01_bar__plus_01_dot_77 LaundryHamperType)\n (receptacleType Drawer_bar__minus_01_dot_41_bar__plus_00_dot_73_bar__minus_02_dot_32 DrawerType)\n (receptacleType GarbageCan_bar__plus_01_dot_32_bar__plus_00_dot_00_bar__minus_02_dot_47 GarbageCanType)\n (receptacleType Drawer_bar__minus_01_dot_41_bar__plus_00_dot_20_bar__minus_02_dot_32 DrawerType)\n (receptacleType Desk_bar__minus_00_dot_87_bar__minus_00_dot_01_bar__minus_02_dot_44 DeskType)\n (objectType TennisRacket_bar__minus_01_dot_70_bar__plus_00_dot_35_bar__plus_01_dot_74 TennisRacketType)\n (objectType Chair_bar__minus_00_dot_63_bar__plus_00_dot_00_bar__minus_02_dot_20 ChairType)\n (objectType CellPhone_bar__minus_01_dot_39_bar__plus_00_dot_86_bar__minus_02_dot_37 CellPhoneType)\n (objectType Laptop_bar__minus_00_dot_33_bar__plus_00_dot_77_bar__plus_01_dot_34 LaptopType)\n (objectType KeyChain_bar__minus_00_dot_79_bar__plus_00_dot_86_bar__minus_02_dot_25 KeyChainType)\n (objectType LightSwitch_bar__minus_01_dot_80_bar__plus_01_dot_21_bar__plus_00_dot_68 LightSwitchType)\n (objectType Television_bar__minus_01_dot_70_bar__plus_01_dot_47_bar__minus_00_dot_90 TelevisionType)\n (objectType Pencil_bar__minus_00_dot_06_bar__plus_00_dot_82_bar__minus_02_dot_37 PencilType)\n (objectType LaundryHamperLid_bar__minus_01_dot_44_bar__plus_00_dot_48_bar__plus_01_dot_76 LaundryHamperLidType)\n (objectType AlarmClock_bar__plus_01_dot_47_bar__plus_00_dot_82_bar__minus_01_dot_50 AlarmClockType)\n (objectType Painting_bar__plus_00_dot_49_bar__plus_01_dot_68_bar__minus_02_dot_63 PaintingType)\n (objectType Cloth_bar__plus_01_dot_30_bar__plus_00_dot_00_bar__minus_00_dot_70 ClothType)\n (objectType KeyChain_bar__plus_00_dot_36_bar__plus_00_dot_81_bar__minus_02_dot_37 KeyChainType)\n (objectType Pillow_bar__plus_00_dot_24_bar__plus_00_dot_90_bar__plus_01_dot_50 PillowType)\n (objectType Pillow_bar__plus_01_dot_07_bar__plus_00_dot_88_bar__plus_01_dot_33 PillowType)\n (objectType Book_bar__minus_01_dot_58_bar__plus_00_dot_37_bar__minus_02_dot_33 BookType)\n (objectType Mirror_bar__plus_01_dot_50_bar__plus_01_dot_36_bar__minus_00_dot_54 MirrorType)\n (objectType Poster_bar__minus_01_dot_80_bar__plus_01_dot_69_bar__minus_01_dot_49 PosterType)\n (objectType CD_bar__plus_00_dot_25_bar__plus_00_dot_81_bar__minus_02_dot_58 CDType)\n (objectType Window_bar__plus_01_dot_72_bar__plus_01_dot_37_bar__minus_01_dot_60 WindowType)\n (objectType Pen_bar__minus_01_dot_32_bar__plus_00_dot_09_bar__minus_02_dot_36 PenType)\n (objectType Blinds_bar__plus_01_dot_70_bar__plus_02_dot_10_bar__minus_01_dot_58 BlindsType)\n (objectType KeyChain_bar__plus_00_dot_04_bar__plus_00_dot_81_bar__minus_02_dot_17 KeyChainType)\n (objectType Book_bar__plus_00_dot_82_bar__plus_00_dot_77_bar__plus_01_dot_66 BookType)\n (objectType RemoteControl_bar__minus_01_dot_19_bar__plus_00_dot_86_bar__minus_02_dot_31 RemoteControlType)\n (objectType CreditCard_bar__minus_00_dot_99_bar__plus_00_dot_86_bar__minus_02_dot_25 CreditCardType)\n (objectType RemoteControl_bar__minus_01_dot_59_bar__plus_00_dot_86_bar__minus_02_dot_56 RemoteControlType)\n (objectType Cloth_bar__plus_01_dot_27_bar__plus_00_dot_00_bar__minus_00_dot_97 ClothType)\n (objectType CellPhone_bar__minus_00_dot_33_bar__plus_00_dot_77_bar__plus_01_dot_01 CellPhoneType)\n (objectType CD_bar__plus_00_dot_53_bar__plus_00_dot_81_bar__minus_02_dot_49 CDType)\n (objectType RemoteControl_bar__minus_00_dot_39_bar__plus_00_dot_86_bar__minus_02_dot_56 RemoteControlType)\n (objectType Pencil_bar__minus_00_dot_06_bar__plus_00_dot_81_bar__minus_02_dot_51 PencilType)\n (objectType CreditCard_bar__plus_00_dot_15_bar__plus_00_dot_81_bar__minus_02_dot_30 CreditCardType)\n (objectType Pencil_bar__minus_01_dot_23_bar__plus_00_dot_38_bar__minus_02_dot_29 PencilType)\n (objectType Pen_bar__plus_01_dot_41_bar__plus_00_dot_83_bar__minus_01_dot_78 PenType)\n (objectType DeskLamp_bar__plus_00_dot_05_bar__plus_00_dot_81_bar__minus_02_dot_48 DeskLampType)\n (objectType Bowl_bar__minus_00_dot_67_bar__plus_00_dot_86_bar__minus_02_dot_50 BowlType)\n (objectType Chair_bar__plus_00_dot_22_bar__plus_00_dot_00_bar__minus_02_dot_21 ChairType)\n (objectType CD_bar__plus_01_dot_52_bar__plus_00_dot_82_bar__minus_01_dot_73 CDType)\n (objectType Laptop_bar__plus_00_dot_53_bar__plus_00_dot_77_bar__plus_01_dot_01 LaptopType)\n (objectType Laptop_bar__minus_00_dot_62_bar__plus_00_dot_77_bar__plus_00_dot_85 LaptopType)\n (objectType Pencil_bar__minus_01_dot_39_bar__plus_00_dot_87_bar__minus_02_dot_44 PencilType)\n (objectType Pen_bar__minus_01_dot_59_bar__plus_00_dot_87_bar__minus_02_dot_31 PenType)\n (canContain ShelfType PenType)\n (canContain ShelfType BookType)\n (canContain ShelfType BowlType)\n (canContain ShelfType CDType)\n (canContain ShelfType CellPhoneType)\n (canContain ShelfType KeyChainType)\n (canContain ShelfType CreditCardType)\n (canContain ShelfType ClothType)\n (canContain ShelfType PencilType)\n (canContain ShelfType RemoteControlType)\n (canContain ShelfType AlarmClockType)\n (canContain DrawerType PenType)\n (canContain DrawerType BookType)\n (canContain DrawerType CDType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType ClothType)\n (canContain DrawerType PencilType)\n (canContain DrawerType RemoteControlType)\n (canContain ShelfType PenType)\n (canContain ShelfType BookType)\n (canContain ShelfType BowlType)\n (canContain ShelfType CDType)\n (canContain ShelfType CellPhoneType)\n (canContain ShelfType KeyChainType)\n (canContain ShelfType CreditCardType)\n (canContain ShelfType ClothType)\n (canContain ShelfType PencilType)\n (canContain ShelfType RemoteControlType)\n (canContain ShelfType AlarmClockType)\n (canContain BedType TennisRacketType)\n (canContain BedType LaptopType)\n (canContain BedType BookType)\n (canContain BedType CellPhoneType)\n (canContain BedType PillowType)\n (canContain SideTableType PenType)\n (canContain SideTableType BookType)\n (canContain SideTableType BowlType)\n (canContain SideTableType CDType)\n (canContain SideTableType CellPhoneType)\n (canContain SideTableType KeyChainType)\n (canContain SideTableType CreditCardType)\n (canContain SideTableType TennisRacketType)\n (canContain SideTableType ClothType)\n (canContain SideTableType LaptopType)\n (canContain SideTableType PencilType)\n (canContain SideTableType RemoteControlType)\n (canContain SideTableType AlarmClockType)\n (canContain LaundryHamperType ClothType)\n (canContain DrawerType PenType)\n (canContain DrawerType BookType)\n (canContain DrawerType CDType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType ClothType)\n (canContain DrawerType PencilType)\n (canContain DrawerType RemoteControlType)\n (canContain GarbageCanType PenType)\n (canContain GarbageCanType CDType)\n (canContain GarbageCanType ClothType)\n (canContain GarbageCanType PencilType)\n (canContain DrawerType PenType)\n (canContain DrawerType BookType)\n (canContain DrawerType CDType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType ClothType)\n (canContain DrawerType PencilType)\n (canContain DrawerType RemoteControlType)\n (canContain DeskType PenType)\n (canContain DeskType BookType)\n (canContain DeskType BowlType)\n (canContain DeskType CDType)\n (canContain DeskType CellPhoneType)\n (canContain DeskType KeyChainType)\n (canContain DeskType CreditCardType)\n (canContain DeskType TennisRacketType)\n (canContain DeskType ClothType)\n (canContain DeskType LaptopType)\n (canContain DeskType PencilType)\n (canContain DeskType RemoteControlType)\n (canContain DeskType AlarmClockType)\n (pickupable TennisRacket_bar__minus_01_dot_70_bar__plus_00_dot_35_bar__plus_01_dot_74)\n (pickupable CellPhone_bar__minus_01_dot_39_bar__plus_00_dot_86_bar__minus_02_dot_37)\n (pickupable Laptop_bar__minus_00_dot_33_bar__plus_00_dot_77_bar__plus_01_dot_34)\n (pickupable KeyChain_bar__minus_00_dot_79_bar__plus_00_dot_86_bar__minus_02_dot_25)\n (pickupable Pencil_bar__minus_00_dot_06_bar__plus_00_dot_82_bar__minus_02_dot_37)\n (pickupable AlarmClock_bar__plus_01_dot_47_bar__plus_00_dot_82_bar__minus_01_dot_50)\n (pickupable Cloth_bar__plus_01_dot_30_bar__plus_00_dot_00_bar__minus_00_dot_70)\n (pickupable KeyChain_bar__plus_00_dot_36_bar__plus_00_dot_81_bar__minus_02_dot_37)\n (pickupable Pillow_bar__plus_00_dot_24_bar__plus_00_dot_90_bar__plus_01_dot_50)\n (pickupable Pillow_bar__plus_01_dot_07_bar__plus_00_dot_88_bar__plus_01_dot_33)\n (pickupable Book_bar__minus_01_dot_58_bar__plus_00_dot_37_bar__minus_02_dot_33)\n (pickupable CD_bar__plus_00_dot_25_bar__plus_00_dot_81_bar__minus_02_dot_58)\n (pickupable Pen_bar__minus_01_dot_32_bar__plus_00_dot_09_bar__minus_02_dot_36)\n (pickupable KeyChain_bar__plus_00_dot_04_bar__plus_00_dot_81_bar__minus_02_dot_17)\n (pickupable Book_bar__plus_00_dot_82_bar__plus_00_dot_77_bar__plus_01_dot_66)\n (pickupable RemoteControl_bar__minus_01_dot_19_bar__plus_00_dot_86_bar__minus_02_dot_31)\n (pickupable CreditCard_bar__minus_00_dot_99_bar__plus_00_dot_86_bar__minus_02_dot_25)\n (pickupable RemoteControl_bar__minus_01_dot_59_bar__plus_00_dot_86_bar__minus_02_dot_56)\n (pickupable Cloth_bar__plus_01_dot_27_bar__plus_00_dot_00_bar__minus_00_dot_97)\n (pickupable CellPhone_bar__minus_00_dot_33_bar__plus_00_dot_77_bar__plus_01_dot_01)\n (pickupable CD_bar__plus_00_dot_53_bar__plus_00_dot_81_bar__minus_02_dot_49)\n (pickupable RemoteControl_bar__minus_00_dot_39_bar__plus_00_dot_86_bar__minus_02_dot_56)\n (pickupable Pencil_bar__minus_00_dot_06_bar__plus_00_dot_81_bar__minus_02_dot_51)\n (pickupable CreditCard_bar__plus_00_dot_15_bar__plus_00_dot_81_bar__minus_02_dot_30)\n (pickupable Pencil_bar__minus_01_dot_23_bar__plus_00_dot_38_bar__minus_02_dot_29)\n (pickupable Pen_bar__plus_01_dot_41_bar__plus_00_dot_83_bar__minus_01_dot_78)\n (pickupable Bowl_bar__minus_00_dot_67_bar__plus_00_dot_86_bar__minus_02_dot_50)\n (pickupable CD_bar__plus_01_dot_52_bar__plus_00_dot_82_bar__minus_01_dot_73)\n (pickupable Laptop_bar__plus_00_dot_53_bar__plus_00_dot_77_bar__plus_01_dot_01)\n (pickupable Laptop_bar__minus_00_dot_62_bar__plus_00_dot_77_bar__plus_00_dot_85)\n (pickupable Pencil_bar__minus_01_dot_39_bar__plus_00_dot_87_bar__minus_02_dot_44)\n (pickupable Pen_bar__minus_01_dot_59_bar__plus_00_dot_87_bar__minus_02_dot_31)\n (isReceptacleObject Bowl_bar__minus_00_dot_67_bar__plus_00_dot_86_bar__minus_02_dot_50)\n (openable Drawer_bar__minus_01_dot_41_bar__plus_00_dot_48_bar__minus_02_dot_32)\n (openable Drawer_bar__minus_01_dot_41_bar__plus_00_dot_73_bar__minus_02_dot_32)\n (openable Drawer_bar__minus_01_dot_41_bar__plus_00_dot_20_bar__minus_02_dot_32)\n \n (atLocation agent1 loc_bar_3_bar_1_bar_3_bar_30)\n \n (cleanable Cloth_bar__plus_01_dot_30_bar__plus_00_dot_00_bar__minus_00_dot_70)\n (cleanable Cloth_bar__plus_01_dot_27_bar__plus_00_dot_00_bar__minus_00_dot_97)\n (cleanable Bowl_bar__minus_00_dot_67_bar__plus_00_dot_86_bar__minus_02_dot_50)\n \n \n (coolable Bowl_bar__minus_00_dot_67_bar__plus_00_dot_86_bar__minus_02_dot_50)\n \n \n (toggleable DeskLamp_bar__plus_00_dot_05_bar__plus_00_dot_81_bar__minus_02_dot_48)\n \n \n \n \n (inReceptacle CreditCard_bar__minus_00_dot_99_bar__plus_00_dot_86_bar__minus_02_dot_25 Desk_bar__minus_00_dot_87_bar__minus_00_dot_01_bar__minus_02_dot_44)\n (inReceptacle CellPhone_bar__minus_01_dot_39_bar__plus_00_dot_86_bar__minus_02_dot_37 Desk_bar__minus_00_dot_87_bar__minus_00_dot_01_bar__minus_02_dot_44)\n (inReceptacle KeyChain_bar__minus_00_dot_79_bar__plus_00_dot_86_bar__minus_02_dot_25 Desk_bar__minus_00_dot_87_bar__minus_00_dot_01_bar__minus_02_dot_44)\n (inReceptacle RemoteControl_bar__minus_01_dot_59_bar__plus_00_dot_86_bar__minus_02_dot_56 Desk_bar__minus_00_dot_87_bar__minus_00_dot_01_bar__minus_02_dot_44)\n (inReceptacle RemoteControl_bar__minus_00_dot_39_bar__plus_00_dot_86_bar__minus_02_dot_56 Desk_bar__minus_00_dot_87_bar__minus_00_dot_01_bar__minus_02_dot_44)\n (inReceptacle Bowl_bar__minus_00_dot_67_bar__plus_00_dot_86_bar__minus_02_dot_50 Desk_bar__minus_00_dot_87_bar__minus_00_dot_01_bar__minus_02_dot_44)\n (inReceptacle RemoteControl_bar__minus_01_dot_19_bar__plus_00_dot_86_bar__minus_02_dot_31 Desk_bar__minus_00_dot_87_bar__minus_00_dot_01_bar__minus_02_dot_44)\n (inReceptacle Pencil_bar__minus_01_dot_39_bar__plus_00_dot_87_bar__minus_02_dot_44 Desk_bar__minus_00_dot_87_bar__minus_00_dot_01_bar__minus_02_dot_44)\n (inReceptacle Pen_bar__minus_01_dot_59_bar__plus_00_dot_87_bar__minus_02_dot_31 Desk_bar__minus_00_dot_87_bar__minus_00_dot_01_bar__minus_02_dot_44)\n (inReceptacle CD_bar__plus_00_dot_53_bar__plus_00_dot_81_bar__minus_02_dot_49 SideTable_bar__plus_00_dot_25_bar_00_dot_00_bar__minus_02_dot_38)\n (inReceptacle Pencil_bar__minus_00_dot_06_bar__plus_00_dot_82_bar__minus_02_dot_37 SideTable_bar__plus_00_dot_25_bar_00_dot_00_bar__minus_02_dot_38)\n (inReceptacle DeskLamp_bar__plus_00_dot_05_bar__plus_00_dot_81_bar__minus_02_dot_48 SideTable_bar__plus_00_dot_25_bar_00_dot_00_bar__minus_02_dot_38)\n (inReceptacle Pencil_bar__minus_00_dot_06_bar__plus_00_dot_81_bar__minus_02_dot_51 SideTable_bar__plus_00_dot_25_bar_00_dot_00_bar__minus_02_dot_38)\n (inReceptacle CD_bar__plus_00_dot_25_bar__plus_00_dot_81_bar__minus_02_dot_58 SideTable_bar__plus_00_dot_25_bar_00_dot_00_bar__minus_02_dot_38)\n (inReceptacle CreditCard_bar__plus_00_dot_15_bar__plus_00_dot_81_bar__minus_02_dot_30 SideTable_bar__plus_00_dot_25_bar_00_dot_00_bar__minus_02_dot_38)\n (inReceptacle KeyChain_bar__plus_00_dot_36_bar__plus_00_dot_81_bar__minus_02_dot_37 SideTable_bar__plus_00_dot_25_bar_00_dot_00_bar__minus_02_dot_38)\n (inReceptacle KeyChain_bar__plus_00_dot_04_bar__plus_00_dot_81_bar__minus_02_dot_17 SideTable_bar__plus_00_dot_25_bar_00_dot_00_bar__minus_02_dot_38)\n (inReceptacle Pencil_bar__minus_01_dot_23_bar__plus_00_dot_38_bar__minus_02_dot_29 Drawer_bar__minus_01_dot_41_bar__plus_00_dot_48_bar__minus_02_dot_32)\n (inReceptacle Book_bar__minus_01_dot_58_bar__plus_00_dot_37_bar__minus_02_dot_33 Drawer_bar__minus_01_dot_41_bar__plus_00_dot_48_bar__minus_02_dot_32)\n (inReceptacle Pen_bar__minus_01_dot_32_bar__plus_00_dot_09_bar__minus_02_dot_36 Drawer_bar__minus_01_dot_41_bar__plus_00_dot_20_bar__minus_02_dot_32)\n (inReceptacle Pillow_bar__plus_01_dot_07_bar__plus_00_dot_88_bar__plus_01_dot_33 Bed_bar__plus_00_dot_27_bar__plus_00_dot_00_bar__plus_01_dot_33)\n (inReceptacle Laptop_bar__minus_00_dot_33_bar__plus_00_dot_77_bar__plus_01_dot_34 Bed_bar__plus_00_dot_27_bar__plus_00_dot_00_bar__plus_01_dot_33)\n (inReceptacle Pillow_bar__plus_00_dot_24_bar__plus_00_dot_90_bar__plus_01_dot_50 Bed_bar__plus_00_dot_27_bar__plus_00_dot_00_bar__plus_01_dot_33)\n (inReceptacle CellPhone_bar__minus_00_dot_33_bar__plus_00_dot_77_bar__plus_01_dot_01 Bed_bar__plus_00_dot_27_bar__plus_00_dot_00_bar__plus_01_dot_33)\n (inReceptacle Laptop_bar__plus_00_dot_53_bar__plus_00_dot_77_bar__plus_01_dot_01 Bed_bar__plus_00_dot_27_bar__plus_00_dot_00_bar__plus_01_dot_33)\n (inReceptacle Laptop_bar__minus_00_dot_62_bar__plus_00_dot_77_bar__plus_00_dot_85 Bed_bar__plus_00_dot_27_bar__plus_00_dot_00_bar__plus_01_dot_33)\n (inReceptacle Book_bar__plus_00_dot_82_bar__plus_00_dot_77_bar__plus_01_dot_66 Bed_bar__plus_00_dot_27_bar__plus_00_dot_00_bar__plus_01_dot_33)\n (inReceptacle Pen_bar__plus_01_dot_41_bar__plus_00_dot_83_bar__minus_01_dot_78 Shelf_bar__plus_01_dot_49_bar__plus_00_dot_82_bar__minus_01_dot_48)\n (inReceptacle CD_bar__plus_01_dot_52_bar__plus_00_dot_82_bar__minus_01_dot_73 Shelf_bar__plus_01_dot_49_bar__plus_00_dot_82_bar__minus_01_dot_48)\n (inReceptacle AlarmClock_bar__plus_01_dot_47_bar__plus_00_dot_82_bar__minus_01_dot_50 Shelf_bar__plus_01_dot_49_bar__plus_00_dot_82_bar__minus_01_dot_48)\n \n \n (receptacleAtLocation Bed_bar__plus_00_dot_27_bar__plus_00_dot_00_bar__plus_01_dot_33 loc_bar__minus_1_bar_0_bar_0_bar_45)\n (receptacleAtLocation Desk_bar__minus_00_dot_87_bar__minus_00_dot_01_bar__minus_02_dot_44 loc_bar__minus_5_bar__minus_7_bar_2_bar_60)\n (receptacleAtLocation Drawer_bar__minus_01_dot_41_bar__plus_00_dot_20_bar__minus_02_dot_32 loc_bar__minus_1_bar__minus_7_bar_3_bar_45)\n (receptacleAtLocation Drawer_bar__minus_01_dot_41_bar__plus_00_dot_48_bar__minus_02_dot_32 loc_bar__minus_1_bar__minus_7_bar_3_bar_45)\n (receptacleAtLocation Drawer_bar__minus_01_dot_41_bar__plus_00_dot_73_bar__minus_02_dot_32 loc_bar__minus_3_bar__minus_7_bar_3_bar_60)\n (receptacleAtLocation GarbageCan_bar__plus_01_dot_32_bar__plus_00_dot_00_bar__minus_02_dot_47 loc_bar_4_bar__minus_8_bar_2_bar_60)\n (receptacleAtLocation LaundryHamper_bar__minus_01_dot_44_bar__plus_00_dot_01_bar__plus_01_dot_77 loc_bar__minus_5_bar_5_bar_0_bar_60)\n (receptacleAtLocation Shelf_bar__plus_01_dot_49_bar__plus_00_dot_82_bar__minus_01_dot_48 loc_bar_4_bar__minus_8_bar_0_bar_60)\n (receptacleAtLocation Shelf_bar__minus_01_dot_02_bar__plus_01_dot_35_bar__minus_02_dot_54 loc_bar__minus_4_bar__minus_7_bar_2_bar_15)\n (receptacleAtLocation SideTable_bar__plus_00_dot_25_bar_00_dot_00_bar__minus_02_dot_38 loc_bar_1_bar__minus_7_bar_2_bar_60)\n (objectAtLocation Pen_bar__minus_01_dot_32_bar__plus_00_dot_09_bar__minus_02_dot_36 loc_bar__minus_1_bar__minus_7_bar_3_bar_45)\n (objectAtLocation Pillow_bar__plus_01_dot_07_bar__plus_00_dot_88_bar__plus_01_dot_33 loc_bar__minus_1_bar_0_bar_0_bar_45)\n (objectAtLocation RemoteControl_bar__minus_01_dot_19_bar__plus_00_dot_86_bar__minus_02_dot_31 loc_bar__minus_5_bar__minus_7_bar_2_bar_60)\n (objectAtLocation KeyChain_bar__minus_00_dot_79_bar__plus_00_dot_86_bar__minus_02_dot_25 loc_bar__minus_5_bar__minus_7_bar_2_bar_60)\n (objectAtLocation CreditCard_bar__plus_00_dot_15_bar__plus_00_dot_81_bar__minus_02_dot_30 loc_bar_1_bar__minus_7_bar_2_bar_60)\n (objectAtLocation Laptop_bar__minus_00_dot_62_bar__plus_00_dot_77_bar__plus_00_dot_85 loc_bar__minus_1_bar_0_bar_0_bar_45)\n (objectAtLocation Pencil_bar__minus_01_dot_23_bar__plus_00_dot_38_bar__minus_02_dot_29 loc_bar__minus_1_bar__minus_7_bar_3_bar_45)\n (objectAtLocation CellPhone_bar__minus_00_dot_33_bar__plus_00_dot_77_bar__plus_01_dot_01 loc_bar__minus_1_bar_0_bar_0_bar_45)\n (objectAtLocation Book_bar__plus_00_dot_82_bar__plus_00_dot_77_bar__plus_01_dot_66 loc_bar__minus_1_bar_0_bar_0_bar_45)\n (objectAtLocation Laptop_bar__plus_00_dot_53_bar__plus_00_dot_77_bar__plus_01_dot_01 loc_bar__minus_1_bar_0_bar_0_bar_45)\n (objectAtLocation RemoteControl_bar__minus_01_dot_59_bar__plus_00_dot_86_bar__minus_02_dot_56 loc_bar__minus_5_bar__minus_7_bar_2_bar_60)\n (objectAtLocation KeyChain_bar__plus_00_dot_36_bar__plus_00_dot_81_bar__minus_02_dot_37 loc_bar_1_bar__minus_7_bar_2_bar_60)\n (objectAtLocation Pencil_bar__minus_01_dot_39_bar__plus_00_dot_87_bar__minus_02_dot_44 loc_bar__minus_5_bar__minus_7_bar_2_bar_60)\n (objectAtLocation Pencil_bar__minus_00_dot_06_bar__plus_00_dot_82_bar__minus_02_dot_37 loc_bar_1_bar__minus_7_bar_2_bar_60)\n (objectAtLocation Pen_bar__minus_01_dot_59_bar__plus_00_dot_87_bar__minus_02_dot_31 loc_bar__minus_5_bar__minus_7_bar_2_bar_60)\n (objectAtLocation Book_bar__minus_01_dot_58_bar__plus_00_dot_37_bar__minus_02_dot_33 loc_bar__minus_1_bar__minus_7_bar_3_bar_45)\n (objectAtLocation LaundryHamperLid_bar__minus_01_dot_44_bar__plus_00_dot_48_bar__plus_01_dot_76 loc_bar__minus_5_bar_5_bar_0_bar_60)\n (objectAtLocation Chair_bar__minus_00_dot_63_bar__plus_00_dot_00_bar__minus_02_dot_20 loc_bar__minus_3_bar__minus_7_bar_2_bar_60)\n (objectAtLocation Chair_bar__plus_00_dot_22_bar__plus_00_dot_00_bar__minus_02_dot_21 loc_bar_1_bar__minus_7_bar_2_bar_60)\n (objectAtLocation Cloth_bar__plus_01_dot_30_bar__plus_00_dot_00_bar__minus_00_dot_70 loc_bar_4_bar__minus_3_bar_1_bar_60)\n (objectAtLocation Cloth_bar__plus_01_dot_27_bar__plus_00_dot_00_bar__minus_00_dot_97 loc_bar_4_bar__minus_4_bar_1_bar_60)\n (objectAtLocation CellPhone_bar__minus_01_dot_39_bar__plus_00_dot_86_bar__minus_02_dot_37 loc_bar__minus_5_bar__minus_7_bar_2_bar_60)\n (objectAtLocation Television_bar__minus_01_dot_70_bar__plus_01_dot_47_bar__minus_00_dot_90 loc_bar__minus_4_bar__minus_4_bar_3_bar_15)\n (objectAtLocation Pencil_bar__minus_00_dot_06_bar__plus_00_dot_81_bar__minus_02_dot_51 loc_bar_1_bar__minus_7_bar_2_bar_60)\n (objectAtLocation DeskLamp_bar__plus_00_dot_05_bar__plus_00_dot_81_bar__minus_02_dot_48 loc_bar_1_bar__minus_7_bar_2_bar_60)\n (objectAtLocation Laptop_bar__minus_00_dot_33_bar__plus_00_dot_77_bar__plus_01_dot_34 loc_bar__minus_1_bar_0_bar_0_bar_45)\n (objectAtLocation LightSwitch_bar__minus_01_dot_80_bar__plus_01_dot_21_bar__plus_00_dot_68 loc_bar__minus_5_bar_3_bar_3_bar_45)\n (objectAtLocation AlarmClock_bar__plus_01_dot_47_bar__plus_00_dot_82_bar__minus_01_dot_50 loc_bar_4_bar__minus_8_bar_0_bar_60)\n (objectAtLocation CreditCard_bar__minus_00_dot_99_bar__plus_00_dot_86_bar__minus_02_dot_25 loc_bar__minus_5_bar__minus_7_bar_2_bar_60)\n (objectAtLocation KeyChain_bar__plus_00_dot_04_bar__plus_00_dot_81_bar__minus_02_dot_17 loc_bar_1_bar__minus_7_bar_2_bar_60)\n (objectAtLocation TennisRacket_bar__minus_01_dot_70_bar__plus_00_dot_35_bar__plus_01_dot_74 loc_bar__minus_5_bar_5_bar_0_bar_60)\n (objectAtLocation Painting_bar__plus_00_dot_49_bar__plus_01_dot_68_bar__minus_02_dot_63 loc_bar_2_bar__minus_7_bar_2_bar_0)\n (objectAtLocation RemoteControl_bar__minus_00_dot_39_bar__plus_00_dot_86_bar__minus_02_dot_56 loc_bar__minus_5_bar__minus_7_bar_2_bar_60)\n (objectAtLocation Pillow_bar__plus_00_dot_24_bar__plus_00_dot_90_bar__plus_01_dot_50 loc_bar__minus_1_bar_0_bar_0_bar_45)\n (objectAtLocation Poster_bar__minus_01_dot_80_bar__plus_01_dot_69_bar__minus_01_dot_49 loc_bar__minus_5_bar__minus_6_bar_3_bar_0)\n (objectAtLocation Mirror_bar__plus_01_dot_50_bar__plus_01_dot_36_bar__minus_00_dot_54 loc_bar_4_bar__minus_2_bar_1_bar_30)\n (objectAtLocation CD_bar__plus_01_dot_52_bar__plus_00_dot_82_bar__minus_01_dot_73 loc_bar_4_bar__minus_8_bar_0_bar_60)\n (objectAtLocation CD_bar__plus_00_dot_53_bar__plus_00_dot_81_bar__minus_02_dot_49 loc_bar_1_bar__minus_7_bar_2_bar_60)\n (objectAtLocation CD_bar__plus_00_dot_25_bar__plus_00_dot_81_bar__minus_02_dot_58 loc_bar_1_bar__minus_7_bar_2_bar_60)\n (objectAtLocation Pen_bar__plus_01_dot_41_bar__plus_00_dot_83_bar__minus_01_dot_78 loc_bar_4_bar__minus_8_bar_0_bar_60)\n (objectAtLocation Window_bar__plus_01_dot_72_bar__plus_01_dot_37_bar__minus_01_dot_60 loc_bar_4_bar__minus_6_bar_1_bar_15)\n (objectAtLocation Blinds_bar__plus_01_dot_70_bar__plus_02_dot_10_bar__minus_01_dot_58 loc_bar_4_bar__minus_6_bar_1_bar__minus_30)\n (objectAtLocation Bowl_bar__minus_00_dot_67_bar__plus_00_dot_86_bar__minus_02_dot_50 loc_bar__minus_5_bar__minus_7_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 PencilType)\n (holds ?a ?o)\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to sidetable 1", "use desklamp 1", "take pencil 4 from sidetable 1"]}
|
alfworld__look_at_obj_in_light__6
|
look_at_obj_in_light
|
look_at_obj_in_light-Pencil-None-DeskLamp-307/trial_T20190909_014358_444702/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: examine the pencil with the desklamp.\"\n }\n ],\n\n \"GotoLocation.feedback\": [\n {\n \"rhs\": \"You arrive at {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"OpenObject.feedback\": [\n {\n \"rhs\": \"You open the {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"CloseObject.feedback\": [\n {\n \"rhs\": \"You close the {r.name}.\"\n }\n ],\n\n \"PickupObject.feedback\": [\n {\n \"rhs\": \"You pick up the {o.name} from the {r.name}.\"\n }\n ],\n\n \"PickupObjectFromReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupObjectFromReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupEmptyReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupEmptyReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupFullReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupFullReceptacleObject: You pick up the {outerr.name}.\"\n }\n ],\n\n \"PutObject.feedback\": [\n {\n \"rhs\": \"You move the {o.name} to the {r.name}.\"\n }\n ],\n\n \"PutObjectInReceptacleObject.feedback\": [\n {\n \"rhs\": \"PutObjectInReceptacleObject: You put the {o.name} in the {outero.name}.\"\n }\n ],\n\n \"PutEmptyReceptacleObjectinReceptacle.feedback\": [\n {\n \"rhs\": \"PutEmptyReceptacleObjectinReceptacle: You put the {o.name} in the {r.name}.\"\n }\n ],\n\n \"PutFullReceptacleObjectInReceptacle.feedback\": [\n {\n \"rhs\": \"PutFullReceptacleObjectInReceptacle: You put the {outero.name} in the {r.name}.\"\n }\n ],\n\n \"inventory.feedback\": [\n {\n \"condition\": \"holdsany(a:agent)\",\n \"rhs\": \"You are carrying: [{o.indefinite + ' ' + o.name | holds(a:agent, o:object)}].\"\n },\n {\n \"rhs\": \"You are not carrying anything.\"\n }\n ],\n\n \"examineReceptacle.feedback\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \"The {r.name} is open. In it, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \"The {r.name} is closed.\"\n },\n {\n \"rhs\": \"On the {r.name}, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n }\n ],\n\n \"examineObject.feedback\": [\n {\n \"condition\": \"isreceptacleobject(o:object)\",\n \"rhs\": \"This is a normal {o.name}. In it, you see [{o2.indefinite + ' ' + o2.name | inreceptacleobject(o2:object, o:object)}].\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a clean sliced {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot sliced {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object)\",\n \"rhs\": \"This is a hot and clean {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object)\",\n \"rhs\": \"This is a cool and clean {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object)\",\n \"rhs\": \"This is a hot {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object)\",\n \"rhs\": \"This is a clean {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object)\",\n \"rhs\": \"This is a cold {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"This {o.name} is on.\"\n },\n {\n \"condition\": \"toggleable(o:object) & not_istoggled(o:object)\",\n \"rhs\": \"This {o.name} is off.\"\n },\n {\n \"condition\": \"sliceable(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a sliced {o.name}.\"\n },\n {\n \"rhs\": \"There's nothing special about {o.name}.\"\n }\n ]\n }\n\"\"\";\n\naction GotoLocation {\n template :: \"go to [{r.name | receptacleatlocation(r:receptacle, lend:location)}]\";\n feedback :: \"#GotoLocation.feedback#\";\n}\n\naction OpenObject {\n template :: \"open {r}\";\n feedback :: \"#OpenObject.feedback#\";\n}\n\naction CloseObject {\n template :: \"close {r}\";\n feedback :: \"#CloseObject.feedback#\";\n}\n\naction PickupObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObject.feedback#\";\n}\n\naction PickupObjectFromReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObjectFromReceptacleObject.feedback#\";\n}\n\naction PickupEmptyReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupEmptyReceptacleObject.feedback#\";\n}\n\naction PickupFullReceptacleObject {\n template :: \"take {outerr} from {r}\";\n feedback :: \"#PickupFullReceptacleObject.feedback#\";\n}\n\naction PutObject {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutObject.feedback#\";\n}\n\naction PutObjectInReceptacleObject {\n template :: \"put {o} into {outero}\";\n feedback :: \"#PutObjectInReceptacleObject.feedback#\";\n}\n\naction PutEmptyReceptacleObjectinReceptacle {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutEmptyReceptacleObjectinReceptacle.feedback#\";\n}\n\naction PutFullReceptacleObjectInReceptacle {\n template :: \"put {outero} in {r}\";\n feedback :: \"#PutFullReceptacleObjectInReceptacle.feedback#\";\n}\n\naction inventory {\n template :: \"inventory\";\n feedback :: \"#inventory.feedback#\";\n}\n\naction examineReceptacle {\n template :: \"examine {r}\";\n feedback :: \"#examineReceptacle.feedback#\";\n}\n\naction examineObject {\n template :: \"examine {o}\";\n feedback :: \"#examineObject.feedback#\";\n}\n\naction ToggleObject {\n template :: \"use {o}\";\n feedback :: \"#toggleObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"toggleObject.feedback\": [\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"You turn on the {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object)\",\n \"rhs\": \"You turn off the {o.name}.\"\n },\n {\n \"rhs\": \"You don't see any switch on the {o.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction HeatObject {\n template :: \"heat {o} with {r}\";\n feedback :: \"#heatObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"heatObject.feedback\": [\n {\n \"rhs\": \"You heat the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CleanObject {\n template :: \"clean {o} with {r}\";\n feedback :: \"#cleanObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"cleanObject.feedback\": [\n {\n \"rhs\": \"You clean the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CoolObject {\n template :: \"cool {o} with {r}\";\n feedback :: \"#coolObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"coolObject.feedback\": [\n {\n \"rhs\": \"You cool the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction SliceObject {\n template :: \"slice {co} with {ko}\";\n feedback :: \"#sliceObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"sliceObject.feedback\": [\n {\n \"rhs\": \"You sliced the {co.name} with the {ko.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction look {\n template :: \"look\";\n feedback :: \"#look.feedback#\";\n\n grammar :: \"\"\"\n {\n \"look.feedback\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"#look-variations#. Next to it, you see #list_objects_on_the_floor#.\"\n },\n {\n \"rhs\": \"You are in the middle of a room. Looking quickly around you, you see #list_appliances#.\"\n }\n ],\n\n \"look-variations\": [\n {\n \"rhs\": \"You are facing the [{r.name | atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)}]\"\n }\n ],\n\n \"list_objects_on_the_floor\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)\",\n \"rhs\": \"[{#overview(o)# | atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"list_appliances\": [\n {\n \"condition\": \"receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"[{#overview(r)# | receptacleatlocation(r:receptacle, l:location)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"overview(o, r)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name} (in/on the {r.name})}\"\n }\n ],\n\n \"overview(o)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name}\"\n }\n ],\n \"overview(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}\"\n }\n ],\n \"overview_with_state(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}#overview_state(r)#\"\n }\n ],\n \"overview_state(r)\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \" (it is open)\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \" (it is closed)\"\n },\n {\n \"rhs\": \"\"\n }\n ],\n\n \"list_empty\": [\n {\n \"rhs\": \"nothing\"\n }\n ],\n \"list_separator\": [\n {\n \"rhs\": \", \"\n }\n ],\n \"list_last_separator\": [\n {\n \"rhs\": \", and \"\n }\n ]\n }\n \"\"\";\n}\n\naction help {\n template :: \"help\";\n feedback :: \"\nAvailable commands:\n look: look around your current location\n inventory: check your current inventory\n go to (receptacle): move to a receptacle\n open (receptacle): open a receptacle\n close (receptacle): close a receptacle\n take (object) from (receptacle): take an object from a receptacle\n move (object) to (receptacle): place an object in or on a receptacle\n examine (something): examine a receptacle or an object\n use (object): use an object\n heat (object) with (receptacle): heat an object using a receptacle\n clean (object) with (receptacle): clean an object using a receptacle\n cool (object) with (receptacle): cool an object using a receptacle\n slice (object) with (object): slice an object using a sharp object\n\";\n}\n", "pddl_problem": "\n(define (problem plan_trial_T20190909_014358_444702)\n(:domain alfred)\n(:objects\nagent1 - agent\nSaltShaker - object\n HousePlant - object\n Candle - object\n SprayBottle - object\n Bowl - object\n Window - object\n CD - object\n Egg - object\n Glassbottle - object\n Sink - object\n Pillow - object\n Spoon - object\n SoapBottle - object\n TeddyBear - object\n ButterKnife - object\n Cup - object\n Plate - object\n RemoteControl - object\n Tomato - object\n Statue - object\n HandTowel - object\n Knife - object\n StoveKnob - object\n LightSwitch - object\n Pen - object\n Painting - object\n DishSponge - object\n Vase - object\n Mug - object\n ToiletPaper - object\n Box - object\n Mirror - object\n Ladle - object\n Fork - object\n Blinds - object\n Footstool - object\n KeyChain - object\n Cloth - object\n Laptop - object\n TissueBox - object\n PepperShaker - object\n FloorLamp - object\n WateringCan - object\n Apple - object\n Pan - object\n PaperTowel - object\n PaperTowelRoll - object\n Newspaper - object\n Television - object\n Chair - object\n CellPhone - object\n CreditCard - object\n Lettuce - object\n BasketBall - object\n Potato - object\n Curtains - object\n Boots - object\n Pencil - object\n AlarmClock - object\n ToiletPaperRoll - object\n Spatula - object\n Book - object\n Bread - object\n SoapBar - object\n Watch - object\n DeskLamp - object\n Kettle - object\n Pot - object\n ScrubBrush - object\n WineBottle - object\n ShowerDoor - object\n Bathtub - object\n LaundryHamperLid - object\n ShowerGlass - object\n Poster - object\n TennisRacket - object\n BaseballBat - object\n Towel - object\n Plunger - object\nSaltShakerType - otype\n HousePlantType - otype\n CandleType - otype\n SprayBottleType - otype\n BowlType - otype\n WindowType - otype\n CDType - otype\n EggType - otype\n GlassbottleType - otype\n SinkType - otype\n PillowType - otype\n SpoonType - otype\n SoapBottleType - otype\n TeddyBearType - otype\n ButterKnifeType - otype\n CupType - otype\n PlateType - otype\n RemoteControlType - otype\n TomatoType - otype\n StatueType - otype\n HandTowelType - otype\n KnifeType - otype\n StoveKnobType - otype\n LightSwitchType - otype\n PenType - otype\n PaintingType - otype\n DishSpongeType - otype\n VaseType - otype\n MugType - otype\n ToiletPaperType - otype\n BoxType - otype\n MirrorType - otype\n LadleType - otype\n ForkType - otype\n BlindsType - otype\n FootstoolType - otype\n KeyChainType - otype\n ClothType - otype\n LaptopType - otype\n TissueBoxType - otype\n PepperShakerType - otype\n FloorLampType - otype\n WateringCanType - otype\n AppleType - otype\n PanType - otype\n PaperTowelType - otype\n PaperTowelRollType - otype\n NewspaperType - otype\n TelevisionType - otype\n ChairType - otype\n CellPhoneType - otype\n CreditCardType - otype\n LettuceType - otype\n BasketBallType - otype\n PotatoType - otype\n CurtainsType - otype\n BootsType - otype\n PencilType - otype\n AlarmClockType - otype\n ToiletPaperRollType - otype\n SpatulaType - otype\n BookType - otype\n BreadType - otype\n SoapBarType - otype\n WatchType - otype\n DeskLampType - otype\n KettleType - otype\n PotType - otype\n ScrubBrushType - otype\n WineBottleType - otype\n ShowerDoorType - otype\n BathtubType - otype\n LaundryHamperLidType - otype\n ShowerGlassType - otype\n PosterType - otype\n TennisRacketType - otype\n BaseballBatType - otype\n TowelType - otype\n PlungerType - otype\nSafeType - rtype\n DrawerType - rtype\n CoffeeMachineType - rtype\n HandTowelHolderType - rtype\n SinkBasinType - rtype\n DresserType - rtype\n LaundryHamperType - rtype\n TVStandType - rtype\n BathtubBasinType - rtype\n CabinetType - rtype\n FridgeType - rtype\n DeskType - rtype\n ToiletType - rtype\n CartType - rtype\n SideTableType - rtype\n SofaType - rtype\n CoffeeTableType - rtype\n DiningTableType - rtype\n CounterTopType - rtype\n GarbageCanType - rtype\n ArmChairType - rtype\n ShelfType - rtype\n MicrowaveType - rtype\n ToasterType - rtype\n BedType - rtype\n PaintingHangerType - rtype\n TowelHolderType - rtype\n ToiletPaperHangerType - rtype\n StoveBurnerType - rtype\n OttomanType - rtype\n\n\n AlarmClock_bar__plus_00_dot_36_bar__plus_00_dot_81_bar__minus_02_dot_37 - object\n AlarmClock_bar__plus_01_dot_49_bar__plus_00_dot_82_bar__minus_01_dot_67 - object\n AlarmClock_bar__minus_00_dot_06_bar__plus_00_dot_81_bar__minus_02_dot_30 - object\n Blinds_bar__plus_01_dot_70_bar__plus_02_dot_10_bar__minus_01_dot_58 - object\n Book_bar__plus_00_dot_24_bar__plus_00_dot_77_bar__plus_01_dot_82 - object\n Bowl_bar__minus_00_dot_99_bar__plus_00_dot_86_bar__minus_02_dot_37 - object\n CD_bar__plus_00_dot_53_bar__plus_00_dot_81_bar__minus_02_dot_49 - object\n CD_bar__plus_01_dot_36_bar__plus_00_dot_15_bar__minus_02_dot_47 - object\n CD_bar__plus_01_dot_52_bar__plus_00_dot_82_bar__minus_01_dot_73 - object\n CellPhone_bar__minus_00_dot_59_bar__plus_00_dot_86_bar__minus_02_dot_56 - object\n Chair_bar__plus_00_dot_22_bar__plus_00_dot_00_bar__minus_02_dot_21 - object\n Chair_bar__minus_00_dot_63_bar__plus_00_dot_00_bar__minus_02_dot_20 - object\n Cloth_bar__plus_01_dot_27_bar__plus_00_dot_00_bar__minus_00_dot_97 - object\n Cloth_bar__plus_01_dot_30_bar__plus_00_dot_00_bar__minus_00_dot_70 - object\n CreditCard_bar__plus_01_dot_49_bar__plus_00_dot_82_bar__minus_01_dot_36 - object\n CreditCard_bar__minus_01_dot_59_bar__plus_00_dot_86_bar__minus_02_dot_37 - object\n DeskLamp_bar__plus_00_dot_05_bar__plus_00_dot_81_bar__minus_02_dot_48 - object\n KeyChain_bar__minus_01_dot_15_bar__plus_00_dot_37_bar__minus_02_dot_25 - object\n KeyChain_bar__minus_01_dot_59_bar__plus_00_dot_86_bar__minus_02_dot_25 - object\n Laptop_bar__minus_00_dot_05_bar__plus_00_dot_77_bar__plus_01_dot_17 - object\n Laptop_bar__minus_00_dot_62_bar__plus_00_dot_77_bar__plus_01_dot_50 - object\n LaundryHamperLid_bar__minus_01_dot_44_bar__plus_00_dot_48_bar__plus_01_dot_76 - object\n LightSwitch_bar__minus_01_dot_80_bar__plus_01_dot_21_bar__plus_00_dot_68 - object\n Mirror_bar__plus_01_dot_50_bar__plus_01_dot_36_bar__minus_00_dot_54 - object\n Painting_bar__plus_00_dot_49_bar__plus_01_dot_68_bar__minus_02_dot_63 - object\n Pencil_bar__minus_00_dot_79_bar__plus_00_dot_87_bar__minus_02_dot_44 - object\n Pen_bar__plus_00_dot_46_bar__plus_00_dot_82_bar__minus_02_dot_51 - object\n Pillow_bar__plus_01_dot_07_bar__plus_00_dot_88_bar__plus_01_dot_33 - object\n Poster_bar__minus_01_dot_80_bar__plus_01_dot_69_bar__minus_01_dot_49 - object\n RemoteControl_bar__minus_01_dot_49_bar__plus_00_dot_37_bar__minus_02_dot_29 - object\n RemoteControl_bar__minus_01_dot_59_bar__plus_00_dot_86_bar__minus_02_dot_56 - object\n Television_bar__minus_01_dot_70_bar__plus_01_dot_47_bar__minus_00_dot_90 - object\n TennisRacket_bar__minus_01_dot_70_bar__plus_00_dot_35_bar__plus_01_dot_74 - object\n Window_bar__plus_01_dot_72_bar__plus_01_dot_37_bar__minus_01_dot_60 - object\n Bed_bar__plus_00_dot_27_bar__plus_00_dot_00_bar__plus_01_dot_33 - receptacle\n Desk_bar__minus_00_dot_87_bar__minus_00_dot_01_bar__minus_02_dot_44 - receptacle\n Drawer_bar__minus_01_dot_41_bar__plus_00_dot_20_bar__minus_02_dot_32 - receptacle\n Drawer_bar__minus_01_dot_41_bar__plus_00_dot_48_bar__minus_02_dot_32 - receptacle\n Drawer_bar__minus_01_dot_41_bar__plus_00_dot_73_bar__minus_02_dot_32 - receptacle\n GarbageCan_bar__plus_01_dot_32_bar__plus_00_dot_00_bar__minus_02_dot_47 - receptacle\n LaundryHamper_bar__minus_01_dot_44_bar__plus_00_dot_01_bar__plus_01_dot_77 - receptacle\n Shelf_bar__plus_01_dot_49_bar__plus_00_dot_82_bar__minus_01_dot_48 - receptacle\n Shelf_bar__minus_01_dot_02_bar__plus_01_dot_35_bar__minus_02_dot_54 - receptacle\n SideTable_bar__plus_00_dot_25_bar_00_dot_00_bar__minus_02_dot_38 - receptacle\n loc_bar_4_bar__minus_8_bar_2_bar_60 - location\n loc_bar__minus_4_bar__minus_4_bar_3_bar_15 - location\n loc_bar_4_bar__minus_8_bar_0_bar_60 - location\n loc_bar__minus_3_bar__minus_7_bar_2_bar_60 - location\n loc_bar__minus_4_bar__minus_7_bar_2_bar_15 - location\n loc_bar_4_bar__minus_3_bar_1_bar_60 - location\n loc_bar__minus_5_bar__minus_6_bar_3_bar_0 - location\n loc_bar__minus_1_bar__minus_7_bar_3_bar_45 - location\n loc_bar_1_bar__minus_7_bar_2_bar_60 - location\n loc_bar_2_bar__minus_7_bar_2_bar_0 - location\n loc_bar__minus_5_bar__minus_7_bar_2_bar_60 - location\n loc_bar_4_bar__minus_4_bar_1_bar_60 - location\n loc_bar__minus_1_bar_0_bar_0_bar_45 - location\n loc_bar_4_bar__minus_2_bar_1_bar_30 - location\n loc_bar__minus_3_bar__minus_7_bar_3_bar_60 - location\n loc_bar__minus_5_bar_5_bar_0_bar_60 - location\n loc_bar_4_bar__minus_6_bar_1_bar__minus_30 - location\n loc_bar__minus_5_bar_3_bar_3_bar_45 - location\n loc_bar_4_bar__minus_6_bar_1_bar_15 - location\n loc_bar__minus_4_bar_0_bar_1_bar_30 - location\n )\n \n\n(:init\n\n\n (receptacleType Shelf_bar__plus_01_dot_49_bar__plus_00_dot_82_bar__minus_01_dot_48 ShelfType)\n (receptacleType Drawer_bar__minus_01_dot_41_bar__plus_00_dot_48_bar__minus_02_dot_32 DrawerType)\n (receptacleType Shelf_bar__minus_01_dot_02_bar__plus_01_dot_35_bar__minus_02_dot_54 ShelfType)\n (receptacleType Bed_bar__plus_00_dot_27_bar__plus_00_dot_00_bar__plus_01_dot_33 BedType)\n (receptacleType SideTable_bar__plus_00_dot_25_bar_00_dot_00_bar__minus_02_dot_38 SideTableType)\n (receptacleType LaundryHamper_bar__minus_01_dot_44_bar__plus_00_dot_01_bar__plus_01_dot_77 LaundryHamperType)\n (receptacleType Drawer_bar__minus_01_dot_41_bar__plus_00_dot_73_bar__minus_02_dot_32 DrawerType)\n (receptacleType GarbageCan_bar__plus_01_dot_32_bar__plus_00_dot_00_bar__minus_02_dot_47 GarbageCanType)\n (receptacleType Drawer_bar__minus_01_dot_41_bar__plus_00_dot_20_bar__minus_02_dot_32 DrawerType)\n (receptacleType Desk_bar__minus_00_dot_87_bar__minus_00_dot_01_bar__minus_02_dot_44 DeskType)\n (objectType TennisRacket_bar__minus_01_dot_70_bar__plus_00_dot_35_bar__plus_01_dot_74 TennisRacketType)\n (objectType Chair_bar__minus_00_dot_63_bar__plus_00_dot_00_bar__minus_02_dot_20 ChairType)\n (objectType KeyChain_bar__minus_01_dot_15_bar__plus_00_dot_37_bar__minus_02_dot_25 KeyChainType)\n (objectType Book_bar__plus_00_dot_24_bar__plus_00_dot_77_bar__plus_01_dot_82 BookType)\n (objectType LightSwitch_bar__minus_01_dot_80_bar__plus_01_dot_21_bar__plus_00_dot_68 LightSwitchType)\n (objectType Television_bar__minus_01_dot_70_bar__plus_01_dot_47_bar__minus_00_dot_90 TelevisionType)\n (objectType LaundryHamperLid_bar__minus_01_dot_44_bar__plus_00_dot_48_bar__plus_01_dot_76 LaundryHamperLidType)\n (objectType Painting_bar__plus_00_dot_49_bar__plus_01_dot_68_bar__minus_02_dot_63 PaintingType)\n (objectType Cloth_bar__plus_01_dot_30_bar__plus_00_dot_00_bar__minus_00_dot_70 ClothType)\n (objectType KeyChain_bar__minus_01_dot_59_bar__plus_00_dot_86_bar__minus_02_dot_25 KeyChainType)\n (objectType Pillow_bar__plus_01_dot_07_bar__plus_00_dot_88_bar__plus_01_dot_33 PillowType)\n (objectType Pen_bar__plus_00_dot_46_bar__plus_00_dot_82_bar__minus_02_dot_51 PenType)\n (objectType Mirror_bar__plus_01_dot_50_bar__plus_01_dot_36_bar__minus_00_dot_54 MirrorType)\n (objectType CD_bar__plus_01_dot_36_bar__plus_00_dot_15_bar__minus_02_dot_47 CDType)\n (objectType Poster_bar__minus_01_dot_80_bar__plus_01_dot_69_bar__minus_01_dot_49 PosterType)\n (objectType Window_bar__plus_01_dot_72_bar__plus_01_dot_37_bar__minus_01_dot_60 WindowType)\n (objectType AlarmClock_bar__minus_00_dot_06_bar__plus_00_dot_81_bar__minus_02_dot_30 AlarmClockType)\n (objectType Bowl_bar__minus_00_dot_99_bar__plus_00_dot_86_bar__minus_02_dot_37 BowlType)\n (objectType Blinds_bar__plus_01_dot_70_bar__plus_02_dot_10_bar__minus_01_dot_58 BlindsType)\n (objectType RemoteControl_bar__minus_01_dot_59_bar__plus_00_dot_86_bar__minus_02_dot_56 RemoteControlType)\n (objectType AlarmClock_bar__plus_01_dot_49_bar__plus_00_dot_82_bar__minus_01_dot_67 AlarmClockType)\n (objectType Cloth_bar__plus_01_dot_27_bar__plus_00_dot_00_bar__minus_00_dot_97 ClothType)\n (objectType CD_bar__plus_00_dot_53_bar__plus_00_dot_81_bar__minus_02_dot_49 CDType)\n (objectType CreditCard_bar__plus_01_dot_49_bar__plus_00_dot_82_bar__minus_01_dot_36 CreditCardType)\n (objectType AlarmClock_bar__plus_00_dot_36_bar__plus_00_dot_81_bar__minus_02_dot_37 AlarmClockType)\n (objectType CellPhone_bar__minus_00_dot_59_bar__plus_00_dot_86_bar__minus_02_dot_56 CellPhoneType)\n (objectType Laptop_bar__minus_00_dot_05_bar__plus_00_dot_77_bar__plus_01_dot_17 LaptopType)\n (objectType Pencil_bar__minus_00_dot_79_bar__plus_00_dot_87_bar__minus_02_dot_44 PencilType)\n (objectType DeskLamp_bar__plus_00_dot_05_bar__plus_00_dot_81_bar__minus_02_dot_48 DeskLampType)\n (objectType Laptop_bar__minus_00_dot_62_bar__plus_00_dot_77_bar__plus_01_dot_50 LaptopType)\n (objectType Chair_bar__plus_00_dot_22_bar__plus_00_dot_00_bar__minus_02_dot_21 ChairType)\n (objectType CD_bar__plus_01_dot_52_bar__plus_00_dot_82_bar__minus_01_dot_73 CDType)\n (objectType CreditCard_bar__minus_01_dot_59_bar__plus_00_dot_86_bar__minus_02_dot_37 CreditCardType)\n (objectType RemoteControl_bar__minus_01_dot_49_bar__plus_00_dot_37_bar__minus_02_dot_29 RemoteControlType)\n (canContain ShelfType PenType)\n (canContain ShelfType BookType)\n (canContain ShelfType BowlType)\n (canContain ShelfType CDType)\n (canContain ShelfType CellPhoneType)\n (canContain ShelfType KeyChainType)\n (canContain ShelfType CreditCardType)\n (canContain ShelfType ClothType)\n (canContain ShelfType PencilType)\n (canContain ShelfType RemoteControlType)\n (canContain ShelfType AlarmClockType)\n (canContain DrawerType PenType)\n (canContain DrawerType BookType)\n (canContain DrawerType CDType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType ClothType)\n (canContain DrawerType PencilType)\n (canContain DrawerType RemoteControlType)\n (canContain ShelfType PenType)\n (canContain ShelfType BookType)\n (canContain ShelfType BowlType)\n (canContain ShelfType CDType)\n (canContain ShelfType CellPhoneType)\n (canContain ShelfType KeyChainType)\n (canContain ShelfType CreditCardType)\n (canContain ShelfType ClothType)\n (canContain ShelfType PencilType)\n (canContain ShelfType RemoteControlType)\n (canContain ShelfType AlarmClockType)\n (canContain BedType TennisRacketType)\n (canContain BedType LaptopType)\n (canContain BedType BookType)\n (canContain BedType CellPhoneType)\n (canContain BedType PillowType)\n (canContain SideTableType PenType)\n (canContain SideTableType BookType)\n (canContain SideTableType BowlType)\n (canContain SideTableType CDType)\n (canContain SideTableType CellPhoneType)\n (canContain SideTableType KeyChainType)\n (canContain SideTableType CreditCardType)\n (canContain SideTableType TennisRacketType)\n (canContain SideTableType ClothType)\n (canContain SideTableType LaptopType)\n (canContain SideTableType PencilType)\n (canContain SideTableType RemoteControlType)\n (canContain SideTableType AlarmClockType)\n (canContain LaundryHamperType ClothType)\n (canContain DrawerType PenType)\n (canContain DrawerType BookType)\n (canContain DrawerType CDType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType ClothType)\n (canContain DrawerType PencilType)\n (canContain DrawerType RemoteControlType)\n (canContain GarbageCanType PenType)\n (canContain GarbageCanType CDType)\n (canContain GarbageCanType ClothType)\n (canContain GarbageCanType PencilType)\n (canContain DrawerType PenType)\n (canContain DrawerType BookType)\n (canContain DrawerType CDType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType ClothType)\n (canContain DrawerType PencilType)\n (canContain DrawerType RemoteControlType)\n (canContain DeskType PenType)\n (canContain DeskType BookType)\n (canContain DeskType BowlType)\n (canContain DeskType CDType)\n (canContain DeskType CellPhoneType)\n (canContain DeskType KeyChainType)\n (canContain DeskType CreditCardType)\n (canContain DeskType TennisRacketType)\n (canContain DeskType ClothType)\n (canContain DeskType LaptopType)\n (canContain DeskType PencilType)\n (canContain DeskType RemoteControlType)\n (canContain DeskType AlarmClockType)\n (pickupable TennisRacket_bar__minus_01_dot_70_bar__plus_00_dot_35_bar__plus_01_dot_74)\n (pickupable KeyChain_bar__minus_01_dot_15_bar__plus_00_dot_37_bar__minus_02_dot_25)\n (pickupable Book_bar__plus_00_dot_24_bar__plus_00_dot_77_bar__plus_01_dot_82)\n (pickupable Cloth_bar__plus_01_dot_30_bar__plus_00_dot_00_bar__minus_00_dot_70)\n (pickupable KeyChain_bar__minus_01_dot_59_bar__plus_00_dot_86_bar__minus_02_dot_25)\n (pickupable Pillow_bar__plus_01_dot_07_bar__plus_00_dot_88_bar__plus_01_dot_33)\n (pickupable Pen_bar__plus_00_dot_46_bar__plus_00_dot_82_bar__minus_02_dot_51)\n (pickupable CD_bar__plus_01_dot_36_bar__plus_00_dot_15_bar__minus_02_dot_47)\n (pickupable AlarmClock_bar__minus_00_dot_06_bar__plus_00_dot_81_bar__minus_02_dot_30)\n (pickupable Bowl_bar__minus_00_dot_99_bar__plus_00_dot_86_bar__minus_02_dot_37)\n (pickupable RemoteControl_bar__minus_01_dot_59_bar__plus_00_dot_86_bar__minus_02_dot_56)\n (pickupable AlarmClock_bar__plus_01_dot_49_bar__plus_00_dot_82_bar__minus_01_dot_67)\n (pickupable Cloth_bar__plus_01_dot_27_bar__plus_00_dot_00_bar__minus_00_dot_97)\n (pickupable CD_bar__plus_00_dot_53_bar__plus_00_dot_81_bar__minus_02_dot_49)\n (pickupable CreditCard_bar__plus_01_dot_49_bar__plus_00_dot_82_bar__minus_01_dot_36)\n (pickupable AlarmClock_bar__plus_00_dot_36_bar__plus_00_dot_81_bar__minus_02_dot_37)\n (pickupable CellPhone_bar__minus_00_dot_59_bar__plus_00_dot_86_bar__minus_02_dot_56)\n (pickupable Laptop_bar__minus_00_dot_05_bar__plus_00_dot_77_bar__plus_01_dot_17)\n (pickupable Pencil_bar__minus_00_dot_79_bar__plus_00_dot_87_bar__minus_02_dot_44)\n (pickupable Laptop_bar__minus_00_dot_62_bar__plus_00_dot_77_bar__plus_01_dot_50)\n (pickupable CD_bar__plus_01_dot_52_bar__plus_00_dot_82_bar__minus_01_dot_73)\n (pickupable CreditCard_bar__minus_01_dot_59_bar__plus_00_dot_86_bar__minus_02_dot_37)\n (pickupable RemoteControl_bar__minus_01_dot_49_bar__plus_00_dot_37_bar__minus_02_dot_29)\n (isReceptacleObject Bowl_bar__minus_00_dot_99_bar__plus_00_dot_86_bar__minus_02_dot_37)\n (openable Drawer_bar__minus_01_dot_41_bar__plus_00_dot_48_bar__minus_02_dot_32)\n (openable Drawer_bar__minus_01_dot_41_bar__plus_00_dot_73_bar__minus_02_dot_32)\n (openable Drawer_bar__minus_01_dot_41_bar__plus_00_dot_20_bar__minus_02_dot_32)\n \n (atLocation agent1 loc_bar__minus_4_bar_0_bar_1_bar_30)\n \n (cleanable Cloth_bar__plus_01_dot_30_bar__plus_00_dot_00_bar__minus_00_dot_70)\n (cleanable Bowl_bar__minus_00_dot_99_bar__plus_00_dot_86_bar__minus_02_dot_37)\n (cleanable Cloth_bar__plus_01_dot_27_bar__plus_00_dot_00_bar__minus_00_dot_97)\n \n \n (coolable Bowl_bar__minus_00_dot_99_bar__plus_00_dot_86_bar__minus_02_dot_37)\n \n \n (toggleable DeskLamp_bar__plus_00_dot_05_bar__plus_00_dot_81_bar__minus_02_dot_48)\n \n \n \n \n (inReceptacle CellPhone_bar__minus_00_dot_59_bar__plus_00_dot_86_bar__minus_02_dot_56 Desk_bar__minus_00_dot_87_bar__minus_00_dot_01_bar__minus_02_dot_44)\n (inReceptacle RemoteControl_bar__minus_01_dot_59_bar__plus_00_dot_86_bar__minus_02_dot_56 Desk_bar__minus_00_dot_87_bar__minus_00_dot_01_bar__minus_02_dot_44)\n (inReceptacle Pencil_bar__minus_00_dot_79_bar__plus_00_dot_87_bar__minus_02_dot_44 Desk_bar__minus_00_dot_87_bar__minus_00_dot_01_bar__minus_02_dot_44)\n (inReceptacle CreditCard_bar__minus_01_dot_59_bar__plus_00_dot_86_bar__minus_02_dot_37 Desk_bar__minus_00_dot_87_bar__minus_00_dot_01_bar__minus_02_dot_44)\n (inReceptacle Bowl_bar__minus_00_dot_99_bar__plus_00_dot_86_bar__minus_02_dot_37 Desk_bar__minus_00_dot_87_bar__minus_00_dot_01_bar__minus_02_dot_44)\n (inReceptacle KeyChain_bar__minus_01_dot_59_bar__plus_00_dot_86_bar__minus_02_dot_25 Desk_bar__minus_00_dot_87_bar__minus_00_dot_01_bar__minus_02_dot_44)\n (inReceptacle AlarmClock_bar__plus_00_dot_36_bar__plus_00_dot_81_bar__minus_02_dot_37 SideTable_bar__plus_00_dot_25_bar_00_dot_00_bar__minus_02_dot_38)\n (inReceptacle Pen_bar__plus_00_dot_46_bar__plus_00_dot_82_bar__minus_02_dot_51 SideTable_bar__plus_00_dot_25_bar_00_dot_00_bar__minus_02_dot_38)\n (inReceptacle CD_bar__plus_00_dot_53_bar__plus_00_dot_81_bar__minus_02_dot_49 SideTable_bar__plus_00_dot_25_bar_00_dot_00_bar__minus_02_dot_38)\n (inReceptacle DeskLamp_bar__plus_00_dot_05_bar__plus_00_dot_81_bar__minus_02_dot_48 SideTable_bar__plus_00_dot_25_bar_00_dot_00_bar__minus_02_dot_38)\n (inReceptacle AlarmClock_bar__minus_00_dot_06_bar__plus_00_dot_81_bar__minus_02_dot_30 SideTable_bar__plus_00_dot_25_bar_00_dot_00_bar__minus_02_dot_38)\n (inReceptacle KeyChain_bar__minus_01_dot_15_bar__plus_00_dot_37_bar__minus_02_dot_25 Drawer_bar__minus_01_dot_41_bar__plus_00_dot_48_bar__minus_02_dot_32)\n (inReceptacle RemoteControl_bar__minus_01_dot_49_bar__plus_00_dot_37_bar__minus_02_dot_29 Drawer_bar__minus_01_dot_41_bar__plus_00_dot_48_bar__minus_02_dot_32)\n (inReceptacle Laptop_bar__minus_00_dot_05_bar__plus_00_dot_77_bar__plus_01_dot_17 Bed_bar__plus_00_dot_27_bar__plus_00_dot_00_bar__plus_01_dot_33)\n (inReceptacle Pillow_bar__plus_01_dot_07_bar__plus_00_dot_88_bar__plus_01_dot_33 Bed_bar__plus_00_dot_27_bar__plus_00_dot_00_bar__plus_01_dot_33)\n (inReceptacle Laptop_bar__minus_00_dot_62_bar__plus_00_dot_77_bar__plus_01_dot_50 Bed_bar__plus_00_dot_27_bar__plus_00_dot_00_bar__plus_01_dot_33)\n (inReceptacle Book_bar__plus_00_dot_24_bar__plus_00_dot_77_bar__plus_01_dot_82 Bed_bar__plus_00_dot_27_bar__plus_00_dot_00_bar__plus_01_dot_33)\n (inReceptacle CD_bar__plus_01_dot_52_bar__plus_00_dot_82_bar__minus_01_dot_73 Shelf_bar__plus_01_dot_49_bar__plus_00_dot_82_bar__minus_01_dot_48)\n (inReceptacle CreditCard_bar__plus_01_dot_49_bar__plus_00_dot_82_bar__minus_01_dot_36 Shelf_bar__plus_01_dot_49_bar__plus_00_dot_82_bar__minus_01_dot_48)\n (inReceptacle AlarmClock_bar__plus_01_dot_49_bar__plus_00_dot_82_bar__minus_01_dot_67 Shelf_bar__plus_01_dot_49_bar__plus_00_dot_82_bar__minus_01_dot_48)\n (inReceptacle CD_bar__plus_01_dot_36_bar__plus_00_dot_15_bar__minus_02_dot_47 GarbageCan_bar__plus_01_dot_32_bar__plus_00_dot_00_bar__minus_02_dot_47)\n \n \n (receptacleAtLocation Bed_bar__plus_00_dot_27_bar__plus_00_dot_00_bar__plus_01_dot_33 loc_bar__minus_1_bar_0_bar_0_bar_45)\n (receptacleAtLocation Desk_bar__minus_00_dot_87_bar__minus_00_dot_01_bar__minus_02_dot_44 loc_bar__minus_5_bar__minus_7_bar_2_bar_60)\n (receptacleAtLocation Drawer_bar__minus_01_dot_41_bar__plus_00_dot_20_bar__minus_02_dot_32 loc_bar__minus_1_bar__minus_7_bar_3_bar_45)\n (receptacleAtLocation Drawer_bar__minus_01_dot_41_bar__plus_00_dot_48_bar__minus_02_dot_32 loc_bar__minus_1_bar__minus_7_bar_3_bar_45)\n (receptacleAtLocation Drawer_bar__minus_01_dot_41_bar__plus_00_dot_73_bar__minus_02_dot_32 loc_bar__minus_3_bar__minus_7_bar_3_bar_60)\n (receptacleAtLocation GarbageCan_bar__plus_01_dot_32_bar__plus_00_dot_00_bar__minus_02_dot_47 loc_bar_4_bar__minus_8_bar_2_bar_60)\n (receptacleAtLocation LaundryHamper_bar__minus_01_dot_44_bar__plus_00_dot_01_bar__plus_01_dot_77 loc_bar__minus_5_bar_5_bar_0_bar_60)\n (receptacleAtLocation Shelf_bar__plus_01_dot_49_bar__plus_00_dot_82_bar__minus_01_dot_48 loc_bar_4_bar__minus_8_bar_0_bar_60)\n (receptacleAtLocation Shelf_bar__minus_01_dot_02_bar__plus_01_dot_35_bar__minus_02_dot_54 loc_bar__minus_4_bar__minus_7_bar_2_bar_15)\n (receptacleAtLocation SideTable_bar__plus_00_dot_25_bar_00_dot_00_bar__minus_02_dot_38 loc_bar_1_bar__minus_7_bar_2_bar_60)\n (objectAtLocation RemoteControl_bar__minus_01_dot_59_bar__plus_00_dot_86_bar__minus_02_dot_56 loc_bar__minus_5_bar__minus_7_bar_2_bar_60)\n (objectAtLocation KeyChain_bar__minus_01_dot_15_bar__plus_00_dot_37_bar__minus_02_dot_25 loc_bar__minus_1_bar__minus_7_bar_3_bar_45)\n (objectAtLocation CreditCard_bar__minus_01_dot_59_bar__plus_00_dot_86_bar__minus_02_dot_37 loc_bar__minus_5_bar__minus_7_bar_2_bar_60)\n (objectAtLocation AlarmClock_bar__plus_01_dot_49_bar__plus_00_dot_82_bar__minus_01_dot_67 loc_bar_4_bar__minus_8_bar_0_bar_60)\n (objectAtLocation Laptop_bar__minus_00_dot_05_bar__plus_00_dot_77_bar__plus_01_dot_17 loc_bar__minus_1_bar_0_bar_0_bar_45)\n (objectAtLocation AlarmClock_bar__minus_00_dot_06_bar__plus_00_dot_81_bar__minus_02_dot_30 loc_bar_1_bar__minus_7_bar_2_bar_60)\n (objectAtLocation Book_bar__plus_00_dot_24_bar__plus_00_dot_77_bar__plus_01_dot_82 loc_bar__minus_1_bar_0_bar_0_bar_45)\n (objectAtLocation LaundryHamperLid_bar__minus_01_dot_44_bar__plus_00_dot_48_bar__plus_01_dot_76 loc_bar__minus_5_bar_5_bar_0_bar_60)\n (objectAtLocation Chair_bar__minus_00_dot_63_bar__plus_00_dot_00_bar__minus_02_dot_20 loc_bar__minus_3_bar__minus_7_bar_2_bar_60)\n (objectAtLocation Chair_bar__plus_00_dot_22_bar__plus_00_dot_00_bar__minus_02_dot_21 loc_bar_1_bar__minus_7_bar_2_bar_60)\n (objectAtLocation Cloth_bar__plus_01_dot_30_bar__plus_00_dot_00_bar__minus_00_dot_70 loc_bar_4_bar__minus_3_bar_1_bar_60)\n (objectAtLocation Cloth_bar__plus_01_dot_27_bar__plus_00_dot_00_bar__minus_00_dot_97 loc_bar_4_bar__minus_4_bar_1_bar_60)\n (objectAtLocation CellPhone_bar__minus_00_dot_59_bar__plus_00_dot_86_bar__minus_02_dot_56 loc_bar__minus_5_bar__minus_7_bar_2_bar_60)\n (objectAtLocation Television_bar__minus_01_dot_70_bar__plus_01_dot_47_bar__minus_00_dot_90 loc_bar__minus_4_bar__minus_4_bar_3_bar_15)\n (objectAtLocation Pencil_bar__minus_00_dot_79_bar__plus_00_dot_87_bar__minus_02_dot_44 loc_bar__minus_5_bar__minus_7_bar_2_bar_60)\n (objectAtLocation DeskLamp_bar__plus_00_dot_05_bar__plus_00_dot_81_bar__minus_02_dot_48 loc_bar_1_bar__minus_7_bar_2_bar_60)\n (objectAtLocation Laptop_bar__minus_00_dot_62_bar__plus_00_dot_77_bar__plus_01_dot_50 loc_bar__minus_1_bar_0_bar_0_bar_45)\n (objectAtLocation LightSwitch_bar__minus_01_dot_80_bar__plus_01_dot_21_bar__plus_00_dot_68 loc_bar__minus_5_bar_3_bar_3_bar_45)\n (objectAtLocation AlarmClock_bar__plus_00_dot_36_bar__plus_00_dot_81_bar__minus_02_dot_37 loc_bar_1_bar__minus_7_bar_2_bar_60)\n (objectAtLocation CreditCard_bar__plus_01_dot_49_bar__plus_00_dot_82_bar__minus_01_dot_36 loc_bar_4_bar__minus_8_bar_0_bar_60)\n (objectAtLocation KeyChain_bar__minus_01_dot_59_bar__plus_00_dot_86_bar__minus_02_dot_25 loc_bar__minus_5_bar__minus_7_bar_2_bar_60)\n (objectAtLocation TennisRacket_bar__minus_01_dot_70_bar__plus_00_dot_35_bar__plus_01_dot_74 loc_bar__minus_5_bar_5_bar_0_bar_60)\n (objectAtLocation Painting_bar__plus_00_dot_49_bar__plus_01_dot_68_bar__minus_02_dot_63 loc_bar_2_bar__minus_7_bar_2_bar_0)\n (objectAtLocation RemoteControl_bar__minus_01_dot_49_bar__plus_00_dot_37_bar__minus_02_dot_29 loc_bar__minus_1_bar__minus_7_bar_3_bar_45)\n (objectAtLocation Pillow_bar__plus_01_dot_07_bar__plus_00_dot_88_bar__plus_01_dot_33 loc_bar__minus_1_bar_0_bar_0_bar_45)\n (objectAtLocation Poster_bar__minus_01_dot_80_bar__plus_01_dot_69_bar__minus_01_dot_49 loc_bar__minus_5_bar__minus_6_bar_3_bar_0)\n (objectAtLocation Mirror_bar__plus_01_dot_50_bar__plus_01_dot_36_bar__minus_00_dot_54 loc_bar_4_bar__minus_2_bar_1_bar_30)\n (objectAtLocation CD_bar__plus_01_dot_52_bar__plus_00_dot_82_bar__minus_01_dot_73 loc_bar_4_bar__minus_8_bar_0_bar_60)\n (objectAtLocation CD_bar__plus_00_dot_53_bar__plus_00_dot_81_bar__minus_02_dot_49 loc_bar_1_bar__minus_7_bar_2_bar_60)\n (objectAtLocation CD_bar__plus_01_dot_36_bar__plus_00_dot_15_bar__minus_02_dot_47 loc_bar_4_bar__minus_8_bar_2_bar_60)\n (objectAtLocation Pen_bar__plus_00_dot_46_bar__plus_00_dot_82_bar__minus_02_dot_51 loc_bar_1_bar__minus_7_bar_2_bar_60)\n (objectAtLocation Window_bar__plus_01_dot_72_bar__plus_01_dot_37_bar__minus_01_dot_60 loc_bar_4_bar__minus_6_bar_1_bar_15)\n (objectAtLocation Blinds_bar__plus_01_dot_70_bar__plus_02_dot_10_bar__minus_01_dot_58 loc_bar_4_bar__minus_6_bar_1_bar__minus_30)\n (objectAtLocation Bowl_bar__minus_00_dot_99_bar__plus_00_dot_86_bar__minus_02_dot_37 loc_bar__minus_5_bar__minus_7_bar_2_bar_60)\n )\n \n\n (:goal\n (and\n (exists (?ot - object\n ?r - receptacle\n ?a - agent\n ?l - location)\n (and\n (objectType ?ot DeskLampType)\n (toggleable ?ot)\n (isToggled ?ot)\n (receptacleAtLocation ?r ?l)\n (atLocation ?a ?l)\n (inReceptacle ?ot ?r)\n )\n )\n (exists (?o - object\n ?a - agent)\n (and\n (objectType ?o PencilType)\n (holds ?a ?o)\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to desk 1", "take pencil 1 from desk 1", "go to sidetable 1", "use desklamp 1"]}
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alfworld__pick_two_obj_and_place__21
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pick_two_obj_and_place
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pick_two_obj_and_place-ToiletPaper-None-Drawer-416/trial_T20190908_013040_862247/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 toiletpaper and put them in drawer.\"\n }\n ],\n\n \"GotoLocation.feedback\": [\n {\n \"rhs\": \"You arrive at {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"OpenObject.feedback\": [\n {\n \"rhs\": \"You open the {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"CloseObject.feedback\": [\n {\n \"rhs\": \"You close the {r.name}.\"\n }\n ],\n\n \"PickupObject.feedback\": [\n {\n \"rhs\": \"You pick up the {o.name} from the {r.name}.\"\n }\n ],\n\n \"PickupObjectFromReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupObjectFromReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupEmptyReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupEmptyReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupFullReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupFullReceptacleObject: You pick up the {outerr.name}.\"\n }\n ],\n\n \"PutObject.feedback\": [\n {\n \"rhs\": \"You move the {o.name} to the {r.name}.\"\n }\n ],\n\n \"PutObjectInReceptacleObject.feedback\": [\n {\n \"rhs\": \"PutObjectInReceptacleObject: You put the {o.name} in the {outero.name}.\"\n }\n ],\n\n \"PutEmptyReceptacleObjectinReceptacle.feedback\": [\n {\n \"rhs\": \"PutEmptyReceptacleObjectinReceptacle: You put the {o.name} in the {r.name}.\"\n }\n ],\n\n \"PutFullReceptacleObjectInReceptacle.feedback\": [\n {\n \"rhs\": \"PutFullReceptacleObjectInReceptacle: You put the {outero.name} in the {r.name}.\"\n }\n ],\n\n \"inventory.feedback\": [\n {\n \"condition\": \"holdsany(a:agent)\",\n \"rhs\": \"You are carrying: [{o.indefinite + ' ' + o.name | holds(a:agent, o:object)}].\"\n },\n {\n \"rhs\": \"You are not carrying anything.\"\n }\n ],\n\n \"examineReceptacle.feedback\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \"The {r.name} is open. In it, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \"The {r.name} is closed.\"\n },\n {\n \"rhs\": \"On the {r.name}, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n }\n ],\n\n \"examineObject.feedback\": [\n {\n \"condition\": \"isreceptacleobject(o:object)\",\n \"rhs\": \"This is a normal {o.name}. In it, you see [{o2.indefinite + ' ' + o2.name | inreceptacleobject(o2:object, o:object)}].\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a clean sliced {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot sliced {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object)\",\n \"rhs\": \"This is a hot and clean {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object)\",\n \"rhs\": \"This is a cool and clean {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object)\",\n \"rhs\": \"This is a hot {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object)\",\n \"rhs\": \"This is a clean {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object)\",\n \"rhs\": \"This is a cold {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"This {o.name} is on.\"\n },\n {\n \"condition\": \"toggleable(o:object) & not_istoggled(o:object)\",\n \"rhs\": \"This {o.name} is off.\"\n },\n {\n \"condition\": \"sliceable(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a sliced {o.name}.\"\n },\n {\n \"rhs\": \"There's nothing special about {o.name}.\"\n }\n ]\n }\n\"\"\";\n\naction GotoLocation {\n template :: \"go to [{r.name | receptacleatlocation(r:receptacle, lend:location)}]\";\n feedback :: \"#GotoLocation.feedback#\";\n}\n\naction OpenObject {\n template :: \"open {r}\";\n feedback :: \"#OpenObject.feedback#\";\n}\n\naction CloseObject {\n template :: \"close {r}\";\n feedback :: \"#CloseObject.feedback#\";\n}\n\naction PickupObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObject.feedback#\";\n}\n\naction PickupObjectFromReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObjectFromReceptacleObject.feedback#\";\n}\n\naction PickupEmptyReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupEmptyReceptacleObject.feedback#\";\n}\n\naction PickupFullReceptacleObject {\n template :: \"take {outerr} from {r}\";\n feedback :: \"#PickupFullReceptacleObject.feedback#\";\n}\n\naction PutObject {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutObject.feedback#\";\n}\n\naction PutObjectInReceptacleObject {\n template :: \"put {o} into {outero}\";\n feedback :: \"#PutObjectInReceptacleObject.feedback#\";\n}\n\naction PutEmptyReceptacleObjectinReceptacle {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutEmptyReceptacleObjectinReceptacle.feedback#\";\n}\n\naction PutFullReceptacleObjectInReceptacle {\n template :: \"put {outero} in {r}\";\n feedback :: \"#PutFullReceptacleObjectInReceptacle.feedback#\";\n}\n\naction inventory {\n template :: \"inventory\";\n feedback :: \"#inventory.feedback#\";\n}\n\naction examineReceptacle {\n template :: \"examine {r}\";\n feedback :: \"#examineReceptacle.feedback#\";\n}\n\naction examineObject {\n template :: \"examine {o}\";\n feedback :: \"#examineObject.feedback#\";\n}\n\naction ToggleObject {\n template :: \"use {o}\";\n feedback :: \"#toggleObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"toggleObject.feedback\": [\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"You turn on the {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object)\",\n \"rhs\": \"You turn off the {o.name}.\"\n },\n {\n \"rhs\": \"You don't see any switch on the {o.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction HeatObject {\n template :: \"heat {o} with {r}\";\n feedback :: \"#heatObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"heatObject.feedback\": [\n {\n \"rhs\": \"You heat the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CleanObject {\n template :: \"clean {o} with {r}\";\n feedback :: \"#cleanObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"cleanObject.feedback\": [\n {\n \"rhs\": \"You clean the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CoolObject {\n template :: \"cool {o} with {r}\";\n feedback :: \"#coolObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"coolObject.feedback\": [\n {\n \"rhs\": \"You cool the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction SliceObject {\n template :: \"slice {co} with {ko}\";\n feedback :: \"#sliceObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"sliceObject.feedback\": [\n {\n \"rhs\": \"You sliced the {co.name} with the {ko.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction look {\n template :: \"look\";\n feedback :: \"#look.feedback#\";\n\n grammar :: \"\"\"\n {\n \"look.feedback\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"#look-variations#. Next to it, you see #list_objects_on_the_floor#.\"\n },\n {\n \"rhs\": \"You are in the middle of a room. Looking quickly around you, you see #list_appliances#.\"\n }\n ],\n\n \"look-variations\": [\n {\n \"rhs\": \"You are facing the [{r.name | atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)}]\"\n }\n ],\n\n \"list_objects_on_the_floor\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)\",\n \"rhs\": \"[{#overview(o)# | atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"list_appliances\": [\n {\n \"condition\": \"receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"[{#overview(r)# | receptacleatlocation(r:receptacle, l:location)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"overview(o, r)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name} (in/on the {r.name})}\"\n }\n ],\n\n \"overview(o)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name}\"\n }\n ],\n \"overview(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}\"\n }\n ],\n \"overview_with_state(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}#overview_state(r)#\"\n }\n ],\n \"overview_state(r)\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \" (it is open)\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \" (it is closed)\"\n },\n {\n \"rhs\": \"\"\n }\n ],\n\n \"list_empty\": [\n {\n \"rhs\": \"nothing\"\n }\n ],\n \"list_separator\": [\n {\n \"rhs\": \", \"\n }\n ],\n \"list_last_separator\": [\n {\n \"rhs\": \", and \"\n }\n ]\n }\n \"\"\";\n}\n\naction help {\n template :: \"help\";\n feedback :: \"\nAvailable commands:\n look: look around your current location\n inventory: check your current inventory\n go to (receptacle): move to a receptacle\n open (receptacle): open a receptacle\n close (receptacle): close a receptacle\n take (object) from (receptacle): take an object from a receptacle\n move (object) to (receptacle): place an object in or on a receptacle\n examine (something): examine a receptacle or an object\n use (object): use an object\n heat (object) with (receptacle): heat an object using a receptacle\n clean (object) with (receptacle): clean an object using a receptacle\n cool (object) with (receptacle): cool an object using a receptacle\n slice (object) with (object): slice an object using a sharp object\n\";\n}\n", "pddl_problem": "\n(define (problem plan_trial_T20190908_013040_862247)\n(:domain alfred)\n(:objects\nagent1 - agent\nSaltShaker - object\n HousePlant - object\n Candle - object\n SprayBottle - object\n Bowl - object\n Window - object\n CD - object\n Egg - object\n Glassbottle - object\n Sink - object\n Pillow - object\n Spoon - object\n SoapBottle - object\n TeddyBear - object\n ButterKnife - object\n Cup - object\n Plate - object\n RemoteControl - object\n Tomato - object\n Statue - object\n HandTowel - object\n Knife - object\n StoveKnob - object\n LightSwitch - object\n Pen - object\n Painting - object\n DishSponge - object\n Vase - object\n Mug - object\n ToiletPaper - object\n Box - object\n Mirror - object\n Ladle - object\n Fork - object\n Blinds - object\n Footstool - object\n KeyChain - object\n Cloth - object\n Laptop - object\n TissueBox - object\n PepperShaker - object\n FloorLamp - object\n WateringCan - object\n Apple - object\n Pan - object\n PaperTowel - object\n PaperTowelRoll - object\n Newspaper - object\n Television - object\n Chair - object\n CellPhone - object\n CreditCard - object\n Lettuce - object\n BasketBall - object\n Potato - object\n Curtains - object\n Boots - object\n Pencil - object\n AlarmClock - object\n ToiletPaperRoll - object\n Spatula - object\n Book - object\n Bread - object\n SoapBar - object\n Watch - object\n DeskLamp - object\n Kettle - object\n Pot - object\n ScrubBrush - object\n WineBottle - object\n ShowerDoor - object\n Bathtub - object\n LaundryHamperLid - object\n ShowerGlass - object\n Poster - object\n TennisRacket - object\n BaseballBat - object\n Towel - object\n Plunger - object\nSaltShakerType - otype\n HousePlantType - otype\n CandleType - otype\n SprayBottleType - otype\n BowlType - otype\n WindowType - otype\n CDType - otype\n EggType - otype\n GlassbottleType - otype\n SinkType - otype\n PillowType - otype\n SpoonType - otype\n SoapBottleType - otype\n TeddyBearType - otype\n ButterKnifeType - otype\n CupType - otype\n PlateType - otype\n RemoteControlType - otype\n TomatoType - otype\n StatueType - otype\n HandTowelType - otype\n KnifeType - otype\n StoveKnobType - otype\n LightSwitchType - otype\n PenType - otype\n PaintingType - otype\n DishSpongeType - otype\n VaseType - otype\n MugType - otype\n ToiletPaperType - otype\n BoxType - otype\n MirrorType - otype\n LadleType - otype\n ForkType - otype\n BlindsType - otype\n FootstoolType - otype\n KeyChainType - otype\n ClothType - otype\n LaptopType - otype\n TissueBoxType - otype\n PepperShakerType - otype\n FloorLampType - otype\n WateringCanType - otype\n AppleType - otype\n PanType - otype\n PaperTowelType - otype\n PaperTowelRollType - otype\n NewspaperType - otype\n TelevisionType - otype\n ChairType - otype\n CellPhoneType - otype\n CreditCardType - otype\n LettuceType - otype\n BasketBallType - otype\n PotatoType - otype\n CurtainsType - otype\n BootsType - otype\n PencilType - otype\n AlarmClockType - otype\n ToiletPaperRollType - otype\n SpatulaType - otype\n BookType - otype\n BreadType - otype\n SoapBarType - otype\n WatchType - otype\n DeskLampType - otype\n KettleType - otype\n PotType - otype\n ScrubBrushType - otype\n WineBottleType - otype\n ShowerDoorType - otype\n BathtubType - otype\n LaundryHamperLidType - otype\n ShowerGlassType - otype\n PosterType - otype\n TennisRacketType - otype\n BaseballBatType - otype\n TowelType - otype\n PlungerType - otype\nSafeType - rtype\n DrawerType - rtype\n CoffeeMachineType - rtype\n HandTowelHolderType - rtype\n SinkBasinType - rtype\n DresserType - rtype\n LaundryHamperType - rtype\n TVStandType - rtype\n BathtubBasinType - rtype\n CabinetType - rtype\n FridgeType - rtype\n DeskType - rtype\n ToiletType - rtype\n CartType - rtype\n SideTableType - rtype\n SofaType - rtype\n CoffeeTableType - rtype\n DiningTableType - rtype\n CounterTopType - rtype\n GarbageCanType - rtype\n ArmChairType - rtype\n ShelfType - rtype\n MicrowaveType - rtype\n ToasterType - rtype\n BedType - rtype\n PaintingHangerType - rtype\n TowelHolderType - rtype\n ToiletPaperHangerType - rtype\n StoveBurnerType - rtype\n OttomanType - rtype\n\n\n Candle_bar__minus_01_dot_54_bar__plus_00_dot_77_bar__plus_02_dot_73 - object\n Candle_bar__minus_01_dot_80_bar__plus_01_dot_09_bar__plus_00_dot_49 - object\n Candle_bar__minus_01_dot_89_bar__plus_00_dot_77_bar__plus_02_dot_68 - object\n Cloth_bar__minus_01_dot_49_bar__plus_00_dot_24_bar__plus_01_dot_87 - object\n Cloth_bar__minus_01_dot_49_bar__plus_00_dot_24_bar__plus_02_dot_93 - object\n Cloth_bar__minus_01_dot_57_bar__plus_00_dot_24_bar__plus_03_dot_33 - object\n Faucet_bar__plus_00_dot_85_bar__plus_01_dot_80_bar__plus_01_dot_11 - object\n Faucet_bar__minus_01_dot_93_bar__plus_00_dot_72_bar__plus_02_dot_29 - object\n Faucet_bar__minus_01_dot_93_bar__plus_00_dot_72_bar__plus_03_dot_37 - object\n HandTowel_bar__minus_01_dot_51_bar__plus_01_dot_46_bar__plus_03_dot_96 - object\n LightSwitch_bar__plus_01_dot_25_bar__plus_01_dot_27_bar__plus_03_dot_64 - object\n Mirror_bar__minus_01_dot_92_bar__plus_01_dot_41_bar__plus_02_dot_76 - object\n Plunger_bar__minus_01_dot_69_bar__plus_00_dot_00_bar__plus_00_dot_33 - object\n ScrubBrush_bar__minus_01_dot_85_bar__plus_00_dot_00_bar__plus_00_dot_14 - object\n ShowerDoor_bar__plus_00_dot_57_bar__plus_01_dot_02_bar__plus_01_dot_12 - object\n Sink_bar__minus_01_dot_70_bar__plus_00_dot_62_bar__plus_02_dot_28 - object\n Sink_bar__minus_01_dot_70_bar__plus_00_dot_62_bar__plus_03_dot_37 - object\n SoapBar_bar__minus_01_dot_63_bar__plus_00_dot_73_bar__plus_02_dot_98 - object\n SoapBottle_bar__minus_01_dot_46_bar__plus_00_dot_73_bar__plus_02_dot_93 - object\n SoapBottle_bar__minus_01_dot_80_bar__plus_00_dot_05_bar__plus_01_dot_35 - object\n SprayBottle_bar__minus_01_dot_87_bar__plus_01_dot_05_bar__plus_00_dot_68 - object\n SprayBottle_bar__minus_01_dot_87_bar__plus_01_dot_05_bar__plus_00_dot_88 - object\n ToiletPaper_bar__minus_01_dot_37_bar__plus_00_dot_73_bar__plus_02_dot_78 - object\n ToiletPaper_bar__minus_01_dot_55_bar__plus_00_dot_62_bar__plus_00_dot_05 - object\n ToiletPaper_bar__minus_01_dot_63_bar__plus_00_dot_73_bar__plus_02_dot_88 - object\n ToiletPaper_bar__minus_01_dot_72_bar__plus_00_dot_73_bar__plus_02_dot_73 - object\n Towel_bar__plus_00_dot_87_bar__plus_01_dot_17_bar__plus_02_dot_36 - object\n Window_bar__minus_01_dot_04_bar__plus_01_dot_40_bar__plus_00_dot_02 - object\n Window_bar__minus_01_dot_99_bar__plus_01_dot_40_bar__plus_00_dot_71 - object\n CounterTop_bar__minus_01_dot_61_bar__plus_00_dot_70_bar__plus_02_dot_83 - receptacle\n Drawer_bar__minus_01_dot_34_bar__plus_00_dot_30_bar__plus_02_dot_13 - receptacle\n Drawer_bar__minus_01_dot_34_bar__plus_00_dot_30_bar__plus_03_dot_33 - receptacle\n GarbageCan_bar__minus_01_dot_74_bar__plus_00_dot_00_bar__plus_01_dot_34 - receptacle\n HandTowelHolder_bar__minus_01_dot_51_bar__plus_01_dot_56_bar__plus_04_dot_00 - receptacle\n HandTowelHolder_bar__minus_02_dot_00_bar__plus_01_dot_69_bar__plus_01_dot_32 - receptacle\n Sink_bar__minus_01_dot_70_bar__plus_00_dot_62_bar__plus_02_dot_28_bar_SinkBasin - receptacle\n Sink_bar__minus_01_dot_70_bar__plus_00_dot_62_bar__plus_03_dot_37_bar_SinkBasin - receptacle\n ToiletPaperHanger_bar__minus_01_dot_50_bar__plus_00_dot_72_bar__plus_00_dot_00 - receptacle\n Toilet_bar__minus_01_dot_55_bar__plus_00_dot_00_bar__plus_00_dot_69 - receptacle\n TowelHolder_bar__plus_00_dot_87_bar__plus_01_dot_16_bar__plus_02_dot_25 - receptacle\n loc_bar__minus_5_bar_5_bar_2_bar_60 - location\n loc_bar_0_bar_5_bar_1_bar_45 - location\n loc_bar_3_bar_14_bar_1_bar_30 - location\n loc_bar_0_bar_12_bar_3_bar_45 - location\n loc_bar__minus_4_bar_13_bar_3_bar_60 - location\n loc_bar__minus_3_bar_3_bar_2_bar_45 - location\n loc_bar__minus_4_bar_11_bar_3_bar_15 - location\n loc_bar_0_bar_10_bar_3_bar_45 - location\n loc_bar__minus_5_bar_5_bar_3_bar_0 - location\n loc_bar__minus_4_bar_11_bar_3_bar_60 - location\n loc_bar__minus_3_bar_3_bar_3_bar_60 - location\n loc_bar__minus_3_bar_3_bar_3_bar_15 - location\n loc_bar__minus_4_bar_12_bar_3_bar_60 - location\n loc_bar__minus_4_bar_14_bar_3_bar_15 - location\n loc_bar__minus_3_bar_3_bar_2_bar_15 - location\n loc_bar__minus_4_bar_9_bar_3_bar_60 - location\n loc_bar_3_bar_11_bar_2_bar_45 - location\n loc_bar__minus_3_bar_9_bar_3_bar_45 - location\n loc_bar__minus_3_bar_5_bar_2_bar_30 - location\n )\n \n\n(:init\n\n\n (receptacleType CounterTop_bar__minus_01_dot_61_bar__plus_00_dot_70_bar__plus_02_dot_83 CounterTopType)\n (receptacleType HandTowelHolder_bar__minus_02_dot_00_bar__plus_01_dot_69_bar__plus_01_dot_32 HandTowelHolderType)\n (receptacleType GarbageCan_bar__minus_01_dot_74_bar__plus_00_dot_00_bar__plus_01_dot_34 GarbageCanType)\n (receptacleType Sink_bar__minus_01_dot_70_bar__plus_00_dot_62_bar__plus_03_dot_37_bar_SinkBasin SinkBasinType)\n (receptacleType HandTowelHolder_bar__minus_01_dot_51_bar__plus_01_dot_56_bar__plus_04_dot_00 HandTowelHolderType)\n (receptacleType Drawer_bar__minus_01_dot_34_bar__plus_00_dot_30_bar__plus_03_dot_33 DrawerType)\n (receptacleType Sink_bar__minus_01_dot_70_bar__plus_00_dot_62_bar__plus_02_dot_28_bar_SinkBasin SinkBasinType)\n (receptacleType ToiletPaperHanger_bar__minus_01_dot_50_bar__plus_00_dot_72_bar__plus_00_dot_00 ToiletPaperHangerType)\n (receptacleType Toilet_bar__minus_01_dot_55_bar__plus_00_dot_00_bar__plus_00_dot_69 ToiletType)\n (receptacleType TowelHolder_bar__plus_00_dot_87_bar__plus_01_dot_16_bar__plus_02_dot_25 TowelHolderType)\n (receptacleType Drawer_bar__minus_01_dot_34_bar__plus_00_dot_30_bar__plus_02_dot_13 DrawerType)\n (objectType Candle_bar__minus_01_dot_54_bar__plus_00_dot_77_bar__plus_02_dot_73 CandleType)\n (objectType SoapBottle_bar__minus_01_dot_46_bar__plus_00_dot_73_bar__plus_02_dot_93 SoapBottleType)\n (objectType Sink_bar__minus_01_dot_70_bar__plus_00_dot_62_bar__plus_03_dot_37 SinkType)\n (objectType LightSwitch_bar__plus_01_dot_25_bar__plus_01_dot_27_bar__plus_03_dot_64 LightSwitchType)\n (objectType SoapBottle_bar__minus_01_dot_80_bar__plus_00_dot_05_bar__plus_01_dot_35 SoapBottleType)\n (objectType Candle_bar__minus_01_dot_80_bar__plus_01_dot_09_bar__plus_00_dot_49 CandleType)\n (objectType Plunger_bar__minus_01_dot_69_bar__plus_00_dot_00_bar__plus_00_dot_33 PlungerType)\n (objectType SprayBottle_bar__minus_01_dot_87_bar__plus_01_dot_05_bar__plus_00_dot_88 SprayBottleType)\n (objectType Window_bar__minus_01_dot_04_bar__plus_01_dot_40_bar__plus_00_dot_02 WindowType)\n (objectType ToiletPaper_bar__minus_01_dot_63_bar__plus_00_dot_73_bar__plus_02_dot_88 ToiletPaperType)\n (objectType Window_bar__minus_01_dot_99_bar__plus_01_dot_40_bar__plus_00_dot_71 WindowType)\n (objectType Candle_bar__minus_01_dot_89_bar__plus_00_dot_77_bar__plus_02_dot_68 CandleType)\n (objectType Mirror_bar__minus_01_dot_92_bar__plus_01_dot_41_bar__plus_02_dot_76 MirrorType)\n (objectType SoapBar_bar__minus_01_dot_63_bar__plus_00_dot_73_bar__plus_02_dot_98 SoapBarType)\n (objectType ScrubBrush_bar__minus_01_dot_85_bar__plus_00_dot_00_bar__plus_00_dot_14 ScrubBrushType)\n (objectType Cloth_bar__minus_01_dot_49_bar__plus_00_dot_24_bar__plus_01_dot_87 ClothType)\n (objectType ToiletPaper_bar__minus_01_dot_37_bar__plus_00_dot_73_bar__plus_02_dot_78 ToiletPaperType)\n (objectType Sink_bar__minus_01_dot_70_bar__plus_00_dot_62_bar__plus_02_dot_28 SinkType)\n (objectType Cloth_bar__minus_01_dot_57_bar__plus_00_dot_24_bar__plus_03_dot_33 ClothType)\n (objectType Cloth_bar__minus_01_dot_49_bar__plus_00_dot_24_bar__plus_02_dot_93 ClothType)\n (objectType ToiletPaper_bar__minus_01_dot_72_bar__plus_00_dot_73_bar__plus_02_dot_73 ToiletPaperType)\n (objectType SprayBottle_bar__minus_01_dot_87_bar__plus_01_dot_05_bar__plus_00_dot_68 SprayBottleType)\n (objectType Towel_bar__plus_00_dot_87_bar__plus_01_dot_17_bar__plus_02_dot_36 TowelType)\n (objectType ToiletPaper_bar__minus_01_dot_55_bar__plus_00_dot_62_bar__plus_00_dot_05 ToiletPaperType)\n (objectType ShowerDoor_bar__plus_00_dot_57_bar__plus_01_dot_02_bar__plus_01_dot_12 ShowerDoorType)\n (objectType HandTowel_bar__minus_01_dot_51_bar__plus_01_dot_46_bar__plus_03_dot_96 HandTowelType)\n (canContain CounterTopType CandleType)\n (canContain CounterTopType SoapBarType)\n (canContain CounterTopType SprayBottleType)\n (canContain CounterTopType ToiletPaperType)\n (canContain CounterTopType SoapBottleType)\n (canContain CounterTopType ClothType)\n (canContain CounterTopType HandTowelType)\n (canContain HandTowelHolderType HandTowelType)\n (canContain GarbageCanType SoapBarType)\n (canContain GarbageCanType SprayBottleType)\n (canContain GarbageCanType ToiletPaperType)\n (canContain GarbageCanType SoapBottleType)\n (canContain GarbageCanType ClothType)\n (canContain GarbageCanType HandTowelType)\n (canContain SinkBasinType SoapBarType)\n (canContain SinkBasinType ClothType)\n (canContain SinkBasinType HandTowelType)\n (canContain HandTowelHolderType HandTowelType)\n (canContain DrawerType CandleType)\n (canContain DrawerType SoapBarType)\n (canContain DrawerType SprayBottleType)\n (canContain DrawerType ToiletPaperType)\n (canContain DrawerType SoapBottleType)\n (canContain DrawerType ClothType)\n (canContain DrawerType HandTowelType)\n (canContain SinkBasinType SoapBarType)\n (canContain SinkBasinType ClothType)\n (canContain SinkBasinType HandTowelType)\n (canContain ToiletPaperHangerType ToiletPaperType)\n (canContain ToiletType SoapBottleType)\n (canContain ToiletType HandTowelType)\n (canContain ToiletType ToiletPaperType)\n (canContain ToiletType ClothType)\n (canContain ToiletType CandleType)\n (canContain ToiletType SoapBarType)\n (canContain ToiletType SprayBottleType)\n (canContain TowelHolderType TowelType)\n (canContain DrawerType CandleType)\n (canContain DrawerType SoapBarType)\n (canContain DrawerType SprayBottleType)\n (canContain DrawerType ToiletPaperType)\n (canContain DrawerType SoapBottleType)\n (canContain DrawerType ClothType)\n (canContain DrawerType HandTowelType)\n (pickupable Candle_bar__minus_01_dot_54_bar__plus_00_dot_77_bar__plus_02_dot_73)\n (pickupable SoapBottle_bar__minus_01_dot_46_bar__plus_00_dot_73_bar__plus_02_dot_93)\n (pickupable SoapBottle_bar__minus_01_dot_80_bar__plus_00_dot_05_bar__plus_01_dot_35)\n (pickupable Candle_bar__minus_01_dot_80_bar__plus_01_dot_09_bar__plus_00_dot_49)\n (pickupable Plunger_bar__minus_01_dot_69_bar__plus_00_dot_00_bar__plus_00_dot_33)\n (pickupable SprayBottle_bar__minus_01_dot_87_bar__plus_01_dot_05_bar__plus_00_dot_88)\n (pickupable ToiletPaper_bar__minus_01_dot_63_bar__plus_00_dot_73_bar__plus_02_dot_88)\n (pickupable Candle_bar__minus_01_dot_89_bar__plus_00_dot_77_bar__plus_02_dot_68)\n (pickupable SoapBar_bar__minus_01_dot_63_bar__plus_00_dot_73_bar__plus_02_dot_98)\n (pickupable ScrubBrush_bar__minus_01_dot_85_bar__plus_00_dot_00_bar__plus_00_dot_14)\n (pickupable Cloth_bar__minus_01_dot_49_bar__plus_00_dot_24_bar__plus_01_dot_87)\n (pickupable ToiletPaper_bar__minus_01_dot_37_bar__plus_00_dot_73_bar__plus_02_dot_78)\n (pickupable Cloth_bar__minus_01_dot_57_bar__plus_00_dot_24_bar__plus_03_dot_33)\n (pickupable Cloth_bar__minus_01_dot_49_bar__plus_00_dot_24_bar__plus_02_dot_93)\n (pickupable ToiletPaper_bar__minus_01_dot_72_bar__plus_00_dot_73_bar__plus_02_dot_73)\n (pickupable SprayBottle_bar__minus_01_dot_87_bar__plus_01_dot_05_bar__plus_00_dot_68)\n (pickupable Towel_bar__plus_00_dot_87_bar__plus_01_dot_17_bar__plus_02_dot_36)\n (pickupable ToiletPaper_bar__minus_01_dot_55_bar__plus_00_dot_62_bar__plus_00_dot_05)\n (pickupable HandTowel_bar__minus_01_dot_51_bar__plus_01_dot_46_bar__plus_03_dot_96)\n \n (openable Drawer_bar__minus_01_dot_34_bar__plus_00_dot_30_bar__plus_03_dot_33)\n (openable Drawer_bar__minus_01_dot_34_bar__plus_00_dot_30_bar__plus_02_dot_13)\n \n (atLocation agent1 loc_bar__minus_3_bar_5_bar_2_bar_30)\n \n (cleanable SoapBar_bar__minus_01_dot_63_bar__plus_00_dot_73_bar__plus_02_dot_98)\n (cleanable Cloth_bar__minus_01_dot_49_bar__plus_00_dot_24_bar__plus_01_dot_87)\n (cleanable Cloth_bar__minus_01_dot_57_bar__plus_00_dot_24_bar__plus_03_dot_33)\n (cleanable Cloth_bar__minus_01_dot_49_bar__plus_00_dot_24_bar__plus_02_dot_93)\n \n \n \n \n \n \n \n \n \n \n (inReceptacle Cloth_bar__minus_01_dot_57_bar__plus_00_dot_24_bar__plus_03_dot_33 Drawer_bar__minus_01_dot_34_bar__plus_00_dot_30_bar__plus_03_dot_33)\n (inReceptacle Cloth_bar__minus_01_dot_49_bar__plus_00_dot_24_bar__plus_02_dot_93 Drawer_bar__minus_01_dot_34_bar__plus_00_dot_30_bar__plus_03_dot_33)\n (inReceptacle Candle_bar__minus_01_dot_54_bar__plus_00_dot_77_bar__plus_02_dot_73 CounterTop_bar__minus_01_dot_61_bar__plus_00_dot_70_bar__plus_02_dot_83)\n (inReceptacle SoapBottle_bar__minus_01_dot_46_bar__plus_00_dot_73_bar__plus_02_dot_93 CounterTop_bar__minus_01_dot_61_bar__plus_00_dot_70_bar__plus_02_dot_83)\n (inReceptacle ToiletPaper_bar__minus_01_dot_72_bar__plus_00_dot_73_bar__plus_02_dot_73 CounterTop_bar__minus_01_dot_61_bar__plus_00_dot_70_bar__plus_02_dot_83)\n (inReceptacle ToiletPaper_bar__minus_01_dot_63_bar__plus_00_dot_73_bar__plus_02_dot_88 CounterTop_bar__minus_01_dot_61_bar__plus_00_dot_70_bar__plus_02_dot_83)\n (inReceptacle Candle_bar__minus_01_dot_89_bar__plus_00_dot_77_bar__plus_02_dot_68 CounterTop_bar__minus_01_dot_61_bar__plus_00_dot_70_bar__plus_02_dot_83)\n (inReceptacle SoapBar_bar__minus_01_dot_63_bar__plus_00_dot_73_bar__plus_02_dot_98 CounterTop_bar__minus_01_dot_61_bar__plus_00_dot_70_bar__plus_02_dot_83)\n (inReceptacle ToiletPaper_bar__minus_01_dot_37_bar__plus_00_dot_73_bar__plus_02_dot_78 CounterTop_bar__minus_01_dot_61_bar__plus_00_dot_70_bar__plus_02_dot_83)\n (inReceptacle Cloth_bar__minus_01_dot_49_bar__plus_00_dot_24_bar__plus_01_dot_87 Drawer_bar__minus_01_dot_34_bar__plus_00_dot_30_bar__plus_02_dot_13)\n (inReceptacle Towel_bar__plus_00_dot_87_bar__plus_01_dot_17_bar__plus_02_dot_36 TowelHolder_bar__plus_00_dot_87_bar__plus_01_dot_16_bar__plus_02_dot_25)\n (inReceptacle HandTowel_bar__minus_01_dot_51_bar__plus_01_dot_46_bar__plus_03_dot_96 HandTowelHolder_bar__minus_01_dot_51_bar__plus_01_dot_56_bar__plus_04_dot_00)\n (inReceptacle ToiletPaper_bar__minus_01_dot_55_bar__plus_00_dot_62_bar__plus_00_dot_05 ToiletPaperHanger_bar__minus_01_dot_50_bar__plus_00_dot_72_bar__plus_00_dot_00)\n (inReceptacle SoapBottle_bar__minus_01_dot_80_bar__plus_00_dot_05_bar__plus_01_dot_35 GarbageCan_bar__minus_01_dot_74_bar__plus_00_dot_00_bar__plus_01_dot_34)\n (inReceptacle SprayBottle_bar__minus_01_dot_87_bar__plus_01_dot_05_bar__plus_00_dot_68 Toilet_bar__minus_01_dot_55_bar__plus_00_dot_00_bar__plus_00_dot_69)\n (inReceptacle SprayBottle_bar__minus_01_dot_87_bar__plus_01_dot_05_bar__plus_00_dot_88 Toilet_bar__minus_01_dot_55_bar__plus_00_dot_00_bar__plus_00_dot_69)\n (inReceptacle Candle_bar__minus_01_dot_80_bar__plus_01_dot_09_bar__plus_00_dot_49 Toilet_bar__minus_01_dot_55_bar__plus_00_dot_00_bar__plus_00_dot_69)\n \n \n (receptacleAtLocation CounterTop_bar__minus_01_dot_61_bar__plus_00_dot_70_bar__plus_02_dot_83 loc_bar__minus_3_bar_9_bar_3_bar_45)\n (receptacleAtLocation Drawer_bar__minus_01_dot_34_bar__plus_00_dot_30_bar__plus_02_dot_13 loc_bar_0_bar_10_bar_3_bar_45)\n (receptacleAtLocation Drawer_bar__minus_01_dot_34_bar__plus_00_dot_30_bar__plus_03_dot_33 loc_bar_0_bar_12_bar_3_bar_45)\n (receptacleAtLocation GarbageCan_bar__minus_01_dot_74_bar__plus_00_dot_00_bar__plus_01_dot_34 loc_bar__minus_3_bar_3_bar_3_bar_60)\n (receptacleAtLocation HandTowelHolder_bar__minus_01_dot_51_bar__plus_01_dot_56_bar__plus_04_dot_00 loc_bar__minus_4_bar_14_bar_3_bar_15)\n (receptacleAtLocation HandTowelHolder_bar__minus_02_dot_00_bar__plus_01_dot_69_bar__plus_01_dot_32 loc_bar__minus_5_bar_5_bar_3_bar_0)\n (receptacleAtLocation Sink_bar__minus_01_dot_70_bar__plus_00_dot_62_bar__plus_02_dot_28_bar_SinkBasin loc_bar__minus_4_bar_11_bar_3_bar_60)\n (receptacleAtLocation Sink_bar__minus_01_dot_70_bar__plus_00_dot_62_bar__plus_03_dot_37_bar_SinkBasin loc_bar__minus_4_bar_12_bar_3_bar_60)\n (receptacleAtLocation ToiletPaperHanger_bar__minus_01_dot_50_bar__plus_00_dot_72_bar__plus_00_dot_00 loc_bar__minus_3_bar_3_bar_2_bar_45)\n (receptacleAtLocation Toilet_bar__minus_01_dot_55_bar__plus_00_dot_00_bar__plus_00_dot_69 loc_bar__minus_5_bar_5_bar_2_bar_60)\n (receptacleAtLocation TowelHolder_bar__plus_00_dot_87_bar__plus_01_dot_16_bar__plus_02_dot_25 loc_bar_3_bar_11_bar_2_bar_45)\n (objectAtLocation SprayBottle_bar__minus_01_dot_87_bar__plus_01_dot_05_bar__plus_00_dot_88 loc_bar__minus_5_bar_5_bar_2_bar_60)\n (objectAtLocation Cloth_bar__minus_01_dot_49_bar__plus_00_dot_24_bar__plus_01_dot_87 loc_bar_0_bar_10_bar_3_bar_45)\n (objectAtLocation ToiletPaper_bar__minus_01_dot_55_bar__plus_00_dot_62_bar__plus_00_dot_05 loc_bar__minus_3_bar_3_bar_2_bar_45)\n (objectAtLocation SoapBottle_bar__minus_01_dot_46_bar__plus_00_dot_73_bar__plus_02_dot_93 loc_bar__minus_3_bar_9_bar_3_bar_45)\n (objectAtLocation Candle_bar__minus_01_dot_54_bar__plus_00_dot_77_bar__plus_02_dot_73 loc_bar__minus_3_bar_9_bar_3_bar_45)\n (objectAtLocation ToiletPaper_bar__minus_01_dot_63_bar__plus_00_dot_73_bar__plus_02_dot_88 loc_bar__minus_3_bar_9_bar_3_bar_45)\n (objectAtLocation Candle_bar__minus_01_dot_80_bar__plus_01_dot_09_bar__plus_00_dot_49 loc_bar__minus_5_bar_5_bar_2_bar_60)\n (objectAtLocation Cloth_bar__minus_01_dot_57_bar__plus_00_dot_24_bar__plus_03_dot_33 loc_bar_0_bar_12_bar_3_bar_45)\n (objectAtLocation Sink_bar__minus_01_dot_70_bar__plus_00_dot_62_bar__plus_03_dot_37 loc_bar__minus_4_bar_13_bar_3_bar_60)\n (objectAtLocation ShowerDoor_bar__plus_00_dot_57_bar__plus_01_dot_02_bar__plus_01_dot_12 loc_bar_0_bar_5_bar_1_bar_45)\n (objectAtLocation Mirror_bar__minus_01_dot_92_bar__plus_01_dot_41_bar__plus_02_dot_76 loc_bar__minus_4_bar_11_bar_3_bar_15)\n (objectAtLocation Sink_bar__minus_01_dot_70_bar__plus_00_dot_62_bar__plus_02_dot_28 loc_bar__minus_4_bar_9_bar_3_bar_60)\n (objectAtLocation Candle_bar__minus_01_dot_89_bar__plus_00_dot_77_bar__plus_02_dot_68 loc_bar__minus_3_bar_9_bar_3_bar_45)\n (objectAtLocation HandTowel_bar__minus_01_dot_51_bar__plus_01_dot_46_bar__plus_03_dot_96 loc_bar__minus_4_bar_14_bar_3_bar_15)\n (objectAtLocation Plunger_bar__minus_01_dot_69_bar__plus_00_dot_00_bar__plus_00_dot_33 loc_bar__minus_3_bar_3_bar_3_bar_60)\n (objectAtLocation Towel_bar__plus_00_dot_87_bar__plus_01_dot_17_bar__plus_02_dot_36 loc_bar_3_bar_11_bar_2_bar_45)\n (objectAtLocation SoapBottle_bar__minus_01_dot_80_bar__plus_00_dot_05_bar__plus_01_dot_35 loc_bar__minus_3_bar_3_bar_3_bar_60)\n (objectAtLocation SoapBar_bar__minus_01_dot_63_bar__plus_00_dot_73_bar__plus_02_dot_98 loc_bar__minus_3_bar_9_bar_3_bar_45)\n (objectAtLocation ToiletPaper_bar__minus_01_dot_37_bar__plus_00_dot_73_bar__plus_02_dot_78 loc_bar__minus_3_bar_9_bar_3_bar_45)\n (objectAtLocation Cloth_bar__minus_01_dot_49_bar__plus_00_dot_24_bar__plus_02_dot_93 loc_bar_0_bar_12_bar_3_bar_45)\n (objectAtLocation ToiletPaper_bar__minus_01_dot_72_bar__plus_00_dot_73_bar__plus_02_dot_73 loc_bar__minus_3_bar_9_bar_3_bar_45)\n (objectAtLocation Window_bar__minus_01_dot_04_bar__plus_01_dot_40_bar__plus_00_dot_02 loc_bar__minus_3_bar_3_bar_2_bar_15)\n (objectAtLocation Window_bar__minus_01_dot_99_bar__plus_01_dot_40_bar__plus_00_dot_71 loc_bar__minus_3_bar_3_bar_3_bar_15)\n (objectAtLocation LightSwitch_bar__plus_01_dot_25_bar__plus_01_dot_27_bar__plus_03_dot_64 loc_bar_3_bar_14_bar_1_bar_30)\n (objectAtLocation ScrubBrush_bar__minus_01_dot_85_bar__plus_00_dot_00_bar__plus_00_dot_14 loc_bar__minus_3_bar_3_bar_3_bar_60)\n (objectAtLocation SprayBottle_bar__minus_01_dot_87_bar__plus_01_dot_05_bar__plus_00_dot_68 loc_bar__minus_5_bar_5_bar_2_bar_60)\n )\n \n\n (:goal\n (and\n (exists (?r - receptacle)\n (exists (?o1 - object)\n (and\n (objectType ?o1 ToiletPaperType)\n (receptacleType ?r DrawerType)\n (inReceptacle ?o1 ?r)\n (exists (?o2 - object)\n (and\n (not (= ?o1 ?o2))\n (objectType ?o2 ToiletPaperType)\n (receptacleType ?r DrawerType)\n (inReceptacle ?o2 ?r)\n )\n )\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to toiletpaperhanger 1", "take toiletpaper 3 from toiletpaperhanger 1", "go to drawer 2", "open drawer 2", "move toiletpaper 3 to drawer 2", "go to countertop 1", "take toiletpaper 4 from countertop 1", "go to drawer 2", "move toiletpaper 4 to drawer 2"]}
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alfworld__pick_two_obj_and_place__22
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pick_two_obj_and_place
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pick_two_obj_and_place-ToiletPaper-None-Drawer-416/trial_T20190908_013116_583250/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 toiletpaper and put them in drawer.\"\n }\n ],\n\n \"GotoLocation.feedback\": [\n {\n \"rhs\": \"You arrive at {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"OpenObject.feedback\": [\n {\n \"rhs\": \"You open the {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"CloseObject.feedback\": [\n {\n \"rhs\": \"You close the {r.name}.\"\n }\n ],\n\n \"PickupObject.feedback\": [\n {\n \"rhs\": \"You pick up the {o.name} from the {r.name}.\"\n }\n ],\n\n \"PickupObjectFromReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupObjectFromReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupEmptyReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupEmptyReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupFullReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupFullReceptacleObject: You pick up the {outerr.name}.\"\n }\n ],\n\n \"PutObject.feedback\": [\n {\n \"rhs\": \"You move the {o.name} to the {r.name}.\"\n }\n ],\n\n \"PutObjectInReceptacleObject.feedback\": [\n {\n \"rhs\": \"PutObjectInReceptacleObject: You put the {o.name} in the {outero.name}.\"\n }\n ],\n\n \"PutEmptyReceptacleObjectinReceptacle.feedback\": [\n {\n \"rhs\": \"PutEmptyReceptacleObjectinReceptacle: You put the {o.name} in the {r.name}.\"\n }\n ],\n\n \"PutFullReceptacleObjectInReceptacle.feedback\": [\n {\n \"rhs\": \"PutFullReceptacleObjectInReceptacle: You put the {outero.name} in the {r.name}.\"\n }\n ],\n\n \"inventory.feedback\": [\n {\n \"condition\": \"holdsany(a:agent)\",\n \"rhs\": \"You are carrying: [{o.indefinite + ' ' + o.name | holds(a:agent, o:object)}].\"\n },\n {\n \"rhs\": \"You are not carrying anything.\"\n }\n ],\n\n \"examineReceptacle.feedback\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \"The {r.name} is open. In it, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \"The {r.name} is closed.\"\n },\n {\n \"rhs\": \"On the {r.name}, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n }\n ],\n\n \"examineObject.feedback\": [\n {\n \"condition\": \"isreceptacleobject(o:object)\",\n \"rhs\": \"This is a normal {o.name}. In it, you see [{o2.indefinite + ' ' + o2.name | inreceptacleobject(o2:object, o:object)}].\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a clean sliced {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot sliced {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object)\",\n \"rhs\": \"This is a hot and clean {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object)\",\n \"rhs\": \"This is a cool and clean {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object)\",\n \"rhs\": \"This is a hot {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object)\",\n \"rhs\": \"This is a clean {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object)\",\n \"rhs\": \"This is a cold {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"This {o.name} is on.\"\n },\n {\n \"condition\": \"toggleable(o:object) & not_istoggled(o:object)\",\n \"rhs\": \"This {o.name} is off.\"\n },\n {\n \"condition\": \"sliceable(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a sliced {o.name}.\"\n },\n {\n \"rhs\": \"There's nothing special about {o.name}.\"\n }\n ]\n }\n\"\"\";\n\naction GotoLocation {\n template :: \"go to [{r.name | receptacleatlocation(r:receptacle, lend:location)}]\";\n feedback :: \"#GotoLocation.feedback#\";\n}\n\naction OpenObject {\n template :: \"open {r}\";\n feedback :: \"#OpenObject.feedback#\";\n}\n\naction CloseObject {\n template :: \"close {r}\";\n feedback :: \"#CloseObject.feedback#\";\n}\n\naction PickupObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObject.feedback#\";\n}\n\naction PickupObjectFromReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObjectFromReceptacleObject.feedback#\";\n}\n\naction PickupEmptyReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupEmptyReceptacleObject.feedback#\";\n}\n\naction PickupFullReceptacleObject {\n template :: \"take {outerr} from {r}\";\n feedback :: \"#PickupFullReceptacleObject.feedback#\";\n}\n\naction PutObject {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutObject.feedback#\";\n}\n\naction PutObjectInReceptacleObject {\n template :: \"put {o} into {outero}\";\n feedback :: \"#PutObjectInReceptacleObject.feedback#\";\n}\n\naction PutEmptyReceptacleObjectinReceptacle {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutEmptyReceptacleObjectinReceptacle.feedback#\";\n}\n\naction PutFullReceptacleObjectInReceptacle {\n template :: \"put {outero} in {r}\";\n feedback :: \"#PutFullReceptacleObjectInReceptacle.feedback#\";\n}\n\naction inventory {\n template :: \"inventory\";\n feedback :: \"#inventory.feedback#\";\n}\n\naction examineReceptacle {\n template :: \"examine {r}\";\n feedback :: \"#examineReceptacle.feedback#\";\n}\n\naction examineObject {\n template :: \"examine {o}\";\n feedback :: \"#examineObject.feedback#\";\n}\n\naction ToggleObject {\n template :: \"use {o}\";\n feedback :: \"#toggleObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"toggleObject.feedback\": [\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"You turn on the {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object)\",\n \"rhs\": \"You turn off the {o.name}.\"\n },\n {\n \"rhs\": \"You don't see any switch on the {o.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction HeatObject {\n template :: \"heat {o} with {r}\";\n feedback :: \"#heatObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"heatObject.feedback\": [\n {\n \"rhs\": \"You heat the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CleanObject {\n template :: \"clean {o} with {r}\";\n feedback :: \"#cleanObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"cleanObject.feedback\": [\n {\n \"rhs\": \"You clean the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CoolObject {\n template :: \"cool {o} with {r}\";\n feedback :: \"#coolObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"coolObject.feedback\": [\n {\n \"rhs\": \"You cool the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction SliceObject {\n template :: \"slice {co} with {ko}\";\n feedback :: \"#sliceObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"sliceObject.feedback\": [\n {\n \"rhs\": \"You sliced the {co.name} with the {ko.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction look {\n template :: \"look\";\n feedback :: \"#look.feedback#\";\n\n grammar :: \"\"\"\n {\n \"look.feedback\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"#look-variations#. Next to it, you see #list_objects_on_the_floor#.\"\n },\n {\n \"rhs\": \"You are in the middle of a room. Looking quickly around you, you see #list_appliances#.\"\n }\n ],\n\n \"look-variations\": [\n {\n \"rhs\": \"You are facing the [{r.name | atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)}]\"\n }\n ],\n\n \"list_objects_on_the_floor\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)\",\n \"rhs\": \"[{#overview(o)# | atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"list_appliances\": [\n {\n \"condition\": \"receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"[{#overview(r)# | receptacleatlocation(r:receptacle, l:location)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"overview(o, r)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name} (in/on the {r.name})}\"\n }\n ],\n\n \"overview(o)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name}\"\n }\n ],\n \"overview(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}\"\n }\n ],\n \"overview_with_state(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}#overview_state(r)#\"\n }\n ],\n \"overview_state(r)\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \" (it is open)\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \" (it is closed)\"\n },\n {\n \"rhs\": \"\"\n }\n ],\n\n \"list_empty\": [\n {\n \"rhs\": \"nothing\"\n }\n ],\n \"list_separator\": [\n {\n \"rhs\": \", \"\n }\n ],\n \"list_last_separator\": [\n {\n \"rhs\": \", and \"\n }\n ]\n }\n \"\"\";\n}\n\naction help {\n template :: \"help\";\n feedback :: \"\nAvailable commands:\n look: look around your current location\n inventory: check your current inventory\n go to (receptacle): move to a receptacle\n open (receptacle): open a receptacle\n close (receptacle): close a receptacle\n take (object) from (receptacle): take an object from a receptacle\n move (object) to (receptacle): place an object in or on a receptacle\n examine (something): examine a receptacle or an object\n use (object): use an object\n heat (object) with (receptacle): heat an object using a receptacle\n clean (object) with (receptacle): clean an object using a receptacle\n cool (object) with (receptacle): cool an object using a receptacle\n slice (object) with (object): slice an object using a sharp object\n\";\n}\n", "pddl_problem": "\n(define (problem plan_trial_T20190908_013116_583250)\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_72_bar__plus_00_dot_77_bar__plus_02_dot_98 - object\n Candle_bar__minus_01_dot_85_bar__plus_01_dot_09_bar__plus_00_dot_81 - object\n Candle_bar__minus_01_dot_89_bar__plus_00_dot_77_bar__plus_02_dot_98 - object\n Cloth_bar__minus_01_dot_53_bar__plus_00_dot_24_bar__plus_03_dot_06 - object\n Cloth_bar__minus_01_dot_72_bar__plus_00_dot_74_bar__plus_02_dot_83 - object\n Faucet_bar__plus_00_dot_85_bar__plus_01_dot_80_bar__plus_01_dot_11 - object\n Faucet_bar__minus_01_dot_93_bar__plus_00_dot_72_bar__plus_02_dot_29 - object\n Faucet_bar__minus_01_dot_93_bar__plus_00_dot_72_bar__plus_03_dot_37 - object\n HandTowel_bar__minus_01_dot_51_bar__plus_01_dot_46_bar__plus_03_dot_96 - object\n HandTowel_bar__minus_01_dot_96_bar__plus_01_dot_59_bar__plus_01_dot_32 - object\n LightSwitch_bar__plus_01_dot_25_bar__plus_01_dot_27_bar__plus_03_dot_64 - object\n Mirror_bar__minus_01_dot_92_bar__plus_01_dot_41_bar__plus_02_dot_76 - object\n Plunger_bar__minus_01_dot_69_bar__plus_00_dot_00_bar__plus_00_dot_33 - object\n ScrubBrush_bar__minus_01_dot_85_bar__plus_00_dot_00_bar__plus_00_dot_14 - object\n ShowerDoor_bar__plus_00_dot_57_bar__plus_01_dot_02_bar__plus_01_dot_12 - object\n Sink_bar__minus_01_dot_70_bar__plus_00_dot_62_bar__plus_02_dot_28 - object\n Sink_bar__minus_01_dot_70_bar__plus_00_dot_62_bar__plus_03_dot_37 - object\n SoapBar_bar__minus_01_dot_49_bar__plus_00_dot_24_bar__plus_02_dot_27 - object\n SoapBottle_bar__minus_01_dot_54_bar__plus_00_dot_73_bar__plus_02_dot_88 - object\n SoapBottle_bar__minus_01_dot_87_bar__plus_01_dot_05_bar__plus_00_dot_68 - object\n SoapBottle_bar__minus_01_dot_89_bar__plus_00_dot_73_bar__plus_02_dot_78 - object\n SprayBottle_bar__minus_01_dot_77_bar__plus_01_dot_05_bar__plus_00_dot_55 - object\n ToiletPaper_bar__minus_01_dot_54_bar__plus_00_dot_73_bar__plus_02_dot_73 - object\n ToiletPaper_bar__minus_01_dot_80_bar__plus_00_dot_04_bar__plus_01_dot_37 - object\n ToiletPaper_bar__minus_01_dot_85_bar__plus_01_dot_04_bar__plus_00_dot_88 - object\n Towel_bar__plus_00_dot_87_bar__plus_01_dot_17_bar__plus_02_dot_36 - object\n Window_bar__minus_01_dot_04_bar__plus_01_dot_40_bar__plus_00_dot_02 - object\n Window_bar__minus_01_dot_99_bar__plus_01_dot_40_bar__plus_00_dot_71 - object\n CounterTop_bar__minus_01_dot_61_bar__plus_00_dot_70_bar__plus_02_dot_83 - receptacle\n Drawer_bar__minus_01_dot_34_bar__plus_00_dot_30_bar__plus_02_dot_13 - receptacle\n Drawer_bar__minus_01_dot_34_bar__plus_00_dot_30_bar__plus_03_dot_33 - receptacle\n GarbageCan_bar__minus_01_dot_74_bar__plus_00_dot_00_bar__plus_01_dot_34 - receptacle\n HandTowelHolder_bar__minus_01_dot_51_bar__plus_01_dot_56_bar__plus_04_dot_00 - receptacle\n HandTowelHolder_bar__minus_02_dot_00_bar__plus_01_dot_69_bar__plus_01_dot_32 - receptacle\n Sink_bar__minus_01_dot_70_bar__plus_00_dot_62_bar__plus_02_dot_28_bar_SinkBasin - receptacle\n Sink_bar__minus_01_dot_70_bar__plus_00_dot_62_bar__plus_03_dot_37_bar_SinkBasin - receptacle\n ToiletPaperHanger_bar__minus_01_dot_50_bar__plus_00_dot_72_bar__plus_00_dot_00 - receptacle\n Toilet_bar__minus_01_dot_55_bar__plus_00_dot_00_bar__plus_00_dot_69 - receptacle\n TowelHolder_bar__plus_00_dot_87_bar__plus_01_dot_16_bar__plus_02_dot_25 - receptacle\n loc_bar__minus_5_bar_5_bar_2_bar_60 - location\n loc_bar_0_bar_5_bar_1_bar_45 - location\n loc_bar_3_bar_14_bar_1_bar_30 - location\n loc_bar_0_bar_12_bar_3_bar_45 - location\n loc_bar__minus_4_bar_13_bar_3_bar_60 - location\n loc_bar__minus_3_bar_3_bar_2_bar_45 - location\n loc_bar__minus_4_bar_11_bar_3_bar_15 - location\n loc_bar_0_bar_10_bar_3_bar_45 - location\n loc_bar__minus_5_bar_5_bar_3_bar_0 - location\n loc_bar__minus_4_bar_11_bar_3_bar_60 - location\n loc_bar__minus_3_bar_3_bar_3_bar_60 - location\n loc_bar__minus_3_bar_3_bar_3_bar_15 - location\n loc_bar__minus_4_bar_12_bar_3_bar_60 - location\n loc_bar__minus_4_bar_14_bar_3_bar_15 - location\n loc_bar__minus_3_bar_3_bar_2_bar_15 - location\n loc_bar__minus_4_bar_9_bar_3_bar_60 - location\n loc_bar_3_bar_11_bar_2_bar_45 - location\n loc_bar__minus_3_bar_9_bar_3_bar_45 - location\n loc_bar_1_bar_14_bar_3_bar_30 - location\n )\n \n\n(:init\n\n\n (receptacleType CounterTop_bar__minus_01_dot_61_bar__plus_00_dot_70_bar__plus_02_dot_83 CounterTopType)\n (receptacleType HandTowelHolder_bar__minus_02_dot_00_bar__plus_01_dot_69_bar__plus_01_dot_32 HandTowelHolderType)\n (receptacleType GarbageCan_bar__minus_01_dot_74_bar__plus_00_dot_00_bar__plus_01_dot_34 GarbageCanType)\n (receptacleType Sink_bar__minus_01_dot_70_bar__plus_00_dot_62_bar__plus_03_dot_37_bar_SinkBasin SinkBasinType)\n (receptacleType HandTowelHolder_bar__minus_01_dot_51_bar__plus_01_dot_56_bar__plus_04_dot_00 HandTowelHolderType)\n (receptacleType Drawer_bar__minus_01_dot_34_bar__plus_00_dot_30_bar__plus_03_dot_33 DrawerType)\n (receptacleType Sink_bar__minus_01_dot_70_bar__plus_00_dot_62_bar__plus_02_dot_28_bar_SinkBasin SinkBasinType)\n (receptacleType ToiletPaperHanger_bar__minus_01_dot_50_bar__plus_00_dot_72_bar__plus_00_dot_00 ToiletPaperHangerType)\n (receptacleType Toilet_bar__minus_01_dot_55_bar__plus_00_dot_00_bar__plus_00_dot_69 ToiletType)\n (receptacleType TowelHolder_bar__plus_00_dot_87_bar__plus_01_dot_16_bar__plus_02_dot_25 TowelHolderType)\n (receptacleType Drawer_bar__minus_01_dot_34_bar__plus_00_dot_30_bar__plus_02_dot_13 DrawerType)\n (objectType Sink_bar__minus_01_dot_70_bar__plus_00_dot_62_bar__plus_03_dot_37 SinkType)\n (objectType LightSwitch_bar__plus_01_dot_25_bar__plus_01_dot_27_bar__plus_03_dot_64 LightSwitchType)\n (objectType Candle_bar__minus_01_dot_72_bar__plus_00_dot_77_bar__plus_02_dot_98 CandleType)\n (objectType Plunger_bar__minus_01_dot_69_bar__plus_00_dot_00_bar__plus_00_dot_33 PlungerType)\n (objectType Cloth_bar__minus_01_dot_72_bar__plus_00_dot_74_bar__plus_02_dot_83 ClothType)\n (objectType HandTowel_bar__minus_01_dot_96_bar__plus_01_dot_59_bar__plus_01_dot_32 HandTowelType)\n (objectType SoapBottle_bar__minus_01_dot_87_bar__plus_01_dot_05_bar__plus_00_dot_68 SoapBottleType)\n (objectType SoapBottle_bar__minus_01_dot_89_bar__plus_00_dot_73_bar__plus_02_dot_78 SoapBottleType)\n (objectType SprayBottle_bar__minus_01_dot_77_bar__plus_01_dot_05_bar__plus_00_dot_55 SprayBottleType)\n (objectType Window_bar__minus_01_dot_04_bar__plus_01_dot_40_bar__plus_00_dot_02 WindowType)\n (objectType Candle_bar__minus_01_dot_85_bar__plus_01_dot_09_bar__plus_00_dot_81 CandleType)\n (objectType Window_bar__minus_01_dot_99_bar__plus_01_dot_40_bar__plus_00_dot_71 WindowType)\n (objectType Mirror_bar__minus_01_dot_92_bar__plus_01_dot_41_bar__plus_02_dot_76 MirrorType)\n (objectType ToiletPaper_bar__minus_01_dot_54_bar__plus_00_dot_73_bar__plus_02_dot_73 ToiletPaperType)\n (objectType ScrubBrush_bar__minus_01_dot_85_bar__plus_00_dot_00_bar__plus_00_dot_14 ScrubBrushType)\n (objectType ToiletPaper_bar__minus_01_dot_80_bar__plus_00_dot_04_bar__plus_01_dot_37 ToiletPaperType)\n (objectType Candle_bar__minus_01_dot_89_bar__plus_00_dot_77_bar__plus_02_dot_98 CandleType)\n (objectType Cloth_bar__minus_01_dot_53_bar__plus_00_dot_24_bar__plus_03_dot_06 ClothType)\n (objectType Sink_bar__minus_01_dot_70_bar__plus_00_dot_62_bar__plus_02_dot_28 SinkType)\n (objectType SoapBottle_bar__minus_01_dot_54_bar__plus_00_dot_73_bar__plus_02_dot_88 SoapBottleType)\n (objectType ToiletPaper_bar__minus_01_dot_85_bar__plus_01_dot_04_bar__plus_00_dot_88 ToiletPaperType)\n (objectType Towel_bar__plus_00_dot_87_bar__plus_01_dot_17_bar__plus_02_dot_36 TowelType)\n (objectType SoapBar_bar__minus_01_dot_49_bar__plus_00_dot_24_bar__plus_02_dot_27 SoapBarType)\n (objectType ShowerDoor_bar__plus_00_dot_57_bar__plus_01_dot_02_bar__plus_01_dot_12 ShowerDoorType)\n (objectType HandTowel_bar__minus_01_dot_51_bar__plus_01_dot_46_bar__plus_03_dot_96 HandTowelType)\n (canContain CounterTopType CandleType)\n (canContain CounterTopType SoapBarType)\n (canContain CounterTopType SprayBottleType)\n (canContain CounterTopType ToiletPaperType)\n (canContain CounterTopType SoapBottleType)\n (canContain CounterTopType ClothType)\n (canContain CounterTopType HandTowelType)\n (canContain HandTowelHolderType HandTowelType)\n (canContain GarbageCanType SoapBarType)\n (canContain GarbageCanType SprayBottleType)\n (canContain GarbageCanType ToiletPaperType)\n (canContain GarbageCanType SoapBottleType)\n (canContain GarbageCanType ClothType)\n (canContain GarbageCanType HandTowelType)\n (canContain SinkBasinType SoapBarType)\n (canContain SinkBasinType ClothType)\n (canContain SinkBasinType HandTowelType)\n (canContain HandTowelHolderType HandTowelType)\n (canContain DrawerType CandleType)\n (canContain DrawerType SoapBarType)\n (canContain DrawerType SprayBottleType)\n (canContain DrawerType ToiletPaperType)\n (canContain DrawerType SoapBottleType)\n (canContain DrawerType ClothType)\n (canContain DrawerType HandTowelType)\n (canContain SinkBasinType SoapBarType)\n (canContain SinkBasinType ClothType)\n (canContain SinkBasinType HandTowelType)\n (canContain ToiletPaperHangerType ToiletPaperType)\n (canContain ToiletType SoapBottleType)\n (canContain ToiletType HandTowelType)\n (canContain ToiletType ToiletPaperType)\n (canContain ToiletType ClothType)\n (canContain ToiletType CandleType)\n (canContain ToiletType SoapBarType)\n (canContain ToiletType SprayBottleType)\n (canContain TowelHolderType TowelType)\n (canContain DrawerType CandleType)\n (canContain DrawerType SoapBarType)\n (canContain DrawerType SprayBottleType)\n (canContain DrawerType ToiletPaperType)\n (canContain DrawerType SoapBottleType)\n (canContain DrawerType ClothType)\n (canContain DrawerType HandTowelType)\n (pickupable Candle_bar__minus_01_dot_72_bar__plus_00_dot_77_bar__plus_02_dot_98)\n (pickupable Plunger_bar__minus_01_dot_69_bar__plus_00_dot_00_bar__plus_00_dot_33)\n (pickupable Cloth_bar__minus_01_dot_72_bar__plus_00_dot_74_bar__plus_02_dot_83)\n (pickupable HandTowel_bar__minus_01_dot_96_bar__plus_01_dot_59_bar__plus_01_dot_32)\n (pickupable SoapBottle_bar__minus_01_dot_87_bar__plus_01_dot_05_bar__plus_00_dot_68)\n (pickupable SoapBottle_bar__minus_01_dot_89_bar__plus_00_dot_73_bar__plus_02_dot_78)\n (pickupable SprayBottle_bar__minus_01_dot_77_bar__plus_01_dot_05_bar__plus_00_dot_55)\n (pickupable Candle_bar__minus_01_dot_85_bar__plus_01_dot_09_bar__plus_00_dot_81)\n (pickupable ToiletPaper_bar__minus_01_dot_54_bar__plus_00_dot_73_bar__plus_02_dot_73)\n (pickupable ScrubBrush_bar__minus_01_dot_85_bar__plus_00_dot_00_bar__plus_00_dot_14)\n (pickupable ToiletPaper_bar__minus_01_dot_80_bar__plus_00_dot_04_bar__plus_01_dot_37)\n (pickupable Candle_bar__minus_01_dot_89_bar__plus_00_dot_77_bar__plus_02_dot_98)\n (pickupable Cloth_bar__minus_01_dot_53_bar__plus_00_dot_24_bar__plus_03_dot_06)\n (pickupable SoapBottle_bar__minus_01_dot_54_bar__plus_00_dot_73_bar__plus_02_dot_88)\n (pickupable ToiletPaper_bar__minus_01_dot_85_bar__plus_01_dot_04_bar__plus_00_dot_88)\n (pickupable Towel_bar__plus_00_dot_87_bar__plus_01_dot_17_bar__plus_02_dot_36)\n (pickupable SoapBar_bar__minus_01_dot_49_bar__plus_00_dot_24_bar__plus_02_dot_27)\n (pickupable HandTowel_bar__minus_01_dot_51_bar__plus_01_dot_46_bar__plus_03_dot_96)\n \n (openable Drawer_bar__minus_01_dot_34_bar__plus_00_dot_30_bar__plus_03_dot_33)\n (openable Drawer_bar__minus_01_dot_34_bar__plus_00_dot_30_bar__plus_02_dot_13)\n \n (atLocation agent1 loc_bar_1_bar_14_bar_3_bar_30)\n \n (cleanable Cloth_bar__minus_01_dot_72_bar__plus_00_dot_74_bar__plus_02_dot_83)\n (cleanable Cloth_bar__minus_01_dot_53_bar__plus_00_dot_24_bar__plus_03_dot_06)\n (cleanable SoapBar_bar__minus_01_dot_49_bar__plus_00_dot_24_bar__plus_02_dot_27)\n \n \n \n \n \n \n \n \n \n \n (inReceptacle Cloth_bar__minus_01_dot_53_bar__plus_00_dot_24_bar__plus_03_dot_06 Drawer_bar__minus_01_dot_34_bar__plus_00_dot_30_bar__plus_03_dot_33)\n (inReceptacle Candle_bar__minus_01_dot_89_bar__plus_00_dot_77_bar__plus_02_dot_98 CounterTop_bar__minus_01_dot_61_bar__plus_00_dot_70_bar__plus_02_dot_83)\n (inReceptacle Candle_bar__minus_01_dot_72_bar__plus_00_dot_77_bar__plus_02_dot_98 CounterTop_bar__minus_01_dot_61_bar__plus_00_dot_70_bar__plus_02_dot_83)\n (inReceptacle Cloth_bar__minus_01_dot_72_bar__plus_00_dot_74_bar__plus_02_dot_83 CounterTop_bar__minus_01_dot_61_bar__plus_00_dot_70_bar__plus_02_dot_83)\n (inReceptacle ToiletPaper_bar__minus_01_dot_54_bar__plus_00_dot_73_bar__plus_02_dot_73 CounterTop_bar__minus_01_dot_61_bar__plus_00_dot_70_bar__plus_02_dot_83)\n (inReceptacle SoapBottle_bar__minus_01_dot_54_bar__plus_00_dot_73_bar__plus_02_dot_88 CounterTop_bar__minus_01_dot_61_bar__plus_00_dot_70_bar__plus_02_dot_83)\n (inReceptacle SoapBottle_bar__minus_01_dot_89_bar__plus_00_dot_73_bar__plus_02_dot_78 CounterTop_bar__minus_01_dot_61_bar__plus_00_dot_70_bar__plus_02_dot_83)\n (inReceptacle SoapBar_bar__minus_01_dot_49_bar__plus_00_dot_24_bar__plus_02_dot_27 Drawer_bar__minus_01_dot_34_bar__plus_00_dot_30_bar__plus_02_dot_13)\n (inReceptacle Towel_bar__plus_00_dot_87_bar__plus_01_dot_17_bar__plus_02_dot_36 TowelHolder_bar__plus_00_dot_87_bar__plus_01_dot_16_bar__plus_02_dot_25)\n (inReceptacle HandTowel_bar__minus_01_dot_51_bar__plus_01_dot_46_bar__plus_03_dot_96 HandTowelHolder_bar__minus_01_dot_51_bar__plus_01_dot_56_bar__plus_04_dot_00)\n (inReceptacle HandTowel_bar__minus_01_dot_96_bar__plus_01_dot_59_bar__plus_01_dot_32 HandTowelHolder_bar__minus_02_dot_00_bar__plus_01_dot_69_bar__plus_01_dot_32)\n (inReceptacle ToiletPaper_bar__minus_01_dot_80_bar__plus_00_dot_04_bar__plus_01_dot_37 GarbageCan_bar__minus_01_dot_74_bar__plus_00_dot_00_bar__plus_01_dot_34)\n (inReceptacle SprayBottle_bar__minus_01_dot_77_bar__plus_01_dot_05_bar__plus_00_dot_55 Toilet_bar__minus_01_dot_55_bar__plus_00_dot_00_bar__plus_00_dot_69)\n (inReceptacle Candle_bar__minus_01_dot_85_bar__plus_01_dot_09_bar__plus_00_dot_81 Toilet_bar__minus_01_dot_55_bar__plus_00_dot_00_bar__plus_00_dot_69)\n (inReceptacle SoapBottle_bar__minus_01_dot_87_bar__plus_01_dot_05_bar__plus_00_dot_68 Toilet_bar__minus_01_dot_55_bar__plus_00_dot_00_bar__plus_00_dot_69)\n (inReceptacle ToiletPaper_bar__minus_01_dot_85_bar__plus_01_dot_04_bar__plus_00_dot_88 Toilet_bar__minus_01_dot_55_bar__plus_00_dot_00_bar__plus_00_dot_69)\n \n \n (receptacleAtLocation CounterTop_bar__minus_01_dot_61_bar__plus_00_dot_70_bar__plus_02_dot_83 loc_bar__minus_3_bar_9_bar_3_bar_45)\n (receptacleAtLocation Drawer_bar__minus_01_dot_34_bar__plus_00_dot_30_bar__plus_02_dot_13 loc_bar_0_bar_10_bar_3_bar_45)\n (receptacleAtLocation Drawer_bar__minus_01_dot_34_bar__plus_00_dot_30_bar__plus_03_dot_33 loc_bar_0_bar_12_bar_3_bar_45)\n (receptacleAtLocation GarbageCan_bar__minus_01_dot_74_bar__plus_00_dot_00_bar__plus_01_dot_34 loc_bar__minus_3_bar_3_bar_3_bar_60)\n (receptacleAtLocation HandTowelHolder_bar__minus_01_dot_51_bar__plus_01_dot_56_bar__plus_04_dot_00 loc_bar__minus_4_bar_14_bar_3_bar_15)\n (receptacleAtLocation HandTowelHolder_bar__minus_02_dot_00_bar__plus_01_dot_69_bar__plus_01_dot_32 loc_bar__minus_5_bar_5_bar_3_bar_0)\n (receptacleAtLocation Sink_bar__minus_01_dot_70_bar__plus_00_dot_62_bar__plus_02_dot_28_bar_SinkBasin loc_bar__minus_4_bar_11_bar_3_bar_60)\n (receptacleAtLocation Sink_bar__minus_01_dot_70_bar__plus_00_dot_62_bar__plus_03_dot_37_bar_SinkBasin loc_bar__minus_4_bar_12_bar_3_bar_60)\n (receptacleAtLocation ToiletPaperHanger_bar__minus_01_dot_50_bar__plus_00_dot_72_bar__plus_00_dot_00 loc_bar__minus_3_bar_3_bar_2_bar_45)\n (receptacleAtLocation Toilet_bar__minus_01_dot_55_bar__plus_00_dot_00_bar__plus_00_dot_69 loc_bar__minus_5_bar_5_bar_2_bar_60)\n (receptacleAtLocation TowelHolder_bar__plus_00_dot_87_bar__plus_01_dot_16_bar__plus_02_dot_25 loc_bar_3_bar_11_bar_2_bar_45)\n (objectAtLocation Cloth_bar__minus_01_dot_72_bar__plus_00_dot_74_bar__plus_02_dot_83 loc_bar__minus_3_bar_9_bar_3_bar_45)\n (objectAtLocation ToiletPaper_bar__minus_01_dot_54_bar__plus_00_dot_73_bar__plus_02_dot_73 loc_bar__minus_3_bar_9_bar_3_bar_45)\n (objectAtLocation SoapBottle_bar__minus_01_dot_89_bar__plus_00_dot_73_bar__plus_02_dot_78 loc_bar__minus_3_bar_9_bar_3_bar_45)\n (objectAtLocation HandTowel_bar__minus_01_dot_51_bar__plus_01_dot_46_bar__plus_03_dot_96 loc_bar__minus_4_bar_14_bar_3_bar_15)\n (objectAtLocation Candle_bar__minus_01_dot_85_bar__plus_01_dot_09_bar__plus_00_dot_81 loc_bar__minus_5_bar_5_bar_2_bar_60)\n (objectAtLocation SoapBottle_bar__minus_01_dot_87_bar__plus_01_dot_05_bar__plus_00_dot_68 loc_bar__minus_5_bar_5_bar_2_bar_60)\n (objectAtLocation Candle_bar__minus_01_dot_72_bar__plus_00_dot_77_bar__plus_02_dot_98 loc_bar__minus_3_bar_9_bar_3_bar_45)\n (objectAtLocation Sink_bar__minus_01_dot_70_bar__plus_00_dot_62_bar__plus_03_dot_37 loc_bar__minus_4_bar_13_bar_3_bar_60)\n (objectAtLocation ShowerDoor_bar__plus_00_dot_57_bar__plus_01_dot_02_bar__plus_01_dot_12 loc_bar_0_bar_5_bar_1_bar_45)\n (objectAtLocation Mirror_bar__minus_01_dot_92_bar__plus_01_dot_41_bar__plus_02_dot_76 loc_bar__minus_4_bar_11_bar_3_bar_15)\n (objectAtLocation Sink_bar__minus_01_dot_70_bar__plus_00_dot_62_bar__plus_02_dot_28 loc_bar__minus_4_bar_9_bar_3_bar_60)\n (objectAtLocation Candle_bar__minus_01_dot_89_bar__plus_00_dot_77_bar__plus_02_dot_98 loc_bar__minus_3_bar_9_bar_3_bar_45)\n (objectAtLocation HandTowel_bar__minus_01_dot_96_bar__plus_01_dot_59_bar__plus_01_dot_32 loc_bar__minus_5_bar_5_bar_3_bar_0)\n (objectAtLocation Plunger_bar__minus_01_dot_69_bar__plus_00_dot_00_bar__plus_00_dot_33 loc_bar__minus_3_bar_3_bar_3_bar_60)\n (objectAtLocation Towel_bar__plus_00_dot_87_bar__plus_01_dot_17_bar__plus_02_dot_36 loc_bar_3_bar_11_bar_2_bar_45)\n (objectAtLocation SoapBottle_bar__minus_01_dot_54_bar__plus_00_dot_73_bar__plus_02_dot_88 loc_bar__minus_3_bar_9_bar_3_bar_45)\n (objectAtLocation SoapBar_bar__minus_01_dot_49_bar__plus_00_dot_24_bar__plus_02_dot_27 loc_bar_0_bar_10_bar_3_bar_45)\n (objectAtLocation ToiletPaper_bar__minus_01_dot_80_bar__plus_00_dot_04_bar__plus_01_dot_37 loc_bar__minus_3_bar_3_bar_3_bar_60)\n (objectAtLocation Cloth_bar__minus_01_dot_53_bar__plus_00_dot_24_bar__plus_03_dot_06 loc_bar_0_bar_12_bar_3_bar_45)\n (objectAtLocation ToiletPaper_bar__minus_01_dot_85_bar__plus_01_dot_04_bar__plus_00_dot_88 loc_bar__minus_5_bar_5_bar_2_bar_60)\n (objectAtLocation Window_bar__minus_01_dot_04_bar__plus_01_dot_40_bar__plus_00_dot_02 loc_bar__minus_3_bar_3_bar_2_bar_15)\n (objectAtLocation Window_bar__minus_01_dot_99_bar__plus_01_dot_40_bar__plus_00_dot_71 loc_bar__minus_3_bar_3_bar_3_bar_15)\n (objectAtLocation LightSwitch_bar__plus_01_dot_25_bar__plus_01_dot_27_bar__plus_03_dot_64 loc_bar_3_bar_14_bar_1_bar_30)\n (objectAtLocation ScrubBrush_bar__minus_01_dot_85_bar__plus_00_dot_00_bar__plus_00_dot_14 loc_bar__minus_3_bar_3_bar_3_bar_60)\n (objectAtLocation SprayBottle_bar__minus_01_dot_77_bar__plus_01_dot_05_bar__plus_00_dot_55 loc_bar__minus_5_bar_5_bar_2_bar_60)\n )\n \n\n (:goal\n (and\n (exists (?r - receptacle)\n (exists (?o1 - object)\n (and\n (objectType ?o1 ToiletPaperType)\n (receptacleType ?r DrawerType)\n (inReceptacle ?o1 ?r)\n (exists (?o2 - object)\n (and\n (not (= ?o1 ?o2))\n (objectType ?o2 ToiletPaperType)\n (receptacleType ?r DrawerType)\n (inReceptacle ?o2 ?r)\n )\n )\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to garbagecan 1", "take toiletpaper 2 from garbagecan 1", "go to drawer 2", "open drawer 2", "move toiletpaper 2 to drawer 2", "go to countertop 1", "take toiletpaper 3 from countertop 1", "go to drawer 2", "move toiletpaper 3 to drawer 2"]}
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alfworld__pick_clean_then_place_in_recep__7
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pick_clean_then_place_in_recep
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pick_clean_then_place_in_recep-Knife-None-Drawer-11/trial_T20190908_182855_044669/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 knife and put it 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_182855_044669)\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_03_bar__plus_01_dot_08_bar__minus_01_dot_70 - object\n Apple_bar__minus_02_dot_07_bar__plus_01_dot_02_bar__plus_00_dot_61 - object\n Bowl_bar__minus_00_dot_36_bar__plus_00_dot_91_bar__minus_01_dot_82 - object\n Bowl_bar__minus_01_dot_79_bar__plus_00_dot_95_bar__plus_00_dot_61 - object\n Bread_bar__plus_01_dot_30_bar__plus_00_dot_98_bar__minus_01_dot_53 - object\n ButterKnife_bar__plus_00_dot_43_bar__plus_00_dot_91_bar__plus_00_dot_21 - object\n ButterKnife_bar__plus_01_dot_72_bar__plus_00_dot_91_bar__plus_00_dot_38 - object\n ButterKnife_bar__minus_02_dot_07_bar__plus_00_dot_95_bar__plus_00_dot_35 - object\n Chair_bar__minus_02_dot_42_bar__plus_00_dot_56_bar__plus_00_dot_41 - object\n Cup_bar__minus_00_dot_18_bar__plus_00_dot_91_bar__minus_01_dot_65 - object\n Cup_bar__minus_02_dot_07_bar__plus_00_dot_95_bar__plus_00_dot_44 - object\n DishSponge_bar__plus_00_dot_91_bar__plus_00_dot_92_bar__minus_01_dot_45 - object\n DishSponge_bar__minus_00_dot_06_bar__plus_00_dot_77_bar__minus_01_dot_54 - object\n Egg_bar__plus_00_dot_70_bar__plus_00_dot_95_bar__minus_01_dot_58 - object\n Egg_bar__minus_01_dot_87_bar__plus_00_dot_30_bar__minus_01_dot_89 - object\n Egg_bar__minus_02_dot_34_bar__plus_00_dot_99_bar__plus_00_dot_35 - object\n Faucet_bar__plus_00_dot_55_bar__plus_01_dot_05_bar__minus_01_dot_83 - object\n Fork_bar__plus_00_dot_04_bar__plus_00_dot_91_bar__plus_00_dot_46 - object\n Kettle_bar__plus_01_dot_01_bar__plus_00_dot_96_bar__plus_00_dot_56 - object\n Kettle_bar__plus_01_dot_36_bar__plus_00_dot_96_bar__plus_00_dot_29 - object\n Kettle_bar__plus_01_dot_78_bar__plus_00_dot_91_bar__minus_01_dot_49 - object\n Knife_bar__plus_00_dot_04_bar__plus_00_dot_94_bar__plus_00_dot_62 - object\n Knife_bar__plus_00_dot_86_bar__plus_00_dot_94_bar__minus_01_dot_58 - object\n Lettuce_bar__plus_01_dot_85_bar__plus_01_dot_00_bar__plus_00_dot_54 - object\n Lettuce_bar__minus_02_dot_14_bar__plus_01_dot_58_bar__minus_01_dot_76 - object\n LightSwitch_bar__minus_02_dot_76_bar__plus_01_dot_31_bar__minus_00_dot_99 - object\n Mug_bar__plus_01_dot_85_bar__plus_00_dot_91_bar__plus_00_dot_38 - object\n Mug_bar__minus_02_dot_20_bar__plus_00_dot_95_bar__plus_00_dot_70 - object\n Pan_bar__plus_01_dot_02_bar__plus_00_dot_96_bar__plus_00_dot_29 - object\n PaperTowelRoll_bar__minus_02_dot_61_bar__plus_01_dot_06_bar__plus_00_dot_70 - object\n PepperShaker_bar__plus_00_dot_04_bar__plus_00_dot_91_bar__plus_00_dot_29 - object\n PepperShaker_bar__minus_01_dot_79_bar__plus_00_dot_95_bar__plus_00_dot_17 - object\n PepperShaker_bar__minus_02_dot_61_bar__plus_00_dot_95_bar__plus_00_dot_44 - object\n Plate_bar__minus_00_dot_54_bar__plus_00_dot_11_bar__minus_01_dot_51 - object\n Plate_bar__minus_01_dot_79_bar__plus_00_dot_95_bar__plus_00_dot_35 - object\n Potato_bar__plus_00_dot_75_bar__plus_00_dot_95_bar__minus_01_dot_45 - object\n Potato_bar__minus_00_dot_43_bar__plus_00_dot_10_bar__plus_00_dot_44 - object\n Pot_bar__minus_02_dot_38_bar__plus_00_dot_94_bar__plus_00_dot_58 - object\n SaltShaker_bar__plus_01_dot_79_bar__plus_00_dot_91_bar__plus_00_dot_29 - object\n Sink_bar__plus_00_dot_71_bar__plus_00_dot_82_bar__minus_01_dot_77 - object\n SoapBottle_bar__plus_00_dot_04_bar__plus_00_dot_91_bar__plus_00_dot_54 - object\n Spatula_bar__plus_00_dot_04_bar__plus_00_dot_93_bar__plus_00_dot_29 - object\n Spatula_bar__minus_02_dot_07_bar__plus_00_dot_97_bar__plus_00_dot_17 - object\n Spatula_bar__minus_02_dot_34_bar__plus_00_dot_97_bar__plus_00_dot_17 - object\n Spoon_bar__plus_00_dot_12_bar__plus_00_dot_77_bar__plus_00_dot_27 - object\n Spoon_bar__minus_00_dot_20_bar__plus_00_dot_78_bar__minus_01_dot_47 - object\n Spoon_bar__minus_02_dot_07_bar__plus_00_dot_95_bar__plus_00_dot_52 - object\n StoveKnob_bar__plus_01_dot_00_bar__plus_00_dot_91_bar__plus_00_dot_12 - object\n StoveKnob_bar__plus_01_dot_13_bar__plus_00_dot_91_bar__plus_00_dot_12 - object\n StoveKnob_bar__plus_01_dot_25_bar__plus_00_dot_91_bar__plus_00_dot_12 - object\n StoveKnob_bar__plus_01_dot_37_bar__plus_00_dot_91_bar__plus_00_dot_12 - object\n Tomato_bar__plus_01_dot_54_bar__plus_00_dot_96_bar__minus_01_dot_49 - object\n Tomato_bar__minus_02_dot_05_bar__plus_01_dot_10_bar__minus_01_dot_85 - object\n Tomato_bar__minus_02_dot_48_bar__plus_01_dot_00_bar__plus_00_dot_26 - object\n Window_bar__plus_00_dot_58_bar__plus_01_dot_61_bar__minus_01_dot_97 - object\n Window_bar__plus_01_dot_97_bar__plus_01_dot_50_bar__minus_00_dot_62 - object\n Cabinet_bar__plus_00_dot_06_bar__plus_00_dot_40_bar__minus_01_dot_35 - receptacle\n Cabinet_bar__plus_00_dot_10_bar__plus_00_dot_40_bar__minus_01_dot_35 - receptacle\n Cabinet_bar__plus_00_dot_73_bar__plus_00_dot_40_bar__plus_00_dot_15 - receptacle\n Cabinet_bar__plus_01_dot_08_bar__plus_00_dot_40_bar__minus_01_dot_35 - receptacle\n Cabinet_bar__plus_01_dot_67_bar__plus_00_dot_40_bar__plus_00_dot_15 - receptacle\n Cabinet_bar__plus_01_dot_97_bar__plus_01_dot_69_bar__minus_01_dot_65 - receptacle\n Cabinet_bar__minus_00_dot_18_bar__plus_00_dot_40_bar__plus_00_dot_15 - receptacle\n Cabinet_bar__minus_00_dot_19_bar__plus_01_dot_69_bar__minus_01_dot_65 - receptacle\n Cabinet_bar__minus_00_dot_40_bar__plus_00_dot_40_bar__minus_01_dot_35 - receptacle\n Cabinet_bar__minus_00_dot_82_bar__plus_00_dot_40_bar__minus_01_dot_35 - receptacle\n CoffeeMachine_bar__plus_00_dot_62_bar__plus_00_dot_90_bar__plus_00_dot_60 - receptacle\n CounterTop_bar__plus_00_dot_28_bar__plus_00_dot_95_bar__plus_00_dot_46 - receptacle\n CounterTop_bar__plus_01_dot_78_bar__plus_00_dot_95_bar__plus_00_dot_46 - receptacle\n CounterTop_bar__minus_00_dot_68_bar__plus_00_dot_95_bar__minus_01_dot_65 - receptacle\n DiningTable_bar__minus_02_dot_20_bar__plus_00_dot_99_bar__plus_00_dot_45 - receptacle\n Drawer_bar__plus_00_dot_02_bar__plus_00_dot_79_bar__plus_00_dot_30 - receptacle\n Drawer_bar__plus_00_dot_50_bar__plus_00_dot_79_bar__plus_00_dot_30 - receptacle\n Drawer_bar__plus_01_dot_83_bar__plus_00_dot_79_bar__plus_00_dot_30 - receptacle\n Drawer_bar__minus_00_dot_15_bar__plus_00_dot_79_bar__minus_01_dot_50 - receptacle\n Drawer_bar__minus_00_dot_59_bar__plus_00_dot_79_bar__minus_01_dot_50 - receptacle\n Drawer_bar__minus_01_dot_10_bar__plus_00_dot_79_bar__minus_01_dot_50 - receptacle\n Fridge_bar__minus_02_dot_14_bar__plus_00_dot_00_bar__minus_01_dot_69 - receptacle\n GarbageCan_bar__minus_00_dot_36_bar__plus_00_dot_00_bar__plus_00_dot_54 - receptacle\n Microwave_bar__minus_01_dot_04_bar__plus_00_dot_90_bar__minus_01_dot_72 - receptacle\n Sink_bar__plus_00_dot_71_bar__plus_00_dot_82_bar__minus_01_dot_77_bar_SinkBasin - receptacle\n StoveBurner_bar__plus_01_dot_01_bar__plus_00_dot_96_bar__plus_00_dot_29 - receptacle\n StoveBurner_bar__plus_01_dot_01_bar__plus_00_dot_96_bar__plus_00_dot_56 - receptacle\n StoveBurner_bar__plus_01_dot_36_bar__plus_00_dot_96_bar__plus_00_dot_29 - receptacle\n StoveBurner_bar__plus_01_dot_36_bar__plus_00_dot_96_bar__plus_00_dot_56 - receptacle\n Toaster_bar__plus_00_dot_31_bar__plus_00_dot_90_bar__plus_00_dot_55 - receptacle\n loc_bar_5_bar__minus_2_bar_2_bar_60 - location\n loc_bar_6_bar__minus_4_bar_0_bar_45 - location\n loc_bar_6_bar__minus_4_bar_3_bar_15 - location\n loc_bar_1_bar__minus_2_bar_0_bar_45 - location\n loc_bar_1_bar__minus_1_bar_0_bar_45 - location\n loc_bar_0_bar__minus_3_bar_3_bar_45 - location\n loc_bar_4_bar__minus_1_bar_0_bar_45 - location\n loc_bar__minus_9_bar__minus_3_bar_2_bar_60 - location\n loc_bar_1_bar__minus_4_bar_2_bar_60 - location\n loc_bar_5_bar__minus_1_bar_0_bar_60 - location\n loc_bar__minus_6_bar__minus_2_bar_2_bar_60 - location\n loc_bar__minus_2_bar__minus_4_bar_2_bar_0 - location\n loc_bar_2_bar__minus_4_bar_3_bar_60 - location\n loc_bar_6_bar__minus_4_bar_2_bar_0 - location\n loc_bar__minus_9_bar__minus_1_bar_0_bar_60 - location\n loc_bar_4_bar__minus_1_bar_0_bar_60 - location\n loc_bar_6_bar__minus_1_bar_0_bar_45 - location\n loc_bar__minus_9_bar__minus_3_bar_3_bar_30 - location\n loc_bar_1_bar__minus_2_bar_2_bar_60 - location\n loc_bar__minus_1_bar__minus_2_bar_0_bar_45 - location\n loc_bar_6_bar__minus_2_bar_1_bar_15 - location\n loc_bar__minus_4_bar__minus_2_bar_2_bar_60 - location\n loc_bar_5_bar__minus_1_bar_0_bar_45 - location\n loc_bar__minus_2_bar_0_bar_0_bar_60 - location\n loc_bar_4_bar__minus_3_bar_0_bar_60 - location\n loc_bar__minus_4_bar__minus_4_bar_2_bar_45 - location\n loc_bar__minus_9_bar__minus_1_bar_0_bar_45 - location\n loc_bar__minus_5_bar__minus_4_bar_1_bar_45 - location\n loc_bar_2_bar__minus_4_bar_2_bar_0 - location\n loc_bar_3_bar__minus_2_bar_2_bar_60 - location\n loc_bar_6_bar__minus_1_bar_0_bar_60 - location\n loc_bar__minus_2_bar__minus_3_bar_0_bar_60 - location\n loc_bar_2_bar__minus_1_bar_0_bar_45 - location\n loc_bar__minus_10_bar__minus_2_bar_1_bar_30 - location\n )\n \n\n(:init\n\n\n (receptacleType Drawer_bar__plus_00_dot_50_bar__plus_00_dot_79_bar__plus_00_dot_30 DrawerType)\n (receptacleType GarbageCan_bar__minus_00_dot_36_bar__plus_00_dot_00_bar__plus_00_dot_54 GarbageCanType)\n (receptacleType StoveBurner_bar__plus_01_dot_01_bar__plus_00_dot_96_bar__plus_00_dot_56 StoveBurnerType)\n (receptacleType Cabinet_bar__minus_00_dot_18_bar__plus_00_dot_40_bar__plus_00_dot_15 CabinetType)\n (receptacleType Sink_bar__plus_00_dot_71_bar__plus_00_dot_82_bar__minus_01_dot_77_bar_SinkBasin SinkBasinType)\n (receptacleType Cabinet_bar__plus_01_dot_08_bar__plus_00_dot_40_bar__minus_01_dot_35 CabinetType)\n (receptacleType Cabinet_bar__minus_00_dot_19_bar__plus_01_dot_69_bar__minus_01_dot_65 CabinetType)\n (receptacleType Cabinet_bar__plus_00_dot_10_bar__plus_00_dot_40_bar__minus_01_dot_35 CabinetType)\n (receptacleType Drawer_bar__minus_01_dot_10_bar__plus_00_dot_79_bar__minus_01_dot_50 DrawerType)\n (receptacleType Drawer_bar__minus_00_dot_59_bar__plus_00_dot_79_bar__minus_01_dot_50 DrawerType)\n (receptacleType CounterTop_bar__plus_01_dot_78_bar__plus_00_dot_95_bar__plus_00_dot_46 CounterTopType)\n (receptacleType CounterTop_bar__minus_00_dot_68_bar__plus_00_dot_95_bar__minus_01_dot_65 CounterTopType)\n (receptacleType StoveBurner_bar__plus_01_dot_36_bar__plus_00_dot_96_bar__plus_00_dot_56 StoveBurnerType)\n (receptacleType Cabinet_bar__plus_00_dot_06_bar__plus_00_dot_40_bar__minus_01_dot_35 CabinetType)\n (receptacleType Microwave_bar__minus_01_dot_04_bar__plus_00_dot_90_bar__minus_01_dot_72 MicrowaveType)\n (receptacleType StoveBurner_bar__plus_01_dot_36_bar__plus_00_dot_96_bar__plus_00_dot_29 StoveBurnerType)\n (receptacleType Cabinet_bar__plus_01_dot_67_bar__plus_00_dot_40_bar__plus_00_dot_15 CabinetType)\n (receptacleType CoffeeMachine_bar__plus_00_dot_62_bar__plus_00_dot_90_bar__plus_00_dot_60 CoffeeMachineType)\n (receptacleType Drawer_bar__plus_00_dot_02_bar__plus_00_dot_79_bar__plus_00_dot_30 DrawerType)\n (receptacleType Cabinet_bar__plus_01_dot_97_bar__plus_01_dot_69_bar__minus_01_dot_65 CabinetType)\n (receptacleType Cabinet_bar__minus_00_dot_40_bar__plus_00_dot_40_bar__minus_01_dot_35 CabinetType)\n (receptacleType Fridge_bar__minus_02_dot_14_bar__plus_00_dot_00_bar__minus_01_dot_69 FridgeType)\n (receptacleType Toaster_bar__plus_00_dot_31_bar__plus_00_dot_90_bar__plus_00_dot_55 ToasterType)\n (receptacleType StoveBurner_bar__plus_01_dot_01_bar__plus_00_dot_96_bar__plus_00_dot_29 StoveBurnerType)\n (receptacleType Cabinet_bar__minus_00_dot_82_bar__plus_00_dot_40_bar__minus_01_dot_35 CabinetType)\n (receptacleType Drawer_bar__minus_00_dot_15_bar__plus_00_dot_79_bar__minus_01_dot_50 DrawerType)\n (receptacleType DiningTable_bar__minus_02_dot_20_bar__plus_00_dot_99_bar__plus_00_dot_45 DiningTableType)\n (receptacleType CounterTop_bar__plus_00_dot_28_bar__plus_00_dot_95_bar__plus_00_dot_46 CounterTopType)\n (receptacleType Drawer_bar__plus_01_dot_83_bar__plus_00_dot_79_bar__plus_00_dot_30 DrawerType)\n (receptacleType Cabinet_bar__plus_00_dot_73_bar__plus_00_dot_40_bar__plus_00_dot_15 CabinetType)\n (objectType Egg_bar__minus_01_dot_87_bar__plus_00_dot_30_bar__minus_01_dot_89 EggType)\n (objectType Egg_bar__minus_02_dot_34_bar__plus_00_dot_99_bar__plus_00_dot_35 EggType)\n (objectType Tomato_bar__minus_02_dot_05_bar__plus_01_dot_10_bar__minus_01_dot_85 TomatoType)\n (objectType Sink_bar__plus_00_dot_71_bar__plus_00_dot_82_bar__minus_01_dot_77 SinkType)\n (objectType Window_bar__plus_01_dot_97_bar__plus_01_dot_50_bar__minus_00_dot_62 WindowType)\n (objectType PepperShaker_bar__minus_01_dot_79_bar__plus_00_dot_95_bar__plus_00_dot_17 PepperShakerType)\n (objectType LightSwitch_bar__minus_02_dot_76_bar__plus_01_dot_31_bar__minus_00_dot_99 LightSwitchType)\n (objectType Apple_bar__minus_02_dot_07_bar__plus_01_dot_02_bar__plus_00_dot_61 AppleType)\n (objectType DishSponge_bar__minus_00_dot_06_bar__plus_00_dot_77_bar__minus_01_dot_54 DishSpongeType)\n (objectType ButterKnife_bar__plus_00_dot_43_bar__plus_00_dot_91_bar__plus_00_dot_21 ButterKnifeType)\n (objectType SoapBottle_bar__plus_00_dot_04_bar__plus_00_dot_91_bar__plus_00_dot_54 SoapBottleType)\n (objectType Fork_bar__plus_00_dot_04_bar__plus_00_dot_91_bar__plus_00_dot_46 ForkType)\n (objectType Spoon_bar__minus_02_dot_07_bar__plus_00_dot_95_bar__plus_00_dot_52 SpoonType)\n (objectType StoveKnob_bar__plus_01_dot_37_bar__plus_00_dot_91_bar__plus_00_dot_12 StoveKnobType)\n (objectType DishSponge_bar__plus_00_dot_91_bar__plus_00_dot_92_bar__minus_01_dot_45 DishSpongeType)\n (objectType Kettle_bar__plus_01_dot_01_bar__plus_00_dot_96_bar__plus_00_dot_56 KettleType)\n (objectType Plate_bar__minus_01_dot_79_bar__plus_00_dot_95_bar__plus_00_dot_35 PlateType)\n (objectType Knife_bar__plus_00_dot_86_bar__plus_00_dot_94_bar__minus_01_dot_58 KnifeType)\n (objectType Plate_bar__minus_00_dot_54_bar__plus_00_dot_11_bar__minus_01_dot_51 PlateType)\n (objectType StoveKnob_bar__plus_01_dot_13_bar__plus_00_dot_91_bar__plus_00_dot_12 StoveKnobType)\n (objectType Lettuce_bar__plus_01_dot_85_bar__plus_01_dot_00_bar__plus_00_dot_54 LettuceType)\n (objectType Cup_bar__minus_02_dot_07_bar__plus_00_dot_95_bar__plus_00_dot_44 CupType)\n (objectType Spoon_bar__plus_00_dot_12_bar__plus_00_dot_77_bar__plus_00_dot_27 SpoonType)\n (objectType Egg_bar__plus_00_dot_70_bar__plus_00_dot_95_bar__minus_01_dot_58 EggType)\n (objectType Lettuce_bar__minus_02_dot_14_bar__plus_01_dot_58_bar__minus_01_dot_76 LettuceType)\n (objectType PaperTowelRoll_bar__minus_02_dot_61_bar__plus_01_dot_06_bar__plus_00_dot_70 PaperTowelRollType)\n (objectType Kettle_bar__plus_01_dot_78_bar__plus_00_dot_91_bar__minus_01_dot_49 KettleType)\n (objectType PepperShaker_bar__plus_00_dot_04_bar__plus_00_dot_91_bar__plus_00_dot_29 PepperShakerType)\n (objectType PepperShaker_bar__minus_02_dot_61_bar__plus_00_dot_95_bar__plus_00_dot_44 PepperShakerType)\n (objectType Apple_bar__minus_01_dot_03_bar__plus_01_dot_08_bar__minus_01_dot_70 AppleType)\n (objectType 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Tomato_bar__plus_01_dot_54_bar__plus_00_dot_96_bar__minus_01_dot_49)\n (cleanable Cup_bar__minus_00_dot_18_bar__plus_00_dot_91_bar__minus_01_dot_65)\n (cleanable Knife_bar__plus_00_dot_04_bar__plus_00_dot_94_bar__plus_00_dot_62)\n (cleanable Spoon_bar__minus_00_dot_20_bar__plus_00_dot_78_bar__minus_01_dot_47)\n (cleanable Bowl_bar__minus_00_dot_36_bar__plus_00_dot_91_bar__minus_01_dot_82)\n \n (heatable Egg_bar__minus_01_dot_87_bar__plus_00_dot_30_bar__minus_01_dot_89)\n (heatable Egg_bar__minus_02_dot_34_bar__plus_00_dot_99_bar__plus_00_dot_35)\n (heatable Tomato_bar__minus_02_dot_05_bar__plus_01_dot_10_bar__minus_01_dot_85)\n (heatable Apple_bar__minus_02_dot_07_bar__plus_01_dot_02_bar__plus_00_dot_61)\n (heatable Plate_bar__minus_01_dot_79_bar__plus_00_dot_95_bar__plus_00_dot_35)\n (heatable Plate_bar__minus_00_dot_54_bar__plus_00_dot_11_bar__minus_01_dot_51)\n (heatable Cup_bar__minus_02_dot_07_bar__plus_00_dot_95_bar__plus_00_dot_44)\n (heatable Egg_bar__plus_00_dot_70_bar__plus_00_dot_95_bar__minus_01_dot_58)\n (heatable Apple_bar__minus_01_dot_03_bar__plus_01_dot_08_bar__minus_01_dot_70)\n (heatable Potato_bar__plus_00_dot_75_bar__plus_00_dot_95_bar__minus_01_dot_45)\n (heatable Potato_bar__minus_00_dot_43_bar__plus_00_dot_10_bar__plus_00_dot_44)\n (heatable Mug_bar__minus_02_dot_20_bar__plus_00_dot_95_bar__plus_00_dot_70)\n (heatable Tomato_bar__minus_02_dot_48_bar__plus_01_dot_00_bar__plus_00_dot_26)\n (heatable Mug_bar__plus_01_dot_85_bar__plus_00_dot_91_bar__plus_00_dot_38)\n (heatable Tomato_bar__plus_01_dot_54_bar__plus_00_dot_96_bar__minus_01_dot_49)\n (heatable Cup_bar__minus_00_dot_18_bar__plus_00_dot_91_bar__minus_01_dot_65)\n (heatable Bread_bar__plus_01_dot_30_bar__plus_00_dot_98_bar__minus_01_dot_53)\n (coolable Egg_bar__minus_01_dot_87_bar__plus_00_dot_30_bar__minus_01_dot_89)\n (coolable Egg_bar__minus_02_dot_34_bar__plus_00_dot_99_bar__plus_00_dot_35)\n (coolable Tomato_bar__minus_02_dot_05_bar__plus_01_dot_10_bar__minus_01_dot_85)\n (coolable Apple_bar__minus_02_dot_07_bar__plus_01_dot_02_bar__plus_00_dot_61)\n (coolable Plate_bar__minus_01_dot_79_bar__plus_00_dot_95_bar__plus_00_dot_35)\n (coolable Plate_bar__minus_00_dot_54_bar__plus_00_dot_11_bar__minus_01_dot_51)\n (coolable Lettuce_bar__plus_01_dot_85_bar__plus_01_dot_00_bar__plus_00_dot_54)\n (coolable Cup_bar__minus_02_dot_07_bar__plus_00_dot_95_bar__plus_00_dot_44)\n (coolable Egg_bar__plus_00_dot_70_bar__plus_00_dot_95_bar__minus_01_dot_58)\n (coolable Lettuce_bar__minus_02_dot_14_bar__plus_01_dot_58_bar__minus_01_dot_76)\n (coolable Apple_bar__minus_01_dot_03_bar__plus_01_dot_08_bar__minus_01_dot_70)\n (coolable Potato_bar__plus_00_dot_75_bar__plus_00_dot_95_bar__minus_01_dot_45)\n (coolable Bowl_bar__minus_01_dot_79_bar__plus_00_dot_95_bar__plus_00_dot_61)\n (coolable Potato_bar__minus_00_dot_43_bar__plus_00_dot_10_bar__plus_00_dot_44)\n (coolable Mug_bar__minus_02_dot_20_bar__plus_00_dot_95_bar__plus_00_dot_70)\n (coolable Tomato_bar__minus_02_dot_48_bar__plus_01_dot_00_bar__plus_00_dot_26)\n (coolable Pot_bar__minus_02_dot_38_bar__plus_00_dot_94_bar__plus_00_dot_58)\n (coolable Mug_bar__plus_01_dot_85_bar__plus_00_dot_91_bar__plus_00_dot_38)\n (coolable Pan_bar__plus_01_dot_02_bar__plus_00_dot_96_bar__plus_00_dot_29)\n (coolable Tomato_bar__plus_01_dot_54_bar__plus_00_dot_96_bar__minus_01_dot_49)\n (coolable Cup_bar__minus_00_dot_18_bar__plus_00_dot_91_bar__minus_01_dot_65)\n (coolable Bread_bar__plus_01_dot_30_bar__plus_00_dot_98_bar__minus_01_dot_53)\n (coolable Bowl_bar__minus_00_dot_36_bar__plus_00_dot_91_bar__minus_01_dot_82)\n \n \n \n \n \n (sliceable Egg_bar__minus_01_dot_87_bar__plus_00_dot_30_bar__minus_01_dot_89)\n (sliceable Egg_bar__minus_02_dot_34_bar__plus_00_dot_99_bar__plus_00_dot_35)\n (sliceable Tomato_bar__minus_02_dot_05_bar__plus_01_dot_10_bar__minus_01_dot_85)\n (sliceable Apple_bar__minus_02_dot_07_bar__plus_01_dot_02_bar__plus_00_dot_61)\n (sliceable Lettuce_bar__plus_01_dot_85_bar__plus_01_dot_00_bar__plus_00_dot_54)\n (sliceable Egg_bar__plus_00_dot_70_bar__plus_00_dot_95_bar__minus_01_dot_58)\n (sliceable Lettuce_bar__minus_02_dot_14_bar__plus_01_dot_58_bar__minus_01_dot_76)\n (sliceable Apple_bar__minus_01_dot_03_bar__plus_01_dot_08_bar__minus_01_dot_70)\n (sliceable Potato_bar__plus_00_dot_75_bar__plus_00_dot_95_bar__minus_01_dot_45)\n (sliceable Potato_bar__minus_00_dot_43_bar__plus_00_dot_10_bar__plus_00_dot_44)\n (sliceable Tomato_bar__minus_02_dot_48_bar__plus_01_dot_00_bar__plus_00_dot_26)\n (sliceable Tomato_bar__plus_01_dot_54_bar__plus_00_dot_96_bar__minus_01_dot_49)\n (sliceable Bread_bar__plus_01_dot_30_bar__plus_00_dot_98_bar__minus_01_dot_53)\n \n (inReceptacle Cup_bar__minus_02_dot_07_bar__plus_00_dot_95_bar__plus_00_dot_44 DiningTable_bar__minus_02_dot_20_bar__plus_00_dot_99_bar__plus_00_dot_45)\n (inReceptacle Bowl_bar__minus_01_dot_79_bar__plus_00_dot_95_bar__plus_00_dot_61 DiningTable_bar__minus_02_dot_20_bar__plus_00_dot_99_bar__plus_00_dot_45)\n (inReceptacle Tomato_bar__minus_02_dot_48_bar__plus_01_dot_00_bar__plus_00_dot_26 DiningTable_bar__minus_02_dot_20_bar__plus_00_dot_99_bar__plus_00_dot_45)\n (inReceptacle Mug_bar__minus_02_dot_20_bar__plus_00_dot_95_bar__plus_00_dot_70 DiningTable_bar__minus_02_dot_20_bar__plus_00_dot_99_bar__plus_00_dot_45)\n (inReceptacle Egg_bar__minus_02_dot_34_bar__plus_00_dot_99_bar__plus_00_dot_35 DiningTable_bar__minus_02_dot_20_bar__plus_00_dot_99_bar__plus_00_dot_45)\n (inReceptacle Pot_bar__minus_02_dot_38_bar__plus_00_dot_94_bar__plus_00_dot_58 DiningTable_bar__minus_02_dot_20_bar__plus_00_dot_99_bar__plus_00_dot_45)\n (inReceptacle Spatula_bar__minus_02_dot_07_bar__plus_00_dot_97_bar__plus_00_dot_17 DiningTable_bar__minus_02_dot_20_bar__plus_00_dot_99_bar__plus_00_dot_45)\n (inReceptacle PepperShaker_bar__minus_01_dot_79_bar__plus_00_dot_95_bar__plus_00_dot_17 DiningTable_bar__minus_02_dot_20_bar__plus_00_dot_99_bar__plus_00_dot_45)\n (inReceptacle Apple_bar__minus_02_dot_07_bar__plus_01_dot_02_bar__plus_00_dot_61 DiningTable_bar__minus_02_dot_20_bar__plus_00_dot_99_bar__plus_00_dot_45)\n (inReceptacle PaperTowelRoll_bar__minus_02_dot_61_bar__plus_01_dot_06_bar__plus_00_dot_70 DiningTable_bar__minus_02_dot_20_bar__plus_00_dot_99_bar__plus_00_dot_45)\n (inReceptacle Spoon_bar__minus_02_dot_07_bar__plus_00_dot_95_bar__plus_00_dot_52 DiningTable_bar__minus_02_dot_20_bar__plus_00_dot_99_bar__plus_00_dot_45)\n (inReceptacle Spatula_bar__minus_02_dot_34_bar__plus_00_dot_97_bar__plus_00_dot_17 DiningTable_bar__minus_02_dot_20_bar__plus_00_dot_99_bar__plus_00_dot_45)\n (inReceptacle ButterKnife_bar__minus_02_dot_07_bar__plus_00_dot_95_bar__plus_00_dot_35 DiningTable_bar__minus_02_dot_20_bar__plus_00_dot_99_bar__plus_00_dot_45)\n (inReceptacle Plate_bar__minus_01_dot_79_bar__plus_00_dot_95_bar__plus_00_dot_35 DiningTable_bar__minus_02_dot_20_bar__plus_00_dot_99_bar__plus_00_dot_45)\n (inReceptacle PepperShaker_bar__minus_02_dot_61_bar__plus_00_dot_95_bar__plus_00_dot_44 DiningTable_bar__minus_02_dot_20_bar__plus_00_dot_99_bar__plus_00_dot_45)\n (inReceptacle Kettle_bar__plus_01_dot_36_bar__plus_00_dot_96_bar__plus_00_dot_29 StoveBurner_bar__plus_01_dot_36_bar__plus_00_dot_96_bar__plus_00_dot_29)\n (inReceptacle Spatula_bar__plus_00_dot_04_bar__plus_00_dot_93_bar__plus_00_dot_29 CounterTop_bar__plus_00_dot_28_bar__plus_00_dot_95_bar__plus_00_dot_46)\n (inReceptacle Knife_bar__plus_00_dot_04_bar__plus_00_dot_94_bar__plus_00_dot_62 CounterTop_bar__plus_00_dot_28_bar__plus_00_dot_95_bar__plus_00_dot_46)\n (inReceptacle ButterKnife_bar__plus_00_dot_43_bar__plus_00_dot_91_bar__plus_00_dot_21 CounterTop_bar__plus_00_dot_28_bar__plus_00_dot_95_bar__plus_00_dot_46)\n (inReceptacle SoapBottle_bar__plus_00_dot_04_bar__plus_00_dot_91_bar__plus_00_dot_54 CounterTop_bar__plus_00_dot_28_bar__plus_00_dot_95_bar__plus_00_dot_46)\n (inReceptacle Fork_bar__plus_00_dot_04_bar__plus_00_dot_91_bar__plus_00_dot_46 CounterTop_bar__plus_00_dot_28_bar__plus_00_dot_95_bar__plus_00_dot_46)\n (inReceptacle PepperShaker_bar__plus_00_dot_04_bar__plus_00_dot_91_bar__plus_00_dot_29 CounterTop_bar__plus_00_dot_28_bar__plus_00_dot_95_bar__plus_00_dot_46)\n (inReceptacle Tomato_bar__plus_01_dot_54_bar__plus_00_dot_96_bar__minus_01_dot_49 CounterTop_bar__minus_00_dot_68_bar__plus_00_dot_95_bar__minus_01_dot_65)\n (inReceptacle Cup_bar__minus_00_dot_18_bar__plus_00_dot_91_bar__minus_01_dot_65 CounterTop_bar__minus_00_dot_68_bar__plus_00_dot_95_bar__minus_01_dot_65)\n (inReceptacle Bread_bar__plus_01_dot_30_bar__plus_00_dot_98_bar__minus_01_dot_53 CounterTop_bar__minus_00_dot_68_bar__plus_00_dot_95_bar__minus_01_dot_65)\n (inReceptacle Sink_bar__plus_00_dot_71_bar__plus_00_dot_82_bar__minus_01_dot_77 CounterTop_bar__minus_00_dot_68_bar__plus_00_dot_95_bar__minus_01_dot_65)\n (inReceptacle Bowl_bar__minus_00_dot_36_bar__plus_00_dot_91_bar__minus_01_dot_82 CounterTop_bar__minus_00_dot_68_bar__plus_00_dot_95_bar__minus_01_dot_65)\n (inReceptacle Kettle_bar__plus_01_dot_78_bar__plus_00_dot_91_bar__minus_01_dot_49 CounterTop_bar__minus_00_dot_68_bar__plus_00_dot_95_bar__minus_01_dot_65)\n (inReceptacle Kettle_bar__plus_01_dot_01_bar__plus_00_dot_96_bar__plus_00_dot_56 StoveBurner_bar__plus_01_dot_01_bar__plus_00_dot_96_bar__plus_00_dot_56)\n (inReceptacle Spoon_bar__minus_00_dot_20_bar__plus_00_dot_78_bar__minus_01_dot_47 Drawer_bar__minus_00_dot_15_bar__plus_00_dot_79_bar__minus_01_dot_50)\n (inReceptacle DishSponge_bar__minus_00_dot_06_bar__plus_00_dot_77_bar__minus_01_dot_54 Drawer_bar__minus_00_dot_15_bar__plus_00_dot_79_bar__minus_01_dot_50)\n (inReceptacle Spoon_bar__plus_00_dot_12_bar__plus_00_dot_77_bar__plus_00_dot_27 Drawer_bar__plus_00_dot_02_bar__plus_00_dot_79_bar__plus_00_dot_30)\n (inReceptacle Pan_bar__plus_01_dot_02_bar__plus_00_dot_96_bar__plus_00_dot_29 StoveBurner_bar__plus_01_dot_01_bar__plus_00_dot_96_bar__plus_00_dot_29)\n (inReceptacle Plate_bar__minus_00_dot_54_bar__plus_00_dot_11_bar__minus_01_dot_51 Cabinet_bar__minus_00_dot_40_bar__plus_00_dot_40_bar__minus_01_dot_35)\n (inReceptacle SaltShaker_bar__plus_01_dot_79_bar__plus_00_dot_91_bar__plus_00_dot_29 CounterTop_bar__plus_01_dot_78_bar__plus_00_dot_95_bar__plus_00_dot_46)\n (inReceptacle Mug_bar__plus_01_dot_85_bar__plus_00_dot_91_bar__plus_00_dot_38 CounterTop_bar__plus_01_dot_78_bar__plus_00_dot_95_bar__plus_00_dot_46)\n (inReceptacle ButterKnife_bar__plus_01_dot_72_bar__plus_00_dot_91_bar__plus_00_dot_38 CounterTop_bar__plus_01_dot_78_bar__plus_00_dot_95_bar__plus_00_dot_46)\n (inReceptacle Lettuce_bar__plus_01_dot_85_bar__plus_01_dot_00_bar__plus_00_dot_54 CounterTop_bar__plus_01_dot_78_bar__plus_00_dot_95_bar__plus_00_dot_46)\n (inReceptacle Apple_bar__minus_01_dot_03_bar__plus_01_dot_08_bar__minus_01_dot_70 Microwave_bar__minus_01_dot_04_bar__plus_00_dot_90_bar__minus_01_dot_72)\n (inReceptacle Potato_bar__minus_00_dot_43_bar__plus_00_dot_10_bar__plus_00_dot_44 GarbageCan_bar__minus_00_dot_36_bar__plus_00_dot_00_bar__plus_00_dot_54)\n (inReceptacle Tomato_bar__minus_02_dot_05_bar__plus_01_dot_10_bar__minus_01_dot_85 Fridge_bar__minus_02_dot_14_bar__plus_00_dot_00_bar__minus_01_dot_69)\n (inReceptacle Egg_bar__minus_01_dot_87_bar__plus_00_dot_30_bar__minus_01_dot_89 Fridge_bar__minus_02_dot_14_bar__plus_00_dot_00_bar__minus_01_dot_69)\n (inReceptacle Lettuce_bar__minus_02_dot_14_bar__plus_01_dot_58_bar__minus_01_dot_76 Fridge_bar__minus_02_dot_14_bar__plus_00_dot_00_bar__minus_01_dot_69)\n (inReceptacleObject ButterKnife_bar__plus_01_dot_72_bar__plus_00_dot_91_bar__plus_00_dot_38 Mug_bar__plus_01_dot_85_bar__plus_00_dot_91_bar__plus_00_dot_38)\n \n \n (receptacleAtLocation Cabinet_bar__plus_00_dot_06_bar__plus_00_dot_40_bar__minus_01_dot_35 loc_bar_1_bar__minus_2_bar_2_bar_60)\n (receptacleAtLocation Cabinet_bar__plus_00_dot_10_bar__plus_00_dot_40_bar__minus_01_dot_35 loc_bar_3_bar__minus_2_bar_2_bar_60)\n (receptacleAtLocation Cabinet_bar__plus_00_dot_73_bar__plus_00_dot_40_bar__plus_00_dot_15 loc_bar_4_bar__minus_3_bar_0_bar_60)\n (receptacleAtLocation Cabinet_bar__plus_01_dot_08_bar__plus_00_dot_40_bar__minus_01_dot_35 loc_bar_5_bar__minus_2_bar_2_bar_60)\n (receptacleAtLocation Cabinet_bar__plus_01_dot_67_bar__plus_00_dot_40_bar__plus_00_dot_15 loc_bar_6_bar__minus_4_bar_0_bar_45)\n (receptacleAtLocation Cabinet_bar__plus_01_dot_97_bar__plus_01_dot_69_bar__minus_01_dot_65 loc_bar_6_bar__minus_4_bar_2_bar_0)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_18_bar__plus_00_dot_40_bar__plus_00_dot_15 loc_bar__minus_2_bar__minus_3_bar_0_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_19_bar__plus_01_dot_69_bar__minus_01_dot_65 loc_bar__minus_2_bar__minus_4_bar_2_bar_0)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_40_bar__plus_00_dot_40_bar__minus_01_dot_35 loc_bar__minus_4_bar__minus_2_bar_2_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_82_bar__plus_00_dot_40_bar__minus_01_dot_35 loc_bar__minus_6_bar__minus_2_bar_2_bar_60)\n (receptacleAtLocation CoffeeMachine_bar__plus_00_dot_62_bar__plus_00_dot_90_bar__plus_00_dot_60 loc_bar_2_bar__minus_1_bar_0_bar_45)\n (receptacleAtLocation CounterTop_bar__plus_00_dot_28_bar__plus_00_dot_95_bar__plus_00_dot_46 loc_bar_1_bar__minus_1_bar_0_bar_45)\n (receptacleAtLocation CounterTop_bar__plus_01_dot_78_bar__plus_00_dot_95_bar__plus_00_dot_46 loc_bar_6_bar__minus_1_bar_0_bar_45)\n (receptacleAtLocation CounterTop_bar__minus_00_dot_68_bar__plus_00_dot_95_bar__minus_01_dot_65 loc_bar_6_bar__minus_4_bar_3_bar_15)\n (receptacleAtLocation DiningTable_bar__minus_02_dot_20_bar__plus_00_dot_99_bar__plus_00_dot_45 loc_bar__minus_9_bar__minus_1_bar_0_bar_45)\n (receptacleAtLocation Drawer_bar__plus_00_dot_02_bar__plus_00_dot_79_bar__plus_00_dot_30 loc_bar__minus_1_bar__minus_2_bar_0_bar_45)\n (receptacleAtLocation Drawer_bar__plus_00_dot_50_bar__plus_00_dot_79_bar__plus_00_dot_30 loc_bar_1_bar__minus_2_bar_0_bar_45)\n (receptacleAtLocation Drawer_bar__plus_01_dot_83_bar__plus_00_dot_79_bar__plus_00_dot_30 loc_bar_6_bar__minus_1_bar_0_bar_60)\n (receptacleAtLocation Drawer_bar__minus_00_dot_15_bar__plus_00_dot_79_bar__minus_01_dot_50 loc_bar_2_bar__minus_4_bar_3_bar_60)\n (receptacleAtLocation Drawer_bar__minus_00_dot_59_bar__plus_00_dot_79_bar__minus_01_dot_50 loc_bar__minus_5_bar__minus_4_bar_1_bar_45)\n (receptacleAtLocation Drawer_bar__minus_01_dot_10_bar__plus_00_dot_79_bar__minus_01_dot_50 loc_bar_0_bar__minus_3_bar_3_bar_45)\n (receptacleAtLocation Fridge_bar__minus_02_dot_14_bar__plus_00_dot_00_bar__minus_01_dot_69 loc_bar__minus_9_bar__minus_3_bar_2_bar_60)\n (receptacleAtLocation GarbageCan_bar__minus_00_dot_36_bar__plus_00_dot_00_bar__plus_00_dot_54 loc_bar__minus_2_bar_0_bar_0_bar_60)\n (receptacleAtLocation Microwave_bar__minus_01_dot_04_bar__plus_00_dot_90_bar__minus_01_dot_72 loc_bar__minus_4_bar__minus_4_bar_2_bar_45)\n (receptacleAtLocation Sink_bar__plus_00_dot_71_bar__plus_00_dot_82_bar__minus_01_dot_77_bar_SinkBasin loc_bar_1_bar__minus_4_bar_2_bar_60)\n (receptacleAtLocation StoveBurner_bar__plus_01_dot_01_bar__plus_00_dot_96_bar__plus_00_dot_29 loc_bar_4_bar__minus_1_bar_0_bar_45)\n (receptacleAtLocation StoveBurner_bar__plus_01_dot_01_bar__plus_00_dot_96_bar__plus_00_dot_56 loc_bar_4_bar__minus_1_bar_0_bar_45)\n (receptacleAtLocation StoveBurner_bar__plus_01_dot_36_bar__plus_00_dot_96_bar__plus_00_dot_29 loc_bar_5_bar__minus_1_bar_0_bar_45)\n (receptacleAtLocation StoveBurner_bar__plus_01_dot_36_bar__plus_00_dot_96_bar__plus_00_dot_56 loc_bar_5_bar__minus_1_bar_0_bar_45)\n (receptacleAtLocation Toaster_bar__plus_00_dot_31_bar__plus_00_dot_90_bar__plus_00_dot_55 loc_bar_1_bar__minus_1_bar_0_bar_45)\n (objectAtLocation Mug_bar__minus_02_dot_20_bar__plus_00_dot_95_bar__plus_00_dot_70 loc_bar__minus_9_bar__minus_1_bar_0_bar_45)\n (objectAtLocation Spoon_bar__minus_00_dot_20_bar__plus_00_dot_78_bar__minus_01_dot_47 loc_bar_2_bar__minus_4_bar_3_bar_60)\n (objectAtLocation DishSponge_bar__plus_00_dot_91_bar__plus_00_dot_92_bar__minus_01_dot_45 loc_bar_1_bar__minus_4_bar_2_bar_60)\n (objectAtLocation Potato_bar__minus_00_dot_43_bar__plus_00_dot_10_bar__plus_00_dot_44 loc_bar__minus_2_bar_0_bar_0_bar_60)\n (objectAtLocation ButterKnife_bar__plus_00_dot_43_bar__plus_00_dot_91_bar__plus_00_dot_21 loc_bar_1_bar__minus_1_bar_0_bar_45)\n (objectAtLocation Apple_bar__minus_01_dot_03_bar__plus_01_dot_08_bar__minus_01_dot_70 loc_bar__minus_4_bar__minus_4_bar_2_bar_45)\n (objectAtLocation PepperShaker_bar__minus_01_dot_79_bar__plus_00_dot_95_bar__plus_00_dot_17 loc_bar__minus_9_bar__minus_1_bar_0_bar_45)\n (objectAtLocation Lettuce_bar__plus_01_dot_85_bar__plus_01_dot_00_bar__plus_00_dot_54 loc_bar_6_bar__minus_1_bar_0_bar_45)\n (objectAtLocation Egg_bar__minus_01_dot_87_bar__plus_00_dot_30_bar__minus_01_dot_89 loc_bar__minus_9_bar__minus_3_bar_2_bar_60)\n (objectAtLocation Spatula_bar__minus_02_dot_34_bar__plus_00_dot_97_bar__plus_00_dot_17 loc_bar__minus_9_bar__minus_1_bar_0_bar_45)\n (objectAtLocation Plate_bar__minus_00_dot_54_bar__plus_00_dot_11_bar__minus_01_dot_51 loc_bar__minus_4_bar__minus_2_bar_2_bar_60)\n (objectAtLocation Tomato_bar__plus_01_dot_54_bar__plus_00_dot_96_bar__minus_01_dot_49 loc_bar_6_bar__minus_4_bar_3_bar_15)\n (objectAtLocation Cup_bar__minus_00_dot_18_bar__plus_00_dot_91_bar__minus_01_dot_65 loc_bar_6_bar__minus_4_bar_3_bar_15)\n (objectAtLocation Kettle_bar__plus_01_dot_36_bar__plus_00_dot_96_bar__plus_00_dot_29 loc_bar_5_bar__minus_1_bar_0_bar_45)\n (objectAtLocation Bowl_bar__minus_00_dot_36_bar__plus_00_dot_91_bar__minus_01_dot_82 loc_bar_6_bar__minus_4_bar_3_bar_15)\n (objectAtLocation Knife_bar__plus_00_dot_04_bar__plus_00_dot_94_bar__plus_00_dot_62 loc_bar_1_bar__minus_1_bar_0_bar_45)\n (objectAtLocation PepperShaker_bar__minus_02_dot_61_bar__plus_00_dot_95_bar__plus_00_dot_44 loc_bar__minus_9_bar__minus_1_bar_0_bar_45)\n (objectAtLocation Tomato_bar__minus_02_dot_48_bar__plus_01_dot_00_bar__plus_00_dot_26 loc_bar__minus_9_bar__minus_1_bar_0_bar_45)\n (objectAtLocation Egg_bar__minus_02_dot_34_bar__plus_00_dot_99_bar__plus_00_dot_35 loc_bar__minus_9_bar__minus_1_bar_0_bar_45)\n (objectAtLocation Spatula_bar__plus_00_dot_04_bar__plus_00_dot_93_bar__plus_00_dot_29 loc_bar_1_bar__minus_1_bar_0_bar_45)\n (objectAtLocation Spoon_bar__plus_00_dot_12_bar__plus_00_dot_77_bar__plus_00_dot_27 loc_bar__minus_1_bar__minus_2_bar_0_bar_45)\n (objectAtLocation ButterKnife_bar__plus_01_dot_72_bar__plus_00_dot_91_bar__plus_00_dot_38 loc_bar_6_bar__minus_1_bar_0_bar_60)\n (objectAtLocation Kettle_bar__plus_01_dot_78_bar__plus_00_dot_91_bar__minus_01_dot_49 loc_bar_6_bar__minus_4_bar_3_bar_15)\n (objectAtLocation Sink_bar__plus_00_dot_71_bar__plus_00_dot_82_bar__minus_01_dot_77 loc_bar_6_bar__minus_4_bar_3_bar_15)\n (objectAtLocation Bread_bar__plus_01_dot_30_bar__plus_00_dot_98_bar__minus_01_dot_53 loc_bar_6_bar__minus_4_bar_3_bar_15)\n (objectAtLocation Knife_bar__plus_00_dot_86_bar__plus_00_dot_94_bar__minus_01_dot_58 loc_bar_1_bar__minus_4_bar_2_bar_60)\n (objectAtLocation Fork_bar__plus_00_dot_04_bar__plus_00_dot_91_bar__plus_00_dot_46 loc_bar_1_bar__minus_1_bar_0_bar_45)\n (objectAtLocation Bowl_bar__minus_01_dot_79_bar__plus_00_dot_95_bar__plus_00_dot_61 loc_bar__minus_9_bar__minus_1_bar_0_bar_45)\n (objectAtLocation Kettle_bar__plus_01_dot_01_bar__plus_00_dot_96_bar__plus_00_dot_56 loc_bar_4_bar__minus_1_bar_0_bar_45)\n (objectAtLocation Cup_bar__minus_02_dot_07_bar__plus_00_dot_95_bar__plus_00_dot_44 loc_bar__minus_9_bar__minus_1_bar_0_bar_45)\n (objectAtLocation Tomato_bar__minus_02_dot_05_bar__plus_01_dot_10_bar__minus_01_dot_85 loc_bar__minus_9_bar__minus_3_bar_2_bar_60)\n (objectAtLocation SoapBottle_bar__plus_00_dot_04_bar__plus_00_dot_91_bar__plus_00_dot_54 loc_bar_1_bar__minus_1_bar_0_bar_45)\n (objectAtLocation Plate_bar__minus_01_dot_79_bar__plus_00_dot_95_bar__plus_00_dot_35 loc_bar__minus_9_bar__minus_1_bar_0_bar_45)\n (objectAtLocation LightSwitch_bar__minus_02_dot_76_bar__plus_01_dot_31_bar__minus_00_dot_99 loc_bar__minus_9_bar__minus_3_bar_3_bar_30)\n (objectAtLocation Pot_bar__minus_02_dot_38_bar__plus_00_dot_94_bar__plus_00_dot_58 loc_bar__minus_9_bar__minus_1_bar_0_bar_45)\n (objectAtLocation Window_bar__plus_00_dot_58_bar__plus_01_dot_61_bar__minus_01_dot_97 loc_bar_2_bar__minus_4_bar_2_bar_0)\n (objectAtLocation Window_bar__plus_01_dot_97_bar__plus_01_dot_50_bar__minus_00_dot_62 loc_bar_6_bar__minus_2_bar_1_bar_15)\n (objectAtLocation Spatula_bar__minus_02_dot_07_bar__plus_00_dot_97_bar__plus_00_dot_17 loc_bar__minus_9_bar__minus_1_bar_0_bar_45)\n (objectAtLocation PaperTowelRoll_bar__minus_02_dot_61_bar__plus_01_dot_06_bar__plus_00_dot_70 loc_bar__minus_9_bar__minus_1_bar_0_bar_45)\n (objectAtLocation Egg_bar__plus_00_dot_70_bar__plus_00_dot_95_bar__minus_01_dot_58 loc_bar_1_bar__minus_4_bar_2_bar_60)\n (objectAtLocation Lettuce_bar__minus_02_dot_14_bar__plus_01_dot_58_bar__minus_01_dot_76 loc_bar__minus_9_bar__minus_3_bar_2_bar_60)\n (objectAtLocation SaltShaker_bar__plus_01_dot_79_bar__plus_00_dot_91_bar__plus_00_dot_29 loc_bar_6_bar__minus_1_bar_0_bar_45)\n (objectAtLocation PepperShaker_bar__plus_00_dot_04_bar__plus_00_dot_91_bar__plus_00_dot_29 loc_bar_1_bar__minus_1_bar_0_bar_45)\n (objectAtLocation Apple_bar__minus_02_dot_07_bar__plus_01_dot_02_bar__plus_00_dot_61 loc_bar__minus_9_bar__minus_1_bar_0_bar_45)\n (objectAtLocation ButterKnife_bar__minus_02_dot_07_bar__plus_00_dot_95_bar__plus_00_dot_35 loc_bar__minus_9_bar__minus_1_bar_0_bar_45)\n (objectAtLocation StoveKnob_bar__plus_01_dot_25_bar__plus_00_dot_91_bar__plus_00_dot_12 loc_bar_5_bar__minus_1_bar_0_bar_60)\n (objectAtLocation StoveKnob_bar__plus_01_dot_37_bar__plus_00_dot_91_bar__plus_00_dot_12 loc_bar_5_bar__minus_1_bar_0_bar_60)\n (objectAtLocation StoveKnob_bar__plus_01_dot_00_bar__plus_00_dot_91_bar__plus_00_dot_12 loc_bar_4_bar__minus_1_bar_0_bar_60)\n (objectAtLocation StoveKnob_bar__plus_01_dot_13_bar__plus_00_dot_91_bar__plus_00_dot_12 loc_bar_5_bar__minus_1_bar_0_bar_60)\n (objectAtLocation Potato_bar__plus_00_dot_75_bar__plus_00_dot_95_bar__minus_01_dot_45 loc_bar_1_bar__minus_4_bar_2_bar_60)\n (objectAtLocation Pan_bar__plus_01_dot_02_bar__plus_00_dot_96_bar__plus_00_dot_29 loc_bar_4_bar__minus_1_bar_0_bar_45)\n (objectAtLocation Chair_bar__minus_02_dot_42_bar__plus_00_dot_56_bar__plus_00_dot_41 loc_bar__minus_9_bar__minus_1_bar_0_bar_60)\n (objectAtLocation DishSponge_bar__minus_00_dot_06_bar__plus_00_dot_77_bar__minus_01_dot_54 loc_bar_2_bar__minus_4_bar_3_bar_60)\n (objectAtLocation Spoon_bar__minus_02_dot_07_bar__plus_00_dot_95_bar__plus_00_dot_52 loc_bar__minus_9_bar__minus_1_bar_0_bar_45)\n (objectAtLocation Mug_bar__plus_01_dot_85_bar__plus_00_dot_91_bar__plus_00_dot_38 loc_bar_6_bar__minus_1_bar_0_bar_45)\n )\n \n\n (:goal\n (and\n (exists (?r - receptacle)\n (exists (?o - object)\n (and\n (cleanable ?o)\n (objectType ?o KnifeType)\n (receptacleType ?r DrawerType)\n (isClean ?o)\n (inReceptacle ?o ?r)\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to countertop 2", "take knife 2 from countertop 2", "go to sinkbasin 1", "clean knife 2 with sinkbasin 1", "go to drawer 1", "move knife 2 to drawer 1"]}
|
alfworld__pick_clean_then_place_in_recep__8
|
pick_clean_then_place_in_recep
|
pick_clean_then_place_in_recep-Knife-None-Drawer-11/trial_T20190908_182807_228958/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 knife 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_182807_228958)\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_43_bar__plus_00_dot_14_bar__plus_00_dot_61 - object\n Apple_bar__minus_01_dot_93_bar__plus_01_dot_02_bar__plus_00_dot_52 - object\n Bowl_bar__plus_00_dot_62_bar__plus_00_dot_11_bar__plus_00_dot_27 - object\n Bowl_bar__minus_00_dot_10_bar__plus_00_dot_91_bar__plus_00_dot_38 - object\n Bowl_bar__minus_01_dot_03_bar__plus_01_dot_01_bar__minus_01_dot_74 - object\n Bread_bar__plus_01_dot_30_bar__plus_00_dot_98_bar__minus_01_dot_53 - object\n ButterKnife_bar__plus_01_dot_41_bar__plus_00_dot_91_bar__minus_01_dot_74 - object\n ButterKnife_bar__plus_01_dot_72_bar__plus_00_dot_91_bar__plus_00_dot_21 - object\n Chair_bar__minus_02_dot_42_bar__plus_00_dot_56_bar__plus_00_dot_41 - object\n Cup_bar__minus_02_dot_14_bar__plus_00_dot_78_bar__minus_01_dot_68 - object\n Cup_bar__minus_02_dot_20_bar__plus_00_dot_95_bar__plus_00_dot_26 - object\n DishSponge_bar__plus_00_dot_86_bar__plus_00_dot_92_bar__minus_01_dot_45 - object\n DishSponge_bar__plus_01_dot_82_bar__plus_00_dot_77_bar__plus_00_dot_31 - object\n DishSponge_bar__minus_00_dot_10_bar__plus_00_dot_77_bar__minus_01_dot_47 - object\n Egg_bar__plus_00_dot_30_bar__plus_00_dot_95_bar__plus_00_dot_29 - object\n Egg_bar__plus_00_dot_65_bar__plus_00_dot_95_bar__minus_01_dot_65 - object\n Egg_bar__plus_01_dot_60_bar__plus_00_dot_95_bar__plus_00_dot_62 - object\n Faucet_bar__plus_00_dot_55_bar__plus_01_dot_05_bar__minus_01_dot_83 - object\n Fork_bar__plus_01_dot_72_bar__plus_00_dot_91_bar__plus_00_dot_46 - object\n Fork_bar__minus_02_dot_61_bar__plus_00_dot_95_bar__plus_00_dot_35 - object\n Kettle_bar__plus_01_dot_36_bar__plus_00_dot_96_bar__plus_00_dot_29 - object\n Knife_bar__minus_02_dot_07_bar__plus_00_dot_98_bar__plus_00_dot_26 - object\n Knife_bar__minus_02_dot_48_bar__plus_00_dot_98_bar__plus_00_dot_44 - object\n Lettuce_bar__plus_01_dot_85_bar__plus_01_dot_00_bar__plus_00_dot_46 - object\n Lettuce_bar__minus_02_dot_05_bar__plus_00_dot_60_bar__minus_01_dot_76 - object\n Lettuce_bar__minus_02_dot_14_bar__plus_01_dot_14_bar__minus_01_dot_76 - object\n LightSwitch_bar__minus_02_dot_76_bar__plus_01_dot_31_bar__minus_00_dot_99 - object\n Mug_bar__plus_00_dot_62_bar__plus_00_dot_95_bar__plus_00_dot_47 - object\n Mug_bar__plus_00_dot_75_bar__plus_00_dot_91_bar__minus_01_dot_72 - object\n Mug_bar__minus_01_dot_79_bar__plus_00_dot_95_bar__plus_00_dot_35 - object\n Pan_bar__minus_00_dot_64_bar__plus_01_dot_33_bar__minus_01_dot_81 - object\n PaperTowelRoll_bar__minus_02_dot_20_bar__plus_01_dot_06_bar__plus_00_dot_35 - object\n PepperShaker_bar__plus_00_dot_45_bar__plus_00_dot_11_bar__plus_00_dot_35 - object\n PepperShaker_bar__plus_01_dot_78_bar__plus_00_dot_91_bar__minus_01_dot_49 - object\n PepperShaker_bar__minus_02_dot_61_bar__plus_00_dot_95_bar__plus_00_dot_52 - object\n Plate_bar__plus_01_dot_68_bar__plus_01_dot_33_bar__minus_01_dot_81 - object\n Potato_bar__minus_02_dot_34_bar__plus_00_dot_98_bar__plus_00_dot_35 - object\n Potato_bar__minus_02_dot_34_bar__plus_00_dot_98_bar__plus_00_dot_70 - object\n Pot_bar__plus_01_dot_01_bar__plus_00_dot_96_bar__plus_00_dot_56 - object\n SaltShaker_bar__plus_01_dot_78_bar__plus_00_dot_91_bar__minus_01_dot_82 - object\n SaltShaker_bar__plus_01_dot_94_bar__plus_00_dot_10_bar__plus_00_dot_20 - object\n SaltShaker_bar__minus_01_dot_93_bar__plus_00_dot_95_bar__plus_00_dot_44 - object\n Sink_bar__plus_00_dot_71_bar__plus_00_dot_82_bar__minus_01_dot_77 - object\n SoapBottle_bar__plus_00_dot_96_bar__plus_00_dot_92_bar__minus_01_dot_52 - object\n SoapBottle_bar__minus_00_dot_30_bar__plus_00_dot_07_bar__plus_00_dot_48 - object\n SoapBottle_bar__minus_01_dot_93_bar__plus_00_dot_95_bar__plus_00_dot_70 - object\n Spatula_bar__plus_00_dot_75_bar__plus_00_dot_93_bar__minus_01_dot_52 - object\n Spoon_bar__plus_01_dot_66_bar__plus_00_dot_91_bar__plus_00_dot_62 - object\n StoveKnob_bar__plus_01_dot_00_bar__plus_00_dot_91_bar__plus_00_dot_12 - object\n StoveKnob_bar__plus_01_dot_13_bar__plus_00_dot_91_bar__plus_00_dot_12 - object\n StoveKnob_bar__plus_01_dot_25_bar__plus_00_dot_91_bar__plus_00_dot_12 - object\n StoveKnob_bar__plus_01_dot_37_bar__plus_00_dot_91_bar__plus_00_dot_12 - object\n Tomato_bar__plus_00_dot_80_bar__plus_00_dot_97_bar__minus_01_dot_85 - object\n Window_bar__plus_00_dot_58_bar__plus_01_dot_61_bar__minus_01_dot_97 - object\n Window_bar__plus_01_dot_97_bar__plus_01_dot_50_bar__minus_00_dot_62 - object\n Cabinet_bar__plus_00_dot_06_bar__plus_00_dot_40_bar__minus_01_dot_35 - receptacle\n Cabinet_bar__plus_00_dot_10_bar__plus_00_dot_40_bar__minus_01_dot_35 - receptacle\n Cabinet_bar__plus_00_dot_73_bar__plus_00_dot_40_bar__plus_00_dot_15 - receptacle\n Cabinet_bar__plus_01_dot_08_bar__plus_00_dot_40_bar__minus_01_dot_35 - receptacle\n Cabinet_bar__plus_01_dot_67_bar__plus_00_dot_40_bar__plus_00_dot_15 - receptacle\n Cabinet_bar__plus_01_dot_97_bar__plus_01_dot_69_bar__minus_01_dot_65 - receptacle\n Cabinet_bar__minus_00_dot_18_bar__plus_00_dot_40_bar__plus_00_dot_15 - receptacle\n Cabinet_bar__minus_00_dot_19_bar__plus_01_dot_69_bar__minus_01_dot_65 - receptacle\n Cabinet_bar__minus_00_dot_40_bar__plus_00_dot_40_bar__minus_01_dot_35 - receptacle\n Cabinet_bar__minus_00_dot_82_bar__plus_00_dot_40_bar__minus_01_dot_35 - receptacle\n CoffeeMachine_bar__plus_00_dot_62_bar__plus_00_dot_90_bar__plus_00_dot_60 - receptacle\n CounterTop_bar__plus_00_dot_28_bar__plus_00_dot_95_bar__plus_00_dot_46 - receptacle\n CounterTop_bar__plus_01_dot_78_bar__plus_00_dot_95_bar__plus_00_dot_46 - receptacle\n CounterTop_bar__minus_00_dot_68_bar__plus_00_dot_95_bar__minus_01_dot_65 - receptacle\n DiningTable_bar__minus_02_dot_20_bar__plus_00_dot_99_bar__plus_00_dot_45 - receptacle\n Drawer_bar__plus_00_dot_02_bar__plus_00_dot_79_bar__plus_00_dot_30 - receptacle\n Drawer_bar__plus_00_dot_50_bar__plus_00_dot_79_bar__plus_00_dot_30 - receptacle\n Drawer_bar__plus_01_dot_83_bar__plus_00_dot_79_bar__plus_00_dot_30 - receptacle\n Drawer_bar__minus_00_dot_15_bar__plus_00_dot_79_bar__minus_01_dot_50 - receptacle\n Drawer_bar__minus_00_dot_59_bar__plus_00_dot_79_bar__minus_01_dot_50 - receptacle\n Drawer_bar__minus_01_dot_10_bar__plus_00_dot_79_bar__minus_01_dot_50 - receptacle\n Fridge_bar__minus_02_dot_14_bar__plus_00_dot_00_bar__minus_01_dot_69 - receptacle\n GarbageCan_bar__minus_00_dot_36_bar__plus_00_dot_00_bar__plus_00_dot_54 - receptacle\n Microwave_bar__minus_01_dot_04_bar__plus_00_dot_90_bar__minus_01_dot_72 - receptacle\n Sink_bar__plus_00_dot_71_bar__plus_00_dot_82_bar__minus_01_dot_77_bar_SinkBasin - receptacle\n StoveBurner_bar__plus_01_dot_01_bar__plus_00_dot_96_bar__plus_00_dot_29 - receptacle\n StoveBurner_bar__plus_01_dot_01_bar__plus_00_dot_96_bar__plus_00_dot_56 - receptacle\n StoveBurner_bar__plus_01_dot_36_bar__plus_00_dot_96_bar__plus_00_dot_29 - receptacle\n StoveBurner_bar__plus_01_dot_36_bar__plus_00_dot_96_bar__plus_00_dot_56 - receptacle\n Toaster_bar__plus_00_dot_31_bar__plus_00_dot_90_bar__plus_00_dot_55 - receptacle\n loc_bar_5_bar__minus_2_bar_2_bar_60 - location\n loc_bar_6_bar__minus_4_bar_0_bar_45 - location\n loc_bar_6_bar__minus_4_bar_3_bar_15 - location\n loc_bar_1_bar__minus_2_bar_0_bar_45 - location\n loc_bar_1_bar__minus_1_bar_0_bar_45 - location\n loc_bar_0_bar__minus_3_bar_3_bar_45 - location\n loc_bar_4_bar__minus_1_bar_0_bar_45 - location\n loc_bar__minus_9_bar__minus_3_bar_2_bar_60 - location\n loc_bar_1_bar__minus_4_bar_2_bar_60 - location\n loc_bar_5_bar__minus_1_bar_0_bar_60 - location\n loc_bar__minus_6_bar__minus_2_bar_2_bar_60 - location\n loc_bar__minus_2_bar__minus_4_bar_2_bar_0 - location\n loc_bar_2_bar__minus_4_bar_3_bar_60 - location\n loc_bar_6_bar__minus_4_bar_2_bar_0 - location\n loc_bar__minus_9_bar__minus_1_bar_0_bar_60 - location\n loc_bar_3_bar__minus_4_bar_2_bar_45 - location\n loc_bar_4_bar__minus_1_bar_0_bar_60 - location\n loc_bar_6_bar__minus_1_bar_0_bar_45 - location\n loc_bar__minus_9_bar__minus_3_bar_3_bar_30 - location\n loc_bar_1_bar__minus_2_bar_2_bar_60 - location\n loc_bar__minus_1_bar__minus_2_bar_0_bar_45 - location\n loc_bar_6_bar__minus_2_bar_1_bar_15 - location\n loc_bar__minus_4_bar__minus_2_bar_2_bar_60 - location\n loc_bar_5_bar__minus_1_bar_0_bar_45 - location\n loc_bar__minus_2_bar_0_bar_0_bar_60 - location\n loc_bar_4_bar__minus_3_bar_0_bar_60 - location\n loc_bar__minus_4_bar__minus_4_bar_2_bar_45 - location\n loc_bar__minus_9_bar__minus_1_bar_0_bar_45 - location\n loc_bar__minus_5_bar__minus_4_bar_1_bar_45 - location\n loc_bar_2_bar__minus_4_bar_2_bar_0 - location\n loc_bar_3_bar__minus_2_bar_2_bar_60 - location\n loc_bar_6_bar__minus_1_bar_0_bar_60 - location\n loc_bar__minus_2_bar__minus_3_bar_0_bar_60 - location\n loc_bar_2_bar__minus_1_bar_0_bar_45 - location\n loc_bar_2_bar__minus_3_bar_3_bar_30 - location\n )\n \n\n(:init\n\n\n (receptacleType Drawer_bar__plus_00_dot_50_bar__plus_00_dot_79_bar__plus_00_dot_30 DrawerType)\n (receptacleType GarbageCan_bar__minus_00_dot_36_bar__plus_00_dot_00_bar__plus_00_dot_54 GarbageCanType)\n (receptacleType StoveBurner_bar__plus_01_dot_01_bar__plus_00_dot_96_bar__plus_00_dot_56 StoveBurnerType)\n (receptacleType Cabinet_bar__minus_00_dot_18_bar__plus_00_dot_40_bar__plus_00_dot_15 CabinetType)\n (receptacleType Sink_bar__plus_00_dot_71_bar__plus_00_dot_82_bar__minus_01_dot_77_bar_SinkBasin SinkBasinType)\n (receptacleType Cabinet_bar__plus_01_dot_08_bar__plus_00_dot_40_bar__minus_01_dot_35 CabinetType)\n (receptacleType Cabinet_bar__minus_00_dot_19_bar__plus_01_dot_69_bar__minus_01_dot_65 CabinetType)\n (receptacleType Cabinet_bar__plus_00_dot_10_bar__plus_00_dot_40_bar__minus_01_dot_35 CabinetType)\n (receptacleType Drawer_bar__minus_01_dot_10_bar__plus_00_dot_79_bar__minus_01_dot_50 DrawerType)\n (receptacleType Drawer_bar__minus_00_dot_59_bar__plus_00_dot_79_bar__minus_01_dot_50 DrawerType)\n (receptacleType CounterTop_bar__plus_01_dot_78_bar__plus_00_dot_95_bar__plus_00_dot_46 CounterTopType)\n (receptacleType CounterTop_bar__minus_00_dot_68_bar__plus_00_dot_95_bar__minus_01_dot_65 CounterTopType)\n (receptacleType StoveBurner_bar__plus_01_dot_36_bar__plus_00_dot_96_bar__plus_00_dot_56 StoveBurnerType)\n (receptacleType Cabinet_bar__plus_00_dot_06_bar__plus_00_dot_40_bar__minus_01_dot_35 CabinetType)\n (receptacleType Microwave_bar__minus_01_dot_04_bar__plus_00_dot_90_bar__minus_01_dot_72 MicrowaveType)\n (receptacleType StoveBurner_bar__plus_01_dot_36_bar__plus_00_dot_96_bar__plus_00_dot_29 StoveBurnerType)\n (receptacleType Cabinet_bar__plus_01_dot_67_bar__plus_00_dot_40_bar__plus_00_dot_15 CabinetType)\n (receptacleType CoffeeMachine_bar__plus_00_dot_62_bar__plus_00_dot_90_bar__plus_00_dot_60 CoffeeMachineType)\n (receptacleType Drawer_bar__plus_00_dot_02_bar__plus_00_dot_79_bar__plus_00_dot_30 DrawerType)\n (receptacleType Cabinet_bar__plus_01_dot_97_bar__plus_01_dot_69_bar__minus_01_dot_65 CabinetType)\n (receptacleType Cabinet_bar__minus_00_dot_40_bar__plus_00_dot_40_bar__minus_01_dot_35 CabinetType)\n (receptacleType Fridge_bar__minus_02_dot_14_bar__plus_00_dot_00_bar__minus_01_dot_69 FridgeType)\n (receptacleType Toaster_bar__plus_00_dot_31_bar__plus_00_dot_90_bar__plus_00_dot_55 ToasterType)\n (receptacleType StoveBurner_bar__plus_01_dot_01_bar__plus_00_dot_96_bar__plus_00_dot_29 StoveBurnerType)\n (receptacleType Cabinet_bar__minus_00_dot_82_bar__plus_00_dot_40_bar__minus_01_dot_35 CabinetType)\n (receptacleType Drawer_bar__minus_00_dot_15_bar__plus_00_dot_79_bar__minus_01_dot_50 DrawerType)\n (receptacleType DiningTable_bar__minus_02_dot_20_bar__plus_00_dot_99_bar__plus_00_dot_45 DiningTableType)\n (receptacleType CounterTop_bar__plus_00_dot_28_bar__plus_00_dot_95_bar__plus_00_dot_46 CounterTopType)\n (receptacleType Drawer_bar__plus_01_dot_83_bar__plus_00_dot_79_bar__plus_00_dot_30 DrawerType)\n (receptacleType Cabinet_bar__plus_00_dot_73_bar__plus_00_dot_40_bar__plus_00_dot_15 CabinetType)\n (objectType PepperShaker_bar__plus_01_dot_78_bar__plus_00_dot_91_bar__minus_01_dot_49 PepperShakerType)\n (objectType SaltShaker_bar__plus_01_dot_78_bar__plus_00_dot_91_bar__minus_01_dot_82 SaltShakerType)\n (objectType DishSponge_bar__plus_01_dot_82_bar__plus_00_dot_77_bar__plus_00_dot_31 DishSpongeType)\n (objectType Knife_bar__minus_02_dot_48_bar__plus_00_dot_98_bar__plus_00_dot_44 KnifeType)\n (objectType Bowl_bar__minus_01_dot_03_bar__plus_01_dot_01_bar__minus_01_dot_74 BowlType)\n (objectType Sink_bar__plus_00_dot_71_bar__plus_00_dot_82_bar__minus_01_dot_77 SinkType)\n (objectType Window_bar__plus_01_dot_97_bar__plus_01_dot_50_bar__minus_00_dot_62 WindowType)\n (objectType LightSwitch_bar__minus_02_dot_76_bar__plus_01_dot_31_bar__minus_00_dot_99 LightSwitchType)\n (objectType StoveKnob_bar__plus_01_dot_37_bar__plus_00_dot_91_bar__plus_00_dot_12 StoveKnobType)\n (objectType Egg_bar__plus_00_dot_65_bar__plus_00_dot_95_bar__minus_01_dot_65 EggType)\n (objectType DishSponge_bar__minus_00_dot_10_bar__plus_00_dot_77_bar__minus_01_dot_47 DishSpongeType)\n (objectType Mug_bar__minus_01_dot_79_bar__plus_00_dot_95_bar__plus_00_dot_35 MugType)\n (objectType StoveKnob_bar__plus_01_dot_13_bar__plus_00_dot_91_bar__plus_00_dot_12 StoveKnobType)\n (objectType Pan_bar__minus_00_dot_64_bar__plus_01_dot_33_bar__minus_01_dot_81 PanType)\n (objectType Egg_bar__plus_00_dot_30_bar__plus_00_dot_95_bar__plus_00_dot_29 EggType)\n (objectType Apple_bar__minus_00_dot_43_bar__plus_00_dot_14_bar__plus_00_dot_61 AppleType)\n (objectType SoapBottle_bar__plus_00_dot_96_bar__plus_00_dot_92_bar__minus_01_dot_52 SoapBottleType)\n (objectType Mug_bar__plus_00_dot_62_bar__plus_00_dot_95_bar__plus_00_dot_47 MugType)\n (objectType PepperShaker_bar__plus_00_dot_45_bar__plus_00_dot_11_bar__plus_00_dot_35 PepperShakerType)\n (objectType SoapBottle_bar__minus_00_dot_30_bar__plus_00_dot_07_bar__plus_00_dot_48 SoapBottleType)\n (objectType DishSponge_bar__plus_00_dot_86_bar__plus_00_dot_92_bar__minus_01_dot_45 DishSpongeType)\n (objectType 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Potato_bar__minus_02_dot_34_bar__plus_00_dot_98_bar__plus_00_dot_35)\n (coolable Pot_bar__plus_01_dot_01_bar__plus_00_dot_96_bar__plus_00_dot_56)\n (coolable Bowl_bar__plus_00_dot_62_bar__plus_00_dot_11_bar__plus_00_dot_27)\n (coolable Lettuce_bar__minus_02_dot_14_bar__plus_01_dot_14_bar__minus_01_dot_76)\n (coolable Cup_bar__minus_02_dot_20_bar__plus_00_dot_95_bar__plus_00_dot_26)\n (coolable Lettuce_bar__minus_02_dot_05_bar__plus_00_dot_60_bar__minus_01_dot_76)\n (coolable Bread_bar__plus_01_dot_30_bar__plus_00_dot_98_bar__minus_01_dot_53)\n (coolable Lettuce_bar__plus_01_dot_85_bar__plus_01_dot_00_bar__plus_00_dot_46)\n (coolable Plate_bar__plus_01_dot_68_bar__plus_01_dot_33_bar__minus_01_dot_81)\n (coolable Egg_bar__plus_01_dot_60_bar__plus_00_dot_95_bar__plus_00_dot_62)\n \n \n \n \n \n (sliceable Egg_bar__plus_00_dot_65_bar__plus_00_dot_95_bar__minus_01_dot_65)\n (sliceable Egg_bar__plus_00_dot_30_bar__plus_00_dot_95_bar__plus_00_dot_29)\n (sliceable Apple_bar__minus_00_dot_43_bar__plus_00_dot_14_bar__plus_00_dot_61)\n (sliceable Potato_bar__minus_02_dot_34_bar__plus_00_dot_98_bar__plus_00_dot_70)\n (sliceable Tomato_bar__plus_00_dot_80_bar__plus_00_dot_97_bar__minus_01_dot_85)\n (sliceable Apple_bar__minus_01_dot_93_bar__plus_01_dot_02_bar__plus_00_dot_52)\n (sliceable Potato_bar__minus_02_dot_34_bar__plus_00_dot_98_bar__plus_00_dot_35)\n (sliceable Lettuce_bar__minus_02_dot_14_bar__plus_01_dot_14_bar__minus_01_dot_76)\n (sliceable Lettuce_bar__minus_02_dot_05_bar__plus_00_dot_60_bar__minus_01_dot_76)\n (sliceable Bread_bar__plus_01_dot_30_bar__plus_00_dot_98_bar__minus_01_dot_53)\n (sliceable Lettuce_bar__plus_01_dot_85_bar__plus_01_dot_00_bar__plus_00_dot_46)\n (sliceable Egg_bar__plus_01_dot_60_bar__plus_00_dot_95_bar__plus_00_dot_62)\n \n (inReceptacle Pan_bar__minus_00_dot_64_bar__plus_01_dot_33_bar__minus_01_dot_81 Cabinet_bar__minus_00_dot_19_bar__plus_01_dot_69_bar__minus_01_dot_65)\n (inReceptacle Knife_bar__minus_02_dot_07_bar__plus_00_dot_98_bar__plus_00_dot_26 DiningTable_bar__minus_02_dot_20_bar__plus_00_dot_99_bar__plus_00_dot_45)\n (inReceptacle Fork_bar__minus_02_dot_61_bar__plus_00_dot_95_bar__plus_00_dot_35 DiningTable_bar__minus_02_dot_20_bar__plus_00_dot_99_bar__plus_00_dot_45)\n (inReceptacle Apple_bar__minus_01_dot_93_bar__plus_01_dot_02_bar__plus_00_dot_52 DiningTable_bar__minus_02_dot_20_bar__plus_00_dot_99_bar__plus_00_dot_45)\n (inReceptacle Knife_bar__minus_02_dot_48_bar__plus_00_dot_98_bar__plus_00_dot_44 DiningTable_bar__minus_02_dot_20_bar__plus_00_dot_99_bar__plus_00_dot_45)\n (inReceptacle PepperShaker_bar__minus_02_dot_61_bar__plus_00_dot_95_bar__plus_00_dot_52 DiningTable_bar__minus_02_dot_20_bar__plus_00_dot_99_bar__plus_00_dot_45)\n (inReceptacle Potato_bar__minus_02_dot_34_bar__plus_00_dot_98_bar__plus_00_dot_35 DiningTable_bar__minus_02_dot_20_bar__plus_00_dot_99_bar__plus_00_dot_45)\n (inReceptacle Potato_bar__minus_02_dot_34_bar__plus_00_dot_98_bar__plus_00_dot_70 DiningTable_bar__minus_02_dot_20_bar__plus_00_dot_99_bar__plus_00_dot_45)\n (inReceptacle Cup_bar__minus_02_dot_20_bar__plus_00_dot_95_bar__plus_00_dot_26 DiningTable_bar__minus_02_dot_20_bar__plus_00_dot_99_bar__plus_00_dot_45)\n (inReceptacle Mug_bar__minus_01_dot_79_bar__plus_00_dot_95_bar__plus_00_dot_35 DiningTable_bar__minus_02_dot_20_bar__plus_00_dot_99_bar__plus_00_dot_45)\n (inReceptacle PaperTowelRoll_bar__minus_02_dot_20_bar__plus_01_dot_06_bar__plus_00_dot_35 DiningTable_bar__minus_02_dot_20_bar__plus_00_dot_99_bar__plus_00_dot_45)\n (inReceptacle SoapBottle_bar__minus_01_dot_93_bar__plus_00_dot_95_bar__plus_00_dot_70 DiningTable_bar__minus_02_dot_20_bar__plus_00_dot_99_bar__plus_00_dot_45)\n (inReceptacle SaltShaker_bar__minus_01_dot_93_bar__plus_00_dot_95_bar__plus_00_dot_44 DiningTable_bar__minus_02_dot_20_bar__plus_00_dot_99_bar__plus_00_dot_45)\n (inReceptacle Kettle_bar__plus_01_dot_36_bar__plus_00_dot_96_bar__plus_00_dot_29 StoveBurner_bar__plus_01_dot_36_bar__plus_00_dot_96_bar__plus_00_dot_29)\n (inReceptacle Bowl_bar__minus_00_dot_10_bar__plus_00_dot_91_bar__plus_00_dot_38 CounterTop_bar__plus_00_dot_28_bar__plus_00_dot_95_bar__plus_00_dot_46)\n (inReceptacle Mug_bar__plus_00_dot_62_bar__plus_00_dot_95_bar__plus_00_dot_47 CounterTop_bar__plus_00_dot_28_bar__plus_00_dot_95_bar__plus_00_dot_46)\n (inReceptacle Egg_bar__plus_00_dot_30_bar__plus_00_dot_95_bar__plus_00_dot_29 CounterTop_bar__plus_00_dot_28_bar__plus_00_dot_95_bar__plus_00_dot_46)\n (inReceptacle PepperShaker_bar__plus_01_dot_78_bar__plus_00_dot_91_bar__minus_01_dot_49 CounterTop_bar__minus_00_dot_68_bar__plus_00_dot_95_bar__minus_01_dot_65)\n (inReceptacle SaltShaker_bar__plus_01_dot_78_bar__plus_00_dot_91_bar__minus_01_dot_82 CounterTop_bar__minus_00_dot_68_bar__plus_00_dot_95_bar__minus_01_dot_65)\n (inReceptacle Bread_bar__plus_01_dot_30_bar__plus_00_dot_98_bar__minus_01_dot_53 CounterTop_bar__minus_00_dot_68_bar__plus_00_dot_95_bar__minus_01_dot_65)\n (inReceptacle Sink_bar__plus_00_dot_71_bar__plus_00_dot_82_bar__minus_01_dot_77 CounterTop_bar__minus_00_dot_68_bar__plus_00_dot_95_bar__minus_01_dot_65)\n (inReceptacle ButterKnife_bar__plus_01_dot_41_bar__plus_00_dot_91_bar__minus_01_dot_74 CounterTop_bar__minus_00_dot_68_bar__plus_00_dot_95_bar__minus_01_dot_65)\n (inReceptacle DishSponge_bar__plus_01_dot_82_bar__plus_00_dot_77_bar__plus_00_dot_31 Drawer_bar__plus_01_dot_83_bar__plus_00_dot_79_bar__plus_00_dot_30)\n (inReceptacle Pot_bar__plus_01_dot_01_bar__plus_00_dot_96_bar__plus_00_dot_56 StoveBurner_bar__plus_01_dot_01_bar__plus_00_dot_96_bar__plus_00_dot_56)\n (inReceptacle DishSponge_bar__minus_00_dot_10_bar__plus_00_dot_77_bar__minus_01_dot_47 Drawer_bar__minus_00_dot_15_bar__plus_00_dot_79_bar__minus_01_dot_50)\n (inReceptacle SaltShaker_bar__plus_01_dot_94_bar__plus_00_dot_10_bar__plus_00_dot_20 Cabinet_bar__plus_01_dot_67_bar__plus_00_dot_40_bar__plus_00_dot_15)\n (inReceptacle Bowl_bar__plus_00_dot_62_bar__plus_00_dot_11_bar__plus_00_dot_27 Cabinet_bar__plus_00_dot_73_bar__plus_00_dot_40_bar__plus_00_dot_15)\n (inReceptacle PepperShaker_bar__plus_00_dot_45_bar__plus_00_dot_11_bar__plus_00_dot_35 Cabinet_bar__plus_00_dot_73_bar__plus_00_dot_40_bar__plus_00_dot_15)\n (inReceptacle ButterKnife_bar__plus_01_dot_72_bar__plus_00_dot_91_bar__plus_00_dot_21 CounterTop_bar__plus_01_dot_78_bar__plus_00_dot_95_bar__plus_00_dot_46)\n (inReceptacle Fork_bar__plus_01_dot_72_bar__plus_00_dot_91_bar__plus_00_dot_46 CounterTop_bar__plus_01_dot_78_bar__plus_00_dot_95_bar__plus_00_dot_46)\n (inReceptacle Spoon_bar__plus_01_dot_66_bar__plus_00_dot_91_bar__plus_00_dot_62 CounterTop_bar__plus_01_dot_78_bar__plus_00_dot_95_bar__plus_00_dot_46)\n (inReceptacle Lettuce_bar__plus_01_dot_85_bar__plus_01_dot_00_bar__plus_00_dot_46 CounterTop_bar__plus_01_dot_78_bar__plus_00_dot_95_bar__plus_00_dot_46)\n (inReceptacle Egg_bar__plus_01_dot_60_bar__plus_00_dot_95_bar__plus_00_dot_62 CounterTop_bar__plus_01_dot_78_bar__plus_00_dot_95_bar__plus_00_dot_46)\n (inReceptacle Plate_bar__plus_01_dot_68_bar__plus_01_dot_33_bar__minus_01_dot_81 Cabinet_bar__plus_01_dot_97_bar__plus_01_dot_69_bar__minus_01_dot_65)\n (inReceptacle Bowl_bar__minus_01_dot_03_bar__plus_01_dot_01_bar__minus_01_dot_74 Microwave_bar__minus_01_dot_04_bar__plus_00_dot_90_bar__minus_01_dot_72)\n (inReceptacle Apple_bar__minus_00_dot_43_bar__plus_00_dot_14_bar__plus_00_dot_61 GarbageCan_bar__minus_00_dot_36_bar__plus_00_dot_00_bar__plus_00_dot_54)\n (inReceptacle SoapBottle_bar__minus_00_dot_30_bar__plus_00_dot_07_bar__plus_00_dot_48 GarbageCan_bar__minus_00_dot_36_bar__plus_00_dot_00_bar__plus_00_dot_54)\n (inReceptacle Cup_bar__minus_02_dot_14_bar__plus_00_dot_78_bar__minus_01_dot_68 Fridge_bar__minus_02_dot_14_bar__plus_00_dot_00_bar__minus_01_dot_69)\n (inReceptacle Lettuce_bar__minus_02_dot_05_bar__plus_00_dot_60_bar__minus_01_dot_76 Fridge_bar__minus_02_dot_14_bar__plus_00_dot_00_bar__minus_01_dot_69)\n (inReceptacle Lettuce_bar__minus_02_dot_14_bar__plus_01_dot_14_bar__minus_01_dot_76 Fridge_bar__minus_02_dot_14_bar__plus_00_dot_00_bar__minus_01_dot_69)\n (inReceptacleObject Spatula_bar__plus_00_dot_75_bar__plus_00_dot_93_bar__minus_01_dot_52 Mug_bar__plus_00_dot_75_bar__plus_00_dot_91_bar__minus_01_dot_72)\n \n \n (receptacleAtLocation Cabinet_bar__plus_00_dot_06_bar__plus_00_dot_40_bar__minus_01_dot_35 loc_bar_1_bar__minus_2_bar_2_bar_60)\n (receptacleAtLocation Cabinet_bar__plus_00_dot_10_bar__plus_00_dot_40_bar__minus_01_dot_35 loc_bar_3_bar__minus_2_bar_2_bar_60)\n (receptacleAtLocation Cabinet_bar__plus_00_dot_73_bar__plus_00_dot_40_bar__plus_00_dot_15 loc_bar_4_bar__minus_3_bar_0_bar_60)\n (receptacleAtLocation Cabinet_bar__plus_01_dot_08_bar__plus_00_dot_40_bar__minus_01_dot_35 loc_bar_5_bar__minus_2_bar_2_bar_60)\n (receptacleAtLocation Cabinet_bar__plus_01_dot_67_bar__plus_00_dot_40_bar__plus_00_dot_15 loc_bar_6_bar__minus_4_bar_0_bar_45)\n (receptacleAtLocation Cabinet_bar__plus_01_dot_97_bar__plus_01_dot_69_bar__minus_01_dot_65 loc_bar_6_bar__minus_4_bar_2_bar_0)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_18_bar__plus_00_dot_40_bar__plus_00_dot_15 loc_bar__minus_2_bar__minus_3_bar_0_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_19_bar__plus_01_dot_69_bar__minus_01_dot_65 loc_bar__minus_2_bar__minus_4_bar_2_bar_0)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_40_bar__plus_00_dot_40_bar__minus_01_dot_35 loc_bar__minus_4_bar__minus_2_bar_2_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_82_bar__plus_00_dot_40_bar__minus_01_dot_35 loc_bar__minus_6_bar__minus_2_bar_2_bar_60)\n (receptacleAtLocation CoffeeMachine_bar__plus_00_dot_62_bar__plus_00_dot_90_bar__plus_00_dot_60 loc_bar_2_bar__minus_1_bar_0_bar_45)\n (receptacleAtLocation CounterTop_bar__plus_00_dot_28_bar__plus_00_dot_95_bar__plus_00_dot_46 loc_bar_1_bar__minus_1_bar_0_bar_45)\n (receptacleAtLocation CounterTop_bar__plus_01_dot_78_bar__plus_00_dot_95_bar__plus_00_dot_46 loc_bar_6_bar__minus_1_bar_0_bar_45)\n (receptacleAtLocation CounterTop_bar__minus_00_dot_68_bar__plus_00_dot_95_bar__minus_01_dot_65 loc_bar_6_bar__minus_4_bar_3_bar_15)\n (receptacleAtLocation DiningTable_bar__minus_02_dot_20_bar__plus_00_dot_99_bar__plus_00_dot_45 loc_bar__minus_9_bar__minus_1_bar_0_bar_45)\n (receptacleAtLocation Drawer_bar__plus_00_dot_02_bar__plus_00_dot_79_bar__plus_00_dot_30 loc_bar__minus_1_bar__minus_2_bar_0_bar_45)\n (receptacleAtLocation Drawer_bar__plus_00_dot_50_bar__plus_00_dot_79_bar__plus_00_dot_30 loc_bar_1_bar__minus_2_bar_0_bar_45)\n (receptacleAtLocation Drawer_bar__plus_01_dot_83_bar__plus_00_dot_79_bar__plus_00_dot_30 loc_bar_6_bar__minus_1_bar_0_bar_60)\n (receptacleAtLocation Drawer_bar__minus_00_dot_15_bar__plus_00_dot_79_bar__minus_01_dot_50 loc_bar_2_bar__minus_4_bar_3_bar_60)\n (receptacleAtLocation Drawer_bar__minus_00_dot_59_bar__plus_00_dot_79_bar__minus_01_dot_50 loc_bar__minus_5_bar__minus_4_bar_1_bar_45)\n (receptacleAtLocation Drawer_bar__minus_01_dot_10_bar__plus_00_dot_79_bar__minus_01_dot_50 loc_bar_0_bar__minus_3_bar_3_bar_45)\n (receptacleAtLocation Fridge_bar__minus_02_dot_14_bar__plus_00_dot_00_bar__minus_01_dot_69 loc_bar__minus_9_bar__minus_3_bar_2_bar_60)\n (receptacleAtLocation GarbageCan_bar__minus_00_dot_36_bar__plus_00_dot_00_bar__plus_00_dot_54 loc_bar__minus_2_bar_0_bar_0_bar_60)\n (receptacleAtLocation Microwave_bar__minus_01_dot_04_bar__plus_00_dot_90_bar__minus_01_dot_72 loc_bar__minus_4_bar__minus_4_bar_2_bar_45)\n (receptacleAtLocation Sink_bar__plus_00_dot_71_bar__plus_00_dot_82_bar__minus_01_dot_77_bar_SinkBasin loc_bar_1_bar__minus_4_bar_2_bar_60)\n (receptacleAtLocation StoveBurner_bar__plus_01_dot_01_bar__plus_00_dot_96_bar__plus_00_dot_29 loc_bar_4_bar__minus_1_bar_0_bar_45)\n (receptacleAtLocation StoveBurner_bar__plus_01_dot_01_bar__plus_00_dot_96_bar__plus_00_dot_56 loc_bar_4_bar__minus_1_bar_0_bar_45)\n (receptacleAtLocation StoveBurner_bar__plus_01_dot_36_bar__plus_00_dot_96_bar__plus_00_dot_29 loc_bar_5_bar__minus_1_bar_0_bar_45)\n (receptacleAtLocation StoveBurner_bar__plus_01_dot_36_bar__plus_00_dot_96_bar__plus_00_dot_56 loc_bar_5_bar__minus_1_bar_0_bar_45)\n (receptacleAtLocation Toaster_bar__plus_00_dot_31_bar__plus_00_dot_90_bar__plus_00_dot_55 loc_bar_1_bar__minus_1_bar_0_bar_45)\n (objectAtLocation Mug_bar__minus_01_dot_79_bar__plus_00_dot_95_bar__plus_00_dot_35 loc_bar__minus_9_bar__minus_1_bar_0_bar_45)\n (objectAtLocation DishSponge_bar__plus_01_dot_82_bar__plus_00_dot_77_bar__plus_00_dot_31 loc_bar_6_bar__minus_1_bar_0_bar_60)\n (objectAtLocation Potato_bar__minus_02_dot_34_bar__plus_00_dot_98_bar__plus_00_dot_70 loc_bar__minus_9_bar__minus_1_bar_0_bar_45)\n (objectAtLocation ButterKnife_bar__plus_01_dot_72_bar__plus_00_dot_91_bar__plus_00_dot_21 loc_bar_6_bar__minus_1_bar_0_bar_45)\n (objectAtLocation Apple_bar__minus_00_dot_43_bar__plus_00_dot_14_bar__plus_00_dot_61 loc_bar__minus_2_bar_0_bar_0_bar_60)\n (objectAtLocation PepperShaker_bar__plus_01_dot_78_bar__plus_00_dot_91_bar__minus_01_dot_49 loc_bar_6_bar__minus_4_bar_3_bar_15)\n (objectAtLocation SaltShaker_bar__minus_01_dot_93_bar__plus_00_dot_95_bar__plus_00_dot_44 loc_bar__minus_9_bar__minus_1_bar_0_bar_45)\n (objectAtLocation Lettuce_bar__minus_02_dot_05_bar__plus_00_dot_60_bar__minus_01_dot_76 loc_bar__minus_9_bar__minus_3_bar_2_bar_60)\n (objectAtLocation Egg_bar__plus_01_dot_60_bar__plus_00_dot_95_bar__plus_00_dot_62 loc_bar_6_bar__minus_1_bar_0_bar_45)\n (objectAtLocation SoapBottle_bar__minus_01_dot_93_bar__plus_00_dot_95_bar__plus_00_dot_70 loc_bar__minus_9_bar__minus_1_bar_0_bar_45)\n (objectAtLocation Cup_bar__minus_02_dot_14_bar__plus_00_dot_78_bar__minus_01_dot_68 loc_bar__minus_9_bar__minus_3_bar_2_bar_60)\n (objectAtLocation Bowl_bar__plus_00_dot_62_bar__plus_00_dot_11_bar__plus_00_dot_27 loc_bar_4_bar__minus_3_bar_0_bar_60)\n (objectAtLocation Fork_bar__plus_01_dot_72_bar__plus_00_dot_91_bar__plus_00_dot_46 loc_bar_6_bar__minus_1_bar_0_bar_45)\n (objectAtLocation Knife_bar__minus_02_dot_48_bar__plus_00_dot_98_bar__plus_00_dot_44 loc_bar__minus_9_bar__minus_1_bar_0_bar_45)\n (objectAtLocation Mug_bar__plus_00_dot_62_bar__plus_00_dot_95_bar__plus_00_dot_47 loc_bar_1_bar__minus_1_bar_0_bar_45)\n (objectAtLocation Lettuce_bar__minus_02_dot_14_bar__plus_01_dot_14_bar__minus_01_dot_76 loc_bar__minus_9_bar__minus_3_bar_2_bar_60)\n (objectAtLocation PepperShaker_bar__plus_00_dot_45_bar__plus_00_dot_11_bar__plus_00_dot_35 loc_bar_4_bar__minus_3_bar_0_bar_60)\n (objectAtLocation SaltShaker_bar__plus_01_dot_78_bar__plus_00_dot_91_bar__minus_01_dot_82 loc_bar_6_bar__minus_4_bar_3_bar_15)\n (objectAtLocation Bowl_bar__minus_01_dot_03_bar__plus_01_dot_01_bar__minus_01_dot_74 loc_bar__minus_4_bar__minus_4_bar_2_bar_45)\n (objectAtLocation SoapBottle_bar__minus_00_dot_30_bar__plus_00_dot_07_bar__plus_00_dot_48 loc_bar__minus_2_bar_0_bar_0_bar_60)\n (objectAtLocation Egg_bar__plus_00_dot_30_bar__plus_00_dot_95_bar__plus_00_dot_29 loc_bar_1_bar__minus_1_bar_0_bar_45)\n (objectAtLocation DishSponge_bar__minus_00_dot_10_bar__plus_00_dot_77_bar__minus_01_dot_47 loc_bar_2_bar__minus_4_bar_3_bar_60)\n (objectAtLocation Sink_bar__plus_00_dot_71_bar__plus_00_dot_82_bar__minus_01_dot_77 loc_bar_6_bar__minus_4_bar_3_bar_15)\n (objectAtLocation Bread_bar__plus_01_dot_30_bar__plus_00_dot_98_bar__minus_01_dot_53 loc_bar_6_bar__minus_4_bar_3_bar_15)\n (objectAtLocation Knife_bar__minus_02_dot_07_bar__plus_00_dot_98_bar__plus_00_dot_26 loc_bar__minus_9_bar__minus_1_bar_0_bar_45)\n (objectAtLocation Fork_bar__minus_02_dot_61_bar__plus_00_dot_95_bar__plus_00_dot_35 loc_bar__minus_9_bar__minus_1_bar_0_bar_45)\n (objectAtLocation Bowl_bar__minus_00_dot_10_bar__plus_00_dot_91_bar__plus_00_dot_38 loc_bar_1_bar__minus_1_bar_0_bar_45)\n (objectAtLocation Kettle_bar__plus_01_dot_36_bar__plus_00_dot_96_bar__plus_00_dot_29 loc_bar_5_bar__minus_1_bar_0_bar_45)\n (objectAtLocation Cup_bar__minus_02_dot_20_bar__plus_00_dot_95_bar__plus_00_dot_26 loc_bar__minus_9_bar__minus_1_bar_0_bar_45)\n (objectAtLocation Tomato_bar__plus_00_dot_80_bar__plus_00_dot_97_bar__minus_01_dot_85 loc_bar_1_bar__minus_4_bar_2_bar_60)\n (objectAtLocation SoapBottle_bar__plus_00_dot_96_bar__plus_00_dot_92_bar__minus_01_dot_52 loc_bar_1_bar__minus_4_bar_2_bar_60)\n (objectAtLocation Plate_bar__plus_01_dot_68_bar__plus_01_dot_33_bar__minus_01_dot_81 loc_bar_6_bar__minus_4_bar_2_bar_0)\n (objectAtLocation LightSwitch_bar__minus_02_dot_76_bar__plus_01_dot_31_bar__minus_00_dot_99 loc_bar__minus_9_bar__minus_3_bar_3_bar_30)\n (objectAtLocation Pot_bar__plus_01_dot_01_bar__plus_00_dot_96_bar__plus_00_dot_56 loc_bar_4_bar__minus_1_bar_0_bar_45)\n (objectAtLocation Window_bar__plus_00_dot_58_bar__plus_01_dot_61_bar__minus_01_dot_97 loc_bar_2_bar__minus_4_bar_2_bar_0)\n (objectAtLocation Window_bar__plus_01_dot_97_bar__plus_01_dot_50_bar__minus_00_dot_62 loc_bar_6_bar__minus_2_bar_1_bar_15)\n (objectAtLocation Spatula_bar__plus_00_dot_75_bar__plus_00_dot_93_bar__minus_01_dot_52 loc_bar_3_bar__minus_4_bar_2_bar_45)\n (objectAtLocation PaperTowelRoll_bar__minus_02_dot_20_bar__plus_01_dot_06_bar__plus_00_dot_35 loc_bar__minus_9_bar__minus_1_bar_0_bar_45)\n (objectAtLocation Egg_bar__plus_00_dot_65_bar__plus_00_dot_95_bar__minus_01_dot_65 loc_bar_1_bar__minus_4_bar_2_bar_60)\n (objectAtLocation Lettuce_bar__plus_01_dot_85_bar__plus_01_dot_00_bar__plus_00_dot_46 loc_bar_6_bar__minus_1_bar_0_bar_45)\n (objectAtLocation SaltShaker_bar__plus_01_dot_94_bar__plus_00_dot_10_bar__plus_00_dot_20 loc_bar_6_bar__minus_4_bar_0_bar_45)\n (objectAtLocation PepperShaker_bar__minus_02_dot_61_bar__plus_00_dot_95_bar__plus_00_dot_52 loc_bar__minus_9_bar__minus_1_bar_0_bar_45)\n (objectAtLocation Apple_bar__minus_01_dot_93_bar__plus_01_dot_02_bar__plus_00_dot_52 loc_bar__minus_9_bar__minus_1_bar_0_bar_45)\n (objectAtLocation ButterKnife_bar__plus_01_dot_41_bar__plus_00_dot_91_bar__minus_01_dot_74 loc_bar_6_bar__minus_4_bar_3_bar_15)\n (objectAtLocation StoveKnob_bar__plus_01_dot_25_bar__plus_00_dot_91_bar__plus_00_dot_12 loc_bar_5_bar__minus_1_bar_0_bar_60)\n (objectAtLocation StoveKnob_bar__plus_01_dot_37_bar__plus_00_dot_91_bar__plus_00_dot_12 loc_bar_5_bar__minus_1_bar_0_bar_60)\n (objectAtLocation StoveKnob_bar__plus_01_dot_00_bar__plus_00_dot_91_bar__plus_00_dot_12 loc_bar_4_bar__minus_1_bar_0_bar_60)\n (objectAtLocation StoveKnob_bar__plus_01_dot_13_bar__plus_00_dot_91_bar__plus_00_dot_12 loc_bar_5_bar__minus_1_bar_0_bar_60)\n (objectAtLocation Potato_bar__minus_02_dot_34_bar__plus_00_dot_98_bar__plus_00_dot_35 loc_bar__minus_9_bar__minus_1_bar_0_bar_45)\n (objectAtLocation Pan_bar__minus_00_dot_64_bar__plus_01_dot_33_bar__minus_01_dot_81 loc_bar__minus_2_bar__minus_4_bar_2_bar_0)\n (objectAtLocation Chair_bar__minus_02_dot_42_bar__plus_00_dot_56_bar__plus_00_dot_41 loc_bar__minus_9_bar__minus_1_bar_0_bar_60)\n (objectAtLocation DishSponge_bar__plus_00_dot_86_bar__plus_00_dot_92_bar__minus_01_dot_45 loc_bar_1_bar__minus_4_bar_2_bar_60)\n (objectAtLocation Spoon_bar__plus_01_dot_66_bar__plus_00_dot_91_bar__plus_00_dot_62 loc_bar_6_bar__minus_1_bar_0_bar_45)\n (objectAtLocation Mug_bar__plus_00_dot_75_bar__plus_00_dot_91_bar__minus_01_dot_72 loc_bar_1_bar__minus_4_bar_2_bar_60)\n )\n \n\n (:goal\n (and\n (exists (?r - receptacle)\n (exists (?o - object)\n (and\n (cleanable ?o)\n (objectType ?o KnifeType)\n (receptacleType ?r DrawerType)\n (isClean ?o)\n (inReceptacle ?o ?r)\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to diningtable 1", "take knife 2 from diningtable 1", "go to sinkbasin 1", "clean knife 2 with sinkbasin 1", "go to drawer 1", "move knife 2 to drawer 1"]}
|
alfworld__pick_clean_then_place_in_recep__9
|
pick_clean_then_place_in_recep
|
pick_clean_then_place_in_recep-Knife-None-Drawer-11/trial_T20190908_182832_224613/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 knife 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_182832_224613)\n(:domain alfred)\n(:objects\nagent1 - agent\nSaltShaker - object\n HousePlant - object\n Candle - object\n SprayBottle - object\n Bowl - object\n Window - object\n CD - object\n Egg - object\n Glassbottle - object\n Sink - object\n Pillow - object\n Spoon - object\n SoapBottle - object\n TeddyBear - object\n ButterKnife - object\n Cup - object\n Plate - object\n RemoteControl - object\n Tomato - object\n Statue - object\n HandTowel - object\n Knife - object\n StoveKnob - object\n LightSwitch - object\n Pen - object\n Painting - object\n DishSponge - object\n Vase - object\n Mug - object\n ToiletPaper - object\n Box - object\n Mirror - object\n Ladle - object\n Fork - object\n Blinds - object\n Footstool - object\n KeyChain - object\n Cloth - object\n Laptop - object\n TissueBox - object\n PepperShaker - object\n FloorLamp - object\n WateringCan - object\n Apple - object\n Pan - object\n PaperTowel - object\n PaperTowelRoll - object\n Newspaper - object\n Television - object\n Chair - object\n CellPhone - object\n CreditCard - object\n Lettuce - object\n BasketBall - object\n Potato - object\n Curtains - object\n Boots - object\n Pencil - object\n AlarmClock - object\n ToiletPaperRoll - object\n Spatula - object\n Book - object\n Bread - object\n SoapBar - object\n Watch - object\n DeskLamp - object\n Kettle - object\n Pot - object\n ScrubBrush - object\n WineBottle - object\n ShowerDoor - object\n Bathtub - object\n LaundryHamperLid - object\n ShowerGlass - object\n Poster - object\n TennisRacket - object\n BaseballBat - object\n Towel - object\n Plunger - object\nSaltShakerType - otype\n HousePlantType - otype\n CandleType - otype\n SprayBottleType - otype\n BowlType - otype\n WindowType - otype\n CDType - otype\n EggType - otype\n GlassbottleType - otype\n SinkType - otype\n PillowType - otype\n SpoonType - otype\n SoapBottleType - otype\n TeddyBearType - otype\n ButterKnifeType - otype\n CupType - otype\n PlateType - otype\n RemoteControlType - otype\n TomatoType - otype\n StatueType - otype\n HandTowelType - otype\n KnifeType - otype\n StoveKnobType - otype\n LightSwitchType - otype\n PenType - otype\n PaintingType - otype\n DishSpongeType - otype\n VaseType - otype\n MugType - otype\n ToiletPaperType - otype\n BoxType - otype\n MirrorType - otype\n LadleType - otype\n ForkType - otype\n BlindsType - otype\n FootstoolType - otype\n KeyChainType - otype\n ClothType - otype\n LaptopType - otype\n TissueBoxType - otype\n PepperShakerType - otype\n FloorLampType - otype\n WateringCanType - otype\n AppleType - otype\n PanType - otype\n PaperTowelType - otype\n PaperTowelRollType - otype\n NewspaperType - otype\n TelevisionType - otype\n ChairType - otype\n CellPhoneType - otype\n CreditCardType - otype\n LettuceType - otype\n BasketBallType - otype\n PotatoType - otype\n CurtainsType - otype\n BootsType - otype\n PencilType - otype\n AlarmClockType - otype\n ToiletPaperRollType - otype\n SpatulaType - otype\n BookType - otype\n BreadType - otype\n SoapBarType - otype\n WatchType - otype\n DeskLampType - otype\n KettleType - otype\n PotType - otype\n ScrubBrushType - otype\n WineBottleType - otype\n ShowerDoorType - otype\n BathtubType - otype\n LaundryHamperLidType - otype\n ShowerGlassType - otype\n PosterType - otype\n TennisRacketType - otype\n BaseballBatType - otype\n TowelType - otype\n PlungerType - otype\nSafeType - rtype\n DrawerType - rtype\n CoffeeMachineType - rtype\n HandTowelHolderType - rtype\n SinkBasinType - rtype\n DresserType - rtype\n LaundryHamperType - rtype\n TVStandType - rtype\n BathtubBasinType - rtype\n CabinetType - rtype\n FridgeType - rtype\n DeskType - rtype\n ToiletType - rtype\n CartType - rtype\n SideTableType - rtype\n SofaType - rtype\n CoffeeTableType - rtype\n DiningTableType - rtype\n CounterTopType - rtype\n GarbageCanType - rtype\n ArmChairType - rtype\n ShelfType - rtype\n MicrowaveType - rtype\n ToasterType - rtype\n BedType - rtype\n PaintingHangerType - rtype\n TowelHolderType - rtype\n ToiletPaperHangerType - rtype\n StoveBurnerType - rtype\n OttomanType - rtype\n\n\n Apple_bar__minus_00_dot_39_bar__plus_00_dot_14_bar__plus_00_dot_53 - object\n Apple_bar__minus_01_dot_96_bar__plus_00_dot_34_bar__minus_01_dot_64 - object\n Apple_bar__minus_02_dot_07_bar__plus_01_dot_02_bar__plus_00_dot_44 - object\n Bowl_bar__minus_01_dot_79_bar__plus_00_dot_95_bar__plus_00_dot_52 - object\n Bowl_bar__minus_02_dot_05_bar__plus_00_dot_78_bar__minus_01_dot_72 - object\n Bread_bar__plus_01_dot_30_bar__plus_00_dot_98_bar__minus_01_dot_53 - object\n ButterKnife_bar__plus_00_dot_70_bar__plus_00_dot_92_bar__minus_01_dot_65 - object\n ButterKnife_bar__plus_01_dot_78_bar__plus_00_dot_91_bar__minus_01_dot_57 - object\n Chair_bar__minus_02_dot_42_bar__plus_00_dot_56_bar__plus_00_dot_41 - object\n Cup_bar__plus_00_dot_56_bar__plus_00_dot_91_bar__plus_00_dot_29 - object\n Cup_bar__plus_01_dot_91_bar__plus_00_dot_11_bar__plus_00_dot_27 - object\n Cup_bar__minus_02_dot_40_bar__plus_01_dot_05_bar__minus_01_dot_81 - object\n DishSponge_bar__plus_00_dot_86_bar__plus_00_dot_92_bar__minus_01_dot_85 - object\n Egg_bar__minus_01_dot_87_bar__plus_00_dot_30_bar__minus_01_dot_60 - object\n Egg_bar__minus_02_dot_61_bar__plus_00_dot_99_bar__plus_00_dot_17 - object\n Faucet_bar__plus_00_dot_55_bar__plus_01_dot_05_bar__minus_01_dot_83 - object\n Fork_bar__minus_01_dot_79_bar__plus_00_dot_95_bar__plus_00_dot_26 - object\n Fork_bar__minus_01_dot_93_bar__plus_00_dot_95_bar__plus_00_dot_35 - object\n Fork_bar__minus_02_dot_34_bar__plus_00_dot_95_bar__plus_00_dot_17 - object\n Kettle_bar__minus_00_dot_10_bar__plus_00_dot_91_bar__plus_00_dot_38 - object\n Kettle_bar__minus_02_dot_48_bar__plus_00_dot_95_bar__plus_00_dot_61 - object\n Knife_bar__plus_01_dot_41_bar__plus_00_dot_94_bar__minus_01_dot_65 - object\n Knife_bar__plus_01_dot_79_bar__plus_00_dot_94_bar__plus_00_dot_54 - object\n Lettuce_bar__plus_00_dot_85_bar__plus_01_dot_00_bar__minus_01_dot_54 - object\n LightSwitch_bar__minus_02_dot_76_bar__plus_01_dot_31_bar__minus_00_dot_99 - object\n Mug_bar__minus_00_dot_18_bar__plus_00_dot_91_bar__minus_01_dot_82 - object\n Mug_bar__minus_02_dot_40_bar__plus_00_dot_78_bar__minus_01_dot_85 - object\n Pan_bar__plus_01_dot_02_bar__plus_00_dot_96_bar__plus_00_dot_29 - object\n Pan_bar__minus_00_dot_64_bar__plus_01_dot_33_bar__minus_01_dot_81 - object\n PaperTowelRoll_bar__minus_02_dot_20_bar__plus_01_dot_06_bar__plus_00_dot_44 - object\n PepperShaker_bar__minus_00_dot_49_bar__plus_00_dot_11_bar__minus_01_dot_51 - object\n Plate_bar__plus_00_dot_50_bar__plus_00_dot_11_bar__plus_00_dot_31 - object\n Plate_bar__plus_01_dot_72_bar__plus_00_dot_91_bar__plus_00_dot_29 - object\n Plate_bar__minus_02_dot_61_bar__plus_00_dot_95_bar__plus_00_dot_35 - object\n Potato_bar__minus_01_dot_08_bar__plus_01_dot_05_bar__minus_01_dot_67 - object\n Pot_bar__plus_01_dot_01_bar__plus_00_dot_96_bar__plus_00_dot_56 - object\n Pot_bar__plus_01_dot_36_bar__plus_00_dot_96_bar__plus_00_dot_56 - object\n SaltShaker_bar__plus_01_dot_17_bar__plus_00_dot_91_bar__minus_01_dot_49 - object\n Sink_bar__plus_00_dot_71_bar__plus_00_dot_82_bar__minus_01_dot_77 - object\n SoapBottle_bar__plus_00_dot_65_bar__plus_00_dot_92_bar__minus_01_dot_45 - object\n SoapBottle_bar__plus_01_dot_66_bar__plus_00_dot_91_bar__minus_01_dot_90 - object\n SoapBottle_bar__minus_02_dot_34_bar__plus_00_dot_95_bar__plus_00_dot_26 - object\n Spatula_bar__plus_00_dot_30_bar__plus_00_dot_93_bar__plus_00_dot_21 - object\n Spoon_bar__minus_00_dot_27_bar__plus_00_dot_91_bar__minus_01_dot_57 - object\n Spoon_bar__minus_01_dot_29_bar__plus_00_dot_77_bar__minus_01_dot_47 - object\n StoveKnob_bar__plus_01_dot_00_bar__plus_00_dot_91_bar__plus_00_dot_12 - object\n StoveKnob_bar__plus_01_dot_13_bar__plus_00_dot_91_bar__plus_00_dot_12 - object\n StoveKnob_bar__plus_01_dot_25_bar__plus_00_dot_91_bar__plus_00_dot_12 - object\n StoveKnob_bar__plus_01_dot_37_bar__plus_00_dot_91_bar__plus_00_dot_12 - object\n Tomato_bar__minus_01_dot_79_bar__plus_01_dot_00_bar__plus_00_dot_70 - object\n Tomato_bar__minus_02_dot_22_bar__plus_00_dot_56_bar__minus_01_dot_72 - object\n Window_bar__plus_00_dot_58_bar__plus_01_dot_61_bar__minus_01_dot_97 - object\n Window_bar__plus_01_dot_97_bar__plus_01_dot_50_bar__minus_00_dot_62 - object\n Cabinet_bar__plus_00_dot_06_bar__plus_00_dot_40_bar__minus_01_dot_35 - receptacle\n Cabinet_bar__plus_00_dot_10_bar__plus_00_dot_40_bar__minus_01_dot_35 - receptacle\n Cabinet_bar__plus_00_dot_73_bar__plus_00_dot_40_bar__plus_00_dot_15 - receptacle\n Cabinet_bar__plus_01_dot_08_bar__plus_00_dot_40_bar__minus_01_dot_35 - receptacle\n Cabinet_bar__plus_01_dot_67_bar__plus_00_dot_40_bar__plus_00_dot_15 - receptacle\n Cabinet_bar__plus_01_dot_97_bar__plus_01_dot_69_bar__minus_01_dot_65 - receptacle\n Cabinet_bar__minus_00_dot_18_bar__plus_00_dot_40_bar__plus_00_dot_15 - receptacle\n Cabinet_bar__minus_00_dot_19_bar__plus_01_dot_69_bar__minus_01_dot_65 - receptacle\n Cabinet_bar__minus_00_dot_40_bar__plus_00_dot_40_bar__minus_01_dot_35 - receptacle\n Cabinet_bar__minus_00_dot_82_bar__plus_00_dot_40_bar__minus_01_dot_35 - receptacle\n CoffeeMachine_bar__plus_00_dot_62_bar__plus_00_dot_90_bar__plus_00_dot_60 - receptacle\n CounterTop_bar__plus_00_dot_28_bar__plus_00_dot_95_bar__plus_00_dot_46 - receptacle\n CounterTop_bar__plus_01_dot_78_bar__plus_00_dot_95_bar__plus_00_dot_46 - receptacle\n CounterTop_bar__minus_00_dot_68_bar__plus_00_dot_95_bar__minus_01_dot_65 - receptacle\n DiningTable_bar__minus_02_dot_20_bar__plus_00_dot_99_bar__plus_00_dot_45 - receptacle\n Drawer_bar__plus_00_dot_02_bar__plus_00_dot_79_bar__plus_00_dot_30 - receptacle\n Drawer_bar__plus_00_dot_50_bar__plus_00_dot_79_bar__plus_00_dot_30 - receptacle\n Drawer_bar__plus_01_dot_83_bar__plus_00_dot_79_bar__plus_00_dot_30 - receptacle\n Drawer_bar__minus_00_dot_15_bar__plus_00_dot_79_bar__minus_01_dot_50 - receptacle\n Drawer_bar__minus_00_dot_59_bar__plus_00_dot_79_bar__minus_01_dot_50 - receptacle\n Drawer_bar__minus_01_dot_10_bar__plus_00_dot_79_bar__minus_01_dot_50 - receptacle\n Fridge_bar__minus_02_dot_14_bar__plus_00_dot_00_bar__minus_01_dot_69 - receptacle\n GarbageCan_bar__minus_00_dot_36_bar__plus_00_dot_00_bar__plus_00_dot_54 - receptacle\n Microwave_bar__minus_01_dot_04_bar__plus_00_dot_90_bar__minus_01_dot_72 - receptacle\n Sink_bar__plus_00_dot_71_bar__plus_00_dot_82_bar__minus_01_dot_77_bar_SinkBasin - receptacle\n StoveBurner_bar__plus_01_dot_01_bar__plus_00_dot_96_bar__plus_00_dot_29 - receptacle\n StoveBurner_bar__plus_01_dot_01_bar__plus_00_dot_96_bar__plus_00_dot_56 - receptacle\n StoveBurner_bar__plus_01_dot_36_bar__plus_00_dot_96_bar__plus_00_dot_29 - receptacle\n StoveBurner_bar__plus_01_dot_36_bar__plus_00_dot_96_bar__plus_00_dot_56 - receptacle\n Toaster_bar__plus_00_dot_31_bar__plus_00_dot_90_bar__plus_00_dot_55 - receptacle\n loc_bar_5_bar__minus_2_bar_2_bar_60 - location\n loc_bar_6_bar__minus_4_bar_0_bar_45 - location\n loc_bar_6_bar__minus_4_bar_3_bar_15 - location\n loc_bar_1_bar__minus_2_bar_0_bar_45 - location\n loc_bar_1_bar__minus_1_bar_0_bar_45 - location\n loc_bar_0_bar__minus_3_bar_3_bar_45 - location\n loc_bar_4_bar__minus_1_bar_0_bar_45 - location\n loc_bar__minus_9_bar__minus_3_bar_2_bar_60 - location\n loc_bar_1_bar__minus_4_bar_2_bar_60 - location\n loc_bar_5_bar__minus_1_bar_0_bar_60 - location\n loc_bar__minus_6_bar__minus_2_bar_2_bar_60 - location\n loc_bar__minus_2_bar__minus_4_bar_2_bar_0 - location\n loc_bar_2_bar__minus_4_bar_3_bar_60 - location\n loc_bar_6_bar__minus_4_bar_2_bar_0 - location\n loc_bar__minus_9_bar__minus_1_bar_0_bar_60 - location\n loc_bar_4_bar__minus_1_bar_0_bar_60 - location\n loc_bar_6_bar__minus_1_bar_0_bar_45 - location\n loc_bar__minus_9_bar__minus_3_bar_3_bar_30 - location\n loc_bar_1_bar__minus_2_bar_2_bar_60 - location\n loc_bar__minus_1_bar__minus_2_bar_0_bar_45 - location\n loc_bar_6_bar__minus_2_bar_1_bar_15 - location\n loc_bar__minus_4_bar__minus_2_bar_2_bar_60 - location\n loc_bar_5_bar__minus_1_bar_0_bar_45 - location\n loc_bar__minus_2_bar_0_bar_0_bar_60 - location\n loc_bar_4_bar__minus_3_bar_0_bar_60 - location\n loc_bar__minus_4_bar__minus_4_bar_2_bar_45 - location\n loc_bar__minus_9_bar__minus_1_bar_0_bar_45 - location\n loc_bar__minus_5_bar__minus_4_bar_1_bar_45 - location\n loc_bar_2_bar__minus_4_bar_2_bar_0 - location\n loc_bar_3_bar__minus_2_bar_2_bar_60 - location\n loc_bar_6_bar__minus_1_bar_0_bar_60 - location\n loc_bar__minus_2_bar__minus_3_bar_0_bar_60 - location\n loc_bar_2_bar__minus_1_bar_0_bar_45 - location\n loc_bar_1_bar__minus_3_bar_0_bar_30 - location\n )\n \n\n(:init\n\n\n (receptacleType Drawer_bar__plus_00_dot_50_bar__plus_00_dot_79_bar__plus_00_dot_30 DrawerType)\n (receptacleType GarbageCan_bar__minus_00_dot_36_bar__plus_00_dot_00_bar__plus_00_dot_54 GarbageCanType)\n (receptacleType StoveBurner_bar__plus_01_dot_01_bar__plus_00_dot_96_bar__plus_00_dot_56 StoveBurnerType)\n (receptacleType Cabinet_bar__minus_00_dot_18_bar__plus_00_dot_40_bar__plus_00_dot_15 CabinetType)\n (receptacleType Sink_bar__plus_00_dot_71_bar__plus_00_dot_82_bar__minus_01_dot_77_bar_SinkBasin SinkBasinType)\n (receptacleType Cabinet_bar__plus_01_dot_08_bar__plus_00_dot_40_bar__minus_01_dot_35 CabinetType)\n (receptacleType Cabinet_bar__minus_00_dot_19_bar__plus_01_dot_69_bar__minus_01_dot_65 CabinetType)\n (receptacleType Cabinet_bar__plus_00_dot_10_bar__plus_00_dot_40_bar__minus_01_dot_35 CabinetType)\n (receptacleType Drawer_bar__minus_01_dot_10_bar__plus_00_dot_79_bar__minus_01_dot_50 DrawerType)\n (receptacleType Drawer_bar__minus_00_dot_59_bar__plus_00_dot_79_bar__minus_01_dot_50 DrawerType)\n (receptacleType CounterTop_bar__plus_01_dot_78_bar__plus_00_dot_95_bar__plus_00_dot_46 CounterTopType)\n (receptacleType CounterTop_bar__minus_00_dot_68_bar__plus_00_dot_95_bar__minus_01_dot_65 CounterTopType)\n (receptacleType StoveBurner_bar__plus_01_dot_36_bar__plus_00_dot_96_bar__plus_00_dot_56 StoveBurnerType)\n (receptacleType Cabinet_bar__plus_00_dot_06_bar__plus_00_dot_40_bar__minus_01_dot_35 CabinetType)\n (receptacleType Microwave_bar__minus_01_dot_04_bar__plus_00_dot_90_bar__minus_01_dot_72 MicrowaveType)\n (receptacleType StoveBurner_bar__plus_01_dot_36_bar__plus_00_dot_96_bar__plus_00_dot_29 StoveBurnerType)\n (receptacleType Cabinet_bar__plus_01_dot_67_bar__plus_00_dot_40_bar__plus_00_dot_15 CabinetType)\n (receptacleType CoffeeMachine_bar__plus_00_dot_62_bar__plus_00_dot_90_bar__plus_00_dot_60 CoffeeMachineType)\n (receptacleType Drawer_bar__plus_00_dot_02_bar__plus_00_dot_79_bar__plus_00_dot_30 DrawerType)\n (receptacleType Cabinet_bar__plus_01_dot_97_bar__plus_01_dot_69_bar__minus_01_dot_65 CabinetType)\n (receptacleType Cabinet_bar__minus_00_dot_40_bar__plus_00_dot_40_bar__minus_01_dot_35 CabinetType)\n (receptacleType Fridge_bar__minus_02_dot_14_bar__plus_00_dot_00_bar__minus_01_dot_69 FridgeType)\n (receptacleType Toaster_bar__plus_00_dot_31_bar__plus_00_dot_90_bar__plus_00_dot_55 ToasterType)\n (receptacleType StoveBurner_bar__plus_01_dot_01_bar__plus_00_dot_96_bar__plus_00_dot_29 StoveBurnerType)\n (receptacleType Cabinet_bar__minus_00_dot_82_bar__plus_00_dot_40_bar__minus_01_dot_35 CabinetType)\n (receptacleType Drawer_bar__minus_00_dot_15_bar__plus_00_dot_79_bar__minus_01_dot_50 DrawerType)\n (receptacleType DiningTable_bar__minus_02_dot_20_bar__plus_00_dot_99_bar__plus_00_dot_45 DiningTableType)\n (receptacleType CounterTop_bar__plus_00_dot_28_bar__plus_00_dot_95_bar__plus_00_dot_46 CounterTopType)\n (receptacleType Drawer_bar__plus_01_dot_83_bar__plus_00_dot_79_bar__plus_00_dot_30 DrawerType)\n (receptacleType Cabinet_bar__plus_00_dot_73_bar__plus_00_dot_40_bar__plus_00_dot_15 CabinetType)\n (objectType Apple_bar__minus_00_dot_39_bar__plus_00_dot_14_bar__plus_00_dot_53 AppleType)\n (objectType StoveKnob_bar__plus_01_dot_25_bar__plus_00_dot_91_bar__plus_00_dot_12 StoveKnobType)\n (objectType Mug_bar__minus_02_dot_40_bar__plus_00_dot_78_bar__minus_01_dot_85 MugType)\n (objectType SoapBottle_bar__plus_00_dot_65_bar__plus_00_dot_92_bar__minus_01_dot_45 SoapBottleType)\n (objectType Sink_bar__plus_00_dot_71_bar__plus_00_dot_82_bar__minus_01_dot_77 SinkType)\n (objectType Window_bar__plus_01_dot_97_bar__plus_01_dot_50_bar__minus_00_dot_62 WindowType)\n (objectType Potato_bar__minus_01_dot_08_bar__plus_01_dot_05_bar__minus_01_dot_67 PotatoType)\n (objectType LightSwitch_bar__minus_02_dot_76_bar__plus_01_dot_31_bar__minus_00_dot_99 LightSwitchType)\n (objectType Knife_bar__plus_01_dot_79_bar__plus_00_dot_94_bar__plus_00_dot_54 KnifeType)\n (objectType Tomato_bar__minus_01_dot_79_bar__plus_01_dot_00_bar__plus_00_dot_70 TomatoType)\n (objectType Knife_bar__plus_01_dot_41_bar__plus_00_dot_94_bar__minus_01_dot_65 KnifeType)\n (objectType Spatula_bar__plus_00_dot_30_bar__plus_00_dot_93_bar__plus_00_dot_21 SpatulaType)\n (objectType StoveKnob_bar__plus_01_dot_37_bar__plus_00_dot_91_bar__plus_00_dot_12 StoveKnobType)\n (objectType Pot_bar__plus_01_dot_36_bar__plus_00_dot_96_bar__plus_00_dot_56 PotType)\n (objectType Fork_bar__minus_01_dot_93_bar__plus_00_dot_95_bar__plus_00_dot_35 ForkType)\n (objectType StoveKnob_bar__plus_01_dot_13_bar__plus_00_dot_91_bar__plus_00_dot_12 StoveKnobType)\n (objectType Kettle_bar__minus_02_dot_48_bar__plus_00_dot_95_bar__plus_00_dot_61 KettleType)\n (objectType Cup_bar__plus_00_dot_56_bar__plus_00_dot_91_bar__plus_00_dot_29 CupType)\n (objectType Pan_bar__minus_00_dot_64_bar__plus_01_dot_33_bar__minus_01_dot_81 PanType)\n (objectType DishSponge_bar__plus_00_dot_86_bar__plus_00_dot_92_bar__minus_01_dot_85 DishSpongeType)\n (objectType Apple_bar__minus_01_dot_96_bar__plus_00_dot_34_bar__minus_01_dot_64 AppleType)\n (objectType PaperTowelRoll_bar__minus_02_dot_20_bar__plus_01_dot_06_bar__plus_00_dot_44 PaperTowelRollType)\n (objectType Bowl_bar__minus_02_dot_05_bar__plus_00_dot_78_bar__minus_01_dot_72 BowlType)\n (objectType Cup_bar__minus_02_dot_40_bar__plus_01_dot_05_bar__minus_01_dot_81 CupType)\n (objectType Fork_bar__minus_01_dot_79_bar__plus_00_dot_95_bar__plus_00_dot_26 ForkType)\n (objectType PepperShaker_bar__minus_00_dot_49_bar__plus_00_dot_11_bar__minus_01_dot_51 PepperShakerType)\n (objectType SoapBottle_bar__plus_01_dot_66_bar__plus_00_dot_91_bar__minus_01_dot_90 SoapBottleType)\n (objectType Plate_bar__plus_01_dot_72_bar__plus_00_dot_91_bar__plus_00_dot_29 PlateType)\n (objectType Lettuce_bar__plus_00_dot_85_bar__plus_01_dot_00_bar__minus_01_dot_54 LettuceType)\n (objectType Egg_bar__minus_01_dot_87_bar__plus_00_dot_30_bar__minus_01_dot_60 EggType)\n (objectType Chair_bar__minus_02_dot_42_bar__plus_00_dot_56_bar__plus_00_dot_41 ChairType)\n (objectType Tomato_bar__minus_02_dot_22_bar__plus_00_dot_56_bar__minus_01_dot_72 TomatoType)\n (objectType Cup_bar__plus_01_dot_91_bar__plus_00_dot_11_bar__plus_00_dot_27 CupType)\n (objectType 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Apple_bar__minus_00_dot_39_bar__plus_00_dot_14_bar__plus_00_dot_53)\n (sliceable Potato_bar__minus_01_dot_08_bar__plus_01_dot_05_bar__minus_01_dot_67)\n (sliceable Tomato_bar__minus_01_dot_79_bar__plus_01_dot_00_bar__plus_00_dot_70)\n (sliceable Apple_bar__minus_01_dot_96_bar__plus_00_dot_34_bar__minus_01_dot_64)\n (sliceable Lettuce_bar__plus_00_dot_85_bar__plus_01_dot_00_bar__minus_01_dot_54)\n (sliceable Egg_bar__minus_01_dot_87_bar__plus_00_dot_30_bar__minus_01_dot_60)\n (sliceable Tomato_bar__minus_02_dot_22_bar__plus_00_dot_56_bar__minus_01_dot_72)\n (sliceable Apple_bar__minus_02_dot_07_bar__plus_01_dot_02_bar__plus_00_dot_44)\n (sliceable Bread_bar__plus_01_dot_30_bar__plus_00_dot_98_bar__minus_01_dot_53)\n (sliceable Egg_bar__minus_02_dot_61_bar__plus_00_dot_99_bar__plus_00_dot_17)\n \n (inReceptacle Pan_bar__minus_00_dot_64_bar__plus_01_dot_33_bar__minus_01_dot_81 Cabinet_bar__minus_00_dot_19_bar__plus_01_dot_69_bar__minus_01_dot_65)\n (inReceptacle Egg_bar__minus_02_dot_61_bar__plus_00_dot_99_bar__plus_00_dot_17 DiningTable_bar__minus_02_dot_20_bar__plus_00_dot_99_bar__plus_00_dot_45)\n (inReceptacle PaperTowelRoll_bar__minus_02_dot_20_bar__plus_01_dot_06_bar__plus_00_dot_44 DiningTable_bar__minus_02_dot_20_bar__plus_00_dot_99_bar__plus_00_dot_45)\n (inReceptacle Apple_bar__minus_02_dot_07_bar__plus_01_dot_02_bar__plus_00_dot_44 DiningTable_bar__minus_02_dot_20_bar__plus_00_dot_99_bar__plus_00_dot_45)\n (inReceptacle Fork_bar__minus_01_dot_79_bar__plus_00_dot_95_bar__plus_00_dot_26 DiningTable_bar__minus_02_dot_20_bar__plus_00_dot_99_bar__plus_00_dot_45)\n (inReceptacle Plate_bar__minus_02_dot_61_bar__plus_00_dot_95_bar__plus_00_dot_35 DiningTable_bar__minus_02_dot_20_bar__plus_00_dot_99_bar__plus_00_dot_45)\n (inReceptacle Fork_bar__minus_02_dot_34_bar__plus_00_dot_95_bar__plus_00_dot_17 DiningTable_bar__minus_02_dot_20_bar__plus_00_dot_99_bar__plus_00_dot_45)\n (inReceptacle 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Cup_bar__plus_00_dot_56_bar__plus_00_dot_91_bar__plus_00_dot_29 CounterTop_bar__plus_00_dot_28_bar__plus_00_dot_95_bar__plus_00_dot_46)\n (inReceptacle Spatula_bar__plus_00_dot_30_bar__plus_00_dot_93_bar__plus_00_dot_21 CounterTop_bar__plus_00_dot_28_bar__plus_00_dot_95_bar__plus_00_dot_46)\n (inReceptacle Bread_bar__plus_01_dot_30_bar__plus_00_dot_98_bar__minus_01_dot_53 CounterTop_bar__minus_00_dot_68_bar__plus_00_dot_95_bar__minus_01_dot_65)\n (inReceptacle SaltShaker_bar__plus_01_dot_17_bar__plus_00_dot_91_bar__minus_01_dot_49 CounterTop_bar__minus_00_dot_68_bar__plus_00_dot_95_bar__minus_01_dot_65)\n (inReceptacle Sink_bar__plus_00_dot_71_bar__plus_00_dot_82_bar__minus_01_dot_77 CounterTop_bar__minus_00_dot_68_bar__plus_00_dot_95_bar__minus_01_dot_65)\n (inReceptacle ButterKnife_bar__plus_01_dot_78_bar__plus_00_dot_91_bar__minus_01_dot_57 CounterTop_bar__minus_00_dot_68_bar__plus_00_dot_95_bar__minus_01_dot_65)\n (inReceptacle 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Cup_bar__plus_01_dot_91_bar__plus_00_dot_11_bar__plus_00_dot_27 Cabinet_bar__plus_01_dot_67_bar__plus_00_dot_40_bar__plus_00_dot_15)\n (inReceptacle Plate_bar__plus_00_dot_50_bar__plus_00_dot_11_bar__plus_00_dot_31 Cabinet_bar__plus_00_dot_73_bar__plus_00_dot_40_bar__plus_00_dot_15)\n (inReceptacle Pan_bar__plus_01_dot_02_bar__plus_00_dot_96_bar__plus_00_dot_29 StoveBurner_bar__plus_01_dot_01_bar__plus_00_dot_96_bar__plus_00_dot_29)\n (inReceptacle Spoon_bar__minus_01_dot_29_bar__plus_00_dot_77_bar__minus_01_dot_47 Drawer_bar__minus_01_dot_10_bar__plus_00_dot_79_bar__minus_01_dot_50)\n (inReceptacle PepperShaker_bar__minus_00_dot_49_bar__plus_00_dot_11_bar__minus_01_dot_51 Cabinet_bar__minus_00_dot_40_bar__plus_00_dot_40_bar__minus_01_dot_35)\n (inReceptacle Plate_bar__plus_01_dot_72_bar__plus_00_dot_91_bar__plus_00_dot_29 CounterTop_bar__plus_01_dot_78_bar__plus_00_dot_95_bar__plus_00_dot_46)\n (inReceptacle Knife_bar__plus_01_dot_79_bar__plus_00_dot_94_bar__plus_00_dot_54 CounterTop_bar__plus_01_dot_78_bar__plus_00_dot_95_bar__plus_00_dot_46)\n (inReceptacle Potato_bar__minus_01_dot_08_bar__plus_01_dot_05_bar__minus_01_dot_67 Microwave_bar__minus_01_dot_04_bar__plus_00_dot_90_bar__minus_01_dot_72)\n (inReceptacle Apple_bar__minus_00_dot_39_bar__plus_00_dot_14_bar__plus_00_dot_53 GarbageCan_bar__minus_00_dot_36_bar__plus_00_dot_00_bar__plus_00_dot_54)\n (inReceptacle Mug_bar__minus_02_dot_40_bar__plus_00_dot_78_bar__minus_01_dot_85 Fridge_bar__minus_02_dot_14_bar__plus_00_dot_00_bar__minus_01_dot_69)\n (inReceptacle Apple_bar__minus_01_dot_96_bar__plus_00_dot_34_bar__minus_01_dot_64 Fridge_bar__minus_02_dot_14_bar__plus_00_dot_00_bar__minus_01_dot_69)\n (inReceptacle Egg_bar__minus_01_dot_87_bar__plus_00_dot_30_bar__minus_01_dot_60 Fridge_bar__minus_02_dot_14_bar__plus_00_dot_00_bar__minus_01_dot_69)\n (inReceptacle Tomato_bar__minus_02_dot_22_bar__plus_00_dot_56_bar__minus_01_dot_72 Fridge_bar__minus_02_dot_14_bar__plus_00_dot_00_bar__minus_01_dot_69)\n (inReceptacle Bowl_bar__minus_02_dot_05_bar__plus_00_dot_78_bar__minus_01_dot_72 Fridge_bar__minus_02_dot_14_bar__plus_00_dot_00_bar__minus_01_dot_69)\n (inReceptacle Cup_bar__minus_02_dot_40_bar__plus_01_dot_05_bar__minus_01_dot_81 Fridge_bar__minus_02_dot_14_bar__plus_00_dot_00_bar__minus_01_dot_69)\n \n \n (receptacleAtLocation Cabinet_bar__plus_00_dot_06_bar__plus_00_dot_40_bar__minus_01_dot_35 loc_bar_1_bar__minus_2_bar_2_bar_60)\n (receptacleAtLocation Cabinet_bar__plus_00_dot_10_bar__plus_00_dot_40_bar__minus_01_dot_35 loc_bar_3_bar__minus_2_bar_2_bar_60)\n (receptacleAtLocation Cabinet_bar__plus_00_dot_73_bar__plus_00_dot_40_bar__plus_00_dot_15 loc_bar_4_bar__minus_3_bar_0_bar_60)\n (receptacleAtLocation Cabinet_bar__plus_01_dot_08_bar__plus_00_dot_40_bar__minus_01_dot_35 loc_bar_5_bar__minus_2_bar_2_bar_60)\n (receptacleAtLocation Cabinet_bar__plus_01_dot_67_bar__plus_00_dot_40_bar__plus_00_dot_15 loc_bar_6_bar__minus_4_bar_0_bar_45)\n (receptacleAtLocation Cabinet_bar__plus_01_dot_97_bar__plus_01_dot_69_bar__minus_01_dot_65 loc_bar_6_bar__minus_4_bar_2_bar_0)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_18_bar__plus_00_dot_40_bar__plus_00_dot_15 loc_bar__minus_2_bar__minus_3_bar_0_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_19_bar__plus_01_dot_69_bar__minus_01_dot_65 loc_bar__minus_2_bar__minus_4_bar_2_bar_0)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_40_bar__plus_00_dot_40_bar__minus_01_dot_35 loc_bar__minus_4_bar__minus_2_bar_2_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_82_bar__plus_00_dot_40_bar__minus_01_dot_35 loc_bar__minus_6_bar__minus_2_bar_2_bar_60)\n (receptacleAtLocation CoffeeMachine_bar__plus_00_dot_62_bar__plus_00_dot_90_bar__plus_00_dot_60 loc_bar_2_bar__minus_1_bar_0_bar_45)\n (receptacleAtLocation CounterTop_bar__plus_00_dot_28_bar__plus_00_dot_95_bar__plus_00_dot_46 loc_bar_1_bar__minus_1_bar_0_bar_45)\n (receptacleAtLocation CounterTop_bar__plus_01_dot_78_bar__plus_00_dot_95_bar__plus_00_dot_46 loc_bar_6_bar__minus_1_bar_0_bar_45)\n (receptacleAtLocation CounterTop_bar__minus_00_dot_68_bar__plus_00_dot_95_bar__minus_01_dot_65 loc_bar_6_bar__minus_4_bar_3_bar_15)\n (receptacleAtLocation DiningTable_bar__minus_02_dot_20_bar__plus_00_dot_99_bar__plus_00_dot_45 loc_bar__minus_9_bar__minus_1_bar_0_bar_45)\n (receptacleAtLocation Drawer_bar__plus_00_dot_02_bar__plus_00_dot_79_bar__plus_00_dot_30 loc_bar__minus_1_bar__minus_2_bar_0_bar_45)\n (receptacleAtLocation Drawer_bar__plus_00_dot_50_bar__plus_00_dot_79_bar__plus_00_dot_30 loc_bar_1_bar__minus_2_bar_0_bar_45)\n (receptacleAtLocation Drawer_bar__plus_01_dot_83_bar__plus_00_dot_79_bar__plus_00_dot_30 loc_bar_6_bar__minus_1_bar_0_bar_60)\n (receptacleAtLocation Drawer_bar__minus_00_dot_15_bar__plus_00_dot_79_bar__minus_01_dot_50 loc_bar_2_bar__minus_4_bar_3_bar_60)\n (receptacleAtLocation Drawer_bar__minus_00_dot_59_bar__plus_00_dot_79_bar__minus_01_dot_50 loc_bar__minus_5_bar__minus_4_bar_1_bar_45)\n (receptacleAtLocation Drawer_bar__minus_01_dot_10_bar__plus_00_dot_79_bar__minus_01_dot_50 loc_bar_0_bar__minus_3_bar_3_bar_45)\n (receptacleAtLocation Fridge_bar__minus_02_dot_14_bar__plus_00_dot_00_bar__minus_01_dot_69 loc_bar__minus_9_bar__minus_3_bar_2_bar_60)\n (receptacleAtLocation GarbageCan_bar__minus_00_dot_36_bar__plus_00_dot_00_bar__plus_00_dot_54 loc_bar__minus_2_bar_0_bar_0_bar_60)\n (receptacleAtLocation Microwave_bar__minus_01_dot_04_bar__plus_00_dot_90_bar__minus_01_dot_72 loc_bar__minus_4_bar__minus_4_bar_2_bar_45)\n (receptacleAtLocation Sink_bar__plus_00_dot_71_bar__plus_00_dot_82_bar__minus_01_dot_77_bar_SinkBasin loc_bar_1_bar__minus_4_bar_2_bar_60)\n (receptacleAtLocation StoveBurner_bar__plus_01_dot_01_bar__plus_00_dot_96_bar__plus_00_dot_29 loc_bar_4_bar__minus_1_bar_0_bar_45)\n (receptacleAtLocation StoveBurner_bar__plus_01_dot_01_bar__plus_00_dot_96_bar__plus_00_dot_56 loc_bar_4_bar__minus_1_bar_0_bar_45)\n (receptacleAtLocation StoveBurner_bar__plus_01_dot_36_bar__plus_00_dot_96_bar__plus_00_dot_29 loc_bar_5_bar__minus_1_bar_0_bar_45)\n (receptacleAtLocation StoveBurner_bar__plus_01_dot_36_bar__plus_00_dot_96_bar__plus_00_dot_56 loc_bar_5_bar__minus_1_bar_0_bar_45)\n (receptacleAtLocation Toaster_bar__plus_00_dot_31_bar__plus_00_dot_90_bar__plus_00_dot_55 loc_bar_1_bar__minus_1_bar_0_bar_45)\n (objectAtLocation Mug_bar__minus_00_dot_18_bar__plus_00_dot_91_bar__minus_01_dot_82 loc_bar_6_bar__minus_4_bar_3_bar_15)\n (objectAtLocation Spoon_bar__minus_01_dot_29_bar__plus_00_dot_77_bar__minus_01_dot_47 loc_bar_0_bar__minus_3_bar_3_bar_45)\n (objectAtLocation Pan_bar__plus_01_dot_02_bar__plus_00_dot_96_bar__plus_00_dot_29 loc_bar_4_bar__minus_1_bar_0_bar_45)\n (objectAtLocation ButterKnife_bar__plus_00_dot_70_bar__plus_00_dot_92_bar__minus_01_dot_65 loc_bar_1_bar__minus_4_bar_2_bar_60)\n (objectAtLocation Apple_bar__minus_01_dot_96_bar__plus_00_dot_34_bar__minus_01_dot_64 loc_bar__minus_9_bar__minus_3_bar_2_bar_60)\n (objectAtLocation Egg_bar__minus_01_dot_87_bar__plus_00_dot_30_bar__minus_01_dot_60 loc_bar__minus_9_bar__minus_3_bar_2_bar_60)\n (objectAtLocation Pot_bar__plus_01_dot_36_bar__plus_00_dot_96_bar__plus_00_dot_56 loc_bar_5_bar__minus_1_bar_0_bar_45)\n (objectAtLocation Plate_bar__minus_02_dot_61_bar__plus_00_dot_95_bar__plus_00_dot_35 loc_bar__minus_9_bar__minus_1_bar_0_bar_45)\n (objectAtLocation SoapBottle_bar__minus_02_dot_34_bar__plus_00_dot_95_bar__plus_00_dot_26 loc_bar__minus_9_bar__minus_1_bar_0_bar_45)\n (objectAtLocation Tomato_bar__minus_02_dot_22_bar__plus_00_dot_56_bar__minus_01_dot_72 loc_bar__minus_9_bar__minus_3_bar_2_bar_60)\n (objectAtLocation Cup_bar__minus_02_dot_40_bar__plus_01_dot_05_bar__minus_01_dot_81 loc_bar__minus_9_bar__minus_3_bar_2_bar_60)\n (objectAtLocation Kettle_bar__minus_02_dot_48_bar__plus_00_dot_95_bar__plus_00_dot_61 loc_bar__minus_9_bar__minus_1_bar_0_bar_45)\n (objectAtLocation Bowl_bar__minus_01_dot_79_bar__plus_00_dot_95_bar__plus_00_dot_52 loc_bar__minus_9_bar__minus_1_bar_0_bar_45)\n (objectAtLocation Fork_bar__minus_01_dot_79_bar__plus_00_dot_95_bar__plus_00_dot_26 loc_bar__minus_9_bar__minus_1_bar_0_bar_45)\n (objectAtLocation Knife_bar__plus_01_dot_79_bar__plus_00_dot_94_bar__plus_00_dot_54 loc_bar_6_bar__minus_1_bar_0_bar_45)\n (objectAtLocation Apple_bar__minus_00_dot_39_bar__plus_00_dot_14_bar__plus_00_dot_53 loc_bar__minus_2_bar_0_bar_0_bar_60)\n (objectAtLocation SoapBottle_bar__plus_00_dot_65_bar__plus_00_dot_92_bar__minus_01_dot_45 loc_bar_1_bar__minus_4_bar_2_bar_60)\n (objectAtLocation Plate_bar__plus_00_dot_50_bar__plus_00_dot_11_bar__plus_00_dot_31 loc_bar_4_bar__minus_3_bar_0_bar_60)\n (objectAtLocation Cup_bar__plus_00_dot_56_bar__plus_00_dot_91_bar__plus_00_dot_29 loc_bar_1_bar__minus_1_bar_0_bar_45)\n (objectAtLocation Fork_bar__minus_01_dot_93_bar__plus_00_dot_95_bar__plus_00_dot_35 loc_bar__minus_9_bar__minus_1_bar_0_bar_45)\n (objectAtLocation Sink_bar__plus_00_dot_71_bar__plus_00_dot_82_bar__minus_01_dot_77 loc_bar_6_bar__minus_4_bar_3_bar_15)\n (objectAtLocation Bread_bar__plus_01_dot_30_bar__plus_00_dot_98_bar__minus_01_dot_53 loc_bar_6_bar__minus_4_bar_3_bar_15)\n (objectAtLocation Knife_bar__plus_01_dot_41_bar__plus_00_dot_94_bar__minus_01_dot_65 loc_bar_6_bar__minus_4_bar_3_bar_15)\n (objectAtLocation Fork_bar__minus_02_dot_34_bar__plus_00_dot_95_bar__plus_00_dot_17 loc_bar__minus_9_bar__minus_1_bar_0_bar_45)\n (objectAtLocation Bowl_bar__minus_02_dot_05_bar__plus_00_dot_78_bar__minus_01_dot_72 loc_bar__minus_9_bar__minus_3_bar_2_bar_60)\n (objectAtLocation Kettle_bar__minus_00_dot_10_bar__plus_00_dot_91_bar__plus_00_dot_38 loc_bar_1_bar__minus_1_bar_0_bar_45)\n (objectAtLocation Cup_bar__plus_01_dot_91_bar__plus_00_dot_11_bar__plus_00_dot_27 loc_bar_6_bar__minus_4_bar_0_bar_45)\n (objectAtLocation Tomato_bar__minus_01_dot_79_bar__plus_01_dot_00_bar__plus_00_dot_70 loc_bar__minus_9_bar__minus_1_bar_0_bar_45)\n (objectAtLocation SoapBottle_bar__plus_01_dot_66_bar__plus_00_dot_91_bar__minus_01_dot_90 loc_bar_6_bar__minus_4_bar_3_bar_15)\n (objectAtLocation Plate_bar__plus_01_dot_72_bar__plus_00_dot_91_bar__plus_00_dot_29 loc_bar_6_bar__minus_1_bar_0_bar_45)\n (objectAtLocation LightSwitch_bar__minus_02_dot_76_bar__plus_01_dot_31_bar__minus_00_dot_99 loc_bar__minus_9_bar__minus_3_bar_3_bar_30)\n (objectAtLocation Pot_bar__plus_01_dot_01_bar__plus_00_dot_96_bar__plus_00_dot_56 loc_bar_4_bar__minus_1_bar_0_bar_45)\n (objectAtLocation Window_bar__plus_00_dot_58_bar__plus_01_dot_61_bar__minus_01_dot_97 loc_bar_2_bar__minus_4_bar_2_bar_0)\n (objectAtLocation Window_bar__plus_01_dot_97_bar__plus_01_dot_50_bar__minus_00_dot_62 loc_bar_6_bar__minus_2_bar_1_bar_15)\n (objectAtLocation Spatula_bar__plus_00_dot_30_bar__plus_00_dot_93_bar__plus_00_dot_21 loc_bar_1_bar__minus_1_bar_0_bar_45)\n (objectAtLocation PaperTowelRoll_bar__minus_02_dot_20_bar__plus_01_dot_06_bar__plus_00_dot_44 loc_bar__minus_9_bar__minus_1_bar_0_bar_45)\n (objectAtLocation Egg_bar__minus_02_dot_61_bar__plus_00_dot_99_bar__plus_00_dot_17 loc_bar__minus_9_bar__minus_1_bar_0_bar_45)\n (objectAtLocation Lettuce_bar__plus_00_dot_85_bar__plus_01_dot_00_bar__minus_01_dot_54 loc_bar_1_bar__minus_4_bar_2_bar_60)\n (objectAtLocation SaltShaker_bar__plus_01_dot_17_bar__plus_00_dot_91_bar__minus_01_dot_49 loc_bar_6_bar__minus_4_bar_3_bar_15)\n (objectAtLocation PepperShaker_bar__minus_00_dot_49_bar__plus_00_dot_11_bar__minus_01_dot_51 loc_bar__minus_4_bar__minus_2_bar_2_bar_60)\n (objectAtLocation Apple_bar__minus_02_dot_07_bar__plus_01_dot_02_bar__plus_00_dot_44 loc_bar__minus_9_bar__minus_1_bar_0_bar_45)\n (objectAtLocation ButterKnife_bar__plus_01_dot_78_bar__plus_00_dot_91_bar__minus_01_dot_57 loc_bar_6_bar__minus_4_bar_3_bar_15)\n (objectAtLocation StoveKnob_bar__plus_01_dot_25_bar__plus_00_dot_91_bar__plus_00_dot_12 loc_bar_5_bar__minus_1_bar_0_bar_60)\n (objectAtLocation StoveKnob_bar__plus_01_dot_37_bar__plus_00_dot_91_bar__plus_00_dot_12 loc_bar_5_bar__minus_1_bar_0_bar_60)\n (objectAtLocation StoveKnob_bar__plus_01_dot_00_bar__plus_00_dot_91_bar__plus_00_dot_12 loc_bar_4_bar__minus_1_bar_0_bar_60)\n (objectAtLocation StoveKnob_bar__plus_01_dot_13_bar__plus_00_dot_91_bar__plus_00_dot_12 loc_bar_5_bar__minus_1_bar_0_bar_60)\n (objectAtLocation Potato_bar__minus_01_dot_08_bar__plus_01_dot_05_bar__minus_01_dot_67 loc_bar__minus_4_bar__minus_4_bar_2_bar_45)\n (objectAtLocation Pan_bar__minus_00_dot_64_bar__plus_01_dot_33_bar__minus_01_dot_81 loc_bar__minus_2_bar__minus_4_bar_2_bar_0)\n (objectAtLocation Chair_bar__minus_02_dot_42_bar__plus_00_dot_56_bar__plus_00_dot_41 loc_bar__minus_9_bar__minus_1_bar_0_bar_60)\n (objectAtLocation DishSponge_bar__plus_00_dot_86_bar__plus_00_dot_92_bar__minus_01_dot_85 loc_bar_1_bar__minus_4_bar_2_bar_60)\n (objectAtLocation Spoon_bar__minus_00_dot_27_bar__plus_00_dot_91_bar__minus_01_dot_57 loc_bar_6_bar__minus_4_bar_3_bar_15)\n (objectAtLocation Mug_bar__minus_02_dot_40_bar__plus_00_dot_78_bar__minus_01_dot_85 loc_bar__minus_9_bar__minus_3_bar_2_bar_60)\n )\n \n\n (:goal\n (and\n (exists (?r - receptacle)\n (exists (?o - object)\n (and\n (cleanable ?o)\n (objectType ?o KnifeType)\n (receptacleType ?r DrawerType)\n (isClean ?o)\n (inReceptacle ?o ?r)\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to countertop 1", "take knife 1 from countertop 1", "go to sinkbasin 1", "clean knife 1 with sinkbasin 1", "go to drawer 1", "move knife 1 to drawer 1"]}
|
alfworld__pick_and_place_simple__11
|
pick_and_place_simple
|
pick_and_place_simple-Newspaper-None-Sofa-211/trial_T20190906_175021_859979/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 newspaper 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_T20190906_175021_859979)\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_22_bar__plus_00_dot_12_bar__minus_02_dot_04 - object\n CellPhone_bar__plus_00_dot_00_bar__plus_00_dot_34_bar__plus_00_dot_27 - object\n CellPhone_bar__minus_01_dot_81_bar__plus_00_dot_60_bar__plus_00_dot_92 - object\n CreditCard_bar__plus_00_dot_00_bar__plus_00_dot_34_bar__plus_00_dot_52 - object\n CreditCard_bar__plus_01_dot_61_bar__plus_00_dot_70_bar__minus_00_dot_71 - object\n FloorLamp_bar__plus_01_dot_69_bar__plus_00_dot_00_bar__plus_01_dot_78 - object\n HousePlant_bar__minus_00_dot_81_bar__plus_00_dot_00_bar__minus_02_dot_19 - object\n KeyChain_bar__plus_00_dot_41_bar__plus_00_dot_34_bar__plus_00_dot_78 - object\n KeyChain_bar__minus_01_dot_71_bar__plus_00_dot_09_bar__plus_01_dot_06 - object\n KeyChain_bar__minus_01_dot_81_bar__plus_00_dot_35_bar__plus_00_dot_40 - object\n Laptop_bar__plus_03_dot_38_bar__plus_00_dot_64_bar__minus_00_dot_80 - object\n LightSwitch_bar__plus_02_dot_10_bar__plus_01_dot_35_bar__minus_00_dot_83 - object\n Newspaper_bar__plus_00_dot_17_bar__plus_00_dot_33_bar__plus_00_dot_14 - object\n Painting_bar__plus_01_dot_98_bar__plus_01_dot_59_bar__plus_00_dot_33 - object\n Pillow_bar__plus_01_dot_44_bar__plus_00_dot_52_bar__minus_00_dot_13 - object\n Plate_bar__plus_00_dot_33_bar__plus_00_dot_34_bar__plus_00_dot_52 - object\n Plate_bar__minus_00_dot_19_bar__plus_00_dot_55_bar__plus_01_dot_98 - object\n RemoteControl_bar__plus_01_dot_23_bar__plus_00_dot_48_bar__plus_00_dot_59 - object\n RemoteControl_bar__plus_01_dot_35_bar__plus_00_dot_48_bar__plus_00_dot_78 - object\n RemoteControl_bar__minus_01_dot_81_bar__plus_00_dot_35_bar__plus_00_dot_07 - object\n Statue_bar__plus_00_dot_33_bar__plus_00_dot_35_bar__plus_00_dot_27 - object\n Statue_bar__plus_03_dot_79_bar__plus_00_dot_65_bar__minus_00_dot_62 - object\n Statue_bar__plus_03_dot_79_bar__plus_00_dot_65_bar__minus_01_dot_53 - object\n Television_bar__minus_02_dot_03_bar__plus_01_dot_08_bar__plus_00_dot_56 - object\n Vase_bar__plus_03_dot_79_bar__plus_00_dot_64_bar__minus_00_dot_80 - object\n Vase_bar__minus_00_dot_50_bar__plus_00_dot_56_bar__plus_01_dot_93 - object\n Window_bar__plus_02_dot_78_bar__plus_01_dot_28_bar__minus_02_dot_02 - object\n Window_bar__minus_00_dot_01_bar__plus_01_dot_29_bar__minus_02_dot_45 - object\n ArmChair_bar__minus_01_dot_76_bar__plus_00_dot_00_bar__minus_01_dot_49 - receptacle\n CoffeeTable_bar__plus_00_dot_17_bar_00_dot_00_bar__plus_00_dot_42 - receptacle\n Drawer_bar__plus_01_dot_52_bar__plus_00_dot_62_bar__minus_00_dot_76 - receptacle\n GarbageCan_bar__minus_01_dot_89_bar__plus_00_dot_00_bar__minus_00_dot_41 - receptacle\n Shelf_bar__minus_00_dot_20_bar__plus_00_dot_16_bar__plus_01_dot_93 - receptacle\n Shelf_bar__minus_00_dot_20_bar__plus_00_dot_54_bar__plus_01_dot_93 - receptacle\n Shelf_bar__minus_00_dot_20_bar__plus_00_dot_87_bar__plus_01_dot_93 - receptacle\n Shelf_bar__minus_01_dot_82_bar__plus_00_dot_38_bar__plus_00_dot_56 - receptacle\n Shelf_bar__minus_01_dot_83_bar__plus_00_dot_13_bar__plus_00_dot_56 - receptacle\n SideTable_bar__plus_01_dot_52_bar__plus_00_dot_00_bar__minus_00_dot_70 - receptacle\n SideTable_bar__plus_03_dot_58_bar__plus_00_dot_00_bar__minus_01_dot_17 - receptacle\n Sofa_bar__plus_01_dot_42_bar_00_dot_00_bar__plus_00_dot_39 - receptacle\n TVStand_bar__minus_01_dot_97_bar_00_dot_00_bar__plus_00_dot_56 - receptacle\n loc_bar__minus_2_bar_2_bar_3_bar_45 - location\n loc_bar__minus_4_bar_2_bar_3_bar_60 - location\n loc_bar_3_bar_2_bar_1_bar_60 - location\n loc_bar__minus_6_bar__minus_3_bar_3_bar_60 - location\n loc_bar_0_bar__minus_7_bar_2_bar_30 - location\n loc_bar__minus_3_bar__minus_6_bar_2_bar_60 - location\n loc_bar__minus_3_bar_3_bar_0_bar_45 - location\n loc_bar__minus_5_bar_2_bar_3_bar_60 - location\n loc_bar__minus_3_bar_3_bar_0_bar_30 - location\n loc_bar_5_bar__minus_6_bar_0_bar_60 - location\n loc_bar__minus_1_bar_6_bar_0_bar_60 - location\n loc_bar_4_bar_7_bar_1_bar_60 - location\n loc_bar_11_bar_0_bar_3_bar_0 - location\n loc_bar_10_bar__minus_5_bar_1_bar_60 - location\n loc_bar_11_bar__minus_3_bar_3_bar_30 - location\n loc_bar_11_bar__minus_6_bar_2_bar_30 - location\n loc_bar__minus_3_bar_2_bar_3_bar_60 - location\n loc_bar_0_bar__minus_7_bar_2_bar_60 - location\n loc_bar__minus_2_bar__minus_4_bar_3_bar_60 - location\n loc_bar__minus_4_bar_2_bar_1_bar_60 - location\n loc_bar_1_bar__minus_7_bar_0_bar_30 - location\n )\n \n\n(:init\n\n\n (receptacleType Shelf_bar__minus_01_dot_83_bar__plus_00_dot_13_bar__plus_00_dot_56 ShelfType)\n (receptacleType SideTable_bar__plus_01_dot_52_bar__plus_00_dot_00_bar__minus_00_dot_70 SideTableType)\n (receptacleType ArmChair_bar__minus_01_dot_76_bar__plus_00_dot_00_bar__minus_01_dot_49 ArmChairType)\n (receptacleType Shelf_bar__minus_00_dot_20_bar__plus_00_dot_87_bar__plus_01_dot_93 ShelfType)\n (receptacleType Shelf_bar__minus_00_dot_20_bar__plus_00_dot_54_bar__plus_01_dot_93 ShelfType)\n (receptacleType SideTable_bar__plus_03_dot_58_bar__plus_00_dot_00_bar__minus_01_dot_17 SideTableType)\n (receptacleType Shelf_bar__minus_01_dot_82_bar__plus_00_dot_38_bar__plus_00_dot_56 ShelfType)\n (receptacleType Drawer_bar__plus_01_dot_52_bar__plus_00_dot_62_bar__minus_00_dot_76 DrawerType)\n (receptacleType Sofa_bar__plus_01_dot_42_bar_00_dot_00_bar__plus_00_dot_39 SofaType)\n (receptacleType GarbageCan_bar__minus_01_dot_89_bar__plus_00_dot_00_bar__minus_00_dot_41 GarbageCanType)\n (receptacleType Shelf_bar__minus_00_dot_20_bar__plus_00_dot_16_bar__plus_01_dot_93 ShelfType)\n (receptacleType CoffeeTable_bar__plus_00_dot_17_bar_00_dot_00_bar__plus_00_dot_42 CoffeeTableType)\n (receptacleType TVStand_bar__minus_01_dot_97_bar_00_dot_00_bar__plus_00_dot_56 TVStandType)\n (objectType Painting_bar__plus_01_dot_98_bar__plus_01_dot_59_bar__plus_00_dot_33 PaintingType)\n (objectType RemoteControl_bar__plus_01_dot_23_bar__plus_00_dot_48_bar__plus_00_dot_59 RemoteControlType)\n (objectType CellPhone_bar__plus_00_dot_00_bar__plus_00_dot_34_bar__plus_00_dot_27 CellPhoneType)\n (objectType Vase_bar__plus_03_dot_79_bar__plus_00_dot_64_bar__minus_00_dot_80 VaseType)\n (objectType RemoteControl_bar__plus_01_dot_35_bar__plus_00_dot_48_bar__plus_00_dot_78 RemoteControlType)\n (objectType CellPhone_bar__minus_01_dot_81_bar__plus_00_dot_60_bar__plus_00_dot_92 CellPhoneType)\n (objectType Window_bar__plus_02_dot_78_bar__plus_01_dot_28_bar__minus_02_dot_02 WindowType)\n (objectType FloorLamp_bar__plus_01_dot_69_bar__plus_00_dot_00_bar__plus_01_dot_78 FloorLampType)\n (objectType KeyChain_bar__plus_00_dot_41_bar__plus_00_dot_34_bar__plus_00_dot_78 KeyChainType)\n (objectType Pillow_bar__plus_01_dot_44_bar__plus_00_dot_52_bar__minus_00_dot_13 PillowType)\n (objectType Statue_bar__plus_00_dot_33_bar__plus_00_dot_35_bar__plus_00_dot_27 StatueType)\n (objectType Television_bar__minus_02_dot_03_bar__plus_01_dot_08_bar__plus_00_dot_56 TelevisionType)\n (objectType KeyChain_bar__minus_01_dot_81_bar__plus_00_dot_35_bar__plus_00_dot_40 KeyChainType)\n (objectType Plate_bar__minus_00_dot_19_bar__plus_00_dot_55_bar__plus_01_dot_98 PlateType)\n (objectType RemoteControl_bar__minus_01_dot_81_bar__plus_00_dot_35_bar__plus_00_dot_07 RemoteControlType)\n (objectType Window_bar__minus_00_dot_01_bar__plus_01_dot_29_bar__minus_02_dot_45 WindowType)\n (objectType Statue_bar__plus_03_dot_79_bar__plus_00_dot_65_bar__minus_01_dot_53 StatueType)\n (objectType Laptop_bar__plus_03_dot_38_bar__plus_00_dot_64_bar__minus_00_dot_80 LaptopType)\n (objectType HousePlant_bar__minus_00_dot_81_bar__plus_00_dot_00_bar__minus_02_dot_19 HousePlantType)\n (objectType CreditCard_bar__plus_01_dot_61_bar__plus_00_dot_70_bar__minus_00_dot_71 CreditCardType)\n (objectType Statue_bar__plus_03_dot_79_bar__plus_00_dot_65_bar__minus_00_dot_62 StatueType)\n (objectType Plate_bar__plus_00_dot_33_bar__plus_00_dot_34_bar__plus_00_dot_52 PlateType)\n (objectType KeyChain_bar__minus_01_dot_71_bar__plus_00_dot_09_bar__plus_01_dot_06 KeyChainType)\n (objectType Newspaper_bar__plus_00_dot_17_bar__plus_00_dot_33_bar__plus_00_dot_14 NewspaperType)\n (objectType LightSwitch_bar__plus_02_dot_10_bar__plus_01_dot_35_bar__minus_00_dot_83 LightSwitchType)\n (objectType Vase_bar__minus_00_dot_50_bar__plus_00_dot_56_bar__plus_01_dot_93 VaseType)\n (objectType Box_bar__minus_00_dot_22_bar__plus_00_dot_12_bar__minus_02_dot_04 BoxType)\n (objectType CreditCard_bar__plus_00_dot_00_bar__plus_00_dot_34_bar__plus_00_dot_52 CreditCardType)\n (canContain ShelfType NewspaperType)\n (canContain ShelfType VaseType)\n (canContain ShelfType BoxType)\n (canContain ShelfType CellPhoneType)\n (canContain ShelfType KeyChainType)\n (canContain ShelfType CreditCardType)\n (canContain ShelfType PlateType)\n (canContain ShelfType RemoteControlType)\n (canContain ShelfType StatueType)\n (canContain SideTableType NewspaperType)\n (canContain SideTableType VaseType)\n (canContain SideTableType BoxType)\n (canContain SideTableType CellPhoneType)\n (canContain SideTableType KeyChainType)\n (canContain SideTableType CreditCardType)\n (canContain SideTableType LaptopType)\n (canContain SideTableType PlateType)\n (canContain SideTableType RemoteControlType)\n (canContain SideTableType StatueType)\n (canContain ArmChairType BoxType)\n (canContain ArmChairType LaptopType)\n (canContain ArmChairType CellPhoneType)\n (canContain ArmChairType PillowType)\n (canContain ArmChairType RemoteControlType)\n (canContain ArmChairType KeyChainType)\n (canContain ArmChairType NewspaperType)\n (canContain ArmChairType CreditCardType)\n (canContain ShelfType NewspaperType)\n (canContain ShelfType VaseType)\n (canContain ShelfType BoxType)\n (canContain ShelfType CellPhoneType)\n (canContain ShelfType KeyChainType)\n (canContain ShelfType CreditCardType)\n (canContain ShelfType PlateType)\n (canContain ShelfType RemoteControlType)\n (canContain ShelfType StatueType)\n (canContain ShelfType NewspaperType)\n (canContain ShelfType VaseType)\n (canContain ShelfType BoxType)\n (canContain ShelfType CellPhoneType)\n (canContain ShelfType KeyChainType)\n (canContain ShelfType CreditCardType)\n (canContain ShelfType PlateType)\n (canContain ShelfType RemoteControlType)\n (canContain ShelfType StatueType)\n (canContain SideTableType NewspaperType)\n (canContain SideTableType VaseType)\n (canContain SideTableType BoxType)\n (canContain SideTableType CellPhoneType)\n (canContain SideTableType KeyChainType)\n (canContain SideTableType CreditCardType)\n (canContain SideTableType LaptopType)\n (canContain SideTableType PlateType)\n (canContain SideTableType RemoteControlType)\n (canContain SideTableType StatueType)\n (canContain ShelfType NewspaperType)\n (canContain ShelfType VaseType)\n (canContain ShelfType BoxType)\n (canContain ShelfType CellPhoneType)\n (canContain ShelfType KeyChainType)\n (canContain ShelfType CreditCardType)\n (canContain ShelfType PlateType)\n (canContain ShelfType RemoteControlType)\n (canContain ShelfType StatueType)\n (canContain DrawerType NewspaperType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType RemoteControlType)\n (canContain SofaType BoxType)\n (canContain SofaType LaptopType)\n (canContain SofaType CellPhoneType)\n (canContain SofaType PillowType)\n (canContain SofaType RemoteControlType)\n (canContain SofaType KeyChainType)\n (canContain SofaType NewspaperType)\n (canContain SofaType CreditCardType)\n (canContain GarbageCanType NewspaperType)\n (canContain ShelfType NewspaperType)\n (canContain ShelfType VaseType)\n (canContain ShelfType BoxType)\n (canContain ShelfType CellPhoneType)\n (canContain ShelfType KeyChainType)\n (canContain ShelfType CreditCardType)\n (canContain ShelfType PlateType)\n (canContain ShelfType RemoteControlType)\n (canContain ShelfType StatueType)\n (canContain CoffeeTableType NewspaperType)\n (canContain CoffeeTableType VaseType)\n (canContain CoffeeTableType BoxType)\n (canContain CoffeeTableType CellPhoneType)\n (canContain CoffeeTableType KeyChainType)\n (canContain CoffeeTableType CreditCardType)\n (canContain CoffeeTableType LaptopType)\n (canContain CoffeeTableType PlateType)\n (canContain CoffeeTableType RemoteControlType)\n (canContain CoffeeTableType StatueType)\n (pickupable RemoteControl_bar__plus_01_dot_23_bar__plus_00_dot_48_bar__plus_00_dot_59)\n (pickupable CellPhone_bar__plus_00_dot_00_bar__plus_00_dot_34_bar__plus_00_dot_27)\n (pickupable Vase_bar__plus_03_dot_79_bar__plus_00_dot_64_bar__minus_00_dot_80)\n (pickupable RemoteControl_bar__plus_01_dot_35_bar__plus_00_dot_48_bar__plus_00_dot_78)\n (pickupable CellPhone_bar__minus_01_dot_81_bar__plus_00_dot_60_bar__plus_00_dot_92)\n (pickupable KeyChain_bar__plus_00_dot_41_bar__plus_00_dot_34_bar__plus_00_dot_78)\n (pickupable Pillow_bar__plus_01_dot_44_bar__plus_00_dot_52_bar__minus_00_dot_13)\n (pickupable Statue_bar__plus_00_dot_33_bar__plus_00_dot_35_bar__plus_00_dot_27)\n (pickupable KeyChain_bar__minus_01_dot_81_bar__plus_00_dot_35_bar__plus_00_dot_40)\n (pickupable 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(isReceptacleObject Plate_bar__minus_00_dot_19_bar__plus_00_dot_55_bar__plus_01_dot_98)\n (isReceptacleObject Plate_bar__plus_00_dot_33_bar__plus_00_dot_34_bar__plus_00_dot_52)\n (isReceptacleObject Box_bar__minus_00_dot_22_bar__plus_00_dot_12_bar__minus_02_dot_04)\n (openable Drawer_bar__plus_01_dot_52_bar__plus_00_dot_62_bar__minus_00_dot_76)\n \n (atLocation agent1 loc_bar_1_bar__minus_7_bar_0_bar_30)\n \n (cleanable Plate_bar__minus_00_dot_19_bar__plus_00_dot_55_bar__plus_01_dot_98)\n (cleanable Plate_bar__plus_00_dot_33_bar__plus_00_dot_34_bar__plus_00_dot_52)\n \n (heatable Plate_bar__minus_00_dot_19_bar__plus_00_dot_55_bar__plus_01_dot_98)\n (heatable Plate_bar__plus_00_dot_33_bar__plus_00_dot_34_bar__plus_00_dot_52)\n (coolable Plate_bar__minus_00_dot_19_bar__plus_00_dot_55_bar__plus_01_dot_98)\n (coolable Plate_bar__plus_00_dot_33_bar__plus_00_dot_34_bar__plus_00_dot_52)\n \n \n (toggleable FloorLamp_bar__plus_01_dot_69_bar__plus_00_dot_00_bar__plus_01_dot_78)\n \n \n \n \n (inReceptacle Television_bar__minus_02_dot_03_bar__plus_01_dot_08_bar__plus_00_dot_56 TVStand_bar__minus_01_dot_97_bar_00_dot_00_bar__plus_00_dot_56)\n (inReceptacle CellPhone_bar__minus_01_dot_81_bar__plus_00_dot_60_bar__plus_00_dot_92 TVStand_bar__minus_01_dot_97_bar_00_dot_00_bar__plus_00_dot_56)\n (inReceptacle CellPhone_bar__plus_00_dot_00_bar__plus_00_dot_34_bar__plus_00_dot_27 CoffeeTable_bar__plus_00_dot_17_bar_00_dot_00_bar__plus_00_dot_42)\n (inReceptacle KeyChain_bar__plus_00_dot_41_bar__plus_00_dot_34_bar__plus_00_dot_78 CoffeeTable_bar__plus_00_dot_17_bar_00_dot_00_bar__plus_00_dot_42)\n (inReceptacle Newspaper_bar__plus_00_dot_17_bar__plus_00_dot_33_bar__plus_00_dot_14 CoffeeTable_bar__plus_00_dot_17_bar_00_dot_00_bar__plus_00_dot_42)\n (inReceptacle Statue_bar__plus_00_dot_33_bar__plus_00_dot_35_bar__plus_00_dot_27 CoffeeTable_bar__plus_00_dot_17_bar_00_dot_00_bar__plus_00_dot_42)\n (inReceptacle Plate_bar__plus_00_dot_33_bar__plus_00_dot_34_bar__plus_00_dot_52 CoffeeTable_bar__plus_00_dot_17_bar_00_dot_00_bar__plus_00_dot_42)\n (inReceptacle CreditCard_bar__plus_00_dot_00_bar__plus_00_dot_34_bar__plus_00_dot_52 CoffeeTable_bar__plus_00_dot_17_bar_00_dot_00_bar__plus_00_dot_42)\n (inReceptacle Statue_bar__plus_03_dot_79_bar__plus_00_dot_65_bar__minus_00_dot_62 SideTable_bar__plus_03_dot_58_bar__plus_00_dot_00_bar__minus_01_dot_17)\n (inReceptacle Statue_bar__plus_03_dot_79_bar__plus_00_dot_65_bar__minus_01_dot_53 SideTable_bar__plus_03_dot_58_bar__plus_00_dot_00_bar__minus_01_dot_17)\n (inReceptacle Laptop_bar__plus_03_dot_38_bar__plus_00_dot_64_bar__minus_00_dot_80 SideTable_bar__plus_03_dot_58_bar__plus_00_dot_00_bar__minus_01_dot_17)\n (inReceptacle Vase_bar__plus_03_dot_79_bar__plus_00_dot_64_bar__minus_00_dot_80 SideTable_bar__plus_03_dot_58_bar__plus_00_dot_00_bar__minus_01_dot_17)\n (inReceptacle RemoteControl_bar__minus_01_dot_81_bar__plus_00_dot_35_bar__plus_00_dot_07 Shelf_bar__minus_01_dot_82_bar__plus_00_dot_38_bar__plus_00_dot_56)\n (inReceptacle KeyChain_bar__minus_01_dot_71_bar__plus_00_dot_09_bar__plus_01_dot_06 Shelf_bar__minus_01_dot_83_bar__plus_00_dot_13_bar__plus_00_dot_56)\n (inReceptacle RemoteControl_bar__plus_01_dot_23_bar__plus_00_dot_48_bar__plus_00_dot_59 Sofa_bar__plus_01_dot_42_bar_00_dot_00_bar__plus_00_dot_39)\n (inReceptacle RemoteControl_bar__plus_01_dot_35_bar__plus_00_dot_48_bar__plus_00_dot_78 Sofa_bar__plus_01_dot_42_bar_00_dot_00_bar__plus_00_dot_39)\n (inReceptacle Pillow_bar__plus_01_dot_44_bar__plus_00_dot_52_bar__minus_00_dot_13 Sofa_bar__plus_01_dot_42_bar_00_dot_00_bar__plus_00_dot_39)\n (inReceptacle CreditCard_bar__plus_01_dot_61_bar__plus_00_dot_70_bar__minus_00_dot_71 SideTable_bar__plus_01_dot_52_bar__plus_00_dot_00_bar__minus_00_dot_70)\n (inReceptacle Plate_bar__minus_00_dot_19_bar__plus_00_dot_55_bar__plus_01_dot_98 Shelf_bar__minus_00_dot_20_bar__plus_00_dot_54_bar__plus_01_dot_93)\n (inReceptacle Vase_bar__minus_00_dot_50_bar__plus_00_dot_56_bar__plus_01_dot_93 Shelf_bar__minus_00_dot_20_bar__plus_00_dot_54_bar__plus_01_dot_93)\n \n \n (receptacleAtLocation ArmChair_bar__minus_01_dot_76_bar__plus_00_dot_00_bar__minus_01_dot_49 loc_bar__minus_2_bar__minus_4_bar_3_bar_60)\n (receptacleAtLocation CoffeeTable_bar__plus_00_dot_17_bar_00_dot_00_bar__plus_00_dot_42 loc_bar__minus_4_bar_2_bar_1_bar_60)\n (receptacleAtLocation Drawer_bar__plus_01_dot_52_bar__plus_00_dot_62_bar__minus_00_dot_76 loc_bar_5_bar__minus_6_bar_0_bar_60)\n (receptacleAtLocation GarbageCan_bar__minus_01_dot_89_bar__plus_00_dot_00_bar__minus_00_dot_41 loc_bar__minus_6_bar__minus_3_bar_3_bar_60)\n (receptacleAtLocation Shelf_bar__minus_00_dot_20_bar__plus_00_dot_16_bar__plus_01_dot_93 loc_bar__minus_1_bar_6_bar_0_bar_60)\n (receptacleAtLocation Shelf_bar__minus_00_dot_20_bar__plus_00_dot_54_bar__plus_01_dot_93 loc_bar__minus_3_bar_3_bar_0_bar_45)\n (receptacleAtLocation Shelf_bar__minus_00_dot_20_bar__plus_00_dot_87_bar__plus_01_dot_93 loc_bar__minus_3_bar_3_bar_0_bar_30)\n (receptacleAtLocation Shelf_bar__minus_01_dot_82_bar__plus_00_dot_38_bar__plus_00_dot_56 loc_bar__minus_2_bar_2_bar_3_bar_45)\n (receptacleAtLocation Shelf_bar__minus_01_dot_83_bar__plus_00_dot_13_bar__plus_00_dot_56 loc_bar__minus_3_bar_2_bar_3_bar_60)\n (receptacleAtLocation SideTable_bar__plus_01_dot_52_bar__plus_00_dot_00_bar__minus_00_dot_70 loc_bar_5_bar__minus_6_bar_0_bar_60)\n (receptacleAtLocation SideTable_bar__plus_03_dot_58_bar__plus_00_dot_00_bar__minus_01_dot_17 loc_bar_10_bar__minus_5_bar_1_bar_60)\n (receptacleAtLocation Sofa_bar__plus_01_dot_42_bar_00_dot_00_bar__plus_00_dot_39 loc_bar_3_bar_2_bar_1_bar_60)\n (receptacleAtLocation TVStand_bar__minus_01_dot_97_bar_00_dot_00_bar__plus_00_dot_56 loc_bar__minus_4_bar_2_bar_3_bar_60)\n (objectAtLocation Statue_bar__plus_00_dot_33_bar__plus_00_dot_35_bar__plus_00_dot_27 loc_bar__minus_4_bar_2_bar_1_bar_60)\n (objectAtLocation RemoteControl_bar__plus_01_dot_35_bar__plus_00_dot_48_bar__plus_00_dot_78 loc_bar_3_bar_2_bar_1_bar_60)\n (objectAtLocation CellPhone_bar__plus_00_dot_00_bar__plus_00_dot_34_bar__plus_00_dot_27 loc_bar__minus_4_bar_2_bar_1_bar_60)\n (objectAtLocation Plate_bar__minus_00_dot_19_bar__plus_00_dot_55_bar__plus_01_dot_98 loc_bar__minus_3_bar_3_bar_0_bar_45)\n (objectAtLocation KeyChain_bar__minus_01_dot_71_bar__plus_00_dot_09_bar__plus_01_dot_06 loc_bar__minus_3_bar_2_bar_3_bar_60)\n (objectAtLocation CreditCard_bar__plus_00_dot_00_bar__plus_00_dot_34_bar__plus_00_dot_52 loc_bar__minus_4_bar_2_bar_1_bar_60)\n (objectAtLocation RemoteControl_bar__minus_01_dot_81_bar__plus_00_dot_35_bar__plus_00_dot_07 loc_bar__minus_2_bar_2_bar_3_bar_45)\n (objectAtLocation KeyChain_bar__minus_01_dot_81_bar__plus_00_dot_35_bar__plus_00_dot_40 loc_bar__minus_5_bar_2_bar_3_bar_60)\n (objectAtLocation Statue_bar__plus_03_dot_79_bar__plus_00_dot_65_bar__minus_00_dot_62 loc_bar_10_bar__minus_5_bar_1_bar_60)\n (objectAtLocation Box_bar__minus_00_dot_22_bar__plus_00_dot_12_bar__minus_02_dot_04 loc_bar_0_bar__minus_7_bar_2_bar_60)\n (objectAtLocation Newspaper_bar__plus_00_dot_17_bar__plus_00_dot_33_bar__plus_00_dot_14 loc_bar__minus_4_bar_2_bar_1_bar_60)\n (objectAtLocation CreditCard_bar__plus_01_dot_61_bar__plus_00_dot_70_bar__minus_00_dot_71 loc_bar_5_bar__minus_6_bar_0_bar_60)\n (objectAtLocation Television_bar__minus_02_dot_03_bar__plus_01_dot_08_bar__plus_00_dot_56 loc_bar__minus_4_bar_2_bar_3_bar_60)\n (objectAtLocation Vase_bar__minus_00_dot_50_bar__plus_00_dot_56_bar__plus_01_dot_93 loc_bar__minus_3_bar_3_bar_0_bar_45)\n (objectAtLocation KeyChain_bar__plus_00_dot_41_bar__plus_00_dot_34_bar__plus_00_dot_78 loc_bar__minus_4_bar_2_bar_1_bar_60)\n (objectAtLocation Plate_bar__plus_00_dot_33_bar__plus_00_dot_34_bar__plus_00_dot_52 loc_bar__minus_4_bar_2_bar_1_bar_60)\n (objectAtLocation LightSwitch_bar__plus_02_dot_10_bar__plus_01_dot_35_bar__minus_00_dot_83 loc_bar_11_bar__minus_3_bar_3_bar_30)\n (objectAtLocation Laptop_bar__plus_03_dot_38_bar__plus_00_dot_64_bar__minus_00_dot_80 loc_bar_10_bar__minus_5_bar_1_bar_60)\n (objectAtLocation HousePlant_bar__minus_00_dot_81_bar__plus_00_dot_00_bar__minus_02_dot_19 loc_bar__minus_3_bar__minus_6_bar_2_bar_60)\n (objectAtLocation FloorLamp_bar__plus_01_dot_69_bar__plus_00_dot_00_bar__plus_01_dot_78 loc_bar_4_bar_7_bar_1_bar_60)\n (objectAtLocation Painting_bar__plus_01_dot_98_bar__plus_01_dot_59_bar__plus_00_dot_33 loc_bar_11_bar_0_bar_3_bar_0)\n (objectAtLocation CellPhone_bar__minus_01_dot_81_bar__plus_00_dot_60_bar__plus_00_dot_92 loc_bar__minus_4_bar_2_bar_3_bar_60)\n (objectAtLocation RemoteControl_bar__plus_01_dot_23_bar__plus_00_dot_48_bar__plus_00_dot_59 loc_bar_3_bar_2_bar_1_bar_60)\n (objectAtLocation Pillow_bar__plus_01_dot_44_bar__plus_00_dot_52_bar__minus_00_dot_13 loc_bar_3_bar_2_bar_1_bar_60)\n (objectAtLocation Vase_bar__plus_03_dot_79_bar__plus_00_dot_64_bar__minus_00_dot_80 loc_bar_10_bar__minus_5_bar_1_bar_60)\n (objectAtLocation Window_bar__plus_02_dot_78_bar__plus_01_dot_28_bar__minus_02_dot_02 loc_bar_11_bar__minus_6_bar_2_bar_30)\n (objectAtLocation Window_bar__minus_00_dot_01_bar__plus_01_dot_29_bar__minus_02_dot_45 loc_bar_0_bar__minus_7_bar_2_bar_30)\n (objectAtLocation Statue_bar__plus_03_dot_79_bar__plus_00_dot_65_bar__minus_01_dot_53 loc_bar_10_bar__minus_5_bar_1_bar_60)\n )\n \n\n (:goal\n (and\n (exists (?r - receptacle)\n (exists (?o - object)\n (and\n (inReceptacle ?o ?r)\n (objectType ?o NewspaperType)\n (receptacleType ?r SofaType)\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to coffeetable 1", "take newspaper 1 from coffeetable 1", "go to sofa 1", "move newspaper 1 to sofa 1"]}
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alfworld__pick_and_place_simple__12
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pick_and_place_simple
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pick_and_place_simple-Newspaper-None-Sofa-211/trial_T20190906_174949_956681/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 newspaper 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_T20190906_174949_956681)\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_22_bar__plus_00_dot_12_bar__minus_02_dot_04 - object\n CellPhone_bar__plus_00_dot_13_bar__plus_00_dot_55_bar__plus_01_dot_88 - object\n CellPhone_bar__plus_01_dot_48_bar__plus_00_dot_48_bar__plus_00_dot_98 - object\n CellPhone_bar__plus_03_dot_89_bar__plus_00_dot_64_bar__minus_00_dot_80 - object\n CreditCard_bar__minus_01_dot_73_bar__plus_00_dot_59_bar__plus_00_dot_56 - object\n FloorLamp_bar__plus_01_dot_69_bar__plus_00_dot_00_bar__plus_01_dot_78 - object\n HousePlant_bar__minus_00_dot_81_bar__plus_00_dot_00_bar__minus_02_dot_19 - object\n KeyChain_bar__minus_00_dot_29_bar__plus_00_dot_55_bar__plus_01_dot_82 - object\n Laptop_bar__plus_00_dot_25_bar__plus_00_dot_33_bar__plus_00_dot_14 - object\n Laptop_bar__plus_00_dot_25_bar__plus_00_dot_33_bar__plus_00_dot_65 - object\n Laptop_bar__plus_01_dot_42_bar__plus_00_dot_48_bar__plus_00_dot_39 - object\n LightSwitch_bar__plus_02_dot_10_bar__plus_01_dot_35_bar__minus_00_dot_83 - object\n Newspaper_bar__plus_00_dot_00_bar__plus_00_dot_33_bar__plus_00_dot_52 - object\n Newspaper_bar__plus_03_dot_79_bar__plus_00_dot_64_bar__minus_00_dot_80 - object\n Newspaper_bar__minus_01_dot_97_bar__plus_00_dot_60_bar__plus_00_dot_03 - object\n Newspaper_bar__minus_01_dot_97_bar__plus_00_dot_60_bar__plus_01_dot_10 - object\n Painting_bar__plus_01_dot_98_bar__plus_01_dot_59_bar__plus_00_dot_33 - object\n Pillow_bar__plus_01_dot_42_bar__plus_00_dot_55_bar__plus_00_dot_78 - object\n Pillow_bar__plus_01_dot_44_bar__plus_00_dot_52_bar__minus_00_dot_13 - object\n Plate_bar__plus_01_dot_52_bar__plus_00_dot_71_bar__minus_00_dot_71 - object\n Plate_bar__minus_01_dot_81_bar__plus_00_dot_35_bar__plus_01_dot_06 - object\n RemoteControl_bar__plus_01_dot_23_bar__plus_00_dot_48_bar__plus_00_dot_19 - object\n RemoteControl_bar__plus_03_dot_48_bar__plus_00_dot_64_bar__minus_00_dot_98 - object\n RemoteControl_bar__minus_02_dot_04_bar__plus_00_dot_60_bar__plus_01_dot_10 - object\n Statue_bar__minus_00_dot_39_bar__plus_00_dot_56_bar__plus_01_dot_88 - object\n Statue_bar__minus_01_dot_81_bar__plus_00_dot_61_bar__plus_00_dot_21 - object\n Statue_bar__minus_02_dot_12_bar__plus_00_dot_61_bar__plus_01_dot_10 - object\n Television_bar__minus_02_dot_03_bar__plus_01_dot_08_bar__plus_00_dot_56 - object\n Vase_bar__plus_03_dot_58_bar__plus_00_dot_64_bar__minus_00_dot_62 - object\n Vase_bar__minus_00_dot_19_bar__plus_00_dot_56_bar__plus_01_dot_88 - object\n Vase_bar__minus_01_dot_86_bar__plus_00_dot_10_bar__plus_01_dot_06 - object\n Window_bar__plus_02_dot_78_bar__plus_01_dot_28_bar__minus_02_dot_02 - object\n Window_bar__minus_00_dot_01_bar__plus_01_dot_29_bar__minus_02_dot_45 - object\n ArmChair_bar__minus_01_dot_76_bar__plus_00_dot_00_bar__minus_01_dot_49 - receptacle\n CoffeeTable_bar__plus_00_dot_17_bar_00_dot_00_bar__plus_00_dot_42 - receptacle\n Drawer_bar__plus_01_dot_52_bar__plus_00_dot_62_bar__minus_00_dot_76 - receptacle\n GarbageCan_bar__minus_01_dot_89_bar__plus_00_dot_00_bar__minus_00_dot_41 - receptacle\n Shelf_bar__minus_00_dot_20_bar__plus_00_dot_16_bar__plus_01_dot_93 - receptacle\n Shelf_bar__minus_00_dot_20_bar__plus_00_dot_54_bar__plus_01_dot_93 - receptacle\n Shelf_bar__minus_00_dot_20_bar__plus_00_dot_87_bar__plus_01_dot_93 - receptacle\n Shelf_bar__minus_01_dot_82_bar__plus_00_dot_38_bar__plus_00_dot_56 - receptacle\n Shelf_bar__minus_01_dot_83_bar__plus_00_dot_13_bar__plus_00_dot_56 - receptacle\n SideTable_bar__plus_01_dot_52_bar__plus_00_dot_00_bar__minus_00_dot_70 - receptacle\n SideTable_bar__plus_03_dot_58_bar__plus_00_dot_00_bar__minus_01_dot_17 - receptacle\n Sofa_bar__plus_01_dot_42_bar_00_dot_00_bar__plus_00_dot_39 - receptacle\n TVStand_bar__minus_01_dot_97_bar_00_dot_00_bar__plus_00_dot_56 - receptacle\n loc_bar__minus_2_bar_2_bar_3_bar_45 - location\n loc_bar__minus_4_bar_2_bar_3_bar_60 - location\n loc_bar_3_bar_2_bar_1_bar_60 - location\n loc_bar__minus_6_bar__minus_3_bar_3_bar_60 - location\n loc_bar_0_bar__minus_7_bar_2_bar_30 - location\n loc_bar__minus_3_bar__minus_6_bar_2_bar_60 - location\n loc_bar__minus_3_bar_3_bar_0_bar_45 - location\n loc_bar__minus_3_bar_3_bar_0_bar_30 - location\n loc_bar_5_bar__minus_6_bar_0_bar_60 - location\n loc_bar__minus_1_bar_6_bar_0_bar_60 - location\n loc_bar_4_bar_7_bar_1_bar_60 - location\n loc_bar_11_bar_0_bar_3_bar_0 - location\n loc_bar_10_bar__minus_5_bar_1_bar_60 - location\n loc_bar_11_bar__minus_3_bar_3_bar_30 - location\n loc_bar_11_bar__minus_6_bar_2_bar_30 - location\n loc_bar__minus_3_bar_2_bar_3_bar_60 - location\n loc_bar_0_bar__minus_7_bar_2_bar_60 - location\n loc_bar__minus_2_bar__minus_4_bar_3_bar_60 - location\n loc_bar__minus_4_bar_2_bar_1_bar_60 - location\n loc_bar_3_bar_4_bar_0_bar_30 - location\n )\n \n\n(:init\n\n\n (receptacleType Shelf_bar__minus_01_dot_83_bar__plus_00_dot_13_bar__plus_00_dot_56 ShelfType)\n (receptacleType SideTable_bar__plus_01_dot_52_bar__plus_00_dot_00_bar__minus_00_dot_70 SideTableType)\n (receptacleType ArmChair_bar__minus_01_dot_76_bar__plus_00_dot_00_bar__minus_01_dot_49 ArmChairType)\n (receptacleType Shelf_bar__minus_00_dot_20_bar__plus_00_dot_87_bar__plus_01_dot_93 ShelfType)\n (receptacleType Shelf_bar__minus_00_dot_20_bar__plus_00_dot_54_bar__plus_01_dot_93 ShelfType)\n (receptacleType SideTable_bar__plus_03_dot_58_bar__plus_00_dot_00_bar__minus_01_dot_17 SideTableType)\n (receptacleType Shelf_bar__minus_01_dot_82_bar__plus_00_dot_38_bar__plus_00_dot_56 ShelfType)\n (receptacleType Drawer_bar__plus_01_dot_52_bar__plus_00_dot_62_bar__minus_00_dot_76 DrawerType)\n (receptacleType Sofa_bar__plus_01_dot_42_bar_00_dot_00_bar__plus_00_dot_39 SofaType)\n (receptacleType GarbageCan_bar__minus_01_dot_89_bar__plus_00_dot_00_bar__minus_00_dot_41 GarbageCanType)\n (receptacleType Shelf_bar__minus_00_dot_20_bar__plus_00_dot_16_bar__plus_01_dot_93 ShelfType)\n (receptacleType CoffeeTable_bar__plus_00_dot_17_bar_00_dot_00_bar__plus_00_dot_42 CoffeeTableType)\n (receptacleType TVStand_bar__minus_01_dot_97_bar_00_dot_00_bar__plus_00_dot_56 TVStandType)\n (objectType Painting_bar__plus_01_dot_98_bar__plus_01_dot_59_bar__plus_00_dot_33 PaintingType)\n (objectType CellPhone_bar__plus_03_dot_89_bar__plus_00_dot_64_bar__minus_00_dot_80 CellPhoneType)\n (objectType CreditCard_bar__minus_01_dot_73_bar__plus_00_dot_59_bar__plus_00_dot_56 CreditCardType)\n (objectType Laptop_bar__plus_00_dot_25_bar__plus_00_dot_33_bar__plus_00_dot_14 LaptopType)\n (objectType Plate_bar__minus_01_dot_81_bar__plus_00_dot_35_bar__plus_01_dot_06 PlateType)\n (objectType Laptop_bar__plus_01_dot_42_bar__plus_00_dot_48_bar__plus_00_dot_39 LaptopType)\n (objectType Newspaper_bar__plus_00_dot_00_bar__plus_00_dot_33_bar__plus_00_dot_52 NewspaperType)\n (objectType Pillow_bar__plus_01_dot_42_bar__plus_00_dot_55_bar__plus_00_dot_78 PillowType)\n (objectType Statue_bar__minus_00_dot_39_bar__plus_00_dot_56_bar__plus_01_dot_88 StatueType)\n (objectType Newspaper_bar__plus_03_dot_79_bar__plus_00_dot_64_bar__minus_00_dot_80 NewspaperType)\n (objectType RemoteControl_bar__plus_03_dot_48_bar__plus_00_dot_64_bar__minus_00_dot_98 RemoteControlType)\n (objectType Window_bar__plus_02_dot_78_bar__plus_01_dot_28_bar__minus_02_dot_02 WindowType)\n (objectType RemoteControl_bar__minus_02_dot_04_bar__plus_00_dot_60_bar__plus_01_dot_10 RemoteControlType)\n (objectType Statue_bar__minus_02_dot_12_bar__plus_00_dot_61_bar__plus_01_dot_10 StatueType)\n (objectType FloorLamp_bar__plus_01_dot_69_bar__plus_00_dot_00_bar__plus_01_dot_78 FloorLampType)\n (objectType RemoteControl_bar__plus_01_dot_23_bar__plus_00_dot_48_bar__plus_00_dot_19 RemoteControlType)\n (objectType Pillow_bar__plus_01_dot_44_bar__plus_00_dot_52_bar__minus_00_dot_13 PillowType)\n (objectType Laptop_bar__plus_00_dot_25_bar__plus_00_dot_33_bar__plus_00_dot_65 LaptopType)\n (objectType Television_bar__minus_02_dot_03_bar__plus_01_dot_08_bar__plus_00_dot_56 TelevisionType)\n (objectType Vase_bar__minus_01_dot_86_bar__plus_00_dot_10_bar__plus_01_dot_06 VaseType)\n (objectType Statue_bar__minus_01_dot_81_bar__plus_00_dot_61_bar__plus_00_dot_21 StatueType)\n (objectType Vase_bar__minus_00_dot_19_bar__plus_00_dot_56_bar__plus_01_dot_88 VaseType)\n (objectType Window_bar__minus_00_dot_01_bar__plus_01_dot_29_bar__minus_02_dot_45 WindowType)\n (objectType Newspaper_bar__minus_01_dot_97_bar__plus_00_dot_60_bar__plus_00_dot_03 NewspaperType)\n (objectType HousePlant_bar__minus_00_dot_81_bar__plus_00_dot_00_bar__minus_02_dot_19 HousePlantType)\n (objectType KeyChain_bar__minus_00_dot_29_bar__plus_00_dot_55_bar__plus_01_dot_82 KeyChainType)\n (objectType CellPhone_bar__plus_00_dot_13_bar__plus_00_dot_55_bar__plus_01_dot_88 CellPhoneType)\n (objectType Vase_bar__plus_03_dot_58_bar__plus_00_dot_64_bar__minus_00_dot_62 VaseType)\n (objectType LightSwitch_bar__plus_02_dot_10_bar__plus_01_dot_35_bar__minus_00_dot_83 LightSwitchType)\n (objectType CellPhone_bar__plus_01_dot_48_bar__plus_00_dot_48_bar__plus_00_dot_98 CellPhoneType)\n (objectType Newspaper_bar__minus_01_dot_97_bar__plus_00_dot_60_bar__plus_01_dot_10 NewspaperType)\n (objectType Box_bar__minus_00_dot_22_bar__plus_00_dot_12_bar__minus_02_dot_04 BoxType)\n (objectType Plate_bar__plus_01_dot_52_bar__plus_00_dot_71_bar__minus_00_dot_71 PlateType)\n (canContain ShelfType NewspaperType)\n (canContain ShelfType VaseType)\n (canContain ShelfType BoxType)\n (canContain ShelfType CellPhoneType)\n (canContain ShelfType KeyChainType)\n (canContain ShelfType CreditCardType)\n (canContain ShelfType PlateType)\n (canContain ShelfType RemoteControlType)\n (canContain ShelfType StatueType)\n (canContain SideTableType NewspaperType)\n (canContain SideTableType VaseType)\n (canContain SideTableType BoxType)\n (canContain SideTableType CellPhoneType)\n (canContain SideTableType KeyChainType)\n (canContain SideTableType CreditCardType)\n (canContain SideTableType LaptopType)\n (canContain SideTableType PlateType)\n (canContain SideTableType RemoteControlType)\n (canContain SideTableType StatueType)\n (canContain ArmChairType BoxType)\n (canContain ArmChairType LaptopType)\n (canContain ArmChairType CellPhoneType)\n (canContain ArmChairType PillowType)\n (canContain ArmChairType RemoteControlType)\n (canContain ArmChairType KeyChainType)\n (canContain ArmChairType NewspaperType)\n (canContain ArmChairType CreditCardType)\n (canContain ShelfType NewspaperType)\n (canContain ShelfType VaseType)\n (canContain ShelfType BoxType)\n (canContain ShelfType CellPhoneType)\n (canContain ShelfType KeyChainType)\n (canContain ShelfType CreditCardType)\n (canContain ShelfType PlateType)\n (canContain ShelfType RemoteControlType)\n (canContain ShelfType StatueType)\n (canContain ShelfType NewspaperType)\n (canContain ShelfType VaseType)\n (canContain ShelfType BoxType)\n (canContain ShelfType CellPhoneType)\n (canContain ShelfType KeyChainType)\n (canContain ShelfType CreditCardType)\n (canContain ShelfType PlateType)\n (canContain ShelfType RemoteControlType)\n (canContain ShelfType StatueType)\n (canContain SideTableType NewspaperType)\n (canContain SideTableType VaseType)\n (canContain SideTableType BoxType)\n (canContain SideTableType CellPhoneType)\n (canContain SideTableType KeyChainType)\n (canContain SideTableType CreditCardType)\n (canContain SideTableType LaptopType)\n (canContain SideTableType PlateType)\n (canContain SideTableType RemoteControlType)\n (canContain SideTableType StatueType)\n (canContain ShelfType NewspaperType)\n (canContain ShelfType VaseType)\n (canContain ShelfType BoxType)\n (canContain ShelfType CellPhoneType)\n (canContain ShelfType KeyChainType)\n (canContain ShelfType CreditCardType)\n (canContain ShelfType PlateType)\n (canContain ShelfType RemoteControlType)\n (canContain ShelfType StatueType)\n (canContain DrawerType NewspaperType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType RemoteControlType)\n (canContain SofaType BoxType)\n (canContain SofaType LaptopType)\n (canContain SofaType CellPhoneType)\n (canContain SofaType PillowType)\n (canContain SofaType RemoteControlType)\n (canContain SofaType KeyChainType)\n (canContain SofaType NewspaperType)\n (canContain SofaType CreditCardType)\n (canContain GarbageCanType NewspaperType)\n (canContain ShelfType NewspaperType)\n (canContain ShelfType VaseType)\n (canContain ShelfType BoxType)\n (canContain ShelfType CellPhoneType)\n (canContain ShelfType KeyChainType)\n (canContain ShelfType CreditCardType)\n (canContain ShelfType PlateType)\n (canContain ShelfType RemoteControlType)\n (canContain ShelfType StatueType)\n (canContain CoffeeTableType NewspaperType)\n (canContain CoffeeTableType VaseType)\n (canContain CoffeeTableType BoxType)\n (canContain CoffeeTableType CellPhoneType)\n (canContain CoffeeTableType KeyChainType)\n (canContain CoffeeTableType CreditCardType)\n (canContain CoffeeTableType LaptopType)\n (canContain CoffeeTableType PlateType)\n (canContain CoffeeTableType RemoteControlType)\n (canContain CoffeeTableType StatueType)\n (pickupable CellPhone_bar__plus_03_dot_89_bar__plus_00_dot_64_bar__minus_00_dot_80)\n (pickupable CreditCard_bar__minus_01_dot_73_bar__plus_00_dot_59_bar__plus_00_dot_56)\n (pickupable Laptop_bar__plus_00_dot_25_bar__plus_00_dot_33_bar__plus_00_dot_14)\n (pickupable Plate_bar__minus_01_dot_81_bar__plus_00_dot_35_bar__plus_01_dot_06)\n (pickupable Laptop_bar__plus_01_dot_42_bar__plus_00_dot_48_bar__plus_00_dot_39)\n (pickupable Newspaper_bar__plus_00_dot_00_bar__plus_00_dot_33_bar__plus_00_dot_52)\n (pickupable Pillow_bar__plus_01_dot_42_bar__plus_00_dot_55_bar__plus_00_dot_78)\n (pickupable Statue_bar__minus_00_dot_39_bar__plus_00_dot_56_bar__plus_01_dot_88)\n (pickupable Newspaper_bar__plus_03_dot_79_bar__plus_00_dot_64_bar__minus_00_dot_80)\n (pickupable RemoteControl_bar__plus_03_dot_48_bar__plus_00_dot_64_bar__minus_00_dot_98)\n (pickupable RemoteControl_bar__minus_02_dot_04_bar__plus_00_dot_60_bar__plus_01_dot_10)\n (pickupable Statue_bar__minus_02_dot_12_bar__plus_00_dot_61_bar__plus_01_dot_10)\n (pickupable RemoteControl_bar__plus_01_dot_23_bar__plus_00_dot_48_bar__plus_00_dot_19)\n (pickupable Pillow_bar__plus_01_dot_44_bar__plus_00_dot_52_bar__minus_00_dot_13)\n (pickupable Laptop_bar__plus_00_dot_25_bar__plus_00_dot_33_bar__plus_00_dot_65)\n (pickupable Vase_bar__minus_01_dot_86_bar__plus_00_dot_10_bar__plus_01_dot_06)\n (pickupable Statue_bar__minus_01_dot_81_bar__plus_00_dot_61_bar__plus_00_dot_21)\n (pickupable Vase_bar__minus_00_dot_19_bar__plus_00_dot_56_bar__plus_01_dot_88)\n (pickupable Newspaper_bar__minus_01_dot_97_bar__plus_00_dot_60_bar__plus_00_dot_03)\n (pickupable KeyChain_bar__minus_00_dot_29_bar__plus_00_dot_55_bar__plus_01_dot_82)\n (pickupable CellPhone_bar__plus_00_dot_13_bar__plus_00_dot_55_bar__plus_01_dot_88)\n (pickupable Vase_bar__plus_03_dot_58_bar__plus_00_dot_64_bar__minus_00_dot_62)\n (pickupable CellPhone_bar__plus_01_dot_48_bar__plus_00_dot_48_bar__plus_00_dot_98)\n (pickupable Newspaper_bar__minus_01_dot_97_bar__plus_00_dot_60_bar__plus_01_dot_10)\n (pickupable Box_bar__minus_00_dot_22_bar__plus_00_dot_12_bar__minus_02_dot_04)\n (pickupable Plate_bar__plus_01_dot_52_bar__plus_00_dot_71_bar__minus_00_dot_71)\n (isReceptacleObject Plate_bar__minus_01_dot_81_bar__plus_00_dot_35_bar__plus_01_dot_06)\n (isReceptacleObject Box_bar__minus_00_dot_22_bar__plus_00_dot_12_bar__minus_02_dot_04)\n (isReceptacleObject Plate_bar__plus_01_dot_52_bar__plus_00_dot_71_bar__minus_00_dot_71)\n (openable Drawer_bar__plus_01_dot_52_bar__plus_00_dot_62_bar__minus_00_dot_76)\n \n (atLocation agent1 loc_bar_3_bar_4_bar_0_bar_30)\n \n (cleanable Plate_bar__minus_01_dot_81_bar__plus_00_dot_35_bar__plus_01_dot_06)\n (cleanable Plate_bar__plus_01_dot_52_bar__plus_00_dot_71_bar__minus_00_dot_71)\n \n (heatable Plate_bar__minus_01_dot_81_bar__plus_00_dot_35_bar__plus_01_dot_06)\n (heatable Plate_bar__plus_01_dot_52_bar__plus_00_dot_71_bar__minus_00_dot_71)\n (coolable Plate_bar__minus_01_dot_81_bar__plus_00_dot_35_bar__plus_01_dot_06)\n (coolable Plate_bar__plus_01_dot_52_bar__plus_00_dot_71_bar__minus_00_dot_71)\n \n \n (toggleable FloorLamp_bar__plus_01_dot_69_bar__plus_00_dot_00_bar__plus_01_dot_78)\n \n \n \n \n (inReceptacle RemoteControl_bar__minus_02_dot_04_bar__plus_00_dot_60_bar__plus_01_dot_10 TVStand_bar__minus_01_dot_97_bar_00_dot_00_bar__plus_00_dot_56)\n (inReceptacle Statue_bar__minus_02_dot_12_bar__plus_00_dot_61_bar__plus_01_dot_10 TVStand_bar__minus_01_dot_97_bar_00_dot_00_bar__plus_00_dot_56)\n (inReceptacle Newspaper_bar__minus_01_dot_97_bar__plus_00_dot_60_bar__plus_00_dot_03 TVStand_bar__minus_01_dot_97_bar_00_dot_00_bar__plus_00_dot_56)\n (inReceptacle CreditCard_bar__minus_01_dot_73_bar__plus_00_dot_59_bar__plus_00_dot_56 TVStand_bar__minus_01_dot_97_bar_00_dot_00_bar__plus_00_dot_56)\n (inReceptacle Television_bar__minus_02_dot_03_bar__plus_01_dot_08_bar__plus_00_dot_56 TVStand_bar__minus_01_dot_97_bar_00_dot_00_bar__plus_00_dot_56)\n (inReceptacle Newspaper_bar__minus_01_dot_97_bar__plus_00_dot_60_bar__plus_01_dot_10 TVStand_bar__minus_01_dot_97_bar_00_dot_00_bar__plus_00_dot_56)\n (inReceptacle Statue_bar__minus_01_dot_81_bar__plus_00_dot_61_bar__plus_00_dot_21 TVStand_bar__minus_01_dot_97_bar_00_dot_00_bar__plus_00_dot_56)\n (inReceptacle Laptop_bar__plus_00_dot_25_bar__plus_00_dot_33_bar__plus_00_dot_65 CoffeeTable_bar__plus_00_dot_17_bar_00_dot_00_bar__plus_00_dot_42)\n (inReceptacle Laptop_bar__plus_00_dot_25_bar__plus_00_dot_33_bar__plus_00_dot_14 CoffeeTable_bar__plus_00_dot_17_bar_00_dot_00_bar__plus_00_dot_42)\n (inReceptacle Newspaper_bar__plus_00_dot_00_bar__plus_00_dot_33_bar__plus_00_dot_52 CoffeeTable_bar__plus_00_dot_17_bar_00_dot_00_bar__plus_00_dot_42)\n (inReceptacle Vase_bar__plus_03_dot_58_bar__plus_00_dot_64_bar__minus_00_dot_62 SideTable_bar__plus_03_dot_58_bar__plus_00_dot_00_bar__minus_01_dot_17)\n (inReceptacle Newspaper_bar__plus_03_dot_79_bar__plus_00_dot_64_bar__minus_00_dot_80 SideTable_bar__plus_03_dot_58_bar__plus_00_dot_00_bar__minus_01_dot_17)\n (inReceptacle CellPhone_bar__plus_03_dot_89_bar__plus_00_dot_64_bar__minus_00_dot_80 SideTable_bar__plus_03_dot_58_bar__plus_00_dot_00_bar__minus_01_dot_17)\n (inReceptacle RemoteControl_bar__plus_03_dot_48_bar__plus_00_dot_64_bar__minus_00_dot_98 SideTable_bar__plus_03_dot_58_bar__plus_00_dot_00_bar__minus_01_dot_17)\n (inReceptacle Plate_bar__minus_01_dot_81_bar__plus_00_dot_35_bar__plus_01_dot_06 Shelf_bar__minus_01_dot_82_bar__plus_00_dot_38_bar__plus_00_dot_56)\n (inReceptacle Vase_bar__minus_01_dot_86_bar__plus_00_dot_10_bar__plus_01_dot_06 Shelf_bar__minus_01_dot_83_bar__plus_00_dot_13_bar__plus_00_dot_56)\n (inReceptacle RemoteControl_bar__plus_01_dot_23_bar__plus_00_dot_48_bar__plus_00_dot_19 Sofa_bar__plus_01_dot_42_bar_00_dot_00_bar__plus_00_dot_39)\n (inReceptacle Pillow_bar__plus_01_dot_44_bar__plus_00_dot_52_bar__minus_00_dot_13 Sofa_bar__plus_01_dot_42_bar_00_dot_00_bar__plus_00_dot_39)\n (inReceptacle CellPhone_bar__plus_01_dot_48_bar__plus_00_dot_48_bar__plus_00_dot_98 Sofa_bar__plus_01_dot_42_bar_00_dot_00_bar__plus_00_dot_39)\n (inReceptacle Laptop_bar__plus_01_dot_42_bar__plus_00_dot_48_bar__plus_00_dot_39 Sofa_bar__plus_01_dot_42_bar_00_dot_00_bar__plus_00_dot_39)\n (inReceptacle Pillow_bar__plus_01_dot_42_bar__plus_00_dot_55_bar__plus_00_dot_78 Sofa_bar__plus_01_dot_42_bar_00_dot_00_bar__plus_00_dot_39)\n (inReceptacle Plate_bar__plus_01_dot_52_bar__plus_00_dot_71_bar__minus_00_dot_71 SideTable_bar__plus_01_dot_52_bar__plus_00_dot_00_bar__minus_00_dot_70)\n (inReceptacle KeyChain_bar__minus_00_dot_29_bar__plus_00_dot_55_bar__plus_01_dot_82 Shelf_bar__minus_00_dot_20_bar__plus_00_dot_54_bar__plus_01_dot_93)\n (inReceptacle Statue_bar__minus_00_dot_39_bar__plus_00_dot_56_bar__plus_01_dot_88 Shelf_bar__minus_00_dot_20_bar__plus_00_dot_54_bar__plus_01_dot_93)\n (inReceptacle CellPhone_bar__plus_00_dot_13_bar__plus_00_dot_55_bar__plus_01_dot_88 Shelf_bar__minus_00_dot_20_bar__plus_00_dot_54_bar__plus_01_dot_93)\n (inReceptacle Vase_bar__minus_00_dot_19_bar__plus_00_dot_56_bar__plus_01_dot_88 Shelf_bar__minus_00_dot_20_bar__plus_00_dot_54_bar__plus_01_dot_93)\n \n \n (receptacleAtLocation ArmChair_bar__minus_01_dot_76_bar__plus_00_dot_00_bar__minus_01_dot_49 loc_bar__minus_2_bar__minus_4_bar_3_bar_60)\n (receptacleAtLocation CoffeeTable_bar__plus_00_dot_17_bar_00_dot_00_bar__plus_00_dot_42 loc_bar__minus_4_bar_2_bar_1_bar_60)\n (receptacleAtLocation Drawer_bar__plus_01_dot_52_bar__plus_00_dot_62_bar__minus_00_dot_76 loc_bar_5_bar__minus_6_bar_0_bar_60)\n (receptacleAtLocation GarbageCan_bar__minus_01_dot_89_bar__plus_00_dot_00_bar__minus_00_dot_41 loc_bar__minus_6_bar__minus_3_bar_3_bar_60)\n (receptacleAtLocation Shelf_bar__minus_00_dot_20_bar__plus_00_dot_16_bar__plus_01_dot_93 loc_bar__minus_1_bar_6_bar_0_bar_60)\n (receptacleAtLocation Shelf_bar__minus_00_dot_20_bar__plus_00_dot_54_bar__plus_01_dot_93 loc_bar__minus_3_bar_3_bar_0_bar_45)\n (receptacleAtLocation Shelf_bar__minus_00_dot_20_bar__plus_00_dot_87_bar__plus_01_dot_93 loc_bar__minus_3_bar_3_bar_0_bar_30)\n (receptacleAtLocation Shelf_bar__minus_01_dot_82_bar__plus_00_dot_38_bar__plus_00_dot_56 loc_bar__minus_2_bar_2_bar_3_bar_45)\n (receptacleAtLocation Shelf_bar__minus_01_dot_83_bar__plus_00_dot_13_bar__plus_00_dot_56 loc_bar__minus_3_bar_2_bar_3_bar_60)\n (receptacleAtLocation SideTable_bar__plus_01_dot_52_bar__plus_00_dot_00_bar__minus_00_dot_70 loc_bar_5_bar__minus_6_bar_0_bar_60)\n (receptacleAtLocation SideTable_bar__plus_03_dot_58_bar__plus_00_dot_00_bar__minus_01_dot_17 loc_bar_10_bar__minus_5_bar_1_bar_60)\n (receptacleAtLocation Sofa_bar__plus_01_dot_42_bar_00_dot_00_bar__plus_00_dot_39 loc_bar_3_bar_2_bar_1_bar_60)\n (receptacleAtLocation TVStand_bar__minus_01_dot_97_bar_00_dot_00_bar__plus_00_dot_56 loc_bar__minus_4_bar_2_bar_3_bar_60)\n (objectAtLocation Statue_bar__minus_01_dot_81_bar__plus_00_dot_61_bar__plus_00_dot_21 loc_bar__minus_4_bar_2_bar_3_bar_60)\n (objectAtLocation Vase_bar__minus_01_dot_86_bar__plus_00_dot_10_bar__plus_01_dot_06 loc_bar__minus_3_bar_2_bar_3_bar_60)\n (objectAtLocation Pillow_bar__plus_01_dot_44_bar__plus_00_dot_52_bar__minus_00_dot_13 loc_bar_3_bar_2_bar_1_bar_60)\n (objectAtLocation RemoteControl_bar__minus_02_dot_04_bar__plus_00_dot_60_bar__plus_01_dot_10 loc_bar__minus_4_bar_2_bar_3_bar_60)\n (objectAtLocation CellPhone_bar__plus_01_dot_48_bar__plus_00_dot_48_bar__plus_00_dot_98 loc_bar_3_bar_2_bar_1_bar_60)\n (objectAtLocation Laptop_bar__plus_00_dot_25_bar__plus_00_dot_33_bar__plus_00_dot_65 loc_bar__minus_4_bar_2_bar_1_bar_60)\n (objectAtLocation Plate_bar__minus_01_dot_81_bar__plus_00_dot_35_bar__plus_01_dot_06 loc_bar__minus_2_bar_2_bar_3_bar_45)\n (objectAtLocation Newspaper_bar__plus_03_dot_79_bar__plus_00_dot_64_bar__minus_00_dot_80 loc_bar_10_bar__minus_5_bar_1_bar_60)\n (objectAtLocation Laptop_bar__plus_01_dot_42_bar__plus_00_dot_48_bar__plus_00_dot_39 loc_bar_3_bar_2_bar_1_bar_60)\n (objectAtLocation RemoteControl_bar__plus_01_dot_23_bar__plus_00_dot_48_bar__plus_00_dot_19 loc_bar_3_bar_2_bar_1_bar_60)\n (objectAtLocation CellPhone_bar__plus_03_dot_89_bar__plus_00_dot_64_bar__minus_00_dot_80 loc_bar_10_bar__minus_5_bar_1_bar_60)\n (objectAtLocation Statue_bar__minus_02_dot_12_bar__plus_00_dot_61_bar__plus_01_dot_10 loc_bar__minus_4_bar_2_bar_3_bar_60)\n (objectAtLocation Newspaper_bar__minus_01_dot_97_bar__plus_00_dot_60_bar__plus_00_dot_03 loc_bar__minus_4_bar_2_bar_3_bar_60)\n (objectAtLocation Newspaper_bar__plus_00_dot_00_bar__plus_00_dot_33_bar__plus_00_dot_52 loc_bar__minus_4_bar_2_bar_1_bar_60)\n (objectAtLocation Box_bar__minus_00_dot_22_bar__plus_00_dot_12_bar__minus_02_dot_04 loc_bar_0_bar__minus_7_bar_2_bar_60)\n (objectAtLocation Newspaper_bar__minus_01_dot_97_bar__plus_00_dot_60_bar__plus_01_dot_10 loc_bar__minus_4_bar_2_bar_3_bar_60)\n (objectAtLocation CreditCard_bar__minus_01_dot_73_bar__plus_00_dot_59_bar__plus_00_dot_56 loc_bar__minus_4_bar_2_bar_3_bar_60)\n (objectAtLocation Television_bar__minus_02_dot_03_bar__plus_01_dot_08_bar__plus_00_dot_56 loc_bar__minus_4_bar_2_bar_3_bar_60)\n (objectAtLocation Vase_bar__minus_00_dot_19_bar__plus_00_dot_56_bar__plus_01_dot_88 loc_bar__minus_3_bar_3_bar_0_bar_45)\n (objectAtLocation KeyChain_bar__minus_00_dot_29_bar__plus_00_dot_55_bar__plus_01_dot_82 loc_bar__minus_3_bar_3_bar_0_bar_45)\n (objectAtLocation Plate_bar__plus_01_dot_52_bar__plus_00_dot_71_bar__minus_00_dot_71 loc_bar_5_bar__minus_6_bar_0_bar_60)\n (objectAtLocation LightSwitch_bar__plus_02_dot_10_bar__plus_01_dot_35_bar__minus_00_dot_83 loc_bar_11_bar__minus_3_bar_3_bar_30)\n (objectAtLocation Laptop_bar__plus_00_dot_25_bar__plus_00_dot_33_bar__plus_00_dot_14 loc_bar__minus_4_bar_2_bar_1_bar_60)\n (objectAtLocation HousePlant_bar__minus_00_dot_81_bar__plus_00_dot_00_bar__minus_02_dot_19 loc_bar__minus_3_bar__minus_6_bar_2_bar_60)\n (objectAtLocation FloorLamp_bar__plus_01_dot_69_bar__plus_00_dot_00_bar__plus_01_dot_78 loc_bar_4_bar_7_bar_1_bar_60)\n (objectAtLocation Painting_bar__plus_01_dot_98_bar__plus_01_dot_59_bar__plus_00_dot_33 loc_bar_11_bar_0_bar_3_bar_0)\n (objectAtLocation CellPhone_bar__plus_00_dot_13_bar__plus_00_dot_55_bar__plus_01_dot_88 loc_bar__minus_3_bar_3_bar_0_bar_45)\n (objectAtLocation RemoteControl_bar__plus_03_dot_48_bar__plus_00_dot_64_bar__minus_00_dot_98 loc_bar_10_bar__minus_5_bar_1_bar_60)\n (objectAtLocation Pillow_bar__plus_01_dot_42_bar__plus_00_dot_55_bar__plus_00_dot_78 loc_bar_3_bar_2_bar_1_bar_60)\n (objectAtLocation Vase_bar__plus_03_dot_58_bar__plus_00_dot_64_bar__minus_00_dot_62 loc_bar_10_bar__minus_5_bar_1_bar_60)\n (objectAtLocation Window_bar__plus_02_dot_78_bar__plus_01_dot_28_bar__minus_02_dot_02 loc_bar_11_bar__minus_6_bar_2_bar_30)\n (objectAtLocation Window_bar__minus_00_dot_01_bar__plus_01_dot_29_bar__minus_02_dot_45 loc_bar_0_bar__minus_7_bar_2_bar_30)\n (objectAtLocation Statue_bar__minus_00_dot_39_bar__plus_00_dot_56_bar__plus_01_dot_88 loc_bar__minus_3_bar_3_bar_0_bar_45)\n )\n \n\n (:goal\n (and\n (exists (?r - receptacle)\n (exists (?o - object)\n (and\n (inReceptacle ?o ?r)\n (objectType ?o NewspaperType)\n (receptacleType ?r SofaType)\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to sidetable 1", "take newspaper 1 from sidetable 1", "go to sofa 1", "move newspaper 1 to sofa 1"]}
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alfworld__pick_and_place_simple__13
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pick_and_place_simple
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pick_and_place_simple-Newspaper-None-Sofa-211/trial_T20190906_175004_203092/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 newspaper 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_T20190906_175004_203092)\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__plus_00_dot_17_bar__plus_00_dot_42_bar__plus_00_dot_27 - object\n Box_bar__plus_03_dot_79_bar__plus_00_dot_72_bar__minus_01_dot_53 - object\n CellPhone_bar__plus_03_dot_48_bar__plus_00_dot_64_bar__minus_01_dot_17 - object\n CreditCard_bar__minus_00_dot_08_bar__plus_00_dot_34_bar__plus_00_dot_14 - object\n FloorLamp_bar__plus_01_dot_69_bar__plus_00_dot_00_bar__plus_01_dot_78 - object\n HousePlant_bar__minus_00_dot_81_bar__plus_00_dot_00_bar__minus_02_dot_19 - object\n KeyChain_bar__plus_03_dot_28_bar__plus_00_dot_64_bar__minus_01_dot_17 - object\n KeyChain_bar__plus_03_dot_48_bar__plus_00_dot_64_bar__minus_00_dot_98 - object\n Laptop_bar__plus_01_dot_48_bar__plus_00_dot_48_bar__plus_00_dot_19 - object\n LightSwitch_bar__plus_02_dot_10_bar__plus_01_dot_35_bar__minus_00_dot_83 - object\n Newspaper_bar__minus_01_dot_49_bar__plus_00_dot_29_bar__minus_01_dot_33 - object\n Newspaper_bar__minus_01_dot_81_bar__plus_00_dot_59_bar__plus_00_dot_56 - object\n Newspaper_bar__minus_01_dot_89_bar__plus_00_dot_60_bar__plus_01_dot_10 - object\n Newspaper_bar__minus_01_dot_97_bar__plus_00_dot_60_bar__plus_00_dot_03 - object\n Painting_bar__plus_01_dot_98_bar__plus_01_dot_59_bar__plus_00_dot_33 - object\n Pillow_bar__plus_01_dot_42_bar__plus_00_dot_55_bar__plus_00_dot_78 - object\n Plate_bar__plus_03_dot_34_bar__plus_00_dot_63_bar__minus_01_dot_73 - object\n RemoteControl_bar__plus_01_dot_29_bar__plus_00_dot_48_bar__plus_00_dot_98 - object\n RemoteControl_bar__plus_03_dot_58_bar__plus_00_dot_64_bar__minus_00_dot_80 - object\n RemoteControl_bar__minus_01_dot_73_bar__plus_00_dot_60_bar__plus_00_dot_03 - object\n Statue_bar__plus_00_dot_25_bar__plus_00_dot_35_bar__plus_00_dot_78 - object\n Statue_bar__plus_03_dot_89_bar__plus_00_dot_65_bar__minus_01_dot_17 - object\n Statue_bar__minus_01_dot_81_bar__plus_00_dot_60_bar__plus_00_dot_92 - object\n Television_bar__minus_02_dot_03_bar__plus_01_dot_08_bar__plus_00_dot_56 - object\n Vase_bar__plus_00_dot_02_bar__plus_00_dot_56_bar__plus_01_dot_98 - object\n Vase_bar__plus_03_dot_70_bar__plus_00_dot_63_bar__minus_01_dot_01 - object\n Vase_bar__minus_00_dot_19_bar__plus_00_dot_56_bar__plus_02_dot_03 - object\n Window_bar__plus_02_dot_78_bar__plus_01_dot_28_bar__minus_02_dot_02 - object\n Window_bar__minus_00_dot_01_bar__plus_01_dot_29_bar__minus_02_dot_45 - object\n ArmChair_bar__minus_01_dot_76_bar__plus_00_dot_00_bar__minus_01_dot_49 - receptacle\n CoffeeTable_bar__plus_00_dot_17_bar_00_dot_00_bar__plus_00_dot_42 - receptacle\n Drawer_bar__plus_01_dot_52_bar__plus_00_dot_62_bar__minus_00_dot_76 - receptacle\n GarbageCan_bar__minus_01_dot_89_bar__plus_00_dot_00_bar__minus_00_dot_41 - receptacle\n Shelf_bar__minus_00_dot_20_bar__plus_00_dot_16_bar__plus_01_dot_93 - receptacle\n Shelf_bar__minus_00_dot_20_bar__plus_00_dot_54_bar__plus_01_dot_93 - receptacle\n Shelf_bar__minus_00_dot_20_bar__plus_00_dot_87_bar__plus_01_dot_93 - receptacle\n Shelf_bar__minus_01_dot_82_bar__plus_00_dot_38_bar__plus_00_dot_56 - receptacle\n Shelf_bar__minus_01_dot_83_bar__plus_00_dot_13_bar__plus_00_dot_56 - receptacle\n SideTable_bar__plus_01_dot_52_bar__plus_00_dot_00_bar__minus_00_dot_70 - receptacle\n SideTable_bar__plus_03_dot_58_bar__plus_00_dot_00_bar__minus_01_dot_17 - receptacle\n Sofa_bar__plus_01_dot_42_bar_00_dot_00_bar__plus_00_dot_39 - receptacle\n TVStand_bar__minus_01_dot_97_bar_00_dot_00_bar__plus_00_dot_56 - receptacle\n loc_bar_11_bar__minus_6_bar_2_bar_30 - location\n loc_bar__minus_2_bar_2_bar_3_bar_45 - location\n loc_bar__minus_3_bar_2_bar_3_bar_60 - location\n loc_bar__minus_3_bar_3_bar_0_bar_45 - location\n loc_bar__minus_1_bar_6_bar_0_bar_60 - location\n loc_bar__minus_3_bar_3_bar_0_bar_30 - location\n loc_bar__minus_2_bar__minus_4_bar_3_bar_60 - location\n loc_bar__minus_4_bar_2_bar_3_bar_60 - location\n loc_bar_5_bar__minus_6_bar_0_bar_60 - location\n loc_bar__minus_4_bar_2_bar_1_bar_60 - location\n loc_bar_3_bar_2_bar_1_bar_60 - location\n loc_bar_4_bar_7_bar_1_bar_60 - location\n loc_bar__minus_6_bar__minus_3_bar_3_bar_60 - location\n loc_bar_11_bar_0_bar_3_bar_0 - location\n loc_bar_0_bar__minus_7_bar_2_bar_30 - location\n loc_bar_10_bar__minus_5_bar_1_bar_60 - location\n loc_bar__minus_3_bar__minus_6_bar_2_bar_60 - location\n loc_bar_11_bar__minus_3_bar_3_bar_30 - location\n loc_bar_12_bar_1_bar_2_bar_30 - location\n )\n \n\n(:init\n\n\n (receptacleType Shelf_bar__minus_01_dot_83_bar__plus_00_dot_13_bar__plus_00_dot_56 ShelfType)\n (receptacleType SideTable_bar__plus_01_dot_52_bar__plus_00_dot_00_bar__minus_00_dot_70 SideTableType)\n (receptacleType ArmChair_bar__minus_01_dot_76_bar__plus_00_dot_00_bar__minus_01_dot_49 ArmChairType)\n (receptacleType Shelf_bar__minus_00_dot_20_bar__plus_00_dot_87_bar__plus_01_dot_93 ShelfType)\n (receptacleType Shelf_bar__minus_00_dot_20_bar__plus_00_dot_54_bar__plus_01_dot_93 ShelfType)\n (receptacleType SideTable_bar__plus_03_dot_58_bar__plus_00_dot_00_bar__minus_01_dot_17 SideTableType)\n (receptacleType Shelf_bar__minus_01_dot_82_bar__plus_00_dot_38_bar__plus_00_dot_56 ShelfType)\n (receptacleType Drawer_bar__plus_01_dot_52_bar__plus_00_dot_62_bar__minus_00_dot_76 DrawerType)\n (receptacleType Sofa_bar__plus_01_dot_42_bar_00_dot_00_bar__plus_00_dot_39 SofaType)\n (receptacleType GarbageCan_bar__minus_01_dot_89_bar__plus_00_dot_00_bar__minus_00_dot_41 GarbageCanType)\n (receptacleType Shelf_bar__minus_00_dot_20_bar__plus_00_dot_16_bar__plus_01_dot_93 ShelfType)\n (receptacleType CoffeeTable_bar__plus_00_dot_17_bar_00_dot_00_bar__plus_00_dot_42 CoffeeTableType)\n (receptacleType TVStand_bar__minus_01_dot_97_bar_00_dot_00_bar__plus_00_dot_56 TVStandType)\n (objectType Painting_bar__plus_01_dot_98_bar__plus_01_dot_59_bar__plus_00_dot_33 PaintingType)\n (objectType Newspaper_bar__minus_01_dot_81_bar__plus_00_dot_59_bar__plus_00_dot_56 NewspaperType)\n (objectType RemoteControl_bar__minus_01_dot_73_bar__plus_00_dot_60_bar__plus_00_dot_03 RemoteControlType)\n (objectType RemoteControl_bar__plus_03_dot_58_bar__plus_00_dot_64_bar__minus_00_dot_80 RemoteControlType)\n (objectType Newspaper_bar__minus_01_dot_89_bar__plus_00_dot_60_bar__plus_01_dot_10 NewspaperType)\n (objectType Pillow_bar__plus_01_dot_42_bar__plus_00_dot_55_bar__plus_00_dot_78 PillowType)\n (objectType Statue_bar__plus_03_dot_89_bar__plus_00_dot_65_bar__minus_01_dot_17 StatueType)\n (objectType Newspaper_bar__minus_01_dot_49_bar__plus_00_dot_29_bar__minus_01_dot_33 NewspaperType)\n (objectType Vase_bar__plus_00_dot_02_bar__plus_00_dot_56_bar__plus_01_dot_98 VaseType)\n (objectType Box_bar__plus_00_dot_17_bar__plus_00_dot_42_bar__plus_00_dot_27 BoxType)\n (objectType Window_bar__plus_02_dot_78_bar__plus_01_dot_28_bar__minus_02_dot_02 WindowType)\n (objectType FloorLamp_bar__plus_01_dot_69_bar__plus_00_dot_00_bar__plus_01_dot_78 FloorLampType)\n (objectType Box_bar__plus_03_dot_79_bar__plus_00_dot_72_bar__minus_01_dot_53 BoxType)\n (objectType Television_bar__minus_02_dot_03_bar__plus_01_dot_08_bar__plus_00_dot_56 TelevisionType)\n (objectType Vase_bar__minus_00_dot_19_bar__plus_00_dot_56_bar__plus_02_dot_03 VaseType)\n (objectType Statue_bar__plus_00_dot_25_bar__plus_00_dot_35_bar__plus_00_dot_78 StatueType)\n (objectType Laptop_bar__plus_01_dot_48_bar__plus_00_dot_48_bar__plus_00_dot_19 LaptopType)\n (objectType KeyChain_bar__plus_03_dot_48_bar__plus_00_dot_64_bar__minus_00_dot_98 KeyChainType)\n (objectType Window_bar__minus_00_dot_01_bar__plus_01_dot_29_bar__minus_02_dot_45 WindowType)\n (objectType Newspaper_bar__minus_01_dot_97_bar__plus_00_dot_60_bar__plus_00_dot_03 NewspaperType)\n (objectType CreditCard_bar__minus_00_dot_08_bar__plus_00_dot_34_bar__plus_00_dot_14 CreditCardType)\n (objectType HousePlant_bar__minus_00_dot_81_bar__plus_00_dot_00_bar__minus_02_dot_19 HousePlantType)\n (objectType CellPhone_bar__plus_03_dot_48_bar__plus_00_dot_64_bar__minus_01_dot_17 CellPhoneType)\n (objectType Statue_bar__minus_01_dot_81_bar__plus_00_dot_60_bar__plus_00_dot_92 StatueType)\n (objectType KeyChain_bar__plus_03_dot_28_bar__plus_00_dot_64_bar__minus_01_dot_17 KeyChainType)\n (objectType LightSwitch_bar__plus_02_dot_10_bar__plus_01_dot_35_bar__minus_00_dot_83 LightSwitchType)\n (objectType RemoteControl_bar__plus_01_dot_29_bar__plus_00_dot_48_bar__plus_00_dot_98 RemoteControlType)\n (objectType Plate_bar__plus_03_dot_34_bar__plus_00_dot_63_bar__minus_01_dot_73 PlateType)\n (objectType Vase_bar__plus_03_dot_70_bar__plus_00_dot_63_bar__minus_01_dot_01 VaseType)\n (canContain ShelfType NewspaperType)\n (canContain ShelfType VaseType)\n (canContain ShelfType BoxType)\n (canContain ShelfType CellPhoneType)\n (canContain ShelfType KeyChainType)\n (canContain ShelfType CreditCardType)\n (canContain ShelfType PlateType)\n (canContain ShelfType RemoteControlType)\n (canContain ShelfType StatueType)\n (canContain SideTableType NewspaperType)\n (canContain SideTableType VaseType)\n (canContain SideTableType BoxType)\n (canContain SideTableType CellPhoneType)\n (canContain SideTableType KeyChainType)\n (canContain SideTableType CreditCardType)\n (canContain SideTableType LaptopType)\n (canContain SideTableType PlateType)\n (canContain SideTableType RemoteControlType)\n (canContain SideTableType StatueType)\n (canContain ArmChairType BoxType)\n (canContain ArmChairType LaptopType)\n (canContain ArmChairType CellPhoneType)\n (canContain ArmChairType PillowType)\n (canContain ArmChairType RemoteControlType)\n (canContain ArmChairType KeyChainType)\n (canContain ArmChairType NewspaperType)\n (canContain ArmChairType CreditCardType)\n (canContain ShelfType NewspaperType)\n (canContain ShelfType VaseType)\n (canContain ShelfType BoxType)\n (canContain ShelfType CellPhoneType)\n (canContain ShelfType KeyChainType)\n (canContain ShelfType CreditCardType)\n (canContain ShelfType PlateType)\n (canContain ShelfType RemoteControlType)\n (canContain ShelfType StatueType)\n (canContain ShelfType NewspaperType)\n (canContain ShelfType VaseType)\n (canContain ShelfType BoxType)\n (canContain ShelfType CellPhoneType)\n (canContain ShelfType KeyChainType)\n (canContain ShelfType CreditCardType)\n (canContain ShelfType PlateType)\n (canContain ShelfType RemoteControlType)\n (canContain ShelfType StatueType)\n (canContain SideTableType NewspaperType)\n (canContain SideTableType VaseType)\n (canContain SideTableType BoxType)\n (canContain SideTableType CellPhoneType)\n (canContain SideTableType KeyChainType)\n (canContain SideTableType CreditCardType)\n (canContain SideTableType LaptopType)\n (canContain SideTableType PlateType)\n (canContain SideTableType RemoteControlType)\n (canContain SideTableType StatueType)\n (canContain ShelfType NewspaperType)\n (canContain ShelfType VaseType)\n (canContain ShelfType BoxType)\n (canContain ShelfType CellPhoneType)\n (canContain ShelfType KeyChainType)\n (canContain ShelfType CreditCardType)\n (canContain ShelfType PlateType)\n (canContain ShelfType RemoteControlType)\n (canContain ShelfType StatueType)\n (canContain DrawerType NewspaperType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType RemoteControlType)\n (canContain SofaType BoxType)\n (canContain SofaType LaptopType)\n (canContain SofaType CellPhoneType)\n (canContain SofaType PillowType)\n (canContain SofaType RemoteControlType)\n (canContain SofaType KeyChainType)\n (canContain SofaType NewspaperType)\n (canContain SofaType CreditCardType)\n (canContain GarbageCanType NewspaperType)\n (canContain ShelfType NewspaperType)\n (canContain ShelfType VaseType)\n (canContain ShelfType BoxType)\n (canContain ShelfType CellPhoneType)\n (canContain ShelfType KeyChainType)\n (canContain ShelfType CreditCardType)\n (canContain ShelfType PlateType)\n (canContain ShelfType RemoteControlType)\n (canContain ShelfType StatueType)\n (canContain CoffeeTableType NewspaperType)\n (canContain CoffeeTableType VaseType)\n (canContain CoffeeTableType BoxType)\n (canContain CoffeeTableType CellPhoneType)\n (canContain CoffeeTableType KeyChainType)\n (canContain CoffeeTableType CreditCardType)\n (canContain CoffeeTableType LaptopType)\n (canContain CoffeeTableType PlateType)\n (canContain CoffeeTableType RemoteControlType)\n (canContain CoffeeTableType StatueType)\n (pickupable Newspaper_bar__minus_01_dot_81_bar__plus_00_dot_59_bar__plus_00_dot_56)\n (pickupable RemoteControl_bar__minus_01_dot_73_bar__plus_00_dot_60_bar__plus_00_dot_03)\n (pickupable RemoteControl_bar__plus_03_dot_58_bar__plus_00_dot_64_bar__minus_00_dot_80)\n (pickupable Newspaper_bar__minus_01_dot_89_bar__plus_00_dot_60_bar__plus_01_dot_10)\n (pickupable Pillow_bar__plus_01_dot_42_bar__plus_00_dot_55_bar__plus_00_dot_78)\n (pickupable Statue_bar__plus_03_dot_89_bar__plus_00_dot_65_bar__minus_01_dot_17)\n (pickupable Newspaper_bar__minus_01_dot_49_bar__plus_00_dot_29_bar__minus_01_dot_33)\n (pickupable Vase_bar__plus_00_dot_02_bar__plus_00_dot_56_bar__plus_01_dot_98)\n (pickupable Box_bar__plus_00_dot_17_bar__plus_00_dot_42_bar__plus_00_dot_27)\n (pickupable Box_bar__plus_03_dot_79_bar__plus_00_dot_72_bar__minus_01_dot_53)\n (pickupable Vase_bar__minus_00_dot_19_bar__plus_00_dot_56_bar__plus_02_dot_03)\n (pickupable Statue_bar__plus_00_dot_25_bar__plus_00_dot_35_bar__plus_00_dot_78)\n (pickupable Laptop_bar__plus_01_dot_48_bar__plus_00_dot_48_bar__plus_00_dot_19)\n (pickupable KeyChain_bar__plus_03_dot_48_bar__plus_00_dot_64_bar__minus_00_dot_98)\n (pickupable Newspaper_bar__minus_01_dot_97_bar__plus_00_dot_60_bar__plus_00_dot_03)\n (pickupable CreditCard_bar__minus_00_dot_08_bar__plus_00_dot_34_bar__plus_00_dot_14)\n (pickupable CellPhone_bar__plus_03_dot_48_bar__plus_00_dot_64_bar__minus_01_dot_17)\n (pickupable Statue_bar__minus_01_dot_81_bar__plus_00_dot_60_bar__plus_00_dot_92)\n (pickupable KeyChain_bar__plus_03_dot_28_bar__plus_00_dot_64_bar__minus_01_dot_17)\n (pickupable RemoteControl_bar__plus_01_dot_29_bar__plus_00_dot_48_bar__plus_00_dot_98)\n (pickupable Plate_bar__plus_03_dot_34_bar__plus_00_dot_63_bar__minus_01_dot_73)\n (pickupable Vase_bar__plus_03_dot_70_bar__plus_00_dot_63_bar__minus_01_dot_01)\n (isReceptacleObject Box_bar__plus_00_dot_17_bar__plus_00_dot_42_bar__plus_00_dot_27)\n (isReceptacleObject Box_bar__plus_03_dot_79_bar__plus_00_dot_72_bar__minus_01_dot_53)\n (isReceptacleObject Plate_bar__plus_03_dot_34_bar__plus_00_dot_63_bar__minus_01_dot_73)\n (openable Drawer_bar__plus_01_dot_52_bar__plus_00_dot_62_bar__minus_00_dot_76)\n \n (atLocation agent1 loc_bar_12_bar_1_bar_2_bar_30)\n \n (cleanable Plate_bar__plus_03_dot_34_bar__plus_00_dot_63_bar__minus_01_dot_73)\n \n (heatable Plate_bar__plus_03_dot_34_bar__plus_00_dot_63_bar__minus_01_dot_73)\n (coolable Plate_bar__plus_03_dot_34_bar__plus_00_dot_63_bar__minus_01_dot_73)\n \n \n (toggleable FloorLamp_bar__plus_01_dot_69_bar__plus_00_dot_00_bar__plus_01_dot_78)\n \n \n \n \n (inReceptacle Newspaper_bar__minus_01_dot_97_bar__plus_00_dot_60_bar__plus_00_dot_03 TVStand_bar__minus_01_dot_97_bar_00_dot_00_bar__plus_00_dot_56)\n (inReceptacle Newspaper_bar__minus_01_dot_81_bar__plus_00_dot_59_bar__plus_00_dot_56 TVStand_bar__minus_01_dot_97_bar_00_dot_00_bar__plus_00_dot_56)\n (inReceptacle RemoteControl_bar__minus_01_dot_73_bar__plus_00_dot_60_bar__plus_00_dot_03 TVStand_bar__minus_01_dot_97_bar_00_dot_00_bar__plus_00_dot_56)\n (inReceptacle Television_bar__minus_02_dot_03_bar__plus_01_dot_08_bar__plus_00_dot_56 TVStand_bar__minus_01_dot_97_bar_00_dot_00_bar__plus_00_dot_56)\n (inReceptacle Newspaper_bar__minus_01_dot_89_bar__plus_00_dot_60_bar__plus_01_dot_10 TVStand_bar__minus_01_dot_97_bar_00_dot_00_bar__plus_00_dot_56)\n (inReceptacle Statue_bar__minus_01_dot_81_bar__plus_00_dot_60_bar__plus_00_dot_92 TVStand_bar__minus_01_dot_97_bar_00_dot_00_bar__plus_00_dot_56)\n (inReceptacle Newspaper_bar__minus_01_dot_49_bar__plus_00_dot_29_bar__minus_01_dot_33 ArmChair_bar__minus_01_dot_76_bar__plus_00_dot_00_bar__minus_01_dot_49)\n (inReceptacle CreditCard_bar__minus_00_dot_08_bar__plus_00_dot_34_bar__plus_00_dot_14 CoffeeTable_bar__plus_00_dot_17_bar_00_dot_00_bar__plus_00_dot_42)\n (inReceptacle Box_bar__plus_00_dot_17_bar__plus_00_dot_42_bar__plus_00_dot_27 CoffeeTable_bar__plus_00_dot_17_bar_00_dot_00_bar__plus_00_dot_42)\n (inReceptacle Statue_bar__plus_00_dot_25_bar__plus_00_dot_35_bar__plus_00_dot_78 CoffeeTable_bar__plus_00_dot_17_bar_00_dot_00_bar__plus_00_dot_42)\n (inReceptacle Box_bar__plus_03_dot_79_bar__plus_00_dot_72_bar__minus_01_dot_53 SideTable_bar__plus_03_dot_58_bar__plus_00_dot_00_bar__minus_01_dot_17)\n (inReceptacle RemoteControl_bar__plus_03_dot_58_bar__plus_00_dot_64_bar__minus_00_dot_80 SideTable_bar__plus_03_dot_58_bar__plus_00_dot_00_bar__minus_01_dot_17)\n (inReceptacle KeyChain_bar__plus_03_dot_28_bar__plus_00_dot_64_bar__minus_01_dot_17 SideTable_bar__plus_03_dot_58_bar__plus_00_dot_00_bar__minus_01_dot_17)\n (inReceptacle CellPhone_bar__plus_03_dot_48_bar__plus_00_dot_64_bar__minus_01_dot_17 SideTable_bar__plus_03_dot_58_bar__plus_00_dot_00_bar__minus_01_dot_17)\n (inReceptacle Plate_bar__plus_03_dot_34_bar__plus_00_dot_63_bar__minus_01_dot_73 SideTable_bar__plus_03_dot_58_bar__plus_00_dot_00_bar__minus_01_dot_17)\n (inReceptacle Statue_bar__plus_03_dot_89_bar__plus_00_dot_65_bar__minus_01_dot_17 SideTable_bar__plus_03_dot_58_bar__plus_00_dot_00_bar__minus_01_dot_17)\n (inReceptacle Vase_bar__plus_03_dot_70_bar__plus_00_dot_63_bar__minus_01_dot_01 SideTable_bar__plus_03_dot_58_bar__plus_00_dot_00_bar__minus_01_dot_17)\n (inReceptacle KeyChain_bar__plus_03_dot_48_bar__plus_00_dot_64_bar__minus_00_dot_98 SideTable_bar__plus_03_dot_58_bar__plus_00_dot_00_bar__minus_01_dot_17)\n (inReceptacle RemoteControl_bar__plus_01_dot_29_bar__plus_00_dot_48_bar__plus_00_dot_98 Sofa_bar__plus_01_dot_42_bar_00_dot_00_bar__plus_00_dot_39)\n (inReceptacle Pillow_bar__plus_01_dot_42_bar__plus_00_dot_55_bar__plus_00_dot_78 Sofa_bar__plus_01_dot_42_bar_00_dot_00_bar__plus_00_dot_39)\n (inReceptacle Laptop_bar__plus_01_dot_48_bar__plus_00_dot_48_bar__plus_00_dot_19 Sofa_bar__plus_01_dot_42_bar_00_dot_00_bar__plus_00_dot_39)\n (inReceptacle Vase_bar__minus_00_dot_19_bar__plus_00_dot_56_bar__plus_02_dot_03 Shelf_bar__minus_00_dot_20_bar__plus_00_dot_54_bar__plus_01_dot_93)\n (inReceptacle Vase_bar__plus_00_dot_02_bar__plus_00_dot_56_bar__plus_01_dot_98 Shelf_bar__minus_00_dot_20_bar__plus_00_dot_54_bar__plus_01_dot_93)\n \n \n (receptacleAtLocation ArmChair_bar__minus_01_dot_76_bar__plus_00_dot_00_bar__minus_01_dot_49 loc_bar__minus_2_bar__minus_4_bar_3_bar_60)\n (receptacleAtLocation CoffeeTable_bar__plus_00_dot_17_bar_00_dot_00_bar__plus_00_dot_42 loc_bar__minus_4_bar_2_bar_1_bar_60)\n (receptacleAtLocation Drawer_bar__plus_01_dot_52_bar__plus_00_dot_62_bar__minus_00_dot_76 loc_bar_5_bar__minus_6_bar_0_bar_60)\n (receptacleAtLocation GarbageCan_bar__minus_01_dot_89_bar__plus_00_dot_00_bar__minus_00_dot_41 loc_bar__minus_6_bar__minus_3_bar_3_bar_60)\n (receptacleAtLocation Shelf_bar__minus_00_dot_20_bar__plus_00_dot_16_bar__plus_01_dot_93 loc_bar__minus_1_bar_6_bar_0_bar_60)\n (receptacleAtLocation Shelf_bar__minus_00_dot_20_bar__plus_00_dot_54_bar__plus_01_dot_93 loc_bar__minus_3_bar_3_bar_0_bar_45)\n (receptacleAtLocation Shelf_bar__minus_00_dot_20_bar__plus_00_dot_87_bar__plus_01_dot_93 loc_bar__minus_3_bar_3_bar_0_bar_30)\n (receptacleAtLocation Shelf_bar__minus_01_dot_82_bar__plus_00_dot_38_bar__plus_00_dot_56 loc_bar__minus_2_bar_2_bar_3_bar_45)\n (receptacleAtLocation Shelf_bar__minus_01_dot_83_bar__plus_00_dot_13_bar__plus_00_dot_56 loc_bar__minus_3_bar_2_bar_3_bar_60)\n (receptacleAtLocation SideTable_bar__plus_01_dot_52_bar__plus_00_dot_00_bar__minus_00_dot_70 loc_bar_5_bar__minus_6_bar_0_bar_60)\n (receptacleAtLocation SideTable_bar__plus_03_dot_58_bar__plus_00_dot_00_bar__minus_01_dot_17 loc_bar_10_bar__minus_5_bar_1_bar_60)\n (receptacleAtLocation Sofa_bar__plus_01_dot_42_bar_00_dot_00_bar__plus_00_dot_39 loc_bar_3_bar_2_bar_1_bar_60)\n (receptacleAtLocation TVStand_bar__minus_01_dot_97_bar_00_dot_00_bar__plus_00_dot_56 loc_bar__minus_4_bar_2_bar_3_bar_60)\n (objectAtLocation Statue_bar__minus_01_dot_81_bar__plus_00_dot_60_bar__plus_00_dot_92 loc_bar__minus_4_bar_2_bar_3_bar_60)\n (objectAtLocation Vase_bar__minus_00_dot_19_bar__plus_00_dot_56_bar__plus_02_dot_03 loc_bar__minus_3_bar_3_bar_0_bar_45)\n (objectAtLocation RemoteControl_bar__plus_03_dot_58_bar__plus_00_dot_64_bar__minus_00_dot_80 loc_bar_10_bar__minus_5_bar_1_bar_60)\n (objectAtLocation KeyChain_bar__plus_03_dot_48_bar__plus_00_dot_64_bar__minus_00_dot_98 loc_bar_10_bar__minus_5_bar_1_bar_60)\n (objectAtLocation Newspaper_bar__minus_01_dot_97_bar__plus_00_dot_60_bar__plus_00_dot_03 loc_bar__minus_4_bar_2_bar_3_bar_60)\n (objectAtLocation Box_bar__plus_03_dot_79_bar__plus_00_dot_72_bar__minus_01_dot_53 loc_bar_10_bar__minus_5_bar_1_bar_60)\n (objectAtLocation RemoteControl_bar__plus_01_dot_29_bar__plus_00_dot_48_bar__plus_00_dot_98 loc_bar_3_bar_2_bar_1_bar_60)\n (objectAtLocation Statue_bar__plus_03_dot_89_bar__plus_00_dot_65_bar__minus_01_dot_17 loc_bar_10_bar__minus_5_bar_1_bar_60)\n (objectAtLocation Newspaper_bar__minus_01_dot_89_bar__plus_00_dot_60_bar__plus_01_dot_10 loc_bar__minus_4_bar_2_bar_3_bar_60)\n (objectAtLocation Newspaper_bar__minus_01_dot_81_bar__plus_00_dot_59_bar__plus_00_dot_56 loc_bar__minus_4_bar_2_bar_3_bar_60)\n (objectAtLocation Box_bar__plus_00_dot_17_bar__plus_00_dot_42_bar__plus_00_dot_27 loc_bar__minus_4_bar_2_bar_1_bar_60)\n (objectAtLocation Newspaper_bar__minus_01_dot_49_bar__plus_00_dot_29_bar__minus_01_dot_33 loc_bar__minus_2_bar__minus_4_bar_3_bar_60)\n (objectAtLocation CreditCard_bar__minus_00_dot_08_bar__plus_00_dot_34_bar__plus_00_dot_14 loc_bar__minus_4_bar_2_bar_1_bar_60)\n (objectAtLocation Television_bar__minus_02_dot_03_bar__plus_01_dot_08_bar__plus_00_dot_56 loc_bar__minus_4_bar_2_bar_3_bar_60)\n (objectAtLocation Vase_bar__plus_03_dot_70_bar__plus_00_dot_63_bar__minus_01_dot_01 loc_bar_10_bar__minus_5_bar_1_bar_60)\n (objectAtLocation KeyChain_bar__plus_03_dot_28_bar__plus_00_dot_64_bar__minus_01_dot_17 loc_bar_10_bar__minus_5_bar_1_bar_60)\n (objectAtLocation Plate_bar__plus_03_dot_34_bar__plus_00_dot_63_bar__minus_01_dot_73 loc_bar_10_bar__minus_5_bar_1_bar_60)\n (objectAtLocation LightSwitch_bar__plus_02_dot_10_bar__plus_01_dot_35_bar__minus_00_dot_83 loc_bar_11_bar__minus_3_bar_3_bar_30)\n (objectAtLocation Laptop_bar__plus_01_dot_48_bar__plus_00_dot_48_bar__plus_00_dot_19 loc_bar_3_bar_2_bar_1_bar_60)\n (objectAtLocation HousePlant_bar__minus_00_dot_81_bar__plus_00_dot_00_bar__minus_02_dot_19 loc_bar__minus_3_bar__minus_6_bar_2_bar_60)\n (objectAtLocation FloorLamp_bar__plus_01_dot_69_bar__plus_00_dot_00_bar__plus_01_dot_78 loc_bar_4_bar_7_bar_1_bar_60)\n (objectAtLocation Painting_bar__plus_01_dot_98_bar__plus_01_dot_59_bar__plus_00_dot_33 loc_bar_11_bar_0_bar_3_bar_0)\n (objectAtLocation CellPhone_bar__plus_03_dot_48_bar__plus_00_dot_64_bar__minus_01_dot_17 loc_bar_10_bar__minus_5_bar_1_bar_60)\n (objectAtLocation RemoteControl_bar__minus_01_dot_73_bar__plus_00_dot_60_bar__plus_00_dot_03 loc_bar__minus_4_bar_2_bar_3_bar_60)\n (objectAtLocation Pillow_bar__plus_01_dot_42_bar__plus_00_dot_55_bar__plus_00_dot_78 loc_bar_3_bar_2_bar_1_bar_60)\n (objectAtLocation Vase_bar__plus_00_dot_02_bar__plus_00_dot_56_bar__plus_01_dot_98 loc_bar__minus_3_bar_3_bar_0_bar_45)\n (objectAtLocation Window_bar__plus_02_dot_78_bar__plus_01_dot_28_bar__minus_02_dot_02 loc_bar_11_bar__minus_6_bar_2_bar_30)\n (objectAtLocation Window_bar__minus_00_dot_01_bar__plus_01_dot_29_bar__minus_02_dot_45 loc_bar_0_bar__minus_7_bar_2_bar_30)\n (objectAtLocation Statue_bar__plus_00_dot_25_bar__plus_00_dot_35_bar__plus_00_dot_78 loc_bar__minus_4_bar_2_bar_1_bar_60)\n )\n \n\n (:goal\n (and\n (exists (?r - receptacle)\n (exists (?o - object)\n (and\n (inReceptacle ?o ?r)\n (objectType ?o NewspaperType)\n (receptacleType ?r SofaType)\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to armchair 1", "take newspaper 4 from armchair 1", "go to sofa 1", "move newspaper 4 to sofa 1"]}
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alfworld__pick_clean_then_place_in_recep__10
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pick_clean_then_place_in_recep
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pick_clean_then_place_in_recep-Knife-None-Drawer-2/trial_T20190909_141716_738835/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 knife in drawer.\"\n }\n ],\n\n \"GotoLocation.feedback\": [\n {\n \"rhs\": \"You arrive at {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"OpenObject.feedback\": [\n {\n \"rhs\": \"You open the {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"CloseObject.feedback\": [\n {\n \"rhs\": \"You close the {r.name}.\"\n }\n ],\n\n \"PickupObject.feedback\": [\n {\n \"rhs\": \"You pick up the {o.name} from the {r.name}.\"\n }\n ],\n\n \"PickupObjectFromReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupObjectFromReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupEmptyReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupEmptyReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupFullReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupFullReceptacleObject: You pick up the {outerr.name}.\"\n }\n ],\n\n \"PutObject.feedback\": [\n {\n \"rhs\": \"You move the {o.name} to the {r.name}.\"\n }\n ],\n\n \"PutObjectInReceptacleObject.feedback\": [\n {\n \"rhs\": \"PutObjectInReceptacleObject: You put the {o.name} in the {outero.name}.\"\n }\n ],\n\n \"PutEmptyReceptacleObjectinReceptacle.feedback\": [\n {\n \"rhs\": \"PutEmptyReceptacleObjectinReceptacle: You put the {o.name} in the {r.name}.\"\n }\n ],\n\n \"PutFullReceptacleObjectInReceptacle.feedback\": [\n {\n \"rhs\": \"PutFullReceptacleObjectInReceptacle: You put the {outero.name} in the {r.name}.\"\n }\n ],\n\n \"inventory.feedback\": [\n {\n \"condition\": \"holdsany(a:agent)\",\n \"rhs\": \"You are carrying: [{o.indefinite + ' ' + o.name | holds(a:agent, o:object)}].\"\n },\n {\n \"rhs\": \"You are not carrying anything.\"\n }\n ],\n\n \"examineReceptacle.feedback\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \"The {r.name} is open. In it, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \"The {r.name} is closed.\"\n },\n {\n \"rhs\": \"On the {r.name}, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n }\n ],\n\n \"examineObject.feedback\": [\n {\n \"condition\": \"isreceptacleobject(o:object)\",\n \"rhs\": \"This is a normal {o.name}. In it, you see [{o2.indefinite + ' ' + o2.name | inreceptacleobject(o2:object, o:object)}].\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a clean sliced {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot sliced {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object)\",\n \"rhs\": \"This is a hot and clean {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object)\",\n \"rhs\": \"This is a cool and clean {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object)\",\n \"rhs\": \"This is a hot {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object)\",\n \"rhs\": \"This is a clean {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object)\",\n \"rhs\": \"This is a cold {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"This {o.name} is on.\"\n },\n {\n \"condition\": \"toggleable(o:object) & not_istoggled(o:object)\",\n \"rhs\": \"This {o.name} is off.\"\n },\n {\n \"condition\": \"sliceable(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a sliced {o.name}.\"\n },\n {\n \"rhs\": \"There's nothing special about {o.name}.\"\n }\n ]\n }\n\"\"\";\n\naction GotoLocation {\n template :: \"go to [{r.name | receptacleatlocation(r:receptacle, lend:location)}]\";\n feedback :: \"#GotoLocation.feedback#\";\n}\n\naction OpenObject {\n template :: \"open {r}\";\n feedback :: \"#OpenObject.feedback#\";\n}\n\naction CloseObject {\n template :: \"close {r}\";\n feedback :: \"#CloseObject.feedback#\";\n}\n\naction PickupObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObject.feedback#\";\n}\n\naction PickupObjectFromReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObjectFromReceptacleObject.feedback#\";\n}\n\naction PickupEmptyReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupEmptyReceptacleObject.feedback#\";\n}\n\naction PickupFullReceptacleObject {\n template :: \"take {outerr} from {r}\";\n feedback :: \"#PickupFullReceptacleObject.feedback#\";\n}\n\naction PutObject {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutObject.feedback#\";\n}\n\naction PutObjectInReceptacleObject {\n template :: \"put {o} into {outero}\";\n feedback :: \"#PutObjectInReceptacleObject.feedback#\";\n}\n\naction PutEmptyReceptacleObjectinReceptacle {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutEmptyReceptacleObjectinReceptacle.feedback#\";\n}\n\naction PutFullReceptacleObjectInReceptacle {\n template :: \"put {outero} in {r}\";\n feedback :: \"#PutFullReceptacleObjectInReceptacle.feedback#\";\n}\n\naction inventory {\n template :: \"inventory\";\n feedback :: \"#inventory.feedback#\";\n}\n\naction examineReceptacle {\n template :: \"examine {r}\";\n feedback :: \"#examineReceptacle.feedback#\";\n}\n\naction examineObject {\n template :: \"examine {o}\";\n feedback :: \"#examineObject.feedback#\";\n}\n\naction ToggleObject {\n template :: \"use {o}\";\n feedback :: \"#toggleObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"toggleObject.feedback\": [\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"You turn on the {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object)\",\n \"rhs\": \"You turn off the {o.name}.\"\n },\n {\n \"rhs\": \"You don't see any switch on the {o.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction HeatObject {\n template :: \"heat {o} with {r}\";\n feedback :: \"#heatObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"heatObject.feedback\": [\n {\n \"rhs\": \"You heat the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CleanObject {\n template :: \"clean {o} with {r}\";\n feedback :: \"#cleanObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"cleanObject.feedback\": [\n {\n \"rhs\": \"You clean the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CoolObject {\n template :: \"cool {o} with {r}\";\n feedback :: \"#coolObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"coolObject.feedback\": [\n {\n \"rhs\": \"You cool the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction SliceObject {\n template :: \"slice {co} with {ko}\";\n feedback :: \"#sliceObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"sliceObject.feedback\": [\n {\n \"rhs\": \"You sliced the {co.name} with the {ko.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction look {\n template :: \"look\";\n feedback :: \"#look.feedback#\";\n\n grammar :: \"\"\"\n {\n \"look.feedback\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"#look-variations#. Next to it, you see #list_objects_on_the_floor#.\"\n },\n {\n \"rhs\": \"You are in the middle of a room. Looking quickly around you, you see #list_appliances#.\"\n }\n ],\n\n \"look-variations\": [\n {\n \"rhs\": \"You are facing the [{r.name | atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)}]\"\n }\n ],\n\n \"list_objects_on_the_floor\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)\",\n \"rhs\": \"[{#overview(o)# | atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"list_appliances\": [\n {\n \"condition\": \"receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"[{#overview(r)# | receptacleatlocation(r:receptacle, l:location)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"overview(o, r)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name} (in/on the {r.name})}\"\n }\n ],\n\n \"overview(o)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name}\"\n }\n ],\n \"overview(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}\"\n }\n ],\n \"overview_with_state(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}#overview_state(r)#\"\n }\n ],\n \"overview_state(r)\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \" (it is open)\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \" (it is closed)\"\n },\n {\n \"rhs\": \"\"\n }\n ],\n\n \"list_empty\": [\n {\n \"rhs\": \"nothing\"\n }\n ],\n \"list_separator\": [\n {\n \"rhs\": \", \"\n }\n ],\n \"list_last_separator\": [\n {\n \"rhs\": \", and \"\n }\n ]\n }\n \"\"\";\n}\n\naction help {\n template :: \"help\";\n feedback :: \"\nAvailable commands:\n look: look around your current location\n inventory: check your current inventory\n go to (receptacle): move to a receptacle\n open (receptacle): open a receptacle\n close (receptacle): close a receptacle\n take (object) from (receptacle): take an object from a receptacle\n move (object) to (receptacle): place an object in or on a receptacle\n examine (something): examine a receptacle or an object\n use (object): use an object\n heat (object) with (receptacle): heat an object using a receptacle\n clean (object) with (receptacle): clean an object using a receptacle\n cool (object) with (receptacle): cool an object using a receptacle\n slice (object) with (object): slice an object using a sharp object\n\";\n}\n", "pddl_problem": "\n(define (problem plan_trial_T20190909_141716_738835)\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_86_bar__plus_01_dot_52_bar__minus_00_dot_27 - object\n Bowl_bar__plus_01_dot_90_bar__plus_00_dot_91_bar__plus_01_dot_33 - object\n Bread_bar__minus_00_dot_32_bar__plus_01_dot_01_bar__plus_00_dot_04 - object\n ButterKnife_bar__plus_01_dot_71_bar__plus_00_dot_12_bar__plus_00_dot_45 - object\n ButterKnife_bar__plus_01_dot_80_bar__plus_00_dot_91_bar__minus_01_dot_51 - object\n ButterKnife_bar__plus_02_dot_03_bar__plus_00_dot_91_bar__minus_01_dot_32 - object\n CellPhone_bar__plus_01_dot_60_bar__plus_00_dot_12_bar__plus_00_dot_53 - object\n Chair_bar__minus_00_dot_06_bar__plus_00_dot_52_bar__plus_01_dot_37 - object\n Cup_bar__plus_00_dot_32_bar__plus_00_dot_92_bar__plus_00_dot_27 - object\n DishSponge_bar__minus_01_dot_80_bar__plus_00_dot_04_bar__plus_01_dot_29 - object\n Egg_bar__plus_00_dot_11_bar__plus_00_dot_98_bar__plus_00_dot_97 - object\n Egg_bar__minus_01_dot_66_bar__plus_00_dot_62_bar__minus_00_dot_08 - object\n Faucet_bar__minus_00_dot_02_bar__plus_01_dot_14_bar__minus_01_dot_61 - object\n Fork_bar__plus_01_dot_66_bar__plus_00_dot_58_bar__minus_00_dot_24 - object\n Kettle_bar__plus_01_dot_77_bar__plus_00_dot_94_bar__plus_00_dot_82 - object\n Knife_bar__plus_01_dot_99_bar__plus_00_dot_93_bar__plus_01_dot_11 - object\n Knife_bar__minus_00_dot_21_bar__plus_00_dot_95_bar__plus_00_dot_51 - object\n Ladle_bar__plus_01_dot_71_bar__plus_00_dot_81_bar__plus_01_dot_37 - object\n Ladle_bar__minus_01_dot_11_bar__plus_01_dot_72_bar__minus_01_dot_61 - object\n Lettuce_bar__plus_00_dot_00_bar__plus_01_dot_00_bar__plus_00_dot_51 - object\n Lettuce_bar__minus_00_dot_21_bar__plus_01_dot_00_bar__plus_00_dot_27 - object\n LightSwitch_bar__minus_00_dot_15_bar__plus_01_dot_29_bar__plus_03_dot_70 - object\n Mug_bar__minus_00_dot_09_bar__plus_00_dot_76_bar__minus_01_dot_55 - object\n Pan_bar__plus_01_dot_77_bar__plus_00_dot_94_bar__plus_00_dot_38 - object\n Pan_bar__minus_01_dot_75_bar__plus_01_dot_68_bar__minus_00_dot_18 - object\n PepperShaker_bar__minus_00_dot_25_bar__plus_00_dot_11_bar__minus_01_dot_22 - object\n Plate_bar__plus_00_dot_00_bar__plus_00_dot_92_bar__plus_01_dot_20 - object\n Plate_bar__plus_00_dot_17_bar__plus_00_dot_76_bar__minus_01_dot_44 - object\n Plate_bar__minus_00_dot_21_bar__plus_00_dot_92_bar__plus_00_dot_97 - object\n Potato_bar__plus_00_dot_66_bar__plus_00_dot_94_bar__minus_01_dot_32 - object\n Pot_bar__plus_00_dot_89_bar__plus_00_dot_90_bar__minus_01_dot_41 - object\n SaltShaker_bar__minus_01_dot_36_bar__plus_01_dot_68_bar__minus_01_dot_73 - object\n Sink_bar__plus_00_dot_00_bar__plus_00_dot_89_bar__minus_01_dot_44 - object\n SoapBottle_bar__plus_00_dot_11_bar__plus_00_dot_93_bar__plus_00_dot_27 - object\n SoapBottle_bar__minus_00_dot_19_bar__plus_00_dot_12_bar__minus_01_dot_53 - object\n Spatula_bar_00_dot_00_bar__plus_00_dot_78_bar__minus_01_dot_32 - object\n Spoon_bar__plus_01_dot_66_bar__plus_00_dot_12_bar__plus_00_dot_75 - object\n Spoon_bar__plus_01_dot_82_bar__plus_00_dot_12_bar__minus_00_dot_02 - object\n StoveKnob_bar__plus_01_dot_60_bar__plus_00_dot_92_bar__plus_00_dot_46 - object\n StoveKnob_bar__plus_01_dot_60_bar__plus_00_dot_92_bar__plus_00_dot_52 - object\n StoveKnob_bar__plus_01_dot_60_bar__plus_00_dot_92_bar__plus_00_dot_57 - object\n StoveKnob_bar__plus_01_dot_60_bar__plus_00_dot_92_bar__plus_00_dot_63 - object\n StoveKnob_bar__plus_01_dot_60_bar__plus_00_dot_92_bar__plus_00_dot_68 - object\n StoveKnob_bar__plus_01_dot_60_bar__plus_00_dot_92_bar__plus_00_dot_74 - object\n Tomato_bar__minus_01_dot_72_bar__plus_00_dot_62_bar__minus_00_dot_27 - object\n Tomato_bar__minus_01_dot_75_bar__plus_01_dot_52_bar__plus_00_dot_20 - object\n Window_bar__plus_02_dot_22_bar__plus_01_dot_57_bar__minus_00_dot_39 - object\n Window_bar__minus_00_dot_01_bar__plus_01_dot_58_bar__minus_01_dot_82 - object\n Window_bar__minus_03_dot_24_bar__plus_01_dot_62_bar__plus_02_dot_69 - object\n Cabinet_bar__plus_00_dot_41_bar__plus_00_dot_48_bar__plus_00_dot_45 - receptacle\n Cabinet_bar__plus_00_dot_50_bar__plus_00_dot_48_bar__minus_01_dot_15 - receptacle\n Cabinet_bar__plus_01_dot_39_bar__plus_00_dot_48_bar__minus_01_dot_15 - receptacle\n Cabinet_bar__plus_01_dot_71_bar__plus_02_dot_02_bar__minus_01_dot_45 - receptacle\n Cabinet_bar__plus_01_dot_79_bar__plus_02_dot_02_bar__minus_00_dot_82 - receptacle\n Cabinet_bar__minus_00_dot_50_bar__plus_00_dot_48_bar__minus_01_dot_15 - receptacle\n Cabinet_bar__minus_00_dot_63_bar__plus_02_dot_02_bar__minus_01_dot_45 - receptacle\n Cabinet_bar__minus_01_dot_39_bar__plus_00_dot_48_bar__minus_01_dot_15 - receptacle\n Cabinet_bar__minus_01_dot_70_bar__plus_02_dot_02_bar__minus_01_dot_45 - receptacle\n CoffeeMachine_bar__plus_01_dot_36_bar__plus_00_dot_90_bar__minus_01_dot_60 - receptacle\n CounterTop_bar__plus_00_dot_00_bar__plus_00_dot_95_bar__minus_01_dot_51 - receptacle\n CounterTop_bar__minus_00_dot_02_bar__plus_00_dot_96_bar__plus_00_dot_51 - receptacle\n Drawer_bar__plus_00_dot_81_bar__plus_00_dot_48_bar__minus_01_dot_16 - receptacle\n Drawer_bar__plus_01_dot_50_bar__plus_00_dot_14_bar__plus_00_dot_60 - receptacle\n Drawer_bar__plus_01_dot_50_bar__plus_00_dot_20_bar__plus_01_dot_22 - receptacle\n Drawer_bar__plus_01_dot_50_bar__plus_00_dot_20_bar__minus_00_dot_02 - receptacle\n Drawer_bar__plus_01_dot_50_bar__plus_00_dot_31_bar__plus_00_dot_60 - receptacle\n Drawer_bar__plus_01_dot_50_bar__plus_00_dot_43_bar__minus_00_dot_02 - receptacle\n Drawer_bar__plus_01_dot_50_bar__plus_00_dot_52_bar__plus_01_dot_22 - receptacle\n Drawer_bar__plus_01_dot_50_bar__plus_00_dot_54_bar__plus_00_dot_60 - receptacle\n Drawer_bar__plus_01_dot_50_bar__plus_00_dot_60_bar__minus_00_dot_02 - receptacle\n Drawer_bar__plus_01_dot_50_bar__plus_00_dot_63_bar__plus_00_dot_61 - receptacle\n Drawer_bar__plus_01_dot_50_bar__plus_00_dot_63_bar__minus_00_dot_02 - receptacle\n Drawer_bar__plus_01_dot_50_bar__plus_00_dot_78_bar__plus_01_dot_22 - receptacle\n Drawer_bar__minus_00_dot_70_bar__plus_00_dot_48_bar__minus_01_dot_16 - receptacle\n Fridge_bar__minus_01_dot_76_bar__plus_00_dot_00_bar__plus_00_dot_01 - receptacle\n GarbageCan_bar__minus_01_dot_80_bar__plus_00_dot_00_bar__plus_01_dot_33 - receptacle\n Microwave_bar__plus_01_dot_93_bar__plus_00_dot_90_bar__minus_00_dot_77 - receptacle\n Sink_bar__plus_00_dot_00_bar__plus_00_dot_89_bar__minus_01_dot_44_bar_SinkBasin - receptacle\n StoveBurner_bar__plus_01_dot_77_bar__plus_00_dot_90_bar__plus_00_dot_38 - receptacle\n StoveBurner_bar__plus_01_dot_77_bar__plus_00_dot_90_bar__plus_00_dot_60 - receptacle\n StoveBurner_bar__plus_01_dot_77_bar__plus_00_dot_90_bar__plus_00_dot_82 - receptacle\n StoveBurner_bar__plus_01_dot_98_bar__plus_00_dot_90_bar__plus_00_dot_38 - receptacle\n StoveBurner_bar__plus_01_dot_98_bar__plus_00_dot_90_bar__plus_00_dot_60 - receptacle\n StoveBurner_bar__plus_01_dot_98_bar__plus_00_dot_90_bar__plus_00_dot_82 - receptacle\n Toaster_bar__plus_01_dot_98_bar__plus_00_dot_90_bar__minus_00_dot_34 - receptacle\n loc_bar_4_bar__minus_3_bar_1_bar__minus_30 - location\n loc_bar_3_bar_1_bar_1_bar_60 - location\n loc_bar_5_bar_2_bar_1_bar_60 - location\n loc_bar_3_bar_4_bar_1_bar_60 - location\n loc_bar_2_bar_7_bar_1_bar_60 - location\n loc_bar__minus_3_bar__minus_1_bar_2_bar_60 - location\n loc_bar__minus_3_bar__minus_2_bar_2_bar_60 - location\n loc_bar_4_bar__minus_3_bar_1_bar_45 - location\n loc_bar_0_bar__minus_3_bar_2_bar_45 - location\n loc_bar_5_bar_3_bar_1_bar_60 - location\n loc_bar_3_bar_7_bar_2_bar_60 - location\n loc_bar_0_bar_8_bar_2_bar_60 - location\n loc_bar_3_bar_3_bar_1_bar_60 - location\n loc_bar_5_bar_0_bar_1_bar_60 - location\n loc_bar_5_bar_0_bar_2_bar_45 - location\n loc_bar_5_bar_4_bar_3_bar_60 - location\n loc_bar__minus_10_bar_11_bar_3_bar_0 - location\n loc_bar_4_bar_3_bar_2_bar_60 - location\n loc_bar__minus_5_bar_6_bar_3_bar_60 - location\n loc_bar__minus_3_bar_0_bar_3_bar_60 - location\n loc_bar__minus_3_bar__minus_3_bar_3_bar__minus_15 - location\n loc_bar__minus_1_bar_12_bar_0_bar_30 - location\n loc_bar_5_bar_3_bar_1_bar_45 - location\n loc_bar__minus_3_bar__minus_3_bar_2_bar_45 - location\n loc_bar__minus_3_bar__minus_3_bar_2_bar__minus_30 - location\n loc_bar_4_bar__minus_3_bar_2_bar_45 - location\n loc_bar_5_bar_2_bar_1_bar_45 - location\n loc_bar_3_bar__minus_1_bar_2_bar_60 - location\n loc_bar_3_bar_6_bar_1_bar_45 - location\n loc_bar_3_bar_2_bar_3_bar_45 - location\n loc_bar_4_bar__minus_1_bar_1_bar_45 - location\n loc_bar_0_bar__minus_3_bar_2_bar_60 - location\n loc_bar_5_bar_4_bar_0_bar_30 - location\n )\n \n\n(:init\n\n\n (receptacleType StoveBurner_bar__plus_01_dot_98_bar__plus_00_dot_90_bar__plus_00_dot_82 StoveBurnerType)\n (receptacleType Cabinet_bar__minus_01_dot_70_bar__plus_02_dot_02_bar__minus_01_dot_45 CabinetType)\n (receptacleType CounterTop_bar__minus_00_dot_02_bar__plus_00_dot_96_bar__plus_00_dot_51 CounterTopType)\n (receptacleType Cabinet_bar__plus_01_dot_79_bar__plus_02_dot_02_bar__minus_00_dot_82 CabinetType)\n (receptacleType Cabinet_bar__minus_00_dot_50_bar__plus_00_dot_48_bar__minus_01_dot_15 CabinetType)\n (receptacleType Drawer_bar__plus_01_dot_50_bar__plus_00_dot_63_bar__plus_00_dot_61 DrawerType)\n (receptacleType Drawer_bar__minus_00_dot_70_bar__plus_00_dot_48_bar__minus_01_dot_16 DrawerType)\n (receptacleType Drawer_bar__plus_01_dot_50_bar__plus_00_dot_78_bar__plus_01_dot_22 DrawerType)\n (receptacleType Cabinet_bar__minus_01_dot_39_bar__plus_00_dot_48_bar__minus_01_dot_15 CabinetType)\n (receptacleType Cabinet_bar__plus_00_dot_41_bar__plus_00_dot_48_bar__plus_00_dot_45 CabinetType)\n (receptacleType CounterTop_bar__plus_00_dot_00_bar__plus_00_dot_95_bar__minus_01_dot_51 CounterTopType)\n (receptacleType Drawer_bar__plus_01_dot_50_bar__plus_00_dot_31_bar__plus_00_dot_60 DrawerType)\n (receptacleType Toaster_bar__plus_01_dot_98_bar__plus_00_dot_90_bar__minus_00_dot_34 ToasterType)\n (receptacleType CoffeeMachine_bar__plus_01_dot_36_bar__plus_00_dot_90_bar__minus_01_dot_60 CoffeeMachineType)\n (receptacleType Drawer_bar__plus_01_dot_50_bar__plus_00_dot_14_bar__plus_00_dot_60 DrawerType)\n (receptacleType Microwave_bar__plus_01_dot_93_bar__plus_00_dot_90_bar__minus_00_dot_77 MicrowaveType)\n (receptacleType StoveBurner_bar__plus_01_dot_98_bar__plus_00_dot_90_bar__plus_00_dot_60 StoveBurnerType)\n (receptacleType Cabinet_bar__plus_01_dot_39_bar__plus_00_dot_48_bar__minus_01_dot_15 CabinetType)\n (receptacleType Drawer_bar__plus_01_dot_50_bar__plus_00_dot_63_bar__minus_00_dot_02 DrawerType)\n (receptacleType Cabinet_bar__minus_00_dot_63_bar__plus_02_dot_02_bar__minus_01_dot_45 CabinetType)\n (receptacleType Sink_bar__plus_00_dot_00_bar__plus_00_dot_89_bar__minus_01_dot_44_bar_SinkBasin SinkBasinType)\n (receptacleType Drawer_bar__plus_01_dot_50_bar__plus_00_dot_43_bar__minus_00_dot_02 DrawerType)\n (receptacleType Drawer_bar__plus_01_dot_50_bar__plus_00_dot_54_bar__plus_00_dot_60 DrawerType)\n (receptacleType Cabinet_bar__plus_00_dot_50_bar__plus_00_dot_48_bar__minus_01_dot_15 CabinetType)\n (receptacleType StoveBurner_bar__plus_01_dot_77_bar__plus_00_dot_90_bar__plus_00_dot_38 StoveBurnerType)\n (receptacleType Drawer_bar__plus_01_dot_50_bar__plus_00_dot_20_bar__minus_00_dot_02 DrawerType)\n (receptacleType Drawer_bar__plus_01_dot_50_bar__plus_00_dot_20_bar__plus_01_dot_22 DrawerType)\n (receptacleType StoveBurner_bar__plus_01_dot_77_bar__plus_00_dot_90_bar__plus_00_dot_82 StoveBurnerType)\n (receptacleType StoveBurner_bar__plus_01_dot_98_bar__plus_00_dot_90_bar__plus_00_dot_38 StoveBurnerType)\n (receptacleType Cabinet_bar__plus_01_dot_71_bar__plus_02_dot_02_bar__minus_01_dot_45 CabinetType)\n (receptacleType Drawer_bar__plus_01_dot_50_bar__plus_00_dot_60_bar__minus_00_dot_02 DrawerType)\n (receptacleType StoveBurner_bar__plus_01_dot_77_bar__plus_00_dot_90_bar__plus_00_dot_60 StoveBurnerType)\n (receptacleType Drawer_bar__plus_01_dot_50_bar__plus_00_dot_52_bar__plus_01_dot_22 DrawerType)\n (receptacleType GarbageCan_bar__minus_01_dot_80_bar__plus_00_dot_00_bar__plus_01_dot_33 GarbageCanType)\n (receptacleType Drawer_bar__plus_00_dot_81_bar__plus_00_dot_48_bar__minus_01_dot_16 DrawerType)\n (receptacleType Fridge_bar__minus_01_dot_76_bar__plus_00_dot_00_bar__plus_00_dot_01 FridgeType)\n (objectType StoveKnob_bar__plus_01_dot_60_bar__plus_00_dot_92_bar__plus_00_dot_46 StoveKnobType)\n (objectType LightSwitch_bar__minus_00_dot_15_bar__plus_01_dot_29_bar__plus_03_dot_70 LightSwitchType)\n (objectType Pan_bar__plus_01_dot_77_bar__plus_00_dot_94_bar__plus_00_dot_38 PanType)\n (objectType CellPhone_bar__plus_01_dot_60_bar__plus_00_dot_12_bar__plus_00_dot_53 CellPhoneType)\n (objectType Potato_bar__plus_00_dot_66_bar__plus_00_dot_94_bar__minus_01_dot_32 PotatoType)\n (objectType StoveKnob_bar__plus_01_dot_60_bar__plus_00_dot_92_bar__plus_00_dot_68 StoveKnobType)\n (objectType Lettuce_bar__minus_00_dot_21_bar__plus_01_dot_00_bar__plus_00_dot_27 LettuceType)\n (objectType Plate_bar__plus_00_dot_00_bar__plus_00_dot_92_bar__plus_01_dot_20 PlateType)\n (objectType Fork_bar__plus_01_dot_66_bar__plus_00_dot_58_bar__minus_00_dot_24 ForkType)\n (objectType Window_bar__plus_02_dot_22_bar__plus_01_dot_57_bar__minus_00_dot_39 WindowType)\n (objectType DishSponge_bar__minus_01_dot_80_bar__plus_00_dot_04_bar__plus_01_dot_29 DishSpongeType)\n (objectType Mug_bar__minus_00_dot_09_bar__plus_00_dot_76_bar__minus_01_dot_55 MugType)\n (objectType Chair_bar__minus_00_dot_06_bar__plus_00_dot_52_bar__plus_01_dot_37 ChairType)\n (objectType Pot_bar__plus_00_dot_89_bar__plus_00_dot_90_bar__minus_01_dot_41 PotType)\n (objectType Kettle_bar__plus_01_dot_77_bar__plus_00_dot_94_bar__plus_00_dot_82 KettleType)\n (objectType ButterKnife_bar__plus_01_dot_71_bar__plus_00_dot_12_bar__plus_00_dot_45 ButterKnifeType)\n (objectType SoapBottle_bar__plus_00_dot_11_bar__plus_00_dot_93_bar__plus_00_dot_27 SoapBottleType)\n (objectType Bread_bar__minus_00_dot_32_bar__plus_01_dot_01_bar__plus_00_dot_04 BreadType)\n (objectType Ladle_bar__plus_01_dot_71_bar__plus_00_dot_81_bar__plus_01_dot_37 LadleType)\n (objectType Bowl_bar__plus_01_dot_90_bar__plus_00_dot_91_bar__plus_01_dot_33 BowlType)\n (objectType Knife_bar__minus_00_dot_21_bar__plus_00_dot_95_bar__plus_00_dot_51 KnifeType)\n (objectType PepperShaker_bar__minus_00_dot_25_bar__plus_00_dot_11_bar__minus_01_dot_22 PepperShakerType)\n (objectType Egg_bar__plus_00_dot_11_bar__plus_00_dot_98_bar__plus_00_dot_97 EggType)\n (objectType Plate_bar__minus_00_dot_21_bar__plus_00_dot_92_bar__plus_00_dot_97 PlateType)\n (objectType StoveKnob_bar__plus_01_dot_60_bar__plus_00_dot_92_bar__plus_00_dot_52 StoveKnobType)\n (objectType Apple_bar__minus_01_dot_86_bar__plus_01_dot_52_bar__minus_00_dot_27 AppleType)\n (objectType Window_bar__minus_00_dot_01_bar__plus_01_dot_58_bar__minus_01_dot_82 WindowType)\n (objectType Pan_bar__minus_01_dot_75_bar__plus_01_dot_68_bar__minus_00_dot_18 PanType)\n (objectType Plate_bar__plus_00_dot_17_bar__plus_00_dot_76_bar__minus_01_dot_44 PlateType)\n (objectType StoveKnob_bar__plus_01_dot_60_bar__plus_00_dot_92_bar__plus_00_dot_63 StoveKnobType)\n (objectType SoapBottle_bar__minus_00_dot_19_bar__plus_00_dot_12_bar__minus_01_dot_53 SoapBottleType)\n (objectType Cup_bar__plus_00_dot_32_bar__plus_00_dot_92_bar__plus_00_dot_27 CupType)\n (objectType StoveKnob_bar__plus_01_dot_60_bar__plus_00_dot_92_bar__plus_00_dot_57 StoveKnobType)\n (objectType Window_bar__minus_03_dot_24_bar__plus_01_dot_62_bar__plus_02_dot_69 WindowType)\n (objectType ButterKnife_bar__plus_01_dot_80_bar__plus_00_dot_91_bar__minus_01_dot_51 ButterKnifeType)\n (objectType StoveKnob_bar__plus_01_dot_60_bar__plus_00_dot_92_bar__plus_00_dot_74 StoveKnobType)\n (objectType Tomato_bar__minus_01_dot_72_bar__plus_00_dot_62_bar__minus_00_dot_27 TomatoType)\n (objectType Spoon_bar__plus_01_dot_82_bar__plus_00_dot_12_bar__minus_00_dot_02 SpoonType)\n (objectType Tomato_bar__minus_01_dot_75_bar__plus_01_dot_52_bar__plus_00_dot_20 TomatoType)\n (objectType Knife_bar__plus_01_dot_99_bar__plus_00_dot_93_bar__plus_01_dot_11 KnifeType)\n (objectType SaltShaker_bar__minus_01_dot_36_bar__plus_01_dot_68_bar__minus_01_dot_73 SaltShakerType)\n (objectType Spatula_bar_00_dot_00_bar__plus_00_dot_78_bar__minus_01_dot_32 SpatulaType)\n (objectType Spoon_bar__plus_01_dot_66_bar__plus_00_dot_12_bar__plus_00_dot_75 SpoonType)\n (objectType Ladle_bar__minus_01_dot_11_bar__plus_01_dot_72_bar__minus_01_dot_61 LadleType)\n (objectType ButterKnife_bar__plus_02_dot_03_bar__plus_00_dot_91_bar__minus_01_dot_32 ButterKnifeType)\n (objectType Lettuce_bar__plus_00_dot_00_bar__plus_01_dot_00_bar__plus_00_dot_51 LettuceType)\n (objectType Sink_bar__plus_00_dot_00_bar__plus_00_dot_89_bar__minus_01_dot_44 SinkType)\n (objectType Egg_bar__minus_01_dot_66_bar__plus_00_dot_62_bar__minus_00_dot_08 EggType)\n (canContain StoveBurnerType KettleType)\n (canContain StoveBurnerType PotType)\n (canContain StoveBurnerType PanType)\n (canContain CabinetType SaltShakerType)\n (canContain CabinetType DishSpongeType)\n (canContain CabinetType BowlType)\n (canContain CabinetType KettleType)\n (canContain CabinetType PotType)\n (canContain CabinetType MugType)\n (canContain CabinetType LadleType)\n (canContain CabinetType SoapBottleType)\n (canContain CabinetType CupType)\n (canContain CabinetType PlateType)\n (canContain CabinetType PepperShakerType)\n (canContain CabinetType PanType)\n (canContain CounterTopType SaltShakerType)\n (canContain CounterTopType BreadType)\n (canContain CounterTopType DishSpongeType)\n (canContain CounterTopType BowlType)\n (canContain CounterTopType KettleType)\n (canContain CounterTopType PotType)\n (canContain CounterTopType MugType)\n (canContain CounterTopType EggType)\n (canContain 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(canContain CabinetType PlateType)\n (canContain CabinetType PepperShakerType)\n (canContain CabinetType PanType)\n (canContain CabinetType SaltShakerType)\n (canContain CabinetType DishSpongeType)\n (canContain CabinetType BowlType)\n (canContain CabinetType KettleType)\n (canContain CabinetType PotType)\n (canContain CabinetType MugType)\n (canContain CabinetType LadleType)\n (canContain CabinetType SoapBottleType)\n (canContain CabinetType CupType)\n (canContain CabinetType PlateType)\n (canContain CabinetType PepperShakerType)\n (canContain CabinetType PanType)\n (canContain DrawerType SaltShakerType)\n (canContain DrawerType DishSpongeType)\n (canContain DrawerType LadleType)\n (canContain DrawerType ForkType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType SpoonType)\n (canContain DrawerType SoapBottleType)\n (canContain DrawerType ButterKnifeType)\n (canContain DrawerType PepperShakerType)\n (canContain DrawerType KnifeType)\n (canContain DrawerType 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(canContain CabinetType KettleType)\n (canContain CabinetType PotType)\n (canContain CabinetType MugType)\n (canContain CabinetType LadleType)\n (canContain CabinetType SoapBottleType)\n (canContain CabinetType CupType)\n (canContain CabinetType PlateType)\n (canContain CabinetType PepperShakerType)\n (canContain CabinetType PanType)\n (canContain CabinetType SaltShakerType)\n (canContain CabinetType DishSpongeType)\n (canContain CabinetType BowlType)\n (canContain CabinetType KettleType)\n (canContain CabinetType PotType)\n (canContain CabinetType MugType)\n (canContain CabinetType LadleType)\n (canContain CabinetType SoapBottleType)\n (canContain CabinetType CupType)\n (canContain CabinetType PlateType)\n (canContain CabinetType PepperShakerType)\n (canContain CabinetType PanType)\n (canContain CounterTopType SaltShakerType)\n (canContain CounterTopType BreadType)\n (canContain CounterTopType DishSpongeType)\n (canContain CounterTopType BowlType)\n (canContain CounterTopType 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DrawerType KnifeType)\n (canContain DrawerType SpatulaType)\n (canContain CabinetType SaltShakerType)\n (canContain CabinetType DishSpongeType)\n (canContain CabinetType BowlType)\n (canContain CabinetType KettleType)\n (canContain CabinetType PotType)\n (canContain CabinetType MugType)\n (canContain CabinetType LadleType)\n (canContain CabinetType SoapBottleType)\n (canContain CabinetType CupType)\n (canContain CabinetType PlateType)\n (canContain CabinetType PepperShakerType)\n (canContain CabinetType PanType)\n (canContain SinkBasinType DishSpongeType)\n (canContain SinkBasinType BowlType)\n (canContain SinkBasinType KettleType)\n (canContain SinkBasinType PotType)\n (canContain SinkBasinType MugType)\n (canContain SinkBasinType EggType)\n (canContain SinkBasinType LadleType)\n (canContain SinkBasinType ForkType)\n (canContain SinkBasinType SpoonType)\n (canContain SinkBasinType LettuceType)\n (canContain SinkBasinType PotatoType)\n (canContain SinkBasinType ButterKnifeType)\n 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DrawerType ButterKnifeType)\n (canContain DrawerType PepperShakerType)\n (canContain DrawerType KnifeType)\n (canContain DrawerType SpatulaType)\n (canContain DrawerType SaltShakerType)\n (canContain DrawerType DishSpongeType)\n (canContain DrawerType LadleType)\n (canContain DrawerType ForkType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType SpoonType)\n (canContain DrawerType SoapBottleType)\n (canContain DrawerType ButterKnifeType)\n (canContain DrawerType PepperShakerType)\n (canContain DrawerType KnifeType)\n (canContain DrawerType SpatulaType)\n (canContain StoveBurnerType KettleType)\n (canContain StoveBurnerType PotType)\n (canContain StoveBurnerType PanType)\n (canContain StoveBurnerType KettleType)\n (canContain StoveBurnerType PotType)\n (canContain StoveBurnerType PanType)\n (canContain CabinetType SaltShakerType)\n (canContain CabinetType DishSpongeType)\n (canContain CabinetType BowlType)\n (canContain CabinetType KettleType)\n (canContain CabinetType 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Egg_bar__minus_01_dot_66_bar__plus_00_dot_62_bar__minus_00_dot_08)\n \n \n \n \n \n (sliceable Potato_bar__plus_00_dot_66_bar__plus_00_dot_94_bar__minus_01_dot_32)\n (sliceable Lettuce_bar__minus_00_dot_21_bar__plus_01_dot_00_bar__plus_00_dot_27)\n (sliceable Bread_bar__minus_00_dot_32_bar__plus_01_dot_01_bar__plus_00_dot_04)\n (sliceable Egg_bar__plus_00_dot_11_bar__plus_00_dot_98_bar__plus_00_dot_97)\n (sliceable Apple_bar__minus_01_dot_86_bar__plus_01_dot_52_bar__minus_00_dot_27)\n (sliceable Tomato_bar__minus_01_dot_72_bar__plus_00_dot_62_bar__minus_00_dot_27)\n (sliceable Tomato_bar__minus_01_dot_75_bar__plus_01_dot_52_bar__plus_00_dot_20)\n (sliceable Lettuce_bar__plus_00_dot_00_bar__plus_01_dot_00_bar__plus_00_dot_51)\n (sliceable Egg_bar__minus_01_dot_66_bar__plus_00_dot_62_bar__minus_00_dot_08)\n \n (inReceptacle SoapBottle_bar__minus_00_dot_19_bar__plus_00_dot_12_bar__minus_01_dot_53 Cabinet_bar__minus_00_dot_50_bar__plus_00_dot_48_bar__minus_01_dot_15)\n (inReceptacle PepperShaker_bar__minus_00_dot_25_bar__plus_00_dot_11_bar__minus_01_dot_22 Cabinet_bar__minus_00_dot_50_bar__plus_00_dot_48_bar__minus_01_dot_15)\n (inReceptacle Pan_bar__plus_01_dot_77_bar__plus_00_dot_94_bar__plus_00_dot_38 StoveBurner_bar__plus_01_dot_77_bar__plus_00_dot_90_bar__plus_00_dot_60)\n (inReceptacle Spoon_bar__plus_01_dot_82_bar__plus_00_dot_12_bar__minus_00_dot_02 Drawer_bar__plus_01_dot_50_bar__plus_00_dot_20_bar__minus_00_dot_02)\n (inReceptacle Fork_bar__plus_01_dot_66_bar__plus_00_dot_58_bar__minus_00_dot_24 Drawer_bar__plus_01_dot_50_bar__plus_00_dot_60_bar__minus_00_dot_02)\n (inReceptacle Pan_bar__plus_01_dot_77_bar__plus_00_dot_94_bar__plus_00_dot_38 StoveBurner_bar__plus_01_dot_98_bar__plus_00_dot_90_bar__plus_00_dot_38)\n (inReceptacle Spoon_bar__plus_01_dot_66_bar__plus_00_dot_12_bar__plus_00_dot_75 Drawer_bar__plus_01_dot_50_bar__plus_00_dot_14_bar__plus_00_dot_60)\n (inReceptacle CellPhone_bar__plus_01_dot_60_bar__plus_00_dot_12_bar__plus_00_dot_53 Drawer_bar__plus_01_dot_50_bar__plus_00_dot_14_bar__plus_00_dot_60)\n (inReceptacle ButterKnife_bar__plus_01_dot_71_bar__plus_00_dot_12_bar__plus_00_dot_45 Drawer_bar__plus_01_dot_50_bar__plus_00_dot_14_bar__plus_00_dot_60)\n (inReceptacle Kettle_bar__plus_01_dot_77_bar__plus_00_dot_94_bar__plus_00_dot_82 StoveBurner_bar__plus_01_dot_77_bar__plus_00_dot_90_bar__plus_00_dot_82)\n (inReceptacle Bowl_bar__plus_01_dot_90_bar__plus_00_dot_91_bar__plus_01_dot_33 CounterTop_bar__plus_00_dot_00_bar__plus_00_dot_95_bar__minus_01_dot_51)\n (inReceptacle Pan_bar__plus_01_dot_77_bar__plus_00_dot_94_bar__plus_00_dot_38 CounterTop_bar__plus_00_dot_00_bar__plus_00_dot_95_bar__minus_01_dot_51)\n (inReceptacle Knife_bar__plus_01_dot_99_bar__plus_00_dot_93_bar__plus_01_dot_11 CounterTop_bar__plus_00_dot_00_bar__plus_00_dot_95_bar__minus_01_dot_51)\n (inReceptacle Potato_bar__plus_00_dot_66_bar__plus_00_dot_94_bar__minus_01_dot_32 CounterTop_bar__plus_00_dot_00_bar__plus_00_dot_95_bar__minus_01_dot_51)\n (inReceptacle ButterKnife_bar__plus_01_dot_80_bar__plus_00_dot_91_bar__minus_01_dot_51 CounterTop_bar__plus_00_dot_00_bar__plus_00_dot_95_bar__minus_01_dot_51)\n (inReceptacle Window_bar__plus_02_dot_22_bar__plus_01_dot_57_bar__minus_00_dot_39 CounterTop_bar__plus_00_dot_00_bar__plus_00_dot_95_bar__minus_01_dot_51)\n (inReceptacle ButterKnife_bar__plus_02_dot_03_bar__plus_00_dot_91_bar__minus_01_dot_32 CounterTop_bar__plus_00_dot_00_bar__plus_00_dot_95_bar__minus_01_dot_51)\n (inReceptacle Pot_bar__plus_00_dot_89_bar__plus_00_dot_90_bar__minus_01_dot_41 CounterTop_bar__plus_00_dot_00_bar__plus_00_dot_95_bar__minus_01_dot_51)\n (inReceptacle Window_bar__minus_00_dot_01_bar__plus_01_dot_58_bar__minus_01_dot_82 CounterTop_bar__plus_00_dot_00_bar__plus_00_dot_95_bar__minus_01_dot_51)\n (inReceptacle SaltShaker_bar__minus_01_dot_36_bar__plus_01_dot_68_bar__minus_01_dot_73 Cabinet_bar__minus_00_dot_63_bar__plus_02_dot_02_bar__minus_01_dot_45)\n (inReceptacle Ladle_bar__minus_01_dot_11_bar__plus_01_dot_72_bar__minus_01_dot_61 Cabinet_bar__minus_00_dot_63_bar__plus_02_dot_02_bar__minus_01_dot_45)\n (inReceptacle Pan_bar__plus_01_dot_77_bar__plus_00_dot_94_bar__plus_00_dot_38 StoveBurner_bar__plus_01_dot_77_bar__plus_00_dot_90_bar__plus_00_dot_38)\n (inReceptacle Ladle_bar__plus_01_dot_71_bar__plus_00_dot_81_bar__plus_01_dot_37 Drawer_bar__plus_01_dot_50_bar__plus_00_dot_78_bar__plus_01_dot_22)\n (inReceptacle Lettuce_bar__minus_00_dot_21_bar__plus_01_dot_00_bar__plus_00_dot_27 CounterTop_bar__minus_00_dot_02_bar__plus_00_dot_96_bar__plus_00_dot_51)\n (inReceptacle Knife_bar__minus_00_dot_21_bar__plus_00_dot_95_bar__plus_00_dot_51 CounterTop_bar__minus_00_dot_02_bar__plus_00_dot_96_bar__plus_00_dot_51)\n (inReceptacle Cup_bar__plus_00_dot_32_bar__plus_00_dot_92_bar__plus_00_dot_27 CounterTop_bar__minus_00_dot_02_bar__plus_00_dot_96_bar__plus_00_dot_51)\n (inReceptacle Plate_bar__plus_00_dot_00_bar__plus_00_dot_92_bar__plus_01_dot_20 CounterTop_bar__minus_00_dot_02_bar__plus_00_dot_96_bar__plus_00_dot_51)\n (inReceptacle Egg_bar__plus_00_dot_11_bar__plus_00_dot_98_bar__plus_00_dot_97 CounterTop_bar__minus_00_dot_02_bar__plus_00_dot_96_bar__plus_00_dot_51)\n (inReceptacle Plate_bar__minus_00_dot_21_bar__plus_00_dot_92_bar__plus_00_dot_97 CounterTop_bar__minus_00_dot_02_bar__plus_00_dot_96_bar__plus_00_dot_51)\n (inReceptacle Bread_bar__minus_00_dot_32_bar__plus_01_dot_01_bar__plus_00_dot_04 CounterTop_bar__minus_00_dot_02_bar__plus_00_dot_96_bar__plus_00_dot_51)\n (inReceptacle Lettuce_bar__plus_00_dot_00_bar__plus_01_dot_00_bar__plus_00_dot_51 CounterTop_bar__minus_00_dot_02_bar__plus_00_dot_96_bar__plus_00_dot_51)\n (inReceptacle SoapBottle_bar__plus_00_dot_11_bar__plus_00_dot_93_bar__plus_00_dot_27 CounterTop_bar__minus_00_dot_02_bar__plus_00_dot_96_bar__plus_00_dot_51)\n (inReceptacle DishSponge_bar__minus_01_dot_80_bar__plus_00_dot_04_bar__plus_01_dot_29 GarbageCan_bar__minus_01_dot_80_bar__plus_00_dot_00_bar__plus_01_dot_33)\n (inReceptacle Pan_bar__minus_01_dot_75_bar__plus_01_dot_68_bar__minus_00_dot_18 Fridge_bar__minus_01_dot_76_bar__plus_00_dot_00_bar__plus_00_dot_01)\n (inReceptacle Egg_bar__minus_01_dot_66_bar__plus_00_dot_62_bar__minus_00_dot_08 Fridge_bar__minus_01_dot_76_bar__plus_00_dot_00_bar__plus_00_dot_01)\n (inReceptacle Tomato_bar__minus_01_dot_72_bar__plus_00_dot_62_bar__minus_00_dot_27 Fridge_bar__minus_01_dot_76_bar__plus_00_dot_00_bar__plus_00_dot_01)\n (inReceptacle Apple_bar__minus_01_dot_86_bar__plus_01_dot_52_bar__minus_00_dot_27 Fridge_bar__minus_01_dot_76_bar__plus_00_dot_00_bar__plus_00_dot_01)\n (inReceptacle Tomato_bar__minus_01_dot_75_bar__plus_01_dot_52_bar__plus_00_dot_20 Fridge_bar__minus_01_dot_76_bar__plus_00_dot_00_bar__plus_00_dot_01)\n (inReceptacle Spatula_bar_00_dot_00_bar__plus_00_dot_78_bar__minus_01_dot_32 Sink_bar__plus_00_dot_00_bar__plus_00_dot_89_bar__minus_01_dot_44_bar_SinkBasin)\n (inReceptacle Plate_bar__plus_00_dot_17_bar__plus_00_dot_76_bar__minus_01_dot_44 Sink_bar__plus_00_dot_00_bar__plus_00_dot_89_bar__minus_01_dot_44_bar_SinkBasin)\n (inReceptacle Mug_bar__minus_00_dot_09_bar__plus_00_dot_76_bar__minus_01_dot_55 Sink_bar__plus_00_dot_00_bar__plus_00_dot_89_bar__minus_01_dot_44_bar_SinkBasin)\n \n \n (receptacleAtLocation Cabinet_bar__plus_00_dot_41_bar__plus_00_dot_48_bar__plus_00_dot_45 loc_bar_5_bar_4_bar_3_bar_60)\n (receptacleAtLocation Cabinet_bar__plus_00_dot_50_bar__plus_00_dot_48_bar__minus_01_dot_15 loc_bar_3_bar__minus_1_bar_2_bar_60)\n (receptacleAtLocation Cabinet_bar__plus_01_dot_39_bar__plus_00_dot_48_bar__minus_01_dot_15 loc_bar_3_bar__minus_1_bar_2_bar_60)\n (receptacleAtLocation Cabinet_bar__plus_01_dot_71_bar__plus_02_dot_02_bar__minus_01_dot_45 loc_bar_4_bar__minus_3_bar_1_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__plus_01_dot_79_bar__plus_02_dot_02_bar__minus_00_dot_82 loc_bar_4_bar__minus_3_bar_1_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_50_bar__plus_00_dot_48_bar__minus_01_dot_15 loc_bar__minus_3_bar__minus_1_bar_2_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_63_bar__plus_02_dot_02_bar__minus_01_dot_45 loc_bar__minus_3_bar__minus_3_bar_2_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_01_dot_39_bar__plus_00_dot_48_bar__minus_01_dot_15 loc_bar__minus_3_bar__minus_1_bar_2_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_01_dot_70_bar__plus_02_dot_02_bar__minus_01_dot_45 loc_bar__minus_3_bar__minus_3_bar_3_bar__minus_15)\n (receptacleAtLocation CoffeeMachine_bar__plus_01_dot_36_bar__plus_00_dot_90_bar__minus_01_dot_60 loc_bar_4_bar__minus_3_bar_2_bar_45)\n (receptacleAtLocation CounterTop_bar__plus_00_dot_00_bar__plus_00_dot_95_bar__minus_01_dot_51 loc_bar__minus_3_bar__minus_3_bar_2_bar_45)\n (receptacleAtLocation CounterTop_bar__minus_00_dot_02_bar__plus_00_dot_96_bar__plus_00_dot_51 loc_bar_3_bar_2_bar_3_bar_45)\n (receptacleAtLocation Drawer_bar__plus_00_dot_81_bar__plus_00_dot_48_bar__minus_01_dot_16 loc_bar_5_bar_0_bar_2_bar_45)\n (receptacleAtLocation Drawer_bar__plus_01_dot_50_bar__plus_00_dot_14_bar__plus_00_dot_60 loc_bar_3_bar_7_bar_2_bar_60)\n (receptacleAtLocation Drawer_bar__plus_01_dot_50_bar__plus_00_dot_20_bar__plus_01_dot_22 loc_bar_2_bar_7_bar_1_bar_60)\n (receptacleAtLocation Drawer_bar__plus_01_dot_50_bar__plus_00_dot_20_bar__minus_00_dot_02 loc_bar_5_bar_0_bar_1_bar_60)\n (receptacleAtLocation Drawer_bar__plus_01_dot_50_bar__plus_00_dot_31_bar__plus_00_dot_60 loc_bar_5_bar_2_bar_1_bar_60)\n (receptacleAtLocation Drawer_bar__plus_01_dot_50_bar__plus_00_dot_43_bar__minus_00_dot_02 loc_bar_5_bar_0_bar_1_bar_60)\n (receptacleAtLocation Drawer_bar__plus_01_dot_50_bar__plus_00_dot_52_bar__plus_01_dot_22 loc_bar_3_bar_3_bar_1_bar_60)\n (receptacleAtLocation Drawer_bar__plus_01_dot_50_bar__plus_00_dot_54_bar__plus_00_dot_60 loc_bar_5_bar_2_bar_1_bar_60)\n (receptacleAtLocation Drawer_bar__plus_01_dot_50_bar__plus_00_dot_60_bar__minus_00_dot_02 loc_bar_4_bar_3_bar_2_bar_60)\n (receptacleAtLocation Drawer_bar__plus_01_dot_50_bar__plus_00_dot_63_bar__plus_00_dot_61 loc_bar_3_bar_4_bar_1_bar_60)\n (receptacleAtLocation Drawer_bar__plus_01_dot_50_bar__plus_00_dot_63_bar__minus_00_dot_02 loc_bar_3_bar_1_bar_1_bar_60)\n (receptacleAtLocation Drawer_bar__plus_01_dot_50_bar__plus_00_dot_78_bar__plus_01_dot_22 loc_bar_3_bar_6_bar_1_bar_45)\n (receptacleAtLocation Drawer_bar__minus_00_dot_70_bar__plus_00_dot_48_bar__minus_01_dot_16 loc_bar__minus_3_bar__minus_2_bar_2_bar_60)\n (receptacleAtLocation Fridge_bar__minus_01_dot_76_bar__plus_00_dot_00_bar__plus_00_dot_01 loc_bar__minus_3_bar_0_bar_3_bar_60)\n (receptacleAtLocation GarbageCan_bar__minus_01_dot_80_bar__plus_00_dot_00_bar__plus_01_dot_33 loc_bar__minus_5_bar_6_bar_3_bar_60)\n (receptacleAtLocation Microwave_bar__plus_01_dot_93_bar__plus_00_dot_90_bar__minus_00_dot_77 loc_bar_4_bar__minus_3_bar_1_bar_45)\n (receptacleAtLocation Sink_bar__plus_00_dot_00_bar__plus_00_dot_89_bar__minus_01_dot_44_bar_SinkBasin loc_bar_0_bar__minus_3_bar_2_bar_60)\n (receptacleAtLocation StoveBurner_bar__plus_01_dot_77_bar__plus_00_dot_90_bar__plus_00_dot_38 loc_bar_5_bar_2_bar_1_bar_60)\n (receptacleAtLocation StoveBurner_bar__plus_01_dot_77_bar__plus_00_dot_90_bar__plus_00_dot_60 loc_bar_5_bar_2_bar_1_bar_60)\n (receptacleAtLocation StoveBurner_bar__plus_01_dot_77_bar__plus_00_dot_90_bar__plus_00_dot_82 loc_bar_5_bar_3_bar_1_bar_60)\n (receptacleAtLocation StoveBurner_bar__plus_01_dot_98_bar__plus_00_dot_90_bar__plus_00_dot_38 loc_bar_5_bar_2_bar_1_bar_45)\n (receptacleAtLocation StoveBurner_bar__plus_01_dot_98_bar__plus_00_dot_90_bar__plus_00_dot_60 loc_bar_5_bar_2_bar_1_bar_45)\n (receptacleAtLocation StoveBurner_bar__plus_01_dot_98_bar__plus_00_dot_90_bar__plus_00_dot_82 loc_bar_5_bar_3_bar_1_bar_45)\n (receptacleAtLocation Toaster_bar__plus_01_dot_98_bar__plus_00_dot_90_bar__minus_00_dot_34 loc_bar_4_bar__minus_1_bar_1_bar_45)\n (objectAtLocation Spoon_bar__plus_01_dot_82_bar__plus_00_dot_12_bar__minus_00_dot_02 loc_bar_5_bar_0_bar_1_bar_60)\n (objectAtLocation Tomato_bar__minus_01_dot_72_bar__plus_00_dot_62_bar__minus_00_dot_27 loc_bar__minus_3_bar_0_bar_3_bar_60)\n (objectAtLocation ButterKnife_bar__plus_02_dot_03_bar__plus_00_dot_91_bar__minus_01_dot_32 loc_bar__minus_3_bar__minus_3_bar_2_bar_45)\n (objectAtLocation Knife_bar__plus_01_dot_99_bar__plus_00_dot_93_bar__plus_01_dot_11 loc_bar__minus_3_bar__minus_3_bar_2_bar_45)\n (objectAtLocation Lettuce_bar__plus_00_dot_00_bar__plus_01_dot_00_bar__plus_00_dot_51 loc_bar_3_bar_2_bar_3_bar_45)\n (objectAtLocation Pan_bar__plus_01_dot_77_bar__plus_00_dot_94_bar__plus_00_dot_38 loc_bar_5_bar_2_bar_1_bar_60)\n (objectAtLocation Plate_bar__plus_00_dot_00_bar__plus_00_dot_92_bar__plus_01_dot_20 loc_bar_3_bar_2_bar_3_bar_45)\n (objectAtLocation Egg_bar__minus_01_dot_66_bar__plus_00_dot_62_bar__minus_00_dot_08 loc_bar__minus_3_bar_0_bar_3_bar_60)\n (objectAtLocation Ladle_bar__plus_01_dot_71_bar__plus_00_dot_81_bar__plus_01_dot_37 loc_bar_3_bar_6_bar_1_bar_45)\n (objectAtLocation SoapBottle_bar__minus_00_dot_19_bar__plus_00_dot_12_bar__minus_01_dot_53 loc_bar__minus_3_bar__minus_1_bar_2_bar_60)\n (objectAtLocation Plate_bar__plus_00_dot_17_bar__plus_00_dot_76_bar__minus_01_dot_44 loc_bar_0_bar__minus_3_bar_2_bar_60)\n (objectAtLocation ButterKnife_bar__plus_01_dot_80_bar__plus_00_dot_91_bar__minus_01_dot_51 loc_bar__minus_3_bar__minus_3_bar_2_bar_45)\n (objectAtLocation Window_bar__minus_00_dot_01_bar__plus_01_dot_58_bar__minus_01_dot_82 loc_bar__minus_3_bar__minus_3_bar_2_bar_45)\n (objectAtLocation Sink_bar__plus_00_dot_00_bar__plus_00_dot_89_bar__minus_01_dot_44 loc_bar_0_bar__minus_3_bar_2_bar_45)\n (objectAtLocation Window_bar__plus_02_dot_22_bar__plus_01_dot_57_bar__minus_00_dot_39 loc_bar__minus_3_bar__minus_3_bar_2_bar_45)\n (objectAtLocation Chair_bar__minus_00_dot_06_bar__plus_00_dot_52_bar__plus_01_dot_37 loc_bar_0_bar_8_bar_2_bar_60)\n (objectAtLocation Window_bar__minus_03_dot_24_bar__plus_01_dot_62_bar__plus_02_dot_69 loc_bar__minus_10_bar_11_bar_3_bar_0)\n (objectAtLocation SoapBottle_bar__plus_00_dot_11_bar__plus_00_dot_93_bar__plus_00_dot_27 loc_bar_3_bar_2_bar_3_bar_45)\n (objectAtLocation Cup_bar__plus_00_dot_32_bar__plus_00_dot_92_bar__plus_00_dot_27 loc_bar_3_bar_2_bar_3_bar_45)\n (objectAtLocation LightSwitch_bar__minus_00_dot_15_bar__plus_01_dot_29_bar__plus_03_dot_70 loc_bar__minus_1_bar_12_bar_0_bar_30)\n (objectAtLocation Pot_bar__plus_00_dot_89_bar__plus_00_dot_90_bar__minus_01_dot_41 loc_bar__minus_3_bar__minus_3_bar_2_bar_45)\n (objectAtLocation StoveKnob_bar__plus_01_dot_60_bar__plus_00_dot_92_bar__plus_00_dot_57 loc_bar_5_bar_2_bar_1_bar_60)\n (objectAtLocation StoveKnob_bar__plus_01_dot_60_bar__plus_00_dot_92_bar__plus_00_dot_63 loc_bar_5_bar_3_bar_1_bar_60)\n (objectAtLocation StoveKnob_bar__plus_01_dot_60_bar__plus_00_dot_92_bar__plus_00_dot_74 loc_bar_5_bar_3_bar_1_bar_60)\n (objectAtLocation StoveKnob_bar__plus_01_dot_60_bar__plus_00_dot_92_bar__plus_00_dot_68 loc_bar_5_bar_3_bar_1_bar_60)\n (objectAtLocation StoveKnob_bar__plus_01_dot_60_bar__plus_00_dot_92_bar__plus_00_dot_46 loc_bar_5_bar_2_bar_1_bar_60)\n (objectAtLocation StoveKnob_bar__plus_01_dot_60_bar__plus_00_dot_92_bar__plus_00_dot_52 loc_bar_5_bar_2_bar_1_bar_60)\n (objectAtLocation Fork_bar__plus_01_dot_66_bar__plus_00_dot_58_bar__minus_00_dot_24 loc_bar_4_bar_3_bar_2_bar_60)\n (objectAtLocation Ladle_bar__minus_01_dot_11_bar__plus_01_dot_72_bar__minus_01_dot_61 loc_bar__minus_3_bar__minus_3_bar_2_bar__minus_30)\n (objectAtLocation Kettle_bar__plus_01_dot_77_bar__plus_00_dot_94_bar__plus_00_dot_82 loc_bar_5_bar_3_bar_1_bar_60)\n (objectAtLocation Egg_bar__plus_00_dot_11_bar__plus_00_dot_98_bar__plus_00_dot_97 loc_bar_3_bar_2_bar_3_bar_45)\n (objectAtLocation Plate_bar__minus_00_dot_21_bar__plus_00_dot_92_bar__plus_00_dot_97 loc_bar_3_bar_2_bar_3_bar_45)\n (objectAtLocation Pan_bar__minus_01_dot_75_bar__plus_01_dot_68_bar__minus_00_dot_18 loc_bar__minus_3_bar_0_bar_3_bar_60)\n (objectAtLocation Lettuce_bar__minus_00_dot_21_bar__plus_01_dot_00_bar__plus_00_dot_27 loc_bar_3_bar_2_bar_3_bar_45)\n (objectAtLocation Spatula_bar_00_dot_00_bar__plus_00_dot_78_bar__minus_01_dot_32 loc_bar_0_bar__minus_3_bar_2_bar_60)\n (objectAtLocation Apple_bar__minus_01_dot_86_bar__plus_01_dot_52_bar__minus_00_dot_27 loc_bar__minus_3_bar_0_bar_3_bar_60)\n (objectAtLocation Knife_bar__minus_00_dot_21_bar__plus_00_dot_95_bar__plus_00_dot_51 loc_bar_3_bar_2_bar_3_bar_45)\n (objectAtLocation SaltShaker_bar__minus_01_dot_36_bar__plus_01_dot_68_bar__minus_01_dot_73 loc_bar__minus_3_bar__minus_3_bar_2_bar__minus_30)\n (objectAtLocation PepperShaker_bar__minus_00_dot_25_bar__plus_00_dot_11_bar__minus_01_dot_22 loc_bar__minus_3_bar__minus_1_bar_2_bar_60)\n (objectAtLocation CellPhone_bar__plus_01_dot_60_bar__plus_00_dot_12_bar__plus_00_dot_53 loc_bar_3_bar_7_bar_2_bar_60)\n (objectAtLocation ButterKnife_bar__plus_01_dot_71_bar__plus_00_dot_12_bar__plus_00_dot_45 loc_bar_3_bar_7_bar_2_bar_60)\n (objectAtLocation Bread_bar__minus_00_dot_32_bar__plus_01_dot_01_bar__plus_00_dot_04 loc_bar_3_bar_2_bar_3_bar_45)\n (objectAtLocation Tomato_bar__minus_01_dot_75_bar__plus_01_dot_52_bar__plus_00_dot_20 loc_bar__minus_3_bar_0_bar_3_bar_60)\n (objectAtLocation Potato_bar__plus_00_dot_66_bar__plus_00_dot_94_bar__minus_01_dot_32 loc_bar__minus_3_bar__minus_3_bar_2_bar_45)\n (objectAtLocation DishSponge_bar__minus_01_dot_80_bar__plus_00_dot_04_bar__plus_01_dot_29 loc_bar__minus_5_bar_6_bar_3_bar_60)\n (objectAtLocation Spoon_bar__plus_01_dot_66_bar__plus_00_dot_12_bar__plus_00_dot_75 loc_bar_3_bar_7_bar_2_bar_60)\n (objectAtLocation Mug_bar__minus_00_dot_09_bar__plus_00_dot_76_bar__minus_01_dot_55 loc_bar_0_bar__minus_3_bar_2_bar_60)\n (objectAtLocation Bowl_bar__plus_01_dot_90_bar__plus_00_dot_91_bar__plus_01_dot_33 loc_bar__minus_3_bar__minus_3_bar_2_bar_45)\n )\n \n\n (:goal\n (and\n (exists (?r - receptacle)\n (exists (?o - object)\n (and\n (cleanable ?o)\n (objectType ?o KnifeType)\n (receptacleType ?r DrawerType)\n (isClean ?o)\n (inReceptacle ?o ?r)\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to countertop 2", "take knife 2 from countertop 2", "go to sinkbasin 1", "clean knife 2 with sinkbasin 1", "go to drawer 10", "move knife 2 to drawer 10"]}
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alfworld__pick_clean_then_place_in_recep__11
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pick_clean_then_place_in_recep
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pick_clean_then_place_in_recep-Knife-None-Drawer-2/trial_T20190909_141556_263392/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 knife and put it in drawer.\"\n }\n ],\n\n \"GotoLocation.feedback\": [\n {\n \"rhs\": \"You arrive at {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"OpenObject.feedback\": [\n {\n \"rhs\": \"You open the {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"CloseObject.feedback\": [\n {\n \"rhs\": \"You close the {r.name}.\"\n }\n ],\n\n \"PickupObject.feedback\": [\n {\n \"rhs\": \"You pick up the {o.name} from the {r.name}.\"\n }\n ],\n\n \"PickupObjectFromReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupObjectFromReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupEmptyReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupEmptyReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupFullReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupFullReceptacleObject: You pick up the {outerr.name}.\"\n }\n ],\n\n \"PutObject.feedback\": [\n {\n \"rhs\": \"You move the {o.name} to the {r.name}.\"\n }\n ],\n\n \"PutObjectInReceptacleObject.feedback\": [\n {\n \"rhs\": \"PutObjectInReceptacleObject: You put the {o.name} in the {outero.name}.\"\n }\n ],\n\n \"PutEmptyReceptacleObjectinReceptacle.feedback\": [\n {\n \"rhs\": \"PutEmptyReceptacleObjectinReceptacle: You put the {o.name} in the {r.name}.\"\n }\n ],\n\n \"PutFullReceptacleObjectInReceptacle.feedback\": [\n {\n \"rhs\": \"PutFullReceptacleObjectInReceptacle: You put the {outero.name} in the {r.name}.\"\n }\n ],\n\n \"inventory.feedback\": [\n {\n \"condition\": \"holdsany(a:agent)\",\n \"rhs\": \"You are carrying: [{o.indefinite + ' ' + o.name | holds(a:agent, o:object)}].\"\n },\n {\n \"rhs\": \"You are not carrying anything.\"\n }\n ],\n\n \"examineReceptacle.feedback\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \"The {r.name} is open. In it, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \"The {r.name} is closed.\"\n },\n {\n \"rhs\": \"On the {r.name}, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n }\n ],\n\n \"examineObject.feedback\": [\n {\n \"condition\": \"isreceptacleobject(o:object)\",\n \"rhs\": \"This is a normal {o.name}. In it, you see [{o2.indefinite + ' ' + o2.name | inreceptacleobject(o2:object, o:object)}].\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a clean sliced {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot sliced {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object)\",\n \"rhs\": \"This is a hot and clean {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object)\",\n \"rhs\": \"This is a cool and clean {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object)\",\n \"rhs\": \"This is a hot {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object)\",\n \"rhs\": \"This is a clean {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object)\",\n \"rhs\": \"This is a cold {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"This {o.name} is on.\"\n },\n {\n \"condition\": \"toggleable(o:object) & not_istoggled(o:object)\",\n \"rhs\": \"This {o.name} is off.\"\n },\n {\n \"condition\": \"sliceable(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a sliced {o.name}.\"\n },\n {\n \"rhs\": \"There's nothing special about {o.name}.\"\n }\n ]\n }\n\"\"\";\n\naction GotoLocation {\n template :: \"go to [{r.name | receptacleatlocation(r:receptacle, lend:location)}]\";\n feedback :: \"#GotoLocation.feedback#\";\n}\n\naction OpenObject {\n template :: \"open {r}\";\n feedback :: \"#OpenObject.feedback#\";\n}\n\naction CloseObject {\n template :: \"close {r}\";\n feedback :: \"#CloseObject.feedback#\";\n}\n\naction PickupObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObject.feedback#\";\n}\n\naction PickupObjectFromReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObjectFromReceptacleObject.feedback#\";\n}\n\naction PickupEmptyReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupEmptyReceptacleObject.feedback#\";\n}\n\naction PickupFullReceptacleObject {\n template :: \"take {outerr} from {r}\";\n feedback :: \"#PickupFullReceptacleObject.feedback#\";\n}\n\naction PutObject {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutObject.feedback#\";\n}\n\naction PutObjectInReceptacleObject {\n template :: \"put {o} into {outero}\";\n feedback :: \"#PutObjectInReceptacleObject.feedback#\";\n}\n\naction PutEmptyReceptacleObjectinReceptacle {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutEmptyReceptacleObjectinReceptacle.feedback#\";\n}\n\naction PutFullReceptacleObjectInReceptacle {\n template :: \"put {outero} in {r}\";\n feedback :: \"#PutFullReceptacleObjectInReceptacle.feedback#\";\n}\n\naction inventory {\n template :: \"inventory\";\n feedback :: \"#inventory.feedback#\";\n}\n\naction examineReceptacle {\n template :: \"examine {r}\";\n feedback :: \"#examineReceptacle.feedback#\";\n}\n\naction examineObject {\n template :: \"examine {o}\";\n feedback :: \"#examineObject.feedback#\";\n}\n\naction ToggleObject {\n template :: \"use {o}\";\n feedback :: \"#toggleObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"toggleObject.feedback\": [\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"You turn on the {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object)\",\n \"rhs\": \"You turn off the {o.name}.\"\n },\n {\n \"rhs\": \"You don't see any switch on the {o.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction HeatObject {\n template :: \"heat {o} with {r}\";\n feedback :: \"#heatObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"heatObject.feedback\": [\n {\n \"rhs\": \"You heat the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CleanObject {\n template :: \"clean {o} with {r}\";\n feedback :: \"#cleanObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"cleanObject.feedback\": [\n {\n \"rhs\": \"You clean the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CoolObject {\n template :: \"cool {o} with {r}\";\n feedback :: \"#coolObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"coolObject.feedback\": [\n {\n \"rhs\": \"You cool the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction SliceObject {\n template :: \"slice {co} with {ko}\";\n feedback :: \"#sliceObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"sliceObject.feedback\": [\n {\n \"rhs\": \"You sliced the {co.name} with the {ko.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction look {\n template :: \"look\";\n feedback :: \"#look.feedback#\";\n\n grammar :: \"\"\"\n {\n \"look.feedback\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"#look-variations#. Next to it, you see #list_objects_on_the_floor#.\"\n },\n {\n \"rhs\": \"You are in the middle of a room. Looking quickly around you, you see #list_appliances#.\"\n }\n ],\n\n \"look-variations\": [\n {\n \"rhs\": \"You are facing the [{r.name | atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)}]\"\n }\n ],\n\n \"list_objects_on_the_floor\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)\",\n \"rhs\": \"[{#overview(o)# | atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"list_appliances\": [\n {\n \"condition\": \"receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"[{#overview(r)# | receptacleatlocation(r:receptacle, l:location)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"overview(o, r)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name} (in/on the {r.name})}\"\n }\n ],\n\n \"overview(o)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name}\"\n }\n ],\n \"overview(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}\"\n }\n ],\n \"overview_with_state(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}#overview_state(r)#\"\n }\n ],\n \"overview_state(r)\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \" (it is open)\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \" (it is closed)\"\n },\n {\n \"rhs\": \"\"\n }\n ],\n\n \"list_empty\": [\n {\n \"rhs\": \"nothing\"\n }\n ],\n \"list_separator\": [\n {\n \"rhs\": \", \"\n }\n ],\n \"list_last_separator\": [\n {\n \"rhs\": \", and \"\n }\n ]\n }\n \"\"\";\n}\n\naction help {\n template :: \"help\";\n feedback :: \"\nAvailable commands:\n look: look around your current location\n inventory: check your current inventory\n go to (receptacle): move to a receptacle\n open (receptacle): open a receptacle\n close (receptacle): close a receptacle\n take (object) from (receptacle): take an object from a receptacle\n move (object) to (receptacle): place an object in or on a receptacle\n examine (something): examine a receptacle or an object\n use (object): use an object\n heat (object) with (receptacle): heat an object using a receptacle\n clean (object) with (receptacle): clean an object using a receptacle\n cool (object) with (receptacle): cool an object using a receptacle\n slice (object) with (object): slice an object using a sharp object\n\";\n}\n", "pddl_problem": "\n(define (problem plan_trial_T20190909_141556_263392)\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_80_bar__plus_00_dot_09_bar__plus_01_dot_29 - object\n Apple_bar__minus_01_dot_80_bar__plus_01_dot_52_bar__minus_00_dot_27 - object\n Apple_bar_00_dot_00_bar__plus_00_dot_81_bar__minus_01_dot_38 - object\n Bowl_bar__plus_01_dot_10_bar__plus_01_dot_68_bar__minus_01_dot_65 - object\n Bowl_bar__minus_01_dot_48_bar__plus_01_dot_68_bar__minus_01_dot_61 - object\n Bread_bar__plus_00_dot_00_bar__plus_01_dot_01_bar__plus_00_dot_51 - object\n Bread_bar__minus_00_dot_21_bar__plus_01_dot_01_bar__plus_00_dot_51 - object\n ButterKnife_bar__plus_01_dot_66_bar__plus_00_dot_12_bar__plus_00_dot_53 - object\n ButterKnife_bar__plus_01_dot_71_bar__plus_00_dot_47_bar__minus_00_dot_02 - object\n ButterKnife_bar__plus_01_dot_76_bar__plus_00_dot_35_bar__minus_00_dot_02 - object\n CellPhone_bar__plus_00_dot_32_bar__plus_00_dot_92_bar__plus_01_dot_20 - object\n CellPhone_bar__plus_01_dot_66_bar__plus_00_dot_76_bar__plus_01_dot_37 - object\n CellPhone_bar__plus_01_dot_71_bar__plus_00_dot_54_bar__plus_01_dot_09 - object\n Chair_bar__minus_00_dot_06_bar__plus_00_dot_52_bar__plus_01_dot_37 - object\n Cup_bar__plus_00_dot_26_bar__plus_00_dot_76_bar__minus_01_dot_49 - object\n Cup_bar__minus_00_dot_25_bar__plus_00_dot_11_bar__minus_01_dot_47 - object\n DishSponge_bar__plus_01_dot_82_bar__plus_00_dot_12_bar__plus_00_dot_67 - object\n DishSponge_bar__plus_01_dot_82_bar__plus_00_dot_24_bar__plus_00_dot_05 - object\n DishSponge_bar__minus_00_dot_31_bar__plus_00_dot_11_bar__minus_01_dot_35 - object\n Egg_bar__plus_01_dot_89_bar__plus_01_dot_06_bar__minus_00_dot_65 - object\n Egg_bar__minus_01_dot_70_bar__plus_01_dot_53_bar__minus_00_dot_08 - object\n Faucet_bar__minus_00_dot_02_bar__plus_01_dot_14_bar__minus_01_dot_61 - object\n Fork_bar__plus_00_dot_17_bar__plus_00_dot_76_bar__minus_01_dot_38 - object\n Kettle_bar__plus_01_dot_77_bar__plus_00_dot_94_bar__plus_00_dot_38 - object\n Knife_bar__plus_00_dot_11_bar__plus_00_dot_95_bar__plus_01_dot_20 - object\n Knife_bar__plus_00_dot_66_bar__plus_00_dot_93_bar__minus_01_dot_61 - object\n Knife_bar__plus_01_dot_77_bar__plus_00_dot_79_bar__plus_01_dot_15 - object\n Ladle_bar__minus_01_dot_15_bar__plus_00_dot_16_bar__minus_01_dot_49 - object\n Lettuce_bar__minus_00_dot_32_bar__plus_01_dot_00_bar__plus_00_dot_74 - object\n Lettuce_bar__minus_01_dot_80_bar__plus_01_dot_75_bar__minus_00_dot_18 - object\n LightSwitch_bar__minus_00_dot_15_bar__plus_01_dot_29_bar__plus_03_dot_70 - object\n Mug_bar__plus_01_dot_36_bar__plus_00_dot_96_bar__minus_01_dot_36 - object\n Mug_bar__minus_01_dot_80_bar__plus_01_dot_66_bar__minus_01_dot_06 - object\n Mug_bar_00_dot_00_bar__plus_00_dot_76_bar__minus_01_dot_49 - object\n Pan_bar__plus_01_dot_99_bar__plus_00_dot_91_bar__plus_01_dot_26 - object\n PepperShaker_bar__plus_01_dot_59_bar__plus_01_dot_68_bar__minus_01_dot_58 - object\n PepperShaker_bar__minus_00_dot_87_bar__plus_01_dot_68_bar__minus_01_dot_54 - object\n Plate_bar__plus_00_dot_11_bar__plus_00_dot_92_bar__plus_00_dot_04 - object\n Plate_bar__plus_00_dot_21_bar__plus_00_dot_92_bar__plus_00_dot_74 - object\n Plate_bar__minus_01_dot_90_bar__plus_00_dot_91_bar__minus_00_dot_91 - object\n Potato_bar__minus_01_dot_65_bar__plus_01_dot_70_bar__plus_00_dot_20 - object\n Pot_bar__plus_01_dot_98_bar__plus_00_dot_94_bar__plus_00_dot_60 - object\n Pot_bar__minus_01_dot_64_bar__plus_00_dot_92_bar__minus_00_dot_91 - object\n SaltShaker_bar__plus_01_dot_20_bar__plus_00_dot_11_bar__minus_01_dot_35 - object\n SaltShaker_bar__plus_01_dot_81_bar__plus_00_dot_22_bar__plus_01_dot_22 - object\n SaltShaker_bar__minus_01_dot_05_bar__plus_00_dot_91_bar__minus_01_dot_22 - object\n Sink_bar__plus_00_dot_00_bar__plus_00_dot_89_bar__minus_01_dot_44 - object\n SoapBottle_bar__plus_00_dot_32_bar__plus_00_dot_93_bar__plus_00_dot_97 - object\n Spatula_bar__plus_01_dot_60_bar__plus_00_dot_78_bar__plus_01_dot_00 - object\n Spatula_bar__plus_01_dot_81_bar__plus_00_dot_16_bar__plus_01_dot_28 - object\n Spatula_bar__plus_01_dot_86_bar__plus_00_dot_70_bar__minus_00_dot_15 - object\n Spoon_bar__minus_00_dot_09_bar__plus_00_dot_76_bar__minus_01_dot_38 - object\n 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loc_bar__minus_5_bar_6_bar_3_bar_60 - location\n loc_bar__minus_3_bar_0_bar_3_bar_60 - location\n loc_bar__minus_3_bar__minus_3_bar_3_bar__minus_15 - location\n loc_bar__minus_1_bar_12_bar_0_bar_30 - location\n loc_bar_5_bar_3_bar_1_bar_45 - location\n loc_bar__minus_3_bar__minus_3_bar_2_bar_45 - location\n loc_bar__minus_3_bar__minus_3_bar_2_bar__minus_30 - location\n loc_bar_4_bar__minus_3_bar_2_bar_45 - location\n loc_bar_5_bar_2_bar_1_bar_45 - location\n loc_bar_3_bar__minus_1_bar_2_bar_60 - location\n loc_bar_3_bar_6_bar_1_bar_45 - location\n loc_bar_3_bar_2_bar_3_bar_45 - location\n loc_bar_4_bar__minus_1_bar_1_bar_45 - location\n loc_bar_0_bar__minus_3_bar_2_bar_60 - location\n loc_bar_3_bar_6_bar_2_bar_30 - location\n )\n \n\n(:init\n\n\n (receptacleType StoveBurner_bar__plus_01_dot_98_bar__plus_00_dot_90_bar__plus_00_dot_82 StoveBurnerType)\n (receptacleType Cabinet_bar__minus_01_dot_70_bar__plus_02_dot_02_bar__minus_01_dot_45 CabinetType)\n (receptacleType 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(receptacleType Toaster_bar__plus_01_dot_98_bar__plus_00_dot_90_bar__minus_00_dot_34 ToasterType)\n (receptacleType CoffeeMachine_bar__plus_01_dot_36_bar__plus_00_dot_90_bar__minus_01_dot_60 CoffeeMachineType)\n (receptacleType Drawer_bar__plus_01_dot_50_bar__plus_00_dot_14_bar__plus_00_dot_60 DrawerType)\n (receptacleType Microwave_bar__plus_01_dot_93_bar__plus_00_dot_90_bar__minus_00_dot_77 MicrowaveType)\n (receptacleType StoveBurner_bar__plus_01_dot_98_bar__plus_00_dot_90_bar__plus_00_dot_60 StoveBurnerType)\n (receptacleType Cabinet_bar__plus_01_dot_39_bar__plus_00_dot_48_bar__minus_01_dot_15 CabinetType)\n (receptacleType Drawer_bar__plus_01_dot_50_bar__plus_00_dot_63_bar__minus_00_dot_02 DrawerType)\n (receptacleType Cabinet_bar__minus_00_dot_63_bar__plus_02_dot_02_bar__minus_01_dot_45 CabinetType)\n (receptacleType Sink_bar__plus_00_dot_00_bar__plus_00_dot_89_bar__minus_01_dot_44_bar_SinkBasin SinkBasinType)\n (receptacleType Drawer_bar__plus_01_dot_50_bar__plus_00_dot_43_bar__minus_00_dot_02 DrawerType)\n (receptacleType Drawer_bar__plus_01_dot_50_bar__plus_00_dot_54_bar__plus_00_dot_60 DrawerType)\n (receptacleType Cabinet_bar__plus_00_dot_50_bar__plus_00_dot_48_bar__minus_01_dot_15 CabinetType)\n (receptacleType StoveBurner_bar__plus_01_dot_77_bar__plus_00_dot_90_bar__plus_00_dot_38 StoveBurnerType)\n (receptacleType Drawer_bar__plus_01_dot_50_bar__plus_00_dot_20_bar__minus_00_dot_02 DrawerType)\n (receptacleType Drawer_bar__plus_01_dot_50_bar__plus_00_dot_20_bar__plus_01_dot_22 DrawerType)\n (receptacleType StoveBurner_bar__plus_01_dot_77_bar__plus_00_dot_90_bar__plus_00_dot_82 StoveBurnerType)\n (receptacleType StoveBurner_bar__plus_01_dot_98_bar__plus_00_dot_90_bar__plus_00_dot_38 StoveBurnerType)\n (receptacleType Cabinet_bar__plus_01_dot_71_bar__plus_02_dot_02_bar__minus_01_dot_45 CabinetType)\n (receptacleType Drawer_bar__plus_01_dot_50_bar__plus_00_dot_60_bar__minus_00_dot_02 DrawerType)\n (receptacleType StoveBurner_bar__plus_01_dot_77_bar__plus_00_dot_90_bar__plus_00_dot_60 StoveBurnerType)\n (receptacleType Drawer_bar__plus_01_dot_50_bar__plus_00_dot_52_bar__plus_01_dot_22 DrawerType)\n (receptacleType GarbageCan_bar__minus_01_dot_80_bar__plus_00_dot_00_bar__plus_01_dot_33 GarbageCanType)\n (receptacleType Drawer_bar__plus_00_dot_81_bar__plus_00_dot_48_bar__minus_01_dot_16 DrawerType)\n (receptacleType Fridge_bar__minus_01_dot_76_bar__plus_00_dot_00_bar__plus_00_dot_01 FridgeType)\n (objectType StoveKnob_bar__plus_01_dot_60_bar__plus_00_dot_92_bar__plus_00_dot_46 StoveKnobType)\n (objectType LightSwitch_bar__minus_00_dot_15_bar__plus_01_dot_29_bar__plus_03_dot_70 LightSwitchType)\n (objectType DishSponge_bar__plus_01_dot_82_bar__plus_00_dot_12_bar__plus_00_dot_67 DishSpongeType)\n (objectType Mug_bar__plus_01_dot_36_bar__plus_00_dot_96_bar__minus_01_dot_36 MugType)\n (objectType StoveKnob_bar__plus_01_dot_60_bar__plus_00_dot_92_bar__plus_00_dot_68 StoveKnobType)\n (objectType Egg_bar__minus_01_dot_70_bar__plus_01_dot_53_bar__minus_00_dot_08 EggType)\n (objectType SaltShaker_bar__plus_01_dot_20_bar__plus_00_dot_11_bar__minus_01_dot_35 SaltShakerType)\n (objectType Egg_bar__plus_01_dot_89_bar__plus_01_dot_06_bar__minus_00_dot_65 EggType)\n (objectType Window_bar__plus_02_dot_22_bar__plus_01_dot_57_bar__minus_00_dot_39 WindowType)\n (objectType Bowl_bar__minus_01_dot_48_bar__plus_01_dot_68_bar__minus_01_dot_61 BowlType)\n (objectType Chair_bar__minus_00_dot_06_bar__plus_00_dot_52_bar__plus_01_dot_37 ChairType)\n (objectType PepperShaker_bar__minus_00_dot_87_bar__plus_01_dot_68_bar__minus_01_dot_54 PepperShakerType)\n (objectType Knife_bar__plus_00_dot_66_bar__plus_00_dot_93_bar__minus_01_dot_61 KnifeType)\n (objectType Tomato_bar__plus_00_dot_11_bar__plus_00_dot_98_bar__plus_00_dot_97 TomatoType)\n (objectType Spoon_bar__minus_00_dot_09_bar__plus_00_dot_76_bar__minus_01_dot_38 SpoonType)\n (objectType 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CoffeeMachineType MugType)\n (canContain DrawerType SaltShakerType)\n (canContain DrawerType DishSpongeType)\n (canContain DrawerType LadleType)\n (canContain DrawerType ForkType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType SpoonType)\n (canContain DrawerType SoapBottleType)\n (canContain DrawerType ButterKnifeType)\n (canContain DrawerType PepperShakerType)\n (canContain DrawerType KnifeType)\n (canContain DrawerType SpatulaType)\n (canContain MicrowaveType MugType)\n (canContain MicrowaveType PotatoType)\n (canContain MicrowaveType EggType)\n (canContain MicrowaveType AppleType)\n (canContain MicrowaveType TomatoType)\n (canContain MicrowaveType BreadType)\n (canContain MicrowaveType CupType)\n (canContain MicrowaveType PlateType)\n (canContain MicrowaveType BowlType)\n (canContain StoveBurnerType KettleType)\n (canContain StoveBurnerType PotType)\n (canContain StoveBurnerType PanType)\n (canContain CabinetType SaltShakerType)\n (canContain CabinetType DishSpongeType)\n (canContain CabinetType BowlType)\n (canContain CabinetType KettleType)\n (canContain CabinetType PotType)\n (canContain CabinetType MugType)\n (canContain CabinetType LadleType)\n (canContain CabinetType SoapBottleType)\n (canContain CabinetType CupType)\n (canContain CabinetType PlateType)\n (canContain CabinetType PepperShakerType)\n (canContain CabinetType PanType)\n (canContain DrawerType SaltShakerType)\n (canContain DrawerType DishSpongeType)\n (canContain DrawerType LadleType)\n (canContain DrawerType ForkType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType SpoonType)\n (canContain DrawerType SoapBottleType)\n (canContain DrawerType ButterKnifeType)\n (canContain DrawerType PepperShakerType)\n (canContain DrawerType KnifeType)\n (canContain DrawerType SpatulaType)\n (canContain CabinetType SaltShakerType)\n (canContain CabinetType DishSpongeType)\n (canContain CabinetType BowlType)\n (canContain CabinetType KettleType)\n (canContain CabinetType PotType)\n (canContain CabinetType MugType)\n (canContain CabinetType LadleType)\n (canContain CabinetType SoapBottleType)\n (canContain CabinetType CupType)\n (canContain CabinetType PlateType)\n (canContain CabinetType PepperShakerType)\n (canContain CabinetType PanType)\n (canContain SinkBasinType DishSpongeType)\n (canContain SinkBasinType BowlType)\n (canContain SinkBasinType KettleType)\n (canContain SinkBasinType PotType)\n (canContain SinkBasinType MugType)\n (canContain SinkBasinType EggType)\n (canContain SinkBasinType LadleType)\n (canContain SinkBasinType ForkType)\n (canContain SinkBasinType SpoonType)\n (canContain SinkBasinType LettuceType)\n (canContain SinkBasinType PotatoType)\n (canContain SinkBasinType ButterKnifeType)\n (canContain SinkBasinType CupType)\n (canContain SinkBasinType PlateType)\n (canContain SinkBasinType TomatoType)\n (canContain SinkBasinType KnifeType)\n (canContain SinkBasinType AppleType)\n (canContain SinkBasinType PanType)\n 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CabinetType BowlType)\n (canContain CabinetType KettleType)\n (canContain CabinetType PotType)\n (canContain CabinetType MugType)\n (canContain CabinetType LadleType)\n (canContain CabinetType SoapBottleType)\n (canContain CabinetType CupType)\n (canContain CabinetType PlateType)\n (canContain CabinetType PepperShakerType)\n (canContain CabinetType PanType)\n (canContain StoveBurnerType KettleType)\n (canContain StoveBurnerType PotType)\n (canContain StoveBurnerType PanType)\n (canContain DrawerType SaltShakerType)\n (canContain DrawerType DishSpongeType)\n (canContain DrawerType LadleType)\n (canContain DrawerType ForkType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType SpoonType)\n (canContain DrawerType SoapBottleType)\n (canContain DrawerType ButterKnifeType)\n (canContain DrawerType PepperShakerType)\n (canContain DrawerType KnifeType)\n (canContain DrawerType SpatulaType)\n (canContain DrawerType SaltShakerType)\n (canContain DrawerType DishSpongeType)\n 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Mug_bar__plus_01_dot_36_bar__plus_00_dot_96_bar__minus_01_dot_36)\n (heatable Egg_bar__minus_01_dot_70_bar__plus_01_dot_53_bar__minus_00_dot_08)\n (heatable Egg_bar__plus_01_dot_89_bar__plus_01_dot_06_bar__minus_00_dot_65)\n (heatable Tomato_bar__plus_00_dot_11_bar__plus_00_dot_98_bar__plus_00_dot_97)\n (heatable Bread_bar__minus_00_dot_21_bar__plus_01_dot_01_bar__plus_00_dot_51)\n (heatable Mug_bar__minus_01_dot_80_bar__plus_01_dot_66_bar__minus_01_dot_06)\n (heatable Cup_bar__minus_00_dot_25_bar__plus_00_dot_11_bar__minus_01_dot_47)\n (heatable Apple_bar__minus_01_dot_80_bar__plus_00_dot_09_bar__plus_01_dot_29)\n (heatable Potato_bar__minus_01_dot_65_bar__plus_01_dot_70_bar__plus_00_dot_20)\n (heatable Mug_bar_00_dot_00_bar__plus_00_dot_76_bar__minus_01_dot_49)\n (heatable Apple_bar_00_dot_00_bar__plus_00_dot_81_bar__minus_01_dot_38)\n (heatable Plate_bar__plus_00_dot_21_bar__plus_00_dot_92_bar__plus_00_dot_74)\n (heatable 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Cup_bar__minus_00_dot_25_bar__plus_00_dot_11_bar__minus_01_dot_47 Cabinet_bar__minus_00_dot_50_bar__plus_00_dot_48_bar__minus_01_dot_15)\n (inReceptacle Pot_bar__plus_01_dot_98_bar__plus_00_dot_94_bar__plus_00_dot_60 StoveBurner_bar__plus_01_dot_77_bar__plus_00_dot_90_bar__plus_00_dot_60)\n (inReceptacle DishSponge_bar__plus_01_dot_82_bar__plus_00_dot_24_bar__plus_00_dot_05 Drawer_bar__plus_01_dot_50_bar__plus_00_dot_20_bar__minus_00_dot_02)\n (inReceptacle Spatula_bar__plus_01_dot_86_bar__plus_00_dot_70_bar__minus_00_dot_15 Drawer_bar__plus_01_dot_50_bar__plus_00_dot_63_bar__minus_00_dot_02)\n (inReceptacle Mug_bar__minus_01_dot_80_bar__plus_01_dot_66_bar__minus_01_dot_06 Cabinet_bar__minus_01_dot_70_bar__plus_02_dot_02_bar__minus_01_dot_45)\n (inReceptacle ButterKnife_bar__plus_01_dot_66_bar__plus_00_dot_12_bar__plus_00_dot_53 Drawer_bar__plus_01_dot_50_bar__plus_00_dot_14_bar__plus_00_dot_60)\n (inReceptacle DishSponge_bar__plus_01_dot_82_bar__plus_00_dot_12_bar__plus_00_dot_67 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(inReceptacle Plate_bar__plus_00_dot_11_bar__plus_00_dot_92_bar__plus_00_dot_04 CounterTop_bar__minus_00_dot_02_bar__plus_00_dot_96_bar__plus_00_dot_51)\n (inReceptacle Bread_bar__minus_00_dot_21_bar__plus_01_dot_01_bar__plus_00_dot_51 CounterTop_bar__minus_00_dot_02_bar__plus_00_dot_96_bar__plus_00_dot_51)\n (inReceptacle SoapBottle_bar__plus_00_dot_32_bar__plus_00_dot_93_bar__plus_00_dot_97 CounterTop_bar__minus_00_dot_02_bar__plus_00_dot_96_bar__plus_00_dot_51)\n (inReceptacle CellPhone_bar__plus_00_dot_32_bar__plus_00_dot_92_bar__plus_01_dot_20 CounterTop_bar__minus_00_dot_02_bar__plus_00_dot_96_bar__plus_00_dot_51)\n (inReceptacle Spoon_bar__minus_00_dot_21_bar__plus_00_dot_93_bar__plus_00_dot_97 CounterTop_bar__minus_00_dot_02_bar__plus_00_dot_96_bar__plus_00_dot_51)\n (inReceptacle Bread_bar__plus_00_dot_00_bar__plus_01_dot_01_bar__plus_00_dot_51 CounterTop_bar__minus_00_dot_02_bar__plus_00_dot_96_bar__plus_00_dot_51)\n (inReceptacle Knife_bar__plus_00_dot_11_bar__plus_00_dot_95_bar__plus_01_dot_20 CounterTop_bar__minus_00_dot_02_bar__plus_00_dot_96_bar__plus_00_dot_51)\n (inReceptacle Lettuce_bar__minus_00_dot_32_bar__plus_01_dot_00_bar__plus_00_dot_74 CounterTop_bar__minus_00_dot_02_bar__plus_00_dot_96_bar__plus_00_dot_51)\n (inReceptacle Spatula_bar__plus_01_dot_81_bar__plus_00_dot_16_bar__plus_01_dot_28 Drawer_bar__plus_01_dot_50_bar__plus_00_dot_20_bar__plus_01_dot_22)\n (inReceptacle SaltShaker_bar__plus_01_dot_81_bar__plus_00_dot_22_bar__plus_01_dot_22 Drawer_bar__plus_01_dot_50_bar__plus_00_dot_20_bar__plus_01_dot_22)\n (inReceptacle Pot_bar__plus_01_dot_98_bar__plus_00_dot_94_bar__plus_00_dot_60 StoveBurner_bar__plus_01_dot_98_bar__plus_00_dot_90_bar__plus_00_dot_82)\n (inReceptacle Ladle_bar__minus_01_dot_15_bar__plus_00_dot_16_bar__minus_01_dot_49 Cabinet_bar__minus_01_dot_39_bar__plus_00_dot_48_bar__minus_01_dot_15)\n (inReceptacle Apple_bar__minus_01_dot_80_bar__plus_00_dot_09_bar__plus_01_dot_29 GarbageCan_bar__minus_01_dot_80_bar__plus_00_dot_00_bar__plus_01_dot_33)\n (inReceptacle Egg_bar__plus_01_dot_89_bar__plus_01_dot_06_bar__minus_00_dot_65 Microwave_bar__plus_01_dot_93_bar__plus_00_dot_90_bar__minus_00_dot_77)\n (inReceptacle Mug_bar__plus_01_dot_36_bar__plus_00_dot_96_bar__minus_01_dot_36 CoffeeMachine_bar__plus_01_dot_36_bar__plus_00_dot_90_bar__minus_01_dot_60)\n (inReceptacle Potato_bar__minus_01_dot_65_bar__plus_01_dot_70_bar__plus_00_dot_20 Fridge_bar__minus_01_dot_76_bar__plus_00_dot_00_bar__plus_00_dot_01)\n (inReceptacle Lettuce_bar__minus_01_dot_80_bar__plus_01_dot_75_bar__minus_00_dot_18 Fridge_bar__minus_01_dot_76_bar__plus_00_dot_00_bar__plus_00_dot_01)\n (inReceptacle Egg_bar__minus_01_dot_70_bar__plus_01_dot_53_bar__minus_00_dot_08 Fridge_bar__minus_01_dot_76_bar__plus_00_dot_00_bar__plus_00_dot_01)\n (inReceptacle Tomato_bar__minus_01_dot_86_bar__plus_01_dot_52_bar__minus_00_dot_08 Fridge_bar__minus_01_dot_76_bar__plus_00_dot_00_bar__plus_00_dot_01)\n (inReceptacle Apple_bar__minus_01_dot_80_bar__plus_01_dot_52_bar__minus_00_dot_27 Fridge_bar__minus_01_dot_76_bar__plus_00_dot_00_bar__plus_00_dot_01)\n (inReceptacle Spoon_bar__minus_00_dot_09_bar__plus_00_dot_76_bar__minus_01_dot_38 Sink_bar__plus_00_dot_00_bar__plus_00_dot_89_bar__minus_01_dot_44_bar_SinkBasin)\n (inReceptacle Fork_bar__plus_00_dot_17_bar__plus_00_dot_76_bar__minus_01_dot_38 Sink_bar__plus_00_dot_00_bar__plus_00_dot_89_bar__minus_01_dot_44_bar_SinkBasin)\n (inReceptacle Cup_bar__plus_00_dot_26_bar__plus_00_dot_76_bar__minus_01_dot_49 Sink_bar__plus_00_dot_00_bar__plus_00_dot_89_bar__minus_01_dot_44_bar_SinkBasin)\n (inReceptacle Apple_bar_00_dot_00_bar__plus_00_dot_81_bar__minus_01_dot_38 Sink_bar__plus_00_dot_00_bar__plus_00_dot_89_bar__minus_01_dot_44_bar_SinkBasin)\n (inReceptacle Mug_bar_00_dot_00_bar__plus_00_dot_76_bar__minus_01_dot_49 Sink_bar__plus_00_dot_00_bar__plus_00_dot_89_bar__minus_01_dot_44_bar_SinkBasin)\n \n \n (receptacleAtLocation Cabinet_bar__plus_00_dot_41_bar__plus_00_dot_48_bar__plus_00_dot_45 loc_bar_5_bar_4_bar_3_bar_60)\n (receptacleAtLocation Cabinet_bar__plus_00_dot_50_bar__plus_00_dot_48_bar__minus_01_dot_15 loc_bar_3_bar__minus_1_bar_2_bar_60)\n (receptacleAtLocation Cabinet_bar__plus_01_dot_39_bar__plus_00_dot_48_bar__minus_01_dot_15 loc_bar_3_bar__minus_1_bar_2_bar_60)\n (receptacleAtLocation Cabinet_bar__plus_01_dot_71_bar__plus_02_dot_02_bar__minus_01_dot_45 loc_bar_4_bar__minus_3_bar_1_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__plus_01_dot_79_bar__plus_02_dot_02_bar__minus_00_dot_82 loc_bar_4_bar__minus_3_bar_1_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_50_bar__plus_00_dot_48_bar__minus_01_dot_15 loc_bar__minus_3_bar__minus_1_bar_2_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_63_bar__plus_02_dot_02_bar__minus_01_dot_45 loc_bar__minus_3_bar__minus_3_bar_2_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_01_dot_39_bar__plus_00_dot_48_bar__minus_01_dot_15 loc_bar__minus_3_bar__minus_1_bar_2_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_01_dot_70_bar__plus_02_dot_02_bar__minus_01_dot_45 loc_bar__minus_3_bar__minus_3_bar_3_bar__minus_15)\n (receptacleAtLocation CoffeeMachine_bar__plus_01_dot_36_bar__plus_00_dot_90_bar__minus_01_dot_60 loc_bar_4_bar__minus_3_bar_2_bar_45)\n (receptacleAtLocation CounterTop_bar__plus_00_dot_00_bar__plus_00_dot_95_bar__minus_01_dot_51 loc_bar__minus_3_bar__minus_3_bar_2_bar_45)\n (receptacleAtLocation CounterTop_bar__minus_00_dot_02_bar__plus_00_dot_96_bar__plus_00_dot_51 loc_bar_3_bar_2_bar_3_bar_45)\n (receptacleAtLocation Drawer_bar__plus_00_dot_81_bar__plus_00_dot_48_bar__minus_01_dot_16 loc_bar_5_bar_0_bar_2_bar_45)\n (receptacleAtLocation Drawer_bar__plus_01_dot_50_bar__plus_00_dot_14_bar__plus_00_dot_60 loc_bar_3_bar_7_bar_2_bar_60)\n (receptacleAtLocation Drawer_bar__plus_01_dot_50_bar__plus_00_dot_20_bar__plus_01_dot_22 loc_bar_2_bar_7_bar_1_bar_60)\n (receptacleAtLocation Drawer_bar__plus_01_dot_50_bar__plus_00_dot_20_bar__minus_00_dot_02 loc_bar_5_bar_0_bar_1_bar_60)\n (receptacleAtLocation Drawer_bar__plus_01_dot_50_bar__plus_00_dot_31_bar__plus_00_dot_60 loc_bar_5_bar_2_bar_1_bar_60)\n (receptacleAtLocation Drawer_bar__plus_01_dot_50_bar__plus_00_dot_43_bar__minus_00_dot_02 loc_bar_5_bar_0_bar_1_bar_60)\n (receptacleAtLocation Drawer_bar__plus_01_dot_50_bar__plus_00_dot_52_bar__plus_01_dot_22 loc_bar_3_bar_3_bar_1_bar_60)\n (receptacleAtLocation Drawer_bar__plus_01_dot_50_bar__plus_00_dot_54_bar__plus_00_dot_60 loc_bar_5_bar_2_bar_1_bar_60)\n (receptacleAtLocation Drawer_bar__plus_01_dot_50_bar__plus_00_dot_60_bar__minus_00_dot_02 loc_bar_4_bar_3_bar_2_bar_60)\n (receptacleAtLocation Drawer_bar__plus_01_dot_50_bar__plus_00_dot_63_bar__plus_00_dot_61 loc_bar_3_bar_4_bar_1_bar_60)\n (receptacleAtLocation Drawer_bar__plus_01_dot_50_bar__plus_00_dot_63_bar__minus_00_dot_02 loc_bar_3_bar_1_bar_1_bar_60)\n (receptacleAtLocation Drawer_bar__plus_01_dot_50_bar__plus_00_dot_78_bar__plus_01_dot_22 loc_bar_3_bar_6_bar_1_bar_45)\n (receptacleAtLocation Drawer_bar__minus_00_dot_70_bar__plus_00_dot_48_bar__minus_01_dot_16 loc_bar__minus_3_bar__minus_2_bar_2_bar_60)\n (receptacleAtLocation Fridge_bar__minus_01_dot_76_bar__plus_00_dot_00_bar__plus_00_dot_01 loc_bar__minus_3_bar_0_bar_3_bar_60)\n (receptacleAtLocation GarbageCan_bar__minus_01_dot_80_bar__plus_00_dot_00_bar__plus_01_dot_33 loc_bar__minus_5_bar_6_bar_3_bar_60)\n (receptacleAtLocation Microwave_bar__plus_01_dot_93_bar__plus_00_dot_90_bar__minus_00_dot_77 loc_bar_4_bar__minus_3_bar_1_bar_45)\n (receptacleAtLocation Sink_bar__plus_00_dot_00_bar__plus_00_dot_89_bar__minus_01_dot_44_bar_SinkBasin loc_bar_0_bar__minus_3_bar_2_bar_60)\n (receptacleAtLocation StoveBurner_bar__plus_01_dot_77_bar__plus_00_dot_90_bar__plus_00_dot_38 loc_bar_5_bar_2_bar_1_bar_60)\n (receptacleAtLocation StoveBurner_bar__plus_01_dot_77_bar__plus_00_dot_90_bar__plus_00_dot_60 loc_bar_5_bar_2_bar_1_bar_60)\n (receptacleAtLocation StoveBurner_bar__plus_01_dot_77_bar__plus_00_dot_90_bar__plus_00_dot_82 loc_bar_5_bar_3_bar_1_bar_60)\n (receptacleAtLocation StoveBurner_bar__plus_01_dot_98_bar__plus_00_dot_90_bar__plus_00_dot_38 loc_bar_5_bar_2_bar_1_bar_45)\n (receptacleAtLocation StoveBurner_bar__plus_01_dot_98_bar__plus_00_dot_90_bar__plus_00_dot_60 loc_bar_5_bar_2_bar_1_bar_45)\n (receptacleAtLocation StoveBurner_bar__plus_01_dot_98_bar__plus_00_dot_90_bar__plus_00_dot_82 loc_bar_5_bar_3_bar_1_bar_45)\n (receptacleAtLocation Toaster_bar__plus_01_dot_98_bar__plus_00_dot_90_bar__minus_00_dot_34 loc_bar_4_bar__minus_1_bar_1_bar_45)\n (objectAtLocation Bowl_bar__plus_01_dot_10_bar__plus_01_dot_68_bar__minus_01_dot_65 loc_bar_4_bar__minus_3_bar_1_bar__minus_30)\n (objectAtLocation Mug_bar__minus_01_dot_80_bar__plus_01_dot_66_bar__minus_01_dot_06 loc_bar__minus_3_bar__minus_3_bar_3_bar__minus_15)\n (objectAtLocation Spoon_bar__minus_00_dot_09_bar__plus_00_dot_76_bar__minus_01_dot_38 loc_bar_0_bar__minus_3_bar_2_bar_60)\n (objectAtLocation DishSponge_bar__plus_01_dot_82_bar__plus_00_dot_12_bar__plus_00_dot_67 loc_bar_3_bar_7_bar_2_bar_60)\n (objectAtLocation Tomato_bar__minus_01_dot_86_bar__plus_01_dot_52_bar__minus_00_dot_08 loc_bar__minus_3_bar_0_bar_3_bar_60)\n (objectAtLocation Bread_bar__minus_00_dot_21_bar__plus_01_dot_01_bar__plus_00_dot_51 loc_bar_3_bar_2_bar_3_bar_45)\n (objectAtLocation ButterKnife_bar__plus_01_dot_71_bar__plus_00_dot_47_bar__minus_00_dot_02 loc_bar_5_bar_0_bar_1_bar_60)\n (objectAtLocation CellPhone_bar__plus_01_dot_71_bar__plus_00_dot_54_bar__plus_01_dot_09 loc_bar_3_bar_3_bar_1_bar_60)\n (objectAtLocation PepperShaker_bar__minus_00_dot_87_bar__plus_01_dot_68_bar__minus_01_dot_54 loc_bar__minus_3_bar__minus_3_bar_2_bar__minus_30)\n (objectAtLocation SaltShaker_bar__plus_01_dot_20_bar__plus_00_dot_11_bar__minus_01_dot_35 loc_bar_3_bar__minus_1_bar_2_bar_60)\n (objectAtLocation Knife_bar__plus_00_dot_66_bar__plus_00_dot_93_bar__minus_01_dot_61 loc_bar__minus_3_bar__minus_3_bar_2_bar_45)\n (objectAtLocation Apple_bar__minus_01_dot_80_bar__plus_00_dot_09_bar__plus_01_dot_29 loc_bar__minus_5_bar_6_bar_3_bar_60)\n (objectAtLocation Spatula_bar__plus_01_dot_60_bar__plus_00_dot_78_bar__plus_01_dot_00 loc_bar_3_bar_6_bar_1_bar_45)\n (objectAtLocation Lettuce_bar__minus_01_dot_80_bar__plus_01_dot_75_bar__minus_00_dot_18 loc_bar__minus_3_bar_0_bar_3_bar_60)\n (objectAtLocation Plate_bar__plus_00_dot_21_bar__plus_00_dot_92_bar__plus_00_dot_74 loc_bar_3_bar_2_bar_3_bar_45)\n (objectAtLocation Egg_bar__minus_01_dot_70_bar__plus_01_dot_53_bar__minus_00_dot_08 loc_bar__minus_3_bar_0_bar_3_bar_60)\n (objectAtLocation Pot_bar__minus_01_dot_64_bar__plus_00_dot_92_bar__minus_00_dot_91 loc_bar__minus_3_bar__minus_3_bar_2_bar_45)\n (objectAtLocation Cup_bar__minus_00_dot_25_bar__plus_00_dot_11_bar__minus_01_dot_47 loc_bar__minus_3_bar__minus_1_bar_2_bar_60)\n (objectAtLocation Apple_bar__minus_01_dot_80_bar__plus_01_dot_52_bar__minus_00_dot_27 loc_bar__minus_3_bar_0_bar_3_bar_60)\n (objectAtLocation Mug_bar__plus_01_dot_36_bar__plus_00_dot_96_bar__minus_01_dot_36 loc_bar_4_bar__minus_3_bar_2_bar_45)\n (objectAtLocation SaltShaker_bar__minus_01_dot_05_bar__plus_00_dot_91_bar__minus_01_dot_22 loc_bar__minus_3_bar__minus_3_bar_2_bar_45)\n (objectAtLocation Tomato_bar__minus_01_dot_87_bar__plus_00_dot_97_bar__minus_01_dot_32 loc_bar__minus_3_bar__minus_3_bar_2_bar_45)\n (objectAtLocation Knife_bar__plus_00_dot_11_bar__plus_00_dot_95_bar__plus_01_dot_20 loc_bar_3_bar_2_bar_3_bar_45)\n (objectAtLocation Plate_bar__minus_01_dot_90_bar__plus_00_dot_91_bar__minus_00_dot_91 loc_bar__minus_3_bar__minus_3_bar_2_bar_45)\n (objectAtLocation Spatula_bar__plus_01_dot_81_bar__plus_00_dot_16_bar__plus_01_dot_28 loc_bar_2_bar_7_bar_1_bar_60)\n (objectAtLocation ButterKnife_bar__plus_01_dot_66_bar__plus_00_dot_12_bar__plus_00_dot_53 loc_bar_3_bar_7_bar_2_bar_60)\n (objectAtLocation DishSponge_bar__minus_00_dot_31_bar__plus_00_dot_11_bar__minus_01_dot_35 loc_bar__minus_3_bar__minus_1_bar_2_bar_60)\n (objectAtLocation CellPhone_bar__plus_01_dot_66_bar__plus_00_dot_76_bar__plus_01_dot_37 loc_bar_3_bar_6_bar_1_bar_45)\n (objectAtLocation Window_bar__minus_00_dot_01_bar__plus_01_dot_58_bar__minus_01_dot_82 loc_bar__minus_3_bar__minus_3_bar_2_bar_45)\n (objectAtLocation Sink_bar__plus_00_dot_00_bar__plus_00_dot_89_bar__minus_01_dot_44 loc_bar_0_bar__minus_3_bar_2_bar_45)\n (objectAtLocation Window_bar__plus_02_dot_22_bar__plus_01_dot_57_bar__minus_00_dot_39 loc_bar__minus_3_bar__minus_3_bar_2_bar_45)\n (objectAtLocation Chair_bar__minus_00_dot_06_bar__plus_00_dot_52_bar__plus_01_dot_37 loc_bar_0_bar_8_bar_2_bar_60)\n (objectAtLocation Window_bar__minus_03_dot_24_bar__plus_01_dot_62_bar__plus_02_dot_69 loc_bar__minus_10_bar_11_bar_3_bar_0)\n (objectAtLocation SoapBottle_bar__plus_00_dot_32_bar__plus_00_dot_93_bar__plus_00_dot_97 loc_bar_3_bar_2_bar_3_bar_45)\n (objectAtLocation Cup_bar__plus_00_dot_26_bar__plus_00_dot_76_bar__minus_01_dot_49 loc_bar_0_bar__minus_3_bar_2_bar_60)\n (objectAtLocation LightSwitch_bar__minus_00_dot_15_bar__plus_01_dot_29_bar__plus_03_dot_70 loc_bar__minus_1_bar_12_bar_0_bar_30)\n (objectAtLocation Pot_bar__plus_01_dot_98_bar__plus_00_dot_94_bar__plus_00_dot_60 loc_bar_5_bar_3_bar_1_bar_45)\n (objectAtLocation StoveKnob_bar__plus_01_dot_60_bar__plus_00_dot_92_bar__plus_00_dot_57 loc_bar_5_bar_2_bar_1_bar_60)\n (objectAtLocation StoveKnob_bar__plus_01_dot_60_bar__plus_00_dot_92_bar__plus_00_dot_63 loc_bar_5_bar_3_bar_1_bar_60)\n (objectAtLocation StoveKnob_bar__plus_01_dot_60_bar__plus_00_dot_92_bar__plus_00_dot_74 loc_bar_5_bar_3_bar_1_bar_60)\n (objectAtLocation StoveKnob_bar__plus_01_dot_60_bar__plus_00_dot_92_bar__plus_00_dot_68 loc_bar_5_bar_3_bar_1_bar_60)\n (objectAtLocation StoveKnob_bar__plus_01_dot_60_bar__plus_00_dot_92_bar__plus_00_dot_46 loc_bar_5_bar_2_bar_1_bar_60)\n (objectAtLocation StoveKnob_bar__plus_01_dot_60_bar__plus_00_dot_92_bar__plus_00_dot_52 loc_bar_5_bar_2_bar_1_bar_60)\n (objectAtLocation Fork_bar__plus_00_dot_17_bar__plus_00_dot_76_bar__minus_01_dot_38 loc_bar_0_bar__minus_3_bar_2_bar_60)\n (objectAtLocation Ladle_bar__minus_01_dot_15_bar__plus_00_dot_16_bar__minus_01_dot_49 loc_bar__minus_3_bar__minus_1_bar_2_bar_60)\n (objectAtLocation Kettle_bar__plus_01_dot_77_bar__plus_00_dot_94_bar__plus_00_dot_38 loc_bar_5_bar_2_bar_1_bar_60)\n (objectAtLocation Egg_bar__plus_01_dot_89_bar__plus_01_dot_06_bar__minus_00_dot_65 loc_bar_4_bar__minus_3_bar_1_bar_45)\n (objectAtLocation Plate_bar__plus_00_dot_11_bar__plus_00_dot_92_bar__plus_00_dot_04 loc_bar_3_bar_2_bar_3_bar_45)\n (objectAtLocation Pan_bar__plus_01_dot_99_bar__plus_00_dot_91_bar__plus_01_dot_26 loc_bar__minus_3_bar__minus_3_bar_2_bar_45)\n (objectAtLocation Lettuce_bar__minus_00_dot_32_bar__plus_01_dot_00_bar__plus_00_dot_74 loc_bar_3_bar_2_bar_3_bar_45)\n (objectAtLocation Spatula_bar__plus_01_dot_86_bar__plus_00_dot_70_bar__minus_00_dot_15 loc_bar_3_bar_1_bar_1_bar_60)\n (objectAtLocation Apple_bar_00_dot_00_bar__plus_00_dot_81_bar__minus_01_dot_38 loc_bar_0_bar__minus_3_bar_2_bar_60)\n (objectAtLocation Knife_bar__plus_01_dot_77_bar__plus_00_dot_79_bar__plus_01_dot_15 loc_bar_3_bar_6_bar_1_bar_45)\n (objectAtLocation SaltShaker_bar__plus_01_dot_81_bar__plus_00_dot_22_bar__plus_01_dot_22 loc_bar_2_bar_7_bar_1_bar_60)\n (objectAtLocation PepperShaker_bar__plus_01_dot_59_bar__plus_01_dot_68_bar__minus_01_dot_58 loc_bar_4_bar__minus_3_bar_1_bar__minus_30)\n (objectAtLocation CellPhone_bar__plus_00_dot_32_bar__plus_00_dot_92_bar__plus_01_dot_20 loc_bar_3_bar_2_bar_3_bar_45)\n (objectAtLocation ButterKnife_bar__plus_01_dot_76_bar__plus_00_dot_35_bar__minus_00_dot_02 loc_bar_5_bar_0_bar_1_bar_60)\n (objectAtLocation Bread_bar__plus_00_dot_00_bar__plus_01_dot_01_bar__plus_00_dot_51 loc_bar_3_bar_2_bar_3_bar_45)\n (objectAtLocation Tomato_bar__plus_00_dot_11_bar__plus_00_dot_98_bar__plus_00_dot_97 loc_bar_3_bar_2_bar_3_bar_45)\n (objectAtLocation Potato_bar__minus_01_dot_65_bar__plus_01_dot_70_bar__plus_00_dot_20 loc_bar__minus_3_bar_0_bar_3_bar_60)\n (objectAtLocation DishSponge_bar__plus_01_dot_82_bar__plus_00_dot_24_bar__plus_00_dot_05 loc_bar_5_bar_0_bar_1_bar_60)\n (objectAtLocation Spoon_bar__minus_00_dot_21_bar__plus_00_dot_93_bar__plus_00_dot_97 loc_bar_3_bar_2_bar_3_bar_45)\n (objectAtLocation Mug_bar_00_dot_00_bar__plus_00_dot_76_bar__minus_01_dot_49 loc_bar_0_bar__minus_3_bar_2_bar_60)\n (objectAtLocation Bowl_bar__minus_01_dot_48_bar__plus_01_dot_68_bar__minus_01_dot_61 loc_bar__minus_3_bar__minus_3_bar_2_bar__minus_30)\n )\n \n\n (:goal\n (and\n (exists (?r - receptacle)\n (exists (?o - object)\n (and\n (cleanable ?o)\n (objectType ?o KnifeType)\n (receptacleType ?r DrawerType)\n (isClean ?o)\n (inReceptacle ?o ?r)\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to countertop 2", "take knife 3 from countertop 2", "go to sinkbasin 1", "clean knife 3 with sinkbasin 1", "go to drawer 10", "move knife 3 to drawer 10"]}
|
alfworld__pick_clean_then_place_in_recep__12
|
pick_clean_then_place_in_recep
|
pick_clean_then_place_in_recep-Knife-None-Drawer-2/trial_T20190909_141638_451891/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 knife in drawer.\"\n }\n ],\n\n \"GotoLocation.feedback\": [\n {\n \"rhs\": \"You arrive at {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"OpenObject.feedback\": [\n {\n \"rhs\": \"You open the {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"CloseObject.feedback\": [\n {\n \"rhs\": \"You close the {r.name}.\"\n }\n ],\n\n \"PickupObject.feedback\": [\n {\n \"rhs\": \"You pick up the {o.name} from the {r.name}.\"\n }\n ],\n\n \"PickupObjectFromReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupObjectFromReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupEmptyReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupEmptyReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupFullReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupFullReceptacleObject: You pick up the {outerr.name}.\"\n }\n ],\n\n \"PutObject.feedback\": [\n {\n \"rhs\": \"You move the {o.name} to the {r.name}.\"\n }\n ],\n\n \"PutObjectInReceptacleObject.feedback\": [\n {\n \"rhs\": \"PutObjectInReceptacleObject: You put the {o.name} in the {outero.name}.\"\n }\n ],\n\n \"PutEmptyReceptacleObjectinReceptacle.feedback\": [\n {\n \"rhs\": \"PutEmptyReceptacleObjectinReceptacle: You put the {o.name} in the {r.name}.\"\n }\n ],\n\n \"PutFullReceptacleObjectInReceptacle.feedback\": [\n {\n \"rhs\": \"PutFullReceptacleObjectInReceptacle: You put the {outero.name} in the {r.name}.\"\n }\n ],\n\n \"inventory.feedback\": [\n {\n \"condition\": \"holdsany(a:agent)\",\n \"rhs\": \"You are carrying: [{o.indefinite + ' ' + o.name | holds(a:agent, o:object)}].\"\n },\n {\n \"rhs\": \"You are not carrying anything.\"\n }\n ],\n\n \"examineReceptacle.feedback\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \"The {r.name} is open. In it, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \"The {r.name} is closed.\"\n },\n {\n \"rhs\": \"On the {r.name}, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n }\n ],\n\n \"examineObject.feedback\": [\n {\n \"condition\": \"isreceptacleobject(o:object)\",\n \"rhs\": \"This is a normal {o.name}. In it, you see [{o2.indefinite + ' ' + o2.name | inreceptacleobject(o2:object, o:object)}].\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a clean sliced {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot sliced {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object)\",\n \"rhs\": \"This is a hot and clean {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object)\",\n \"rhs\": \"This is a cool and clean {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object)\",\n \"rhs\": \"This is a hot {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object)\",\n \"rhs\": \"This is a clean {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object)\",\n \"rhs\": \"This is a cold {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"This {o.name} is on.\"\n },\n {\n \"condition\": \"toggleable(o:object) & not_istoggled(o:object)\",\n \"rhs\": \"This {o.name} is off.\"\n },\n {\n \"condition\": \"sliceable(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a sliced {o.name}.\"\n },\n {\n \"rhs\": \"There's nothing special about {o.name}.\"\n }\n ]\n }\n\"\"\";\n\naction GotoLocation {\n template :: \"go to [{r.name | receptacleatlocation(r:receptacle, lend:location)}]\";\n feedback :: \"#GotoLocation.feedback#\";\n}\n\naction OpenObject {\n template :: \"open {r}\";\n feedback :: \"#OpenObject.feedback#\";\n}\n\naction CloseObject {\n template :: \"close {r}\";\n feedback :: \"#CloseObject.feedback#\";\n}\n\naction PickupObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObject.feedback#\";\n}\n\naction PickupObjectFromReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObjectFromReceptacleObject.feedback#\";\n}\n\naction PickupEmptyReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupEmptyReceptacleObject.feedback#\";\n}\n\naction PickupFullReceptacleObject {\n template :: \"take {outerr} from {r}\";\n feedback :: \"#PickupFullReceptacleObject.feedback#\";\n}\n\naction PutObject {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutObject.feedback#\";\n}\n\naction PutObjectInReceptacleObject {\n template :: \"put {o} into {outero}\";\n feedback :: \"#PutObjectInReceptacleObject.feedback#\";\n}\n\naction PutEmptyReceptacleObjectinReceptacle {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutEmptyReceptacleObjectinReceptacle.feedback#\";\n}\n\naction PutFullReceptacleObjectInReceptacle {\n template :: \"put {outero} in {r}\";\n feedback :: \"#PutFullReceptacleObjectInReceptacle.feedback#\";\n}\n\naction inventory {\n template :: \"inventory\";\n feedback :: \"#inventory.feedback#\";\n}\n\naction examineReceptacle {\n template :: \"examine {r}\";\n feedback :: \"#examineReceptacle.feedback#\";\n}\n\naction examineObject {\n template :: \"examine {o}\";\n feedback :: \"#examineObject.feedback#\";\n}\n\naction ToggleObject {\n template :: \"use {o}\";\n feedback :: \"#toggleObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"toggleObject.feedback\": [\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"You turn on the {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object)\",\n \"rhs\": \"You turn off the {o.name}.\"\n },\n {\n \"rhs\": \"You don't see any switch on the {o.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction HeatObject {\n template :: \"heat {o} with {r}\";\n feedback :: \"#heatObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"heatObject.feedback\": [\n {\n \"rhs\": \"You heat the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CleanObject {\n template :: \"clean {o} with {r}\";\n feedback :: \"#cleanObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"cleanObject.feedback\": [\n {\n \"rhs\": \"You clean the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CoolObject {\n template :: \"cool {o} with {r}\";\n feedback :: \"#coolObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"coolObject.feedback\": [\n {\n \"rhs\": \"You cool the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction SliceObject {\n template :: \"slice {co} with {ko}\";\n feedback :: \"#sliceObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"sliceObject.feedback\": [\n {\n \"rhs\": \"You sliced the {co.name} with the {ko.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction look {\n template :: \"look\";\n feedback :: \"#look.feedback#\";\n\n grammar :: \"\"\"\n {\n \"look.feedback\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"#look-variations#. Next to it, you see #list_objects_on_the_floor#.\"\n },\n {\n \"rhs\": \"You are in the middle of a room. Looking quickly around you, you see #list_appliances#.\"\n }\n ],\n\n \"look-variations\": [\n {\n \"rhs\": \"You are facing the [{r.name | atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)}]\"\n }\n ],\n\n \"list_objects_on_the_floor\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)\",\n \"rhs\": \"[{#overview(o)# | atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"list_appliances\": [\n {\n \"condition\": \"receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"[{#overview(r)# | receptacleatlocation(r:receptacle, l:location)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"overview(o, r)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name} (in/on the {r.name})}\"\n }\n ],\n\n \"overview(o)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name}\"\n }\n ],\n \"overview(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}\"\n }\n ],\n \"overview_with_state(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}#overview_state(r)#\"\n }\n ],\n \"overview_state(r)\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \" (it is open)\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \" (it is closed)\"\n },\n {\n \"rhs\": \"\"\n }\n ],\n\n \"list_empty\": [\n {\n \"rhs\": \"nothing\"\n }\n ],\n \"list_separator\": [\n {\n \"rhs\": \", \"\n }\n ],\n \"list_last_separator\": [\n {\n \"rhs\": \", and \"\n }\n ]\n }\n \"\"\";\n}\n\naction help {\n template :: \"help\";\n feedback :: \"\nAvailable commands:\n look: look around your current location\n inventory: check your current inventory\n go to (receptacle): move to a receptacle\n open (receptacle): open a receptacle\n close (receptacle): close a receptacle\n take (object) from (receptacle): take an object from a receptacle\n move (object) to (receptacle): place an object in or on a receptacle\n examine (something): examine a receptacle or an object\n use (object): use an object\n heat (object) with (receptacle): heat an object using a receptacle\n clean (object) with (receptacle): clean an object using a receptacle\n cool (object) with (receptacle): cool an object using a receptacle\n slice (object) with (object): slice an object using a sharp object\n\";\n}\n", "pddl_problem": "\n(define (problem plan_trial_T20190909_141638_451891)\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_08_bar__plus_00_dot_81_bar__minus_01_dot_49 - object\n Apple_bar__minus_01_dot_75_bar__plus_01_dot_52_bar__plus_00_dot_20 - object\n Apple_bar__minus_01_dot_81_bar__plus_00_dot_96_bar__minus_01_dot_01 - object\n Bowl_bar__plus_00_dot_66_bar__plus_00_dot_91_bar__minus_01_dot_32 - object\n Bread_bar__minus_00_dot_64_bar__plus_00_dot_99_bar__minus_01_dot_42 - object\n ButterKnife_bar__plus_01_dot_71_bar__plus_00_dot_47_bar__plus_00_dot_05 - object\n ButterKnife_bar__plus_01_dot_71_bar__plus_00_dot_58_bar__plus_00_dot_67 - object\n CellPhone_bar__plus_01_dot_71_bar__plus_00_dot_54_bar__plus_01_dot_28 - object\n CellPhone_bar__minus_01_dot_46_bar__plus_00_dot_91_bar__minus_01_dot_71 - object\n Chair_bar__minus_00_dot_06_bar__plus_00_dot_52_bar__plus_01_dot_37 - object\n Cup_bar__plus_01_dot_22_bar__plus_01_dot_68_bar__minus_01_dot_65 - object\n Cup_bar__plus_01_dot_96_bar__plus_01_dot_00_bar__minus_00_dot_70 - object\n Cup_bar__minus_01_dot_65_bar__plus_01_dot_47_bar__plus_00_dot_11 - object\n DishSponge_bar__plus_01_dot_27_bar__plus_00_dot_11_bar__minus_01_dot_42 - object\n DishSponge_bar__plus_01_dot_76_bar__plus_00_dot_47_bar__minus_00_dot_09 - object\n DishSponge_bar__minus_01_dot_76_bar__plus_01_dot_66_bar__minus_01_dot_13 - object\n Egg_bar__plus_00_dot_26_bar__plus_00_dot_82_bar__minus_01_dot_44 - object\n Egg_bar__plus_01_dot_96_bar__plus_01_dot_06_bar__minus_00_dot_86 - object\n Egg_bar__minus_00_dot_18_bar__plus_00_dot_82_bar__minus_01_dot_49 - object\n Faucet_bar__minus_00_dot_02_bar__plus_01_dot_14_bar__minus_01_dot_61 - object\n Fork_bar__minus_01_dot_90_bar__plus_00_dot_91_bar__minus_00_dot_91 - object\n Kettle_bar__plus_01_dot_77_bar__plus_00_dot_94_bar__plus_00_dot_38 - object\n Kettle_bar__minus_01_dot_24_bar__plus_00_dot_11_bar__minus_01_dot_30 - object\n Knife_bar__plus_00_dot_11_bar__plus_00_dot_95_bar__plus_01_dot_20 - object\n Ladle_bar__minus_01_dot_05_bar__plus_00_dot_96_bar__minus_01_dot_32 - object\n Lettuce_bar__plus_01_dot_75_bar__plus_00_dot_99_bar__minus_00_dot_05 - object\n LightSwitch_bar__minus_00_dot_15_bar__plus_01_dot_29_bar__plus_03_dot_70 - object\n Mug_bar__plus_00_dot_00_bar__plus_00_dot_92_bar__plus_00_dot_97 - object\n Mug_bar__plus_00_dot_08_bar__plus_00_dot_76_bar__minus_01_dot_38 - object\n Mug_bar__plus_00_dot_25_bar__plus_00_dot_11_bar__minus_01_dot_60 - object\n Pan_bar__minus_01_dot_29_bar__plus_00_dot_90_bar__minus_01_dot_35 - object\n PepperShaker_bar__plus_01_dot_12_bar__plus_00_dot_11_bar__minus_01_dot_48 - object\n PepperShaker_bar__plus_01_dot_71_bar__plus_00_dot_69_bar__plus_00_dot_48 - object\n PepperShaker_bar__minus_00_dot_14_bar__plus_00_dot_11_bar__minus_01_dot_22 - object\n Plate_bar__plus_00_dot_21_bar__plus_00_dot_92_bar__plus_00_dot_27 - object\n Plate_bar__plus_00_dot_21_bar__plus_00_dot_92_bar__plus_00_dot_74 - object\n Potato_bar__minus_01_dot_77_bar__plus_01_dot_05_bar__minus_00_dot_27 - object\n Pot_bar__plus_01_dot_98_bar__plus_00_dot_94_bar__plus_00_dot_82 - object\n Pot_bar__minus_00_dot_21_bar__plus_00_dot_93_bar__plus_00_dot_74 - object\n Pot_bar__minus_00_dot_21_bar__plus_00_dot_93_bar__minus_00_dot_19 - object\n SaltShaker_bar__plus_01_dot_56_bar__plus_00_dot_69_bar__minus_00_dot_15 - object\n Sink_bar__plus_00_dot_00_bar__plus_00_dot_89_bar__minus_01_dot_44 - object\n SoapBottle_bar__plus_00_dot_11_bar__plus_00_dot_93_bar__plus_00_dot_97 - object\n SoapBottle_bar__minus_00_dot_21_bar__plus_00_dot_93_bar__plus_00_dot_04 - object\n SoapBottle_bar__minus_01_dot_88_bar__plus_01_dot_67_bar__minus_01_dot_28 - object\n Spatula_bar__minus_00_dot_11_bar__plus_00_dot_94_bar__plus_00_dot_51 - object\n Spatula_bar__minus_00_dot_11_bar__plus_00_dot_94_bar__plus_00_dot_74 - object\n Spoon_bar__minus_00_dot_11_bar__plus_00_dot_93_bar__plus_00_dot_27 - object\n Spoon_bar__minus_00_dot_21_bar__plus_00_dot_93_bar__plus_00_dot_51 - object\n StoveKnob_bar__plus_01_dot_60_bar__plus_00_dot_92_bar__plus_00_dot_46 - object\n StoveKnob_bar__plus_01_dot_60_bar__plus_00_dot_92_bar__plus_00_dot_52 - object\n StoveKnob_bar__plus_01_dot_60_bar__plus_00_dot_92_bar__plus_00_dot_57 - object\n StoveKnob_bar__plus_01_dot_60_bar__plus_00_dot_92_bar__plus_00_dot_63 - object\n StoveKnob_bar__plus_01_dot_60_bar__plus_00_dot_92_bar__plus_00_dot_68 - object\n StoveKnob_bar__plus_01_dot_60_bar__plus_00_dot_92_bar__plus_00_dot_74 - object\n Tomato_bar__minus_00_dot_32_bar__plus_00_dot_98_bar__plus_00_dot_27 - object\n Tomato_bar__minus_01_dot_75_bar__plus_01_dot_52_bar__minus_00_dot_18 - object\n Tomato_bar__minus_01_dot_80_bar__plus_00_dot_10_bar__plus_01_dot_37 - object\n Window_bar__plus_02_dot_22_bar__plus_01_dot_57_bar__minus_00_dot_39 - object\n Window_bar__minus_00_dot_01_bar__plus_01_dot_58_bar__minus_01_dot_82 - object\n Window_bar__minus_03_dot_24_bar__plus_01_dot_62_bar__plus_02_dot_69 - object\n Cabinet_bar__plus_00_dot_41_bar__plus_00_dot_48_bar__plus_00_dot_45 - receptacle\n Cabinet_bar__plus_00_dot_50_bar__plus_00_dot_48_bar__minus_01_dot_15 - receptacle\n Cabinet_bar__plus_01_dot_39_bar__plus_00_dot_48_bar__minus_01_dot_15 - receptacle\n Cabinet_bar__plus_01_dot_71_bar__plus_02_dot_02_bar__minus_01_dot_45 - receptacle\n Cabinet_bar__plus_01_dot_79_bar__plus_02_dot_02_bar__minus_00_dot_82 - receptacle\n Cabinet_bar__minus_00_dot_50_bar__plus_00_dot_48_bar__minus_01_dot_15 - receptacle\n Cabinet_bar__minus_00_dot_63_bar__plus_02_dot_02_bar__minus_01_dot_45 - receptacle\n Cabinet_bar__minus_01_dot_39_bar__plus_00_dot_48_bar__minus_01_dot_15 - receptacle\n Cabinet_bar__minus_01_dot_70_bar__plus_02_dot_02_bar__minus_01_dot_45 - receptacle\n CoffeeMachine_bar__plus_01_dot_36_bar__plus_00_dot_90_bar__minus_01_dot_60 - receptacle\n CounterTop_bar__plus_00_dot_00_bar__plus_00_dot_95_bar__minus_01_dot_51 - receptacle\n CounterTop_bar__minus_00_dot_02_bar__plus_00_dot_96_bar__plus_00_dot_51 - receptacle\n Drawer_bar__plus_00_dot_81_bar__plus_00_dot_48_bar__minus_01_dot_16 - receptacle\n Drawer_bar__plus_01_dot_50_bar__plus_00_dot_14_bar__plus_00_dot_60 - receptacle\n Drawer_bar__plus_01_dot_50_bar__plus_00_dot_20_bar__plus_01_dot_22 - receptacle\n Drawer_bar__plus_01_dot_50_bar__plus_00_dot_20_bar__minus_00_dot_02 - receptacle\n Drawer_bar__plus_01_dot_50_bar__plus_00_dot_31_bar__plus_00_dot_60 - receptacle\n Drawer_bar__plus_01_dot_50_bar__plus_00_dot_43_bar__minus_00_dot_02 - receptacle\n Drawer_bar__plus_01_dot_50_bar__plus_00_dot_52_bar__plus_01_dot_22 - receptacle\n Drawer_bar__plus_01_dot_50_bar__plus_00_dot_54_bar__plus_00_dot_60 - receptacle\n Drawer_bar__plus_01_dot_50_bar__plus_00_dot_60_bar__minus_00_dot_02 - receptacle\n Drawer_bar__plus_01_dot_50_bar__plus_00_dot_63_bar__plus_00_dot_61 - receptacle\n Drawer_bar__plus_01_dot_50_bar__plus_00_dot_63_bar__minus_00_dot_02 - receptacle\n Drawer_bar__plus_01_dot_50_bar__plus_00_dot_78_bar__plus_01_dot_22 - receptacle\n Drawer_bar__minus_00_dot_70_bar__plus_00_dot_48_bar__minus_01_dot_16 - receptacle\n Fridge_bar__minus_01_dot_76_bar__plus_00_dot_00_bar__plus_00_dot_01 - receptacle\n GarbageCan_bar__minus_01_dot_80_bar__plus_00_dot_00_bar__plus_01_dot_33 - receptacle\n Microwave_bar__plus_01_dot_93_bar__plus_00_dot_90_bar__minus_00_dot_77 - receptacle\n Sink_bar__plus_00_dot_00_bar__plus_00_dot_89_bar__minus_01_dot_44_bar_SinkBasin - receptacle\n StoveBurner_bar__plus_01_dot_77_bar__plus_00_dot_90_bar__plus_00_dot_38 - receptacle\n StoveBurner_bar__plus_01_dot_77_bar__plus_00_dot_90_bar__plus_00_dot_60 - receptacle\n StoveBurner_bar__plus_01_dot_77_bar__plus_00_dot_90_bar__plus_00_dot_82 - receptacle\n StoveBurner_bar__plus_01_dot_98_bar__plus_00_dot_90_bar__plus_00_dot_38 - receptacle\n StoveBurner_bar__plus_01_dot_98_bar__plus_00_dot_90_bar__plus_00_dot_60 - receptacle\n StoveBurner_bar__plus_01_dot_98_bar__plus_00_dot_90_bar__plus_00_dot_82 - receptacle\n Toaster_bar__plus_01_dot_98_bar__plus_00_dot_90_bar__minus_00_dot_34 - receptacle\n loc_bar_4_bar__minus_3_bar_1_bar__minus_30 - location\n loc_bar_3_bar_1_bar_1_bar_60 - location\n loc_bar_5_bar_2_bar_1_bar_60 - location\n loc_bar_3_bar_4_bar_1_bar_60 - location\n loc_bar_2_bar_7_bar_1_bar_60 - location\n loc_bar__minus_3_bar__minus_1_bar_2_bar_60 - location\n loc_bar__minus_3_bar__minus_2_bar_2_bar_60 - location\n loc_bar_4_bar__minus_3_bar_1_bar_45 - location\n loc_bar_0_bar__minus_3_bar_2_bar_45 - location\n loc_bar_5_bar_3_bar_1_bar_60 - location\n loc_bar_3_bar_7_bar_2_bar_60 - location\n loc_bar_0_bar_8_bar_2_bar_60 - location\n loc_bar_3_bar_3_bar_1_bar_60 - location\n loc_bar_5_bar_0_bar_1_bar_60 - location\n loc_bar_5_bar_0_bar_2_bar_45 - location\n loc_bar_5_bar_4_bar_3_bar_60 - location\n loc_bar__minus_10_bar_11_bar_3_bar_0 - location\n loc_bar_4_bar_3_bar_2_bar_60 - location\n loc_bar__minus_5_bar_6_bar_3_bar_60 - location\n loc_bar__minus_3_bar_0_bar_3_bar_60 - location\n loc_bar__minus_3_bar__minus_3_bar_3_bar__minus_15 - location\n loc_bar_3_bar_3_bar_3_bar_60 - location\n loc_bar__minus_1_bar_12_bar_0_bar_30 - location\n loc_bar_5_bar_3_bar_1_bar_45 - location\n loc_bar__minus_3_bar__minus_3_bar_2_bar_45 - location\n loc_bar__minus_3_bar__minus_3_bar_2_bar__minus_30 - location\n loc_bar_4_bar__minus_3_bar_2_bar_45 - location\n loc_bar_5_bar_2_bar_1_bar_45 - location\n loc_bar_3_bar__minus_1_bar_2_bar_60 - location\n loc_bar_3_bar_6_bar_1_bar_45 - location\n loc_bar_3_bar_2_bar_3_bar_45 - location\n loc_bar_4_bar__minus_1_bar_1_bar_45 - location\n loc_bar_0_bar__minus_3_bar_2_bar_60 - location\n loc_bar__minus_3_bar__minus_3_bar_2_bar_30 - location\n )\n \n\n(:init\n\n\n (receptacleType StoveBurner_bar__plus_01_dot_98_bar__plus_00_dot_90_bar__plus_00_dot_82 StoveBurnerType)\n (receptacleType Cabinet_bar__minus_01_dot_70_bar__plus_02_dot_02_bar__minus_01_dot_45 CabinetType)\n (receptacleType CounterTop_bar__minus_00_dot_02_bar__plus_00_dot_96_bar__plus_00_dot_51 CounterTopType)\n (receptacleType Cabinet_bar__plus_01_dot_79_bar__plus_02_dot_02_bar__minus_00_dot_82 CabinetType)\n (receptacleType Cabinet_bar__minus_00_dot_50_bar__plus_00_dot_48_bar__minus_01_dot_15 CabinetType)\n (receptacleType Drawer_bar__plus_01_dot_50_bar__plus_00_dot_63_bar__plus_00_dot_61 DrawerType)\n (receptacleType Drawer_bar__minus_00_dot_70_bar__plus_00_dot_48_bar__minus_01_dot_16 DrawerType)\n (receptacleType Drawer_bar__plus_01_dot_50_bar__plus_00_dot_78_bar__plus_01_dot_22 DrawerType)\n (receptacleType Cabinet_bar__minus_01_dot_39_bar__plus_00_dot_48_bar__minus_01_dot_15 CabinetType)\n (receptacleType Cabinet_bar__plus_00_dot_41_bar__plus_00_dot_48_bar__plus_00_dot_45 CabinetType)\n (receptacleType CounterTop_bar__plus_00_dot_00_bar__plus_00_dot_95_bar__minus_01_dot_51 CounterTopType)\n (receptacleType Drawer_bar__plus_01_dot_50_bar__plus_00_dot_31_bar__plus_00_dot_60 DrawerType)\n (receptacleType Toaster_bar__plus_01_dot_98_bar__plus_00_dot_90_bar__minus_00_dot_34 ToasterType)\n (receptacleType 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Bread_bar__minus_00_dot_64_bar__plus_00_dot_99_bar__minus_01_dot_42)\n (sliceable Tomato_bar__minus_00_dot_32_bar__plus_00_dot_98_bar__plus_00_dot_27)\n (sliceable Apple_bar__minus_01_dot_75_bar__plus_01_dot_52_bar__plus_00_dot_20)\n (sliceable Lettuce_bar__plus_01_dot_75_bar__plus_00_dot_99_bar__minus_00_dot_05)\n (sliceable Tomato_bar__minus_01_dot_75_bar__plus_01_dot_52_bar__minus_00_dot_18)\n \n (inReceptacleObject Spatula_bar__minus_00_dot_11_bar__plus_00_dot_94_bar__plus_00_dot_74 Pot_bar__minus_00_dot_21_bar__plus_00_dot_93_bar__plus_00_dot_74)\n (inReceptacle PepperShaker_bar__minus_00_dot_14_bar__plus_00_dot_11_bar__minus_01_dot_22 Cabinet_bar__minus_00_dot_50_bar__plus_00_dot_48_bar__minus_01_dot_15)\n (inReceptacle SaltShaker_bar__plus_01_dot_56_bar__plus_00_dot_69_bar__minus_00_dot_15 Drawer_bar__plus_01_dot_50_bar__plus_00_dot_63_bar__minus_00_dot_02)\n (inReceptacle DishSponge_bar__minus_01_dot_76_bar__plus_01_dot_66_bar__minus_01_dot_13 Cabinet_bar__minus_01_dot_70_bar__plus_02_dot_02_bar__minus_01_dot_45)\n (inReceptacle SoapBottle_bar__minus_01_dot_88_bar__plus_01_dot_67_bar__minus_01_dot_28 Cabinet_bar__minus_01_dot_70_bar__plus_02_dot_02_bar__minus_01_dot_45)\n (inReceptacle Mug_bar__plus_00_dot_25_bar__plus_00_dot_11_bar__minus_01_dot_60 Cabinet_bar__plus_00_dot_50_bar__plus_00_dot_48_bar__minus_01_dot_15)\n (inReceptacle DishSponge_bar__plus_01_dot_27_bar__plus_00_dot_11_bar__minus_01_dot_42 Cabinet_bar__plus_01_dot_39_bar__plus_00_dot_48_bar__minus_01_dot_15)\n (inReceptacle PepperShaker_bar__plus_01_dot_12_bar__plus_00_dot_11_bar__minus_01_dot_48 Cabinet_bar__plus_01_dot_39_bar__plus_00_dot_48_bar__minus_01_dot_15)\n (inReceptacle Pot_bar__plus_01_dot_98_bar__plus_00_dot_94_bar__plus_00_dot_82 StoveBurner_bar__plus_01_dot_98_bar__plus_00_dot_90_bar__plus_00_dot_60)\n (inReceptacle ButterKnife_bar__plus_01_dot_71_bar__plus_00_dot_47_bar__plus_00_dot_05 Drawer_bar__plus_01_dot_50_bar__plus_00_dot_43_bar__minus_00_dot_02)\n (inReceptacle DishSponge_bar__plus_01_dot_76_bar__plus_00_dot_47_bar__minus_00_dot_09 Drawer_bar__plus_01_dot_50_bar__plus_00_dot_43_bar__minus_00_dot_02)\n (inReceptacle Pot_bar__plus_01_dot_98_bar__plus_00_dot_94_bar__plus_00_dot_82 StoveBurner_bar__plus_01_dot_77_bar__plus_00_dot_90_bar__plus_00_dot_82)\n (inReceptacle CellPhone_bar__plus_01_dot_71_bar__plus_00_dot_54_bar__plus_01_dot_28 Drawer_bar__plus_01_dot_50_bar__plus_00_dot_52_bar__plus_01_dot_22)\n (inReceptacle Cup_bar__plus_01_dot_22_bar__plus_01_dot_68_bar__minus_01_dot_65 Cabinet_bar__plus_01_dot_71_bar__plus_02_dot_02_bar__minus_01_dot_45)\n (inReceptacle Bread_bar__minus_00_dot_64_bar__plus_00_dot_99_bar__minus_01_dot_42 CounterTop_bar__plus_00_dot_00_bar__plus_00_dot_95_bar__minus_01_dot_51)\n (inReceptacle Ladle_bar__minus_01_dot_05_bar__plus_00_dot_96_bar__minus_01_dot_32 CounterTop_bar__plus_00_dot_00_bar__plus_00_dot_95_bar__minus_01_dot_51)\n (inReceptacle Fork_bar__minus_01_dot_90_bar__plus_00_dot_91_bar__minus_00_dot_91 CounterTop_bar__plus_00_dot_00_bar__plus_00_dot_95_bar__minus_01_dot_51)\n (inReceptacle Bowl_bar__plus_00_dot_66_bar__plus_00_dot_91_bar__minus_01_dot_32 CounterTop_bar__plus_00_dot_00_bar__plus_00_dot_95_bar__minus_01_dot_51)\n (inReceptacle Apple_bar__minus_01_dot_81_bar__plus_00_dot_96_bar__minus_01_dot_01 CounterTop_bar__plus_00_dot_00_bar__plus_00_dot_95_bar__minus_01_dot_51)\n (inReceptacle Lettuce_bar__plus_01_dot_75_bar__plus_00_dot_99_bar__minus_00_dot_05 CounterTop_bar__plus_00_dot_00_bar__plus_00_dot_95_bar__minus_01_dot_51)\n (inReceptacle Window_bar__plus_02_dot_22_bar__plus_01_dot_57_bar__minus_00_dot_39 CounterTop_bar__plus_00_dot_00_bar__plus_00_dot_95_bar__minus_01_dot_51)\n (inReceptacle CellPhone_bar__minus_01_dot_46_bar__plus_00_dot_91_bar__minus_01_dot_71 CounterTop_bar__plus_00_dot_00_bar__plus_00_dot_95_bar__minus_01_dot_51)\n (inReceptacle Window_bar__minus_00_dot_01_bar__plus_01_dot_58_bar__minus_01_dot_82 CounterTop_bar__plus_00_dot_00_bar__plus_00_dot_95_bar__minus_01_dot_51)\n (inReceptacle Pan_bar__minus_01_dot_29_bar__plus_00_dot_90_bar__minus_01_dot_35 CounterTop_bar__plus_00_dot_00_bar__plus_00_dot_95_bar__minus_01_dot_51)\n (inReceptacle PepperShaker_bar__plus_01_dot_71_bar__plus_00_dot_69_bar__plus_00_dot_48 Drawer_bar__plus_01_dot_50_bar__plus_00_dot_63_bar__plus_00_dot_61)\n (inReceptacle Kettle_bar__plus_01_dot_77_bar__plus_00_dot_94_bar__plus_00_dot_38 StoveBurner_bar__plus_01_dot_77_bar__plus_00_dot_90_bar__plus_00_dot_38)\n (inReceptacle ButterKnife_bar__plus_01_dot_71_bar__plus_00_dot_58_bar__plus_00_dot_67 Drawer_bar__plus_01_dot_50_bar__plus_00_dot_54_bar__plus_00_dot_60)\n (inReceptacle Spoon_bar__minus_00_dot_11_bar__plus_00_dot_93_bar__plus_00_dot_27 CounterTop_bar__minus_00_dot_02_bar__plus_00_dot_96_bar__plus_00_dot_51)\n (inReceptacle Mug_bar__plus_00_dot_00_bar__plus_00_dot_92_bar__plus_00_dot_97 CounterTop_bar__minus_00_dot_02_bar__plus_00_dot_96_bar__plus_00_dot_51)\n (inReceptacle Pot_bar__minus_00_dot_21_bar__plus_00_dot_93_bar__minus_00_dot_19 CounterTop_bar__minus_00_dot_02_bar__plus_00_dot_96_bar__plus_00_dot_51)\n (inReceptacle Plate_bar__plus_00_dot_21_bar__plus_00_dot_92_bar__plus_00_dot_74 CounterTop_bar__minus_00_dot_02_bar__plus_00_dot_96_bar__plus_00_dot_51)\n (inReceptacle Tomato_bar__minus_00_dot_32_bar__plus_00_dot_98_bar__plus_00_dot_27 CounterTop_bar__minus_00_dot_02_bar__plus_00_dot_96_bar__plus_00_dot_51)\n (inReceptacle Spatula_bar__minus_00_dot_11_bar__plus_00_dot_94_bar__plus_00_dot_74 CounterTop_bar__minus_00_dot_02_bar__plus_00_dot_96_bar__plus_00_dot_51)\n (inReceptacle Knife_bar__plus_00_dot_11_bar__plus_00_dot_95_bar__plus_01_dot_20 CounterTop_bar__minus_00_dot_02_bar__plus_00_dot_96_bar__plus_00_dot_51)\n (inReceptacle SoapBottle_bar__minus_00_dot_21_bar__plus_00_dot_93_bar__plus_00_dot_04 CounterTop_bar__minus_00_dot_02_bar__plus_00_dot_96_bar__plus_00_dot_51)\n (inReceptacle Spoon_bar__minus_00_dot_21_bar__plus_00_dot_93_bar__plus_00_dot_51 CounterTop_bar__minus_00_dot_02_bar__plus_00_dot_96_bar__plus_00_dot_51)\n (inReceptacle Plate_bar__plus_00_dot_21_bar__plus_00_dot_92_bar__plus_00_dot_27 CounterTop_bar__minus_00_dot_02_bar__plus_00_dot_96_bar__plus_00_dot_51)\n (inReceptacle Pot_bar__minus_00_dot_21_bar__plus_00_dot_93_bar__plus_00_dot_74 CounterTop_bar__minus_00_dot_02_bar__plus_00_dot_96_bar__plus_00_dot_51)\n (inReceptacle SoapBottle_bar__plus_00_dot_11_bar__plus_00_dot_93_bar__plus_00_dot_97 CounterTop_bar__minus_00_dot_02_bar__plus_00_dot_96_bar__plus_00_dot_51)\n (inReceptacle Spatula_bar__minus_00_dot_11_bar__plus_00_dot_94_bar__plus_00_dot_51 CounterTop_bar__minus_00_dot_02_bar__plus_00_dot_96_bar__plus_00_dot_51)\n (inReceptacle Pot_bar__plus_01_dot_98_bar__plus_00_dot_94_bar__plus_00_dot_82 StoveBurner_bar__plus_01_dot_98_bar__plus_00_dot_90_bar__plus_00_dot_82)\n (inReceptacle Kettle_bar__minus_01_dot_24_bar__plus_00_dot_11_bar__minus_01_dot_30 Cabinet_bar__minus_01_dot_39_bar__plus_00_dot_48_bar__minus_01_dot_15)\n (inReceptacle Tomato_bar__minus_01_dot_80_bar__plus_00_dot_10_bar__plus_01_dot_37 GarbageCan_bar__minus_01_dot_80_bar__plus_00_dot_00_bar__plus_01_dot_33)\n (inReceptacle Cup_bar__plus_01_dot_96_bar__plus_01_dot_00_bar__minus_00_dot_70 Microwave_bar__plus_01_dot_93_bar__plus_00_dot_90_bar__minus_00_dot_77)\n (inReceptacle Egg_bar__plus_01_dot_96_bar__plus_01_dot_06_bar__minus_00_dot_86 Microwave_bar__plus_01_dot_93_bar__plus_00_dot_90_bar__minus_00_dot_77)\n (inReceptacleObject Spatula_bar__minus_00_dot_11_bar__plus_00_dot_94_bar__plus_00_dot_74 Plate_bar__plus_00_dot_21_bar__plus_00_dot_92_bar__plus_00_dot_74)\n (inReceptacle Potato_bar__minus_01_dot_77_bar__plus_01_dot_05_bar__minus_00_dot_27 Fridge_bar__minus_01_dot_76_bar__plus_00_dot_00_bar__plus_00_dot_01)\n (inReceptacle Cup_bar__minus_01_dot_65_bar__plus_01_dot_47_bar__plus_00_dot_11 Fridge_bar__minus_01_dot_76_bar__plus_00_dot_00_bar__plus_00_dot_01)\n (inReceptacle Apple_bar__minus_01_dot_75_bar__plus_01_dot_52_bar__plus_00_dot_20 Fridge_bar__minus_01_dot_76_bar__plus_00_dot_00_bar__plus_00_dot_01)\n (inReceptacle Tomato_bar__minus_01_dot_75_bar__plus_01_dot_52_bar__minus_00_dot_18 Fridge_bar__minus_01_dot_76_bar__plus_00_dot_00_bar__plus_00_dot_01)\n (inReceptacle Mug_bar__plus_00_dot_08_bar__plus_00_dot_76_bar__minus_01_dot_38 Sink_bar__plus_00_dot_00_bar__plus_00_dot_89_bar__minus_01_dot_44_bar_SinkBasin)\n (inReceptacle Egg_bar__plus_00_dot_26_bar__plus_00_dot_82_bar__minus_01_dot_44 Sink_bar__plus_00_dot_00_bar__plus_00_dot_89_bar__minus_01_dot_44_bar_SinkBasin)\n (inReceptacle Egg_bar__minus_00_dot_18_bar__plus_00_dot_82_bar__minus_01_dot_49 Sink_bar__plus_00_dot_00_bar__plus_00_dot_89_bar__minus_01_dot_44_bar_SinkBasin)\n (inReceptacle Apple_bar__plus_00_dot_08_bar__plus_00_dot_81_bar__minus_01_dot_49 Sink_bar__plus_00_dot_00_bar__plus_00_dot_89_bar__minus_01_dot_44_bar_SinkBasin)\n \n \n (receptacleAtLocation Cabinet_bar__plus_00_dot_41_bar__plus_00_dot_48_bar__plus_00_dot_45 loc_bar_5_bar_4_bar_3_bar_60)\n (receptacleAtLocation Cabinet_bar__plus_00_dot_50_bar__plus_00_dot_48_bar__minus_01_dot_15 loc_bar_3_bar__minus_1_bar_2_bar_60)\n (receptacleAtLocation Cabinet_bar__plus_01_dot_39_bar__plus_00_dot_48_bar__minus_01_dot_15 loc_bar_3_bar__minus_1_bar_2_bar_60)\n (receptacleAtLocation Cabinet_bar__plus_01_dot_71_bar__plus_02_dot_02_bar__minus_01_dot_45 loc_bar_4_bar__minus_3_bar_1_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__plus_01_dot_79_bar__plus_02_dot_02_bar__minus_00_dot_82 loc_bar_4_bar__minus_3_bar_1_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_50_bar__plus_00_dot_48_bar__minus_01_dot_15 loc_bar__minus_3_bar__minus_1_bar_2_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_63_bar__plus_02_dot_02_bar__minus_01_dot_45 loc_bar__minus_3_bar__minus_3_bar_2_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_01_dot_39_bar__plus_00_dot_48_bar__minus_01_dot_15 loc_bar__minus_3_bar__minus_1_bar_2_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_01_dot_70_bar__plus_02_dot_02_bar__minus_01_dot_45 loc_bar__minus_3_bar__minus_3_bar_3_bar__minus_15)\n (receptacleAtLocation CoffeeMachine_bar__plus_01_dot_36_bar__plus_00_dot_90_bar__minus_01_dot_60 loc_bar_4_bar__minus_3_bar_2_bar_45)\n (receptacleAtLocation CounterTop_bar__plus_00_dot_00_bar__plus_00_dot_95_bar__minus_01_dot_51 loc_bar__minus_3_bar__minus_3_bar_2_bar_45)\n (receptacleAtLocation CounterTop_bar__minus_00_dot_02_bar__plus_00_dot_96_bar__plus_00_dot_51 loc_bar_3_bar_2_bar_3_bar_45)\n (receptacleAtLocation Drawer_bar__plus_00_dot_81_bar__plus_00_dot_48_bar__minus_01_dot_16 loc_bar_5_bar_0_bar_2_bar_45)\n (receptacleAtLocation Drawer_bar__plus_01_dot_50_bar__plus_00_dot_14_bar__plus_00_dot_60 loc_bar_3_bar_7_bar_2_bar_60)\n (receptacleAtLocation Drawer_bar__plus_01_dot_50_bar__plus_00_dot_20_bar__plus_01_dot_22 loc_bar_2_bar_7_bar_1_bar_60)\n (receptacleAtLocation Drawer_bar__plus_01_dot_50_bar__plus_00_dot_20_bar__minus_00_dot_02 loc_bar_5_bar_0_bar_1_bar_60)\n (receptacleAtLocation Drawer_bar__plus_01_dot_50_bar__plus_00_dot_31_bar__plus_00_dot_60 loc_bar_5_bar_2_bar_1_bar_60)\n (receptacleAtLocation Drawer_bar__plus_01_dot_50_bar__plus_00_dot_43_bar__minus_00_dot_02 loc_bar_5_bar_0_bar_1_bar_60)\n (receptacleAtLocation Drawer_bar__plus_01_dot_50_bar__plus_00_dot_52_bar__plus_01_dot_22 loc_bar_3_bar_3_bar_1_bar_60)\n (receptacleAtLocation Drawer_bar__plus_01_dot_50_bar__plus_00_dot_54_bar__plus_00_dot_60 loc_bar_5_bar_2_bar_1_bar_60)\n (receptacleAtLocation Drawer_bar__plus_01_dot_50_bar__plus_00_dot_60_bar__minus_00_dot_02 loc_bar_4_bar_3_bar_2_bar_60)\n (receptacleAtLocation Drawer_bar__plus_01_dot_50_bar__plus_00_dot_63_bar__plus_00_dot_61 loc_bar_3_bar_4_bar_1_bar_60)\n (receptacleAtLocation Drawer_bar__plus_01_dot_50_bar__plus_00_dot_63_bar__minus_00_dot_02 loc_bar_3_bar_1_bar_1_bar_60)\n (receptacleAtLocation Drawer_bar__plus_01_dot_50_bar__plus_00_dot_78_bar__plus_01_dot_22 loc_bar_3_bar_6_bar_1_bar_45)\n (receptacleAtLocation Drawer_bar__minus_00_dot_70_bar__plus_00_dot_48_bar__minus_01_dot_16 loc_bar__minus_3_bar__minus_2_bar_2_bar_60)\n (receptacleAtLocation Fridge_bar__minus_01_dot_76_bar__plus_00_dot_00_bar__plus_00_dot_01 loc_bar__minus_3_bar_0_bar_3_bar_60)\n (receptacleAtLocation GarbageCan_bar__minus_01_dot_80_bar__plus_00_dot_00_bar__plus_01_dot_33 loc_bar__minus_5_bar_6_bar_3_bar_60)\n (receptacleAtLocation Microwave_bar__plus_01_dot_93_bar__plus_00_dot_90_bar__minus_00_dot_77 loc_bar_4_bar__minus_3_bar_1_bar_45)\n (receptacleAtLocation Sink_bar__plus_00_dot_00_bar__plus_00_dot_89_bar__minus_01_dot_44_bar_SinkBasin loc_bar_0_bar__minus_3_bar_2_bar_60)\n (receptacleAtLocation StoveBurner_bar__plus_01_dot_77_bar__plus_00_dot_90_bar__plus_00_dot_38 loc_bar_5_bar_2_bar_1_bar_60)\n (receptacleAtLocation StoveBurner_bar__plus_01_dot_77_bar__plus_00_dot_90_bar__plus_00_dot_60 loc_bar_5_bar_2_bar_1_bar_60)\n (receptacleAtLocation StoveBurner_bar__plus_01_dot_77_bar__plus_00_dot_90_bar__plus_00_dot_82 loc_bar_5_bar_3_bar_1_bar_60)\n (receptacleAtLocation StoveBurner_bar__plus_01_dot_98_bar__plus_00_dot_90_bar__plus_00_dot_38 loc_bar_5_bar_2_bar_1_bar_45)\n (receptacleAtLocation StoveBurner_bar__plus_01_dot_98_bar__plus_00_dot_90_bar__plus_00_dot_60 loc_bar_5_bar_2_bar_1_bar_45)\n (receptacleAtLocation StoveBurner_bar__plus_01_dot_98_bar__plus_00_dot_90_bar__plus_00_dot_82 loc_bar_5_bar_3_bar_1_bar_45)\n (receptacleAtLocation Toaster_bar__plus_01_dot_98_bar__plus_00_dot_90_bar__minus_00_dot_34 loc_bar_4_bar__minus_1_bar_1_bar_45)\n (objectAtLocation Mug_bar__plus_00_dot_00_bar__plus_00_dot_92_bar__plus_00_dot_97 loc_bar_3_bar_2_bar_3_bar_45)\n (objectAtLocation Spoon_bar__minus_00_dot_11_bar__plus_00_dot_93_bar__plus_00_dot_27 loc_bar_3_bar_2_bar_3_bar_45)\n (objectAtLocation DishSponge_bar__plus_01_dot_76_bar__plus_00_dot_47_bar__minus_00_dot_09 loc_bar_5_bar_0_bar_1_bar_60)\n (objectAtLocation Tomato_bar__minus_01_dot_75_bar__plus_01_dot_52_bar__minus_00_dot_18 loc_bar__minus_3_bar_0_bar_3_bar_60)\n (objectAtLocation ButterKnife_bar__plus_01_dot_71_bar__plus_00_dot_58_bar__plus_00_dot_67 loc_bar_5_bar_2_bar_1_bar_60)\n (objectAtLocation CellPhone_bar__plus_01_dot_71_bar__plus_00_dot_54_bar__plus_01_dot_28 loc_bar_3_bar_3_bar_1_bar_60)\n (objectAtLocation PepperShaker_bar__minus_00_dot_14_bar__plus_00_dot_11_bar__minus_01_dot_22 loc_bar__minus_3_bar__minus_1_bar_2_bar_60)\n (objectAtLocation Apple_bar__minus_01_dot_75_bar__plus_01_dot_52_bar__plus_00_dot_20 loc_bar__minus_3_bar_0_bar_3_bar_60)\n (objectAtLocation Spatula_bar__minus_00_dot_11_bar__plus_00_dot_94_bar__plus_00_dot_51 loc_bar_3_bar_2_bar_3_bar_45)\n (objectAtLocation Plate_bar__plus_00_dot_21_bar__plus_00_dot_92_bar__plus_00_dot_27 loc_bar_3_bar_2_bar_3_bar_45)\n (objectAtLocation Egg_bar__minus_00_dot_18_bar__plus_00_dot_82_bar__minus_01_dot_49 loc_bar_0_bar__minus_3_bar_2_bar_60)\n (objectAtLocation Kettle_bar__plus_01_dot_77_bar__plus_00_dot_94_bar__plus_00_dot_38 loc_bar_5_bar_2_bar_1_bar_60)\n (objectAtLocation Pot_bar__plus_01_dot_98_bar__plus_00_dot_94_bar__plus_00_dot_82 loc_bar_5_bar_3_bar_1_bar_45)\n (objectAtLocation Cup_bar__plus_01_dot_22_bar__plus_01_dot_68_bar__minus_01_dot_65 loc_bar_4_bar__minus_3_bar_1_bar__minus_30)\n (objectAtLocation SoapBottle_bar__minus_00_dot_21_bar__plus_00_dot_93_bar__plus_00_dot_04 loc_bar_3_bar_2_bar_3_bar_45)\n (objectAtLocation Apple_bar__minus_01_dot_81_bar__plus_00_dot_96_bar__minus_01_dot_01 loc_bar__minus_3_bar__minus_3_bar_2_bar_45)\n (objectAtLocation Mug_bar__plus_00_dot_25_bar__plus_00_dot_11_bar__minus_01_dot_60 loc_bar_3_bar__minus_1_bar_2_bar_60)\n (objectAtLocation PepperShaker_bar__plus_01_dot_71_bar__plus_00_dot_69_bar__plus_00_dot_48 loc_bar_3_bar_4_bar_1_bar_60)\n (objectAtLocation Tomato_bar__minus_00_dot_32_bar__plus_00_dot_98_bar__plus_00_dot_27 loc_bar_3_bar_2_bar_3_bar_45)\n (objectAtLocation SoapBottle_bar__plus_00_dot_11_bar__plus_00_dot_93_bar__plus_00_dot_97 loc_bar_3_bar_2_bar_3_bar_45)\n (objectAtLocation Cup_bar__plus_01_dot_96_bar__plus_01_dot_00_bar__minus_00_dot_70 loc_bar_4_bar__minus_3_bar_1_bar_45)\n (objectAtLocation Egg_bar__plus_00_dot_26_bar__plus_00_dot_82_bar__minus_01_dot_44 loc_bar_0_bar__minus_3_bar_2_bar_60)\n (objectAtLocation Pot_bar__minus_00_dot_21_bar__plus_00_dot_93_bar__plus_00_dot_74 loc_bar_3_bar_2_bar_3_bar_45)\n (objectAtLocation DishSponge_bar__minus_01_dot_76_bar__plus_01_dot_66_bar__minus_01_dot_13 loc_bar__minus_3_bar__minus_3_bar_3_bar__minus_15)\n (objectAtLocation Window_bar__minus_00_dot_01_bar__plus_01_dot_58_bar__minus_01_dot_82 loc_bar__minus_3_bar__minus_3_bar_2_bar_45)\n (objectAtLocation Sink_bar__plus_00_dot_00_bar__plus_00_dot_89_bar__minus_01_dot_44 loc_bar_0_bar__minus_3_bar_2_bar_45)\n (objectAtLocation Window_bar__plus_02_dot_22_bar__plus_01_dot_57_bar__minus_00_dot_39 loc_bar__minus_3_bar__minus_3_bar_2_bar_45)\n (objectAtLocation Chair_bar__minus_00_dot_06_bar__plus_00_dot_52_bar__plus_01_dot_37 loc_bar_0_bar_8_bar_2_bar_60)\n (objectAtLocation Window_bar__minus_03_dot_24_bar__plus_01_dot_62_bar__plus_02_dot_69 loc_bar__minus_10_bar_11_bar_3_bar_0)\n (objectAtLocation SoapBottle_bar__minus_01_dot_88_bar__plus_01_dot_67_bar__minus_01_dot_28 loc_bar__minus_3_bar__minus_3_bar_3_bar__minus_15)\n (objectAtLocation Cup_bar__minus_01_dot_65_bar__plus_01_dot_47_bar__plus_00_dot_11 loc_bar__minus_3_bar_0_bar_3_bar_60)\n (objectAtLocation LightSwitch_bar__minus_00_dot_15_bar__plus_01_dot_29_bar__plus_03_dot_70 loc_bar__minus_1_bar_12_bar_0_bar_30)\n (objectAtLocation Pot_bar__minus_00_dot_21_bar__plus_00_dot_93_bar__minus_00_dot_19 loc_bar_3_bar_2_bar_3_bar_45)\n (objectAtLocation StoveKnob_bar__plus_01_dot_60_bar__plus_00_dot_92_bar__plus_00_dot_57 loc_bar_5_bar_2_bar_1_bar_60)\n (objectAtLocation StoveKnob_bar__plus_01_dot_60_bar__plus_00_dot_92_bar__plus_00_dot_63 loc_bar_5_bar_3_bar_1_bar_60)\n (objectAtLocation StoveKnob_bar__plus_01_dot_60_bar__plus_00_dot_92_bar__plus_00_dot_74 loc_bar_5_bar_3_bar_1_bar_60)\n (objectAtLocation StoveKnob_bar__plus_01_dot_60_bar__plus_00_dot_92_bar__plus_00_dot_68 loc_bar_5_bar_3_bar_1_bar_60)\n (objectAtLocation StoveKnob_bar__plus_01_dot_60_bar__plus_00_dot_92_bar__plus_00_dot_46 loc_bar_5_bar_2_bar_1_bar_60)\n (objectAtLocation StoveKnob_bar__plus_01_dot_60_bar__plus_00_dot_92_bar__plus_00_dot_52 loc_bar_5_bar_2_bar_1_bar_60)\n (objectAtLocation Fork_bar__minus_01_dot_90_bar__plus_00_dot_91_bar__minus_00_dot_91 loc_bar__minus_3_bar__minus_3_bar_2_bar_45)\n (objectAtLocation Ladle_bar__minus_01_dot_05_bar__plus_00_dot_96_bar__minus_01_dot_32 loc_bar__minus_3_bar__minus_3_bar_2_bar_45)\n (objectAtLocation Kettle_bar__minus_01_dot_24_bar__plus_00_dot_11_bar__minus_01_dot_30 loc_bar__minus_3_bar__minus_1_bar_2_bar_60)\n (objectAtLocation Egg_bar__plus_01_dot_96_bar__plus_01_dot_06_bar__minus_00_dot_86 loc_bar_4_bar__minus_3_bar_1_bar_45)\n (objectAtLocation Plate_bar__plus_00_dot_21_bar__plus_00_dot_92_bar__plus_00_dot_74 loc_bar_3_bar_2_bar_3_bar_45)\n (objectAtLocation Pan_bar__minus_01_dot_29_bar__plus_00_dot_90_bar__minus_01_dot_35 loc_bar__minus_3_bar__minus_3_bar_2_bar_45)\n (objectAtLocation Lettuce_bar__plus_01_dot_75_bar__plus_00_dot_99_bar__minus_00_dot_05 loc_bar__minus_3_bar__minus_3_bar_2_bar_45)\n (objectAtLocation Spatula_bar__minus_00_dot_11_bar__plus_00_dot_94_bar__plus_00_dot_74 loc_bar_3_bar_3_bar_3_bar_60)\n (objectAtLocation Apple_bar__plus_00_dot_08_bar__plus_00_dot_81_bar__minus_01_dot_49 loc_bar_0_bar__minus_3_bar_2_bar_60)\n (objectAtLocation Knife_bar__plus_00_dot_11_bar__plus_00_dot_95_bar__plus_01_dot_20 loc_bar_3_bar_2_bar_3_bar_45)\n (objectAtLocation SaltShaker_bar__plus_01_dot_56_bar__plus_00_dot_69_bar__minus_00_dot_15 loc_bar_3_bar_1_bar_1_bar_60)\n (objectAtLocation PepperShaker_bar__plus_01_dot_12_bar__plus_00_dot_11_bar__minus_01_dot_48 loc_bar_3_bar__minus_1_bar_2_bar_60)\n (objectAtLocation CellPhone_bar__minus_01_dot_46_bar__plus_00_dot_91_bar__minus_01_dot_71 loc_bar__minus_3_bar__minus_3_bar_2_bar_45)\n (objectAtLocation ButterKnife_bar__plus_01_dot_71_bar__plus_00_dot_47_bar__plus_00_dot_05 loc_bar_5_bar_0_bar_1_bar_60)\n (objectAtLocation Bread_bar__minus_00_dot_64_bar__plus_00_dot_99_bar__minus_01_dot_42 loc_bar__minus_3_bar__minus_3_bar_2_bar_45)\n (objectAtLocation Tomato_bar__minus_01_dot_80_bar__plus_00_dot_10_bar__plus_01_dot_37 loc_bar__minus_5_bar_6_bar_3_bar_60)\n (objectAtLocation Potato_bar__minus_01_dot_77_bar__plus_01_dot_05_bar__minus_00_dot_27 loc_bar__minus_3_bar_0_bar_3_bar_60)\n (objectAtLocation DishSponge_bar__plus_01_dot_27_bar__plus_00_dot_11_bar__minus_01_dot_42 loc_bar_3_bar__minus_1_bar_2_bar_60)\n (objectAtLocation Spoon_bar__minus_00_dot_21_bar__plus_00_dot_93_bar__plus_00_dot_51 loc_bar_3_bar_2_bar_3_bar_45)\n (objectAtLocation Mug_bar__plus_00_dot_08_bar__plus_00_dot_76_bar__minus_01_dot_38 loc_bar_0_bar__minus_3_bar_2_bar_60)\n (objectAtLocation Bowl_bar__plus_00_dot_66_bar__plus_00_dot_91_bar__minus_01_dot_32 loc_bar__minus_3_bar__minus_3_bar_2_bar_45)\n )\n \n\n (:goal\n (and\n (exists (?r - receptacle)\n (exists (?o - object)\n (and\n (cleanable ?o)\n (objectType ?o KnifeType)\n (receptacleType ?r DrawerType)\n (isClean ?o)\n (inReceptacle ?o ?r)\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to countertop 2", "take knife 1 from countertop 2", "go to sinkbasin 1", "clean knife 1 with sinkbasin 1", "go to drawer 10", "move knife 1 to drawer 10"]}
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alfworld__pick_cool_then_place_in_recep__6
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pick_cool_then_place_in_recep
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pick_cool_then_place_in_recep-Egg-None-CounterTop-27/trial_T20190909_002151_489665/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 cool 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_T20190909_002151_489665)\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_03_bar__plus_00_dot_84_bar__plus_00_dot_88 - object\n Apple_bar__plus_01_dot_84_bar__plus_00_dot_99_bar__plus_00_dot_66 - object\n Apple_bar__plus_02_dot_30_bar__plus_00_dot_99_bar__plus_00_dot_81 - object\n Bowl_bar__plus_02_dot_02_bar__plus_01_dot_52_bar__minus_00_dot_19 - object\n Bowl_bar__plus_02_dot_21_bar__plus_01_dot_95_bar__plus_01_dot_19 - object\n Bowl_bar__plus_02_dot_24_bar__plus_01_dot_95_bar__plus_01_dot_56 - object\n Bread_bar__minus_00_dot_20_bar__plus_00_dot_82_bar__plus_00_dot_82 - object\n ButterKnife_bar__plus_01_dot_66_bar__plus_00_dot_93_bar__plus_02_dot_47 - object\n ButterKnife_bar__minus_00_dot_28_bar__plus_00_dot_94_bar__plus_02_dot_62 - object\n Chair_bar__minus_00_dot_21_bar__plus_00_dot_00_bar__plus_00_dot_11 - object\n Cup_bar__plus_00_dot_29_bar__plus_00_dot_94_bar__plus_02_dot_62 - object\n Curtains_bar__plus_00_dot_97_bar__plus_02_dot_06_bar__plus_02_dot_99 - object\n DishSponge_bar__plus_00_dot_03_bar__plus_00_dot_79_bar__plus_01_dot_39 - object\n DishSponge_bar__plus_00_dot_74_bar__plus_00_dot_80_bar__plus_02_dot_70 - object\n DishSponge_bar__minus_00_dot_43_bar__plus_00_dot_94_bar__plus_02_dot_43 - object\n Egg_bar__minus_00_dot_04_bar__plus_00_dot_83_bar__plus_00_dot_38 - object\n Faucet_bar__plus_00_dot_69_bar__plus_00_dot_93_bar__plus_02_dot_95 - object\n Faucet_bar__plus_01_dot_18_bar__plus_00_dot_93_bar__plus_02_dot_95 - object\n Fork_bar__plus_00_dot_06_bar__plus_00_dot_94_bar__plus_02_dot_76 - object\n Fork_bar__plus_01_dot_92_bar__plus_00_dot_94_bar__plus_00_dot_36 - object\n Fork_bar__minus_00_dot_04_bar__plus_00_dot_79_bar__plus_01_dot_05 - object\n Knife_bar__plus_01_dot_82_bar__plus_00_dot_77_bar__plus_01_dot_92 - object\n Knife_bar__plus_01_dot_88_bar__plus_00_dot_77_bar__plus_02_dot_20 - object\n Knife_bar__minus_00_dot_20_bar__plus_00_dot_82_bar__plus_01_dot_39 - object\n Ladle_bar__plus_01_dot_94_bar__plus_00_dot_79_bar__plus_00_dot_72 - object\n Ladle_bar__minus_00_dot_07_bar__plus_00_dot_79_bar__plus_02_dot_20 - object\n Lettuce_bar__plus_02_dot_06_bar__plus_01_dot_39_bar__minus_00_dot_46 - object\n LightSwitch_bar__plus_00_dot_36_bar__plus_01_dot_52_bar__minus_01_dot_03 - object\n Mug_bar__minus_00_dot_27_bar__plus_00_dot_79_bar__plus_01_dot_22 - object\n Pan_bar__plus_01_dot_16_bar__plus_00_dot_08_bar__plus_02_dot_52 - object\n Pan_bar__plus_02_dot_14_bar__plus_00_dot_94_bar__plus_01_dot_50 - object\n PepperShaker_bar__plus_02_dot_30_bar__plus_00_dot_93_bar__plus_00_dot_36 - object\n Plate_bar__plus_01_dot_93_bar__plus_00_dot_09_bar__plus_01_dot_99 - object\n Plate_bar__plus_02_dot_21_bar__plus_01_dot_51_bar__plus_02_dot_01 - object\n Potato_bar__plus_01_dot_07_bar__plus_00_dot_84_bar__plus_02_dot_53 - object\n Pot_bar__plus_01_dot_85_bar__plus_00_dot_94_bar__plus_01_dot_50 - object\n Pot_bar__minus_00_dot_12_bar__plus_00_dot_78_bar__plus_00_dot_55 - object\n SaltShaker_bar__plus_01_dot_84_bar__plus_00_dot_93_bar__plus_00_dot_81 - object\n Sink_bar__plus_00_dot_94_bar__plus_00_dot_94_bar__plus_02_dot_65 - object\n SoapBottle_bar__minus_00_dot_28_bar__plus_00_dot_94_bar__plus_02_dot_48 - object\n Spatula_bar__plus_01_dot_28_bar__plus_00_dot_81_bar__plus_02_dot_75 - object\n 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Cabinet_bar__plus_01_dot_76_bar__plus_00_dot_39_bar__plus_02_dot_35 - receptacle\n Cabinet_bar__plus_01_dot_97_bar__plus_02_dot_11_bar__plus_02_dot_62 - receptacle\n Cabinet_bar__plus_02_dot_04_bar__plus_01_dot_81_bar__plus_00_dot_28 - receptacle\n Cabinet_bar__plus_02_dot_04_bar__plus_01_dot_81_bar__plus_00_dot_87 - receptacle\n Cabinet_bar__plus_02_dot_04_bar__plus_02_dot_11_bar__plus_00_dot_89 - receptacle\n Cabinet_bar__plus_02_dot_04_bar__plus_02_dot_11_bar__plus_01_dot_77 - receptacle\n Cabinet_bar__plus_02_dot_04_bar__plus_02_dot_11_bar__plus_01_dot_81 - receptacle\n Cabinet_bar__plus_02_dot_04_bar__plus_02_dot_11_bar__plus_02_dot_62 - receptacle\n CoffeeMachine_bar__plus_02_dot_12_bar__plus_00_dot_93_bar__plus_02_dot_67 - receptacle\n CounterTop_bar__plus_01_dot_07_bar__plus_00_dot_97_bar__plus_02_dot_67 - receptacle\n CounterTop_bar__plus_02_dot_06_bar__plus_00_dot_97_bar__plus_00_dot_58 - receptacle\n DiningTable_bar__minus_00_dot_21_bar__plus_00_dot_02_bar__plus_00_dot_88 - 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- location\n loc_bar_5_bar_7_bar_0_bar_30 - location\n loc_bar_4_bar_8_bar_0_bar__minus_30 - location\n loc_bar_2_bar_8_bar_3_bar_45 - location\n loc_bar_5_bar__minus_1_bar_1_bar_60 - location\n loc_bar_3_bar_4_bar_1_bar_45 - location\n loc_bar_3_bar_5_bar_1_bar__minus_15 - location\n loc_bar_5_bar_2_bar_1_bar_45 - location\n loc_bar_4_bar_7_bar_3_bar_60 - location\n loc_bar_3_bar_6_bar_1_bar_45 - location\n loc_bar_5_bar_4_bar_1_bar_45 - location\n loc_bar_4_bar__minus_2_bar_2_bar_30 - location\n )\n \n\n(:init\n\n\n (receptacleType Sink_bar__plus_00_dot_94_bar__plus_00_dot_94_bar__plus_02_dot_65_bar_SinkBasin SinkBasinType)\n (receptacleType Cabinet_bar__plus_02_dot_04_bar__plus_02_dot_11_bar__plus_01_dot_77 CabinetType)\n (receptacleType Drawer_bar__minus_00_dot_02_bar__plus_00_dot_77_bar__plus_02_dot_06 DrawerType)\n (receptacleType Cabinet_bar__plus_02_dot_04_bar__plus_02_dot_11_bar__plus_01_dot_81 CabinetType)\n (receptacleType Cabinet_bar__plus_02_dot_04_bar__plus_01_dot_81_bar__plus_00_dot_28 CabinetType)\n (receptacleType Cabinet_bar__plus_02_dot_04_bar__plus_02_dot_11_bar__plus_00_dot_89 CabinetType)\n (receptacleType CounterTop_bar__plus_01_dot_07_bar__plus_00_dot_97_bar__plus_02_dot_67 CounterTopType)\n (receptacleType Toaster_bar__plus_02_dot_13_bar__plus_00_dot_93_bar__plus_00_dot_57 ToasterType)\n (receptacleType Cabinet_bar__plus_01_dot_51_bar__plus_00_dot_39_bar__plus_02_dot_36 CabinetType)\n (receptacleType Drawer_bar__plus_02_dot_17_bar__plus_00_dot_77_bar__plus_00_dot_58 DrawerType)\n (receptacleType Cabinet_bar__plus_01_dot_76_bar__plus_00_dot_39_bar__plus_02_dot_35 CabinetType)\n (receptacleType StoveBurner_bar__plus_02_dot_14_bar__plus_00_dot_93_bar__plus_01_dot_50 StoveBurnerType)\n (receptacleType Cabinet_bar__plus_01_dot_76_bar__plus_00_dot_39_bar__plus_00_dot_87 CabinetType)\n (receptacleType Fridge_bar__plus_02_dot_10_bar__plus_00_dot_00_bar__minus_00_dot_28 FridgeType)\n (receptacleType CounterTop_bar__plus_02_dot_06_bar__plus_00_dot_97_bar__plus_00_dot_58 CounterTopType)\n (receptacleType Cabinet_bar__plus_02_dot_04_bar__plus_02_dot_11_bar__plus_02_dot_62 CabinetType)\n (receptacleType Cabinet_bar__plus_00_dot_13_bar__plus_00_dot_39_bar__plus_01_dot_77 CabinetType)\n (receptacleType Cabinet_bar__plus_02_dot_04_bar__plus_01_dot_81_bar__plus_00_dot_87 CabinetType)\n (receptacleType StoveBurner_bar__plus_02_dot_14_bar__plus_00_dot_93_bar__plus_01_dot_11 StoveBurnerType)\n (receptacleType Drawer_bar__plus_01_dot_91_bar__plus_00_dot_77_bar__plus_02_dot_06 DrawerType)\n (receptacleType DiningTable_bar__minus_00_dot_21_bar__plus_00_dot_02_bar__plus_00_dot_88 DiningTableType)\n (receptacleType Cabinet_bar__plus_00_dot_35_bar__plus_00_dot_39_bar__plus_02_dot_36 CabinetType)\n (receptacleType StoveBurner_bar__plus_01_dot_87_bar__plus_00_dot_93_bar__plus_01_dot_50 StoveBurnerType)\n (receptacleType CoffeeMachine_bar__plus_02_dot_12_bar__plus_00_dot_93_bar__plus_02_dot_67 CoffeeMachineType)\n (receptacleType GarbageCan_bar__minus_00_dot_33_bar__plus_00_dot_00_bar__minus_00_dot_80 GarbageCanType)\n (receptacleType Cabinet_bar__plus_01_dot_97_bar__plus_02_dot_11_bar__plus_02_dot_62 CabinetType)\n (receptacleType Microwave_bar__minus_00_dot_31_bar__plus_00_dot_93_bar__plus_02_dot_08 MicrowaveType)\n (receptacleType StoveBurner_bar__plus_01_dot_86_bar__plus_00_dot_93_bar__plus_01_dot_11 StoveBurnerType)\n (objectType Ladle_bar__minus_00_dot_07_bar__plus_00_dot_79_bar__plus_02_dot_20 LadleType)\n (objectType Knife_bar__plus_01_dot_88_bar__plus_00_dot_77_bar__plus_02_dot_20 KnifeType)\n (objectType Sink_bar__plus_00_dot_94_bar__plus_00_dot_94_bar__plus_02_dot_65 SinkType)\n (objectType Mug_bar__minus_00_dot_27_bar__plus_00_dot_79_bar__plus_01_dot_22 MugType)\n (objectType LightSwitch_bar__plus_00_dot_36_bar__plus_01_dot_52_bar__minus_01_dot_03 LightSwitchType)\n (objectType Spatula_bar__plus_01_dot_28_bar__plus_00_dot_81_bar__plus_02_dot_75 SpatulaType)\n (objectType StoveKnob_bar__plus_02_dot_33_bar__plus_01_dot_09_bar__plus_01_dot_61 StoveKnobType)\n (objectType Pot_bar__minus_00_dot_12_bar__plus_00_dot_78_bar__plus_00_dot_55 PotType)\n (objectType WineBottle_bar__plus_02_dot_15_bar__plus_00_dot_94_bar__plus_00_dot_81 WineBottleType)\n (objectType StoveKnob_bar__plus_02_dot_33_bar__plus_01_dot_09_bar__plus_01_dot_46 StoveKnobType)\n (objectType StoveKnob_bar__plus_02_dot_33_bar__plus_01_dot_09_bar__plus_01_dot_05 StoveKnobType)\n (objectType Lettuce_bar__plus_02_dot_06_bar__plus_01_dot_39_bar__minus_00_dot_46 LettuceType)\n (objectType Curtains_bar__plus_00_dot_97_bar__plus_02_dot_06_bar__plus_02_dot_99 CurtainsType)\n (objectType Bowl_bar__plus_02_dot_24_bar__plus_01_dot_95_bar__plus_01_dot_56 BowlType)\n (objectType Knife_bar__plus_01_dot_82_bar__plus_00_dot_77_bar__plus_01_dot_92 KnifeType)\n (objectType SaltShaker_bar__plus_01_dot_84_bar__plus_00_dot_93_bar__plus_00_dot_81 SaltShakerType)\n (objectType 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(canContain CounterTopType BreadType)\n (canContain CounterTopType DishSpongeType)\n (canContain CounterTopType BowlType)\n (canContain CounterTopType PotType)\n (canContain CounterTopType WineBottleType)\n (canContain CounterTopType MugType)\n (canContain CounterTopType EggType)\n (canContain CounterTopType LadleType)\n (canContain CounterTopType ForkType)\n (canContain CounterTopType SpoonType)\n (canContain CounterTopType SoapBottleType)\n (canContain CounterTopType LettuceType)\n (canContain CounterTopType PotatoType)\n (canContain CounterTopType ButterKnifeType)\n (canContain CounterTopType CupType)\n (canContain CounterTopType PlateType)\n (canContain CounterTopType PepperShakerType)\n (canContain CounterTopType TomatoType)\n (canContain CounterTopType KnifeType)\n (canContain CounterTopType AppleType)\n (canContain CounterTopType PanType)\n (canContain CounterTopType SpatulaType)\n (canContain CabinetType SaltShakerType)\n (canContain CabinetType DishSpongeType)\n (canContain 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Lettuce_bar__plus_02_dot_06_bar__plus_01_dot_39_bar__minus_00_dot_46)\n (sliceable Apple_bar__plus_00_dot_03_bar__plus_00_dot_84_bar__plus_00_dot_88)\n (sliceable Potato_bar__plus_01_dot_07_bar__plus_00_dot_84_bar__plus_02_dot_53)\n (sliceable Tomato_bar__plus_02_dot_00_bar__plus_01_dot_37_bar__minus_00_dot_10)\n (sliceable Tomato_bar__minus_00_dot_43_bar__plus_00_dot_84_bar__plus_01_dot_22)\n (sliceable Apple_bar__plus_02_dot_30_bar__plus_00_dot_99_bar__plus_00_dot_81)\n (sliceable Bread_bar__minus_00_dot_20_bar__plus_00_dot_82_bar__plus_00_dot_82)\n (sliceable Apple_bar__plus_01_dot_84_bar__plus_00_dot_99_bar__plus_00_dot_66)\n (sliceable Egg_bar__minus_00_dot_04_bar__plus_00_dot_83_bar__plus_00_dot_38)\n \n (inReceptacle Pan_bar__plus_02_dot_14_bar__plus_00_dot_94_bar__plus_01_dot_50 StoveBurner_bar__plus_02_dot_14_bar__plus_00_dot_93_bar__plus_01_dot_50)\n (inReceptacle Plate_bar__plus_01_dot_93_bar__plus_00_dot_09_bar__plus_01_dot_99 Cabinet_bar__plus_01_dot_76_bar__plus_00_dot_39_bar__plus_02_dot_35)\n (inReceptacle Ladle_bar__minus_00_dot_07_bar__plus_00_dot_79_bar__plus_02_dot_20 Drawer_bar__minus_00_dot_02_bar__plus_00_dot_77_bar__plus_02_dot_06)\n (inReceptacle Pan_bar__plus_02_dot_14_bar__plus_00_dot_94_bar__plus_01_dot_50 CounterTop_bar__plus_01_dot_07_bar__plus_00_dot_97_bar__plus_02_dot_67)\n (inReceptacle ButterKnife_bar__minus_00_dot_28_bar__plus_00_dot_94_bar__plus_02_dot_62 CounterTop_bar__plus_01_dot_07_bar__plus_00_dot_97_bar__plus_02_dot_67)\n (inReceptacle Fork_bar__plus_00_dot_06_bar__plus_00_dot_94_bar__plus_02_dot_76 CounterTop_bar__plus_01_dot_07_bar__plus_00_dot_97_bar__plus_02_dot_67)\n (inReceptacle Cup_bar__plus_00_dot_29_bar__plus_00_dot_94_bar__plus_02_dot_62 CounterTop_bar__plus_01_dot_07_bar__plus_00_dot_97_bar__plus_02_dot_67)\n (inReceptacle DishSponge_bar__minus_00_dot_43_bar__plus_00_dot_94_bar__plus_02_dot_43 CounterTop_bar__plus_01_dot_07_bar__plus_00_dot_97_bar__plus_02_dot_67)\n (inReceptacle ButterKnife_bar__plus_01_dot_66_bar__plus_00_dot_93_bar__plus_02_dot_47 CounterTop_bar__plus_01_dot_07_bar__plus_00_dot_97_bar__plus_02_dot_67)\n (inReceptacle SoapBottle_bar__minus_00_dot_28_bar__plus_00_dot_94_bar__plus_02_dot_48 CounterTop_bar__plus_01_dot_07_bar__plus_00_dot_97_bar__plus_02_dot_67)\n (inReceptacle Plate_bar__plus_02_dot_21_bar__plus_01_dot_51_bar__plus_02_dot_01 Cabinet_bar__plus_02_dot_04_bar__plus_02_dot_11_bar__plus_01_dot_81)\n (inReceptacle Pot_bar__plus_01_dot_85_bar__plus_00_dot_94_bar__plus_01_dot_50 StoveBurner_bar__plus_01_dot_87_bar__plus_00_dot_93_bar__plus_01_dot_50)\n (inReceptacle Bowl_bar__plus_02_dot_24_bar__plus_01_dot_95_bar__plus_01_dot_56 Cabinet_bar__plus_02_dot_04_bar__plus_02_dot_11_bar__plus_01_dot_77)\n (inReceptacle Pan_bar__plus_01_dot_16_bar__plus_00_dot_08_bar__plus_02_dot_52 Cabinet_bar__plus_01_dot_51_bar__plus_00_dot_39_bar__plus_02_dot_36)\n (inReceptacle Ladle_bar__plus_01_dot_94_bar__plus_00_dot_79_bar__plus_00_dot_72 Drawer_bar__plus_02_dot_17_bar__plus_00_dot_77_bar__plus_00_dot_58)\n (inReceptacle Bowl_bar__plus_02_dot_21_bar__plus_01_dot_95_bar__plus_01_dot_19 Cabinet_bar__plus_02_dot_04_bar__plus_02_dot_11_bar__plus_00_dot_89)\n (inReceptacle Apple_bar__plus_01_dot_84_bar__plus_00_dot_99_bar__plus_00_dot_66 CounterTop_bar__plus_02_dot_06_bar__plus_00_dot_97_bar__plus_00_dot_58)\n (inReceptacle PepperShaker_bar__plus_02_dot_30_bar__plus_00_dot_93_bar__plus_00_dot_36 CounterTop_bar__plus_02_dot_06_bar__plus_00_dot_97_bar__plus_00_dot_58)\n (inReceptacle Apple_bar__plus_02_dot_30_bar__plus_00_dot_99_bar__plus_00_dot_81 CounterTop_bar__plus_02_dot_06_bar__plus_00_dot_97_bar__plus_00_dot_58)\n (inReceptacle Fork_bar__plus_01_dot_92_bar__plus_00_dot_94_bar__plus_00_dot_36 CounterTop_bar__plus_02_dot_06_bar__plus_00_dot_97_bar__plus_00_dot_58)\n (inReceptacle SaltShaker_bar__plus_01_dot_84_bar__plus_00_dot_93_bar__plus_00_dot_81 CounterTop_bar__plus_02_dot_06_bar__plus_00_dot_97_bar__plus_00_dot_58)\n (inReceptacle WineBottle_bar__plus_02_dot_15_bar__plus_00_dot_94_bar__plus_00_dot_81 CounterTop_bar__plus_02_dot_06_bar__plus_00_dot_97_bar__plus_00_dot_58)\n (inReceptacle DishSponge_bar__plus_00_dot_03_bar__plus_00_dot_79_bar__plus_01_dot_39 DiningTable_bar__minus_00_dot_21_bar__plus_00_dot_02_bar__plus_00_dot_88)\n (inReceptacle Bread_bar__minus_00_dot_20_bar__plus_00_dot_82_bar__plus_00_dot_82 DiningTable_bar__minus_00_dot_21_bar__plus_00_dot_02_bar__plus_00_dot_88)\n (inReceptacle Mug_bar__minus_00_dot_27_bar__plus_00_dot_79_bar__plus_01_dot_22 DiningTable_bar__minus_00_dot_21_bar__plus_00_dot_02_bar__plus_00_dot_88)\n (inReceptacle Tomato_bar__minus_00_dot_43_bar__plus_00_dot_84_bar__plus_01_dot_22 DiningTable_bar__minus_00_dot_21_bar__plus_00_dot_02_bar__plus_00_dot_88)\n (inReceptacle Knife_bar__minus_00_dot_20_bar__plus_00_dot_82_bar__plus_01_dot_39 DiningTable_bar__minus_00_dot_21_bar__plus_00_dot_02_bar__plus_00_dot_88)\n (inReceptacle Egg_bar__minus_00_dot_04_bar__plus_00_dot_83_bar__plus_00_dot_38 DiningTable_bar__minus_00_dot_21_bar__plus_00_dot_02_bar__plus_00_dot_88)\n (inReceptacle Pot_bar__minus_00_dot_12_bar__plus_00_dot_78_bar__plus_00_dot_55 DiningTable_bar__minus_00_dot_21_bar__plus_00_dot_02_bar__plus_00_dot_88)\n (inReceptacle Apple_bar__plus_00_dot_03_bar__plus_00_dot_84_bar__plus_00_dot_88 DiningTable_bar__minus_00_dot_21_bar__plus_00_dot_02_bar__plus_00_dot_88)\n (inReceptacle Spoon_bar__plus_00_dot_03_bar__plus_00_dot_79_bar__plus_01_dot_22 DiningTable_bar__minus_00_dot_21_bar__plus_00_dot_02_bar__plus_00_dot_88)\n (inReceptacle Fork_bar__minus_00_dot_04_bar__plus_00_dot_79_bar__plus_01_dot_05 DiningTable_bar__minus_00_dot_21_bar__plus_00_dot_02_bar__plus_00_dot_88)\n (inReceptacle Knife_bar__plus_01_dot_88_bar__plus_00_dot_77_bar__plus_02_dot_20 Drawer_bar__plus_01_dot_91_bar__plus_00_dot_77_bar__plus_02_dot_06)\n (inReceptacle Knife_bar__plus_01_dot_82_bar__plus_00_dot_77_bar__plus_01_dot_92 Drawer_bar__plus_01_dot_91_bar__plus_00_dot_77_bar__plus_02_dot_06)\n (inReceptacle Bowl_bar__plus_02_dot_02_bar__plus_01_dot_52_bar__minus_00_dot_19 Fridge_bar__plus_02_dot_10_bar__plus_00_dot_00_bar__minus_00_dot_28)\n (inReceptacle Lettuce_bar__plus_02_dot_06_bar__plus_01_dot_39_bar__minus_00_dot_46 Fridge_bar__plus_02_dot_10_bar__plus_00_dot_00_bar__minus_00_dot_28)\n (inReceptacle Tomato_bar__plus_02_dot_00_bar__plus_01_dot_37_bar__minus_00_dot_10 Fridge_bar__plus_02_dot_10_bar__plus_00_dot_00_bar__minus_00_dot_28)\n (inReceptacle Spatula_bar__plus_01_dot_28_bar__plus_00_dot_81_bar__plus_02_dot_75 Sink_bar__plus_00_dot_94_bar__plus_00_dot_94_bar__plus_02_dot_65_bar_SinkBasin)\n (inReceptacle Potato_bar__plus_01_dot_07_bar__plus_00_dot_84_bar__plus_02_dot_53 Sink_bar__plus_00_dot_94_bar__plus_00_dot_94_bar__plus_02_dot_65_bar_SinkBasin)\n (inReceptacle DishSponge_bar__plus_00_dot_74_bar__plus_00_dot_80_bar__plus_02_dot_70 Sink_bar__plus_00_dot_94_bar__plus_00_dot_94_bar__plus_02_dot_65_bar_SinkBasin)\n \n \n (receptacleAtLocation Cabinet_bar__plus_00_dot_13_bar__plus_00_dot_39_bar__plus_01_dot_77 loc_bar_4_bar_7_bar_3_bar_60)\n (receptacleAtLocation Cabinet_bar__plus_00_dot_35_bar__plus_00_dot_39_bar__plus_02_dot_36 loc_bar_4_bar_6_bar_0_bar_60)\n (receptacleAtLocation Cabinet_bar__plus_01_dot_51_bar__plus_00_dot_39_bar__plus_02_dot_36 loc_bar_3_bar_6_bar_0_bar_60)\n (receptacleAtLocation Cabinet_bar__plus_01_dot_76_bar__plus_00_dot_39_bar__plus_00_dot_87 loc_bar_3_bar_4_bar_1_bar_45)\n (receptacleAtLocation Cabinet_bar__plus_01_dot_76_bar__plus_00_dot_39_bar__plus_02_dot_35 loc_bar_3_bar_6_bar_1_bar_45)\n (receptacleAtLocation Cabinet_bar__plus_01_dot_97_bar__plus_02_dot_11_bar__plus_02_dot_62 loc_bar_5_bar_7_bar_0_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__plus_02_dot_04_bar__plus_01_dot_81_bar__plus_00_dot_28 loc_bar_5_bar_1_bar_1_bar__minus_15)\n (receptacleAtLocation Cabinet_bar__plus_02_dot_04_bar__plus_01_dot_81_bar__plus_00_dot_87 loc_bar_5_bar_2_bar_1_bar__minus_15)\n (receptacleAtLocation Cabinet_bar__plus_02_dot_04_bar__plus_02_dot_11_bar__plus_00_dot_89 loc_bar_3_bar_6_bar_1_bar__minus_15)\n (receptacleAtLocation Cabinet_bar__plus_02_dot_04_bar__plus_02_dot_11_bar__plus_01_dot_77 loc_bar_3_bar_5_bar_1_bar__minus_15)\n (receptacleAtLocation Cabinet_bar__plus_02_dot_04_bar__plus_02_dot_11_bar__plus_01_dot_81 loc_bar_5_bar_7_bar_1_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__plus_02_dot_04_bar__plus_02_dot_11_bar__plus_02_dot_62 loc_bar_5_bar_7_bar_0_bar__minus_30)\n (receptacleAtLocation CoffeeMachine_bar__plus_02_dot_12_bar__plus_00_dot_93_bar__plus_02_dot_67 loc_bar_5_bar_7_bar_0_bar_45)\n (receptacleAtLocation CounterTop_bar__plus_01_dot_07_bar__plus_00_dot_97_bar__plus_02_dot_67 loc_bar_5_bar_7_bar_0_bar_30)\n (receptacleAtLocation CounterTop_bar__plus_02_dot_06_bar__plus_00_dot_97_bar__plus_00_dot_58 loc_bar_5_bar_2_bar_1_bar_45)\n (receptacleAtLocation DiningTable_bar__minus_00_dot_21_bar__plus_00_dot_02_bar__plus_00_dot_88 loc_bar_2_bar_3_bar_3_bar_60)\n (receptacleAtLocation Drawer_bar__plus_01_dot_91_bar__plus_00_dot_77_bar__plus_02_dot_06 loc_bar_4_bar_8_bar_1_bar_45)\n (receptacleAtLocation Drawer_bar__plus_02_dot_17_bar__plus_00_dot_77_bar__plus_00_dot_58 loc_bar_4_bar_3_bar_1_bar_30)\n (receptacleAtLocation Drawer_bar__minus_00_dot_02_bar__plus_00_dot_77_bar__plus_02_dot_06 loc_bar_3_bar_8_bar_3_bar_45)\n (receptacleAtLocation Fridge_bar__plus_02_dot_10_bar__plus_00_dot_00_bar__minus_00_dot_28 loc_bar_5_bar__minus_1_bar_1_bar_60)\n (receptacleAtLocation GarbageCan_bar__minus_00_dot_33_bar__plus_00_dot_00_bar__minus_00_dot_80 loc_bar_3_bar__minus_1_bar_3_bar_60)\n (receptacleAtLocation Microwave_bar__minus_00_dot_31_bar__plus_00_dot_93_bar__plus_02_dot_08 loc_bar_2_bar_8_bar_3_bar_45)\n (receptacleAtLocation Sink_bar__plus_00_dot_94_bar__plus_00_dot_94_bar__plus_02_dot_65_bar_SinkBasin loc_bar_4_bar_8_bar_0_bar_60)\n (receptacleAtLocation StoveBurner_bar__plus_01_dot_86_bar__plus_00_dot_93_bar__plus_01_dot_11 loc_bar_5_bar_4_bar_1_bar_45)\n (receptacleAtLocation StoveBurner_bar__plus_01_dot_87_bar__plus_00_dot_93_bar__plus_01_dot_50 loc_bar_5_bar_6_bar_1_bar_45)\n (receptacleAtLocation StoveBurner_bar__plus_02_dot_14_bar__plus_00_dot_93_bar__plus_01_dot_11 loc_bar_5_bar_4_bar_1_bar_45)\n (receptacleAtLocation StoveBurner_bar__plus_02_dot_14_bar__plus_00_dot_93_bar__plus_01_dot_50 loc_bar_5_bar_6_bar_1_bar_45)\n (receptacleAtLocation Toaster_bar__plus_02_dot_13_bar__plus_00_dot_93_bar__plus_00_dot_57 loc_bar_5_bar_2_bar_1_bar_45)\n (objectAtLocation Bowl_bar__plus_02_dot_21_bar__plus_01_dot_95_bar__plus_01_dot_19 loc_bar_3_bar_6_bar_1_bar__minus_15)\n (objectAtLocation Plate_bar__plus_01_dot_93_bar__plus_00_dot_09_bar__plus_01_dot_99 loc_bar_3_bar_6_bar_1_bar_45)\n (objectAtLocation DishSponge_bar__minus_00_dot_43_bar__plus_00_dot_94_bar__plus_02_dot_43 loc_bar_5_bar_7_bar_0_bar_30)\n (objectAtLocation Pot_bar__plus_01_dot_85_bar__plus_00_dot_94_bar__plus_01_dot_50 loc_bar_5_bar_6_bar_1_bar_45)\n (objectAtLocation ButterKnife_bar__plus_01_dot_66_bar__plus_00_dot_93_bar__plus_02_dot_47 loc_bar_5_bar_7_bar_0_bar_30)\n (objectAtLocation Apple_bar__plus_00_dot_03_bar__plus_00_dot_84_bar__plus_00_dot_88 loc_bar_2_bar_3_bar_3_bar_60)\n (objectAtLocation Tomato_bar__minus_00_dot_43_bar__plus_00_dot_84_bar__plus_01_dot_22 loc_bar_2_bar_3_bar_3_bar_60)\n (objectAtLocation Knife_bar__plus_01_dot_82_bar__plus_00_dot_77_bar__plus_01_dot_92 loc_bar_4_bar_8_bar_1_bar_45)\n (objectAtLocation Pan_bar__plus_02_dot_14_bar__plus_00_dot_94_bar__plus_01_dot_50 loc_bar_5_bar_7_bar_0_bar_30)\n (objectAtLocation Fork_bar__plus_01_dot_92_bar__plus_00_dot_94_bar__plus_00_dot_36 loc_bar_5_bar_2_bar_1_bar_45)\n (objectAtLocation Apple_bar__plus_01_dot_84_bar__plus_00_dot_99_bar__plus_00_dot_66 loc_bar_5_bar_2_bar_1_bar_45)\n (objectAtLocation Bowl_bar__plus_02_dot_02_bar__plus_01_dot_52_bar__minus_00_dot_19 loc_bar_5_bar__minus_1_bar_1_bar_60)\n (objectAtLocation Knife_bar__minus_00_dot_20_bar__plus_00_dot_82_bar__plus_01_dot_39 loc_bar_2_bar_3_bar_3_bar_60)\n (objectAtLocation Fork_bar__minus_00_dot_04_bar__plus_00_dot_79_bar__plus_01_dot_05 loc_bar_2_bar_3_bar_3_bar_60)\n (objectAtLocation DishSponge_bar__plus_00_dot_03_bar__plus_00_dot_79_bar__plus_01_dot_39 loc_bar_2_bar_3_bar_3_bar_60)\n (objectAtLocation Sink_bar__plus_00_dot_94_bar__plus_00_dot_94_bar__plus_02_dot_65 loc_bar_4_bar_8_bar_0_bar_45)\n (objectAtLocation Curtains_bar__plus_00_dot_97_bar__plus_02_dot_06_bar__plus_02_dot_99 loc_bar_4_bar_8_bar_0_bar__minus_30)\n (objectAtLocation Egg_bar__minus_00_dot_04_bar__plus_00_dot_83_bar__plus_00_dot_38 loc_bar_2_bar_3_bar_3_bar_60)\n (objectAtLocation StoveKnob_bar__plus_02_dot_33_bar__plus_01_dot_09_bar__plus_01_dot_61 loc_bar_5_bar_6_bar_1_bar_30)\n (objectAtLocation StoveKnob_bar__plus_02_dot_33_bar__plus_01_dot_09_bar__plus_01_dot_46 loc_bar_5_bar_6_bar_1_bar_30)\n (objectAtLocation StoveKnob_bar__plus_02_dot_33_bar__plus_01_dot_09_bar__plus_01_dot_21 loc_bar_5_bar_5_bar_1_bar_30)\n (objectAtLocation StoveKnob_bar__plus_02_dot_33_bar__plus_01_dot_09_bar__plus_01_dot_05 loc_bar_5_bar_4_bar_1_bar_30)\n (objectAtLocation Lettuce_bar__plus_02_dot_06_bar__plus_01_dot_39_bar__minus_00_dot_46 loc_bar_5_bar__minus_1_bar_1_bar_60)\n (objectAtLocation Fork_bar__plus_00_dot_06_bar__plus_00_dot_94_bar__plus_02_dot_76 loc_bar_5_bar_7_bar_0_bar_30)\n (objectAtLocation SoapBottle_bar__minus_00_dot_28_bar__plus_00_dot_94_bar__plus_02_dot_48 loc_bar_5_bar_7_bar_0_bar_30)\n (objectAtLocation Ladle_bar__minus_00_dot_07_bar__plus_00_dot_79_bar__plus_02_dot_20 loc_bar_3_bar_8_bar_3_bar_45)\n (objectAtLocation Ladle_bar__plus_01_dot_94_bar__plus_00_dot_79_bar__plus_00_dot_72 loc_bar_4_bar_3_bar_1_bar_30)\n (objectAtLocation Bread_bar__minus_00_dot_20_bar__plus_00_dot_82_bar__plus_00_dot_82 loc_bar_2_bar_3_bar_3_bar_60)\n (objectAtLocation SaltShaker_bar__plus_01_dot_84_bar__plus_00_dot_93_bar__plus_00_dot_81 loc_bar_5_bar_2_bar_1_bar_45)\n (objectAtLocation Potato_bar__plus_01_dot_07_bar__plus_00_dot_84_bar__plus_02_dot_53 loc_bar_4_bar_8_bar_0_bar_60)\n (objectAtLocation Pan_bar__plus_01_dot_16_bar__plus_00_dot_08_bar__plus_02_dot_52 loc_bar_3_bar_6_bar_0_bar_60)\n (objectAtLocation LightSwitch_bar__plus_00_dot_36_bar__plus_01_dot_52_bar__minus_01_dot_03 loc_bar_1_bar__minus_2_bar_2_bar_15)\n (objectAtLocation WineBottle_bar__plus_02_dot_15_bar__plus_00_dot_94_bar__plus_00_dot_81 loc_bar_5_bar_2_bar_1_bar_45)\n (objectAtLocation Spatula_bar__plus_01_dot_28_bar__plus_00_dot_81_bar__plus_02_dot_75 loc_bar_4_bar_8_bar_0_bar_60)\n (objectAtLocation Knife_bar__plus_01_dot_88_bar__plus_00_dot_77_bar__plus_02_dot_20 loc_bar_4_bar_8_bar_1_bar_45)\n (objectAtLocation Tomato_bar__plus_02_dot_00_bar__plus_01_dot_37_bar__minus_00_dot_10 loc_bar_5_bar__minus_1_bar_1_bar_60)\n (objectAtLocation Apple_bar__plus_02_dot_30_bar__plus_00_dot_99_bar__plus_00_dot_81 loc_bar_5_bar_2_bar_1_bar_45)\n (objectAtLocation ButterKnife_bar__minus_00_dot_28_bar__plus_00_dot_94_bar__plus_02_dot_62 loc_bar_5_bar_7_bar_0_bar_30)\n (objectAtLocation Pot_bar__minus_00_dot_12_bar__plus_00_dot_78_bar__plus_00_dot_55 loc_bar_2_bar_3_bar_3_bar_60)\n (objectAtLocation PepperShaker_bar__plus_02_dot_30_bar__plus_00_dot_93_bar__plus_00_dot_36 loc_bar_5_bar_2_bar_1_bar_45)\n (objectAtLocation Cup_bar__plus_00_dot_29_bar__plus_00_dot_94_bar__plus_02_dot_62 loc_bar_5_bar_7_bar_0_bar_30)\n (objectAtLocation DishSponge_bar__plus_00_dot_74_bar__plus_00_dot_80_bar__plus_02_dot_70 loc_bar_4_bar_8_bar_0_bar_60)\n (objectAtLocation Plate_bar__plus_02_dot_21_bar__plus_01_dot_51_bar__plus_02_dot_01 loc_bar_5_bar_7_bar_1_bar__minus_30)\n (objectAtLocation Chair_bar__minus_00_dot_21_bar__plus_00_dot_00_bar__plus_00_dot_11 loc_bar_1_bar_0_bar_3_bar_60)\n (objectAtLocation Spoon_bar__plus_00_dot_03_bar__plus_00_dot_79_bar__plus_01_dot_22 loc_bar_2_bar_3_bar_3_bar_60)\n (objectAtLocation Mug_bar__minus_00_dot_27_bar__plus_00_dot_79_bar__plus_01_dot_22 loc_bar_2_bar_3_bar_3_bar_60)\n (objectAtLocation Bowl_bar__plus_02_dot_24_bar__plus_01_dot_95_bar__plus_01_dot_56 loc_bar_3_bar_5_bar_1_bar__minus_15)\n )\n \n\n (:goal\n (and\n (exists (?r - receptacle)\n (exists (?o - object)\n (and\n (coolable ?o)\n (objectType ?o EggType)\n (receptacleType ?r CounterTopType)\n (isCool ?o)\n (inReceptacle ?o ?r)\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to diningtable 1", "take egg 1 from diningtable 1", "go to fridge 1", "cool egg 1 with fridge 1", "go to countertop 1", "move egg 1 to countertop 1"]}
|
alfworld__pick_heat_then_place_in_recep__5
|
pick_heat_then_place_in_recep
|
pick_heat_then_place_in_recep-Mug-None-SideTable-21/trial_T20190909_090657_918872/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 mug in sidetable.\"\n }\n ],\n\n \"GotoLocation.feedback\": [\n {\n \"rhs\": \"You arrive at {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"OpenObject.feedback\": [\n {\n \"rhs\": \"You open the {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"CloseObject.feedback\": [\n {\n \"rhs\": \"You close the {r.name}.\"\n }\n ],\n\n \"PickupObject.feedback\": [\n {\n \"rhs\": \"You pick up the {o.name} from the {r.name}.\"\n }\n ],\n\n \"PickupObjectFromReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupObjectFromReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupEmptyReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupEmptyReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupFullReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupFullReceptacleObject: You pick up the {outerr.name}.\"\n }\n ],\n\n \"PutObject.feedback\": [\n {\n \"rhs\": \"You move the {o.name} to the {r.name}.\"\n }\n ],\n\n \"PutObjectInReceptacleObject.feedback\": [\n {\n \"rhs\": \"PutObjectInReceptacleObject: You put the {o.name} in the {outero.name}.\"\n }\n ],\n\n \"PutEmptyReceptacleObjectinReceptacle.feedback\": [\n {\n \"rhs\": \"PutEmptyReceptacleObjectinReceptacle: You put the {o.name} in the {r.name}.\"\n }\n ],\n\n \"PutFullReceptacleObjectInReceptacle.feedback\": [\n {\n \"rhs\": \"PutFullReceptacleObjectInReceptacle: You put the {outero.name} in the {r.name}.\"\n }\n ],\n\n \"inventory.feedback\": [\n {\n \"condition\": \"holdsany(a:agent)\",\n \"rhs\": \"You are carrying: [{o.indefinite + ' ' + o.name | holds(a:agent, o:object)}].\"\n },\n {\n \"rhs\": \"You are not carrying anything.\"\n }\n ],\n\n \"examineReceptacle.feedback\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \"The {r.name} is open. In it, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \"The {r.name} is closed.\"\n },\n {\n \"rhs\": \"On the {r.name}, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n }\n ],\n\n \"examineObject.feedback\": [\n {\n \"condition\": \"isreceptacleobject(o:object)\",\n \"rhs\": \"This is a normal {o.name}. In it, you see [{o2.indefinite + ' ' + o2.name | inreceptacleobject(o2:object, o:object)}].\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a clean sliced {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot sliced {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object)\",\n \"rhs\": \"This is a hot and clean {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object)\",\n \"rhs\": \"This is a cool and clean {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object)\",\n \"rhs\": \"This is a hot {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object)\",\n \"rhs\": \"This is a clean {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object)\",\n \"rhs\": \"This is a cold {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"This {o.name} is on.\"\n },\n {\n \"condition\": \"toggleable(o:object) & not_istoggled(o:object)\",\n \"rhs\": \"This {o.name} is off.\"\n },\n {\n \"condition\": \"sliceable(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a sliced {o.name}.\"\n },\n {\n \"rhs\": \"There's nothing special about {o.name}.\"\n }\n ]\n }\n\"\"\";\n\naction GotoLocation {\n template :: \"go to [{r.name | receptacleatlocation(r:receptacle, lend:location)}]\";\n feedback :: \"#GotoLocation.feedback#\";\n}\n\naction OpenObject {\n template :: \"open {r}\";\n feedback :: \"#OpenObject.feedback#\";\n}\n\naction CloseObject {\n template :: \"close {r}\";\n feedback :: \"#CloseObject.feedback#\";\n}\n\naction PickupObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObject.feedback#\";\n}\n\naction PickupObjectFromReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObjectFromReceptacleObject.feedback#\";\n}\n\naction PickupEmptyReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupEmptyReceptacleObject.feedback#\";\n}\n\naction PickupFullReceptacleObject {\n template :: \"take {outerr} from {r}\";\n feedback :: \"#PickupFullReceptacleObject.feedback#\";\n}\n\naction PutObject {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutObject.feedback#\";\n}\n\naction PutObjectInReceptacleObject {\n template :: \"put {o} into {outero}\";\n feedback :: \"#PutObjectInReceptacleObject.feedback#\";\n}\n\naction PutEmptyReceptacleObjectinReceptacle {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutEmptyReceptacleObjectinReceptacle.feedback#\";\n}\n\naction PutFullReceptacleObjectInReceptacle {\n template :: \"put {outero} in {r}\";\n feedback :: \"#PutFullReceptacleObjectInReceptacle.feedback#\";\n}\n\naction inventory {\n template :: \"inventory\";\n feedback :: \"#inventory.feedback#\";\n}\n\naction examineReceptacle {\n template :: \"examine {r}\";\n feedback :: \"#examineReceptacle.feedback#\";\n}\n\naction examineObject {\n template :: \"examine {o}\";\n feedback :: \"#examineObject.feedback#\";\n}\n\naction ToggleObject {\n template :: \"use {o}\";\n feedback :: \"#toggleObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"toggleObject.feedback\": [\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"You turn on the {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object)\",\n \"rhs\": \"You turn off the {o.name}.\"\n },\n {\n \"rhs\": \"You don't see any switch on the {o.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction HeatObject {\n template :: \"heat {o} with {r}\";\n feedback :: \"#heatObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"heatObject.feedback\": [\n {\n \"rhs\": \"You heat the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CleanObject {\n template :: \"clean {o} with {r}\";\n feedback :: \"#cleanObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"cleanObject.feedback\": [\n {\n \"rhs\": \"You clean the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CoolObject {\n template :: \"cool {o} with {r}\";\n feedback :: \"#coolObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"coolObject.feedback\": [\n {\n \"rhs\": \"You cool the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction SliceObject {\n template :: \"slice {co} with {ko}\";\n feedback :: \"#sliceObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"sliceObject.feedback\": [\n {\n \"rhs\": \"You sliced the {co.name} with the {ko.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction look {\n template :: \"look\";\n feedback :: \"#look.feedback#\";\n\n grammar :: \"\"\"\n {\n \"look.feedback\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"#look-variations#. Next to it, you see #list_objects_on_the_floor#.\"\n },\n {\n \"rhs\": \"You are in the middle of a room. Looking quickly around you, you see #list_appliances#.\"\n }\n ],\n\n \"look-variations\": [\n {\n \"rhs\": \"You are facing the [{r.name | atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)}]\"\n }\n ],\n\n \"list_objects_on_the_floor\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)\",\n \"rhs\": \"[{#overview(o)# | atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"list_appliances\": [\n {\n \"condition\": \"receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"[{#overview(r)# | receptacleatlocation(r:receptacle, l:location)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"overview(o, r)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name} (in/on the {r.name})}\"\n }\n ],\n\n \"overview(o)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name}\"\n }\n ],\n \"overview(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}\"\n }\n ],\n \"overview_with_state(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}#overview_state(r)#\"\n }\n ],\n \"overview_state(r)\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \" (it is open)\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \" (it is closed)\"\n },\n {\n \"rhs\": \"\"\n }\n ],\n\n \"list_empty\": [\n {\n \"rhs\": \"nothing\"\n }\n ],\n \"list_separator\": [\n {\n \"rhs\": \", \"\n }\n ],\n \"list_last_separator\": [\n {\n \"rhs\": \", and \"\n }\n ]\n }\n \"\"\";\n}\n\naction help {\n template :: \"help\";\n feedback :: \"\nAvailable commands:\n look: look around your current location\n inventory: check your current inventory\n go to (receptacle): move to a receptacle\n open (receptacle): open a receptacle\n close (receptacle): close a receptacle\n take (object) from (receptacle): take an object from a receptacle\n move (object) to (receptacle): place an object in or on a receptacle\n examine (something): examine a receptacle or an object\n use (object): use an object\n heat (object) with (receptacle): heat an object using a receptacle\n clean (object) with (receptacle): clean an object using a receptacle\n cool (object) with (receptacle): cool an object using a receptacle\n slice (object) with (object): slice an object using a sharp object\n\";\n}\n", "pddl_problem": "\n(define (problem plan_trial_T20190909_090657_918872)\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_26_bar__plus_00_dot_11_bar__minus_03_dot_65 - object\n Blinds_bar__minus_02_dot_34_bar__plus_02_dot_15_bar__minus_02_dot_44 - object\n Bowl_bar__plus_00_dot_15_bar__plus_00_dot_90_bar__plus_01_dot_19 - object\n Bowl_bar__plus_00_dot_80_bar__plus_00_dot_77_bar__minus_00_dot_74 - object\n Bread_bar__minus_00_dot_25_bar__plus_00_dot_94_bar__plus_00_dot_93 - object\n ButterKnife_bar__plus_00_dot_75_bar__plus_00_dot_76_bar__minus_00_dot_74 - object\n Chair_bar__minus_01_dot_90_bar__minus_00_dot_03_bar__minus_01_dot_87 - object\n Cup_bar__plus_00_dot_66_bar__plus_00_dot_66_bar__plus_00_dot_51 - object\n Cup_bar__plus_00_dot_71_bar__plus_00_dot_66_bar__minus_01_dot_96 - object\n Cup_bar__minus_00_dot_86_bar__plus_00_dot_90_bar__plus_00_dot_76 - object\n DishSponge_bar__plus_00_dot_96_bar__plus_00_dot_66_bar__plus_00_dot_45 - object\n Egg_bar__minus_01_dot_22_bar__plus_00_dot_09_bar__minus_03_dot_57 - object\n Faucet_bar__plus_01_dot_03_bar__plus_00_dot_87_bar__minus_00_dot_68 - object\n Fork_bar__plus_00_dot_77_bar__plus_00_dot_76_bar__minus_00_dot_12 - object\n Fork_bar__plus_00_dot_78_bar__plus_00_dot_67_bar__plus_00_dot_45 - object\n Fork_bar__minus_01_dot_06_bar__plus_00_dot_90_bar__plus_00_dot_84 - object\n Knife_bar__plus_00_dot_78_bar__plus_00_dot_69_bar__plus_00_dot_63 - object\n Knife_bar__minus_01_dot_54_bar__plus_00_dot_72_bar__minus_03_dot_70 - object\n Lettuce_bar__plus_00_dot_15_bar__plus_00_dot_99_bar__plus_00_dot_84 - object\n Lettuce_bar__plus_00_dot_75_bar__plus_00_dot_75_bar__minus_02_dot_11 - object\n LightSwitch_bar__plus_01_dot_10_bar__plus_01_dot_37_bar__minus_03_dot_74 - object\n Mirror_bar__plus_01_dot_09_bar__plus_01_dot_60_bar__minus_00_dot_64 - object\n Mug_bar__minus_00_dot_86_bar__plus_00_dot_90_bar__plus_01_dot_19 - object\n Mug_bar__minus_01_dot_58_bar__plus_00_dot_70_bar__minus_03_dot_28 - object\n Pan_bar__minus_02_dot_10_bar__plus_00_dot_93_bar__plus_00_dot_79 - object\n PepperShaker_bar__plus_00_dot_66_bar__plus_00_dot_66_bar__plus_00_dot_33 - object\n PepperShaker_bar__plus_00_dot_88_bar__plus_00_dot_88_bar__minus_00_dot_11 - object\n PepperShaker_bar__minus_01_dot_60_bar__plus_00_dot_69_bar__minus_03_dot_53 - object\n Plate_bar__plus_00_dot_68_bar__plus_00_dot_02_bar__minus_00_dot_05 - object\n Potato_bar__plus_01_dot_02_bar__plus_00_dot_92_bar__plus_00_dot_03 - object\n Potato_bar__minus_01_dot_89_bar__plus_00_dot_73_bar__minus_00_dot_98 - object\n Potato_bar__minus_02_dot_05_bar__plus_00_dot_73_bar__minus_00_dot_98 - object\n Pot_bar__minus_01_dot_55_bar__plus_00_dot_93_bar__plus_00_dot_79 - object\n SaltShaker_bar__plus_00_dot_60_bar__plus_00_dot_66_bar__plus_00_dot_39 - object\n SaltShaker_bar__plus_00_dot_68_bar__plus_00_dot_01_bar__minus_00_dot_32 - object\n Sink_bar__plus_00_dot_75_bar__plus_00_dot_88_bar__minus_00_dot_68 - object\n SoapBottle_bar__plus_00_dot_79_bar__plus_00_dot_01_bar__minus_00_dot_70 - object\n Spatula_bar__minus_00_dot_05_bar__plus_00_dot_92_bar__plus_01_dot_10 - object\n Spoon_bar__plus_00_dot_77_bar__plus_00_dot_76_bar__minus_00_dot_25 - object\n Spoon_bar__plus_00_dot_95_bar__plus_00_dot_88_bar__plus_00_dot_10 - object\n StoveKnob_bar__minus_01_dot_60_bar__plus_00_dot_87_bar__plus_00_dot_52 - object\n StoveKnob_bar__minus_01_dot_75_bar__plus_00_dot_87_bar__plus_00_dot_52 - object\n StoveKnob_bar__minus_01_dot_90_bar__plus_00_dot_87_bar__plus_00_dot_52 - object\n StoveKnob_bar__minus_02_dot_06_bar__plus_00_dot_87_bar__plus_00_dot_52 - object\n Tomato_bar__plus_00_dot_67_bar__plus_00_dot_71_bar__minus_01_dot_73 - object\n Window_bar__minus_02_dot_42_bar__plus_01_dot_64_bar__minus_02_dot_45 - object\n Cabinet_bar__plus_00_dot_51_bar__plus_00_dot_35_bar__plus_00_dot_16 - receptacle\n Cabinet_bar__plus_00_dot_51_bar__plus_00_dot_35_bar__minus_00_dot_43 - receptacle\n Cabinet_bar__plus_00_dot_72_bar__plus_01_dot_82_bar__plus_00_dot_67 - receptacle\n Cabinet_bar__plus_00_dot_72_bar__plus_01_dot_82_bar__minus_00_dot_40 - receptacle\n CoffeeMachine_bar__plus_00_dot_88_bar__plus_00_dot_86_bar__minus_01_dot_26 - receptacle\n CounterTop_bar__plus_00_dot_79_bar__plus_00_dot_92_bar__minus_00_dot_11 - receptacle\n DiningTable_bar__minus_00_dot_52_bar__plus_00_dot_01_bar__plus_00_dot_95 - receptacle\n DiningTable_bar__minus_01_dot_73_bar__minus_00_dot_03_bar__minus_00_dot_96 - receptacle\n DiningTable_bar__minus_02_dot_17_bar__minus_00_dot_03_bar__minus_03_dot_37 - receptacle\n Drawer_bar__plus_00_dot_71_bar__plus_00_dot_77_bar__minus_00_dot_13 - receptacle\n Fridge_bar__plus_00_dot_68_bar__minus_00_dot_03_bar__minus_01_dot_96 - receptacle\n GarbageCan_bar__minus_01_dot_26_bar__minus_00_dot_03_bar__minus_03_dot_61 - receptacle\n Microwave_bar__minus_02_dot_01_bar__plus_00_dot_69_bar__minus_03_dot_69 - receptacle\n SideTable_bar__plus_00_dot_77_bar__plus_00_dot_70_bar__plus_00_dot_45 - receptacle\n Sink_bar__plus_00_dot_75_bar__plus_00_dot_88_bar__minus_00_dot_68_bar_SinkBasin - receptacle\n StoveBurner_bar__minus_01_dot_55_bar__plus_00_dot_89_bar__plus_00_dot_79 - receptacle\n StoveBurner_bar__minus_01_dot_56_bar__plus_00_dot_89_bar__plus_01_dot_05 - receptacle\n StoveBurner_bar__minus_02_dot_10_bar__plus_00_dot_89_bar__plus_00_dot_79 - receptacle\n StoveBurner_bar__minus_02_dot_10_bar__plus_00_dot_89_bar__plus_01_dot_05 - receptacle\n Toaster_bar__minus_00_dot_52_bar__plus_00_dot_89_bar__plus_01_dot_07 - receptacle\n loc_bar__minus_6_bar_0_bar_0_bar_45 - location\n loc_bar__minus_4_bar__minus_5_bar_3_bar_60 - location\n loc_bar_1_bar__minus_3_bar_1_bar_0 - location\n loc_bar__minus_7_bar_0_bar_0_bar_30 - location\n loc_bar__minus_7_bar__minus_11_bar_2_bar_45 - location\n loc_bar_1_bar_1_bar_1_bar__minus_30 - location\n loc_bar__minus_7_bar_0_bar_0_bar_60 - location\n loc_bar__minus_6_bar_0_bar_0_bar_60 - location\n loc_bar__minus_7_bar__minus_11_bar_2_bar_60 - location\n loc_bar_1_bar__minus_2_bar_1_bar_60 - location\n loc_bar__minus_7_bar_0_bar_0_bar_45 - location\n loc_bar_0_bar_1_bar_0_bar_60 - location\n loc_bar__minus_1_bar__minus_8_bar_1_bar_60 - location\n loc_bar__minus_2_bar__minus_1_bar_1_bar_45 - location\n loc_bar__minus_1_bar__minus_1_bar_1_bar_45 - location\n loc_bar__minus_6_bar_0_bar_0_bar_30 - location\n loc_bar__minus_7_bar__minus_10_bar_3_bar_0 - location\n loc_bar_1_bar_0_bar_1_bar_45 - location\n loc_bar_2_bar__minus_13_bar_1_bar_30 - location\n loc_bar_0_bar__minus_5_bar_1_bar_45 - location\n loc_bar__minus_1_bar_1_bar_1_bar_45 - location\n loc_bar__minus_4_bar__minus_13_bar_2_bar_60 - location\n loc_bar__minus_2_bar_1_bar_1_bar_45 - location\n loc_bar_1_bar__minus_3_bar_1_bar_60 - location\n loc_bar__minus_2_bar_1_bar_0_bar_45 - location\n loc_bar__minus_5_bar__minus_7_bar_3_bar_60 - location\n loc_bar_1_bar_0_bar_1_bar_60 - location\n loc_bar_1_bar_0_bar_1_bar__minus_30 - location\n loc_bar__minus_7_bar__minus_10_bar_3_bar__minus_30 - location\n loc_bar__minus_1_bar__minus_13_bar_0_bar_30 - location\n )\n \n\n(:init\n\n\n (receptacleType Fridge_bar__plus_00_dot_68_bar__minus_00_dot_03_bar__minus_01_dot_96 FridgeType)\n (receptacleType StoveBurner_bar__minus_01_dot_55_bar__plus_00_dot_89_bar__plus_00_dot_79 StoveBurnerType)\n (receptacleType CoffeeMachine_bar__plus_00_dot_88_bar__plus_00_dot_86_bar__minus_01_dot_26 CoffeeMachineType)\n (receptacleType GarbageCan_bar__minus_01_dot_26_bar__minus_00_dot_03_bar__minus_03_dot_61 GarbageCanType)\n (receptacleType SideTable_bar__plus_00_dot_77_bar__plus_00_dot_70_bar__plus_00_dot_45 SideTableType)\n (receptacleType Microwave_bar__minus_02_dot_01_bar__plus_00_dot_69_bar__minus_03_dot_69 MicrowaveType)\n (receptacleType Cabinet_bar__plus_00_dot_72_bar__plus_01_dot_82_bar__plus_00_dot_67 CabinetType)\n (receptacleType CounterTop_bar__plus_00_dot_79_bar__plus_00_dot_92_bar__minus_00_dot_11 CounterTopType)\n (receptacleType Cabinet_bar__plus_00_dot_72_bar__plus_01_dot_82_bar__minus_00_dot_40 CabinetType)\n (receptacleType Sink_bar__plus_00_dot_75_bar__plus_00_dot_88_bar__minus_00_dot_68_bar_SinkBasin SinkBasinType)\n (receptacleType Cabinet_bar__plus_00_dot_51_bar__plus_00_dot_35_bar__plus_00_dot_16 CabinetType)\n (receptacleType DiningTable_bar__minus_01_dot_73_bar__minus_00_dot_03_bar__minus_00_dot_96 DiningTableType)\n (receptacleType Drawer_bar__plus_00_dot_71_bar__plus_00_dot_77_bar__minus_00_dot_13 DrawerType)\n (receptacleType Toaster_bar__minus_00_dot_52_bar__plus_00_dot_89_bar__plus_01_dot_07 ToasterType)\n (receptacleType StoveBurner_bar__minus_02_dot_10_bar__plus_00_dot_89_bar__plus_00_dot_79 StoveBurnerType)\n (receptacleType DiningTable_bar__minus_00_dot_52_bar__plus_00_dot_01_bar__plus_00_dot_95 DiningTableType)\n (receptacleType StoveBurner_bar__minus_02_dot_10_bar__plus_00_dot_89_bar__plus_01_dot_05 StoveBurnerType)\n (receptacleType Cabinet_bar__plus_00_dot_51_bar__plus_00_dot_35_bar__minus_00_dot_43 CabinetType)\n (receptacleType DiningTable_bar__minus_02_dot_17_bar__minus_00_dot_03_bar__minus_03_dot_37 DiningTableType)\n (receptacleType StoveBurner_bar__minus_01_dot_56_bar__plus_00_dot_89_bar__plus_01_dot_05 StoveBurnerType)\n (objectType SoapBottle_bar__plus_00_dot_79_bar__plus_00_dot_01_bar__minus_00_dot_70 SoapBottleType)\n (objectType Apple_bar__minus_01_dot_26_bar__plus_00_dot_11_bar__minus_03_dot_65 AppleType)\n (objectType StoveKnob_bar__minus_01_dot_90_bar__plus_00_dot_87_bar__plus_00_dot_52 StoveKnobType)\n (objectType Spatula_bar__minus_00_dot_05_bar__plus_00_dot_92_bar__plus_01_dot_10 SpatulaType)\n (objectType Plate_bar__plus_00_dot_68_bar__plus_00_dot_02_bar__minus_00_dot_05 PlateType)\n (objectType SaltShaker_bar__plus_00_dot_68_bar__plus_00_dot_01_bar__minus_00_dot_32 SaltShakerType)\n (objectType StoveKnob_bar__minus_01_dot_60_bar__plus_00_dot_87_bar__plus_00_dot_52 StoveKnobType)\n (objectType StoveKnob_bar__minus_02_dot_06_bar__plus_00_dot_87_bar__plus_00_dot_52 StoveKnobType)\n (objectType StoveKnob_bar__minus_01_dot_75_bar__plus_00_dot_87_bar__plus_00_dot_52 StoveKnobType)\n (objectType Mug_bar__minus_01_dot_58_bar__plus_00_dot_70_bar__minus_03_dot_28 MugType)\n (objectType Fork_bar__plus_00_dot_78_bar__plus_00_dot_67_bar__plus_00_dot_45 ForkType)\n (objectType Fork_bar__minus_01_dot_06_bar__plus_00_dot_90_bar__plus_00_dot_84 ForkType)\n (objectType Spoon_bar__plus_00_dot_95_bar__plus_00_dot_88_bar__plus_00_dot_10 SpoonType)\n (objectType Cup_bar__minus_00_dot_86_bar__plus_00_dot_90_bar__plus_00_dot_76 CupType)\n (objectType Egg_bar__minus_01_dot_22_bar__plus_00_dot_09_bar__minus_03_dot_57 EggType)\n (objectType Bowl_bar__plus_00_dot_15_bar__plus_00_dot_90_bar__plus_01_dot_19 BowlType)\n (objectType ButterKnife_bar__plus_00_dot_75_bar__plus_00_dot_76_bar__minus_00_dot_74 ButterKnifeType)\n (objectType Mug_bar__minus_00_dot_86_bar__plus_00_dot_90_bar__plus_01_dot_19 MugType)\n (objectType Spoon_bar__plus_00_dot_77_bar__plus_00_dot_76_bar__minus_00_dot_25 SpoonType)\n (objectType Potato_bar__plus_01_dot_02_bar__plus_00_dot_92_bar__plus_00_dot_03 PotatoType)\n (objectType Mirror_bar__plus_01_dot_09_bar__plus_01_dot_60_bar__minus_00_dot_64 MirrorType)\n (objectType Window_bar__minus_02_dot_42_bar__plus_01_dot_64_bar__minus_02_dot_45 WindowType)\n (objectType Bowl_bar__plus_00_dot_80_bar__plus_00_dot_77_bar__minus_00_dot_74 BowlType)\n (objectType Cup_bar__plus_00_dot_66_bar__plus_00_dot_66_bar__plus_00_dot_51 CupType)\n (objectType Cup_bar__plus_00_dot_71_bar__plus_00_dot_66_bar__minus_01_dot_96 CupType)\n (objectType Fork_bar__plus_00_dot_77_bar__plus_00_dot_76_bar__minus_00_dot_12 ForkType)\n (objectType DishSponge_bar__plus_00_dot_96_bar__plus_00_dot_66_bar__plus_00_dot_45 DishSpongeType)\n (objectType Blinds_bar__minus_02_dot_34_bar__plus_02_dot_15_bar__minus_02_dot_44 BlindsType)\n (objectType Lettuce_bar__plus_00_dot_75_bar__plus_00_dot_75_bar__minus_02_dot_11 LettuceType)\n (objectType Lettuce_bar__plus_00_dot_15_bar__plus_00_dot_99_bar__plus_00_dot_84 LettuceType)\n (objectType Chair_bar__minus_01_dot_90_bar__minus_00_dot_03_bar__minus_01_dot_87 ChairType)\n (objectType Pan_bar__minus_02_dot_10_bar__plus_00_dot_93_bar__plus_00_dot_79 PanType)\n (objectType Tomato_bar__plus_00_dot_67_bar__plus_00_dot_71_bar__minus_01_dot_73 TomatoType)\n (objectType LightSwitch_bar__plus_01_dot_10_bar__plus_01_dot_37_bar__minus_03_dot_74 LightSwitchType)\n (objectType Sink_bar__plus_00_dot_75_bar__plus_00_dot_88_bar__minus_00_dot_68 SinkType)\n (objectType PepperShaker_bar__plus_00_dot_88_bar__plus_00_dot_88_bar__minus_00_dot_11 PepperShakerType)\n (objectType PepperShaker_bar__minus_01_dot_60_bar__plus_00_dot_69_bar__minus_03_dot_53 PepperShakerType)\n (objectType Knife_bar__plus_00_dot_78_bar__plus_00_dot_69_bar__plus_00_dot_63 KnifeType)\n (objectType Pot_bar__minus_01_dot_55_bar__plus_00_dot_93_bar__plus_00_dot_79 PotType)\n (objectType Knife_bar__minus_01_dot_54_bar__plus_00_dot_72_bar__minus_03_dot_70 KnifeType)\n (objectType 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Plate_bar__plus_00_dot_68_bar__plus_00_dot_02_bar__minus_00_dot_05)\n (coolable Mug_bar__minus_01_dot_58_bar__plus_00_dot_70_bar__minus_03_dot_28)\n (coolable Cup_bar__minus_00_dot_86_bar__plus_00_dot_90_bar__plus_00_dot_76)\n (coolable Egg_bar__minus_01_dot_22_bar__plus_00_dot_09_bar__minus_03_dot_57)\n (coolable Bowl_bar__plus_00_dot_15_bar__plus_00_dot_90_bar__plus_01_dot_19)\n (coolable Mug_bar__minus_00_dot_86_bar__plus_00_dot_90_bar__plus_01_dot_19)\n (coolable Potato_bar__plus_01_dot_02_bar__plus_00_dot_92_bar__plus_00_dot_03)\n (coolable Bowl_bar__plus_00_dot_80_bar__plus_00_dot_77_bar__minus_00_dot_74)\n (coolable Cup_bar__plus_00_dot_66_bar__plus_00_dot_66_bar__plus_00_dot_51)\n (coolable Cup_bar__plus_00_dot_71_bar__plus_00_dot_66_bar__minus_01_dot_96)\n (coolable Lettuce_bar__plus_00_dot_75_bar__plus_00_dot_75_bar__minus_02_dot_11)\n (coolable Lettuce_bar__plus_00_dot_15_bar__plus_00_dot_99_bar__plus_00_dot_84)\n (coolable 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Bread_bar__minus_00_dot_25_bar__plus_00_dot_94_bar__plus_00_dot_93)\n (sliceable Potato_bar__minus_02_dot_05_bar__plus_00_dot_73_bar__minus_00_dot_98)\n (sliceable Potato_bar__minus_01_dot_89_bar__plus_00_dot_73_bar__minus_00_dot_98)\n \n (inReceptacle Fork_bar__plus_00_dot_77_bar__plus_00_dot_76_bar__minus_00_dot_12 Drawer_bar__plus_00_dot_71_bar__plus_00_dot_77_bar__minus_00_dot_13)\n (inReceptacle Spoon_bar__plus_00_dot_77_bar__plus_00_dot_76_bar__minus_00_dot_25 Drawer_bar__plus_00_dot_71_bar__plus_00_dot_77_bar__minus_00_dot_13)\n (inReceptacle PepperShaker_bar__plus_00_dot_88_bar__plus_00_dot_88_bar__minus_00_dot_11 CounterTop_bar__plus_00_dot_79_bar__plus_00_dot_92_bar__minus_00_dot_11)\n (inReceptacle Potato_bar__plus_01_dot_02_bar__plus_00_dot_92_bar__plus_00_dot_03 CounterTop_bar__plus_00_dot_79_bar__plus_00_dot_92_bar__minus_00_dot_11)\n (inReceptacle Spoon_bar__plus_00_dot_95_bar__plus_00_dot_88_bar__plus_00_dot_10 CounterTop_bar__plus_00_dot_79_bar__plus_00_dot_92_bar__minus_00_dot_11)\n (inReceptacle Pan_bar__minus_02_dot_10_bar__plus_00_dot_93_bar__plus_00_dot_79 StoveBurner_bar__minus_02_dot_10_bar__plus_00_dot_89_bar__plus_00_dot_79)\n (inReceptacle SoapBottle_bar__plus_00_dot_79_bar__plus_00_dot_01_bar__minus_00_dot_70 Cabinet_bar__plus_00_dot_51_bar__plus_00_dot_35_bar__minus_00_dot_43)\n (inReceptacle Pot_bar__minus_01_dot_55_bar__plus_00_dot_93_bar__plus_00_dot_79 StoveBurner_bar__minus_01_dot_55_bar__plus_00_dot_89_bar__plus_00_dot_79)\n (inReceptacle Potato_bar__minus_01_dot_89_bar__plus_00_dot_73_bar__minus_00_dot_98 DiningTable_bar__minus_01_dot_73_bar__minus_00_dot_03_bar__minus_00_dot_96)\n (inReceptacle Potato_bar__minus_02_dot_05_bar__plus_00_dot_73_bar__minus_00_dot_98 DiningTable_bar__minus_01_dot_73_bar__minus_00_dot_03_bar__minus_00_dot_96)\n (inReceptacle Cup_bar__plus_00_dot_66_bar__plus_00_dot_66_bar__plus_00_dot_51 SideTable_bar__plus_00_dot_77_bar__plus_00_dot_70_bar__plus_00_dot_45)\n (inReceptacle Knife_bar__plus_00_dot_78_bar__plus_00_dot_69_bar__plus_00_dot_63 SideTable_bar__plus_00_dot_77_bar__plus_00_dot_70_bar__plus_00_dot_45)\n (inReceptacle SaltShaker_bar__plus_00_dot_60_bar__plus_00_dot_66_bar__plus_00_dot_39 SideTable_bar__plus_00_dot_77_bar__plus_00_dot_70_bar__plus_00_dot_45)\n (inReceptacle DishSponge_bar__plus_00_dot_96_bar__plus_00_dot_66_bar__plus_00_dot_45 SideTable_bar__plus_00_dot_77_bar__plus_00_dot_70_bar__plus_00_dot_45)\n (inReceptacle PepperShaker_bar__plus_00_dot_66_bar__plus_00_dot_66_bar__plus_00_dot_33 SideTable_bar__plus_00_dot_77_bar__plus_00_dot_70_bar__plus_00_dot_45)\n (inReceptacle Fork_bar__plus_00_dot_78_bar__plus_00_dot_67_bar__plus_00_dot_45 SideTable_bar__plus_00_dot_77_bar__plus_00_dot_70_bar__plus_00_dot_45)\n (inReceptacle SaltShaker_bar__plus_00_dot_68_bar__plus_00_dot_01_bar__minus_00_dot_32 Cabinet_bar__plus_00_dot_51_bar__plus_00_dot_35_bar__plus_00_dot_16)\n (inReceptacle Bowl_bar__plus_00_dot_15_bar__plus_00_dot_90_bar__plus_01_dot_19 DiningTable_bar__minus_00_dot_52_bar__plus_00_dot_01_bar__plus_00_dot_95)\n (inReceptacle Mug_bar__minus_00_dot_86_bar__plus_00_dot_90_bar__plus_01_dot_19 DiningTable_bar__minus_00_dot_52_bar__plus_00_dot_01_bar__plus_00_dot_95)\n (inReceptacle Lettuce_bar__plus_00_dot_15_bar__plus_00_dot_99_bar__plus_00_dot_84 DiningTable_bar__minus_00_dot_52_bar__plus_00_dot_01_bar__plus_00_dot_95)\n (inReceptacle Spatula_bar__minus_00_dot_05_bar__plus_00_dot_92_bar__plus_01_dot_10 DiningTable_bar__minus_00_dot_52_bar__plus_00_dot_01_bar__plus_00_dot_95)\n (inReceptacle Bread_bar__minus_00_dot_25_bar__plus_00_dot_94_bar__plus_00_dot_93 DiningTable_bar__minus_00_dot_52_bar__plus_00_dot_01_bar__plus_00_dot_95)\n (inReceptacle Fork_bar__minus_01_dot_06_bar__plus_00_dot_90_bar__plus_00_dot_84 DiningTable_bar__minus_00_dot_52_bar__plus_00_dot_01_bar__plus_00_dot_95)\n (inReceptacle Cup_bar__minus_00_dot_86_bar__plus_00_dot_90_bar__plus_00_dot_76 DiningTable_bar__minus_00_dot_52_bar__plus_00_dot_01_bar__plus_00_dot_95)\n (inReceptacle Knife_bar__minus_01_dot_54_bar__plus_00_dot_72_bar__minus_03_dot_70 DiningTable_bar__minus_02_dot_17_bar__minus_00_dot_03_bar__minus_03_dot_37)\n (inReceptacle PepperShaker_bar__minus_01_dot_60_bar__plus_00_dot_69_bar__minus_03_dot_53 DiningTable_bar__minus_02_dot_17_bar__minus_00_dot_03_bar__minus_03_dot_37)\n (inReceptacle Mug_bar__minus_01_dot_58_bar__plus_00_dot_70_bar__minus_03_dot_28 DiningTable_bar__minus_02_dot_17_bar__minus_00_dot_03_bar__minus_03_dot_37)\n (inReceptacle Egg_bar__minus_01_dot_22_bar__plus_00_dot_09_bar__minus_03_dot_57 GarbageCan_bar__minus_01_dot_26_bar__minus_00_dot_03_bar__minus_03_dot_61)\n (inReceptacle Apple_bar__minus_01_dot_26_bar__plus_00_dot_11_bar__minus_03_dot_65 GarbageCan_bar__minus_01_dot_26_bar__minus_00_dot_03_bar__minus_03_dot_61)\n (inReceptacle Lettuce_bar__plus_00_dot_75_bar__plus_00_dot_75_bar__minus_02_dot_11 Fridge_bar__plus_00_dot_68_bar__minus_00_dot_03_bar__minus_01_dot_96)\n (inReceptacle Tomato_bar__plus_00_dot_67_bar__plus_00_dot_71_bar__minus_01_dot_73 Fridge_bar__plus_00_dot_68_bar__minus_00_dot_03_bar__minus_01_dot_96)\n (inReceptacle Cup_bar__plus_00_dot_71_bar__plus_00_dot_66_bar__minus_01_dot_96 Fridge_bar__plus_00_dot_68_bar__minus_00_dot_03_bar__minus_01_dot_96)\n (inReceptacle Bowl_bar__plus_00_dot_80_bar__plus_00_dot_77_bar__minus_00_dot_74 Sink_bar__plus_00_dot_75_bar__plus_00_dot_88_bar__minus_00_dot_68_bar_SinkBasin)\n \n \n (receptacleAtLocation Cabinet_bar__plus_00_dot_51_bar__plus_00_dot_35_bar__plus_00_dot_16 loc_bar__minus_2_bar_1_bar_1_bar_45)\n (receptacleAtLocation Cabinet_bar__plus_00_dot_51_bar__plus_00_dot_35_bar__minus_00_dot_43 loc_bar__minus_2_bar__minus_1_bar_1_bar_45)\n (receptacleAtLocation Cabinet_bar__plus_00_dot_72_bar__plus_01_dot_82_bar__plus_00_dot_67 loc_bar_1_bar_1_bar_1_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__plus_00_dot_72_bar__plus_01_dot_82_bar__minus_00_dot_40 loc_bar_1_bar_0_bar_1_bar__minus_30)\n (receptacleAtLocation CoffeeMachine_bar__plus_00_dot_88_bar__plus_00_dot_86_bar__minus_01_dot_26 loc_bar_0_bar__minus_5_bar_1_bar_45)\n (receptacleAtLocation CounterTop_bar__plus_00_dot_79_bar__plus_00_dot_92_bar__minus_00_dot_11 loc_bar_1_bar_0_bar_1_bar_45)\n (receptacleAtLocation DiningTable_bar__minus_00_dot_52_bar__plus_00_dot_01_bar__plus_00_dot_95 loc_bar_0_bar_1_bar_0_bar_60)\n (receptacleAtLocation DiningTable_bar__minus_01_dot_73_bar__minus_00_dot_03_bar__minus_00_dot_96 loc_bar__minus_4_bar__minus_5_bar_3_bar_60)\n (receptacleAtLocation DiningTable_bar__minus_02_dot_17_bar__minus_00_dot_03_bar__minus_03_dot_37 loc_bar__minus_7_bar__minus_11_bar_2_bar_60)\n (receptacleAtLocation Drawer_bar__plus_00_dot_71_bar__plus_00_dot_77_bar__minus_00_dot_13 loc_bar__minus_1_bar__minus_1_bar_1_bar_45)\n (receptacleAtLocation Fridge_bar__plus_00_dot_68_bar__minus_00_dot_03_bar__minus_01_dot_96 loc_bar__minus_1_bar__minus_8_bar_1_bar_60)\n (receptacleAtLocation GarbageCan_bar__minus_01_dot_26_bar__minus_00_dot_03_bar__minus_03_dot_61 loc_bar__minus_4_bar__minus_13_bar_2_bar_60)\n (receptacleAtLocation Microwave_bar__minus_02_dot_01_bar__plus_00_dot_69_bar__minus_03_dot_69 loc_bar__minus_7_bar__minus_11_bar_2_bar_45)\n (receptacleAtLocation SideTable_bar__plus_00_dot_77_bar__plus_00_dot_70_bar__plus_00_dot_45 loc_bar__minus_1_bar_1_bar_1_bar_45)\n (receptacleAtLocation Sink_bar__plus_00_dot_75_bar__plus_00_dot_88_bar__minus_00_dot_68_bar_SinkBasin loc_bar_1_bar__minus_2_bar_1_bar_60)\n (receptacleAtLocation StoveBurner_bar__minus_01_dot_55_bar__plus_00_dot_89_bar__plus_00_dot_79 loc_bar__minus_6_bar_0_bar_0_bar_45)\n (receptacleAtLocation StoveBurner_bar__minus_01_dot_56_bar__plus_00_dot_89_bar__plus_01_dot_05 loc_bar__minus_6_bar_0_bar_0_bar_30)\n (receptacleAtLocation StoveBurner_bar__minus_02_dot_10_bar__plus_00_dot_89_bar__plus_00_dot_79 loc_bar__minus_7_bar_0_bar_0_bar_45)\n (receptacleAtLocation StoveBurner_bar__minus_02_dot_10_bar__plus_00_dot_89_bar__plus_01_dot_05 loc_bar__minus_7_bar_0_bar_0_bar_30)\n (receptacleAtLocation Toaster_bar__minus_00_dot_52_bar__plus_00_dot_89_bar__plus_01_dot_07 loc_bar__minus_2_bar_1_bar_0_bar_45)\n (objectAtLocation Bowl_bar__plus_00_dot_15_bar__plus_00_dot_90_bar__plus_01_dot_19 loc_bar_0_bar_1_bar_0_bar_60)\n (objectAtLocation Mug_bar__minus_00_dot_86_bar__plus_00_dot_90_bar__plus_01_dot_19 loc_bar_0_bar_1_bar_0_bar_60)\n (objectAtLocation Knife_bar__plus_00_dot_78_bar__plus_00_dot_69_bar__plus_00_dot_63 loc_bar__minus_1_bar_1_bar_1_bar_45)\n (objectAtLocation Spoon_bar__plus_00_dot_77_bar__plus_00_dot_76_bar__minus_00_dot_25 loc_bar__minus_1_bar__minus_1_bar_1_bar_45)\n (objectAtLocation Lettuce_bar__plus_00_dot_75_bar__plus_00_dot_75_bar__minus_02_dot_11 loc_bar__minus_1_bar__minus_8_bar_1_bar_60)\n (objectAtLocation PepperShaker_bar__minus_01_dot_60_bar__plus_00_dot_69_bar__minus_03_dot_53 loc_bar__minus_7_bar__minus_11_bar_2_bar_60)\n (objectAtLocation SaltShaker_bar__plus_00_dot_68_bar__plus_00_dot_01_bar__minus_00_dot_32 loc_bar__minus_2_bar_1_bar_1_bar_45)\n (objectAtLocation Cup_bar__plus_00_dot_66_bar__plus_00_dot_66_bar__plus_00_dot_51 loc_bar__minus_1_bar_1_bar_1_bar_45)\n (objectAtLocation Potato_bar__minus_02_dot_05_bar__plus_00_dot_73_bar__minus_00_dot_98 loc_bar__minus_4_bar__minus_5_bar_3_bar_60)\n (objectAtLocation Fork_bar__plus_00_dot_78_bar__plus_00_dot_67_bar__plus_00_dot_45 loc_bar__minus_1_bar_1_bar_1_bar_45)\n (objectAtLocation PepperShaker_bar__plus_00_dot_88_bar__plus_00_dot_88_bar__minus_00_dot_11 loc_bar_1_bar_0_bar_1_bar_45)\n (objectAtLocation Cup_bar__plus_00_dot_71_bar__plus_00_dot_66_bar__minus_01_dot_96 loc_bar__minus_1_bar__minus_8_bar_1_bar_60)\n (objectAtLocation Fork_bar__minus_01_dot_06_bar__plus_00_dot_90_bar__plus_00_dot_84 loc_bar_0_bar_1_bar_0_bar_60)\n (objectAtLocation Potato_bar__plus_01_dot_02_bar__plus_00_dot_92_bar__plus_00_dot_03 loc_bar_1_bar_0_bar_1_bar_45)\n (objectAtLocation Mirror_bar__plus_01_dot_09_bar__plus_01_dot_60_bar__minus_00_dot_64 loc_bar_1_bar__minus_3_bar_1_bar_0)\n (objectAtLocation Sink_bar__plus_00_dot_75_bar__plus_00_dot_88_bar__minus_00_dot_68 loc_bar_1_bar__minus_3_bar_1_bar_60)\n (objectAtLocation Pot_bar__minus_01_dot_55_bar__plus_00_dot_93_bar__plus_00_dot_79 loc_bar__minus_6_bar_0_bar_0_bar_45)\n (objectAtLocation Plate_bar__plus_00_dot_68_bar__plus_00_dot_02_bar__minus_00_dot_05 loc_bar_1_bar_0_bar_1_bar_60)\n (objectAtLocation StoveKnob_bar__minus_01_dot_90_bar__plus_00_dot_87_bar__plus_00_dot_52 loc_bar__minus_7_bar_0_bar_0_bar_60)\n (objectAtLocation StoveKnob_bar__minus_01_dot_75_bar__plus_00_dot_87_bar__plus_00_dot_52 loc_bar__minus_7_bar_0_bar_0_bar_60)\n (objectAtLocation StoveKnob_bar__minus_02_dot_06_bar__plus_00_dot_87_bar__plus_00_dot_52 loc_bar__minus_7_bar_0_bar_0_bar_60)\n (objectAtLocation StoveKnob_bar__minus_01_dot_60_bar__plus_00_dot_87_bar__plus_00_dot_52 loc_bar__minus_6_bar_0_bar_0_bar_60)\n (objectAtLocation Fork_bar__plus_00_dot_77_bar__plus_00_dot_76_bar__minus_00_dot_12 loc_bar__minus_1_bar__minus_1_bar_1_bar_45)\n (objectAtLocation SoapBottle_bar__plus_00_dot_79_bar__plus_00_dot_01_bar__minus_00_dot_70 loc_bar__minus_2_bar__minus_1_bar_1_bar_45)\n (objectAtLocation Apple_bar__minus_01_dot_26_bar__plus_00_dot_11_bar__minus_03_dot_65 loc_bar__minus_4_bar__minus_13_bar_2_bar_60)\n (objectAtLocation Pan_bar__minus_02_dot_10_bar__plus_00_dot_93_bar__plus_00_dot_79 loc_bar__minus_7_bar_0_bar_0_bar_45)\n (objectAtLocation Window_bar__minus_02_dot_42_bar__plus_01_dot_64_bar__minus_02_dot_45 loc_bar__minus_7_bar__minus_10_bar_3_bar_0)\n (objectAtLocation Egg_bar__minus_01_dot_22_bar__plus_00_dot_09_bar__minus_03_dot_57 loc_bar__minus_4_bar__minus_13_bar_2_bar_60)\n (objectAtLocation Spatula_bar__minus_00_dot_05_bar__plus_00_dot_92_bar__plus_01_dot_10 loc_bar_0_bar_1_bar_0_bar_60)\n (objectAtLocation Potato_bar__minus_01_dot_89_bar__plus_00_dot_73_bar__minus_00_dot_98 loc_bar__minus_4_bar__minus_5_bar_3_bar_60)\n (objectAtLocation Cup_bar__minus_00_dot_86_bar__plus_00_dot_90_bar__plus_00_dot_76 loc_bar_0_bar_1_bar_0_bar_60)\n (objectAtLocation SaltShaker_bar__plus_00_dot_60_bar__plus_00_dot_66_bar__plus_00_dot_39 loc_bar__minus_1_bar_1_bar_1_bar_45)\n (objectAtLocation PepperShaker_bar__plus_00_dot_66_bar__plus_00_dot_66_bar__plus_00_dot_33 loc_bar__minus_1_bar_1_bar_1_bar_45)\n (objectAtLocation ButterKnife_bar__plus_00_dot_75_bar__plus_00_dot_76_bar__minus_00_dot_74 loc_bar_1_bar__minus_3_bar_1_bar_60)\n (objectAtLocation DishSponge_bar__plus_00_dot_96_bar__plus_00_dot_66_bar__plus_00_dot_45 loc_bar__minus_1_bar_1_bar_1_bar_45)\n (objectAtLocation Bread_bar__minus_00_dot_25_bar__plus_00_dot_94_bar__plus_00_dot_93 loc_bar_0_bar_1_bar_0_bar_60)\n (objectAtLocation LightSwitch_bar__plus_01_dot_10_bar__plus_01_dot_37_bar__minus_03_dot_74 loc_bar_2_bar__minus_13_bar_1_bar_30)\n (objectAtLocation Lettuce_bar__plus_00_dot_15_bar__plus_00_dot_99_bar__plus_00_dot_84 loc_bar_0_bar_1_bar_0_bar_60)\n (objectAtLocation Chair_bar__minus_01_dot_90_bar__minus_00_dot_03_bar__minus_01_dot_87 loc_bar__minus_5_bar__minus_7_bar_3_bar_60)\n (objectAtLocation Tomato_bar__plus_00_dot_67_bar__plus_00_dot_71_bar__minus_01_dot_73 loc_bar__minus_1_bar__minus_8_bar_1_bar_60)\n (objectAtLocation Spoon_bar__plus_00_dot_95_bar__plus_00_dot_88_bar__plus_00_dot_10 loc_bar_1_bar_0_bar_1_bar_45)\n (objectAtLocation Knife_bar__minus_01_dot_54_bar__plus_00_dot_72_bar__minus_03_dot_70 loc_bar__minus_7_bar__minus_11_bar_2_bar_60)\n (objectAtLocation Mug_bar__minus_01_dot_58_bar__plus_00_dot_70_bar__minus_03_dot_28 loc_bar__minus_7_bar__minus_11_bar_2_bar_60)\n (objectAtLocation Blinds_bar__minus_02_dot_34_bar__plus_02_dot_15_bar__minus_02_dot_44 loc_bar__minus_7_bar__minus_10_bar_3_bar__minus_30)\n (objectAtLocation Bowl_bar__plus_00_dot_80_bar__plus_00_dot_77_bar__minus_00_dot_74 loc_bar_1_bar__minus_2_bar_1_bar_60)\n )\n \n\n (:goal\n (and\n (exists (?r - receptacle)\n (exists (?o - object)\n (and\n (heatable ?o)\n (objectType ?o MugType)\n (receptacleType ?r SideTableType)\n (isHot ?o)\n (inReceptacle ?o ?r)\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to diningtable 3", "take mug 2 from diningtable 3", "go to microwave 1", "heat mug 2 with microwave 1", "go to sidetable 1", "move mug 2 to sidetable 1"]}
|
alfworld__pick_two_obj_and_place__23
|
pick_two_obj_and_place
|
pick_two_obj_and_place-RemoteControl-None-Sofa-212/trial_T20190907_235309_480100/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 remotecontrol and put them 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_235309_480100)\n(:domain alfred)\n(:objects\nagent1 - agent\nSaltShaker - object\n HousePlant - object\n Candle - object\n SprayBottle - object\n Bowl - object\n Window - object\n CD - object\n Egg - object\n Glassbottle - object\n Sink - object\n Pillow - object\n Spoon - object\n SoapBottle - object\n TeddyBear - object\n ButterKnife - object\n Cup - object\n Plate - object\n RemoteControl - object\n Tomato - object\n Statue - object\n HandTowel - object\n Knife - object\n StoveKnob - object\n LightSwitch - object\n Pen - object\n Painting - object\n DishSponge - object\n Vase - object\n Mug - object\n ToiletPaper - object\n Box - object\n Mirror - object\n Ladle - object\n Fork - object\n Blinds - object\n Footstool - object\n KeyChain - object\n Cloth - object\n Laptop - object\n TissueBox - object\n PepperShaker - object\n FloorLamp - object\n WateringCan - object\n Apple - object\n Pan - object\n PaperTowel - object\n PaperTowelRoll - object\n Newspaper - object\n Television - object\n Chair - object\n CellPhone - object\n CreditCard - object\n Lettuce - object\n BasketBall - object\n Potato - object\n Curtains - object\n Boots - object\n Pencil - object\n AlarmClock - object\n ToiletPaperRoll - object\n Spatula - object\n Book - object\n Bread - object\n SoapBar - object\n Watch - object\n DeskLamp - object\n Kettle - object\n Pot - object\n ScrubBrush - object\n WineBottle - object\n ShowerDoor - object\n Bathtub - object\n LaundryHamperLid - object\n ShowerGlass - object\n Poster - object\n TennisRacket - object\n BaseballBat - object\n Towel - object\n Plunger - object\nSaltShakerType - otype\n HousePlantType - otype\n CandleType - otype\n SprayBottleType - otype\n BowlType - otype\n WindowType - otype\n CDType - otype\n EggType - otype\n GlassbottleType - otype\n SinkType - otype\n PillowType - otype\n SpoonType - otype\n SoapBottleType - otype\n TeddyBearType - otype\n ButterKnifeType - otype\n CupType - otype\n PlateType - otype\n RemoteControlType - otype\n TomatoType - otype\n StatueType - otype\n HandTowelType - otype\n KnifeType - otype\n StoveKnobType - otype\n LightSwitchType - otype\n PenType - otype\n PaintingType - otype\n DishSpongeType - otype\n VaseType - otype\n MugType - otype\n ToiletPaperType - otype\n BoxType - otype\n MirrorType - otype\n LadleType - otype\n ForkType - otype\n BlindsType - otype\n FootstoolType - otype\n KeyChainType - otype\n ClothType - otype\n LaptopType - otype\n TissueBoxType - otype\n PepperShakerType - otype\n FloorLampType - otype\n WateringCanType - otype\n AppleType - otype\n PanType - otype\n PaperTowelType - otype\n PaperTowelRollType - otype\n NewspaperType - otype\n TelevisionType - otype\n ChairType - otype\n CellPhoneType - otype\n CreditCardType - otype\n LettuceType - otype\n BasketBallType - otype\n PotatoType - otype\n CurtainsType - otype\n BootsType - otype\n PencilType - otype\n AlarmClockType - otype\n ToiletPaperRollType - otype\n SpatulaType - otype\n BookType - otype\n BreadType - otype\n SoapBarType - otype\n WatchType - otype\n DeskLampType - otype\n KettleType - otype\n PotType - otype\n ScrubBrushType - otype\n WineBottleType - otype\n ShowerDoorType - otype\n BathtubType - otype\n LaundryHamperLidType - otype\n ShowerGlassType - otype\n PosterType - otype\n TennisRacketType - otype\n BaseballBatType - otype\n TowelType - otype\n PlungerType - otype\nSafeType - rtype\n DrawerType - rtype\n CoffeeMachineType - rtype\n HandTowelHolderType - rtype\n SinkBasinType - rtype\n DresserType - rtype\n LaundryHamperType - rtype\n TVStandType - rtype\n BathtubBasinType - rtype\n CabinetType - rtype\n FridgeType - rtype\n DeskType - rtype\n ToiletType - rtype\n CartType - rtype\n SideTableType - rtype\n SofaType - rtype\n CoffeeTableType - rtype\n DiningTableType - rtype\n CounterTopType - rtype\n GarbageCanType - rtype\n ArmChairType - rtype\n ShelfType - rtype\n MicrowaveType - rtype\n ToasterType - rtype\n BedType - rtype\n PaintingHangerType - rtype\n TowelHolderType - rtype\n ToiletPaperHangerType - rtype\n StoveBurnerType - rtype\n OttomanType - rtype\n\n\n Boots_bar__plus_04_dot_01_bar__plus_00_dot_00_bar__plus_01_dot_71 - object\n Box_bar__plus_01_dot_59_bar__plus_00_dot_58_bar__plus_01_dot_82 - object\n CreditCard_bar__plus_00_dot_97_bar__plus_00_dot_34_bar__plus_01_dot_89 - object\n CreditCard_bar__plus_02_dot_51_bar__plus_00_dot_32_bar__plus_01_dot_51 - object\n FloorLamp_bar__plus_03_dot_61_bar__plus_00_dot_00_bar__plus_02_dot_16 - object\n HousePlant_bar__plus_00_dot_39_bar__plus_00_dot_83_bar__minus_00_dot_73 - object\n KeyChain_bar__plus_01_dot_17_bar__plus_00_dot_34_bar__plus_01_dot_82 - object\n KeyChain_bar__plus_02_dot_80_bar__plus_00_dot_32_bar__plus_01_dot_87 - object\n Laptop_bar__plus_01_dot_81_bar__plus_00_dot_47_bar__plus_00_dot_50 - object\n LightSwitch_bar__minus_01_dot_40_bar__plus_01_dot_29_bar__plus_01_dot_84 - object\n Newspaper_bar__minus_00_dot_08_bar__plus_00_dot_46_bar__minus_00_dot_73 - object\n Newspaper_bar__minus_00_dot_20_bar__plus_00_dot_32_bar__plus_01_dot_81 - object\n Painting_bar__plus_04_dot_07_bar__plus_01_dot_95_bar__plus_00_dot_85 - object\n Pencil_bar__plus_03_dot_97_bar__plus_00_dot_88_bar__plus_00_dot_76 - object\n Pen_bar__plus_01_dot_32_bar__plus_00_dot_48_bar__plus_00_dot_51 - object\n Pen_bar__plus_03_dot_85_bar__plus_00_dot_77_bar__plus_00_dot_58 - object\n Pen_bar__plus_03_dot_97_bar__plus_00_dot_88_bar__plus_00_dot_55 - object\n Pillow_bar__plus_00_dot_65_bar__plus_00_dot_40_bar__plus_01_dot_71 - object\n RemoteControl_bar__plus_01_dot_18_bar__plus_00_dot_47_bar__plus_00_dot_35 - object\n RemoteControl_bar__plus_01_dot_18_bar__plus_00_dot_47_bar__plus_00_dot_59 - object\n RemoteControl_bar__minus_00_dot_07_bar__plus_00_dot_84_bar__minus_00_dot_77 - object\n Statue_bar__minus_00_dot_08_bar__plus_00_dot_06_bar__minus_00_dot_69 - object\n Statue_bar__minus_00_dot_29_bar__plus_00_dot_84_bar__minus_00_dot_77 - object\n Television_bar__plus_01_dot_90_bar__plus_01_dot_32_bar__minus_00_dot_84 - object\n TissueBox_bar__plus_01_dot_32_bar__plus_00_dot_48_bar__plus_00_dot_19 - object\n TissueBox_bar__plus_01_dot_47_bar__plus_00_dot_48_bar__plus_00_dot_68 - object\n TissueBox_bar__minus_00_dot_29_bar__plus_00_dot_46_bar__minus_00_dot_73 - object\n WateringCan_bar__plus_01_dot_62_bar__plus_00_dot_06_bar__minus_00_dot_70 - object\n Window_bar__plus_00_dot_02_bar__plus_02_dot_07_bar__plus_02_dot_49 - object\n Window_bar__plus_01_dot_57_bar__plus_02_dot_07_bar__plus_02_dot_49 - object\n ArmChair_bar__plus_02_dot_66_bar__plus_00_dot_00_bar__plus_01_dot_86 - receptacle\n ArmChair_bar__minus_00_dot_27_bar__plus_00_dot_00_bar__plus_01_dot_87 - receptacle\n CoffeeTable_bar__plus_01_dot_59_bar_00_dot_00_bar__plus_00_dot_45 - receptacle\n Drawer_bar__plus_03_dot_87_bar__plus_00_dot_78_bar__plus_00_dot_87 - receptacle\n GarbageCan_bar__plus_03_dot_83_bar__plus_00_dot_00_bar__minus_00_dot_50 - receptacle\n Shelf_bar__plus_01_dot_89_bar__plus_00_dot_13_bar__minus_00_dot_73 - receptacle\n Shelf_bar__plus_01_dot_89_bar__plus_00_dot_51_bar__minus_00_dot_73 - receptacle\n Shelf_bar__minus_00_dot_31_bar__plus_00_dot_13_bar__minus_00_dot_73 - receptacle\n Shelf_bar__minus_00_dot_31_bar__plus_00_dot_52_bar__minus_00_dot_73 - receptacle\n SideTable_bar__plus_03_dot_95_bar__plus_00_dot_00_bar__plus_00_dot_87 - receptacle\n Sofa_bar__plus_01_dot_17_bar__plus_00_dot_00_bar__plus_01_dot_87 - receptacle\n TVStand_bar__plus_01_dot_91_bar__plus_00_dot_04_bar__minus_00_dot_77 - receptacle\n TVStand_bar__minus_00_dot_29_bar__plus_00_dot_04_bar__minus_00_dot_77 - receptacle\n loc_bar__minus_2_bar_3_bar_0_bar_60 - location\n loc_bar_2_bar_0_bar_2_bar_45 - location\n loc_bar_13_bar__minus_1_bar_3_bar_45 - location\n loc_bar_14_bar_5_bar_1_bar_60 - location\n loc_bar_13_bar_3_bar_1_bar_60 - location\n loc_bar_0_bar_4_bar_0_bar__minus_15 - location\n loc_bar__minus_5_bar__minus_2_bar_1_bar_60 - location\n loc_bar_6_bar_4_bar_0_bar__minus_15 - location\n loc_bar_10_bar_2_bar_2_bar_45 - location\n loc_bar_5_bar_4_bar_0_bar_60 - location\n loc_bar_14_bar_3_bar_1_bar__minus_30 - location\n loc_bar_14_bar_5_bar_0_bar_60 - location\n loc_bar_10_bar_1_bar_2_bar_45 - location\n loc_bar_2_bar_0_bar_1_bar_60 - location\n loc_bar_10_bar_3_bar_0_bar_60 - location\n loc_bar_13_bar__minus_1_bar_1_bar_60 - location\n loc_bar__minus_2_bar_0_bar_2_bar_60 - location\n loc_bar__minus_3_bar_4_bar_0_bar_30 - location\n loc_bar_1_bar_2_bar_2_bar_45 - location\n loc_bar_3_bar_0_bar_1_bar_30 - location\n )\n \n\n(:init\n\n\n (receptacleType TVStand_bar__plus_01_dot_91_bar__plus_00_dot_04_bar__minus_00_dot_77 TVStandType)\n (receptacleType ArmChair_bar__plus_02_dot_66_bar__plus_00_dot_00_bar__plus_01_dot_86 ArmChairType)\n (receptacleType Shelf_bar__plus_01_dot_89_bar__plus_00_dot_51_bar__minus_00_dot_73 ShelfType)\n (receptacleType Shelf_bar__minus_00_dot_31_bar__plus_00_dot_13_bar__minus_00_dot_73 ShelfType)\n (receptacleType SideTable_bar__plus_03_dot_95_bar__plus_00_dot_00_bar__plus_00_dot_87 SideTableType)\n (receptacleType CoffeeTable_bar__plus_01_dot_59_bar_00_dot_00_bar__plus_00_dot_45 CoffeeTableType)\n (receptacleType Sofa_bar__plus_01_dot_17_bar__plus_00_dot_00_bar__plus_01_dot_87 SofaType)\n (receptacleType Shelf_bar__minus_00_dot_31_bar__plus_00_dot_52_bar__minus_00_dot_73 ShelfType)\n (receptacleType ArmChair_bar__minus_00_dot_27_bar__plus_00_dot_00_bar__plus_01_dot_87 ArmChairType)\n (receptacleType Drawer_bar__plus_03_dot_87_bar__plus_00_dot_78_bar__plus_00_dot_87 DrawerType)\n (receptacleType TVStand_bar__minus_00_dot_29_bar__plus_00_dot_04_bar__minus_00_dot_77 TVStandType)\n (receptacleType GarbageCan_bar__plus_03_dot_83_bar__plus_00_dot_00_bar__minus_00_dot_50 GarbageCanType)\n (receptacleType Shelf_bar__plus_01_dot_89_bar__plus_00_dot_13_bar__minus_00_dot_73 ShelfType)\n (objectType HousePlant_bar__plus_00_dot_39_bar__plus_00_dot_83_bar__minus_00_dot_73 HousePlantType)\n (objectType Pillow_bar__plus_00_dot_65_bar__plus_00_dot_40_bar__plus_01_dot_71 PillowType)\n (objectType RemoteControl_bar__plus_01_dot_18_bar__plus_00_dot_47_bar__plus_00_dot_35 RemoteControlType)\n (objectType Pencil_bar__plus_03_dot_97_bar__plus_00_dot_88_bar__plus_00_dot_76 PencilType)\n (objectType Laptop_bar__plus_01_dot_81_bar__plus_00_dot_47_bar__plus_00_dot_50 LaptopType)\n (objectType Window_bar__plus_00_dot_02_bar__plus_02_dot_07_bar__plus_02_dot_49 WindowType)\n (objectType Newspaper_bar__minus_00_dot_08_bar__plus_00_dot_46_bar__minus_00_dot_73 NewspaperType)\n (objectType TissueBox_bar__plus_01_dot_32_bar__plus_00_dot_48_bar__plus_00_dot_19 TissueBoxType)\n (objectType Newspaper_bar__minus_00_dot_20_bar__plus_00_dot_32_bar__plus_01_dot_81 NewspaperType)\n (objectType CreditCard_bar__plus_00_dot_97_bar__plus_00_dot_34_bar__plus_01_dot_89 CreditCardType)\n (objectType Box_bar__plus_01_dot_59_bar__plus_00_dot_58_bar__plus_01_dot_82 BoxType)\n (objectType Statue_bar__minus_00_dot_29_bar__plus_00_dot_84_bar__minus_00_dot_77 StatueType)\n (objectType Pen_bar__plus_01_dot_32_bar__plus_00_dot_48_bar__plus_00_dot_51 PenType)\n (objectType TissueBox_bar__minus_00_dot_29_bar__plus_00_dot_46_bar__minus_00_dot_73 TissueBoxType)\n (objectType KeyChain_bar__plus_01_dot_17_bar__plus_00_dot_34_bar__plus_01_dot_82 KeyChainType)\n (objectType Pen_bar__plus_03_dot_97_bar__plus_00_dot_88_bar__plus_00_dot_55 PenType)\n (objectType CreditCard_bar__plus_02_dot_51_bar__plus_00_dot_32_bar__plus_01_dot_51 CreditCardType)\n (objectType LightSwitch_bar__minus_01_dot_40_bar__plus_01_dot_29_bar__plus_01_dot_84 LightSwitchType)\n (objectType RemoteControl_bar__minus_00_dot_07_bar__plus_00_dot_84_bar__minus_00_dot_77 RemoteControlType)\n (objectType Boots_bar__plus_04_dot_01_bar__plus_00_dot_00_bar__plus_01_dot_71 BootsType)\n (objectType KeyChain_bar__plus_02_dot_80_bar__plus_00_dot_32_bar__plus_01_dot_87 KeyChainType)\n (objectType Painting_bar__plus_04_dot_07_bar__plus_01_dot_95_bar__plus_00_dot_85 PaintingType)\n (objectType Television_bar__plus_01_dot_90_bar__plus_01_dot_32_bar__minus_00_dot_84 TelevisionType)\n (objectType WateringCan_bar__plus_01_dot_62_bar__plus_00_dot_06_bar__minus_00_dot_70 WateringCanType)\n (objectType Pen_bar__plus_03_dot_85_bar__plus_00_dot_77_bar__plus_00_dot_58 PenType)\n (objectType FloorLamp_bar__plus_03_dot_61_bar__plus_00_dot_00_bar__plus_02_dot_16 FloorLampType)\n (objectType RemoteControl_bar__plus_01_dot_18_bar__plus_00_dot_47_bar__plus_00_dot_59 RemoteControlType)\n (objectType Window_bar__plus_01_dot_57_bar__plus_02_dot_07_bar__plus_02_dot_49 WindowType)\n (objectType Statue_bar__minus_00_dot_08_bar__plus_00_dot_06_bar__minus_00_dot_69 StatueType)\n (objectType TissueBox_bar__plus_01_dot_47_bar__plus_00_dot_48_bar__plus_00_dot_68 TissueBoxType)\n (canContain TVStandType TissueBoxType)\n (canContain ArmChairType BoxType)\n (canContain ArmChairType LaptopType)\n (canContain ArmChairType PillowType)\n (canContain ArmChairType RemoteControlType)\n (canContain ArmChairType KeyChainType)\n (canContain ArmChairType NewspaperType)\n (canContain ArmChairType CreditCardType)\n (canContain ShelfType PenType)\n (canContain ShelfType NewspaperType)\n (canContain ShelfType BoxType)\n (canContain ShelfType KeyChainType)\n (canContain ShelfType CreditCardType)\n (canContain ShelfType PencilType)\n (canContain ShelfType RemoteControlType)\n (canContain ShelfType TissueBoxType)\n (canContain ShelfType StatueType)\n (canContain ShelfType WateringCanType)\n (canContain ShelfType PenType)\n (canContain ShelfType NewspaperType)\n (canContain ShelfType BoxType)\n (canContain ShelfType KeyChainType)\n (canContain ShelfType CreditCardType)\n (canContain ShelfType PencilType)\n (canContain ShelfType RemoteControlType)\n (canContain ShelfType TissueBoxType)\n (canContain ShelfType StatueType)\n (canContain ShelfType WateringCanType)\n (canContain SideTableType PenType)\n (canContain SideTableType NewspaperType)\n (canContain SideTableType BoxType)\n (canContain SideTableType KeyChainType)\n (canContain SideTableType CreditCardType)\n (canContain SideTableType LaptopType)\n (canContain SideTableType PencilType)\n (canContain SideTableType RemoteControlType)\n (canContain SideTableType TissueBoxType)\n (canContain SideTableType StatueType)\n (canContain SideTableType WateringCanType)\n (canContain CoffeeTableType PenType)\n (canContain CoffeeTableType NewspaperType)\n (canContain CoffeeTableType BoxType)\n (canContain CoffeeTableType KeyChainType)\n (canContain CoffeeTableType CreditCardType)\n (canContain CoffeeTableType LaptopType)\n (canContain CoffeeTableType PencilType)\n (canContain CoffeeTableType RemoteControlType)\n (canContain CoffeeTableType TissueBoxType)\n (canContain CoffeeTableType StatueType)\n (canContain CoffeeTableType WateringCanType)\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 ShelfType PenType)\n (canContain ShelfType NewspaperType)\n (canContain ShelfType BoxType)\n (canContain ShelfType KeyChainType)\n (canContain ShelfType CreditCardType)\n (canContain ShelfType PencilType)\n (canContain ShelfType RemoteControlType)\n (canContain ShelfType TissueBoxType)\n (canContain ShelfType StatueType)\n (canContain ShelfType 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 (canContain DrawerType PenType)\n (canContain DrawerType NewspaperType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType PencilType)\n (canContain DrawerType RemoteControlType)\n (canContain DrawerType TissueBoxType)\n (canContain DrawerType WateringCanType)\n (canContain TVStandType TissueBoxType)\n (canContain GarbageCanType PenType)\n (canContain GarbageCanType NewspaperType)\n (canContain GarbageCanType PencilType)\n (canContain GarbageCanType TissueBoxType)\n (canContain ShelfType PenType)\n (canContain ShelfType NewspaperType)\n (canContain ShelfType BoxType)\n (canContain ShelfType KeyChainType)\n (canContain ShelfType CreditCardType)\n (canContain ShelfType PencilType)\n (canContain ShelfType RemoteControlType)\n (canContain ShelfType TissueBoxType)\n (canContain ShelfType StatueType)\n (canContain ShelfType WateringCanType)\n (pickupable Pillow_bar__plus_00_dot_65_bar__plus_00_dot_40_bar__plus_01_dot_71)\n (pickupable RemoteControl_bar__plus_01_dot_18_bar__plus_00_dot_47_bar__plus_00_dot_35)\n (pickupable Pencil_bar__plus_03_dot_97_bar__plus_00_dot_88_bar__plus_00_dot_76)\n (pickupable Laptop_bar__plus_01_dot_81_bar__plus_00_dot_47_bar__plus_00_dot_50)\n (pickupable Newspaper_bar__minus_00_dot_08_bar__plus_00_dot_46_bar__minus_00_dot_73)\n (pickupable TissueBox_bar__plus_01_dot_32_bar__plus_00_dot_48_bar__plus_00_dot_19)\n (pickupable Newspaper_bar__minus_00_dot_20_bar__plus_00_dot_32_bar__plus_01_dot_81)\n (pickupable CreditCard_bar__plus_00_dot_97_bar__plus_00_dot_34_bar__plus_01_dot_89)\n (pickupable Box_bar__plus_01_dot_59_bar__plus_00_dot_58_bar__plus_01_dot_82)\n (pickupable Statue_bar__minus_00_dot_29_bar__plus_00_dot_84_bar__minus_00_dot_77)\n (pickupable Pen_bar__plus_01_dot_32_bar__plus_00_dot_48_bar__plus_00_dot_51)\n (pickupable TissueBox_bar__minus_00_dot_29_bar__plus_00_dot_46_bar__minus_00_dot_73)\n (pickupable KeyChain_bar__plus_01_dot_17_bar__plus_00_dot_34_bar__plus_01_dot_82)\n (pickupable Pen_bar__plus_03_dot_97_bar__plus_00_dot_88_bar__plus_00_dot_55)\n (pickupable CreditCard_bar__plus_02_dot_51_bar__plus_00_dot_32_bar__plus_01_dot_51)\n (pickupable RemoteControl_bar__minus_00_dot_07_bar__plus_00_dot_84_bar__minus_00_dot_77)\n (pickupable Boots_bar__plus_04_dot_01_bar__plus_00_dot_00_bar__plus_01_dot_71)\n (pickupable KeyChain_bar__plus_02_dot_80_bar__plus_00_dot_32_bar__plus_01_dot_87)\n (pickupable WateringCan_bar__plus_01_dot_62_bar__plus_00_dot_06_bar__minus_00_dot_70)\n (pickupable Pen_bar__plus_03_dot_85_bar__plus_00_dot_77_bar__plus_00_dot_58)\n (pickupable RemoteControl_bar__plus_01_dot_18_bar__plus_00_dot_47_bar__plus_00_dot_59)\n (pickupable Statue_bar__minus_00_dot_08_bar__plus_00_dot_06_bar__minus_00_dot_69)\n (pickupable TissueBox_bar__plus_01_dot_47_bar__plus_00_dot_48_bar__plus_00_dot_68)\n (isReceptacleObject Box_bar__plus_01_dot_59_bar__plus_00_dot_58_bar__plus_01_dot_82)\n (openable Drawer_bar__plus_03_dot_87_bar__plus_00_dot_78_bar__plus_00_dot_87)\n \n (atLocation agent1 loc_bar_3_bar_0_bar_1_bar_30)\n \n \n \n \n \n \n \n (toggleable FloorLamp_bar__plus_03_dot_61_bar__plus_00_dot_00_bar__plus_02_dot_16)\n \n \n \n \n (inReceptacle RemoteControl_bar__minus_00_dot_07_bar__plus_00_dot_84_bar__minus_00_dot_77 TVStand_bar__minus_00_dot_29_bar__plus_00_dot_04_bar__minus_00_dot_77)\n (inReceptacle Statue_bar__minus_00_dot_29_bar__plus_00_dot_84_bar__minus_00_dot_77 TVStand_bar__minus_00_dot_29_bar__plus_00_dot_04_bar__minus_00_dot_77)\n (inReceptacle WateringCan_bar__plus_01_dot_62_bar__plus_00_dot_06_bar__minus_00_dot_70 Shelf_bar__plus_01_dot_89_bar__plus_00_dot_13_bar__minus_00_dot_73)\n (inReceptacle KeyChain_bar__plus_02_dot_80_bar__plus_00_dot_32_bar__plus_01_dot_87 ArmChair_bar__plus_02_dot_66_bar__plus_00_dot_00_bar__plus_01_dot_86)\n (inReceptacle CreditCard_bar__plus_02_dot_51_bar__plus_00_dot_32_bar__plus_01_dot_51 ArmChair_bar__plus_02_dot_66_bar__plus_00_dot_00_bar__plus_01_dot_86)\n (inReceptacle Pen_bar__plus_03_dot_85_bar__plus_00_dot_77_bar__plus_00_dot_58 Drawer_bar__plus_03_dot_87_bar__plus_00_dot_78_bar__plus_00_dot_87)\n (inReceptacle RemoteControl_bar__plus_01_dot_18_bar__plus_00_dot_47_bar__plus_00_dot_35 CoffeeTable_bar__plus_01_dot_59_bar_00_dot_00_bar__plus_00_dot_45)\n (inReceptacle Laptop_bar__plus_01_dot_81_bar__plus_00_dot_47_bar__plus_00_dot_50 CoffeeTable_bar__plus_01_dot_59_bar_00_dot_00_bar__plus_00_dot_45)\n (inReceptacle Pen_bar__plus_01_dot_32_bar__plus_00_dot_48_bar__plus_00_dot_51 CoffeeTable_bar__plus_01_dot_59_bar_00_dot_00_bar__plus_00_dot_45)\n (inReceptacle RemoteControl_bar__plus_01_dot_18_bar__plus_00_dot_47_bar__plus_00_dot_59 CoffeeTable_bar__plus_01_dot_59_bar_00_dot_00_bar__plus_00_dot_45)\n (inReceptacle TissueBox_bar__plus_01_dot_32_bar__plus_00_dot_48_bar__plus_00_dot_19 CoffeeTable_bar__plus_01_dot_59_bar_00_dot_00_bar__plus_00_dot_45)\n (inReceptacle TissueBox_bar__plus_01_dot_47_bar__plus_00_dot_48_bar__plus_00_dot_68 CoffeeTable_bar__plus_01_dot_59_bar_00_dot_00_bar__plus_00_dot_45)\n (inReceptacle Pillow_bar__plus_00_dot_65_bar__plus_00_dot_40_bar__plus_01_dot_71 Sofa_bar__plus_01_dot_17_bar__plus_00_dot_00_bar__plus_01_dot_87)\n (inReceptacle Box_bar__plus_01_dot_59_bar__plus_00_dot_58_bar__plus_01_dot_82 Sofa_bar__plus_01_dot_17_bar__plus_00_dot_00_bar__plus_01_dot_87)\n (inReceptacle CreditCard_bar__plus_00_dot_97_bar__plus_00_dot_34_bar__plus_01_dot_89 Sofa_bar__plus_01_dot_17_bar__plus_00_dot_00_bar__plus_01_dot_87)\n (inReceptacle Newspaper_bar__minus_00_dot_08_bar__plus_00_dot_46_bar__minus_00_dot_73 Shelf_bar__minus_00_dot_31_bar__plus_00_dot_52_bar__minus_00_dot_73)\n (inReceptacle TissueBox_bar__minus_00_dot_29_bar__plus_00_dot_46_bar__minus_00_dot_73 Shelf_bar__minus_00_dot_31_bar__plus_00_dot_52_bar__minus_00_dot_73)\n (inReceptacle Statue_bar__minus_00_dot_08_bar__plus_00_dot_06_bar__minus_00_dot_69 Shelf_bar__minus_00_dot_31_bar__plus_00_dot_13_bar__minus_00_dot_73)\n (inReceptacle Newspaper_bar__minus_00_dot_20_bar__plus_00_dot_32_bar__plus_01_dot_81 ArmChair_bar__minus_00_dot_27_bar__plus_00_dot_00_bar__plus_01_dot_87)\n (inReceptacle Pen_bar__plus_03_dot_97_bar__plus_00_dot_88_bar__plus_00_dot_55 SideTable_bar__plus_03_dot_95_bar__plus_00_dot_00_bar__plus_00_dot_87)\n (inReceptacle Pencil_bar__plus_03_dot_97_bar__plus_00_dot_88_bar__plus_00_dot_76 SideTable_bar__plus_03_dot_95_bar__plus_00_dot_00_bar__plus_00_dot_87)\n (inReceptacle Television_bar__plus_01_dot_90_bar__plus_01_dot_32_bar__minus_00_dot_84 TVStand_bar__plus_01_dot_91_bar__plus_00_dot_04_bar__minus_00_dot_77)\n \n \n (receptacleAtLocation ArmChair_bar__plus_02_dot_66_bar__plus_00_dot_00_bar__plus_01_dot_86 loc_bar_10_bar_3_bar_0_bar_60)\n (receptacleAtLocation ArmChair_bar__minus_00_dot_27_bar__plus_00_dot_00_bar__plus_01_dot_87 loc_bar__minus_2_bar_3_bar_0_bar_60)\n (receptacleAtLocation CoffeeTable_bar__plus_01_dot_59_bar_00_dot_00_bar__plus_00_dot_45 loc_bar_2_bar_0_bar_1_bar_60)\n (receptacleAtLocation Drawer_bar__plus_03_dot_87_bar__plus_00_dot_78_bar__plus_00_dot_87 loc_bar_13_bar_3_bar_1_bar_60)\n (receptacleAtLocation GarbageCan_bar__plus_03_dot_83_bar__plus_00_dot_00_bar__minus_00_dot_50 loc_bar_13_bar__minus_1_bar_1_bar_60)\n (receptacleAtLocation Shelf_bar__plus_01_dot_89_bar__plus_00_dot_13_bar__minus_00_dot_73 loc_bar_10_bar_2_bar_2_bar_45)\n (receptacleAtLocation Shelf_bar__plus_01_dot_89_bar__plus_00_dot_51_bar__minus_00_dot_73 loc_bar_10_bar_1_bar_2_bar_45)\n (receptacleAtLocation Shelf_bar__minus_00_dot_31_bar__plus_00_dot_13_bar__minus_00_dot_73 loc_bar_1_bar_2_bar_2_bar_45)\n (receptacleAtLocation Shelf_bar__minus_00_dot_31_bar__plus_00_dot_52_bar__minus_00_dot_73 loc_bar__minus_2_bar_0_bar_2_bar_60)\n (receptacleAtLocation SideTable_bar__plus_03_dot_95_bar__plus_00_dot_00_bar__plus_00_dot_87 loc_bar_13_bar_3_bar_1_bar_60)\n (receptacleAtLocation Sofa_bar__plus_01_dot_17_bar__plus_00_dot_00_bar__plus_01_dot_87 loc_bar_5_bar_4_bar_0_bar_60)\n (receptacleAtLocation TVStand_bar__plus_01_dot_91_bar__plus_00_dot_04_bar__minus_00_dot_77 loc_bar_13_bar__minus_1_bar_3_bar_45)\n (receptacleAtLocation TVStand_bar__minus_00_dot_29_bar__plus_00_dot_04_bar__minus_00_dot_77 loc_bar__minus_5_bar__minus_2_bar_1_bar_60)\n (objectAtLocation CreditCard_bar__plus_02_dot_51_bar__plus_00_dot_32_bar__plus_01_dot_51 loc_bar_10_bar_3_bar_0_bar_60)\n (objectAtLocation RemoteControl_bar__plus_01_dot_18_bar__plus_00_dot_47_bar__plus_00_dot_59 loc_bar_2_bar_0_bar_1_bar_60)\n (objectAtLocation Pen_bar__plus_01_dot_32_bar__plus_00_dot_48_bar__plus_00_dot_51 loc_bar_2_bar_0_bar_1_bar_60)\n (objectAtLocation KeyChain_bar__plus_01_dot_17_bar__plus_00_dot_34_bar__plus_01_dot_82 loc_bar_5_bar_4_bar_0_bar_60)\n (objectAtLocation TissueBox_bar__minus_00_dot_29_bar__plus_00_dot_46_bar__minus_00_dot_73 loc_bar__minus_2_bar_0_bar_2_bar_60)\n (objectAtLocation Newspaper_bar__minus_00_dot_08_bar__plus_00_dot_46_bar__minus_00_dot_73 loc_bar__minus_2_bar_0_bar_2_bar_60)\n (objectAtLocation RemoteControl_bar__plus_01_dot_18_bar__plus_00_dot_47_bar__plus_00_dot_35 loc_bar_2_bar_0_bar_1_bar_60)\n (objectAtLocation Pen_bar__plus_03_dot_97_bar__plus_00_dot_88_bar__plus_00_dot_55 loc_bar_13_bar_3_bar_1_bar_60)\n (objectAtLocation TissueBox_bar__plus_01_dot_47_bar__plus_00_dot_48_bar__plus_00_dot_68 loc_bar_2_bar_0_bar_1_bar_60)\n (objectAtLocation Box_bar__plus_01_dot_59_bar__plus_00_dot_58_bar__plus_01_dot_82 loc_bar_5_bar_4_bar_0_bar_60)\n (objectAtLocation FloorLamp_bar__plus_03_dot_61_bar__plus_00_dot_00_bar__plus_02_dot_16 loc_bar_14_bar_5_bar_0_bar_60)\n (objectAtLocation Newspaper_bar__minus_00_dot_20_bar__plus_00_dot_32_bar__plus_01_dot_81 loc_bar__minus_2_bar_3_bar_0_bar_60)\n (objectAtLocation Laptop_bar__plus_01_dot_81_bar__plus_00_dot_47_bar__plus_00_dot_50 loc_bar_2_bar_0_bar_1_bar_60)\n (objectAtLocation WateringCan_bar__plus_01_dot_62_bar__plus_00_dot_06_bar__minus_00_dot_70 loc_bar_10_bar_2_bar_2_bar_45)\n (objectAtLocation TissueBox_bar__plus_01_dot_32_bar__plus_00_dot_48_bar__plus_00_dot_19 loc_bar_2_bar_0_bar_1_bar_60)\n (objectAtLocation KeyChain_bar__plus_02_dot_80_bar__plus_00_dot_32_bar__plus_01_dot_87 loc_bar_10_bar_3_bar_0_bar_60)\n (objectAtLocation Pen_bar__plus_03_dot_85_bar__plus_00_dot_77_bar__plus_00_dot_58 loc_bar_13_bar_3_bar_1_bar_60)\n (objectAtLocation Boots_bar__plus_04_dot_01_bar__plus_00_dot_00_bar__plus_01_dot_71 loc_bar_14_bar_5_bar_1_bar_60)\n (objectAtLocation Television_bar__plus_01_dot_90_bar__plus_01_dot_32_bar__minus_00_dot_84 loc_bar_13_bar__minus_1_bar_3_bar_45)\n (objectAtLocation Pencil_bar__plus_03_dot_97_bar__plus_00_dot_88_bar__plus_00_dot_76 loc_bar_13_bar_3_bar_1_bar_60)\n (objectAtLocation RemoteControl_bar__minus_00_dot_07_bar__plus_00_dot_84_bar__minus_00_dot_77 loc_bar__minus_5_bar__minus_2_bar_1_bar_60)\n (objectAtLocation Painting_bar__plus_04_dot_07_bar__plus_01_dot_95_bar__plus_00_dot_85 loc_bar_14_bar_3_bar_1_bar__minus_30)\n (objectAtLocation CreditCard_bar__plus_00_dot_97_bar__plus_00_dot_34_bar__plus_01_dot_89 loc_bar_5_bar_4_bar_0_bar_60)\n (objectAtLocation HousePlant_bar__plus_00_dot_39_bar__plus_00_dot_83_bar__minus_00_dot_73 loc_bar_2_bar_0_bar_2_bar_45)\n (objectAtLocation Window_bar__plus_00_dot_02_bar__plus_02_dot_07_bar__plus_02_dot_49 loc_bar_0_bar_4_bar_0_bar__minus_15)\n (objectAtLocation Window_bar__plus_01_dot_57_bar__plus_02_dot_07_bar__plus_02_dot_49 loc_bar_6_bar_4_bar_0_bar__minus_15)\n (objectAtLocation Pillow_bar__plus_00_dot_65_bar__plus_00_dot_40_bar__plus_01_dot_71 loc_bar_5_bar_4_bar_0_bar_60)\n (objectAtLocation LightSwitch_bar__minus_01_dot_40_bar__plus_01_dot_29_bar__plus_01_dot_84 loc_bar__minus_3_bar_4_bar_0_bar_30)\n (objectAtLocation Statue_bar__minus_00_dot_29_bar__plus_00_dot_84_bar__minus_00_dot_77 loc_bar__minus_5_bar__minus_2_bar_1_bar_60)\n (objectAtLocation Statue_bar__minus_00_dot_08_bar__plus_00_dot_06_bar__minus_00_dot_69 loc_bar_1_bar_2_bar_2_bar_45)\n )\n \n\n (:goal\n (and\n (exists (?r - receptacle)\n (exists (?o1 - object)\n (and\n (objectType ?o1 RemoteControlType)\n (receptacleType ?r SofaType)\n (inReceptacle ?o1 ?r)\n (exists (?o2 - object)\n (and\n (not (= ?o1 ?o2))\n (objectType ?o2 RemoteControlType)\n (receptacleType ?r SofaType)\n (inReceptacle ?o2 ?r)\n )\n )\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to coffeetable 1", "take remotecontrol 2 from coffeetable 1", "go to sofa 1", "move remotecontrol 2 to sofa 1", "go to coffeetable 1", "take remotecontrol 1 from coffeetable 1", "go to sofa 1", "move remotecontrol 1 to sofa 1"]}
|
alfworld__pick_two_obj_and_place__24
|
pick_two_obj_and_place
|
pick_two_obj_and_place-RemoteControl-None-Sofa-212/trial_T20190907_235335_006124/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 remotecontrol 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_235335_006124)\n(:domain alfred)\n(:objects\nagent1 - agent\nSaltShaker - object\n HousePlant - object\n Candle - object\n SprayBottle - object\n Bowl - object\n Window - object\n CD - object\n Egg - object\n Glassbottle - object\n Sink - object\n Pillow - object\n Spoon - object\n SoapBottle - object\n TeddyBear - object\n ButterKnife - object\n Cup - object\n Plate - object\n RemoteControl - object\n Tomato - object\n Statue - object\n HandTowel - object\n Knife - object\n StoveKnob - object\n LightSwitch - object\n Pen - object\n Painting - object\n DishSponge - object\n Vase - object\n Mug - object\n ToiletPaper - object\n Box - object\n Mirror - object\n Ladle - object\n Fork - object\n Blinds - object\n Footstool - object\n KeyChain - object\n Cloth - object\n Laptop - object\n TissueBox - object\n PepperShaker - object\n FloorLamp - object\n WateringCan - object\n Apple - object\n Pan - object\n PaperTowel - object\n PaperTowelRoll - object\n Newspaper - object\n Television - object\n Chair - object\n CellPhone - object\n CreditCard - object\n Lettuce - object\n BasketBall - object\n Potato - object\n Curtains - object\n Boots - object\n Pencil - object\n AlarmClock - object\n ToiletPaperRoll - object\n Spatula - object\n Book - object\n Bread - object\n SoapBar - object\n Watch - object\n DeskLamp - object\n Kettle - object\n Pot - object\n ScrubBrush - object\n WineBottle - object\n ShowerDoor - object\n Bathtub - object\n LaundryHamperLid - object\n ShowerGlass - object\n Poster - object\n TennisRacket - object\n BaseballBat - object\n Towel - object\n Plunger - object\nSaltShakerType - otype\n HousePlantType - otype\n CandleType - otype\n SprayBottleType - otype\n BowlType - otype\n WindowType - otype\n CDType - otype\n EggType - otype\n GlassbottleType - otype\n SinkType - otype\n PillowType - otype\n SpoonType - otype\n SoapBottleType - otype\n TeddyBearType - otype\n ButterKnifeType - otype\n CupType - otype\n PlateType - otype\n RemoteControlType - otype\n TomatoType - otype\n StatueType - otype\n HandTowelType - otype\n KnifeType - otype\n StoveKnobType - otype\n LightSwitchType - otype\n PenType - otype\n PaintingType - otype\n DishSpongeType - otype\n VaseType - otype\n MugType - otype\n ToiletPaperType - otype\n BoxType - otype\n MirrorType - otype\n LadleType - otype\n ForkType - otype\n BlindsType - otype\n FootstoolType - otype\n KeyChainType - otype\n ClothType - otype\n LaptopType - otype\n TissueBoxType - otype\n PepperShakerType - otype\n FloorLampType - otype\n WateringCanType - otype\n AppleType - otype\n PanType - otype\n PaperTowelType - otype\n PaperTowelRollType - otype\n NewspaperType - otype\n TelevisionType - otype\n ChairType - otype\n CellPhoneType - otype\n CreditCardType - otype\n LettuceType - otype\n BasketBallType - otype\n PotatoType - otype\n CurtainsType - otype\n BootsType - otype\n PencilType - otype\n AlarmClockType - otype\n ToiletPaperRollType - otype\n SpatulaType - otype\n BookType - otype\n BreadType - otype\n SoapBarType - otype\n WatchType - otype\n DeskLampType - otype\n KettleType - otype\n PotType - otype\n ScrubBrushType - otype\n WineBottleType - otype\n ShowerDoorType - otype\n BathtubType - otype\n LaundryHamperLidType - otype\n ShowerGlassType - otype\n PosterType - otype\n TennisRacketType - otype\n BaseballBatType - otype\n TowelType - otype\n PlungerType - otype\nSafeType - rtype\n DrawerType - rtype\n CoffeeMachineType - rtype\n HandTowelHolderType - rtype\n SinkBasinType - rtype\n DresserType - rtype\n LaundryHamperType - rtype\n TVStandType - rtype\n BathtubBasinType - rtype\n CabinetType - rtype\n FridgeType - rtype\n DeskType - rtype\n ToiletType - rtype\n CartType - rtype\n SideTableType - rtype\n SofaType - rtype\n CoffeeTableType - rtype\n DiningTableType - rtype\n CounterTopType - rtype\n GarbageCanType - rtype\n ArmChairType - rtype\n ShelfType - rtype\n MicrowaveType - rtype\n ToasterType - rtype\n BedType - rtype\n PaintingHangerType - rtype\n TowelHolderType - rtype\n ToiletPaperHangerType - rtype\n StoveBurnerType - rtype\n OttomanType - rtype\n\n\n Boots_bar__plus_04_dot_01_bar__plus_00_dot_00_bar__plus_01_dot_71 - object\n Box_bar__plus_01_dot_38_bar__plus_00_dot_58_bar__plus_01_dot_82 - object\n Box_bar__minus_00_dot_29_bar__plus_01_dot_07_bar__minus_00_dot_71 - object\n CreditCard_bar__plus_03_dot_88_bar__plus_00_dot_77_bar__plus_00_dot_67 - object\n CreditCard_bar__plus_03_dot_89_bar__plus_00_dot_88_bar__plus_00_dot_87 - object\n CreditCard_bar__minus_00_dot_50_bar__plus_00_dot_07_bar__minus_00_dot_65 - object\n FloorLamp_bar__plus_03_dot_61_bar__plus_00_dot_00_bar__plus_02_dot_16 - object\n HousePlant_bar__plus_00_dot_39_bar__plus_00_dot_83_bar__minus_00_dot_73 - object\n KeyChain_bar__plus_03_dot_90_bar__plus_00_dot_77_bar__plus_00_dot_96 - object\n Laptop_bar__plus_01_dot_81_bar__plus_00_dot_47_bar__plus_00_dot_50 - object\n LightSwitch_bar__minus_01_dot_40_bar__plus_01_dot_29_bar__plus_01_dot_84 - object\n Newspaper_bar__plus_00_dot_97_bar__plus_00_dot_33_bar__plus_01_dot_53 - object\n Newspaper_bar__plus_01_dot_47_bar__plus_00_dot_48_bar__plus_00_dot_68 - object\n Newspaper_bar__minus_00_dot_20_bar__plus_00_dot_32_bar__plus_01_dot_88 - object\n Painting_bar__plus_04_dot_07_bar__plus_01_dot_95_bar__plus_00_dot_85 - object\n Pencil_bar__plus_01_dot_59_bar__plus_00_dot_46_bar__minus_00_dot_77 - object\n Pencil_bar__plus_03_dot_88_bar__plus_00_dot_77_bar__plus_01_dot_06 - object\n Pencil_bar__minus_00_dot_61_bar__plus_00_dot_46_bar__minus_00_dot_73 - object\n Pen_bar__plus_03_dot_84_bar__plus_00_dot_07_bar__minus_00_dot_50 - object\n Pillow_bar__plus_00_dot_65_bar__plus_00_dot_40_bar__plus_01_dot_71 - object\n RemoteControl_bar__plus_01_dot_32_bar__plus_00_dot_48_bar__plus_00_dot_35 - object\n RemoteControl_bar__plus_01_dot_80_bar__plus_00_dot_45_bar__minus_00_dot_73 - object\n RemoteControl_bar__minus_00_dot_51_bar__plus_00_dot_84_bar__minus_00_dot_82 - object\n Statue_bar__minus_00_dot_08_bar__plus_00_dot_06_bar__minus_00_dot_69 - object\n Statue_bar__minus_00_dot_53_bar__plus_00_dot_44_bar__minus_00_dot_74 - object\n Television_bar__plus_01_dot_90_bar__plus_01_dot_32_bar__minus_00_dot_84 - object\n TissueBox_bar__plus_02_dot_03_bar__plus_00_dot_48_bar__plus_00_dot_19 - object\n TissueBox_bar__minus_00_dot_62_bar__plus_00_dot_84_bar__minus_00_dot_67 - object\n WateringCan_bar__plus_01_dot_62_bar__plus_00_dot_06_bar__minus_00_dot_70 - object\n Window_bar__plus_00_dot_02_bar__plus_02_dot_07_bar__plus_02_dot_49 - object\n Window_bar__plus_01_dot_57_bar__plus_02_dot_07_bar__plus_02_dot_49 - object\n ArmChair_bar__plus_02_dot_66_bar__plus_00_dot_00_bar__plus_01_dot_86 - receptacle\n ArmChair_bar__minus_00_dot_27_bar__plus_00_dot_00_bar__plus_01_dot_87 - receptacle\n CoffeeTable_bar__plus_01_dot_59_bar_00_dot_00_bar__plus_00_dot_45 - receptacle\n Drawer_bar__plus_03_dot_87_bar__plus_00_dot_78_bar__plus_00_dot_87 - receptacle\n GarbageCan_bar__plus_03_dot_83_bar__plus_00_dot_00_bar__minus_00_dot_50 - receptacle\n Shelf_bar__plus_01_dot_89_bar__plus_00_dot_13_bar__minus_00_dot_73 - receptacle\n Shelf_bar__plus_01_dot_89_bar__plus_00_dot_51_bar__minus_00_dot_73 - receptacle\n Shelf_bar__minus_00_dot_31_bar__plus_00_dot_13_bar__minus_00_dot_73 - receptacle\n Shelf_bar__minus_00_dot_31_bar__plus_00_dot_52_bar__minus_00_dot_73 - receptacle\n SideTable_bar__plus_03_dot_95_bar__plus_00_dot_00_bar__plus_00_dot_87 - receptacle\n Sofa_bar__plus_01_dot_17_bar__plus_00_dot_00_bar__plus_01_dot_87 - receptacle\n TVStand_bar__plus_01_dot_91_bar__plus_00_dot_04_bar__minus_00_dot_77 - receptacle\n TVStand_bar__minus_00_dot_29_bar__plus_00_dot_04_bar__minus_00_dot_77 - receptacle\n loc_bar__minus_2_bar_3_bar_0_bar_60 - location\n loc_bar_2_bar_0_bar_2_bar_45 - location\n loc_bar_13_bar__minus_1_bar_3_bar_45 - location\n loc_bar_14_bar_5_bar_1_bar_60 - location\n loc_bar_13_bar_3_bar_1_bar_60 - location\n loc_bar_0_bar_4_bar_0_bar__minus_15 - location\n loc_bar__minus_5_bar__minus_2_bar_1_bar_60 - location\n loc_bar_6_bar_4_bar_0_bar__minus_15 - location\n loc_bar_10_bar_2_bar_2_bar_45 - location\n loc_bar_5_bar_4_bar_0_bar_60 - location\n loc_bar_14_bar_3_bar_1_bar__minus_30 - location\n loc_bar_14_bar_5_bar_0_bar_60 - location\n loc_bar_10_bar_1_bar_2_bar_45 - location\n loc_bar_2_bar_0_bar_1_bar_60 - location\n loc_bar_10_bar_3_bar_0_bar_60 - location\n loc_bar_13_bar__minus_1_bar_1_bar_60 - location\n loc_bar__minus_2_bar_0_bar_2_bar_60 - location\n loc_bar__minus_3_bar_4_bar_0_bar_30 - location\n loc_bar_1_bar_2_bar_2_bar_45 - location\n loc_bar_1_bar_1_bar_2_bar_30 - location\n )\n \n\n(:init\n\n\n (receptacleType TVStand_bar__plus_01_dot_91_bar__plus_00_dot_04_bar__minus_00_dot_77 TVStandType)\n (receptacleType ArmChair_bar__plus_02_dot_66_bar__plus_00_dot_00_bar__plus_01_dot_86 ArmChairType)\n (receptacleType Shelf_bar__plus_01_dot_89_bar__plus_00_dot_51_bar__minus_00_dot_73 ShelfType)\n (receptacleType Shelf_bar__minus_00_dot_31_bar__plus_00_dot_13_bar__minus_00_dot_73 ShelfType)\n (receptacleType SideTable_bar__plus_03_dot_95_bar__plus_00_dot_00_bar__plus_00_dot_87 SideTableType)\n (receptacleType CoffeeTable_bar__plus_01_dot_59_bar_00_dot_00_bar__plus_00_dot_45 CoffeeTableType)\n (receptacleType Sofa_bar__plus_01_dot_17_bar__plus_00_dot_00_bar__plus_01_dot_87 SofaType)\n (receptacleType Shelf_bar__minus_00_dot_31_bar__plus_00_dot_52_bar__minus_00_dot_73 ShelfType)\n (receptacleType ArmChair_bar__minus_00_dot_27_bar__plus_00_dot_00_bar__plus_01_dot_87 ArmChairType)\n (receptacleType Drawer_bar__plus_03_dot_87_bar__plus_00_dot_78_bar__plus_00_dot_87 DrawerType)\n (receptacleType TVStand_bar__minus_00_dot_29_bar__plus_00_dot_04_bar__minus_00_dot_77 TVStandType)\n (receptacleType GarbageCan_bar__plus_03_dot_83_bar__plus_00_dot_00_bar__minus_00_dot_50 GarbageCanType)\n (receptacleType Shelf_bar__plus_01_dot_89_bar__plus_00_dot_13_bar__minus_00_dot_73 ShelfType)\n (objectType HousePlant_bar__plus_00_dot_39_bar__plus_00_dot_83_bar__minus_00_dot_73 HousePlantType)\n (objectType Pillow_bar__plus_00_dot_65_bar__plus_00_dot_40_bar__plus_01_dot_71 PillowType)\n (objectType CreditCard_bar__plus_03_dot_89_bar__plus_00_dot_88_bar__plus_00_dot_87 CreditCardType)\n (objectType Laptop_bar__plus_01_dot_81_bar__plus_00_dot_47_bar__plus_00_dot_50 LaptopType)\n (objectType Pencil_bar__plus_01_dot_59_bar__plus_00_dot_46_bar__minus_00_dot_77 PencilType)\n (objectType Window_bar__plus_00_dot_02_bar__plus_02_dot_07_bar__plus_02_dot_49 WindowType)\n (objectType CreditCard_bar__minus_00_dot_50_bar__plus_00_dot_07_bar__minus_00_dot_65 CreditCardType)\n (objectType Newspaper_bar__plus_00_dot_97_bar__plus_00_dot_33_bar__plus_01_dot_53 NewspaperType)\n (objectType Box_bar__plus_01_dot_38_bar__plus_00_dot_58_bar__plus_01_dot_82 BoxType)\n (objectType Box_bar__minus_00_dot_29_bar__plus_01_dot_07_bar__minus_00_dot_71 BoxType)\n (objectType RemoteControl_bar__plus_01_dot_80_bar__plus_00_dot_45_bar__minus_00_dot_73 RemoteControlType)\n (objectType Pencil_bar__minus_00_dot_61_bar__plus_00_dot_46_bar__minus_00_dot_73 PencilType)\n (objectType TissueBox_bar__minus_00_dot_62_bar__plus_00_dot_84_bar__minus_00_dot_67 TissueBoxType)\n (objectType Pen_bar__plus_03_dot_84_bar__plus_00_dot_07_bar__minus_00_dot_50 PenType)\n (objectType Pencil_bar__plus_03_dot_88_bar__plus_00_dot_77_bar__plus_01_dot_06 PencilType)\n (objectType Newspaper_bar__minus_00_dot_20_bar__plus_00_dot_32_bar__plus_01_dot_88 NewspaperType)\n (objectType LightSwitch_bar__minus_01_dot_40_bar__plus_01_dot_29_bar__plus_01_dot_84 LightSwitchType)\n (objectType Boots_bar__plus_04_dot_01_bar__plus_00_dot_00_bar__plus_01_dot_71 BootsType)\n (objectType KeyChain_bar__plus_03_dot_90_bar__plus_00_dot_77_bar__plus_00_dot_96 KeyChainType)\n (objectType Painting_bar__plus_04_dot_07_bar__plus_01_dot_95_bar__plus_00_dot_85 PaintingType)\n (objectType TissueBox_bar__plus_02_dot_03_bar__plus_00_dot_48_bar__plus_00_dot_19 TissueBoxType)\n (objectType Statue_bar__minus_00_dot_53_bar__plus_00_dot_44_bar__minus_00_dot_74 StatueType)\n (objectType Television_bar__plus_01_dot_90_bar__plus_01_dot_32_bar__minus_00_dot_84 TelevisionType)\n (objectType CreditCard_bar__plus_03_dot_88_bar__plus_00_dot_77_bar__plus_00_dot_67 CreditCardType)\n (objectType WateringCan_bar__plus_01_dot_62_bar__plus_00_dot_06_bar__minus_00_dot_70 WateringCanType)\n (objectType RemoteControl_bar__minus_00_dot_51_bar__plus_00_dot_84_bar__minus_00_dot_82 RemoteControlType)\n (objectType FloorLamp_bar__plus_03_dot_61_bar__plus_00_dot_00_bar__plus_02_dot_16 FloorLampType)\n (objectType Statue_bar__minus_00_dot_08_bar__plus_00_dot_06_bar__minus_00_dot_69 StatueType)\n (objectType Window_bar__plus_01_dot_57_bar__plus_02_dot_07_bar__plus_02_dot_49 WindowType)\n (objectType Newspaper_bar__plus_01_dot_47_bar__plus_00_dot_48_bar__plus_00_dot_68 NewspaperType)\n (objectType RemoteControl_bar__plus_01_dot_32_bar__plus_00_dot_48_bar__plus_00_dot_35 RemoteControlType)\n (canContain TVStandType TissueBoxType)\n (canContain ArmChairType BoxType)\n (canContain ArmChairType LaptopType)\n (canContain ArmChairType PillowType)\n (canContain ArmChairType RemoteControlType)\n (canContain ArmChairType KeyChainType)\n (canContain ArmChairType NewspaperType)\n (canContain ArmChairType CreditCardType)\n (canContain ShelfType PenType)\n (canContain ShelfType NewspaperType)\n (canContain ShelfType BoxType)\n (canContain ShelfType KeyChainType)\n (canContain ShelfType CreditCardType)\n (canContain ShelfType PencilType)\n (canContain ShelfType RemoteControlType)\n (canContain ShelfType TissueBoxType)\n (canContain ShelfType StatueType)\n (canContain ShelfType WateringCanType)\n (canContain ShelfType PenType)\n (canContain ShelfType NewspaperType)\n (canContain ShelfType BoxType)\n (canContain ShelfType KeyChainType)\n (canContain ShelfType CreditCardType)\n (canContain ShelfType PencilType)\n (canContain ShelfType RemoteControlType)\n (canContain ShelfType TissueBoxType)\n (canContain ShelfType StatueType)\n (canContain ShelfType WateringCanType)\n (canContain SideTableType PenType)\n (canContain SideTableType NewspaperType)\n (canContain SideTableType BoxType)\n (canContain SideTableType KeyChainType)\n (canContain SideTableType CreditCardType)\n (canContain SideTableType LaptopType)\n (canContain SideTableType PencilType)\n (canContain SideTableType RemoteControlType)\n (canContain SideTableType TissueBoxType)\n (canContain SideTableType StatueType)\n (canContain SideTableType WateringCanType)\n (canContain CoffeeTableType PenType)\n (canContain CoffeeTableType NewspaperType)\n (canContain CoffeeTableType BoxType)\n (canContain CoffeeTableType KeyChainType)\n (canContain CoffeeTableType CreditCardType)\n (canContain CoffeeTableType LaptopType)\n (canContain CoffeeTableType PencilType)\n (canContain CoffeeTableType RemoteControlType)\n (canContain CoffeeTableType TissueBoxType)\n (canContain CoffeeTableType StatueType)\n (canContain CoffeeTableType WateringCanType)\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 ShelfType PenType)\n (canContain ShelfType NewspaperType)\n (canContain ShelfType BoxType)\n (canContain ShelfType KeyChainType)\n (canContain ShelfType CreditCardType)\n (canContain ShelfType PencilType)\n (canContain ShelfType RemoteControlType)\n (canContain ShelfType TissueBoxType)\n (canContain ShelfType StatueType)\n (canContain ShelfType 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 (canContain DrawerType PenType)\n (canContain DrawerType NewspaperType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType PencilType)\n (canContain DrawerType RemoteControlType)\n (canContain DrawerType TissueBoxType)\n (canContain DrawerType WateringCanType)\n (canContain TVStandType TissueBoxType)\n (canContain GarbageCanType PenType)\n (canContain GarbageCanType NewspaperType)\n (canContain GarbageCanType PencilType)\n (canContain GarbageCanType TissueBoxType)\n (canContain ShelfType PenType)\n (canContain ShelfType NewspaperType)\n (canContain ShelfType BoxType)\n (canContain ShelfType KeyChainType)\n (canContain ShelfType CreditCardType)\n (canContain ShelfType PencilType)\n (canContain ShelfType RemoteControlType)\n (canContain ShelfType TissueBoxType)\n (canContain ShelfType StatueType)\n (canContain ShelfType WateringCanType)\n (pickupable Pillow_bar__plus_00_dot_65_bar__plus_00_dot_40_bar__plus_01_dot_71)\n (pickupable CreditCard_bar__plus_03_dot_89_bar__plus_00_dot_88_bar__plus_00_dot_87)\n (pickupable Laptop_bar__plus_01_dot_81_bar__plus_00_dot_47_bar__plus_00_dot_50)\n (pickupable Pencil_bar__plus_01_dot_59_bar__plus_00_dot_46_bar__minus_00_dot_77)\n (pickupable CreditCard_bar__minus_00_dot_50_bar__plus_00_dot_07_bar__minus_00_dot_65)\n (pickupable Newspaper_bar__plus_00_dot_97_bar__plus_00_dot_33_bar__plus_01_dot_53)\n (pickupable Box_bar__plus_01_dot_38_bar__plus_00_dot_58_bar__plus_01_dot_82)\n (pickupable Box_bar__minus_00_dot_29_bar__plus_01_dot_07_bar__minus_00_dot_71)\n (pickupable RemoteControl_bar__plus_01_dot_80_bar__plus_00_dot_45_bar__minus_00_dot_73)\n (pickupable Pencil_bar__minus_00_dot_61_bar__plus_00_dot_46_bar__minus_00_dot_73)\n (pickupable TissueBox_bar__minus_00_dot_62_bar__plus_00_dot_84_bar__minus_00_dot_67)\n (pickupable Pen_bar__plus_03_dot_84_bar__plus_00_dot_07_bar__minus_00_dot_50)\n (pickupable Pencil_bar__plus_03_dot_88_bar__plus_00_dot_77_bar__plus_01_dot_06)\n (pickupable Newspaper_bar__minus_00_dot_20_bar__plus_00_dot_32_bar__plus_01_dot_88)\n (pickupable Boots_bar__plus_04_dot_01_bar__plus_00_dot_00_bar__plus_01_dot_71)\n (pickupable KeyChain_bar__plus_03_dot_90_bar__plus_00_dot_77_bar__plus_00_dot_96)\n (pickupable TissueBox_bar__plus_02_dot_03_bar__plus_00_dot_48_bar__plus_00_dot_19)\n (pickupable Statue_bar__minus_00_dot_53_bar__plus_00_dot_44_bar__minus_00_dot_74)\n (pickupable CreditCard_bar__plus_03_dot_88_bar__plus_00_dot_77_bar__plus_00_dot_67)\n (pickupable WateringCan_bar__plus_01_dot_62_bar__plus_00_dot_06_bar__minus_00_dot_70)\n (pickupable RemoteControl_bar__minus_00_dot_51_bar__plus_00_dot_84_bar__minus_00_dot_82)\n (pickupable Statue_bar__minus_00_dot_08_bar__plus_00_dot_06_bar__minus_00_dot_69)\n (pickupable Newspaper_bar__plus_01_dot_47_bar__plus_00_dot_48_bar__plus_00_dot_68)\n (pickupable RemoteControl_bar__plus_01_dot_32_bar__plus_00_dot_48_bar__plus_00_dot_35)\n (isReceptacleObject Box_bar__plus_01_dot_38_bar__plus_00_dot_58_bar__plus_01_dot_82)\n (isReceptacleObject Box_bar__minus_00_dot_29_bar__plus_01_dot_07_bar__minus_00_dot_71)\n (openable Drawer_bar__plus_03_dot_87_bar__plus_00_dot_78_bar__plus_00_dot_87)\n \n (atLocation agent1 loc_bar_1_bar_1_bar_2_bar_30)\n \n \n \n \n \n \n \n (toggleable FloorLamp_bar__plus_03_dot_61_bar__plus_00_dot_00_bar__plus_02_dot_16)\n \n \n \n \n (inReceptacle RemoteControl_bar__minus_00_dot_51_bar__plus_00_dot_84_bar__minus_00_dot_82 TVStand_bar__minus_00_dot_29_bar__plus_00_dot_04_bar__minus_00_dot_77)\n (inReceptacle TissueBox_bar__minus_00_dot_62_bar__plus_00_dot_84_bar__minus_00_dot_67 TVStand_bar__minus_00_dot_29_bar__plus_00_dot_04_bar__minus_00_dot_77)\n (inReceptacle Box_bar__minus_00_dot_29_bar__plus_01_dot_07_bar__minus_00_dot_71 TVStand_bar__minus_00_dot_29_bar__plus_00_dot_04_bar__minus_00_dot_77)\n (inReceptacle WateringCan_bar__plus_01_dot_62_bar__plus_00_dot_06_bar__minus_00_dot_70 Shelf_bar__plus_01_dot_89_bar__plus_00_dot_13_bar__minus_00_dot_73)\n (inReceptacle KeyChain_bar__plus_03_dot_90_bar__plus_00_dot_77_bar__plus_00_dot_96 Drawer_bar__plus_03_dot_87_bar__plus_00_dot_78_bar__plus_00_dot_87)\n (inReceptacle Pencil_bar__plus_03_dot_88_bar__plus_00_dot_77_bar__plus_01_dot_06 Drawer_bar__plus_03_dot_87_bar__plus_00_dot_78_bar__plus_00_dot_87)\n (inReceptacle CreditCard_bar__plus_03_dot_88_bar__plus_00_dot_77_bar__plus_00_dot_67 Drawer_bar__plus_03_dot_87_bar__plus_00_dot_78_bar__plus_00_dot_87)\n (inReceptacle Newspaper_bar__plus_01_dot_47_bar__plus_00_dot_48_bar__plus_00_dot_68 CoffeeTable_bar__plus_01_dot_59_bar_00_dot_00_bar__plus_00_dot_45)\n (inReceptacle Laptop_bar__plus_01_dot_81_bar__plus_00_dot_47_bar__plus_00_dot_50 CoffeeTable_bar__plus_01_dot_59_bar_00_dot_00_bar__plus_00_dot_45)\n (inReceptacle TissueBox_bar__plus_02_dot_03_bar__plus_00_dot_48_bar__plus_00_dot_19 CoffeeTable_bar__plus_01_dot_59_bar_00_dot_00_bar__plus_00_dot_45)\n (inReceptacle RemoteControl_bar__plus_01_dot_32_bar__plus_00_dot_48_bar__plus_00_dot_35 CoffeeTable_bar__plus_01_dot_59_bar_00_dot_00_bar__plus_00_dot_45)\n (inReceptacle Pillow_bar__plus_00_dot_65_bar__plus_00_dot_40_bar__plus_01_dot_71 Sofa_bar__plus_01_dot_17_bar__plus_00_dot_00_bar__plus_01_dot_87)\n (inReceptacle Newspaper_bar__plus_00_dot_97_bar__plus_00_dot_33_bar__plus_01_dot_53 Sofa_bar__plus_01_dot_17_bar__plus_00_dot_00_bar__plus_01_dot_87)\n (inReceptacle Box_bar__plus_01_dot_38_bar__plus_00_dot_58_bar__plus_01_dot_82 Sofa_bar__plus_01_dot_17_bar__plus_00_dot_00_bar__plus_01_dot_87)\n (inReceptacle Pencil_bar__minus_00_dot_61_bar__plus_00_dot_46_bar__minus_00_dot_73 Shelf_bar__minus_00_dot_31_bar__plus_00_dot_52_bar__minus_00_dot_73)\n (inReceptacle Statue_bar__minus_00_dot_53_bar__plus_00_dot_44_bar__minus_00_dot_74 Shelf_bar__minus_00_dot_31_bar__plus_00_dot_52_bar__minus_00_dot_73)\n (inReceptacle CreditCard_bar__minus_00_dot_50_bar__plus_00_dot_07_bar__minus_00_dot_65 Shelf_bar__minus_00_dot_31_bar__plus_00_dot_13_bar__minus_00_dot_73)\n (inReceptacle Statue_bar__minus_00_dot_08_bar__plus_00_dot_06_bar__minus_00_dot_69 Shelf_bar__minus_00_dot_31_bar__plus_00_dot_13_bar__minus_00_dot_73)\n (inReceptacle Newspaper_bar__minus_00_dot_20_bar__plus_00_dot_32_bar__plus_01_dot_88 ArmChair_bar__minus_00_dot_27_bar__plus_00_dot_00_bar__plus_01_dot_87)\n (inReceptacle RemoteControl_bar__plus_01_dot_80_bar__plus_00_dot_45_bar__minus_00_dot_73 Shelf_bar__plus_01_dot_89_bar__plus_00_dot_51_bar__minus_00_dot_73)\n (inReceptacle Pencil_bar__plus_01_dot_59_bar__plus_00_dot_46_bar__minus_00_dot_77 Shelf_bar__plus_01_dot_89_bar__plus_00_dot_51_bar__minus_00_dot_73)\n (inReceptacle CreditCard_bar__plus_03_dot_89_bar__plus_00_dot_88_bar__plus_00_dot_87 SideTable_bar__plus_03_dot_95_bar__plus_00_dot_00_bar__plus_00_dot_87)\n (inReceptacle Television_bar__plus_01_dot_90_bar__plus_01_dot_32_bar__minus_00_dot_84 TVStand_bar__plus_01_dot_91_bar__plus_00_dot_04_bar__minus_00_dot_77)\n (inReceptacle Pen_bar__plus_03_dot_84_bar__plus_00_dot_07_bar__minus_00_dot_50 GarbageCan_bar__plus_03_dot_83_bar__plus_00_dot_00_bar__minus_00_dot_50)\n \n \n (receptacleAtLocation ArmChair_bar__plus_02_dot_66_bar__plus_00_dot_00_bar__plus_01_dot_86 loc_bar_10_bar_3_bar_0_bar_60)\n (receptacleAtLocation ArmChair_bar__minus_00_dot_27_bar__plus_00_dot_00_bar__plus_01_dot_87 loc_bar__minus_2_bar_3_bar_0_bar_60)\n (receptacleAtLocation CoffeeTable_bar__plus_01_dot_59_bar_00_dot_00_bar__plus_00_dot_45 loc_bar_2_bar_0_bar_1_bar_60)\n (receptacleAtLocation Drawer_bar__plus_03_dot_87_bar__plus_00_dot_78_bar__plus_00_dot_87 loc_bar_13_bar_3_bar_1_bar_60)\n (receptacleAtLocation GarbageCan_bar__plus_03_dot_83_bar__plus_00_dot_00_bar__minus_00_dot_50 loc_bar_13_bar__minus_1_bar_1_bar_60)\n (receptacleAtLocation Shelf_bar__plus_01_dot_89_bar__plus_00_dot_13_bar__minus_00_dot_73 loc_bar_10_bar_2_bar_2_bar_45)\n (receptacleAtLocation Shelf_bar__plus_01_dot_89_bar__plus_00_dot_51_bar__minus_00_dot_73 loc_bar_10_bar_1_bar_2_bar_45)\n (receptacleAtLocation Shelf_bar__minus_00_dot_31_bar__plus_00_dot_13_bar__minus_00_dot_73 loc_bar_1_bar_2_bar_2_bar_45)\n (receptacleAtLocation Shelf_bar__minus_00_dot_31_bar__plus_00_dot_52_bar__minus_00_dot_73 loc_bar__minus_2_bar_0_bar_2_bar_60)\n (receptacleAtLocation SideTable_bar__plus_03_dot_95_bar__plus_00_dot_00_bar__plus_00_dot_87 loc_bar_13_bar_3_bar_1_bar_60)\n (receptacleAtLocation Sofa_bar__plus_01_dot_17_bar__plus_00_dot_00_bar__plus_01_dot_87 loc_bar_5_bar_4_bar_0_bar_60)\n (receptacleAtLocation TVStand_bar__plus_01_dot_91_bar__plus_00_dot_04_bar__minus_00_dot_77 loc_bar_13_bar__minus_1_bar_3_bar_45)\n (receptacleAtLocation TVStand_bar__minus_00_dot_29_bar__plus_00_dot_04_bar__minus_00_dot_77 loc_bar__minus_5_bar__minus_2_bar_1_bar_60)\n (objectAtLocation CreditCard_bar__plus_03_dot_88_bar__plus_00_dot_77_bar__plus_00_dot_67 loc_bar_13_bar_3_bar_1_bar_60)\n (objectAtLocation RemoteControl_bar__minus_00_dot_51_bar__plus_00_dot_84_bar__minus_00_dot_82 loc_bar__minus_5_bar__minus_2_bar_1_bar_60)\n (objectAtLocation Pencil_bar__minus_00_dot_61_bar__plus_00_dot_46_bar__minus_00_dot_73 loc_bar__minus_2_bar_0_bar_2_bar_60)\n (objectAtLocation TissueBox_bar__minus_00_dot_62_bar__plus_00_dot_84_bar__minus_00_dot_67 loc_bar__minus_5_bar__minus_2_bar_1_bar_60)\n (objectAtLocation Newspaper_bar__plus_00_dot_97_bar__plus_00_dot_33_bar__plus_01_dot_53 loc_bar_5_bar_4_bar_0_bar_60)\n (objectAtLocation Box_bar__minus_00_dot_29_bar__plus_01_dot_07_bar__minus_00_dot_71 loc_bar__minus_5_bar__minus_2_bar_1_bar_60)\n (objectAtLocation RemoteControl_bar__plus_01_dot_32_bar__plus_00_dot_48_bar__plus_00_dot_35 loc_bar_2_bar_0_bar_1_bar_60)\n (objectAtLocation CreditCard_bar__minus_00_dot_50_bar__plus_00_dot_07_bar__minus_00_dot_65 loc_bar_1_bar_2_bar_2_bar_45)\n (objectAtLocation Pencil_bar__plus_03_dot_88_bar__plus_00_dot_77_bar__plus_01_dot_06 loc_bar_13_bar_3_bar_1_bar_60)\n (objectAtLocation Newspaper_bar__plus_01_dot_47_bar__plus_00_dot_48_bar__plus_00_dot_68 loc_bar_2_bar_0_bar_1_bar_60)\n (objectAtLocation Box_bar__plus_01_dot_38_bar__plus_00_dot_58_bar__plus_01_dot_82 loc_bar_5_bar_4_bar_0_bar_60)\n (objectAtLocation FloorLamp_bar__plus_03_dot_61_bar__plus_00_dot_00_bar__plus_02_dot_16 loc_bar_14_bar_5_bar_0_bar_60)\n (objectAtLocation Newspaper_bar__minus_00_dot_20_bar__plus_00_dot_32_bar__plus_01_dot_88 loc_bar__minus_2_bar_3_bar_0_bar_60)\n (objectAtLocation Laptop_bar__plus_01_dot_81_bar__plus_00_dot_47_bar__plus_00_dot_50 loc_bar_2_bar_0_bar_1_bar_60)\n (objectAtLocation WateringCan_bar__plus_01_dot_62_bar__plus_00_dot_06_bar__minus_00_dot_70 loc_bar_10_bar_2_bar_2_bar_45)\n (objectAtLocation TissueBox_bar__plus_02_dot_03_bar__plus_00_dot_48_bar__plus_00_dot_19 loc_bar_2_bar_0_bar_1_bar_60)\n (objectAtLocation KeyChain_bar__plus_03_dot_90_bar__plus_00_dot_77_bar__plus_00_dot_96 loc_bar_13_bar_3_bar_1_bar_60)\n (objectAtLocation Pen_bar__plus_03_dot_84_bar__plus_00_dot_07_bar__minus_00_dot_50 loc_bar_13_bar__minus_1_bar_1_bar_60)\n (objectAtLocation Boots_bar__plus_04_dot_01_bar__plus_00_dot_00_bar__plus_01_dot_71 loc_bar_14_bar_5_bar_1_bar_60)\n (objectAtLocation Television_bar__plus_01_dot_90_bar__plus_01_dot_32_bar__minus_00_dot_84 loc_bar_13_bar__minus_1_bar_3_bar_45)\n (objectAtLocation Pencil_bar__plus_01_dot_59_bar__plus_00_dot_46_bar__minus_00_dot_77 loc_bar_10_bar_1_bar_2_bar_45)\n (objectAtLocation RemoteControl_bar__plus_01_dot_80_bar__plus_00_dot_45_bar__minus_00_dot_73 loc_bar_10_bar_1_bar_2_bar_45)\n (objectAtLocation Painting_bar__plus_04_dot_07_bar__plus_01_dot_95_bar__plus_00_dot_85 loc_bar_14_bar_3_bar_1_bar__minus_30)\n (objectAtLocation CreditCard_bar__plus_03_dot_89_bar__plus_00_dot_88_bar__plus_00_dot_87 loc_bar_13_bar_3_bar_1_bar_60)\n (objectAtLocation HousePlant_bar__plus_00_dot_39_bar__plus_00_dot_83_bar__minus_00_dot_73 loc_bar_2_bar_0_bar_2_bar_45)\n (objectAtLocation Window_bar__plus_00_dot_02_bar__plus_02_dot_07_bar__plus_02_dot_49 loc_bar_0_bar_4_bar_0_bar__minus_15)\n (objectAtLocation Window_bar__plus_01_dot_57_bar__plus_02_dot_07_bar__plus_02_dot_49 loc_bar_6_bar_4_bar_0_bar__minus_15)\n (objectAtLocation Pillow_bar__plus_00_dot_65_bar__plus_00_dot_40_bar__plus_01_dot_71 loc_bar_5_bar_4_bar_0_bar_60)\n (objectAtLocation LightSwitch_bar__minus_01_dot_40_bar__plus_01_dot_29_bar__plus_01_dot_84 loc_bar__minus_3_bar_4_bar_0_bar_30)\n (objectAtLocation Statue_bar__minus_00_dot_53_bar__plus_00_dot_44_bar__minus_00_dot_74 loc_bar__minus_2_bar_0_bar_2_bar_60)\n (objectAtLocation Statue_bar__minus_00_dot_08_bar__plus_00_dot_06_bar__minus_00_dot_69 loc_bar_1_bar_2_bar_2_bar_45)\n )\n \n\n (:goal\n (and\n (exists (?r - receptacle)\n (exists (?o1 - object)\n (and\n (objectType ?o1 RemoteControlType)\n (receptacleType ?r SofaType)\n (inReceptacle ?o1 ?r)\n (exists (?o2 - object)\n (and\n (not (= ?o1 ?o2))\n (objectType ?o2 RemoteControlType)\n (receptacleType ?r SofaType)\n (inReceptacle ?o2 ?r)\n )\n )\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to shelf 1", "take remotecontrol 1 from shelf 1", "go to sofa 1", "move remotecontrol 1 to sofa 1", "go to coffeetable 1", "take remotecontrol 2 from coffeetable 1", "go to sofa 1", "move remotecontrol 2 to sofa 1"]}
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alfworld__pick_two_obj_and_place__25
|
pick_two_obj_and_place
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pick_two_obj_and_place-RemoteControl-None-Sofa-212/trial_T20190907_235247_981744/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 remotecontrol 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_235247_981744)\n(:domain alfred)\n(:objects\nagent1 - agent\nSaltShaker - object\n HousePlant - object\n Candle - object\n SprayBottle - object\n Bowl - object\n Window - object\n CD - object\n Egg - object\n Glassbottle - object\n Sink - object\n Pillow - object\n Spoon - object\n SoapBottle - object\n TeddyBear - object\n ButterKnife - object\n Cup - object\n Plate - object\n RemoteControl - object\n Tomato - object\n Statue - object\n HandTowel - object\n Knife - object\n StoveKnob - object\n LightSwitch - object\n Pen - object\n Painting - object\n DishSponge - object\n Vase - object\n Mug - object\n ToiletPaper - object\n Box - object\n Mirror - object\n Ladle - object\n Fork - object\n Blinds - object\n Footstool - object\n KeyChain - object\n Cloth - object\n Laptop - object\n TissueBox - object\n PepperShaker - object\n FloorLamp - object\n WateringCan - object\n Apple - object\n Pan - object\n PaperTowel - object\n PaperTowelRoll - object\n Newspaper - object\n Television - object\n Chair - object\n CellPhone - object\n CreditCard - object\n Lettuce - object\n BasketBall - object\n Potato - object\n Curtains - object\n Boots - object\n Pencil - object\n AlarmClock - object\n ToiletPaperRoll - object\n Spatula - object\n Book - object\n Bread - object\n SoapBar - object\n Watch - object\n DeskLamp - object\n Kettle - object\n Pot - object\n ScrubBrush - object\n WineBottle - object\n ShowerDoor - object\n Bathtub - object\n LaundryHamperLid - object\n ShowerGlass - object\n Poster - object\n TennisRacket - object\n BaseballBat - object\n Towel - object\n Plunger - object\nSaltShakerType - otype\n HousePlantType - otype\n CandleType - otype\n SprayBottleType - otype\n BowlType - otype\n WindowType - otype\n CDType - otype\n EggType - otype\n GlassbottleType - otype\n SinkType - otype\n PillowType - otype\n SpoonType - otype\n SoapBottleType - otype\n TeddyBearType - otype\n ButterKnifeType - otype\n CupType - otype\n PlateType - otype\n RemoteControlType - otype\n TomatoType - otype\n StatueType - otype\n HandTowelType - otype\n KnifeType - otype\n StoveKnobType - otype\n LightSwitchType - otype\n PenType - otype\n PaintingType - otype\n DishSpongeType - otype\n VaseType - otype\n MugType - otype\n ToiletPaperType - otype\n BoxType - otype\n MirrorType - otype\n LadleType - otype\n ForkType - otype\n BlindsType - otype\n FootstoolType - otype\n KeyChainType - otype\n ClothType - otype\n LaptopType - otype\n TissueBoxType - otype\n PepperShakerType - otype\n FloorLampType - otype\n WateringCanType - otype\n AppleType - otype\n PanType - otype\n PaperTowelType - otype\n PaperTowelRollType - otype\n NewspaperType - otype\n TelevisionType - otype\n ChairType - otype\n CellPhoneType - otype\n CreditCardType - otype\n LettuceType - otype\n BasketBallType - otype\n PotatoType - otype\n CurtainsType - otype\n BootsType - otype\n PencilType - otype\n AlarmClockType - otype\n ToiletPaperRollType - otype\n SpatulaType - otype\n BookType - otype\n BreadType - otype\n SoapBarType - otype\n WatchType - otype\n DeskLampType - otype\n KettleType - otype\n PotType - otype\n ScrubBrushType - otype\n WineBottleType - otype\n ShowerDoorType - otype\n BathtubType - otype\n LaundryHamperLidType - otype\n ShowerGlassType - otype\n PosterType - otype\n TennisRacketType - otype\n BaseballBatType - otype\n TowelType - otype\n PlungerType - otype\nSafeType - rtype\n DrawerType - rtype\n CoffeeMachineType - rtype\n HandTowelHolderType - rtype\n SinkBasinType - rtype\n DresserType - rtype\n LaundryHamperType - rtype\n TVStandType - rtype\n BathtubBasinType - rtype\n CabinetType - rtype\n FridgeType - rtype\n DeskType - rtype\n ToiletType - rtype\n CartType - rtype\n SideTableType - rtype\n SofaType - rtype\n CoffeeTableType - rtype\n DiningTableType - rtype\n CounterTopType - rtype\n GarbageCanType - rtype\n ArmChairType - rtype\n ShelfType - rtype\n MicrowaveType - rtype\n ToasterType - rtype\n BedType - rtype\n PaintingHangerType - rtype\n TowelHolderType - rtype\n ToiletPaperHangerType - rtype\n StoveBurnerType - rtype\n OttomanType - rtype\n\n\n Boots_bar__plus_04_dot_01_bar__plus_00_dot_00_bar__plus_01_dot_71 - object\n Box_bar__plus_01_dot_59_bar__plus_00_dot_58_bar__plus_01_dot_82 - object\n CreditCard_bar__plus_00_dot_97_bar__plus_00_dot_34_bar__plus_01_dot_89 - object\n CreditCard_bar__plus_02_dot_73_bar__plus_00_dot_32_bar__plus_01_dot_58 - object\n FloorLamp_bar__plus_03_dot_61_bar__plus_00_dot_00_bar__plus_02_dot_16 - object\n HousePlant_bar__plus_00_dot_39_bar__plus_00_dot_83_bar__minus_00_dot_73 - object\n KeyChain_bar__plus_02_dot_87_bar__plus_00_dot_33_bar__plus_01_dot_58 - object\n Laptop_bar__plus_01_dot_81_bar__plus_00_dot_47_bar__plus_00_dot_50 - object\n LightSwitch_bar__minus_01_dot_40_bar__plus_01_dot_29_bar__plus_01_dot_84 - object\n Newspaper_bar__plus_01_dot_18_bar__plus_00_dot_48_bar__plus_00_dot_43 - object\n Newspaper_bar__plus_02_dot_66_bar__plus_00_dot_32_bar__plus_01_dot_87 - object\n Newspaper_bar__minus_00_dot_13_bar__plus_00_dot_32_bar__plus_01_dot_74 - object\n Painting_bar__plus_04_dot_07_bar__plus_01_dot_95_bar__plus_00_dot_85 - object\n Pencil_bar__plus_02_dot_03_bar__plus_00_dot_48_bar__plus_00_dot_19 - object\n Pen_bar__plus_02_dot_01_bar__plus_00_dot_46_bar__minus_00_dot_77 - object\n Pen_bar__plus_03_dot_80_bar__plus_00_dot_77_bar__plus_00_dot_58 - object\n Pen_bar__minus_00_dot_62_bar__plus_00_dot_85_bar__minus_00_dot_82 - object\n Pillow_bar__plus_00_dot_65_bar__plus_00_dot_40_bar__plus_01_dot_71 - object\n RemoteControl_bar__plus_03_dot_81_bar__plus_00_dot_88_bar__plus_00_dot_97 - object\n RemoteControl_bar__minus_00_dot_13_bar__plus_00_dot_32_bar__plus_01_dot_52 - object\n RemoteControl_bar__minus_00_dot_42_bar__plus_00_dot_32_bar__plus_01_dot_53 - object\n Statue_bar__plus_01_dot_80_bar__plus_00_dot_09_bar__minus_00_dot_76 - object\n Statue_bar__minus_00_dot_53_bar__plus_00_dot_44_bar__minus_00_dot_74 - object\n Television_bar__plus_01_dot_90_bar__plus_01_dot_32_bar__minus_00_dot_84 - object\n TissueBox_bar__plus_01_dot_18_bar__plus_00_dot_48_bar__plus_00_dot_59 - object\n TissueBox_bar__plus_01_dot_32_bar__plus_00_dot_48_bar__plus_00_dot_27 - object\n TissueBox_bar__plus_03_dot_97_bar__plus_00_dot_88_bar__plus_00_dot_97 - object\n WateringCan_bar__plus_01_dot_61_bar__plus_00_dot_07_bar__minus_00_dot_70 - object\n Window_bar__plus_00_dot_02_bar__plus_02_dot_07_bar__plus_02_dot_49 - object\n Window_bar__plus_01_dot_57_bar__plus_02_dot_07_bar__plus_02_dot_49 - object\n ArmChair_bar__plus_02_dot_66_bar__plus_00_dot_00_bar__plus_01_dot_86 - receptacle\n ArmChair_bar__minus_00_dot_27_bar__plus_00_dot_00_bar__plus_01_dot_87 - receptacle\n CoffeeTable_bar__plus_01_dot_59_bar_00_dot_00_bar__plus_00_dot_45 - receptacle\n Drawer_bar__plus_03_dot_87_bar__plus_00_dot_78_bar__plus_00_dot_87 - receptacle\n GarbageCan_bar__plus_03_dot_83_bar__plus_00_dot_00_bar__minus_00_dot_50 - receptacle\n Shelf_bar__plus_01_dot_89_bar__plus_00_dot_13_bar__minus_00_dot_73 - receptacle\n Shelf_bar__plus_01_dot_89_bar__plus_00_dot_51_bar__minus_00_dot_73 - receptacle\n Shelf_bar__minus_00_dot_31_bar__plus_00_dot_13_bar__minus_00_dot_73 - receptacle\n Shelf_bar__minus_00_dot_31_bar__plus_00_dot_52_bar__minus_00_dot_73 - receptacle\n SideTable_bar__plus_03_dot_95_bar__plus_00_dot_00_bar__plus_00_dot_87 - receptacle\n Sofa_bar__plus_01_dot_17_bar__plus_00_dot_00_bar__plus_01_dot_87 - receptacle\n TVStand_bar__plus_01_dot_91_bar__plus_00_dot_04_bar__minus_00_dot_77 - receptacle\n TVStand_bar__minus_00_dot_29_bar__plus_00_dot_04_bar__minus_00_dot_77 - receptacle\n loc_bar__minus_2_bar_3_bar_0_bar_60 - location\n loc_bar_2_bar_0_bar_2_bar_45 - location\n loc_bar_13_bar__minus_1_bar_3_bar_45 - location\n loc_bar_14_bar_5_bar_1_bar_60 - location\n loc_bar_13_bar_3_bar_1_bar_60 - location\n loc_bar_0_bar_4_bar_0_bar__minus_15 - location\n loc_bar__minus_5_bar__minus_2_bar_1_bar_60 - location\n loc_bar_6_bar_4_bar_0_bar__minus_15 - location\n loc_bar_10_bar_2_bar_2_bar_45 - location\n loc_bar_5_bar_4_bar_0_bar_60 - location\n loc_bar_14_bar_3_bar_1_bar__minus_30 - location\n loc_bar_14_bar_5_bar_0_bar_60 - location\n loc_bar_10_bar_1_bar_2_bar_45 - location\n loc_bar_2_bar_0_bar_1_bar_60 - location\n loc_bar_10_bar_3_bar_0_bar_60 - location\n loc_bar_13_bar__minus_1_bar_1_bar_60 - location\n loc_bar__minus_2_bar_0_bar_2_bar_60 - location\n loc_bar__minus_3_bar_4_bar_0_bar_30 - location\n loc_bar_1_bar_2_bar_2_bar_45 - location\n loc_bar_8_bar_4_bar_2_bar_30 - location\n )\n \n\n(:init\n\n\n (receptacleType TVStand_bar__plus_01_dot_91_bar__plus_00_dot_04_bar__minus_00_dot_77 TVStandType)\n (receptacleType ArmChair_bar__plus_02_dot_66_bar__plus_00_dot_00_bar__plus_01_dot_86 ArmChairType)\n (receptacleType Shelf_bar__plus_01_dot_89_bar__plus_00_dot_51_bar__minus_00_dot_73 ShelfType)\n (receptacleType Shelf_bar__minus_00_dot_31_bar__plus_00_dot_13_bar__minus_00_dot_73 ShelfType)\n (receptacleType SideTable_bar__plus_03_dot_95_bar__plus_00_dot_00_bar__plus_00_dot_87 SideTableType)\n (receptacleType CoffeeTable_bar__plus_01_dot_59_bar_00_dot_00_bar__plus_00_dot_45 CoffeeTableType)\n (receptacleType Sofa_bar__plus_01_dot_17_bar__plus_00_dot_00_bar__plus_01_dot_87 SofaType)\n (receptacleType Shelf_bar__minus_00_dot_31_bar__plus_00_dot_52_bar__minus_00_dot_73 ShelfType)\n (receptacleType ArmChair_bar__minus_00_dot_27_bar__plus_00_dot_00_bar__plus_01_dot_87 ArmChairType)\n (receptacleType Drawer_bar__plus_03_dot_87_bar__plus_00_dot_78_bar__plus_00_dot_87 DrawerType)\n (receptacleType TVStand_bar__minus_00_dot_29_bar__plus_00_dot_04_bar__minus_00_dot_77 TVStandType)\n (receptacleType GarbageCan_bar__plus_03_dot_83_bar__plus_00_dot_00_bar__minus_00_dot_50 GarbageCanType)\n (receptacleType Shelf_bar__plus_01_dot_89_bar__plus_00_dot_13_bar__minus_00_dot_73 ShelfType)\n (objectType HousePlant_bar__plus_00_dot_39_bar__plus_00_dot_83_bar__minus_00_dot_73 HousePlantType)\n (objectType Pillow_bar__plus_00_dot_65_bar__plus_00_dot_40_bar__plus_01_dot_71 PillowType)\n (objectType RemoteControl_bar__minus_00_dot_13_bar__plus_00_dot_32_bar__plus_01_dot_52 RemoteControlType)\n (objectType RemoteControl_bar__minus_00_dot_42_bar__plus_00_dot_32_bar__plus_01_dot_53 RemoteControlType)\n (objectType Pen_bar__minus_00_dot_62_bar__plus_00_dot_85_bar__minus_00_dot_82 PenType)\n (objectType Laptop_bar__plus_01_dot_81_bar__plus_00_dot_47_bar__plus_00_dot_50 LaptopType)\n (objectType Window_bar__plus_00_dot_02_bar__plus_02_dot_07_bar__plus_02_dot_49 WindowType)\n (objectType Pen_bar__plus_02_dot_01_bar__plus_00_dot_46_bar__minus_00_dot_77 PenType)\n (objectType CreditCard_bar__plus_00_dot_97_bar__plus_00_dot_34_bar__plus_01_dot_89 CreditCardType)\n (objectType Pen_bar__plus_03_dot_80_bar__plus_00_dot_77_bar__plus_00_dot_58 PenType)\n (objectType Box_bar__plus_01_dot_59_bar__plus_00_dot_58_bar__plus_01_dot_82 BoxType)\n (objectType KeyChain_bar__plus_02_dot_87_bar__plus_00_dot_33_bar__plus_01_dot_58 KeyChainType)\n (objectType WateringCan_bar__plus_01_dot_61_bar__plus_00_dot_07_bar__minus_00_dot_70 WateringCanType)\n (objectType Newspaper_bar__minus_00_dot_13_bar__plus_00_dot_32_bar__plus_01_dot_74 NewspaperType)\n (objectType 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Television_bar__plus_01_dot_90_bar__plus_01_dot_32_bar__minus_00_dot_84 TelevisionType)\n (objectType Pencil_bar__plus_02_dot_03_bar__plus_00_dot_48_bar__plus_00_dot_19 PencilType)\n (objectType Newspaper_bar__plus_02_dot_66_bar__plus_00_dot_32_bar__plus_01_dot_87 NewspaperType)\n (objectType FloorLamp_bar__plus_03_dot_61_bar__plus_00_dot_00_bar__plus_02_dot_16 FloorLampType)\n (objectType Window_bar__plus_01_dot_57_bar__plus_02_dot_07_bar__plus_02_dot_49 WindowType)\n (objectType TissueBox_bar__plus_01_dot_32_bar__plus_00_dot_48_bar__plus_00_dot_27 TissueBoxType)\n (canContain TVStandType TissueBoxType)\n (canContain ArmChairType BoxType)\n (canContain ArmChairType LaptopType)\n (canContain ArmChairType PillowType)\n (canContain ArmChairType RemoteControlType)\n (canContain ArmChairType KeyChainType)\n (canContain ArmChairType NewspaperType)\n (canContain ArmChairType CreditCardType)\n (canContain ShelfType PenType)\n (canContain ShelfType NewspaperType)\n (canContain ShelfType 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(canContain SideTableType TissueBoxType)\n (canContain SideTableType StatueType)\n (canContain SideTableType WateringCanType)\n (canContain CoffeeTableType PenType)\n (canContain CoffeeTableType NewspaperType)\n (canContain CoffeeTableType BoxType)\n (canContain CoffeeTableType KeyChainType)\n (canContain CoffeeTableType CreditCardType)\n (canContain CoffeeTableType LaptopType)\n (canContain CoffeeTableType PencilType)\n (canContain CoffeeTableType RemoteControlType)\n (canContain CoffeeTableType TissueBoxType)\n (canContain CoffeeTableType StatueType)\n (canContain CoffeeTableType WateringCanType)\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 ShelfType PenType)\n (canContain ShelfType NewspaperType)\n (canContain ShelfType BoxType)\n (canContain ShelfType KeyChainType)\n (canContain ShelfType CreditCardType)\n (canContain ShelfType PencilType)\n (canContain ShelfType RemoteControlType)\n (canContain ShelfType TissueBoxType)\n (canContain ShelfType StatueType)\n (canContain ShelfType 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 (canContain DrawerType PenType)\n (canContain DrawerType NewspaperType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType PencilType)\n (canContain DrawerType RemoteControlType)\n (canContain DrawerType TissueBoxType)\n (canContain DrawerType WateringCanType)\n (canContain TVStandType TissueBoxType)\n (canContain GarbageCanType PenType)\n (canContain GarbageCanType NewspaperType)\n (canContain 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WateringCan_bar__plus_01_dot_61_bar__plus_00_dot_07_bar__minus_00_dot_70 Shelf_bar__plus_01_dot_89_bar__plus_00_dot_13_bar__minus_00_dot_73)\n (inReceptacle Statue_bar__plus_01_dot_80_bar__plus_00_dot_09_bar__minus_00_dot_76 Shelf_bar__plus_01_dot_89_bar__plus_00_dot_13_bar__minus_00_dot_73)\n (inReceptacle CreditCard_bar__plus_02_dot_73_bar__plus_00_dot_32_bar__plus_01_dot_58 ArmChair_bar__plus_02_dot_66_bar__plus_00_dot_00_bar__plus_01_dot_86)\n (inReceptacle Newspaper_bar__plus_02_dot_66_bar__plus_00_dot_32_bar__plus_01_dot_87 ArmChair_bar__plus_02_dot_66_bar__plus_00_dot_00_bar__plus_01_dot_86)\n (inReceptacle KeyChain_bar__plus_02_dot_87_bar__plus_00_dot_33_bar__plus_01_dot_58 ArmChair_bar__plus_02_dot_66_bar__plus_00_dot_00_bar__plus_01_dot_86)\n (inReceptacle Pen_bar__plus_03_dot_80_bar__plus_00_dot_77_bar__plus_00_dot_58 Drawer_bar__plus_03_dot_87_bar__plus_00_dot_78_bar__plus_00_dot_87)\n (inReceptacle Laptop_bar__plus_01_dot_81_bar__plus_00_dot_47_bar__plus_00_dot_50 CoffeeTable_bar__plus_01_dot_59_bar_00_dot_00_bar__plus_00_dot_45)\n (inReceptacle Pencil_bar__plus_02_dot_03_bar__plus_00_dot_48_bar__plus_00_dot_19 CoffeeTable_bar__plus_01_dot_59_bar_00_dot_00_bar__plus_00_dot_45)\n (inReceptacle Newspaper_bar__plus_01_dot_18_bar__plus_00_dot_48_bar__plus_00_dot_43 CoffeeTable_bar__plus_01_dot_59_bar_00_dot_00_bar__plus_00_dot_45)\n (inReceptacle TissueBox_bar__plus_01_dot_18_bar__plus_00_dot_48_bar__plus_00_dot_59 CoffeeTable_bar__plus_01_dot_59_bar_00_dot_00_bar__plus_00_dot_45)\n (inReceptacle TissueBox_bar__plus_01_dot_32_bar__plus_00_dot_48_bar__plus_00_dot_27 CoffeeTable_bar__plus_01_dot_59_bar_00_dot_00_bar__plus_00_dot_45)\n (inReceptacle Pillow_bar__plus_00_dot_65_bar__plus_00_dot_40_bar__plus_01_dot_71 Sofa_bar__plus_01_dot_17_bar__plus_00_dot_00_bar__plus_01_dot_87)\n (inReceptacle CreditCard_bar__plus_00_dot_97_bar__plus_00_dot_34_bar__plus_01_dot_89 Sofa_bar__plus_01_dot_17_bar__plus_00_dot_00_bar__plus_01_dot_87)\n (inReceptacle Box_bar__plus_01_dot_59_bar__plus_00_dot_58_bar__plus_01_dot_82 Sofa_bar__plus_01_dot_17_bar__plus_00_dot_00_bar__plus_01_dot_87)\n (inReceptacle Statue_bar__minus_00_dot_53_bar__plus_00_dot_44_bar__minus_00_dot_74 Shelf_bar__minus_00_dot_31_bar__plus_00_dot_52_bar__minus_00_dot_73)\n (inReceptacle RemoteControl_bar__minus_00_dot_42_bar__plus_00_dot_32_bar__plus_01_dot_53 ArmChair_bar__minus_00_dot_27_bar__plus_00_dot_00_bar__plus_01_dot_87)\n (inReceptacle RemoteControl_bar__minus_00_dot_13_bar__plus_00_dot_32_bar__plus_01_dot_52 ArmChair_bar__minus_00_dot_27_bar__plus_00_dot_00_bar__plus_01_dot_87)\n (inReceptacle Newspaper_bar__minus_00_dot_13_bar__plus_00_dot_32_bar__plus_01_dot_74 ArmChair_bar__minus_00_dot_27_bar__plus_00_dot_00_bar__plus_01_dot_87)\n (inReceptacle Pen_bar__plus_02_dot_01_bar__plus_00_dot_46_bar__minus_00_dot_77 Shelf_bar__plus_01_dot_89_bar__plus_00_dot_51_bar__minus_00_dot_73)\n (inReceptacle TissueBox_bar__plus_03_dot_97_bar__plus_00_dot_88_bar__plus_00_dot_97 SideTable_bar__plus_03_dot_95_bar__plus_00_dot_00_bar__plus_00_dot_87)\n (inReceptacle RemoteControl_bar__plus_03_dot_81_bar__plus_00_dot_88_bar__plus_00_dot_97 SideTable_bar__plus_03_dot_95_bar__plus_00_dot_00_bar__plus_00_dot_87)\n (inReceptacle Television_bar__plus_01_dot_90_bar__plus_01_dot_32_bar__minus_00_dot_84 TVStand_bar__plus_01_dot_91_bar__plus_00_dot_04_bar__minus_00_dot_77)\n \n \n (receptacleAtLocation ArmChair_bar__plus_02_dot_66_bar__plus_00_dot_00_bar__plus_01_dot_86 loc_bar_10_bar_3_bar_0_bar_60)\n (receptacleAtLocation ArmChair_bar__minus_00_dot_27_bar__plus_00_dot_00_bar__plus_01_dot_87 loc_bar__minus_2_bar_3_bar_0_bar_60)\n (receptacleAtLocation CoffeeTable_bar__plus_01_dot_59_bar_00_dot_00_bar__plus_00_dot_45 loc_bar_2_bar_0_bar_1_bar_60)\n (receptacleAtLocation Drawer_bar__plus_03_dot_87_bar__plus_00_dot_78_bar__plus_00_dot_87 loc_bar_13_bar_3_bar_1_bar_60)\n (receptacleAtLocation GarbageCan_bar__plus_03_dot_83_bar__plus_00_dot_00_bar__minus_00_dot_50 loc_bar_13_bar__minus_1_bar_1_bar_60)\n (receptacleAtLocation Shelf_bar__plus_01_dot_89_bar__plus_00_dot_13_bar__minus_00_dot_73 loc_bar_10_bar_2_bar_2_bar_45)\n (receptacleAtLocation Shelf_bar__plus_01_dot_89_bar__plus_00_dot_51_bar__minus_00_dot_73 loc_bar_10_bar_1_bar_2_bar_45)\n (receptacleAtLocation Shelf_bar__minus_00_dot_31_bar__plus_00_dot_13_bar__minus_00_dot_73 loc_bar_1_bar_2_bar_2_bar_45)\n (receptacleAtLocation Shelf_bar__minus_00_dot_31_bar__plus_00_dot_52_bar__minus_00_dot_73 loc_bar__minus_2_bar_0_bar_2_bar_60)\n (receptacleAtLocation SideTable_bar__plus_03_dot_95_bar__plus_00_dot_00_bar__plus_00_dot_87 loc_bar_13_bar_3_bar_1_bar_60)\n (receptacleAtLocation Sofa_bar__plus_01_dot_17_bar__plus_00_dot_00_bar__plus_01_dot_87 loc_bar_5_bar_4_bar_0_bar_60)\n (receptacleAtLocation TVStand_bar__plus_01_dot_91_bar__plus_00_dot_04_bar__minus_00_dot_77 loc_bar_13_bar__minus_1_bar_3_bar_45)\n (receptacleAtLocation TVStand_bar__minus_00_dot_29_bar__plus_00_dot_04_bar__minus_00_dot_77 loc_bar__minus_5_bar__minus_2_bar_1_bar_60)\n (objectAtLocation CreditCard_bar__plus_00_dot_97_bar__plus_00_dot_34_bar__plus_01_dot_89 loc_bar_5_bar_4_bar_0_bar_60)\n (objectAtLocation RemoteControl_bar__plus_03_dot_81_bar__plus_00_dot_88_bar__plus_00_dot_97 loc_bar_13_bar_3_bar_1_bar_60)\n (objectAtLocation Pen_bar__plus_02_dot_01_bar__plus_00_dot_46_bar__minus_00_dot_77 loc_bar_10_bar_1_bar_2_bar_45)\n (objectAtLocation TissueBox_bar__plus_01_dot_32_bar__plus_00_dot_48_bar__plus_00_dot_27 loc_bar_2_bar_0_bar_1_bar_60)\n (objectAtLocation Newspaper_bar__minus_00_dot_13_bar__plus_00_dot_32_bar__plus_01_dot_74 loc_bar__minus_2_bar_3_bar_0_bar_60)\n (objectAtLocation RemoteControl_bar__minus_00_dot_42_bar__plus_00_dot_32_bar__plus_01_dot_53 loc_bar__minus_2_bar_3_bar_0_bar_60)\n (objectAtLocation Pen_bar__minus_00_dot_62_bar__plus_00_dot_85_bar__minus_00_dot_82 loc_bar__minus_5_bar__minus_2_bar_1_bar_60)\n (objectAtLocation Newspaper_bar__plus_01_dot_18_bar__plus_00_dot_48_bar__plus_00_dot_43 loc_bar_2_bar_0_bar_1_bar_60)\n (objectAtLocation TissueBox_bar__plus_01_dot_18_bar__plus_00_dot_48_bar__plus_00_dot_59 loc_bar_2_bar_0_bar_1_bar_60)\n (objectAtLocation Box_bar__plus_01_dot_59_bar__plus_00_dot_58_bar__plus_01_dot_82 loc_bar_5_bar_4_bar_0_bar_60)\n (objectAtLocation FloorLamp_bar__plus_03_dot_61_bar__plus_00_dot_00_bar__plus_02_dot_16 loc_bar_14_bar_5_bar_0_bar_60)\n (objectAtLocation Newspaper_bar__plus_02_dot_66_bar__plus_00_dot_32_bar__plus_01_dot_87 loc_bar_10_bar_3_bar_0_bar_60)\n (objectAtLocation Laptop_bar__plus_01_dot_81_bar__plus_00_dot_47_bar__plus_00_dot_50 loc_bar_2_bar_0_bar_1_bar_60)\n (objectAtLocation WateringCan_bar__plus_01_dot_61_bar__plus_00_dot_07_bar__minus_00_dot_70 loc_bar_10_bar_2_bar_2_bar_45)\n (objectAtLocation TissueBox_bar__plus_03_dot_97_bar__plus_00_dot_88_bar__plus_00_dot_97 loc_bar_13_bar_3_bar_1_bar_60)\n (objectAtLocation KeyChain_bar__plus_02_dot_87_bar__plus_00_dot_33_bar__plus_01_dot_58 loc_bar_10_bar_3_bar_0_bar_60)\n (objectAtLocation Pen_bar__plus_03_dot_80_bar__plus_00_dot_77_bar__plus_00_dot_58 loc_bar_13_bar_3_bar_1_bar_60)\n (objectAtLocation Boots_bar__plus_04_dot_01_bar__plus_00_dot_00_bar__plus_01_dot_71 loc_bar_14_bar_5_bar_1_bar_60)\n (objectAtLocation Television_bar__plus_01_dot_90_bar__plus_01_dot_32_bar__minus_00_dot_84 loc_bar_13_bar__minus_1_bar_3_bar_45)\n (objectAtLocation Pencil_bar__plus_02_dot_03_bar__plus_00_dot_48_bar__plus_00_dot_19 loc_bar_2_bar_0_bar_1_bar_60)\n (objectAtLocation RemoteControl_bar__minus_00_dot_13_bar__plus_00_dot_32_bar__plus_01_dot_52 loc_bar__minus_2_bar_3_bar_0_bar_60)\n (objectAtLocation Painting_bar__plus_04_dot_07_bar__plus_01_dot_95_bar__plus_00_dot_85 loc_bar_14_bar_3_bar_1_bar__minus_30)\n (objectAtLocation CreditCard_bar__plus_02_dot_73_bar__plus_00_dot_32_bar__plus_01_dot_58 loc_bar_10_bar_3_bar_0_bar_60)\n (objectAtLocation HousePlant_bar__plus_00_dot_39_bar__plus_00_dot_83_bar__minus_00_dot_73 loc_bar_2_bar_0_bar_2_bar_45)\n (objectAtLocation Window_bar__plus_00_dot_02_bar__plus_02_dot_07_bar__plus_02_dot_49 loc_bar_0_bar_4_bar_0_bar__minus_15)\n (objectAtLocation Window_bar__plus_01_dot_57_bar__plus_02_dot_07_bar__plus_02_dot_49 loc_bar_6_bar_4_bar_0_bar__minus_15)\n (objectAtLocation Pillow_bar__plus_00_dot_65_bar__plus_00_dot_40_bar__plus_01_dot_71 loc_bar_5_bar_4_bar_0_bar_60)\n (objectAtLocation LightSwitch_bar__minus_01_dot_40_bar__plus_01_dot_29_bar__plus_01_dot_84 loc_bar__minus_3_bar_4_bar_0_bar_30)\n (objectAtLocation Statue_bar__minus_00_dot_53_bar__plus_00_dot_44_bar__minus_00_dot_74 loc_bar__minus_2_bar_0_bar_2_bar_60)\n (objectAtLocation Statue_bar__plus_01_dot_80_bar__plus_00_dot_09_bar__minus_00_dot_76 loc_bar_10_bar_2_bar_2_bar_45)\n )\n \n\n (:goal\n (and\n (exists (?r - receptacle)\n (exists (?o1 - object)\n (and\n (objectType ?o1 RemoteControlType)\n (receptacleType ?r SofaType)\n (inReceptacle ?o1 ?r)\n (exists (?o2 - object)\n (and\n (not (= ?o1 ?o2))\n (objectType ?o2 RemoteControlType)\n (receptacleType ?r SofaType)\n (inReceptacle ?o2 ?r)\n )\n )\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to drawer 1", "take remotecontrol 1 from sidetable 1", "go to sofa 1", "move remotecontrol 1 to sofa 1", "go to armchair 2", "take remotecontrol 3 from armchair 2", "go to sofa 1", "move remotecontrol 3 to sofa 1"]}
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alfworld__pick_two_obj_and_place__26
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pick_two_obj_and_place
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pick_two_obj_and_place-Candle-None-Cabinet-414/trial_T20190908_190650_163902/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 candle 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_T20190908_190650_163902)\n(:domain alfred)\n(:objects\nagent1 - agent\nSaltShaker - object\n HousePlant - object\n Candle - object\n SprayBottle - object\n Bowl - object\n Window - object\n CD - object\n Egg - object\n Glassbottle - object\n Sink - object\n Pillow - object\n Spoon - object\n SoapBottle - object\n TeddyBear - object\n ButterKnife - object\n Cup - object\n Plate - object\n RemoteControl - object\n Tomato - object\n Statue - object\n HandTowel - object\n Knife - object\n StoveKnob - object\n LightSwitch - object\n Pen - object\n Painting - object\n DishSponge - object\n Vase - object\n Mug - object\n ToiletPaper - object\n Box - object\n Mirror - object\n Ladle - object\n Fork - object\n Blinds - object\n Footstool - object\n KeyChain - object\n Cloth - object\n Laptop - object\n TissueBox - object\n PepperShaker - object\n FloorLamp - object\n WateringCan - object\n Apple - object\n Pan - object\n PaperTowel - object\n PaperTowelRoll - object\n Newspaper - object\n Television - object\n Chair - object\n CellPhone - object\n CreditCard - object\n Lettuce - object\n BasketBall - object\n Potato - object\n Curtains - object\n Boots - object\n Pencil - object\n AlarmClock - object\n ToiletPaperRoll - object\n Spatula - object\n Book - object\n Bread - object\n SoapBar - object\n Watch - object\n DeskLamp - object\n Kettle - object\n Pot - object\n ScrubBrush - object\n WineBottle - object\n ShowerDoor - object\n Bathtub - object\n LaundryHamperLid - object\n ShowerGlass - object\n Poster - object\n TennisRacket - object\n BaseballBat - object\n Towel - object\n Plunger - object\nSaltShakerType - otype\n HousePlantType - otype\n CandleType - otype\n SprayBottleType - otype\n BowlType - otype\n WindowType - otype\n CDType - otype\n EggType - otype\n GlassbottleType - otype\n SinkType - otype\n PillowType - otype\n SpoonType - otype\n SoapBottleType - otype\n TeddyBearType - otype\n ButterKnifeType - otype\n CupType - otype\n PlateType - otype\n RemoteControlType - otype\n TomatoType - otype\n StatueType - otype\n HandTowelType - otype\n KnifeType - otype\n StoveKnobType - otype\n LightSwitchType - otype\n PenType - otype\n PaintingType - otype\n DishSpongeType - otype\n VaseType - otype\n MugType - otype\n ToiletPaperType - otype\n BoxType - otype\n MirrorType - otype\n LadleType - otype\n ForkType - otype\n BlindsType - otype\n FootstoolType - otype\n KeyChainType - otype\n ClothType - otype\n LaptopType - otype\n TissueBoxType - otype\n PepperShakerType - otype\n FloorLampType - otype\n WateringCanType - otype\n AppleType - otype\n PanType - otype\n PaperTowelType - otype\n PaperTowelRollType - otype\n NewspaperType - otype\n TelevisionType - otype\n ChairType - otype\n CellPhoneType - otype\n CreditCardType - otype\n LettuceType - otype\n BasketBallType - otype\n PotatoType - otype\n CurtainsType - otype\n BootsType - otype\n PencilType - otype\n AlarmClockType - otype\n ToiletPaperRollType - otype\n SpatulaType - otype\n BookType - otype\n BreadType - otype\n SoapBarType - otype\n WatchType - otype\n DeskLampType - otype\n KettleType - otype\n PotType - otype\n ScrubBrushType - otype\n WineBottleType - otype\n ShowerDoorType - otype\n BathtubType - otype\n LaundryHamperLidType - otype\n ShowerGlassType - otype\n PosterType - otype\n TennisRacketType - otype\n BaseballBatType - otype\n TowelType - otype\n PlungerType - otype\nSafeType - rtype\n DrawerType - rtype\n CoffeeMachineType - rtype\n HandTowelHolderType - rtype\n SinkBasinType - rtype\n DresserType - rtype\n LaundryHamperType - rtype\n TVStandType - rtype\n BathtubBasinType - rtype\n CabinetType - rtype\n FridgeType - rtype\n DeskType - rtype\n ToiletType - rtype\n CartType - rtype\n SideTableType - rtype\n SofaType - rtype\n CoffeeTableType - rtype\n DiningTableType - rtype\n CounterTopType - rtype\n GarbageCanType - rtype\n ArmChairType - rtype\n ShelfType - rtype\n MicrowaveType - rtype\n ToasterType - rtype\n BedType - rtype\n PaintingHangerType - rtype\n TowelHolderType - rtype\n ToiletPaperHangerType - rtype\n StoveBurnerType - rtype\n OttomanType - rtype\n\n\n Bathtub_bar__minus_00_dot_44_bar__plus_00_dot_18_bar__plus_01_dot_58 - object\n Candle_bar__minus_02_dot_75_bar__plus_00_dot_94_bar__plus_02_dot_73 - object\n Candle_bar__minus_02_dot_84_bar__plus_01_dot_09_bar__plus_00_dot_78 - object\n Cloth_bar__minus_02_dot_71_bar__plus_00_dot_91_bar__plus_03_dot_03 - object\n DishSponge_bar__minus_02_dot_61_bar__plus_01_dot_67_bar__plus_03_dot_00 - object\n Faucet_bar__minus_00_dot_77_bar__plus_00_dot_42_bar__plus_01_dot_00 - object\n Faucet_bar__minus_02_dot_93_bar__plus_00_dot_98_bar__plus_02_dot_23 - object\n HandTowel_bar__minus_02_dot_70_bar__plus_01_dot_52_bar__plus_02_dot_87 - object\n LightSwitch_bar__minus_01_dot_68_bar__plus_01_dot_44_bar__plus_03_dot_61 - object\n Mirror_bar__minus_02_dot_97_bar__plus_01_dot_61_bar__plus_02_dot_27 - object\n PaperTowelRoll_bar__minus_02_dot_88_bar__plus_01_dot_31_bar__plus_01_dot_43 - object\n Plunger_bar__minus_02_dot_84_bar__plus_00_dot_00_bar__plus_00_dot_13 - object\n ScrubBrush_bar__minus_02_dot_83_bar__plus_00_dot_00_bar__plus_00_dot_30 - object\n Sink_bar__minus_02_dot_72_bar__plus_00_dot_86_bar__plus_02_dot_23 - object\n SoapBar_bar__minus_00_dot_23_bar__plus_00_dot_06_bar__plus_00_dot_22 - object\n SoapBar_bar__minus_00_dot_38_bar__plus_00_dot_19_bar__plus_01_dot_33 - object\n SoapBottle_bar__minus_02_dot_61_bar__plus_01_dot_21_bar__plus_01_dot_49 - object\n SoapBottle_bar__minus_02_dot_67_bar__plus_00_dot_09_bar__plus_02_dot_13 - object\n SoapBottle_bar__minus_02_dot_79_bar__plus_00_dot_09_bar__plus_02_dot_66 - object\n SprayBottle_bar__minus_02_dot_81_bar__plus_01_dot_08_bar__plus_00_dot_65 - object\n ToiletPaper_bar__minus_02_dot_43_bar__plus_01_dot_20_bar__plus_01_dot_43 - object\n ToiletPaper_bar__minus_02_dot_79_bar__plus_01_dot_20_bar__plus_01_dot_40 - object\n ToiletPaper_bar__minus_02_dot_93_bar__plus_01_dot_07_bar__plus_00_dot_65 - object\n Towel_bar__minus_00_dot_11_bar__plus_01_dot_51_bar__plus_01_dot_94 - object\n Window_bar__minus_02_dot_26_bar__plus_01_dot_66_bar__minus_00_dot_02 - object\n Bathtub_bar__minus_00_dot_44_bar__plus_00_dot_18_bar__plus_01_dot_58_bar_BathtubBasin - receptacle\n Cabinet_bar__minus_02_dot_41_bar__plus_00_dot_37_bar__plus_01_dot_59 - receptacle\n Cabinet_bar__minus_02_dot_41_bar__plus_00_dot_37_bar__plus_02_dot_04 - receptacle\n Cabinet_bar__minus_02_dot_41_bar__plus_00_dot_37_bar__plus_02_dot_86 - receptacle\n Cabinet_bar__minus_02_dot_41_bar__plus_00_dot_37_bar__plus_02_dot_91 - receptacle\n Cabinet_bar__minus_02_dot_41_bar__plus_00_dot_37_bar__plus_03_dot_57 - receptacle\n Cabinet_bar__minus_02_dot_41_bar__plus_01_dot_26_bar__plus_02_dot_91 - receptacle\n Cabinet_bar__minus_02_dot_41_bar__plus_01_dot_26_bar__plus_03_dot_57 - receptacle\n Cabinet_bar__minus_02_dot_41_bar__plus_02_dot_02_bar__plus_02_dot_91 - receptacle\n Cabinet_bar__minus_02_dot_41_bar__plus_02_dot_02_bar__plus_03_dot_57 - receptacle\n CounterTop_bar__minus_02_dot_61_bar__plus_01_dot_24_bar__plus_01_dot_46 - receptacle\n CounterTop_bar__minus_02_dot_69_bar__plus_00_dot_97_bar__plus_02_dot_26 - receptacle\n Drawer_bar__minus_02_dot_64_bar__plus_00_dot_77_bar__plus_03_dot_24 - receptacle\n GarbageCan_bar__minus_00_dot_21_bar__plus_00_dot_00_bar__plus_00_dot_25 - receptacle\n HandTowelHolder_bar__minus_02_dot_70_bar__plus_01_dot_62_bar__plus_02_dot_91 - receptacle\n Sink_bar__minus_02_dot_72_bar__plus_00_dot_86_bar__plus_02_dot_23_bar_SinkBasin - receptacle\n ToiletPaperHanger_bar__minus_02_dot_29_bar__plus_00_dot_91_bar__plus_00_dot_00 - receptacle\n Toilet_bar__minus_02_dot_58_bar__plus_00_dot_03_bar__plus_00_dot_66 - receptacle\n TowelHolder_bar__plus_00_dot_00_bar__plus_01_dot_50_bar__plus_01_dot_94 - receptacle\n loc_bar__minus_7_bar_12_bar_3_bar_45 - location\n loc_bar__minus_6_bar_12_bar_3_bar_30 - location\n loc_bar__minus_7_bar_2_bar_2_bar_0 - location\n loc_bar__minus_5_bar_8_bar_1_bar_0 - location\n loc_bar__minus_4_bar_11_bar_2_bar_45 - location\n loc_bar__minus_7_bar_12_bar_3_bar_0 - location\n loc_bar__minus_6_bar_11_bar_3_bar_60 - location\n loc_bar__minus_5_bar_6_bar_1_bar_60 - location\n loc_bar__minus_7_bar_12_bar_0_bar_15 - location\n loc_bar__minus_7_bar_2_bar_3_bar_60 - location\n loc_bar__minus_8_bar_9_bar_3_bar_0 - location\n loc_bar__minus_8_bar_5_bar_2_bar_60 - location\n loc_bar__minus_7_bar_12_bar_3_bar__minus_30 - location\n loc_bar__minus_8_bar_10_bar_3_bar_45 - location\n loc_bar__minus_7_bar_12_bar_3_bar_30 - location\n loc_bar__minus_2_bar_2_bar_1_bar_60 - location\n loc_bar__minus_6_bar_7_bar_3_bar_60 - location\n loc_bar__minus_8_bar_5_bar_3_bar_30 - location\n loc_bar__minus_8_bar_9_bar_3_bar_45 - location\n loc_bar__minus_6_bar_12_bar_3_bar_60 - location\n loc_bar__minus_6_bar_9_bar_3_bar_60 - location\n loc_bar__minus_5_bar_12_bar_2_bar_30 - location\n )\n \n\n(:init\n\n\n (receptacleType HandTowelHolder_bar__minus_02_dot_70_bar__plus_01_dot_62_bar__plus_02_dot_91 HandTowelHolderType)\n (receptacleType Cabinet_bar__minus_02_dot_41_bar__plus_02_dot_02_bar__plus_03_dot_57 CabinetType)\n (receptacleType TowelHolder_bar__plus_00_dot_00_bar__plus_01_dot_50_bar__plus_01_dot_94 TowelHolderType)\n (receptacleType Drawer_bar__minus_02_dot_64_bar__plus_00_dot_77_bar__plus_03_dot_24 DrawerType)\n (receptacleType GarbageCan_bar__minus_00_dot_21_bar__plus_00_dot_00_bar__plus_00_dot_25 GarbageCanType)\n (receptacleType Cabinet_bar__minus_02_dot_41_bar__plus_02_dot_02_bar__plus_02_dot_91 CabinetType)\n (receptacleType Cabinet_bar__minus_02_dot_41_bar__plus_00_dot_37_bar__plus_01_dot_59 CabinetType)\n (receptacleType Cabinet_bar__minus_02_dot_41_bar__plus_00_dot_37_bar__plus_02_dot_04 CabinetType)\n (receptacleType Cabinet_bar__minus_02_dot_41_bar__plus_00_dot_37_bar__plus_02_dot_91 CabinetType)\n (receptacleType ToiletPaperHanger_bar__minus_02_dot_29_bar__plus_00_dot_91_bar__plus_00_dot_00 ToiletPaperHangerType)\n (receptacleType Cabinet_bar__minus_02_dot_41_bar__plus_00_dot_37_bar__plus_02_dot_86 CabinetType)\n (receptacleType CounterTop_bar__minus_02_dot_69_bar__plus_00_dot_97_bar__plus_02_dot_26 CounterTopType)\n (receptacleType Bathtub_bar__minus_00_dot_44_bar__plus_00_dot_18_bar__plus_01_dot_58_bar_BathtubBasin BathtubBasinType)\n (receptacleType Sink_bar__minus_02_dot_72_bar__plus_00_dot_86_bar__plus_02_dot_23_bar_SinkBasin SinkBasinType)\n (receptacleType Cabinet_bar__minus_02_dot_41_bar__plus_01_dot_26_bar__plus_03_dot_57 CabinetType)\n (receptacleType CounterTop_bar__minus_02_dot_61_bar__plus_01_dot_24_bar__plus_01_dot_46 CounterTopType)\n (receptacleType Cabinet_bar__minus_02_dot_41_bar__plus_01_dot_26_bar__plus_02_dot_91 CabinetType)\n (receptacleType Cabinet_bar__minus_02_dot_41_bar__plus_00_dot_37_bar__plus_03_dot_57 CabinetType)\n (receptacleType Toilet_bar__minus_02_dot_58_bar__plus_00_dot_03_bar__plus_00_dot_66 ToiletType)\n (objectType Bathtub_bar__minus_00_dot_44_bar__plus_00_dot_18_bar__plus_01_dot_58 BathtubType)\n (objectType Cloth_bar__minus_02_dot_71_bar__plus_00_dot_91_bar__plus_03_dot_03 ClothType)\n (objectType Candle_bar__minus_02_dot_75_bar__plus_00_dot_94_bar__plus_02_dot_73 CandleType)\n (objectType Candle_bar__minus_02_dot_84_bar__plus_01_dot_09_bar__plus_00_dot_78 CandleType)\n (objectType DishSponge_bar__minus_02_dot_61_bar__plus_01_dot_67_bar__plus_03_dot_00 DishSpongeType)\n (objectType ScrubBrush_bar__minus_02_dot_83_bar__plus_00_dot_00_bar__plus_00_dot_30 ScrubBrushType)\n (objectType Towel_bar__minus_00_dot_11_bar__plus_01_dot_51_bar__plus_01_dot_94 TowelType)\n (objectType ToiletPaper_bar__minus_02_dot_43_bar__plus_01_dot_20_bar__plus_01_dot_43 ToiletPaperType)\n (objectType HandTowel_bar__minus_02_dot_70_bar__plus_01_dot_52_bar__plus_02_dot_87 HandTowelType)\n (objectType SoapBottle_bar__minus_02_dot_79_bar__plus_00_dot_09_bar__plus_02_dot_66 SoapBottleType)\n (objectType Mirror_bar__minus_02_dot_97_bar__plus_01_dot_61_bar__plus_02_dot_27 MirrorType)\n (objectType SoapBar_bar__minus_00_dot_38_bar__plus_00_dot_19_bar__plus_01_dot_33 SoapBarType)\n (objectType ToiletPaper_bar__minus_02_dot_79_bar__plus_01_dot_20_bar__plus_01_dot_40 ToiletPaperType)\n (objectType LightSwitch_bar__minus_01_dot_68_bar__plus_01_dot_44_bar__plus_03_dot_61 LightSwitchType)\n (objectType SoapBottle_bar__minus_02_dot_61_bar__plus_01_dot_21_bar__plus_01_dot_49 SoapBottleType)\n (objectType Plunger_bar__minus_02_dot_84_bar__plus_00_dot_00_bar__plus_00_dot_13 PlungerType)\n (objectType Sink_bar__minus_02_dot_72_bar__plus_00_dot_86_bar__plus_02_dot_23 SinkType)\n (objectType SprayBottle_bar__minus_02_dot_81_bar__plus_01_dot_08_bar__plus_00_dot_65 SprayBottleType)\n (objectType ToiletPaper_bar__minus_02_dot_93_bar__plus_01_dot_07_bar__plus_00_dot_65 ToiletPaperType)\n (objectType SoapBottle_bar__minus_02_dot_67_bar__plus_00_dot_09_bar__plus_02_dot_13 SoapBottleType)\n (objectType PaperTowelRoll_bar__minus_02_dot_88_bar__plus_01_dot_31_bar__plus_01_dot_43 PaperTowelRollType)\n (objectType Window_bar__minus_02_dot_26_bar__plus_01_dot_66_bar__minus_00_dot_02 WindowType)\n (objectType SoapBar_bar__minus_00_dot_23_bar__plus_00_dot_06_bar__plus_00_dot_22 SoapBarType)\n (canContain HandTowelHolderType HandTowelType)\n (canContain CabinetType CandleType)\n (canContain CabinetType SoapBarType)\n (canContain CabinetType DishSpongeType)\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 DrawerType CandleType)\n (canContain DrawerType SoapBarType)\n (canContain DrawerType DishSpongeType)\n (canContain DrawerType SprayBottleType)\n (canContain DrawerType ToiletPaperType)\n (canContain DrawerType SoapBottleType)\n (canContain DrawerType ClothType)\n (canContain DrawerType HandTowelType)\n (canContain GarbageCanType SoapBarType)\n (canContain GarbageCanType DishSpongeType)\n (canContain GarbageCanType SprayBottleType)\n (canContain GarbageCanType ToiletPaperType)\n (canContain GarbageCanType SoapBottleType)\n (canContain GarbageCanType ClothType)\n (canContain GarbageCanType HandTowelType)\n (canContain CabinetType CandleType)\n (canContain CabinetType SoapBarType)\n (canContain CabinetType DishSpongeType)\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 DishSpongeType)\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 DishSpongeType)\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 DishSpongeType)\n (canContain CabinetType SprayBottleType)\n (canContain CabinetType ToiletPaperType)\n (canContain CabinetType SoapBottleType)\n (canContain CabinetType ClothType)\n (canContain CabinetType HandTowelType)\n (canContain CabinetType PlungerType)\n (canContain ToiletPaperHangerType ToiletPaperType)\n (canContain CabinetType CandleType)\n (canContain CabinetType SoapBarType)\n (canContain CabinetType DishSpongeType)\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 DishSpongeType)\n (canContain CounterTopType SoapBarType)\n (canContain CounterTopType SprayBottleType)\n (canContain CounterTopType ToiletPaperType)\n (canContain CounterTopType SoapBottleType)\n (canContain CounterTopType ClothType)\n (canContain CounterTopType HandTowelType)\n (canContain BathtubBasinType ClothType)\n (canContain BathtubBasinType HandTowelType)\n (canContain BathtubBasinType SoapBarType)\n (canContain BathtubBasinType DishSpongeType)\n (canContain SinkBasinType SoapBarType)\n (canContain SinkBasinType DishSpongeType)\n (canContain SinkBasinType ClothType)\n (canContain SinkBasinType HandTowelType)\n (canContain CabinetType CandleType)\n (canContain CabinetType SoapBarType)\n (canContain CabinetType DishSpongeType)\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 DishSpongeType)\n (canContain CounterTopType SoapBarType)\n (canContain CounterTopType SprayBottleType)\n (canContain CounterTopType ToiletPaperType)\n (canContain CounterTopType SoapBottleType)\n (canContain CounterTopType ClothType)\n (canContain CounterTopType HandTowelType)\n (canContain CabinetType CandleType)\n (canContain CabinetType SoapBarType)\n (canContain CabinetType DishSpongeType)\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 DishSpongeType)\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 DishSpongeType)\n (canContain ToiletType SprayBottleType)\n (pickupable Cloth_bar__minus_02_dot_71_bar__plus_00_dot_91_bar__plus_03_dot_03)\n (pickupable Candle_bar__minus_02_dot_75_bar__plus_00_dot_94_bar__plus_02_dot_73)\n (pickupable Candle_bar__minus_02_dot_84_bar__plus_01_dot_09_bar__plus_00_dot_78)\n (pickupable DishSponge_bar__minus_02_dot_61_bar__plus_01_dot_67_bar__plus_03_dot_00)\n (pickupable ScrubBrush_bar__minus_02_dot_83_bar__plus_00_dot_00_bar__plus_00_dot_30)\n (pickupable Towel_bar__minus_00_dot_11_bar__plus_01_dot_51_bar__plus_01_dot_94)\n (pickupable ToiletPaper_bar__minus_02_dot_43_bar__plus_01_dot_20_bar__plus_01_dot_43)\n (pickupable HandTowel_bar__minus_02_dot_70_bar__plus_01_dot_52_bar__plus_02_dot_87)\n (pickupable SoapBottle_bar__minus_02_dot_79_bar__plus_00_dot_09_bar__plus_02_dot_66)\n (pickupable SoapBar_bar__minus_00_dot_38_bar__plus_00_dot_19_bar__plus_01_dot_33)\n (pickupable ToiletPaper_bar__minus_02_dot_79_bar__plus_01_dot_20_bar__plus_01_dot_40)\n (pickupable SoapBottle_bar__minus_02_dot_61_bar__plus_01_dot_21_bar__plus_01_dot_49)\n (pickupable Plunger_bar__minus_02_dot_84_bar__plus_00_dot_00_bar__plus_00_dot_13)\n (pickupable SprayBottle_bar__minus_02_dot_81_bar__plus_01_dot_08_bar__plus_00_dot_65)\n (pickupable ToiletPaper_bar__minus_02_dot_93_bar__plus_01_dot_07_bar__plus_00_dot_65)\n (pickupable SoapBottle_bar__minus_02_dot_67_bar__plus_00_dot_09_bar__plus_02_dot_13)\n (pickupable PaperTowelRoll_bar__minus_02_dot_88_bar__plus_01_dot_31_bar__plus_01_dot_43)\n (pickupable SoapBar_bar__minus_00_dot_23_bar__plus_00_dot_06_bar__plus_00_dot_22)\n \n (openable Cabinet_bar__minus_02_dot_41_bar__plus_02_dot_02_bar__plus_03_dot_57)\n (openable Cabinet_bar__minus_02_dot_41_bar__plus_02_dot_02_bar__plus_02_dot_91)\n (openable Cabinet_bar__minus_02_dot_41_bar__plus_00_dot_37_bar__plus_01_dot_59)\n (openable Cabinet_bar__minus_02_dot_41_bar__plus_00_dot_37_bar__plus_02_dot_04)\n (openable Cabinet_bar__minus_02_dot_41_bar__plus_00_dot_37_bar__plus_02_dot_91)\n (openable Cabinet_bar__minus_02_dot_41_bar__plus_00_dot_37_bar__plus_02_dot_86)\n (openable Cabinet_bar__minus_02_dot_41_bar__plus_01_dot_26_bar__plus_03_dot_57)\n (openable Cabinet_bar__minus_02_dot_41_bar__plus_01_dot_26_bar__plus_02_dot_91)\n (openable Cabinet_bar__minus_02_dot_41_bar__plus_00_dot_37_bar__plus_03_dot_57)\n \n (atLocation agent1 loc_bar__minus_5_bar_12_bar_2_bar_30)\n \n (cleanable Cloth_bar__minus_02_dot_71_bar__plus_00_dot_91_bar__plus_03_dot_03)\n (cleanable DishSponge_bar__minus_02_dot_61_bar__plus_01_dot_67_bar__plus_03_dot_00)\n (cleanable SoapBar_bar__minus_00_dot_38_bar__plus_00_dot_19_bar__plus_01_dot_33)\n (cleanable SoapBar_bar__minus_00_dot_23_bar__plus_00_dot_06_bar__plus_00_dot_22)\n \n \n \n \n \n \n \n \n \n \n (inReceptacle SoapBottle_bar__minus_02_dot_79_bar__plus_00_dot_09_bar__plus_02_dot_66 Cabinet_bar__minus_02_dot_41_bar__plus_00_dot_37_bar__plus_02_dot_86)\n (inReceptacle SoapBottle_bar__minus_02_dot_67_bar__plus_00_dot_09_bar__plus_02_dot_13 Cabinet_bar__minus_02_dot_41_bar__plus_00_dot_37_bar__plus_02_dot_04)\n (inReceptacle Cloth_bar__minus_02_dot_71_bar__plus_00_dot_91_bar__plus_03_dot_03 Cabinet_bar__minus_02_dot_41_bar__plus_01_dot_26_bar__plus_02_dot_91)\n (inReceptacle DishSponge_bar__minus_02_dot_61_bar__plus_01_dot_67_bar__plus_03_dot_00 Cabinet_bar__minus_02_dot_41_bar__plus_02_dot_02_bar__plus_02_dot_91)\n (inReceptacle Sink_bar__minus_02_dot_72_bar__plus_00_dot_86_bar__plus_02_dot_23 CounterTop_bar__minus_02_dot_69_bar__plus_00_dot_97_bar__plus_02_dot_26)\n (inReceptacle Candle_bar__minus_02_dot_75_bar__plus_00_dot_94_bar__plus_02_dot_73 CounterTop_bar__minus_02_dot_69_bar__plus_00_dot_97_bar__plus_02_dot_26)\n (inReceptacle SoapBottle_bar__minus_02_dot_61_bar__plus_01_dot_21_bar__plus_01_dot_49 CounterTop_bar__minus_02_dot_61_bar__plus_01_dot_24_bar__plus_01_dot_46)\n (inReceptacle ToiletPaper_bar__minus_02_dot_43_bar__plus_01_dot_20_bar__plus_01_dot_43 CounterTop_bar__minus_02_dot_61_bar__plus_01_dot_24_bar__plus_01_dot_46)\n (inReceptacle ToiletPaper_bar__minus_02_dot_79_bar__plus_01_dot_20_bar__plus_01_dot_40 CounterTop_bar__minus_02_dot_61_bar__plus_01_dot_24_bar__plus_01_dot_46)\n (inReceptacle PaperTowelRoll_bar__minus_02_dot_88_bar__plus_01_dot_31_bar__plus_01_dot_43 CounterTop_bar__minus_02_dot_61_bar__plus_01_dot_24_bar__plus_01_dot_46)\n (inReceptacle Towel_bar__minus_00_dot_11_bar__plus_01_dot_51_bar__plus_01_dot_94 TowelHolder_bar__plus_00_dot_00_bar__plus_01_dot_50_bar__plus_01_dot_94)\n (inReceptacle HandTowel_bar__minus_02_dot_70_bar__plus_01_dot_52_bar__plus_02_dot_87 HandTowelHolder_bar__minus_02_dot_70_bar__plus_01_dot_62_bar__plus_02_dot_91)\n (inReceptacle SoapBar_bar__minus_00_dot_38_bar__plus_00_dot_19_bar__plus_01_dot_33 Bathtub_bar__minus_00_dot_44_bar__plus_00_dot_18_bar__plus_01_dot_58_bar_BathtubBasin)\n (inReceptacle SoapBar_bar__minus_00_dot_23_bar__plus_00_dot_06_bar__plus_00_dot_22 GarbageCan_bar__minus_00_dot_21_bar__plus_00_dot_00_bar__plus_00_dot_25)\n (inReceptacle ToiletPaper_bar__minus_02_dot_93_bar__plus_01_dot_07_bar__plus_00_dot_65 Toilet_bar__minus_02_dot_58_bar__plus_00_dot_03_bar__plus_00_dot_66)\n (inReceptacle SprayBottle_bar__minus_02_dot_81_bar__plus_01_dot_08_bar__plus_00_dot_65 Toilet_bar__minus_02_dot_58_bar__plus_00_dot_03_bar__plus_00_dot_66)\n (inReceptacle Candle_bar__minus_02_dot_84_bar__plus_01_dot_09_bar__plus_00_dot_78 Toilet_bar__minus_02_dot_58_bar__plus_00_dot_03_bar__plus_00_dot_66)\n \n \n (receptacleAtLocation Bathtub_bar__minus_00_dot_44_bar__plus_00_dot_18_bar__plus_01_dot_58_bar_BathtubBasin loc_bar__minus_4_bar_11_bar_2_bar_45)\n (receptacleAtLocation Cabinet_bar__minus_02_dot_41_bar__plus_00_dot_37_bar__plus_01_dot_59 loc_bar__minus_6_bar_9_bar_3_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_02_dot_41_bar__plus_00_dot_37_bar__plus_02_dot_04 loc_bar__minus_6_bar_7_bar_3_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_02_dot_41_bar__plus_00_dot_37_bar__plus_02_dot_86 loc_bar__minus_6_bar_9_bar_3_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_02_dot_41_bar__plus_00_dot_37_bar__plus_02_dot_91 loc_bar__minus_6_bar_11_bar_3_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_02_dot_41_bar__plus_00_dot_37_bar__plus_03_dot_57 loc_bar__minus_6_bar_12_bar_3_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_02_dot_41_bar__plus_01_dot_26_bar__plus_02_dot_91 loc_bar__minus_7_bar_12_bar_3_bar_30)\n (receptacleAtLocation Cabinet_bar__minus_02_dot_41_bar__plus_01_dot_26_bar__plus_03_dot_57 loc_bar__minus_6_bar_12_bar_3_bar_30)\n (receptacleAtLocation Cabinet_bar__minus_02_dot_41_bar__plus_02_dot_02_bar__plus_02_dot_91 loc_bar__minus_7_bar_12_bar_3_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_02_dot_41_bar__plus_02_dot_02_bar__plus_03_dot_57 loc_bar__minus_7_bar_12_bar_3_bar__minus_30)\n (receptacleAtLocation CounterTop_bar__minus_02_dot_61_bar__plus_01_dot_24_bar__plus_01_dot_46 loc_bar__minus_8_bar_5_bar_3_bar_30)\n (receptacleAtLocation CounterTop_bar__minus_02_dot_69_bar__plus_00_dot_97_bar__plus_02_dot_26 loc_bar__minus_8_bar_10_bar_3_bar_45)\n (receptacleAtLocation Drawer_bar__minus_02_dot_64_bar__plus_00_dot_77_bar__plus_03_dot_24 loc_bar__minus_7_bar_12_bar_3_bar_45)\n (receptacleAtLocation GarbageCan_bar__minus_00_dot_21_bar__plus_00_dot_00_bar__plus_00_dot_25 loc_bar__minus_2_bar_2_bar_1_bar_60)\n (receptacleAtLocation HandTowelHolder_bar__minus_02_dot_70_bar__plus_01_dot_62_bar__plus_02_dot_91 loc_bar__minus_7_bar_12_bar_3_bar_0)\n (receptacleAtLocation Sink_bar__minus_02_dot_72_bar__plus_00_dot_86_bar__plus_02_dot_23_bar_SinkBasin loc_bar__minus_8_bar_9_bar_3_bar_45)\n (receptacleAtLocation ToiletPaperHanger_bar__minus_02_dot_29_bar__plus_00_dot_91_bar__plus_00_dot_00 loc_bar__minus_7_bar_2_bar_3_bar_60)\n (receptacleAtLocation Toilet_bar__minus_02_dot_58_bar__plus_00_dot_03_bar__plus_00_dot_66 loc_bar__minus_8_bar_5_bar_2_bar_60)\n (receptacleAtLocation TowelHolder_bar__plus_00_dot_00_bar__plus_01_dot_50_bar__plus_01_dot_94 loc_bar__minus_5_bar_8_bar_1_bar_0)\n (objectAtLocation ToiletPaper_bar__minus_02_dot_79_bar__plus_01_dot_20_bar__plus_01_dot_40 loc_bar__minus_8_bar_5_bar_3_bar_30)\n (objectAtLocation SoapBar_bar__minus_00_dot_38_bar__plus_00_dot_19_bar__plus_01_dot_33 loc_bar__minus_4_bar_11_bar_2_bar_45)\n (objectAtLocation SoapBottle_bar__minus_02_dot_67_bar__plus_00_dot_09_bar__plus_02_dot_13 loc_bar__minus_6_bar_7_bar_3_bar_60)\n (objectAtLocation Candle_bar__minus_02_dot_84_bar__plus_01_dot_09_bar__plus_00_dot_78 loc_bar__minus_8_bar_5_bar_2_bar_60)\n (objectAtLocation SoapBottle_bar__minus_02_dot_79_bar__plus_00_dot_09_bar__plus_02_dot_66 loc_bar__minus_6_bar_9_bar_3_bar_60)\n (objectAtLocation Mirror_bar__minus_02_dot_97_bar__plus_01_dot_61_bar__plus_02_dot_27 loc_bar__minus_8_bar_9_bar_3_bar_0)\n (objectAtLocation Bathtub_bar__minus_00_dot_44_bar__plus_00_dot_18_bar__plus_01_dot_58 loc_bar__minus_5_bar_6_bar_1_bar_60)\n (objectAtLocation Sink_bar__minus_02_dot_72_bar__plus_00_dot_86_bar__plus_02_dot_23 loc_bar__minus_8_bar_10_bar_3_bar_45)\n (objectAtLocation Towel_bar__minus_00_dot_11_bar__plus_01_dot_51_bar__plus_01_dot_94 loc_bar__minus_5_bar_8_bar_1_bar_0)\n (objectAtLocation Candle_bar__minus_02_dot_75_bar__plus_00_dot_94_bar__plus_02_dot_73 loc_bar__minus_8_bar_10_bar_3_bar_45)\n (objectAtLocation SoapBottle_bar__minus_02_dot_61_bar__plus_01_dot_21_bar__plus_01_dot_49 loc_bar__minus_8_bar_5_bar_3_bar_30)\n (objectAtLocation HandTowel_bar__minus_02_dot_70_bar__plus_01_dot_52_bar__plus_02_dot_87 loc_bar__minus_7_bar_12_bar_3_bar_0)\n (objectAtLocation Plunger_bar__minus_02_dot_84_bar__plus_00_dot_00_bar__plus_00_dot_13 loc_bar__minus_7_bar_2_bar_3_bar_60)\n (objectAtLocation SoapBar_bar__minus_00_dot_23_bar__plus_00_dot_06_bar__plus_00_dot_22 loc_bar__minus_2_bar_2_bar_1_bar_60)\n (objectAtLocation ToiletPaper_bar__minus_02_dot_43_bar__plus_01_dot_20_bar__plus_01_dot_43 loc_bar__minus_8_bar_5_bar_3_bar_30)\n (objectAtLocation Cloth_bar__minus_02_dot_71_bar__plus_00_dot_91_bar__plus_03_dot_03 loc_bar__minus_7_bar_12_bar_3_bar_30)\n (objectAtLocation ToiletPaper_bar__minus_02_dot_93_bar__plus_01_dot_07_bar__plus_00_dot_65 loc_bar__minus_8_bar_5_bar_2_bar_60)\n (objectAtLocation Window_bar__minus_02_dot_26_bar__plus_01_dot_66_bar__minus_00_dot_02 loc_bar__minus_7_bar_2_bar_2_bar_0)\n (objectAtLocation SprayBottle_bar__minus_02_dot_81_bar__plus_01_dot_08_bar__plus_00_dot_65 loc_bar__minus_8_bar_5_bar_2_bar_60)\n (objectAtLocation PaperTowelRoll_bar__minus_02_dot_88_bar__plus_01_dot_31_bar__plus_01_dot_43 loc_bar__minus_8_bar_5_bar_3_bar_30)\n (objectAtLocation ScrubBrush_bar__minus_02_dot_83_bar__plus_00_dot_00_bar__plus_00_dot_30 loc_bar__minus_7_bar_2_bar_3_bar_60)\n (objectAtLocation LightSwitch_bar__minus_01_dot_68_bar__plus_01_dot_44_bar__plus_03_dot_61 loc_bar__minus_7_bar_12_bar_0_bar_15)\n (objectAtLocation DishSponge_bar__minus_02_dot_61_bar__plus_01_dot_67_bar__plus_03_dot_00 loc_bar__minus_7_bar_12_bar_3_bar__minus_30)\n )\n \n\n (:goal\n (and\n (exists (?r - receptacle)\n (exists (?o1 - object)\n (and\n (objectType ?o1 CandleType)\n (receptacleType ?r CabinetType)\n (inReceptacle ?o1 ?r)\n (exists (?o2 - object)\n (and\n (not (= ?o1 ?o2))\n (objectType ?o2 CandleType)\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 candle 2 from countertop 1", "go to cabinet 6", "open cabinet 6", "move candle 2 to cabinet 6", "go to toilet 1", "take candle 1 from toilet 1", "go to cabinet 6", "move candle 1 to cabinet 6"]}
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alfworld__pick_two_obj_and_place__27
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pick_two_obj_and_place
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pick_two_obj_and_place-Candle-None-Cabinet-414/trial_T20190908_190717_343206/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 candle 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_T20190908_190717_343206)\n(:domain alfred)\n(:objects\nagent1 - agent\nSaltShaker - object\n HousePlant - object\n Candle - object\n SprayBottle - object\n Bowl - object\n Window - object\n CD - object\n Egg - object\n Glassbottle - object\n Sink - object\n Pillow - object\n Spoon - object\n SoapBottle - object\n TeddyBear - object\n ButterKnife - object\n Cup - object\n Plate - object\n RemoteControl - object\n Tomato - object\n Statue - object\n HandTowel - object\n Knife - object\n StoveKnob - object\n LightSwitch - object\n Pen - object\n Painting - object\n DishSponge - object\n Vase - object\n Mug - object\n ToiletPaper - object\n Box - object\n Mirror - object\n Ladle - object\n Fork - object\n Blinds - object\n Footstool - object\n KeyChain - object\n Cloth - object\n Laptop - object\n TissueBox - object\n PepperShaker - object\n FloorLamp - object\n WateringCan - object\n Apple - object\n Pan - object\n PaperTowel - object\n PaperTowelRoll - object\n Newspaper - object\n Television - object\n Chair - object\n CellPhone - object\n CreditCard - object\n Lettuce - object\n BasketBall - object\n Potato - object\n Curtains - object\n Boots - object\n Pencil - object\n AlarmClock - object\n ToiletPaperRoll - object\n Spatula - object\n Book - object\n Bread - object\n SoapBar - object\n Watch - object\n DeskLamp - object\n Kettle - object\n Pot - object\n ScrubBrush - object\n WineBottle - object\n ShowerDoor - object\n Bathtub - object\n LaundryHamperLid - object\n ShowerGlass - object\n Poster - object\n TennisRacket - object\n BaseballBat - object\n Towel - object\n Plunger - object\nSaltShakerType - otype\n HousePlantType - otype\n CandleType - otype\n SprayBottleType - otype\n BowlType - otype\n WindowType - otype\n CDType - otype\n EggType - otype\n GlassbottleType - otype\n SinkType - otype\n PillowType - otype\n SpoonType - otype\n SoapBottleType - otype\n TeddyBearType - otype\n ButterKnifeType - otype\n CupType - otype\n PlateType - otype\n RemoteControlType - otype\n TomatoType - otype\n StatueType - otype\n HandTowelType - otype\n KnifeType - otype\n StoveKnobType - otype\n LightSwitchType - otype\n PenType - otype\n PaintingType - otype\n DishSpongeType - otype\n VaseType - otype\n MugType - otype\n ToiletPaperType - otype\n BoxType - otype\n MirrorType - otype\n LadleType - otype\n ForkType - otype\n BlindsType - otype\n FootstoolType - otype\n KeyChainType - otype\n ClothType - otype\n LaptopType - otype\n TissueBoxType - otype\n PepperShakerType - otype\n FloorLampType - otype\n WateringCanType - otype\n AppleType - otype\n PanType - otype\n PaperTowelType - otype\n PaperTowelRollType - otype\n NewspaperType - otype\n TelevisionType - otype\n ChairType - otype\n CellPhoneType - otype\n CreditCardType - otype\n LettuceType - otype\n BasketBallType - otype\n PotatoType - otype\n CurtainsType - otype\n BootsType - otype\n PencilType - otype\n AlarmClockType - otype\n ToiletPaperRollType - otype\n SpatulaType - otype\n BookType - otype\n BreadType - otype\n SoapBarType - otype\n WatchType - otype\n DeskLampType - otype\n KettleType - otype\n PotType - otype\n ScrubBrushType - otype\n WineBottleType - otype\n ShowerDoorType - otype\n BathtubType - otype\n LaundryHamperLidType - otype\n ShowerGlassType - otype\n PosterType - otype\n TennisRacketType - otype\n BaseballBatType - otype\n TowelType - otype\n PlungerType - otype\nSafeType - rtype\n DrawerType - rtype\n CoffeeMachineType - rtype\n HandTowelHolderType - rtype\n SinkBasinType - rtype\n DresserType - rtype\n LaundryHamperType - rtype\n TVStandType - rtype\n BathtubBasinType - rtype\n CabinetType - rtype\n FridgeType - rtype\n DeskType - rtype\n ToiletType - rtype\n CartType - rtype\n SideTableType - rtype\n SofaType - rtype\n CoffeeTableType - rtype\n DiningTableType - rtype\n CounterTopType - rtype\n GarbageCanType - rtype\n ArmChairType - rtype\n ShelfType - rtype\n MicrowaveType - rtype\n ToasterType - rtype\n BedType - rtype\n PaintingHangerType - rtype\n TowelHolderType - rtype\n ToiletPaperHangerType - rtype\n StoveBurnerType - rtype\n OttomanType - rtype\n\n\n Bathtub_bar__minus_00_dot_44_bar__plus_00_dot_18_bar__plus_01_dot_58 - object\n Candle_bar__minus_02_dot_83_bar__plus_00_dot_94_bar__plus_02_dot_69 - object\n Candle_bar__minus_02_dot_84_bar__plus_01_dot_09_bar__plus_00_dot_72 - object\n Cloth_bar__minus_02_dot_52_bar__plus_01_dot_21_bar__plus_01_dot_43 - object\n DishSponge_bar__minus_02_dot_70_bar__plus_01_dot_21_bar__plus_01_dot_43 - object\n DishSponge_bar__minus_02_dot_77_bar__plus_00_dot_75_bar__plus_03_dot_24 - object\n Faucet_bar__minus_00_dot_77_bar__plus_00_dot_42_bar__plus_01_dot_00 - object\n Faucet_bar__minus_02_dot_93_bar__plus_00_dot_98_bar__plus_02_dot_23 - object\n HandTowel_bar__minus_02_dot_70_bar__plus_01_dot_52_bar__plus_02_dot_87 - object\n LightSwitch_bar__minus_01_dot_68_bar__plus_01_dot_44_bar__plus_03_dot_61 - object\n Mirror_bar__minus_02_dot_97_bar__plus_01_dot_61_bar__plus_02_dot_27 - object\n PaperTowelRoll_bar__minus_02_dot_84_bar__plus_01_dot_18_bar__plus_00_dot_46 - object\n Plunger_bar__minus_02_dot_84_bar__plus_00_dot_00_bar__plus_00_dot_13 - object\n ScrubBrush_bar__minus_02_dot_83_bar__plus_00_dot_00_bar__plus_00_dot_30 - object\n Sink_bar__minus_02_dot_72_bar__plus_00_dot_86_bar__plus_02_dot_23 - object\n SoapBar_bar__minus_02_dot_49_bar__plus_00_dot_09_bar__plus_02_dot_28 - object\n SoapBar_bar__minus_02_dot_71_bar__plus_00_dot_94_bar__plus_02_dot_46 - object\n SoapBottle_bar__minus_02_dot_65_bar__plus_00_dot_09_bar__plus_03_dot_11 - object\n SoapBottle_bar__minus_02_dot_79_bar__plus_00_dot_09_bar__plus_03_dot_33 - object\n SprayBottle_bar__minus_02_dot_55_bar__plus_00_dot_90_bar__plus_03_dot_44 - object\n SprayBottle_bar__minus_02_dot_80_bar__plus_00_dot_90_bar__plus_03_dot_33 - object\n SprayBottle_bar__minus_02_dot_90_bar__plus_01_dot_08_bar__plus_00_dot_78 - object\n ToiletPaper_bar__minus_00_dot_18_bar__plus_00_dot_05_bar__plus_00_dot_27 - object\n ToiletPaper_bar__minus_02_dot_60_bar__plus_00_dot_93_bar__plus_02_dot_69 - object\n ToiletPaper_bar__minus_02_dot_93_bar__plus_01_dot_07_bar__plus_00_dot_65 - object\n Towel_bar__minus_00_dot_11_bar__plus_01_dot_51_bar__plus_01_dot_94 - object\n Window_bar__minus_02_dot_26_bar__plus_01_dot_66_bar__minus_00_dot_02 - object\n Bathtub_bar__minus_00_dot_44_bar__plus_00_dot_18_bar__plus_01_dot_58_bar_BathtubBasin - receptacle\n Cabinet_bar__minus_02_dot_41_bar__plus_00_dot_37_bar__plus_01_dot_59 - receptacle\n Cabinet_bar__minus_02_dot_41_bar__plus_00_dot_37_bar__plus_02_dot_04 - receptacle\n Cabinet_bar__minus_02_dot_41_bar__plus_00_dot_37_bar__plus_02_dot_86 - receptacle\n Cabinet_bar__minus_02_dot_41_bar__plus_00_dot_37_bar__plus_02_dot_91 - receptacle\n Cabinet_bar__minus_02_dot_41_bar__plus_00_dot_37_bar__plus_03_dot_57 - receptacle\n Cabinet_bar__minus_02_dot_41_bar__plus_01_dot_26_bar__plus_02_dot_91 - receptacle\n Cabinet_bar__minus_02_dot_41_bar__plus_01_dot_26_bar__plus_03_dot_57 - receptacle\n Cabinet_bar__minus_02_dot_41_bar__plus_02_dot_02_bar__plus_02_dot_91 - receptacle\n Cabinet_bar__minus_02_dot_41_bar__plus_02_dot_02_bar__plus_03_dot_57 - receptacle\n CounterTop_bar__minus_02_dot_61_bar__plus_01_dot_24_bar__plus_01_dot_46 - receptacle\n CounterTop_bar__minus_02_dot_69_bar__plus_00_dot_97_bar__plus_02_dot_26 - receptacle\n Drawer_bar__minus_02_dot_64_bar__plus_00_dot_77_bar__plus_03_dot_24 - receptacle\n GarbageCan_bar__minus_00_dot_21_bar__plus_00_dot_00_bar__plus_00_dot_25 - receptacle\n HandTowelHolder_bar__minus_02_dot_70_bar__plus_01_dot_62_bar__plus_02_dot_91 - receptacle\n Sink_bar__minus_02_dot_72_bar__plus_00_dot_86_bar__plus_02_dot_23_bar_SinkBasin - receptacle\n ToiletPaperHanger_bar__minus_02_dot_29_bar__plus_00_dot_91_bar__plus_00_dot_00 - receptacle\n Toilet_bar__minus_02_dot_58_bar__plus_00_dot_03_bar__plus_00_dot_66 - receptacle\n TowelHolder_bar__plus_00_dot_00_bar__plus_01_dot_50_bar__plus_01_dot_94 - receptacle\n loc_bar__minus_7_bar_12_bar_3_bar_45 - location\n loc_bar__minus_6_bar_12_bar_3_bar_30 - location\n loc_bar__minus_7_bar_2_bar_2_bar_0 - location\n loc_bar__minus_5_bar_8_bar_1_bar_0 - location\n loc_bar__minus_4_bar_11_bar_2_bar_45 - location\n loc_bar__minus_7_bar_12_bar_3_bar_0 - location\n loc_bar__minus_6_bar_11_bar_3_bar_60 - location\n loc_bar__minus_5_bar_6_bar_1_bar_60 - location\n loc_bar__minus_7_bar_12_bar_0_bar_15 - location\n loc_bar__minus_7_bar_2_bar_3_bar_60 - location\n loc_bar__minus_8_bar_9_bar_3_bar_0 - location\n loc_bar__minus_8_bar_5_bar_2_bar_60 - location\n loc_bar__minus_7_bar_12_bar_3_bar__minus_30 - location\n loc_bar__minus_8_bar_10_bar_3_bar_45 - location\n loc_bar__minus_7_bar_12_bar_3_bar_30 - location\n loc_bar__minus_2_bar_2_bar_1_bar_60 - location\n loc_bar__minus_6_bar_7_bar_3_bar_60 - location\n loc_bar__minus_8_bar_5_bar_3_bar_30 - location\n loc_bar__minus_8_bar_9_bar_3_bar_45 - location\n loc_bar__minus_6_bar_12_bar_3_bar_60 - location\n loc_bar__minus_6_bar_9_bar_3_bar_60 - location\n loc_bar__minus_5_bar_11_bar_2_bar_30 - location\n )\n \n\n(:init\n\n\n (receptacleType HandTowelHolder_bar__minus_02_dot_70_bar__plus_01_dot_62_bar__plus_02_dot_91 HandTowelHolderType)\n (receptacleType Cabinet_bar__minus_02_dot_41_bar__plus_02_dot_02_bar__plus_03_dot_57 CabinetType)\n (receptacleType TowelHolder_bar__plus_00_dot_00_bar__plus_01_dot_50_bar__plus_01_dot_94 TowelHolderType)\n (receptacleType Drawer_bar__minus_02_dot_64_bar__plus_00_dot_77_bar__plus_03_dot_24 DrawerType)\n (receptacleType GarbageCan_bar__minus_00_dot_21_bar__plus_00_dot_00_bar__plus_00_dot_25 GarbageCanType)\n (receptacleType Cabinet_bar__minus_02_dot_41_bar__plus_02_dot_02_bar__plus_02_dot_91 CabinetType)\n (receptacleType Cabinet_bar__minus_02_dot_41_bar__plus_00_dot_37_bar__plus_01_dot_59 CabinetType)\n (receptacleType Cabinet_bar__minus_02_dot_41_bar__plus_00_dot_37_bar__plus_02_dot_04 CabinetType)\n (receptacleType Cabinet_bar__minus_02_dot_41_bar__plus_00_dot_37_bar__plus_02_dot_91 CabinetType)\n (receptacleType ToiletPaperHanger_bar__minus_02_dot_29_bar__plus_00_dot_91_bar__plus_00_dot_00 ToiletPaperHangerType)\n (receptacleType Cabinet_bar__minus_02_dot_41_bar__plus_00_dot_37_bar__plus_02_dot_86 CabinetType)\n (receptacleType CounterTop_bar__minus_02_dot_69_bar__plus_00_dot_97_bar__plus_02_dot_26 CounterTopType)\n (receptacleType Bathtub_bar__minus_00_dot_44_bar__plus_00_dot_18_bar__plus_01_dot_58_bar_BathtubBasin BathtubBasinType)\n (receptacleType Sink_bar__minus_02_dot_72_bar__plus_00_dot_86_bar__plus_02_dot_23_bar_SinkBasin SinkBasinType)\n (receptacleType Cabinet_bar__minus_02_dot_41_bar__plus_01_dot_26_bar__plus_03_dot_57 CabinetType)\n (receptacleType CounterTop_bar__minus_02_dot_61_bar__plus_01_dot_24_bar__plus_01_dot_46 CounterTopType)\n (receptacleType Cabinet_bar__minus_02_dot_41_bar__plus_01_dot_26_bar__plus_02_dot_91 CabinetType)\n (receptacleType Cabinet_bar__minus_02_dot_41_bar__plus_00_dot_37_bar__plus_03_dot_57 CabinetType)\n (receptacleType Toilet_bar__minus_02_dot_58_bar__plus_00_dot_03_bar__plus_00_dot_66 ToiletType)\n (objectType Bathtub_bar__minus_00_dot_44_bar__plus_00_dot_18_bar__plus_01_dot_58 BathtubType)\n (objectType SoapBottle_bar__minus_02_dot_65_bar__plus_00_dot_09_bar__plus_03_dot_11 SoapBottleType)\n (objectType SprayBottle_bar__minus_02_dot_80_bar__plus_00_dot_90_bar__plus_03_dot_33 SprayBottleType)\n (objectType SoapBar_bar__minus_02_dot_71_bar__plus_00_dot_94_bar__plus_02_dot_46 SoapBarType)\n (objectType SprayBottle_bar__minus_02_dot_90_bar__plus_01_dot_08_bar__plus_00_dot_78 SprayBottleType)\n (objectType ScrubBrush_bar__minus_02_dot_83_bar__plus_00_dot_00_bar__plus_00_dot_30 ScrubBrushType)\n (objectType Towel_bar__minus_00_dot_11_bar__plus_01_dot_51_bar__plus_01_dot_94 TowelType)\n (objectType DishSponge_bar__minus_02_dot_70_bar__plus_01_dot_21_bar__plus_01_dot_43 DishSpongeType)\n (objectType HandTowel_bar__minus_02_dot_70_bar__plus_01_dot_52_bar__plus_02_dot_87 HandTowelType)\n (objectType Cloth_bar__minus_02_dot_52_bar__plus_01_dot_21_bar__plus_01_dot_43 ClothType)\n (objectType ToiletPaper_bar__minus_02_dot_60_bar__plus_00_dot_93_bar__plus_02_dot_69 ToiletPaperType)\n (objectType Candle_bar__minus_02_dot_83_bar__plus_00_dot_94_bar__plus_02_dot_69 CandleType)\n (objectType Candle_bar__minus_02_dot_84_bar__plus_01_dot_09_bar__plus_00_dot_72 CandleType)\n (objectType ToiletPaper_bar__minus_00_dot_18_bar__plus_00_dot_05_bar__plus_00_dot_27 ToiletPaperType)\n (objectType Mirror_bar__minus_02_dot_97_bar__plus_01_dot_61_bar__plus_02_dot_27 MirrorType)\n (objectType DishSponge_bar__minus_02_dot_77_bar__plus_00_dot_75_bar__plus_03_dot_24 DishSpongeType)\n (objectType PaperTowelRoll_bar__minus_02_dot_84_bar__plus_01_dot_18_bar__plus_00_dot_46 PaperTowelRollType)\n (objectType LightSwitch_bar__minus_01_dot_68_bar__plus_01_dot_44_bar__plus_03_dot_61 LightSwitchType)\n (objectType SoapBottle_bar__minus_02_dot_79_bar__plus_00_dot_09_bar__plus_03_dot_33 SoapBottleType)\n (objectType Plunger_bar__minus_02_dot_84_bar__plus_00_dot_00_bar__plus_00_dot_13 PlungerType)\n (objectType Sink_bar__minus_02_dot_72_bar__plus_00_dot_86_bar__plus_02_dot_23 SinkType)\n (objectType SprayBottle_bar__minus_02_dot_55_bar__plus_00_dot_90_bar__plus_03_dot_44 SprayBottleType)\n (objectType ToiletPaper_bar__minus_02_dot_93_bar__plus_01_dot_07_bar__plus_00_dot_65 ToiletPaperType)\n (objectType Window_bar__minus_02_dot_26_bar__plus_01_dot_66_bar__minus_00_dot_02 WindowType)\n (objectType SoapBar_bar__minus_02_dot_49_bar__plus_00_dot_09_bar__plus_02_dot_28 SoapBarType)\n (canContain HandTowelHolderType HandTowelType)\n (canContain CabinetType CandleType)\n (canContain CabinetType SoapBarType)\n (canContain CabinetType DishSpongeType)\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 DrawerType CandleType)\n (canContain DrawerType SoapBarType)\n (canContain DrawerType DishSpongeType)\n (canContain DrawerType SprayBottleType)\n (canContain DrawerType ToiletPaperType)\n (canContain DrawerType SoapBottleType)\n (canContain DrawerType ClothType)\n (canContain DrawerType HandTowelType)\n (canContain GarbageCanType SoapBarType)\n (canContain GarbageCanType DishSpongeType)\n (canContain GarbageCanType SprayBottleType)\n (canContain GarbageCanType ToiletPaperType)\n (canContain GarbageCanType SoapBottleType)\n (canContain GarbageCanType ClothType)\n (canContain GarbageCanType HandTowelType)\n (canContain CabinetType CandleType)\n (canContain CabinetType SoapBarType)\n (canContain CabinetType DishSpongeType)\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 DishSpongeType)\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 DishSpongeType)\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 DishSpongeType)\n (canContain CabinetType SprayBottleType)\n (canContain CabinetType ToiletPaperType)\n (canContain CabinetType SoapBottleType)\n (canContain CabinetType ClothType)\n (canContain CabinetType HandTowelType)\n (canContain CabinetType PlungerType)\n (canContain ToiletPaperHangerType ToiletPaperType)\n (canContain CabinetType CandleType)\n (canContain CabinetType SoapBarType)\n (canContain CabinetType DishSpongeType)\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 DishSpongeType)\n (canContain CounterTopType SoapBarType)\n (canContain CounterTopType SprayBottleType)\n (canContain CounterTopType ToiletPaperType)\n (canContain CounterTopType SoapBottleType)\n (canContain CounterTopType ClothType)\n (canContain CounterTopType HandTowelType)\n (canContain BathtubBasinType ClothType)\n (canContain BathtubBasinType HandTowelType)\n (canContain BathtubBasinType SoapBarType)\n (canContain BathtubBasinType DishSpongeType)\n (canContain SinkBasinType SoapBarType)\n (canContain SinkBasinType DishSpongeType)\n (canContain SinkBasinType ClothType)\n (canContain SinkBasinType HandTowelType)\n (canContain CabinetType CandleType)\n (canContain CabinetType SoapBarType)\n (canContain CabinetType DishSpongeType)\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 DishSpongeType)\n (canContain CounterTopType SoapBarType)\n (canContain CounterTopType SprayBottleType)\n (canContain CounterTopType ToiletPaperType)\n (canContain CounterTopType SoapBottleType)\n (canContain CounterTopType ClothType)\n (canContain CounterTopType HandTowelType)\n (canContain CabinetType CandleType)\n (canContain CabinetType SoapBarType)\n (canContain CabinetType DishSpongeType)\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 DishSpongeType)\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 DishSpongeType)\n (canContain ToiletType SprayBottleType)\n (pickupable SoapBottle_bar__minus_02_dot_65_bar__plus_00_dot_09_bar__plus_03_dot_11)\n (pickupable SprayBottle_bar__minus_02_dot_80_bar__plus_00_dot_90_bar__plus_03_dot_33)\n (pickupable SoapBar_bar__minus_02_dot_71_bar__plus_00_dot_94_bar__plus_02_dot_46)\n (pickupable SprayBottle_bar__minus_02_dot_90_bar__plus_01_dot_08_bar__plus_00_dot_78)\n (pickupable ScrubBrush_bar__minus_02_dot_83_bar__plus_00_dot_00_bar__plus_00_dot_30)\n (pickupable Towel_bar__minus_00_dot_11_bar__plus_01_dot_51_bar__plus_01_dot_94)\n (pickupable DishSponge_bar__minus_02_dot_70_bar__plus_01_dot_21_bar__plus_01_dot_43)\n (pickupable HandTowel_bar__minus_02_dot_70_bar__plus_01_dot_52_bar__plus_02_dot_87)\n (pickupable Cloth_bar__minus_02_dot_52_bar__plus_01_dot_21_bar__plus_01_dot_43)\n (pickupable ToiletPaper_bar__minus_02_dot_60_bar__plus_00_dot_93_bar__plus_02_dot_69)\n (pickupable Candle_bar__minus_02_dot_83_bar__plus_00_dot_94_bar__plus_02_dot_69)\n (pickupable Candle_bar__minus_02_dot_84_bar__plus_01_dot_09_bar__plus_00_dot_72)\n (pickupable ToiletPaper_bar__minus_00_dot_18_bar__plus_00_dot_05_bar__plus_00_dot_27)\n (pickupable DishSponge_bar__minus_02_dot_77_bar__plus_00_dot_75_bar__plus_03_dot_24)\n (pickupable PaperTowelRoll_bar__minus_02_dot_84_bar__plus_01_dot_18_bar__plus_00_dot_46)\n (pickupable SoapBottle_bar__minus_02_dot_79_bar__plus_00_dot_09_bar__plus_03_dot_33)\n (pickupable Plunger_bar__minus_02_dot_84_bar__plus_00_dot_00_bar__plus_00_dot_13)\n (pickupable SprayBottle_bar__minus_02_dot_55_bar__plus_00_dot_90_bar__plus_03_dot_44)\n (pickupable ToiletPaper_bar__minus_02_dot_93_bar__plus_01_dot_07_bar__plus_00_dot_65)\n (pickupable SoapBar_bar__minus_02_dot_49_bar__plus_00_dot_09_bar__plus_02_dot_28)\n \n (openable Cabinet_bar__minus_02_dot_41_bar__plus_02_dot_02_bar__plus_03_dot_57)\n (openable Cabinet_bar__minus_02_dot_41_bar__plus_02_dot_02_bar__plus_02_dot_91)\n (openable Cabinet_bar__minus_02_dot_41_bar__plus_00_dot_37_bar__plus_01_dot_59)\n (openable Cabinet_bar__minus_02_dot_41_bar__plus_00_dot_37_bar__plus_02_dot_04)\n (openable Cabinet_bar__minus_02_dot_41_bar__plus_00_dot_37_bar__plus_02_dot_91)\n (openable Cabinet_bar__minus_02_dot_41_bar__plus_00_dot_37_bar__plus_02_dot_86)\n (openable Cabinet_bar__minus_02_dot_41_bar__plus_01_dot_26_bar__plus_03_dot_57)\n (openable Cabinet_bar__minus_02_dot_41_bar__plus_01_dot_26_bar__plus_02_dot_91)\n (openable Cabinet_bar__minus_02_dot_41_bar__plus_00_dot_37_bar__plus_03_dot_57)\n \n (atLocation agent1 loc_bar__minus_5_bar_11_bar_2_bar_30)\n \n (cleanable SoapBar_bar__minus_02_dot_71_bar__plus_00_dot_94_bar__plus_02_dot_46)\n (cleanable DishSponge_bar__minus_02_dot_70_bar__plus_01_dot_21_bar__plus_01_dot_43)\n (cleanable Cloth_bar__minus_02_dot_52_bar__plus_01_dot_21_bar__plus_01_dot_43)\n (cleanable DishSponge_bar__minus_02_dot_77_bar__plus_00_dot_75_bar__plus_03_dot_24)\n (cleanable SoapBar_bar__minus_02_dot_49_bar__plus_00_dot_09_bar__plus_02_dot_28)\n \n \n \n \n \n \n \n \n \n \n (inReceptacle SoapBottle_bar__minus_02_dot_79_bar__plus_00_dot_09_bar__plus_03_dot_33 Cabinet_bar__minus_02_dot_41_bar__plus_00_dot_37_bar__plus_03_dot_57)\n (inReceptacle SoapBar_bar__minus_02_dot_49_bar__plus_00_dot_09_bar__plus_02_dot_28 Cabinet_bar__minus_02_dot_41_bar__plus_00_dot_37_bar__plus_02_dot_04)\n (inReceptacle SprayBottle_bar__minus_02_dot_55_bar__plus_00_dot_90_bar__plus_03_dot_44 Cabinet_bar__minus_02_dot_41_bar__plus_01_dot_26_bar__plus_03_dot_57)\n (inReceptacle SprayBottle_bar__minus_02_dot_80_bar__plus_00_dot_90_bar__plus_03_dot_33 Cabinet_bar__minus_02_dot_41_bar__plus_01_dot_26_bar__plus_03_dot_57)\n (inReceptacle DishSponge_bar__minus_02_dot_77_bar__plus_00_dot_75_bar__plus_03_dot_24 Drawer_bar__minus_02_dot_64_bar__plus_00_dot_77_bar__plus_03_dot_24)\n (inReceptacle SoapBottle_bar__minus_02_dot_65_bar__plus_00_dot_09_bar__plus_03_dot_11 Cabinet_bar__minus_02_dot_41_bar__plus_00_dot_37_bar__plus_02_dot_91)\n (inReceptacle ToiletPaper_bar__minus_02_dot_60_bar__plus_00_dot_93_bar__plus_02_dot_69 CounterTop_bar__minus_02_dot_69_bar__plus_00_dot_97_bar__plus_02_dot_26)\n (inReceptacle Candle_bar__minus_02_dot_83_bar__plus_00_dot_94_bar__plus_02_dot_69 CounterTop_bar__minus_02_dot_69_bar__plus_00_dot_97_bar__plus_02_dot_26)\n (inReceptacle Sink_bar__minus_02_dot_72_bar__plus_00_dot_86_bar__plus_02_dot_23 CounterTop_bar__minus_02_dot_69_bar__plus_00_dot_97_bar__plus_02_dot_26)\n (inReceptacle Cloth_bar__minus_02_dot_52_bar__plus_01_dot_21_bar__plus_01_dot_43 CounterTop_bar__minus_02_dot_61_bar__plus_01_dot_24_bar__plus_01_dot_46)\n (inReceptacle DishSponge_bar__minus_02_dot_70_bar__plus_01_dot_21_bar__plus_01_dot_43 CounterTop_bar__minus_02_dot_61_bar__plus_01_dot_24_bar__plus_01_dot_46)\n (inReceptacle Towel_bar__minus_00_dot_11_bar__plus_01_dot_51_bar__plus_01_dot_94 TowelHolder_bar__plus_00_dot_00_bar__plus_01_dot_50_bar__plus_01_dot_94)\n (inReceptacle HandTowel_bar__minus_02_dot_70_bar__plus_01_dot_52_bar__plus_02_dot_87 HandTowelHolder_bar__minus_02_dot_70_bar__plus_01_dot_62_bar__plus_02_dot_91)\n (inReceptacle SoapBar_bar__minus_02_dot_71_bar__plus_00_dot_94_bar__plus_02_dot_46 Sink_bar__minus_02_dot_72_bar__plus_00_dot_86_bar__plus_02_dot_23_bar_SinkBasin)\n (inReceptacle ToiletPaper_bar__minus_00_dot_18_bar__plus_00_dot_05_bar__plus_00_dot_27 GarbageCan_bar__minus_00_dot_21_bar__plus_00_dot_00_bar__plus_00_dot_25)\n (inReceptacle ToiletPaper_bar__minus_02_dot_93_bar__plus_01_dot_07_bar__plus_00_dot_65 Toilet_bar__minus_02_dot_58_bar__plus_00_dot_03_bar__plus_00_dot_66)\n (inReceptacle PaperTowelRoll_bar__minus_02_dot_84_bar__plus_01_dot_18_bar__plus_00_dot_46 Toilet_bar__minus_02_dot_58_bar__plus_00_dot_03_bar__plus_00_dot_66)\n (inReceptacle SprayBottle_bar__minus_02_dot_90_bar__plus_01_dot_08_bar__plus_00_dot_78 Toilet_bar__minus_02_dot_58_bar__plus_00_dot_03_bar__plus_00_dot_66)\n (inReceptacle Candle_bar__minus_02_dot_84_bar__plus_01_dot_09_bar__plus_00_dot_72 Toilet_bar__minus_02_dot_58_bar__plus_00_dot_03_bar__plus_00_dot_66)\n \n \n (receptacleAtLocation Bathtub_bar__minus_00_dot_44_bar__plus_00_dot_18_bar__plus_01_dot_58_bar_BathtubBasin loc_bar__minus_4_bar_11_bar_2_bar_45)\n (receptacleAtLocation Cabinet_bar__minus_02_dot_41_bar__plus_00_dot_37_bar__plus_01_dot_59 loc_bar__minus_6_bar_9_bar_3_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_02_dot_41_bar__plus_00_dot_37_bar__plus_02_dot_04 loc_bar__minus_6_bar_7_bar_3_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_02_dot_41_bar__plus_00_dot_37_bar__plus_02_dot_86 loc_bar__minus_6_bar_9_bar_3_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_02_dot_41_bar__plus_00_dot_37_bar__plus_02_dot_91 loc_bar__minus_6_bar_11_bar_3_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_02_dot_41_bar__plus_00_dot_37_bar__plus_03_dot_57 loc_bar__minus_6_bar_12_bar_3_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_02_dot_41_bar__plus_01_dot_26_bar__plus_02_dot_91 loc_bar__minus_7_bar_12_bar_3_bar_30)\n (receptacleAtLocation Cabinet_bar__minus_02_dot_41_bar__plus_01_dot_26_bar__plus_03_dot_57 loc_bar__minus_6_bar_12_bar_3_bar_30)\n (receptacleAtLocation Cabinet_bar__minus_02_dot_41_bar__plus_02_dot_02_bar__plus_02_dot_91 loc_bar__minus_7_bar_12_bar_3_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_02_dot_41_bar__plus_02_dot_02_bar__plus_03_dot_57 loc_bar__minus_7_bar_12_bar_3_bar__minus_30)\n (receptacleAtLocation CounterTop_bar__minus_02_dot_61_bar__plus_01_dot_24_bar__plus_01_dot_46 loc_bar__minus_8_bar_5_bar_3_bar_30)\n (receptacleAtLocation CounterTop_bar__minus_02_dot_69_bar__plus_00_dot_97_bar__plus_02_dot_26 loc_bar__minus_8_bar_10_bar_3_bar_45)\n (receptacleAtLocation Drawer_bar__minus_02_dot_64_bar__plus_00_dot_77_bar__plus_03_dot_24 loc_bar__minus_7_bar_12_bar_3_bar_45)\n (receptacleAtLocation GarbageCan_bar__minus_00_dot_21_bar__plus_00_dot_00_bar__plus_00_dot_25 loc_bar__minus_2_bar_2_bar_1_bar_60)\n (receptacleAtLocation HandTowelHolder_bar__minus_02_dot_70_bar__plus_01_dot_62_bar__plus_02_dot_91 loc_bar__minus_7_bar_12_bar_3_bar_0)\n (receptacleAtLocation Sink_bar__minus_02_dot_72_bar__plus_00_dot_86_bar__plus_02_dot_23_bar_SinkBasin loc_bar__minus_8_bar_9_bar_3_bar_45)\n (receptacleAtLocation ToiletPaperHanger_bar__minus_02_dot_29_bar__plus_00_dot_91_bar__plus_00_dot_00 loc_bar__minus_7_bar_2_bar_3_bar_60)\n (receptacleAtLocation Toilet_bar__minus_02_dot_58_bar__plus_00_dot_03_bar__plus_00_dot_66 loc_bar__minus_8_bar_5_bar_2_bar_60)\n (receptacleAtLocation TowelHolder_bar__plus_00_dot_00_bar__plus_01_dot_50_bar__plus_01_dot_94 loc_bar__minus_5_bar_8_bar_1_bar_0)\n (objectAtLocation DishSponge_bar__minus_02_dot_77_bar__plus_00_dot_75_bar__plus_03_dot_24 loc_bar__minus_7_bar_12_bar_3_bar_45)\n (objectAtLocation SprayBottle_bar__minus_02_dot_80_bar__plus_00_dot_90_bar__plus_03_dot_33 loc_bar__minus_6_bar_12_bar_3_bar_30)\n (objectAtLocation ToiletPaper_bar__minus_00_dot_18_bar__plus_00_dot_05_bar__plus_00_dot_27 loc_bar__minus_2_bar_2_bar_1_bar_60)\n (objectAtLocation SoapBar_bar__minus_02_dot_49_bar__plus_00_dot_09_bar__plus_02_dot_28 loc_bar__minus_6_bar_7_bar_3_bar_60)\n (objectAtLocation SoapBottle_bar__minus_02_dot_79_bar__plus_00_dot_09_bar__plus_03_dot_33 loc_bar__minus_6_bar_12_bar_3_bar_60)\n (objectAtLocation Candle_bar__minus_02_dot_83_bar__plus_00_dot_94_bar__plus_02_dot_69 loc_bar__minus_8_bar_10_bar_3_bar_45)\n (objectAtLocation SprayBottle_bar__minus_02_dot_55_bar__plus_00_dot_90_bar__plus_03_dot_44 loc_bar__minus_6_bar_12_bar_3_bar_30)\n (objectAtLocation Mirror_bar__minus_02_dot_97_bar__plus_01_dot_61_bar__plus_02_dot_27 loc_bar__minus_8_bar_9_bar_3_bar_0)\n (objectAtLocation Bathtub_bar__minus_00_dot_44_bar__plus_00_dot_18_bar__plus_01_dot_58 loc_bar__minus_5_bar_6_bar_1_bar_60)\n (objectAtLocation Sink_bar__minus_02_dot_72_bar__plus_00_dot_86_bar__plus_02_dot_23 loc_bar__minus_8_bar_10_bar_3_bar_45)\n (objectAtLocation Towel_bar__minus_00_dot_11_bar__plus_01_dot_51_bar__plus_01_dot_94 loc_bar__minus_5_bar_8_bar_1_bar_0)\n (objectAtLocation Candle_bar__minus_02_dot_84_bar__plus_01_dot_09_bar__plus_00_dot_72 loc_bar__minus_8_bar_5_bar_2_bar_60)\n (objectAtLocation SoapBottle_bar__minus_02_dot_65_bar__plus_00_dot_09_bar__plus_03_dot_11 loc_bar__minus_6_bar_11_bar_3_bar_60)\n (objectAtLocation HandTowel_bar__minus_02_dot_70_bar__plus_01_dot_52_bar__plus_02_dot_87 loc_bar__minus_7_bar_12_bar_3_bar_0)\n (objectAtLocation Plunger_bar__minus_02_dot_84_bar__plus_00_dot_00_bar__plus_00_dot_13 loc_bar__minus_7_bar_2_bar_3_bar_60)\n (objectAtLocation SoapBar_bar__minus_02_dot_71_bar__plus_00_dot_94_bar__plus_02_dot_46 loc_bar__minus_8_bar_9_bar_3_bar_45)\n (objectAtLocation ToiletPaper_bar__minus_02_dot_60_bar__plus_00_dot_93_bar__plus_02_dot_69 loc_bar__minus_8_bar_10_bar_3_bar_45)\n (objectAtLocation Cloth_bar__minus_02_dot_52_bar__plus_01_dot_21_bar__plus_01_dot_43 loc_bar__minus_8_bar_5_bar_3_bar_30)\n (objectAtLocation ToiletPaper_bar__minus_02_dot_93_bar__plus_01_dot_07_bar__plus_00_dot_65 loc_bar__minus_8_bar_5_bar_2_bar_60)\n (objectAtLocation Window_bar__minus_02_dot_26_bar__plus_01_dot_66_bar__minus_00_dot_02 loc_bar__minus_7_bar_2_bar_2_bar_0)\n (objectAtLocation SprayBottle_bar__minus_02_dot_90_bar__plus_01_dot_08_bar__plus_00_dot_78 loc_bar__minus_8_bar_5_bar_2_bar_60)\n (objectAtLocation PaperTowelRoll_bar__minus_02_dot_84_bar__plus_01_dot_18_bar__plus_00_dot_46 loc_bar__minus_8_bar_5_bar_2_bar_60)\n (objectAtLocation ScrubBrush_bar__minus_02_dot_83_bar__plus_00_dot_00_bar__plus_00_dot_30 loc_bar__minus_7_bar_2_bar_3_bar_60)\n (objectAtLocation LightSwitch_bar__minus_01_dot_68_bar__plus_01_dot_44_bar__plus_03_dot_61 loc_bar__minus_7_bar_12_bar_0_bar_15)\n (objectAtLocation DishSponge_bar__minus_02_dot_70_bar__plus_01_dot_21_bar__plus_01_dot_43 loc_bar__minus_8_bar_5_bar_3_bar_30)\n )\n \n\n (:goal\n (and\n (exists (?r - receptacle)\n (exists (?o1 - object)\n (and\n (objectType ?o1 CandleType)\n (receptacleType ?r CabinetType)\n (inReceptacle ?o1 ?r)\n (exists (?o2 - object)\n (and\n (not (= ?o1 ?o2))\n (objectType ?o2 CandleType)\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 candle 2 from countertop 1", "go to cabinet 6", "open cabinet 6", "move candle 2 to cabinet 6", "go to toilet 1", "take candle 1 from toilet 1", "go to cabinet 6", "move candle 1 to cabinet 6"]}
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alfworld__pick_two_obj_and_place__28
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pick_two_obj_and_place
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pick_two_obj_and_place-Candle-None-Cabinet-414/trial_T20190908_190744_225442/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 candle 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_T20190908_190744_225442)\n(:domain alfred)\n(:objects\nagent1 - agent\nSaltShaker - object\n HousePlant - object\n Candle - object\n SprayBottle - object\n Bowl - object\n Window - object\n CD - object\n Egg - object\n Glassbottle - object\n Sink - object\n Pillow - object\n Spoon - object\n SoapBottle - object\n TeddyBear - object\n ButterKnife - object\n Cup - object\n Plate - object\n RemoteControl - object\n Tomato - object\n Statue - object\n HandTowel - object\n Knife - object\n StoveKnob - object\n LightSwitch - object\n Pen - object\n Painting - object\n DishSponge - object\n Vase - object\n Mug - object\n ToiletPaper - object\n Box - object\n Mirror - object\n Ladle - object\n Fork - object\n Blinds - object\n Footstool - object\n KeyChain - object\n Cloth - object\n Laptop - object\n TissueBox - object\n PepperShaker - object\n FloorLamp - object\n WateringCan - object\n Apple - object\n Pan - object\n PaperTowel - object\n PaperTowelRoll - object\n Newspaper - object\n Television - object\n Chair - object\n CellPhone - object\n CreditCard - object\n Lettuce - object\n BasketBall - object\n Potato - object\n Curtains - object\n Boots - object\n Pencil - object\n AlarmClock - object\n ToiletPaperRoll - object\n Spatula - object\n Book - object\n Bread - object\n SoapBar - object\n Watch - object\n DeskLamp - object\n Kettle - object\n Pot - object\n ScrubBrush - object\n WineBottle - object\n ShowerDoor - object\n Bathtub - object\n LaundryHamperLid - object\n ShowerGlass - object\n Poster - object\n TennisRacket - object\n BaseballBat - object\n Towel - object\n Plunger - object\nSaltShakerType - otype\n HousePlantType - otype\n CandleType - otype\n SprayBottleType - otype\n BowlType - otype\n WindowType - otype\n CDType - otype\n EggType - otype\n GlassbottleType - otype\n SinkType - otype\n PillowType - otype\n SpoonType - otype\n SoapBottleType - otype\n TeddyBearType - otype\n ButterKnifeType - otype\n CupType - otype\n PlateType - otype\n RemoteControlType - otype\n TomatoType - otype\n StatueType - otype\n HandTowelType - otype\n KnifeType - otype\n StoveKnobType - otype\n LightSwitchType - otype\n PenType - otype\n PaintingType - otype\n DishSpongeType - otype\n VaseType - otype\n MugType - otype\n ToiletPaperType - otype\n BoxType - otype\n MirrorType - otype\n LadleType - otype\n ForkType - otype\n BlindsType - otype\n FootstoolType - otype\n KeyChainType - otype\n ClothType - otype\n LaptopType - otype\n TissueBoxType - otype\n PepperShakerType - otype\n FloorLampType - otype\n WateringCanType - otype\n AppleType - otype\n PanType - otype\n PaperTowelType - otype\n PaperTowelRollType - otype\n NewspaperType - otype\n TelevisionType - otype\n ChairType - otype\n CellPhoneType - otype\n CreditCardType - otype\n LettuceType - otype\n BasketBallType - otype\n PotatoType - otype\n CurtainsType - otype\n BootsType - otype\n PencilType - otype\n AlarmClockType - otype\n ToiletPaperRollType - otype\n SpatulaType - otype\n BookType - otype\n BreadType - otype\n SoapBarType - otype\n WatchType - otype\n DeskLampType - otype\n KettleType - otype\n PotType - otype\n ScrubBrushType - otype\n WineBottleType - otype\n ShowerDoorType - otype\n BathtubType - otype\n LaundryHamperLidType - otype\n ShowerGlassType - otype\n PosterType - otype\n TennisRacketType - otype\n BaseballBatType - otype\n TowelType - otype\n PlungerType - otype\nSafeType - rtype\n DrawerType - rtype\n CoffeeMachineType - rtype\n HandTowelHolderType - rtype\n SinkBasinType - rtype\n DresserType - rtype\n LaundryHamperType - rtype\n TVStandType - rtype\n BathtubBasinType - rtype\n CabinetType - rtype\n FridgeType - rtype\n DeskType - rtype\n ToiletType - rtype\n CartType - rtype\n SideTableType - rtype\n SofaType - rtype\n CoffeeTableType - rtype\n DiningTableType - rtype\n CounterTopType - rtype\n GarbageCanType - rtype\n ArmChairType - rtype\n ShelfType - rtype\n MicrowaveType - rtype\n ToasterType - rtype\n BedType - rtype\n PaintingHangerType - rtype\n TowelHolderType - rtype\n ToiletPaperHangerType - rtype\n StoveBurnerType - rtype\n OttomanType - rtype\n\n\n Bathtub_bar__minus_00_dot_44_bar__plus_00_dot_18_bar__plus_01_dot_58 - object\n Candle_bar__minus_02_dot_70_bar__plus_01_dot_21_bar__plus_01_dot_55 - object\n Candle_bar__minus_02_dot_75_bar__plus_00_dot_94_bar__plus_02_dot_78 - object\n Candle_bar__minus_02_dot_84_bar__plus_01_dot_09_bar__plus_00_dot_65 - object\n Candle_bar__minus_02_dot_90_bar__plus_00_dot_94_bar__plus_01_dot_89 - object\n Cloth_bar__minus_02_dot_61_bar__plus_00_dot_09_bar__plus_02_dot_28 - object\n Cloth_bar__minus_02_dot_71_bar__plus_00_dot_75_bar__plus_03_dot_31 - object\n Cloth_bar__minus_02_dot_72_bar__plus_01_dot_66_bar__plus_03_dot_37 - object\n DishSponge_bar__minus_02_dot_54_bar__plus_01_dot_67_bar__plus_03_dot_33 - object\n DishSponge_bar__minus_02_dot_77_bar__plus_00_dot_75_bar__plus_03_dot_02 - object\n DishSponge_bar__minus_02_dot_79_bar__plus_00_dot_09_bar__plus_02_dot_23 - object\n Faucet_bar__minus_00_dot_77_bar__plus_00_dot_42_bar__plus_01_dot_00 - object\n Faucet_bar__minus_02_dot_93_bar__plus_00_dot_98_bar__plus_02_dot_23 - object\n HandTowel_bar__minus_02_dot_70_bar__plus_01_dot_52_bar__plus_02_dot_87 - object\n LightSwitch_bar__minus_01_dot_68_bar__plus_01_dot_44_bar__plus_03_dot_61 - object\n Mirror_bar__minus_02_dot_97_bar__plus_01_dot_61_bar__plus_02_dot_27 - object\n PaperTowelRoll_bar__minus_00_dot_21_bar__plus_00_dot_16_bar__plus_00_dot_19 - object\n Plunger_bar__minus_02_dot_84_bar__plus_00_dot_00_bar__plus_00_dot_13 - object\n ScrubBrush_bar__minus_02_dot_83_bar__plus_00_dot_00_bar__plus_00_dot_30 - object\n Sink_bar__minus_02_dot_72_bar__plus_00_dot_86_bar__plus_02_dot_23 - object\n SoapBar_bar__minus_00_dot_38_bar__plus_00_dot_19_bar__plus_01_dot_33 - object\n SoapBar_bar__minus_02_dot_84_bar__plus_01_dot_66_bar__plus_03_dot_11 - object\n SoapBottle_bar__minus_02_dot_67_bar__plus_00_dot_09_bar__plus_03_dot_44 - object\n SoapBottle_bar__minus_02_dot_67_bar__plus_00_dot_90_bar__plus_03_dot_36 - object\n SoapBottle_bar__minus_02_dot_73_bar__plus_00_dot_09_bar__plus_02_dot_57 - object\n SprayBottle_bar__minus_00_dot_23_bar__plus_00_dot_06_bar__plus_00_dot_27 - object\n SprayBottle_bar__minus_02_dot_34_bar__plus_01_dot_21_bar__plus_01_dot_49 - object\n ToiletPaper_bar__minus_02_dot_33_bar__plus_00_dot_79_bar__plus_00_dot_08 - object\n ToiletPaper_bar__minus_02_dot_84_bar__plus_01_dot_07_bar__plus_00_dot_46 - object\n Towel_bar__minus_00_dot_11_bar__plus_01_dot_51_bar__plus_01_dot_94 - object\n Window_bar__minus_02_dot_26_bar__plus_01_dot_66_bar__minus_00_dot_02 - object\n Bathtub_bar__minus_00_dot_44_bar__plus_00_dot_18_bar__plus_01_dot_58_bar_BathtubBasin - receptacle\n Cabinet_bar__minus_02_dot_41_bar__plus_00_dot_37_bar__plus_01_dot_59 - receptacle\n Cabinet_bar__minus_02_dot_41_bar__plus_00_dot_37_bar__plus_02_dot_04 - receptacle\n Cabinet_bar__minus_02_dot_41_bar__plus_00_dot_37_bar__plus_02_dot_86 - receptacle\n Cabinet_bar__minus_02_dot_41_bar__plus_00_dot_37_bar__plus_02_dot_91 - receptacle\n Cabinet_bar__minus_02_dot_41_bar__plus_00_dot_37_bar__plus_03_dot_57 - receptacle\n Cabinet_bar__minus_02_dot_41_bar__plus_01_dot_26_bar__plus_02_dot_91 - receptacle\n Cabinet_bar__minus_02_dot_41_bar__plus_01_dot_26_bar__plus_03_dot_57 - receptacle\n Cabinet_bar__minus_02_dot_41_bar__plus_02_dot_02_bar__plus_02_dot_91 - receptacle\n Cabinet_bar__minus_02_dot_41_bar__plus_02_dot_02_bar__plus_03_dot_57 - receptacle\n CounterTop_bar__minus_02_dot_61_bar__plus_01_dot_24_bar__plus_01_dot_46 - receptacle\n CounterTop_bar__minus_02_dot_69_bar__plus_00_dot_97_bar__plus_02_dot_26 - receptacle\n Drawer_bar__minus_02_dot_64_bar__plus_00_dot_77_bar__plus_03_dot_24 - receptacle\n GarbageCan_bar__minus_00_dot_21_bar__plus_00_dot_00_bar__plus_00_dot_25 - receptacle\n HandTowelHolder_bar__minus_02_dot_70_bar__plus_01_dot_62_bar__plus_02_dot_91 - receptacle\n Sink_bar__minus_02_dot_72_bar__plus_00_dot_86_bar__plus_02_dot_23_bar_SinkBasin - receptacle\n ToiletPaperHanger_bar__minus_02_dot_29_bar__plus_00_dot_91_bar__plus_00_dot_00 - receptacle\n Toilet_bar__minus_02_dot_58_bar__plus_00_dot_03_bar__plus_00_dot_66 - receptacle\n TowelHolder_bar__plus_00_dot_00_bar__plus_01_dot_50_bar__plus_01_dot_94 - receptacle\n loc_bar__minus_7_bar_12_bar_3_bar_45 - location\n loc_bar__minus_6_bar_12_bar_3_bar_30 - location\n loc_bar__minus_7_bar_2_bar_2_bar_0 - location\n loc_bar__minus_5_bar_8_bar_1_bar_0 - location\n loc_bar__minus_4_bar_11_bar_2_bar_45 - location\n loc_bar__minus_7_bar_12_bar_3_bar_0 - location\n loc_bar__minus_6_bar_11_bar_3_bar_60 - location\n loc_bar__minus_5_bar_6_bar_1_bar_60 - location\n loc_bar__minus_7_bar_12_bar_0_bar_15 - location\n loc_bar__minus_7_bar_2_bar_3_bar_60 - location\n loc_bar__minus_8_bar_9_bar_3_bar_0 - location\n loc_bar__minus_8_bar_5_bar_2_bar_60 - location\n loc_bar__minus_7_bar_12_bar_3_bar__minus_30 - location\n loc_bar__minus_8_bar_10_bar_3_bar_45 - location\n loc_bar__minus_7_bar_12_bar_3_bar_30 - location\n loc_bar__minus_2_bar_2_bar_1_bar_60 - location\n loc_bar__minus_6_bar_7_bar_3_bar_60 - location\n loc_bar__minus_8_bar_5_bar_3_bar_30 - location\n loc_bar__minus_8_bar_9_bar_3_bar_45 - location\n loc_bar__minus_6_bar_12_bar_3_bar_60 - location\n loc_bar__minus_6_bar_9_bar_3_bar_60 - location\n loc_bar__minus_6_bar_11_bar_1_bar_30 - location\n )\n \n\n(:init\n\n\n (receptacleType HandTowelHolder_bar__minus_02_dot_70_bar__plus_01_dot_62_bar__plus_02_dot_91 HandTowelHolderType)\n (receptacleType Cabinet_bar__minus_02_dot_41_bar__plus_02_dot_02_bar__plus_03_dot_57 CabinetType)\n (receptacleType TowelHolder_bar__plus_00_dot_00_bar__plus_01_dot_50_bar__plus_01_dot_94 TowelHolderType)\n (receptacleType Drawer_bar__minus_02_dot_64_bar__plus_00_dot_77_bar__plus_03_dot_24 DrawerType)\n (receptacleType GarbageCan_bar__minus_00_dot_21_bar__plus_00_dot_00_bar__plus_00_dot_25 GarbageCanType)\n (receptacleType Cabinet_bar__minus_02_dot_41_bar__plus_02_dot_02_bar__plus_02_dot_91 CabinetType)\n (receptacleType Cabinet_bar__minus_02_dot_41_bar__plus_00_dot_37_bar__plus_01_dot_59 CabinetType)\n (receptacleType Cabinet_bar__minus_02_dot_41_bar__plus_00_dot_37_bar__plus_02_dot_04 CabinetType)\n (receptacleType Cabinet_bar__minus_02_dot_41_bar__plus_00_dot_37_bar__plus_02_dot_91 CabinetType)\n (receptacleType ToiletPaperHanger_bar__minus_02_dot_29_bar__plus_00_dot_91_bar__plus_00_dot_00 ToiletPaperHangerType)\n (receptacleType Cabinet_bar__minus_02_dot_41_bar__plus_00_dot_37_bar__plus_02_dot_86 CabinetType)\n (receptacleType CounterTop_bar__minus_02_dot_69_bar__plus_00_dot_97_bar__plus_02_dot_26 CounterTopType)\n (receptacleType Bathtub_bar__minus_00_dot_44_bar__plus_00_dot_18_bar__plus_01_dot_58_bar_BathtubBasin BathtubBasinType)\n (receptacleType Sink_bar__minus_02_dot_72_bar__plus_00_dot_86_bar__plus_02_dot_23_bar_SinkBasin SinkBasinType)\n (receptacleType Cabinet_bar__minus_02_dot_41_bar__plus_01_dot_26_bar__plus_03_dot_57 CabinetType)\n (receptacleType CounterTop_bar__minus_02_dot_61_bar__plus_01_dot_24_bar__plus_01_dot_46 CounterTopType)\n (receptacleType Cabinet_bar__minus_02_dot_41_bar__plus_01_dot_26_bar__plus_02_dot_91 CabinetType)\n (receptacleType Cabinet_bar__minus_02_dot_41_bar__plus_00_dot_37_bar__plus_03_dot_57 CabinetType)\n (receptacleType Toilet_bar__minus_02_dot_58_bar__plus_00_dot_03_bar__plus_00_dot_66 ToiletType)\n (objectType Bathtub_bar__minus_00_dot_44_bar__plus_00_dot_18_bar__plus_01_dot_58 BathtubType)\n (objectType SoapBottle_bar__minus_02_dot_73_bar__plus_00_dot_09_bar__plus_02_dot_57 SoapBottleType)\n (objectType Candle_bar__minus_02_dot_90_bar__plus_00_dot_94_bar__plus_01_dot_89 CandleType)\n (objectType Cloth_bar__minus_02_dot_72_bar__plus_01_dot_66_bar__plus_03_dot_37 ClothType)\n (objectType Candle_bar__minus_02_dot_70_bar__plus_01_dot_21_bar__plus_01_dot_55 CandleType)\n (objectType Cloth_bar__minus_02_dot_71_bar__plus_00_dot_75_bar__plus_03_dot_31 ClothType)\n (objectType ScrubBrush_bar__minus_02_dot_83_bar__plus_00_dot_00_bar__plus_00_dot_30 ScrubBrushType)\n (objectType Towel_bar__minus_00_dot_11_bar__plus_01_dot_51_bar__plus_01_dot_94 TowelType)\n (objectType ToiletPaper_bar__minus_02_dot_33_bar__plus_00_dot_79_bar__plus_00_dot_08 ToiletPaperType)\n (objectType SprayBottle_bar__minus_00_dot_23_bar__plus_00_dot_06_bar__plus_00_dot_27 SprayBottleType)\n (objectType SoapBottle_bar__minus_02_dot_67_bar__plus_00_dot_09_bar__plus_03_dot_44 SoapBottleType)\n (objectType HandTowel_bar__minus_02_dot_70_bar__plus_01_dot_52_bar__plus_02_dot_87 HandTowelType)\n (objectType Candle_bar__minus_02_dot_84_bar__plus_01_dot_09_bar__plus_00_dot_65 CandleType)\n (objectType SoapBar_bar__minus_02_dot_84_bar__plus_01_dot_66_bar__plus_03_dot_11 SoapBarType)\n (objectType DishSponge_bar__minus_02_dot_54_bar__plus_01_dot_67_bar__plus_03_dot_33 DishSpongeType)\n (objectType Mirror_bar__minus_02_dot_97_bar__plus_01_dot_61_bar__plus_02_dot_27 MirrorType)\n (objectType SoapBar_bar__minus_00_dot_38_bar__plus_00_dot_19_bar__plus_01_dot_33 SoapBarType)\n (objectType ToiletPaper_bar__minus_02_dot_84_bar__plus_01_dot_07_bar__plus_00_dot_46 ToiletPaperType)\n (objectType Candle_bar__minus_02_dot_75_bar__plus_00_dot_94_bar__plus_02_dot_78 CandleType)\n (objectType DishSponge_bar__minus_02_dot_77_bar__plus_00_dot_75_bar__plus_03_dot_02 DishSpongeType)\n (objectType SoapBottle_bar__minus_02_dot_67_bar__plus_00_dot_90_bar__plus_03_dot_36 SoapBottleType)\n (objectType Cloth_bar__minus_02_dot_61_bar__plus_00_dot_09_bar__plus_02_dot_28 ClothType)\n (objectType LightSwitch_bar__minus_01_dot_68_bar__plus_01_dot_44_bar__plus_03_dot_61 LightSwitchType)\n (objectType Plunger_bar__minus_02_dot_84_bar__plus_00_dot_00_bar__plus_00_dot_13 PlungerType)\n (objectType SprayBottle_bar__minus_02_dot_34_bar__plus_01_dot_21_bar__plus_01_dot_49 SprayBottleType)\n (objectType Sink_bar__minus_02_dot_72_bar__plus_00_dot_86_bar__plus_02_dot_23 SinkType)\n (objectType DishSponge_bar__minus_02_dot_79_bar__plus_00_dot_09_bar__plus_02_dot_23 DishSpongeType)\n (objectType PaperTowelRoll_bar__minus_00_dot_21_bar__plus_00_dot_16_bar__plus_00_dot_19 PaperTowelRollType)\n (objectType Window_bar__minus_02_dot_26_bar__plus_01_dot_66_bar__minus_00_dot_02 WindowType)\n (canContain HandTowelHolderType HandTowelType)\n (canContain CabinetType CandleType)\n (canContain CabinetType SoapBarType)\n (canContain CabinetType DishSpongeType)\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 DrawerType CandleType)\n (canContain DrawerType SoapBarType)\n (canContain DrawerType DishSpongeType)\n (canContain DrawerType SprayBottleType)\n (canContain DrawerType ToiletPaperType)\n (canContain DrawerType SoapBottleType)\n (canContain DrawerType ClothType)\n (canContain DrawerType HandTowelType)\n (canContain GarbageCanType SoapBarType)\n (canContain GarbageCanType DishSpongeType)\n (canContain GarbageCanType SprayBottleType)\n (canContain GarbageCanType ToiletPaperType)\n (canContain GarbageCanType SoapBottleType)\n (canContain GarbageCanType ClothType)\n (canContain GarbageCanType HandTowelType)\n (canContain CabinetType CandleType)\n (canContain CabinetType SoapBarType)\n (canContain CabinetType DishSpongeType)\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 DishSpongeType)\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 DishSpongeType)\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 DishSpongeType)\n (canContain CabinetType SprayBottleType)\n (canContain CabinetType ToiletPaperType)\n (canContain CabinetType SoapBottleType)\n (canContain CabinetType ClothType)\n (canContain CabinetType HandTowelType)\n (canContain CabinetType PlungerType)\n (canContain ToiletPaperHangerType ToiletPaperType)\n (canContain CabinetType CandleType)\n (canContain CabinetType SoapBarType)\n (canContain CabinetType DishSpongeType)\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 DishSpongeType)\n (canContain CounterTopType SoapBarType)\n (canContain CounterTopType SprayBottleType)\n (canContain CounterTopType ToiletPaperType)\n (canContain CounterTopType SoapBottleType)\n (canContain CounterTopType ClothType)\n (canContain CounterTopType HandTowelType)\n (canContain BathtubBasinType ClothType)\n (canContain BathtubBasinType HandTowelType)\n (canContain BathtubBasinType SoapBarType)\n (canContain BathtubBasinType DishSpongeType)\n (canContain SinkBasinType SoapBarType)\n (canContain SinkBasinType DishSpongeType)\n (canContain SinkBasinType ClothType)\n (canContain SinkBasinType HandTowelType)\n (canContain CabinetType CandleType)\n (canContain CabinetType SoapBarType)\n (canContain CabinetType DishSpongeType)\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 DishSpongeType)\n (canContain CounterTopType SoapBarType)\n (canContain CounterTopType SprayBottleType)\n (canContain CounterTopType ToiletPaperType)\n (canContain CounterTopType SoapBottleType)\n (canContain CounterTopType ClothType)\n (canContain CounterTopType HandTowelType)\n (canContain CabinetType CandleType)\n (canContain CabinetType SoapBarType)\n (canContain CabinetType DishSpongeType)\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 DishSpongeType)\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 DishSpongeType)\n (canContain ToiletType SprayBottleType)\n (pickupable SoapBottle_bar__minus_02_dot_73_bar__plus_00_dot_09_bar__plus_02_dot_57)\n (pickupable Candle_bar__minus_02_dot_90_bar__plus_00_dot_94_bar__plus_01_dot_89)\n (pickupable Cloth_bar__minus_02_dot_72_bar__plus_01_dot_66_bar__plus_03_dot_37)\n (pickupable Candle_bar__minus_02_dot_70_bar__plus_01_dot_21_bar__plus_01_dot_55)\n (pickupable Cloth_bar__minus_02_dot_71_bar__plus_00_dot_75_bar__plus_03_dot_31)\n (pickupable ScrubBrush_bar__minus_02_dot_83_bar__plus_00_dot_00_bar__plus_00_dot_30)\n (pickupable Towel_bar__minus_00_dot_11_bar__plus_01_dot_51_bar__plus_01_dot_94)\n (pickupable ToiletPaper_bar__minus_02_dot_33_bar__plus_00_dot_79_bar__plus_00_dot_08)\n (pickupable SprayBottle_bar__minus_00_dot_23_bar__plus_00_dot_06_bar__plus_00_dot_27)\n (pickupable SoapBottle_bar__minus_02_dot_67_bar__plus_00_dot_09_bar__plus_03_dot_44)\n (pickupable HandTowel_bar__minus_02_dot_70_bar__plus_01_dot_52_bar__plus_02_dot_87)\n (pickupable Candle_bar__minus_02_dot_84_bar__plus_01_dot_09_bar__plus_00_dot_65)\n (pickupable SoapBar_bar__minus_02_dot_84_bar__plus_01_dot_66_bar__plus_03_dot_11)\n (pickupable DishSponge_bar__minus_02_dot_54_bar__plus_01_dot_67_bar__plus_03_dot_33)\n (pickupable SoapBar_bar__minus_00_dot_38_bar__plus_00_dot_19_bar__plus_01_dot_33)\n (pickupable ToiletPaper_bar__minus_02_dot_84_bar__plus_01_dot_07_bar__plus_00_dot_46)\n (pickupable Candle_bar__minus_02_dot_75_bar__plus_00_dot_94_bar__plus_02_dot_78)\n (pickupable DishSponge_bar__minus_02_dot_77_bar__plus_00_dot_75_bar__plus_03_dot_02)\n (pickupable SoapBottle_bar__minus_02_dot_67_bar__plus_00_dot_90_bar__plus_03_dot_36)\n (pickupable Cloth_bar__minus_02_dot_61_bar__plus_00_dot_09_bar__plus_02_dot_28)\n (pickupable Plunger_bar__minus_02_dot_84_bar__plus_00_dot_00_bar__plus_00_dot_13)\n (pickupable SprayBottle_bar__minus_02_dot_34_bar__plus_01_dot_21_bar__plus_01_dot_49)\n (pickupable DishSponge_bar__minus_02_dot_79_bar__plus_00_dot_09_bar__plus_02_dot_23)\n (pickupable PaperTowelRoll_bar__minus_00_dot_21_bar__plus_00_dot_16_bar__plus_00_dot_19)\n \n (openable Cabinet_bar__minus_02_dot_41_bar__plus_02_dot_02_bar__plus_03_dot_57)\n (openable Cabinet_bar__minus_02_dot_41_bar__plus_02_dot_02_bar__plus_02_dot_91)\n (openable Cabinet_bar__minus_02_dot_41_bar__plus_00_dot_37_bar__plus_01_dot_59)\n (openable Cabinet_bar__minus_02_dot_41_bar__plus_00_dot_37_bar__plus_02_dot_04)\n (openable Cabinet_bar__minus_02_dot_41_bar__plus_00_dot_37_bar__plus_02_dot_91)\n (openable Cabinet_bar__minus_02_dot_41_bar__plus_00_dot_37_bar__plus_02_dot_86)\n (openable Cabinet_bar__minus_02_dot_41_bar__plus_01_dot_26_bar__plus_03_dot_57)\n (openable Cabinet_bar__minus_02_dot_41_bar__plus_01_dot_26_bar__plus_02_dot_91)\n (openable Cabinet_bar__minus_02_dot_41_bar__plus_00_dot_37_bar__plus_03_dot_57)\n \n (atLocation agent1 loc_bar__minus_6_bar_11_bar_1_bar_30)\n \n (cleanable Cloth_bar__minus_02_dot_72_bar__plus_01_dot_66_bar__plus_03_dot_37)\n (cleanable Cloth_bar__minus_02_dot_71_bar__plus_00_dot_75_bar__plus_03_dot_31)\n (cleanable SoapBar_bar__minus_02_dot_84_bar__plus_01_dot_66_bar__plus_03_dot_11)\n (cleanable DishSponge_bar__minus_02_dot_54_bar__plus_01_dot_67_bar__plus_03_dot_33)\n (cleanable SoapBar_bar__minus_00_dot_38_bar__plus_00_dot_19_bar__plus_01_dot_33)\n (cleanable DishSponge_bar__minus_02_dot_77_bar__plus_00_dot_75_bar__plus_03_dot_02)\n (cleanable Cloth_bar__minus_02_dot_61_bar__plus_00_dot_09_bar__plus_02_dot_28)\n (cleanable DishSponge_bar__minus_02_dot_79_bar__plus_00_dot_09_bar__plus_02_dot_23)\n \n \n \n \n \n \n \n \n \n \n (inReceptacle SoapBottle_bar__minus_02_dot_73_bar__plus_00_dot_09_bar__plus_02_dot_57 Cabinet_bar__minus_02_dot_41_bar__plus_00_dot_37_bar__plus_02_dot_86)\n (inReceptacle SoapBottle_bar__minus_02_dot_67_bar__plus_00_dot_09_bar__plus_03_dot_44 Cabinet_bar__minus_02_dot_41_bar__plus_00_dot_37_bar__plus_03_dot_57)\n (inReceptacle DishSponge_bar__minus_02_dot_79_bar__plus_00_dot_09_bar__plus_02_dot_23 Cabinet_bar__minus_02_dot_41_bar__plus_00_dot_37_bar__plus_02_dot_04)\n (inReceptacle Cloth_bar__minus_02_dot_61_bar__plus_00_dot_09_bar__plus_02_dot_28 Cabinet_bar__minus_02_dot_41_bar__plus_00_dot_37_bar__plus_02_dot_04)\n (inReceptacle SoapBottle_bar__minus_02_dot_67_bar__plus_00_dot_90_bar__plus_03_dot_36 Cabinet_bar__minus_02_dot_41_bar__plus_01_dot_26_bar__plus_03_dot_57)\n (inReceptacle SoapBar_bar__minus_02_dot_84_bar__plus_01_dot_66_bar__plus_03_dot_11 Cabinet_bar__minus_02_dot_41_bar__plus_02_dot_02_bar__plus_02_dot_91)\n (inReceptacle Cloth_bar__minus_02_dot_71_bar__plus_00_dot_75_bar__plus_03_dot_31 Drawer_bar__minus_02_dot_64_bar__plus_00_dot_77_bar__plus_03_dot_24)\n (inReceptacle DishSponge_bar__minus_02_dot_77_bar__plus_00_dot_75_bar__plus_03_dot_02 Drawer_bar__minus_02_dot_64_bar__plus_00_dot_77_bar__plus_03_dot_24)\n (inReceptacle DishSponge_bar__minus_02_dot_54_bar__plus_01_dot_67_bar__plus_03_dot_33 Cabinet_bar__minus_02_dot_41_bar__plus_02_dot_02_bar__plus_03_dot_57)\n (inReceptacle Cloth_bar__minus_02_dot_72_bar__plus_01_dot_66_bar__plus_03_dot_37 Cabinet_bar__minus_02_dot_41_bar__plus_02_dot_02_bar__plus_03_dot_57)\n (inReceptacle Candle_bar__minus_02_dot_90_bar__plus_00_dot_94_bar__plus_01_dot_89 CounterTop_bar__minus_02_dot_69_bar__plus_00_dot_97_bar__plus_02_dot_26)\n (inReceptacle Candle_bar__minus_02_dot_75_bar__plus_00_dot_94_bar__plus_02_dot_78 CounterTop_bar__minus_02_dot_69_bar__plus_00_dot_97_bar__plus_02_dot_26)\n (inReceptacle Sink_bar__minus_02_dot_72_bar__plus_00_dot_86_bar__plus_02_dot_23 CounterTop_bar__minus_02_dot_69_bar__plus_00_dot_97_bar__plus_02_dot_26)\n (inReceptacle Candle_bar__minus_02_dot_70_bar__plus_01_dot_21_bar__plus_01_dot_55 CounterTop_bar__minus_02_dot_61_bar__plus_01_dot_24_bar__plus_01_dot_46)\n (inReceptacle SprayBottle_bar__minus_02_dot_34_bar__plus_01_dot_21_bar__plus_01_dot_49 CounterTop_bar__minus_02_dot_61_bar__plus_01_dot_24_bar__plus_01_dot_46)\n (inReceptacle Towel_bar__minus_00_dot_11_bar__plus_01_dot_51_bar__plus_01_dot_94 TowelHolder_bar__plus_00_dot_00_bar__plus_01_dot_50_bar__plus_01_dot_94)\n (inReceptacle HandTowel_bar__minus_02_dot_70_bar__plus_01_dot_52_bar__plus_02_dot_87 HandTowelHolder_bar__minus_02_dot_70_bar__plus_01_dot_62_bar__plus_02_dot_91)\n (inReceptacle ToiletPaper_bar__minus_02_dot_33_bar__plus_00_dot_79_bar__plus_00_dot_08 ToiletPaperHanger_bar__minus_02_dot_29_bar__plus_00_dot_91_bar__plus_00_dot_00)\n (inReceptacle SoapBar_bar__minus_00_dot_38_bar__plus_00_dot_19_bar__plus_01_dot_33 Bathtub_bar__minus_00_dot_44_bar__plus_00_dot_18_bar__plus_01_dot_58_bar_BathtubBasin)\n (inReceptacle PaperTowelRoll_bar__minus_00_dot_21_bar__plus_00_dot_16_bar__plus_00_dot_19 GarbageCan_bar__minus_00_dot_21_bar__plus_00_dot_00_bar__plus_00_dot_25)\n (inReceptacle SprayBottle_bar__minus_00_dot_23_bar__plus_00_dot_06_bar__plus_00_dot_27 GarbageCan_bar__minus_00_dot_21_bar__plus_00_dot_00_bar__plus_00_dot_25)\n (inReceptacle Candle_bar__minus_02_dot_84_bar__plus_01_dot_09_bar__plus_00_dot_65 Toilet_bar__minus_02_dot_58_bar__plus_00_dot_03_bar__plus_00_dot_66)\n (inReceptacle ToiletPaper_bar__minus_02_dot_84_bar__plus_01_dot_07_bar__plus_00_dot_46 Toilet_bar__minus_02_dot_58_bar__plus_00_dot_03_bar__plus_00_dot_66)\n \n \n (receptacleAtLocation Bathtub_bar__minus_00_dot_44_bar__plus_00_dot_18_bar__plus_01_dot_58_bar_BathtubBasin loc_bar__minus_4_bar_11_bar_2_bar_45)\n (receptacleAtLocation Cabinet_bar__minus_02_dot_41_bar__plus_00_dot_37_bar__plus_01_dot_59 loc_bar__minus_6_bar_9_bar_3_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_02_dot_41_bar__plus_00_dot_37_bar__plus_02_dot_04 loc_bar__minus_6_bar_7_bar_3_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_02_dot_41_bar__plus_00_dot_37_bar__plus_02_dot_86 loc_bar__minus_6_bar_9_bar_3_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_02_dot_41_bar__plus_00_dot_37_bar__plus_02_dot_91 loc_bar__minus_6_bar_11_bar_3_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_02_dot_41_bar__plus_00_dot_37_bar__plus_03_dot_57 loc_bar__minus_6_bar_12_bar_3_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_02_dot_41_bar__plus_01_dot_26_bar__plus_02_dot_91 loc_bar__minus_7_bar_12_bar_3_bar_30)\n (receptacleAtLocation Cabinet_bar__minus_02_dot_41_bar__plus_01_dot_26_bar__plus_03_dot_57 loc_bar__minus_6_bar_12_bar_3_bar_30)\n (receptacleAtLocation Cabinet_bar__minus_02_dot_41_bar__plus_02_dot_02_bar__plus_02_dot_91 loc_bar__minus_7_bar_12_bar_3_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_02_dot_41_bar__plus_02_dot_02_bar__plus_03_dot_57 loc_bar__minus_7_bar_12_bar_3_bar__minus_30)\n (receptacleAtLocation CounterTop_bar__minus_02_dot_61_bar__plus_01_dot_24_bar__plus_01_dot_46 loc_bar__minus_8_bar_5_bar_3_bar_30)\n (receptacleAtLocation CounterTop_bar__minus_02_dot_69_bar__plus_00_dot_97_bar__plus_02_dot_26 loc_bar__minus_8_bar_10_bar_3_bar_45)\n (receptacleAtLocation Drawer_bar__minus_02_dot_64_bar__plus_00_dot_77_bar__plus_03_dot_24 loc_bar__minus_7_bar_12_bar_3_bar_45)\n (receptacleAtLocation GarbageCan_bar__minus_00_dot_21_bar__plus_00_dot_00_bar__plus_00_dot_25 loc_bar__minus_2_bar_2_bar_1_bar_60)\n (receptacleAtLocation HandTowelHolder_bar__minus_02_dot_70_bar__plus_01_dot_62_bar__plus_02_dot_91 loc_bar__minus_7_bar_12_bar_3_bar_0)\n (receptacleAtLocation Sink_bar__minus_02_dot_72_bar__plus_00_dot_86_bar__plus_02_dot_23_bar_SinkBasin loc_bar__minus_8_bar_9_bar_3_bar_45)\n (receptacleAtLocation ToiletPaperHanger_bar__minus_02_dot_29_bar__plus_00_dot_91_bar__plus_00_dot_00 loc_bar__minus_7_bar_2_bar_3_bar_60)\n (receptacleAtLocation Toilet_bar__minus_02_dot_58_bar__plus_00_dot_03_bar__plus_00_dot_66 loc_bar__minus_8_bar_5_bar_2_bar_60)\n (receptacleAtLocation TowelHolder_bar__plus_00_dot_00_bar__plus_01_dot_50_bar__plus_01_dot_94 loc_bar__minus_5_bar_8_bar_1_bar_0)\n (objectAtLocation DishSponge_bar__minus_02_dot_77_bar__plus_00_dot_75_bar__plus_03_dot_02 loc_bar__minus_7_bar_12_bar_3_bar_45)\n (objectAtLocation SprayBottle_bar__minus_00_dot_23_bar__plus_00_dot_06_bar__plus_00_dot_27 loc_bar__minus_2_bar_2_bar_1_bar_60)\n (objectAtLocation Cloth_bar__minus_02_dot_61_bar__plus_00_dot_09_bar__plus_02_dot_28 loc_bar__minus_6_bar_7_bar_3_bar_60)\n (objectAtLocation SoapBar_bar__minus_00_dot_38_bar__plus_00_dot_19_bar__plus_01_dot_33 loc_bar__minus_4_bar_11_bar_2_bar_45)\n (objectAtLocation SoapBottle_bar__minus_02_dot_73_bar__plus_00_dot_09_bar__plus_02_dot_57 loc_bar__minus_6_bar_9_bar_3_bar_60)\n (objectAtLocation Candle_bar__minus_02_dot_75_bar__plus_00_dot_94_bar__plus_02_dot_78 loc_bar__minus_8_bar_10_bar_3_bar_45)\n (objectAtLocation SoapBottle_bar__minus_02_dot_67_bar__plus_00_dot_09_bar__plus_03_dot_44 loc_bar__minus_6_bar_12_bar_3_bar_60)\n (objectAtLocation DishSponge_bar__minus_02_dot_54_bar__plus_01_dot_67_bar__plus_03_dot_33 loc_bar__minus_7_bar_12_bar_3_bar__minus_30)\n (objectAtLocation Candle_bar__minus_02_dot_70_bar__plus_01_dot_21_bar__plus_01_dot_55 loc_bar__minus_8_bar_5_bar_3_bar_30)\n (objectAtLocation Candle_bar__minus_02_dot_84_bar__plus_01_dot_09_bar__plus_00_dot_65 loc_bar__minus_8_bar_5_bar_2_bar_60)\n (objectAtLocation Cloth_bar__minus_02_dot_71_bar__plus_00_dot_75_bar__plus_03_dot_31 loc_bar__minus_7_bar_12_bar_3_bar_45)\n (objectAtLocation Mirror_bar__minus_02_dot_97_bar__plus_01_dot_61_bar__plus_02_dot_27 loc_bar__minus_8_bar_9_bar_3_bar_0)\n (objectAtLocation Bathtub_bar__minus_00_dot_44_bar__plus_00_dot_18_bar__plus_01_dot_58 loc_bar__minus_5_bar_6_bar_1_bar_60)\n (objectAtLocation Sink_bar__minus_02_dot_72_bar__plus_00_dot_86_bar__plus_02_dot_23 loc_bar__minus_8_bar_10_bar_3_bar_45)\n (objectAtLocation Towel_bar__minus_00_dot_11_bar__plus_01_dot_51_bar__plus_01_dot_94 loc_bar__minus_5_bar_8_bar_1_bar_0)\n (objectAtLocation Candle_bar__minus_02_dot_90_bar__plus_00_dot_94_bar__plus_01_dot_89 loc_bar__minus_8_bar_10_bar_3_bar_45)\n (objectAtLocation SoapBottle_bar__minus_02_dot_67_bar__plus_00_dot_90_bar__plus_03_dot_36 loc_bar__minus_6_bar_12_bar_3_bar_30)\n (objectAtLocation HandTowel_bar__minus_02_dot_70_bar__plus_01_dot_52_bar__plus_02_dot_87 loc_bar__minus_7_bar_12_bar_3_bar_0)\n (objectAtLocation Plunger_bar__minus_02_dot_84_bar__plus_00_dot_00_bar__plus_00_dot_13 loc_bar__minus_7_bar_2_bar_3_bar_60)\n (objectAtLocation SoapBar_bar__minus_02_dot_84_bar__plus_01_dot_66_bar__plus_03_dot_11 loc_bar__minus_7_bar_12_bar_3_bar__minus_30)\n (objectAtLocation ToiletPaper_bar__minus_02_dot_33_bar__plus_00_dot_79_bar__plus_00_dot_08 loc_bar__minus_7_bar_2_bar_3_bar_60)\n (objectAtLocation Cloth_bar__minus_02_dot_72_bar__plus_01_dot_66_bar__plus_03_dot_37 loc_bar__minus_7_bar_12_bar_3_bar__minus_30)\n (objectAtLocation ToiletPaper_bar__minus_02_dot_84_bar__plus_01_dot_07_bar__plus_00_dot_46 loc_bar__minus_8_bar_5_bar_2_bar_60)\n (objectAtLocation Window_bar__minus_02_dot_26_bar__plus_01_dot_66_bar__minus_00_dot_02 loc_bar__minus_7_bar_2_bar_2_bar_0)\n (objectAtLocation SprayBottle_bar__minus_02_dot_34_bar__plus_01_dot_21_bar__plus_01_dot_49 loc_bar__minus_8_bar_5_bar_3_bar_30)\n (objectAtLocation PaperTowelRoll_bar__minus_00_dot_21_bar__plus_00_dot_16_bar__plus_00_dot_19 loc_bar__minus_2_bar_2_bar_1_bar_60)\n (objectAtLocation ScrubBrush_bar__minus_02_dot_83_bar__plus_00_dot_00_bar__plus_00_dot_30 loc_bar__minus_7_bar_2_bar_3_bar_60)\n (objectAtLocation LightSwitch_bar__minus_01_dot_68_bar__plus_01_dot_44_bar__plus_03_dot_61 loc_bar__minus_7_bar_12_bar_0_bar_15)\n (objectAtLocation DishSponge_bar__minus_02_dot_79_bar__plus_00_dot_09_bar__plus_02_dot_23 loc_bar__minus_6_bar_7_bar_3_bar_60)\n )\n \n\n (:goal\n (and\n (exists (?r - receptacle)\n (exists (?o1 - object)\n (and\n (objectType ?o1 CandleType)\n (receptacleType ?r CabinetType)\n (inReceptacle ?o1 ?r)\n (exists (?o2 - object)\n (and\n (not (= ?o1 ?o2))\n (objectType ?o2 CandleType)\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 candle 3 from countertop 1", "go to cabinet 6", "open cabinet 6", "move candle 3 to cabinet 6", "go to countertop 1", "take candle 1 from countertop 1", "go to cabinet 6", "move candle 1 to cabinet 6"]}
|
alfworld__pick_and_place_simple__14
|
pick_and_place_simple
|
pick_and_place_simple-Pencil-None-Desk-307/trial_T20190909_075126_209289/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 pencil on desk.\"\n }\n ],\n\n \"GotoLocation.feedback\": [\n {\n \"rhs\": \"You arrive at {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"OpenObject.feedback\": [\n {\n \"rhs\": \"You open the {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"CloseObject.feedback\": [\n {\n \"rhs\": \"You close the {r.name}.\"\n }\n ],\n\n \"PickupObject.feedback\": [\n {\n \"rhs\": \"You pick up the {o.name} from the {r.name}.\"\n }\n ],\n\n \"PickupObjectFromReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupObjectFromReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupEmptyReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupEmptyReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupFullReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupFullReceptacleObject: You pick up the {outerr.name}.\"\n }\n ],\n\n \"PutObject.feedback\": [\n {\n \"rhs\": \"You move the {o.name} to the {r.name}.\"\n }\n ],\n\n \"PutObjectInReceptacleObject.feedback\": [\n {\n \"rhs\": \"PutObjectInReceptacleObject: You put the {o.name} in the {outero.name}.\"\n }\n ],\n\n \"PutEmptyReceptacleObjectinReceptacle.feedback\": [\n {\n \"rhs\": \"PutEmptyReceptacleObjectinReceptacle: You put the {o.name} in the {r.name}.\"\n }\n ],\n\n \"PutFullReceptacleObjectInReceptacle.feedback\": [\n {\n \"rhs\": \"PutFullReceptacleObjectInReceptacle: You put the {outero.name} in the {r.name}.\"\n }\n ],\n\n \"inventory.feedback\": [\n {\n \"condition\": \"holdsany(a:agent)\",\n \"rhs\": \"You are carrying: [{o.indefinite + ' ' + o.name | holds(a:agent, o:object)}].\"\n },\n {\n \"rhs\": \"You are not carrying anything.\"\n }\n ],\n\n \"examineReceptacle.feedback\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \"The {r.name} is open. In it, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \"The {r.name} is closed.\"\n },\n {\n \"rhs\": \"On the {r.name}, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n }\n ],\n\n \"examineObject.feedback\": [\n {\n \"condition\": \"isreceptacleobject(o:object)\",\n \"rhs\": \"This is a normal {o.name}. In it, you see [{o2.indefinite + ' ' + o2.name | inreceptacleobject(o2:object, o:object)}].\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a clean sliced {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot sliced {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object)\",\n \"rhs\": \"This is a hot and clean {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object)\",\n \"rhs\": \"This is a cool and clean {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object)\",\n \"rhs\": \"This is a hot {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object)\",\n \"rhs\": \"This is a clean {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object)\",\n \"rhs\": \"This is a cold {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"This {o.name} is on.\"\n },\n {\n \"condition\": \"toggleable(o:object) & not_istoggled(o:object)\",\n \"rhs\": \"This {o.name} is off.\"\n },\n {\n \"condition\": \"sliceable(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a sliced {o.name}.\"\n },\n {\n \"rhs\": \"There's nothing special about {o.name}.\"\n }\n ]\n }\n\"\"\";\n\naction GotoLocation {\n template :: \"go to [{r.name | receptacleatlocation(r:receptacle, lend:location)}]\";\n feedback :: \"#GotoLocation.feedback#\";\n}\n\naction OpenObject {\n template :: \"open {r}\";\n feedback :: \"#OpenObject.feedback#\";\n}\n\naction CloseObject {\n template :: \"close {r}\";\n feedback :: \"#CloseObject.feedback#\";\n}\n\naction PickupObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObject.feedback#\";\n}\n\naction PickupObjectFromReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObjectFromReceptacleObject.feedback#\";\n}\n\naction PickupEmptyReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupEmptyReceptacleObject.feedback#\";\n}\n\naction PickupFullReceptacleObject {\n template :: \"take {outerr} from {r}\";\n feedback :: \"#PickupFullReceptacleObject.feedback#\";\n}\n\naction PutObject {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutObject.feedback#\";\n}\n\naction PutObjectInReceptacleObject {\n template :: \"put {o} into {outero}\";\n feedback :: \"#PutObjectInReceptacleObject.feedback#\";\n}\n\naction PutEmptyReceptacleObjectinReceptacle {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutEmptyReceptacleObjectinReceptacle.feedback#\";\n}\n\naction PutFullReceptacleObjectInReceptacle {\n template :: \"put {outero} in {r}\";\n feedback :: \"#PutFullReceptacleObjectInReceptacle.feedback#\";\n}\n\naction inventory {\n template :: \"inventory\";\n feedback :: \"#inventory.feedback#\";\n}\n\naction examineReceptacle {\n template :: \"examine {r}\";\n feedback :: \"#examineReceptacle.feedback#\";\n}\n\naction examineObject {\n template :: \"examine {o}\";\n feedback :: \"#examineObject.feedback#\";\n}\n\naction ToggleObject {\n template :: \"use {o}\";\n feedback :: \"#toggleObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"toggleObject.feedback\": [\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"You turn on the {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object)\",\n \"rhs\": \"You turn off the {o.name}.\"\n },\n {\n \"rhs\": \"You don't see any switch on the {o.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction HeatObject {\n template :: \"heat {o} with {r}\";\n feedback :: \"#heatObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"heatObject.feedback\": [\n {\n \"rhs\": \"You heat the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CleanObject {\n template :: \"clean {o} with {r}\";\n feedback :: \"#cleanObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"cleanObject.feedback\": [\n {\n \"rhs\": \"You clean the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CoolObject {\n template :: \"cool {o} with {r}\";\n feedback :: \"#coolObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"coolObject.feedback\": [\n {\n \"rhs\": \"You cool the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction SliceObject {\n template :: \"slice {co} with {ko}\";\n feedback :: \"#sliceObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"sliceObject.feedback\": [\n {\n \"rhs\": \"You sliced the {co.name} with the {ko.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction look {\n template :: \"look\";\n feedback :: \"#look.feedback#\";\n\n grammar :: \"\"\"\n {\n \"look.feedback\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"#look-variations#. Next to it, you see #list_objects_on_the_floor#.\"\n },\n {\n \"rhs\": \"You are in the middle of a room. Looking quickly around you, you see #list_appliances#.\"\n }\n ],\n\n \"look-variations\": [\n {\n \"rhs\": \"You are facing the [{r.name | atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)}]\"\n }\n ],\n\n \"list_objects_on_the_floor\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)\",\n \"rhs\": \"[{#overview(o)# | atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"list_appliances\": [\n {\n \"condition\": \"receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"[{#overview(r)# | receptacleatlocation(r:receptacle, l:location)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"overview(o, r)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name} (in/on the {r.name})}\"\n }\n ],\n\n \"overview(o)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name}\"\n }\n ],\n \"overview(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}\"\n }\n ],\n \"overview_with_state(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}#overview_state(r)#\"\n }\n ],\n \"overview_state(r)\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \" (it is open)\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \" (it is closed)\"\n },\n {\n \"rhs\": \"\"\n }\n ],\n\n \"list_empty\": [\n {\n \"rhs\": \"nothing\"\n }\n ],\n \"list_separator\": [\n {\n \"rhs\": \", \"\n }\n ],\n \"list_last_separator\": [\n {\n \"rhs\": \", and \"\n }\n ]\n }\n \"\"\";\n}\n\naction help {\n template :: \"help\";\n feedback :: \"\nAvailable commands:\n look: look around your current location\n inventory: check your current inventory\n go to (receptacle): move to a receptacle\n open (receptacle): open a receptacle\n close (receptacle): close a receptacle\n take (object) from (receptacle): take an object from a receptacle\n move (object) to (receptacle): place an object in or on a receptacle\n examine (something): examine a receptacle or an object\n use (object): use an object\n heat (object) with (receptacle): heat an object using a receptacle\n clean (object) with (receptacle): clean an object using a receptacle\n cool (object) with (receptacle): cool an object using a receptacle\n slice (object) with (object): slice an object using a sharp object\n\";\n}\n", "pddl_problem": "\n(define (problem plan_trial_T20190909_075126_209289)\n(:domain alfred)\n(:objects\nagent1 - agent\nSaltShaker - object\n HousePlant - object\n Candle - object\n SprayBottle - object\n Bowl - object\n Window - object\n CD - object\n Egg - object\n Glassbottle - object\n Sink - object\n Pillow - object\n Spoon - object\n SoapBottle - object\n TeddyBear - object\n ButterKnife - object\n Cup - object\n Plate - object\n RemoteControl - object\n Tomato - object\n Statue - object\n HandTowel - object\n Knife - object\n StoveKnob - object\n LightSwitch - object\n Pen - object\n Painting - object\n DishSponge - object\n Vase - object\n Mug - object\n ToiletPaper - object\n Box - object\n Mirror - object\n Ladle - object\n Fork - object\n Blinds - object\n Footstool - object\n KeyChain - object\n Cloth - object\n Laptop - object\n TissueBox - object\n PepperShaker - object\n FloorLamp - object\n WateringCan - object\n Apple - object\n Pan - object\n PaperTowel - object\n PaperTowelRoll - object\n Newspaper - object\n Television - object\n Chair - object\n CellPhone - object\n CreditCard - object\n Lettuce - object\n BasketBall - object\n Potato - object\n Curtains - object\n Boots - object\n Pencil - object\n AlarmClock - object\n ToiletPaperRoll - object\n Spatula - object\n Book - object\n Bread - object\n SoapBar - object\n Watch - object\n DeskLamp - object\n Kettle - object\n Pot - object\n ScrubBrush - object\n WineBottle - object\n ShowerDoor - object\n Bathtub - object\n LaundryHamperLid - object\n ShowerGlass - object\n Poster - object\n TennisRacket - object\n BaseballBat - object\n Towel - object\n Plunger - object\nSaltShakerType - otype\n HousePlantType - otype\n CandleType - otype\n SprayBottleType - otype\n BowlType - otype\n WindowType - otype\n CDType - otype\n EggType - otype\n GlassbottleType - otype\n SinkType - otype\n PillowType - otype\n SpoonType - otype\n SoapBottleType - otype\n TeddyBearType - otype\n ButterKnifeType - otype\n CupType - otype\n PlateType - otype\n RemoteControlType - otype\n TomatoType - otype\n StatueType - otype\n HandTowelType - otype\n KnifeType - otype\n StoveKnobType - otype\n LightSwitchType - otype\n PenType - otype\n PaintingType - otype\n DishSpongeType - otype\n VaseType - otype\n MugType - otype\n ToiletPaperType - otype\n BoxType - otype\n MirrorType - otype\n LadleType - otype\n ForkType - otype\n BlindsType - otype\n FootstoolType - otype\n KeyChainType - otype\n ClothType - otype\n LaptopType - otype\n TissueBoxType - otype\n PepperShakerType - otype\n FloorLampType - otype\n WateringCanType - otype\n AppleType - otype\n PanType - otype\n PaperTowelType - otype\n PaperTowelRollType - otype\n NewspaperType - otype\n TelevisionType - otype\n ChairType - otype\n CellPhoneType - otype\n CreditCardType - otype\n LettuceType - otype\n BasketBallType - otype\n PotatoType - otype\n CurtainsType - otype\n BootsType - otype\n PencilType - otype\n AlarmClockType - otype\n ToiletPaperRollType - otype\n SpatulaType - otype\n BookType - otype\n BreadType - otype\n SoapBarType - otype\n WatchType - otype\n DeskLampType - otype\n KettleType - otype\n PotType - otype\n ScrubBrushType - otype\n WineBottleType - otype\n ShowerDoorType - otype\n BathtubType - otype\n LaundryHamperLidType - otype\n ShowerGlassType - otype\n PosterType - otype\n TennisRacketType - otype\n BaseballBatType - otype\n TowelType - otype\n PlungerType - otype\nSafeType - rtype\n DrawerType - rtype\n CoffeeMachineType - rtype\n HandTowelHolderType - rtype\n SinkBasinType - rtype\n DresserType - rtype\n LaundryHamperType - rtype\n TVStandType - rtype\n BathtubBasinType - rtype\n CabinetType - rtype\n FridgeType - rtype\n DeskType - rtype\n ToiletType - rtype\n CartType - rtype\n SideTableType - rtype\n SofaType - rtype\n CoffeeTableType - rtype\n DiningTableType - rtype\n CounterTopType - rtype\n GarbageCanType - rtype\n ArmChairType - rtype\n ShelfType - rtype\n MicrowaveType - rtype\n ToasterType - rtype\n BedType - rtype\n PaintingHangerType - rtype\n TowelHolderType - rtype\n ToiletPaperHangerType - rtype\n StoveBurnerType - rtype\n OttomanType - rtype\n\n\n AlarmClock_bar__plus_00_dot_36_bar__plus_00_dot_81_bar__minus_02_dot_37 - object\n AlarmClock_bar__plus_00_dot_36_bar__plus_00_dot_81_bar__minus_02_dot_51 - object\n AlarmClock_bar__minus_01_dot_59_bar__plus_00_dot_86_bar__minus_02_dot_37 - object\n Blinds_bar__plus_01_dot_70_bar__plus_02_dot_10_bar__minus_01_dot_58 - object\n Book_bar__minus_01_dot_23_bar__plus_00_dot_65_bar__minus_02_dot_33 - object\n Bowl_bar__minus_00_dot_39_bar__plus_00_dot_86_bar__minus_02_dot_44 - object\n CD_bar__plus_00_dot_56_bar__plus_00_dot_81_bar__minus_02_dot_51 - object\n CD_bar__plus_01_dot_52_bar__plus_00_dot_82_bar__minus_01_dot_73 - object\n CD_bar__minus_01_dot_67_bar__plus_00_dot_37_bar__minus_02_dot_40 - object\n CellPhone_bar__minus_01_dot_23_bar__plus_00_dot_09_bar__minus_02_dot_29 - object\n CellPhone_bar__minus_01_dot_49_bar__plus_00_dot_09_bar__minus_02_dot_33 - object\n CellPhone_bar__minus_01_dot_59_bar__plus_00_dot_86_bar__minus_02_dot_56 - object\n Chair_bar__plus_00_dot_22_bar__plus_00_dot_00_bar__minus_02_dot_21 - object\n Chair_bar__minus_00_dot_63_bar__plus_00_dot_00_bar__minus_02_dot_20 - object\n Cloth_bar__plus_01_dot_27_bar__plus_00_dot_00_bar__minus_00_dot_97 - object\n Cloth_bar__plus_01_dot_30_bar__plus_00_dot_00_bar__minus_00_dot_70 - object\n CreditCard_bar__plus_01_dot_47_bar__plus_00_dot_82_bar__minus_01_dot_57 - object\n CreditCard_bar__minus_01_dot_23_bar__plus_00_dot_37_bar__minus_02_dot_36 - object\n DeskLamp_bar__plus_00_dot_05_bar__plus_00_dot_81_bar__minus_02_dot_48 - object\n KeyChain_bar__plus_01_dot_49_bar__plus_00_dot_82_bar__minus_01_dot_26 - object\n KeyChain_bar__plus_01_dot_55_bar__plus_00_dot_82_bar__minus_01_dot_47 - object\n Laptop_bar__minus_00_dot_62_bar__plus_00_dot_77_bar__plus_01_dot_50 - object\n Laptop_bar__minus_01_dot_00_bar__plus_00_dot_86_bar__minus_02_dot_40 - object\n LaundryHamperLid_bar__minus_01_dot_44_bar__plus_00_dot_48_bar__plus_01_dot_76 - object\n LightSwitch_bar__minus_01_dot_80_bar__plus_01_dot_21_bar__plus_00_dot_68 - object\n Mirror_bar__plus_01_dot_50_bar__plus_01_dot_36_bar__minus_00_dot_54 - object\n Painting_bar__plus_00_dot_49_bar__plus_01_dot_68_bar__minus_02_dot_63 - object\n Pencil_bar__plus_00_dot_46_bar__plus_00_dot_82_bar__minus_02_dot_30 - object\n Pencil_bar__minus_00_dot_06_bar__plus_00_dot_82_bar__minus_02_dot_30 - object\n Pen_bar__minus_01_dot_19_bar__plus_00_dot_87_bar__minus_02_dot_25 - object\n Pen_bar__minus_01_dot_39_bar__plus_00_dot_87_bar__minus_02_dot_44 - object\n Pen_bar__minus_01_dot_49_bar__plus_00_dot_38_bar__minus_02_dot_33 - object\n Pillow_bar__plus_00_dot_53_bar__plus_00_dot_90_bar__plus_01_dot_01 - object\n Pillow_bar__plus_01_dot_07_bar__plus_00_dot_88_bar__plus_01_dot_33 - object\n Pillow_bar__minus_00_dot_05_bar__plus_00_dot_90_bar__plus_01_dot_34 - object\n Poster_bar__minus_01_dot_80_bar__plus_01_dot_69_bar__minus_01_dot_49 - object\n RemoteControl_bar__minus_00_dot_39_bar__plus_00_dot_86_bar__minus_02_dot_56 - object\n Television_bar__minus_01_dot_70_bar__plus_01_dot_47_bar__minus_00_dot_90 - object\n TennisRacket_bar__minus_01_dot_70_bar__plus_00_dot_35_bar__plus_01_dot_74 - object\n Window_bar__plus_01_dot_72_bar__plus_01_dot_37_bar__minus_01_dot_60 - object\n Bed_bar__plus_00_dot_27_bar__plus_00_dot_00_bar__plus_01_dot_33 - receptacle\n Desk_bar__minus_00_dot_87_bar__minus_00_dot_01_bar__minus_02_dot_44 - receptacle\n Drawer_bar__minus_01_dot_41_bar__plus_00_dot_20_bar__minus_02_dot_32 - receptacle\n Drawer_bar__minus_01_dot_41_bar__plus_00_dot_48_bar__minus_02_dot_32 - receptacle\n Drawer_bar__minus_01_dot_41_bar__plus_00_dot_73_bar__minus_02_dot_32 - receptacle\n GarbageCan_bar__plus_01_dot_32_bar__plus_00_dot_00_bar__minus_02_dot_47 - receptacle\n LaundryHamper_bar__minus_01_dot_44_bar__plus_00_dot_01_bar__plus_01_dot_77 - receptacle\n Shelf_bar__plus_01_dot_49_bar__plus_00_dot_82_bar__minus_01_dot_48 - receptacle\n Shelf_bar__minus_01_dot_02_bar__plus_01_dot_35_bar__minus_02_dot_54 - receptacle\n SideTable_bar__plus_00_dot_25_bar_00_dot_00_bar__minus_02_dot_38 - receptacle\n loc_bar_4_bar__minus_8_bar_2_bar_60 - location\n loc_bar__minus_4_bar__minus_4_bar_3_bar_15 - location\n loc_bar_4_bar__minus_8_bar_0_bar_60 - location\n loc_bar__minus_3_bar__minus_7_bar_2_bar_60 - location\n loc_bar__minus_4_bar__minus_7_bar_2_bar_15 - location\n loc_bar_4_bar__minus_3_bar_1_bar_60 - location\n loc_bar__minus_5_bar__minus_6_bar_3_bar_0 - location\n loc_bar__minus_1_bar__minus_7_bar_3_bar_45 - location\n loc_bar_1_bar__minus_7_bar_2_bar_60 - location\n loc_bar_2_bar__minus_7_bar_2_bar_0 - location\n loc_bar__minus_1_bar__minus_7_bar_2_bar_45 - location\n loc_bar__minus_5_bar__minus_7_bar_2_bar_60 - location\n loc_bar_4_bar__minus_4_bar_1_bar_60 - location\n loc_bar__minus_1_bar_0_bar_0_bar_45 - location\n loc_bar_4_bar__minus_2_bar_1_bar_30 - location\n loc_bar__minus_3_bar__minus_7_bar_3_bar_60 - location\n loc_bar__minus_5_bar_5_bar_0_bar_60 - location\n loc_bar_4_bar__minus_6_bar_1_bar__minus_30 - location\n loc_bar__minus_5_bar_3_bar_3_bar_45 - location\n loc_bar_4_bar__minus_6_bar_1_bar_15 - location\n loc_bar_3_bar__minus_2_bar_1_bar_30 - location\n )\n \n\n(:init\n\n\n (receptacleType Shelf_bar__plus_01_dot_49_bar__plus_00_dot_82_bar__minus_01_dot_48 ShelfType)\n (receptacleType Drawer_bar__minus_01_dot_41_bar__plus_00_dot_48_bar__minus_02_dot_32 DrawerType)\n (receptacleType Shelf_bar__minus_01_dot_02_bar__plus_01_dot_35_bar__minus_02_dot_54 ShelfType)\n (receptacleType Bed_bar__plus_00_dot_27_bar__plus_00_dot_00_bar__plus_01_dot_33 BedType)\n (receptacleType SideTable_bar__plus_00_dot_25_bar_00_dot_00_bar__minus_02_dot_38 SideTableType)\n (receptacleType LaundryHamper_bar__minus_01_dot_44_bar__plus_00_dot_01_bar__plus_01_dot_77 LaundryHamperType)\n (receptacleType Drawer_bar__minus_01_dot_41_bar__plus_00_dot_73_bar__minus_02_dot_32 DrawerType)\n (receptacleType GarbageCan_bar__plus_01_dot_32_bar__plus_00_dot_00_bar__minus_02_dot_47 GarbageCanType)\n (receptacleType Drawer_bar__minus_01_dot_41_bar__plus_00_dot_20_bar__minus_02_dot_32 DrawerType)\n (receptacleType Desk_bar__minus_00_dot_87_bar__minus_00_dot_01_bar__minus_02_dot_44 DeskType)\n (objectType TennisRacket_bar__minus_01_dot_70_bar__plus_00_dot_35_bar__plus_01_dot_74 TennisRacketType)\n (objectType Chair_bar__minus_00_dot_63_bar__plus_00_dot_00_bar__minus_02_dot_20 ChairType)\n (objectType Pillow_bar__plus_00_dot_53_bar__plus_00_dot_90_bar__plus_01_dot_01 PillowType)\n (objectType CellPhone_bar__minus_01_dot_23_bar__plus_00_dot_09_bar__minus_02_dot_29 CellPhoneType)\n (objectType Book_bar__minus_01_dot_23_bar__plus_00_dot_65_bar__minus_02_dot_33 BookType)\n (objectType AlarmClock_bar__plus_00_dot_36_bar__plus_00_dot_81_bar__minus_02_dot_51 AlarmClockType)\n (objectType LightSwitch_bar__minus_01_dot_80_bar__plus_01_dot_21_bar__plus_00_dot_68 LightSwitchType)\n (objectType Television_bar__minus_01_dot_70_bar__plus_01_dot_47_bar__minus_00_dot_90 TelevisionType)\n (objectType Pen_bar__minus_01_dot_49_bar__plus_00_dot_38_bar__minus_02_dot_33 PenType)\n (objectType CellPhone_bar__minus_01_dot_49_bar__plus_00_dot_09_bar__minus_02_dot_33 CellPhoneType)\n (objectType LaundryHamperLid_bar__minus_01_dot_44_bar__plus_00_dot_48_bar__plus_01_dot_76 LaundryHamperLidType)\n (objectType Painting_bar__plus_00_dot_49_bar__plus_01_dot_68_bar__minus_02_dot_63 PaintingType)\n (objectType AlarmClock_bar__minus_01_dot_59_bar__plus_00_dot_86_bar__minus_02_dot_37 AlarmClockType)\n (objectType Cloth_bar__plus_01_dot_30_bar__plus_00_dot_00_bar__minus_00_dot_70 ClothType)\n (objectType KeyChain_bar__plus_01_dot_49_bar__plus_00_dot_82_bar__minus_01_dot_26 KeyChainType)\n (objectType Pencil_bar__plus_00_dot_46_bar__plus_00_dot_82_bar__minus_02_dot_30 PencilType)\n (objectType Pillow_bar__plus_01_dot_07_bar__plus_00_dot_88_bar__plus_01_dot_33 PillowType)\n (objectType Mirror_bar__plus_01_dot_50_bar__plus_01_dot_36_bar__minus_00_dot_54 MirrorType)\n (objectType Poster_bar__minus_01_dot_80_bar__plus_01_dot_69_bar__minus_01_dot_49 PosterType)\n (objectType Window_bar__plus_01_dot_72_bar__plus_01_dot_37_bar__minus_01_dot_60 WindowType)\n (objectType Blinds_bar__plus_01_dot_70_bar__plus_02_dot_10_bar__minus_01_dot_58 BlindsType)\n (objectType Cloth_bar__plus_01_dot_27_bar__plus_00_dot_00_bar__minus_00_dot_97 ClothType)\n (objectType RemoteControl_bar__minus_00_dot_39_bar__plus_00_dot_86_bar__minus_02_dot_56 RemoteControlType)\n (objectType Pen_bar__minus_01_dot_39_bar__plus_00_dot_87_bar__minus_02_dot_44 PenType)\n (objectType Pillow_bar__minus_00_dot_05_bar__plus_00_dot_90_bar__plus_01_dot_34 PillowType)\n (objectType Pen_bar__minus_01_dot_19_bar__plus_00_dot_87_bar__minus_02_dot_25 PenType)\n (objectType KeyChain_bar__plus_01_dot_55_bar__plus_00_dot_82_bar__minus_01_dot_47 KeyChainType)\n (objectType AlarmClock_bar__plus_00_dot_36_bar__plus_00_dot_81_bar__minus_02_dot_37 AlarmClockType)\n (objectType CellPhone_bar__minus_01_dot_59_bar__plus_00_dot_86_bar__minus_02_dot_56 CellPhoneType)\n (objectType CD_bar__minus_01_dot_67_bar__plus_00_dot_37_bar__minus_02_dot_40 CDType)\n (objectType Laptop_bar__minus_01_dot_00_bar__plus_00_dot_86_bar__minus_02_dot_40 LaptopType)\n (objectType Pencil_bar__minus_00_dot_06_bar__plus_00_dot_82_bar__minus_02_dot_30 PencilType)\n (objectType DeskLamp_bar__plus_00_dot_05_bar__plus_00_dot_81_bar__minus_02_dot_48 DeskLampType)\n (objectType CreditCard_bar__plus_01_dot_47_bar__plus_00_dot_82_bar__minus_01_dot_57 CreditCardType)\n (objectType Laptop_bar__minus_00_dot_62_bar__plus_00_dot_77_bar__plus_01_dot_50 LaptopType)\n (objectType Chair_bar__plus_00_dot_22_bar__plus_00_dot_00_bar__minus_02_dot_21 ChairType)\n (objectType CreditCard_bar__minus_01_dot_23_bar__plus_00_dot_37_bar__minus_02_dot_36 CreditCardType)\n (objectType Bowl_bar__minus_00_dot_39_bar__plus_00_dot_86_bar__minus_02_dot_44 BowlType)\n (objectType CD_bar__plus_01_dot_52_bar__plus_00_dot_82_bar__minus_01_dot_73 CDType)\n (objectType CD_bar__plus_00_dot_56_bar__plus_00_dot_81_bar__minus_02_dot_51 CDType)\n (canContain ShelfType PenType)\n (canContain ShelfType BookType)\n (canContain ShelfType BowlType)\n (canContain ShelfType CDType)\n (canContain ShelfType CellPhoneType)\n (canContain ShelfType KeyChainType)\n (canContain ShelfType CreditCardType)\n (canContain ShelfType ClothType)\n (canContain ShelfType PencilType)\n (canContain ShelfType RemoteControlType)\n (canContain ShelfType AlarmClockType)\n (canContain DrawerType PenType)\n (canContain DrawerType BookType)\n (canContain DrawerType CDType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType ClothType)\n (canContain DrawerType PencilType)\n (canContain DrawerType RemoteControlType)\n (canContain ShelfType PenType)\n (canContain ShelfType BookType)\n (canContain ShelfType BowlType)\n (canContain ShelfType CDType)\n (canContain ShelfType CellPhoneType)\n (canContain ShelfType KeyChainType)\n (canContain ShelfType CreditCardType)\n (canContain ShelfType ClothType)\n (canContain ShelfType PencilType)\n (canContain ShelfType RemoteControlType)\n (canContain ShelfType AlarmClockType)\n (canContain BedType TennisRacketType)\n (canContain BedType LaptopType)\n (canContain BedType BookType)\n (canContain BedType CellPhoneType)\n (canContain BedType PillowType)\n (canContain SideTableType PenType)\n (canContain SideTableType BookType)\n (canContain SideTableType BowlType)\n (canContain SideTableType CDType)\n (canContain SideTableType CellPhoneType)\n (canContain SideTableType KeyChainType)\n (canContain SideTableType CreditCardType)\n (canContain SideTableType TennisRacketType)\n (canContain SideTableType ClothType)\n (canContain SideTableType LaptopType)\n (canContain SideTableType PencilType)\n (canContain SideTableType RemoteControlType)\n (canContain SideTableType AlarmClockType)\n (canContain LaundryHamperType ClothType)\n (canContain DrawerType PenType)\n (canContain DrawerType BookType)\n (canContain DrawerType CDType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType ClothType)\n (canContain DrawerType PencilType)\n (canContain DrawerType RemoteControlType)\n (canContain GarbageCanType PenType)\n (canContain GarbageCanType CDType)\n (canContain GarbageCanType ClothType)\n (canContain GarbageCanType PencilType)\n (canContain DrawerType PenType)\n (canContain DrawerType BookType)\n (canContain DrawerType CDType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType ClothType)\n (canContain DrawerType PencilType)\n (canContain DrawerType RemoteControlType)\n (canContain DeskType PenType)\n (canContain DeskType BookType)\n (canContain DeskType BowlType)\n (canContain DeskType CDType)\n (canContain DeskType CellPhoneType)\n (canContain DeskType KeyChainType)\n (canContain DeskType CreditCardType)\n (canContain DeskType TennisRacketType)\n (canContain DeskType ClothType)\n (canContain DeskType LaptopType)\n (canContain DeskType PencilType)\n (canContain DeskType RemoteControlType)\n (canContain DeskType AlarmClockType)\n (pickupable TennisRacket_bar__minus_01_dot_70_bar__plus_00_dot_35_bar__plus_01_dot_74)\n (pickupable Pillow_bar__plus_00_dot_53_bar__plus_00_dot_90_bar__plus_01_dot_01)\n (pickupable CellPhone_bar__minus_01_dot_23_bar__plus_00_dot_09_bar__minus_02_dot_29)\n (pickupable Book_bar__minus_01_dot_23_bar__plus_00_dot_65_bar__minus_02_dot_33)\n (pickupable AlarmClock_bar__plus_00_dot_36_bar__plus_00_dot_81_bar__minus_02_dot_51)\n (pickupable Pen_bar__minus_01_dot_49_bar__plus_00_dot_38_bar__minus_02_dot_33)\n (pickupable CellPhone_bar__minus_01_dot_49_bar__plus_00_dot_09_bar__minus_02_dot_33)\n (pickupable AlarmClock_bar__minus_01_dot_59_bar__plus_00_dot_86_bar__minus_02_dot_37)\n (pickupable Cloth_bar__plus_01_dot_30_bar__plus_00_dot_00_bar__minus_00_dot_70)\n (pickupable KeyChain_bar__plus_01_dot_49_bar__plus_00_dot_82_bar__minus_01_dot_26)\n (pickupable Pencil_bar__plus_00_dot_46_bar__plus_00_dot_82_bar__minus_02_dot_30)\n (pickupable Pillow_bar__plus_01_dot_07_bar__plus_00_dot_88_bar__plus_01_dot_33)\n (pickupable Cloth_bar__plus_01_dot_27_bar__plus_00_dot_00_bar__minus_00_dot_97)\n (pickupable RemoteControl_bar__minus_00_dot_39_bar__plus_00_dot_86_bar__minus_02_dot_56)\n (pickupable Pen_bar__minus_01_dot_39_bar__plus_00_dot_87_bar__minus_02_dot_44)\n (pickupable Pillow_bar__minus_00_dot_05_bar__plus_00_dot_90_bar__plus_01_dot_34)\n (pickupable Pen_bar__minus_01_dot_19_bar__plus_00_dot_87_bar__minus_02_dot_25)\n (pickupable KeyChain_bar__plus_01_dot_55_bar__plus_00_dot_82_bar__minus_01_dot_47)\n (pickupable AlarmClock_bar__plus_00_dot_36_bar__plus_00_dot_81_bar__minus_02_dot_37)\n (pickupable CellPhone_bar__minus_01_dot_59_bar__plus_00_dot_86_bar__minus_02_dot_56)\n (pickupable CD_bar__minus_01_dot_67_bar__plus_00_dot_37_bar__minus_02_dot_40)\n (pickupable Laptop_bar__minus_01_dot_00_bar__plus_00_dot_86_bar__minus_02_dot_40)\n (pickupable Pencil_bar__minus_00_dot_06_bar__plus_00_dot_82_bar__minus_02_dot_30)\n (pickupable CreditCard_bar__plus_01_dot_47_bar__plus_00_dot_82_bar__minus_01_dot_57)\n (pickupable Laptop_bar__minus_00_dot_62_bar__plus_00_dot_77_bar__plus_01_dot_50)\n (pickupable CreditCard_bar__minus_01_dot_23_bar__plus_00_dot_37_bar__minus_02_dot_36)\n (pickupable Bowl_bar__minus_00_dot_39_bar__plus_00_dot_86_bar__minus_02_dot_44)\n (pickupable CD_bar__plus_01_dot_52_bar__plus_00_dot_82_bar__minus_01_dot_73)\n (pickupable CD_bar__plus_00_dot_56_bar__plus_00_dot_81_bar__minus_02_dot_51)\n (isReceptacleObject Bowl_bar__minus_00_dot_39_bar__plus_00_dot_86_bar__minus_02_dot_44)\n (openable Drawer_bar__minus_01_dot_41_bar__plus_00_dot_48_bar__minus_02_dot_32)\n (openable Drawer_bar__minus_01_dot_41_bar__plus_00_dot_73_bar__minus_02_dot_32)\n (openable Drawer_bar__minus_01_dot_41_bar__plus_00_dot_20_bar__minus_02_dot_32)\n \n (atLocation agent1 loc_bar_3_bar__minus_2_bar_1_bar_30)\n \n (cleanable Cloth_bar__plus_01_dot_30_bar__plus_00_dot_00_bar__minus_00_dot_70)\n (cleanable Cloth_bar__plus_01_dot_27_bar__plus_00_dot_00_bar__minus_00_dot_97)\n (cleanable Bowl_bar__minus_00_dot_39_bar__plus_00_dot_86_bar__minus_02_dot_44)\n \n \n (coolable Bowl_bar__minus_00_dot_39_bar__plus_00_dot_86_bar__minus_02_dot_44)\n \n \n (toggleable DeskLamp_bar__plus_00_dot_05_bar__plus_00_dot_81_bar__minus_02_dot_48)\n \n \n \n \n (inReceptacle CellPhone_bar__minus_01_dot_59_bar__plus_00_dot_86_bar__minus_02_dot_56 Desk_bar__minus_00_dot_87_bar__minus_00_dot_01_bar__minus_02_dot_44)\n (inReceptacle Laptop_bar__minus_01_dot_00_bar__plus_00_dot_86_bar__minus_02_dot_40 Desk_bar__minus_00_dot_87_bar__minus_00_dot_01_bar__minus_02_dot_44)\n (inReceptacle RemoteControl_bar__minus_00_dot_39_bar__plus_00_dot_86_bar__minus_02_dot_56 Desk_bar__minus_00_dot_87_bar__minus_00_dot_01_bar__minus_02_dot_44)\n (inReceptacle Bowl_bar__minus_00_dot_39_bar__plus_00_dot_86_bar__minus_02_dot_44 Desk_bar__minus_00_dot_87_bar__minus_00_dot_01_bar__minus_02_dot_44)\n (inReceptacle Pen_bar__minus_01_dot_39_bar__plus_00_dot_87_bar__minus_02_dot_44 Desk_bar__minus_00_dot_87_bar__minus_00_dot_01_bar__minus_02_dot_44)\n (inReceptacle AlarmClock_bar__minus_01_dot_59_bar__plus_00_dot_86_bar__minus_02_dot_37 Desk_bar__minus_00_dot_87_bar__minus_00_dot_01_bar__minus_02_dot_44)\n (inReceptacle Pen_bar__minus_01_dot_19_bar__plus_00_dot_87_bar__minus_02_dot_25 Desk_bar__minus_00_dot_87_bar__minus_00_dot_01_bar__minus_02_dot_44)\n (inReceptacle AlarmClock_bar__plus_00_dot_36_bar__plus_00_dot_81_bar__minus_02_dot_37 SideTable_bar__plus_00_dot_25_bar_00_dot_00_bar__minus_02_dot_38)\n (inReceptacle AlarmClock_bar__plus_00_dot_36_bar__plus_00_dot_81_bar__minus_02_dot_51 SideTable_bar__plus_00_dot_25_bar_00_dot_00_bar__minus_02_dot_38)\n (inReceptacle Pencil_bar__minus_00_dot_06_bar__plus_00_dot_82_bar__minus_02_dot_30 SideTable_bar__plus_00_dot_25_bar_00_dot_00_bar__minus_02_dot_38)\n (inReceptacle DeskLamp_bar__plus_00_dot_05_bar__plus_00_dot_81_bar__minus_02_dot_48 SideTable_bar__plus_00_dot_25_bar_00_dot_00_bar__minus_02_dot_38)\n (inReceptacle CD_bar__plus_00_dot_56_bar__plus_00_dot_81_bar__minus_02_dot_51 SideTable_bar__plus_00_dot_25_bar_00_dot_00_bar__minus_02_dot_38)\n (inReceptacle Pencil_bar__plus_00_dot_46_bar__plus_00_dot_82_bar__minus_02_dot_30 SideTable_bar__plus_00_dot_25_bar_00_dot_00_bar__minus_02_dot_38)\n (inReceptacle Pen_bar__minus_01_dot_49_bar__plus_00_dot_38_bar__minus_02_dot_33 Drawer_bar__minus_01_dot_41_bar__plus_00_dot_48_bar__minus_02_dot_32)\n (inReceptacle CreditCard_bar__minus_01_dot_23_bar__plus_00_dot_37_bar__minus_02_dot_36 Drawer_bar__minus_01_dot_41_bar__plus_00_dot_48_bar__minus_02_dot_32)\n (inReceptacle CD_bar__minus_01_dot_67_bar__plus_00_dot_37_bar__minus_02_dot_40 Drawer_bar__minus_01_dot_41_bar__plus_00_dot_48_bar__minus_02_dot_32)\n (inReceptacle Book_bar__minus_01_dot_23_bar__plus_00_dot_65_bar__minus_02_dot_33 Drawer_bar__minus_01_dot_41_bar__plus_00_dot_73_bar__minus_02_dot_32)\n (inReceptacle CellPhone_bar__minus_01_dot_23_bar__plus_00_dot_09_bar__minus_02_dot_29 Drawer_bar__minus_01_dot_41_bar__plus_00_dot_20_bar__minus_02_dot_32)\n (inReceptacle CellPhone_bar__minus_01_dot_49_bar__plus_00_dot_09_bar__minus_02_dot_33 Drawer_bar__minus_01_dot_41_bar__plus_00_dot_20_bar__minus_02_dot_32)\n (inReceptacle Pillow_bar__plus_01_dot_07_bar__plus_00_dot_88_bar__plus_01_dot_33 Bed_bar__plus_00_dot_27_bar__plus_00_dot_00_bar__plus_01_dot_33)\n (inReceptacle Pillow_bar__plus_00_dot_53_bar__plus_00_dot_90_bar__plus_01_dot_01 Bed_bar__plus_00_dot_27_bar__plus_00_dot_00_bar__plus_01_dot_33)\n (inReceptacle Pillow_bar__minus_00_dot_05_bar__plus_00_dot_90_bar__plus_01_dot_34 Bed_bar__plus_00_dot_27_bar__plus_00_dot_00_bar__plus_01_dot_33)\n (inReceptacle Laptop_bar__minus_00_dot_62_bar__plus_00_dot_77_bar__plus_01_dot_50 Bed_bar__plus_00_dot_27_bar__plus_00_dot_00_bar__plus_01_dot_33)\n (inReceptacle KeyChain_bar__plus_01_dot_55_bar__plus_00_dot_82_bar__minus_01_dot_47 Shelf_bar__plus_01_dot_49_bar__plus_00_dot_82_bar__minus_01_dot_48)\n (inReceptacle KeyChain_bar__plus_01_dot_49_bar__plus_00_dot_82_bar__minus_01_dot_26 Shelf_bar__plus_01_dot_49_bar__plus_00_dot_82_bar__minus_01_dot_48)\n (inReceptacle CreditCard_bar__plus_01_dot_47_bar__plus_00_dot_82_bar__minus_01_dot_57 Shelf_bar__plus_01_dot_49_bar__plus_00_dot_82_bar__minus_01_dot_48)\n (inReceptacle CD_bar__plus_01_dot_52_bar__plus_00_dot_82_bar__minus_01_dot_73 Shelf_bar__plus_01_dot_49_bar__plus_00_dot_82_bar__minus_01_dot_48)\n (inReceptacleObject RemoteControl_bar__minus_00_dot_39_bar__plus_00_dot_86_bar__minus_02_dot_56 Bowl_bar__minus_00_dot_39_bar__plus_00_dot_86_bar__minus_02_dot_44)\n \n \n (receptacleAtLocation Bed_bar__plus_00_dot_27_bar__plus_00_dot_00_bar__plus_01_dot_33 loc_bar__minus_1_bar_0_bar_0_bar_45)\n (receptacleAtLocation Desk_bar__minus_00_dot_87_bar__minus_00_dot_01_bar__minus_02_dot_44 loc_bar__minus_5_bar__minus_7_bar_2_bar_60)\n (receptacleAtLocation Drawer_bar__minus_01_dot_41_bar__plus_00_dot_20_bar__minus_02_dot_32 loc_bar__minus_1_bar__minus_7_bar_3_bar_45)\n (receptacleAtLocation Drawer_bar__minus_01_dot_41_bar__plus_00_dot_48_bar__minus_02_dot_32 loc_bar__minus_1_bar__minus_7_bar_3_bar_45)\n (receptacleAtLocation Drawer_bar__minus_01_dot_41_bar__plus_00_dot_73_bar__minus_02_dot_32 loc_bar__minus_3_bar__minus_7_bar_3_bar_60)\n (receptacleAtLocation GarbageCan_bar__plus_01_dot_32_bar__plus_00_dot_00_bar__minus_02_dot_47 loc_bar_4_bar__minus_8_bar_2_bar_60)\n (receptacleAtLocation LaundryHamper_bar__minus_01_dot_44_bar__plus_00_dot_01_bar__plus_01_dot_77 loc_bar__minus_5_bar_5_bar_0_bar_60)\n (receptacleAtLocation Shelf_bar__plus_01_dot_49_bar__plus_00_dot_82_bar__minus_01_dot_48 loc_bar_4_bar__minus_8_bar_0_bar_60)\n (receptacleAtLocation Shelf_bar__minus_01_dot_02_bar__plus_01_dot_35_bar__minus_02_dot_54 loc_bar__minus_4_bar__minus_7_bar_2_bar_15)\n (receptacleAtLocation SideTable_bar__plus_00_dot_25_bar_00_dot_00_bar__minus_02_dot_38 loc_bar_1_bar__minus_7_bar_2_bar_60)\n (objectAtLocation Pen_bar__minus_01_dot_49_bar__plus_00_dot_38_bar__minus_02_dot_33 loc_bar__minus_1_bar__minus_7_bar_3_bar_45)\n (objectAtLocation Pillow_bar__plus_01_dot_07_bar__plus_00_dot_88_bar__plus_01_dot_33 loc_bar__minus_1_bar_0_bar_0_bar_45)\n (objectAtLocation KeyChain_bar__plus_01_dot_55_bar__plus_00_dot_82_bar__minus_01_dot_47 loc_bar_4_bar__minus_8_bar_0_bar_60)\n (objectAtLocation CreditCard_bar__minus_01_dot_23_bar__plus_00_dot_37_bar__minus_02_dot_36 loc_bar__minus_1_bar__minus_7_bar_3_bar_45)\n (objectAtLocation AlarmClock_bar__minus_01_dot_59_bar__plus_00_dot_86_bar__minus_02_dot_37 loc_bar__minus_5_bar__minus_7_bar_2_bar_60)\n (objectAtLocation Laptop_bar__minus_01_dot_00_bar__plus_00_dot_86_bar__minus_02_dot_40 loc_bar__minus_5_bar__minus_7_bar_2_bar_60)\n (objectAtLocation Pencil_bar__minus_00_dot_06_bar__plus_00_dot_82_bar__minus_02_dot_30 loc_bar_1_bar__minus_7_bar_2_bar_60)\n (objectAtLocation CellPhone_bar__minus_01_dot_23_bar__plus_00_dot_09_bar__minus_02_dot_29 loc_bar__minus_1_bar__minus_7_bar_3_bar_45)\n (objectAtLocation AlarmClock_bar__plus_00_dot_36_bar__plus_00_dot_81_bar__minus_02_dot_51 loc_bar_1_bar__minus_7_bar_2_bar_60)\n (objectAtLocation Pillow_bar__plus_00_dot_53_bar__plus_00_dot_90_bar__plus_01_dot_01 loc_bar__minus_1_bar_0_bar_0_bar_45)\n (objectAtLocation Pen_bar__minus_01_dot_19_bar__plus_00_dot_87_bar__minus_02_dot_25 loc_bar__minus_5_bar__minus_7_bar_2_bar_60)\n (objectAtLocation CellPhone_bar__minus_01_dot_49_bar__plus_00_dot_09_bar__minus_02_dot_33 loc_bar__minus_1_bar__minus_7_bar_3_bar_45)\n (objectAtLocation Book_bar__minus_01_dot_23_bar__plus_00_dot_65_bar__minus_02_dot_33 loc_bar__minus_3_bar__minus_7_bar_3_bar_60)\n (objectAtLocation LaundryHamperLid_bar__minus_01_dot_44_bar__plus_00_dot_48_bar__plus_01_dot_76 loc_bar__minus_5_bar_5_bar_0_bar_60)\n (objectAtLocation Chair_bar__minus_00_dot_63_bar__plus_00_dot_00_bar__minus_02_dot_20 loc_bar__minus_3_bar__minus_7_bar_2_bar_60)\n (objectAtLocation Chair_bar__plus_00_dot_22_bar__plus_00_dot_00_bar__minus_02_dot_21 loc_bar_1_bar__minus_7_bar_2_bar_60)\n (objectAtLocation Cloth_bar__plus_01_dot_30_bar__plus_00_dot_00_bar__minus_00_dot_70 loc_bar_4_bar__minus_3_bar_1_bar_60)\n (objectAtLocation Cloth_bar__plus_01_dot_27_bar__plus_00_dot_00_bar__minus_00_dot_97 loc_bar_4_bar__minus_4_bar_1_bar_60)\n (objectAtLocation CellPhone_bar__minus_01_dot_59_bar__plus_00_dot_86_bar__minus_02_dot_56 loc_bar__minus_5_bar__minus_7_bar_2_bar_60)\n (objectAtLocation Television_bar__minus_01_dot_70_bar__plus_01_dot_47_bar__minus_00_dot_90 loc_bar__minus_4_bar__minus_4_bar_3_bar_15)\n (objectAtLocation Pencil_bar__plus_00_dot_46_bar__plus_00_dot_82_bar__minus_02_dot_30 loc_bar_1_bar__minus_7_bar_2_bar_60)\n (objectAtLocation DeskLamp_bar__plus_00_dot_05_bar__plus_00_dot_81_bar__minus_02_dot_48 loc_bar_1_bar__minus_7_bar_2_bar_60)\n (objectAtLocation Laptop_bar__minus_00_dot_62_bar__plus_00_dot_77_bar__plus_01_dot_50 loc_bar__minus_1_bar_0_bar_0_bar_45)\n (objectAtLocation LightSwitch_bar__minus_01_dot_80_bar__plus_01_dot_21_bar__plus_00_dot_68 loc_bar__minus_5_bar_3_bar_3_bar_45)\n (objectAtLocation AlarmClock_bar__plus_00_dot_36_bar__plus_00_dot_81_bar__minus_02_dot_37 loc_bar_1_bar__minus_7_bar_2_bar_60)\n (objectAtLocation CreditCard_bar__plus_01_dot_47_bar__plus_00_dot_82_bar__minus_01_dot_57 loc_bar_4_bar__minus_8_bar_0_bar_60)\n (objectAtLocation KeyChain_bar__plus_01_dot_49_bar__plus_00_dot_82_bar__minus_01_dot_26 loc_bar_4_bar__minus_8_bar_0_bar_60)\n (objectAtLocation TennisRacket_bar__minus_01_dot_70_bar__plus_00_dot_35_bar__plus_01_dot_74 loc_bar__minus_5_bar_5_bar_0_bar_60)\n (objectAtLocation Painting_bar__plus_00_dot_49_bar__plus_01_dot_68_bar__minus_02_dot_63 loc_bar_2_bar__minus_7_bar_2_bar_0)\n (objectAtLocation RemoteControl_bar__minus_00_dot_39_bar__plus_00_dot_86_bar__minus_02_dot_56 loc_bar__minus_1_bar__minus_7_bar_2_bar_45)\n (objectAtLocation Pillow_bar__minus_00_dot_05_bar__plus_00_dot_90_bar__plus_01_dot_34 loc_bar__minus_1_bar_0_bar_0_bar_45)\n (objectAtLocation Poster_bar__minus_01_dot_80_bar__plus_01_dot_69_bar__minus_01_dot_49 loc_bar__minus_5_bar__minus_6_bar_3_bar_0)\n (objectAtLocation Mirror_bar__plus_01_dot_50_bar__plus_01_dot_36_bar__minus_00_dot_54 loc_bar_4_bar__minus_2_bar_1_bar_30)\n (objectAtLocation CD_bar__plus_01_dot_52_bar__plus_00_dot_82_bar__minus_01_dot_73 loc_bar_4_bar__minus_8_bar_0_bar_60)\n (objectAtLocation CD_bar__minus_01_dot_67_bar__plus_00_dot_37_bar__minus_02_dot_40 loc_bar__minus_1_bar__minus_7_bar_3_bar_45)\n (objectAtLocation CD_bar__plus_00_dot_56_bar__plus_00_dot_81_bar__minus_02_dot_51 loc_bar_1_bar__minus_7_bar_2_bar_60)\n (objectAtLocation Pen_bar__minus_01_dot_39_bar__plus_00_dot_87_bar__minus_02_dot_44 loc_bar__minus_5_bar__minus_7_bar_2_bar_60)\n (objectAtLocation Window_bar__plus_01_dot_72_bar__plus_01_dot_37_bar__minus_01_dot_60 loc_bar_4_bar__minus_6_bar_1_bar_15)\n (objectAtLocation Blinds_bar__plus_01_dot_70_bar__plus_02_dot_10_bar__minus_01_dot_58 loc_bar_4_bar__minus_6_bar_1_bar__minus_30)\n (objectAtLocation Bowl_bar__minus_00_dot_39_bar__plus_00_dot_86_bar__minus_02_dot_44 loc_bar__minus_5_bar__minus_7_bar_2_bar_60)\n )\n \n\n (:goal\n (and\n (exists (?r - receptacle)\n (exists (?o - object)\n (and\n (inReceptacle ?o ?r)\n (objectType ?o PencilType)\n (receptacleType ?r DeskType)\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to sidetable 1", "take pencil 2 from sidetable 1", "go to desk 1", "move pencil 2 to desk 1"]}
|
alfworld__pick_and_place_simple__15
|
pick_and_place_simple
|
pick_and_place_simple-Pencil-None-Desk-307/trial_T20190909_075150_052392/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 pencil in desk.\"\n }\n ],\n\n \"GotoLocation.feedback\": [\n {\n \"rhs\": \"You arrive at {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"OpenObject.feedback\": [\n {\n \"rhs\": \"You open the {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"CloseObject.feedback\": [\n {\n \"rhs\": \"You close the {r.name}.\"\n }\n ],\n\n \"PickupObject.feedback\": [\n {\n \"rhs\": \"You pick up the {o.name} from the {r.name}.\"\n }\n ],\n\n \"PickupObjectFromReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupObjectFromReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupEmptyReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupEmptyReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupFullReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupFullReceptacleObject: You pick up the {outerr.name}.\"\n }\n ],\n\n \"PutObject.feedback\": [\n {\n \"rhs\": \"You move the {o.name} to the {r.name}.\"\n }\n ],\n\n \"PutObjectInReceptacleObject.feedback\": [\n {\n \"rhs\": \"PutObjectInReceptacleObject: You put the {o.name} in the {outero.name}.\"\n }\n ],\n\n \"PutEmptyReceptacleObjectinReceptacle.feedback\": [\n {\n \"rhs\": \"PutEmptyReceptacleObjectinReceptacle: You put the {o.name} in the {r.name}.\"\n }\n ],\n\n \"PutFullReceptacleObjectInReceptacle.feedback\": [\n {\n \"rhs\": \"PutFullReceptacleObjectInReceptacle: You put the {outero.name} in the {r.name}.\"\n }\n ],\n\n \"inventory.feedback\": [\n {\n \"condition\": \"holdsany(a:agent)\",\n \"rhs\": \"You are carrying: [{o.indefinite + ' ' + o.name | holds(a:agent, o:object)}].\"\n },\n {\n \"rhs\": \"You are not carrying anything.\"\n }\n ],\n\n \"examineReceptacle.feedback\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \"The {r.name} is open. In it, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \"The {r.name} is closed.\"\n },\n {\n \"rhs\": \"On the {r.name}, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n }\n ],\n\n \"examineObject.feedback\": [\n {\n \"condition\": \"isreceptacleobject(o:object)\",\n \"rhs\": \"This is a normal {o.name}. In it, you see [{o2.indefinite + ' ' + o2.name | inreceptacleobject(o2:object, o:object)}].\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a clean sliced {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot sliced {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object)\",\n \"rhs\": \"This is a hot and clean {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object)\",\n \"rhs\": \"This is a cool and clean {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object)\",\n \"rhs\": \"This is a hot {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object)\",\n \"rhs\": \"This is a clean {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object)\",\n \"rhs\": \"This is a cold {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"This {o.name} is on.\"\n },\n {\n \"condition\": \"toggleable(o:object) & not_istoggled(o:object)\",\n \"rhs\": \"This {o.name} is off.\"\n },\n {\n \"condition\": \"sliceable(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a sliced {o.name}.\"\n },\n {\n \"rhs\": \"There's nothing special about {o.name}.\"\n }\n ]\n }\n\"\"\";\n\naction GotoLocation {\n template :: \"go to [{r.name | receptacleatlocation(r:receptacle, lend:location)}]\";\n feedback :: \"#GotoLocation.feedback#\";\n}\n\naction OpenObject {\n template :: \"open {r}\";\n feedback :: \"#OpenObject.feedback#\";\n}\n\naction CloseObject {\n template :: \"close {r}\";\n feedback :: \"#CloseObject.feedback#\";\n}\n\naction PickupObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObject.feedback#\";\n}\n\naction PickupObjectFromReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObjectFromReceptacleObject.feedback#\";\n}\n\naction PickupEmptyReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupEmptyReceptacleObject.feedback#\";\n}\n\naction PickupFullReceptacleObject {\n template :: \"take {outerr} from {r}\";\n feedback :: \"#PickupFullReceptacleObject.feedback#\";\n}\n\naction PutObject {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutObject.feedback#\";\n}\n\naction PutObjectInReceptacleObject {\n template :: \"put {o} into {outero}\";\n feedback :: \"#PutObjectInReceptacleObject.feedback#\";\n}\n\naction PutEmptyReceptacleObjectinReceptacle {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutEmptyReceptacleObjectinReceptacle.feedback#\";\n}\n\naction PutFullReceptacleObjectInReceptacle {\n template :: \"put {outero} in {r}\";\n feedback :: \"#PutFullReceptacleObjectInReceptacle.feedback#\";\n}\n\naction inventory {\n template :: \"inventory\";\n feedback :: \"#inventory.feedback#\";\n}\n\naction examineReceptacle {\n template :: \"examine {r}\";\n feedback :: \"#examineReceptacle.feedback#\";\n}\n\naction examineObject {\n template :: \"examine {o}\";\n feedback :: \"#examineObject.feedback#\";\n}\n\naction ToggleObject {\n template :: \"use {o}\";\n feedback :: \"#toggleObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"toggleObject.feedback\": [\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"You turn on the {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object)\",\n \"rhs\": \"You turn off the {o.name}.\"\n },\n {\n \"rhs\": \"You don't see any switch on the {o.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction HeatObject {\n template :: \"heat {o} with {r}\";\n feedback :: \"#heatObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"heatObject.feedback\": [\n {\n \"rhs\": \"You heat the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CleanObject {\n template :: \"clean {o} with {r}\";\n feedback :: \"#cleanObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"cleanObject.feedback\": [\n {\n \"rhs\": \"You clean the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CoolObject {\n template :: \"cool {o} with {r}\";\n feedback :: \"#coolObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"coolObject.feedback\": [\n {\n \"rhs\": \"You cool the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction SliceObject {\n template :: \"slice {co} with {ko}\";\n feedback :: \"#sliceObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"sliceObject.feedback\": [\n {\n \"rhs\": \"You sliced the {co.name} with the {ko.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction look {\n template :: \"look\";\n feedback :: \"#look.feedback#\";\n\n grammar :: \"\"\"\n {\n \"look.feedback\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"#look-variations#. Next to it, you see #list_objects_on_the_floor#.\"\n },\n {\n \"rhs\": \"You are in the middle of a room. Looking quickly around you, you see #list_appliances#.\"\n }\n ],\n\n \"look-variations\": [\n {\n \"rhs\": \"You are facing the [{r.name | atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)}]\"\n }\n ],\n\n \"list_objects_on_the_floor\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)\",\n \"rhs\": \"[{#overview(o)# | atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"list_appliances\": [\n {\n \"condition\": \"receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"[{#overview(r)# | receptacleatlocation(r:receptacle, l:location)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"overview(o, r)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name} (in/on the {r.name})}\"\n }\n ],\n\n \"overview(o)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name}\"\n }\n ],\n \"overview(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}\"\n }\n ],\n \"overview_with_state(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}#overview_state(r)#\"\n }\n ],\n \"overview_state(r)\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \" (it is open)\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \" (it is closed)\"\n },\n {\n \"rhs\": \"\"\n }\n ],\n\n \"list_empty\": [\n {\n \"rhs\": \"nothing\"\n }\n ],\n \"list_separator\": [\n {\n \"rhs\": \", \"\n }\n ],\n \"list_last_separator\": [\n {\n \"rhs\": \", and \"\n }\n ]\n }\n \"\"\";\n}\n\naction help {\n template :: \"help\";\n feedback :: \"\nAvailable commands:\n look: look around your current location\n inventory: check your current inventory\n go to (receptacle): move to a receptacle\n open (receptacle): open a receptacle\n close (receptacle): close a receptacle\n take (object) from (receptacle): take an object from a receptacle\n move (object) to (receptacle): place an object in or on a receptacle\n examine (something): examine a receptacle or an object\n use (object): use an object\n heat (object) with (receptacle): heat an object using a receptacle\n clean (object) with (receptacle): clean an object using a receptacle\n cool (object) with (receptacle): cool an object using a receptacle\n slice (object) with (object): slice an object using a sharp object\n\";\n}\n", "pddl_problem": "\n(define (problem plan_trial_T20190909_075150_052392)\n(:domain alfred)\n(:objects\nagent1 - agent\nSaltShaker - object\n HousePlant - object\n Candle - object\n SprayBottle - object\n Bowl - object\n Window - object\n CD - object\n Egg - object\n Glassbottle - object\n Sink - object\n Pillow - object\n Spoon - object\n SoapBottle - object\n TeddyBear - object\n ButterKnife - object\n Cup - object\n Plate - object\n RemoteControl - object\n Tomato - object\n Statue - object\n HandTowel - object\n Knife - object\n StoveKnob - object\n LightSwitch - object\n Pen - object\n Painting - object\n DishSponge - object\n Vase - object\n Mug - object\n ToiletPaper - object\n Box - object\n Mirror - object\n Ladle - object\n Fork - object\n Blinds - object\n Footstool - object\n KeyChain - object\n Cloth - object\n Laptop - object\n TissueBox - object\n PepperShaker - object\n FloorLamp - object\n WateringCan - object\n Apple - object\n Pan - object\n PaperTowel - object\n PaperTowelRoll - object\n Newspaper - object\n Television - object\n Chair - object\n CellPhone - object\n CreditCard - object\n Lettuce - object\n BasketBall - object\n Potato - object\n Curtains - object\n Boots - object\n Pencil - object\n AlarmClock - object\n ToiletPaperRoll - object\n Spatula - object\n Book - object\n Bread - object\n SoapBar - object\n Watch - object\n DeskLamp - object\n Kettle - object\n Pot - object\n ScrubBrush - object\n WineBottle - object\n ShowerDoor - object\n Bathtub - object\n LaundryHamperLid - object\n ShowerGlass - object\n Poster - object\n TennisRacket - object\n BaseballBat - object\n Towel - object\n Plunger - object\nSaltShakerType - otype\n HousePlantType - otype\n CandleType - otype\n SprayBottleType - otype\n BowlType - otype\n WindowType - otype\n CDType - otype\n EggType - otype\n GlassbottleType - otype\n SinkType - otype\n PillowType - otype\n SpoonType - otype\n SoapBottleType - otype\n TeddyBearType - otype\n ButterKnifeType - otype\n CupType - otype\n PlateType - otype\n RemoteControlType - otype\n TomatoType - otype\n StatueType - otype\n HandTowelType - otype\n KnifeType - otype\n StoveKnobType - otype\n LightSwitchType - otype\n PenType - otype\n PaintingType - otype\n DishSpongeType - otype\n VaseType - otype\n MugType - otype\n ToiletPaperType - otype\n BoxType - otype\n MirrorType - otype\n LadleType - otype\n ForkType - otype\n BlindsType - otype\n FootstoolType - otype\n KeyChainType - otype\n ClothType - otype\n LaptopType - otype\n TissueBoxType - otype\n PepperShakerType - otype\n FloorLampType - otype\n WateringCanType - otype\n AppleType - otype\n PanType - otype\n PaperTowelType - otype\n PaperTowelRollType - otype\n NewspaperType - otype\n TelevisionType - otype\n ChairType - otype\n CellPhoneType - otype\n CreditCardType - otype\n LettuceType - otype\n BasketBallType - otype\n PotatoType - otype\n CurtainsType - otype\n BootsType - otype\n PencilType - otype\n AlarmClockType - otype\n ToiletPaperRollType - otype\n SpatulaType - otype\n BookType - otype\n BreadType - otype\n SoapBarType - otype\n WatchType - otype\n DeskLampType - otype\n KettleType - otype\n PotType - otype\n ScrubBrushType - otype\n WineBottleType - otype\n ShowerDoorType - otype\n BathtubType - otype\n LaundryHamperLidType - otype\n ShowerGlassType - otype\n PosterType - otype\n TennisRacketType - otype\n BaseballBatType - otype\n TowelType - otype\n PlungerType - otype\nSafeType - rtype\n DrawerType - rtype\n CoffeeMachineType - rtype\n HandTowelHolderType - rtype\n SinkBasinType - rtype\n DresserType - rtype\n LaundryHamperType - rtype\n TVStandType - rtype\n BathtubBasinType - rtype\n CabinetType - rtype\n FridgeType - rtype\n DeskType - rtype\n ToiletType - rtype\n CartType - rtype\n SideTableType - rtype\n SofaType - rtype\n CoffeeTableType - rtype\n DiningTableType - rtype\n CounterTopType - rtype\n GarbageCanType - rtype\n ArmChairType - rtype\n ShelfType - rtype\n MicrowaveType - rtype\n ToasterType - rtype\n BedType - rtype\n PaintingHangerType - rtype\n TowelHolderType - rtype\n ToiletPaperHangerType - rtype\n StoveBurnerType - rtype\n OttomanType - rtype\n\n\n AlarmClock_bar__plus_00_dot_36_bar__plus_00_dot_81_bar__minus_02_dot_30 - object\n AlarmClock_bar__plus_00_dot_46_bar__plus_00_dot_81_bar__minus_02_dot_51 - object\n Blinds_bar__plus_01_dot_70_bar__plus_02_dot_10_bar__minus_01_dot_58 - object\n Book_bar__plus_00_dot_53_bar__plus_00_dot_77_bar__plus_00_dot_85 - object\n Book_bar__minus_01_dot_32_bar__plus_00_dot_65_bar__minus_02_dot_33 - object\n Bowl_bar__plus_00_dot_25_bar__plus_00_dot_81_bar__minus_02_dot_51 - object\n Bowl_bar__minus_00_dot_99_bar__plus_00_dot_86_bar__minus_02_dot_37 - object\n CD_bar__minus_00_dot_59_bar__plus_00_dot_86_bar__minus_02_dot_25 - object\n CD_bar__minus_00_dot_81_bar__plus_01_dot_36_bar__minus_02_dot_47 - object\n CD_bar__minus_01_dot_59_bar__plus_00_dot_86_bar__minus_02_dot_31 - object\n CellPhone_bar__minus_01_dot_23_bar__plus_00_dot_37_bar__minus_02_dot_36 - object\n CellPhone_bar__minus_01_dot_58_bar__plus_00_dot_37_bar__minus_02_dot_29 - object\n Chair_bar__plus_00_dot_22_bar__plus_00_dot_00_bar__minus_02_dot_21 - object\n Chair_bar__minus_00_dot_63_bar__plus_00_dot_00_bar__minus_02_dot_20 - object\n Cloth_bar__plus_01_dot_27_bar__plus_00_dot_00_bar__minus_00_dot_97 - object\n Cloth_bar__plus_01_dot_30_bar__plus_00_dot_00_bar__minus_00_dot_70 - object\n CreditCard_bar__minus_01_dot_32_bar__plus_00_dot_09_bar__minus_02_dot_33 - object\n CreditCard_bar__minus_01_dot_67_bar__plus_00_dot_65_bar__minus_02_dot_33 - object\n DeskLamp_bar__plus_00_dot_05_bar__plus_00_dot_81_bar__minus_02_dot_48 - object\n KeyChain_bar__minus_00_dot_06_bar__plus_00_dot_81_bar__minus_02_dot_30 - object\n KeyChain_bar__minus_00_dot_99_bar__plus_00_dot_86_bar__minus_02_dot_56 - object\n Laptop_bar__minus_00_dot_05_bar__plus_00_dot_77_bar__plus_01_dot_34 - object\n LaundryHamperLid_bar__minus_01_dot_44_bar__plus_00_dot_48_bar__plus_01_dot_76 - object\n LightSwitch_bar__minus_01_dot_80_bar__plus_01_dot_21_bar__plus_00_dot_68 - object\n Mirror_bar__plus_01_dot_50_bar__plus_01_dot_36_bar__minus_00_dot_54 - object\n Painting_bar__plus_00_dot_49_bar__plus_01_dot_68_bar__minus_02_dot_63 - object\n Pencil_bar__plus_00_dot_04_bar__plus_00_dot_82_bar__minus_02_dot_17 - object\n Pencil_bar__plus_00_dot_15_bar__plus_00_dot_82_bar__minus_02_dot_37 - object\n Pen_bar__plus_00_dot_46_bar__plus_00_dot_82_bar__minus_02_dot_24 - object\n Pen_bar__plus_01_dot_49_bar__plus_00_dot_83_bar__minus_01_dot_57 - object\n Pillow_bar__plus_00_dot_53_bar__plus_00_dot_90_bar__plus_01_dot_17 - object\n Poster_bar__minus_01_dot_80_bar__plus_01_dot_69_bar__minus_01_dot_49 - object\n RemoteControl_bar__minus_01_dot_39_bar__plus_00_dot_86_bar__minus_02_dot_50 - object\n RemoteControl_bar__minus_01_dot_49_bar__plus_00_dot_65_bar__minus_02_dot_29 - object\n Television_bar__minus_01_dot_70_bar__plus_01_dot_47_bar__minus_00_dot_90 - object\n TennisRacket_bar__minus_01_dot_70_bar__plus_00_dot_35_bar__plus_01_dot_74 - object\n Window_bar__plus_01_dot_72_bar__plus_01_dot_37_bar__minus_01_dot_60 - object\n Bed_bar__plus_00_dot_27_bar__plus_00_dot_00_bar__plus_01_dot_33 - receptacle\n Desk_bar__minus_00_dot_87_bar__minus_00_dot_01_bar__minus_02_dot_44 - receptacle\n Drawer_bar__minus_01_dot_41_bar__plus_00_dot_20_bar__minus_02_dot_32 - receptacle\n Drawer_bar__minus_01_dot_41_bar__plus_00_dot_48_bar__minus_02_dot_32 - receptacle\n Drawer_bar__minus_01_dot_41_bar__plus_00_dot_73_bar__minus_02_dot_32 - receptacle\n GarbageCan_bar__plus_01_dot_32_bar__plus_00_dot_00_bar__minus_02_dot_47 - receptacle\n LaundryHamper_bar__minus_01_dot_44_bar__plus_00_dot_01_bar__plus_01_dot_77 - receptacle\n Shelf_bar__plus_01_dot_49_bar__plus_00_dot_82_bar__minus_01_dot_48 - receptacle\n Shelf_bar__minus_01_dot_02_bar__plus_01_dot_35_bar__minus_02_dot_54 - receptacle\n SideTable_bar__plus_00_dot_25_bar_00_dot_00_bar__minus_02_dot_38 - receptacle\n loc_bar_4_bar__minus_8_bar_2_bar_60 - location\n loc_bar__minus_4_bar__minus_4_bar_3_bar_15 - location\n loc_bar_4_bar__minus_8_bar_0_bar_60 - location\n loc_bar__minus_3_bar__minus_7_bar_2_bar_60 - location\n loc_bar__minus_4_bar__minus_7_bar_2_bar_15 - location\n loc_bar_4_bar__minus_3_bar_1_bar_60 - location\n loc_bar__minus_5_bar__minus_6_bar_3_bar_0 - location\n loc_bar__minus_1_bar__minus_7_bar_3_bar_45 - location\n loc_bar_1_bar__minus_7_bar_2_bar_60 - location\n loc_bar_2_bar__minus_7_bar_2_bar_0 - location\n loc_bar__minus_5_bar__minus_7_bar_2_bar_60 - location\n loc_bar_4_bar__minus_4_bar_1_bar_60 - location\n loc_bar__minus_1_bar_0_bar_0_bar_45 - location\n loc_bar_4_bar__minus_2_bar_1_bar_30 - location\n loc_bar__minus_3_bar__minus_7_bar_3_bar_60 - location\n loc_bar__minus_5_bar_5_bar_0_bar_60 - location\n loc_bar_4_bar__minus_6_bar_1_bar__minus_30 - location\n loc_bar__minus_5_bar_3_bar_3_bar_45 - location\n loc_bar_4_bar__minus_6_bar_1_bar_15 - location\n loc_bar__minus_1_bar__minus_1_bar_3_bar_30 - location\n )\n \n\n(:init\n\n\n (receptacleType Shelf_bar__plus_01_dot_49_bar__plus_00_dot_82_bar__minus_01_dot_48 ShelfType)\n (receptacleType Drawer_bar__minus_01_dot_41_bar__plus_00_dot_48_bar__minus_02_dot_32 DrawerType)\n (receptacleType Shelf_bar__minus_01_dot_02_bar__plus_01_dot_35_bar__minus_02_dot_54 ShelfType)\n (receptacleType Bed_bar__plus_00_dot_27_bar__plus_00_dot_00_bar__plus_01_dot_33 BedType)\n (receptacleType SideTable_bar__plus_00_dot_25_bar_00_dot_00_bar__minus_02_dot_38 SideTableType)\n (receptacleType LaundryHamper_bar__minus_01_dot_44_bar__plus_00_dot_01_bar__plus_01_dot_77 LaundryHamperType)\n (receptacleType Drawer_bar__minus_01_dot_41_bar__plus_00_dot_73_bar__minus_02_dot_32 DrawerType)\n (receptacleType GarbageCan_bar__plus_01_dot_32_bar__plus_00_dot_00_bar__minus_02_dot_47 GarbageCanType)\n (receptacleType Drawer_bar__minus_01_dot_41_bar__plus_00_dot_20_bar__minus_02_dot_32 DrawerType)\n (receptacleType Desk_bar__minus_00_dot_87_bar__minus_00_dot_01_bar__minus_02_dot_44 DeskType)\n (objectType TennisRacket_bar__minus_01_dot_70_bar__plus_00_dot_35_bar__plus_01_dot_74 TennisRacketType)\n (objectType Chair_bar__minus_00_dot_63_bar__plus_00_dot_00_bar__minus_02_dot_20 ChairType)\n (objectType KeyChain_bar__minus_00_dot_06_bar__plus_00_dot_81_bar__minus_02_dot_30 KeyChainType)\n (objectType RemoteControl_bar__minus_01_dot_49_bar__plus_00_dot_65_bar__minus_02_dot_29 RemoteControlType)\n (objectType AlarmClock_bar__plus_00_dot_36_bar__plus_00_dot_81_bar__minus_02_dot_30 AlarmClockType)\n (objectType LightSwitch_bar__minus_01_dot_80_bar__plus_01_dot_21_bar__plus_00_dot_68 LightSwitchType)\n (objectType Television_bar__minus_01_dot_70_bar__plus_01_dot_47_bar__minus_00_dot_90 TelevisionType)\n (objectType CD_bar__minus_01_dot_59_bar__plus_00_dot_86_bar__minus_02_dot_31 CDType)\n (objectType CD_bar__minus_00_dot_59_bar__plus_00_dot_86_bar__minus_02_dot_25 CDType)\n (objectType Laptop_bar__minus_00_dot_05_bar__plus_00_dot_77_bar__plus_01_dot_34 LaptopType)\n (objectType LaundryHamperLid_bar__minus_01_dot_44_bar__plus_00_dot_48_bar__plus_01_dot_76 LaundryHamperLidType)\n (objectType Painting_bar__plus_00_dot_49_bar__plus_01_dot_68_bar__minus_02_dot_63 PaintingType)\n (objectType Pencil_bar__plus_00_dot_04_bar__plus_00_dot_82_bar__minus_02_dot_17 PencilType)\n (objectType Cloth_bar__plus_01_dot_30_bar__plus_00_dot_00_bar__minus_00_dot_70 ClothType)\n (objectType KeyChain_bar__minus_00_dot_99_bar__plus_00_dot_86_bar__minus_02_dot_56 KeyChainType)\n (objectType Pillow_bar__plus_00_dot_53_bar__plus_00_dot_90_bar__plus_01_dot_17 PillowType)\n (objectType Bowl_bar__plus_00_dot_25_bar__plus_00_dot_81_bar__minus_02_dot_51 BowlType)\n (objectType RemoteControl_bar__minus_01_dot_39_bar__plus_00_dot_86_bar__minus_02_dot_50 RemoteControlType)\n (objectType CellPhone_bar__minus_01_dot_23_bar__plus_00_dot_37_bar__minus_02_dot_36 CellPhoneType)\n (objectType Mirror_bar__plus_01_dot_50_bar__plus_01_dot_36_bar__minus_00_dot_54 MirrorType)\n (objectType Book_bar__minus_01_dot_32_bar__plus_00_dot_65_bar__minus_02_dot_33 BookType)\n (objectType Pen_bar__plus_01_dot_49_bar__plus_00_dot_83_bar__minus_01_dot_57 PenType)\n (objectType Pen_bar__plus_00_dot_46_bar__plus_00_dot_82_bar__minus_02_dot_24 PenType)\n (objectType AlarmClock_bar__plus_00_dot_46_bar__plus_00_dot_81_bar__minus_02_dot_51 AlarmClockType)\n (objectType Poster_bar__minus_01_dot_80_bar__plus_01_dot_69_bar__minus_01_dot_49 PosterType)\n (objectType Window_bar__plus_01_dot_72_bar__plus_01_dot_37_bar__minus_01_dot_60 WindowType)\n (objectType Bowl_bar__minus_00_dot_99_bar__plus_00_dot_86_bar__minus_02_dot_37 BowlType)\n (objectType Blinds_bar__plus_01_dot_70_bar__plus_02_dot_10_bar__minus_01_dot_58 BlindsType)\n (objectType CD_bar__minus_00_dot_81_bar__plus_01_dot_36_bar__minus_02_dot_47 CDType)\n (objectType Cloth_bar__plus_01_dot_27_bar__plus_00_dot_00_bar__minus_00_dot_97 ClothType)\n (objectType Book_bar__plus_00_dot_53_bar__plus_00_dot_77_bar__plus_00_dot_85 BookType)\n (objectType CellPhone_bar__minus_01_dot_58_bar__plus_00_dot_37_bar__minus_02_dot_29 CellPhoneType)\n (objectType Pencil_bar__plus_00_dot_15_bar__plus_00_dot_82_bar__minus_02_dot_37 PencilType)\n (objectType CreditCard_bar__minus_01_dot_32_bar__plus_00_dot_09_bar__minus_02_dot_33 CreditCardType)\n (objectType CreditCard_bar__minus_01_dot_67_bar__plus_00_dot_65_bar__minus_02_dot_33 CreditCardType)\n (objectType DeskLamp_bar__plus_00_dot_05_bar__plus_00_dot_81_bar__minus_02_dot_48 DeskLampType)\n (objectType Chair_bar__plus_00_dot_22_bar__plus_00_dot_00_bar__minus_02_dot_21 ChairType)\n (canContain ShelfType PenType)\n (canContain ShelfType BookType)\n (canContain ShelfType BowlType)\n (canContain ShelfType CDType)\n (canContain ShelfType CellPhoneType)\n (canContain ShelfType KeyChainType)\n (canContain ShelfType CreditCardType)\n (canContain ShelfType ClothType)\n (canContain ShelfType PencilType)\n (canContain ShelfType RemoteControlType)\n (canContain ShelfType AlarmClockType)\n (canContain DrawerType PenType)\n (canContain DrawerType BookType)\n (canContain DrawerType CDType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType ClothType)\n (canContain DrawerType PencilType)\n (canContain DrawerType RemoteControlType)\n (canContain ShelfType PenType)\n (canContain ShelfType BookType)\n (canContain ShelfType BowlType)\n (canContain ShelfType CDType)\n (canContain ShelfType CellPhoneType)\n (canContain ShelfType KeyChainType)\n (canContain ShelfType CreditCardType)\n (canContain ShelfType ClothType)\n (canContain ShelfType PencilType)\n (canContain ShelfType RemoteControlType)\n (canContain ShelfType AlarmClockType)\n (canContain BedType TennisRacketType)\n (canContain BedType LaptopType)\n (canContain BedType BookType)\n (canContain BedType CellPhoneType)\n (canContain BedType PillowType)\n (canContain SideTableType PenType)\n (canContain SideTableType BookType)\n (canContain SideTableType BowlType)\n (canContain SideTableType CDType)\n (canContain SideTableType CellPhoneType)\n (canContain SideTableType KeyChainType)\n (canContain SideTableType CreditCardType)\n (canContain SideTableType TennisRacketType)\n (canContain SideTableType ClothType)\n (canContain SideTableType LaptopType)\n (canContain SideTableType PencilType)\n (canContain SideTableType RemoteControlType)\n (canContain SideTableType AlarmClockType)\n (canContain LaundryHamperType ClothType)\n (canContain DrawerType PenType)\n (canContain DrawerType BookType)\n (canContain DrawerType CDType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType ClothType)\n (canContain DrawerType PencilType)\n (canContain DrawerType RemoteControlType)\n (canContain GarbageCanType PenType)\n (canContain GarbageCanType CDType)\n (canContain GarbageCanType ClothType)\n (canContain GarbageCanType PencilType)\n (canContain DrawerType PenType)\n (canContain DrawerType BookType)\n (canContain DrawerType CDType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType ClothType)\n (canContain DrawerType PencilType)\n (canContain DrawerType RemoteControlType)\n (canContain DeskType PenType)\n (canContain DeskType BookType)\n (canContain DeskType BowlType)\n (canContain DeskType CDType)\n (canContain DeskType CellPhoneType)\n (canContain DeskType KeyChainType)\n (canContain DeskType CreditCardType)\n (canContain DeskType TennisRacketType)\n (canContain DeskType ClothType)\n (canContain DeskType LaptopType)\n (canContain DeskType PencilType)\n (canContain DeskType RemoteControlType)\n (canContain DeskType AlarmClockType)\n (pickupable TennisRacket_bar__minus_01_dot_70_bar__plus_00_dot_35_bar__plus_01_dot_74)\n (pickupable KeyChain_bar__minus_00_dot_06_bar__plus_00_dot_81_bar__minus_02_dot_30)\n (pickupable RemoteControl_bar__minus_01_dot_49_bar__plus_00_dot_65_bar__minus_02_dot_29)\n (pickupable AlarmClock_bar__plus_00_dot_36_bar__plus_00_dot_81_bar__minus_02_dot_30)\n (pickupable CD_bar__minus_01_dot_59_bar__plus_00_dot_86_bar__minus_02_dot_31)\n (pickupable CD_bar__minus_00_dot_59_bar__plus_00_dot_86_bar__minus_02_dot_25)\n (pickupable Laptop_bar__minus_00_dot_05_bar__plus_00_dot_77_bar__plus_01_dot_34)\n (pickupable Pencil_bar__plus_00_dot_04_bar__plus_00_dot_82_bar__minus_02_dot_17)\n (pickupable Cloth_bar__plus_01_dot_30_bar__plus_00_dot_00_bar__minus_00_dot_70)\n (pickupable KeyChain_bar__minus_00_dot_99_bar__plus_00_dot_86_bar__minus_02_dot_56)\n (pickupable Pillow_bar__plus_00_dot_53_bar__plus_00_dot_90_bar__plus_01_dot_17)\n (pickupable Bowl_bar__plus_00_dot_25_bar__plus_00_dot_81_bar__minus_02_dot_51)\n (pickupable RemoteControl_bar__minus_01_dot_39_bar__plus_00_dot_86_bar__minus_02_dot_50)\n (pickupable CellPhone_bar__minus_01_dot_23_bar__plus_00_dot_37_bar__minus_02_dot_36)\n (pickupable Book_bar__minus_01_dot_32_bar__plus_00_dot_65_bar__minus_02_dot_33)\n (pickupable Pen_bar__plus_01_dot_49_bar__plus_00_dot_83_bar__minus_01_dot_57)\n (pickupable Pen_bar__plus_00_dot_46_bar__plus_00_dot_82_bar__minus_02_dot_24)\n (pickupable AlarmClock_bar__plus_00_dot_46_bar__plus_00_dot_81_bar__minus_02_dot_51)\n (pickupable Bowl_bar__minus_00_dot_99_bar__plus_00_dot_86_bar__minus_02_dot_37)\n (pickupable CD_bar__minus_00_dot_81_bar__plus_01_dot_36_bar__minus_02_dot_47)\n (pickupable Cloth_bar__plus_01_dot_27_bar__plus_00_dot_00_bar__minus_00_dot_97)\n (pickupable Book_bar__plus_00_dot_53_bar__plus_00_dot_77_bar__plus_00_dot_85)\n (pickupable CellPhone_bar__minus_01_dot_58_bar__plus_00_dot_37_bar__minus_02_dot_29)\n (pickupable Pencil_bar__plus_00_dot_15_bar__plus_00_dot_82_bar__minus_02_dot_37)\n (pickupable CreditCard_bar__minus_01_dot_32_bar__plus_00_dot_09_bar__minus_02_dot_33)\n (pickupable CreditCard_bar__minus_01_dot_67_bar__plus_00_dot_65_bar__minus_02_dot_33)\n (isReceptacleObject Bowl_bar__plus_00_dot_25_bar__plus_00_dot_81_bar__minus_02_dot_51)\n (isReceptacleObject Bowl_bar__minus_00_dot_99_bar__plus_00_dot_86_bar__minus_02_dot_37)\n (openable Drawer_bar__minus_01_dot_41_bar__plus_00_dot_48_bar__minus_02_dot_32)\n (openable Drawer_bar__minus_01_dot_41_bar__plus_00_dot_73_bar__minus_02_dot_32)\n (openable Drawer_bar__minus_01_dot_41_bar__plus_00_dot_20_bar__minus_02_dot_32)\n \n (atLocation agent1 loc_bar__minus_1_bar__minus_1_bar_3_bar_30)\n \n (cleanable Cloth_bar__plus_01_dot_30_bar__plus_00_dot_00_bar__minus_00_dot_70)\n (cleanable Bowl_bar__plus_00_dot_25_bar__plus_00_dot_81_bar__minus_02_dot_51)\n (cleanable Bowl_bar__minus_00_dot_99_bar__plus_00_dot_86_bar__minus_02_dot_37)\n (cleanable Cloth_bar__plus_01_dot_27_bar__plus_00_dot_00_bar__minus_00_dot_97)\n \n \n (coolable Bowl_bar__plus_00_dot_25_bar__plus_00_dot_81_bar__minus_02_dot_51)\n (coolable Bowl_bar__minus_00_dot_99_bar__plus_00_dot_86_bar__minus_02_dot_37)\n \n \n (toggleable DeskLamp_bar__plus_00_dot_05_bar__plus_00_dot_81_bar__minus_02_dot_48)\n \n \n \n \n (inReceptacle CD_bar__minus_01_dot_59_bar__plus_00_dot_86_bar__minus_02_dot_31 Desk_bar__minus_00_dot_87_bar__minus_00_dot_01_bar__minus_02_dot_44)\n (inReceptacle RemoteControl_bar__minus_01_dot_39_bar__plus_00_dot_86_bar__minus_02_dot_50 Desk_bar__minus_00_dot_87_bar__minus_00_dot_01_bar__minus_02_dot_44)\n (inReceptacle CD_bar__minus_00_dot_59_bar__plus_00_dot_86_bar__minus_02_dot_25 Desk_bar__minus_00_dot_87_bar__minus_00_dot_01_bar__minus_02_dot_44)\n (inReceptacle Bowl_bar__minus_00_dot_99_bar__plus_00_dot_86_bar__minus_02_dot_37 Desk_bar__minus_00_dot_87_bar__minus_00_dot_01_bar__minus_02_dot_44)\n (inReceptacle KeyChain_bar__minus_00_dot_99_bar__plus_00_dot_86_bar__minus_02_dot_56 Desk_bar__minus_00_dot_87_bar__minus_00_dot_01_bar__minus_02_dot_44)\n (inReceptacle KeyChain_bar__minus_00_dot_06_bar__plus_00_dot_81_bar__minus_02_dot_30 SideTable_bar__plus_00_dot_25_bar_00_dot_00_bar__minus_02_dot_38)\n (inReceptacle AlarmClock_bar__plus_00_dot_36_bar__plus_00_dot_81_bar__minus_02_dot_30 SideTable_bar__plus_00_dot_25_bar_00_dot_00_bar__minus_02_dot_38)\n (inReceptacle DeskLamp_bar__plus_00_dot_05_bar__plus_00_dot_81_bar__minus_02_dot_48 SideTable_bar__plus_00_dot_25_bar_00_dot_00_bar__minus_02_dot_38)\n (inReceptacle Bowl_bar__plus_00_dot_25_bar__plus_00_dot_81_bar__minus_02_dot_51 SideTable_bar__plus_00_dot_25_bar_00_dot_00_bar__minus_02_dot_38)\n (inReceptacle Pencil_bar__plus_00_dot_15_bar__plus_00_dot_82_bar__minus_02_dot_37 SideTable_bar__plus_00_dot_25_bar_00_dot_00_bar__minus_02_dot_38)\n (inReceptacle Pen_bar__plus_00_dot_46_bar__plus_00_dot_82_bar__minus_02_dot_24 SideTable_bar__plus_00_dot_25_bar_00_dot_00_bar__minus_02_dot_38)\n (inReceptacle AlarmClock_bar__plus_00_dot_46_bar__plus_00_dot_81_bar__minus_02_dot_51 SideTable_bar__plus_00_dot_25_bar_00_dot_00_bar__minus_02_dot_38)\n (inReceptacle Pencil_bar__plus_00_dot_04_bar__plus_00_dot_82_bar__minus_02_dot_17 SideTable_bar__plus_00_dot_25_bar_00_dot_00_bar__minus_02_dot_38)\n (inReceptacle CellPhone_bar__minus_01_dot_23_bar__plus_00_dot_37_bar__minus_02_dot_36 Drawer_bar__minus_01_dot_41_bar__plus_00_dot_48_bar__minus_02_dot_32)\n (inReceptacle CellPhone_bar__minus_01_dot_58_bar__plus_00_dot_37_bar__minus_02_dot_29 Drawer_bar__minus_01_dot_41_bar__plus_00_dot_48_bar__minus_02_dot_32)\n (inReceptacle Book_bar__minus_01_dot_32_bar__plus_00_dot_65_bar__minus_02_dot_33 Drawer_bar__minus_01_dot_41_bar__plus_00_dot_73_bar__minus_02_dot_32)\n (inReceptacle CreditCard_bar__minus_01_dot_67_bar__plus_00_dot_65_bar__minus_02_dot_33 Drawer_bar__minus_01_dot_41_bar__plus_00_dot_73_bar__minus_02_dot_32)\n (inReceptacle RemoteControl_bar__minus_01_dot_49_bar__plus_00_dot_65_bar__minus_02_dot_29 Drawer_bar__minus_01_dot_41_bar__plus_00_dot_73_bar__minus_02_dot_32)\n (inReceptacle CreditCard_bar__minus_01_dot_32_bar__plus_00_dot_09_bar__minus_02_dot_33 Drawer_bar__minus_01_dot_41_bar__plus_00_dot_20_bar__minus_02_dot_32)\n (inReceptacle Laptop_bar__minus_00_dot_05_bar__plus_00_dot_77_bar__plus_01_dot_34 Bed_bar__plus_00_dot_27_bar__plus_00_dot_00_bar__plus_01_dot_33)\n (inReceptacle Pillow_bar__plus_00_dot_53_bar__plus_00_dot_90_bar__plus_01_dot_17 Bed_bar__plus_00_dot_27_bar__plus_00_dot_00_bar__plus_01_dot_33)\n (inReceptacle Book_bar__plus_00_dot_53_bar__plus_00_dot_77_bar__plus_00_dot_85 Bed_bar__plus_00_dot_27_bar__plus_00_dot_00_bar__plus_01_dot_33)\n (inReceptacle Pen_bar__plus_01_dot_49_bar__plus_00_dot_83_bar__minus_01_dot_57 Shelf_bar__plus_01_dot_49_bar__plus_00_dot_82_bar__minus_01_dot_48)\n (inReceptacle CD_bar__minus_00_dot_81_bar__plus_01_dot_36_bar__minus_02_dot_47 Shelf_bar__minus_01_dot_02_bar__plus_01_dot_35_bar__minus_02_dot_54)\n \n \n (receptacleAtLocation Bed_bar__plus_00_dot_27_bar__plus_00_dot_00_bar__plus_01_dot_33 loc_bar__minus_1_bar_0_bar_0_bar_45)\n (receptacleAtLocation Desk_bar__minus_00_dot_87_bar__minus_00_dot_01_bar__minus_02_dot_44 loc_bar__minus_5_bar__minus_7_bar_2_bar_60)\n (receptacleAtLocation Drawer_bar__minus_01_dot_41_bar__plus_00_dot_20_bar__minus_02_dot_32 loc_bar__minus_1_bar__minus_7_bar_3_bar_45)\n (receptacleAtLocation Drawer_bar__minus_01_dot_41_bar__plus_00_dot_48_bar__minus_02_dot_32 loc_bar__minus_1_bar__minus_7_bar_3_bar_45)\n (receptacleAtLocation Drawer_bar__minus_01_dot_41_bar__plus_00_dot_73_bar__minus_02_dot_32 loc_bar__minus_3_bar__minus_7_bar_3_bar_60)\n (receptacleAtLocation GarbageCan_bar__plus_01_dot_32_bar__plus_00_dot_00_bar__minus_02_dot_47 loc_bar_4_bar__minus_8_bar_2_bar_60)\n (receptacleAtLocation LaundryHamper_bar__minus_01_dot_44_bar__plus_00_dot_01_bar__plus_01_dot_77 loc_bar__minus_5_bar_5_bar_0_bar_60)\n (receptacleAtLocation Shelf_bar__plus_01_dot_49_bar__plus_00_dot_82_bar__minus_01_dot_48 loc_bar_4_bar__minus_8_bar_0_bar_60)\n (receptacleAtLocation Shelf_bar__minus_01_dot_02_bar__plus_01_dot_35_bar__minus_02_dot_54 loc_bar__minus_4_bar__minus_7_bar_2_bar_15)\n (receptacleAtLocation SideTable_bar__plus_00_dot_25_bar_00_dot_00_bar__minus_02_dot_38 loc_bar_1_bar__minus_7_bar_2_bar_60)\n (objectAtLocation Bowl_bar__plus_00_dot_25_bar__plus_00_dot_81_bar__minus_02_dot_51 loc_bar_1_bar__minus_7_bar_2_bar_60)\n (objectAtLocation Pen_bar__plus_00_dot_46_bar__plus_00_dot_82_bar__minus_02_dot_24 loc_bar_1_bar__minus_7_bar_2_bar_60)\n (objectAtLocation RemoteControl_bar__minus_01_dot_39_bar__plus_00_dot_86_bar__minus_02_dot_50 loc_bar__minus_5_bar__minus_7_bar_2_bar_60)\n (objectAtLocation KeyChain_bar__minus_00_dot_06_bar__plus_00_dot_81_bar__minus_02_dot_30 loc_bar_1_bar__minus_7_bar_2_bar_60)\n (objectAtLocation CreditCard_bar__minus_01_dot_32_bar__plus_00_dot_09_bar__minus_02_dot_33 loc_bar__minus_1_bar__minus_7_bar_3_bar_45)\n (objectAtLocation AlarmClock_bar__plus_00_dot_36_bar__plus_00_dot_81_bar__minus_02_dot_30 loc_bar_1_bar__minus_7_bar_2_bar_60)\n (objectAtLocation Pencil_bar__plus_00_dot_04_bar__plus_00_dot_82_bar__minus_02_dot_17 loc_bar_1_bar__minus_7_bar_2_bar_60)\n (objectAtLocation CellPhone_bar__minus_01_dot_23_bar__plus_00_dot_37_bar__minus_02_dot_36 loc_bar__minus_1_bar__minus_7_bar_3_bar_45)\n (objectAtLocation Book_bar__plus_00_dot_53_bar__plus_00_dot_77_bar__plus_00_dot_85 loc_bar__minus_1_bar_0_bar_0_bar_45)\n (objectAtLocation Book_bar__minus_01_dot_32_bar__plus_00_dot_65_bar__minus_02_dot_33 loc_bar__minus_3_bar__minus_7_bar_3_bar_60)\n (objectAtLocation LaundryHamperLid_bar__minus_01_dot_44_bar__plus_00_dot_48_bar__plus_01_dot_76 loc_bar__minus_5_bar_5_bar_0_bar_60)\n (objectAtLocation Chair_bar__minus_00_dot_63_bar__plus_00_dot_00_bar__minus_02_dot_20 loc_bar__minus_3_bar__minus_7_bar_2_bar_60)\n (objectAtLocation Chair_bar__plus_00_dot_22_bar__plus_00_dot_00_bar__minus_02_dot_21 loc_bar_1_bar__minus_7_bar_2_bar_60)\n (objectAtLocation Cloth_bar__plus_01_dot_30_bar__plus_00_dot_00_bar__minus_00_dot_70 loc_bar_4_bar__minus_3_bar_1_bar_60)\n (objectAtLocation Cloth_bar__plus_01_dot_27_bar__plus_00_dot_00_bar__minus_00_dot_97 loc_bar_4_bar__minus_4_bar_1_bar_60)\n (objectAtLocation CellPhone_bar__minus_01_dot_58_bar__plus_00_dot_37_bar__minus_02_dot_29 loc_bar__minus_1_bar__minus_7_bar_3_bar_45)\n (objectAtLocation Television_bar__minus_01_dot_70_bar__plus_01_dot_47_bar__minus_00_dot_90 loc_bar__minus_4_bar__minus_4_bar_3_bar_15)\n (objectAtLocation Pencil_bar__plus_00_dot_15_bar__plus_00_dot_82_bar__minus_02_dot_37 loc_bar_1_bar__minus_7_bar_2_bar_60)\n (objectAtLocation DeskLamp_bar__plus_00_dot_05_bar__plus_00_dot_81_bar__minus_02_dot_48 loc_bar_1_bar__minus_7_bar_2_bar_60)\n (objectAtLocation Laptop_bar__minus_00_dot_05_bar__plus_00_dot_77_bar__plus_01_dot_34 loc_bar__minus_1_bar_0_bar_0_bar_45)\n (objectAtLocation LightSwitch_bar__minus_01_dot_80_bar__plus_01_dot_21_bar__plus_00_dot_68 loc_bar__minus_5_bar_3_bar_3_bar_45)\n (objectAtLocation AlarmClock_bar__plus_00_dot_46_bar__plus_00_dot_81_bar__minus_02_dot_51 loc_bar_1_bar__minus_7_bar_2_bar_60)\n (objectAtLocation CreditCard_bar__minus_01_dot_67_bar__plus_00_dot_65_bar__minus_02_dot_33 loc_bar__minus_3_bar__minus_7_bar_3_bar_60)\n (objectAtLocation KeyChain_bar__minus_00_dot_99_bar__plus_00_dot_86_bar__minus_02_dot_56 loc_bar__minus_5_bar__minus_7_bar_2_bar_60)\n (objectAtLocation TennisRacket_bar__minus_01_dot_70_bar__plus_00_dot_35_bar__plus_01_dot_74 loc_bar__minus_5_bar_5_bar_0_bar_60)\n (objectAtLocation Painting_bar__plus_00_dot_49_bar__plus_01_dot_68_bar__minus_02_dot_63 loc_bar_2_bar__minus_7_bar_2_bar_0)\n (objectAtLocation RemoteControl_bar__minus_01_dot_49_bar__plus_00_dot_65_bar__minus_02_dot_29 loc_bar__minus_3_bar__minus_7_bar_3_bar_60)\n (objectAtLocation Pillow_bar__plus_00_dot_53_bar__plus_00_dot_90_bar__plus_01_dot_17 loc_bar__minus_1_bar_0_bar_0_bar_45)\n (objectAtLocation Poster_bar__minus_01_dot_80_bar__plus_01_dot_69_bar__minus_01_dot_49 loc_bar__minus_5_bar__minus_6_bar_3_bar_0)\n (objectAtLocation Mirror_bar__plus_01_dot_50_bar__plus_01_dot_36_bar__minus_00_dot_54 loc_bar_4_bar__minus_2_bar_1_bar_30)\n (objectAtLocation CD_bar__minus_00_dot_59_bar__plus_00_dot_86_bar__minus_02_dot_25 loc_bar__minus_5_bar__minus_7_bar_2_bar_60)\n (objectAtLocation CD_bar__minus_01_dot_59_bar__plus_00_dot_86_bar__minus_02_dot_31 loc_bar__minus_5_bar__minus_7_bar_2_bar_60)\n (objectAtLocation CD_bar__minus_00_dot_81_bar__plus_01_dot_36_bar__minus_02_dot_47 loc_bar__minus_4_bar__minus_7_bar_2_bar_15)\n (objectAtLocation Pen_bar__plus_01_dot_49_bar__plus_00_dot_83_bar__minus_01_dot_57 loc_bar_4_bar__minus_8_bar_0_bar_60)\n (objectAtLocation Window_bar__plus_01_dot_72_bar__plus_01_dot_37_bar__minus_01_dot_60 loc_bar_4_bar__minus_6_bar_1_bar_15)\n (objectAtLocation Blinds_bar__plus_01_dot_70_bar__plus_02_dot_10_bar__minus_01_dot_58 loc_bar_4_bar__minus_6_bar_1_bar__minus_30)\n (objectAtLocation Bowl_bar__minus_00_dot_99_bar__plus_00_dot_86_bar__minus_02_dot_37 loc_bar__minus_5_bar__minus_7_bar_2_bar_60)\n )\n \n\n (:goal\n (and\n (exists (?r - receptacle)\n (exists (?o - object)\n (and\n (inReceptacle ?o ?r)\n (objectType ?o PencilType)\n (receptacleType ?r DeskType)\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to sidetable 1", "take pencil 2 from sidetable 1", "go to desk 1", "move pencil 2 to desk 1"]}
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alfworld__pick_clean_then_place_in_recep__13
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pick_clean_then_place_in_recep
|
pick_clean_then_place_in_recep-Tomato-None-DiningTable-23/trial_T20190909_000922_271997/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: clean some tomato and put it in diningtable.\"\n }\n ],\n\n \"GotoLocation.feedback\": [\n {\n \"rhs\": \"You arrive at {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"OpenObject.feedback\": [\n {\n \"rhs\": \"You open the {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"CloseObject.feedback\": [\n {\n \"rhs\": \"You close the {r.name}.\"\n }\n ],\n\n \"PickupObject.feedback\": [\n {\n \"rhs\": \"You pick up the {o.name} from the {r.name}.\"\n }\n ],\n\n \"PickupObjectFromReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupObjectFromReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupEmptyReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupEmptyReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupFullReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupFullReceptacleObject: You pick up the {outerr.name}.\"\n }\n ],\n\n \"PutObject.feedback\": [\n {\n \"rhs\": \"You move the {o.name} to the {r.name}.\"\n }\n ],\n\n \"PutObjectInReceptacleObject.feedback\": [\n {\n \"rhs\": \"PutObjectInReceptacleObject: You put the {o.name} in the {outero.name}.\"\n }\n ],\n\n \"PutEmptyReceptacleObjectinReceptacle.feedback\": [\n {\n \"rhs\": \"PutEmptyReceptacleObjectinReceptacle: You put the {o.name} in the {r.name}.\"\n }\n ],\n\n \"PutFullReceptacleObjectInReceptacle.feedback\": [\n {\n \"rhs\": \"PutFullReceptacleObjectInReceptacle: You put the {outero.name} in the {r.name}.\"\n }\n ],\n\n \"inventory.feedback\": [\n {\n \"condition\": \"holdsany(a:agent)\",\n \"rhs\": \"You are carrying: [{o.indefinite + ' ' + o.name | holds(a:agent, o:object)}].\"\n },\n {\n \"rhs\": \"You are not carrying anything.\"\n }\n ],\n\n \"examineReceptacle.feedback\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \"The {r.name} is open. In it, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \"The {r.name} is closed.\"\n },\n {\n \"rhs\": \"On the {r.name}, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n }\n ],\n\n \"examineObject.feedback\": [\n {\n \"condition\": \"isreceptacleobject(o:object)\",\n \"rhs\": \"This is a normal {o.name}. In it, you see [{o2.indefinite + ' ' + o2.name | inreceptacleobject(o2:object, o:object)}].\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a clean sliced {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot sliced {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object)\",\n \"rhs\": \"This is a hot and clean {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object)\",\n \"rhs\": \"This is a cool and clean {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object)\",\n \"rhs\": \"This is a hot {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object)\",\n \"rhs\": \"This is a clean {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object)\",\n \"rhs\": \"This is a cold {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"This {o.name} is on.\"\n },\n {\n \"condition\": \"toggleable(o:object) & not_istoggled(o:object)\",\n \"rhs\": \"This {o.name} is off.\"\n },\n {\n \"condition\": \"sliceable(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a sliced {o.name}.\"\n },\n {\n \"rhs\": \"There's nothing special about {o.name}.\"\n }\n ]\n }\n\"\"\";\n\naction GotoLocation {\n template :: \"go to [{r.name | receptacleatlocation(r:receptacle, lend:location)}]\";\n feedback :: \"#GotoLocation.feedback#\";\n}\n\naction OpenObject {\n template :: \"open {r}\";\n feedback :: \"#OpenObject.feedback#\";\n}\n\naction CloseObject {\n template :: \"close {r}\";\n feedback :: \"#CloseObject.feedback#\";\n}\n\naction PickupObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObject.feedback#\";\n}\n\naction PickupObjectFromReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObjectFromReceptacleObject.feedback#\";\n}\n\naction PickupEmptyReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupEmptyReceptacleObject.feedback#\";\n}\n\naction PickupFullReceptacleObject {\n template :: \"take {outerr} from {r}\";\n feedback :: \"#PickupFullReceptacleObject.feedback#\";\n}\n\naction PutObject {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutObject.feedback#\";\n}\n\naction PutObjectInReceptacleObject {\n template :: \"put {o} into {outero}\";\n feedback :: \"#PutObjectInReceptacleObject.feedback#\";\n}\n\naction PutEmptyReceptacleObjectinReceptacle {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutEmptyReceptacleObjectinReceptacle.feedback#\";\n}\n\naction PutFullReceptacleObjectInReceptacle {\n template :: \"put {outero} in {r}\";\n feedback :: \"#PutFullReceptacleObjectInReceptacle.feedback#\";\n}\n\naction inventory {\n template :: \"inventory\";\n feedback :: \"#inventory.feedback#\";\n}\n\naction examineReceptacle {\n template :: \"examine {r}\";\n feedback :: \"#examineReceptacle.feedback#\";\n}\n\naction examineObject {\n template :: \"examine {o}\";\n feedback :: \"#examineObject.feedback#\";\n}\n\naction ToggleObject {\n template :: \"use {o}\";\n feedback :: \"#toggleObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"toggleObject.feedback\": [\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"You turn on the {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object)\",\n \"rhs\": \"You turn off the {o.name}.\"\n },\n {\n \"rhs\": \"You don't see any switch on the {o.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction HeatObject {\n template :: \"heat {o} with {r}\";\n feedback :: \"#heatObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"heatObject.feedback\": [\n {\n \"rhs\": \"You heat the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CleanObject {\n template :: \"clean {o} with {r}\";\n feedback :: \"#cleanObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"cleanObject.feedback\": [\n {\n \"rhs\": \"You clean the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CoolObject {\n template :: \"cool {o} with {r}\";\n feedback :: \"#coolObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"coolObject.feedback\": [\n {\n \"rhs\": \"You cool the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction SliceObject {\n template :: \"slice {co} with {ko}\";\n feedback :: \"#sliceObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"sliceObject.feedback\": [\n {\n \"rhs\": \"You sliced the {co.name} with the {ko.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction look {\n template :: \"look\";\n feedback :: \"#look.feedback#\";\n\n grammar :: \"\"\"\n {\n \"look.feedback\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"#look-variations#. Next to it, you see #list_objects_on_the_floor#.\"\n },\n {\n \"rhs\": \"You are in the middle of a room. Looking quickly around you, you see #list_appliances#.\"\n }\n ],\n\n \"look-variations\": [\n {\n \"rhs\": \"You are facing the [{r.name | atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)}]\"\n }\n ],\n\n \"list_objects_on_the_floor\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)\",\n \"rhs\": \"[{#overview(o)# | atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"list_appliances\": [\n {\n \"condition\": \"receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"[{#overview(r)# | receptacleatlocation(r:receptacle, l:location)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"overview(o, r)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name} (in/on the {r.name})}\"\n }\n ],\n\n \"overview(o)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name}\"\n }\n ],\n \"overview(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}\"\n }\n ],\n \"overview_with_state(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}#overview_state(r)#\"\n }\n ],\n \"overview_state(r)\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \" (it is open)\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \" (it is closed)\"\n },\n {\n \"rhs\": \"\"\n }\n ],\n\n \"list_empty\": [\n {\n \"rhs\": \"nothing\"\n }\n ],\n \"list_separator\": [\n {\n \"rhs\": \", \"\n }\n ],\n \"list_last_separator\": [\n {\n \"rhs\": \", and \"\n }\n ]\n }\n \"\"\";\n}\n\naction help {\n template :: \"help\";\n feedback :: \"\nAvailable commands:\n look: look around your current location\n inventory: check your current inventory\n go to (receptacle): move to a receptacle\n open (receptacle): open a receptacle\n close (receptacle): close a receptacle\n take (object) from (receptacle): take an object from a receptacle\n move (object) to (receptacle): place an object in or on a receptacle\n examine (something): examine a receptacle or an object\n use (object): use an object\n heat (object) with (receptacle): heat an object using a receptacle\n clean (object) with (receptacle): clean an object using a receptacle\n cool (object) with (receptacle): cool an object using a receptacle\n slice (object) with (object): slice an object using a sharp object\n\";\n}\n", "pddl_problem": "\n(define (problem plan_trial_T20190909_000922_271997)\n(:domain alfred)\n(:objects\nagent1 - agent\nSaltShaker - object\n HousePlant - object\n Candle - object\n SprayBottle - object\n Bowl - object\n Window - object\n CD - object\n Egg - object\n Glassbottle - object\n Sink - object\n Pillow - object\n Spoon - object\n SoapBottle - object\n TeddyBear - object\n ButterKnife - object\n Cup - object\n Plate - object\n RemoteControl - object\n Tomato - object\n Statue - object\n HandTowel - object\n Knife - object\n StoveKnob - object\n LightSwitch - object\n Pen - object\n Painting - object\n DishSponge - object\n Vase - object\n Mug - object\n ToiletPaper - object\n Box - object\n Mirror - object\n Ladle - object\n Fork - object\n Blinds - object\n Footstool - object\n KeyChain - object\n Cloth - object\n Laptop - object\n TissueBox - object\n PepperShaker - object\n FloorLamp - object\n WateringCan - object\n Apple - object\n Pan - object\n PaperTowel - object\n PaperTowelRoll - object\n Newspaper - object\n Television - object\n Chair - object\n CellPhone - object\n CreditCard - object\n Lettuce - object\n BasketBall - object\n Potato - object\n Curtains - object\n Boots - object\n Pencil - object\n AlarmClock - object\n ToiletPaperRoll - object\n Spatula - object\n Book - object\n Bread - object\n SoapBar - object\n Watch - object\n DeskLamp - object\n Kettle - object\n Pot - object\n ScrubBrush - object\n WineBottle - object\n ShowerDoor - object\n Bathtub - object\n LaundryHamperLid - object\n ShowerGlass - object\n Poster - object\n TennisRacket - object\n BaseballBat - object\n Towel - object\n Plunger - object\nSaltShakerType - otype\n HousePlantType - otype\n CandleType - otype\n SprayBottleType - otype\n BowlType - otype\n WindowType - otype\n CDType - otype\n EggType - otype\n GlassbottleType - otype\n SinkType - otype\n PillowType - otype\n SpoonType - otype\n SoapBottleType - otype\n TeddyBearType - otype\n ButterKnifeType - otype\n CupType - otype\n PlateType - otype\n RemoteControlType - otype\n TomatoType - otype\n StatueType - otype\n HandTowelType - otype\n KnifeType - otype\n StoveKnobType - otype\n LightSwitchType - otype\n PenType - otype\n PaintingType - otype\n DishSpongeType - otype\n VaseType - otype\n MugType - otype\n ToiletPaperType - otype\n BoxType - otype\n MirrorType - otype\n LadleType - otype\n ForkType - otype\n BlindsType - otype\n FootstoolType - otype\n KeyChainType - otype\n ClothType - otype\n LaptopType - otype\n TissueBoxType - otype\n PepperShakerType - otype\n FloorLampType - otype\n WateringCanType - otype\n AppleType - otype\n PanType - otype\n PaperTowelType - otype\n PaperTowelRollType - otype\n NewspaperType - otype\n TelevisionType - otype\n ChairType - otype\n CellPhoneType - otype\n CreditCardType - otype\n LettuceType - otype\n BasketBallType - otype\n PotatoType - otype\n CurtainsType - otype\n BootsType - otype\n PencilType - otype\n AlarmClockType - otype\n ToiletPaperRollType - otype\n SpatulaType - otype\n BookType - otype\n BreadType - otype\n SoapBarType - otype\n WatchType - otype\n DeskLampType - otype\n KettleType - otype\n PotType - otype\n ScrubBrushType - otype\n WineBottleType - otype\n ShowerDoorType - otype\n BathtubType - otype\n LaundryHamperLidType - otype\n ShowerGlassType - otype\n PosterType - otype\n TennisRacketType - otype\n BaseballBatType - otype\n TowelType - otype\n PlungerType - otype\nSafeType - rtype\n DrawerType - rtype\n CoffeeMachineType - rtype\n HandTowelHolderType - rtype\n SinkBasinType - rtype\n DresserType - rtype\n LaundryHamperType - rtype\n TVStandType - rtype\n BathtubBasinType - rtype\n CabinetType - rtype\n FridgeType - rtype\n DeskType - rtype\n ToiletType - rtype\n CartType - rtype\n SideTableType - rtype\n SofaType - rtype\n CoffeeTableType - rtype\n DiningTableType - rtype\n CounterTopType - rtype\n GarbageCanType - rtype\n ArmChairType - rtype\n ShelfType - rtype\n MicrowaveType - rtype\n ToasterType - rtype\n BedType - rtype\n PaintingHangerType - rtype\n TowelHolderType - rtype\n ToiletPaperHangerType - rtype\n StoveBurnerType - rtype\n OttomanType - rtype\n\n\n Apple_bar__minus_00_dot_46_bar__plus_00_dot_99_bar__minus_03_dot_91 - object\n Apple_bar__minus_01_dot_20_bar__plus_01_dot_70_bar__minus_03_dot_84 - object\n Blinds_bar__minus_02_dot_54_bar__plus_02_dot_70_bar__minus_03_dot_96 - object\n Bowl_bar__minus_02_dot_10_bar__plus_00_dot_92_bar__minus_02_dot_12 - object\n Bread_bar__minus_00_dot_34_bar__plus_01_dot_15_bar__minus_00_dot_56 - object\n Bread_bar__minus_00_dot_39_bar__plus_01_dot_44_bar__minus_00_dot_67 - object\n ButterKnife_bar__minus_00_dot_37_bar__plus_00_dot_92_bar__minus_02_dot_56 - object\n Chair_bar__minus_03_dot_24_bar__plus_00_dot_00_bar__minus_01_dot_25 - object\n Chair_bar__minus_03_dot_26_bar__plus_00_dot_00_bar__minus_02_dot_09 - object\n Cup_bar__minus_00_dot_23_bar__plus_01_dot_69_bar__minus_00_dot_98 - object\n DishSponge_bar__minus_00_dot_78_bar__plus_00_dot_75_bar__minus_03_dot_53 - object\n DishSponge_bar__minus_02_dot_21_bar__plus_00_dot_92_bar__minus_01_dot_88 - object\n Egg_bar__minus_00_dot_45_bar__plus_00_dot_83_bar__minus_02_dot_01 - object\n Egg_bar__minus_02_dot_32_bar__plus_00_dot_96_bar__minus_01_dot_65 - object\n Faucet_bar__minus_00_dot_08_bar__plus_00_dot_90_bar__minus_02_dot_03 - object\n Fork_bar__minus_02_dot_67_bar__plus_00_dot_92_bar__minus_01_dot_65 - object\n Glassbottle_bar__minus_00_dot_19_bar__plus_01_dot_53_bar__minus_03_dot_02 - object\n Glassbottle_bar__minus_00_dot_42_bar__plus_00_dot_08_bar__minus_01_dot_71 - object\n Knife_bar__minus_02_dot_32_bar__plus_00_dot_95_bar__minus_01_dot_42 - object\n Knife_bar__minus_02_dot_78_bar__plus_00_dot_95_bar__minus_01_dot_42 - object\n Lettuce_bar__minus_00_dot_34_bar__plus_01_dot_19_bar__minus_00_dot_87 - object\n LightSwitch_bar__minus_04_dot_32_bar__plus_01_dot_32_bar__plus_00_dot_00 - object\n Mug_bar__minus_00_dot_75_bar__plus_00_dot_08_bar__minus_03_dot_66 - object\n Pan_bar__minus_02_dot_17_bar__plus_00_dot_91_bar__minus_01_dot_10 - object\n Pencil_bar__minus_00_dot_54_bar__plus_00_dot_75_bar__minus_03_dot_24 - object\n Pencil_bar__minus_02_dot_32_bar__plus_00_dot_92_bar__minus_01_dot_42 - object\n Pen_bar__minus_02_dot_10_bar__plus_00_dot_93_bar__minus_01_dot_88 - object\n Pen_bar__minus_02_dot_32_bar__plus_00_dot_93_bar__minus_02_dot_12 - object\n Pen_bar__minus_02_dot_55_bar__plus_00_dot_93_bar__minus_00_dot_96 - object\n PepperShaker_bar__minus_00_dot_50_bar__plus_00_dot_08_bar__minus_03_dot_24 - object\n PepperShaker_bar__minus_02_dot_21_bar__plus_00_dot_92_bar__minus_01_dot_65 - object\n Plate_bar__minus_00_dot_38_bar__plus_00_dot_08_bar__minus_02_dot_20 - object\n Plate_bar__minus_00_dot_46_bar__plus_00_dot_92_bar__minus_03_dot_63 - object\n Potato_bar__minus_00_dot_35_bar__plus_01_dot_72_bar__minus_00_dot_77 - object\n Potato_bar__minus_00_dot_39_bar__plus_01_dot_72_bar__minus_00_dot_46 - object\n Pot_bar__minus_01_dot_13_bar__plus_00_dot_94_bar__minus_03_dot_50 - object\n Pot_bar__minus_01_dot_52_bar__plus_00_dot_94_bar__minus_03_dot_50 - object\n SaltShaker_bar__minus_00_dot_39_bar__plus_00_dot_74_bar__minus_03_dot_33 - object\n SaltShaker_bar__minus_00_dot_60_bar__plus_00_dot_91_bar__minus_03_dot_91 - object\n SaltShaker_bar__minus_02_dot_55_bar__plus_00_dot_92_bar__minus_02_dot_12 - object\n Sink_bar__minus_00_dot_35_bar__plus_00_dot_91_bar__minus_02_dot_01 - object\n SoapBottle_bar__minus_00_dot_42_bar__plus_00_dot_08_bar__minus_01_dot_90 - object\n SoapBottle_bar__minus_02_dot_67_bar__plus_00_dot_92_bar__minus_01_dot_88 - object\n Spatula_bar__minus_00_dot_35_bar__plus_00_dot_81_bar__minus_02_dot_01 - object\n Spatula_bar__minus_02_dot_44_bar__plus_00_dot_94_bar__minus_01_dot_88 - object\n Spatula_bar__minus_02_dot_67_bar__plus_00_dot_94_bar__minus_01_dot_42 - object\n Spoon_bar__minus_00_dot_74_bar__plus_00_dot_92_bar__minus_03_dot_56 - object\n Spoon_bar__minus_02_dot_32_bar__plus_00_dot_92_bar__minus_02_dot_12 - object\n Spoon_bar__minus_02_dot_67_bar__plus_00_dot_92_bar__minus_02_dot_12 - object\n StoveKnob_bar__minus_01_dot_03_bar__plus_01_dot_08_bar__minus_03_dot_96 - object\n StoveKnob_bar__minus_01_dot_18_bar__plus_01_dot_08_bar__minus_03_dot_96 - object\n StoveKnob_bar__minus_01_dot_42_bar__plus_01_dot_08_bar__minus_03_dot_96 - object\n StoveKnob_bar__minus_01_dot_58_bar__plus_01_dot_08_bar__minus_03_dot_96 - object\n Tomato_bar__minus_01_dot_88_bar__plus_00_dot_09_bar__minus_03_dot_76 - object\n Tomato_bar__minus_02_dot_10_bar__plus_00_dot_99_bar__minus_01_dot_42 - object\n Window_bar__minus_02_dot_50_bar__plus_01_dot_78_bar__minus_04_dot_19 - object\n WineBottle_bar__minus_02_dot_10_bar__plus_00_dot_92_bar__minus_02_dot_35 - object\n WineBottle_bar__minus_02_dot_32_bar__plus_00_dot_92_bar__minus_02_dot_35 - object\n WineBottle_bar__minus_02_dot_44_bar__plus_00_dot_92_bar__minus_01_dot_65 - object\n Cabinet_bar__minus_00_dot_30_bar__plus_01_dot_92_bar__minus_02_dot_50 - receptacle\n Cabinet_bar__minus_00_dot_31_bar__plus_02_dot_14_bar__minus_01_dot_54 - receptacle\n Cabinet_bar__minus_00_dot_31_bar__plus_02_dot_14_bar__minus_02_dot_48 - receptacle\n Cabinet_bar__minus_00_dot_33_bar__plus_01_dot_92_bar__minus_03_dot_39 - receptacle\n Cabinet_bar__minus_00_dot_58_bar__plus_00_dot_39_bar__minus_01_dot_80 - receptacle\n Cabinet_bar__minus_00_dot_58_bar__plus_00_dot_39_bar__minus_02_dot_20 - receptacle\n Cabinet_bar__minus_00_dot_58_bar__plus_00_dot_39_bar__minus_03_dot_40 - receptacle\n Cabinet_bar__minus_00_dot_88_bar__plus_00_dot_39_bar__minus_03_dot_42 - receptacle\n Cabinet_bar__minus_00_dot_88_bar__plus_02_dot_14_bar__minus_03_dot_69 - receptacle\n Cabinet_bar__minus_01_dot_76_bar__plus_02_dot_14_bar__minus_03_dot_69 - receptacle\n CoffeeMachine_bar__minus_00_dot_12_bar__plus_00_dot_90_bar__minus_03_dot_15 - receptacle\n CounterTop_bar__minus_00_dot_30_bar__plus_00_dot_95_bar__minus_02_dot_79 - receptacle\n DiningTable_bar__minus_02_dot_43_bar__plus_00_dot_90_bar__minus_01_dot_70 - receptacle\n Drawer_bar__minus_00_dot_45_bar__plus_00_dot_78_bar__minus_03_dot_27 - receptacle\n Drawer_bar__minus_00_dot_75_bar__plus_00_dot_78_bar__minus_03_dot_55 - receptacle\n Fridge_bar__minus_00_dot_33_bar__plus_00_dot_00_bar__minus_00_dot_77 - receptacle\n GarbageCan_bar__minus_01_dot_94_bar__plus_00_dot_00_bar__minus_03_dot_76 - receptacle\n Microwave_bar__minus_01_dot_32_bar__plus_01_dot_52_bar__minus_03_dot_85 - receptacle\n Sink_bar__minus_00_dot_35_bar__plus_00_dot_91_bar__minus_02_dot_01_bar_SinkBasin - receptacle\n StoveBurner_bar__minus_01_dot_13_bar__plus_00_dot_93_bar__minus_03_dot_50 - receptacle\n StoveBurner_bar__minus_01_dot_13_bar__plus_00_dot_93_bar__minus_03_dot_75 - receptacle\n StoveBurner_bar__minus_01_dot_52_bar__plus_00_dot_93_bar__minus_03_dot_50 - receptacle\n StoveBurner_bar__minus_01_dot_52_bar__plus_00_dot_93_bar__minus_03_dot_75 - receptacle\n Toaster_bar__minus_00_dot_15_bar__plus_00_dot_90_bar__minus_02_dot_76 - receptacle\n loc_bar__minus_10_bar__minus_14_bar_2_bar__minus_15 - location\n loc_bar__minus_4_bar__minus_12_bar_1_bar_45 - location\n loc_bar__minus_4_bar__minus_10_bar_1_bar__minus_15 - location\n loc_bar__minus_4_bar__minus_8_bar_1_bar_45 - location\n loc_bar__minus_4_bar__minus_12_bar_2_bar_30 - location\n loc_bar__minus_6_bar__minus_7_bar_1_bar_60 - location\n loc_bar__minus_5_bar__minus_12_bar_1_bar_45 - location\n loc_bar__minus_6_bar__minus_12_bar_2_bar_45 - location\n loc_bar__minus_5_bar__minus_3_bar_1_bar_60 - location\n loc_bar__minus_5_bar__minus_7_bar_3_bar_30 - location\n loc_bar__minus_4_bar__minus_12_bar_2_bar_60 - location\n loc_bar__minus_4_bar__minus_11_bar_1_bar_45 - location\n loc_bar__minus_4_bar__minus_10_bar_2_bar_60 - location\n loc_bar__minus_5_bar__minus_12_bar_2_bar_15 - location\n loc_bar__minus_9_bar__minus_14_bar_1_bar_60 - location\n loc_bar__minus_5_bar__minus_12_bar_2_bar_60 - location\n loc_bar__minus_4_bar__minus_10_bar_1_bar__minus_30 - location\n loc_bar__minus_6_bar__minus_12_bar_2_bar_60 - location\n loc_bar__minus_13_bar__minus_3_bar_2_bar_60 - location\n loc_bar__minus_6_bar__minus_11_bar_1_bar_60 - location\n loc_bar__minus_4_bar__minus_9_bar_2_bar__minus_15 - location\n loc_bar__minus_4_bar__minus_6_bar_1_bar__minus_30 - location\n loc_bar__minus_6_bar__minus_12_bar_2_bar_30 - location\n loc_bar__minus_4_bar__minus_9_bar_1_bar_60 - location\n loc_bar__minus_14_bar__minus_7_bar_2_bar_60 - location\n loc_bar__minus_6_bar__minus_5_bar_1_bar_60 - location\n loc_bar__minus_16_bar__minus_2_bar_0_bar_30 - location\n loc_bar__minus_10_bar__minus_14_bar_2_bar__minus_30 - location\n loc_bar__minus_7_bar__minus_9_bar_2_bar__minus_15 - location\n loc_bar__minus_5_bar__minus_12_bar_2_bar_30 - location\n loc_bar__minus_4_bar__minus_12_bar_1_bar__minus_15 - location\n loc_bar__minus_5_bar__minus_12_bar_2_bar_45 - location\n loc_bar__minus_7_bar__minus_2_bar_0_bar_30 - location\n )\n \n\n(:init\n\n\n (receptacleType DiningTable_bar__minus_02_dot_43_bar__plus_00_dot_90_bar__minus_01_dot_70 DiningTableType)\n (receptacleType StoveBurner_bar__minus_01_dot_52_bar__plus_00_dot_93_bar__minus_03_dot_50 StoveBurnerType)\n (receptacleType StoveBurner_bar__minus_01_dot_52_bar__plus_00_dot_93_bar__minus_03_dot_75 StoveBurnerType)\n (receptacleType CoffeeMachine_bar__minus_00_dot_12_bar__plus_00_dot_90_bar__minus_03_dot_15 CoffeeMachineType)\n (receptacleType Cabinet_bar__minus_00_dot_30_bar__plus_01_dot_92_bar__minus_02_dot_50 CabinetType)\n (receptacleType Cabinet_bar__minus_01_dot_76_bar__plus_02_dot_14_bar__minus_03_dot_69 CabinetType)\n (receptacleType Toaster_bar__minus_00_dot_15_bar__plus_00_dot_90_bar__minus_02_dot_76 ToasterType)\n (receptacleType Sink_bar__minus_00_dot_35_bar__plus_00_dot_91_bar__minus_02_dot_01_bar_SinkBasin SinkBasinType)\n (receptacleType StoveBurner_bar__minus_01_dot_13_bar__plus_00_dot_93_bar__minus_03_dot_75 StoveBurnerType)\n (receptacleType Cabinet_bar__minus_00_dot_31_bar__plus_02_dot_14_bar__minus_02_dot_48 CabinetType)\n (receptacleType Cabinet_bar__minus_00_dot_58_bar__plus_00_dot_39_bar__minus_02_dot_20 CabinetType)\n (receptacleType CounterTop_bar__minus_00_dot_30_bar__plus_00_dot_95_bar__minus_02_dot_79 CounterTopType)\n (receptacleType Cabinet_bar__minus_00_dot_88_bar__plus_02_dot_14_bar__minus_03_dot_69 CabinetType)\n (receptacleType Cabinet_bar__minus_00_dot_33_bar__plus_01_dot_92_bar__minus_03_dot_39 CabinetType)\n (receptacleType Cabinet_bar__minus_00_dot_31_bar__plus_02_dot_14_bar__minus_01_dot_54 CabinetType)\n (receptacleType Cabinet_bar__minus_00_dot_58_bar__plus_00_dot_39_bar__minus_03_dot_40 CabinetType)\n (receptacleType Microwave_bar__minus_01_dot_32_bar__plus_01_dot_52_bar__minus_03_dot_85 MicrowaveType)\n (receptacleType GarbageCan_bar__minus_01_dot_94_bar__plus_00_dot_00_bar__minus_03_dot_76 GarbageCanType)\n (receptacleType Fridge_bar__minus_00_dot_33_bar__plus_00_dot_00_bar__minus_00_dot_77 FridgeType)\n (receptacleType Cabinet_bar__minus_00_dot_88_bar__plus_00_dot_39_bar__minus_03_dot_42 CabinetType)\n (receptacleType Cabinet_bar__minus_00_dot_58_bar__plus_00_dot_39_bar__minus_01_dot_80 CabinetType)\n (receptacleType Drawer_bar__minus_00_dot_75_bar__plus_00_dot_78_bar__minus_03_dot_55 DrawerType)\n (receptacleType Drawer_bar__minus_00_dot_45_bar__plus_00_dot_78_bar__minus_03_dot_27 DrawerType)\n (receptacleType StoveBurner_bar__minus_01_dot_13_bar__plus_00_dot_93_bar__minus_03_dot_50 StoveBurnerType)\n (objectType Apple_bar__minus_01_dot_20_bar__plus_01_dot_70_bar__minus_03_dot_84 AppleType)\n (objectType Lettuce_bar__minus_00_dot_34_bar__plus_01_dot_19_bar__minus_00_dot_87 LettuceType)\n (objectType Pen_bar__minus_02_dot_55_bar__plus_00_dot_93_bar__minus_00_dot_96 PenType)\n (objectType WineBottle_bar__minus_02_dot_32_bar__plus_00_dot_92_bar__minus_02_dot_35 WineBottleType)\n (objectType Spoon_bar__minus_02_dot_32_bar__plus_00_dot_92_bar__minus_02_dot_12 SpoonType)\n (objectType Pencil_bar__minus_02_dot_32_bar__plus_00_dot_92_bar__minus_01_dot_42 PencilType)\n (objectType SaltShaker_bar__minus_02_dot_55_bar__plus_00_dot_92_bar__minus_02_dot_12 SaltShakerType)\n 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DishSponge_bar__minus_02_dot_21_bar__plus_00_dot_92_bar__minus_01_dot_88)\n (cleanable Bowl_bar__minus_02_dot_10_bar__plus_00_dot_92_bar__minus_02_dot_12)\n (cleanable Knife_bar__minus_02_dot_32_bar__plus_00_dot_95_bar__minus_01_dot_42)\n (cleanable DishSponge_bar__minus_00_dot_78_bar__plus_00_dot_75_bar__minus_03_dot_53)\n (cleanable Spatula_bar__minus_00_dot_35_bar__plus_00_dot_81_bar__minus_02_dot_01)\n (cleanable Pot_bar__minus_01_dot_52_bar__plus_00_dot_94_bar__minus_03_dot_50)\n (cleanable Plate_bar__minus_00_dot_46_bar__plus_00_dot_92_bar__minus_03_dot_63)\n (cleanable Potato_bar__minus_00_dot_39_bar__plus_01_dot_72_bar__minus_00_dot_46)\n (cleanable Mug_bar__minus_00_dot_75_bar__plus_00_dot_08_bar__minus_03_dot_66)\n (cleanable ButterKnife_bar__minus_00_dot_37_bar__plus_00_dot_92_bar__minus_02_dot_56)\n (cleanable Tomato_bar__minus_02_dot_10_bar__plus_00_dot_99_bar__minus_01_dot_42)\n (cleanable Potato_bar__minus_00_dot_35_bar__plus_01_dot_72_bar__minus_00_dot_77)\n (cleanable Egg_bar__minus_00_dot_45_bar__plus_00_dot_83_bar__minus_02_dot_01)\n (cleanable Cup_bar__minus_00_dot_23_bar__plus_01_dot_69_bar__minus_00_dot_98)\n (cleanable Spoon_bar__minus_00_dot_74_bar__plus_00_dot_92_bar__minus_03_dot_56)\n (cleanable Pan_bar__minus_02_dot_17_bar__plus_00_dot_91_bar__minus_01_dot_10)\n (cleanable Plate_bar__minus_00_dot_38_bar__plus_00_dot_08_bar__minus_02_dot_20)\n \n (heatable Apple_bar__minus_01_dot_20_bar__plus_01_dot_70_bar__minus_03_dot_84)\n (heatable Tomato_bar__minus_01_dot_88_bar__plus_00_dot_09_bar__minus_03_dot_76)\n (heatable Egg_bar__minus_02_dot_32_bar__plus_00_dot_96_bar__minus_01_dot_65)\n (heatable Apple_bar__minus_00_dot_46_bar__plus_00_dot_99_bar__minus_03_dot_91)\n (heatable Bread_bar__minus_00_dot_39_bar__plus_01_dot_44_bar__minus_00_dot_67)\n (heatable Bread_bar__minus_00_dot_34_bar__plus_01_dot_15_bar__minus_00_dot_56)\n (heatable Plate_bar__minus_00_dot_46_bar__plus_00_dot_92_bar__minus_03_dot_63)\n (heatable Potato_bar__minus_00_dot_39_bar__plus_01_dot_72_bar__minus_00_dot_46)\n (heatable Mug_bar__minus_00_dot_75_bar__plus_00_dot_08_bar__minus_03_dot_66)\n (heatable Tomato_bar__minus_02_dot_10_bar__plus_00_dot_99_bar__minus_01_dot_42)\n (heatable Potato_bar__minus_00_dot_35_bar__plus_01_dot_72_bar__minus_00_dot_77)\n (heatable Egg_bar__minus_00_dot_45_bar__plus_00_dot_83_bar__minus_02_dot_01)\n (heatable Cup_bar__minus_00_dot_23_bar__plus_01_dot_69_bar__minus_00_dot_98)\n (heatable Plate_bar__minus_00_dot_38_bar__plus_00_dot_08_bar__minus_02_dot_20)\n (coolable Apple_bar__minus_01_dot_20_bar__plus_01_dot_70_bar__minus_03_dot_84)\n (coolable Lettuce_bar__minus_00_dot_34_bar__plus_01_dot_19_bar__minus_00_dot_87)\n (coolable WineBottle_bar__minus_02_dot_32_bar__plus_00_dot_92_bar__minus_02_dot_35)\n (coolable Tomato_bar__minus_01_dot_88_bar__plus_00_dot_09_bar__minus_03_dot_76)\n (coolable Egg_bar__minus_02_dot_32_bar__plus_00_dot_96_bar__minus_01_dot_65)\n (coolable Pot_bar__minus_01_dot_13_bar__plus_00_dot_94_bar__minus_03_dot_50)\n (coolable Apple_bar__minus_00_dot_46_bar__plus_00_dot_99_bar__minus_03_dot_91)\n (coolable Bread_bar__minus_00_dot_39_bar__plus_01_dot_44_bar__minus_00_dot_67)\n (coolable Bread_bar__minus_00_dot_34_bar__plus_01_dot_15_bar__minus_00_dot_56)\n (coolable Bowl_bar__minus_02_dot_10_bar__plus_00_dot_92_bar__minus_02_dot_12)\n (coolable WineBottle_bar__minus_02_dot_44_bar__plus_00_dot_92_bar__minus_01_dot_65)\n (coolable Pot_bar__minus_01_dot_52_bar__plus_00_dot_94_bar__minus_03_dot_50)\n (coolable Plate_bar__minus_00_dot_46_bar__plus_00_dot_92_bar__minus_03_dot_63)\n (coolable Potato_bar__minus_00_dot_39_bar__plus_01_dot_72_bar__minus_00_dot_46)\n (coolable Mug_bar__minus_00_dot_75_bar__plus_00_dot_08_bar__minus_03_dot_66)\n (coolable Tomato_bar__minus_02_dot_10_bar__plus_00_dot_99_bar__minus_01_dot_42)\n (coolable WineBottle_bar__minus_02_dot_10_bar__plus_00_dot_92_bar__minus_02_dot_35)\n (coolable Potato_bar__minus_00_dot_35_bar__plus_01_dot_72_bar__minus_00_dot_77)\n (coolable Egg_bar__minus_00_dot_45_bar__plus_00_dot_83_bar__minus_02_dot_01)\n (coolable Cup_bar__minus_00_dot_23_bar__plus_01_dot_69_bar__minus_00_dot_98)\n (coolable Pan_bar__minus_02_dot_17_bar__plus_00_dot_91_bar__minus_01_dot_10)\n (coolable Plate_bar__minus_00_dot_38_bar__plus_00_dot_08_bar__minus_02_dot_20)\n \n \n \n \n \n (sliceable Apple_bar__minus_01_dot_20_bar__plus_01_dot_70_bar__minus_03_dot_84)\n (sliceable Lettuce_bar__minus_00_dot_34_bar__plus_01_dot_19_bar__minus_00_dot_87)\n (sliceable Tomato_bar__minus_01_dot_88_bar__plus_00_dot_09_bar__minus_03_dot_76)\n (sliceable Egg_bar__minus_02_dot_32_bar__plus_00_dot_96_bar__minus_01_dot_65)\n (sliceable Apple_bar__minus_00_dot_46_bar__plus_00_dot_99_bar__minus_03_dot_91)\n (sliceable Bread_bar__minus_00_dot_39_bar__plus_01_dot_44_bar__minus_00_dot_67)\n (sliceable Bread_bar__minus_00_dot_34_bar__plus_01_dot_15_bar__minus_00_dot_56)\n (sliceable Potato_bar__minus_00_dot_39_bar__plus_01_dot_72_bar__minus_00_dot_46)\n (sliceable Tomato_bar__minus_02_dot_10_bar__plus_00_dot_99_bar__minus_01_dot_42)\n (sliceable Potato_bar__minus_00_dot_35_bar__plus_01_dot_72_bar__minus_00_dot_77)\n (sliceable Egg_bar__minus_00_dot_45_bar__plus_00_dot_83_bar__minus_02_dot_01)\n \n (inReceptacle SoapBottle_bar__minus_00_dot_42_bar__plus_00_dot_08_bar__minus_01_dot_90 Cabinet_bar__minus_00_dot_58_bar__plus_00_dot_39_bar__minus_01_dot_80)\n (inReceptacle Glassbottle_bar__minus_00_dot_42_bar__plus_00_dot_08_bar__minus_01_dot_71 Cabinet_bar__minus_00_dot_58_bar__plus_00_dot_39_bar__minus_01_dot_80)\n (inReceptacle Pot_bar__minus_01_dot_52_bar__plus_00_dot_94_bar__minus_03_dot_50 StoveBurner_bar__minus_01_dot_52_bar__plus_00_dot_93_bar__minus_03_dot_50)\n (inReceptacle Pot_bar__minus_01_dot_13_bar__plus_00_dot_94_bar__minus_03_dot_50 StoveBurner_bar__minus_01_dot_13_bar__plus_00_dot_93_bar__minus_03_dot_50)\n (inReceptacle DishSponge_bar__minus_00_dot_78_bar__plus_00_dot_75_bar__minus_03_dot_53 Drawer_bar__minus_00_dot_75_bar__plus_00_dot_78_bar__minus_03_dot_55)\n (inReceptacle ButterKnife_bar__minus_00_dot_37_bar__plus_00_dot_92_bar__minus_02_dot_56 CounterTop_bar__minus_00_dot_30_bar__plus_00_dot_95_bar__minus_02_dot_79)\n (inReceptacle Spoon_bar__minus_00_dot_74_bar__plus_00_dot_92_bar__minus_03_dot_56 CounterTop_bar__minus_00_dot_30_bar__plus_00_dot_95_bar__minus_02_dot_79)\n (inReceptacle SaltShaker_bar__minus_00_dot_60_bar__plus_00_dot_91_bar__minus_03_dot_91 CounterTop_bar__minus_00_dot_30_bar__plus_00_dot_95_bar__minus_02_dot_79)\n (inReceptacle Plate_bar__minus_00_dot_46_bar__plus_00_dot_92_bar__minus_03_dot_63 CounterTop_bar__minus_00_dot_30_bar__plus_00_dot_95_bar__minus_02_dot_79)\n (inReceptacle Apple_bar__minus_00_dot_46_bar__plus_00_dot_99_bar__minus_03_dot_91 CounterTop_bar__minus_00_dot_30_bar__plus_00_dot_95_bar__minus_02_dot_79)\n (inReceptacle Pen_bar__minus_02_dot_55_bar__plus_00_dot_93_bar__minus_00_dot_96 DiningTable_bar__minus_02_dot_43_bar__plus_00_dot_90_bar__minus_01_dot_70)\n (inReceptacle WineBottle_bar__minus_02_dot_32_bar__plus_00_dot_92_bar__minus_02_dot_35 DiningTable_bar__minus_02_dot_43_bar__plus_00_dot_90_bar__minus_01_dot_70)\n (inReceptacle Spoon_bar__minus_02_dot_32_bar__plus_00_dot_92_bar__minus_02_dot_12 DiningTable_bar__minus_02_dot_43_bar__plus_00_dot_90_bar__minus_01_dot_70)\n (inReceptacle Pencil_bar__minus_02_dot_32_bar__plus_00_dot_92_bar__minus_01_dot_42 DiningTable_bar__minus_02_dot_43_bar__plus_00_dot_90_bar__minus_01_dot_70)\n (inReceptacle SaltShaker_bar__minus_02_dot_55_bar__plus_00_dot_92_bar__minus_02_dot_12 DiningTable_bar__minus_02_dot_43_bar__plus_00_dot_90_bar__minus_01_dot_70)\n (inReceptacle Spoon_bar__minus_02_dot_67_bar__plus_00_dot_92_bar__minus_02_dot_12 DiningTable_bar__minus_02_dot_43_bar__plus_00_dot_90_bar__minus_01_dot_70)\n (inReceptacle Spatula_bar__minus_02_dot_67_bar__plus_00_dot_94_bar__minus_01_dot_42 DiningTable_bar__minus_02_dot_43_bar__plus_00_dot_90_bar__minus_01_dot_70)\n (inReceptacle Knife_bar__minus_02_dot_78_bar__plus_00_dot_95_bar__minus_01_dot_42 DiningTable_bar__minus_02_dot_43_bar__plus_00_dot_90_bar__minus_01_dot_70)\n (inReceptacle Fork_bar__minus_02_dot_67_bar__plus_00_dot_92_bar__minus_01_dot_65 DiningTable_bar__minus_02_dot_43_bar__plus_00_dot_90_bar__minus_01_dot_70)\n (inReceptacle Egg_bar__minus_02_dot_32_bar__plus_00_dot_96_bar__minus_01_dot_65 DiningTable_bar__minus_02_dot_43_bar__plus_00_dot_90_bar__minus_01_dot_70)\n (inReceptacle Pen_bar__minus_02_dot_32_bar__plus_00_dot_93_bar__minus_02_dot_12 DiningTable_bar__minus_02_dot_43_bar__plus_00_dot_90_bar__minus_01_dot_70)\n (inReceptacle Spatula_bar__minus_02_dot_44_bar__plus_00_dot_94_bar__minus_01_dot_88 DiningTable_bar__minus_02_dot_43_bar__plus_00_dot_90_bar__minus_01_dot_70)\n (inReceptacle Bowl_bar__minus_02_dot_10_bar__plus_00_dot_92_bar__minus_02_dot_12 DiningTable_bar__minus_02_dot_43_bar__plus_00_dot_90_bar__minus_01_dot_70)\n (inReceptacle DishSponge_bar__minus_02_dot_21_bar__plus_00_dot_92_bar__minus_01_dot_88 DiningTable_bar__minus_02_dot_43_bar__plus_00_dot_90_bar__minus_01_dot_70)\n (inReceptacle WineBottle_bar__minus_02_dot_44_bar__plus_00_dot_92_bar__minus_01_dot_65 DiningTable_bar__minus_02_dot_43_bar__plus_00_dot_90_bar__minus_01_dot_70)\n (inReceptacle Knife_bar__minus_02_dot_32_bar__plus_00_dot_95_bar__minus_01_dot_42 DiningTable_bar__minus_02_dot_43_bar__plus_00_dot_90_bar__minus_01_dot_70)\n (inReceptacle Tomato_bar__minus_02_dot_10_bar__plus_00_dot_99_bar__minus_01_dot_42 DiningTable_bar__minus_02_dot_43_bar__plus_00_dot_90_bar__minus_01_dot_70)\n (inReceptacle WineBottle_bar__minus_02_dot_10_bar__plus_00_dot_92_bar__minus_02_dot_35 DiningTable_bar__minus_02_dot_43_bar__plus_00_dot_90_bar__minus_01_dot_70)\n (inReceptacle Pen_bar__minus_02_dot_10_bar__plus_00_dot_93_bar__minus_01_dot_88 DiningTable_bar__minus_02_dot_43_bar__plus_00_dot_90_bar__minus_01_dot_70)\n (inReceptacle SoapBottle_bar__minus_02_dot_67_bar__plus_00_dot_92_bar__minus_01_dot_88 DiningTable_bar__minus_02_dot_43_bar__plus_00_dot_90_bar__minus_01_dot_70)\n (inReceptacle PepperShaker_bar__minus_02_dot_21_bar__plus_00_dot_92_bar__minus_01_dot_65 DiningTable_bar__minus_02_dot_43_bar__plus_00_dot_90_bar__minus_01_dot_70)\n (inReceptacle Pan_bar__minus_02_dot_17_bar__plus_00_dot_91_bar__minus_01_dot_10 DiningTable_bar__minus_02_dot_43_bar__plus_00_dot_90_bar__minus_01_dot_70)\n (inReceptacle Mug_bar__minus_00_dot_75_bar__plus_00_dot_08_bar__minus_03_dot_66 Cabinet_bar__minus_00_dot_88_bar__plus_00_dot_39_bar__minus_03_dot_42)\n (inReceptacle Plate_bar__minus_00_dot_38_bar__plus_00_dot_08_bar__minus_02_dot_20 Cabinet_bar__minus_00_dot_58_bar__plus_00_dot_39_bar__minus_02_dot_20)\n (inReceptacle PepperShaker_bar__minus_00_dot_50_bar__plus_00_dot_08_bar__minus_03_dot_24 Cabinet_bar__minus_00_dot_58_bar__plus_00_dot_39_bar__minus_03_dot_40)\n (inReceptacle SaltShaker_bar__minus_00_dot_39_bar__plus_00_dot_74_bar__minus_03_dot_33 Drawer_bar__minus_00_dot_45_bar__plus_00_dot_78_bar__minus_03_dot_27)\n (inReceptacle Pencil_bar__minus_00_dot_54_bar__plus_00_dot_75_bar__minus_03_dot_24 Drawer_bar__minus_00_dot_45_bar__plus_00_dot_78_bar__minus_03_dot_27)\n (inReceptacle Glassbottle_bar__minus_00_dot_19_bar__plus_01_dot_53_bar__minus_03_dot_02 Cabinet_bar__minus_00_dot_30_bar__plus_01_dot_92_bar__minus_02_dot_50)\n (inReceptacle Apple_bar__minus_01_dot_20_bar__plus_01_dot_70_bar__minus_03_dot_84 Microwave_bar__minus_01_dot_32_bar__plus_01_dot_52_bar__minus_03_dot_85)\n (inReceptacle Tomato_bar__minus_01_dot_88_bar__plus_00_dot_09_bar__minus_03_dot_76 GarbageCan_bar__minus_01_dot_94_bar__plus_00_dot_00_bar__minus_03_dot_76)\n (inReceptacle Bread_bar__minus_00_dot_34_bar__plus_01_dot_15_bar__minus_00_dot_56 Fridge_bar__minus_00_dot_33_bar__plus_00_dot_00_bar__minus_00_dot_77)\n (inReceptacle Lettuce_bar__minus_00_dot_34_bar__plus_01_dot_19_bar__minus_00_dot_87 Fridge_bar__minus_00_dot_33_bar__plus_00_dot_00_bar__minus_00_dot_77)\n (inReceptacle Bread_bar__minus_00_dot_39_bar__plus_01_dot_44_bar__minus_00_dot_67 Fridge_bar__minus_00_dot_33_bar__plus_00_dot_00_bar__minus_00_dot_77)\n (inReceptacle Cup_bar__minus_00_dot_23_bar__plus_01_dot_69_bar__minus_00_dot_98 Fridge_bar__minus_00_dot_33_bar__plus_00_dot_00_bar__minus_00_dot_77)\n (inReceptacle Potato_bar__minus_00_dot_35_bar__plus_01_dot_72_bar__minus_00_dot_77 Fridge_bar__minus_00_dot_33_bar__plus_00_dot_00_bar__minus_00_dot_77)\n (inReceptacle Potato_bar__minus_00_dot_39_bar__plus_01_dot_72_bar__minus_00_dot_46 Fridge_bar__minus_00_dot_33_bar__plus_00_dot_00_bar__minus_00_dot_77)\n (inReceptacle Egg_bar__minus_00_dot_45_bar__plus_00_dot_83_bar__minus_02_dot_01 Sink_bar__minus_00_dot_35_bar__plus_00_dot_91_bar__minus_02_dot_01_bar_SinkBasin)\n (inReceptacle Spatula_bar__minus_00_dot_35_bar__plus_00_dot_81_bar__minus_02_dot_01 Sink_bar__minus_00_dot_35_bar__plus_00_dot_91_bar__minus_02_dot_01_bar_SinkBasin)\n \n \n (receptacleAtLocation Cabinet_bar__minus_00_dot_30_bar__plus_01_dot_92_bar__minus_02_dot_50 loc_bar__minus_4_bar__minus_10_bar_1_bar__minus_15)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_31_bar__plus_02_dot_14_bar__minus_01_dot_54 loc_bar__minus_4_bar__minus_6_bar_1_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_31_bar__plus_02_dot_14_bar__minus_02_dot_48 loc_bar__minus_4_bar__minus_10_bar_1_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_33_bar__plus_01_dot_92_bar__minus_03_dot_39 loc_bar__minus_4_bar__minus_12_bar_1_bar__minus_15)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_58_bar__plus_00_dot_39_bar__minus_01_dot_80 loc_bar__minus_6_bar__minus_5_bar_1_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_58_bar__plus_00_dot_39_bar__minus_02_dot_20 loc_bar__minus_6_bar__minus_7_bar_1_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_58_bar__plus_00_dot_39_bar__minus_03_dot_40 loc_bar__minus_6_bar__minus_11_bar_1_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_88_bar__plus_00_dot_39_bar__minus_03_dot_42 loc_bar__minus_4_bar__minus_10_bar_2_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_88_bar__plus_02_dot_14_bar__minus_03_dot_69 loc_bar__minus_4_bar__minus_9_bar_2_bar__minus_15)\n (receptacleAtLocation Cabinet_bar__minus_01_dot_76_bar__plus_02_dot_14_bar__minus_03_dot_69 loc_bar__minus_7_bar__minus_9_bar_2_bar__minus_15)\n (receptacleAtLocation CoffeeMachine_bar__minus_00_dot_12_bar__plus_00_dot_90_bar__minus_03_dot_15 loc_bar__minus_4_bar__minus_12_bar_1_bar_45)\n (receptacleAtLocation CounterTop_bar__minus_00_dot_30_bar__plus_00_dot_95_bar__minus_02_dot_79 loc_bar__minus_4_bar__minus_12_bar_1_bar_45)\n (receptacleAtLocation DiningTable_bar__minus_02_dot_43_bar__plus_00_dot_90_bar__minus_01_dot_70 loc_bar__minus_5_bar__minus_7_bar_3_bar_30)\n (receptacleAtLocation Drawer_bar__minus_00_dot_45_bar__plus_00_dot_78_bar__minus_03_dot_27 loc_bar__minus_5_bar__minus_12_bar_1_bar_45)\n (receptacleAtLocation Drawer_bar__minus_00_dot_75_bar__plus_00_dot_78_bar__minus_03_dot_55 loc_bar__minus_4_bar__minus_12_bar_2_bar_60)\n (receptacleAtLocation Fridge_bar__minus_00_dot_33_bar__plus_00_dot_00_bar__minus_00_dot_77 loc_bar__minus_5_bar__minus_3_bar_1_bar_60)\n (receptacleAtLocation GarbageCan_bar__minus_01_dot_94_bar__plus_00_dot_00_bar__minus_03_dot_76 loc_bar__minus_9_bar__minus_14_bar_1_bar_60)\n (receptacleAtLocation Microwave_bar__minus_01_dot_32_bar__plus_01_dot_52_bar__minus_03_dot_85 loc_bar__minus_5_bar__minus_12_bar_2_bar_15)\n (receptacleAtLocation Sink_bar__minus_00_dot_35_bar__plus_00_dot_91_bar__minus_02_dot_01_bar_SinkBasin loc_bar__minus_4_bar__minus_9_bar_1_bar_60)\n (receptacleAtLocation StoveBurner_bar__minus_01_dot_13_bar__plus_00_dot_93_bar__minus_03_dot_50 loc_bar__minus_5_bar__minus_12_bar_2_bar_60)\n (receptacleAtLocation StoveBurner_bar__minus_01_dot_13_bar__plus_00_dot_93_bar__minus_03_dot_75 loc_bar__minus_5_bar__minus_12_bar_2_bar_45)\n (receptacleAtLocation StoveBurner_bar__minus_01_dot_52_bar__plus_00_dot_93_bar__minus_03_dot_50 loc_bar__minus_6_bar__minus_12_bar_2_bar_60)\n (receptacleAtLocation StoveBurner_bar__minus_01_dot_52_bar__plus_00_dot_93_bar__minus_03_dot_75 loc_bar__minus_6_bar__minus_12_bar_2_bar_45)\n (receptacleAtLocation Toaster_bar__minus_00_dot_15_bar__plus_00_dot_90_bar__minus_02_dot_76 loc_bar__minus_4_bar__minus_11_bar_1_bar_45)\n (objectAtLocation Knife_bar__minus_02_dot_32_bar__plus_00_dot_95_bar__minus_01_dot_42 loc_bar__minus_5_bar__minus_7_bar_3_bar_30)\n (objectAtLocation Plate_bar__minus_00_dot_46_bar__plus_00_dot_92_bar__minus_03_dot_63 loc_bar__minus_4_bar__minus_12_bar_1_bar_45)\n (objectAtLocation Spoon_bar__minus_02_dot_32_bar__plus_00_dot_92_bar__minus_02_dot_12 loc_bar__minus_5_bar__minus_7_bar_3_bar_30)\n (objectAtLocation DishSponge_bar__minus_00_dot_78_bar__plus_00_dot_75_bar__minus_03_dot_53 loc_bar__minus_4_bar__minus_12_bar_2_bar_60)\n (objectAtLocation PepperShaker_bar__minus_00_dot_50_bar__plus_00_dot_08_bar__minus_03_dot_24 loc_bar__minus_6_bar__minus_11_bar_1_bar_60)\n (objectAtLocation Potato_bar__minus_00_dot_39_bar__plus_01_dot_72_bar__minus_00_dot_46 loc_bar__minus_5_bar__minus_3_bar_1_bar_60)\n (objectAtLocation SaltShaker_bar__minus_02_dot_55_bar__plus_00_dot_92_bar__minus_02_dot_12 loc_bar__minus_5_bar__minus_7_bar_3_bar_30)\n (objectAtLocation Pot_bar__minus_01_dot_13_bar__plus_00_dot_94_bar__minus_03_dot_50 loc_bar__minus_5_bar__minus_12_bar_2_bar_60)\n (objectAtLocation Tomato_bar__minus_02_dot_10_bar__plus_00_dot_99_bar__minus_01_dot_42 loc_bar__minus_5_bar__minus_7_bar_3_bar_30)\n (objectAtLocation Bread_bar__minus_00_dot_39_bar__plus_01_dot_44_bar__minus_00_dot_67 loc_bar__minus_5_bar__minus_3_bar_1_bar_60)\n (objectAtLocation Spatula_bar__minus_00_dot_35_bar__plus_00_dot_81_bar__minus_02_dot_01 loc_bar__minus_4_bar__minus_9_bar_1_bar_60)\n (objectAtLocation WineBottle_bar__minus_02_dot_44_bar__plus_00_dot_92_bar__minus_01_dot_65 loc_bar__minus_5_bar__minus_7_bar_3_bar_30)\n (objectAtLocation Pencil_bar__minus_00_dot_54_bar__plus_00_dot_75_bar__minus_03_dot_24 loc_bar__minus_5_bar__minus_12_bar_1_bar_45)\n (objectAtLocation SoapBottle_bar__minus_00_dot_42_bar__plus_00_dot_08_bar__minus_01_dot_90 loc_bar__minus_6_bar__minus_5_bar_1_bar_60)\n (objectAtLocation Pen_bar__minus_02_dot_32_bar__plus_00_dot_93_bar__minus_02_dot_12 loc_bar__minus_5_bar__minus_7_bar_3_bar_30)\n (objectAtLocation Egg_bar__minus_02_dot_32_bar__plus_00_dot_96_bar__minus_01_dot_65 loc_bar__minus_5_bar__minus_7_bar_3_bar_30)\n (objectAtLocation Glassbottle_bar__minus_00_dot_19_bar__plus_01_dot_53_bar__minus_03_dot_02 loc_bar__minus_4_bar__minus_10_bar_1_bar__minus_15)\n (objectAtLocation Apple_bar__minus_01_dot_20_bar__plus_01_dot_70_bar__minus_03_dot_84 loc_bar__minus_5_bar__minus_12_bar_2_bar_15)\n (objectAtLocation SaltShaker_bar__minus_00_dot_39_bar__plus_00_dot_74_bar__minus_03_dot_33 loc_bar__minus_5_bar__minus_12_bar_1_bar_45)\n (objectAtLocation Spoon_bar__minus_02_dot_67_bar__plus_00_dot_92_bar__minus_02_dot_12 loc_bar__minus_5_bar__minus_7_bar_3_bar_30)\n (objectAtLocation Spatula_bar__minus_02_dot_44_bar__plus_00_dot_94_bar__minus_01_dot_88 loc_bar__minus_5_bar__minus_7_bar_3_bar_30)\n (objectAtLocation WineBottle_bar__minus_02_dot_10_bar__plus_00_dot_92_bar__minus_02_dot_35 loc_bar__minus_5_bar__minus_7_bar_3_bar_30)\n (objectAtLocation Pen_bar__minus_02_dot_55_bar__plus_00_dot_93_bar__minus_00_dot_96 loc_bar__minus_5_bar__minus_7_bar_3_bar_30)\n (objectAtLocation Sink_bar__minus_00_dot_35_bar__plus_00_dot_91_bar__minus_02_dot_01 loc_bar__minus_4_bar__minus_8_bar_1_bar_45)\n (objectAtLocation Apple_bar__minus_00_dot_46_bar__plus_00_dot_99_bar__minus_03_dot_91 loc_bar__minus_4_bar__minus_12_bar_1_bar_45)\n (objectAtLocation Lettuce_bar__minus_00_dot_34_bar__plus_01_dot_19_bar__minus_00_dot_87 loc_bar__minus_5_bar__minus_3_bar_1_bar_60)\n (objectAtLocation Glassbottle_bar__minus_00_dot_42_bar__plus_00_dot_08_bar__minus_01_dot_71 loc_bar__minus_6_bar__minus_5_bar_1_bar_60)\n (objectAtLocation Egg_bar__minus_00_dot_45_bar__plus_00_dot_83_bar__minus_02_dot_01 loc_bar__minus_4_bar__minus_9_bar_1_bar_60)\n (objectAtLocation Pen_bar__minus_02_dot_10_bar__plus_00_dot_93_bar__minus_01_dot_88 loc_bar__minus_5_bar__minus_7_bar_3_bar_30)\n (objectAtLocation Fork_bar__minus_02_dot_67_bar__plus_00_dot_92_bar__minus_01_dot_65 loc_bar__minus_5_bar__minus_7_bar_3_bar_30)\n (objectAtLocation LightSwitch_bar__minus_04_dot_32_bar__plus_01_dot_32_bar__plus_00_dot_00 loc_bar__minus_16_bar__minus_2_bar_0_bar_30)\n (objectAtLocation SoapBottle_bar__minus_02_dot_67_bar__plus_00_dot_92_bar__minus_01_dot_88 loc_bar__minus_5_bar__minus_7_bar_3_bar_30)\n (objectAtLocation Pencil_bar__minus_02_dot_32_bar__plus_00_dot_92_bar__minus_01_dot_42 loc_bar__minus_5_bar__minus_7_bar_3_bar_30)\n (objectAtLocation WineBottle_bar__minus_02_dot_32_bar__plus_00_dot_92_bar__minus_02_dot_35 loc_bar__minus_5_bar__minus_7_bar_3_bar_30)\n (objectAtLocation Spatula_bar__minus_02_dot_67_bar__plus_00_dot_94_bar__minus_01_dot_42 loc_bar__minus_5_bar__minus_7_bar_3_bar_30)\n (objectAtLocation Bread_bar__minus_00_dot_34_bar__plus_01_dot_15_bar__minus_00_dot_56 loc_bar__minus_5_bar__minus_3_bar_1_bar_60)\n (objectAtLocation Tomato_bar__minus_01_dot_88_bar__plus_00_dot_09_bar__minus_03_dot_76 loc_bar__minus_9_bar__minus_14_bar_1_bar_60)\n (objectAtLocation Pan_bar__minus_02_dot_17_bar__plus_00_dot_91_bar__minus_01_dot_10 loc_bar__minus_5_bar__minus_7_bar_3_bar_30)\n (objectAtLocation Cup_bar__minus_00_dot_23_bar__plus_01_dot_69_bar__minus_00_dot_98 loc_bar__minus_5_bar__minus_3_bar_1_bar_60)\n (objectAtLocation Pot_bar__minus_01_dot_52_bar__plus_00_dot_94_bar__minus_03_dot_50 loc_bar__minus_6_bar__minus_12_bar_2_bar_60)\n (objectAtLocation SaltShaker_bar__minus_00_dot_60_bar__plus_00_dot_91_bar__minus_03_dot_91 loc_bar__minus_4_bar__minus_12_bar_1_bar_45)\n (objectAtLocation Potato_bar__minus_00_dot_35_bar__plus_01_dot_72_bar__minus_00_dot_77 loc_bar__minus_5_bar__minus_3_bar_1_bar_60)\n (objectAtLocation PepperShaker_bar__minus_02_dot_21_bar__plus_00_dot_92_bar__minus_01_dot_65 loc_bar__minus_5_bar__minus_7_bar_3_bar_30)\n (objectAtLocation ButterKnife_bar__minus_00_dot_37_bar__plus_00_dot_92_bar__minus_02_dot_56 loc_bar__minus_4_bar__minus_12_bar_1_bar_45)\n (objectAtLocation StoveKnob_bar__minus_01_dot_58_bar__plus_01_dot_08_bar__minus_03_dot_96 loc_bar__minus_6_bar__minus_12_bar_2_bar_30)\n (objectAtLocation StoveKnob_bar__minus_01_dot_18_bar__plus_01_dot_08_bar__minus_03_dot_96 loc_bar__minus_5_bar__minus_12_bar_2_bar_30)\n (objectAtLocation StoveKnob_bar__minus_01_dot_42_bar__plus_01_dot_08_bar__minus_03_dot_96 loc_bar__minus_6_bar__minus_12_bar_2_bar_30)\n (objectAtLocation StoveKnob_bar__minus_01_dot_03_bar__plus_01_dot_08_bar__minus_03_dot_96 loc_bar__minus_4_bar__minus_12_bar_2_bar_30)\n (objectAtLocation DishSponge_bar__minus_02_dot_21_bar__plus_00_dot_92_bar__minus_01_dot_88 loc_bar__minus_5_bar__minus_7_bar_3_bar_30)\n (objectAtLocation Window_bar__minus_02_dot_50_bar__plus_01_dot_78_bar__minus_04_dot_19 loc_bar__minus_10_bar__minus_14_bar_2_bar__minus_15)\n (objectAtLocation Chair_bar__minus_03_dot_26_bar__plus_00_dot_00_bar__minus_02_dot_09 loc_bar__minus_14_bar__minus_7_bar_2_bar_60)\n (objectAtLocation Chair_bar__minus_03_dot_24_bar__plus_00_dot_00_bar__minus_01_dot_25 loc_bar__minus_13_bar__minus_3_bar_2_bar_60)\n (objectAtLocation Spoon_bar__minus_00_dot_74_bar__plus_00_dot_92_bar__minus_03_dot_56 loc_bar__minus_4_bar__minus_12_bar_1_bar_45)\n (objectAtLocation Plate_bar__minus_00_dot_38_bar__plus_00_dot_08_bar__minus_02_dot_20 loc_bar__minus_6_bar__minus_7_bar_1_bar_60)\n (objectAtLocation Knife_bar__minus_02_dot_78_bar__plus_00_dot_95_bar__minus_01_dot_42 loc_bar__minus_5_bar__minus_7_bar_3_bar_30)\n (objectAtLocation Mug_bar__minus_00_dot_75_bar__plus_00_dot_08_bar__minus_03_dot_66 loc_bar__minus_4_bar__minus_10_bar_2_bar_60)\n (objectAtLocation Blinds_bar__minus_02_dot_54_bar__plus_02_dot_70_bar__minus_03_dot_96 loc_bar__minus_10_bar__minus_14_bar_2_bar__minus_30)\n (objectAtLocation Bowl_bar__minus_02_dot_10_bar__plus_00_dot_92_bar__minus_02_dot_12 loc_bar__minus_5_bar__minus_7_bar_3_bar_30)\n )\n \n\n (:goal\n (and\n (exists (?r - receptacle)\n (exists (?o - object)\n (and\n (cleanable ?o)\n (objectType ?o TomatoType)\n (receptacleType ?r DiningTableType)\n (isClean ?o)\n (inReceptacle ?o ?r)\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to diningtable 1", "take tomato 1 from diningtable 1", "go to sinkbasin 1", "clean tomato 1 with sinkbasin 1", "go to diningtable 1", "move tomato 1 to diningtable 1"]}
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alfworld__pick_clean_then_place_in_recep__14
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pick_clean_then_place_in_recep
|
pick_clean_then_place_in_recep-Tomato-None-DiningTable-23/trial_T20190909_000844_354286/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: clean some tomato and put it in diningtable.\"\n }\n ],\n\n \"GotoLocation.feedback\": [\n {\n \"rhs\": \"You arrive at {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"OpenObject.feedback\": [\n {\n \"rhs\": \"You open the {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"CloseObject.feedback\": [\n {\n \"rhs\": \"You close the {r.name}.\"\n }\n ],\n\n \"PickupObject.feedback\": [\n {\n \"rhs\": \"You pick up the {o.name} from the {r.name}.\"\n }\n ],\n\n \"PickupObjectFromReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupObjectFromReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupEmptyReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupEmptyReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupFullReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupFullReceptacleObject: You pick up the {outerr.name}.\"\n }\n ],\n\n \"PutObject.feedback\": [\n {\n \"rhs\": \"You move the {o.name} to the {r.name}.\"\n }\n ],\n\n \"PutObjectInReceptacleObject.feedback\": [\n {\n \"rhs\": \"PutObjectInReceptacleObject: You put the {o.name} in the {outero.name}.\"\n }\n ],\n\n \"PutEmptyReceptacleObjectinReceptacle.feedback\": [\n {\n \"rhs\": \"PutEmptyReceptacleObjectinReceptacle: You put the {o.name} in the {r.name}.\"\n }\n ],\n\n \"PutFullReceptacleObjectInReceptacle.feedback\": [\n {\n \"rhs\": \"PutFullReceptacleObjectInReceptacle: You put the {outero.name} in the {r.name}.\"\n }\n ],\n\n \"inventory.feedback\": [\n {\n \"condition\": \"holdsany(a:agent)\",\n \"rhs\": \"You are carrying: [{o.indefinite + ' ' + o.name | holds(a:agent, o:object)}].\"\n },\n {\n \"rhs\": \"You are not carrying anything.\"\n }\n ],\n\n \"examineReceptacle.feedback\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \"The {r.name} is open. In it, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \"The {r.name} is closed.\"\n },\n {\n \"rhs\": \"On the {r.name}, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n }\n ],\n\n \"examineObject.feedback\": [\n {\n \"condition\": \"isreceptacleobject(o:object)\",\n \"rhs\": \"This is a normal {o.name}. In it, you see [{o2.indefinite + ' ' + o2.name | inreceptacleobject(o2:object, o:object)}].\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a clean sliced {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot sliced {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object)\",\n \"rhs\": \"This is a hot and clean {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object)\",\n \"rhs\": \"This is a cool and clean {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object)\",\n \"rhs\": \"This is a hot {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object)\",\n \"rhs\": \"This is a clean {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object)\",\n \"rhs\": \"This is a cold {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"This {o.name} is on.\"\n },\n {\n \"condition\": \"toggleable(o:object) & not_istoggled(o:object)\",\n \"rhs\": \"This {o.name} is off.\"\n },\n {\n \"condition\": \"sliceable(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a sliced {o.name}.\"\n },\n {\n \"rhs\": \"There's nothing special about {o.name}.\"\n }\n ]\n }\n\"\"\";\n\naction GotoLocation {\n template :: \"go to [{r.name | receptacleatlocation(r:receptacle, lend:location)}]\";\n feedback :: \"#GotoLocation.feedback#\";\n}\n\naction OpenObject {\n template :: \"open {r}\";\n feedback :: \"#OpenObject.feedback#\";\n}\n\naction CloseObject {\n template :: \"close {r}\";\n feedback :: \"#CloseObject.feedback#\";\n}\n\naction PickupObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObject.feedback#\";\n}\n\naction PickupObjectFromReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObjectFromReceptacleObject.feedback#\";\n}\n\naction PickupEmptyReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupEmptyReceptacleObject.feedback#\";\n}\n\naction PickupFullReceptacleObject {\n template :: \"take {outerr} from {r}\";\n feedback :: \"#PickupFullReceptacleObject.feedback#\";\n}\n\naction PutObject {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutObject.feedback#\";\n}\n\naction PutObjectInReceptacleObject {\n template :: \"put {o} into {outero}\";\n feedback :: \"#PutObjectInReceptacleObject.feedback#\";\n}\n\naction PutEmptyReceptacleObjectinReceptacle {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutEmptyReceptacleObjectinReceptacle.feedback#\";\n}\n\naction PutFullReceptacleObjectInReceptacle {\n template :: \"put {outero} in {r}\";\n feedback :: \"#PutFullReceptacleObjectInReceptacle.feedback#\";\n}\n\naction inventory {\n template :: \"inventory\";\n feedback :: \"#inventory.feedback#\";\n}\n\naction examineReceptacle {\n template :: \"examine {r}\";\n feedback :: \"#examineReceptacle.feedback#\";\n}\n\naction examineObject {\n template :: \"examine {o}\";\n feedback :: \"#examineObject.feedback#\";\n}\n\naction ToggleObject {\n template :: \"use {o}\";\n feedback :: \"#toggleObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"toggleObject.feedback\": [\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"You turn on the {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object)\",\n \"rhs\": \"You turn off the {o.name}.\"\n },\n {\n \"rhs\": \"You don't see any switch on the {o.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction HeatObject {\n template :: \"heat {o} with {r}\";\n feedback :: \"#heatObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"heatObject.feedback\": [\n {\n \"rhs\": \"You heat the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CleanObject {\n template :: \"clean {o} with {r}\";\n feedback :: \"#cleanObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"cleanObject.feedback\": [\n {\n \"rhs\": \"You clean the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CoolObject {\n template :: \"cool {o} with {r}\";\n feedback :: \"#coolObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"coolObject.feedback\": [\n {\n \"rhs\": \"You cool the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction SliceObject {\n template :: \"slice {co} with {ko}\";\n feedback :: \"#sliceObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"sliceObject.feedback\": [\n {\n \"rhs\": \"You sliced the {co.name} with the {ko.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction look {\n template :: \"look\";\n feedback :: \"#look.feedback#\";\n\n grammar :: \"\"\"\n {\n \"look.feedback\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"#look-variations#. Next to it, you see #list_objects_on_the_floor#.\"\n },\n {\n \"rhs\": \"You are in the middle of a room. Looking quickly around you, you see #list_appliances#.\"\n }\n ],\n\n \"look-variations\": [\n {\n \"rhs\": \"You are facing the [{r.name | atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)}]\"\n }\n ],\n\n \"list_objects_on_the_floor\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)\",\n \"rhs\": \"[{#overview(o)# | atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"list_appliances\": [\n {\n \"condition\": \"receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"[{#overview(r)# | receptacleatlocation(r:receptacle, l:location)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"overview(o, r)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name} (in/on the {r.name})}\"\n }\n ],\n\n \"overview(o)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name}\"\n }\n ],\n \"overview(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}\"\n }\n ],\n \"overview_with_state(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}#overview_state(r)#\"\n }\n ],\n \"overview_state(r)\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \" (it is open)\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \" (it is closed)\"\n },\n {\n \"rhs\": \"\"\n }\n ],\n\n \"list_empty\": [\n {\n \"rhs\": \"nothing\"\n }\n ],\n \"list_separator\": [\n {\n \"rhs\": \", \"\n }\n ],\n \"list_last_separator\": [\n {\n \"rhs\": \", and \"\n }\n ]\n }\n \"\"\";\n}\n\naction help {\n template :: \"help\";\n feedback :: \"\nAvailable commands:\n look: look around your current location\n inventory: check your current inventory\n go to (receptacle): move to a receptacle\n open (receptacle): open a receptacle\n close (receptacle): close a receptacle\n take (object) from (receptacle): take an object from a receptacle\n move (object) to (receptacle): place an object in or on a receptacle\n examine (something): examine a receptacle or an object\n use (object): use an object\n heat (object) with (receptacle): heat an object using a receptacle\n clean (object) with (receptacle): clean an object using a receptacle\n cool (object) with (receptacle): cool an object using a receptacle\n slice (object) with (object): slice an object using a sharp object\n\";\n}\n", "pddl_problem": "\n(define (problem plan_trial_T20190909_000844_354286)\n(:domain alfred)\n(:objects\nagent1 - agent\nSaltShaker - object\n HousePlant - object\n Candle - object\n SprayBottle - object\n Bowl - object\n Window - object\n CD - object\n Egg - object\n Glassbottle - object\n Sink - object\n Pillow - object\n Spoon - object\n SoapBottle - object\n TeddyBear - object\n ButterKnife - object\n Cup - object\n Plate - object\n RemoteControl - object\n Tomato - object\n Statue - object\n HandTowel - object\n Knife - object\n StoveKnob - object\n LightSwitch - object\n Pen - object\n Painting - object\n DishSponge - object\n Vase - object\n Mug - object\n ToiletPaper - object\n Box - object\n Mirror - object\n Ladle - object\n Fork - object\n Blinds - object\n Footstool - object\n KeyChain - object\n Cloth - object\n Laptop - object\n TissueBox - object\n PepperShaker - object\n FloorLamp - object\n WateringCan - object\n Apple - object\n Pan - object\n PaperTowel - object\n PaperTowelRoll - object\n Newspaper - object\n Television - object\n Chair - object\n CellPhone - object\n CreditCard - object\n Lettuce - object\n BasketBall - object\n Potato - object\n Curtains - object\n Boots - object\n Pencil - object\n AlarmClock - object\n ToiletPaperRoll - object\n Spatula - object\n Book - object\n Bread - object\n SoapBar - object\n Watch - object\n DeskLamp - object\n Kettle - object\n Pot - object\n ScrubBrush - object\n WineBottle - object\n ShowerDoor - object\n Bathtub - object\n LaundryHamperLid - object\n ShowerGlass - object\n Poster - object\n TennisRacket - object\n BaseballBat - object\n Towel - object\n Plunger - object\nSaltShakerType - otype\n HousePlantType - otype\n CandleType - otype\n SprayBottleType - otype\n BowlType - otype\n WindowType - otype\n CDType - otype\n EggType - otype\n GlassbottleType - otype\n SinkType - otype\n PillowType - otype\n SpoonType - otype\n SoapBottleType - otype\n TeddyBearType - otype\n ButterKnifeType - otype\n CupType - otype\n PlateType - otype\n RemoteControlType - otype\n TomatoType - otype\n StatueType - otype\n HandTowelType - otype\n KnifeType - otype\n StoveKnobType - otype\n LightSwitchType - otype\n PenType - otype\n PaintingType - otype\n DishSpongeType - otype\n VaseType - otype\n MugType - otype\n ToiletPaperType - otype\n BoxType - otype\n MirrorType - otype\n LadleType - otype\n ForkType - otype\n BlindsType - otype\n FootstoolType - otype\n KeyChainType - otype\n ClothType - otype\n LaptopType - otype\n TissueBoxType - otype\n PepperShakerType - otype\n FloorLampType - otype\n WateringCanType - otype\n AppleType - otype\n PanType - otype\n PaperTowelType - otype\n PaperTowelRollType - otype\n NewspaperType - otype\n TelevisionType - otype\n ChairType - otype\n CellPhoneType - otype\n CreditCardType - otype\n LettuceType - otype\n BasketBallType - otype\n PotatoType - otype\n CurtainsType - otype\n BootsType - otype\n PencilType - otype\n AlarmClockType - otype\n ToiletPaperRollType - otype\n SpatulaType - otype\n BookType - otype\n BreadType - otype\n SoapBarType - otype\n WatchType - otype\n DeskLampType - otype\n KettleType - otype\n PotType - otype\n ScrubBrushType - otype\n WineBottleType - otype\n ShowerDoorType - otype\n BathtubType - otype\n LaundryHamperLidType - otype\n ShowerGlassType - otype\n PosterType - otype\n TennisRacketType - otype\n BaseballBatType - otype\n TowelType - otype\n PlungerType - otype\nSafeType - rtype\n DrawerType - rtype\n CoffeeMachineType - rtype\n HandTowelHolderType - rtype\n SinkBasinType - rtype\n DresserType - rtype\n LaundryHamperType - rtype\n TVStandType - rtype\n BathtubBasinType - rtype\n CabinetType - rtype\n FridgeType - rtype\n DeskType - rtype\n ToiletType - rtype\n CartType - rtype\n SideTableType - rtype\n SofaType - rtype\n CoffeeTableType - rtype\n DiningTableType - rtype\n CounterTopType - rtype\n GarbageCanType - rtype\n ArmChairType - rtype\n ShelfType - rtype\n MicrowaveType - rtype\n ToasterType - rtype\n BedType - rtype\n PaintingHangerType - rtype\n TowelHolderType - rtype\n ToiletPaperHangerType - rtype\n StoveBurnerType - rtype\n OttomanType - rtype\n\n\n Apple_bar__minus_00_dot_27_bar__plus_01_dot_76_bar__minus_00_dot_56 - object\n Apple_bar__minus_01_dot_94_bar__plus_00_dot_10_bar__minus_03_dot_73 - object\n Blinds_bar__minus_02_dot_54_bar__plus_02_dot_70_bar__minus_03_dot_96 - object\n 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Mug_bar__minus_02_dot_44_bar__plus_00_dot_92_bar__minus_01_dot_19)\n (heatable Egg_bar__minus_00_dot_35_bar__plus_00_dot_83_bar__minus_01_dot_79)\n (heatable Plate_bar__minus_02_dot_21_bar__plus_00_dot_93_bar__minus_01_dot_88)\n (heatable Egg_bar__minus_02_dot_21_bar__plus_00_dot_96_bar__minus_01_dot_65)\n (heatable Cup_bar__minus_00_dot_39_bar__plus_01_dot_69_bar__minus_00_dot_56)\n (heatable Potato_bar__minus_01_dot_15_bar__plus_01_dot_66_bar__minus_03_dot_87)\n (heatable Egg_bar__minus_02_dot_21_bar__plus_00_dot_96_bar__minus_01_dot_42)\n (heatable Apple_bar__minus_01_dot_94_bar__plus_00_dot_10_bar__minus_03_dot_73)\n (heatable Bread_bar__minus_00_dot_34_bar__plus_01_dot_15_bar__minus_00_dot_77)\n (heatable Apple_bar__minus_00_dot_27_bar__plus_01_dot_76_bar__minus_00_dot_56)\n (heatable Tomato_bar__minus_02_dot_10_bar__plus_00_dot_99_bar__minus_02_dot_35)\n (coolable Potato_bar__minus_00_dot_44_bar__plus_01_dot_13_bar__minus_01_dot_08)\n (coolable Mug_bar__minus_00_dot_50_bar__plus_00_dot_08_bar__minus_02_dot_29)\n (coolable Potato_bar__minus_00_dot_23_bar__plus_01_dot_72_bar__minus_00_dot_87)\n (coolable Lettuce_bar__minus_00_dot_39_bar__plus_01_dot_48_bar__minus_00_dot_77)\n (coolable Pot_bar__minus_01_dot_13_bar__plus_00_dot_94_bar__minus_03_dot_50)\n (coolable Mug_bar__minus_02_dot_44_bar__plus_00_dot_92_bar__minus_01_dot_19)\n (coolable Bowl_bar__minus_02_dot_67_bar__plus_00_dot_92_bar__minus_01_dot_42)\n (coolable Pot_bar__minus_01_dot_52_bar__plus_00_dot_94_bar__minus_03_dot_50)\n (coolable Egg_bar__minus_00_dot_35_bar__plus_00_dot_83_bar__minus_01_dot_79)\n (coolable Plate_bar__minus_02_dot_21_bar__plus_00_dot_93_bar__minus_01_dot_88)\n (coolable Egg_bar__minus_02_dot_21_bar__plus_00_dot_96_bar__minus_01_dot_65)\n (coolable Cup_bar__minus_00_dot_39_bar__plus_01_dot_69_bar__minus_00_dot_56)\n (coolable Potato_bar__minus_01_dot_15_bar__plus_01_dot_66_bar__minus_03_dot_87)\n (coolable Bowl_bar__minus_00_dot_60_bar__plus_00_dot_91_bar__minus_03_dot_56)\n (coolable Bowl_bar__minus_00_dot_29_bar__plus_00_dot_91_bar__minus_03_dot_57)\n (coolable Egg_bar__minus_02_dot_21_bar__plus_00_dot_96_bar__minus_01_dot_42)\n (coolable Apple_bar__minus_01_dot_94_bar__plus_00_dot_10_bar__minus_03_dot_73)\n (coolable Bread_bar__minus_00_dot_34_bar__plus_01_dot_15_bar__minus_00_dot_77)\n (coolable Apple_bar__minus_00_dot_27_bar__plus_01_dot_76_bar__minus_00_dot_56)\n (coolable WineBottle_bar__minus_02_dot_55_bar__plus_00_dot_92_bar__minus_01_dot_88)\n (coolable Lettuce_bar__minus_02_dot_56_bar__plus_01_dot_00_bar__minus_01_dot_68)\n (coolable Pan_bar__minus_02_dot_17_bar__plus_00_dot_91_bar__minus_01_dot_10)\n (coolable Tomato_bar__minus_02_dot_10_bar__plus_00_dot_99_bar__minus_02_dot_35)\n \n \n \n \n \n (sliceable Potato_bar__minus_00_dot_44_bar__plus_01_dot_13_bar__minus_01_dot_08)\n (sliceable Potato_bar__minus_00_dot_23_bar__plus_01_dot_72_bar__minus_00_dot_87)\n (sliceable Lettuce_bar__minus_00_dot_39_bar__plus_01_dot_48_bar__minus_00_dot_77)\n (sliceable Egg_bar__minus_00_dot_35_bar__plus_00_dot_83_bar__minus_01_dot_79)\n (sliceable Egg_bar__minus_02_dot_21_bar__plus_00_dot_96_bar__minus_01_dot_65)\n (sliceable Potato_bar__minus_01_dot_15_bar__plus_01_dot_66_bar__minus_03_dot_87)\n (sliceable Egg_bar__minus_02_dot_21_bar__plus_00_dot_96_bar__minus_01_dot_42)\n (sliceable Apple_bar__minus_01_dot_94_bar__plus_00_dot_10_bar__minus_03_dot_73)\n (sliceable Bread_bar__minus_00_dot_34_bar__plus_01_dot_15_bar__minus_00_dot_77)\n (sliceable Apple_bar__minus_00_dot_27_bar__plus_01_dot_76_bar__minus_00_dot_56)\n (sliceable Lettuce_bar__minus_02_dot_56_bar__plus_01_dot_00_bar__minus_01_dot_68)\n (sliceable Tomato_bar__minus_02_dot_10_bar__plus_00_dot_99_bar__minus_02_dot_35)\n \n (inReceptacle Pot_bar__minus_01_dot_52_bar__plus_00_dot_94_bar__minus_03_dot_50 StoveBurner_bar__minus_01_dot_52_bar__plus_00_dot_93_bar__minus_03_dot_50)\n (inReceptacle Pot_bar__minus_01_dot_13_bar__plus_00_dot_94_bar__minus_03_dot_50 StoveBurner_bar__minus_01_dot_13_bar__plus_00_dot_93_bar__minus_03_dot_50)\n (inReceptacle DishSponge_bar__minus_00_dot_78_bar__plus_00_dot_75_bar__minus_03_dot_59 Drawer_bar__minus_00_dot_75_bar__plus_00_dot_78_bar__minus_03_dot_55)\n (inReceptacle Glassbottle_bar__minus_00_dot_67_bar__plus_00_dot_92_bar__minus_03_dot_77 CounterTop_bar__minus_00_dot_30_bar__plus_00_dot_95_bar__minus_02_dot_79)\n (inReceptacle Spoon_bar__minus_00_dot_29_bar__plus_00_dot_92_bar__minus_03_dot_77 CounterTop_bar__minus_00_dot_30_bar__plus_00_dot_95_bar__minus_02_dot_79)\n (inReceptacle Bowl_bar__minus_00_dot_60_bar__plus_00_dot_91_bar__minus_03_dot_56 CounterTop_bar__minus_00_dot_30_bar__plus_00_dot_95_bar__minus_02_dot_79)\n (inReceptacle Bowl_bar__minus_00_dot_29_bar__plus_00_dot_91_bar__minus_03_dot_57 CounterTop_bar__minus_00_dot_30_bar__plus_00_dot_95_bar__minus_02_dot_79)\n (inReceptacle Knife_bar__minus_00_dot_46_bar__plus_00_dot_94_bar__minus_03_dot_63 CounterTop_bar__minus_00_dot_30_bar__plus_00_dot_95_bar__minus_02_dot_79)\n (inReceptacle Pen_bar__minus_02_dot_10_bar__plus_00_dot_93_bar__minus_01_dot_42 DiningTable_bar__minus_02_dot_43_bar__plus_00_dot_90_bar__minus_01_dot_70)\n (inReceptacle Knife_bar__minus_02_dot_67_bar__plus_00_dot_95_bar__minus_01_dot_19 DiningTable_bar__minus_02_dot_43_bar__plus_00_dot_90_bar__minus_01_dot_70)\n (inReceptacle Spatula_bar__minus_02_dot_67_bar__plus_00_dot_94_bar__minus_02_dot_12 DiningTable_bar__minus_02_dot_43_bar__plus_00_dot_90_bar__minus_01_dot_70)\n (inReceptacle Mug_bar__minus_02_dot_44_bar__plus_00_dot_92_bar__minus_01_dot_19 DiningTable_bar__minus_02_dot_43_bar__plus_00_dot_90_bar__minus_01_dot_70)\n (inReceptacle Bowl_bar__minus_02_dot_67_bar__plus_00_dot_92_bar__minus_01_dot_42 DiningTable_bar__minus_02_dot_43_bar__plus_00_dot_90_bar__minus_01_dot_70)\n (inReceptacle Spoon_bar__minus_02_dot_32_bar__plus_00_dot_92_bar__minus_01_dot_65 DiningTable_bar__minus_02_dot_43_bar__plus_00_dot_90_bar__minus_01_dot_70)\n (inReceptacle Knife_bar__minus_02_dot_21_bar__plus_00_dot_95_bar__minus_01_dot_42 DiningTable_bar__minus_02_dot_43_bar__plus_00_dot_90_bar__minus_01_dot_70)\n (inReceptacle Plate_bar__minus_02_dot_21_bar__plus_00_dot_93_bar__minus_01_dot_88 DiningTable_bar__minus_02_dot_43_bar__plus_00_dot_90_bar__minus_01_dot_70)\n (inReceptacle Fork_bar__minus_02_dot_10_bar__plus_00_dot_92_bar__minus_02_dot_12 DiningTable_bar__minus_02_dot_43_bar__plus_00_dot_90_bar__minus_01_dot_70)\n (inReceptacle ButterKnife_bar__minus_02_dot_32_bar__plus_00_dot_92_bar__minus_01_dot_19 DiningTable_bar__minus_02_dot_43_bar__plus_00_dot_90_bar__minus_01_dot_70)\n (inReceptacle Egg_bar__minus_02_dot_21_bar__plus_00_dot_96_bar__minus_01_dot_65 DiningTable_bar__minus_02_dot_43_bar__plus_00_dot_90_bar__minus_01_dot_70)\n (inReceptacle Spoon_bar__minus_02_dot_67_bar__plus_00_dot_92_bar__minus_02_dot_35 DiningTable_bar__minus_02_dot_43_bar__plus_00_dot_90_bar__minus_01_dot_70)\n (inReceptacle DishSponge_bar__minus_02_dot_78_bar__plus_00_dot_92_bar__minus_01_dot_65 DiningTable_bar__minus_02_dot_43_bar__plus_00_dot_90_bar__minus_01_dot_70)\n (inReceptacle Egg_bar__minus_02_dot_21_bar__plus_00_dot_96_bar__minus_01_dot_42 DiningTable_bar__minus_02_dot_43_bar__plus_00_dot_90_bar__minus_01_dot_70)\n (inReceptacle Fork_bar__minus_02_dot_32_bar__plus_00_dot_92_bar__minus_02_dot_35 DiningTable_bar__minus_02_dot_43_bar__plus_00_dot_90_bar__minus_01_dot_70)\n (inReceptacle Spatula_bar__minus_02_dot_32_bar__plus_00_dot_94_bar__minus_00_dot_96 DiningTable_bar__minus_02_dot_43_bar__plus_00_dot_90_bar__minus_01_dot_70)\n (inReceptacle WineBottle_bar__minus_02_dot_55_bar__plus_00_dot_92_bar__minus_01_dot_88 DiningTable_bar__minus_02_dot_43_bar__plus_00_dot_90_bar__minus_01_dot_70)\n (inReceptacle SaltShaker_bar__minus_02_dot_78_bar__plus_00_dot_92_bar__minus_00_dot_96 DiningTable_bar__minus_02_dot_43_bar__plus_00_dot_90_bar__minus_01_dot_70)\n (inReceptacle Pencil_bar__minus_02_dot_78_bar__plus_00_dot_92_bar__minus_01_dot_42 DiningTable_bar__minus_02_dot_43_bar__plus_00_dot_90_bar__minus_01_dot_70)\n (inReceptacle Lettuce_bar__minus_02_dot_56_bar__plus_01_dot_00_bar__minus_01_dot_68 DiningTable_bar__minus_02_dot_43_bar__plus_00_dot_90_bar__minus_01_dot_70)\n (inReceptacle Pan_bar__minus_02_dot_17_bar__plus_00_dot_91_bar__minus_01_dot_10 DiningTable_bar__minus_02_dot_43_bar__plus_00_dot_90_bar__minus_01_dot_70)\n (inReceptacle Tomato_bar__minus_02_dot_10_bar__plus_00_dot_99_bar__minus_02_dot_35 DiningTable_bar__minus_02_dot_43_bar__plus_00_dot_90_bar__minus_01_dot_70)\n (inReceptacle Glassbottle_bar__minus_00_dot_78_bar__plus_00_dot_08_bar__minus_03_dot_66 Cabinet_bar__minus_00_dot_88_bar__plus_00_dot_39_bar__minus_03_dot_42)\n (inReceptacle Mug_bar__minus_00_dot_50_bar__plus_00_dot_08_bar__minus_02_dot_29 Cabinet_bar__minus_00_dot_58_bar__plus_00_dot_39_bar__minus_02_dot_20)\n (inReceptacle PepperShaker_bar__minus_00_dot_23_bar__plus_01_dot_97_bar__minus_02_dot_31 Cabinet_bar__minus_00_dot_31_bar__plus_02_dot_14_bar__minus_02_dot_48)\n (inReceptacle SoapBottle_bar__minus_00_dot_45_bar__plus_01_dot_53_bar__minus_03_dot_62 Cabinet_bar__minus_00_dot_33_bar__plus_01_dot_92_bar__minus_03_dot_39)\n (inReceptacle SaltShaker_bar__minus_01_dot_50_bar__plus_01_dot_97_bar__minus_03_dot_93 Cabinet_bar__minus_01_dot_76_bar__plus_02_dot_14_bar__minus_03_dot_69)\n (inReceptacle DishSponge_bar__minus_00_dot_42_bar__plus_00_dot_75_bar__minus_03_dot_27 Drawer_bar__minus_00_dot_45_bar__plus_00_dot_78_bar__minus_03_dot_27)\n (inReceptacle Potato_bar__minus_01_dot_15_bar__plus_01_dot_66_bar__minus_03_dot_87 Microwave_bar__minus_01_dot_32_bar__plus_01_dot_52_bar__minus_03_dot_85)\n (inReceptacle Pencil_bar__minus_01_dot_98_bar__plus_00_dot_03_bar__minus_03_dot_80 GarbageCan_bar__minus_01_dot_94_bar__plus_00_dot_00_bar__minus_03_dot_76)\n (inReceptacle Apple_bar__minus_01_dot_94_bar__plus_00_dot_10_bar__minus_03_dot_73 GarbageCan_bar__minus_01_dot_94_bar__plus_00_dot_00_bar__minus_03_dot_76)\n (inReceptacle Potato_bar__minus_00_dot_44_bar__plus_01_dot_13_bar__minus_01_dot_08 Fridge_bar__minus_00_dot_33_bar__plus_00_dot_00_bar__minus_00_dot_77)\n (inReceptacle Apple_bar__minus_00_dot_27_bar__plus_01_dot_76_bar__minus_00_dot_56 Fridge_bar__minus_00_dot_33_bar__plus_00_dot_00_bar__minus_00_dot_77)\n (inReceptacle Potato_bar__minus_00_dot_23_bar__plus_01_dot_72_bar__minus_00_dot_87 Fridge_bar__minus_00_dot_33_bar__plus_00_dot_00_bar__minus_00_dot_77)\n (inReceptacle Lettuce_bar__minus_00_dot_39_bar__plus_01_dot_48_bar__minus_00_dot_77 Fridge_bar__minus_00_dot_33_bar__plus_00_dot_00_bar__minus_00_dot_77)\n (inReceptacle Cup_bar__minus_00_dot_39_bar__plus_01_dot_69_bar__minus_00_dot_56 Fridge_bar__minus_00_dot_33_bar__plus_00_dot_00_bar__minus_00_dot_77)\n (inReceptacle Bread_bar__minus_00_dot_34_bar__plus_01_dot_15_bar__minus_00_dot_77 Fridge_bar__minus_00_dot_33_bar__plus_00_dot_00_bar__minus_00_dot_77)\n (inReceptacle ButterKnife_bar__minus_00_dot_35_bar__plus_00_dot_80_bar__minus_02_dot_16 Sink_bar__minus_00_dot_35_bar__plus_00_dot_91_bar__minus_02_dot_01_bar_SinkBasin)\n (inReceptacle Egg_bar__minus_00_dot_35_bar__plus_00_dot_83_bar__minus_01_dot_79 Sink_bar__minus_00_dot_35_bar__plus_00_dot_91_bar__minus_02_dot_01_bar_SinkBasin)\n \n \n (receptacleAtLocation Cabinet_bar__minus_00_dot_30_bar__plus_01_dot_92_bar__minus_02_dot_50 loc_bar__minus_4_bar__minus_10_bar_1_bar__minus_15)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_31_bar__plus_02_dot_14_bar__minus_01_dot_54 loc_bar__minus_4_bar__minus_6_bar_1_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_31_bar__plus_02_dot_14_bar__minus_02_dot_48 loc_bar__minus_4_bar__minus_10_bar_1_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_33_bar__plus_01_dot_92_bar__minus_03_dot_39 loc_bar__minus_4_bar__minus_12_bar_1_bar__minus_15)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_58_bar__plus_00_dot_39_bar__minus_01_dot_80 loc_bar__minus_6_bar__minus_5_bar_1_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_58_bar__plus_00_dot_39_bar__minus_02_dot_20 loc_bar__minus_6_bar__minus_7_bar_1_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_58_bar__plus_00_dot_39_bar__minus_03_dot_40 loc_bar__minus_6_bar__minus_11_bar_1_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_88_bar__plus_00_dot_39_bar__minus_03_dot_42 loc_bar__minus_4_bar__minus_10_bar_2_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_88_bar__plus_02_dot_14_bar__minus_03_dot_69 loc_bar__minus_4_bar__minus_9_bar_2_bar__minus_15)\n (receptacleAtLocation Cabinet_bar__minus_01_dot_76_bar__plus_02_dot_14_bar__minus_03_dot_69 loc_bar__minus_7_bar__minus_9_bar_2_bar__minus_15)\n (receptacleAtLocation CoffeeMachine_bar__minus_00_dot_12_bar__plus_00_dot_90_bar__minus_03_dot_15 loc_bar__minus_4_bar__minus_12_bar_1_bar_45)\n (receptacleAtLocation CounterTop_bar__minus_00_dot_30_bar__plus_00_dot_95_bar__minus_02_dot_79 loc_bar__minus_4_bar__minus_12_bar_1_bar_45)\n (receptacleAtLocation DiningTable_bar__minus_02_dot_43_bar__plus_00_dot_90_bar__minus_01_dot_70 loc_bar__minus_5_bar__minus_7_bar_3_bar_30)\n (receptacleAtLocation Drawer_bar__minus_00_dot_45_bar__plus_00_dot_78_bar__minus_03_dot_27 loc_bar__minus_5_bar__minus_12_bar_1_bar_45)\n (receptacleAtLocation Drawer_bar__minus_00_dot_75_bar__plus_00_dot_78_bar__minus_03_dot_55 loc_bar__minus_4_bar__minus_12_bar_2_bar_60)\n (receptacleAtLocation Fridge_bar__minus_00_dot_33_bar__plus_00_dot_00_bar__minus_00_dot_77 loc_bar__minus_5_bar__minus_3_bar_1_bar_60)\n (receptacleAtLocation GarbageCan_bar__minus_01_dot_94_bar__plus_00_dot_00_bar__minus_03_dot_76 loc_bar__minus_9_bar__minus_14_bar_1_bar_60)\n (receptacleAtLocation Microwave_bar__minus_01_dot_32_bar__plus_01_dot_52_bar__minus_03_dot_85 loc_bar__minus_5_bar__minus_12_bar_2_bar_15)\n (receptacleAtLocation Sink_bar__minus_00_dot_35_bar__plus_00_dot_91_bar__minus_02_dot_01_bar_SinkBasin loc_bar__minus_4_bar__minus_9_bar_1_bar_60)\n (receptacleAtLocation StoveBurner_bar__minus_01_dot_13_bar__plus_00_dot_93_bar__minus_03_dot_50 loc_bar__minus_5_bar__minus_12_bar_2_bar_60)\n (receptacleAtLocation StoveBurner_bar__minus_01_dot_13_bar__plus_00_dot_93_bar__minus_03_dot_75 loc_bar__minus_5_bar__minus_12_bar_2_bar_45)\n (receptacleAtLocation StoveBurner_bar__minus_01_dot_52_bar__plus_00_dot_93_bar__minus_03_dot_50 loc_bar__minus_6_bar__minus_12_bar_2_bar_60)\n (receptacleAtLocation StoveBurner_bar__minus_01_dot_52_bar__plus_00_dot_93_bar__minus_03_dot_75 loc_bar__minus_6_bar__minus_12_bar_2_bar_45)\n (receptacleAtLocation Toaster_bar__minus_00_dot_15_bar__plus_00_dot_90_bar__minus_02_dot_76 loc_bar__minus_4_bar__minus_11_bar_1_bar_45)\n (objectAtLocation Bowl_bar__minus_00_dot_29_bar__plus_00_dot_91_bar__minus_03_dot_57 loc_bar__minus_4_bar__minus_12_bar_1_bar_45)\n (objectAtLocation Mug_bar__minus_00_dot_50_bar__plus_00_dot_08_bar__minus_02_dot_29 loc_bar__minus_6_bar__minus_7_bar_1_bar_60)\n (objectAtLocation Knife_bar__minus_02_dot_21_bar__plus_00_dot_95_bar__minus_01_dot_42 loc_bar__minus_5_bar__minus_7_bar_3_bar_30)\n (objectAtLocation Spoon_bar__minus_02_dot_32_bar__plus_00_dot_92_bar__minus_01_dot_65 loc_bar__minus_5_bar__minus_7_bar_3_bar_30)\n (objectAtLocation DishSponge_bar__minus_00_dot_78_bar__plus_00_dot_75_bar__minus_03_dot_59 loc_bar__minus_4_bar__minus_12_bar_2_bar_60)\n (objectAtLocation ButterKnife_bar__minus_00_dot_35_bar__plus_00_dot_80_bar__minus_02_dot_16 loc_bar__minus_4_bar__minus_9_bar_1_bar_60)\n (objectAtLocation Potato_bar__minus_01_dot_15_bar__plus_01_dot_66_bar__minus_03_dot_87 loc_bar__minus_5_bar__minus_12_bar_2_bar_15)\n (objectAtLocation SaltShaker_bar__minus_01_dot_50_bar__plus_01_dot_97_bar__minus_03_dot_93 loc_bar__minus_7_bar__minus_9_bar_2_bar__minus_15)\n (objectAtLocation Pot_bar__minus_01_dot_13_bar__plus_00_dot_94_bar__minus_03_dot_50 loc_bar__minus_5_bar__minus_12_bar_2_bar_60)\n (objectAtLocation Spatula_bar__minus_02_dot_32_bar__plus_00_dot_94_bar__minus_00_dot_96 loc_bar__minus_5_bar__minus_7_bar_3_bar_30)\n (objectAtLocation Pencil_bar__minus_02_dot_78_bar__plus_00_dot_92_bar__minus_01_dot_42 loc_bar__minus_5_bar__minus_7_bar_3_bar_30)\n (objectAtLocation Fork_bar__minus_02_dot_10_bar__plus_00_dot_92_bar__minus_02_dot_12 loc_bar__minus_5_bar__minus_7_bar_3_bar_30)\n (objectAtLocation Egg_bar__minus_02_dot_21_bar__plus_00_dot_96_bar__minus_01_dot_42 loc_bar__minus_5_bar__minus_7_bar_3_bar_30)\n (objectAtLocation Glassbottle_bar__minus_00_dot_67_bar__plus_00_dot_92_bar__minus_03_dot_77 loc_bar__minus_4_bar__minus_12_bar_1_bar_45)\n (objectAtLocation Lettuce_bar__minus_02_dot_56_bar__plus_01_dot_00_bar__minus_01_dot_68 loc_bar__minus_5_bar__minus_7_bar_3_bar_30)\n (objectAtLocation Apple_bar__minus_00_dot_27_bar__plus_01_dot_76_bar__minus_00_dot_56 loc_bar__minus_5_bar__minus_3_bar_1_bar_60)\n (objectAtLocation Bowl_bar__minus_02_dot_67_bar__plus_00_dot_92_bar__minus_01_dot_42 loc_bar__minus_5_bar__minus_7_bar_3_bar_30)\n (objectAtLocation Egg_bar__minus_00_dot_35_bar__plus_00_dot_83_bar__minus_01_dot_79 loc_bar__minus_4_bar__minus_9_bar_1_bar_60)\n (objectAtLocation Knife_bar__minus_00_dot_46_bar__plus_00_dot_94_bar__minus_03_dot_63 loc_bar__minus_4_bar__minus_12_bar_1_bar_45)\n (objectAtLocation Spoon_bar__minus_00_dot_29_bar__plus_00_dot_92_bar__minus_03_dot_77 loc_bar__minus_4_bar__minus_12_bar_1_bar_45)\n (objectAtLocation DishSponge_bar__minus_00_dot_42_bar__plus_00_dot_75_bar__minus_03_dot_27 loc_bar__minus_5_bar__minus_12_bar_1_bar_45)\n (objectAtLocation Potato_bar__minus_00_dot_23_bar__plus_01_dot_72_bar__minus_00_dot_87 loc_bar__minus_5_bar__minus_3_bar_1_bar_60)\n (objectAtLocation Sink_bar__minus_00_dot_35_bar__plus_00_dot_91_bar__minus_02_dot_01 loc_bar__minus_4_bar__minus_8_bar_1_bar_45)\n (objectAtLocation Apple_bar__minus_01_dot_94_bar__plus_00_dot_10_bar__minus_03_dot_73 loc_bar__minus_9_bar__minus_14_bar_1_bar_60)\n (objectAtLocation Lettuce_bar__minus_00_dot_39_bar__plus_01_dot_48_bar__minus_00_dot_77 loc_bar__minus_5_bar__minus_3_bar_1_bar_60)\n (objectAtLocation Glassbottle_bar__minus_00_dot_78_bar__plus_00_dot_08_bar__minus_03_dot_66 loc_bar__minus_4_bar__minus_10_bar_2_bar_60)\n (objectAtLocation Egg_bar__minus_02_dot_21_bar__plus_00_dot_96_bar__minus_01_dot_65 loc_bar__minus_5_bar__minus_7_bar_3_bar_30)\n (objectAtLocation Pen_bar__minus_02_dot_10_bar__plus_00_dot_93_bar__minus_01_dot_42 loc_bar__minus_5_bar__minus_7_bar_3_bar_30)\n (objectAtLocation Fork_bar__minus_02_dot_32_bar__plus_00_dot_92_bar__minus_02_dot_35 loc_bar__minus_5_bar__minus_7_bar_3_bar_30)\n (objectAtLocation LightSwitch_bar__minus_04_dot_32_bar__plus_01_dot_32_bar__plus_00_dot_00 loc_bar__minus_16_bar__minus_2_bar_0_bar_30)\n (objectAtLocation SoapBottle_bar__minus_00_dot_45_bar__plus_01_dot_53_bar__minus_03_dot_62 loc_bar__minus_4_bar__minus_12_bar_1_bar__minus_15)\n (objectAtLocation Pencil_bar__minus_01_dot_98_bar__plus_00_dot_03_bar__minus_03_dot_80 loc_bar__minus_9_bar__minus_14_bar_1_bar_60)\n (objectAtLocation WineBottle_bar__minus_02_dot_55_bar__plus_00_dot_92_bar__minus_01_dot_88 loc_bar__minus_5_bar__minus_7_bar_3_bar_30)\n (objectAtLocation Spatula_bar__minus_02_dot_67_bar__plus_00_dot_94_bar__minus_02_dot_12 loc_bar__minus_5_bar__minus_7_bar_3_bar_30)\n (objectAtLocation Bread_bar__minus_00_dot_34_bar__plus_01_dot_15_bar__minus_00_dot_77 loc_bar__minus_5_bar__minus_3_bar_1_bar_60)\n (objectAtLocation Tomato_bar__minus_02_dot_10_bar__plus_00_dot_99_bar__minus_02_dot_35 loc_bar__minus_5_bar__minus_7_bar_3_bar_30)\n (objectAtLocation Pan_bar__minus_02_dot_17_bar__plus_00_dot_91_bar__minus_01_dot_10 loc_bar__minus_5_bar__minus_7_bar_3_bar_30)\n (objectAtLocation Cup_bar__minus_00_dot_39_bar__plus_01_dot_69_bar__minus_00_dot_56 loc_bar__minus_5_bar__minus_3_bar_1_bar_60)\n (objectAtLocation Pot_bar__minus_01_dot_52_bar__plus_00_dot_94_bar__minus_03_dot_50 loc_bar__minus_6_bar__minus_12_bar_2_bar_60)\n (objectAtLocation SaltShaker_bar__minus_02_dot_78_bar__plus_00_dot_92_bar__minus_00_dot_96 loc_bar__minus_5_bar__minus_7_bar_3_bar_30)\n (objectAtLocation Potato_bar__minus_00_dot_44_bar__plus_01_dot_13_bar__minus_01_dot_08 loc_bar__minus_5_bar__minus_3_bar_1_bar_60)\n (objectAtLocation PepperShaker_bar__minus_00_dot_23_bar__plus_01_dot_97_bar__minus_02_dot_31 loc_bar__minus_4_bar__minus_10_bar_1_bar__minus_30)\n (objectAtLocation ButterKnife_bar__minus_02_dot_32_bar__plus_00_dot_92_bar__minus_01_dot_19 loc_bar__minus_5_bar__minus_7_bar_3_bar_30)\n (objectAtLocation StoveKnob_bar__minus_01_dot_58_bar__plus_01_dot_08_bar__minus_03_dot_96 loc_bar__minus_6_bar__minus_12_bar_2_bar_30)\n (objectAtLocation StoveKnob_bar__minus_01_dot_18_bar__plus_01_dot_08_bar__minus_03_dot_96 loc_bar__minus_5_bar__minus_12_bar_2_bar_30)\n (objectAtLocation StoveKnob_bar__minus_01_dot_42_bar__plus_01_dot_08_bar__minus_03_dot_96 loc_bar__minus_6_bar__minus_12_bar_2_bar_30)\n (objectAtLocation StoveKnob_bar__minus_01_dot_03_bar__plus_01_dot_08_bar__minus_03_dot_96 loc_bar__minus_4_bar__minus_12_bar_2_bar_30)\n (objectAtLocation DishSponge_bar__minus_02_dot_78_bar__plus_00_dot_92_bar__minus_01_dot_65 loc_bar__minus_5_bar__minus_7_bar_3_bar_30)\n (objectAtLocation Window_bar__minus_02_dot_50_bar__plus_01_dot_78_bar__minus_04_dot_19 loc_bar__minus_10_bar__minus_14_bar_2_bar__minus_15)\n (objectAtLocation Chair_bar__minus_03_dot_26_bar__plus_00_dot_00_bar__minus_02_dot_09 loc_bar__minus_14_bar__minus_7_bar_2_bar_60)\n (objectAtLocation Chair_bar__minus_03_dot_24_bar__plus_00_dot_00_bar__minus_01_dot_25 loc_bar__minus_13_bar__minus_3_bar_2_bar_60)\n (objectAtLocation Spoon_bar__minus_02_dot_67_bar__plus_00_dot_92_bar__minus_02_dot_35 loc_bar__minus_5_bar__minus_7_bar_3_bar_30)\n (objectAtLocation Plate_bar__minus_02_dot_21_bar__plus_00_dot_93_bar__minus_01_dot_88 loc_bar__minus_5_bar__minus_7_bar_3_bar_30)\n (objectAtLocation Knife_bar__minus_02_dot_67_bar__plus_00_dot_95_bar__minus_01_dot_19 loc_bar__minus_5_bar__minus_7_bar_3_bar_30)\n (objectAtLocation Mug_bar__minus_02_dot_44_bar__plus_00_dot_92_bar__minus_01_dot_19 loc_bar__minus_5_bar__minus_7_bar_3_bar_30)\n (objectAtLocation Blinds_bar__minus_02_dot_54_bar__plus_02_dot_70_bar__minus_03_dot_96 loc_bar__minus_10_bar__minus_14_bar_2_bar__minus_30)\n (objectAtLocation Bowl_bar__minus_00_dot_60_bar__plus_00_dot_91_bar__minus_03_dot_56 loc_bar__minus_4_bar__minus_12_bar_1_bar_45)\n )\n \n\n (:goal\n (and\n (exists (?r - receptacle)\n (exists (?o - object)\n (and\n (cleanable ?o)\n (objectType ?o TomatoType)\n (receptacleType ?r DiningTableType)\n (isClean ?o)\n (inReceptacle ?o ?r)\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to diningtable 1", "take tomato 1 from diningtable 1", "go to sinkbasin 1", "clean tomato 1 with sinkbasin 1", "go to diningtable 1", "move tomato 1 to diningtable 1"]}
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alfworld__pick_clean_then_place_in_recep__15
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pick_clean_then_place_in_recep
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pick_clean_then_place_in_recep-Tomato-None-DiningTable-23/trial_T20190909_000808_543184/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 tomato in diningtable.\"\n }\n ],\n\n \"GotoLocation.feedback\": [\n {\n \"rhs\": \"You arrive at {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"OpenObject.feedback\": [\n {\n \"rhs\": \"You open the {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"CloseObject.feedback\": [\n {\n \"rhs\": \"You close the {r.name}.\"\n }\n ],\n\n \"PickupObject.feedback\": [\n {\n \"rhs\": \"You pick up the {o.name} from the {r.name}.\"\n }\n ],\n\n \"PickupObjectFromReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupObjectFromReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupEmptyReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupEmptyReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupFullReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupFullReceptacleObject: You pick up the {outerr.name}.\"\n }\n ],\n\n \"PutObject.feedback\": [\n {\n \"rhs\": \"You move the {o.name} to the {r.name}.\"\n }\n ],\n\n \"PutObjectInReceptacleObject.feedback\": [\n {\n \"rhs\": \"PutObjectInReceptacleObject: You put the {o.name} in the {outero.name}.\"\n }\n ],\n\n \"PutEmptyReceptacleObjectinReceptacle.feedback\": [\n {\n \"rhs\": \"PutEmptyReceptacleObjectinReceptacle: You put the {o.name} in the {r.name}.\"\n }\n ],\n\n \"PutFullReceptacleObjectInReceptacle.feedback\": [\n {\n \"rhs\": \"PutFullReceptacleObjectInReceptacle: You put the {outero.name} in the {r.name}.\"\n }\n ],\n\n \"inventory.feedback\": [\n {\n \"condition\": \"holdsany(a:agent)\",\n \"rhs\": \"You are carrying: [{o.indefinite + ' ' + o.name | holds(a:agent, o:object)}].\"\n },\n {\n \"rhs\": \"You are not carrying anything.\"\n }\n ],\n\n \"examineReceptacle.feedback\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \"The {r.name} is open. In it, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \"The {r.name} is closed.\"\n },\n {\n \"rhs\": \"On the {r.name}, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n }\n ],\n\n \"examineObject.feedback\": [\n {\n \"condition\": \"isreceptacleobject(o:object)\",\n \"rhs\": \"This is a normal {o.name}. In it, you see [{o2.indefinite + ' ' + o2.name | inreceptacleobject(o2:object, o:object)}].\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a clean sliced {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot sliced {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object)\",\n \"rhs\": \"This is a hot and clean {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object)\",\n \"rhs\": \"This is a cool and clean {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object)\",\n \"rhs\": \"This is a hot {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object)\",\n \"rhs\": \"This is a clean {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object)\",\n \"rhs\": \"This is a cold {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"This {o.name} is on.\"\n },\n {\n \"condition\": \"toggleable(o:object) & not_istoggled(o:object)\",\n \"rhs\": \"This {o.name} is off.\"\n },\n {\n \"condition\": \"sliceable(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a sliced {o.name}.\"\n },\n {\n \"rhs\": \"There's nothing special about {o.name}.\"\n }\n ]\n }\n\"\"\";\n\naction GotoLocation {\n template :: \"go to [{r.name | receptacleatlocation(r:receptacle, lend:location)}]\";\n feedback :: \"#GotoLocation.feedback#\";\n}\n\naction OpenObject {\n template :: \"open {r}\";\n feedback :: \"#OpenObject.feedback#\";\n}\n\naction CloseObject {\n template :: \"close {r}\";\n feedback :: \"#CloseObject.feedback#\";\n}\n\naction PickupObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObject.feedback#\";\n}\n\naction PickupObjectFromReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObjectFromReceptacleObject.feedback#\";\n}\n\naction PickupEmptyReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupEmptyReceptacleObject.feedback#\";\n}\n\naction PickupFullReceptacleObject {\n template :: \"take {outerr} from {r}\";\n feedback :: \"#PickupFullReceptacleObject.feedback#\";\n}\n\naction PutObject {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutObject.feedback#\";\n}\n\naction PutObjectInReceptacleObject {\n template :: \"put {o} into {outero}\";\n feedback :: \"#PutObjectInReceptacleObject.feedback#\";\n}\n\naction PutEmptyReceptacleObjectinReceptacle {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutEmptyReceptacleObjectinReceptacle.feedback#\";\n}\n\naction PutFullReceptacleObjectInReceptacle {\n template :: \"put {outero} in {r}\";\n feedback :: \"#PutFullReceptacleObjectInReceptacle.feedback#\";\n}\n\naction inventory {\n template :: \"inventory\";\n feedback :: \"#inventory.feedback#\";\n}\n\naction examineReceptacle {\n template :: \"examine {r}\";\n feedback :: \"#examineReceptacle.feedback#\";\n}\n\naction examineObject {\n template :: \"examine {o}\";\n feedback :: \"#examineObject.feedback#\";\n}\n\naction ToggleObject {\n template :: \"use {o}\";\n feedback :: \"#toggleObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"toggleObject.feedback\": [\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"You turn on the {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object)\",\n \"rhs\": \"You turn off the {o.name}.\"\n },\n {\n \"rhs\": \"You don't see any switch on the {o.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction HeatObject {\n template :: \"heat {o} with {r}\";\n feedback :: \"#heatObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"heatObject.feedback\": [\n {\n \"rhs\": \"You heat the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CleanObject {\n template :: \"clean {o} with {r}\";\n feedback :: \"#cleanObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"cleanObject.feedback\": [\n {\n \"rhs\": \"You clean the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CoolObject {\n template :: \"cool {o} with {r}\";\n feedback :: \"#coolObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"coolObject.feedback\": [\n {\n \"rhs\": \"You cool the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction SliceObject {\n template :: \"slice {co} with {ko}\";\n feedback :: \"#sliceObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"sliceObject.feedback\": [\n {\n \"rhs\": \"You sliced the {co.name} with the {ko.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction look {\n template :: \"look\";\n feedback :: \"#look.feedback#\";\n\n grammar :: \"\"\"\n {\n \"look.feedback\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"#look-variations#. Next to it, you see #list_objects_on_the_floor#.\"\n },\n {\n \"rhs\": \"You are in the middle of a room. Looking quickly around you, you see #list_appliances#.\"\n }\n ],\n\n \"look-variations\": [\n {\n \"rhs\": \"You are facing the [{r.name | atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)}]\"\n }\n ],\n\n \"list_objects_on_the_floor\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)\",\n \"rhs\": \"[{#overview(o)# | atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"list_appliances\": [\n {\n \"condition\": \"receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"[{#overview(r)# | receptacleatlocation(r:receptacle, l:location)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"overview(o, r)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name} (in/on the {r.name})}\"\n }\n ],\n\n \"overview(o)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name}\"\n }\n ],\n \"overview(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}\"\n }\n ],\n \"overview_with_state(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}#overview_state(r)#\"\n }\n ],\n \"overview_state(r)\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \" (it is open)\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \" (it is closed)\"\n },\n {\n \"rhs\": \"\"\n }\n ],\n\n \"list_empty\": [\n {\n \"rhs\": \"nothing\"\n }\n ],\n \"list_separator\": [\n {\n \"rhs\": \", \"\n }\n ],\n \"list_last_separator\": [\n {\n \"rhs\": \", and \"\n }\n ]\n }\n \"\"\";\n}\n\naction help {\n template :: \"help\";\n feedback :: \"\nAvailable commands:\n look: look around your current location\n inventory: check your current inventory\n go to (receptacle): move to a receptacle\n open (receptacle): open a receptacle\n close (receptacle): close a receptacle\n take (object) from (receptacle): take an object from a receptacle\n move (object) to (receptacle): place an object in or on a receptacle\n examine (something): examine a receptacle or an object\n use (object): use an object\n heat (object) with (receptacle): heat an object using a receptacle\n clean (object) with (receptacle): clean an object using a receptacle\n cool (object) with (receptacle): cool an object using a receptacle\n slice (object) with (object): slice an object using a sharp object\n\";\n}\n", "pddl_problem": "\n(define (problem plan_trial_T20190909_000808_543184)\n(:domain alfred)\n(:objects\nagent1 - agent\nSaltShaker - object\n HousePlant - object\n Candle - object\n SprayBottle - object\n Bowl - object\n Window - object\n CD - object\n Egg - object\n Glassbottle - object\n Sink - object\n Pillow - object\n Spoon - object\n SoapBottle - object\n TeddyBear - object\n ButterKnife - object\n Cup - object\n Plate - object\n RemoteControl - object\n Tomato - object\n Statue - object\n HandTowel - object\n Knife - object\n StoveKnob - object\n LightSwitch - object\n Pen - object\n Painting - object\n DishSponge - object\n Vase - object\n Mug - object\n ToiletPaper - object\n Box - object\n Mirror - object\n Ladle - object\n Fork - object\n Blinds - object\n Footstool - object\n KeyChain - object\n Cloth - object\n Laptop - object\n TissueBox - object\n PepperShaker - object\n FloorLamp - object\n WateringCan - object\n Apple - object\n Pan - object\n PaperTowel - object\n PaperTowelRoll - object\n Newspaper - object\n Television - object\n Chair - object\n CellPhone - object\n CreditCard - object\n Lettuce - object\n BasketBall - object\n Potato - object\n Curtains - object\n Boots - object\n Pencil - object\n AlarmClock - object\n ToiletPaperRoll - object\n Spatula - object\n Book - object\n Bread - object\n SoapBar - object\n Watch - object\n DeskLamp - object\n Kettle - object\n Pot - object\n ScrubBrush - object\n WineBottle - object\n ShowerDoor - object\n Bathtub - object\n LaundryHamperLid - object\n ShowerGlass - object\n Poster - object\n TennisRacket - object\n BaseballBat - object\n Towel - object\n Plunger - object\nSaltShakerType - otype\n HousePlantType - otype\n CandleType - otype\n SprayBottleType - otype\n BowlType - otype\n WindowType - otype\n CDType - otype\n EggType - otype\n GlassbottleType - otype\n SinkType - otype\n PillowType - otype\n SpoonType - otype\n SoapBottleType - otype\n TeddyBearType - otype\n ButterKnifeType - otype\n CupType - otype\n PlateType - otype\n RemoteControlType - otype\n TomatoType - otype\n StatueType - otype\n HandTowelType - otype\n KnifeType - otype\n StoveKnobType - otype\n LightSwitchType - otype\n PenType - otype\n PaintingType - otype\n DishSpongeType - otype\n VaseType - otype\n MugType - otype\n ToiletPaperType - otype\n BoxType - otype\n MirrorType - otype\n LadleType - otype\n ForkType - otype\n BlindsType - otype\n FootstoolType - otype\n KeyChainType - otype\n ClothType - otype\n LaptopType - otype\n TissueBoxType - otype\n PepperShakerType - otype\n FloorLampType - otype\n WateringCanType - otype\n AppleType - otype\n PanType - otype\n PaperTowelType - otype\n PaperTowelRollType - otype\n NewspaperType - otype\n TelevisionType - otype\n ChairType - otype\n CellPhoneType - otype\n CreditCardType - otype\n LettuceType - otype\n BasketBallType - otype\n PotatoType - otype\n CurtainsType - otype\n BootsType - otype\n PencilType - otype\n AlarmClockType - otype\n ToiletPaperRollType - otype\n SpatulaType - otype\n BookType - otype\n BreadType - otype\n SoapBarType - otype\n WatchType - otype\n DeskLampType - otype\n KettleType - otype\n PotType - otype\n ScrubBrushType - otype\n WineBottleType - otype\n ShowerDoorType - otype\n BathtubType - otype\n LaundryHamperLidType - otype\n ShowerGlassType - otype\n PosterType - otype\n TennisRacketType - otype\n BaseballBatType - otype\n TowelType - otype\n PlungerType - otype\nSafeType - rtype\n DrawerType - rtype\n CoffeeMachineType - rtype\n HandTowelHolderType - rtype\n SinkBasinType - rtype\n DresserType - rtype\n LaundryHamperType - rtype\n TVStandType - rtype\n BathtubBasinType - rtype\n CabinetType - rtype\n FridgeType - rtype\n DeskType - rtype\n ToiletType - rtype\n CartType - rtype\n SideTableType - rtype\n SofaType - rtype\n CoffeeTableType - rtype\n DiningTableType - rtype\n CounterTopType - rtype\n GarbageCanType - rtype\n ArmChairType - rtype\n ShelfType - rtype\n MicrowaveType - rtype\n ToasterType - rtype\n BedType - rtype\n PaintingHangerType - rtype\n TowelHolderType - rtype\n ToiletPaperHangerType - rtype\n StoveBurnerType - rtype\n OttomanType - rtype\n\n\n Apple_bar__minus_01_dot_15_bar__plus_01_dot_70_bar__minus_03_dot_84 - object\n Blinds_bar__minus_02_dot_54_bar__plus_02_dot_70_bar__minus_03_dot_96 - object\n Bowl_bar__minus_00_dot_67_bar__plus_00_dot_91_bar__minus_03_dot_63 - object\n Bowl_bar__minus_01_dot_60_bar__plus_01_dot_97_bar__minus_03_dot_85 - object\n Bowl_bar__minus_02_dot_44_bar__plus_00_dot_92_bar__minus_01_dot_19 - object\n Bread_bar__minus_00_dot_30_bar__plus_01_dot_15_bar__minus_00_dot_87 - object\n Bread_bar__minus_00_dot_41_bar__plus_00_dot_95_bar__minus_03_dot_63 - object\n ButterKnife_bar__minus_02_dot_32_bar__plus_00_dot_92_bar__minus_01_dot_88 - object\n ButterKnife_bar__minus_02_dot_55_bar__plus_00_dot_92_bar__minus_01_dot_19 - object\n Chair_bar__minus_03_dot_24_bar__plus_00_dot_00_bar__minus_01_dot_25 - object\n Chair_bar__minus_03_dot_26_bar__plus_00_dot_00_bar__minus_02_dot_09 - object\n Cup_bar__minus_00_dot_25_bar__plus_01_dot_39_bar__minus_00_dot_56 - object\n Cup_bar__minus_00_dot_30_bar__plus_00_dot_80_bar__minus_02_dot_01 - object\n Cup_bar__minus_02_dot_78_bar__plus_00_dot_92_bar__minus_02_dot_12 - object\n DishSponge_bar__minus_00_dot_23_bar__plus_01_dot_97_bar__minus_02_dot_14 - object\n Egg_bar__minus_00_dot_45_bar__plus_00_dot_83_bar__minus_01_dot_79 - object\n Faucet_bar__minus_00_dot_08_bar__plus_00_dot_90_bar__minus_02_dot_03 - object\n Fork_bar__minus_00_dot_30_bar__plus_00_dot_79_bar__minus_01_dot_86 - object\n Glassbottle_bar__minus_00_dot_44_bar__plus_00_dot_92_bar__minus_02_dot_56 - object\n Knife_bar__minus_02_dot_67_bar__plus_00_dot_95_bar__minus_02_dot_35 - object\n Lettuce_bar__minus_02_dot_56_bar__plus_01_dot_00_bar__minus_01_dot_68 - object\n LightSwitch_bar__minus_04_dot_32_bar__plus_01_dot_32_bar__plus_00_dot_00 - object\n Mug_bar__minus_00_dot_39_bar__plus_01_dot_09_bar__minus_01_dot_08 - object\n Pan_bar__minus_01_dot_52_bar__plus_00_dot_94_bar__minus_03_dot_75 - object\n Pan_bar__minus_02_dot_17_bar__plus_00_dot_91_bar__minus_01_dot_10 - object\n Pencil_bar__minus_00_dot_66_bar__plus_00_dot_75_bar__minus_03_dot_59 - object\n Pen_bar__minus_02_dot_21_bar__plus_00_dot_93_bar__minus_01_dot_42 - object\n 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loc_bar__minus_4_bar__minus_11_bar_1_bar_45 - location\n loc_bar__minus_4_bar__minus_10_bar_2_bar_60 - location\n loc_bar__minus_5_bar__minus_12_bar_2_bar_15 - location\n loc_bar__minus_9_bar__minus_14_bar_1_bar_60 - location\n loc_bar__minus_5_bar__minus_12_bar_2_bar_60 - location\n loc_bar__minus_4_bar__minus_10_bar_1_bar__minus_30 - location\n loc_bar__minus_6_bar__minus_12_bar_2_bar_60 - location\n loc_bar__minus_13_bar__minus_3_bar_2_bar_60 - location\n loc_bar__minus_5_bar__minus_4_bar_1_bar_30 - location\n loc_bar__minus_6_bar__minus_11_bar_1_bar_60 - location\n loc_bar__minus_4_bar__minus_9_bar_2_bar__minus_15 - location\n loc_bar__minus_4_bar__minus_6_bar_1_bar__minus_30 - location\n loc_bar__minus_6_bar__minus_12_bar_2_bar_30 - location\n loc_bar__minus_4_bar__minus_9_bar_1_bar_60 - location\n loc_bar__minus_14_bar__minus_7_bar_2_bar_60 - location\n loc_bar__minus_6_bar__minus_5_bar_1_bar_60 - location\n loc_bar__minus_16_bar__minus_2_bar_0_bar_30 - location\n loc_bar__minus_10_bar__minus_14_bar_2_bar__minus_30 - location\n loc_bar__minus_7_bar__minus_9_bar_2_bar__minus_15 - location\n loc_bar__minus_5_bar__minus_12_bar_2_bar_30 - location\n loc_bar__minus_4_bar__minus_12_bar_1_bar__minus_15 - location\n loc_bar__minus_5_bar__minus_12_bar_2_bar_45 - location\n loc_bar__minus_16_bar__minus_7_bar_2_bar_30 - location\n )\n \n\n(:init\n\n\n (receptacleType DiningTable_bar__minus_02_dot_43_bar__plus_00_dot_90_bar__minus_01_dot_70 DiningTableType)\n (receptacleType StoveBurner_bar__minus_01_dot_52_bar__plus_00_dot_93_bar__minus_03_dot_50 StoveBurnerType)\n (receptacleType StoveBurner_bar__minus_01_dot_52_bar__plus_00_dot_93_bar__minus_03_dot_75 StoveBurnerType)\n (receptacleType CoffeeMachine_bar__minus_00_dot_12_bar__plus_00_dot_90_bar__minus_03_dot_15 CoffeeMachineType)\n (receptacleType Cabinet_bar__minus_00_dot_30_bar__plus_01_dot_92_bar__minus_02_dot_50 CabinetType)\n (receptacleType 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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 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ButterKnife_bar__minus_02_dot_55_bar__plus_00_dot_92_bar__minus_01_dot_19 DiningTable_bar__minus_02_dot_43_bar__plus_00_dot_90_bar__minus_01_dot_70)\n (inReceptacle Knife_bar__minus_02_dot_67_bar__plus_00_dot_95_bar__minus_02_dot_35 DiningTable_bar__minus_02_dot_43_bar__plus_00_dot_90_bar__minus_01_dot_70)\n (inReceptacle Pen_bar__minus_02_dot_32_bar__plus_00_dot_93_bar__minus_02_dot_35 DiningTable_bar__minus_02_dot_43_bar__plus_00_dot_90_bar__minus_01_dot_70)\n (inReceptacle SoapBottle_bar__minus_02_dot_44_bar__plus_00_dot_92_bar__minus_00_dot_96 DiningTable_bar__minus_02_dot_43_bar__plus_00_dot_90_bar__minus_01_dot_70)\n (inReceptacle Cup_bar__minus_02_dot_78_bar__plus_00_dot_92_bar__minus_02_dot_12 DiningTable_bar__minus_02_dot_43_bar__plus_00_dot_90_bar__minus_01_dot_70)\n (inReceptacle Tomato_bar__minus_02_dot_44_bar__plus_00_dot_99_bar__minus_01_dot_42 DiningTable_bar__minus_02_dot_43_bar__plus_00_dot_90_bar__minus_01_dot_70)\n (inReceptacle SaltShaker_bar__minus_02_dot_78_bar__plus_00_dot_92_bar__minus_01_dot_19 DiningTable_bar__minus_02_dot_43_bar__plus_00_dot_90_bar__minus_01_dot_70)\n (inReceptacle Spoon_bar__minus_02_dot_10_bar__plus_00_dot_92_bar__minus_01_dot_88 DiningTable_bar__minus_02_dot_43_bar__plus_00_dot_90_bar__minus_01_dot_70)\n (inReceptacle WineBottle_bar__minus_02_dot_55_bar__plus_00_dot_92_bar__minus_02_dot_12 DiningTable_bar__minus_02_dot_43_bar__plus_00_dot_90_bar__minus_01_dot_70)\n (inReceptacle Plate_bar__minus_02_dot_78_bar__plus_00_dot_93_bar__minus_01_dot_65 DiningTable_bar__minus_02_dot_43_bar__plus_00_dot_90_bar__minus_01_dot_70)\n (inReceptacle Spatula_bar__minus_02_dot_44_bar__plus_00_dot_94_bar__minus_01_dot_65 DiningTable_bar__minus_02_dot_43_bar__plus_00_dot_90_bar__minus_01_dot_70)\n (inReceptacle PepperShaker_bar__minus_02_dot_78_bar__plus_00_dot_92_bar__minus_02_dot_35 DiningTable_bar__minus_02_dot_43_bar__plus_00_dot_90_bar__minus_01_dot_70)\n (inReceptacle PepperShaker_bar__minus_02_dot_21_bar__plus_00_dot_92_bar__minus_01_dot_65 DiningTable_bar__minus_02_dot_43_bar__plus_00_dot_90_bar__minus_01_dot_70)\n (inReceptacle Lettuce_bar__minus_02_dot_56_bar__plus_01_dot_00_bar__minus_01_dot_68 DiningTable_bar__minus_02_dot_43_bar__plus_00_dot_90_bar__minus_01_dot_70)\n (inReceptacle Pan_bar__minus_02_dot_17_bar__plus_00_dot_91_bar__minus_01_dot_10 DiningTable_bar__minus_02_dot_43_bar__plus_00_dot_90_bar__minus_01_dot_70)\n (inReceptacle Spatula_bar__minus_02_dot_32_bar__plus_00_dot_94_bar__minus_02_dot_35 DiningTable_bar__minus_02_dot_43_bar__plus_00_dot_90_bar__minus_01_dot_70)\n (inReceptacle SoapBottle_bar__minus_00_dot_72_bar__plus_00_dot_08_bar__minus_03_dot_62 Cabinet_bar__minus_00_dot_88_bar__plus_00_dot_39_bar__minus_03_dot_42)\n (inReceptacle DishSponge_bar__minus_00_dot_23_bar__plus_01_dot_97_bar__minus_02_dot_14 Cabinet_bar__minus_00_dot_31_bar__plus_02_dot_14_bar__minus_02_dot_48)\n (inReceptacle Bowl_bar__minus_01_dot_60_bar__plus_01_dot_97_bar__minus_03_dot_85 Cabinet_bar__minus_01_dot_76_bar__plus_02_dot_14_bar__minus_03_dot_69)\n (inReceptacle Apple_bar__minus_01_dot_15_bar__plus_01_dot_70_bar__minus_03_dot_84 Microwave_bar__minus_01_dot_32_bar__plus_01_dot_52_bar__minus_03_dot_85)\n (inReceptacle SoapBottle_bar__minus_01_dot_98_bar__plus_00_dot_03_bar__minus_03_dot_76 GarbageCan_bar__minus_01_dot_94_bar__plus_00_dot_00_bar__minus_03_dot_76)\n (inReceptacle Potato_bar__minus_00_dot_30_bar__plus_01_dot_42_bar__minus_00_dot_98 Fridge_bar__minus_00_dot_33_bar__plus_00_dot_00_bar__minus_00_dot_77)\n (inReceptacle Pot_bar__minus_00_dot_39_bar__plus_01_dot_39_bar__minus_00_dot_77 Fridge_bar__minus_00_dot_33_bar__plus_00_dot_00_bar__minus_00_dot_77)\n (inReceptacle Bread_bar__minus_00_dot_30_bar__plus_01_dot_15_bar__minus_00_dot_87 Fridge_bar__minus_00_dot_33_bar__plus_00_dot_00_bar__minus_00_dot_77)\n (inReceptacle Cup_bar__minus_00_dot_25_bar__plus_01_dot_39_bar__minus_00_dot_56 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(objectAtLocation Mug_bar__minus_00_dot_39_bar__plus_01_dot_09_bar__minus_01_dot_08 loc_bar__minus_5_bar__minus_4_bar_1_bar_30)\n (objectAtLocation Blinds_bar__minus_02_dot_54_bar__plus_02_dot_70_bar__minus_03_dot_96 loc_bar__minus_10_bar__minus_14_bar_2_bar__minus_30)\n (objectAtLocation Bowl_bar__minus_01_dot_60_bar__plus_01_dot_97_bar__minus_03_dot_85 loc_bar__minus_7_bar__minus_9_bar_2_bar__minus_15)\n )\n \n\n (:goal\n (and\n (exists (?r - receptacle)\n (exists (?o - object)\n (and\n (cleanable ?o)\n (objectType ?o TomatoType)\n (receptacleType ?r DiningTableType)\n (isClean ?o)\n (inReceptacle ?o ?r)\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to diningtable 1", "take tomato 1 from diningtable 1", "go to sinkbasin 1", "clean tomato 1 with sinkbasin 1", "go to diningtable 1", "move tomato 1 to diningtable 1"]}
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alfworld__pick_cool_then_place_in_recep__7
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pick_cool_then_place_in_recep
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pick_cool_then_place_in_recep-Bread-None-DiningTable-7/trial_T20190907_191128_519194/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 bread and put it in diningtable.\"\n }\n ],\n\n \"GotoLocation.feedback\": [\n {\n \"rhs\": \"You arrive at {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"OpenObject.feedback\": [\n {\n \"rhs\": \"You open the {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"CloseObject.feedback\": [\n {\n \"rhs\": \"You close the {r.name}.\"\n }\n ],\n\n \"PickupObject.feedback\": [\n {\n \"rhs\": \"You pick up the {o.name} from the {r.name}.\"\n }\n ],\n\n \"PickupObjectFromReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupObjectFromReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupEmptyReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupEmptyReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupFullReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupFullReceptacleObject: You pick up the {outerr.name}.\"\n }\n ],\n\n \"PutObject.feedback\": [\n {\n \"rhs\": \"You move the {o.name} to the {r.name}.\"\n }\n ],\n\n \"PutObjectInReceptacleObject.feedback\": [\n {\n \"rhs\": \"PutObjectInReceptacleObject: You put the {o.name} in the {outero.name}.\"\n }\n ],\n\n \"PutEmptyReceptacleObjectinReceptacle.feedback\": [\n {\n \"rhs\": \"PutEmptyReceptacleObjectinReceptacle: You put the {o.name} in the {r.name}.\"\n }\n ],\n\n \"PutFullReceptacleObjectInReceptacle.feedback\": [\n {\n \"rhs\": \"PutFullReceptacleObjectInReceptacle: You put the {outero.name} in the {r.name}.\"\n }\n ],\n\n \"inventory.feedback\": [\n {\n \"condition\": \"holdsany(a:agent)\",\n \"rhs\": \"You are carrying: [{o.indefinite + ' ' + o.name | holds(a:agent, o:object)}].\"\n },\n {\n \"rhs\": \"You are not carrying anything.\"\n }\n ],\n\n \"examineReceptacle.feedback\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \"The {r.name} is open. In it, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \"The {r.name} is closed.\"\n },\n {\n \"rhs\": \"On the {r.name}, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n }\n ],\n\n \"examineObject.feedback\": [\n {\n \"condition\": \"isreceptacleobject(o:object)\",\n \"rhs\": \"This is a normal {o.name}. In it, you see [{o2.indefinite + ' ' + o2.name | inreceptacleobject(o2:object, o:object)}].\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a clean sliced {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot sliced {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object)\",\n \"rhs\": \"This is a hot and clean {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object)\",\n \"rhs\": \"This is a cool and clean {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object)\",\n \"rhs\": \"This is a hot {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object)\",\n \"rhs\": \"This is a clean {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object)\",\n \"rhs\": \"This is a cold {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"This {o.name} is on.\"\n },\n {\n \"condition\": \"toggleable(o:object) & not_istoggled(o:object)\",\n \"rhs\": \"This {o.name} is off.\"\n },\n {\n \"condition\": \"sliceable(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a sliced {o.name}.\"\n },\n {\n \"rhs\": \"There's nothing special about {o.name}.\"\n }\n ]\n }\n\"\"\";\n\naction GotoLocation {\n template :: \"go to [{r.name | receptacleatlocation(r:receptacle, lend:location)}]\";\n feedback :: \"#GotoLocation.feedback#\";\n}\n\naction OpenObject {\n template :: \"open {r}\";\n feedback :: \"#OpenObject.feedback#\";\n}\n\naction CloseObject {\n template :: \"close {r}\";\n feedback :: \"#CloseObject.feedback#\";\n}\n\naction PickupObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObject.feedback#\";\n}\n\naction PickupObjectFromReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObjectFromReceptacleObject.feedback#\";\n}\n\naction PickupEmptyReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupEmptyReceptacleObject.feedback#\";\n}\n\naction PickupFullReceptacleObject {\n template :: \"take {outerr} from {r}\";\n feedback :: \"#PickupFullReceptacleObject.feedback#\";\n}\n\naction PutObject {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutObject.feedback#\";\n}\n\naction PutObjectInReceptacleObject {\n template :: \"put {o} into {outero}\";\n feedback :: \"#PutObjectInReceptacleObject.feedback#\";\n}\n\naction PutEmptyReceptacleObjectinReceptacle {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutEmptyReceptacleObjectinReceptacle.feedback#\";\n}\n\naction PutFullReceptacleObjectInReceptacle {\n template :: \"put {outero} in {r}\";\n feedback :: \"#PutFullReceptacleObjectInReceptacle.feedback#\";\n}\n\naction inventory {\n template :: \"inventory\";\n feedback :: \"#inventory.feedback#\";\n}\n\naction examineReceptacle {\n template :: \"examine {r}\";\n feedback :: \"#examineReceptacle.feedback#\";\n}\n\naction examineObject {\n template :: \"examine {o}\";\n feedback :: \"#examineObject.feedback#\";\n}\n\naction ToggleObject {\n template :: \"use {o}\";\n feedback :: \"#toggleObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"toggleObject.feedback\": [\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"You turn on the {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object)\",\n \"rhs\": \"You turn off the {o.name}.\"\n },\n {\n \"rhs\": \"You don't see any switch on the {o.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction HeatObject {\n template :: \"heat {o} with {r}\";\n feedback :: \"#heatObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"heatObject.feedback\": [\n {\n \"rhs\": \"You heat the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CleanObject {\n template :: \"clean {o} with {r}\";\n feedback :: \"#cleanObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"cleanObject.feedback\": [\n {\n \"rhs\": \"You clean the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CoolObject {\n template :: \"cool {o} with {r}\";\n feedback :: \"#coolObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"coolObject.feedback\": [\n {\n \"rhs\": \"You cool the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction SliceObject {\n template :: \"slice {co} with {ko}\";\n feedback :: \"#sliceObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"sliceObject.feedback\": [\n {\n \"rhs\": \"You sliced the {co.name} with the {ko.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction look {\n template :: \"look\";\n feedback :: \"#look.feedback#\";\n\n grammar :: \"\"\"\n {\n \"look.feedback\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"#look-variations#. Next to it, you see #list_objects_on_the_floor#.\"\n },\n {\n \"rhs\": \"You are in the middle of a room. Looking quickly around you, you see #list_appliances#.\"\n }\n ],\n\n \"look-variations\": [\n {\n \"rhs\": \"You are facing the [{r.name | atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)}]\"\n }\n ],\n\n \"list_objects_on_the_floor\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)\",\n \"rhs\": \"[{#overview(o)# | atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"list_appliances\": [\n {\n \"condition\": \"receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"[{#overview(r)# | receptacleatlocation(r:receptacle, l:location)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"overview(o, r)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name} (in/on the {r.name})}\"\n }\n ],\n\n \"overview(o)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name}\"\n }\n ],\n \"overview(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}\"\n }\n ],\n \"overview_with_state(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}#overview_state(r)#\"\n }\n ],\n \"overview_state(r)\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \" (it is open)\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \" (it is closed)\"\n },\n {\n \"rhs\": \"\"\n }\n ],\n\n \"list_empty\": [\n {\n \"rhs\": \"nothing\"\n }\n ],\n \"list_separator\": [\n {\n \"rhs\": \", \"\n }\n ],\n \"list_last_separator\": [\n {\n \"rhs\": \", and \"\n }\n ]\n }\n \"\"\";\n}\n\naction help {\n template :: \"help\";\n feedback :: \"\nAvailable commands:\n look: look around your current location\n inventory: check your current inventory\n go to (receptacle): move to a receptacle\n open (receptacle): open a receptacle\n close (receptacle): close a receptacle\n take (object) from (receptacle): take an object from a receptacle\n move (object) to (receptacle): place an object in or on a receptacle\n examine (something): examine a receptacle or an object\n use (object): use an object\n heat (object) with (receptacle): heat an object using a receptacle\n clean (object) with (receptacle): clean an object using a receptacle\n cool (object) with (receptacle): cool an object using a receptacle\n slice (object) with (object): slice an object using a sharp object\n\";\n}\n", "pddl_problem": "\n(define (problem plan_trial_T20190907_191128_519194)\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_08_bar__plus_00_dot_86_bar__plus_02_dot_19 - object\n Apple_bar__minus_02_dot_95_bar__plus_00_dot_93_bar__plus_03_dot_41 - object\n Book_bar__plus_00_dot_09_bar__plus_00_dot_11_bar__minus_01_dot_42 - object\n Book_bar__minus_01_dot_44_bar__plus_01_dot_65_bar__minus_01_dot_71 - object\n Book_bar__minus_01_dot_94_bar__plus_00_dot_90_bar__minus_01_dot_69 - object\n Bowl_bar__minus_00_dot_35_bar__plus_00_dot_12_bar__minus_01_dot_41 - object\n Bread_bar__minus_01_dot_60_bar__plus_00_dot_98_bar__minus_00_dot_84 - object\n ButterKnife_bar__minus_02_dot_73_bar__plus_00_dot_87_bar__plus_03_dot_39 - object\n ButterKnife_bar__minus_03_dot_02_bar__plus_00_dot_88_bar__plus_02_dot_86 - object\n Chair_bar__minus_01_dot_92_bar__plus_00_dot_00_bar__plus_03_dot_47 - object\n Chair_bar__minus_02_dot_41_bar__plus_00_dot_57_bar__plus_00_dot_07 - object\n Chair_bar__minus_02_dot_47_bar__plus_00_dot_57_bar__minus_00_dot_80 - object\n Chair_bar__minus_02_dot_82_bar__plus_00_dot_00_bar__plus_02_dot_60 - object\n Chair_bar__minus_03_dot_50_bar__plus_00_dot_00_bar__plus_03_dot_45 - object\n Cup_bar__plus_00_dot_18_bar__plus_00_dot_93_bar__minus_01_dot_50 - object\n DishSponge_bar__plus_03_dot_69_bar__plus_00_dot_88_bar__plus_01_dot_96 - object\n Egg_bar__minus_00_dot_38_bar__plus_00_dot_83_bar__plus_02_dot_31 - object\n Faucet_bar__minus_00_dot_19_bar__plus_00_dot_92_bar__minus_01_dot_75 - object\n Fork_bar__minus_02_dot_25_bar__plus_00_dot_88_bar__plus_03_dot_53 - object\n HousePlant_bar__minus_02_dot_74_bar__plus_00_dot_87_bar__plus_03_dot_21 - object\n Kettle_bar__plus_00_dot_97_bar__plus_00_dot_96_bar__minus_01_dot_42 - object\n Kettle_bar__minus_02_dot_05_bar__plus_00_dot_12_bar__minus_01_dot_58 - object\n Kettle_bar__minus_02_dot_18_bar__plus_00_dot_91_bar__minus_00_dot_94 - object\n Knife_bar__minus_01_dot_55_bar__plus_00_dot_74_bar__minus_00_dot_79 - object\n Knife_bar__minus_01_dot_75_bar__plus_00_dot_74_bar__minus_01_dot_00 - object\n Knife_bar__minus_02_dot_54_bar__plus_00_dot_90_bar__plus_03_dot_10 - object\n Lettuce_bar__plus_00_dot_57_bar__plus_00_dot_98_bar__minus_01_dot_67 - object\n Lettuce_bar__minus_00_dot_03_bar__plus_01_dot_21_bar__plus_02_dot_21 - object\n Lettuce_bar__minus_02_dot_74_bar__plus_00_dot_94_bar__plus_03_dot_62 - 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_69_bar__plus_00_dot_11_bar__minus_00_dot_77 - object\n Pan_bar__plus_00_dot_97_bar__plus_00_dot_96_bar__minus_01_dot_43 - object\n Pan_bar__minus_00_dot_04_bar__plus_01_dot_57_bar__plus_02_dot_16 - object\n Pan_bar__minus_01_dot_63_bar__plus_00_dot_91_bar__minus_01_dot_27 - object\n PepperShaker_bar__minus_02_dot_18_bar__plus_00_dot_91_bar__plus_00_dot_04 - object\n Plate_bar__minus_00_dot_26_bar__plus_00_dot_81_bar__plus_02_dot_02 - object\n Potato_bar__plus_00_dot_23_bar__plus_00_dot_97_bar__minus_01_dot_65 - object\n Potato_bar__minus_00_dot_26_bar__plus_00_dot_73_bar__minus_01_dot_47 - object\n Potato_bar__minus_02_dot_51_bar__plus_00_dot_92_bar__plus_03_dot_56 - object\n Pot_bar__plus_00_dot_97_bar__plus_00_dot_96_bar__minus_01_dot_69 - object\n SaltShaker_bar__plus_00_dot_63_bar__plus_01_dot_65_bar__minus_01_dot_64 - object\n SaltShaker_bar__plus_03_dot_74_bar__plus_00_dot_55_bar__plus_01_dot_45 - object\n Sink_bar__plus_00_dot_02_bar__plus_00_dot_77_bar__minus_01_dot_71 - object\n SoapBottle_bar__minus_01_dot_38_bar__plus_00_dot_91_bar__minus_01_dot_57 - object\n SoapBottle_bar__minus_02_dot_15_bar__plus_00_dot_88_bar__plus_03_dot_37 - object\n SoapBottle_bar__minus_02_dot_58_bar__plus_00_dot_88_bar__plus_02_dot_88 - object\n Spatula_bar__minus_02_dot_44_bar__plus_00_dot_89_bar__plus_02_dot_88 - object\n Spatula_bar__minus_03_dot_02_bar__plus_00_dot_89_bar__plus_03_dot_58 - object\n Spoon_bar__plus_00_dot_01_bar__plus_00_dot_93_bar__minus_01_dot_72 - object\n Statue_bar__plus_03_dot_67_bar__plus_00_dot_54_bar__plus_01_dot_80 - object\n Statue_bar__plus_03_dot_68_bar__plus_00_dot_17_bar__plus_01_dot_41 - object\n StoveKnob_bar__plus_00_dot_96_bar__plus_00_dot_91_bar__minus_01_dot_24 - object\n StoveKnob_bar__plus_01_dot_09_bar__plus_00_dot_91_bar__minus_01_dot_24 - object\n StoveKnob_bar__plus_01_dot_21_bar__plus_00_dot_91_bar__minus_01_dot_24 - object\n StoveKnob_bar__plus_01_dot_34_bar__plus_00_dot_91_bar__minus_01_dot_24 - object\n Tomato_bar__minus_00_dot_83_bar__plus_00_dot_96_bar__minus_01_dot_37 - object\n Vase_bar__minus_00_dot_83_bar__plus_00_dot_91_bar__minus_01_dot_67 - object\n Vase_bar__minus_00_dot_89_bar__plus_01_dot_66_bar__minus_01_dot_71 - 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_69_bar__plus_00_dot_91_bar__minus_01_dot_44 - 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_3_bar_6_bar_0_bar_60 - location\n loc_bar__minus_11_bar_0_bar_1_bar_60 - location\n loc_bar__minus_11_bar__minus_4_bar_1_bar_60 - location\n loc_bar_3_bar__minus_2_bar_2_bar__minus_30 - location\n loc_bar__minus_1_bar__minus_1_bar_2_bar_45 - location\n loc_bar__minus_2_bar__minus_2_bar_3_bar_45 - location\n loc_bar_4_bar__minus_3_bar_2_bar_60 - location\n loc_bar__minus_3_bar__minus_1_bar_2_bar_45 - location\n loc_bar_0_bar__minus_3_bar_2_bar__minus_15 - location\n loc_bar__minus_14_bar_10_bar_0_bar_60 - location\n loc_bar__minus_7_bar_11_bar_0_bar_60 - location\n loc_bar_7_bar__minus_1_bar_2_bar_45 - location\n loc_bar_0_bar_5_bar_0_bar_60 - location\n loc_bar__minus_5_bar_9_bar_1_bar_60 - location\n loc_bar_5_bar__minus_3_bar_2_bar_0 - location\n loc_bar_1_bar__minus_2_bar_2_bar_45 - location\n loc_bar_4_bar__minus_3_bar_2_bar__minus_30 - location\n loc_bar_4_bar__minus_3_bar_2_bar_45 - location\n loc_bar_5_bar__minus_3_bar_2_bar__minus_30 - location\n loc_bar__minus_11_bar__minus_4_bar_1_bar_45 - location\n loc_bar__minus_11_bar_8_bar_0_bar_30 - location\n loc_bar__minus_13_bar__minus_5_bar_1_bar_45 - location\n loc_bar_0_bar__minus_1_bar_2_bar_45 - location\n loc_bar_13_bar_3_bar_0_bar_60 - location\n loc_bar_5_bar__minus_3_bar_2_bar_45 - location\n loc_bar__minus_12_bar__minus_5_bar_1_bar_60 - location\n loc_bar_4_bar__minus_3_bar_2_bar_30 - location\n loc_bar__minus_11_bar_8_bar_0_bar_60 - location\n loc_bar__minus_14_bar_1_bar_3_bar__minus_15 - location\n loc_bar__minus_11_bar__minus_5_bar_1_bar__minus_30 - location\n loc_bar_11_bar__minus_1_bar_2_bar_45 - location\n loc_bar__minus_13_bar_4_bar_0_bar_30 - location\n )\n \n\n(:init\n\n\n (receptacleType Fridge_bar__minus_00_dot_04_bar__plus_00_dot_00_bar__plus_02_dot_18 FridgeType)\n (receptacleType Cabinet_bar__plus_00_dot_38_bar__plus_00_dot_37_bar__minus_01_dot_24 CabinetType)\n (receptacleType Cabinet_bar__minus_02_dot_22_bar__plus_00_dot_37_bar__minus_01_dot_87 CabinetType)\n (receptacleType Drawer_bar__plus_00_dot_60_bar__plus_00_dot_68_bar__minus_01_dot_40 DrawerType)\n (receptacleType Cabinet_bar__minus_00_dot_71_bar__plus_02_dot_01_bar__minus_01_dot_54 CabinetType)\n (receptacleType StoveBurner_bar__plus_01_dot_33_bar__plus_00_dot_96_bar__minus_01_dot_42 StoveBurnerType)\n (receptacleType Microwave_bar__plus_01_dot_15_bar__plus_01_dot_65_bar__minus_01_dot_61 MicrowaveType)\n (receptacleType DiningTable_bar__minus_02_dot_66_bar__plus_00_dot_83_bar__plus_03_dot_21 DiningTableType)\n (receptacleType Drawer_bar__minus_02_dot_06_bar__plus_00_dot_68_bar__minus_01_dot_58 DrawerType)\n (receptacleType 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(inReceptacle Kettle_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 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 WineBottle_bar__plus_01_dot_69_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 DishSponge_bar__plus_03_dot_69_bar__plus_00_dot_88_bar__plus_01_dot_96 Shelf_bar__plus_03_dot_69_bar__plus_00_dot_87_bar__plus_01_dot_64)\n (inReceptacle SaltShaker_bar__plus_03_dot_74_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_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 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loc_bar_5_bar__minus_3_bar_2_bar_60)\n (objectAtLocation StoveKnob_bar__plus_01_dot_34_bar__plus_00_dot_91_bar__minus_01_dot_24 loc_bar_5_bar__minus_3_bar_2_bar_60)\n (objectAtLocation StoveKnob_bar__plus_00_dot_96_bar__plus_00_dot_91_bar__minus_01_dot_24 loc_bar_4_bar__minus_3_bar_2_bar_60)\n (objectAtLocation Bread_bar__minus_01_dot_60_bar__plus_00_dot_98_bar__minus_00_dot_84 loc_bar__minus_11_bar__minus_4_bar_1_bar_45)\n (objectAtLocation Chair_bar__minus_02_dot_41_bar__plus_00_dot_57_bar__plus_00_dot_07 loc_bar__minus_11_bar_0_bar_1_bar_60)\n (objectAtLocation Chair_bar__minus_02_dot_47_bar__plus_00_dot_57_bar__minus_00_dot_80 loc_bar__minus_11_bar__minus_4_bar_1_bar_60)\n (objectAtLocation Vase_bar__minus_00_dot_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 DishSponge_bar__plus_03_dot_69_bar__plus_00_dot_88_bar__plus_01_dot_96 loc_bar_12_bar_2_bar_0_bar_30)\n (objectAtLocation Apple_bar__minus_02_dot_95_bar__plus_00_dot_93_bar__plus_03_dot_41 loc_bar__minus_11_bar_8_bar_0_bar_30)\n (objectAtLocation Pan_bar__minus_00_dot_04_bar__plus_01_dot_57_bar__plus_02_dot_16 loc_bar_0_bar_5_bar_0_bar_60)\n (objectAtLocation Chair_bar__minus_03_dot_50_bar__plus_00_dot_00_bar__plus_03_dot_45 loc_bar__minus_14_bar_10_bar_0_bar_60)\n (objectAtLocation Chair_bar__minus_02_dot_82_bar__plus_00_dot_00_bar__plus_02_dot_60 loc_bar__minus_11_bar_8_bar_0_bar_60)\n (objectAtLocation Chair_bar__minus_01_dot_92_bar__plus_00_dot_00_bar__plus_03_dot_47 loc_bar__minus_7_bar_11_bar_0_bar_60)\n (objectAtLocation Spoon_bar__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 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_38_bar__plus_00_dot_91_bar__minus_01_dot_57 loc_bar__minus_11_bar__minus_4_bar_1_bar_45)\n (objectAtLocation Mug_bar__minus_01_dot_69_bar__plus_00_dot_11_bar__minus_00_dot_77 loc_bar__minus_2_bar__minus_2_bar_3_bar_60)\n (objectAtLocation Statue_bar__plus_03_dot_68_bar__plus_00_dot_17_bar__plus_01_dot_41 loc_bar_13_bar_3_bar_0_bar_60)\n (objectAtLocation Statue_bar__plus_03_dot_67_bar__plus_00_dot_54_bar__plus_01_dot_80 loc_bar_10_bar_4_bar_1_bar_45)\n (objectAtLocation Bowl_bar__minus_00_dot_35_bar__plus_00_dot_12_bar__minus_01_dot_41 loc_bar__minus_3_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 (coolable ?o)\n (objectType ?o BreadType)\n (receptacleType ?r DiningTableType)\n (isCool ?o)\n (inReceptacle ?o ?r)\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to countertop 2", "take bread 1 from countertop 2", "go to fridge 1", "cool bread 1 with fridge 1", "go to diningtable 1", "move bread 1 to diningtable 1"]}
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alfworld__pick_cool_then_place_in_recep__8
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pick_cool_then_place_in_recep
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pick_cool_then_place_in_recep-Bread-None-DiningTable-7/trial_T20190907_191053_355058/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 bread and put it in diningtable.\"\n }\n ],\n\n \"GotoLocation.feedback\": [\n {\n \"rhs\": \"You arrive at {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"OpenObject.feedback\": [\n {\n \"rhs\": \"You open the {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"CloseObject.feedback\": [\n {\n \"rhs\": \"You close the {r.name}.\"\n }\n ],\n\n \"PickupObject.feedback\": [\n {\n \"rhs\": \"You pick up the {o.name} from the {r.name}.\"\n }\n ],\n\n \"PickupObjectFromReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupObjectFromReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupEmptyReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupEmptyReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupFullReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupFullReceptacleObject: You pick up the {outerr.name}.\"\n }\n ],\n\n \"PutObject.feedback\": [\n {\n \"rhs\": \"You move the {o.name} to the {r.name}.\"\n }\n ],\n\n \"PutObjectInReceptacleObject.feedback\": [\n {\n \"rhs\": \"PutObjectInReceptacleObject: You put the {o.name} in the {outero.name}.\"\n }\n ],\n\n \"PutEmptyReceptacleObjectinReceptacle.feedback\": [\n {\n \"rhs\": \"PutEmptyReceptacleObjectinReceptacle: You put the {o.name} in the {r.name}.\"\n }\n ],\n\n \"PutFullReceptacleObjectInReceptacle.feedback\": [\n {\n \"rhs\": \"PutFullReceptacleObjectInReceptacle: You put the {outero.name} in the {r.name}.\"\n }\n ],\n\n \"inventory.feedback\": [\n {\n \"condition\": \"holdsany(a:agent)\",\n \"rhs\": \"You are carrying: [{o.indefinite + ' ' + o.name | holds(a:agent, o:object)}].\"\n },\n {\n \"rhs\": \"You are not carrying anything.\"\n }\n ],\n\n \"examineReceptacle.feedback\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \"The {r.name} is open. In it, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \"The {r.name} is closed.\"\n },\n {\n \"rhs\": \"On the {r.name}, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n }\n ],\n\n \"examineObject.feedback\": [\n {\n \"condition\": \"isreceptacleobject(o:object)\",\n \"rhs\": \"This is a normal {o.name}. In it, you see [{o2.indefinite + ' ' + o2.name | inreceptacleobject(o2:object, o:object)}].\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a clean sliced {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot sliced {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object)\",\n \"rhs\": \"This is a hot and clean {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object)\",\n \"rhs\": \"This is a cool and clean {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object)\",\n \"rhs\": \"This is a hot {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object)\",\n \"rhs\": \"This is a clean {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object)\",\n \"rhs\": \"This is a cold {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"This {o.name} is on.\"\n },\n {\n \"condition\": \"toggleable(o:object) & not_istoggled(o:object)\",\n \"rhs\": \"This {o.name} is off.\"\n },\n {\n \"condition\": \"sliceable(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a sliced {o.name}.\"\n },\n {\n \"rhs\": \"There's nothing special about {o.name}.\"\n }\n ]\n }\n\"\"\";\n\naction GotoLocation {\n template :: \"go to [{r.name | receptacleatlocation(r:receptacle, lend:location)}]\";\n feedback :: \"#GotoLocation.feedback#\";\n}\n\naction OpenObject {\n template :: \"open {r}\";\n feedback :: \"#OpenObject.feedback#\";\n}\n\naction CloseObject {\n template :: \"close {r}\";\n feedback :: \"#CloseObject.feedback#\";\n}\n\naction PickupObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObject.feedback#\";\n}\n\naction PickupObjectFromReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObjectFromReceptacleObject.feedback#\";\n}\n\naction PickupEmptyReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupEmptyReceptacleObject.feedback#\";\n}\n\naction PickupFullReceptacleObject {\n template :: \"take {outerr} from {r}\";\n feedback :: \"#PickupFullReceptacleObject.feedback#\";\n}\n\naction PutObject {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutObject.feedback#\";\n}\n\naction PutObjectInReceptacleObject {\n template :: \"put {o} into {outero}\";\n feedback :: \"#PutObjectInReceptacleObject.feedback#\";\n}\n\naction PutEmptyReceptacleObjectinReceptacle {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutEmptyReceptacleObjectinReceptacle.feedback#\";\n}\n\naction PutFullReceptacleObjectInReceptacle {\n template :: \"put {outero} in {r}\";\n feedback :: \"#PutFullReceptacleObjectInReceptacle.feedback#\";\n}\n\naction inventory {\n template :: \"inventory\";\n feedback :: \"#inventory.feedback#\";\n}\n\naction examineReceptacle {\n template :: \"examine {r}\";\n feedback :: \"#examineReceptacle.feedback#\";\n}\n\naction examineObject {\n template :: \"examine {o}\";\n feedback :: \"#examineObject.feedback#\";\n}\n\naction ToggleObject {\n template :: \"use {o}\";\n feedback :: \"#toggleObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"toggleObject.feedback\": [\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"You turn on the {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object)\",\n \"rhs\": \"You turn off the {o.name}.\"\n },\n {\n \"rhs\": \"You don't see any switch on the {o.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction HeatObject {\n template :: \"heat {o} with {r}\";\n feedback :: \"#heatObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"heatObject.feedback\": [\n {\n \"rhs\": \"You heat the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CleanObject {\n template :: \"clean {o} with {r}\";\n feedback :: \"#cleanObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"cleanObject.feedback\": [\n {\n \"rhs\": \"You clean the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CoolObject {\n template :: \"cool {o} with {r}\";\n feedback :: \"#coolObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"coolObject.feedback\": [\n {\n \"rhs\": \"You cool the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction SliceObject {\n template :: \"slice {co} with {ko}\";\n feedback :: \"#sliceObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"sliceObject.feedback\": [\n {\n \"rhs\": \"You sliced the {co.name} with the {ko.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction look {\n template :: \"look\";\n feedback :: \"#look.feedback#\";\n\n grammar :: \"\"\"\n {\n \"look.feedback\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"#look-variations#. Next to it, you see #list_objects_on_the_floor#.\"\n },\n {\n \"rhs\": \"You are in the middle of a room. Looking quickly around you, you see #list_appliances#.\"\n }\n ],\n\n \"look-variations\": [\n {\n \"rhs\": \"You are facing the [{r.name | atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)}]\"\n }\n ],\n\n \"list_objects_on_the_floor\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)\",\n \"rhs\": \"[{#overview(o)# | atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"list_appliances\": [\n {\n \"condition\": \"receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"[{#overview(r)# | receptacleatlocation(r:receptacle, l:location)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"overview(o, r)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name} (in/on the {r.name})}\"\n }\n ],\n\n \"overview(o)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name}\"\n }\n ],\n \"overview(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}\"\n }\n ],\n \"overview_with_state(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}#overview_state(r)#\"\n }\n ],\n \"overview_state(r)\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \" (it is open)\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \" (it is closed)\"\n },\n {\n \"rhs\": \"\"\n }\n ],\n\n \"list_empty\": [\n {\n \"rhs\": \"nothing\"\n }\n ],\n \"list_separator\": [\n {\n \"rhs\": \", \"\n }\n ],\n \"list_last_separator\": [\n {\n \"rhs\": \", and \"\n }\n ]\n }\n \"\"\";\n}\n\naction help {\n template :: \"help\";\n feedback :: \"\nAvailable commands:\n look: look around your current location\n inventory: check your current inventory\n go to (receptacle): move to a receptacle\n open (receptacle): open a receptacle\n close (receptacle): close a receptacle\n take (object) from (receptacle): take an object from a receptacle\n move (object) to (receptacle): place an object in or on a receptacle\n examine (something): examine a receptacle or an object\n use (object): use an object\n heat (object) with (receptacle): heat an object using a receptacle\n clean (object) with (receptacle): clean an object using a receptacle\n cool (object) with (receptacle): cool an object using a receptacle\n slice (object) with (object): slice an object using a sharp object\n\";\n}\n", "pddl_problem": "\n(define (problem plan_trial_T20190907_191053_355058)\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_07_bar__plus_00_dot_98_bar__minus_01_dot_50 - object\n Book_bar__minus_00_dot_29_bar__plus_00_dot_12_bar__minus_01_dot_41 - object\n Book_bar__minus_00_dot_94_bar__plus_01_dot_65_bar__minus_01_dot_71 - object\n Bowl_bar__minus_02_dot_51_bar__plus_00_dot_88_bar__plus_03_dot_05 - object\n Bowl_bar__minus_02_dot_54_bar__plus_00_dot_87_bar__plus_03_dot_34 - object\n Bowl_bar__minus_03_dot_17_bar__plus_00_dot_87_bar__plus_03_dot_22 - object\n Bread_bar__minus_01_dot_96_bar__plus_01_dot_00_bar__minus_00_dot_29 - object\n Bread_bar__minus_02_dot_79_bar__plus_00_dot_96_bar__plus_03_dot_57 - object\n ButterKnife_bar__minus_00_dot_04_bar__plus_00_dot_93_bar__minus_01_dot_50 - object\n ButterKnife_bar__minus_02_dot_32_bar__plus_00_dot_87_bar__plus_03_dot_30 - object\n ButterKnife_bar__minus_03_dot_17_bar__plus_00_dot_88_bar__plus_03_dot_07 - 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__minus_02_dot_01_bar__plus_00_dot_12_bar__minus_01_dot_51 - object\n DishSponge_bar__plus_00_dot_12_bar__plus_00_dot_93_bar__minus_01_dot_72 - object\n Egg_bar__minus_00_dot_15_bar__plus_00_dot_41_bar__plus_01_dot_97 - object\n Egg_bar__minus_00_dot_38_bar__plus_00_dot_83_bar__plus_02_dot_25 - object\n Faucet_bar__minus_00_dot_19_bar__plus_00_dot_92_bar__minus_01_dot_75 - object\n Fork_bar__plus_00_dot_18_bar__plus_00_dot_93_bar__minus_01_dot_57 - object\n Fork_bar__plus_01_dot_76_bar__plus_00_dot_91_bar__minus_01_dot_44 - 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__minus_01_dot_74_bar__plus_00_dot_93_bar__minus_01_dot_27 - object\n Lettuce_bar__plus_00_dot_08_bar__plus_01_dot_64_bar__plus_02_dot_16 - object\n Lettuce_bar__minus_00_dot_33_bar__plus_00_dot_77_bar__minus_01_dot_57 - object\n Lettuce_bar__minus_02_dot_81_bar__plus_00_dot_94_bar__plus_02_dot_88 - object\n LightSwitch_bar__plus_02_dot_83_bar__plus_01_dot_27_bar__minus_00_dot_75 - object\n Mug_bar__plus_01_dot_32_bar__plus_01_dot_76_bar__minus_01_dot_66 - 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_63_bar__plus_01_dot_65_bar__minus_01_dot_64 - object\n PepperShaker_bar__minus_02_dot_07_bar__plus_00_dot_91_bar__plus_00_dot_04 - object\n PepperShaker_bar__minus_02_dot_07_bar__plus_00_dot_91_bar__minus_00_dot_61 - object\n Plate_bar__minus_01_dot_44_bar__plus_01_dot_66_bar__minus_01_dot_75 - object\n Plate_bar__minus_01_dot_63_bar__plus_00_dot_92_bar__plus_00_dot_36 - object\n Potato_bar__minus_00_dot_92_bar__plus_00_dot_23_bar__plus_02_dot_17 - object\n Potato_bar__minus_03_dot_00_bar__plus_00_dot_91_bar__plus_03_dot_09 - object\n Pot_bar__minus_00_dot_26_bar__plus_01_dot_57_bar__plus_02_dot_10 - object\n SaltShaker_bar__plus_01_dot_58_bar__plus_00_dot_91_bar__minus_01_dot_44 - object\n SaltShaker_bar__minus_02_dot_30_bar__plus_00_dot_87_bar__plus_02_dot_86 - object\n Sink_bar__plus_00_dot_02_bar__plus_00_dot_77_bar__minus_01_dot_71 - object\n SoapBottle_bar__minus_00_dot_84_bar__plus_00_dot_19_bar__plus_02_dot_21 - object\n SoapBottle_bar__minus_02_dot_01_bar__plus_00_dot_12_bar__minus_01_dot_80 - object\n Spatula_bar__minus_01_dot_72_bar__plus_00_dot_73_bar__minus_01_dot_07 - object\n Spoon_bar__plus_00_dot_52_bar__plus_00_dot_72_bar__minus_01_dot_44 - object\n Spoon_bar__minus_00_dot_29_bar__plus_00_dot_70_bar__minus_01_dot_47 - object\n Spoon_bar__minus_02_dot_05_bar__plus_00_dot_72_bar__minus_01_dot_44 - object\n Statue_bar__plus_03_dot_67_bar__plus_00_dot_54_bar__plus_01_dot_80 - object\n Statue_bar__plus_03_dot_68_bar__plus_00_dot_17_bar__plus_01_dot_41 - object\n StoveKnob_bar__plus_00_dot_96_bar__plus_00_dot_91_bar__minus_01_dot_24 - object\n StoveKnob_bar__plus_01_dot_09_bar__plus_00_dot_91_bar__minus_01_dot_24 - object\n StoveKnob_bar__plus_01_dot_21_bar__plus_00_dot_91_bar__minus_01_dot_24 - object\n StoveKnob_bar__plus_01_dot_34_bar__plus_00_dot_91_bar__minus_01_dot_24 - object\n Tomato_bar__minus_03_dot_07_bar__plus_00_dot_93_bar__plus_03_dot_53 - object\n Vase_bar__minus_01_dot_85_bar__plus_00_dot_91_bar__minus_00_dot_94 - object\n Vase_bar__minus_01_dot_96_bar__plus_00_dot_91_bar__minus_01_dot_59 - 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_00_dot_53_bar__plus_00_dot_91_bar__minus_01_dot_47 - object\n WineBottle_bar__minus_02_dot_51_bar__plus_00_dot_88_bar__plus_02_dot_88 - object\n Cabinet_bar__plus_00_dot_38_bar__plus_00_dot_37_bar__minus_01_dot_24 - receptacle\n Cabinet_bar__plus_00_dot_52_bar__plus_02_dot_01_bar__minus_01_dot_54 - receptacle\n Cabinet_bar__plus_00_dot_78_bar__plus_00_dot_37_bar__minus_01_dot_24 - receptacle\n Cabinet_bar__plus_00_dot_85_bar__plus_02_dot_26_bar__minus_01_dot_54 - receptacle\n Cabinet_bar__plus_01_dot_45_bar__plus_02_dot_26_bar__minus_01_dot_54 - receptacle\n Cabinet_bar__plus_01_dot_78_bar__plus_00_dot_37_bar__minus_01_dot_24 - receptacle\n Cabinet_bar__plus_01_dot_78_bar__plus_02_dot_01_bar__minus_01_dot_54 - receptacle\n Cabinet_bar__minus_00_dot_57_bar__plus_00_dot_37_bar__minus_01_dot_24 - receptacle\n Cabinet_bar__minus_00_dot_71_bar__plus_02_dot_01_bar__minus_01_dot_54 - receptacle\n Cabinet_bar__minus_01_dot_48_bar__plus_00_dot_37_bar__minus_01_dot_24 - receptacle\n Cabinet_bar__minus_01_dot_67_bar__plus_02_dot_01_bar__minus_01_dot_54 - receptacle\n Cabinet_bar__minus_02_dot_17_bar__plus_02_dot_01_bar__minus_01_dot_54 - receptacle\n Cabinet_bar__minus_02_dot_22_bar__plus_00_dot_37_bar__minus_01_dot_87 - receptacle\n CoffeeMachine_bar__minus_01_dot_11_bar__plus_00_dot_90_bar__minus_01_dot_73 - receptacle\n CounterTop_bar__plus_01_dot_65_bar__plus_00_dot_95_bar__minus_01_dot_53 - receptacle\n CounterTop_bar__minus_01_dot_87_bar__plus_00_dot_95_bar__minus_00_dot_61 - receptacle\n DiningTable_bar__minus_02_dot_66_bar__plus_00_dot_83_bar__plus_03_dot_21 - receptacle\n Drawer_bar__plus_00_dot_60_bar__plus_00_dot_68_bar__minus_01_dot_40 - receptacle\n Drawer_bar__plus_01_dot_65_bar__plus_00_dot_68_bar__minus_01_dot_40 - receptacle\n Drawer_bar__minus_01_dot_64_bar__plus_00_dot_68_bar__minus_00_dot_93 - receptacle\n Drawer_bar__minus_02_dot_06_bar__plus_00_dot_68_bar__minus_01_dot_58 - receptacle\n Fridge_bar__minus_00_dot_04_bar__plus_00_dot_00_bar__plus_02_dot_18 - receptacle\n GarbageCan_bar__minus_00_dot_87_bar__plus_00_dot_00_bar__plus_02_dot_14 - receptacle\n Microwave_bar__plus_01_dot_15_bar__plus_01_dot_65_bar__minus_01_dot_61 - receptacle\n Shelf_bar__plus_03_dot_69_bar__plus_00_dot_16_bar__plus_01_dot_64 - receptacle\n Shelf_bar__plus_03_dot_69_bar__plus_00_dot_54_bar__plus_01_dot_64 - receptacle\n Shelf_bar__plus_03_dot_69_bar__plus_00_dot_87_bar__plus_01_dot_64 - receptacle\n Sink_bar__plus_00_dot_02_bar__plus_00_dot_77_bar__minus_01_dot_71_bar_SinkBasin - receptacle\n StoveBurner_bar__plus_00_dot_97_bar__plus_00_dot_96_bar__minus_01_dot_42 - receptacle\n StoveBurner_bar__plus_00_dot_97_bar__plus_00_dot_96_bar__minus_01_dot_69 - receptacle\n StoveBurner_bar__plus_01_dot_33_bar__plus_00_dot_96_bar__minus_01_dot_42 - receptacle\n StoveBurner_bar__plus_01_dot_33_bar__plus_00_dot_96_bar__minus_01_dot_69 - receptacle\n Toaster_bar__plus_01_dot_64_bar__plus_00_dot_90_bar__minus_01_dot_67 - receptacle\n loc_bar_10_bar_4_bar_1_bar_45 - location\n loc_bar__minus_4_bar__minus_3_bar_2_bar_45 - location\n loc_bar_12_bar_2_bar_0_bar_30 - location\n loc_bar_5_bar__minus_3_bar_2_bar_60 - location\n loc_bar__minus_4_bar__minus_3_bar_2_bar__minus_30 - location\n loc_bar_2_bar__minus_2_bar_2_bar__minus_30 - location\n loc_bar__minus_2_bar__minus_2_bar_3_bar_60 - location\n loc_bar_5_bar__minus_3_bar_2_bar_30 - location\n loc_bar_0_bar__minus_3_bar_2_bar_45 - location\n loc_bar_5_bar__minus_1_bar_2_bar_45 - location\n loc_bar__minus_11_bar_0_bar_1_bar_60 - location\n loc_bar__minus_11_bar__minus_4_bar_1_bar_60 - location\n loc_bar_3_bar__minus_2_bar_2_bar__minus_30 - location\n loc_bar__minus_1_bar__minus_1_bar_2_bar_45 - location\n loc_bar__minus_2_bar__minus_2_bar_3_bar_45 - location\n loc_bar_4_bar__minus_3_bar_2_bar_60 - location\n loc_bar__minus_3_bar__minus_1_bar_2_bar_45 - location\n loc_bar_0_bar__minus_3_bar_2_bar__minus_15 - location\n loc_bar__minus_14_bar_10_bar_0_bar_60 - location\n loc_bar__minus_7_bar_11_bar_0_bar_60 - location\n loc_bar_7_bar__minus_1_bar_2_bar_45 - location\n loc_bar_0_bar_5_bar_0_bar_60 - location\n loc_bar__minus_5_bar_9_bar_1_bar_60 - location\n loc_bar_5_bar__minus_3_bar_2_bar_0 - location\n loc_bar_1_bar__minus_2_bar_2_bar_45 - location\n loc_bar_4_bar__minus_3_bar_2_bar__minus_30 - location\n loc_bar_4_bar__minus_3_bar_2_bar_45 - location\n loc_bar_5_bar__minus_3_bar_2_bar__minus_30 - location\n loc_bar__minus_11_bar__minus_4_bar_1_bar_45 - location\n loc_bar__minus_11_bar_8_bar_0_bar_30 - location\n loc_bar__minus_13_bar__minus_5_bar_1_bar_45 - location\n loc_bar_0_bar__minus_1_bar_2_bar_45 - location\n loc_bar_13_bar_3_bar_0_bar_60 - location\n loc_bar_5_bar__minus_3_bar_2_bar_45 - location\n loc_bar__minus_12_bar__minus_5_bar_1_bar_60 - location\n loc_bar_4_bar__minus_3_bar_2_bar_30 - location\n loc_bar__minus_11_bar_8_bar_0_bar_60 - location\n loc_bar__minus_14_bar_1_bar_3_bar__minus_15 - location\n loc_bar__minus_11_bar__minus_5_bar_1_bar__minus_30 - location\n loc_bar_11_bar__minus_1_bar_2_bar_45 - location\n loc_bar__minus_10_bar_2_bar_0_bar_30 - location\n )\n \n\n(:init\n\n\n (receptacleType Fridge_bar__minus_00_dot_04_bar__plus_00_dot_00_bar__plus_02_dot_18 FridgeType)\n (receptacleType Cabinet_bar__plus_00_dot_38_bar__plus_00_dot_37_bar__minus_01_dot_24 CabinetType)\n (receptacleType Cabinet_bar__minus_02_dot_22_bar__plus_00_dot_37_bar__minus_01_dot_87 CabinetType)\n (receptacleType Drawer_bar__plus_00_dot_60_bar__plus_00_dot_68_bar__minus_01_dot_40 DrawerType)\n (receptacleType Cabinet_bar__minus_00_dot_71_bar__plus_02_dot_01_bar__minus_01_dot_54 CabinetType)\n (receptacleType StoveBurner_bar__plus_01_dot_33_bar__plus_00_dot_96_bar__minus_01_dot_42 StoveBurnerType)\n (receptacleType Microwave_bar__plus_01_dot_15_bar__plus_01_dot_65_bar__minus_01_dot_61 MicrowaveType)\n (receptacleType DiningTable_bar__minus_02_dot_66_bar__plus_00_dot_83_bar__plus_03_dot_21 DiningTableType)\n (receptacleType Drawer_bar__minus_02_dot_06_bar__plus_00_dot_68_bar__minus_01_dot_58 DrawerType)\n (receptacleType 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 (receptacleType Cabinet_bar__minus_02_dot_17_bar__plus_02_dot_01_bar__minus_01_dot_54 CabinetType)\n (receptacleType StoveBurner_bar__plus_00_dot_97_bar__plus_00_dot_96_bar__minus_01_dot_42 StoveBurnerType)\n (receptacleType CoffeeMachine_bar__minus_01_dot_11_bar__plus_00_dot_90_bar__minus_01_dot_73 CoffeeMachineType)\n (receptacleType Cabinet_bar__plus_01_dot_78_bar__plus_00_dot_37_bar__minus_01_dot_24 CabinetType)\n (receptacleType Shelf_bar__plus_03_dot_69_bar__plus_00_dot_87_bar__plus_01_dot_64 ShelfType)\n (receptacleType Toaster_bar__plus_01_dot_64_bar__plus_00_dot_90_bar__minus_01_dot_67 ToasterType)\n (receptacleType StoveBurner_bar__plus_00_dot_97_bar__plus_00_dot_96_bar__minus_01_dot_69 StoveBurnerType)\n (receptacleType GarbageCan_bar__minus_00_dot_87_bar__plus_00_dot_00_bar__plus_02_dot_14 GarbageCanType)\n (receptacleType Cabinet_bar__plus_00_dot_85_bar__plus_02_dot_26_bar__minus_01_dot_54 CabinetType)\n (receptacleType 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 Apple_bar__plus_00_dot_07_bar__plus_00_dot_98_bar__minus_01_dot_50 AppleType)\n (objectType Spoon_bar__plus_00_dot_52_bar__plus_00_dot_72_bar__minus_01_dot_44 SpoonType)\n (objectType Cup_bar__minus_02_dot_01_bar__plus_00_dot_12_bar__minus_01_dot_51 CupType)\n (objectType Lettuce_bar__plus_00_dot_08_bar__plus_01_dot_64_bar__plus_02_dot_16 LettuceType)\n (objectType Potato_bar__minus_03_dot_00_bar__plus_00_dot_91_bar__plus_03_dot_09 PotatoType)\n (objectType Bowl_bar__minus_02_dot_51_bar__plus_00_dot_88_bar__plus_03_dot_05 BowlType)\n (objectType 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Egg_bar__minus_00_dot_38_bar__plus_00_dot_83_bar__plus_02_dot_25 EggType)\n (objectType Knife_bar__minus_01_dot_74_bar__plus_00_dot_93_bar__minus_01_dot_27 KnifeType)\n (objectType Spoon_bar__minus_00_dot_29_bar__plus_00_dot_70_bar__minus_01_dot_47 SpoonType)\n (objectType SaltShaker_bar__plus_01_dot_58_bar__plus_00_dot_91_bar__minus_01_dot_44 SaltShakerType)\n (objectType WineBottle_bar__plus_00_dot_53_bar__plus_00_dot_91_bar__minus_01_dot_47 WineBottleType)\n (objectType Mug_bar__plus_01_dot_32_bar__plus_01_dot_76_bar__minus_01_dot_66 MugType)\n (objectType Bread_bar__minus_02_dot_79_bar__plus_00_dot_96_bar__plus_03_dot_57 BreadType)\n (objectType Fork_bar__plus_00_dot_18_bar__plus_00_dot_93_bar__minus_01_dot_57 ForkType)\n (objectType ButterKnife_bar__minus_00_dot_04_bar__plus_00_dot_93_bar__minus_01_dot_50 ButterKnifeType)\n (objectType ButterKnife_bar__minus_03_dot_17_bar__plus_00_dot_88_bar__plus_03_dot_07 ButterKnifeType)\n (objectType Egg_bar__minus_00_dot_15_bar__plus_00_dot_41_bar__plus_01_dot_97 EggType)\n (objectType PepperShaker_bar__minus_02_dot_07_bar__plus_00_dot_91_bar__minus_00_dot_61 PepperShakerType)\n (objectType StoveKnob_bar__plus_01_dot_21_bar__plus_00_dot_91_bar__minus_01_dot_24 StoveKnobType)\n (objectType Tomato_bar__minus_03_dot_07_bar__plus_00_dot_93_bar__plus_03_dot_53 TomatoType)\n (objectType Plate_bar__minus_01_dot_63_bar__plus_00_dot_92_bar__plus_00_dot_36 PlateType)\n (objectType StoveKnob_bar__plus_01_dot_09_bar__plus_00_dot_91_bar__minus_01_dot_24 StoveKnobType)\n (objectType Bread_bar__minus_01_dot_96_bar__plus_01_dot_00_bar__minus_00_dot_29 BreadType)\n (objectType Chair_bar__minus_02_dot_47_bar__plus_00_dot_57_bar__minus_00_dot_80 ChairType)\n (objectType Potato_bar__minus_00_dot_92_bar__plus_00_dot_23_bar__plus_02_dot_17 PotatoType)\n (objectType Kettle_bar__plus_01_dot_33_bar__plus_00_dot_96_bar__minus_01_dot_42 KettleType)\n (objectType 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CounterTop_bar__minus_01_dot_87_bar__plus_00_dot_95_bar__minus_00_dot_61)\n (inReceptacle Vase_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 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 PepperShaker_bar__minus_02_dot_07_bar__plus_00_dot_91_bar__minus_00_dot_61 CounterTop_bar__minus_01_dot_87_bar__plus_00_dot_95_bar__minus_00_dot_61)\n (inReceptacle Plate_bar__minus_01_dot_63_bar__plus_00_dot_92_bar__plus_00_dot_36 CounterTop_bar__minus_01_dot_87_bar__plus_00_dot_95_bar__minus_00_dot_61)\n (inReceptacle Bread_bar__minus_01_dot_96_bar__plus_01_dot_00_bar__minus_00_dot_29 CounterTop_bar__minus_01_dot_87_bar__plus_00_dot_95_bar__minus_00_dot_61)\n (inReceptacle SoapBottle_bar__minus_02_dot_01_bar__plus_00_dot_12_bar__minus_01_dot_80 Cabinet_bar__minus_02_dot_22_bar__plus_00_dot_37_bar__minus_01_dot_87)\n (inReceptacle Cup_bar__minus_02_dot_01_bar__plus_00_dot_12_bar__minus_01_dot_51 Cabinet_bar__minus_02_dot_22_bar__plus_00_dot_37_bar__minus_01_dot_87)\n (inReceptacle Potato_bar__minus_03_dot_00_bar__plus_00_dot_91_bar__plus_03_dot_09 DiningTable_bar__minus_02_dot_66_bar__plus_00_dot_83_bar__plus_03_dot_21)\n (inReceptacle Bread_bar__minus_02_dot_79_bar__plus_00_dot_96_bar__plus_03_dot_57 DiningTable_bar__minus_02_dot_66_bar__plus_00_dot_83_bar__plus_03_dot_21)\n (inReceptacle SaltShaker_bar__minus_02_dot_30_bar__plus_00_dot_87_bar__plus_02_dot_86 DiningTable_bar__minus_02_dot_66_bar__plus_00_dot_83_bar__plus_03_dot_21)\n (inReceptacle Bowl_bar__minus_02_dot_51_bar__plus_00_dot_88_bar__plus_03_dot_05 DiningTable_bar__minus_02_dot_66_bar__plus_00_dot_83_bar__plus_03_dot_21)\n (inReceptacle ButterKnife_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 ButterKnife_bar__minus_02_dot_32_bar__plus_00_dot_87_bar__plus_03_dot_30 DiningTable_bar__minus_02_dot_66_bar__plus_00_dot_83_bar__plus_03_dot_21)\n (inReceptacle Bowl_bar__minus_02_dot_54_bar__plus_00_dot_87_bar__plus_03_dot_34 DiningTable_bar__minus_02_dot_66_bar__plus_00_dot_83_bar__plus_03_dot_21)\n (inReceptacle Lettuce_bar__minus_02_dot_81_bar__plus_00_dot_94_bar__plus_02_dot_88 DiningTable_bar__minus_02_dot_66_bar__plus_00_dot_83_bar__plus_03_dot_21)\n (inReceptacle Bowl_bar__minus_03_dot_17_bar__plus_00_dot_87_bar__plus_03_dot_22 DiningTable_bar__minus_02_dot_66_bar__plus_00_dot_83_bar__plus_03_dot_21)\n (inReceptacle WineBottle_bar__minus_02_dot_51_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 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 Tomato_bar__minus_03_dot_07_bar__plus_00_dot_93_bar__plus_03_dot_53 DiningTable_bar__minus_02_dot_66_bar__plus_00_dot_83_bar__plus_03_dot_21)\n (inReceptacle Kettle_bar__plus_01_dot_33_bar__plus_00_dot_96_bar__minus_01_dot_42 StoveBurner_bar__plus_01_dot_33_bar__plus_00_dot_96_bar__minus_01_dot_42)\n (inReceptacle Book_bar__minus_00_dot_29_bar__plus_00_dot_12_bar__minus_01_dot_41 Cabinet_bar__minus_00_dot_57_bar__plus_00_dot_37_bar__minus_01_dot_24)\n (inReceptacle PepperShaker_bar__plus_00_dot_63_bar__plus_01_dot_65_bar__minus_01_dot_64 Cabinet_bar__plus_00_dot_52_bar__plus_02_dot_01_bar__minus_01_dot_54)\n (inReceptacle Book_bar__minus_00_dot_94_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 Plate_bar__minus_01_dot_44_bar__plus_01_dot_66_bar__minus_01_dot_75 Cabinet_bar__minus_01_dot_67_bar__plus_02_dot_01_bar__minus_01_dot_54)\n (inReceptacle Spatula_bar__minus_01_dot_72_bar__plus_00_dot_73_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_52_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 Spoon_bar__minus_02_dot_05_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 SaltShaker_bar__plus_01_dot_58_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 Fork_bar__plus_01_dot_76_bar__plus_00_dot_91_bar__minus_01_dot_44 CounterTop_bar__plus_01_dot_65_bar__plus_00_dot_95_bar__minus_01_dot_53)\n (inReceptacle 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 Mug_bar__plus_01_dot_32_bar__plus_01_dot_76_bar__minus_01_dot_66 Microwave_bar__plus_01_dot_15_bar__plus_01_dot_65_bar__minus_01_dot_61)\n (inReceptacle Egg_bar__minus_00_dot_38_bar__plus_00_dot_83_bar__plus_02_dot_25 Fridge_bar__minus_00_dot_04_bar__plus_00_dot_00_bar__plus_02_dot_18)\n (inReceptacle Pot_bar__minus_00_dot_26_bar__plus_01_dot_57_bar__plus_02_dot_10 Fridge_bar__minus_00_dot_04_bar__plus_00_dot_00_bar__plus_02_dot_18)\n (inReceptacle Egg_bar__minus_00_dot_15_bar__plus_00_dot_41_bar__plus_01_dot_97 Fridge_bar__minus_00_dot_04_bar__plus_00_dot_00_bar__plus_02_dot_18)\n (inReceptacle Lettuce_bar__plus_00_dot_08_bar__plus_01_dot_64_bar__plus_02_dot_16 Fridge_bar__minus_00_dot_04_bar__plus_00_dot_00_bar__plus_02_dot_18)\n (inReceptacle Statue_bar__plus_03_dot_68_bar__plus_00_dot_17_bar__plus_01_dot_41 Shelf_bar__plus_03_dot_69_bar__plus_00_dot_16_bar__plus_01_dot_64)\n (inReceptacle Lettuce_bar__minus_00_dot_33_bar__plus_00_dot_77_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 Spoon_bar__minus_00_dot_29_bar__plus_00_dot_70_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 Potato_bar__minus_00_dot_92_bar__plus_00_dot_23_bar__plus_02_dot_17 GarbageCan_bar__minus_00_dot_87_bar__plus_00_dot_00_bar__plus_02_dot_14)\n (inReceptacle SoapBottle_bar__minus_00_dot_84_bar__plus_00_dot_19_bar__plus_02_dot_21 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_03_dot_17_bar__plus_00_dot_87_bar__plus_03_dot_22 loc_bar__minus_11_bar_8_bar_0_bar_30)\n (objectAtLocation SoapBottle_bar__minus_00_dot_84_bar__plus_00_dot_19_bar__plus_02_dot_21 loc_bar__minus_5_bar_9_bar_1_bar_60)\n (objectAtLocation Spoon_bar__minus_00_dot_29_bar__plus_00_dot_70_bar__minus_01_dot_47 loc_bar_0_bar__minus_3_bar_2_bar_45)\n (objectAtLocation Bread_bar__minus_02_dot_79_bar__plus_00_dot_96_bar__plus_03_dot_57 loc_bar__minus_11_bar_8_bar_0_bar_30)\n (objectAtLocation ButterKnife_bar__minus_00_dot_04_bar__plus_00_dot_93_bar__minus_01_dot_50 loc_bar_0_bar__minus_3_bar_2_bar_45)\n (objectAtLocation Lettuce_bar__minus_02_dot_81_bar__plus_00_dot_94_bar__plus_02_dot_88 loc_bar__minus_11_bar_8_bar_0_bar_30)\n (objectAtLocation PepperShaker_bar__minus_02_dot_07_bar__plus_00_dot_91_bar__plus_00_dot_04 loc_bar__minus_11_bar__minus_4_bar_1_bar_45)\n (objectAtLocation SaltShaker_bar__minus_02_dot_30_bar__plus_00_dot_87_bar__plus_02_dot_86 loc_bar__minus_11_bar_8_bar_0_bar_30)\n (objectAtLocation Potato_bar__minus_03_dot_00_bar__plus_00_dot_91_bar__plus_03_dot_09 loc_bar__minus_11_bar_8_bar_0_bar_30)\n (objectAtLocation Plate_bar__minus_01_dot_44_bar__plus_01_dot_66_bar__minus_01_dot_75 loc_bar__minus_4_bar__minus_3_bar_2_bar__minus_30)\n (objectAtLocation WineBottle_bar__minus_02_dot_51_bar__plus_00_dot_88_bar__plus_02_dot_88 loc_bar__minus_11_bar_8_bar_0_bar_30)\n (objectAtLocation Egg_bar__minus_00_dot_38_bar__plus_00_dot_83_bar__plus_02_dot_25 loc_bar_0_bar_5_bar_0_bar_60)\n (objectAtLocation Fork_bar__plus_01_dot_76_bar__plus_00_dot_91_bar__minus_01_dot_44 loc_bar_5_bar__minus_3_bar_2_bar_45)\n (objectAtLocation Book_bar__minus_00_dot_29_bar__plus_00_dot_12_bar__minus_01_dot_41 loc_bar__minus_3_bar__minus_1_bar_2_bar_45)\n (objectAtLocation Lettuce_bar__plus_00_dot_08_bar__plus_01_dot_64_bar__plus_02_dot_16 loc_bar_0_bar_5_bar_0_bar_60)\n (objectAtLocation PepperShaker_bar__minus_02_dot_07_bar__plus_00_dot_91_bar__minus_00_dot_61 loc_bar__minus_11_bar__minus_4_bar_1_bar_45)\n (objectAtLocation Bowl_bar__minus_02_dot_51_bar__plus_00_dot_88_bar__plus_03_dot_05 loc_bar__minus_11_bar_8_bar_0_bar_30)\n (objectAtLocation Spoon_bar__minus_02_dot_05_bar__plus_00_dot_72_bar__minus_01_dot_44 loc_bar__minus_13_bar__minus_5_bar_1_bar_45)\n (objectAtLocation ButterKnife_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 Book_bar__minus_00_dot_94_bar__plus_01_dot_65_bar__minus_01_dot_71 loc_bar__minus_4_bar__minus_3_bar_2_bar__minus_30)\n (objectAtLocation Sink_bar__plus_00_dot_02_bar__plus_00_dot_77_bar__minus_01_dot_71 loc_bar__minus_11_bar__minus_4_bar_1_bar_45)\n (objectAtLocation Fork_bar__plus_00_dot_18_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_03_dot_07_bar__plus_00_dot_93_bar__plus_03_dot_53 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_15_bar__plus_00_dot_41_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_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 Cup_bar__minus_02_dot_01_bar__plus_00_dot_12_bar__minus_01_dot_51 loc_bar__minus_12_bar__minus_5_bar_1_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__plus_00_dot_53_bar__plus_00_dot_91_bar__minus_01_dot_47 loc_bar__minus_11_bar__minus_4_bar_1_bar_45)\n (objectAtLocation Plate_bar__minus_01_dot_63_bar__plus_00_dot_92_bar__plus_00_dot_36 loc_bar__minus_11_bar__minus_4_bar_1_bar_45)\n (objectAtLocation Spatula_bar__minus_01_dot_72_bar__plus_00_dot_73_bar__minus_01_dot_07 loc_bar__minus_2_bar__minus_2_bar_3_bar_45)\n (objectAtLocation Potato_bar__minus_00_dot_92_bar__plus_00_dot_23_bar__plus_02_dot_17 loc_bar__minus_5_bar_9_bar_1_bar_60)\n (objectAtLocation Pot_bar__minus_00_dot_26_bar__plus_01_dot_57_bar__plus_02_dot_10 loc_bar_0_bar_5_bar_0_bar_60)\n (objectAtLocation Knife_bar__minus_01_dot_74_bar__plus_00_dot_93_bar__minus_01_dot_27 loc_bar__minus_11_bar__minus_4_bar_1_bar_45)\n (objectAtLocation SaltShaker_bar__plus_01_dot_58_bar__plus_00_dot_91_bar__minus_01_dot_44 loc_bar_5_bar__minus_3_bar_2_bar_45)\n (objectAtLocation PepperShaker_bar__plus_00_dot_63_bar__plus_01_dot_65_bar__minus_01_dot_64 loc_bar_4_bar__minus_3_bar_2_bar__minus_30)\n (objectAtLocation Lettuce_bar__minus_00_dot_33_bar__plus_00_dot_77_bar__minus_01_dot_57 loc_bar_0_bar__minus_3_bar_2_bar_45)\n (objectAtLocation ButterKnife_bar__minus_02_dot_32_bar__plus_00_dot_87_bar__plus_03_dot_30 loc_bar__minus_11_bar_8_bar_0_bar_30)\n (objectAtLocation StoveKnob_bar__plus_01_dot_09_bar__plus_00_dot_91_bar__minus_01_dot_24 loc_bar_4_bar__minus_3_bar_2_bar_60)\n (objectAtLocation StoveKnob_bar__plus_01_dot_21_bar__plus_00_dot_91_bar__minus_01_dot_24 loc_bar_5_bar__minus_3_bar_2_bar_60)\n (objectAtLocation StoveKnob_bar__plus_01_dot_34_bar__plus_00_dot_91_bar__minus_01_dot_24 loc_bar_5_bar__minus_3_bar_2_bar_60)\n (objectAtLocation StoveKnob_bar__plus_00_dot_96_bar__plus_00_dot_91_bar__minus_01_dot_24 loc_bar_4_bar__minus_3_bar_2_bar_60)\n (objectAtLocation Bread_bar__minus_01_dot_96_bar__plus_01_dot_00_bar__minus_00_dot_29 loc_bar__minus_11_bar__minus_4_bar_1_bar_45)\n (objectAtLocation Chair_bar__minus_02_dot_41_bar__plus_00_dot_57_bar__plus_00_dot_07 loc_bar__minus_11_bar_0_bar_1_bar_60)\n (objectAtLocation Chair_bar__minus_02_dot_47_bar__plus_00_dot_57_bar__minus_00_dot_80 loc_bar__minus_11_bar__minus_4_bar_1_bar_60)\n (objectAtLocation Vase_bar__minus_01_dot_96_bar__plus_00_dot_91_bar__minus_01_dot_59 loc_bar__minus_11_bar__minus_4_bar_1_bar_45)\n (objectAtLocation DishSponge_bar__plus_00_dot_12_bar__plus_00_dot_93_bar__minus_01_dot_72 loc_bar_0_bar__minus_3_bar_2_bar_45)\n (objectAtLocation Apple_bar__plus_00_dot_07_bar__plus_00_dot_98_bar__minus_01_dot_50 loc_bar_0_bar__minus_3_bar_2_bar_45)\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_52_bar__plus_00_dot_72_bar__minus_01_dot_44 loc_bar_1_bar__minus_2_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_02_dot_01_bar__plus_00_dot_12_bar__minus_01_dot_80 loc_bar__minus_12_bar__minus_5_bar_1_bar_60)\n (objectAtLocation Mug_bar__plus_01_dot_32_bar__plus_01_dot_76_bar__minus_01_dot_66 loc_bar_5_bar__minus_3_bar_2_bar_0)\n (objectAtLocation Statue_bar__plus_03_dot_68_bar__plus_00_dot_17_bar__plus_01_dot_41 loc_bar_13_bar_3_bar_0_bar_60)\n (objectAtLocation Statue_bar__plus_03_dot_67_bar__plus_00_dot_54_bar__plus_01_dot_80 loc_bar_10_bar_4_bar_1_bar_45)\n (objectAtLocation Bowl_bar__minus_02_dot_54_bar__plus_00_dot_87_bar__plus_03_dot_34 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 BreadType)\n (receptacleType ?r DiningTableType)\n (isCool ?o)\n (inReceptacle ?o ?r)\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to diningtable 1", "take bread 1 from diningtable 1", "go to fridge 1", "cool bread 1 with fridge 1", "go to diningtable 1", "move bread 1 to diningtable 1"]}
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alfworld__pick_cool_then_place_in_recep__9
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pick_cool_then_place_in_recep
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pick_cool_then_place_in_recep-Bread-None-DiningTable-7/trial_T20190908_003406_355799/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 cool bread in diningtable.\"\n }\n ],\n\n \"GotoLocation.feedback\": [\n {\n \"rhs\": \"You arrive at {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"OpenObject.feedback\": [\n {\n \"rhs\": \"You open the {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"CloseObject.feedback\": [\n {\n \"rhs\": \"You close the {r.name}.\"\n }\n ],\n\n \"PickupObject.feedback\": [\n {\n \"rhs\": \"You pick up the {o.name} from the {r.name}.\"\n }\n ],\n\n \"PickupObjectFromReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupObjectFromReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupEmptyReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupEmptyReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupFullReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupFullReceptacleObject: You pick up the {outerr.name}.\"\n }\n ],\n\n \"PutObject.feedback\": [\n {\n \"rhs\": \"You move the {o.name} to the {r.name}.\"\n }\n ],\n\n \"PutObjectInReceptacleObject.feedback\": [\n {\n \"rhs\": \"PutObjectInReceptacleObject: You put the {o.name} in the {outero.name}.\"\n }\n ],\n\n \"PutEmptyReceptacleObjectinReceptacle.feedback\": [\n {\n \"rhs\": \"PutEmptyReceptacleObjectinReceptacle: You put the {o.name} in the {r.name}.\"\n }\n ],\n\n \"PutFullReceptacleObjectInReceptacle.feedback\": [\n {\n \"rhs\": \"PutFullReceptacleObjectInReceptacle: You put the {outero.name} in the {r.name}.\"\n }\n ],\n\n \"inventory.feedback\": [\n {\n \"condition\": \"holdsany(a:agent)\",\n \"rhs\": \"You are carrying: [{o.indefinite + ' ' + o.name | holds(a:agent, o:object)}].\"\n },\n {\n \"rhs\": \"You are not carrying anything.\"\n }\n ],\n\n \"examineReceptacle.feedback\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \"The {r.name} is open. In it, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \"The {r.name} is closed.\"\n },\n {\n \"rhs\": \"On the {r.name}, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n }\n ],\n\n \"examineObject.feedback\": [\n {\n \"condition\": \"isreceptacleobject(o:object)\",\n \"rhs\": \"This is a normal {o.name}. In it, you see [{o2.indefinite + ' ' + o2.name | inreceptacleobject(o2:object, o:object)}].\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a clean sliced {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot sliced {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object)\",\n \"rhs\": \"This is a hot and clean {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object)\",\n \"rhs\": \"This is a cool and clean {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object)\",\n \"rhs\": \"This is a hot {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object)\",\n \"rhs\": \"This is a clean {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object)\",\n \"rhs\": \"This is a cold {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"This {o.name} is on.\"\n },\n {\n \"condition\": \"toggleable(o:object) & not_istoggled(o:object)\",\n \"rhs\": \"This {o.name} is off.\"\n },\n {\n \"condition\": \"sliceable(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a sliced {o.name}.\"\n },\n {\n \"rhs\": \"There's nothing special about {o.name}.\"\n }\n ]\n }\n\"\"\";\n\naction GotoLocation {\n template :: \"go to [{r.name | receptacleatlocation(r:receptacle, lend:location)}]\";\n feedback :: \"#GotoLocation.feedback#\";\n}\n\naction OpenObject {\n template :: \"open {r}\";\n feedback :: \"#OpenObject.feedback#\";\n}\n\naction CloseObject {\n template :: \"close {r}\";\n feedback :: \"#CloseObject.feedback#\";\n}\n\naction PickupObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObject.feedback#\";\n}\n\naction PickupObjectFromReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObjectFromReceptacleObject.feedback#\";\n}\n\naction PickupEmptyReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupEmptyReceptacleObject.feedback#\";\n}\n\naction PickupFullReceptacleObject {\n template :: \"take {outerr} from {r}\";\n feedback :: \"#PickupFullReceptacleObject.feedback#\";\n}\n\naction PutObject {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutObject.feedback#\";\n}\n\naction PutObjectInReceptacleObject {\n template :: \"put {o} into {outero}\";\n feedback :: \"#PutObjectInReceptacleObject.feedback#\";\n}\n\naction PutEmptyReceptacleObjectinReceptacle {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutEmptyReceptacleObjectinReceptacle.feedback#\";\n}\n\naction PutFullReceptacleObjectInReceptacle {\n template :: \"put {outero} in {r}\";\n feedback :: \"#PutFullReceptacleObjectInReceptacle.feedback#\";\n}\n\naction inventory {\n template :: \"inventory\";\n feedback :: \"#inventory.feedback#\";\n}\n\naction examineReceptacle {\n template :: \"examine {r}\";\n feedback :: \"#examineReceptacle.feedback#\";\n}\n\naction examineObject {\n template :: \"examine {o}\";\n feedback :: \"#examineObject.feedback#\";\n}\n\naction ToggleObject {\n template :: \"use {o}\";\n feedback :: \"#toggleObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"toggleObject.feedback\": [\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"You turn on the {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object)\",\n \"rhs\": \"You turn off the {o.name}.\"\n },\n {\n \"rhs\": \"You don't see any switch on the {o.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction HeatObject {\n template :: \"heat {o} with {r}\";\n feedback :: \"#heatObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"heatObject.feedback\": [\n {\n \"rhs\": \"You heat the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CleanObject {\n template :: \"clean {o} with {r}\";\n feedback :: \"#cleanObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"cleanObject.feedback\": [\n {\n \"rhs\": \"You clean the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CoolObject {\n template :: \"cool {o} with {r}\";\n feedback :: \"#coolObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"coolObject.feedback\": [\n {\n \"rhs\": \"You cool the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction SliceObject {\n template :: \"slice {co} with {ko}\";\n feedback :: \"#sliceObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"sliceObject.feedback\": [\n {\n \"rhs\": \"You sliced the {co.name} with the {ko.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction look {\n template :: \"look\";\n feedback :: \"#look.feedback#\";\n\n grammar :: \"\"\"\n {\n \"look.feedback\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"#look-variations#. Next to it, you see #list_objects_on_the_floor#.\"\n },\n {\n \"rhs\": \"You are in the middle of a room. Looking quickly around you, you see #list_appliances#.\"\n }\n ],\n\n \"look-variations\": [\n {\n \"rhs\": \"You are facing the [{r.name | atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)}]\"\n }\n ],\n\n \"list_objects_on_the_floor\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)\",\n \"rhs\": \"[{#overview(o)# | atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"list_appliances\": [\n {\n \"condition\": \"receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"[{#overview(r)# | receptacleatlocation(r:receptacle, l:location)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"overview(o, r)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name} (in/on the {r.name})}\"\n }\n ],\n\n \"overview(o)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name}\"\n }\n ],\n \"overview(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}\"\n }\n ],\n \"overview_with_state(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}#overview_state(r)#\"\n }\n ],\n \"overview_state(r)\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \" (it is open)\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \" (it is closed)\"\n },\n {\n \"rhs\": \"\"\n }\n ],\n\n \"list_empty\": [\n {\n \"rhs\": \"nothing\"\n }\n ],\n \"list_separator\": [\n {\n \"rhs\": \", \"\n }\n ],\n \"list_last_separator\": [\n {\n \"rhs\": \", and \"\n }\n ]\n }\n \"\"\";\n}\n\naction help {\n template :: \"help\";\n feedback :: \"\nAvailable commands:\n look: look around your current location\n inventory: check your current inventory\n go to (receptacle): move to a receptacle\n open (receptacle): open a receptacle\n close (receptacle): close a receptacle\n take (object) from (receptacle): take an object from a receptacle\n move (object) to (receptacle): place an object in or on a receptacle\n examine (something): examine a receptacle or an object\n use (object): use an object\n heat (object) with (receptacle): heat an object using a receptacle\n clean (object) with (receptacle): clean an object using a receptacle\n cool (object) with (receptacle): cool an object using a receptacle\n slice (object) with (object): slice an object using a sharp object\n\";\n}\n", "pddl_problem": "\n(define (problem plan_trial_T20190908_003406_355799)\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_85_bar__plus_00_dot_97_bar__plus_00_dot_36 - object\n Book_bar__minus_00_dot_94_bar__plus_01_dot_65_bar__minus_01_dot_71 - object\n Book_bar__minus_01_dot_65_bar__plus_00_dot_71_bar__minus_01_dot_00 - object\n Bowl_bar__minus_01_dot_65_bar__plus_00_dot_12_bar__minus_00_dot_92 - object\n Bowl_bar__minus_02_dot_30_bar__plus_00_dot_87_bar__plus_03_dot_58 - object\n Bread_bar__minus_01_dot_60_bar__plus_00_dot_98_bar__minus_00_dot_84 - object\n Bread_bar__minus_02_dot_81_bar__plus_00_dot_96_bar__plus_03_dot_73 - object\n ButterKnife_bar__minus_01_dot_85_bar__plus_00_dot_91_bar__plus_00_dot_04 - object\n ButterKnife_bar__minus_02_dot_49_bar__plus_00_dot_88_bar__plus_03_dot_15 - object\n ButterKnife_bar__minus_03_dot_00_bar__plus_00_dot_87_bar__plus_03_dot_15 - 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_79 - object\n Cup_bar__minus_01_dot_96_bar__plus_00_dot_91_bar__minus_00_dot_94 - object\n DishSponge_bar__plus_00_dot_23_bar__plus_00_dot_93_bar__minus_01_dot_79 - object\n DishSponge_bar__plus_01_dot_72_bar__plus_00_dot_91_bar__minus_01_dot_35 - object\n Egg_bar__minus_00_dot_04_bar__plus_00_dot_83_bar__plus_02_dot_02 - object\n Faucet_bar__minus_00_dot_19_bar__plus_00_dot_92_bar__minus_01_dot_75 - object\n Fork_bar__plus_00_dot_12_bar__plus_00_dot_93_bar__minus_01_dot_57 - object\n Fork_bar__minus_02_dot_66_bar__plus_00_dot_88_bar__plus_03_dot_37 - object\n HousePlant_bar__minus_02_dot_74_bar__plus_00_dot_87_bar__plus_03_dot_21 - object\n Kettle_bar__plus_00_dot_97_bar__plus_00_dot_96_bar__minus_01_dot_42 - object\n Kettle_bar__minus_01_dot_39_bar__plus_01_dot_66_bar__minus_01_dot_71 - object\n Knife_bar__minus_01_dot_85_bar__plus_00_dot_93_bar__minus_00_dot_61 - object\n Knife_bar__minus_01_dot_95_bar__plus_00_dot_74_bar__minus_01_dot_44 - object\n Lettuce_bar__plus_00_dot_08_bar__plus_00_dot_87_bar__plus_02_dot_19 - object\n Lettuce_bar__plus_00_dot_08_bar__plus_01_dot_64_bar__plus_02_dot_10 - object\n Lettuce_bar__minus_02_dot_59_bar__plus_00_dot_94_bar__plus_03_dot_05 - object\n LightSwitch_bar__plus_02_dot_83_bar__plus_01_dot_27_bar__minus_00_dot_75 - object\n Mug_bar__minus_01_dot_11_bar__plus_00_dot_96_bar__minus_01_dot_48 - object\n Mug_bar__minus_02_dot_42_bar__plus_00_dot_87_bar__plus_02_dot_98 - object\n Pan_bar__plus_00_dot_97_bar__plus_00_dot_96_bar__minus_01_dot_69 - object\n PepperShaker_bar__plus_01_dot_62_bar__plus_00_dot_72_bar__minus_01_dot_38 - object\n PepperShaker_bar__minus_02_dot_81_bar__plus_00_dot_87_bar__plus_02_dot_88 - object\n PepperShaker_bar__minus_03_dot_06_bar__plus_00_dot_87_bar__plus_03_dot_30 - object\n Plate_bar__minus_00_dot_26_bar__plus_01_dot_58_bar__plus_02_dot_04 - object\n 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(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 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(openable Cabinet_bar__plus_01_dot_45_bar__plus_02_dot_26_bar__minus_01_dot_54)\n (openable Cabinet_bar__minus_01_dot_67_bar__plus_02_dot_01_bar__minus_01_dot_54)\n (openable Cabinet_bar__plus_01_dot_78_bar__plus_02_dot_01_bar__minus_01_dot_54)\n (openable Drawer_bar__plus_01_dot_65_bar__plus_00_dot_68_bar__minus_01_dot_40)\n (openable Cabinet_bar__minus_02_dot_17_bar__plus_02_dot_01_bar__minus_01_dot_54)\n (openable Cabinet_bar__plus_01_dot_78_bar__plus_00_dot_37_bar__minus_01_dot_24)\n (openable Cabinet_bar__plus_00_dot_85_bar__plus_02_dot_26_bar__minus_01_dot_54)\n (openable Drawer_bar__minus_01_dot_64_bar__plus_00_dot_68_bar__minus_00_dot_93)\n (openable Cabinet_bar__minus_01_dot_48_bar__plus_00_dot_37_bar__minus_01_dot_24)\n (openable Cabinet_bar__minus_00_dot_57_bar__plus_00_dot_37_bar__minus_01_dot_24)\n (openable Cabinet_bar__plus_00_dot_52_bar__plus_02_dot_01_bar__minus_01_dot_54)\n \n (atLocation agent1 loc_bar_10_bar_0_bar_0_bar_30)\n \n (cleanable 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Potato_bar__plus_00_dot_29_bar__plus_00_dot_97_bar__minus_01_dot_36)\n (cleanable Lettuce_bar__minus_02_dot_59_bar__plus_00_dot_94_bar__plus_03_dot_05)\n (cleanable DishSponge_bar__plus_00_dot_23_bar__plus_00_dot_93_bar__minus_01_dot_79)\n (cleanable Knife_bar__minus_01_dot_85_bar__plus_00_dot_93_bar__minus_00_dot_61)\n (cleanable Mug_bar__minus_02_dot_42_bar__plus_00_dot_87_bar__plus_02_dot_98)\n (cleanable Kettle_bar__minus_01_dot_39_bar__plus_01_dot_66_bar__minus_01_dot_71)\n (cleanable Potato_bar__plus_00_dot_48_bar__plus_00_dot_95_bar__minus_01_dot_78)\n (cleanable Pot_bar__plus_01_dot_33_bar__plus_00_dot_96_bar__minus_01_dot_42)\n (cleanable ButterKnife_bar__minus_03_dot_00_bar__plus_00_dot_87_bar__plus_03_dot_15)\n (cleanable ButterKnife_bar__minus_02_dot_49_bar__plus_00_dot_88_bar__plus_03_dot_15)\n \n (heatable Cup_bar__plus_00_dot_01_bar__plus_00_dot_93_bar__minus_01_dot_79)\n (heatable Plate_bar__minus_00_dot_26_bar__plus_01_dot_58_bar__plus_02_dot_04)\n (heatable Apple_bar__minus_01_dot_85_bar__plus_00_dot_97_bar__plus_00_dot_36)\n (heatable Mug_bar__minus_01_dot_11_bar__plus_00_dot_96_bar__minus_01_dot_48)\n (heatable Egg_bar__minus_00_dot_04_bar__plus_00_dot_83_bar__plus_02_dot_02)\n (heatable Cup_bar__minus_01_dot_96_bar__plus_00_dot_91_bar__minus_00_dot_94)\n (heatable Plate_bar__minus_00_dot_33_bar__plus_00_dot_71_bar__minus_01_dot_57)\n (heatable Bread_bar__minus_02_dot_81_bar__plus_00_dot_96_bar__plus_03_dot_73)\n (heatable Tomato_bar__minus_03_dot_17_bar__plus_00_dot_92_bar__plus_03_dot_37)\n (heatable Plate_bar__minus_02_dot_73_bar__plus_00_dot_88_bar__plus_02_dot_72)\n (heatable Potato_bar__plus_00_dot_29_bar__plus_00_dot_97_bar__minus_01_dot_36)\n (heatable Mug_bar__minus_02_dot_42_bar__plus_00_dot_87_bar__plus_02_dot_98)\n (heatable Bread_bar__minus_01_dot_60_bar__plus_00_dot_98_bar__minus_00_dot_84)\n (heatable Potato_bar__plus_00_dot_48_bar__plus_00_dot_95_bar__minus_01_dot_78)\n (coolable 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Plate_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_03_dot_73)\n (coolable Bowl_bar__minus_02_dot_30_bar__plus_00_dot_87_bar__plus_03_dot_58)\n (coolable Tomato_bar__minus_03_dot_17_bar__plus_00_dot_92_bar__plus_03_dot_37)\n (coolable Plate_bar__minus_02_dot_73_bar__plus_00_dot_88_bar__plus_02_dot_72)\n (coolable Potato_bar__plus_00_dot_29_bar__plus_00_dot_97_bar__minus_01_dot_36)\n (coolable Lettuce_bar__minus_02_dot_59_bar__plus_00_dot_94_bar__plus_03_dot_05)\n (coolable Mug_bar__minus_02_dot_42_bar__plus_00_dot_87_bar__plus_02_dot_98)\n (coolable Bread_bar__minus_01_dot_60_bar__plus_00_dot_98_bar__minus_00_dot_84)\n (coolable Potato_bar__plus_00_dot_48_bar__plus_00_dot_95_bar__minus_01_dot_78)\n (coolable Pot_bar__plus_01_dot_33_bar__plus_00_dot_96_bar__minus_01_dot_42)\n \n \n \n \n \n (sliceable Lettuce_bar__plus_00_dot_08_bar__plus_00_dot_87_bar__plus_02_dot_19)\n (sliceable Apple_bar__minus_01_dot_85_bar__plus_00_dot_97_bar__plus_00_dot_36)\n (sliceable Lettuce_bar__plus_00_dot_08_bar__plus_01_dot_64_bar__plus_02_dot_10)\n (sliceable Egg_bar__minus_00_dot_04_bar__plus_00_dot_83_bar__plus_02_dot_02)\n (sliceable Bread_bar__minus_02_dot_81_bar__plus_00_dot_96_bar__plus_03_dot_73)\n (sliceable Tomato_bar__minus_03_dot_17_bar__plus_00_dot_92_bar__plus_03_dot_37)\n (sliceable Potato_bar__plus_00_dot_29_bar__plus_00_dot_97_bar__minus_01_dot_36)\n (sliceable Lettuce_bar__minus_02_dot_59_bar__plus_00_dot_94_bar__plus_03_dot_05)\n (sliceable Bread_bar__minus_01_dot_60_bar__plus_00_dot_98_bar__minus_00_dot_84)\n (sliceable Potato_bar__plus_00_dot_48_bar__plus_00_dot_95_bar__minus_01_dot_78)\n \n (inReceptacle SoapBottle_bar__minus_01_dot_95_bar__plus_01_dot_66_bar__minus_01_dot_71 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_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 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 ButterKnife_bar__minus_01_dot_85_bar__plus_00_dot_91_bar__plus_00_dot_04 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_85_bar__plus_00_dot_97_bar__plus_00_dot_36 CounterTop_bar__minus_01_dot_87_bar__plus_00_dot_95_bar__minus_00_dot_61)\n (inReceptacle Bread_bar__minus_01_dot_60_bar__plus_00_dot_98_bar__minus_00_dot_84 CounterTop_bar__minus_01_dot_87_bar__plus_00_dot_95_bar__minus_00_dot_61)\n (inReceptacle Potato_bar__plus_00_dot_48_bar__plus_00_dot_95_bar__minus_01_dot_78 CounterTop_bar__minus_01_dot_87_bar__plus_00_dot_95_bar__minus_00_dot_61)\n (inReceptacle Cup_bar__minus_01_dot_96_bar__plus_00_dot_91_bar__minus_00_dot_94 CounterTop_bar__minus_01_dot_87_bar__plus_00_dot_95_bar__minus_00_dot_61)\n (inReceptacle Vase_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 SaltShaker_bar__minus_01_dot_94_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 Spoon_bar__minus_02_dot_32_bar__plus_00_dot_88_bar__plus_03_dot_36 DiningTable_bar__minus_02_dot_66_bar__plus_00_dot_83_bar__plus_03_dot_21)\n (inReceptacle Bowl_bar__minus_02_dot_30_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 ButterKnife_bar__minus_03_dot_00_bar__plus_00_dot_87_bar__plus_03_dot_15 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_03_dot_73 DiningTable_bar__minus_02_dot_66_bar__plus_00_dot_83_bar__plus_03_dot_21)\n (inReceptacle Tomato_bar__minus_03_dot_17_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 WineBottle_bar__minus_02_dot_51_bar__plus_00_dot_88_bar__plus_03_dot_56 DiningTable_bar__minus_02_dot_66_bar__plus_00_dot_83_bar__plus_03_dot_21)\n (inReceptacle Statue_bar__minus_02_dot_25_bar__plus_00_dot_89_bar__plus_02_dot_92 DiningTable_bar__minus_02_dot_66_bar__plus_00_dot_83_bar__plus_03_dot_21)\n (inReceptacle Plate_bar__minus_02_dot_73_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 Vase_bar__minus_02_dot_41_bar__plus_00_dot_88_bar__plus_02_dot_76 DiningTable_bar__minus_02_dot_66_bar__plus_00_dot_83_bar__plus_03_dot_21)\n (inReceptacle Spatula_bar__minus_02_dot_83_bar__plus_00_dot_89_bar__plus_03_dot_00 DiningTable_bar__minus_02_dot_66_bar__plus_00_dot_83_bar__plus_03_dot_21)\n (inReceptacle Lettuce_bar__minus_02_dot_59_bar__plus_00_dot_94_bar__plus_03_dot_05 DiningTable_bar__minus_02_dot_66_bar__plus_00_dot_83_bar__plus_03_dot_21)\n (inReceptacle Mug_bar__minus_02_dot_42_bar__plus_00_dot_87_bar__plus_02_dot_98 DiningTable_bar__minus_02_dot_66_bar__plus_00_dot_83_bar__plus_03_dot_21)\n (inReceptacle HousePlant_bar__minus_02_dot_74_bar__plus_00_dot_87_bar__plus_03_dot_21 DiningTable_bar__minus_02_dot_66_bar__plus_00_dot_83_bar__plus_03_dot_21)\n (inReceptacle PepperShaker_bar__minus_02_dot_81_bar__plus_00_dot_87_bar__plus_02_dot_88 DiningTable_bar__minus_02_dot_66_bar__plus_00_dot_83_bar__plus_03_dot_21)\n (inReceptacle Fork_bar__minus_02_dot_66_bar__plus_00_dot_88_bar__plus_03_dot_37 DiningTable_bar__minus_02_dot_66_bar__plus_00_dot_83_bar__plus_03_dot_21)\n (inReceptacle PepperShaker_bar__minus_03_dot_06_bar__plus_00_dot_87_bar__plus_03_dot_30 DiningTable_bar__minus_02_dot_66_bar__plus_00_dot_83_bar__plus_03_dot_21)\n (inReceptacle ButterKnife_bar__minus_02_dot_49_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 Pot_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__minus_01_dot_65_bar__plus_00_dot_12_bar__minus_00_dot_92 Cabinet_bar__minus_01_dot_48_bar__plus_00_dot_37_bar__minus_01_dot_24)\n (inReceptacle SoapBottle_bar__plus_00_dot_26_bar__plus_00_dot_11_bar__minus_01_dot_49 Cabinet_bar__plus_00_dot_38_bar__plus_00_dot_37_bar__minus_01_dot_24)\n (inReceptacle WineBottle_bar__plus_00_dot_60_bar__plus_01_dot_65_bar__minus_01_dot_71 Cabinet_bar__plus_00_dot_52_bar__plus_02_dot_01_bar__minus_01_dot_54)\n (inReceptacle Book_bar__minus_00_dot_94_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 Kettle_bar__minus_01_dot_39_bar__plus_01_dot_66_bar__minus_01_dot_71 Cabinet_bar__minus_01_dot_67_bar__plus_02_dot_01_bar__minus_01_dot_54)\n (inReceptacle Book_bar__minus_01_dot_65_bar__plus_00_dot_71_bar__minus_01_dot_00 Drawer_bar__minus_01_dot_64_bar__plus_00_dot_68_bar__minus_00_dot_93)\n (inReceptacle PepperShaker_bar__plus_01_dot_62_bar__plus_00_dot_72_bar__minus_01_dot_38 Drawer_bar__plus_01_dot_65_bar__plus_00_dot_68_bar__minus_01_dot_40)\n (inReceptacle Kettle_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_05_bar__plus_00_dot_73_bar__minus_01_dot_44 Drawer_bar__minus_02_dot_06_bar__plus_00_dot_68_bar__minus_01_dot_58)\n (inReceptacle Knife_bar__minus_01_dot_95_bar__plus_00_dot_74_bar__minus_01_dot_44 Drawer_bar__minus_02_dot_06_bar__plus_00_dot_68_bar__minus_01_dot_58)\n (inReceptacle DishSponge_bar__plus_01_dot_72_bar__plus_00_dot_91_bar__minus_01_dot_35 CounterTop_bar__plus_01_dot_65_bar__plus_00_dot_95_bar__minus_01_dot_53)\n (inReceptacle SaltShaker_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 SaltShaker_bar__plus_03_dot_72_bar__plus_00_dot_88_bar__plus_01_dot_55 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 Vase_bar__plus_03_dot_59_bar__plus_00_dot_55_bar__plus_01_dot_35 Shelf_bar__plus_03_dot_69_bar__plus_00_dot_54_bar__plus_01_dot_64)\n (inReceptacle Egg_bar__minus_00_dot_04_bar__plus_00_dot_83_bar__plus_02_dot_02 Fridge_bar__minus_00_dot_04_bar__plus_00_dot_00_bar__plus_02_dot_18)\n (inReceptacle Lettuce_bar__plus_00_dot_08_bar__plus_00_dot_87_bar__plus_02_dot_19 Fridge_bar__minus_00_dot_04_bar__plus_00_dot_00_bar__plus_02_dot_18)\n (inReceptacle Lettuce_bar__plus_00_dot_08_bar__plus_01_dot_64_bar__plus_02_dot_10 Fridge_bar__minus_00_dot_04_bar__plus_00_dot_00_bar__plus_02_dot_18)\n (inReceptacle Plate_bar__minus_00_dot_26_bar__plus_01_dot_58_bar__plus_02_dot_04 Fridge_bar__minus_00_dot_04_bar__plus_00_dot_00_bar__plus_02_dot_18)\n (inReceptacle Plate_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 SoapBottle_bar__minus_00_dot_90_bar__plus_00_dot_19_bar__plus_02_dot_10 GarbageCan_bar__minus_00_dot_87_bar__plus_00_dot_00_bar__plus_02_dot_14)\n (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_01_dot_65_bar__plus_00_dot_12_bar__minus_00_dot_92 loc_bar__minus_2_bar__minus_2_bar_3_bar_60)\n (objectAtLocation 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 Mug_bar__minus_01_dot_11_bar__plus_00_dot_96_bar__minus_01_dot_48 loc_bar__minus_4_bar__minus_3_bar_2_bar_45)\n (objectAtLocation SoapBottle_bar__minus_00_dot_90_bar__plus_00_dot_19_bar__plus_02_dot_10 loc_bar__minus_5_bar_9_bar_1_bar_60)\n (objectAtLocation Spoon_bar__minus_02_dot_32_bar__plus_00_dot_88_bar__plus_03_dot_36 loc_bar__minus_11_bar_8_bar_0_bar_30)\n (objectAtLocation DishSponge_bar__plus_01_dot_72_bar__plus_00_dot_91_bar__minus_01_dot_35 loc_bar_5_bar__minus_3_bar_2_bar_45)\n (objectAtLocation Vase_bar__minus_02_dot_41_bar__plus_00_dot_88_bar__plus_02_dot_76 loc_bar__minus_11_bar_8_bar_0_bar_30)\n (objectAtLocation Bread_bar__minus_01_dot_60_bar__plus_00_dot_98_bar__minus_00_dot_84 loc_bar__minus_11_bar__minus_4_bar_1_bar_45)\n (objectAtLocation ButterKnife_bar__minus_02_dot_49_bar__plus_00_dot_88_bar__plus_03_dot_15 loc_bar__minus_11_bar_8_bar_0_bar_30)\n (objectAtLocation Lettuce_bar__plus_00_dot_08_bar__plus_01_dot_64_bar__plus_02_dot_10 loc_bar_0_bar_5_bar_0_bar_60)\n (objectAtLocation PepperShaker_bar__minus_02_dot_81_bar__plus_00_dot_87_bar__plus_02_dot_88 loc_bar__minus_11_bar_8_bar_0_bar_30)\n (objectAtLocation SaltShaker_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 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__plus_00_dot_48_bar__plus_00_dot_95_bar__minus_01_dot_78 loc_bar__minus_11_bar__minus_4_bar_1_bar_45)\n (objectAtLocation Spatula_bar__minus_02_dot_05_bar__plus_00_dot_73_bar__minus_01_dot_44 loc_bar__minus_13_bar__minus_5_bar_1_bar_45)\n (objectAtLocation Plate_bar__minus_02_dot_73_bar__plus_00_dot_88_bar__plus_02_dot_72 loc_bar__minus_11_bar_8_bar_0_bar_30)\n (objectAtLocation WineBottle_bar__minus_02_dot_51_bar__plus_00_dot_88_bar__plus_03_dot_56 loc_bar__minus_11_bar_8_bar_0_bar_30)\n (objectAtLocation Cup_bar__minus_01_dot_96_bar__plus_00_dot_91_bar__minus_00_dot_94 loc_bar__minus_11_bar__minus_4_bar_1_bar_45)\n (objectAtLocation Kettle_bar__minus_01_dot_39_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_02_dot_66_bar__plus_00_dot_88_bar__plus_03_dot_37 loc_bar__minus_11_bar_8_bar_0_bar_30)\n (objectAtLocation Book_bar__minus_01_dot_65_bar__plus_00_dot_71_bar__minus_01_dot_00 loc_bar__minus_2_bar__minus_2_bar_3_bar_45)\n (objectAtLocation Lettuce_bar__minus_02_dot_59_bar__plus_00_dot_94_bar__plus_03_dot_05 loc_bar__minus_11_bar_8_bar_0_bar_30)\n (objectAtLocation PepperShaker_bar__plus_01_dot_62_bar__plus_00_dot_72_bar__minus_01_dot_38 loc_bar_7_bar__minus_1_bar_2_bar_45)\n (objectAtLocation SaltShaker_bar__plus_03_dot_72_bar__plus_00_dot_88_bar__plus_01_dot_55 loc_bar_12_bar_2_bar_0_bar_30)\n (objectAtLocation SoapBottle_bar__plus_00_dot_26_bar__plus_00_dot_11_bar__minus_01_dot_49 loc_bar__minus_1_bar__minus_1_bar_2_bar_45)\n (objectAtLocation Plate_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 ButterKnife_bar__minus_01_dot_85_bar__plus_00_dot_91_bar__plus_00_dot_04 loc_bar__minus_11_bar__minus_4_bar_1_bar_45)\n (objectAtLocation Book_bar__minus_00_dot_94_bar__plus_01_dot_65_bar__minus_01_dot_71 loc_bar__minus_4_bar__minus_3_bar_2_bar__minus_30)\n (objectAtLocation Sink_bar__plus_00_dot_02_bar__plus_00_dot_77_bar__minus_01_dot_71 loc_bar__minus_11_bar__minus_4_bar_1_bar_45)\n (objectAtLocation Fork_bar__plus_00_dot_12_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_03_dot_17_bar__plus_00_dot_92_bar__plus_03_dot_37 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_02_dot_02 loc_bar_0_bar_5_bar_0_bar_60)\n (objectAtLocation Kettle_bar__plus_00_dot_97_bar__plus_00_dot_96_bar__minus_01_dot_42 loc_bar_4_bar__minus_3_bar_2_bar_45)\n (objectAtLocation Vase_bar__plus_03_dot_59_bar__plus_00_dot_55_bar__plus_01_dot_35 loc_bar_10_bar_4_bar_1_bar_45)\n (objectAtLocation Cup_bar__plus_00_dot_01_bar__plus_00_dot_93_bar__minus_01_dot_79 loc_bar_0_bar__minus_3_bar_2_bar_45)\n (objectAtLocation Window_bar__minus_00_dot_12_bar__plus_01_dot_80_bar__minus_01_dot_90 loc_bar_0_bar__minus_3_bar_2_bar__minus_15)\n (objectAtLocation Window_bar__minus_04_dot_01_bar__plus_01_dot_80_bar__plus_00_dot_31 loc_bar__minus_14_bar_1_bar_3_bar__minus_15)\n (objectAtLocation WineBottle_bar__plus_00_dot_60_bar__plus_01_dot_65_bar__minus_01_dot_71 loc_bar_4_bar__minus_3_bar_2_bar__minus_30)\n (objectAtLocation Plate_bar__minus_00_dot_26_bar__plus_01_dot_58_bar__plus_02_dot_04 loc_bar_0_bar_5_bar_0_bar_60)\n (objectAtLocation Spatula_bar__minus_02_dot_83_bar__plus_00_dot_89_bar__plus_03_dot_00 loc_bar__minus_11_bar_8_bar_0_bar_30)\n (objectAtLocation Potato_bar__plus_00_dot_29_bar__plus_00_dot_97_bar__minus_01_dot_36 loc_bar_0_bar__minus_3_bar_2_bar_45)\n (objectAtLocation Pot_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 Knife_bar__minus_01_dot_95_bar__plus_00_dot_74_bar__minus_01_dot_44 loc_bar__minus_13_bar__minus_5_bar_1_bar_45)\n (objectAtLocation SaltShaker_bar__minus_01_dot_94_bar__plus_00_dot_12_bar__minus_01_dot_43 loc_bar__minus_12_bar__minus_5_bar_1_bar_60)\n (objectAtLocation PepperShaker_bar__minus_03_dot_06_bar__plus_00_dot_87_bar__plus_03_dot_30 loc_bar__minus_11_bar_8_bar_0_bar_30)\n (objectAtLocation Lettuce_bar__plus_00_dot_08_bar__plus_00_dot_87_bar__plus_02_dot_19 loc_bar_0_bar_5_bar_0_bar_60)\n (objectAtLocation ButterKnife_bar__minus_03_dot_00_bar__plus_00_dot_87_bar__plus_03_dot_15 loc_bar__minus_11_bar_8_bar_0_bar_30)\n (objectAtLocation 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_03_dot_73 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_05_bar__plus_00_dot_12_bar__minus_01_dot_58 loc_bar__minus_12_bar__minus_5_bar_1_bar_60)\n (objectAtLocation DishSponge_bar__plus_00_dot_23_bar__plus_00_dot_93_bar__minus_01_dot_79 loc_bar_0_bar__minus_3_bar_2_bar_45)\n (objectAtLocation Apple_bar__minus_01_dot_85_bar__plus_00_dot_97_bar__plus_00_dot_36 loc_bar__minus_11_bar__minus_4_bar_1_bar_45)\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_18_bar__plus_00_dot_93_bar__minus_01_dot_43 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_95_bar__plus_01_dot_66_bar__minus_01_dot_71 loc_bar__minus_11_bar__minus_5_bar_1_bar__minus_30)\n (objectAtLocation Mug_bar__minus_02_dot_42_bar__plus_00_dot_87_bar__plus_02_dot_98 loc_bar__minus_11_bar_8_bar_0_bar_30)\n (objectAtLocation Statue_bar__minus_02_dot_25_bar__plus_00_dot_89_bar__plus_02_dot_92 loc_bar__minus_11_bar_8_bar_0_bar_30)\n (objectAtLocation Statue_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 Bowl_bar__minus_02_dot_30_bar__plus_00_dot_87_bar__plus_03_dot_58 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 BreadType)\n (receptacleType ?r DiningTableType)\n (isCool ?o)\n (inReceptacle ?o ?r)\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to diningtable 1", "take bread 1 from diningtable 1", "go to fridge 1", "cool bread 1 with fridge 1", "go to diningtable 1", "move bread 1 to diningtable 1"]}
|
alfworld__pick_heat_then_place_in_recep__6
|
pick_heat_then_place_in_recep
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pick_heat_then_place_in_recep-Cup-None-Fridge-13/trial_T20190908_070533_944479/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 fridge.\"\n }\n ],\n\n \"GotoLocation.feedback\": [\n {\n \"rhs\": \"You arrive at {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"OpenObject.feedback\": [\n {\n \"rhs\": \"You open the {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"CloseObject.feedback\": [\n {\n \"rhs\": \"You close the {r.name}.\"\n }\n ],\n\n \"PickupObject.feedback\": [\n {\n \"rhs\": \"You pick up the {o.name} from the {r.name}.\"\n }\n ],\n\n \"PickupObjectFromReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupObjectFromReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupEmptyReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupEmptyReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupFullReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupFullReceptacleObject: You pick up the {outerr.name}.\"\n }\n ],\n\n \"PutObject.feedback\": [\n {\n \"rhs\": \"You move the {o.name} to the {r.name}.\"\n }\n ],\n\n \"PutObjectInReceptacleObject.feedback\": [\n {\n \"rhs\": \"PutObjectInReceptacleObject: You put the {o.name} in the {outero.name}.\"\n }\n ],\n\n \"PutEmptyReceptacleObjectinReceptacle.feedback\": [\n {\n \"rhs\": \"PutEmptyReceptacleObjectinReceptacle: You put the {o.name} in the {r.name}.\"\n }\n ],\n\n \"PutFullReceptacleObjectInReceptacle.feedback\": [\n {\n \"rhs\": \"PutFullReceptacleObjectInReceptacle: You put the {outero.name} in the {r.name}.\"\n }\n ],\n\n \"inventory.feedback\": [\n {\n \"condition\": \"holdsany(a:agent)\",\n \"rhs\": \"You are carrying: [{o.indefinite + ' ' + o.name | holds(a:agent, o:object)}].\"\n },\n {\n \"rhs\": \"You are not carrying anything.\"\n }\n ],\n\n \"examineReceptacle.feedback\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \"The {r.name} is open. In it, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \"The {r.name} is closed.\"\n },\n {\n \"rhs\": \"On the {r.name}, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n }\n ],\n\n \"examineObject.feedback\": [\n {\n \"condition\": \"isreceptacleobject(o:object)\",\n \"rhs\": \"This is a normal {o.name}. In it, you see [{o2.indefinite + ' ' + o2.name | inreceptacleobject(o2:object, o:object)}].\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a clean sliced {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot sliced {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object)\",\n \"rhs\": \"This is a hot and clean {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object)\",\n \"rhs\": \"This is a cool and clean {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object)\",\n \"rhs\": \"This is a hot {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object)\",\n \"rhs\": \"This is a clean {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object)\",\n \"rhs\": \"This is a cold {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"This {o.name} is on.\"\n },\n {\n \"condition\": \"toggleable(o:object) & not_istoggled(o:object)\",\n \"rhs\": \"This {o.name} is off.\"\n },\n {\n \"condition\": \"sliceable(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a sliced {o.name}.\"\n },\n {\n \"rhs\": \"There's nothing special about {o.name}.\"\n }\n ]\n }\n\"\"\";\n\naction GotoLocation {\n template :: \"go to [{r.name | receptacleatlocation(r:receptacle, lend:location)}]\";\n feedback :: \"#GotoLocation.feedback#\";\n}\n\naction OpenObject {\n template :: \"open {r}\";\n feedback :: \"#OpenObject.feedback#\";\n}\n\naction CloseObject {\n template :: \"close {r}\";\n feedback :: \"#CloseObject.feedback#\";\n}\n\naction PickupObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObject.feedback#\";\n}\n\naction PickupObjectFromReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObjectFromReceptacleObject.feedback#\";\n}\n\naction PickupEmptyReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupEmptyReceptacleObject.feedback#\";\n}\n\naction PickupFullReceptacleObject {\n template :: \"take {outerr} from {r}\";\n feedback :: \"#PickupFullReceptacleObject.feedback#\";\n}\n\naction PutObject {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutObject.feedback#\";\n}\n\naction PutObjectInReceptacleObject {\n template :: \"put {o} into {outero}\";\n feedback :: \"#PutObjectInReceptacleObject.feedback#\";\n}\n\naction PutEmptyReceptacleObjectinReceptacle {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutEmptyReceptacleObjectinReceptacle.feedback#\";\n}\n\naction PutFullReceptacleObjectInReceptacle {\n template :: \"put {outero} in {r}\";\n feedback :: \"#PutFullReceptacleObjectInReceptacle.feedback#\";\n}\n\naction inventory {\n template :: \"inventory\";\n feedback :: \"#inventory.feedback#\";\n}\n\naction examineReceptacle {\n template :: \"examine {r}\";\n feedback :: \"#examineReceptacle.feedback#\";\n}\n\naction examineObject {\n template :: \"examine {o}\";\n feedback :: \"#examineObject.feedback#\";\n}\n\naction ToggleObject {\n template :: \"use {o}\";\n feedback :: \"#toggleObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"toggleObject.feedback\": [\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"You turn on the {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object)\",\n \"rhs\": \"You turn off the {o.name}.\"\n },\n {\n \"rhs\": \"You don't see any switch on the {o.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction HeatObject {\n template :: \"heat {o} with {r}\";\n feedback :: \"#heatObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"heatObject.feedback\": [\n {\n \"rhs\": \"You heat the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CleanObject {\n template :: \"clean {o} with {r}\";\n feedback :: \"#cleanObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"cleanObject.feedback\": [\n {\n \"rhs\": \"You clean the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CoolObject {\n template :: \"cool {o} with {r}\";\n feedback :: \"#coolObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"coolObject.feedback\": [\n {\n \"rhs\": \"You cool the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction SliceObject {\n template :: \"slice {co} with {ko}\";\n feedback :: \"#sliceObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"sliceObject.feedback\": [\n {\n \"rhs\": \"You sliced the {co.name} with the {ko.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction look {\n template :: \"look\";\n feedback :: \"#look.feedback#\";\n\n grammar :: \"\"\"\n {\n \"look.feedback\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"#look-variations#. Next to it, you see #list_objects_on_the_floor#.\"\n },\n {\n \"rhs\": \"You are in the middle of a room. Looking quickly around you, you see #list_appliances#.\"\n }\n ],\n\n \"look-variations\": [\n {\n \"rhs\": \"You are facing the [{r.name | atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)}]\"\n }\n ],\n\n \"list_objects_on_the_floor\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)\",\n \"rhs\": \"[{#overview(o)# | atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"list_appliances\": [\n {\n \"condition\": \"receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"[{#overview(r)# | receptacleatlocation(r:receptacle, l:location)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"overview(o, r)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name} (in/on the {r.name})}\"\n }\n ],\n\n \"overview(o)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name}\"\n }\n ],\n \"overview(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}\"\n }\n ],\n \"overview_with_state(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}#overview_state(r)#\"\n }\n ],\n \"overview_state(r)\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \" (it is open)\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \" (it is closed)\"\n },\n {\n \"rhs\": \"\"\n }\n ],\n\n \"list_empty\": [\n {\n \"rhs\": \"nothing\"\n }\n ],\n \"list_separator\": [\n {\n \"rhs\": \", \"\n }\n ],\n \"list_last_separator\": [\n {\n \"rhs\": \", and \"\n }\n ]\n }\n \"\"\";\n}\n\naction help {\n template :: \"help\";\n feedback :: \"\nAvailable commands:\n look: look around your current location\n inventory: check your current inventory\n go to (receptacle): move to a receptacle\n open (receptacle): open a receptacle\n close (receptacle): close a receptacle\n take (object) from (receptacle): take an object from a receptacle\n move (object) to (receptacle): place an object in or on a receptacle\n examine (something): examine a receptacle or an object\n use (object): use an object\n heat (object) with (receptacle): heat an object using a receptacle\n clean (object) with (receptacle): clean an object using a receptacle\n cool (object) with (receptacle): cool an object using a receptacle\n slice (object) with (object): slice an object using a sharp object\n\";\n}\n", "pddl_problem": "\n(define (problem plan_trial_T20190908_070533_944479)\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_22_bar__plus_01_dot_39_bar__plus_03_dot_60 - object\n Apple_bar__minus_03_dot_68_bar__plus_00_dot_12_bar__plus_06_dot_46 - object\n Apple_bar__minus_03_dot_71_bar__plus_00_dot_12_bar__plus_06_dot_29 - object\n Bowl_bar__minus_04_dot_09_bar__plus_00_dot_07_bar__plus_04_dot_51 - object\n Bread_bar__minus_00_dot_33_bar__plus_01_dot_00_bar__plus_05_dot_27 - object\n Bread_bar__minus_01_dot_78_bar__plus_01_dot_00_bar__plus_01_dot_80 - object\n ButterKnife_bar__minus_04_dot_20_bar__plus_00_dot_79_bar__plus_03_dot_35 - object\n Cup_bar__minus_00_dot_41_bar__plus_00_dot_92_bar__plus_05_dot_60 - object\n Curtains_bar__minus_04_dot_52_bar__plus_02_dot_25_bar__plus_03_dot_39 - object\n DishSponge_bar__minus_00_dot_23_bar__plus_02_dot_13_bar__plus_04_dot_55 - object\n DishSponge_bar__minus_04_dot_10_bar__plus_00_dot_08_bar__plus_03_dot_47 - object\n DishSponge_bar__minus_04_dot_16_bar__plus_00_dot_79_bar__plus_03_dot_41 - object\n Egg_bar__minus_00_dot_22_bar__plus_01_dot_62_bar__plus_03_dot_17 - object\n Faucet_bar__minus_04_dot_44_bar__plus_00_dot_91_bar__plus_03_dot_29 - object\n Fork_bar__minus_04_dot_10_bar__plus_00_dot_92_bar__plus_02_dot_88 - object\n Fork_bar__minus_04_dot_24_bar__plus_00_dot_92_bar__plus_02_dot_65 - object\n Knife_bar__minus_00_dot_26_bar__plus_00_dot_95_bar__plus_04_dot_62 - object\n Knife_bar__minus_01_dot_86_bar__plus_00_dot_95_bar__plus_01_dot_80 - object\n Knife_bar__minus_03_dot_34_bar__plus_00_dot_95_bar__plus_01_dot_88 - object\n Lettuce_bar__minus_00_dot_35_bar__plus_01_dot_17_bar__plus_03_dot_48 - object\n Lettuce_bar__minus_00_dot_35_bar__plus_01_dot_17_bar__plus_03_dot_97 - object\n Lettuce_bar__minus_03_dot_49_bar__plus_01_dot_02_bar__plus_05_dot_18 - object\n LightSwitch_bar__minus_01_dot_59_bar__plus_01_dot_17_bar__plus_01_dot_51 - object\n Mug_bar__minus_03_dot_73_bar__plus_00_dot_92_bar__plus_05_dot_41 - object\n Mug_bar__minus_04_dot_12_bar__plus_00_dot_79_bar__plus_03_dot_29 - object\n Pan_bar__minus_02_dot_47_bar__plus_00_dot_93_bar__plus_01_dot_71 - object\n PaperTowelRoll_bar__minus_04_dot_45_bar__plus_01_dot_03_bar__plus_02_dot_88 - object\n Pencil_bar__minus_02_dot_03_bar__plus_00_dot_92_bar__plus_01_dot_95 - object\n Pencil_bar__minus_03_dot_68_bar__plus_00_dot_07_bar__plus_06_dot_38 - object\n Pencil_bar__minus_04_dot_38_bar__plus_00_dot_92_bar__plus_01_dot_72 - object\n PepperShaker_bar__minus_00_dot_26_bar__plus_00_dot_92_bar__plus_05_dot_60 - object\n Plate_bar__minus_00_dot_34_bar__plus_01_dot_34_bar__plus_03_dot_36 - object\n Plate_bar__minus_03_dot_26_bar__plus_01_dot_46_bar__plus_05_dot_51 - object\n Potato_bar__minus_00_dot_24_bar__plus_01_dot_10_bar__plus_03_dot_73 - object\n Potato_bar__minus_00_dot_33_bar__plus_00_dot_96_bar__plus_05_dot_93 - object\n Potato_bar__minus_01_dot_94_bar__plus_00_dot_96_bar__plus_01_dot_95 - object\n Pot_bar__minus_02_dot_92_bar__plus_00_dot_93_bar__plus_02_dot_01 - object\n Pot_bar__minus_04_dot_34_bar__plus_00_dot_92_bar__plus_05_dot_42 - object\n SaltShaker_bar__minus_00_dot_18_bar__plus_00_dot_92_bar__plus_04_dot_62 - object\n SaltShaker_bar__minus_00_dot_20_bar__plus_02_dot_13_bar__plus_05_dot_43 - object\n SaltShaker_bar__minus_00_dot_44_bar__plus_00_dot_74_bar__plus_04_dot_38 - object\n Sink_bar__minus_04_dot_19_bar__plus_00_dot_92_bar__plus_03_dot_28 - object\n SoapBottle_bar__minus_01_dot_94_bar__plus_00_dot_92_bar__plus_01_dot_72 - object\n Spatula_bar__minus_00_dot_41_bar__plus_00_dot_94_bar__plus_04_dot_94 - object\n Spoon_bar__minus_00_dot_18_bar__plus_00_dot_93_bar__plus_05_dot_27 - object\n StoveKnob_bar__minus_02_dot_35_bar__plus_01_dot_10_bar__plus_01_dot_56 - object\n StoveKnob_bar__minus_02_dot_51_bar__plus_01_dot_10_bar__plus_01_dot_56 - object\n StoveKnob_bar__minus_02_dot_79_bar__plus_01_dot_10_bar__plus_01_dot_56 - object\n StoveKnob_bar__minus_02_dot_97_bar__plus_01_dot_10_bar__plus_01_dot_56 - object\n Tomato_bar__minus_00_dot_38_bar__plus_01_dot_64_bar__plus_03_dot_29 - object\n Tomato_bar__minus_00_dot_40_bar__plus_01_dot_13_bar__plus_03_dot_73 - object\n Window_bar__minus_04_dot_87_bar__plus_01_dot_63_bar__plus_03_dot_31 - object\n WineBottle_bar__minus_00_dot_57_bar__plus_00_dot_93_bar__plus_06_dot_59 - object\n Cabinet_bar__minus_00_dot_33_bar__plus_02_dot_25_bar__plus_03_dot_01 - receptacle\n Cabinet_bar__minus_00_dot_33_bar__plus_02_dot_25_bar__plus_04_dot_21 - receptacle\n Cabinet_bar__minus_00_dot_33_bar__plus_02_dot_25_bar__plus_04_dot_31 - receptacle\n Cabinet_bar__minus_00_dot_33_bar__plus_02_dot_25_bar__plus_05_dot_51 - receptacle\n Cabinet_bar__minus_00_dot_33_bar__plus_02_dot_25_bar__plus_05_dot_61 - receptacle\n Cabinet_bar__minus_00_dot_33_bar__plus_02_dot_25_bar__plus_06_dot_81 - receptacle\n Cabinet_bar__minus_00_dot_64_bar__plus_00_dot_39_bar__plus_04_dot_30 - receptacle\n Cabinet_bar__minus_00_dot_64_bar__plus_00_dot_39_bar__plus_05_dot_58 - receptacle\n Cabinet_bar__minus_00_dot_64_bar__plus_00_dot_39_bar__plus_05_dot_60 - receptacle\n Cabinet_bar__minus_00_dot_64_bar__plus_00_dot_39_bar__plus_06_dot_88 - receptacle\n Cabinet_bar__minus_01_dot_54_bar__plus_00_dot_39_bar__plus_02_dot_09 - receptacle\n Cabinet_bar__minus_01_dot_58_bar__plus_01_dot_93_bar__plus_01_dot_78 - receptacle\n Cabinet_bar__minus_03_dot_04_bar__plus_00_dot_39_bar__plus_05_dot_03 - receptacle\n Cabinet_bar__minus_03_dot_04_bar__plus_01_dot_94_bar__plus_05_dot_32 - receptacle\n Cabinet_bar__minus_03_dot_19_bar__plus_00_dot_39_bar__plus_02_dot_09 - receptacle\n Cabinet_bar__minus_03_dot_20_bar__plus_01_dot_93_bar__plus_01_dot_78 - receptacle\n Cabinet_bar__minus_03_dot_64_bar__plus_00_dot_39_bar__plus_05_dot_03 - receptacle\n Cabinet_bar__minus_03_dot_67_bar__plus_00_dot_39_bar__plus_05_dot_03 - receptacle\n Cabinet_bar__minus_03_dot_92_bar__plus_00_dot_40_bar__plus_02_dot_09 - receptacle\n Cabinet_bar__minus_03_dot_96_bar__plus_00_dot_39_bar__plus_02_dot_12 - receptacle\n Cabinet_bar__minus_03_dot_96_bar__plus_00_dot_39_bar__plus_02_dot_88 - receptacle\n Cabinet_bar__minus_03_dot_96_bar__plus_00_dot_39_bar__plus_04_dot_34 - receptacle\n Cabinet_bar__minus_03_dot_97_bar__plus_00_dot_39_bar__plus_02_dot_89 - receptacle\n Cabinet_bar__minus_03_dot_97_bar__plus_00_dot_39_bar__plus_03_dot_66 - receptacle\n Cabinet_bar__minus_04_dot_11_bar__plus_01_dot_94_bar__plus_05_dot_32 - receptacle\n Cabinet_bar__minus_04_dot_28_bar__plus_01_dot_93_bar__plus_02_dot_23 - receptacle\n CoffeeMachine_bar__minus_00_dot_28_bar__plus_00_dot_91_bar__plus_06_dot_56 - receptacle\n CounterTop_bar__minus_00_dot_35_bar__plus_00_dot_96_bar__plus_05_dot_60 - receptacle\n CounterTop_bar__minus_01_dot_87_bar__plus_00_dot_96_bar__plus_01_dot_80 - receptacle\n CounterTop_bar__minus_04_dot_26_bar__plus_00_dot_96_bar__plus_04_dot_94 - receptacle\n Drawer_bar__minus_00_dot_51_bar__plus_00_dot_78_bar__plus_04_dot_62 - receptacle\n Drawer_bar__minus_00_dot_51_bar__plus_00_dot_78_bar__plus_05_dot_27 - receptacle\n Drawer_bar__minus_00_dot_51_bar__plus_00_dot_78_bar__plus_05_dot_92 - receptacle\n Drawer_bar__minus_00_dot_51_bar__plus_00_dot_78_bar__plus_06_dot_57 - receptacle\n Drawer_bar__minus_01_dot_86_bar__plus_00_dot_78_bar__plus_01_dot_96 - receptacle\n Drawer_bar__minus_03_dot_19_bar__plus_00_dot_78_bar__plus_05_dot_16 - receptacle\n Drawer_bar__minus_03_dot_42_bar__plus_00_dot_78_bar__plus_01_dot_96 - receptacle\n Drawer_bar__minus_03_dot_51_bar__plus_00_dot_78_bar__plus_05_dot_16 - receptacle\n Drawer_bar__minus_03_dot_80_bar__plus_00_dot_78_bar__plus_01_dot_96 - receptacle\n Drawer_bar__minus_03_dot_80_bar__plus_00_dot_78_bar__plus_05_dot_16 - receptacle\n Drawer_bar__minus_04_dot_09_bar__plus_00_dot_78_bar__plus_04_dot_66 - receptacle\n Drawer_bar__minus_04_dot_13_bar__plus_00_dot_80_bar__plus_02_dot_50 - receptacle\n Fridge_bar__minus_00_dot_32_bar_00_dot_00_bar__plus_03_dot_60 - receptacle\n GarbageCan_bar__minus_03_dot_71_bar_00_dot_00_bar__plus_06_dot_38 - receptacle\n Microwave_bar__minus_02_dot_69_bar__plus_01_dot_43_bar__plus_01_dot_69 - receptacle\n Sink_bar__minus_04_dot_19_bar__plus_00_dot_92_bar__plus_03_dot_28_bar_SinkBasin - receptacle\n StoveBurner_bar__minus_02_dot_47_bar__plus_00_dot_92_bar__plus_01_dot_71 - receptacle\n StoveBurner_bar__minus_02_dot_47_bar__plus_00_dot_92_bar__plus_02_dot_01 - receptacle\n StoveBurner_bar__minus_02_dot_92_bar__plus_00_dot_92_bar__plus_01_dot_71 - receptacle\n StoveBurner_bar__minus_02_dot_92_bar__plus_00_dot_92_bar__plus_02_dot_01 - receptacle\n Toaster_bar__minus_03_dot_58_bar__plus_00_dot_91_bar__plus_01_dot_76 - receptacle\n loc_bar__minus_4_bar_25_bar_1_bar__minus_30 - location\n loc_bar__minus_13_bar_10_bar_2_bar__minus_15 - location\n loc_bar__minus_6_bar_20_bar_1_bar_60 - location\n loc_bar__minus_6_bar_17_bar_1_bar_60 - location\n loc_bar__minus_4_bar_23_bar_0_bar_45 - location\n loc_bar__minus_15_bar_14_bar_3_bar_60 - location\n loc_bar__minus_5_bar_15_bar_1_bar_60 - location\n loc_bar__minus_12_bar_12_bar_2_bar_60 - location\n loc_bar__minus_12_bar_10_bar_2_bar_30 - location\n loc_bar__minus_4_bar_21_bar_2_bar_60 - location\n loc_bar__minus_2_bar_10_bar_0_bar__minus_30 - location\n loc_bar__minus_15_bar_13_bar_3_bar_0 - location\n loc_bar__minus_13_bar_11_bar_3_bar_45 - location\n loc_bar__minus_12_bar_13_bar_3_bar_45 - location\n loc_bar__minus_13_bar_16_bar_0_bar_45 - location\n loc_bar__minus_15_bar_14_bar_3_bar__minus_30 - location\n loc_bar__minus_14_bar_10_bar_3_bar__minus_15 - location\n loc_bar__minus_15_bar_19_bar_0_bar__minus_30 - location\n loc_bar__minus_4_bar_20_bar_1_bar_45 - location\n loc_bar__minus_11_bar_10_bar_2_bar_30 - location\n loc_bar__minus_14_bar_10_bar_2_bar_60 - location\n loc_bar__minus_4_bar_21_bar_0_bar_60 - location\n loc_bar__minus_10_bar_10_bar_2_bar_45 - location\n loc_bar__minus_12_bar_13_bar_3_bar_60 - location\n loc_bar__minus_8_bar_10_bar_2_bar_45 - location\n loc_bar__minus_12_bar_10_bar_3_bar_60 - location\n loc_bar__minus_10_bar_25_bar_3_bar_60 - location\n loc_bar__minus_6_bar_25_bar_1_bar_60 - location\n loc_bar__minus_2_bar_10_bar_0_bar_15 - location\n loc_bar__minus_13_bar_19_bar_0_bar__minus_30 - location\n loc_bar__minus_13_bar_12_bar_2_bar_60 - location\n loc_bar__minus_4_bar_6_bar_3_bar_45 - location\n loc_bar__minus_12_bar_17_bar_0_bar_60 - location\n loc_bar__minus_5_bar_9_bar_3_bar_60 - location\n loc_bar__minus_11_bar_10_bar_2_bar_15 - location\n loc_bar__minus_4_bar_7_bar_3_bar__minus_30 - location\n loc_bar__minus_12_bar_10_bar_2_bar_45 - location\n loc_bar__minus_15_bar_19_bar_0_bar_60 - location\n loc_bar__minus_11_bar_17_bar_0_bar_60 - location\n loc_bar__minus_4_bar_25_bar_1_bar_45 - location\n loc_bar__minus_5_bar_17_bar_1_bar__minus_30 - location\n loc_bar__minus_4_bar_18_bar_1_bar__minus_30 - location\n loc_bar__minus_10_bar_10_bar_2_bar_30 - location\n loc_bar__minus_12_bar_12_bar_3_bar_45 - location\n loc_bar__minus_15_bar_19_bar_3_bar_60 - location\n loc_bar__minus_6_bar_22_bar_1_bar_60 - location\n loc_bar__minus_15_bar_14_bar_0_bar_30 - location\n loc_bar__minus_10_bar_10_bar_2_bar_60 - location\n loc_bar__minus_4_bar_22_bar_1_bar__minus_30 - location\n loc_bar__minus_12_bar_17_bar_3_bar_60 - location\n loc_bar__minus_14_bar_19_bar_0_bar_60 - location\n loc_bar__minus_4_bar_24_bar_2_bar_45 - location\n loc_bar__minus_14_bar_10_bar_2_bar_45 - location\n loc_bar__minus_9_bar_10_bar_2_bar_30 - location\n loc_bar__minus_15_bar_13_bar_3_bar_60 - location\n loc_bar__minus_9_bar_12_bar_2_bar_60 - location\n loc_bar__minus_15_bar_19_bar_1_bar_60 - location\n loc_bar__minus_12_bar_10_bar_2_bar_60 - location\n loc_bar__minus_12_bar_10_bar_3_bar_30 - location\n )\n \n\n(:init\n\n\n (receptacleType Cabinet_bar__minus_03_dot_92_bar__plus_00_dot_40_bar__plus_02_dot_09 CabinetType)\n (receptacleType Drawer_bar__minus_00_dot_51_bar__plus_00_dot_78_bar__plus_05_dot_92 DrawerType)\n (receptacleType 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(receptacleType Cabinet_bar__minus_00_dot_33_bar__plus_02_dot_25_bar__plus_05_dot_61 CabinetType)\n (receptacleType CounterTop_bar__minus_00_dot_35_bar__plus_00_dot_96_bar__plus_05_dot_60 CounterTopType)\n (receptacleType Cabinet_bar__minus_01_dot_54_bar__plus_00_dot_39_bar__plus_02_dot_09 CabinetType)\n (receptacleType Cabinet_bar__minus_03_dot_20_bar__plus_01_dot_93_bar__plus_01_dot_78 CabinetType)\n (receptacleType Cabinet_bar__minus_00_dot_64_bar__plus_00_dot_39_bar__plus_05_dot_60 CabinetType)\n (receptacleType Cabinet_bar__minus_00_dot_33_bar__plus_02_dot_25_bar__plus_04_dot_31 CabinetType)\n (receptacleType Drawer_bar__minus_00_dot_51_bar__plus_00_dot_78_bar__plus_06_dot_57 DrawerType)\n (receptacleType Drawer_bar__minus_00_dot_51_bar__plus_00_dot_78_bar__plus_04_dot_62 DrawerType)\n (receptacleType Drawer_bar__minus_04_dot_13_bar__plus_00_dot_80_bar__plus_02_dot_50 DrawerType)\n (receptacleType Cabinet_bar__minus_00_dot_64_bar__plus_00_dot_39_bar__plus_04_dot_30 CabinetType)\n (receptacleType Cabinet_bar__minus_04_dot_28_bar__plus_01_dot_93_bar__plus_02_dot_23 CabinetType)\n (receptacleType GarbageCan_bar__minus_03_dot_71_bar_00_dot_00_bar__plus_06_dot_38 GarbageCanType)\n (receptacleType Drawer_bar__minus_04_dot_09_bar__plus_00_dot_78_bar__plus_04_dot_66 DrawerType)\n (receptacleType Drawer_bar__minus_03_dot_51_bar__plus_00_dot_78_bar__plus_05_dot_16 DrawerType)\n (receptacleType Cabinet_bar__minus_00_dot_33_bar__plus_02_dot_25_bar__plus_04_dot_21 CabinetType)\n (receptacleType Cabinet_bar__minus_03_dot_19_bar__plus_00_dot_39_bar__plus_02_dot_09 CabinetType)\n (receptacleType Cabinet_bar__minus_03_dot_04_bar__plus_01_dot_94_bar__plus_05_dot_32 CabinetType)\n (receptacleType Drawer_bar__minus_03_dot_19_bar__plus_00_dot_78_bar__plus_05_dot_16 DrawerType)\n (receptacleType Cabinet_bar__minus_03_dot_67_bar__plus_00_dot_39_bar__plus_05_dot_03 CabinetType)\n (receptacleType Cabinet_bar__minus_03_dot_96_bar__plus_00_dot_39_bar__plus_04_dot_34 CabinetType)\n (objectType Knife_bar__minus_00_dot_26_bar__plus_00_dot_95_bar__plus_04_dot_62 KnifeType)\n (objectType PepperShaker_bar__minus_00_dot_26_bar__plus_00_dot_92_bar__plus_05_dot_60 PepperShakerType)\n (objectType Pencil_bar__minus_02_dot_03_bar__plus_00_dot_92_bar__plus_01_dot_95 PencilType)\n (objectType Lettuce_bar__minus_03_dot_49_bar__plus_01_dot_02_bar__plus_05_dot_18 LettuceType)\n (objectType Bread_bar__minus_01_dot_78_bar__plus_01_dot_00_bar__plus_01_dot_80 BreadType)\n (objectType Tomato_bar__minus_00_dot_40_bar__plus_01_dot_13_bar__plus_03_dot_73 TomatoType)\n (objectType Fork_bar__minus_04_dot_10_bar__plus_00_dot_92_bar__plus_02_dot_88 ForkType)\n (objectType Tomato_bar__minus_00_dot_38_bar__plus_01_dot_64_bar__plus_03_dot_29 TomatoType)\n (objectType Window_bar__minus_04_dot_87_bar__plus_01_dot_63_bar__plus_03_dot_31 WindowType)\n (objectType StoveKnob_bar__minus_02_dot_51_bar__plus_01_dot_10_bar__plus_01_dot_56 StoveKnobType)\n (objectType Spoon_bar__minus_00_dot_18_bar__plus_00_dot_93_bar__plus_05_dot_27 SpoonType)\n (objectType Mug_bar__minus_03_dot_73_bar__plus_00_dot_92_bar__plus_05_dot_41 MugType)\n (objectType DishSponge_bar__minus_04_dot_16_bar__plus_00_dot_79_bar__plus_03_dot_41 DishSpongeType)\n (objectType Apple_bar__minus_03_dot_68_bar__plus_00_dot_12_bar__plus_06_dot_46 AppleType)\n (objectType Knife_bar__minus_01_dot_86_bar__plus_00_dot_95_bar__plus_01_dot_80 KnifeType)\n (objectType Apple_bar__minus_00_dot_22_bar__plus_01_dot_39_bar__plus_03_dot_60 AppleType)\n (objectType SaltShaker_bar__minus_00_dot_44_bar__plus_00_dot_74_bar__plus_04_dot_38 SaltShakerType)\n (objectType StoveKnob_bar__minus_02_dot_79_bar__plus_01_dot_10_bar__plus_01_dot_56 StoveKnobType)\n (objectType PaperTowelRoll_bar__minus_04_dot_45_bar__plus_01_dot_03_bar__plus_02_dot_88 PaperTowelRollType)\n (objectType Pencil_bar__minus_04_dot_38_bar__plus_00_dot_92_bar__plus_01_dot_72 PencilType)\n (objectType Pot_bar__minus_04_dot_34_bar__plus_00_dot_92_bar__plus_05_dot_42 PotType)\n (objectType Bowl_bar__minus_04_dot_09_bar__plus_00_dot_07_bar__plus_04_dot_51 BowlType)\n (objectType StoveKnob_bar__minus_02_dot_35_bar__plus_01_dot_10_bar__plus_01_dot_56 StoveKnobType)\n (objectType Curtains_bar__minus_04_dot_52_bar__plus_02_dot_25_bar__plus_03_dot_39 CurtainsType)\n (objectType Lettuce_bar__minus_00_dot_35_bar__plus_01_dot_17_bar__plus_03_dot_48 LettuceType)\n (objectType Spatula_bar__minus_00_dot_41_bar__plus_00_dot_94_bar__plus_04_dot_94 SpatulaType)\n (objectType Pan_bar__minus_02_dot_47_bar__plus_00_dot_93_bar__plus_01_dot_71 PanType)\n (objectType Plate_bar__minus_03_dot_26_bar__plus_01_dot_46_bar__plus_05_dot_51 PlateType)\n (objectType WineBottle_bar__minus_00_dot_57_bar__plus_00_dot_93_bar__plus_06_dot_59 WineBottleType)\n (objectType Pencil_bar__minus_03_dot_68_bar__plus_00_dot_07_bar__plus_06_dot_38 PencilType)\n (objectType 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Apple_bar__minus_03_dot_68_bar__plus_00_dot_12_bar__plus_06_dot_46)\n (heatable Apple_bar__minus_00_dot_22_bar__plus_01_dot_39_bar__plus_03_dot_60)\n (heatable Plate_bar__minus_03_dot_26_bar__plus_01_dot_46_bar__plus_05_dot_51)\n (heatable Mug_bar__minus_04_dot_12_bar__plus_00_dot_79_bar__plus_03_dot_29)\n (heatable Potato_bar__minus_00_dot_33_bar__plus_00_dot_96_bar__plus_05_dot_93)\n (heatable Potato_bar__minus_00_dot_24_bar__plus_01_dot_10_bar__plus_03_dot_73)\n (heatable Cup_bar__minus_00_dot_41_bar__plus_00_dot_92_bar__plus_05_dot_60)\n (heatable Plate_bar__minus_00_dot_34_bar__plus_01_dot_34_bar__plus_03_dot_36)\n (heatable Bread_bar__minus_00_dot_33_bar__plus_01_dot_00_bar__plus_05_dot_27)\n (heatable Potato_bar__minus_01_dot_94_bar__plus_00_dot_96_bar__plus_01_dot_95)\n (heatable Apple_bar__minus_03_dot_71_bar__plus_00_dot_12_bar__plus_06_dot_29)\n (heatable Egg_bar__minus_00_dot_22_bar__plus_01_dot_62_bar__plus_03_dot_17)\n (coolable Lettuce_bar__minus_03_dot_49_bar__plus_01_dot_02_bar__plus_05_dot_18)\n (coolable Bread_bar__minus_01_dot_78_bar__plus_01_dot_00_bar__plus_01_dot_80)\n (coolable Tomato_bar__minus_00_dot_40_bar__plus_01_dot_13_bar__plus_03_dot_73)\n (coolable Tomato_bar__minus_00_dot_38_bar__plus_01_dot_64_bar__plus_03_dot_29)\n (coolable Mug_bar__minus_03_dot_73_bar__plus_00_dot_92_bar__plus_05_dot_41)\n (coolable Apple_bar__minus_03_dot_68_bar__plus_00_dot_12_bar__plus_06_dot_46)\n (coolable Apple_bar__minus_00_dot_22_bar__plus_01_dot_39_bar__plus_03_dot_60)\n (coolable Pot_bar__minus_04_dot_34_bar__plus_00_dot_92_bar__plus_05_dot_42)\n (coolable Bowl_bar__minus_04_dot_09_bar__plus_00_dot_07_bar__plus_04_dot_51)\n (coolable Lettuce_bar__minus_00_dot_35_bar__plus_01_dot_17_bar__plus_03_dot_48)\n (coolable Pan_bar__minus_02_dot_47_bar__plus_00_dot_93_bar__plus_01_dot_71)\n (coolable Plate_bar__minus_03_dot_26_bar__plus_01_dot_46_bar__plus_05_dot_51)\n (coolable WineBottle_bar__minus_00_dot_57_bar__plus_00_dot_93_bar__plus_06_dot_59)\n (coolable Mug_bar__minus_04_dot_12_bar__plus_00_dot_79_bar__plus_03_dot_29)\n (coolable Potato_bar__minus_00_dot_33_bar__plus_00_dot_96_bar__plus_05_dot_93)\n (coolable Potato_bar__minus_00_dot_24_bar__plus_01_dot_10_bar__plus_03_dot_73)\n (coolable Cup_bar__minus_00_dot_41_bar__plus_00_dot_92_bar__plus_05_dot_60)\n (coolable Pot_bar__minus_02_dot_92_bar__plus_00_dot_93_bar__plus_02_dot_01)\n (coolable Plate_bar__minus_00_dot_34_bar__plus_01_dot_34_bar__plus_03_dot_36)\n (coolable Bread_bar__minus_00_dot_33_bar__plus_01_dot_00_bar__plus_05_dot_27)\n (coolable Potato_bar__minus_01_dot_94_bar__plus_00_dot_96_bar__plus_01_dot_95)\n (coolable Apple_bar__minus_03_dot_71_bar__plus_00_dot_12_bar__plus_06_dot_29)\n (coolable Lettuce_bar__minus_00_dot_35_bar__plus_01_dot_17_bar__plus_03_dot_97)\n (coolable Egg_bar__minus_00_dot_22_bar__plus_01_dot_62_bar__plus_03_dot_17)\n \n \n \n \n \n (sliceable Lettuce_bar__minus_03_dot_49_bar__plus_01_dot_02_bar__plus_05_dot_18)\n (sliceable Bread_bar__minus_01_dot_78_bar__plus_01_dot_00_bar__plus_01_dot_80)\n (sliceable Tomato_bar__minus_00_dot_40_bar__plus_01_dot_13_bar__plus_03_dot_73)\n (sliceable Tomato_bar__minus_00_dot_38_bar__plus_01_dot_64_bar__plus_03_dot_29)\n (sliceable Apple_bar__minus_03_dot_68_bar__plus_00_dot_12_bar__plus_06_dot_46)\n (sliceable Apple_bar__minus_00_dot_22_bar__plus_01_dot_39_bar__plus_03_dot_60)\n (sliceable Lettuce_bar__minus_00_dot_35_bar__plus_01_dot_17_bar__plus_03_dot_48)\n (sliceable Potato_bar__minus_00_dot_33_bar__plus_00_dot_96_bar__plus_05_dot_93)\n (sliceable Potato_bar__minus_00_dot_24_bar__plus_01_dot_10_bar__plus_03_dot_73)\n (sliceable Bread_bar__minus_00_dot_33_bar__plus_01_dot_00_bar__plus_05_dot_27)\n (sliceable Potato_bar__minus_01_dot_94_bar__plus_00_dot_96_bar__plus_01_dot_95)\n (sliceable Apple_bar__minus_03_dot_71_bar__plus_00_dot_12_bar__plus_06_dot_29)\n (sliceable Lettuce_bar__minus_00_dot_35_bar__plus_01_dot_17_bar__plus_03_dot_97)\n (sliceable Egg_bar__minus_00_dot_22_bar__plus_01_dot_62_bar__plus_03_dot_17)\n \n (inReceptacle DishSponge_bar__minus_00_dot_23_bar__plus_02_dot_13_bar__plus_04_dot_55 Cabinet_bar__minus_00_dot_33_bar__plus_02_dot_25_bar__plus_04_dot_31)\n (inReceptacle Pencil_bar__minus_02_dot_03_bar__plus_00_dot_92_bar__plus_01_dot_95 CounterTop_bar__minus_01_dot_87_bar__plus_00_dot_96_bar__plus_01_dot_80)\n (inReceptacle Bread_bar__minus_01_dot_78_bar__plus_01_dot_00_bar__plus_01_dot_80 CounterTop_bar__minus_01_dot_87_bar__plus_00_dot_96_bar__plus_01_dot_80)\n (inReceptacle Knife_bar__minus_01_dot_86_bar__plus_00_dot_95_bar__plus_01_dot_80 CounterTop_bar__minus_01_dot_87_bar__plus_00_dot_96_bar__plus_01_dot_80)\n (inReceptacle Potato_bar__minus_01_dot_94_bar__plus_00_dot_96_bar__plus_01_dot_95 CounterTop_bar__minus_01_dot_87_bar__plus_00_dot_96_bar__plus_01_dot_80)\n (inReceptacle SoapBottle_bar__minus_01_dot_94_bar__plus_00_dot_92_bar__plus_01_dot_72 CounterTop_bar__minus_01_dot_87_bar__plus_00_dot_96_bar__plus_01_dot_80)\n (inReceptacle Pot_bar__minus_02_dot_92_bar__plus_00_dot_93_bar__plus_02_dot_01 StoveBurner_bar__minus_02_dot_92_bar__plus_00_dot_92_bar__plus_02_dot_01)\n (inReceptacle Potato_bar__minus_00_dot_33_bar__plus_00_dot_96_bar__plus_05_dot_93 CounterTop_bar__minus_00_dot_35_bar__plus_00_dot_96_bar__plus_05_dot_60)\n (inReceptacle Knife_bar__minus_00_dot_26_bar__plus_00_dot_95_bar__plus_04_dot_62 CounterTop_bar__minus_00_dot_35_bar__plus_00_dot_96_bar__plus_05_dot_60)\n (inReceptacle PepperShaker_bar__minus_00_dot_26_bar__plus_00_dot_92_bar__plus_05_dot_60 CounterTop_bar__minus_00_dot_35_bar__plus_00_dot_96_bar__plus_05_dot_60)\n (inReceptacle Cup_bar__minus_00_dot_41_bar__plus_00_dot_92_bar__plus_05_dot_60 CounterTop_bar__minus_00_dot_35_bar__plus_00_dot_96_bar__plus_05_dot_60)\n (inReceptacle Bread_bar__minus_00_dot_33_bar__plus_01_dot_00_bar__plus_05_dot_27 CounterTop_bar__minus_00_dot_35_bar__plus_00_dot_96_bar__plus_05_dot_60)\n (inReceptacle Spatula_bar__minus_00_dot_41_bar__plus_00_dot_94_bar__plus_04_dot_94 CounterTop_bar__minus_00_dot_35_bar__plus_00_dot_96_bar__plus_05_dot_60)\n (inReceptacle Spoon_bar__minus_00_dot_18_bar__plus_00_dot_93_bar__plus_05_dot_27 CounterTop_bar__minus_00_dot_35_bar__plus_00_dot_96_bar__plus_05_dot_60)\n (inReceptacle WineBottle_bar__minus_00_dot_57_bar__plus_00_dot_93_bar__plus_06_dot_59 CounterTop_bar__minus_00_dot_35_bar__plus_00_dot_96_bar__plus_05_dot_60)\n (inReceptacle SaltShaker_bar__minus_00_dot_18_bar__plus_00_dot_92_bar__plus_04_dot_62 CounterTop_bar__minus_00_dot_35_bar__plus_00_dot_96_bar__plus_05_dot_60)\n (inReceptacle Plate_bar__minus_03_dot_26_bar__plus_01_dot_46_bar__plus_05_dot_51 Cabinet_bar__minus_03_dot_04_bar__plus_01_dot_94_bar__plus_05_dot_32)\n (inReceptacle SaltShaker_bar__minus_00_dot_20_bar__plus_02_dot_13_bar__plus_05_dot_43 Cabinet_bar__minus_00_dot_33_bar__plus_02_dot_25_bar__plus_05_dot_51)\n (inReceptacle SaltShaker_bar__minus_00_dot_44_bar__plus_00_dot_74_bar__plus_04_dot_38 Drawer_bar__minus_00_dot_51_bar__plus_00_dot_78_bar__plus_04_dot_62)\n (inReceptacle Bowl_bar__minus_04_dot_09_bar__plus_00_dot_07_bar__plus_04_dot_51 Cabinet_bar__minus_03_dot_96_bar__plus_00_dot_39_bar__plus_04_dot_34)\n (inReceptacle Pot_bar__minus_04_dot_34_bar__plus_00_dot_92_bar__plus_05_dot_42 CounterTop_bar__minus_04_dot_26_bar__plus_00_dot_96_bar__plus_04_dot_94)\n (inReceptacle Knife_bar__minus_03_dot_34_bar__plus_00_dot_95_bar__plus_01_dot_88 CounterTop_bar__minus_04_dot_26_bar__plus_00_dot_96_bar__plus_04_dot_94)\n (inReceptacle Fork_bar__minus_04_dot_24_bar__plus_00_dot_92_bar__plus_02_dot_65 CounterTop_bar__minus_04_dot_26_bar__plus_00_dot_96_bar__plus_04_dot_94)\n (inReceptacle Mug_bar__minus_03_dot_73_bar__plus_00_dot_92_bar__plus_05_dot_41 CounterTop_bar__minus_04_dot_26_bar__plus_00_dot_96_bar__plus_04_dot_94)\n (inReceptacle Lettuce_bar__minus_03_dot_49_bar__plus_01_dot_02_bar__plus_05_dot_18 CounterTop_bar__minus_04_dot_26_bar__plus_00_dot_96_bar__plus_04_dot_94)\n (inReceptacle Fork_bar__minus_04_dot_10_bar__plus_00_dot_92_bar__plus_02_dot_88 CounterTop_bar__minus_04_dot_26_bar__plus_00_dot_96_bar__plus_04_dot_94)\n (inReceptacle PaperTowelRoll_bar__minus_04_dot_45_bar__plus_01_dot_03_bar__plus_02_dot_88 CounterTop_bar__minus_04_dot_26_bar__plus_00_dot_96_bar__plus_04_dot_94)\n (inReceptacle Pencil_bar__minus_04_dot_38_bar__plus_00_dot_92_bar__plus_01_dot_72 CounterTop_bar__minus_04_dot_26_bar__plus_00_dot_96_bar__plus_04_dot_94)\n (inReceptacle DishSponge_bar__minus_04_dot_10_bar__plus_00_dot_08_bar__plus_03_dot_47 Cabinet_bar__minus_03_dot_97_bar__plus_00_dot_39_bar__plus_03_dot_66)\n (inReceptacle Pan_bar__minus_02_dot_47_bar__plus_00_dot_93_bar__plus_01_dot_71 StoveBurner_bar__minus_02_dot_47_bar__plus_00_dot_92_bar__plus_01_dot_71)\n (inReceptacle Apple_bar__minus_03_dot_68_bar__plus_00_dot_12_bar__plus_06_dot_46 GarbageCan_bar__minus_03_dot_71_bar_00_dot_00_bar__plus_06_dot_38)\n (inReceptacle Pencil_bar__minus_03_dot_68_bar__plus_00_dot_07_bar__plus_06_dot_38 GarbageCan_bar__minus_03_dot_71_bar_00_dot_00_bar__plus_06_dot_38)\n (inReceptacle Apple_bar__minus_03_dot_71_bar__plus_00_dot_12_bar__plus_06_dot_29 GarbageCan_bar__minus_03_dot_71_bar_00_dot_00_bar__plus_06_dot_38)\n (inReceptacle DishSponge_bar__minus_04_dot_16_bar__plus_00_dot_79_bar__plus_03_dot_41 Sink_bar__minus_04_dot_19_bar__plus_00_dot_92_bar__plus_03_dot_28_bar_SinkBasin)\n (inReceptacle ButterKnife_bar__minus_04_dot_20_bar__plus_00_dot_79_bar__plus_03_dot_35 Sink_bar__minus_04_dot_19_bar__plus_00_dot_92_bar__plus_03_dot_28_bar_SinkBasin)\n (inReceptacle Mug_bar__minus_04_dot_12_bar__plus_00_dot_79_bar__plus_03_dot_29 Sink_bar__minus_04_dot_19_bar__plus_00_dot_92_bar__plus_03_dot_28_bar_SinkBasin)\n (inReceptacle Potato_bar__minus_00_dot_24_bar__plus_01_dot_10_bar__plus_03_dot_73 Fridge_bar__minus_00_dot_32_bar_00_dot_00_bar__plus_03_dot_60)\n (inReceptacle Tomato_bar__minus_00_dot_40_bar__plus_01_dot_13_bar__plus_03_dot_73 Fridge_bar__minus_00_dot_32_bar_00_dot_00_bar__plus_03_dot_60)\n (inReceptacle Tomato_bar__minus_00_dot_38_bar__plus_01_dot_64_bar__plus_03_dot_29 Fridge_bar__minus_00_dot_32_bar_00_dot_00_bar__plus_03_dot_60)\n (inReceptacle Apple_bar__minus_00_dot_22_bar__plus_01_dot_39_bar__plus_03_dot_60 Fridge_bar__minus_00_dot_32_bar_00_dot_00_bar__plus_03_dot_60)\n (inReceptacle Lettuce_bar__minus_00_dot_35_bar__plus_01_dot_17_bar__plus_03_dot_48 Fridge_bar__minus_00_dot_32_bar_00_dot_00_bar__plus_03_dot_60)\n (inReceptacle Lettuce_bar__minus_00_dot_35_bar__plus_01_dot_17_bar__plus_03_dot_97 Fridge_bar__minus_00_dot_32_bar_00_dot_00_bar__plus_03_dot_60)\n (inReceptacle Egg_bar__minus_00_dot_22_bar__plus_01_dot_62_bar__plus_03_dot_17 Fridge_bar__minus_00_dot_32_bar_00_dot_00_bar__plus_03_dot_60)\n \n \n (receptacleAtLocation Cabinet_bar__minus_00_dot_33_bar__plus_02_dot_25_bar__plus_03_dot_01 loc_bar__minus_2_bar_10_bar_0_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_33_bar__plus_02_dot_25_bar__plus_04_dot_21 loc_bar__minus_5_bar_17_bar_1_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_33_bar__plus_02_dot_25_bar__plus_04_dot_31 loc_bar__minus_4_bar_18_bar_1_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_33_bar__plus_02_dot_25_bar__plus_05_dot_51 loc_bar__minus_4_bar_22_bar_1_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_33_bar__plus_02_dot_25_bar__plus_05_dot_61 loc_bar__minus_4_bar_22_bar_1_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_33_bar__plus_02_dot_25_bar__plus_06_dot_81 loc_bar__minus_4_bar_25_bar_1_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_64_bar__plus_00_dot_39_bar__plus_04_dot_30 loc_bar__minus_6_bar_17_bar_1_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_64_bar__plus_00_dot_39_bar__plus_05_dot_58 loc_bar__minus_6_bar_20_bar_1_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_64_bar__plus_00_dot_39_bar__plus_05_dot_60 loc_bar__minus_6_bar_22_bar_1_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_64_bar__plus_00_dot_39_bar__plus_06_dot_88 loc_bar__minus_6_bar_25_bar_1_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_01_dot_54_bar__plus_00_dot_39_bar__plus_02_dot_09 loc_bar__minus_9_bar_12_bar_2_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_01_dot_58_bar__plus_01_dot_93_bar__plus_01_dot_78 loc_bar__minus_4_bar_7_bar_3_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_03_dot_04_bar__plus_00_dot_39_bar__plus_05_dot_03 loc_bar__minus_11_bar_17_bar_0_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_03_dot_04_bar__plus_01_dot_94_bar__plus_05_dot_32 loc_bar__minus_13_bar_19_bar_0_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_03_dot_19_bar__plus_00_dot_39_bar__plus_02_dot_09 loc_bar__minus_12_bar_12_bar_2_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_03_dot_20_bar__plus_01_dot_93_bar__plus_01_dot_78 loc_bar__minus_13_bar_10_bar_2_bar__minus_15)\n (receptacleAtLocation Cabinet_bar__minus_03_dot_64_bar__plus_00_dot_39_bar__plus_05_dot_03 loc_bar__minus_12_bar_17_bar_0_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_03_dot_67_bar__plus_00_dot_39_bar__plus_05_dot_03 loc_bar__minus_13_bar_16_bar_0_bar_45)\n (receptacleAtLocation Cabinet_bar__minus_03_dot_92_bar__plus_00_dot_40_bar__plus_02_dot_09 loc_bar__minus_13_bar_12_bar_2_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_03_dot_96_bar__plus_00_dot_39_bar__plus_02_dot_12 loc_bar__minus_12_bar_10_bar_3_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_03_dot_96_bar__plus_00_dot_39_bar__plus_02_dot_88 loc_bar__minus_12_bar_13_bar_3_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_03_dot_96_bar__plus_00_dot_39_bar__plus_04_dot_34 loc_bar__minus_12_bar_17_bar_3_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_03_dot_97_bar__plus_00_dot_39_bar__plus_02_dot_89 loc_bar__minus_12_bar_13_bar_3_bar_45)\n (receptacleAtLocation Cabinet_bar__minus_03_dot_97_bar__plus_00_dot_39_bar__plus_03_dot_66 loc_bar__minus_12_bar_12_bar_3_bar_45)\n (receptacleAtLocation Cabinet_bar__minus_04_dot_11_bar__plus_01_dot_94_bar__plus_05_dot_32 loc_bar__minus_15_bar_19_bar_0_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_04_dot_28_bar__plus_01_dot_93_bar__plus_02_dot_23 loc_bar__minus_14_bar_10_bar_3_bar__minus_15)\n (receptacleAtLocation CoffeeMachine_bar__minus_00_dot_28_bar__plus_00_dot_91_bar__plus_06_dot_56 loc_bar__minus_4_bar_25_bar_1_bar_45)\n (receptacleAtLocation CounterTop_bar__minus_00_dot_35_bar__plus_00_dot_96_bar__plus_05_dot_60 loc_bar__minus_4_bar_20_bar_1_bar_45)\n (receptacleAtLocation CounterTop_bar__minus_01_dot_87_bar__plus_00_dot_96_bar__plus_01_dot_80 loc_bar__minus_8_bar_10_bar_2_bar_45)\n (receptacleAtLocation CounterTop_bar__minus_04_dot_26_bar__plus_00_dot_96_bar__plus_04_dot_94 loc_bar__minus_15_bar_19_bar_3_bar_60)\n (receptacleAtLocation Drawer_bar__minus_00_dot_51_bar__plus_00_dot_78_bar__plus_04_dot_62 loc_bar__minus_4_bar_21_bar_2_bar_60)\n (receptacleAtLocation Drawer_bar__minus_00_dot_51_bar__plus_00_dot_78_bar__plus_05_dot_27 loc_bar__minus_4_bar_24_bar_2_bar_45)\n (receptacleAtLocation Drawer_bar__minus_00_dot_51_bar__plus_00_dot_78_bar__plus_05_dot_92 loc_bar__minus_4_bar_21_bar_0_bar_60)\n (receptacleAtLocation Drawer_bar__minus_00_dot_51_bar__plus_00_dot_78_bar__plus_06_dot_57 loc_bar__minus_4_bar_23_bar_0_bar_45)\n (receptacleAtLocation Drawer_bar__minus_01_dot_86_bar__plus_00_dot_78_bar__plus_01_dot_96 loc_bar__minus_5_bar_9_bar_3_bar_60)\n (receptacleAtLocation Drawer_bar__minus_03_dot_19_bar__plus_00_dot_78_bar__plus_05_dot_16 loc_bar__minus_15_bar_19_bar_1_bar_60)\n (receptacleAtLocation Drawer_bar__minus_03_dot_42_bar__plus_00_dot_78_bar__plus_01_dot_96 loc_bar__minus_14_bar_10_bar_2_bar_60)\n (receptacleAtLocation Drawer_bar__minus_03_dot_51_bar__plus_00_dot_78_bar__plus_05_dot_16 loc_bar__minus_14_bar_19_bar_0_bar_60)\n (receptacleAtLocation Drawer_bar__minus_03_dot_80_bar__plus_00_dot_78_bar__plus_01_dot_96 loc_bar__minus_14_bar_10_bar_2_bar_60)\n (receptacleAtLocation Drawer_bar__minus_03_dot_80_bar__plus_00_dot_78_bar__plus_05_dot_16 loc_bar__minus_15_bar_19_bar_0_bar_60)\n (receptacleAtLocation Drawer_bar__minus_04_dot_09_bar__plus_00_dot_78_bar__plus_04_dot_66 loc_bar__minus_15_bar_14_bar_0_bar_30)\n (receptacleAtLocation Drawer_bar__minus_04_dot_13_bar__plus_00_dot_80_bar__plus_02_dot_50 loc_bar__minus_13_bar_11_bar_3_bar_45)\n (receptacleAtLocation Fridge_bar__minus_00_dot_32_bar_00_dot_00_bar__plus_03_dot_60 loc_bar__minus_5_bar_15_bar_1_bar_60)\n (receptacleAtLocation GarbageCan_bar__minus_03_dot_71_bar_00_dot_00_bar__plus_06_dot_38 loc_bar__minus_10_bar_25_bar_3_bar_60)\n (receptacleAtLocation Microwave_bar__minus_02_dot_69_bar__plus_01_dot_43_bar__plus_01_dot_69 loc_bar__minus_11_bar_10_bar_2_bar_15)\n (receptacleAtLocation Sink_bar__minus_04_dot_19_bar__plus_00_dot_92_bar__plus_03_dot_28_bar_SinkBasin loc_bar__minus_15_bar_14_bar_3_bar_60)\n (receptacleAtLocation StoveBurner_bar__minus_02_dot_47_bar__plus_00_dot_92_bar__plus_01_dot_71 loc_bar__minus_10_bar_10_bar_2_bar_45)\n (receptacleAtLocation StoveBurner_bar__minus_02_dot_47_bar__plus_00_dot_92_bar__plus_02_dot_01 loc_bar__minus_10_bar_10_bar_2_bar_60)\n (receptacleAtLocation StoveBurner_bar__minus_02_dot_92_bar__plus_00_dot_92_bar__plus_01_dot_71 loc_bar__minus_12_bar_10_bar_2_bar_45)\n (receptacleAtLocation StoveBurner_bar__minus_02_dot_92_bar__plus_00_dot_92_bar__plus_02_dot_01 loc_bar__minus_12_bar_10_bar_2_bar_60)\n (receptacleAtLocation Toaster_bar__minus_03_dot_58_bar__plus_00_dot_91_bar__plus_01_dot_76 loc_bar__minus_14_bar_10_bar_2_bar_45)\n (objectAtLocation Mug_bar__minus_03_dot_73_bar__plus_00_dot_92_bar__plus_05_dot_41 loc_bar__minus_15_bar_19_bar_3_bar_60)\n (objectAtLocation DishSponge_bar__minus_00_dot_23_bar__plus_02_dot_13_bar__plus_04_dot_55 loc_bar__minus_4_bar_18_bar_1_bar__minus_30)\n (objectAtLocation SaltShaker_bar__minus_00_dot_18_bar__plus_00_dot_92_bar__plus_04_dot_62 loc_bar__minus_4_bar_20_bar_1_bar_45)\n (objectAtLocation Pot_bar__minus_04_dot_34_bar__plus_00_dot_92_bar__plus_05_dot_42 loc_bar__minus_15_bar_19_bar_3_bar_60)\n (objectAtLocation Pencil_bar__minus_02_dot_03_bar__plus_00_dot_92_bar__plus_01_dot_95 loc_bar__minus_8_bar_10_bar_2_bar_45)\n (objectAtLocation Tomato_bar__minus_00_dot_38_bar__plus_01_dot_64_bar__plus_03_dot_29 loc_bar__minus_5_bar_15_bar_1_bar_60)\n (objectAtLocation Bread_bar__minus_00_dot_33_bar__plus_01_dot_00_bar__plus_05_dot_27 loc_bar__minus_4_bar_20_bar_1_bar_45)\n (objectAtLocation Lettuce_bar__minus_03_dot_49_bar__plus_01_dot_02_bar__plus_05_dot_18 loc_bar__minus_15_bar_19_bar_3_bar_60)\n (objectAtLocation Plate_bar__minus_00_dot_34_bar__plus_01_dot_34_bar__plus_03_dot_36 loc_bar__minus_2_bar_10_bar_0_bar_15)\n (objectAtLocation Fork_bar__minus_04_dot_24_bar__plus_00_dot_92_bar__plus_02_dot_65 loc_bar__minus_15_bar_19_bar_3_bar_60)\n (objectAtLocation Potato_bar__minus_00_dot_33_bar__plus_00_dot_96_bar__plus_05_dot_93 loc_bar__minus_4_bar_20_bar_1_bar_45)\n (objectAtLocation Knife_bar__minus_01_dot_86_bar__plus_00_dot_95_bar__plus_01_dot_80 loc_bar__minus_8_bar_10_bar_2_bar_45)\n (objectAtLocation Apple_bar__minus_00_dot_22_bar__plus_01_dot_39_bar__plus_03_dot_60 loc_bar__minus_5_bar_15_bar_1_bar_60)\n (objectAtLocation Apple_bar__minus_03_dot_71_bar__plus_00_dot_12_bar__plus_06_dot_29 loc_bar__minus_10_bar_25_bar_3_bar_60)\n (objectAtLocation Lettuce_bar__minus_00_dot_35_bar__plus_01_dot_17_bar__plus_03_dot_48 loc_bar__minus_5_bar_15_bar_1_bar_60)\n (objectAtLocation SaltShaker_bar__minus_00_dot_44_bar__plus_00_dot_74_bar__plus_04_dot_38 loc_bar__minus_4_bar_21_bar_2_bar_60)\n (objectAtLocation Knife_bar__minus_00_dot_26_bar__plus_00_dot_95_bar__plus_04_dot_62 loc_bar__minus_4_bar_20_bar_1_bar_45)\n (objectAtLocation DishSponge_bar__minus_04_dot_16_bar__plus_00_dot_79_bar__plus_03_dot_41 loc_bar__minus_15_bar_14_bar_3_bar_60)\n (objectAtLocation Potato_bar__minus_00_dot_24_bar__plus_01_dot_10_bar__plus_03_dot_73 loc_bar__minus_5_bar_15_bar_1_bar_60)\n (objectAtLocation Pencil_bar__minus_03_dot_68_bar__plus_00_dot_07_bar__plus_06_dot_38 loc_bar__minus_10_bar_25_bar_3_bar_60)\n (objectAtLocation Sink_bar__minus_04_dot_19_bar__plus_00_dot_92_bar__plus_03_dot_28 loc_bar__minus_15_bar_13_bar_3_bar_60)\n (objectAtLocation Egg_bar__minus_00_dot_22_bar__plus_01_dot_62_bar__plus_03_dot_17 loc_bar__minus_5_bar_15_bar_1_bar_60)\n (objectAtLocation Apple_bar__minus_03_dot_68_bar__plus_00_dot_12_bar__plus_06_dot_46 loc_bar__minus_10_bar_25_bar_3_bar_60)\n (objectAtLocation Knife_bar__minus_03_dot_34_bar__plus_00_dot_95_bar__plus_01_dot_88 loc_bar__minus_15_bar_19_bar_3_bar_60)\n (objectAtLocation Potato_bar__minus_01_dot_94_bar__plus_00_dot_96_bar__plus_01_dot_95 loc_bar__minus_8_bar_10_bar_2_bar_45)\n (objectAtLocation StoveKnob_bar__minus_02_dot_35_bar__plus_01_dot_10_bar__plus_01_dot_56 loc_bar__minus_9_bar_10_bar_2_bar_30)\n (objectAtLocation StoveKnob_bar__minus_02_dot_79_bar__plus_01_dot_10_bar__plus_01_dot_56 loc_bar__minus_11_bar_10_bar_2_bar_30)\n (objectAtLocation StoveKnob_bar__minus_02_dot_97_bar__plus_01_dot_10_bar__plus_01_dot_56 loc_bar__minus_12_bar_10_bar_2_bar_30)\n (objectAtLocation StoveKnob_bar__minus_02_dot_51_bar__plus_01_dot_10_bar__plus_01_dot_56 loc_bar__minus_10_bar_10_bar_2_bar_30)\n (objectAtLocation Fork_bar__minus_04_dot_10_bar__plus_00_dot_92_bar__plus_02_dot_88 loc_bar__minus_15_bar_19_bar_3_bar_60)\n (objectAtLocation Bowl_bar__minus_04_dot_09_bar__plus_00_dot_07_bar__plus_04_dot_51 loc_bar__minus_12_bar_17_bar_3_bar_60)\n (objectAtLocation Plate_bar__minus_03_dot_26_bar__plus_01_dot_46_bar__plus_05_dot_51 loc_bar__minus_13_bar_19_bar_0_bar__minus_30)\n (objectAtLocation Lettuce_bar__minus_00_dot_35_bar__plus_01_dot_17_bar__plus_03_dot_97 loc_bar__minus_5_bar_15_bar_1_bar_60)\n (objectAtLocation Bread_bar__minus_01_dot_78_bar__plus_01_dot_00_bar__plus_01_dot_80 loc_bar__minus_8_bar_10_bar_2_bar_45)\n (objectAtLocation Tomato_bar__minus_00_dot_40_bar__plus_01_dot_13_bar__plus_03_dot_73 loc_bar__minus_5_bar_15_bar_1_bar_60)\n (objectAtLocation Curtains_bar__minus_04_dot_52_bar__plus_02_dot_25_bar__plus_03_dot_39 loc_bar__minus_15_bar_14_bar_3_bar__minus_30)\n (objectAtLocation Window_bar__minus_04_dot_87_bar__plus_01_dot_63_bar__plus_03_dot_31 loc_bar__minus_15_bar_13_bar_3_bar_0)\n (objectAtLocation WineBottle_bar__minus_00_dot_57_bar__plus_00_dot_93_bar__plus_06_dot_59 loc_bar__minus_4_bar_20_bar_1_bar_45)\n (objectAtLocation Spatula_bar__minus_00_dot_41_bar__plus_00_dot_94_bar__plus_04_dot_94 loc_bar__minus_4_bar_20_bar_1_bar_45)\n (objectAtLocation PaperTowelRoll_bar__minus_04_dot_45_bar__plus_01_dot_03_bar__plus_02_dot_88 loc_bar__minus_15_bar_19_bar_3_bar_60)\n (objectAtLocation Cup_bar__minus_00_dot_41_bar__plus_00_dot_92_bar__plus_05_dot_60 loc_bar__minus_4_bar_20_bar_1_bar_45)\n (objectAtLocation Pencil_bar__minus_04_dot_38_bar__plus_00_dot_92_bar__plus_01_dot_72 loc_bar__minus_15_bar_19_bar_3_bar_60)\n (objectAtLocation Pan_bar__minus_02_dot_47_bar__plus_00_dot_93_bar__plus_01_dot_71 loc_bar__minus_10_bar_10_bar_2_bar_45)\n (objectAtLocation Pot_bar__minus_02_dot_92_bar__plus_00_dot_93_bar__plus_02_dot_01 loc_bar__minus_12_bar_10_bar_2_bar_60)\n (objectAtLocation LightSwitch_bar__minus_01_dot_59_bar__plus_01_dot_17_bar__plus_01_dot_51 loc_bar__minus_4_bar_6_bar_3_bar_45)\n (objectAtLocation SaltShaker_bar__minus_00_dot_20_bar__plus_02_dot_13_bar__plus_05_dot_43 loc_bar__minus_4_bar_22_bar_1_bar__minus_30)\n (objectAtLocation SoapBottle_bar__minus_01_dot_94_bar__plus_00_dot_92_bar__plus_01_dot_72 loc_bar__minus_8_bar_10_bar_2_bar_45)\n (objectAtLocation PepperShaker_bar__minus_00_dot_26_bar__plus_00_dot_92_bar__plus_05_dot_60 loc_bar__minus_4_bar_20_bar_1_bar_45)\n (objectAtLocation ButterKnife_bar__minus_04_dot_20_bar__plus_00_dot_79_bar__plus_03_dot_35 loc_bar__minus_15_bar_14_bar_3_bar_60)\n (objectAtLocation DishSponge_bar__minus_04_dot_10_bar__plus_00_dot_08_bar__plus_03_dot_47 loc_bar__minus_12_bar_12_bar_3_bar_45)\n (objectAtLocation Spoon_bar__minus_00_dot_18_bar__plus_00_dot_93_bar__plus_05_dot_27 loc_bar__minus_4_bar_20_bar_1_bar_45)\n (objectAtLocation Mug_bar__minus_04_dot_12_bar__plus_00_dot_79_bar__plus_03_dot_29 loc_bar__minus_15_bar_14_bar_3_bar_60)\n )\n \n\n (:goal\n (and\n (exists (?r - receptacle)\n (exists (?o - object)\n (and\n (heatable ?o)\n (objectType ?o CupType)\n (receptacleType ?r FridgeType)\n (isHot ?o)\n (inReceptacle ?o ?r)\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to countertop 3", "take cup 1 from countertop 3", "go to microwave 1", "heat cup 1 with microwave 1", "go to fridge 1", "open fridge 1", "move cup 1 to fridge 1"]}
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alfworld__pick_heat_then_place_in_recep__7
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pick_heat_then_place_in_recep
|
pick_heat_then_place_in_recep-Cup-None-Fridge-13/trial_T20190908_070444_960595/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 cup in fridge.\"\n }\n ],\n\n \"GotoLocation.feedback\": [\n {\n \"rhs\": \"You arrive at {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"OpenObject.feedback\": [\n {\n \"rhs\": \"You open the {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"CloseObject.feedback\": [\n {\n \"rhs\": \"You close the {r.name}.\"\n }\n ],\n\n \"PickupObject.feedback\": [\n {\n \"rhs\": \"You pick up the {o.name} from the {r.name}.\"\n }\n ],\n\n \"PickupObjectFromReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupObjectFromReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupEmptyReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupEmptyReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupFullReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupFullReceptacleObject: You pick up the {outerr.name}.\"\n }\n ],\n\n \"PutObject.feedback\": [\n {\n \"rhs\": \"You move the {o.name} to the {r.name}.\"\n }\n ],\n\n \"PutObjectInReceptacleObject.feedback\": [\n {\n \"rhs\": \"PutObjectInReceptacleObject: You put the {o.name} in the {outero.name}.\"\n }\n ],\n\n \"PutEmptyReceptacleObjectinReceptacle.feedback\": [\n {\n \"rhs\": \"PutEmptyReceptacleObjectinReceptacle: You put the {o.name} in the {r.name}.\"\n }\n ],\n\n \"PutFullReceptacleObjectInReceptacle.feedback\": [\n {\n \"rhs\": \"PutFullReceptacleObjectInReceptacle: You put the {outero.name} in the {r.name}.\"\n }\n ],\n\n \"inventory.feedback\": [\n {\n \"condition\": \"holdsany(a:agent)\",\n \"rhs\": \"You are carrying: [{o.indefinite + ' ' + o.name | holds(a:agent, o:object)}].\"\n },\n {\n \"rhs\": \"You are not carrying anything.\"\n }\n ],\n\n \"examineReceptacle.feedback\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \"The {r.name} is open. In it, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \"The {r.name} is closed.\"\n },\n {\n \"rhs\": \"On the {r.name}, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n }\n ],\n\n \"examineObject.feedback\": [\n {\n \"condition\": \"isreceptacleobject(o:object)\",\n \"rhs\": \"This is a normal {o.name}. In it, you see [{o2.indefinite + ' ' + o2.name | inreceptacleobject(o2:object, o:object)}].\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a clean sliced {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot sliced {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object)\",\n \"rhs\": \"This is a hot and clean {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object)\",\n \"rhs\": \"This is a cool and clean {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object)\",\n \"rhs\": \"This is a hot {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object)\",\n \"rhs\": \"This is a clean {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object)\",\n \"rhs\": \"This is a cold {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"This {o.name} is on.\"\n },\n {\n \"condition\": \"toggleable(o:object) & not_istoggled(o:object)\",\n \"rhs\": \"This {o.name} is off.\"\n },\n {\n \"condition\": \"sliceable(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a sliced {o.name}.\"\n },\n {\n \"rhs\": \"There's nothing special about {o.name}.\"\n }\n ]\n }\n\"\"\";\n\naction GotoLocation {\n template :: \"go to [{r.name | receptacleatlocation(r:receptacle, lend:location)}]\";\n feedback :: \"#GotoLocation.feedback#\";\n}\n\naction OpenObject {\n template :: \"open {r}\";\n feedback :: \"#OpenObject.feedback#\";\n}\n\naction CloseObject {\n template :: \"close {r}\";\n feedback :: \"#CloseObject.feedback#\";\n}\n\naction PickupObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObject.feedback#\";\n}\n\naction PickupObjectFromReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObjectFromReceptacleObject.feedback#\";\n}\n\naction PickupEmptyReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupEmptyReceptacleObject.feedback#\";\n}\n\naction PickupFullReceptacleObject {\n template :: \"take {outerr} from {r}\";\n feedback :: \"#PickupFullReceptacleObject.feedback#\";\n}\n\naction PutObject {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutObject.feedback#\";\n}\n\naction PutObjectInReceptacleObject {\n template :: \"put {o} into {outero}\";\n feedback :: \"#PutObjectInReceptacleObject.feedback#\";\n}\n\naction PutEmptyReceptacleObjectinReceptacle {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutEmptyReceptacleObjectinReceptacle.feedback#\";\n}\n\naction PutFullReceptacleObjectInReceptacle {\n template :: \"put {outero} in {r}\";\n feedback :: \"#PutFullReceptacleObjectInReceptacle.feedback#\";\n}\n\naction inventory {\n template :: \"inventory\";\n feedback :: \"#inventory.feedback#\";\n}\n\naction examineReceptacle {\n template :: \"examine {r}\";\n feedback :: \"#examineReceptacle.feedback#\";\n}\n\naction examineObject {\n template :: \"examine {o}\";\n feedback :: \"#examineObject.feedback#\";\n}\n\naction ToggleObject {\n template :: \"use {o}\";\n feedback :: \"#toggleObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"toggleObject.feedback\": [\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"You turn on the {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object)\",\n \"rhs\": \"You turn off the {o.name}.\"\n },\n {\n \"rhs\": \"You don't see any switch on the {o.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction HeatObject {\n template :: \"heat {o} with {r}\";\n feedback :: \"#heatObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"heatObject.feedback\": [\n {\n \"rhs\": \"You heat the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CleanObject {\n template :: \"clean {o} with {r}\";\n feedback :: \"#cleanObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"cleanObject.feedback\": [\n {\n \"rhs\": \"You clean the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CoolObject {\n template :: \"cool {o} with {r}\";\n feedback :: \"#coolObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"coolObject.feedback\": [\n {\n \"rhs\": \"You cool the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction SliceObject {\n template :: \"slice {co} with {ko}\";\n feedback :: \"#sliceObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"sliceObject.feedback\": [\n {\n \"rhs\": \"You sliced the {co.name} with the {ko.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction look {\n template :: \"look\";\n feedback :: \"#look.feedback#\";\n\n grammar :: \"\"\"\n {\n \"look.feedback\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"#look-variations#. Next to it, you see #list_objects_on_the_floor#.\"\n },\n {\n \"rhs\": \"You are in the middle of a room. Looking quickly around you, you see #list_appliances#.\"\n }\n ],\n\n \"look-variations\": [\n {\n \"rhs\": \"You are facing the [{r.name | atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)}]\"\n }\n ],\n\n \"list_objects_on_the_floor\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)\",\n \"rhs\": \"[{#overview(o)# | atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"list_appliances\": [\n {\n \"condition\": \"receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"[{#overview(r)# | receptacleatlocation(r:receptacle, l:location)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"overview(o, r)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name} (in/on the {r.name})}\"\n }\n ],\n\n \"overview(o)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name}\"\n }\n ],\n \"overview(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}\"\n }\n ],\n \"overview_with_state(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}#overview_state(r)#\"\n }\n ],\n \"overview_state(r)\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \" (it is open)\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \" (it is closed)\"\n },\n {\n \"rhs\": \"\"\n }\n ],\n\n \"list_empty\": [\n {\n \"rhs\": \"nothing\"\n }\n ],\n \"list_separator\": [\n {\n \"rhs\": \", \"\n }\n ],\n \"list_last_separator\": [\n {\n \"rhs\": \", and \"\n }\n ]\n }\n \"\"\";\n}\n\naction help {\n template :: \"help\";\n feedback :: \"\nAvailable commands:\n look: look around your current location\n inventory: check your current inventory\n go to (receptacle): move to a receptacle\n open (receptacle): open a receptacle\n close (receptacle): close a receptacle\n take (object) from (receptacle): take an object from a receptacle\n move (object) to (receptacle): place an object in or on a receptacle\n examine (something): examine a receptacle or an object\n use (object): use an object\n heat (object) with (receptacle): heat an object using a receptacle\n clean (object) with (receptacle): clean an object using a receptacle\n cool (object) with (receptacle): cool an object using a receptacle\n slice (object) with (object): slice an object using a sharp object\n\";\n}\n", "pddl_problem": "\n(define (problem plan_trial_T20190908_070444_960595)\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_30_bar__plus_01_dot_74_bar__plus_03_dot_73 - object\n Bowl_bar__minus_00_dot_18_bar__plus_00_dot_92_bar__plus_05_dot_27 - object\n Bread_bar__minus_00_dot_30_bar__plus_01_dot_77_bar__plus_03_dot_85 - object\n 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Pan_bar__minus_02_dot_45_bar__plus_00_dot_93_bar__plus_02_dot_02)\n (coolable Bread_bar__minus_00_dot_30_bar__plus_01_dot_77_bar__plus_03_dot_85)\n (coolable Potato_bar__minus_04_dot_23_bar__plus_00_dot_82_bar__plus_03_dot_16)\n (coolable Cup_bar__minus_01_dot_86_bar__plus_00_dot_92_bar__plus_02_dot_03)\n (coolable Cup_bar__minus_00_dot_26_bar__plus_00_dot_92_bar__plus_04_dot_94)\n (coolable Pot_bar__minus_02_dot_92_bar__plus_00_dot_93_bar__plus_01_dot_71)\n (coolable Potato_bar__minus_00_dot_30_bar__plus_01_dot_10_bar__plus_03_dot_97)\n (coolable Bread_bar__minus_01_dot_69_bar__plus_01_dot_00_bar__plus_01_dot_80)\n (coolable Mug_bar__minus_00_dot_41_bar__plus_00_dot_96_bar__plus_06_dot_56)\n (coolable Pan_bar__minus_03_dot_49_bar__plus_00_dot_92_bar__plus_05_dot_34)\n (coolable WineBottle_bar__minus_00_dot_33_bar__plus_00_dot_93_bar__plus_05_dot_27)\n (coolable Tomato_bar__minus_03_dot_71_bar__plus_00_dot_13_bar__plus_06_dot_33)\n (coolable Tomato_bar__minus_00_dot_22_bar__plus_01_dot_39_bar__plus_03_dot_23)\n (coolable Cup_bar__minus_00_dot_24_bar__plus_01_dot_07_bar__plus_03_dot_48)\n (coolable Plate_bar__minus_00_dot_30_bar__plus_01_dot_58_bar__plus_03_dot_41)\n (coolable Cup_bar__minus_00_dot_10_bar__plus_00_dot_92_bar__plus_05_dot_93)\n (coolable Lettuce_bar__minus_04_dot_26_bar__plus_01_dot_02_bar__plus_04_dot_12)\n (coolable Bowl_bar__minus_00_dot_18_bar__plus_00_dot_92_bar__plus_05_dot_27)\n (coolable Egg_bar__minus_00_dot_57_bar__plus_00_dot_96_bar__plus_05_dot_60)\n (coolable Mug_bar__minus_00_dot_30_bar__plus_01_dot_33_bar__plus_03_dot_73)\n (coolable Mug_bar__minus_01_dot_61_bar__plus_00_dot_92_bar__plus_01_dot_65)\n (coolable Lettuce_bar__minus_04_dot_20_bar__plus_00_dot_89_bar__plus_03_dot_41)\n \n (isCool Cup_bar__minus_00_dot_24_bar__plus_01_dot_07_bar__plus_03_dot_48)\n \n \n \n (sliceable Tomato_bar__minus_00_dot_45_bar__plus_01_dot_13_bar__plus_03_dot_85)\n (sliceable Apple_bar__minus_00_dot_30_bar__plus_01_dot_74_bar__plus_03_dot_73)\n (sliceable Bread_bar__minus_00_dot_30_bar__plus_01_dot_77_bar__plus_03_dot_85)\n (sliceable Potato_bar__minus_04_dot_23_bar__plus_00_dot_82_bar__plus_03_dot_16)\n (sliceable Potato_bar__minus_00_dot_30_bar__plus_01_dot_10_bar__plus_03_dot_97)\n (sliceable Bread_bar__minus_01_dot_69_bar__plus_01_dot_00_bar__plus_01_dot_80)\n (sliceable Tomato_bar__minus_03_dot_71_bar__plus_00_dot_13_bar__plus_06_dot_33)\n (sliceable Tomato_bar__minus_00_dot_22_bar__plus_01_dot_39_bar__plus_03_dot_23)\n (sliceable Lettuce_bar__minus_04_dot_26_bar__plus_01_dot_02_bar__plus_04_dot_12)\n (sliceable Egg_bar__minus_00_dot_57_bar__plus_00_dot_96_bar__plus_05_dot_60)\n (sliceable Lettuce_bar__minus_04_dot_20_bar__plus_00_dot_89_bar__plus_03_dot_41)\n \n (inReceptacleObject Bread_bar__minus_01_dot_69_bar__plus_01_dot_00_bar__plus_01_dot_80 Mug_bar__minus_01_dot_61_bar__plus_00_dot_92_bar__plus_01_dot_65)\n (inReceptacle SaltShaker_bar__minus_03_dot_36_bar__plus_00_dot_08_bar__plus_01_dot_85 Cabinet_bar__minus_03_dot_19_bar__plus_00_dot_39_bar__plus_02_dot_09)\n (inReceptacle Spatula_bar__minus_04_dot_21_bar__plus_00_dot_77_bar__plus_02_dot_77 Drawer_bar__minus_04_dot_13_bar__plus_00_dot_80_bar__plus_02_dot_50)\n (inReceptacle Mug_bar__minus_01_dot_61_bar__plus_00_dot_92_bar__plus_01_dot_65 CounterTop_bar__minus_01_dot_87_bar__plus_00_dot_96_bar__plus_01_dot_80)\n (inReceptacle Knife_bar__minus_02_dot_11_bar__plus_00_dot_95_bar__plus_01_dot_65 CounterTop_bar__minus_01_dot_87_bar__plus_00_dot_96_bar__plus_01_dot_80)\n (inReceptacle Cup_bar__minus_01_dot_86_bar__plus_00_dot_92_bar__plus_02_dot_03 CounterTop_bar__minus_01_dot_87_bar__plus_00_dot_96_bar__plus_01_dot_80)\n (inReceptacle WineBottle_bar__minus_02_dot_03_bar__plus_00_dot_92_bar__plus_01_dot_65 CounterTop_bar__minus_01_dot_87_bar__plus_00_dot_96_bar__plus_01_dot_80)\n (inReceptacle Bread_bar__minus_01_dot_69_bar__plus_01_dot_00_bar__plus_01_dot_80 CounterTop_bar__minus_01_dot_87_bar__plus_00_dot_96_bar__plus_01_dot_80)\n (inReceptacle Fork_bar__minus_02_dot_03_bar__plus_00_dot_92_bar__plus_01_dot_88 CounterTop_bar__minus_01_dot_87_bar__plus_00_dot_96_bar__plus_01_dot_80)\n (inReceptacle WineBottle_bar__minus_00_dot_33_bar__plus_00_dot_93_bar__plus_05_dot_27 CounterTop_bar__minus_00_dot_35_bar__plus_00_dot_96_bar__plus_05_dot_60)\n (inReceptacle Cup_bar__minus_00_dot_10_bar__plus_00_dot_92_bar__plus_05_dot_93 CounterTop_bar__minus_00_dot_35_bar__plus_00_dot_96_bar__plus_05_dot_60)\n (inReceptacle PepperShaker_bar__minus_00_dot_57_bar__plus_00_dot_92_bar__plus_06_dot_26 CounterTop_bar__minus_00_dot_35_bar__plus_00_dot_96_bar__plus_05_dot_60)\n (inReceptacle Cup_bar__minus_00_dot_26_bar__plus_00_dot_92_bar__plus_04_dot_94 CounterTop_bar__minus_00_dot_35_bar__plus_00_dot_96_bar__plus_05_dot_60)\n (inReceptacle DishSponge_bar__minus_00_dot_49_bar__plus_00_dot_92_bar__plus_04_dot_94 CounterTop_bar__minus_00_dot_35_bar__plus_00_dot_96_bar__plus_05_dot_60)\n (inReceptacle Pencil_bar__minus_00_dot_33_bar__plus_00_dot_93_bar__plus_05_dot_93 CounterTop_bar__minus_00_dot_35_bar__plus_00_dot_96_bar__plus_05_dot_60)\n (inReceptacle SaltShaker_bar__minus_00_dot_33_bar__plus_00_dot_92_bar__plus_05_dot_60 CounterTop_bar__minus_00_dot_35_bar__plus_00_dot_96_bar__plus_05_dot_60)\n (inReceptacle Bowl_bar__minus_00_dot_18_bar__plus_00_dot_92_bar__plus_05_dot_27 CounterTop_bar__minus_00_dot_35_bar__plus_00_dot_96_bar__plus_05_dot_60)\n (inReceptacle Mug_bar__minus_00_dot_41_bar__plus_00_dot_96_bar__plus_06_dot_56 CounterTop_bar__minus_00_dot_35_bar__plus_00_dot_96_bar__plus_05_dot_60)\n (inReceptacle Egg_bar__minus_00_dot_57_bar__plus_00_dot_96_bar__plus_05_dot_60 CounterTop_bar__minus_00_dot_35_bar__plus_00_dot_96_bar__plus_05_dot_60)\n (inReceptacle Pan_bar__minus_02_dot_45_bar__plus_00_dot_93_bar__plus_02_dot_02 StoveBurner_bar__minus_02_dot_47_bar__plus_00_dot_92_bar__plus_02_dot_01)\n (inReceptacle Pot_bar__minus_02_dot_92_bar__plus_00_dot_93_bar__plus_01_dot_71 StoveBurner_bar__minus_02_dot_92_bar__plus_00_dot_92_bar__plus_01_dot_71)\n (inReceptacle Spatula_bar__minus_03_dot_86_bar__plus_00_dot_94_bar__plus_01_dot_80 CounterTop_bar__minus_04_dot_26_bar__plus_00_dot_96_bar__plus_04_dot_94)\n (inReceptacle ButterKnife_bar__minus_04_dot_03_bar__plus_00_dot_92_bar__plus_04_dot_38 CounterTop_bar__minus_04_dot_26_bar__plus_00_dot_96_bar__plus_04_dot_94)\n (inReceptacle Spoon_bar__minus_04_dot_31_bar__plus_00_dot_92_bar__plus_02_dot_42 CounterTop_bar__minus_04_dot_26_bar__plus_00_dot_96_bar__plus_04_dot_94)\n (inReceptacle Knife_bar__minus_04_dot_24_bar__plus_00_dot_95_bar__plus_02_dot_30 CounterTop_bar__minus_04_dot_26_bar__plus_00_dot_96_bar__plus_04_dot_94)\n (inReceptacle Knife_bar__minus_04_dot_31_bar__plus_00_dot_95_bar__plus_02_dot_77 CounterTop_bar__minus_04_dot_26_bar__plus_00_dot_96_bar__plus_04_dot_94)\n (inReceptacle SoapBottle_bar__minus_04_dot_18_bar__plus_00_dot_92_bar__plus_04_dot_90 CounterTop_bar__minus_04_dot_26_bar__plus_00_dot_96_bar__plus_04_dot_94)\n (inReceptacle WineBottle_bar__minus_04_dot_20_bar__plus_00_dot_92_bar__plus_01_dot_95 CounterTop_bar__minus_04_dot_26_bar__plus_00_dot_96_bar__plus_04_dot_94)\n (inReceptacle DishSponge_bar__minus_04_dot_17_bar__plus_00_dot_92_bar__plus_02_dot_88 CounterTop_bar__minus_04_dot_26_bar__plus_00_dot_96_bar__plus_04_dot_94)\n (inReceptacle Lettuce_bar__minus_04_dot_26_bar__plus_01_dot_02_bar__plus_04_dot_12 CounterTop_bar__minus_04_dot_26_bar__plus_00_dot_96_bar__plus_04_dot_94)\n (inReceptacle SaltShaker_bar__minus_04_dot_41_bar__plus_00_dot_92_bar__plus_04_dot_90 CounterTop_bar__minus_04_dot_26_bar__plus_00_dot_96_bar__plus_04_dot_94)\n (inReceptacle Pan_bar__minus_03_dot_49_bar__plus_00_dot_92_bar__plus_05_dot_34 CounterTop_bar__minus_04_dot_26_bar__plus_00_dot_96_bar__plus_04_dot_94)\n (inReceptacle DishSponge_bar__minus_04_dot_10_bar__plus_00_dot_74_bar__plus_04_dot_66 Drawer_bar__minus_04_dot_09_bar__plus_00_dot_78_bar__plus_04_dot_66)\n (inReceptacle PepperShaker_bar__minus_00_dot_23_bar__plus_02_dot_13_bar__plus_03_dot_87 Cabinet_bar__minus_00_dot_33_bar__plus_02_dot_25_bar__plus_04_dot_21)\n (inReceptacle Pot_bar__minus_02_dot_47_bar__plus_00_dot_93_bar__plus_01_dot_71 StoveBurner_bar__minus_02_dot_47_bar__plus_00_dot_92_bar__plus_01_dot_71)\n (inReceptacle Mug_bar__minus_00_dot_41_bar__plus_00_dot_96_bar__plus_06_dot_56 CoffeeMachine_bar__minus_00_dot_28_bar__plus_00_dot_91_bar__plus_06_dot_56)\n (inReceptacle SoapBottle_bar__minus_03_dot_78_bar__plus_00_dot_07_bar__plus_06_dot_46 GarbageCan_bar__minus_03_dot_71_bar_00_dot_00_bar__plus_06_dot_38)\n (inReceptacle PaperTowelRoll_bar__minus_03_dot_71_bar__plus_00_dot_17_bar__plus_06_dot_50 GarbageCan_bar__minus_03_dot_71_bar_00_dot_00_bar__plus_06_dot_38)\n (inReceptacle Tomato_bar__minus_03_dot_71_bar__plus_00_dot_13_bar__plus_06_dot_33 GarbageCan_bar__minus_03_dot_71_bar_00_dot_00_bar__plus_06_dot_38)\n (inReceptacle Potato_bar__minus_04_dot_23_bar__plus_00_dot_82_bar__plus_03_dot_16 Sink_bar__minus_04_dot_19_bar__plus_00_dot_92_bar__plus_03_dot_28_bar_SinkBasin)\n (inReceptacle Spoon_bar__minus_04_dot_16_bar__plus_00_dot_79_bar__plus_03_dot_22 Sink_bar__minus_04_dot_19_bar__plus_00_dot_92_bar__plus_03_dot_28_bar_SinkBasin)\n (inReceptacle Lettuce_bar__minus_04_dot_20_bar__plus_00_dot_89_bar__plus_03_dot_41 Sink_bar__minus_04_dot_19_bar__plus_00_dot_92_bar__plus_03_dot_28_bar_SinkBasin)\n (inReceptacle Apple_bar__minus_00_dot_30_bar__plus_01_dot_74_bar__plus_03_dot_73 Fridge_bar__minus_00_dot_32_bar_00_dot_00_bar__plus_03_dot_60)\n (inReceptacle Bread_bar__minus_00_dot_30_bar__plus_01_dot_77_bar__plus_03_dot_85 Fridge_bar__minus_00_dot_32_bar_00_dot_00_bar__plus_03_dot_60)\n (inReceptacle Tomato_bar__minus_00_dot_22_bar__plus_01_dot_39_bar__plus_03_dot_23 Fridge_bar__minus_00_dot_32_bar_00_dot_00_bar__plus_03_dot_60)\n (inReceptacle Cup_bar__minus_00_dot_24_bar__plus_01_dot_07_bar__plus_03_dot_48 Fridge_bar__minus_00_dot_32_bar_00_dot_00_bar__plus_03_dot_60)\n (inReceptacle Tomato_bar__minus_00_dot_45_bar__plus_01_dot_13_bar__plus_03_dot_85 Fridge_bar__minus_00_dot_32_bar_00_dot_00_bar__plus_03_dot_60)\n (inReceptacle Potato_bar__minus_00_dot_30_bar__plus_01_dot_10_bar__plus_03_dot_97 Fridge_bar__minus_00_dot_32_bar_00_dot_00_bar__plus_03_dot_60)\n \n \n (receptacleAtLocation Cabinet_bar__minus_00_dot_33_bar__plus_02_dot_25_bar__plus_03_dot_01 loc_bar__minus_2_bar_10_bar_0_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_33_bar__plus_02_dot_25_bar__plus_04_dot_21 loc_bar__minus_5_bar_17_bar_1_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_33_bar__plus_02_dot_25_bar__plus_04_dot_31 loc_bar__minus_4_bar_18_bar_1_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_33_bar__plus_02_dot_25_bar__plus_05_dot_51 loc_bar__minus_4_bar_22_bar_1_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_33_bar__plus_02_dot_25_bar__plus_05_dot_61 loc_bar__minus_4_bar_22_bar_1_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_33_bar__plus_02_dot_25_bar__plus_06_dot_81 loc_bar__minus_4_bar_25_bar_1_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_64_bar__plus_00_dot_39_bar__plus_04_dot_30 loc_bar__minus_6_bar_17_bar_1_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_64_bar__plus_00_dot_39_bar__plus_05_dot_58 loc_bar__minus_6_bar_20_bar_1_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_64_bar__plus_00_dot_39_bar__plus_05_dot_60 loc_bar__minus_6_bar_22_bar_1_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_64_bar__plus_00_dot_39_bar__plus_06_dot_88 loc_bar__minus_6_bar_25_bar_1_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_01_dot_54_bar__plus_00_dot_39_bar__plus_02_dot_09 loc_bar__minus_9_bar_12_bar_2_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_01_dot_58_bar__plus_01_dot_93_bar__plus_01_dot_78 loc_bar__minus_4_bar_7_bar_3_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_03_dot_04_bar__plus_00_dot_39_bar__plus_05_dot_03 loc_bar__minus_11_bar_17_bar_0_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_03_dot_04_bar__plus_01_dot_94_bar__plus_05_dot_32 loc_bar__minus_13_bar_19_bar_0_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_03_dot_19_bar__plus_00_dot_39_bar__plus_02_dot_09 loc_bar__minus_12_bar_12_bar_2_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_03_dot_20_bar__plus_01_dot_93_bar__plus_01_dot_78 loc_bar__minus_13_bar_10_bar_2_bar__minus_15)\n (receptacleAtLocation Cabinet_bar__minus_03_dot_64_bar__plus_00_dot_39_bar__plus_05_dot_03 loc_bar__minus_12_bar_17_bar_0_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_03_dot_67_bar__plus_00_dot_39_bar__plus_05_dot_03 loc_bar__minus_13_bar_16_bar_0_bar_45)\n (receptacleAtLocation Cabinet_bar__minus_03_dot_92_bar__plus_00_dot_40_bar__plus_02_dot_09 loc_bar__minus_13_bar_12_bar_2_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_03_dot_96_bar__plus_00_dot_39_bar__plus_02_dot_12 loc_bar__minus_12_bar_10_bar_3_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_03_dot_96_bar__plus_00_dot_39_bar__plus_02_dot_88 loc_bar__minus_12_bar_13_bar_3_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_03_dot_96_bar__plus_00_dot_39_bar__plus_04_dot_34 loc_bar__minus_12_bar_17_bar_3_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_03_dot_97_bar__plus_00_dot_39_bar__plus_02_dot_89 loc_bar__minus_12_bar_13_bar_3_bar_45)\n (receptacleAtLocation Cabinet_bar__minus_03_dot_97_bar__plus_00_dot_39_bar__plus_03_dot_66 loc_bar__minus_12_bar_12_bar_3_bar_45)\n (receptacleAtLocation Cabinet_bar__minus_04_dot_11_bar__plus_01_dot_94_bar__plus_05_dot_32 loc_bar__minus_15_bar_19_bar_0_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_04_dot_28_bar__plus_01_dot_93_bar__plus_02_dot_23 loc_bar__minus_14_bar_10_bar_3_bar__minus_15)\n (receptacleAtLocation CoffeeMachine_bar__minus_00_dot_28_bar__plus_00_dot_91_bar__plus_06_dot_56 loc_bar__minus_4_bar_25_bar_1_bar_45)\n (receptacleAtLocation CounterTop_bar__minus_00_dot_35_bar__plus_00_dot_96_bar__plus_05_dot_60 loc_bar__minus_4_bar_20_bar_1_bar_45)\n (receptacleAtLocation CounterTop_bar__minus_01_dot_87_bar__plus_00_dot_96_bar__plus_01_dot_80 loc_bar__minus_8_bar_10_bar_2_bar_45)\n (receptacleAtLocation CounterTop_bar__minus_04_dot_26_bar__plus_00_dot_96_bar__plus_04_dot_94 loc_bar__minus_15_bar_19_bar_3_bar_60)\n (receptacleAtLocation Drawer_bar__minus_00_dot_51_bar__plus_00_dot_78_bar__plus_04_dot_62 loc_bar__minus_4_bar_21_bar_2_bar_60)\n (receptacleAtLocation Drawer_bar__minus_00_dot_51_bar__plus_00_dot_78_bar__plus_05_dot_27 loc_bar__minus_4_bar_24_bar_2_bar_45)\n (receptacleAtLocation Drawer_bar__minus_00_dot_51_bar__plus_00_dot_78_bar__plus_05_dot_92 loc_bar__minus_4_bar_21_bar_0_bar_60)\n (receptacleAtLocation Drawer_bar__minus_00_dot_51_bar__plus_00_dot_78_bar__plus_06_dot_57 loc_bar__minus_4_bar_23_bar_0_bar_45)\n (receptacleAtLocation Drawer_bar__minus_01_dot_86_bar__plus_00_dot_78_bar__plus_01_dot_96 loc_bar__minus_5_bar_9_bar_3_bar_60)\n (receptacleAtLocation Drawer_bar__minus_03_dot_19_bar__plus_00_dot_78_bar__plus_05_dot_16 loc_bar__minus_15_bar_19_bar_1_bar_60)\n (receptacleAtLocation Drawer_bar__minus_03_dot_42_bar__plus_00_dot_78_bar__plus_01_dot_96 loc_bar__minus_14_bar_10_bar_2_bar_60)\n (receptacleAtLocation Drawer_bar__minus_03_dot_51_bar__plus_00_dot_78_bar__plus_05_dot_16 loc_bar__minus_14_bar_19_bar_0_bar_60)\n (receptacleAtLocation Drawer_bar__minus_03_dot_80_bar__plus_00_dot_78_bar__plus_01_dot_96 loc_bar__minus_14_bar_10_bar_2_bar_60)\n (receptacleAtLocation Drawer_bar__minus_03_dot_80_bar__plus_00_dot_78_bar__plus_05_dot_16 loc_bar__minus_15_bar_19_bar_0_bar_60)\n (receptacleAtLocation Drawer_bar__minus_04_dot_09_bar__plus_00_dot_78_bar__plus_04_dot_66 loc_bar__minus_15_bar_14_bar_0_bar_30)\n (receptacleAtLocation Drawer_bar__minus_04_dot_13_bar__plus_00_dot_80_bar__plus_02_dot_50 loc_bar__minus_13_bar_11_bar_3_bar_45)\n (receptacleAtLocation Fridge_bar__minus_00_dot_32_bar_00_dot_00_bar__plus_03_dot_60 loc_bar__minus_5_bar_15_bar_1_bar_60)\n (receptacleAtLocation GarbageCan_bar__minus_03_dot_71_bar_00_dot_00_bar__plus_06_dot_38 loc_bar__minus_10_bar_25_bar_3_bar_60)\n (receptacleAtLocation Microwave_bar__minus_02_dot_69_bar__plus_01_dot_43_bar__plus_01_dot_69 loc_bar__minus_11_bar_10_bar_2_bar_15)\n (receptacleAtLocation Sink_bar__minus_04_dot_19_bar__plus_00_dot_92_bar__plus_03_dot_28_bar_SinkBasin loc_bar__minus_15_bar_14_bar_3_bar_60)\n (receptacleAtLocation StoveBurner_bar__minus_02_dot_47_bar__plus_00_dot_92_bar__plus_01_dot_71 loc_bar__minus_10_bar_10_bar_2_bar_45)\n (receptacleAtLocation StoveBurner_bar__minus_02_dot_47_bar__plus_00_dot_92_bar__plus_02_dot_01 loc_bar__minus_10_bar_10_bar_2_bar_60)\n (receptacleAtLocation StoveBurner_bar__minus_02_dot_92_bar__plus_00_dot_92_bar__plus_01_dot_71 loc_bar__minus_12_bar_10_bar_2_bar_45)\n (receptacleAtLocation StoveBurner_bar__minus_02_dot_92_bar__plus_00_dot_92_bar__plus_02_dot_01 loc_bar__minus_12_bar_10_bar_2_bar_60)\n (receptacleAtLocation Toaster_bar__minus_03_dot_58_bar__plus_00_dot_91_bar__plus_01_dot_76 loc_bar__minus_14_bar_10_bar_2_bar_45)\n (objectAtLocation Mug_bar__minus_01_dot_61_bar__plus_00_dot_92_bar__plus_01_dot_65 loc_bar__minus_8_bar_10_bar_2_bar_45)\n (objectAtLocation Spoon_bar__minus_04_dot_16_bar__plus_00_dot_79_bar__plus_03_dot_22 loc_bar__minus_15_bar_14_bar_3_bar_60)\n (objectAtLocation DishSponge_bar__minus_04_dot_10_bar__plus_00_dot_74_bar__plus_04_dot_66 loc_bar__minus_15_bar_14_bar_0_bar_30)\n (objectAtLocation PepperShaker_bar__minus_00_dot_57_bar__plus_00_dot_92_bar__plus_06_dot_26 loc_bar__minus_4_bar_20_bar_1_bar_45)\n (objectAtLocation SoapBottle_bar__minus_04_dot_18_bar__plus_00_dot_92_bar__plus_04_dot_90 loc_bar__minus_15_bar_19_bar_3_bar_60)\n (objectAtLocation SaltShaker_bar__minus_03_dot_36_bar__plus_00_dot_08_bar__plus_01_dot_85 loc_bar__minus_12_bar_12_bar_2_bar_60)\n (objectAtLocation Pot_bar__minus_02_dot_92_bar__plus_00_dot_93_bar__plus_01_dot_71 loc_bar__minus_12_bar_10_bar_2_bar_45)\n (objectAtLocation Pan_bar__minus_02_dot_45_bar__plus_00_dot_93_bar__plus_02_dot_02 loc_bar__minus_10_bar_10_bar_2_bar_60)\n (objectAtLocation Cup_bar__minus_00_dot_26_bar__plus_00_dot_92_bar__plus_04_dot_94 loc_bar__minus_4_bar_20_bar_1_bar_45)\n (objectAtLocation Spatula_bar__minus_03_dot_86_bar__plus_00_dot_94_bar__plus_01_dot_80 loc_bar__minus_15_bar_19_bar_3_bar_60)\n (objectAtLocation WineBottle_bar__minus_04_dot_20_bar__plus_00_dot_92_bar__plus_01_dot_95 loc_bar__minus_15_bar_19_bar_3_bar_60)\n (objectAtLocation Tomato_bar__minus_00_dot_22_bar__plus_01_dot_39_bar__plus_03_dot_23 loc_bar__minus_5_bar_15_bar_1_bar_60)\n (objectAtLocation Bread_bar__minus_01_dot_69_bar__plus_01_dot_00_bar__plus_01_dot_80 loc_bar__minus_8_bar_10_bar_2_bar_45)\n (objectAtLocation Lettuce_bar__minus_04_dot_26_bar__plus_01_dot_02_bar__plus_04_dot_12 loc_bar__minus_15_bar_19_bar_3_bar_60)\n (objectAtLocation Potato_bar__minus_04_dot_23_bar__plus_00_dot_82_bar__plus_03_dot_16 loc_bar__minus_15_bar_14_bar_3_bar_60)\n (objectAtLocation Knife_bar__minus_04_dot_24_bar__plus_00_dot_95_bar__plus_02_dot_30 loc_bar__minus_15_bar_19_bar_3_bar_60)\n (objectAtLocation Mug_bar__minus_00_dot_41_bar__plus_00_dot_96_bar__plus_06_dot_56 loc_bar__minus_4_bar_25_bar_1_bar_45)\n (objectAtLocation SaltShaker_bar__minus_00_dot_33_bar__plus_00_dot_92_bar__plus_05_dot_60 loc_bar__minus_4_bar_20_bar_1_bar_45)\n (objectAtLocation Tomato_bar__minus_03_dot_71_bar__plus_00_dot_13_bar__plus_06_dot_33 loc_bar__minus_10_bar_25_bar_3_bar_60)\n (objectAtLocation Knife_bar__minus_02_dot_11_bar__plus_00_dot_95_bar__plus_01_dot_65 loc_bar__minus_8_bar_10_bar_2_bar_45)\n (objectAtLocation Cup_bar__minus_00_dot_24_bar__plus_01_dot_07_bar__plus_03_dot_48 loc_bar__minus_5_bar_15_bar_1_bar_60)\n (objectAtLocation Cup_bar__minus_01_dot_86_bar__plus_00_dot_92_bar__plus_02_dot_03 loc_bar__minus_8_bar_10_bar_2_bar_45)\n (objectAtLocation WineBottle_bar__minus_00_dot_33_bar__plus_00_dot_93_bar__plus_05_dot_27 loc_bar__minus_4_bar_20_bar_1_bar_45)\n (objectAtLocation DishSponge_bar__minus_04_dot_17_bar__plus_00_dot_92_bar__plus_02_dot_88 loc_bar__minus_15_bar_19_bar_3_bar_60)\n (objectAtLocation Sink_bar__minus_04_dot_19_bar__plus_00_dot_92_bar__plus_03_dot_28 loc_bar__minus_15_bar_13_bar_3_bar_60)\n (objectAtLocation Egg_bar__minus_00_dot_57_bar__plus_00_dot_96_bar__plus_05_dot_60 loc_bar__minus_4_bar_20_bar_1_bar_45)\n (objectAtLocation Apple_bar__minus_00_dot_30_bar__plus_01_dot_74_bar__plus_03_dot_73 loc_bar__minus_5_bar_15_bar_1_bar_60)\n (objectAtLocation Knife_bar__minus_04_dot_31_bar__plus_00_dot_95_bar__plus_02_dot_77 loc_bar__minus_15_bar_19_bar_3_bar_60)\n (objectAtLocation Potato_bar__minus_00_dot_30_bar__plus_01_dot_10_bar__plus_03_dot_97 loc_bar__minus_5_bar_15_bar_1_bar_60)\n (objectAtLocation StoveKnob_bar__minus_02_dot_35_bar__plus_01_dot_10_bar__plus_01_dot_56 loc_bar__minus_9_bar_10_bar_2_bar_30)\n (objectAtLocation StoveKnob_bar__minus_02_dot_79_bar__plus_01_dot_10_bar__plus_01_dot_56 loc_bar__minus_11_bar_10_bar_2_bar_30)\n (objectAtLocation StoveKnob_bar__minus_02_dot_97_bar__plus_01_dot_10_bar__plus_01_dot_56 loc_bar__minus_12_bar_10_bar_2_bar_30)\n (objectAtLocation StoveKnob_bar__minus_02_dot_51_bar__plus_01_dot_10_bar__plus_01_dot_56 loc_bar__minus_10_bar_10_bar_2_bar_30)\n (objectAtLocation Fork_bar__minus_02_dot_03_bar__plus_00_dot_92_bar__plus_01_dot_88 loc_bar__minus_8_bar_10_bar_2_bar_45)\n (objectAtLocation Bowl_bar__minus_00_dot_18_bar__plus_00_dot_92_bar__plus_05_dot_27 loc_bar__minus_4_bar_20_bar_1_bar_45)\n (objectAtLocation Plate_bar__minus_00_dot_30_bar__plus_01_dot_58_bar__plus_03_dot_41 loc_bar__minus_5_bar_14_bar_1_bar_0)\n (objectAtLocation Lettuce_bar__minus_04_dot_20_bar__plus_00_dot_89_bar__plus_03_dot_41 loc_bar__minus_15_bar_14_bar_3_bar_60)\n (objectAtLocation Bread_bar__minus_00_dot_30_bar__plus_01_dot_77_bar__plus_03_dot_85 loc_bar__minus_5_bar_15_bar_1_bar_60)\n (objectAtLocation Tomato_bar__minus_00_dot_45_bar__plus_01_dot_13_bar__plus_03_dot_85 loc_bar__minus_5_bar_15_bar_1_bar_60)\n (objectAtLocation Curtains_bar__minus_04_dot_52_bar__plus_02_dot_25_bar__plus_03_dot_39 loc_bar__minus_15_bar_14_bar_3_bar__minus_30)\n (objectAtLocation Window_bar__minus_04_dot_87_bar__plus_01_dot_63_bar__plus_03_dot_31 loc_bar__minus_15_bar_13_bar_3_bar_0)\n (objectAtLocation WineBottle_bar__minus_02_dot_03_bar__plus_00_dot_92_bar__plus_01_dot_65 loc_bar__minus_8_bar_10_bar_2_bar_45)\n (objectAtLocation Spatula_bar__minus_04_dot_21_bar__plus_00_dot_77_bar__plus_02_dot_77 loc_bar__minus_13_bar_11_bar_3_bar_45)\n (objectAtLocation PaperTowelRoll_bar__minus_03_dot_71_bar__plus_00_dot_17_bar__plus_06_dot_50 loc_bar__minus_10_bar_25_bar_3_bar_60)\n (objectAtLocation Cup_bar__minus_00_dot_10_bar__plus_00_dot_92_bar__plus_05_dot_93 loc_bar__minus_4_bar_20_bar_1_bar_45)\n (objectAtLocation Pencil_bar__minus_00_dot_33_bar__plus_00_dot_93_bar__plus_05_dot_93 loc_bar__minus_4_bar_20_bar_1_bar_45)\n (objectAtLocation Pan_bar__minus_03_dot_49_bar__plus_00_dot_92_bar__plus_05_dot_34 loc_bar__minus_15_bar_19_bar_3_bar_60)\n (objectAtLocation Pot_bar__minus_02_dot_47_bar__plus_00_dot_93_bar__plus_01_dot_71 loc_bar__minus_10_bar_10_bar_2_bar_45)\n (objectAtLocation LightSwitch_bar__minus_01_dot_59_bar__plus_01_dot_17_bar__plus_01_dot_51 loc_bar__minus_4_bar_6_bar_3_bar_45)\n (objectAtLocation SaltShaker_bar__minus_04_dot_41_bar__plus_00_dot_92_bar__plus_04_dot_90 loc_bar__minus_15_bar_19_bar_3_bar_60)\n (objectAtLocation SoapBottle_bar__minus_03_dot_78_bar__plus_00_dot_07_bar__plus_06_dot_46 loc_bar__minus_10_bar_25_bar_3_bar_60)\n (objectAtLocation PepperShaker_bar__minus_00_dot_23_bar__plus_02_dot_13_bar__plus_03_dot_87 loc_bar__minus_5_bar_17_bar_1_bar__minus_30)\n (objectAtLocation ButterKnife_bar__minus_04_dot_03_bar__plus_00_dot_92_bar__plus_04_dot_38 loc_bar__minus_15_bar_19_bar_3_bar_60)\n (objectAtLocation DishSponge_bar__minus_00_dot_49_bar__plus_00_dot_92_bar__plus_04_dot_94 loc_bar__minus_4_bar_20_bar_1_bar_45)\n (objectAtLocation Spoon_bar__minus_04_dot_31_bar__plus_00_dot_92_bar__plus_02_dot_42 loc_bar__minus_15_bar_19_bar_3_bar_60)\n (objectAtLocation Mug_bar__minus_00_dot_30_bar__plus_01_dot_33_bar__plus_03_dot_73 loc_bar__minus_5_bar_15_bar_1_bar_15)\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 FridgeType)\n (isHot ?o)\n (inReceptacle ?o ?r)\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to countertop 3", "take cup 4 from countertop 3", "go to microwave 1", "heat cup 4 with microwave 1", "go to fridge 1", "open fridge 1", "move cup 4 to fridge 1"]}
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alfworld__pick_heat_then_place_in_recep__8
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pick_heat_then_place_in_recep
|
pick_heat_then_place_in_recep-Cup-None-Fridge-13/trial_T20190908_070322_791516/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 cup in fridge.\"\n }\n ],\n\n \"GotoLocation.feedback\": [\n {\n \"rhs\": \"You arrive at {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"OpenObject.feedback\": [\n {\n \"rhs\": \"You open the {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"CloseObject.feedback\": [\n {\n \"rhs\": \"You close the {r.name}.\"\n }\n ],\n\n \"PickupObject.feedback\": [\n {\n \"rhs\": \"You pick up the {o.name} from the {r.name}.\"\n }\n ],\n\n \"PickupObjectFromReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupObjectFromReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupEmptyReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupEmptyReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupFullReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupFullReceptacleObject: You pick up the {outerr.name}.\"\n }\n ],\n\n \"PutObject.feedback\": [\n {\n \"rhs\": \"You move the {o.name} to the {r.name}.\"\n }\n ],\n\n \"PutObjectInReceptacleObject.feedback\": [\n {\n \"rhs\": \"PutObjectInReceptacleObject: You put the {o.name} in the {outero.name}.\"\n }\n ],\n\n \"PutEmptyReceptacleObjectinReceptacle.feedback\": [\n {\n \"rhs\": \"PutEmptyReceptacleObjectinReceptacle: You put the {o.name} in the {r.name}.\"\n }\n ],\n\n \"PutFullReceptacleObjectInReceptacle.feedback\": [\n {\n \"rhs\": \"PutFullReceptacleObjectInReceptacle: You put the {outero.name} in the {r.name}.\"\n }\n ],\n\n \"inventory.feedback\": [\n {\n \"condition\": \"holdsany(a:agent)\",\n \"rhs\": \"You are carrying: [{o.indefinite + ' ' + o.name | holds(a:agent, o:object)}].\"\n },\n {\n \"rhs\": \"You are not carrying anything.\"\n }\n ],\n\n \"examineReceptacle.feedback\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \"The {r.name} is open. In it, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \"The {r.name} is closed.\"\n },\n {\n \"rhs\": \"On the {r.name}, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n }\n ],\n\n \"examineObject.feedback\": [\n {\n \"condition\": \"isreceptacleobject(o:object)\",\n \"rhs\": \"This is a normal {o.name}. In it, you see [{o2.indefinite + ' ' + o2.name | inreceptacleobject(o2:object, o:object)}].\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a clean sliced {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot sliced {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object)\",\n \"rhs\": \"This is a hot and clean {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object)\",\n \"rhs\": \"This is a cool and clean {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object)\",\n \"rhs\": \"This is a hot {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object)\",\n \"rhs\": \"This is a clean {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object)\",\n \"rhs\": \"This is a cold {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"This {o.name} is on.\"\n },\n {\n \"condition\": \"toggleable(o:object) & not_istoggled(o:object)\",\n \"rhs\": \"This {o.name} is off.\"\n },\n {\n \"condition\": \"sliceable(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a sliced {o.name}.\"\n },\n {\n \"rhs\": \"There's nothing special about {o.name}.\"\n }\n ]\n }\n\"\"\";\n\naction GotoLocation {\n template :: \"go to [{r.name | receptacleatlocation(r:receptacle, lend:location)}]\";\n feedback :: \"#GotoLocation.feedback#\";\n}\n\naction OpenObject {\n template :: \"open {r}\";\n feedback :: \"#OpenObject.feedback#\";\n}\n\naction CloseObject {\n template :: \"close {r}\";\n feedback :: \"#CloseObject.feedback#\";\n}\n\naction PickupObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObject.feedback#\";\n}\n\naction PickupObjectFromReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObjectFromReceptacleObject.feedback#\";\n}\n\naction PickupEmptyReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupEmptyReceptacleObject.feedback#\";\n}\n\naction PickupFullReceptacleObject {\n template :: \"take {outerr} from {r}\";\n feedback :: \"#PickupFullReceptacleObject.feedback#\";\n}\n\naction PutObject {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutObject.feedback#\";\n}\n\naction PutObjectInReceptacleObject {\n template :: \"put {o} into {outero}\";\n feedback :: \"#PutObjectInReceptacleObject.feedback#\";\n}\n\naction PutEmptyReceptacleObjectinReceptacle {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutEmptyReceptacleObjectinReceptacle.feedback#\";\n}\n\naction PutFullReceptacleObjectInReceptacle {\n template :: \"put {outero} in {r}\";\n feedback :: \"#PutFullReceptacleObjectInReceptacle.feedback#\";\n}\n\naction inventory {\n template :: \"inventory\";\n feedback :: \"#inventory.feedback#\";\n}\n\naction examineReceptacle {\n template :: \"examine {r}\";\n feedback :: \"#examineReceptacle.feedback#\";\n}\n\naction examineObject {\n template :: \"examine {o}\";\n feedback :: \"#examineObject.feedback#\";\n}\n\naction ToggleObject {\n template :: \"use {o}\";\n feedback :: \"#toggleObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"toggleObject.feedback\": [\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"You turn on the {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object)\",\n \"rhs\": \"You turn off the {o.name}.\"\n },\n {\n \"rhs\": \"You don't see any switch on the {o.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction HeatObject {\n template :: \"heat {o} with {r}\";\n feedback :: \"#heatObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"heatObject.feedback\": [\n {\n \"rhs\": \"You heat the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CleanObject {\n template :: \"clean {o} with {r}\";\n feedback :: \"#cleanObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"cleanObject.feedback\": [\n {\n \"rhs\": \"You clean the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CoolObject {\n template :: \"cool {o} with {r}\";\n feedback :: \"#coolObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"coolObject.feedback\": [\n {\n \"rhs\": \"You cool the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction SliceObject {\n template :: \"slice {co} with {ko}\";\n feedback :: \"#sliceObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"sliceObject.feedback\": [\n {\n \"rhs\": \"You sliced the {co.name} with the {ko.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction look {\n template :: \"look\";\n feedback :: \"#look.feedback#\";\n\n grammar :: \"\"\"\n {\n \"look.feedback\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"#look-variations#. Next to it, you see #list_objects_on_the_floor#.\"\n },\n {\n \"rhs\": \"You are in the middle of a room. Looking quickly around you, you see #list_appliances#.\"\n }\n ],\n\n \"look-variations\": [\n {\n \"rhs\": \"You are facing the [{r.name | atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)}]\"\n }\n ],\n\n \"list_objects_on_the_floor\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)\",\n \"rhs\": \"[{#overview(o)# | atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"list_appliances\": [\n {\n \"condition\": \"receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"[{#overview(r)# | receptacleatlocation(r:receptacle, l:location)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"overview(o, r)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name} (in/on the {r.name})}\"\n }\n ],\n\n \"overview(o)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name}\"\n }\n ],\n \"overview(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}\"\n }\n ],\n \"overview_with_state(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}#overview_state(r)#\"\n }\n ],\n \"overview_state(r)\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \" (it is open)\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \" (it is closed)\"\n },\n {\n \"rhs\": \"\"\n }\n ],\n\n \"list_empty\": [\n {\n \"rhs\": \"nothing\"\n }\n ],\n \"list_separator\": [\n {\n \"rhs\": \", \"\n }\n ],\n \"list_last_separator\": [\n {\n \"rhs\": \", and \"\n }\n ]\n }\n \"\"\";\n}\n\naction help {\n template :: \"help\";\n feedback :: \"\nAvailable commands:\n look: look around your current location\n inventory: check your current inventory\n go to (receptacle): move to a receptacle\n open (receptacle): open a receptacle\n close (receptacle): close a receptacle\n take (object) from (receptacle): take an object from a receptacle\n move (object) to (receptacle): place an object in or on a receptacle\n examine (something): examine a receptacle or an object\n use (object): use an object\n heat (object) with (receptacle): heat an object using a receptacle\n clean (object) with (receptacle): clean an object using a receptacle\n cool (object) with (receptacle): cool an object using a receptacle\n slice (object) with (object): slice an object using a sharp object\n\";\n}\n", "pddl_problem": "\n(define (problem plan_trial_T20190908_070322_791516)\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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Cabinet_bar__minus_03_dot_04_bar__plus_00_dot_39_bar__plus_05_dot_03)\n (inReceptacle Spatula_bar__minus_01_dot_94_bar__plus_00_dot_94_bar__plus_01_dot_80 CounterTop_bar__minus_01_dot_87_bar__plus_00_dot_96_bar__plus_01_dot_80)\n (inReceptacle SaltShaker_bar__minus_01_dot_94_bar__plus_00_dot_92_bar__plus_01_dot_72 CounterTop_bar__minus_01_dot_87_bar__plus_00_dot_96_bar__plus_01_dot_80)\n (inReceptacle Cup_bar__minus_02_dot_11_bar__plus_00_dot_92_bar__plus_02_dot_03 CounterTop_bar__minus_01_dot_87_bar__plus_00_dot_96_bar__plus_01_dot_80)\n (inReceptacle Bread_bar__minus_01_dot_61_bar__plus_01_dot_00_bar__plus_01_dot_72 CounterTop_bar__minus_01_dot_87_bar__plus_00_dot_96_bar__plus_01_dot_80)\n (inReceptacle Pencil_bar__minus_01_dot_86_bar__plus_00_dot_92_bar__plus_02_dot_03 CounterTop_bar__minus_01_dot_87_bar__plus_00_dot_96_bar__plus_01_dot_80)\n (inReceptacle Pencil_bar__minus_02_dot_11_bar__plus_00_dot_92_bar__plus_01_dot_95 CounterTop_bar__minus_01_dot_87_bar__plus_00_dot_96_bar__plus_01_dot_80)\n (inReceptacle Bread_bar__minus_00_dot_18_bar__plus_01_dot_00_bar__plus_05_dot_27 CounterTop_bar__minus_00_dot_35_bar__plus_00_dot_96_bar__plus_05_dot_60)\n (inReceptacle Spoon_bar__minus_00_dot_26_bar__plus_00_dot_93_bar__plus_05_dot_27 CounterTop_bar__minus_00_dot_35_bar__plus_00_dot_96_bar__plus_05_dot_60)\n (inReceptacle Spatula_bar__minus_00_dot_33_bar__plus_00_dot_94_bar__plus_05_dot_60 CounterTop_bar__minus_00_dot_35_bar__plus_00_dot_96_bar__plus_05_dot_60)\n (inReceptacle Knife_bar__minus_00_dot_26_bar__plus_00_dot_95_bar__plus_05_dot_60 CounterTop_bar__minus_00_dot_35_bar__plus_00_dot_96_bar__plus_05_dot_60)\n (inReceptacle Apple_bar__minus_00_dot_26_bar__plus_00_dot_98_bar__plus_04_dot_62 CounterTop_bar__minus_00_dot_35_bar__plus_00_dot_96_bar__plus_05_dot_60)\n (inReceptacle Pencil_bar__minus_00_dot_49_bar__plus_00_dot_93_bar__plus_04_dot_62 CounterTop_bar__minus_00_dot_35_bar__plus_00_dot_96_bar__plus_05_dot_60)\n (inReceptacle Potato_bar__minus_00_dot_49_bar__plus_00_dot_96_bar__plus_05_dot_27 CounterTop_bar__minus_00_dot_35_bar__plus_00_dot_96_bar__plus_05_dot_60)\n (inReceptacle Tomato_bar__minus_00_dot_57_bar__plus_00_dot_98_bar__plus_06_dot_26 CounterTop_bar__minus_00_dot_35_bar__plus_00_dot_96_bar__plus_05_dot_60)\n (inReceptacle Pan_bar__minus_02_dot_45_bar__plus_00_dot_93_bar__plus_02_dot_02 StoveBurner_bar__minus_02_dot_47_bar__plus_00_dot_92_bar__plus_02_dot_01)\n (inReceptacle Pot_bar__minus_02_dot_92_bar__plus_00_dot_93_bar__plus_01_dot_71 StoveBurner_bar__minus_02_dot_92_bar__plus_00_dot_92_bar__plus_01_dot_71)\n (inReceptacle DishSponge_bar__minus_02_dot_02_bar__plus_00_dot_75_bar__plus_01_dot_96 Drawer_bar__minus_01_dot_86_bar__plus_00_dot_78_bar__plus_01_dot_96)\n (inReceptacle Spoon_bar__minus_03_dot_61_bar__plus_00_dot_92_bar__plus_05_dot_18 CounterTop_bar__minus_04_dot_26_bar__plus_00_dot_96_bar__plus_04_dot_94)\n (inReceptacle Spatula_bar__minus_03_dot_85_bar__plus_00_dot_94_bar__plus_05_dot_41 CounterTop_bar__minus_04_dot_26_bar__plus_00_dot_96_bar__plus_04_dot_94)\n (inReceptacle SoapBottle_bar__minus_04_dot_03_bar__plus_00_dot_92_bar__plus_05_dot_42 CounterTop_bar__minus_04_dot_26_bar__plus_00_dot_96_bar__plus_04_dot_94)\n (inReceptacle Fork_bar__minus_03_dot_34_bar__plus_00_dot_92_bar__plus_01_dot_80 CounterTop_bar__minus_04_dot_26_bar__plus_00_dot_96_bar__plus_04_dot_94)\n (inReceptacle PaperTowelRoll_bar__minus_04_dot_20_bar__plus_01_dot_03_bar__plus_01_dot_72 CounterTop_bar__minus_04_dot_26_bar__plus_00_dot_96_bar__plus_04_dot_94)\n (inReceptacle ButterKnife_bar__minus_04_dot_18_bar__plus_00_dot_92_bar__plus_04_dot_38 CounterTop_bar__minus_04_dot_26_bar__plus_00_dot_96_bar__plus_04_dot_94)\n (inReceptacle Bowl_bar__minus_04_dot_17_bar__plus_00_dot_92_bar__plus_02_dot_42 CounterTop_bar__minus_04_dot_26_bar__plus_00_dot_96_bar__plus_04_dot_94)\n (inReceptacle Lettuce_bar__minus_03_dot_49_bar__plus_01_dot_02_bar__plus_05_dot_34 CounterTop_bar__minus_04_dot_26_bar__plus_00_dot_96_bar__plus_04_dot_94)\n (inReceptacle SaltShaker_bar__minus_03_dot_69_bar__plus_01_dot_46_bar__plus_05_dot_51 Cabinet_bar__minus_04_dot_11_bar__plus_01_dot_94_bar__plus_05_dot_32)\n (inReceptacle PepperShaker_bar__minus_00_dot_56_bar__plus_00_dot_74_bar__plus_06_dot_07 Drawer_bar__minus_00_dot_51_bar__plus_00_dot_78_bar__plus_05_dot_92)\n (inReceptacle DishSponge_bar__minus_00_dot_50_bar__plus_00_dot_75_bar__plus_06_dot_15 Drawer_bar__minus_00_dot_51_bar__plus_00_dot_78_bar__plus_05_dot_92)\n (inReceptacle Pot_bar__minus_02_dot_47_bar__plus_00_dot_93_bar__plus_01_dot_71 StoveBurner_bar__minus_02_dot_47_bar__plus_00_dot_92_bar__plus_01_dot_71)\n (inReceptacle Bowl_bar__minus_01_dot_70_bar__plus_00_dot_08_bar__plus_01_dot_89 Cabinet_bar__minus_01_dot_54_bar__plus_00_dot_39_bar__plus_02_dot_09)\n (inReceptacle Mug_bar__minus_02_dot_01_bar__plus_00_dot_08_bar__plus_02_dot_01 Cabinet_bar__minus_01_dot_54_bar__plus_00_dot_39_bar__plus_02_dot_09)\n (inReceptacle WineBottle_bar__minus_03_dot_44_bar__plus_00_dot_08_bar__plus_05_dot_15 Cabinet_bar__minus_03_dot_64_bar__plus_00_dot_39_bar__plus_05_dot_03)\n (inReceptacle Plate_bar__minus_01_dot_75_bar__plus_01_dot_45_bar__plus_01_dot_64 Cabinet_bar__minus_01_dot_58_bar__plus_01_dot_93_bar__plus_01_dot_78)\n (inReceptacle Tomato_bar__minus_03_dot_71_bar__plus_00_dot_13_bar__plus_06_dot_38 GarbageCan_bar__minus_03_dot_71_bar_00_dot_00_bar__plus_06_dot_38)\n (inReceptacle Egg_bar__minus_04_dot_27_bar__plus_00_dot_83_bar__plus_03_dot_10 Sink_bar__minus_04_dot_19_bar__plus_00_dot_92_bar__plus_03_dot_28_bar_SinkBasin)\n (inReceptacle Lettuce_bar__minus_04_dot_20_bar__plus_00_dot_89_bar__plus_03_dot_35 Sink_bar__minus_04_dot_19_bar__plus_00_dot_92_bar__plus_03_dot_28_bar_SinkBasin)\n (inReceptacle Mug_bar__minus_00_dot_51_bar__plus_01_dot_07_bar__plus_03_dot_36 Fridge_bar__minus_00_dot_32_bar_00_dot_00_bar__plus_03_dot_60)\n (inReceptacle Egg_bar__minus_00_dot_26_bar__plus_01_dot_72_bar__plus_04_dot_04 Fridge_bar__minus_00_dot_32_bar_00_dot_00_bar__plus_03_dot_60)\n (inReceptacle Bowl_bar__minus_00_dot_30_bar__plus_01_dot_33_bar__plus_03_dot_73 Fridge_bar__minus_00_dot_32_bar_00_dot_00_bar__plus_03_dot_60)\n (inReceptacle Egg_bar__minus_00_dot_30_bar__plus_01_dot_62_bar__plus_03_dot_35 Fridge_bar__minus_00_dot_32_bar_00_dot_00_bar__plus_03_dot_60)\n \n \n (receptacleAtLocation Cabinet_bar__minus_00_dot_33_bar__plus_02_dot_25_bar__plus_03_dot_01 loc_bar__minus_2_bar_10_bar_0_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_33_bar__plus_02_dot_25_bar__plus_04_dot_21 loc_bar__minus_5_bar_17_bar_1_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_33_bar__plus_02_dot_25_bar__plus_04_dot_31 loc_bar__minus_4_bar_18_bar_1_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_33_bar__plus_02_dot_25_bar__plus_05_dot_51 loc_bar__minus_4_bar_22_bar_1_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_33_bar__plus_02_dot_25_bar__plus_05_dot_61 loc_bar__minus_4_bar_22_bar_1_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_33_bar__plus_02_dot_25_bar__plus_06_dot_81 loc_bar__minus_4_bar_25_bar_1_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_64_bar__plus_00_dot_39_bar__plus_04_dot_30 loc_bar__minus_6_bar_17_bar_1_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_64_bar__plus_00_dot_39_bar__plus_05_dot_58 loc_bar__minus_6_bar_20_bar_1_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_64_bar__plus_00_dot_39_bar__plus_05_dot_60 loc_bar__minus_6_bar_22_bar_1_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_64_bar__plus_00_dot_39_bar__plus_06_dot_88 loc_bar__minus_6_bar_25_bar_1_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_01_dot_54_bar__plus_00_dot_39_bar__plus_02_dot_09 loc_bar__minus_9_bar_12_bar_2_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_01_dot_58_bar__plus_01_dot_93_bar__plus_01_dot_78 loc_bar__minus_4_bar_7_bar_3_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_03_dot_04_bar__plus_00_dot_39_bar__plus_05_dot_03 loc_bar__minus_11_bar_17_bar_0_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_03_dot_04_bar__plus_01_dot_94_bar__plus_05_dot_32 loc_bar__minus_13_bar_19_bar_0_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_03_dot_19_bar__plus_00_dot_39_bar__plus_02_dot_09 loc_bar__minus_12_bar_12_bar_2_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_03_dot_20_bar__plus_01_dot_93_bar__plus_01_dot_78 loc_bar__minus_13_bar_10_bar_2_bar__minus_15)\n (receptacleAtLocation Cabinet_bar__minus_03_dot_64_bar__plus_00_dot_39_bar__plus_05_dot_03 loc_bar__minus_12_bar_17_bar_0_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_03_dot_67_bar__plus_00_dot_39_bar__plus_05_dot_03 loc_bar__minus_13_bar_16_bar_0_bar_45)\n (receptacleAtLocation Cabinet_bar__minus_03_dot_92_bar__plus_00_dot_40_bar__plus_02_dot_09 loc_bar__minus_13_bar_12_bar_2_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_03_dot_96_bar__plus_00_dot_39_bar__plus_02_dot_12 loc_bar__minus_12_bar_10_bar_3_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_03_dot_96_bar__plus_00_dot_39_bar__plus_02_dot_88 loc_bar__minus_12_bar_13_bar_3_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_03_dot_96_bar__plus_00_dot_39_bar__plus_04_dot_34 loc_bar__minus_12_bar_17_bar_3_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_03_dot_97_bar__plus_00_dot_39_bar__plus_02_dot_89 loc_bar__minus_12_bar_13_bar_3_bar_45)\n (receptacleAtLocation Cabinet_bar__minus_03_dot_97_bar__plus_00_dot_39_bar__plus_03_dot_66 loc_bar__minus_12_bar_12_bar_3_bar_45)\n (receptacleAtLocation Cabinet_bar__minus_04_dot_11_bar__plus_01_dot_94_bar__plus_05_dot_32 loc_bar__minus_15_bar_19_bar_0_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_04_dot_28_bar__plus_01_dot_93_bar__plus_02_dot_23 loc_bar__minus_14_bar_10_bar_3_bar__minus_15)\n (receptacleAtLocation CoffeeMachine_bar__minus_00_dot_28_bar__plus_00_dot_91_bar__plus_06_dot_56 loc_bar__minus_4_bar_25_bar_1_bar_45)\n (receptacleAtLocation CounterTop_bar__minus_00_dot_35_bar__plus_00_dot_96_bar__plus_05_dot_60 loc_bar__minus_4_bar_20_bar_1_bar_45)\n (receptacleAtLocation CounterTop_bar__minus_01_dot_87_bar__plus_00_dot_96_bar__plus_01_dot_80 loc_bar__minus_8_bar_10_bar_2_bar_45)\n (receptacleAtLocation CounterTop_bar__minus_04_dot_26_bar__plus_00_dot_96_bar__plus_04_dot_94 loc_bar__minus_15_bar_19_bar_3_bar_60)\n (receptacleAtLocation Drawer_bar__minus_00_dot_51_bar__plus_00_dot_78_bar__plus_04_dot_62 loc_bar__minus_4_bar_21_bar_2_bar_60)\n (receptacleAtLocation Drawer_bar__minus_00_dot_51_bar__plus_00_dot_78_bar__plus_05_dot_27 loc_bar__minus_4_bar_24_bar_2_bar_45)\n (receptacleAtLocation Drawer_bar__minus_00_dot_51_bar__plus_00_dot_78_bar__plus_05_dot_92 loc_bar__minus_4_bar_21_bar_0_bar_60)\n (receptacleAtLocation Drawer_bar__minus_00_dot_51_bar__plus_00_dot_78_bar__plus_06_dot_57 loc_bar__minus_4_bar_23_bar_0_bar_45)\n (receptacleAtLocation Drawer_bar__minus_01_dot_86_bar__plus_00_dot_78_bar__plus_01_dot_96 loc_bar__minus_5_bar_9_bar_3_bar_60)\n (receptacleAtLocation Drawer_bar__minus_03_dot_19_bar__plus_00_dot_78_bar__plus_05_dot_16 loc_bar__minus_15_bar_19_bar_1_bar_60)\n (receptacleAtLocation Drawer_bar__minus_03_dot_42_bar__plus_00_dot_78_bar__plus_01_dot_96 loc_bar__minus_14_bar_10_bar_2_bar_60)\n (receptacleAtLocation Drawer_bar__minus_03_dot_51_bar__plus_00_dot_78_bar__plus_05_dot_16 loc_bar__minus_14_bar_19_bar_0_bar_60)\n (receptacleAtLocation Drawer_bar__minus_03_dot_80_bar__plus_00_dot_78_bar__plus_01_dot_96 loc_bar__minus_14_bar_10_bar_2_bar_60)\n (receptacleAtLocation Drawer_bar__minus_03_dot_80_bar__plus_00_dot_78_bar__plus_05_dot_16 loc_bar__minus_15_bar_19_bar_0_bar_60)\n (receptacleAtLocation Drawer_bar__minus_04_dot_09_bar__plus_00_dot_78_bar__plus_04_dot_66 loc_bar__minus_15_bar_14_bar_0_bar_30)\n (receptacleAtLocation Drawer_bar__minus_04_dot_13_bar__plus_00_dot_80_bar__plus_02_dot_50 loc_bar__minus_13_bar_11_bar_3_bar_45)\n (receptacleAtLocation Fridge_bar__minus_00_dot_32_bar_00_dot_00_bar__plus_03_dot_60 loc_bar__minus_5_bar_15_bar_1_bar_60)\n (receptacleAtLocation GarbageCan_bar__minus_03_dot_71_bar_00_dot_00_bar__plus_06_dot_38 loc_bar__minus_10_bar_25_bar_3_bar_60)\n (receptacleAtLocation Microwave_bar__minus_02_dot_69_bar__plus_01_dot_43_bar__plus_01_dot_69 loc_bar__minus_11_bar_10_bar_2_bar_15)\n (receptacleAtLocation Sink_bar__minus_04_dot_19_bar__plus_00_dot_92_bar__plus_03_dot_28_bar_SinkBasin loc_bar__minus_15_bar_14_bar_3_bar_60)\n (receptacleAtLocation StoveBurner_bar__minus_02_dot_47_bar__plus_00_dot_92_bar__plus_01_dot_71 loc_bar__minus_10_bar_10_bar_2_bar_45)\n (receptacleAtLocation StoveBurner_bar__minus_02_dot_47_bar__plus_00_dot_92_bar__plus_02_dot_01 loc_bar__minus_10_bar_10_bar_2_bar_60)\n (receptacleAtLocation StoveBurner_bar__minus_02_dot_92_bar__plus_00_dot_92_bar__plus_01_dot_71 loc_bar__minus_12_bar_10_bar_2_bar_45)\n (receptacleAtLocation StoveBurner_bar__minus_02_dot_92_bar__plus_00_dot_92_bar__plus_02_dot_01 loc_bar__minus_12_bar_10_bar_2_bar_60)\n (receptacleAtLocation Toaster_bar__minus_03_dot_58_bar__plus_00_dot_91_bar__plus_01_dot_76 loc_bar__minus_14_bar_10_bar_2_bar_45)\n (objectAtLocation Mug_bar__minus_00_dot_51_bar__plus_01_dot_07_bar__plus_03_dot_36 loc_bar__minus_5_bar_15_bar_1_bar_60)\n (objectAtLocation Spoon_bar__minus_00_dot_26_bar__plus_00_dot_93_bar__plus_05_dot_27 loc_bar__minus_4_bar_20_bar_1_bar_45)\n (objectAtLocation DishSponge_bar__minus_00_dot_50_bar__plus_00_dot_75_bar__plus_06_dot_15 loc_bar__minus_4_bar_21_bar_0_bar_60)\n (objectAtLocation SaltShaker_bar__minus_03_dot_09_bar__plus_00_dot_08_bar__plus_05_dot_27 loc_bar__minus_11_bar_17_bar_0_bar_60)\n (objectAtLocation Pot_bar__minus_02_dot_47_bar__plus_00_dot_93_bar__plus_01_dot_71 loc_bar__minus_10_bar_10_bar_2_bar_45)\n (objectAtLocation Pencil_bar__minus_02_dot_11_bar__plus_00_dot_92_bar__plus_01_dot_95 loc_bar__minus_8_bar_10_bar_2_bar_45)\n (objectAtLocation Spatula_bar__minus_01_dot_94_bar__plus_00_dot_94_bar__plus_01_dot_80 loc_bar__minus_8_bar_10_bar_2_bar_45)\n (objectAtLocation Tomato_bar__minus_00_dot_57_bar__plus_00_dot_98_bar__plus_06_dot_26 loc_bar__minus_4_bar_20_bar_1_bar_45)\n (objectAtLocation Bread_bar__minus_01_dot_61_bar__plus_01_dot_00_bar__plus_01_dot_72 loc_bar__minus_8_bar_10_bar_2_bar_45)\n (objectAtLocation Lettuce_bar__minus_03_dot_49_bar__plus_01_dot_02_bar__plus_05_dot_34 loc_bar__minus_15_bar_19_bar_3_bar_60)\n (objectAtLocation Bowl_bar__minus_04_dot_17_bar__plus_00_dot_92_bar__plus_02_dot_42 loc_bar__minus_15_bar_19_bar_3_bar_60)\n (objectAtLocation Egg_bar__minus_00_dot_30_bar__plus_01_dot_62_bar__plus_03_dot_35 loc_bar__minus_5_bar_15_bar_1_bar_60)\n (objectAtLocation Mug_bar__minus_02_dot_01_bar__plus_00_dot_08_bar__plus_02_dot_01 loc_bar__minus_9_bar_12_bar_2_bar_60)\n (objectAtLocation SaltShaker_bar__minus_01_dot_94_bar__plus_00_dot_92_bar__plus_01_dot_72 loc_bar__minus_8_bar_10_bar_2_bar_45)\n (objectAtLocation Bowl_bar__minus_00_dot_30_bar__plus_01_dot_33_bar__plus_03_dot_73 loc_bar__minus_5_bar_15_bar_1_bar_60)\n (objectAtLocation Egg_bar__minus_04_dot_27_bar__plus_00_dot_83_bar__plus_03_dot_10 loc_bar__minus_15_bar_14_bar_3_bar_60)\n (objectAtLocation Spatula_bar__minus_00_dot_33_bar__plus_00_dot_94_bar__plus_05_dot_60 loc_bar__minus_4_bar_20_bar_1_bar_45)\n (objectAtLocation Pencil_bar__minus_01_dot_86_bar__plus_00_dot_92_bar__plus_02_dot_03 loc_bar__minus_8_bar_10_bar_2_bar_45)\n (objectAtLocation Sink_bar__minus_04_dot_19_bar__plus_00_dot_92_bar__plus_03_dot_28 loc_bar__minus_15_bar_13_bar_3_bar_60)\n (objectAtLocation Egg_bar__minus_00_dot_26_bar__plus_01_dot_72_bar__plus_04_dot_04 loc_bar__minus_5_bar_15_bar_1_bar_60)\n (objectAtLocation Apple_bar__minus_00_dot_26_bar__plus_00_dot_98_bar__plus_04_dot_62 loc_bar__minus_4_bar_20_bar_1_bar_45)\n (objectAtLocation Knife_bar__minus_00_dot_26_bar__plus_00_dot_95_bar__plus_05_dot_60 loc_bar__minus_4_bar_20_bar_1_bar_45)\n (objectAtLocation Potato_bar__minus_00_dot_49_bar__plus_00_dot_96_bar__plus_05_dot_27 loc_bar__minus_4_bar_20_bar_1_bar_45)\n (objectAtLocation StoveKnob_bar__minus_02_dot_35_bar__plus_01_dot_10_bar__plus_01_dot_56 loc_bar__minus_9_bar_10_bar_2_bar_30)\n (objectAtLocation StoveKnob_bar__minus_02_dot_79_bar__plus_01_dot_10_bar__plus_01_dot_56 loc_bar__minus_11_bar_10_bar_2_bar_30)\n (objectAtLocation StoveKnob_bar__minus_02_dot_97_bar__plus_01_dot_10_bar__plus_01_dot_56 loc_bar__minus_12_bar_10_bar_2_bar_30)\n (objectAtLocation StoveKnob_bar__minus_02_dot_51_bar__plus_01_dot_10_bar__plus_01_dot_56 loc_bar__minus_10_bar_10_bar_2_bar_30)\n (objectAtLocation Fork_bar__minus_03_dot_34_bar__plus_00_dot_92_bar__plus_01_dot_80 loc_bar__minus_15_bar_19_bar_3_bar_60)\n (objectAtLocation Bowl_bar__minus_01_dot_70_bar__plus_00_dot_08_bar__plus_01_dot_89 loc_bar__minus_9_bar_12_bar_2_bar_60)\n (objectAtLocation Plate_bar__minus_01_dot_75_bar__plus_01_dot_45_bar__plus_01_dot_64 loc_bar__minus_4_bar_7_bar_3_bar__minus_30)\n (objectAtLocation Lettuce_bar__minus_04_dot_20_bar__plus_00_dot_89_bar__plus_03_dot_35 loc_bar__minus_15_bar_14_bar_3_bar_60)\n (objectAtLocation Bread_bar__minus_00_dot_18_bar__plus_01_dot_00_bar__plus_05_dot_27 loc_bar__minus_4_bar_20_bar_1_bar_45)\n (objectAtLocation Tomato_bar__minus_03_dot_71_bar__plus_00_dot_13_bar__plus_06_dot_38 loc_bar__minus_10_bar_25_bar_3_bar_60)\n (objectAtLocation Curtains_bar__minus_04_dot_52_bar__plus_02_dot_25_bar__plus_03_dot_39 loc_bar__minus_15_bar_14_bar_3_bar__minus_30)\n (objectAtLocation Window_bar__minus_04_dot_87_bar__plus_01_dot_63_bar__plus_03_dot_31 loc_bar__minus_15_bar_13_bar_3_bar_0)\n (objectAtLocation WineBottle_bar__minus_03_dot_44_bar__plus_00_dot_08_bar__plus_05_dot_15 loc_bar__minus_12_bar_17_bar_0_bar_60)\n (objectAtLocation Spatula_bar__minus_03_dot_85_bar__plus_00_dot_94_bar__plus_05_dot_41 loc_bar__minus_15_bar_19_bar_3_bar_60)\n (objectAtLocation PaperTowelRoll_bar__minus_04_dot_20_bar__plus_01_dot_03_bar__plus_01_dot_72 loc_bar__minus_15_bar_19_bar_3_bar_60)\n (objectAtLocation Cup_bar__minus_02_dot_11_bar__plus_00_dot_92_bar__plus_02_dot_03 loc_bar__minus_8_bar_10_bar_2_bar_45)\n (objectAtLocation Pencil_bar__minus_00_dot_49_bar__plus_00_dot_93_bar__plus_04_dot_62 loc_bar__minus_4_bar_20_bar_1_bar_45)\n (objectAtLocation Pan_bar__minus_02_dot_45_bar__plus_00_dot_93_bar__plus_02_dot_02 loc_bar__minus_10_bar_10_bar_2_bar_60)\n (objectAtLocation Pot_bar__minus_02_dot_92_bar__plus_00_dot_93_bar__plus_01_dot_71 loc_bar__minus_12_bar_10_bar_2_bar_45)\n (objectAtLocation LightSwitch_bar__minus_01_dot_59_bar__plus_01_dot_17_bar__plus_01_dot_51 loc_bar__minus_4_bar_6_bar_3_bar_45)\n (objectAtLocation SaltShaker_bar__minus_03_dot_69_bar__plus_01_dot_46_bar__plus_05_dot_51 loc_bar__minus_15_bar_19_bar_0_bar__minus_30)\n (objectAtLocation SoapBottle_bar__minus_04_dot_03_bar__plus_00_dot_92_bar__plus_05_dot_42 loc_bar__minus_15_bar_19_bar_3_bar_60)\n (objectAtLocation PepperShaker_bar__minus_00_dot_56_bar__plus_00_dot_74_bar__plus_06_dot_07 loc_bar__minus_4_bar_21_bar_0_bar_60)\n (objectAtLocation ButterKnife_bar__minus_04_dot_18_bar__plus_00_dot_92_bar__plus_04_dot_38 loc_bar__minus_15_bar_19_bar_3_bar_60)\n (objectAtLocation DishSponge_bar__minus_02_dot_02_bar__plus_00_dot_75_bar__plus_01_dot_96 loc_bar__minus_5_bar_9_bar_3_bar_60)\n (objectAtLocation Spoon_bar__minus_03_dot_61_bar__plus_00_dot_92_bar__plus_05_dot_18 loc_bar__minus_15_bar_19_bar_3_bar_60)\n (objectAtLocation Mug_bar__minus_00_dot_22_bar__plus_01_dot_58_bar__plus_03_dot_47 loc_bar__minus_5_bar_14_bar_1_bar_0)\n )\n \n\n (:goal\n (and\n (exists (?r - receptacle)\n (exists (?o - object)\n (and\n (heatable ?o)\n (objectType ?o CupType)\n (receptacleType ?r FridgeType)\n (isHot ?o)\n (inReceptacle ?o ?r)\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to countertop 2", "take cup 1 from countertop 2", "go to microwave 1", "heat cup 1 with microwave 1", "go to fridge 1", "open fridge 1", "move cup 1 to fridge 1"]}
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alfworld__pick_and_place_simple__16
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pick_and_place_simple
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pick_and_place_simple-KeyChain-None-SideTable-322/trial_T20190909_091659_910683/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 keychain in sidetable.\"\n }\n ],\n\n \"GotoLocation.feedback\": [\n {\n \"rhs\": \"You arrive at {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"OpenObject.feedback\": [\n {\n \"rhs\": \"You open the {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"CloseObject.feedback\": [\n {\n \"rhs\": \"You close the {r.name}.\"\n }\n ],\n\n \"PickupObject.feedback\": [\n {\n \"rhs\": \"You pick up the {o.name} from the {r.name}.\"\n }\n ],\n\n \"PickupObjectFromReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupObjectFromReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupEmptyReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupEmptyReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupFullReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupFullReceptacleObject: You pick up the {outerr.name}.\"\n }\n ],\n\n \"PutObject.feedback\": [\n {\n \"rhs\": \"You move the {o.name} to the {r.name}.\"\n }\n ],\n\n \"PutObjectInReceptacleObject.feedback\": [\n {\n \"rhs\": \"PutObjectInReceptacleObject: You put the {o.name} in the {outero.name}.\"\n }\n ],\n\n \"PutEmptyReceptacleObjectinReceptacle.feedback\": [\n {\n \"rhs\": \"PutEmptyReceptacleObjectinReceptacle: You put the {o.name} in the {r.name}.\"\n }\n ],\n\n \"PutFullReceptacleObjectInReceptacle.feedback\": [\n {\n \"rhs\": \"PutFullReceptacleObjectInReceptacle: You put the {outero.name} in the {r.name}.\"\n }\n ],\n\n \"inventory.feedback\": [\n {\n \"condition\": \"holdsany(a:agent)\",\n \"rhs\": \"You are carrying: [{o.indefinite + ' ' + o.name | holds(a:agent, o:object)}].\"\n },\n {\n \"rhs\": \"You are not carrying anything.\"\n }\n ],\n\n \"examineReceptacle.feedback\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \"The {r.name} is open. In it, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \"The {r.name} is closed.\"\n },\n {\n \"rhs\": \"On the {r.name}, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n }\n ],\n\n \"examineObject.feedback\": [\n {\n \"condition\": \"isreceptacleobject(o:object)\",\n \"rhs\": \"This is a normal {o.name}. In it, you see [{o2.indefinite + ' ' + o2.name | inreceptacleobject(o2:object, o:object)}].\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a clean sliced {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot sliced {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object)\",\n \"rhs\": \"This is a hot and clean {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object)\",\n \"rhs\": \"This is a cool and clean {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object)\",\n \"rhs\": \"This is a hot {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object)\",\n \"rhs\": \"This is a clean {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object)\",\n \"rhs\": \"This is a cold {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"This {o.name} is on.\"\n },\n {\n \"condition\": \"toggleable(o:object) & not_istoggled(o:object)\",\n \"rhs\": \"This {o.name} is off.\"\n },\n {\n \"condition\": \"sliceable(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a sliced {o.name}.\"\n },\n {\n \"rhs\": \"There's nothing special about {o.name}.\"\n }\n ]\n }\n\"\"\";\n\naction GotoLocation {\n template :: \"go to [{r.name | receptacleatlocation(r:receptacle, lend:location)}]\";\n feedback :: \"#GotoLocation.feedback#\";\n}\n\naction OpenObject {\n template :: \"open {r}\";\n feedback :: \"#OpenObject.feedback#\";\n}\n\naction CloseObject {\n template :: \"close {r}\";\n feedback :: \"#CloseObject.feedback#\";\n}\n\naction PickupObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObject.feedback#\";\n}\n\naction PickupObjectFromReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObjectFromReceptacleObject.feedback#\";\n}\n\naction PickupEmptyReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupEmptyReceptacleObject.feedback#\";\n}\n\naction PickupFullReceptacleObject {\n template :: \"take {outerr} from {r}\";\n feedback :: \"#PickupFullReceptacleObject.feedback#\";\n}\n\naction PutObject {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutObject.feedback#\";\n}\n\naction PutObjectInReceptacleObject {\n template :: \"put {o} into {outero}\";\n feedback :: \"#PutObjectInReceptacleObject.feedback#\";\n}\n\naction PutEmptyReceptacleObjectinReceptacle {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutEmptyReceptacleObjectinReceptacle.feedback#\";\n}\n\naction PutFullReceptacleObjectInReceptacle {\n template :: \"put {outero} in {r}\";\n feedback :: \"#PutFullReceptacleObjectInReceptacle.feedback#\";\n}\n\naction inventory {\n template :: \"inventory\";\n feedback :: \"#inventory.feedback#\";\n}\n\naction examineReceptacle {\n template :: \"examine {r}\";\n feedback :: \"#examineReceptacle.feedback#\";\n}\n\naction examineObject {\n template :: \"examine {o}\";\n feedback :: \"#examineObject.feedback#\";\n}\n\naction ToggleObject {\n template :: \"use {o}\";\n feedback :: \"#toggleObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"toggleObject.feedback\": [\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"You turn on the {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object)\",\n \"rhs\": \"You turn off the {o.name}.\"\n },\n {\n \"rhs\": \"You don't see any switch on the {o.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction HeatObject {\n template :: \"heat {o} with {r}\";\n feedback :: \"#heatObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"heatObject.feedback\": [\n {\n \"rhs\": \"You heat the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CleanObject {\n template :: \"clean {o} with {r}\";\n feedback :: \"#cleanObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"cleanObject.feedback\": [\n {\n \"rhs\": \"You clean the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CoolObject {\n template :: \"cool {o} with {r}\";\n feedback :: \"#coolObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"coolObject.feedback\": [\n {\n \"rhs\": \"You cool the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction SliceObject {\n template :: \"slice {co} with {ko}\";\n feedback :: \"#sliceObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"sliceObject.feedback\": [\n {\n \"rhs\": \"You sliced the {co.name} with the {ko.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction look {\n template :: \"look\";\n feedback :: \"#look.feedback#\";\n\n grammar :: \"\"\"\n {\n \"look.feedback\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"#look-variations#. Next to it, you see #list_objects_on_the_floor#.\"\n },\n {\n \"rhs\": \"You are in the middle of a room. Looking quickly around you, you see #list_appliances#.\"\n }\n ],\n\n \"look-variations\": [\n {\n \"rhs\": \"You are facing the [{r.name | atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)}]\"\n }\n ],\n\n \"list_objects_on_the_floor\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)\",\n \"rhs\": \"[{#overview(o)# | atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"list_appliances\": [\n {\n \"condition\": \"receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"[{#overview(r)# | receptacleatlocation(r:receptacle, l:location)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"overview(o, r)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name} (in/on the {r.name})}\"\n }\n ],\n\n \"overview(o)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name}\"\n }\n ],\n \"overview(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}\"\n }\n ],\n \"overview_with_state(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}#overview_state(r)#\"\n }\n ],\n \"overview_state(r)\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \" (it is open)\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \" (it is closed)\"\n },\n {\n \"rhs\": \"\"\n }\n ],\n\n \"list_empty\": [\n {\n \"rhs\": \"nothing\"\n }\n ],\n \"list_separator\": [\n {\n \"rhs\": \", \"\n }\n ],\n \"list_last_separator\": [\n {\n \"rhs\": \", and \"\n }\n ]\n }\n \"\"\";\n}\n\naction help {\n template :: \"help\";\n feedback :: \"\nAvailable commands:\n look: look around your current location\n inventory: check your current inventory\n go to (receptacle): move to a receptacle\n open (receptacle): open a receptacle\n close (receptacle): close a receptacle\n take (object) from (receptacle): take an object from a receptacle\n move (object) to (receptacle): place an object in or on a receptacle\n examine (something): examine a receptacle or an object\n use (object): use an object\n heat (object) with (receptacle): heat an object using a receptacle\n clean (object) with (receptacle): clean an object using a receptacle\n cool (object) with (receptacle): cool an object using a receptacle\n slice (object) with (object): slice an object using a sharp object\n\";\n}\n", "pddl_problem": "\n(define (problem plan_trial_T20190909_091659_910683)\n(:domain alfred)\n(:objects\nagent1 - agent\nSaltShaker - object\n HousePlant - object\n Candle - object\n SprayBottle - object\n Bowl - object\n Window - object\n CD - object\n Egg - object\n Glassbottle - object\n Sink - object\n Pillow - object\n Spoon - object\n SoapBottle - object\n TeddyBear - object\n ButterKnife - object\n Cup - object\n Plate - object\n RemoteControl - object\n Tomato - object\n Statue - object\n HandTowel - object\n Knife - object\n StoveKnob - object\n LightSwitch - object\n Pen - object\n Painting - object\n DishSponge - object\n Vase - object\n Mug - object\n ToiletPaper - object\n Box - object\n Mirror - object\n Ladle - object\n Fork - object\n Blinds - object\n Footstool - object\n KeyChain - object\n Cloth - object\n Laptop - object\n TissueBox - object\n PepperShaker - object\n FloorLamp - object\n WateringCan - object\n Apple - object\n Pan - object\n PaperTowel - object\n PaperTowelRoll - object\n Newspaper - object\n Television - object\n Chair - object\n CellPhone - object\n CreditCard - object\n Lettuce - object\n BasketBall - object\n Potato - object\n Curtains - object\n Boots - object\n Pencil - object\n AlarmClock - object\n ToiletPaperRoll - object\n Spatula - object\n Book - object\n Bread - object\n SoapBar - object\n Watch - object\n DeskLamp - object\n Kettle - object\n Pot - object\n ScrubBrush - object\n WineBottle - object\n ShowerDoor - object\n Bathtub - object\n LaundryHamperLid - object\n ShowerGlass - object\n Poster - object\n TennisRacket - object\n BaseballBat - object\n Towel - object\n Plunger - object\nSaltShakerType - otype\n HousePlantType - otype\n CandleType - otype\n SprayBottleType - otype\n BowlType - otype\n WindowType - otype\n CDType - otype\n EggType - otype\n GlassbottleType - otype\n SinkType - otype\n PillowType - otype\n SpoonType - otype\n SoapBottleType - otype\n TeddyBearType - otype\n ButterKnifeType - otype\n CupType - otype\n PlateType - otype\n RemoteControlType - otype\n TomatoType - otype\n StatueType - otype\n HandTowelType - otype\n KnifeType - otype\n StoveKnobType - otype\n LightSwitchType - otype\n PenType - otype\n PaintingType - otype\n DishSpongeType - otype\n VaseType - otype\n MugType - otype\n ToiletPaperType - otype\n BoxType - otype\n MirrorType - otype\n LadleType - otype\n ForkType - otype\n BlindsType - otype\n FootstoolType - otype\n KeyChainType - otype\n ClothType - otype\n LaptopType - otype\n TissueBoxType - otype\n PepperShakerType - otype\n FloorLampType - otype\n WateringCanType - otype\n AppleType - otype\n PanType - otype\n PaperTowelType - otype\n PaperTowelRollType - otype\n NewspaperType - otype\n TelevisionType - otype\n ChairType - otype\n CellPhoneType - otype\n CreditCardType - otype\n LettuceType - otype\n BasketBallType - otype\n PotatoType - otype\n CurtainsType - otype\n BootsType - otype\n PencilType - otype\n AlarmClockType - otype\n ToiletPaperRollType - otype\n SpatulaType - otype\n BookType - otype\n BreadType - otype\n SoapBarType - otype\n WatchType - otype\n DeskLampType - otype\n KettleType - otype\n PotType - otype\n ScrubBrushType - otype\n WineBottleType - otype\n ShowerDoorType - otype\n BathtubType - otype\n LaundryHamperLidType - otype\n ShowerGlassType - otype\n PosterType - otype\n TennisRacketType - otype\n BaseballBatType - otype\n TowelType - otype\n PlungerType - otype\nSafeType - rtype\n DrawerType - rtype\n CoffeeMachineType - rtype\n HandTowelHolderType - rtype\n SinkBasinType - rtype\n DresserType - rtype\n LaundryHamperType - rtype\n TVStandType - rtype\n BathtubBasinType - rtype\n CabinetType - rtype\n FridgeType - rtype\n DeskType - rtype\n ToiletType - rtype\n CartType - rtype\n SideTableType - rtype\n SofaType - rtype\n CoffeeTableType - rtype\n DiningTableType - rtype\n CounterTopType - rtype\n GarbageCanType - rtype\n ArmChairType - rtype\n ShelfType - rtype\n MicrowaveType - rtype\n ToasterType - rtype\n BedType - rtype\n PaintingHangerType - rtype\n TowelHolderType - rtype\n ToiletPaperHangerType - rtype\n StoveBurnerType - rtype\n OttomanType - rtype\n\n\n AlarmClock_bar__plus_03_dot_00_bar__plus_00_dot_98_bar__plus_01_dot_86 - object\n BaseballBat_bar__plus_00_dot_81_bar__plus_00_dot_05_bar__plus_02_dot_15 - object\n BaseballBat_bar__plus_03_dot_08_bar__plus_00_dot_63_bar__minus_01_dot_76 - object\n Book_bar__plus_02_dot_91_bar__plus_00_dot_98_bar__plus_00_dot_80 - object\n Book_bar__minus_00_dot_18_bar__plus_00_dot_69_bar__plus_00_dot_78 - object\n Book_bar__minus_00_dot_72_bar__plus_00_dot_69_bar__plus_00_dot_78 - object\n CD_bar__plus_02_dot_88_bar__plus_00_dot_18_bar__plus_01_dot_85 - object\n CellPhone_bar__plus_02_dot_33_bar__plus_00_dot_45_bar__minus_00_dot_79 - object\n CellPhone_bar__minus_01_dot_74_bar__plus_00_dot_66_bar__minus_01_dot_25 - object\n Cloth_bar__plus_01_dot_76_bar__plus_00_dot_00_bar__minus_01_dot_73 - object\n CreditCard_bar__minus_01_dot_49_bar__plus_00_dot_36_bar__minus_01_dot_36 - object\n CreditCard_bar__minus_01_dot_51_bar__plus_00_dot_66_bar__plus_01_dot_25 - object\n CreditCard_bar__minus_01_dot_65_bar__plus_00_dot_66_bar__plus_01_dot_56 - object\n Curtains_bar__minus_00_dot_02_bar__plus_02_dot_92_bar__minus_01_dot_85 - object\n KeyChain_bar__plus_03_dot_00_bar__plus_00_dot_99_bar__plus_00_dot_16 - object\n Lamp_bar__minus_01_dot_62_bar__plus_00_dot_65_bar__plus_01_dot_49 - object\n Lamp_bar__minus_01_dot_63_bar__plus_00_dot_65_bar__minus_01_dot_31 - object\n Laptop_bar__plus_02_dot_75_bar__plus_00_dot_98_bar__plus_01_dot_71 - object\n LightSwitch_bar__plus_01_dot_32_bar__plus_01_dot_30_bar__plus_02_dot_20 - object\n Mirror_bar__plus_00_dot_58_bar__plus_01_dot_35_bar__plus_02_dot_20 - object\n Mug_bar__plus_02_dot_82_bar__plus_00_dot_18_bar__plus_00_dot_57 - object\n Mug_bar__plus_03_dot_00_bar__plus_00_dot_98_bar__plus_00_dot_44 - object\n Mug_bar__minus_01_dot_51_bar__plus_00_dot_66_bar__plus_01_dot_71 - object\n Painting_bar__plus_01_dot_53_bar__plus_01_dot_52_bar__minus_01_dot_85 - object\n Pencil_bar__plus_02_dot_73_bar__plus_00_dot_99_bar__plus_00_dot_44 - object\n Pencil_bar__minus_01_dot_60_bar__plus_00_dot_67_bar__minus_01_dot_48 - object\n Pencil_bar__minus_01_dot_65_bar__plus_00_dot_67_bar__plus_01_dot_63 - object\n Pen_bar__minus_01_dot_60_bar__plus_00_dot_67_bar__plus_01_dot_48 - object\n Pillow_bar__minus_00_dot_18_bar__plus_00_dot_78_bar__minus_00_dot_11 - object\n Pillow_bar__minus_00_dot_72_bar__plus_00_dot_78_bar__minus_00_dot_33 - object\n Window_bar__minus_00_dot_01_bar__plus_01_dot_69_bar__minus_01_dot_92 - object\n ArmChair_bar__plus_02_dot_58_bar__minus_00_dot_01_bar__minus_00_dot_82 - receptacle\n Bed_bar__minus_00_dot_75_bar__plus_00_dot_03_bar__plus_00_dot_11 - receptacle\n Cabinet_bar__plus_02_dot_48_bar__plus_00_dot_50_bar__plus_01_dot_00 - receptacle\n Cabinet_bar__plus_02_dot_48_bar__plus_00_dot_50_bar__plus_01_dot_01 - receptacle\n Cabinet_bar__plus_02_dot_48_bar__plus_00_dot_50_bar__plus_02_dot_03 - receptacle\n Cabinet_bar__plus_02_dot_48_bar__plus_00_dot_50_bar__minus_00_dot_02 - receptacle\n Drawer_bar__plus_02_dot_57_bar__plus_00_dot_90_bar__plus_00_dot_23 - receptacle\n Drawer_bar__plus_02_dot_57_bar__plus_00_dot_90_bar__plus_00_dot_75 - receptacle\n Drawer_bar__plus_02_dot_57_bar__plus_00_dot_90_bar__plus_01_dot_27 - receptacle\n Drawer_bar__plus_02_dot_57_bar__plus_00_dot_90_bar__plus_01_dot_78 - receptacle\n Drawer_bar__minus_01_dot_53_bar__plus_00_dot_44_bar__plus_01_dot_48 - receptacle\n Drawer_bar__minus_01_dot_53_bar__plus_00_dot_44_bar__minus_01_dot_25 - receptacle\n Dresser_bar__plus_02_dot_82_bar__plus_00_dot_00_bar__plus_01_dot_01 - receptacle\n GarbageCan_bar__plus_01_dot_35_bar__plus_00_dot_00_bar__minus_01_dot_69 - receptacle\n SideTable_bar__minus_01_dot_60_bar__minus_00_dot_01_bar__plus_01_dot_48 - receptacle\n SideTable_bar__minus_01_dot_60_bar__minus_00_dot_01_bar__minus_01_dot_25 - receptacle\n loc_bar__minus_4_bar__minus_5_bar_3_bar_60 - location\n loc_bar_4_bar_7_bar_0_bar_60 - location\n loc_bar_8_bar_1_bar_1_bar_60 - location\n loc_bar_5_bar_7_bar_0_bar_45 - location\n loc_bar_6_bar_3_bar_1_bar_45 - location\n loc_bar_8_bar_5_bar_1_bar_60 - location\n loc_bar_6_bar__minus_5_bar_2_bar_15 - location\n loc_bar_8_bar_3_bar_1_bar_60 - location\n loc_bar_2_bar_6_bar_0_bar_30 - location\n loc_bar_7_bar_6_bar_1_bar_60 - location\n loc_bar_6_bar__minus_1_bar_1_bar_45 - location\n loc_bar_5_bar__minus_5_bar_2_bar_60 - location\n loc_bar_7_bar__minus_5_bar_1_bar_45 - location\n loc_bar_0_bar__minus_5_bar_2_bar_0 - location\n loc_bar_8_bar_7_bar_1_bar_60 - location\n loc_bar_9_bar_2_bar_1_bar_60 - location\n loc_bar_7_bar_2_bar_1_bar_60 - location\n loc_bar_7_bar__minus_3_bar_1_bar_60 - location\n loc_bar_0_bar__minus_5_bar_2_bar__minus_30 - location\n loc_bar_9_bar_1_bar_0_bar_60 - location\n loc_bar_4_bar_0_bar_3_bar_45 - location\n loc_bar__minus_2_bar_6_bar_3_bar_60 - location\n loc_bar__minus_2_bar__minus_5_bar_3_bar_60 - location\n loc_bar_7_bar__minus_5_bar_2_bar_60 - location\n loc_bar_9_bar_7_bar_1_bar_60 - location\n loc_bar__minus_4_bar_6_bar_3_bar_60 - location\n loc_bar_9_bar_8_bar_0_bar_30 - location\n )\n \n\n(:init\n\n\n (receptacleType Bed_bar__minus_00_dot_75_bar__plus_00_dot_03_bar__plus_00_dot_11 BedType)\n (receptacleType Drawer_bar__minus_01_dot_53_bar__plus_00_dot_44_bar__plus_01_dot_48 DrawerType)\n (receptacleType Drawer_bar__plus_02_dot_57_bar__plus_00_dot_90_bar__plus_01_dot_27 DrawerType)\n (receptacleType Drawer_bar__plus_02_dot_57_bar__plus_00_dot_90_bar__plus_01_dot_78 DrawerType)\n (receptacleType SideTable_bar__minus_01_dot_60_bar__minus_00_dot_01_bar__plus_01_dot_48 SideTableType)\n (receptacleType Cabinet_bar__plus_02_dot_48_bar__plus_00_dot_50_bar__plus_01_dot_00 CabinetType)\n (receptacleType Drawer_bar__plus_02_dot_57_bar__plus_00_dot_90_bar__plus_00_dot_23 DrawerType)\n (receptacleType Drawer_bar__minus_01_dot_53_bar__plus_00_dot_44_bar__minus_01_dot_25 DrawerType)\n (receptacleType Cabinet_bar__plus_02_dot_48_bar__plus_00_dot_50_bar__minus_00_dot_02 CabinetType)\n (receptacleType GarbageCan_bar__plus_01_dot_35_bar__plus_00_dot_00_bar__minus_01_dot_69 GarbageCanType)\n (receptacleType Drawer_bar__plus_02_dot_57_bar__plus_00_dot_90_bar__plus_00_dot_75 DrawerType)\n (receptacleType Cabinet_bar__plus_02_dot_48_bar__plus_00_dot_50_bar__plus_01_dot_01 CabinetType)\n (receptacleType ArmChair_bar__plus_02_dot_58_bar__minus_00_dot_01_bar__minus_00_dot_82 ArmChairType)\n (receptacleType Dresser_bar__plus_02_dot_82_bar__plus_00_dot_00_bar__plus_01_dot_01 DresserType)\n (receptacleType SideTable_bar__minus_01_dot_60_bar__minus_00_dot_01_bar__minus_01_dot_25 SideTableType)\n (receptacleType Cabinet_bar__plus_02_dot_48_bar__plus_00_dot_50_bar__plus_02_dot_03 CabinetType)\n (objectType Painting_bar__plus_01_dot_53_bar__plus_01_dot_52_bar__minus_01_dot_85 PaintingType)\n (objectType Pillow_bar__minus_00_dot_18_bar__plus_00_dot_78_bar__minus_00_dot_11 PillowType)\n (objectType BaseballBat_bar__plus_00_dot_81_bar__plus_00_dot_05_bar__plus_02_dot_15 BaseballBatType)\n (objectType LightSwitch_bar__plus_01_dot_32_bar__plus_01_dot_30_bar__plus_02_dot_20 LightSwitchType)\n (objectType KeyChain_bar__plus_03_dot_00_bar__plus_00_dot_99_bar__plus_00_dot_16 KeyChainType)\n (objectType Pencil_bar__minus_01_dot_60_bar__plus_00_dot_67_bar__minus_01_dot_48 PencilType)\n (objectType Pencil_bar__minus_01_dot_65_bar__plus_00_dot_67_bar__plus_01_dot_63 PencilType)\n (objectType CD_bar__plus_02_dot_88_bar__plus_00_dot_18_bar__plus_01_dot_85 CDType)\n (objectType Book_bar__minus_00_dot_72_bar__plus_00_dot_69_bar__plus_00_dot_78 BookType)\n (objectType CreditCard_bar__minus_01_dot_65_bar__plus_00_dot_66_bar__plus_01_dot_56 CreditCardType)\n (objectType BaseballBat_bar__plus_03_dot_08_bar__plus_00_dot_63_bar__minus_01_dot_76 BaseballBatType)\n (objectType Mug_bar__plus_02_dot_82_bar__plus_00_dot_18_bar__plus_00_dot_57 MugType)\n (objectType Mug_bar__minus_01_dot_51_bar__plus_00_dot_66_bar__plus_01_dot_71 MugType)\n (objectType AlarmClock_bar__plus_03_dot_00_bar__plus_00_dot_98_bar__plus_01_dot_86 AlarmClockType)\n (objectType CellPhone_bar__plus_02_dot_33_bar__plus_00_dot_45_bar__minus_00_dot_79 CellPhoneType)\n (objectType Window_bar__minus_00_dot_01_bar__plus_01_dot_69_bar__minus_01_dot_92 WindowType)\n (objectType Book_bar__minus_00_dot_18_bar__plus_00_dot_69_bar__plus_00_dot_78 BookType)\n (objectType Pencil_bar__plus_02_dot_73_bar__plus_00_dot_99_bar__plus_00_dot_44 PencilType)\n (objectType Curtains_bar__minus_00_dot_02_bar__plus_02_dot_92_bar__minus_01_dot_85 CurtainsType)\n (objectType Pillow_bar__minus_00_dot_72_bar__plus_00_dot_78_bar__minus_00_dot_33 PillowType)\n (objectType CellPhone_bar__minus_01_dot_74_bar__plus_00_dot_66_bar__minus_01_dot_25 CellPhoneType)\n (objectType CreditCard_bar__minus_01_dot_51_bar__plus_00_dot_66_bar__plus_01_dot_25 CreditCardType)\n (objectType Pen_bar__minus_01_dot_60_bar__plus_00_dot_67_bar__plus_01_dot_48 PenType)\n (objectType Laptop_bar__plus_02_dot_75_bar__plus_00_dot_98_bar__plus_01_dot_71 LaptopType)\n (objectType Mug_bar__plus_03_dot_00_bar__plus_00_dot_98_bar__plus_00_dot_44 MugType)\n (objectType CreditCard_bar__minus_01_dot_49_bar__plus_00_dot_36_bar__minus_01_dot_36 CreditCardType)\n (objectType Mirror_bar__plus_00_dot_58_bar__plus_01_dot_35_bar__plus_02_dot_20 MirrorType)\n (objectType Cloth_bar__plus_01_dot_76_bar__plus_00_dot_00_bar__minus_01_dot_73 ClothType)\n (objectType Book_bar__plus_02_dot_91_bar__plus_00_dot_98_bar__plus_00_dot_80 BookType)\n (canContain BedType BaseballBatType)\n (canContain BedType LaptopType)\n (canContain BedType BookType)\n (canContain BedType CellPhoneType)\n (canContain BedType PillowType)\n (canContain DrawerType PenType)\n (canContain DrawerType BookType)\n (canContain DrawerType CDType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType ClothType)\n (canContain DrawerType PencilType)\n (canContain DrawerType PenType)\n (canContain DrawerType BookType)\n (canContain DrawerType CDType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType ClothType)\n (canContain DrawerType PencilType)\n (canContain DrawerType PenType)\n (canContain DrawerType BookType)\n (canContain DrawerType CDType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType ClothType)\n (canContain DrawerType PencilType)\n (canContain SideTableType PenType)\n (canContain SideTableType BookType)\n (canContain SideTableType CDType)\n (canContain SideTableType MugType)\n (canContain SideTableType CellPhoneType)\n (canContain SideTableType KeyChainType)\n (canContain SideTableType CreditCardType)\n (canContain SideTableType BaseballBatType)\n (canContain SideTableType ClothType)\n (canContain SideTableType LaptopType)\n (canContain SideTableType PencilType)\n (canContain SideTableType AlarmClockType)\n (canContain CabinetType BookType)\n (canContain CabinetType CDType)\n (canContain CabinetType MugType)\n (canContain CabinetType ClothType)\n (canContain DrawerType PenType)\n (canContain DrawerType BookType)\n (canContain DrawerType CDType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType ClothType)\n (canContain DrawerType PencilType)\n (canContain DrawerType PenType)\n (canContain DrawerType BookType)\n (canContain DrawerType CDType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType ClothType)\n (canContain DrawerType PencilType)\n (canContain CabinetType BookType)\n (canContain CabinetType CDType)\n (canContain CabinetType MugType)\n (canContain CabinetType ClothType)\n (canContain GarbageCanType PenType)\n (canContain GarbageCanType CDType)\n (canContain GarbageCanType ClothType)\n (canContain GarbageCanType PencilType)\n (canContain DrawerType PenType)\n (canContain DrawerType BookType)\n (canContain DrawerType CDType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType ClothType)\n (canContain DrawerType PencilType)\n (canContain CabinetType BookType)\n (canContain CabinetType CDType)\n (canContain CabinetType MugType)\n (canContain CabinetType ClothType)\n (canContain ArmChairType ClothType)\n (canContain ArmChairType LaptopType)\n (canContain ArmChairType BookType)\n (canContain ArmChairType CellPhoneType)\n (canContain ArmChairType PillowType)\n (canContain ArmChairType KeyChainType)\n (canContain ArmChairType CreditCardType)\n (canContain DresserType PenType)\n (canContain DresserType BookType)\n (canContain DresserType CDType)\n (canContain DresserType MugType)\n (canContain DresserType CellPhoneType)\n (canContain DresserType KeyChainType)\n (canContain DresserType CreditCardType)\n (canContain DresserType ClothType)\n (canContain DresserType LaptopType)\n (canContain DresserType PencilType)\n (canContain DresserType AlarmClockType)\n (canContain SideTableType PenType)\n (canContain SideTableType BookType)\n (canContain SideTableType CDType)\n (canContain SideTableType MugType)\n (canContain SideTableType CellPhoneType)\n (canContain SideTableType KeyChainType)\n (canContain SideTableType CreditCardType)\n (canContain SideTableType BaseballBatType)\n (canContain SideTableType ClothType)\n (canContain SideTableType LaptopType)\n (canContain SideTableType PencilType)\n (canContain SideTableType AlarmClockType)\n (canContain CabinetType BookType)\n (canContain CabinetType CDType)\n (canContain CabinetType MugType)\n (canContain CabinetType ClothType)\n (pickupable Pillow_bar__minus_00_dot_18_bar__plus_00_dot_78_bar__minus_00_dot_11)\n (pickupable BaseballBat_bar__plus_00_dot_81_bar__plus_00_dot_05_bar__plus_02_dot_15)\n (pickupable KeyChain_bar__plus_03_dot_00_bar__plus_00_dot_99_bar__plus_00_dot_16)\n (pickupable Pencil_bar__minus_01_dot_60_bar__plus_00_dot_67_bar__minus_01_dot_48)\n (pickupable Pencil_bar__minus_01_dot_65_bar__plus_00_dot_67_bar__plus_01_dot_63)\n (pickupable CD_bar__plus_02_dot_88_bar__plus_00_dot_18_bar__plus_01_dot_85)\n (pickupable Book_bar__minus_00_dot_72_bar__plus_00_dot_69_bar__plus_00_dot_78)\n (pickupable CreditCard_bar__minus_01_dot_65_bar__plus_00_dot_66_bar__plus_01_dot_56)\n (pickupable BaseballBat_bar__plus_03_dot_08_bar__plus_00_dot_63_bar__minus_01_dot_76)\n (pickupable Mug_bar__plus_02_dot_82_bar__plus_00_dot_18_bar__plus_00_dot_57)\n (pickupable Mug_bar__minus_01_dot_51_bar__plus_00_dot_66_bar__plus_01_dot_71)\n (pickupable AlarmClock_bar__plus_03_dot_00_bar__plus_00_dot_98_bar__plus_01_dot_86)\n (pickupable CellPhone_bar__plus_02_dot_33_bar__plus_00_dot_45_bar__minus_00_dot_79)\n (pickupable Book_bar__minus_00_dot_18_bar__plus_00_dot_69_bar__plus_00_dot_78)\n (pickupable Pencil_bar__plus_02_dot_73_bar__plus_00_dot_99_bar__plus_00_dot_44)\n (pickupable Pillow_bar__minus_00_dot_72_bar__plus_00_dot_78_bar__minus_00_dot_33)\n (pickupable CellPhone_bar__minus_01_dot_74_bar__plus_00_dot_66_bar__minus_01_dot_25)\n (pickupable CreditCard_bar__minus_01_dot_51_bar__plus_00_dot_66_bar__plus_01_dot_25)\n (pickupable Pen_bar__minus_01_dot_60_bar__plus_00_dot_67_bar__plus_01_dot_48)\n (pickupable Laptop_bar__plus_02_dot_75_bar__plus_00_dot_98_bar__plus_01_dot_71)\n (pickupable Mug_bar__plus_03_dot_00_bar__plus_00_dot_98_bar__plus_00_dot_44)\n (pickupable CreditCard_bar__minus_01_dot_49_bar__plus_00_dot_36_bar__minus_01_dot_36)\n (pickupable Cloth_bar__plus_01_dot_76_bar__plus_00_dot_00_bar__minus_01_dot_73)\n (pickupable Book_bar__plus_02_dot_91_bar__plus_00_dot_98_bar__plus_00_dot_80)\n (isReceptacleObject Mug_bar__plus_02_dot_82_bar__plus_00_dot_18_bar__plus_00_dot_57)\n (isReceptacleObject 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Mug_bar__minus_01_dot_51_bar__plus_00_dot_66_bar__plus_01_dot_71)\n (cleanable Mug_bar__plus_03_dot_00_bar__plus_00_dot_98_bar__plus_00_dot_44)\n (cleanable Cloth_bar__plus_01_dot_76_bar__plus_00_dot_00_bar__minus_01_dot_73)\n \n (heatable Mug_bar__plus_02_dot_82_bar__plus_00_dot_18_bar__plus_00_dot_57)\n (heatable Mug_bar__minus_01_dot_51_bar__plus_00_dot_66_bar__plus_01_dot_71)\n (heatable Mug_bar__plus_03_dot_00_bar__plus_00_dot_98_bar__plus_00_dot_44)\n (coolable Mug_bar__plus_02_dot_82_bar__plus_00_dot_18_bar__plus_00_dot_57)\n (coolable Mug_bar__minus_01_dot_51_bar__plus_00_dot_66_bar__plus_01_dot_71)\n (coolable Mug_bar__plus_03_dot_00_bar__plus_00_dot_98_bar__plus_00_dot_44)\n \n \n \n \n \n \n \n (inReceptacle Pen_bar__minus_01_dot_60_bar__plus_00_dot_67_bar__plus_01_dot_48 SideTable_bar__minus_01_dot_60_bar__minus_00_dot_01_bar__plus_01_dot_48)\n (inReceptacle CreditCard_bar__minus_01_dot_51_bar__plus_00_dot_66_bar__plus_01_dot_25 SideTable_bar__minus_01_dot_60_bar__minus_00_dot_01_bar__plus_01_dot_48)\n (inReceptacle Mug_bar__minus_01_dot_51_bar__plus_00_dot_66_bar__plus_01_dot_71 SideTable_bar__minus_01_dot_60_bar__minus_00_dot_01_bar__plus_01_dot_48)\n (inReceptacle Pencil_bar__minus_01_dot_65_bar__plus_00_dot_67_bar__plus_01_dot_63 SideTable_bar__minus_01_dot_60_bar__minus_00_dot_01_bar__plus_01_dot_48)\n (inReceptacle CreditCard_bar__minus_01_dot_65_bar__plus_00_dot_66_bar__plus_01_dot_56 SideTable_bar__minus_01_dot_60_bar__minus_00_dot_01_bar__plus_01_dot_48)\n (inReceptacle CellPhone_bar__minus_01_dot_74_bar__plus_00_dot_66_bar__minus_01_dot_25 SideTable_bar__minus_01_dot_60_bar__minus_00_dot_01_bar__minus_01_dot_25)\n (inReceptacle Pencil_bar__minus_01_dot_60_bar__plus_00_dot_67_bar__minus_01_dot_48 SideTable_bar__minus_01_dot_60_bar__minus_00_dot_01_bar__minus_01_dot_25)\n (inReceptacle CreditCard_bar__minus_01_dot_49_bar__plus_00_dot_36_bar__minus_01_dot_36 Drawer_bar__minus_01_dot_53_bar__plus_00_dot_44_bar__minus_01_dot_25)\n (inReceptacle CellPhone_bar__plus_02_dot_33_bar__plus_00_dot_45_bar__minus_00_dot_79 ArmChair_bar__plus_02_dot_58_bar__minus_00_dot_01_bar__minus_00_dot_82)\n (inReceptacle KeyChain_bar__plus_03_dot_00_bar__plus_00_dot_99_bar__plus_00_dot_16 Dresser_bar__plus_02_dot_82_bar__plus_00_dot_00_bar__plus_01_dot_01)\n (inReceptacle Laptop_bar__plus_02_dot_75_bar__plus_00_dot_98_bar__plus_01_dot_71 Dresser_bar__plus_02_dot_82_bar__plus_00_dot_00_bar__plus_01_dot_01)\n (inReceptacle AlarmClock_bar__plus_03_dot_00_bar__plus_00_dot_98_bar__plus_01_dot_86 Dresser_bar__plus_02_dot_82_bar__plus_00_dot_00_bar__plus_01_dot_01)\n (inReceptacle Mug_bar__plus_03_dot_00_bar__plus_00_dot_98_bar__plus_00_dot_44 Dresser_bar__plus_02_dot_82_bar__plus_00_dot_00_bar__plus_01_dot_01)\n (inReceptacle Pencil_bar__plus_02_dot_73_bar__plus_00_dot_99_bar__plus_00_dot_44 Dresser_bar__plus_02_dot_82_bar__plus_00_dot_00_bar__plus_01_dot_01)\n (inReceptacle Book_bar__plus_02_dot_91_bar__plus_00_dot_98_bar__plus_00_dot_80 Dresser_bar__plus_02_dot_82_bar__plus_00_dot_00_bar__plus_01_dot_01)\n (inReceptacle Book_bar__minus_00_dot_18_bar__plus_00_dot_69_bar__plus_00_dot_78 Bed_bar__minus_00_dot_75_bar__plus_00_dot_03_bar__plus_00_dot_11)\n (inReceptacle Book_bar__minus_00_dot_72_bar__plus_00_dot_69_bar__plus_00_dot_78 Bed_bar__minus_00_dot_75_bar__plus_00_dot_03_bar__plus_00_dot_11)\n (inReceptacle Pillow_bar__minus_00_dot_18_bar__plus_00_dot_78_bar__minus_00_dot_11 Bed_bar__minus_00_dot_75_bar__plus_00_dot_03_bar__plus_00_dot_11)\n (inReceptacle Pillow_bar__minus_00_dot_72_bar__plus_00_dot_78_bar__minus_00_dot_33 Bed_bar__minus_00_dot_75_bar__plus_00_dot_03_bar__plus_00_dot_11)\n \n \n (receptacleAtLocation ArmChair_bar__plus_02_dot_58_bar__minus_00_dot_01_bar__minus_00_dot_82 loc_bar_7_bar__minus_3_bar_1_bar_60)\n (receptacleAtLocation Bed_bar__minus_00_dot_75_bar__plus_00_dot_03_bar__plus_00_dot_11 loc_bar_4_bar_0_bar_3_bar_45)\n (receptacleAtLocation Cabinet_bar__plus_02_dot_48_bar__plus_00_dot_50_bar__plus_01_dot_00 loc_bar_7_bar_2_bar_1_bar_60)\n (receptacleAtLocation Cabinet_bar__plus_02_dot_48_bar__plus_00_dot_50_bar__plus_01_dot_01 loc_bar_6_bar_3_bar_1_bar_45)\n (receptacleAtLocation Cabinet_bar__plus_02_dot_48_bar__plus_00_dot_50_bar__plus_02_dot_03 loc_bar_7_bar_6_bar_1_bar_60)\n (receptacleAtLocation Cabinet_bar__plus_02_dot_48_bar__plus_00_dot_50_bar__minus_00_dot_02 loc_bar_6_bar__minus_1_bar_1_bar_45)\n (receptacleAtLocation Drawer_bar__plus_02_dot_57_bar__plus_00_dot_90_bar__plus_00_dot_23 loc_bar_8_bar_1_bar_1_bar_60)\n (receptacleAtLocation Drawer_bar__plus_02_dot_57_bar__plus_00_dot_90_bar__plus_00_dot_75 loc_bar_8_bar_3_bar_1_bar_60)\n (receptacleAtLocation Drawer_bar__plus_02_dot_57_bar__plus_00_dot_90_bar__plus_01_dot_27 loc_bar_8_bar_5_bar_1_bar_60)\n (receptacleAtLocation Drawer_bar__plus_02_dot_57_bar__plus_00_dot_90_bar__plus_01_dot_78 loc_bar_8_bar_7_bar_1_bar_60)\n (receptacleAtLocation Drawer_bar__minus_01_dot_53_bar__plus_00_dot_44_bar__plus_01_dot_48 loc_bar__minus_4_bar_6_bar_3_bar_60)\n (receptacleAtLocation Drawer_bar__minus_01_dot_53_bar__plus_00_dot_44_bar__minus_01_dot_25 loc_bar__minus_4_bar__minus_5_bar_3_bar_60)\n (receptacleAtLocation Dresser_bar__plus_02_dot_82_bar__plus_00_dot_00_bar__plus_01_dot_01 loc_bar_9_bar_1_bar_0_bar_60)\n (receptacleAtLocation GarbageCan_bar__plus_01_dot_35_bar__plus_00_dot_00_bar__minus_01_dot_69 loc_bar_5_bar__minus_5_bar_2_bar_60)\n (receptacleAtLocation SideTable_bar__minus_01_dot_60_bar__minus_00_dot_01_bar__plus_01_dot_48 loc_bar__minus_2_bar_6_bar_3_bar_60)\n (receptacleAtLocation SideTable_bar__minus_01_dot_60_bar__minus_00_dot_01_bar__minus_01_dot_25 loc_bar__minus_2_bar__minus_5_bar_3_bar_60)\n (objectAtLocation Mug_bar__minus_01_dot_51_bar__plus_00_dot_66_bar__plus_01_dot_71 loc_bar__minus_2_bar_6_bar_3_bar_60)\n (objectAtLocation CellPhone_bar__minus_01_dot_74_bar__plus_00_dot_66_bar__minus_01_dot_25 loc_bar__minus_2_bar__minus_5_bar_3_bar_60)\n (objectAtLocation Pencil_bar__plus_02_dot_73_bar__plus_00_dot_99_bar__plus_00_dot_44 loc_bar_9_bar_1_bar_0_bar_60)\n (objectAtLocation CreditCard_bar__minus_01_dot_51_bar__plus_00_dot_66_bar__plus_01_dot_25 loc_bar__minus_2_bar_6_bar_3_bar_60)\n (objectAtLocation Book_bar__plus_02_dot_91_bar__plus_00_dot_98_bar__plus_00_dot_80 loc_bar_9_bar_1_bar_0_bar_60)\n (objectAtLocation Pencil_bar__minus_01_dot_65_bar__plus_00_dot_67_bar__plus_01_dot_63 loc_bar__minus_2_bar_6_bar_3_bar_60)\n (objectAtLocation Book_bar__minus_00_dot_18_bar__plus_00_dot_69_bar__plus_00_dot_78 loc_bar_4_bar_0_bar_3_bar_45)\n (objectAtLocation CreditCard_bar__minus_01_dot_65_bar__plus_00_dot_66_bar__plus_01_dot_56 loc_bar__minus_2_bar_6_bar_3_bar_60)\n (objectAtLocation Mug_bar__plus_02_dot_82_bar__plus_00_dot_18_bar__plus_00_dot_57 loc_bar_9_bar_2_bar_1_bar_60)\n (objectAtLocation Book_bar__minus_00_dot_72_bar__plus_00_dot_69_bar__plus_00_dot_78 loc_bar_4_bar_0_bar_3_bar_45)\n (objectAtLocation Curtains_bar__minus_00_dot_02_bar__plus_02_dot_92_bar__minus_01_dot_85 loc_bar_0_bar__minus_5_bar_2_bar__minus_30)\n (objectAtLocation KeyChain_bar__plus_03_dot_00_bar__plus_00_dot_99_bar__plus_00_dot_16 loc_bar_9_bar_1_bar_0_bar_60)\n (objectAtLocation Laptop_bar__plus_02_dot_75_bar__plus_00_dot_98_bar__plus_01_dot_71 loc_bar_9_bar_1_bar_0_bar_60)\n (objectAtLocation Cloth_bar__plus_01_dot_76_bar__plus_00_dot_00_bar__minus_01_dot_73 loc_bar_7_bar__minus_5_bar_2_bar_60)\n (objectAtLocation CreditCard_bar__minus_01_dot_49_bar__plus_00_dot_36_bar__minus_01_dot_36 loc_bar__minus_4_bar__minus_5_bar_3_bar_60)\n (objectAtLocation Pen_bar__minus_01_dot_60_bar__plus_00_dot_67_bar__plus_01_dot_48 loc_bar__minus_2_bar_6_bar_3_bar_60)\n (objectAtLocation Pencil_bar__minus_01_dot_60_bar__plus_00_dot_67_bar__minus_01_dot_48 loc_bar__minus_2_bar__minus_5_bar_3_bar_60)\n (objectAtLocation BaseballBat_bar__plus_03_dot_08_bar__plus_00_dot_63_bar__minus_01_dot_76 loc_bar_7_bar__minus_5_bar_1_bar_45)\n (objectAtLocation LightSwitch_bar__plus_01_dot_32_bar__plus_01_dot_30_bar__plus_02_dot_20 loc_bar_5_bar_7_bar_0_bar_45)\n (objectAtLocation AlarmClock_bar__plus_03_dot_00_bar__plus_00_dot_98_bar__plus_01_dot_86 loc_bar_9_bar_1_bar_0_bar_60)\n (objectAtLocation BaseballBat_bar__plus_00_dot_81_bar__plus_00_dot_05_bar__plus_02_dot_15 loc_bar_4_bar_7_bar_0_bar_60)\n (objectAtLocation Pillow_bar__minus_00_dot_72_bar__plus_00_dot_78_bar__minus_00_dot_33 loc_bar_4_bar_0_bar_3_bar_45)\n (objectAtLocation Pillow_bar__minus_00_dot_18_bar__plus_00_dot_78_bar__minus_00_dot_11 loc_bar_4_bar_0_bar_3_bar_45)\n (objectAtLocation Painting_bar__plus_01_dot_53_bar__plus_01_dot_52_bar__minus_01_dot_85 loc_bar_6_bar__minus_5_bar_2_bar_15)\n (objectAtLocation Mirror_bar__plus_00_dot_58_bar__plus_01_dot_35_bar__plus_02_dot_20 loc_bar_2_bar_6_bar_0_bar_30)\n (objectAtLocation CellPhone_bar__plus_02_dot_33_bar__plus_00_dot_45_bar__minus_00_dot_79 loc_bar_7_bar__minus_3_bar_1_bar_60)\n (objectAtLocation CD_bar__plus_02_dot_88_bar__plus_00_dot_18_bar__plus_01_dot_85 loc_bar_9_bar_7_bar_1_bar_60)\n (objectAtLocation Window_bar__minus_00_dot_01_bar__plus_01_dot_69_bar__minus_01_dot_92 loc_bar_0_bar__minus_5_bar_2_bar_0)\n (objectAtLocation Mug_bar__plus_03_dot_00_bar__plus_00_dot_98_bar__plus_00_dot_44 loc_bar_9_bar_1_bar_0_bar_60)\n )\n \n\n (:goal\n (and\n (exists (?r - receptacle)\n (exists (?o - object)\n (and\n (inReceptacle ?o ?r)\n (objectType ?o KeyChainType)\n (receptacleType ?r SideTableType)\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to dresser 1", "take keychain 1 from dresser 1", "go to sidetable 1", "move keychain 1 to sidetable 1"]}
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alfworld__pick_and_place_simple__17
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pick_and_place_simple
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pick_and_place_simple-KeyChain-None-SideTable-322/trial_T20190909_091715_713301/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 keychain in sidetable.\"\n }\n ],\n\n \"GotoLocation.feedback\": [\n {\n \"rhs\": \"You arrive at {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"OpenObject.feedback\": [\n {\n \"rhs\": \"You open the {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"CloseObject.feedback\": [\n {\n \"rhs\": \"You close the {r.name}.\"\n }\n ],\n\n \"PickupObject.feedback\": [\n {\n \"rhs\": \"You pick up the {o.name} from the {r.name}.\"\n }\n ],\n\n \"PickupObjectFromReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupObjectFromReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupEmptyReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupEmptyReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupFullReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupFullReceptacleObject: You pick up the {outerr.name}.\"\n }\n ],\n\n \"PutObject.feedback\": [\n {\n \"rhs\": \"You move the {o.name} to the {r.name}.\"\n }\n ],\n\n \"PutObjectInReceptacleObject.feedback\": [\n {\n \"rhs\": \"PutObjectInReceptacleObject: You put the {o.name} in the {outero.name}.\"\n }\n ],\n\n \"PutEmptyReceptacleObjectinReceptacle.feedback\": [\n {\n \"rhs\": \"PutEmptyReceptacleObjectinReceptacle: You put the {o.name} in the {r.name}.\"\n }\n ],\n\n \"PutFullReceptacleObjectInReceptacle.feedback\": [\n {\n \"rhs\": \"PutFullReceptacleObjectInReceptacle: You put the {outero.name} in the {r.name}.\"\n }\n ],\n\n \"inventory.feedback\": [\n {\n \"condition\": \"holdsany(a:agent)\",\n \"rhs\": \"You are carrying: [{o.indefinite + ' ' + o.name | holds(a:agent, o:object)}].\"\n },\n {\n \"rhs\": \"You are not carrying anything.\"\n }\n ],\n\n \"examineReceptacle.feedback\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \"The {r.name} is open. In it, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \"The {r.name} is closed.\"\n },\n {\n \"rhs\": \"On the {r.name}, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n }\n ],\n\n \"examineObject.feedback\": [\n {\n \"condition\": \"isreceptacleobject(o:object)\",\n \"rhs\": \"This is a normal {o.name}. In it, you see [{o2.indefinite + ' ' + o2.name | inreceptacleobject(o2:object, o:object)}].\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a clean sliced {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot sliced {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object)\",\n \"rhs\": \"This is a hot and clean {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object)\",\n \"rhs\": \"This is a cool and clean {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object)\",\n \"rhs\": \"This is a hot {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object)\",\n \"rhs\": \"This is a clean {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object)\",\n \"rhs\": \"This is a cold {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"This {o.name} is on.\"\n },\n {\n \"condition\": \"toggleable(o:object) & not_istoggled(o:object)\",\n \"rhs\": \"This {o.name} is off.\"\n },\n {\n \"condition\": \"sliceable(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a sliced {o.name}.\"\n },\n {\n \"rhs\": \"There's nothing special about {o.name}.\"\n }\n ]\n }\n\"\"\";\n\naction GotoLocation {\n template :: \"go to [{r.name | receptacleatlocation(r:receptacle, lend:location)}]\";\n feedback :: \"#GotoLocation.feedback#\";\n}\n\naction OpenObject {\n template :: \"open {r}\";\n feedback :: \"#OpenObject.feedback#\";\n}\n\naction CloseObject {\n template :: \"close {r}\";\n feedback :: \"#CloseObject.feedback#\";\n}\n\naction PickupObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObject.feedback#\";\n}\n\naction PickupObjectFromReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObjectFromReceptacleObject.feedback#\";\n}\n\naction PickupEmptyReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupEmptyReceptacleObject.feedback#\";\n}\n\naction PickupFullReceptacleObject {\n template :: \"take {outerr} from {r}\";\n feedback :: \"#PickupFullReceptacleObject.feedback#\";\n}\n\naction PutObject {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutObject.feedback#\";\n}\n\naction PutObjectInReceptacleObject {\n template :: \"put {o} into {outero}\";\n feedback :: \"#PutObjectInReceptacleObject.feedback#\";\n}\n\naction PutEmptyReceptacleObjectinReceptacle {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutEmptyReceptacleObjectinReceptacle.feedback#\";\n}\n\naction PutFullReceptacleObjectInReceptacle {\n template :: \"put {outero} in {r}\";\n feedback :: \"#PutFullReceptacleObjectInReceptacle.feedback#\";\n}\n\naction inventory {\n template :: \"inventory\";\n feedback :: \"#inventory.feedback#\";\n}\n\naction examineReceptacle {\n template :: \"examine {r}\";\n feedback :: \"#examineReceptacle.feedback#\";\n}\n\naction examineObject {\n template :: \"examine {o}\";\n feedback :: \"#examineObject.feedback#\";\n}\n\naction ToggleObject {\n template :: \"use {o}\";\n feedback :: \"#toggleObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"toggleObject.feedback\": [\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"You turn on the {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object)\",\n \"rhs\": \"You turn off the {o.name}.\"\n },\n {\n \"rhs\": \"You don't see any switch on the {o.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction HeatObject {\n template :: \"heat {o} with {r}\";\n feedback :: \"#heatObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"heatObject.feedback\": [\n {\n \"rhs\": \"You heat the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CleanObject {\n template :: \"clean {o} with {r}\";\n feedback :: \"#cleanObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"cleanObject.feedback\": [\n {\n \"rhs\": \"You clean the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CoolObject {\n template :: \"cool {o} with {r}\";\n feedback :: \"#coolObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"coolObject.feedback\": [\n {\n \"rhs\": \"You cool the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction SliceObject {\n template :: \"slice {co} with {ko}\";\n feedback :: \"#sliceObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"sliceObject.feedback\": [\n {\n \"rhs\": \"You sliced the {co.name} with the {ko.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction look {\n template :: \"look\";\n feedback :: \"#look.feedback#\";\n\n grammar :: \"\"\"\n {\n \"look.feedback\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"#look-variations#. Next to it, you see #list_objects_on_the_floor#.\"\n },\n {\n \"rhs\": \"You are in the middle of a room. Looking quickly around you, you see #list_appliances#.\"\n }\n ],\n\n \"look-variations\": [\n {\n \"rhs\": \"You are facing the [{r.name | atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)}]\"\n }\n ],\n\n \"list_objects_on_the_floor\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)\",\n \"rhs\": \"[{#overview(o)# | atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"list_appliances\": [\n {\n \"condition\": \"receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"[{#overview(r)# | receptacleatlocation(r:receptacle, l:location)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"overview(o, r)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name} (in/on the {r.name})}\"\n }\n ],\n\n \"overview(o)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name}\"\n }\n ],\n \"overview(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}\"\n }\n ],\n \"overview_with_state(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}#overview_state(r)#\"\n }\n ],\n \"overview_state(r)\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \" (it is open)\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \" (it is closed)\"\n },\n {\n \"rhs\": \"\"\n }\n ],\n\n \"list_empty\": [\n {\n \"rhs\": \"nothing\"\n }\n ],\n \"list_separator\": [\n {\n \"rhs\": \", \"\n }\n ],\n \"list_last_separator\": [\n {\n \"rhs\": \", and \"\n }\n ]\n }\n \"\"\";\n}\n\naction help {\n template :: \"help\";\n feedback :: \"\nAvailable commands:\n look: look around your current location\n inventory: check your current inventory\n go to (receptacle): move to a receptacle\n open (receptacle): open a receptacle\n close (receptacle): close a receptacle\n take (object) from (receptacle): take an object from a receptacle\n move (object) to (receptacle): place an object in or on a receptacle\n examine (something): examine a receptacle or an object\n use (object): use an object\n heat (object) with (receptacle): heat an object using a receptacle\n clean (object) with (receptacle): clean an object using a receptacle\n cool (object) with (receptacle): cool an object using a receptacle\n slice (object) with (object): slice an object using a sharp object\n\";\n}\n", "pddl_problem": "\n(define (problem plan_trial_T20190909_091715_713301)\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_91_bar__plus_00_dot_98_bar__plus_01_dot_86 - object\n AlarmClock_bar__plus_03_dot_00_bar__plus_00_dot_98_bar__plus_00_dot_44 - object\n AlarmClock_bar__minus_01_dot_60_bar__plus_00_dot_66_bar__plus_01_dot_71 - object\n BaseballBat_bar__plus_00_dot_81_bar__plus_00_dot_05_bar__plus_02_dot_15 - object\n BaseballBat_bar__plus_03_dot_08_bar__plus_00_dot_63_bar__minus_01_dot_76 - object\n Book_bar__plus_02_dot_73_bar__plus_00_dot_99_bar__plus_01_dot_29 - object\n CD_bar__plus_02_dot_56_bar__plus_00_dot_98_bar__plus_00_dot_16 - object\n CellPhone_bar__plus_03_dot_08_bar__plus_00_dot_99_bar__plus_01_dot_29 - object\n Cloth_bar__plus_01_dot_76_bar__plus_00_dot_00_bar__minus_01_dot_73 - object\n CreditCard_bar__plus_02_dot_60_bar__plus_00_dot_89_bar__plus_00_dot_90 - object\n CreditCard_bar__minus_01_dot_47_bar__plus_00_dot_66_bar__plus_01_dot_56 - object\n Curtains_bar__minus_00_dot_02_bar__plus_02_dot_92_bar__minus_01_dot_85 - object\n KeyChain_bar__plus_02_dot_82_bar__plus_00_dot_99_bar__plus_01_dot_58 - object\n KeyChain_bar__plus_03_dot_00_bar__plus_00_dot_99_bar__plus_01_dot_58 - object\n Lamp_bar__minus_01_dot_62_bar__plus_00_dot_65_bar__plus_01_dot_49 - object\n Lamp_bar__minus_01_dot_63_bar__plus_00_dot_65_bar__minus_01_dot_31 - object\n Laptop_bar__plus_00_dot_09_bar__plus_00_dot_69_bar__plus_00_dot_34 - object\n Laptop_bar__plus_02_dot_49_bar__plus_00_dot_45_bar__minus_00_dot_66 - object\n LightSwitch_bar__plus_01_dot_32_bar__plus_01_dot_30_bar__plus_02_dot_20 - object\n Mirror_bar__plus_00_dot_58_bar__plus_01_dot_35_bar__plus_02_dot_20 - object\n Mug_bar__plus_02_dot_59_bar__plus_00_dot_18_bar__plus_01_dot_67 - object\n Mug_bar__plus_03_dot_08_bar__plus_00_dot_99_bar__plus_01_dot_01 - object\n Mug_bar__minus_01_dot_47_bar__plus_00_dot_66_bar__minus_01_dot_17 - object\n Painting_bar__plus_01_dot_53_bar__plus_01_dot_52_bar__minus_01_dot_85 - object\n Pencil_bar__plus_02_dot_73_bar__plus_00_dot_99_bar__plus_01_dot_01 - object\n Pencil_bar__minus_01_dot_60_bar__plus_00_dot_67_bar__minus_01_dot_48 - object\n Pen_bar__plus_02_dot_64_bar__plus_00_dot_99_bar__plus_01_dot_58 - object\n Pen_bar__plus_03_dot_00_bar__plus_00_dot_99_bar__plus_00_dot_16 - object\n Pillow_bar__minus_00_dot_72_bar__plus_00_dot_78_bar__minus_00_dot_33 - object\n Pillow_bar__minus_01_dot_46_bar__plus_00_dot_75_bar__plus_00_dot_49 - object\n Window_bar__minus_00_dot_01_bar__plus_01_dot_69_bar__minus_01_dot_92 - object\n ArmChair_bar__plus_02_dot_58_bar__minus_00_dot_01_bar__minus_00_dot_82 - receptacle\n Bed_bar__minus_00_dot_75_bar__plus_00_dot_03_bar__plus_00_dot_11 - receptacle\n Cabinet_bar__plus_02_dot_48_bar__plus_00_dot_50_bar__plus_01_dot_00 - receptacle\n Cabinet_bar__plus_02_dot_48_bar__plus_00_dot_50_bar__plus_01_dot_01 - receptacle\n Cabinet_bar__plus_02_dot_48_bar__plus_00_dot_50_bar__plus_02_dot_03 - receptacle\n Cabinet_bar__plus_02_dot_48_bar__plus_00_dot_50_bar__minus_00_dot_02 - receptacle\n Drawer_bar__plus_02_dot_57_bar__plus_00_dot_90_bar__plus_00_dot_23 - receptacle\n Drawer_bar__plus_02_dot_57_bar__plus_00_dot_90_bar__plus_00_dot_75 - receptacle\n Drawer_bar__plus_02_dot_57_bar__plus_00_dot_90_bar__plus_01_dot_27 - receptacle\n Drawer_bar__plus_02_dot_57_bar__plus_00_dot_90_bar__plus_01_dot_78 - receptacle\n Drawer_bar__minus_01_dot_53_bar__plus_00_dot_44_bar__plus_01_dot_48 - receptacle\n Drawer_bar__minus_01_dot_53_bar__plus_00_dot_44_bar__minus_01_dot_25 - receptacle\n Dresser_bar__plus_02_dot_82_bar__plus_00_dot_00_bar__plus_01_dot_01 - receptacle\n GarbageCan_bar__plus_01_dot_35_bar__plus_00_dot_00_bar__minus_01_dot_69 - receptacle\n SideTable_bar__minus_01_dot_60_bar__minus_00_dot_01_bar__plus_01_dot_48 - receptacle\n SideTable_bar__minus_01_dot_60_bar__minus_00_dot_01_bar__minus_01_dot_25 - receptacle\n loc_bar__minus_4_bar__minus_5_bar_3_bar_60 - location\n loc_bar_4_bar_7_bar_0_bar_60 - location\n loc_bar_8_bar_1_bar_1_bar_60 - location\n loc_bar_5_bar_7_bar_0_bar_45 - location\n loc_bar_6_bar_3_bar_1_bar_45 - location\n loc_bar_8_bar_5_bar_1_bar_60 - location\n loc_bar_6_bar__minus_5_bar_2_bar_15 - location\n loc_bar_8_bar_3_bar_1_bar_60 - location\n loc_bar_2_bar_6_bar_0_bar_30 - location\n loc_bar_7_bar_6_bar_1_bar_60 - location\n loc_bar_6_bar__minus_1_bar_1_bar_45 - location\n loc_bar_5_bar__minus_5_bar_2_bar_60 - location\n loc_bar_7_bar__minus_5_bar_1_bar_45 - location\n loc_bar_0_bar__minus_5_bar_2_bar_0 - location\n loc_bar_8_bar_7_bar_1_bar_60 - location\n loc_bar_7_bar_2_bar_1_bar_60 - location\n loc_bar_7_bar__minus_3_bar_1_bar_60 - location\n loc_bar_0_bar__minus_5_bar_2_bar__minus_30 - location\n loc_bar_9_bar_1_bar_0_bar_60 - location\n loc_bar_4_bar_0_bar_3_bar_45 - location\n loc_bar__minus_2_bar_6_bar_3_bar_60 - location\n loc_bar__minus_2_bar__minus_5_bar_3_bar_60 - location\n loc_bar_7_bar__minus_5_bar_2_bar_60 - location\n loc_bar_9_bar_7_bar_1_bar_60 - location\n loc_bar__minus_4_bar_6_bar_3_bar_60 - location\n loc_bar__minus_4_bar__minus_6_bar_0_bar_30 - location\n )\n \n\n(:init\n\n\n (receptacleType Bed_bar__minus_00_dot_75_bar__plus_00_dot_03_bar__plus_00_dot_11 BedType)\n (receptacleType Drawer_bar__minus_01_dot_53_bar__plus_00_dot_44_bar__plus_01_dot_48 DrawerType)\n (receptacleType Drawer_bar__plus_02_dot_57_bar__plus_00_dot_90_bar__plus_01_dot_27 DrawerType)\n (receptacleType Drawer_bar__plus_02_dot_57_bar__plus_00_dot_90_bar__plus_01_dot_78 DrawerType)\n (receptacleType SideTable_bar__minus_01_dot_60_bar__minus_00_dot_01_bar__plus_01_dot_48 SideTableType)\n (receptacleType Cabinet_bar__plus_02_dot_48_bar__plus_00_dot_50_bar__plus_01_dot_00 CabinetType)\n (receptacleType Drawer_bar__plus_02_dot_57_bar__plus_00_dot_90_bar__plus_00_dot_23 DrawerType)\n (receptacleType Drawer_bar__minus_01_dot_53_bar__plus_00_dot_44_bar__minus_01_dot_25 DrawerType)\n (receptacleType Cabinet_bar__plus_02_dot_48_bar__plus_00_dot_50_bar__minus_00_dot_02 CabinetType)\n (receptacleType GarbageCan_bar__plus_01_dot_35_bar__plus_00_dot_00_bar__minus_01_dot_69 GarbageCanType)\n (receptacleType Drawer_bar__plus_02_dot_57_bar__plus_00_dot_90_bar__plus_00_dot_75 DrawerType)\n (receptacleType Cabinet_bar__plus_02_dot_48_bar__plus_00_dot_50_bar__plus_01_dot_01 CabinetType)\n (receptacleType ArmChair_bar__plus_02_dot_58_bar__minus_00_dot_01_bar__minus_00_dot_82 ArmChairType)\n (receptacleType Dresser_bar__plus_02_dot_82_bar__plus_00_dot_00_bar__plus_01_dot_01 DresserType)\n (receptacleType SideTable_bar__minus_01_dot_60_bar__minus_00_dot_01_bar__minus_01_dot_25 SideTableType)\n (receptacleType Cabinet_bar__plus_02_dot_48_bar__plus_00_dot_50_bar__plus_02_dot_03 CabinetType)\n (objectType Painting_bar__plus_01_dot_53_bar__plus_01_dot_52_bar__minus_01_dot_85 PaintingType)\n (objectType CD_bar__plus_02_dot_56_bar__plus_00_dot_98_bar__plus_00_dot_16 CDType)\n (objectType Pen_bar__plus_02_dot_64_bar__plus_00_dot_99_bar__plus_01_dot_58 PenType)\n (objectType Pencil_bar__plus_02_dot_73_bar__plus_00_dot_99_bar__plus_01_dot_01 PencilType)\n (objectType AlarmClock_bar__minus_01_dot_60_bar__plus_00_dot_66_bar__plus_01_dot_71 AlarmClockType)\n (objectType BaseballBat_bar__plus_00_dot_81_bar__plus_00_dot_05_bar__plus_02_dot_15 BaseballBatType)\n (objectType Mug_bar__plus_02_dot_59_bar__plus_00_dot_18_bar__plus_01_dot_67 MugType)\n (objectType LightSwitch_bar__plus_01_dot_32_bar__plus_01_dot_30_bar__plus_02_dot_20 LightSwitchType)\n (objectType AlarmClock_bar__plus_02_dot_91_bar__plus_00_dot_98_bar__plus_01_dot_86 AlarmClockType)\n (objectType Pencil_bar__minus_01_dot_60_bar__plus_00_dot_67_bar__minus_01_dot_48 PencilType)\n (objectType AlarmClock_bar__plus_03_dot_00_bar__plus_00_dot_98_bar__plus_00_dot_44 AlarmClockType)\n (objectType Book_bar__plus_02_dot_73_bar__plus_00_dot_99_bar__plus_01_dot_29 BookType)\n (objectType CellPhone_bar__plus_03_dot_08_bar__plus_00_dot_99_bar__plus_01_dot_29 CellPhoneType)\n (objectType KeyChain_bar__plus_03_dot_00_bar__plus_00_dot_99_bar__plus_01_dot_58 KeyChainType)\n (objectType BaseballBat_bar__plus_03_dot_08_bar__plus_00_dot_63_bar__minus_01_dot_76 BaseballBatType)\n (objectType Mug_bar__minus_01_dot_47_bar__plus_00_dot_66_bar__minus_01_dot_17 MugType)\n (objectType KeyChain_bar__plus_02_dot_82_bar__plus_00_dot_99_bar__plus_01_dot_58 KeyChainType)\n (objectType Window_bar__minus_00_dot_01_bar__plus_01_dot_69_bar__minus_01_dot_92 WindowType)\n (objectType Pen_bar__plus_03_dot_00_bar__plus_00_dot_99_bar__plus_00_dot_16 PenType)\n (objectType CreditCard_bar__minus_01_dot_47_bar__plus_00_dot_66_bar__plus_01_dot_56 CreditCardType)\n (objectType CreditCard_bar__plus_02_dot_60_bar__plus_00_dot_89_bar__plus_00_dot_90 CreditCardType)\n (objectType Curtains_bar__minus_00_dot_02_bar__plus_02_dot_92_bar__minus_01_dot_85 CurtainsType)\n (objectType Pillow_bar__minus_00_dot_72_bar__plus_00_dot_78_bar__minus_00_dot_33 PillowType)\n (objectType Laptop_bar__plus_02_dot_49_bar__plus_00_dot_45_bar__minus_00_dot_66 LaptopType)\n (objectType Laptop_bar__plus_00_dot_09_bar__plus_00_dot_69_bar__plus_00_dot_34 LaptopType)\n (objectType Mug_bar__plus_03_dot_08_bar__plus_00_dot_99_bar__plus_01_dot_01 MugType)\n (objectType Mirror_bar__plus_00_dot_58_bar__plus_01_dot_35_bar__plus_02_dot_20 MirrorType)\n (objectType Cloth_bar__plus_01_dot_76_bar__plus_00_dot_00_bar__minus_01_dot_73 ClothType)\n (objectType Pillow_bar__minus_01_dot_46_bar__plus_00_dot_75_bar__plus_00_dot_49 PillowType)\n (canContain BedType BaseballBatType)\n (canContain BedType LaptopType)\n (canContain BedType BookType)\n (canContain BedType CellPhoneType)\n (canContain BedType PillowType)\n (canContain DrawerType PenType)\n (canContain DrawerType BookType)\n (canContain DrawerType CDType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType ClothType)\n (canContain DrawerType PencilType)\n (canContain DrawerType PenType)\n (canContain DrawerType BookType)\n (canContain DrawerType CDType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType ClothType)\n (canContain DrawerType PencilType)\n (canContain DrawerType PenType)\n (canContain DrawerType BookType)\n (canContain DrawerType CDType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType ClothType)\n (canContain DrawerType PencilType)\n (canContain SideTableType PenType)\n (canContain SideTableType BookType)\n (canContain SideTableType CDType)\n (canContain SideTableType MugType)\n (canContain SideTableType CellPhoneType)\n (canContain SideTableType KeyChainType)\n (canContain SideTableType CreditCardType)\n (canContain SideTableType BaseballBatType)\n (canContain SideTableType ClothType)\n (canContain SideTableType LaptopType)\n (canContain SideTableType PencilType)\n (canContain SideTableType AlarmClockType)\n (canContain CabinetType BookType)\n (canContain CabinetType CDType)\n (canContain CabinetType MugType)\n (canContain CabinetType ClothType)\n (canContain DrawerType PenType)\n (canContain DrawerType BookType)\n (canContain DrawerType CDType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType ClothType)\n (canContain DrawerType PencilType)\n (canContain DrawerType PenType)\n (canContain DrawerType BookType)\n (canContain DrawerType CDType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType ClothType)\n (canContain DrawerType PencilType)\n (canContain CabinetType BookType)\n (canContain CabinetType CDType)\n (canContain CabinetType MugType)\n (canContain CabinetType ClothType)\n (canContain GarbageCanType PenType)\n (canContain GarbageCanType CDType)\n (canContain GarbageCanType ClothType)\n (canContain GarbageCanType PencilType)\n (canContain DrawerType PenType)\n (canContain DrawerType BookType)\n (canContain DrawerType CDType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType ClothType)\n (canContain DrawerType PencilType)\n (canContain CabinetType BookType)\n (canContain CabinetType CDType)\n (canContain CabinetType MugType)\n (canContain CabinetType ClothType)\n (canContain ArmChairType ClothType)\n (canContain ArmChairType LaptopType)\n (canContain ArmChairType BookType)\n (canContain ArmChairType CellPhoneType)\n (canContain ArmChairType PillowType)\n (canContain ArmChairType KeyChainType)\n (canContain ArmChairType CreditCardType)\n (canContain DresserType PenType)\n (canContain DresserType BookType)\n (canContain DresserType CDType)\n (canContain DresserType MugType)\n (canContain DresserType CellPhoneType)\n (canContain DresserType KeyChainType)\n (canContain DresserType CreditCardType)\n (canContain DresserType ClothType)\n (canContain DresserType LaptopType)\n (canContain DresserType PencilType)\n (canContain DresserType AlarmClockType)\n (canContain SideTableType PenType)\n (canContain SideTableType BookType)\n (canContain SideTableType CDType)\n (canContain SideTableType MugType)\n (canContain SideTableType CellPhoneType)\n (canContain SideTableType KeyChainType)\n (canContain SideTableType CreditCardType)\n (canContain SideTableType BaseballBatType)\n (canContain SideTableType ClothType)\n (canContain SideTableType LaptopType)\n (canContain SideTableType PencilType)\n (canContain SideTableType AlarmClockType)\n (canContain CabinetType BookType)\n (canContain CabinetType CDType)\n (canContain CabinetType MugType)\n (canContain CabinetType ClothType)\n (pickupable CD_bar__plus_02_dot_56_bar__plus_00_dot_98_bar__plus_00_dot_16)\n (pickupable Pen_bar__plus_02_dot_64_bar__plus_00_dot_99_bar__plus_01_dot_58)\n (pickupable Pencil_bar__plus_02_dot_73_bar__plus_00_dot_99_bar__plus_01_dot_01)\n (pickupable 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(pickupable Pen_bar__plus_03_dot_00_bar__plus_00_dot_99_bar__plus_00_dot_16)\n (pickupable CreditCard_bar__minus_01_dot_47_bar__plus_00_dot_66_bar__plus_01_dot_56)\n (pickupable CreditCard_bar__plus_02_dot_60_bar__plus_00_dot_89_bar__plus_00_dot_90)\n (pickupable Pillow_bar__minus_00_dot_72_bar__plus_00_dot_78_bar__minus_00_dot_33)\n (pickupable Laptop_bar__plus_02_dot_49_bar__plus_00_dot_45_bar__minus_00_dot_66)\n (pickupable Laptop_bar__plus_00_dot_09_bar__plus_00_dot_69_bar__plus_00_dot_34)\n (pickupable Mug_bar__plus_03_dot_08_bar__plus_00_dot_99_bar__plus_01_dot_01)\n (pickupable Cloth_bar__plus_01_dot_76_bar__plus_00_dot_00_bar__minus_01_dot_73)\n (pickupable Pillow_bar__minus_01_dot_46_bar__plus_00_dot_75_bar__plus_00_dot_49)\n (isReceptacleObject Mug_bar__plus_02_dot_59_bar__plus_00_dot_18_bar__plus_01_dot_67)\n (isReceptacleObject Mug_bar__minus_01_dot_47_bar__plus_00_dot_66_bar__minus_01_dot_17)\n (isReceptacleObject Mug_bar__plus_03_dot_08_bar__plus_00_dot_99_bar__plus_01_dot_01)\n (openable Drawer_bar__plus_02_dot_57_bar__plus_00_dot_90_bar__plus_01_dot_27)\n (openable Drawer_bar__plus_02_dot_57_bar__plus_00_dot_90_bar__plus_01_dot_78)\n (openable Cabinet_bar__plus_02_dot_48_bar__plus_00_dot_50_bar__plus_01_dot_00)\n (openable Drawer_bar__plus_02_dot_57_bar__plus_00_dot_90_bar__plus_00_dot_23)\n (openable Cabinet_bar__plus_02_dot_48_bar__plus_00_dot_50_bar__minus_00_dot_02)\n (openable Drawer_bar__plus_02_dot_57_bar__plus_00_dot_90_bar__plus_00_dot_75)\n (openable Cabinet_bar__plus_02_dot_48_bar__plus_00_dot_50_bar__plus_01_dot_01)\n (openable Cabinet_bar__plus_02_dot_48_bar__plus_00_dot_50_bar__plus_02_dot_03)\n \n (atLocation agent1 loc_bar__minus_4_bar__minus_6_bar_0_bar_30)\n \n (cleanable Mug_bar__plus_02_dot_59_bar__plus_00_dot_18_bar__plus_01_dot_67)\n (cleanable Mug_bar__minus_01_dot_47_bar__plus_00_dot_66_bar__minus_01_dot_17)\n (cleanable Mug_bar__plus_03_dot_08_bar__plus_00_dot_99_bar__plus_01_dot_01)\n (cleanable Cloth_bar__plus_01_dot_76_bar__plus_00_dot_00_bar__minus_01_dot_73)\n \n (heatable Mug_bar__plus_02_dot_59_bar__plus_00_dot_18_bar__plus_01_dot_67)\n (heatable Mug_bar__minus_01_dot_47_bar__plus_00_dot_66_bar__minus_01_dot_17)\n (heatable Mug_bar__plus_03_dot_08_bar__plus_00_dot_99_bar__plus_01_dot_01)\n (coolable Mug_bar__plus_02_dot_59_bar__plus_00_dot_18_bar__plus_01_dot_67)\n (coolable Mug_bar__minus_01_dot_47_bar__plus_00_dot_66_bar__minus_01_dot_17)\n (coolable Mug_bar__plus_03_dot_08_bar__plus_00_dot_99_bar__plus_01_dot_01)\n \n \n \n \n \n \n \n (inReceptacle AlarmClock_bar__minus_01_dot_60_bar__plus_00_dot_66_bar__plus_01_dot_71 SideTable_bar__minus_01_dot_60_bar__minus_00_dot_01_bar__plus_01_dot_48)\n (inReceptacle CreditCard_bar__minus_01_dot_47_bar__plus_00_dot_66_bar__plus_01_dot_56 SideTable_bar__minus_01_dot_60_bar__minus_00_dot_01_bar__plus_01_dot_48)\n (inReceptacle CreditCard_bar__plus_02_dot_60_bar__plus_00_dot_89_bar__plus_00_dot_90 Drawer_bar__plus_02_dot_57_bar__plus_00_dot_90_bar__plus_00_dot_75)\n (inReceptacle Pencil_bar__minus_01_dot_60_bar__plus_00_dot_67_bar__minus_01_dot_48 SideTable_bar__minus_01_dot_60_bar__minus_00_dot_01_bar__minus_01_dot_25)\n (inReceptacle Mug_bar__minus_01_dot_47_bar__plus_00_dot_66_bar__minus_01_dot_17 SideTable_bar__minus_01_dot_60_bar__minus_00_dot_01_bar__minus_01_dot_25)\n (inReceptacle Laptop_bar__plus_02_dot_49_bar__plus_00_dot_45_bar__minus_00_dot_66 ArmChair_bar__plus_02_dot_58_bar__minus_00_dot_01_bar__minus_00_dot_82)\n (inReceptacle CD_bar__plus_02_dot_56_bar__plus_00_dot_98_bar__plus_00_dot_16 Dresser_bar__plus_02_dot_82_bar__plus_00_dot_00_bar__plus_01_dot_01)\n (inReceptacle Pen_bar__plus_02_dot_64_bar__plus_00_dot_99_bar__plus_01_dot_58 Dresser_bar__plus_02_dot_82_bar__plus_00_dot_00_bar__plus_01_dot_01)\n (inReceptacle AlarmClock_bar__plus_03_dot_00_bar__plus_00_dot_98_bar__plus_00_dot_44 Dresser_bar__plus_02_dot_82_bar__plus_00_dot_00_bar__plus_01_dot_01)\n (inReceptacle Book_bar__plus_02_dot_73_bar__plus_00_dot_99_bar__plus_01_dot_29 Dresser_bar__plus_02_dot_82_bar__plus_00_dot_00_bar__plus_01_dot_01)\n (inReceptacle Pencil_bar__plus_02_dot_73_bar__plus_00_dot_99_bar__plus_01_dot_01 Dresser_bar__plus_02_dot_82_bar__plus_00_dot_00_bar__plus_01_dot_01)\n (inReceptacle CellPhone_bar__plus_03_dot_08_bar__plus_00_dot_99_bar__plus_01_dot_29 Dresser_bar__plus_02_dot_82_bar__plus_00_dot_00_bar__plus_01_dot_01)\n (inReceptacle KeyChain_bar__plus_02_dot_82_bar__plus_00_dot_99_bar__plus_01_dot_58 Dresser_bar__plus_02_dot_82_bar__plus_00_dot_00_bar__plus_01_dot_01)\n (inReceptacle Mug_bar__plus_03_dot_08_bar__plus_00_dot_99_bar__plus_01_dot_01 Dresser_bar__plus_02_dot_82_bar__plus_00_dot_00_bar__plus_01_dot_01)\n (inReceptacle Pen_bar__plus_03_dot_00_bar__plus_00_dot_99_bar__plus_00_dot_16 Dresser_bar__plus_02_dot_82_bar__plus_00_dot_00_bar__plus_01_dot_01)\n (inReceptacle KeyChain_bar__plus_03_dot_00_bar__plus_00_dot_99_bar__plus_01_dot_58 Dresser_bar__plus_02_dot_82_bar__plus_00_dot_00_bar__plus_01_dot_01)\n (inReceptacle AlarmClock_bar__plus_02_dot_91_bar__plus_00_dot_98_bar__plus_01_dot_86 Dresser_bar__plus_02_dot_82_bar__plus_00_dot_00_bar__plus_01_dot_01)\n (inReceptacle Laptop_bar__plus_00_dot_09_bar__plus_00_dot_69_bar__plus_00_dot_34 Bed_bar__minus_00_dot_75_bar__plus_00_dot_03_bar__plus_00_dot_11)\n (inReceptacle Pillow_bar__minus_01_dot_46_bar__plus_00_dot_75_bar__plus_00_dot_49 Bed_bar__minus_00_dot_75_bar__plus_00_dot_03_bar__plus_00_dot_11)\n (inReceptacle Pillow_bar__minus_00_dot_72_bar__plus_00_dot_78_bar__minus_00_dot_33 Bed_bar__minus_00_dot_75_bar__plus_00_dot_03_bar__plus_00_dot_11)\n \n \n (receptacleAtLocation ArmChair_bar__plus_02_dot_58_bar__minus_00_dot_01_bar__minus_00_dot_82 loc_bar_7_bar__minus_3_bar_1_bar_60)\n (receptacleAtLocation Bed_bar__minus_00_dot_75_bar__plus_00_dot_03_bar__plus_00_dot_11 loc_bar_4_bar_0_bar_3_bar_45)\n (receptacleAtLocation Cabinet_bar__plus_02_dot_48_bar__plus_00_dot_50_bar__plus_01_dot_00 loc_bar_7_bar_2_bar_1_bar_60)\n (receptacleAtLocation Cabinet_bar__plus_02_dot_48_bar__plus_00_dot_50_bar__plus_01_dot_01 loc_bar_6_bar_3_bar_1_bar_45)\n (receptacleAtLocation Cabinet_bar__plus_02_dot_48_bar__plus_00_dot_50_bar__plus_02_dot_03 loc_bar_7_bar_6_bar_1_bar_60)\n (receptacleAtLocation Cabinet_bar__plus_02_dot_48_bar__plus_00_dot_50_bar__minus_00_dot_02 loc_bar_6_bar__minus_1_bar_1_bar_45)\n (receptacleAtLocation Drawer_bar__plus_02_dot_57_bar__plus_00_dot_90_bar__plus_00_dot_23 loc_bar_8_bar_1_bar_1_bar_60)\n (receptacleAtLocation Drawer_bar__plus_02_dot_57_bar__plus_00_dot_90_bar__plus_00_dot_75 loc_bar_8_bar_3_bar_1_bar_60)\n (receptacleAtLocation Drawer_bar__plus_02_dot_57_bar__plus_00_dot_90_bar__plus_01_dot_27 loc_bar_8_bar_5_bar_1_bar_60)\n (receptacleAtLocation Drawer_bar__plus_02_dot_57_bar__plus_00_dot_90_bar__plus_01_dot_78 loc_bar_8_bar_7_bar_1_bar_60)\n (receptacleAtLocation Drawer_bar__minus_01_dot_53_bar__plus_00_dot_44_bar__plus_01_dot_48 loc_bar__minus_4_bar_6_bar_3_bar_60)\n (receptacleAtLocation Drawer_bar__minus_01_dot_53_bar__plus_00_dot_44_bar__minus_01_dot_25 loc_bar__minus_4_bar__minus_5_bar_3_bar_60)\n (receptacleAtLocation Dresser_bar__plus_02_dot_82_bar__plus_00_dot_00_bar__plus_01_dot_01 loc_bar_9_bar_1_bar_0_bar_60)\n (receptacleAtLocation GarbageCan_bar__plus_01_dot_35_bar__plus_00_dot_00_bar__minus_01_dot_69 loc_bar_5_bar__minus_5_bar_2_bar_60)\n (receptacleAtLocation SideTable_bar__minus_01_dot_60_bar__minus_00_dot_01_bar__plus_01_dot_48 loc_bar__minus_2_bar_6_bar_3_bar_60)\n (receptacleAtLocation SideTable_bar__minus_01_dot_60_bar__minus_00_dot_01_bar__minus_01_dot_25 loc_bar__minus_2_bar__minus_5_bar_3_bar_60)\n (objectAtLocation Mug_bar__plus_02_dot_59_bar__plus_00_dot_18_bar__plus_01_dot_67 loc_bar_9_bar_7_bar_1_bar_60)\n (objectAtLocation AlarmClock_bar__plus_02_dot_91_bar__plus_00_dot_98_bar__plus_01_dot_86 loc_bar_9_bar_1_bar_0_bar_60)\n (objectAtLocation Pencil_bar__plus_02_dot_73_bar__plus_00_dot_99_bar__plus_01_dot_01 loc_bar_9_bar_1_bar_0_bar_60)\n (objectAtLocation Pen_bar__plus_02_dot_64_bar__plus_00_dot_99_bar__plus_01_dot_58 loc_bar_9_bar_1_bar_0_bar_60)\n (objectAtLocation CreditCard_bar__plus_02_dot_60_bar__plus_00_dot_89_bar__plus_00_dot_90 loc_bar_8_bar_3_bar_1_bar_60)\n (objectAtLocation Laptop_bar__plus_00_dot_09_bar__plus_00_dot_69_bar__plus_00_dot_34 loc_bar_4_bar_0_bar_3_bar_45)\n (objectAtLocation KeyChain_bar__plus_03_dot_00_bar__plus_00_dot_99_bar__plus_01_dot_58 loc_bar_9_bar_1_bar_0_bar_60)\n (objectAtLocation AlarmClock_bar__plus_03_dot_00_bar__plus_00_dot_98_bar__plus_00_dot_44 loc_bar_9_bar_1_bar_0_bar_60)\n (objectAtLocation Mug_bar__plus_03_dot_08_bar__plus_00_dot_99_bar__plus_01_dot_01 loc_bar_9_bar_1_bar_0_bar_60)\n (objectAtLocation Book_bar__plus_02_dot_73_bar__plus_00_dot_99_bar__plus_01_dot_29 loc_bar_9_bar_1_bar_0_bar_60)\n (objectAtLocation Curtains_bar__minus_00_dot_02_bar__plus_02_dot_92_bar__minus_01_dot_85 loc_bar_0_bar__minus_5_bar_2_bar__minus_30)\n (objectAtLocation KeyChain_bar__plus_02_dot_82_bar__plus_00_dot_99_bar__plus_01_dot_58 loc_bar_9_bar_1_bar_0_bar_60)\n (objectAtLocation Laptop_bar__plus_02_dot_49_bar__plus_00_dot_45_bar__minus_00_dot_66 loc_bar_7_bar__minus_3_bar_1_bar_60)\n (objectAtLocation Cloth_bar__plus_01_dot_76_bar__plus_00_dot_00_bar__minus_01_dot_73 loc_bar_7_bar__minus_5_bar_2_bar_60)\n (objectAtLocation CreditCard_bar__minus_01_dot_47_bar__plus_00_dot_66_bar__plus_01_dot_56 loc_bar__minus_2_bar_6_bar_3_bar_60)\n (objectAtLocation Pen_bar__plus_03_dot_00_bar__plus_00_dot_99_bar__plus_00_dot_16 loc_bar_9_bar_1_bar_0_bar_60)\n (objectAtLocation Pencil_bar__minus_01_dot_60_bar__plus_00_dot_67_bar__minus_01_dot_48 loc_bar__minus_2_bar__minus_5_bar_3_bar_60)\n (objectAtLocation BaseballBat_bar__plus_03_dot_08_bar__plus_00_dot_63_bar__minus_01_dot_76 loc_bar_7_bar__minus_5_bar_1_bar_45)\n (objectAtLocation LightSwitch_bar__plus_01_dot_32_bar__plus_01_dot_30_bar__plus_02_dot_20 loc_bar_5_bar_7_bar_0_bar_45)\n (objectAtLocation AlarmClock_bar__minus_01_dot_60_bar__plus_00_dot_66_bar__plus_01_dot_71 loc_bar__minus_2_bar_6_bar_3_bar_60)\n (objectAtLocation BaseballBat_bar__plus_00_dot_81_bar__plus_00_dot_05_bar__plus_02_dot_15 loc_bar_4_bar_7_bar_0_bar_60)\n (objectAtLocation Pillow_bar__minus_00_dot_72_bar__plus_00_dot_78_bar__minus_00_dot_33 loc_bar_4_bar_0_bar_3_bar_45)\n (objectAtLocation Pillow_bar__minus_01_dot_46_bar__plus_00_dot_75_bar__plus_00_dot_49 loc_bar_4_bar_0_bar_3_bar_45)\n (objectAtLocation Painting_bar__plus_01_dot_53_bar__plus_01_dot_52_bar__minus_01_dot_85 loc_bar_6_bar__minus_5_bar_2_bar_15)\n (objectAtLocation Mirror_bar__plus_00_dot_58_bar__plus_01_dot_35_bar__plus_02_dot_20 loc_bar_2_bar_6_bar_0_bar_30)\n (objectAtLocation CellPhone_bar__plus_03_dot_08_bar__plus_00_dot_99_bar__plus_01_dot_29 loc_bar_9_bar_1_bar_0_bar_60)\n (objectAtLocation CD_bar__plus_02_dot_56_bar__plus_00_dot_98_bar__plus_00_dot_16 loc_bar_9_bar_1_bar_0_bar_60)\n (objectAtLocation Window_bar__minus_00_dot_01_bar__plus_01_dot_69_bar__minus_01_dot_92 loc_bar_0_bar__minus_5_bar_2_bar_0)\n (objectAtLocation Mug_bar__minus_01_dot_47_bar__plus_00_dot_66_bar__minus_01_dot_17 loc_bar__minus_2_bar__minus_5_bar_3_bar_60)\n )\n \n\n (:goal\n (and\n (exists (?r - receptacle)\n (exists (?o - object)\n (and\n (inReceptacle ?o ?r)\n (objectType ?o KeyChainType)\n (receptacleType ?r SideTableType)\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to dresser 1", "take keychain 2 from dresser 1", "go to sidetable 1", "move keychain 2 to sidetable 1"]}
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alfworld__pick_two_obj_and_place__29
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pick_two_obj_and_place
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pick_two_obj_and_place-WineBottle-None-Cabinet-17/trial_T20190909_014123_556566/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 winebottle 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_014123_556566)\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_13_bar__plus_00_dot_40_bar__plus_00_dot_67 - object\n Apple_bar__minus_01_dot_14_bar__plus_00_dot_97_bar__minus_00_dot_73 - object\n Apple_bar__minus_01_dot_29_bar__plus_00_dot_81_bar__plus_02_dot_83 - object\n Bowl_bar__plus_01_dot_13_bar__plus_00_dot_12_bar__minus_00_dot_05 - object\n Bowl_bar__minus_01_dot_01_bar__plus_00_dot_75_bar__plus_02_dot_64 - object\n Bread_bar__plus_01_dot_37_bar__plus_00_dot_95_bar__plus_02_dot_37 - object\n Bread_bar__minus_01_dot_01_bar__plus_00_dot_81_bar__plus_02_dot_09 - object\n ButterKnife_bar__plus_01_dot_03_bar__plus_00_dot_89_bar__plus_02_dot_69 - object\n ButterKnife_bar__plus_01_dot_13_bar__plus_00_dot_91_bar__minus_00_dot_43 - object\n ButterKnife_bar__plus_01_dot_37_bar__plus_00_dot_91_bar__plus_00_dot_14 - object\n CellPhone_bar__plus_00_dot_95_bar__plus_00_dot_88_bar__plus_02_dot_80 - object\n Chair_bar__plus_00_dot_98_bar__plus_00_dot_54_bar__plus_02_dot_52 - object\n Cup_bar__minus_01_dot_30_bar__plus_01_dot_01_bar__minus_00_dot_11 - object\n DishSponge_bar__plus_01_dot_13_bar__plus_00_dot_91_bar__plus_00_dot_42 - object\n DishSponge_bar__minus_01_dot_38_bar__plus_00_dot_75_bar__plus_02_dot_27 - object\n Egg_bar__minus_00_dot_02_bar__plus_00_dot_79_bar__minus_00_dot_73 - object\n Egg_bar__minus_01_dot_43_bar__plus_01_dot_05_bar__minus_00_dot_01 - object\n Faucet_bar__minus_00_dot_03_bar__plus_00_dot_93_bar__minus_00_dot_81 - object\n Fork_bar__plus_01_dot_44_bar__plus_00_dot_91_bar__plus_00_dot_71 - object\n Glassbottle_bar__minus_00_dot_29_bar__plus_00_dot_12_bar__minus_00_dot_58 - object\n Kettle_bar__minus_01_dot_36_bar__plus_00_dot_74_bar__plus_03_dot_02 - object\n Knife_bar__minus_01_dot_01_bar__plus_00_dot_77_bar__plus_03_dot_02 - object\n Lettuce_bar__plus_01_dot_03_bar__plus_00_dot_96_bar__plus_02_dot_37 - object\n LightSwitch_bar__plus_00_dot_12_bar__plus_01_dot_35_bar__plus_03_dot_80 - object\n Mug_bar__plus_01_dot_05_bar__plus_00_dot_91_bar__plus_00_dot_71 - object\n Pan_bar__minus_01_dot_33_bar__plus_00_dot_90_bar__minus_00_dot_70 - object\n PepperShaker_bar__minus_01_dot_11_bar__plus_00_dot_75_bar__plus_02_dot_83 - object\n Plate_bar__plus_00_dot_21_bar__plus_00_dot_12_bar__minus_00_dot_53 - object\n Plate_bar__plus_01_dot_21_bar__plus_00_dot_91_bar__plus_00_dot_14 - object\n Plate_bar__minus_01_dot_38_bar__plus_00_dot_75_bar__plus_02_dot_64 - object\n Potato_bar__minus_01_dot_20_bar__plus_00_dot_79_bar__plus_01_dot_90 - object\n Potato_bar__minus_01_dot_21_bar__plus_01_dot_33_bar__plus_00_dot_88 - object\n Pot_bar__plus_00_dot_50_bar__plus_00_dot_94_bar__minus_00_dot_74 - object\n Pot_bar__plus_00_dot_80_bar__plus_00_dot_94_bar__minus_00_dot_47 - object\n SaltShaker_bar__plus_01_dot_31_bar__plus_00_dot_11_bar__plus_00_dot_07 - object\n Sink_bar__minus_00_dot_01_bar__plus_00_dot_91_bar__minus_00_dot_62 - object\n SoapBottle_bar__plus_01_dot_21_bar__plus_00_dot_91_bar__plus_00_dot_71 - object\n SoapBottle_bar__plus_01_dot_25_bar__plus_00_dot_09_bar__plus_01_dot_41 - object\n SoapBottle_bar__minus_00_dot_92_bar__plus_00_dot_75_bar__plus_03_dot_02 - object\n 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Cabinet_bar__plus_00_dot_99_bar__plus_00_dot_40_bar__plus_01_dot_23 - receptacle\n Cabinet_bar__plus_00_dot_99_bar__plus_00_dot_40_bar__minus_00_dot_18 - receptacle\n Cabinet_bar__plus_01_dot_19_bar__plus_02_dot_06_bar__plus_00_dot_38 - receptacle\n Cabinet_bar__plus_01_dot_19_bar__plus_02_dot_06_bar__minus_00_dot_64 - receptacle\n Cabinet_bar__plus_01_dot_19_bar__plus_02_dot_31_bar__plus_00_dot_43 - receptacle\n Cabinet_bar__plus_01_dot_19_bar__plus_02_dot_31_bar__plus_01_dot_18 - receptacle\n Cabinet_bar__minus_00_dot_37_bar__plus_00_dot_40_bar__minus_00_dot_35 - receptacle\n Cabinet_bar__minus_00_dot_57_bar__plus_02_dot_06_bar__minus_00_dot_65 - receptacle\n Cabinet_bar__minus_00_dot_99_bar__plus_00_dot_40_bar__plus_00_dot_37 - receptacle\n Cabinet_bar__minus_00_dot_99_bar__plus_00_dot_40_bar__minus_00_dot_34 - receptacle\n Cabinet_bar__minus_01_dot_10_bar__plus_02_dot_06_bar__minus_00_dot_65 - receptacle\n Cabinet_bar__minus_01_dot_19_bar__plus_02_dot_06_bar__plus_00_dot_38 - receptacle\n Cabinet_bar__minus_01_dot_19_bar__plus_02_dot_06_bar__minus_00_dot_28 - receptacle\n Cabinet_bar__minus_01_dot_19_bar__plus_02_dot_06_bar__minus_00_dot_33 - receptacle\n Cabinet_bar__minus_01_dot_19_bar__plus_02_dot_31_bar__plus_00_dot_43 - receptacle\n Cabinet_bar__minus_01_dot_19_bar__plus_02_dot_31_bar__plus_01_dot_38 - receptacle\n CoffeeMachine_bar__plus_01_dot_31_bar__plus_00_dot_90_bar__minus_00_dot_74 - receptacle\n CounterTop_bar__plus_01_dot_28_bar__plus_00_dot_95_bar__plus_00_dot_07 - receptacle\n CounterTop_bar__minus_01_dot_00_bar__plus_00_dot_95_bar__minus_00_dot_67 - receptacle\n DiningTable_bar__plus_01_dot_19_bar__plus_00_dot_92_bar__plus_02_dot_48 - receptacle\n DiningTable_bar__minus_01_dot_21_bar__plus_00_dot_78_bar__plus_02_dot_46 - receptacle\n Drawer_bar__plus_01_dot_12_bar__plus_00_dot_79_bar__plus_00_dot_37 - receptacle\n Drawer_bar__plus_01_dot_12_bar__plus_00_dot_79_bar__plus_00_dot_73 - receptacle\n Drawer_bar__plus_01_dot_12_bar__plus_00_dot_79_bar__plus_01_dot_08 - receptacle\n Drawer_bar__plus_01_dot_12_bar__plus_00_dot_79_bar__minus_00_dot_02 - receptacle\n Drawer_bar__minus_01_dot_12_bar__plus_00_dot_79_bar__plus_00_dot_21 - receptacle\n Drawer_bar__minus_01_dot_12_bar__plus_00_dot_79_bar__minus_00_dot_17 - receptacle\n Fridge_bar__minus_01_dot_30_bar__plus_00_dot_01_bar__plus_00_dot_99 - receptacle\n GarbageCan_bar__plus_01_dot_30_bar__plus_00_dot_01_bar__plus_01_dot_47 - receptacle\n Microwave_bar__minus_01_dot_34_bar__plus_00_dot_90_bar__plus_00_dot_05 - receptacle\n Sink_bar__minus_00_dot_01_bar__plus_00_dot_91_bar__minus_00_dot_62_bar_SinkBasin - receptacle\n StoveBurner_bar__plus_00_dot_50_bar__plus_00_dot_93_bar__minus_00_dot_47 - receptacle\n StoveBurner_bar__plus_00_dot_50_bar__plus_00_dot_93_bar__minus_00_dot_74 - receptacle\n StoveBurner_bar__plus_00_dot_80_bar__plus_00_dot_93_bar__minus_00_dot_47 - receptacle\n StoveBurner_bar__plus_00_dot_80_bar__plus_00_dot_93_bar__minus_00_dot_74 - receptacle\n Toaster_bar__plus_01_dot_36_bar__plus_00_dot_90_bar__plus_01_dot_05 - receptacle\n loc_bar_3_bar_5_bar_1_bar__minus_30 - location\n loc_bar_0_bar_10_bar_3_bar_30 - location\n loc_bar_2_bar_0_bar_2_bar_45 - location\n loc_bar_3_bar_1_bar_1_bar_60 - location\n loc_bar_2_bar_10_bar_1_bar_0 - location\n loc_bar_2_bar_10_bar_1_bar_60 - location\n loc_bar_2_bar_1_bar_1_bar_45 - location\n loc_bar__minus_1_bar_2_bar_3_bar__minus_30 - location\n loc_bar_3_bar_2_bar_1_bar__minus_30 - location\n loc_bar_3_bar_2_bar_1_bar_60 - location\n loc_bar__minus_1_bar_2_bar_2_bar_60 - location\n loc_bar_3_bar_5_bar_1_bar_60 - location\n loc_bar_2_bar_10_bar_1_bar_45 - location\n loc_bar__minus_2_bar_0_bar_3_bar_60 - location\n loc_bar_2_bar_0_bar_2_bar__minus_30 - location\n loc_bar_0_bar_3_bar_3_bar_45 - location\n loc_bar__minus_2_bar_0_bar_3_bar__minus_30 - location\n loc_bar_0_bar_0_bar_2_bar_45 - location\n loc_bar__minus_2_bar_0_bar_2_bar_45 - location\n loc_bar__minus_1_bar_4_bar_3_bar_60 - location\n loc_bar_0_bar_13_bar_0_bar_30 - location\n loc_bar__minus_2_bar_0_bar_2_bar__minus_30 - location\n loc_bar_1_bar_0_bar_2_bar_60 - location\n loc_bar_2_bar_0_bar_2_bar_60 - location\n loc_bar_2_bar_0_bar_1_bar__minus_30 - location\n loc_bar__minus_1_bar_5_bar_3_bar__minus_30 - location\n loc_bar_1_bar_2_bar_1_bar_60 - location\n loc_bar_2_bar_0_bar_2_bar_30 - location\n loc_bar_3_bar_5_bar_1_bar_45 - location\n loc_bar_2_bar_0_bar_1_bar_60 - location\n loc_bar__minus_1_bar_1_bar_3_bar__minus_30 - location\n loc_bar_0_bar_2_bar_1_bar_45 - location\n loc_bar_1_bar_6_bar_1_bar_60 - location\n loc_bar__minus_2_bar_0_bar_3_bar_45 - location\n loc_bar_1_bar_2_bar_2_bar_60 - location\n loc_bar_0_bar_0_bar_2_bar_0 - location\n loc_bar_0_bar_6_bar_1_bar_45 - location\n loc_bar_2_bar_0_bar_1_bar_45 - location\n loc_bar__minus_2_bar_2_bar_2_bar_30 - location\n )\n \n\n(:init\n\n\n (receptacleType 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SprayBottle_bar__minus_01_dot_38_bar__plus_00_dot_75_bar__plus_02_dot_09 DiningTable_bar__minus_01_dot_21_bar__plus_00_dot_78_bar__plus_02_dot_46)\n (inReceptacle Spatula_bar__minus_01_dot_20_bar__plus_00_dot_76_bar__plus_02_dot_46 DiningTable_bar__minus_01_dot_21_bar__plus_00_dot_78_bar__plus_02_dot_46)\n (inReceptacle PepperShaker_bar__minus_01_dot_11_bar__plus_00_dot_75_bar__plus_02_dot_83 DiningTable_bar__minus_01_dot_21_bar__plus_00_dot_78_bar__plus_02_dot_46)\n (inReceptacle Kettle_bar__minus_01_dot_36_bar__plus_00_dot_74_bar__plus_03_dot_02 DiningTable_bar__minus_01_dot_21_bar__plus_00_dot_78_bar__plus_02_dot_46)\n (inReceptacle WineBottle_bar__minus_00_dot_92_bar__plus_00_dot_75_bar__plus_02_dot_46 DiningTable_bar__minus_01_dot_21_bar__plus_00_dot_78_bar__plus_02_dot_46)\n (inReceptacle DishSponge_bar__minus_01_dot_38_bar__plus_00_dot_75_bar__plus_02_dot_27 DiningTable_bar__minus_01_dot_21_bar__plus_00_dot_78_bar__plus_02_dot_46)\n (inReceptacle 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Apple_bar__minus_01_dot_13_bar__plus_00_dot_40_bar__plus_00_dot_67 Fridge_bar__minus_01_dot_30_bar__plus_00_dot_01_bar__plus_00_dot_99)\n (inReceptacle WineBottle_bar__minus_01_dot_38_bar__plus_00_dot_75_bar__plus_01_dot_09 Fridge_bar__minus_01_dot_30_bar__plus_00_dot_01_bar__plus_00_dot_99)\n (inReceptacle Tomato_bar__minus_01_dot_16_bar__plus_00_dot_39_bar__plus_00_dot_99 Fridge_bar__minus_01_dot_30_bar__plus_00_dot_01_bar__plus_00_dot_99)\n (inReceptacle Potato_bar__minus_01_dot_21_bar__plus_01_dot_33_bar__plus_00_dot_88 Fridge_bar__minus_01_dot_30_bar__plus_00_dot_01_bar__plus_00_dot_99)\n (inReceptacle Tomato_bar__minus_01_dot_21_bar__plus_01_dot_69_bar__plus_00_dot_88 Fridge_bar__minus_01_dot_30_bar__plus_00_dot_01_bar__plus_00_dot_99)\n (inReceptacle Tomato_bar__minus_01_dot_32_bar__plus_01_dot_47_bar__plus_01_dot_09 Fridge_bar__minus_01_dot_30_bar__plus_00_dot_01_bar__plus_00_dot_99)\n (inReceptacle SoapBottle_bar__plus_01_dot_25_bar__plus_00_dot_09_bar__plus_01_dot_41 GarbageCan_bar__plus_01_dot_30_bar__plus_00_dot_01_bar__plus_01_dot_47)\n (inReceptacle Cup_bar__minus_01_dot_30_bar__plus_01_dot_01_bar__minus_00_dot_11 Microwave_bar__minus_01_dot_34_bar__plus_00_dot_90_bar__plus_00_dot_05)\n (inReceptacle Egg_bar__minus_01_dot_43_bar__plus_01_dot_05_bar__minus_00_dot_01 Microwave_bar__minus_01_dot_34_bar__plus_00_dot_90_bar__plus_00_dot_05)\n (inReceptacle Egg_bar__minus_00_dot_02_bar__plus_00_dot_79_bar__minus_00_dot_73 Sink_bar__minus_00_dot_01_bar__plus_00_dot_91_bar__minus_00_dot_62_bar_SinkBasin)\n \n \n (receptacleAtLocation Cabinet_bar__plus_00_dot_34_bar__plus_00_dot_40_bar__minus_00_dot_35 loc_bar__minus_1_bar_2_bar_2_bar_60)\n (receptacleAtLocation Cabinet_bar__plus_00_dot_59_bar__plus_02_dot_31_bar__minus_00_dot_65 loc_bar_2_bar_0_bar_2_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__plus_00_dot_99_bar__plus_00_dot_40_bar__plus_00_dot_53 loc_bar_3_bar_2_bar_1_bar_60)\n (receptacleAtLocation 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(receptacleAtLocation Cabinet_bar__minus_00_dot_57_bar__plus_02_dot_06_bar__minus_00_dot_65 loc_bar__minus_2_bar_0_bar_2_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_99_bar__plus_00_dot_40_bar__plus_00_dot_37 loc_bar_0_bar_3_bar_3_bar_45)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_99_bar__plus_00_dot_40_bar__minus_00_dot_34 loc_bar__minus_2_bar_0_bar_3_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_01_dot_10_bar__plus_02_dot_06_bar__minus_00_dot_65 loc_bar__minus_2_bar_0_bar_2_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_01_dot_19_bar__plus_02_dot_06_bar__plus_00_dot_38 loc_bar__minus_2_bar_0_bar_3_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_01_dot_19_bar__plus_02_dot_06_bar__minus_00_dot_28 loc_bar__minus_1_bar_1_bar_3_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_01_dot_19_bar__plus_02_dot_06_bar__minus_00_dot_33 loc_bar__minus_2_bar_0_bar_3_bar__minus_30)\n (receptacleAtLocation 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loc_bar_3_bar_1_bar_1_bar_60)\n (receptacleAtLocation Drawer_bar__plus_01_dot_12_bar__plus_00_dot_79_bar__plus_00_dot_73 loc_bar_3_bar_2_bar_1_bar_60)\n (receptacleAtLocation Drawer_bar__plus_01_dot_12_bar__plus_00_dot_79_bar__plus_01_dot_08 loc_bar_3_bar_5_bar_1_bar_60)\n (receptacleAtLocation Drawer_bar__plus_01_dot_12_bar__plus_00_dot_79_bar__minus_00_dot_02 loc_bar_2_bar_0_bar_1_bar_60)\n (receptacleAtLocation Drawer_bar__minus_01_dot_12_bar__plus_00_dot_79_bar__plus_00_dot_21 loc_bar__minus_2_bar_0_bar_3_bar_60)\n (receptacleAtLocation Drawer_bar__minus_01_dot_12_bar__plus_00_dot_79_bar__minus_00_dot_17 loc_bar__minus_2_bar_0_bar_3_bar_60)\n (receptacleAtLocation Fridge_bar__minus_01_dot_30_bar__plus_00_dot_01_bar__plus_00_dot_99 loc_bar__minus_1_bar_4_bar_3_bar_60)\n (receptacleAtLocation GarbageCan_bar__plus_01_dot_30_bar__plus_00_dot_01_bar__plus_01_dot_47 loc_bar_1_bar_6_bar_1_bar_60)\n (receptacleAtLocation 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(objectAtLocation Spoon_bar__plus_01_dot_03_bar__plus_00_dot_89_bar__plus_02_dot_48 loc_bar_2_bar_10_bar_1_bar_45)\n (objectAtLocation DishSponge_bar__plus_01_dot_13_bar__plus_00_dot_91_bar__plus_00_dot_42 loc_bar_2_bar_1_bar_1_bar_45)\n (objectAtLocation ButterKnife_bar__plus_01_dot_13_bar__plus_00_dot_91_bar__minus_00_dot_43 loc_bar_2_bar_1_bar_1_bar_45)\n (objectAtLocation Potato_bar__minus_01_dot_21_bar__plus_01_dot_33_bar__plus_00_dot_88 loc_bar__minus_1_bar_4_bar_3_bar_60)\n (objectAtLocation Egg_bar__minus_01_dot_43_bar__plus_01_dot_05_bar__minus_00_dot_01 loc_bar__minus_2_bar_0_bar_3_bar_45)\n (objectAtLocation Apple_bar__minus_01_dot_13_bar__plus_00_dot_40_bar__plus_00_dot_67 loc_bar__minus_1_bar_4_bar_3_bar_60)\n (objectAtLocation Bowl_bar__minus_01_dot_01_bar__plus_00_dot_75_bar__plus_02_dot_64 loc_bar_0_bar_10_bar_3_bar_30)\n (objectAtLocation Spatula_bar__minus_00_dot_66_bar__plus_00_dot_93_bar__minus_00_dot_67 loc_bar__minus_2_bar_0_bar_2_bar_45)\n (objectAtLocation 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WineBottle_bar__minus_00_dot_92_bar__plus_00_dot_75_bar__plus_02_dot_46 loc_bar_0_bar_10_bar_3_bar_30)\n (objectAtLocation Spatula_bar__minus_01_dot_20_bar__plus_00_dot_76_bar__plus_02_dot_46 loc_bar_0_bar_10_bar_3_bar_30)\n (objectAtLocation Bowl_bar__plus_01_dot_13_bar__plus_00_dot_12_bar__minus_00_dot_05 loc_bar_1_bar_2_bar_1_bar_60)\n (objectAtLocation Apple_bar__minus_01_dot_14_bar__plus_00_dot_97_bar__minus_00_dot_73 loc_bar__minus_2_bar_0_bar_2_bar_45)\n (objectAtLocation LightSwitch_bar__plus_00_dot_12_bar__plus_01_dot_35_bar__plus_03_dot_80 loc_bar_0_bar_13_bar_0_bar_30)\n (objectAtLocation Cup_bar__minus_01_dot_30_bar__plus_01_dot_01_bar__minus_00_dot_11 loc_bar__minus_2_bar_0_bar_3_bar_45)\n (objectAtLocation Knife_bar__minus_01_dot_01_bar__plus_00_dot_77_bar__plus_03_dot_02 loc_bar_0_bar_10_bar_3_bar_30)\n (objectAtLocation Egg_bar__minus_00_dot_02_bar__plus_00_dot_79_bar__minus_00_dot_73 loc_bar_1_bar_0_bar_2_bar_60)\n (objectAtLocation SaltShaker_bar__plus_01_dot_31_bar__plus_00_dot_11_bar__plus_00_dot_07 loc_bar_1_bar_2_bar_1_bar_60)\n (objectAtLocation PepperShaker_bar__minus_01_dot_11_bar__plus_00_dot_75_bar__plus_02_dot_83 loc_bar_0_bar_10_bar_3_bar_30)\n (objectAtLocation Potato_bar__minus_01_dot_20_bar__plus_00_dot_79_bar__plus_01_dot_90 loc_bar_0_bar_10_bar_3_bar_30)\n (objectAtLocation ButterKnife_bar__plus_01_dot_37_bar__plus_00_dot_91_bar__plus_00_dot_14 loc_bar_2_bar_1_bar_1_bar_45)\n (objectAtLocation DishSponge_bar__minus_01_dot_38_bar__plus_00_dot_75_bar__plus_02_dot_27 loc_bar_0_bar_10_bar_3_bar_30)\n (objectAtLocation Pan_bar__minus_01_dot_33_bar__plus_00_dot_90_bar__minus_00_dot_70 loc_bar__minus_2_bar_0_bar_2_bar_45)\n (objectAtLocation Spoon_bar__plus_01_dot_37_bar__plus_00_dot_91_bar__plus_00_dot_42 loc_bar_2_bar_1_bar_1_bar_45)\n (objectAtLocation SprayBottle_bar__plus_01_dot_20_bar__plus_00_dot_89_bar__plus_02_dot_80 loc_bar_2_bar_10_bar_1_bar_45)\n (objectAtLocation Mug_bar__plus_01_dot_05_bar__plus_00_dot_91_bar__plus_00_dot_71 loc_bar_2_bar_1_bar_1_bar_45)\n )\n \n\n (:goal\n (and\n (exists (?r - receptacle)\n (exists (?o1 - object)\n (and\n (objectType ?o1 WineBottleType)\n (receptacleType ?r CabinetType)\n (inReceptacle ?o1 ?r)\n (exists (?o2 - object)\n (and\n (not (= ?o1 ?o2))\n (objectType ?o2 WineBottleType)\n (receptacleType ?r CabinetType)\n (inReceptacle ?o2 ?r)\n )\n )\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to diningtable 2", "take winebottle 3 from diningtable 2", "go to cabinet 4", "move winebottle 3 to cabinet 4", "go to diningtable 1", "take winebottle 1 from diningtable 1", "go to cabinet 4", "move winebottle 1 to cabinet 4"]}
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alfworld__pick_two_obj_and_place__30
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pick_two_obj_and_place
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pick_two_obj_and_place-WineBottle-None-Cabinet-17/trial_T20190909_014040_145528/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 winebottle and put them in cabinet.\"\n }\n ],\n\n \"GotoLocation.feedback\": [\n {\n \"rhs\": \"You arrive at {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"OpenObject.feedback\": [\n {\n \"rhs\": \"You open the {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"CloseObject.feedback\": [\n {\n \"rhs\": \"You close the {r.name}.\"\n }\n ],\n\n \"PickupObject.feedback\": [\n {\n \"rhs\": \"You pick up the {o.name} from the {r.name}.\"\n }\n ],\n\n \"PickupObjectFromReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupObjectFromReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupEmptyReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupEmptyReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupFullReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupFullReceptacleObject: You pick up the {outerr.name}.\"\n }\n ],\n\n \"PutObject.feedback\": [\n {\n \"rhs\": \"You move the {o.name} to the {r.name}.\"\n }\n ],\n\n \"PutObjectInReceptacleObject.feedback\": [\n {\n \"rhs\": \"PutObjectInReceptacleObject: You put the {o.name} in the {outero.name}.\"\n }\n ],\n\n \"PutEmptyReceptacleObjectinReceptacle.feedback\": [\n {\n \"rhs\": \"PutEmptyReceptacleObjectinReceptacle: You put the {o.name} in the {r.name}.\"\n }\n ],\n\n \"PutFullReceptacleObjectInReceptacle.feedback\": [\n {\n \"rhs\": \"PutFullReceptacleObjectInReceptacle: You put the {outero.name} in the {r.name}.\"\n }\n ],\n\n \"inventory.feedback\": [\n {\n \"condition\": \"holdsany(a:agent)\",\n \"rhs\": \"You are carrying: [{o.indefinite + ' ' + o.name | holds(a:agent, o:object)}].\"\n },\n {\n \"rhs\": \"You are not carrying anything.\"\n }\n ],\n\n \"examineReceptacle.feedback\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \"The {r.name} is open. In it, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \"The {r.name} is closed.\"\n },\n {\n \"rhs\": \"On the {r.name}, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n }\n ],\n\n \"examineObject.feedback\": [\n {\n \"condition\": \"isreceptacleobject(o:object)\",\n \"rhs\": \"This is a normal {o.name}. In it, you see [{o2.indefinite + ' ' + o2.name | inreceptacleobject(o2:object, o:object)}].\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a clean sliced {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot sliced {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object)\",\n \"rhs\": \"This is a hot and clean {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object)\",\n \"rhs\": \"This is a cool and clean {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object)\",\n \"rhs\": \"This is a hot {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object)\",\n \"rhs\": \"This is a clean {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object)\",\n \"rhs\": \"This is a cold {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"This {o.name} is on.\"\n },\n {\n \"condition\": \"toggleable(o:object) & not_istoggled(o:object)\",\n \"rhs\": \"This {o.name} is off.\"\n },\n {\n \"condition\": \"sliceable(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a sliced {o.name}.\"\n },\n {\n \"rhs\": \"There's nothing special about {o.name}.\"\n }\n ]\n }\n\"\"\";\n\naction GotoLocation {\n template :: \"go to [{r.name | receptacleatlocation(r:receptacle, lend:location)}]\";\n feedback :: \"#GotoLocation.feedback#\";\n}\n\naction OpenObject {\n template :: \"open {r}\";\n feedback :: \"#OpenObject.feedback#\";\n}\n\naction CloseObject {\n template :: \"close {r}\";\n feedback :: \"#CloseObject.feedback#\";\n}\n\naction PickupObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObject.feedback#\";\n}\n\naction PickupObjectFromReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObjectFromReceptacleObject.feedback#\";\n}\n\naction PickupEmptyReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupEmptyReceptacleObject.feedback#\";\n}\n\naction PickupFullReceptacleObject {\n template :: \"take {outerr} from {r}\";\n feedback :: \"#PickupFullReceptacleObject.feedback#\";\n}\n\naction PutObject {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutObject.feedback#\";\n}\n\naction PutObjectInReceptacleObject {\n template :: \"put {o} into {outero}\";\n feedback :: \"#PutObjectInReceptacleObject.feedback#\";\n}\n\naction PutEmptyReceptacleObjectinReceptacle {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutEmptyReceptacleObjectinReceptacle.feedback#\";\n}\n\naction PutFullReceptacleObjectInReceptacle {\n template :: \"put {outero} in {r}\";\n feedback :: \"#PutFullReceptacleObjectInReceptacle.feedback#\";\n}\n\naction inventory {\n template :: \"inventory\";\n feedback :: \"#inventory.feedback#\";\n}\n\naction examineReceptacle {\n template :: \"examine {r}\";\n feedback :: \"#examineReceptacle.feedback#\";\n}\n\naction examineObject {\n template :: \"examine {o}\";\n feedback :: \"#examineObject.feedback#\";\n}\n\naction ToggleObject {\n template :: \"use {o}\";\n feedback :: \"#toggleObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"toggleObject.feedback\": [\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"You turn on the {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object)\",\n \"rhs\": \"You turn off the {o.name}.\"\n },\n {\n \"rhs\": \"You don't see any switch on the {o.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction HeatObject {\n template :: \"heat {o} with {r}\";\n feedback :: \"#heatObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"heatObject.feedback\": [\n {\n \"rhs\": \"You heat the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CleanObject {\n template :: \"clean {o} with {r}\";\n feedback :: \"#cleanObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"cleanObject.feedback\": [\n {\n \"rhs\": \"You clean the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CoolObject {\n template :: \"cool {o} with {r}\";\n feedback :: \"#coolObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"coolObject.feedback\": [\n {\n \"rhs\": \"You cool the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction SliceObject {\n template :: \"slice {co} with {ko}\";\n feedback :: \"#sliceObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"sliceObject.feedback\": [\n {\n \"rhs\": \"You sliced the {co.name} with the {ko.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction look {\n template :: \"look\";\n feedback :: \"#look.feedback#\";\n\n grammar :: \"\"\"\n {\n \"look.feedback\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"#look-variations#. Next to it, you see #list_objects_on_the_floor#.\"\n },\n {\n \"rhs\": \"You are in the middle of a room. Looking quickly around you, you see #list_appliances#.\"\n }\n ],\n\n \"look-variations\": [\n {\n \"rhs\": \"You are facing the [{r.name | atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)}]\"\n }\n ],\n\n \"list_objects_on_the_floor\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)\",\n \"rhs\": \"[{#overview(o)# | atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"list_appliances\": [\n {\n \"condition\": \"receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"[{#overview(r)# | receptacleatlocation(r:receptacle, l:location)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"overview(o, r)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name} (in/on the {r.name})}\"\n }\n ],\n\n \"overview(o)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name}\"\n }\n ],\n \"overview(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}\"\n }\n ],\n \"overview_with_state(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}#overview_state(r)#\"\n }\n ],\n \"overview_state(r)\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \" (it is open)\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \" (it is closed)\"\n },\n {\n \"rhs\": \"\"\n }\n ],\n\n \"list_empty\": [\n {\n \"rhs\": \"nothing\"\n }\n ],\n \"list_separator\": [\n {\n \"rhs\": \", \"\n }\n ],\n \"list_last_separator\": [\n {\n \"rhs\": \", and \"\n }\n ]\n }\n \"\"\";\n}\n\naction help {\n template :: \"help\";\n feedback :: \"\nAvailable commands:\n look: look around your current location\n inventory: check your current inventory\n go to (receptacle): move to a receptacle\n open (receptacle): open a receptacle\n close (receptacle): close a receptacle\n take (object) from (receptacle): take an object from a receptacle\n move (object) to (receptacle): place an object in or on a receptacle\n examine (something): examine a receptacle or an object\n use (object): use an object\n heat (object) with (receptacle): heat an object using a receptacle\n clean (object) with (receptacle): clean an object using a receptacle\n cool (object) with (receptacle): cool an object using a receptacle\n slice (object) with (object): slice an object using a sharp object\n\";\n}\n", "pddl_problem": "\n(define (problem plan_trial_T20190909_014040_145528)\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_41_bar__plus_00_dot_15_bar__plus_01_dot_41 - object\n Apple_bar__minus_01_dot_43_bar__plus_00_dot_97_bar__minus_00_dot_51 - object\n Bowl_bar__minus_01_dot_32_bar__plus_01_dot_42_bar__plus_01_dot_20 - object\n Bread_bar__minus_01_dot_21_bar__plus_00_dot_81_bar__plus_01_dot_09 - object\n Bread_bar__minus_01_dot_32_bar__plus_01_dot_48_bar__plus_00_dot_78 - object\n ButterKnife_bar__plus_01_dot_28_bar__plus_00_dot_89_bar__plus_02_dot_26 - object\n ButterKnife_bar__plus_01_dot_37_bar__plus_00_dot_89_bar__plus_02_dot_48 - object\n ButterKnife_bar__minus_00_dot_66_bar__plus_00_dot_91_bar__minus_00_dot_59 - object\n CellPhone_bar__minus_01_dot_38_bar__plus_00_dot_75_bar__plus_02_dot_09 - object\n Chair_bar__plus_00_dot_98_bar__plus_00_dot_54_bar__plus_02_dot_52 - object\n Cup_bar__minus_00_dot_08_bar__plus_00_dot_76_bar__minus_00_dot_57 - object\n Cup_bar__minus_01_dot_16_bar__plus_00_dot_34_bar__plus_01_dot_30 - object\n Cup_bar__minus_01_dot_30_bar__plus_01_dot_01_bar__plus_00_dot_05 - object\n DishSponge_bar__plus_00_dot_13_bar__plus_00_dot_12_bar__minus_00_dot_62 - object\n Egg_bar__plus_00_dot_95_bar__plus_00_dot_92_bar__plus_02_dot_69 - object\n Faucet_bar__minus_00_dot_03_bar__plus_00_dot_93_bar__minus_00_dot_81 - object\n Fork_bar__plus_01_dot_13_bar__plus_00_dot_91_bar__plus_00_dot_71 - object\n Fork_bar__minus_01_dot_11_bar__plus_00_dot_75_bar__plus_02_dot_09 - object\n Glassbottle_bar__plus_01_dot_45_bar__plus_00_dot_89_bar__plus_02_dot_26 - object\n Glassbottle_bar__minus_01_dot_20_bar__plus_00_dot_75_bar__plus_02_dot_46 - object\n Glassbottle_bar__minus_01_dot_22_bar__plus_00_dot_12_bar__plus_00_dot_25 - object\n Kettle_bar__plus_01_dot_13_bar__plus_00_dot_91_bar__plus_00_dot_14 - object\n Kettle_bar__minus_01_dot_36_bar__plus_00_dot_74_bar__plus_03_dot_02 - object\n Knife_bar__plus_01_dot_21_bar__plus_00_dot_93_bar__minus_00_dot_14 - object\n Knife_bar__plus_01_dot_44_bar__plus_00_dot_93_bar__minus_00_dot_14 - object\n Lettuce_bar__minus_00_dot_92_bar__plus_00_dot_82_bar__plus_02_dot_09 - object\n Lettuce_bar__minus_01_dot_38_bar__plus_00_dot_82_bar__plus_02_dot_64 - object\n LightSwitch_bar__plus_00_dot_12_bar__plus_01_dot_35_bar__plus_03_dot_80 - object\n Mug_bar__plus_01_dot_13_bar__plus_00_dot_11_bar__plus_00_dot_03 - object\n Mug_bar__minus_01_dot_44_bar__plus_00_dot_91_bar__minus_00_dot_39 - object\n Pan_bar__minus_01_dot_33_bar__plus_00_dot_90_bar__minus_00_dot_70 - object\n PepperShaker_bar__plus_01_dot_52_bar__plus_00_dot_91_bar__plus_00_dot_71 - object\n PepperShaker_bar__minus_01_dot_38_bar__plus_00_dot_75_bar__plus_02_dot_46 - object\n Plate_bar__plus_01_dot_13_bar__plus_00_dot_91_bar__plus_00_dot_42 - object\n Potato_bar__minus_01_dot_20_bar__plus_00_dot_79_bar__plus_02_dot_64 - object\n Potato_bar__minus_01_dot_26_bar__plus_01_dot_68_bar__plus_00_dot_98 - object\n Pot_bar__plus_00_dot_50_bar__plus_00_dot_94_bar__minus_00_dot_74 - object\n Pot_bar__plus_00_dot_80_bar__plus_00_dot_94_bar__minus_00_dot_74 - object\n SaltShaker_bar__minus_00_dot_66_bar__plus_01_dot_65_bar__minus_00_dot_79 - object\n Sink_bar__minus_00_dot_01_bar__plus_00_dot_91_bar__minus_00_dot_62 - object\n SoapBottle_bar__minus_00_dot_92_bar__plus_00_dot_75_bar__plus_02_dot_64 - object\n SoapBottle_bar__minus_01_dot_33_bar__plus_01_dot_66_bar__minus_00_dot_52 - object\n Spatula_bar__plus_01_dot_12_bar__plus_00_dot_90_bar__plus_02_dot_48 - object\n Spatula_bar__plus_01_dot_45_bar__plus_00_dot_90_bar__plus_02_dot_58 - object\n Spatula_bar__minus_01_dot_29_bar__plus_00_dot_76_bar__plus_02_dot_83 - object\n Spoon_bar__minus_01_dot_13_bar__plus_00_dot_78_bar__plus_00_dot_17 - object\n Spoon_bar__minus_01_dot_13_bar__plus_00_dot_78_bar__minus_00_dot_21 - object\n SprayBottle_bar__plus_01_dot_25_bar__plus_00_dot_09_bar__plus_01_dot_47 - object\n SprayBottle_bar__minus_01_dot_33_bar__plus_02_dot_15_bar__plus_00_dot_71 - object\n StoveKnob_bar__plus_00_dot_43_bar__plus_01_dot_09_bar__minus_00_dot_91 - object\n StoveKnob_bar__plus_00_dot_55_bar__plus_01_dot_09_bar__minus_00_dot_91 - object\n StoveKnob_bar__plus_00_dot_78_bar__plus_01_dot_09_bar__minus_00_dot_91 - object\n StoveKnob_bar__plus_00_dot_89_bar__plus_01_dot_09_bar__minus_00_dot_91 - object\n Tomato_bar__plus_00_dot_95_bar__plus_00_dot_94_bar__plus_02_dot_48 - object\n Tomato_bar__minus_01_dot_19_bar__plus_00_dot_39_bar__plus_01_dot_09 - object\n Tomato_bar__minus_01_dot_38_bar__plus_00_dot_80_bar__plus_00_dot_67 - object\n Window_bar__plus_01_dot_60_bar__plus_01_dot_65_bar__plus_02_dot_49 - object\n Window_bar__minus_00_dot_01_bar__plus_01_dot_64_bar__minus_00_dot_97 - object\n WineBottle_bar__plus_01_dot_20_bar__plus_00_dot_89_bar__plus_02_dot_37 - object\n WineBottle_bar__minus_01_dot_48_bar__plus_00_dot_75_bar__plus_02_dot_27 - object\n Cabinet_bar__plus_00_dot_34_bar__plus_00_dot_40_bar__minus_00_dot_35 - receptacle\n Cabinet_bar__plus_00_dot_59_bar__plus_02_dot_31_bar__minus_00_dot_65 - receptacle\n Cabinet_bar__plus_00_dot_99_bar__plus_00_dot_40_bar__plus_00_dot_53 - receptacle\n Cabinet_bar__plus_00_dot_99_bar__plus_00_dot_40_bar__plus_00_dot_58 - receptacle\n Cabinet_bar__plus_00_dot_99_bar__plus_00_dot_40_bar__plus_01_dot_23 - receptacle\n Cabinet_bar__plus_00_dot_99_bar__plus_00_dot_40_bar__minus_00_dot_18 - receptacle\n Cabinet_bar__plus_01_dot_19_bar__plus_02_dot_06_bar__plus_00_dot_38 - receptacle\n Cabinet_bar__plus_01_dot_19_bar__plus_02_dot_06_bar__minus_00_dot_64 - receptacle\n Cabinet_bar__plus_01_dot_19_bar__plus_02_dot_31_bar__plus_00_dot_43 - receptacle\n Cabinet_bar__plus_01_dot_19_bar__plus_02_dot_31_bar__plus_01_dot_18 - receptacle\n Cabinet_bar__minus_00_dot_37_bar__plus_00_dot_40_bar__minus_00_dot_35 - receptacle\n Cabinet_bar__minus_00_dot_57_bar__plus_02_dot_06_bar__minus_00_dot_65 - receptacle\n Cabinet_bar__minus_00_dot_99_bar__plus_00_dot_40_bar__plus_00_dot_37 - receptacle\n Cabinet_bar__minus_00_dot_99_bar__plus_00_dot_40_bar__minus_00_dot_34 - receptacle\n Cabinet_bar__minus_01_dot_10_bar__plus_02_dot_06_bar__minus_00_dot_65 - receptacle\n Cabinet_bar__minus_01_dot_19_bar__plus_02_dot_06_bar__plus_00_dot_38 - receptacle\n Cabinet_bar__minus_01_dot_19_bar__plus_02_dot_06_bar__minus_00_dot_28 - receptacle\n Cabinet_bar__minus_01_dot_19_bar__plus_02_dot_06_bar__minus_00_dot_33 - receptacle\n Cabinet_bar__minus_01_dot_19_bar__plus_02_dot_31_bar__plus_00_dot_43 - receptacle\n Cabinet_bar__minus_01_dot_19_bar__plus_02_dot_31_bar__plus_01_dot_38 - receptacle\n CoffeeMachine_bar__plus_01_dot_31_bar__plus_00_dot_90_bar__minus_00_dot_74 - receptacle\n CounterTop_bar__plus_01_dot_28_bar__plus_00_dot_95_bar__plus_00_dot_07 - receptacle\n CounterTop_bar__minus_01_dot_00_bar__plus_00_dot_95_bar__minus_00_dot_67 - receptacle\n DiningTable_bar__plus_01_dot_19_bar__plus_00_dot_92_bar__plus_02_dot_48 - receptacle\n DiningTable_bar__minus_01_dot_21_bar__plus_00_dot_78_bar__plus_02_dot_46 - receptacle\n Drawer_bar__plus_01_dot_12_bar__plus_00_dot_79_bar__plus_00_dot_37 - receptacle\n Drawer_bar__plus_01_dot_12_bar__plus_00_dot_79_bar__plus_00_dot_73 - receptacle\n Drawer_bar__plus_01_dot_12_bar__plus_00_dot_79_bar__plus_01_dot_08 - receptacle\n Drawer_bar__plus_01_dot_12_bar__plus_00_dot_79_bar__minus_00_dot_02 - receptacle\n Drawer_bar__minus_01_dot_12_bar__plus_00_dot_79_bar__plus_00_dot_21 - receptacle\n Drawer_bar__minus_01_dot_12_bar__plus_00_dot_79_bar__minus_00_dot_17 - receptacle\n Fridge_bar__minus_01_dot_30_bar__plus_00_dot_01_bar__plus_00_dot_99 - receptacle\n GarbageCan_bar__plus_01_dot_30_bar__plus_00_dot_01_bar__plus_01_dot_47 - receptacle\n Microwave_bar__minus_01_dot_34_bar__plus_00_dot_90_bar__plus_00_dot_05 - receptacle\n Sink_bar__minus_00_dot_01_bar__plus_00_dot_91_bar__minus_00_dot_62_bar_SinkBasin - receptacle\n StoveBurner_bar__plus_00_dot_50_bar__plus_00_dot_93_bar__minus_00_dot_47 - receptacle\n StoveBurner_bar__plus_00_dot_50_bar__plus_00_dot_93_bar__minus_00_dot_74 - receptacle\n StoveBurner_bar__plus_00_dot_80_bar__plus_00_dot_93_bar__minus_00_dot_47 - receptacle\n StoveBurner_bar__plus_00_dot_80_bar__plus_00_dot_93_bar__minus_00_dot_74 - receptacle\n Toaster_bar__plus_01_dot_36_bar__plus_00_dot_90_bar__plus_01_dot_05 - receptacle\n loc_bar_3_bar_5_bar_1_bar__minus_30 - location\n loc_bar_0_bar_10_bar_3_bar_30 - location\n loc_bar_2_bar_0_bar_2_bar_45 - location\n loc_bar_3_bar_1_bar_1_bar_60 - location\n loc_bar_2_bar_10_bar_1_bar_0 - location\n loc_bar_2_bar_10_bar_1_bar_60 - location\n loc_bar_2_bar_1_bar_1_bar_45 - location\n loc_bar__minus_1_bar_2_bar_3_bar__minus_30 - location\n loc_bar_3_bar_2_bar_1_bar__minus_30 - location\n loc_bar_3_bar_2_bar_1_bar_60 - location\n loc_bar__minus_1_bar_2_bar_2_bar_60 - location\n loc_bar_3_bar_5_bar_1_bar_60 - location\n loc_bar_2_bar_10_bar_1_bar_45 - location\n loc_bar__minus_2_bar_0_bar_3_bar_60 - location\n loc_bar_2_bar_0_bar_2_bar__minus_30 - location\n loc_bar_0_bar_3_bar_3_bar_45 - location\n loc_bar__minus_2_bar_0_bar_3_bar__minus_30 - location\n loc_bar_0_bar_0_bar_2_bar_45 - location\n loc_bar__minus_2_bar_0_bar_2_bar_45 - location\n loc_bar__minus_1_bar_4_bar_3_bar_60 - location\n loc_bar_0_bar_13_bar_0_bar_30 - location\n loc_bar__minus_2_bar_0_bar_2_bar__minus_30 - location\n loc_bar_1_bar_0_bar_2_bar_60 - location\n loc_bar_2_bar_0_bar_2_bar_60 - location\n loc_bar_2_bar_0_bar_1_bar__minus_30 - location\n loc_bar__minus_1_bar_5_bar_3_bar__minus_30 - location\n loc_bar_1_bar_2_bar_1_bar_60 - location\n loc_bar_2_bar_0_bar_2_bar_30 - location\n loc_bar_3_bar_5_bar_1_bar_45 - location\n loc_bar_2_bar_0_bar_1_bar_60 - location\n loc_bar__minus_1_bar_1_bar_3_bar__minus_30 - location\n loc_bar_0_bar_2_bar_1_bar_45 - location\n loc_bar_1_bar_6_bar_1_bar_60 - location\n loc_bar__minus_2_bar_0_bar_3_bar_45 - location\n loc_bar_1_bar_2_bar_2_bar_60 - location\n loc_bar_0_bar_0_bar_2_bar_0 - location\n loc_bar_0_bar_6_bar_1_bar_45 - location\n loc_bar_2_bar_0_bar_1_bar_45 - location\n loc_bar__minus_1_bar_12_bar_1_bar_30 - location\n )\n \n\n(:init\n\n\n (receptacleType Fridge_bar__minus_01_dot_30_bar__plus_00_dot_01_bar__plus_00_dot_99 FridgeType)\n (receptacleType CounterTop_bar__plus_01_dot_28_bar__plus_00_dot_95_bar__plus_00_dot_07 CounterTopType)\n (receptacleType Sink_bar__minus_00_dot_01_bar__plus_00_dot_91_bar__minus_00_dot_62_bar_SinkBasin SinkBasinType)\n (receptacleType Drawer_bar__plus_01_dot_12_bar__plus_00_dot_79_bar__plus_00_dot_73 DrawerType)\n (receptacleType StoveBurner_bar__plus_00_dot_80_bar__plus_00_dot_93_bar__minus_00_dot_74 StoveBurnerType)\n (receptacleType Cabinet_bar__plus_00_dot_99_bar__plus_00_dot_40_bar__plus_00_dot_58 CabinetType)\n (receptacleType Drawer_bar__plus_01_dot_12_bar__plus_00_dot_79_bar__minus_00_dot_02 DrawerType)\n (receptacleType Cabinet_bar__minus_00_dot_99_bar__plus_00_dot_40_bar__plus_00_dot_37 CabinetType)\n (receptacleType Cabinet_bar__plus_00_dot_99_bar__plus_00_dot_40_bar__minus_00_dot_18 CabinetType)\n (receptacleType Cabinet_bar__plus_01_dot_19_bar__plus_02_dot_06_bar__minus_00_dot_64 CabinetType)\n (receptacleType Drawer_bar__minus_01_dot_12_bar__plus_00_dot_79_bar__minus_00_dot_17 DrawerType)\n (receptacleType GarbageCan_bar__plus_01_dot_30_bar__plus_00_dot_01_bar__plus_01_dot_47 GarbageCanType)\n (receptacleType Microwave_bar__minus_01_dot_34_bar__plus_00_dot_90_bar__plus_00_dot_05 MicrowaveType)\n (receptacleType Cabinet_bar__minus_01_dot_19_bar__plus_02_dot_06_bar__minus_00_dot_33 CabinetType)\n (receptacleType Cabinet_bar__plus_00_dot_99_bar__plus_00_dot_40_bar__plus_01_dot_23 CabinetType)\n (receptacleType DiningTable_bar__plus_01_dot_19_bar__plus_00_dot_92_bar__plus_02_dot_48 DiningTableType)\n (receptacleType Cabinet_bar__minus_01_dot_19_bar__plus_02_dot_06_bar__minus_00_dot_28 CabinetType)\n (receptacleType Cabinet_bar__minus_01_dot_19_bar__plus_02_dot_31_bar__plus_01_dot_38 CabinetType)\n (receptacleType CounterTop_bar__minus_01_dot_00_bar__plus_00_dot_95_bar__minus_00_dot_67 CounterTopType)\n (receptacleType CoffeeMachine_bar__plus_01_dot_31_bar__plus_00_dot_90_bar__minus_00_dot_74 CoffeeMachineType)\n (receptacleType Cabinet_bar__plus_00_dot_34_bar__plus_00_dot_40_bar__minus_00_dot_35 CabinetType)\n (receptacleType Cabinet_bar__plus_00_dot_99_bar__plus_00_dot_40_bar__plus_00_dot_53 CabinetType)\n (receptacleType StoveBurner_bar__plus_00_dot_80_bar__plus_00_dot_93_bar__minus_00_dot_47 StoveBurnerType)\n (receptacleType Toaster_bar__plus_01_dot_36_bar__plus_00_dot_90_bar__plus_01_dot_05 ToasterType)\n (receptacleType Cabinet_bar__minus_00_dot_99_bar__plus_00_dot_40_bar__minus_00_dot_34 CabinetType)\n (receptacleType Cabinet_bar__minus_01_dot_10_bar__plus_02_dot_06_bar__minus_00_dot_65 CabinetType)\n (receptacleType Drawer_bar__plus_01_dot_12_bar__plus_00_dot_79_bar__plus_00_dot_37 DrawerType)\n (receptacleType Drawer_bar__plus_01_dot_12_bar__plus_00_dot_79_bar__plus_01_dot_08 DrawerType)\n (receptacleType Cabinet_bar__minus_01_dot_19_bar__plus_02_dot_06_bar__plus_00_dot_38 CabinetType)\n (receptacleType Cabinet_bar__minus_01_dot_19_bar__plus_02_dot_31_bar__plus_00_dot_43 CabinetType)\n (receptacleType Cabinet_bar__minus_00_dot_37_bar__plus_00_dot_40_bar__minus_00_dot_35 CabinetType)\n (receptacleType Cabinet_bar__plus_00_dot_59_bar__plus_02_dot_31_bar__minus_00_dot_65 CabinetType)\n (receptacleType Drawer_bar__minus_01_dot_12_bar__plus_00_dot_79_bar__plus_00_dot_21 DrawerType)\n (receptacleType Cabinet_bar__plus_01_dot_19_bar__plus_02_dot_31_bar__plus_01_dot_18 CabinetType)\n (receptacleType StoveBurner_bar__plus_00_dot_50_bar__plus_00_dot_93_bar__minus_00_dot_74 StoveBurnerType)\n (receptacleType StoveBurner_bar__plus_00_dot_50_bar__plus_00_dot_93_bar__minus_00_dot_47 StoveBurnerType)\n (receptacleType Cabinet_bar__minus_00_dot_57_bar__plus_02_dot_06_bar__minus_00_dot_65 CabinetType)\n (receptacleType DiningTable_bar__minus_01_dot_21_bar__plus_00_dot_78_bar__plus_02_dot_46 DiningTableType)\n (receptacleType Cabinet_bar__plus_01_dot_19_bar__plus_02_dot_31_bar__plus_00_dot_43 CabinetType)\n (receptacleType Cabinet_bar__plus_01_dot_19_bar__plus_02_dot_06_bar__plus_00_dot_38 CabinetType)\n (objectType ButterKnife_bar__minus_00_dot_66_bar__plus_00_dot_91_bar__minus_00_dot_59 ButterKnifeType)\n (objectType Lettuce_bar__minus_00_dot_92_bar__plus_00_dot_82_bar__plus_02_dot_09 LettuceType)\n (objectType SprayBottle_bar__minus_01_dot_33_bar__plus_02_dot_15_bar__plus_00_dot_71 SprayBottleType)\n (objectType Pan_bar__minus_01_dot_33_bar__plus_00_dot_90_bar__minus_00_dot_70 PanType)\n (objectType WineBottle_bar__minus_01_dot_48_bar__plus_00_dot_75_bar__plus_02_dot_27 WineBottleType)\n (objectType Tomato_bar__minus_01_dot_38_bar__plus_00_dot_80_bar__plus_00_dot_67 TomatoType)\n (objectType ButterKnife_bar__plus_01_dot_28_bar__plus_00_dot_89_bar__plus_02_dot_26 ButterKnifeType)\n (objectType Tomato_bar__minus_01_dot_19_bar__plus_00_dot_39_bar__plus_01_dot_09 TomatoType)\n (objectType Bread_bar__minus_01_dot_32_bar__plus_01_dot_48_bar__plus_00_dot_78 BreadType)\n (objectType Potato_bar__minus_01_dot_26_bar__plus_01_dot_68_bar__plus_00_dot_98 PotatoType)\n (objectType Pot_bar__plus_00_dot_50_bar__plus_00_dot_94_bar__minus_00_dot_74 PotType)\n (objectType CellPhone_bar__minus_01_dot_38_bar__plus_00_dot_75_bar__plus_02_dot_09 CellPhoneType)\n (objectType Fork_bar__minus_01_dot_11_bar__plus_00_dot_75_bar__plus_02_dot_09 ForkType)\n (objectType Apple_bar__plus_01_dot_41_bar__plus_00_dot_15_bar__plus_01_dot_41 AppleType)\n (objectType Pot_bar__plus_00_dot_80_bar__plus_00_dot_94_bar__minus_00_dot_74 PotType)\n (objectType LightSwitch_bar__plus_00_dot_12_bar__plus_01_dot_35_bar__plus_03_dot_80 LightSwitchType)\n (objectType Knife_bar__plus_01_dot_44_bar__plus_00_dot_93_bar__minus_00_dot_14 KnifeType)\n (objectType Spatula_bar__plus_01_dot_12_bar__plus_00_dot_90_bar__plus_02_dot_48 SpatulaType)\n (objectType Glassbottle_bar__plus_01_dot_45_bar__plus_00_dot_89_bar__plus_02_dot_26 GlassbottleType)\n (objectType Spatula_bar__minus_01_dot_29_bar__plus_00_dot_76_bar__plus_02_dot_83 SpatulaType)\n (objectType StoveKnob_bar__plus_00_dot_43_bar__plus_01_dot_09_bar__minus_00_dot_91 StoveKnobType)\n (objectType Kettle_bar__plus_01_dot_13_bar__plus_00_dot_91_bar__plus_00_dot_14 KettleType)\n (objectType Window_bar__plus_01_dot_60_bar__plus_01_dot_65_bar__plus_02_dot_49 WindowType)\n (objectType SaltShaker_bar__minus_00_dot_66_bar__plus_01_dot_65_bar__minus_00_dot_79 SaltShakerType)\n (objectType Potato_bar__minus_01_dot_20_bar__plus_00_dot_79_bar__plus_02_dot_64 PotatoType)\n (objectType Chair_bar__plus_00_dot_98_bar__plus_00_dot_54_bar__plus_02_dot_52 ChairType)\n (objectType Cup_bar__minus_00_dot_08_bar__plus_00_dot_76_bar__minus_00_dot_57 CupType)\n (objectType Tomato_bar__plus_00_dot_95_bar__plus_00_dot_94_bar__plus_02_dot_48 TomatoType)\n (objectType DishSponge_bar__plus_00_dot_13_bar__plus_00_dot_12_bar__minus_00_dot_62 DishSpongeType)\n (objectType Kettle_bar__minus_01_dot_36_bar__plus_00_dot_74_bar__plus_03_dot_02 KettleType)\n (objectType WineBottle_bar__plus_01_dot_20_bar__plus_00_dot_89_bar__plus_02_dot_37 WineBottleType)\n (objectType StoveKnob_bar__plus_00_dot_55_bar__plus_01_dot_09_bar__minus_00_dot_91 StoveKnobType)\n (objectType Fork_bar__plus_01_dot_13_bar__plus_00_dot_91_bar__plus_00_dot_71 ForkType)\n (objectType Plate_bar__plus_01_dot_13_bar__plus_00_dot_91_bar__plus_00_dot_42 PlateType)\n (objectType Spoon_bar__minus_01_dot_13_bar__plus_00_dot_78_bar__plus_00_dot_17 SpoonType)\n (objectType Mug_bar__minus_01_dot_44_bar__plus_00_dot_91_bar__minus_00_dot_39 MugType)\n (objectType PepperShaker_bar__plus_01_dot_52_bar__plus_00_dot_91_bar__plus_00_dot_71 PepperShakerType)\n (objectType StoveKnob_bar__plus_00_dot_89_bar__plus_01_dot_09_bar__minus_00_dot_91 StoveKnobType)\n (objectType Window_bar__minus_00_dot_01_bar__plus_01_dot_64_bar__minus_00_dot_97 WindowType)\n (objectType Bowl_bar__minus_01_dot_32_bar__plus_01_dot_42_bar__plus_01_dot_20 BowlType)\n (objectType Mug_bar__plus_01_dot_13_bar__plus_00_dot_11_bar__plus_00_dot_03 MugType)\n (objectType StoveKnob_bar__plus_00_dot_78_bar__plus_01_dot_09_bar__minus_00_dot_91 StoveKnobType)\n (objectType ButterKnife_bar__plus_01_dot_37_bar__plus_00_dot_89_bar__plus_02_dot_48 ButterKnifeType)\n (objectType Glassbottle_bar__minus_01_dot_22_bar__plus_00_dot_12_bar__plus_00_dot_25 GlassbottleType)\n (objectType PepperShaker_bar__minus_01_dot_38_bar__plus_00_dot_75_bar__plus_02_dot_46 PepperShakerType)\n (objectType Knife_bar__plus_01_dot_21_bar__plus_00_dot_93_bar__minus_00_dot_14 KnifeType)\n (objectType Glassbottle_bar__minus_01_dot_20_bar__plus_00_dot_75_bar__plus_02_dot_46 GlassbottleType)\n (objectType SprayBottle_bar__plus_01_dot_25_bar__plus_00_dot_09_bar__plus_01_dot_47 SprayBottleType)\n (objectType Apple_bar__minus_01_dot_43_bar__plus_00_dot_97_bar__minus_00_dot_51 AppleType)\n (objectType Cup_bar__minus_01_dot_16_bar__plus_00_dot_34_bar__plus_01_dot_30 CupType)\n (objectType Cup_bar__minus_01_dot_30_bar__plus_01_dot_01_bar__plus_00_dot_05 CupType)\n (objectType SoapBottle_bar__minus_01_dot_33_bar__plus_01_dot_66_bar__minus_00_dot_52 SoapBottleType)\n (objectType Lettuce_bar__minus_01_dot_38_bar__plus_00_dot_82_bar__plus_02_dot_64 LettuceType)\n (objectType Spatula_bar__plus_01_dot_45_bar__plus_00_dot_90_bar__plus_02_dot_58 SpatulaType)\n (objectType Bread_bar__minus_01_dot_21_bar__plus_00_dot_81_bar__plus_01_dot_09 BreadType)\n (objectType Spoon_bar__minus_01_dot_13_bar__plus_00_dot_78_bar__minus_00_dot_21 SpoonType)\n (objectType Egg_bar__plus_00_dot_95_bar__plus_00_dot_92_bar__plus_02_dot_69 EggType)\n (objectType SoapBottle_bar__minus_00_dot_92_bar__plus_00_dot_75_bar__plus_02_dot_64 SoapBottleType)\n (objectType Sink_bar__minus_00_dot_01_bar__plus_00_dot_91_bar__minus_00_dot_62 SinkType)\n (canContain FridgeType BreadType)\n (canContain FridgeType BowlType)\n (canContain FridgeType PotType)\n (canContain FridgeType WineBottleType)\n (canContain FridgeType MugType)\n (canContain FridgeType EggType)\n (canContain FridgeType GlassbottleType)\n (canContain FridgeType LettuceType)\n (canContain FridgeType PotatoType)\n (canContain FridgeType CupType)\n (canContain FridgeType PlateType)\n (canContain FridgeType TomatoType)\n (canContain FridgeType AppleType)\n (canContain FridgeType PanType)\n (canContain CounterTopType SaltShakerType)\n (canContain CounterTopType BreadType)\n (canContain CounterTopType DishSpongeType)\n (canContain CounterTopType SprayBottleType)\n (canContain CounterTopType BowlType)\n (canContain CounterTopType KettleType)\n (canContain CounterTopType PotType)\n (canContain CounterTopType WineBottleType)\n (canContain CounterTopType MugType)\n (canContain CounterTopType EggType)\n (canContain CounterTopType ForkType)\n (canContain CounterTopType GlassbottleType)\n (canContain CounterTopType CellPhoneType)\n (canContain CounterTopType SpoonType)\n (canContain CounterTopType SoapBottleType)\n (canContain CounterTopType LettuceType)\n (canContain CounterTopType PotatoType)\n (canContain CounterTopType ButterKnifeType)\n (canContain CounterTopType CupType)\n (canContain CounterTopType PlateType)\n (canContain CounterTopType PepperShakerType)\n (canContain CounterTopType TomatoType)\n (canContain CounterTopType KnifeType)\n (canContain CounterTopType AppleType)\n (canContain CounterTopType PanType)\n (canContain CounterTopType SpatulaType)\n (canContain SinkBasinType DishSpongeType)\n (canContain SinkBasinType BowlType)\n (canContain SinkBasinType KettleType)\n (canContain SinkBasinType PotType)\n (canContain SinkBasinType MugType)\n (canContain SinkBasinType EggType)\n (canContain SinkBasinType ForkType)\n (canContain SinkBasinType GlassbottleType)\n (canContain SinkBasinType SpoonType)\n (canContain SinkBasinType LettuceType)\n (canContain SinkBasinType PotatoType)\n (canContain SinkBasinType ButterKnifeType)\n (canContain SinkBasinType CupType)\n (canContain SinkBasinType PlateType)\n (canContain SinkBasinType TomatoType)\n (canContain SinkBasinType KnifeType)\n (canContain SinkBasinType AppleType)\n (canContain SinkBasinType PanType)\n (canContain SinkBasinType SpatulaType)\n (canContain DrawerType SaltShakerType)\n (canContain DrawerType DishSpongeType)\n (canContain DrawerType SprayBottleType)\n (canContain DrawerType ForkType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType SpoonType)\n (canContain DrawerType SoapBottleType)\n (canContain DrawerType ButterKnifeType)\n (canContain DrawerType PepperShakerType)\n (canContain DrawerType KnifeType)\n (canContain DrawerType SpatulaType)\n (canContain StoveBurnerType KettleType)\n (canContain StoveBurnerType PotType)\n (canContain StoveBurnerType PanType)\n (canContain CabinetType SaltShakerType)\n (canContain CabinetType DishSpongeType)\n (canContain CabinetType SprayBottleType)\n (canContain CabinetType BowlType)\n (canContain CabinetType KettleType)\n (canContain CabinetType PotType)\n (canContain CabinetType WineBottleType)\n (canContain CabinetType MugType)\n (canContain CabinetType GlassbottleType)\n (canContain CabinetType SoapBottleType)\n (canContain CabinetType CupType)\n (canContain CabinetType PlateType)\n (canContain CabinetType PepperShakerType)\n (canContain CabinetType PanType)\n (canContain DrawerType SaltShakerType)\n (canContain DrawerType DishSpongeType)\n (canContain DrawerType SprayBottleType)\n (canContain DrawerType ForkType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType SpoonType)\n (canContain DrawerType SoapBottleType)\n (canContain DrawerType ButterKnifeType)\n (canContain DrawerType PepperShakerType)\n (canContain DrawerType KnifeType)\n (canContain DrawerType SpatulaType)\n (canContain CabinetType SaltShakerType)\n (canContain CabinetType DishSpongeType)\n (canContain CabinetType SprayBottleType)\n (canContain CabinetType BowlType)\n (canContain CabinetType KettleType)\n (canContain CabinetType PotType)\n (canContain CabinetType WineBottleType)\n (canContain CabinetType MugType)\n (canContain CabinetType GlassbottleType)\n (canContain CabinetType SoapBottleType)\n (canContain CabinetType CupType)\n (canContain CabinetType PlateType)\n (canContain CabinetType PepperShakerType)\n (canContain CabinetType PanType)\n (canContain CabinetType SaltShakerType)\n (canContain CabinetType DishSpongeType)\n (canContain CabinetType SprayBottleType)\n (canContain CabinetType BowlType)\n (canContain CabinetType KettleType)\n (canContain CabinetType PotType)\n (canContain CabinetType WineBottleType)\n (canContain CabinetType MugType)\n (canContain CabinetType GlassbottleType)\n (canContain CabinetType SoapBottleType)\n (canContain CabinetType CupType)\n (canContain CabinetType PlateType)\n (canContain CabinetType PepperShakerType)\n (canContain CabinetType PanType)\n (canContain CabinetType SaltShakerType)\n (canContain CabinetType DishSpongeType)\n (canContain CabinetType SprayBottleType)\n (canContain CabinetType BowlType)\n (canContain CabinetType KettleType)\n (canContain CabinetType PotType)\n (canContain CabinetType WineBottleType)\n (canContain CabinetType MugType)\n (canContain CabinetType GlassbottleType)\n (canContain CabinetType SoapBottleType)\n (canContain CabinetType CupType)\n (canContain CabinetType PlateType)\n (canContain CabinetType PepperShakerType)\n (canContain CabinetType PanType)\n (canContain DrawerType SaltShakerType)\n (canContain DrawerType DishSpongeType)\n (canContain DrawerType SprayBottleType)\n (canContain DrawerType ForkType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType SpoonType)\n (canContain DrawerType SoapBottleType)\n (canContain DrawerType ButterKnifeType)\n (canContain DrawerType 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(canContain CabinetType SprayBottleType)\n (canContain CabinetType BowlType)\n (canContain CabinetType KettleType)\n (canContain CabinetType PotType)\n (canContain CabinetType WineBottleType)\n (canContain CabinetType MugType)\n (canContain CabinetType GlassbottleType)\n (canContain CabinetType SoapBottleType)\n (canContain CabinetType CupType)\n (canContain CabinetType PlateType)\n (canContain CabinetType PepperShakerType)\n (canContain CabinetType PanType)\n (canContain CabinetType SaltShakerType)\n (canContain CabinetType DishSpongeType)\n (canContain CabinetType SprayBottleType)\n (canContain CabinetType BowlType)\n (canContain CabinetType KettleType)\n (canContain CabinetType PotType)\n (canContain CabinetType WineBottleType)\n (canContain CabinetType MugType)\n (canContain CabinetType GlassbottleType)\n (canContain CabinetType SoapBottleType)\n (canContain CabinetType CupType)\n (canContain CabinetType PlateType)\n (canContain CabinetType PepperShakerType)\n (canContain 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Bowl_bar__minus_01_dot_32_bar__plus_01_dot_42_bar__plus_01_dot_20)\n (cleanable Mug_bar__plus_01_dot_13_bar__plus_00_dot_11_bar__plus_00_dot_03)\n (cleanable ButterKnife_bar__plus_01_dot_37_bar__plus_00_dot_89_bar__plus_02_dot_48)\n (cleanable Knife_bar__plus_01_dot_21_bar__plus_00_dot_93_bar__minus_00_dot_14)\n (cleanable Apple_bar__minus_01_dot_43_bar__plus_00_dot_97_bar__minus_00_dot_51)\n (cleanable Cup_bar__minus_01_dot_16_bar__plus_00_dot_34_bar__plus_01_dot_30)\n (cleanable Cup_bar__minus_01_dot_30_bar__plus_01_dot_01_bar__plus_00_dot_05)\n (cleanable Lettuce_bar__minus_01_dot_38_bar__plus_00_dot_82_bar__plus_02_dot_64)\n (cleanable Spatula_bar__plus_01_dot_45_bar__plus_00_dot_90_bar__plus_02_dot_58)\n (cleanable Spoon_bar__minus_01_dot_13_bar__plus_00_dot_78_bar__minus_00_dot_21)\n (cleanable Egg_bar__plus_00_dot_95_bar__plus_00_dot_92_bar__plus_02_dot_69)\n \n (heatable Tomato_bar__minus_01_dot_38_bar__plus_00_dot_80_bar__plus_00_dot_67)\n (heatable Tomato_bar__minus_01_dot_19_bar__plus_00_dot_39_bar__plus_01_dot_09)\n (heatable Bread_bar__minus_01_dot_32_bar__plus_01_dot_48_bar__plus_00_dot_78)\n (heatable Potato_bar__minus_01_dot_26_bar__plus_01_dot_68_bar__plus_00_dot_98)\n (heatable Apple_bar__plus_01_dot_41_bar__plus_00_dot_15_bar__plus_01_dot_41)\n (heatable Potato_bar__minus_01_dot_20_bar__plus_00_dot_79_bar__plus_02_dot_64)\n (heatable Cup_bar__minus_00_dot_08_bar__plus_00_dot_76_bar__minus_00_dot_57)\n (heatable Tomato_bar__plus_00_dot_95_bar__plus_00_dot_94_bar__plus_02_dot_48)\n (heatable Plate_bar__plus_01_dot_13_bar__plus_00_dot_91_bar__plus_00_dot_42)\n (heatable Mug_bar__minus_01_dot_44_bar__plus_00_dot_91_bar__minus_00_dot_39)\n (heatable Mug_bar__plus_01_dot_13_bar__plus_00_dot_11_bar__plus_00_dot_03)\n (heatable Apple_bar__minus_01_dot_43_bar__plus_00_dot_97_bar__minus_00_dot_51)\n (heatable Cup_bar__minus_01_dot_16_bar__plus_00_dot_34_bar__plus_01_dot_30)\n (heatable Cup_bar__minus_01_dot_30_bar__plus_01_dot_01_bar__plus_00_dot_05)\n (heatable Bread_bar__minus_01_dot_21_bar__plus_00_dot_81_bar__plus_01_dot_09)\n (heatable Egg_bar__plus_00_dot_95_bar__plus_00_dot_92_bar__plus_02_dot_69)\n (coolable Lettuce_bar__minus_00_dot_92_bar__plus_00_dot_82_bar__plus_02_dot_09)\n (coolable Pan_bar__minus_01_dot_33_bar__plus_00_dot_90_bar__minus_00_dot_70)\n (coolable WineBottle_bar__minus_01_dot_48_bar__plus_00_dot_75_bar__plus_02_dot_27)\n (coolable Tomato_bar__minus_01_dot_38_bar__plus_00_dot_80_bar__plus_00_dot_67)\n (coolable Tomato_bar__minus_01_dot_19_bar__plus_00_dot_39_bar__plus_01_dot_09)\n (coolable Bread_bar__minus_01_dot_32_bar__plus_01_dot_48_bar__plus_00_dot_78)\n (coolable Potato_bar__minus_01_dot_26_bar__plus_01_dot_68_bar__plus_00_dot_98)\n (coolable Pot_bar__plus_00_dot_50_bar__plus_00_dot_94_bar__minus_00_dot_74)\n (coolable Apple_bar__plus_01_dot_41_bar__plus_00_dot_15_bar__plus_01_dot_41)\n (coolable Pot_bar__plus_00_dot_80_bar__plus_00_dot_94_bar__minus_00_dot_74)\n (coolable Potato_bar__minus_01_dot_20_bar__plus_00_dot_79_bar__plus_02_dot_64)\n (coolable Cup_bar__minus_00_dot_08_bar__plus_00_dot_76_bar__minus_00_dot_57)\n (coolable Tomato_bar__plus_00_dot_95_bar__plus_00_dot_94_bar__plus_02_dot_48)\n (coolable WineBottle_bar__plus_01_dot_20_bar__plus_00_dot_89_bar__plus_02_dot_37)\n (coolable Plate_bar__plus_01_dot_13_bar__plus_00_dot_91_bar__plus_00_dot_42)\n (coolable Mug_bar__minus_01_dot_44_bar__plus_00_dot_91_bar__minus_00_dot_39)\n (coolable Bowl_bar__minus_01_dot_32_bar__plus_01_dot_42_bar__plus_01_dot_20)\n (coolable Mug_bar__plus_01_dot_13_bar__plus_00_dot_11_bar__plus_00_dot_03)\n (coolable Apple_bar__minus_01_dot_43_bar__plus_00_dot_97_bar__minus_00_dot_51)\n (coolable Cup_bar__minus_01_dot_16_bar__plus_00_dot_34_bar__plus_01_dot_30)\n (coolable Cup_bar__minus_01_dot_30_bar__plus_01_dot_01_bar__plus_00_dot_05)\n (coolable Lettuce_bar__minus_01_dot_38_bar__plus_00_dot_82_bar__plus_02_dot_64)\n (coolable Bread_bar__minus_01_dot_21_bar__plus_00_dot_81_bar__plus_01_dot_09)\n (coolable Egg_bar__plus_00_dot_95_bar__plus_00_dot_92_bar__plus_02_dot_69)\n \n \n \n \n \n (sliceable Lettuce_bar__minus_00_dot_92_bar__plus_00_dot_82_bar__plus_02_dot_09)\n (sliceable Tomato_bar__minus_01_dot_38_bar__plus_00_dot_80_bar__plus_00_dot_67)\n (sliceable Tomato_bar__minus_01_dot_19_bar__plus_00_dot_39_bar__plus_01_dot_09)\n (sliceable Bread_bar__minus_01_dot_32_bar__plus_01_dot_48_bar__plus_00_dot_78)\n (sliceable Potato_bar__minus_01_dot_26_bar__plus_01_dot_68_bar__plus_00_dot_98)\n (sliceable Apple_bar__plus_01_dot_41_bar__plus_00_dot_15_bar__plus_01_dot_41)\n (sliceable Potato_bar__minus_01_dot_20_bar__plus_00_dot_79_bar__plus_02_dot_64)\n (sliceable Tomato_bar__plus_00_dot_95_bar__plus_00_dot_94_bar__plus_02_dot_48)\n (sliceable Apple_bar__minus_01_dot_43_bar__plus_00_dot_97_bar__minus_00_dot_51)\n (sliceable Lettuce_bar__minus_01_dot_38_bar__plus_00_dot_82_bar__plus_02_dot_64)\n (sliceable Bread_bar__minus_01_dot_21_bar__plus_00_dot_81_bar__plus_01_dot_09)\n (sliceable Egg_bar__plus_00_dot_95_bar__plus_00_dot_92_bar__plus_02_dot_69)\n \n (inReceptacle SaltShaker_bar__minus_00_dot_66_bar__plus_01_dot_65_bar__minus_00_dot_79 Cabinet_bar__minus_00_dot_57_bar__plus_02_dot_06_bar__minus_00_dot_65)\n (inReceptacle SoapBottle_bar__minus_01_dot_33_bar__plus_01_dot_66_bar__minus_00_dot_52 Cabinet_bar__minus_01_dot_19_bar__plus_02_dot_06_bar__minus_00_dot_33)\n (inReceptacle Mug_bar__plus_01_dot_13_bar__plus_00_dot_11_bar__plus_00_dot_03 Cabinet_bar__plus_00_dot_99_bar__plus_00_dot_40_bar__minus_00_dot_18)\n (inReceptacle DishSponge_bar__plus_00_dot_13_bar__plus_00_dot_12_bar__minus_00_dot_62 Cabinet_bar__plus_00_dot_34_bar__plus_00_dot_40_bar__minus_00_dot_35)\n (inReceptacle SprayBottle_bar__minus_01_dot_33_bar__plus_02_dot_15_bar__plus_00_dot_71 Cabinet_bar__minus_01_dot_19_bar__plus_02_dot_31_bar__plus_00_dot_43)\n (inReceptacle Knife_bar__plus_01_dot_21_bar__plus_00_dot_93_bar__minus_00_dot_14 CounterTop_bar__plus_01_dot_28_bar__plus_00_dot_95_bar__plus_00_dot_07)\n (inReceptacle Knife_bar__plus_01_dot_44_bar__plus_00_dot_93_bar__minus_00_dot_14 CounterTop_bar__plus_01_dot_28_bar__plus_00_dot_95_bar__plus_00_dot_07)\n (inReceptacle Fork_bar__plus_01_dot_13_bar__plus_00_dot_91_bar__plus_00_dot_71 CounterTop_bar__plus_01_dot_28_bar__plus_00_dot_95_bar__plus_00_dot_07)\n (inReceptacle Plate_bar__plus_01_dot_13_bar__plus_00_dot_91_bar__plus_00_dot_42 CounterTop_bar__plus_01_dot_28_bar__plus_00_dot_95_bar__plus_00_dot_07)\n (inReceptacle Kettle_bar__plus_01_dot_13_bar__plus_00_dot_91_bar__plus_00_dot_14 CounterTop_bar__plus_01_dot_28_bar__plus_00_dot_95_bar__plus_00_dot_07)\n (inReceptacle PepperShaker_bar__plus_01_dot_52_bar__plus_00_dot_91_bar__plus_00_dot_71 CounterTop_bar__plus_01_dot_28_bar__plus_00_dot_95_bar__plus_00_dot_07)\n (inReceptacle ButterKnife_bar__plus_01_dot_37_bar__plus_00_dot_89_bar__plus_02_dot_48 DiningTable_bar__plus_01_dot_19_bar__plus_00_dot_92_bar__plus_02_dot_48)\n (inReceptacle WineBottle_bar__plus_01_dot_20_bar__plus_00_dot_89_bar__plus_02_dot_37 DiningTable_bar__plus_01_dot_19_bar__plus_00_dot_92_bar__plus_02_dot_48)\n (inReceptacle Spatula_bar__plus_01_dot_12_bar__plus_00_dot_90_bar__plus_02_dot_48 DiningTable_bar__plus_01_dot_19_bar__plus_00_dot_92_bar__plus_02_dot_48)\n (inReceptacle Spatula_bar__plus_01_dot_45_bar__plus_00_dot_90_bar__plus_02_dot_58 DiningTable_bar__plus_01_dot_19_bar__plus_00_dot_92_bar__plus_02_dot_48)\n (inReceptacle Glassbottle_bar__plus_01_dot_45_bar__plus_00_dot_89_bar__plus_02_dot_26 DiningTable_bar__plus_01_dot_19_bar__plus_00_dot_92_bar__plus_02_dot_48)\n (inReceptacle ButterKnife_bar__plus_01_dot_28_bar__plus_00_dot_89_bar__plus_02_dot_26 DiningTable_bar__plus_01_dot_19_bar__plus_00_dot_92_bar__plus_02_dot_48)\n (inReceptacle Egg_bar__plus_00_dot_95_bar__plus_00_dot_92_bar__plus_02_dot_69 DiningTable_bar__plus_01_dot_19_bar__plus_00_dot_92_bar__plus_02_dot_48)\n (inReceptacle Tomato_bar__plus_00_dot_95_bar__plus_00_dot_94_bar__plus_02_dot_48 DiningTable_bar__plus_01_dot_19_bar__plus_00_dot_92_bar__plus_02_dot_48)\n (inReceptacle Spoon_bar__minus_01_dot_13_bar__plus_00_dot_78_bar__plus_00_dot_17 Drawer_bar__minus_01_dot_12_bar__plus_00_dot_79_bar__plus_00_dot_21)\n (inReceptacle Glassbottle_bar__minus_01_dot_22_bar__plus_00_dot_12_bar__plus_00_dot_25 Cabinet_bar__minus_00_dot_99_bar__plus_00_dot_40_bar__plus_00_dot_37)\n (inReceptacle Spoon_bar__minus_01_dot_13_bar__plus_00_dot_78_bar__minus_00_dot_21 Drawer_bar__minus_01_dot_12_bar__plus_00_dot_79_bar__minus_00_dot_17)\n (inReceptacle Apple_bar__minus_01_dot_43_bar__plus_00_dot_97_bar__minus_00_dot_51 CounterTop_bar__minus_01_dot_00_bar__plus_00_dot_95_bar__minus_00_dot_67)\n (inReceptacle Mug_bar__minus_01_dot_44_bar__plus_00_dot_91_bar__minus_00_dot_39 CounterTop_bar__minus_01_dot_00_bar__plus_00_dot_95_bar__minus_00_dot_67)\n (inReceptacle ButterKnife_bar__minus_00_dot_66_bar__plus_00_dot_91_bar__minus_00_dot_59 CounterTop_bar__minus_01_dot_00_bar__plus_00_dot_95_bar__minus_00_dot_67)\n (inReceptacle Pan_bar__minus_01_dot_33_bar__plus_00_dot_90_bar__minus_00_dot_70 CounterTop_bar__minus_01_dot_00_bar__plus_00_dot_95_bar__minus_00_dot_67)\n (inReceptacle Pot_bar__plus_00_dot_50_bar__plus_00_dot_94_bar__minus_00_dot_74 StoveBurner_bar__plus_00_dot_50_bar__plus_00_dot_93_bar__minus_00_dot_74)\n (inReceptacle Pot_bar__plus_00_dot_80_bar__plus_00_dot_94_bar__minus_00_dot_74 StoveBurner_bar__plus_00_dot_80_bar__plus_00_dot_93_bar__minus_00_dot_74)\n (inReceptacle CellPhone_bar__minus_01_dot_38_bar__plus_00_dot_75_bar__plus_02_dot_09 DiningTable_bar__minus_01_dot_21_bar__plus_00_dot_78_bar__plus_02_dot_46)\n (inReceptacle Lettuce_bar__minus_00_dot_92_bar__plus_00_dot_82_bar__plus_02_dot_09 DiningTable_bar__minus_01_dot_21_bar__plus_00_dot_78_bar__plus_02_dot_46)\n (inReceptacle PepperShaker_bar__minus_01_dot_38_bar__plus_00_dot_75_bar__plus_02_dot_46 DiningTable_bar__minus_01_dot_21_bar__plus_00_dot_78_bar__plus_02_dot_46)\n (inReceptacle Kettle_bar__minus_01_dot_36_bar__plus_00_dot_74_bar__plus_03_dot_02 DiningTable_bar__minus_01_dot_21_bar__plus_00_dot_78_bar__plus_02_dot_46)\n (inReceptacle Glassbottle_bar__minus_01_dot_20_bar__plus_00_dot_75_bar__plus_02_dot_46 DiningTable_bar__minus_01_dot_21_bar__plus_00_dot_78_bar__plus_02_dot_46)\n (inReceptacle Fork_bar__minus_01_dot_11_bar__plus_00_dot_75_bar__plus_02_dot_09 DiningTable_bar__minus_01_dot_21_bar__plus_00_dot_78_bar__plus_02_dot_46)\n (inReceptacle Lettuce_bar__minus_01_dot_38_bar__plus_00_dot_82_bar__plus_02_dot_64 DiningTable_bar__minus_01_dot_21_bar__plus_00_dot_78_bar__plus_02_dot_46)\n (inReceptacle WineBottle_bar__minus_01_dot_48_bar__plus_00_dot_75_bar__plus_02_dot_27 DiningTable_bar__minus_01_dot_21_bar__plus_00_dot_78_bar__plus_02_dot_46)\n (inReceptacle Potato_bar__minus_01_dot_20_bar__plus_00_dot_79_bar__plus_02_dot_64 DiningTable_bar__minus_01_dot_21_bar__plus_00_dot_78_bar__plus_02_dot_46)\n (inReceptacle Spatula_bar__minus_01_dot_29_bar__plus_00_dot_76_bar__plus_02_dot_83 DiningTable_bar__minus_01_dot_21_bar__plus_00_dot_78_bar__plus_02_dot_46)\n (inReceptacle SoapBottle_bar__minus_00_dot_92_bar__plus_00_dot_75_bar__plus_02_dot_64 DiningTable_bar__minus_01_dot_21_bar__plus_00_dot_78_bar__plus_02_dot_46)\n (inReceptacle Cup_bar__minus_01_dot_16_bar__plus_00_dot_34_bar__plus_01_dot_30 Fridge_bar__minus_01_dot_30_bar__plus_00_dot_01_bar__plus_00_dot_99)\n (inReceptacle Bread_bar__minus_01_dot_21_bar__plus_00_dot_81_bar__plus_01_dot_09 Fridge_bar__minus_01_dot_30_bar__plus_00_dot_01_bar__plus_00_dot_99)\n (inReceptacle Tomato_bar__minus_01_dot_38_bar__plus_00_dot_80_bar__plus_00_dot_67 Fridge_bar__minus_01_dot_30_bar__plus_00_dot_01_bar__plus_00_dot_99)\n (inReceptacle Tomato_bar__minus_01_dot_19_bar__plus_00_dot_39_bar__plus_01_dot_09 Fridge_bar__minus_01_dot_30_bar__plus_00_dot_01_bar__plus_00_dot_99)\n (inReceptacle Bread_bar__minus_01_dot_32_bar__plus_01_dot_48_bar__plus_00_dot_78 Fridge_bar__minus_01_dot_30_bar__plus_00_dot_01_bar__plus_00_dot_99)\n (inReceptacle Potato_bar__minus_01_dot_26_bar__plus_01_dot_68_bar__plus_00_dot_98 Fridge_bar__minus_01_dot_30_bar__plus_00_dot_01_bar__plus_00_dot_99)\n (inReceptacle Bowl_bar__minus_01_dot_32_bar__plus_01_dot_42_bar__plus_01_dot_20 Fridge_bar__minus_01_dot_30_bar__plus_00_dot_01_bar__plus_00_dot_99)\n (inReceptacle SprayBottle_bar__plus_01_dot_25_bar__plus_00_dot_09_bar__plus_01_dot_47 GarbageCan_bar__plus_01_dot_30_bar__plus_00_dot_01_bar__plus_01_dot_47)\n (inReceptacle Apple_bar__plus_01_dot_41_bar__plus_00_dot_15_bar__plus_01_dot_41 GarbageCan_bar__plus_01_dot_30_bar__plus_00_dot_01_bar__plus_01_dot_47)\n (inReceptacle Cup_bar__minus_01_dot_30_bar__plus_01_dot_01_bar__plus_00_dot_05 Microwave_bar__minus_01_dot_34_bar__plus_00_dot_90_bar__plus_00_dot_05)\n (inReceptacle Cup_bar__minus_00_dot_08_bar__plus_00_dot_76_bar__minus_00_dot_57 Sink_bar__minus_00_dot_01_bar__plus_00_dot_91_bar__minus_00_dot_62_bar_SinkBasin)\n \n \n (receptacleAtLocation Cabinet_bar__plus_00_dot_34_bar__plus_00_dot_40_bar__minus_00_dot_35 loc_bar__minus_1_bar_2_bar_2_bar_60)\n (receptacleAtLocation Cabinet_bar__plus_00_dot_59_bar__plus_02_dot_31_bar__minus_00_dot_65 loc_bar_2_bar_0_bar_2_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__plus_00_dot_99_bar__plus_00_dot_40_bar__plus_00_dot_53 loc_bar_3_bar_2_bar_1_bar_60)\n (receptacleAtLocation Cabinet_bar__plus_00_dot_99_bar__plus_00_dot_40_bar__plus_00_dot_58 loc_bar_0_bar_2_bar_1_bar_45)\n (receptacleAtLocation Cabinet_bar__plus_00_dot_99_bar__plus_00_dot_40_bar__plus_01_dot_23 loc_bar_0_bar_6_bar_1_bar_45)\n (receptacleAtLocation Cabinet_bar__plus_00_dot_99_bar__plus_00_dot_40_bar__minus_00_dot_18 loc_bar_1_bar_2_bar_1_bar_60)\n (receptacleAtLocation Cabinet_bar__plus_01_dot_19_bar__plus_02_dot_06_bar__plus_00_dot_38 loc_bar_3_bar_2_bar_1_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__plus_01_dot_19_bar__plus_02_dot_06_bar__minus_00_dot_64 loc_bar_2_bar_0_bar_1_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__plus_01_dot_19_bar__plus_02_dot_31_bar__plus_00_dot_43 loc_bar_3_bar_2_bar_1_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__plus_01_dot_19_bar__plus_02_dot_31_bar__plus_01_dot_18 loc_bar_3_bar_5_bar_1_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_37_bar__plus_00_dot_40_bar__minus_00_dot_35 loc_bar_1_bar_2_bar_2_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_57_bar__plus_02_dot_06_bar__minus_00_dot_65 loc_bar__minus_2_bar_0_bar_2_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_99_bar__plus_00_dot_40_bar__plus_00_dot_37 loc_bar_0_bar_3_bar_3_bar_45)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_99_bar__plus_00_dot_40_bar__minus_00_dot_34 loc_bar__minus_2_bar_0_bar_3_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_01_dot_10_bar__plus_02_dot_06_bar__minus_00_dot_65 loc_bar__minus_2_bar_0_bar_2_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_01_dot_19_bar__plus_02_dot_06_bar__plus_00_dot_38 loc_bar__minus_2_bar_0_bar_3_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_01_dot_19_bar__plus_02_dot_06_bar__minus_00_dot_28 loc_bar__minus_1_bar_1_bar_3_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_01_dot_19_bar__plus_02_dot_06_bar__minus_00_dot_33 loc_bar__minus_2_bar_0_bar_3_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_01_dot_19_bar__plus_02_dot_31_bar__plus_00_dot_43 loc_bar__minus_1_bar_2_bar_3_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_01_dot_19_bar__plus_02_dot_31_bar__plus_01_dot_38 loc_bar__minus_1_bar_5_bar_3_bar__minus_30)\n (receptacleAtLocation CoffeeMachine_bar__plus_01_dot_31_bar__plus_00_dot_90_bar__minus_00_dot_74 loc_bar_2_bar_0_bar_1_bar_45)\n (receptacleAtLocation CounterTop_bar__plus_01_dot_28_bar__plus_00_dot_95_bar__plus_00_dot_07 loc_bar_2_bar_1_bar_1_bar_45)\n (receptacleAtLocation CounterTop_bar__minus_01_dot_00_bar__plus_00_dot_95_bar__minus_00_dot_67 loc_bar__minus_2_bar_0_bar_2_bar_45)\n (receptacleAtLocation DiningTable_bar__plus_01_dot_19_bar__plus_00_dot_92_bar__plus_02_dot_48 loc_bar_2_bar_10_bar_1_bar_45)\n (receptacleAtLocation DiningTable_bar__minus_01_dot_21_bar__plus_00_dot_78_bar__plus_02_dot_46 loc_bar_0_bar_10_bar_3_bar_30)\n (receptacleAtLocation Drawer_bar__plus_01_dot_12_bar__plus_00_dot_79_bar__plus_00_dot_37 loc_bar_3_bar_1_bar_1_bar_60)\n (receptacleAtLocation Drawer_bar__plus_01_dot_12_bar__plus_00_dot_79_bar__plus_00_dot_73 loc_bar_3_bar_2_bar_1_bar_60)\n (receptacleAtLocation Drawer_bar__plus_01_dot_12_bar__plus_00_dot_79_bar__plus_01_dot_08 loc_bar_3_bar_5_bar_1_bar_60)\n (receptacleAtLocation Drawer_bar__plus_01_dot_12_bar__plus_00_dot_79_bar__minus_00_dot_02 loc_bar_2_bar_0_bar_1_bar_60)\n (receptacleAtLocation Drawer_bar__minus_01_dot_12_bar__plus_00_dot_79_bar__plus_00_dot_21 loc_bar__minus_2_bar_0_bar_3_bar_60)\n (receptacleAtLocation Drawer_bar__minus_01_dot_12_bar__plus_00_dot_79_bar__minus_00_dot_17 loc_bar__minus_2_bar_0_bar_3_bar_60)\n (receptacleAtLocation Fridge_bar__minus_01_dot_30_bar__plus_00_dot_01_bar__plus_00_dot_99 loc_bar__minus_1_bar_4_bar_3_bar_60)\n (receptacleAtLocation GarbageCan_bar__plus_01_dot_30_bar__plus_00_dot_01_bar__plus_01_dot_47 loc_bar_1_bar_6_bar_1_bar_60)\n (receptacleAtLocation Microwave_bar__minus_01_dot_34_bar__plus_00_dot_90_bar__plus_00_dot_05 loc_bar__minus_2_bar_0_bar_3_bar_45)\n (receptacleAtLocation Sink_bar__minus_00_dot_01_bar__plus_00_dot_91_bar__minus_00_dot_62_bar_SinkBasin loc_bar_1_bar_0_bar_2_bar_60)\n (receptacleAtLocation StoveBurner_bar__plus_00_dot_50_bar__plus_00_dot_93_bar__minus_00_dot_47 loc_bar_2_bar_0_bar_2_bar_60)\n (receptacleAtLocation StoveBurner_bar__plus_00_dot_50_bar__plus_00_dot_93_bar__minus_00_dot_74 loc_bar_2_bar_0_bar_2_bar_45)\n (receptacleAtLocation StoveBurner_bar__plus_00_dot_80_bar__plus_00_dot_93_bar__minus_00_dot_47 loc_bar_2_bar_0_bar_2_bar_60)\n (receptacleAtLocation StoveBurner_bar__plus_00_dot_80_bar__plus_00_dot_93_bar__minus_00_dot_74 loc_bar_2_bar_0_bar_2_bar_45)\n (receptacleAtLocation Toaster_bar__plus_01_dot_36_bar__plus_00_dot_90_bar__plus_01_dot_05 loc_bar_3_bar_5_bar_1_bar_45)\n (objectAtLocation Mug_bar__minus_01_dot_44_bar__plus_00_dot_91_bar__minus_00_dot_39 loc_bar__minus_2_bar_0_bar_2_bar_45)\n (objectAtLocation SprayBottle_bar__plus_01_dot_25_bar__plus_00_dot_09_bar__plus_01_dot_47 loc_bar_1_bar_6_bar_1_bar_60)\n (objectAtLocation Spoon_bar__minus_01_dot_13_bar__plus_00_dot_78_bar__plus_00_dot_17 loc_bar__minus_2_bar_0_bar_3_bar_60)\n (objectAtLocation ButterKnife_bar__plus_01_dot_28_bar__plus_00_dot_89_bar__plus_02_dot_26 loc_bar_2_bar_10_bar_1_bar_45)\n (objectAtLocation Potato_bar__minus_01_dot_26_bar__plus_01_dot_68_bar__plus_00_dot_98 loc_bar__minus_1_bar_4_bar_3_bar_60)\n (objectAtLocation PepperShaker_bar__minus_01_dot_38_bar__plus_00_dot_75_bar__plus_02_dot_46 loc_bar_0_bar_10_bar_3_bar_30)\n (objectAtLocation Knife_bar__plus_01_dot_44_bar__plus_00_dot_93_bar__minus_00_dot_14 loc_bar_2_bar_1_bar_1_bar_45)\n (objectAtLocation Cup_bar__minus_01_dot_30_bar__plus_01_dot_01_bar__plus_00_dot_05 loc_bar__minus_2_bar_0_bar_3_bar_45)\n (objectAtLocation Apple_bar__minus_01_dot_43_bar__plus_00_dot_97_bar__minus_00_dot_51 loc_bar__minus_2_bar_0_bar_2_bar_45)\n (objectAtLocation Spatula_bar__minus_01_dot_29_bar__plus_00_dot_76_bar__plus_02_dot_83 loc_bar_0_bar_10_bar_3_bar_30)\n (objectAtLocation WineBottle_bar__plus_01_dot_20_bar__plus_00_dot_89_bar__plus_02_dot_37 loc_bar_2_bar_10_bar_1_bar_45)\n (objectAtLocation SoapBottle_bar__minus_01_dot_33_bar__plus_01_dot_66_bar__minus_00_dot_52 loc_bar__minus_2_bar_0_bar_3_bar__minus_30)\n (objectAtLocation Pot_bar__plus_00_dot_80_bar__plus_00_dot_94_bar__minus_00_dot_74 loc_bar_2_bar_0_bar_2_bar_45)\n (objectAtLocation Lettuce_bar__minus_01_dot_38_bar__plus_00_dot_82_bar__plus_02_dot_64 loc_bar_0_bar_10_bar_3_bar_30)\n (objectAtLocation Tomato_bar__minus_01_dot_19_bar__plus_00_dot_39_bar__plus_01_dot_09 loc_bar__minus_1_bar_4_bar_3_bar_60)\n (objectAtLocation Kettle_bar__minus_01_dot_36_bar__plus_00_dot_74_bar__plus_03_dot_02 loc_bar_0_bar_10_bar_3_bar_30)\n (objectAtLocation Fork_bar__plus_01_dot_13_bar__plus_00_dot_91_bar__plus_00_dot_71 loc_bar_2_bar_1_bar_1_bar_45)\n (objectAtLocation Glassbottle_bar__plus_01_dot_45_bar__plus_00_dot_89_bar__plus_02_dot_26 loc_bar_2_bar_10_bar_1_bar_45)\n (objectAtLocation Bread_bar__minus_01_dot_21_bar__plus_00_dot_81_bar__plus_01_dot_09 loc_bar__minus_1_bar_4_bar_3_bar_60)\n (objectAtLocation Tomato_bar__plus_00_dot_95_bar__plus_00_dot_94_bar__plus_02_dot_48 loc_bar_2_bar_10_bar_1_bar_45)\n (objectAtLocation Cup_bar__minus_01_dot_16_bar__plus_00_dot_34_bar__plus_01_dot_30 loc_bar__minus_1_bar_4_bar_3_bar_60)\n (objectAtLocation Spatula_bar__plus_01_dot_12_bar__plus_00_dot_90_bar__plus_02_dot_48 loc_bar_2_bar_10_bar_1_bar_45)\n (objectAtLocation Glassbottle_bar__minus_01_dot_22_bar__plus_00_dot_12_bar__plus_00_dot_25 loc_bar_0_bar_3_bar_3_bar_45)\n (objectAtLocation ButterKnife_bar__minus_00_dot_66_bar__plus_00_dot_91_bar__minus_00_dot_59 loc_bar__minus_2_bar_0_bar_2_bar_45)\n (objectAtLocation Chair_bar__plus_00_dot_98_bar__plus_00_dot_54_bar__plus_02_dot_52 loc_bar_2_bar_10_bar_1_bar_60)\n (objectAtLocation Sink_bar__minus_00_dot_01_bar__plus_00_dot_91_bar__minus_00_dot_62 loc_bar_0_bar_0_bar_2_bar_45)\n (objectAtLocation Bread_bar__minus_01_dot_32_bar__plus_01_dot_48_bar__plus_00_dot_78 loc_bar__minus_1_bar_4_bar_3_bar_60)\n (objectAtLocation StoveKnob_bar__plus_00_dot_55_bar__plus_01_dot_09_bar__minus_00_dot_91 loc_bar_2_bar_0_bar_2_bar_30)\n (objectAtLocation StoveKnob_bar__plus_00_dot_89_bar__plus_01_dot_09_bar__minus_00_dot_91 loc_bar_2_bar_0_bar_2_bar_30)\n (objectAtLocation StoveKnob_bar__plus_00_dot_43_bar__plus_01_dot_09_bar__minus_00_dot_91 loc_bar_2_bar_0_bar_2_bar_30)\n (objectAtLocation StoveKnob_bar__plus_00_dot_78_bar__plus_01_dot_09_bar__minus_00_dot_91 loc_bar_2_bar_0_bar_2_bar_30)\n (objectAtLocation Glassbottle_bar__minus_01_dot_20_bar__plus_00_dot_75_bar__plus_02_dot_46 loc_bar_0_bar_10_bar_3_bar_30)\n (objectAtLocation Fork_bar__minus_01_dot_11_bar__plus_00_dot_75_bar__plus_02_dot_09 loc_bar_0_bar_10_bar_3_bar_30)\n (objectAtLocation Kettle_bar__plus_01_dot_13_bar__plus_00_dot_91_bar__plus_00_dot_14 loc_bar_2_bar_1_bar_1_bar_45)\n (objectAtLocation Tomato_bar__minus_01_dot_38_bar__plus_00_dot_80_bar__plus_00_dot_67 loc_bar__minus_1_bar_4_bar_3_bar_60)\n (objectAtLocation Plate_bar__plus_01_dot_13_bar__plus_00_dot_91_bar__plus_00_dot_42 loc_bar_2_bar_1_bar_1_bar_45)\n (objectAtLocation CellPhone_bar__minus_01_dot_38_bar__plus_00_dot_75_bar__plus_02_dot_09 loc_bar_0_bar_10_bar_3_bar_30)\n (objectAtLocation Lettuce_bar__minus_00_dot_92_bar__plus_00_dot_82_bar__plus_02_dot_09 loc_bar_0_bar_10_bar_3_bar_30)\n (objectAtLocation Pot_bar__plus_00_dot_50_bar__plus_00_dot_94_bar__minus_00_dot_74 loc_bar_2_bar_0_bar_2_bar_45)\n (objectAtLocation SoapBottle_bar__minus_00_dot_92_bar__plus_00_dot_75_bar__plus_02_dot_64 loc_bar_0_bar_10_bar_3_bar_30)\n (objectAtLocation Window_bar__minus_00_dot_01_bar__plus_01_dot_64_bar__minus_00_dot_97 loc_bar_0_bar_0_bar_2_bar_0)\n (objectAtLocation Window_bar__plus_01_dot_60_bar__plus_01_dot_65_bar__plus_02_dot_49 loc_bar_2_bar_10_bar_1_bar_0)\n (objectAtLocation WineBottle_bar__minus_01_dot_48_bar__plus_00_dot_75_bar__plus_02_dot_27 loc_bar_0_bar_10_bar_3_bar_30)\n (objectAtLocation Spatula_bar__plus_01_dot_45_bar__plus_00_dot_90_bar__plus_02_dot_58 loc_bar_2_bar_10_bar_1_bar_45)\n (objectAtLocation Bowl_bar__minus_01_dot_32_bar__plus_01_dot_42_bar__plus_01_dot_20 loc_bar__minus_1_bar_4_bar_3_bar_60)\n (objectAtLocation Apple_bar__plus_01_dot_41_bar__plus_00_dot_15_bar__plus_01_dot_41 loc_bar_1_bar_6_bar_1_bar_60)\n (objectAtLocation LightSwitch_bar__plus_00_dot_12_bar__plus_01_dot_35_bar__plus_03_dot_80 loc_bar_0_bar_13_bar_0_bar_30)\n (objectAtLocation Cup_bar__minus_00_dot_08_bar__plus_00_dot_76_bar__minus_00_dot_57 loc_bar_1_bar_0_bar_2_bar_60)\n (objectAtLocation Knife_bar__plus_01_dot_21_bar__plus_00_dot_93_bar__minus_00_dot_14 loc_bar_2_bar_1_bar_1_bar_45)\n (objectAtLocation Egg_bar__plus_00_dot_95_bar__plus_00_dot_92_bar__plus_02_dot_69 loc_bar_2_bar_10_bar_1_bar_45)\n (objectAtLocation SaltShaker_bar__minus_00_dot_66_bar__plus_01_dot_65_bar__minus_00_dot_79 loc_bar__minus_2_bar_0_bar_2_bar__minus_30)\n (objectAtLocation PepperShaker_bar__plus_01_dot_52_bar__plus_00_dot_91_bar__plus_00_dot_71 loc_bar_2_bar_1_bar_1_bar_45)\n (objectAtLocation Potato_bar__minus_01_dot_20_bar__plus_00_dot_79_bar__plus_02_dot_64 loc_bar_0_bar_10_bar_3_bar_30)\n (objectAtLocation ButterKnife_bar__plus_01_dot_37_bar__plus_00_dot_89_bar__plus_02_dot_48 loc_bar_2_bar_10_bar_1_bar_45)\n (objectAtLocation DishSponge_bar__plus_00_dot_13_bar__plus_00_dot_12_bar__minus_00_dot_62 loc_bar__minus_1_bar_2_bar_2_bar_60)\n (objectAtLocation Pan_bar__minus_01_dot_33_bar__plus_00_dot_90_bar__minus_00_dot_70 loc_bar__minus_2_bar_0_bar_2_bar_45)\n (objectAtLocation Spoon_bar__minus_01_dot_13_bar__plus_00_dot_78_bar__minus_00_dot_21 loc_bar__minus_2_bar_0_bar_3_bar_60)\n (objectAtLocation SprayBottle_bar__minus_01_dot_33_bar__plus_02_dot_15_bar__plus_00_dot_71 loc_bar__minus_1_bar_2_bar_3_bar__minus_30)\n (objectAtLocation Mug_bar__plus_01_dot_13_bar__plus_00_dot_11_bar__plus_00_dot_03 loc_bar_1_bar_2_bar_1_bar_60)\n )\n \n\n (:goal\n (and\n (exists (?r - receptacle)\n (exists (?o1 - object)\n (and\n (objectType ?o1 WineBottleType)\n (receptacleType ?r CabinetType)\n (inReceptacle ?o1 ?r)\n (exists (?o2 - object)\n (and\n (not (= ?o1 ?o2))\n (objectType ?o2 WineBottleType)\n (receptacleType ?r CabinetType)\n (inReceptacle ?o2 ?r)\n )\n )\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to diningtable 2", "take winebottle 2 from diningtable 2", "go to cabinet 4", "move winebottle 2 to cabinet 4", "go to diningtable 1", "take winebottle 1 from diningtable 1", "go to cabinet 4", "move winebottle 1 to cabinet 4"]}
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alfworld__pick_clean_then_place_in_recep__16
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pick_clean_then_place_in_recep
|
pick_clean_then_place_in_recep-Tomato-None-Fridge-20/trial_T20190909_091626_928669/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 tomato in fridge.\"\n }\n ],\n\n \"GotoLocation.feedback\": [\n {\n \"rhs\": \"You arrive at {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"OpenObject.feedback\": [\n {\n \"rhs\": \"You open the {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"CloseObject.feedback\": [\n {\n \"rhs\": \"You close the {r.name}.\"\n }\n ],\n\n \"PickupObject.feedback\": [\n {\n \"rhs\": \"You pick up the {o.name} from the {r.name}.\"\n }\n ],\n\n \"PickupObjectFromReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupObjectFromReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupEmptyReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupEmptyReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupFullReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupFullReceptacleObject: You pick up the {outerr.name}.\"\n }\n ],\n\n \"PutObject.feedback\": [\n {\n \"rhs\": \"You move the {o.name} to the {r.name}.\"\n }\n ],\n\n \"PutObjectInReceptacleObject.feedback\": [\n {\n \"rhs\": \"PutObjectInReceptacleObject: You put the {o.name} in the {outero.name}.\"\n }\n ],\n\n \"PutEmptyReceptacleObjectinReceptacle.feedback\": [\n {\n \"rhs\": \"PutEmptyReceptacleObjectinReceptacle: You put the {o.name} in the {r.name}.\"\n }\n ],\n\n \"PutFullReceptacleObjectInReceptacle.feedback\": [\n {\n \"rhs\": \"PutFullReceptacleObjectInReceptacle: You put the {outero.name} in the {r.name}.\"\n }\n ],\n\n \"inventory.feedback\": [\n {\n \"condition\": \"holdsany(a:agent)\",\n \"rhs\": \"You are carrying: [{o.indefinite + ' ' + o.name | holds(a:agent, o:object)}].\"\n },\n {\n \"rhs\": \"You are not carrying anything.\"\n }\n ],\n\n \"examineReceptacle.feedback\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \"The {r.name} is open. In it, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \"The {r.name} is closed.\"\n },\n {\n \"rhs\": \"On the {r.name}, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n }\n ],\n\n \"examineObject.feedback\": [\n {\n \"condition\": \"isreceptacleobject(o:object)\",\n \"rhs\": \"This is a normal {o.name}. In it, you see [{o2.indefinite + ' ' + o2.name | inreceptacleobject(o2:object, o:object)}].\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a clean sliced {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot sliced {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object)\",\n \"rhs\": \"This is a hot and clean {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object)\",\n \"rhs\": \"This is a cool and clean {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object)\",\n \"rhs\": \"This is a hot {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object)\",\n \"rhs\": \"This is a clean {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object)\",\n \"rhs\": \"This is a cold {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"This {o.name} is on.\"\n },\n {\n \"condition\": \"toggleable(o:object) & not_istoggled(o:object)\",\n \"rhs\": \"This {o.name} is off.\"\n },\n {\n \"condition\": \"sliceable(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a sliced {o.name}.\"\n },\n {\n \"rhs\": \"There's nothing special about {o.name}.\"\n }\n ]\n }\n\"\"\";\n\naction GotoLocation {\n template :: \"go to [{r.name | receptacleatlocation(r:receptacle, lend:location)}]\";\n feedback :: \"#GotoLocation.feedback#\";\n}\n\naction OpenObject {\n template :: \"open {r}\";\n feedback :: \"#OpenObject.feedback#\";\n}\n\naction CloseObject {\n template :: \"close {r}\";\n feedback :: \"#CloseObject.feedback#\";\n}\n\naction PickupObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObject.feedback#\";\n}\n\naction PickupObjectFromReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObjectFromReceptacleObject.feedback#\";\n}\n\naction PickupEmptyReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupEmptyReceptacleObject.feedback#\";\n}\n\naction PickupFullReceptacleObject {\n template :: \"take {outerr} from {r}\";\n feedback :: \"#PickupFullReceptacleObject.feedback#\";\n}\n\naction PutObject {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutObject.feedback#\";\n}\n\naction PutObjectInReceptacleObject {\n template :: \"put {o} into {outero}\";\n feedback :: \"#PutObjectInReceptacleObject.feedback#\";\n}\n\naction PutEmptyReceptacleObjectinReceptacle {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutEmptyReceptacleObjectinReceptacle.feedback#\";\n}\n\naction PutFullReceptacleObjectInReceptacle {\n template :: \"put {outero} in {r}\";\n feedback :: \"#PutFullReceptacleObjectInReceptacle.feedback#\";\n}\n\naction inventory {\n template :: \"inventory\";\n feedback :: \"#inventory.feedback#\";\n}\n\naction examineReceptacle {\n template :: \"examine {r}\";\n feedback :: \"#examineReceptacle.feedback#\";\n}\n\naction examineObject {\n template :: \"examine {o}\";\n feedback :: \"#examineObject.feedback#\";\n}\n\naction ToggleObject {\n template :: \"use {o}\";\n feedback :: \"#toggleObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"toggleObject.feedback\": [\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"You turn on the {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object)\",\n \"rhs\": \"You turn off the {o.name}.\"\n },\n {\n \"rhs\": \"You don't see any switch on the {o.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction HeatObject {\n template :: \"heat {o} with {r}\";\n feedback :: \"#heatObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"heatObject.feedback\": [\n {\n \"rhs\": \"You heat the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CleanObject {\n template :: \"clean {o} with {r}\";\n feedback :: \"#cleanObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"cleanObject.feedback\": [\n {\n \"rhs\": \"You clean the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CoolObject {\n template :: \"cool {o} with {r}\";\n feedback :: \"#coolObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"coolObject.feedback\": [\n {\n \"rhs\": \"You cool the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction SliceObject {\n template :: \"slice {co} with {ko}\";\n feedback :: \"#sliceObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"sliceObject.feedback\": [\n {\n \"rhs\": \"You sliced the {co.name} with the {ko.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction look {\n template :: \"look\";\n feedback :: \"#look.feedback#\";\n\n grammar :: \"\"\"\n {\n \"look.feedback\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"#look-variations#. Next to it, you see #list_objects_on_the_floor#.\"\n },\n {\n \"rhs\": \"You are in the middle of a room. Looking quickly around you, you see #list_appliances#.\"\n }\n ],\n\n \"look-variations\": [\n {\n \"rhs\": \"You are facing the [{r.name | atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)}]\"\n }\n ],\n\n \"list_objects_on_the_floor\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)\",\n \"rhs\": \"[{#overview(o)# | atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"list_appliances\": [\n {\n \"condition\": \"receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"[{#overview(r)# | receptacleatlocation(r:receptacle, l:location)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"overview(o, r)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name} (in/on the {r.name})}\"\n }\n ],\n\n \"overview(o)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name}\"\n }\n ],\n \"overview(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}\"\n }\n ],\n \"overview_with_state(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}#overview_state(r)#\"\n }\n ],\n \"overview_state(r)\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \" (it is open)\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \" (it is closed)\"\n },\n {\n \"rhs\": \"\"\n }\n ],\n\n \"list_empty\": [\n {\n \"rhs\": \"nothing\"\n }\n ],\n \"list_separator\": [\n {\n \"rhs\": \", \"\n }\n ],\n \"list_last_separator\": [\n {\n \"rhs\": \", and \"\n }\n ]\n }\n \"\"\";\n}\n\naction help {\n template :: \"help\";\n feedback :: \"\nAvailable commands:\n look: look around your current location\n inventory: check your current inventory\n go to (receptacle): move to a receptacle\n open (receptacle): open a receptacle\n close (receptacle): close a receptacle\n take (object) from (receptacle): take an object from a receptacle\n move (object) to (receptacle): place an object in or on a receptacle\n examine (something): examine a receptacle or an object\n use (object): use an object\n heat (object) with (receptacle): heat an object using a receptacle\n clean (object) with (receptacle): clean an object using a receptacle\n cool (object) with (receptacle): cool an object using a receptacle\n slice (object) with (object): slice an object using a sharp object\n\";\n}\n", "pddl_problem": "\n(define (problem plan_trial_T20190909_091626_928669)\n(:domain alfred)\n(:objects\nagent1 - agent\nSaltShaker - object\n HousePlant - object\n Candle - object\n SprayBottle - object\n Bowl - object\n Window - object\n CD - object\n Egg - object\n Glassbottle - object\n Sink - object\n Pillow - object\n Spoon - object\n SoapBottle - object\n TeddyBear - object\n ButterKnife - object\n Cup - object\n Plate - object\n RemoteControl - object\n Tomato - object\n Statue - object\n HandTowel - object\n Knife - object\n StoveKnob - object\n LightSwitch - object\n Pen - object\n Painting - object\n DishSponge - object\n Vase - object\n Mug - object\n ToiletPaper - object\n Box - object\n Mirror - object\n Ladle - object\n Fork - object\n Blinds - object\n Footstool - object\n KeyChain - object\n Cloth - object\n Laptop - object\n TissueBox - object\n PepperShaker - object\n FloorLamp - object\n WateringCan - object\n Apple - object\n Pan - object\n PaperTowel - object\n PaperTowelRoll - object\n Newspaper - object\n Television - object\n Chair - object\n CellPhone - object\n CreditCard - object\n Lettuce - object\n BasketBall - object\n Potato - object\n Curtains - object\n Boots - object\n Pencil - object\n AlarmClock - object\n ToiletPaperRoll - object\n Spatula - object\n Book - object\n Bread - object\n SoapBar - object\n Watch - object\n DeskLamp - object\n Kettle - object\n Pot - object\n ScrubBrush - object\n WineBottle - object\n ShowerDoor - object\n Bathtub - object\n LaundryHamperLid - object\n ShowerGlass - object\n Poster - object\n TennisRacket - object\n BaseballBat - object\n Towel - object\n Plunger - object\nSaltShakerType - otype\n HousePlantType - otype\n CandleType - otype\n SprayBottleType - otype\n BowlType - otype\n WindowType - otype\n CDType - otype\n EggType - otype\n GlassbottleType - otype\n SinkType - otype\n PillowType - otype\n SpoonType - otype\n SoapBottleType - otype\n TeddyBearType - otype\n ButterKnifeType - otype\n CupType - otype\n PlateType - otype\n RemoteControlType - otype\n TomatoType - otype\n StatueType - otype\n HandTowelType - otype\n KnifeType - otype\n StoveKnobType - otype\n LightSwitchType - otype\n PenType - otype\n PaintingType - otype\n DishSpongeType - otype\n VaseType - otype\n MugType - otype\n ToiletPaperType - otype\n BoxType - otype\n MirrorType - otype\n LadleType - otype\n ForkType - otype\n BlindsType - otype\n FootstoolType - otype\n KeyChainType - otype\n ClothType - otype\n LaptopType - otype\n TissueBoxType - otype\n PepperShakerType - otype\n FloorLampType - otype\n WateringCanType - otype\n AppleType - otype\n PanType - otype\n PaperTowelType - otype\n PaperTowelRollType - otype\n NewspaperType - otype\n TelevisionType - otype\n ChairType - otype\n CellPhoneType - otype\n CreditCardType - otype\n LettuceType - otype\n BasketBallType - otype\n PotatoType - otype\n CurtainsType - otype\n BootsType - otype\n PencilType - otype\n AlarmClockType - otype\n ToiletPaperRollType - otype\n SpatulaType - otype\n BookType - otype\n BreadType - otype\n SoapBarType - otype\n WatchType - otype\n DeskLampType - otype\n KettleType - otype\n PotType - otype\n ScrubBrushType - otype\n WineBottleType - otype\n ShowerDoorType - otype\n BathtubType - otype\n LaundryHamperLidType - otype\n ShowerGlassType - otype\n PosterType - otype\n TennisRacketType - otype\n BaseballBatType - otype\n TowelType - otype\n PlungerType - otype\nSafeType - rtype\n DrawerType - rtype\n CoffeeMachineType - rtype\n HandTowelHolderType - rtype\n SinkBasinType - rtype\n DresserType - rtype\n LaundryHamperType - rtype\n TVStandType - rtype\n BathtubBasinType - rtype\n CabinetType - rtype\n FridgeType - rtype\n DeskType - rtype\n ToiletType - rtype\n CartType - rtype\n SideTableType - rtype\n SofaType - rtype\n CoffeeTableType - rtype\n DiningTableType - rtype\n CounterTopType - rtype\n GarbageCanType - rtype\n ArmChairType - rtype\n ShelfType - rtype\n MicrowaveType - rtype\n ToasterType - rtype\n BedType - rtype\n PaintingHangerType - rtype\n TowelHolderType - rtype\n ToiletPaperHangerType - rtype\n StoveBurnerType - rtype\n OttomanType - rtype\n\n\n Apple_bar__plus_00_dot_29_bar__plus_01_dot_00_bar__plus_01_dot_22 - object\n Apple_bar__minus_00_dot_36_bar__plus_00_dot_84_bar__minus_01_dot_94 - object\n Apple_bar__minus_01_dot_32_bar__plus_01_dot_09_bar__minus_01_dot_64 - object\n 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SaltShaker_bar__minus_00_dot_72_bar__plus_00_dot_91_bar__minus_02_dot_23 - object\n Sink_bar__minus_00_dot_11_bar__plus_00_dot_89_bar__minus_02_dot_01 - object\n SoapBottle_bar__plus_00_dot_18_bar__plus_00_dot_93_bar__plus_00_dot_53 - object\n SoapBottle_bar__plus_00_dot_46_bar__plus_00_dot_91_bar__minus_02_dot_17 - object\n Spatula_bar__plus_00_dot_41_bar__plus_00_dot_95_bar__plus_00_dot_76 - object\n Spatula_bar__plus_00_dot_52_bar__plus_00_dot_94_bar__plus_01_dot_22 - object\n Spatula_bar__minus_00_dot_63_bar__plus_00_dot_90_bar__minus_02_dot_18 - object\n Spoon_bar__plus_00_dot_29_bar__plus_00_dot_93_bar__plus_00_dot_53 - object\n Spoon_bar__minus_01_dot_00_bar__plus_00_dot_91_bar__minus_02_dot_15 - object\n StoveKnob_bar__plus_02_dot_04_bar__plus_01_dot_09_bar__minus_00_dot_25 - object\n StoveKnob_bar__plus_02_dot_04_bar__plus_01_dot_09_bar__minus_00_dot_41 - object\n StoveKnob_bar__plus_02_dot_04_bar__plus_01_dot_09_bar__minus_00_dot_65 - object\n 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loc_bar_0_bar__minus_4_bar_3_bar_60 - location\n loc_bar_4_bar__minus_4_bar_1_bar__minus_30 - location\n loc_bar_5_bar_5_bar_0_bar_45 - location\n loc_bar_2_bar__minus_5_bar_1_bar_60 - location\n loc_bar__minus_2_bar__minus_4_bar_2_bar__minus_15 - location\n loc_bar_4_bar__minus_5_bar_2_bar__minus_30 - location\n loc_bar__minus_1_bar__minus_5_bar_3_bar_60 - location\n loc_bar_3_bar__minus_5_bar_2_bar_45 - location\n loc_bar__minus_1_bar__minus_5_bar_3_bar__minus_15 - location\n loc_bar_4_bar__minus_3_bar_1_bar_30 - location\n loc_bar_4_bar__minus_1_bar_1_bar_45 - location\n loc_bar_0_bar__minus_5_bar_2_bar_45 - location\n loc_bar__minus_5_bar_2_bar_3_bar_30 - location\n )\n \n\n(:init\n\n\n (receptacleType Cabinet_bar__plus_01_dot_38_bar__plus_00_dot_47_bar__minus_01_dot_69 CabinetType)\n (receptacleType Shelf_bar__plus_01_dot_55_bar__plus_00_dot_87_bar__plus_02_dot_48 ShelfType)\n (receptacleType Cabinet_bar__minus_01_dot_10_bar__plus_02_dot_02_bar__minus_02_dot_00 CabinetType)\n 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(receptacleType Shelf_bar__plus_01_dot_55_bar__plus_00_dot_54_bar__plus_02_dot_48 ShelfType)\n (receptacleType Cabinet_bar__minus_00_dot_82_bar__plus_00_dot_47_bar__minus_01_dot_69 CabinetType)\n (receptacleType GarbageCan_bar__plus_01_dot_87_bar__plus_00_dot_00_bar__plus_00_dot_13 GarbageCanType)\n (receptacleType StoveBurner_bar__plus_01_dot_57_bar__plus_00_dot_94_bar__minus_00_dot_36 StoveBurnerType)\n (receptacleType CounterTop_bar__plus_00_dot_23_bar__plus_00_dot_95_bar__minus_02_dot_00 CounterTopType)\n (receptacleType Cabinet_bar__plus_01_dot_72_bar__plus_02_dot_02_bar__minus_02_dot_00 CabinetType)\n (receptacleType Drawer_bar__minus_00_dot_82_bar__plus_00_dot_75_bar__minus_01_dot_69 DrawerType)\n (objectType Plate_bar__plus_01_dot_40_bar__plus_01_dot_66_bar__minus_02_dot_16 PlateType)\n (objectType Fork_bar__minus_00_dot_21_bar__plus_00_dot_77_bar__minus_02_dot_07 ForkType)\n (objectType WineBottle_bar__minus_00_dot_66_bar__plus_00_dot_11_bar__minus_01_dot_96 WineBottleType)\n 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Spatula_bar__plus_00_dot_41_bar__plus_00_dot_95_bar__plus_00_dot_76)\n (cleanable Bowl_bar__minus_00_dot_05_bar__plus_00_dot_93_bar__plus_01_dot_22)\n (cleanable Cup_bar__plus_00_dot_07_bar__plus_00_dot_93_bar__plus_00_dot_08)\n (cleanable Spoon_bar__minus_01_dot_00_bar__plus_00_dot_91_bar__minus_02_dot_15)\n \n (heatable Plate_bar__plus_01_dot_40_bar__plus_01_dot_66_bar__minus_02_dot_16)\n (heatable Apple_bar__plus_00_dot_29_bar__plus_01_dot_00_bar__plus_01_dot_22)\n (heatable Cup_bar__plus_01_dot_46_bar__plus_00_dot_88_bar__plus_02_dot_54)\n (heatable Cup_bar__minus_01_dot_32_bar__plus_01_dot_18_bar__minus_00_dot_60)\n (heatable Plate_bar__plus_00_dot_18_bar__plus_00_dot_93_bar__plus_00_dot_99)\n (heatable Mug_bar__minus_00_dot_14_bar__plus_00_dot_76_bar__minus_01_dot_98)\n (heatable Mug_bar__plus_00_dot_07_bar__plus_00_dot_93_bar__plus_00_dot_53)\n (heatable Apple_bar__minus_01_dot_32_bar__plus_01_dot_09_bar__minus_01_dot_64)\n (heatable Bread_bar__plus_00_dot_40_bar__plus_00_dot_96_bar__plus_00_dot_11)\n (heatable Egg_bar__minus_01_dot_53_bar__plus_01_dot_56_bar__minus_00_dot_91)\n (heatable Potato_bar__minus_01_dot_44_bar__plus_01_dot_21_bar__minus_00_dot_39)\n (heatable Potato_bar__minus_00_dot_93_bar__plus_00_dot_94_bar__minus_02_dot_26)\n (heatable Egg_bar__minus_01_dot_55_bar__plus_00_dot_91_bar__minus_00_dot_60)\n (heatable Tomato_bar__minus_01_dot_44_bar__plus_00_dot_91_bar__minus_00_dot_60)\n (heatable Tomato_bar__plus_00_dot_18_bar__plus_00_dot_98_bar__plus_00_dot_31)\n (heatable Potato_bar__minus_01_dot_61_bar__plus_01_dot_53_bar__minus_00_dot_91)\n (heatable Apple_bar__minus_00_dot_36_bar__plus_00_dot_84_bar__minus_01_dot_94)\n (heatable Egg_bar__plus_00_dot_01_bar__plus_00_dot_82_bar__minus_01_dot_94)\n (heatable Cup_bar__plus_00_dot_07_bar__plus_00_dot_93_bar__plus_00_dot_08)\n (coolable Plate_bar__plus_01_dot_40_bar__plus_01_dot_66_bar__minus_02_dot_16)\n (coolable WineBottle_bar__minus_00_dot_66_bar__plus_00_dot_11_bar__minus_01_dot_96)\n (coolable Apple_bar__plus_00_dot_29_bar__plus_01_dot_00_bar__plus_01_dot_22)\n (coolable Cup_bar__plus_01_dot_46_bar__plus_00_dot_88_bar__plus_02_dot_54)\n (coolable Cup_bar__minus_01_dot_32_bar__plus_01_dot_18_bar__minus_00_dot_60)\n (coolable Plate_bar__plus_00_dot_18_bar__plus_00_dot_93_bar__plus_00_dot_99)\n (coolable Pan_bar__plus_01_dot_82_bar__plus_00_dot_95_bar__minus_00_dot_35)\n (coolable Mug_bar__minus_00_dot_14_bar__plus_00_dot_76_bar__minus_01_dot_98)\n (coolable Mug_bar__plus_00_dot_07_bar__plus_00_dot_93_bar__plus_00_dot_53)\n (coolable Apple_bar__minus_01_dot_32_bar__plus_01_dot_09_bar__minus_01_dot_64)\n (coolable Bread_bar__plus_00_dot_40_bar__plus_00_dot_96_bar__plus_00_dot_11)\n (coolable Egg_bar__minus_01_dot_53_bar__plus_01_dot_56_bar__minus_00_dot_91)\n (coolable Potato_bar__minus_01_dot_44_bar__plus_01_dot_21_bar__minus_00_dot_39)\n (coolable Potato_bar__minus_00_dot_93_bar__plus_00_dot_94_bar__minus_02_dot_26)\n (coolable Egg_bar__minus_01_dot_55_bar__plus_00_dot_91_bar__minus_00_dot_60)\n (coolable Tomato_bar__minus_01_dot_44_bar__plus_00_dot_91_bar__minus_00_dot_60)\n (coolable Tomato_bar__plus_00_dot_18_bar__plus_00_dot_98_bar__plus_00_dot_31)\n (coolable Potato_bar__minus_01_dot_61_bar__plus_01_dot_53_bar__minus_00_dot_91)\n (coolable Pot_bar__plus_01_dot_57_bar__plus_00_dot_95_bar__minus_00_dot_76)\n (coolable Bowl_bar__plus_01_dot_83_bar__plus_00_dot_91_bar__minus_01_dot_10)\n (coolable Apple_bar__minus_00_dot_36_bar__plus_00_dot_84_bar__minus_01_dot_94)\n (coolable Lettuce_bar__minus_01_dot_55_bar__plus_01_dot_26_bar__minus_00_dot_70)\n (coolable Egg_bar__plus_00_dot_01_bar__plus_00_dot_82_bar__minus_01_dot_94)\n (coolable Bowl_bar__minus_00_dot_05_bar__plus_00_dot_93_bar__plus_01_dot_22)\n (coolable Cup_bar__plus_00_dot_07_bar__plus_00_dot_93_bar__plus_00_dot_08)\n \n (isCool Tomato_bar__minus_01_dot_44_bar__plus_00_dot_91_bar__minus_00_dot_60)\n \n \n \n (sliceable Apple_bar__plus_00_dot_29_bar__plus_01_dot_00_bar__plus_01_dot_22)\n (sliceable Apple_bar__minus_01_dot_32_bar__plus_01_dot_09_bar__minus_01_dot_64)\n (sliceable Bread_bar__plus_00_dot_40_bar__plus_00_dot_96_bar__plus_00_dot_11)\n (sliceable Egg_bar__minus_01_dot_53_bar__plus_01_dot_56_bar__minus_00_dot_91)\n (sliceable Potato_bar__minus_01_dot_44_bar__plus_01_dot_21_bar__minus_00_dot_39)\n (sliceable Potato_bar__minus_00_dot_93_bar__plus_00_dot_94_bar__minus_02_dot_26)\n (sliceable Egg_bar__minus_01_dot_55_bar__plus_00_dot_91_bar__minus_00_dot_60)\n (sliceable Tomato_bar__minus_01_dot_44_bar__plus_00_dot_91_bar__minus_00_dot_60)\n (sliceable Tomato_bar__plus_00_dot_18_bar__plus_00_dot_98_bar__plus_00_dot_31)\n (sliceable Potato_bar__minus_01_dot_61_bar__plus_01_dot_53_bar__minus_00_dot_91)\n (sliceable Apple_bar__minus_00_dot_36_bar__plus_00_dot_84_bar__minus_01_dot_94)\n (sliceable Lettuce_bar__minus_01_dot_55_bar__plus_01_dot_26_bar__minus_00_dot_70)\n (sliceable Egg_bar__plus_00_dot_01_bar__plus_00_dot_82_bar__minus_01_dot_94)\n \n (inReceptacle Pan_bar__plus_01_dot_82_bar__plus_00_dot_95_bar__minus_00_dot_35 StoveBurner_bar__plus_01_dot_85_bar__plus_00_dot_94_bar__minus_00_dot_36)\n (inReceptacle Pot_bar__plus_01_dot_57_bar__plus_00_dot_95_bar__minus_00_dot_76 StoveBurner_bar__plus_01_dot_57_bar__plus_00_dot_94_bar__minus_00_dot_76)\n (inReceptacle Plate_bar__plus_01_dot_40_bar__plus_01_dot_66_bar__minus_02_dot_16 Cabinet_bar__plus_01_dot_72_bar__plus_02_dot_02_bar__minus_02_dot_00)\n (inReceptacle Ladle_bar__plus_01_dot_91_bar__plus_01_dot_70_bar__minus_01_dot_20 Cabinet_bar__plus_01_dot_75_bar__plus_02_dot_02_bar__minus_01_dot_03)\n (inReceptacle DishSponge_bar__plus_01_dot_26_bar__plus_00_dot_12_bar__minus_01_dot_86 Cabinet_bar__plus_01_dot_38_bar__plus_00_dot_47_bar__minus_01_dot_69)\n (inReceptacle WineBottle_bar__minus_00_dot_66_bar__plus_00_dot_11_bar__minus_01_dot_96 Cabinet_bar__minus_00_dot_82_bar__plus_00_dot_47_bar__minus_01_dot_69)\n (inReceptacle Pan_bar__plus_01_dot_82_bar__plus_00_dot_95_bar__minus_00_dot_35 StoveBurner_bar__plus_01_dot_85_bar__plus_00_dot_94_bar__minus_00_dot_76)\n (inReceptacle Knife_bar__minus_00_dot_05_bar__plus_00_dot_95_bar__plus_00_dot_76 DiningTable_bar__plus_00_dot_42_bar__plus_00_dot_01_bar__plus_00_dot_68)\n (inReceptacle ButterKnife_bar__plus_00_dot_41_bar__plus_00_dot_93_bar__plus_00_dot_76 DiningTable_bar__plus_00_dot_42_bar__plus_00_dot_01_bar__plus_00_dot_68)\n (inReceptacle PepperShaker_bar__plus_00_dot_41_bar__plus_00_dot_93_bar__plus_00_dot_53 DiningTable_bar__plus_00_dot_42_bar__plus_00_dot_01_bar__plus_00_dot_68)\n (inReceptacle Mug_bar__plus_00_dot_07_bar__plus_00_dot_93_bar__plus_00_dot_53 DiningTable_bar__plus_00_dot_42_bar__plus_00_dot_01_bar__plus_00_dot_68)\n (inReceptacle Fork_bar__minus_00_dot_05_bar__plus_00_dot_93_bar__plus_00_dot_31 DiningTable_bar__plus_00_dot_42_bar__plus_00_dot_01_bar__plus_00_dot_68)\n (inReceptacle SoapBottle_bar__plus_00_dot_18_bar__plus_00_dot_93_bar__plus_00_dot_53 DiningTable_bar__plus_00_dot_42_bar__plus_00_dot_01_bar__plus_00_dot_68)\n (inReceptacle Spoon_bar__plus_00_dot_29_bar__plus_00_dot_93_bar__plus_00_dot_53 DiningTable_bar__plus_00_dot_42_bar__plus_00_dot_01_bar__plus_00_dot_68)\n (inReceptacle Apple_bar__plus_00_dot_29_bar__plus_01_dot_00_bar__plus_01_dot_22 DiningTable_bar__plus_00_dot_42_bar__plus_00_dot_01_bar__plus_00_dot_68)\n (inReceptacle Bread_bar__plus_00_dot_40_bar__plus_00_dot_96_bar__plus_00_dot_11 DiningTable_bar__plus_00_dot_42_bar__plus_00_dot_01_bar__plus_00_dot_68)\n (inReceptacle Plate_bar__plus_00_dot_18_bar__plus_00_dot_93_bar__plus_00_dot_99 DiningTable_bar__plus_00_dot_42_bar__plus_00_dot_01_bar__plus_00_dot_68)\n (inReceptacle Ladle_bar__plus_00_dot_18_bar__plus_00_dot_98_bar__plus_01_dot_45 DiningTable_bar__plus_00_dot_42_bar__plus_00_dot_01_bar__plus_00_dot_68)\n (inReceptacle Spatula_bar__plus_00_dot_41_bar__plus_00_dot_95_bar__plus_00_dot_76 DiningTable_bar__plus_00_dot_42_bar__plus_00_dot_01_bar__plus_00_dot_68)\n (inReceptacle Bowl_bar__minus_00_dot_05_bar__plus_00_dot_93_bar__plus_01_dot_22 DiningTable_bar__plus_00_dot_42_bar__plus_00_dot_01_bar__plus_00_dot_68)\n (inReceptacle Spatula_bar__plus_00_dot_52_bar__plus_00_dot_94_bar__plus_01_dot_22 DiningTable_bar__plus_00_dot_42_bar__plus_00_dot_01_bar__plus_00_dot_68)\n (inReceptacle Cup_bar__plus_00_dot_07_bar__plus_00_dot_93_bar__plus_00_dot_08 DiningTable_bar__plus_00_dot_42_bar__plus_00_dot_01_bar__plus_00_dot_68)\n (inReceptacle Tomato_bar__plus_00_dot_18_bar__plus_00_dot_98_bar__plus_00_dot_31 DiningTable_bar__plus_00_dot_42_bar__plus_00_dot_01_bar__plus_00_dot_68)\n (inReceptacle Spoon_bar__minus_01_dot_00_bar__plus_00_dot_91_bar__minus_02_dot_15 CounterTop_bar__plus_00_dot_23_bar__plus_00_dot_95_bar__minus_02_dot_00)\n (inReceptacle Bowl_bar__plus_01_dot_83_bar__plus_00_dot_91_bar__minus_01_dot_10 CounterTop_bar__plus_00_dot_23_bar__plus_00_dot_95_bar__minus_02_dot_00)\n (inReceptacle SaltShaker_bar__minus_00_dot_72_bar__plus_00_dot_91_bar__minus_02_dot_23 CounterTop_bar__plus_00_dot_23_bar__plus_00_dot_95_bar__minus_02_dot_00)\n (inReceptacle Knife_bar__plus_01_dot_62_bar__plus_00_dot_94_bar__minus_02_dot_00 CounterTop_bar__plus_00_dot_23_bar__plus_00_dot_95_bar__minus_02_dot_00)\n (inReceptacle ButterKnife_bar__minus_00_dot_72_bar__plus_00_dot_91_bar__minus_02_dot_17 CounterTop_bar__plus_00_dot_23_bar__plus_00_dot_95_bar__minus_02_dot_00)\n (inReceptacle ButterKnife_bar__plus_01_dot_85_bar__plus_00_dot_91_bar__minus_02_dot_09 CounterTop_bar__plus_00_dot_23_bar__plus_00_dot_95_bar__minus_02_dot_00)\n (inReceptacle Ladle_bar__plus_01_dot_83_bar__plus_00_dot_96_bar__minus_01_dot_45 CounterTop_bar__plus_00_dot_23_bar__plus_00_dot_95_bar__minus_02_dot_00)\n (inReceptacle Potato_bar__minus_00_dot_93_bar__plus_00_dot_94_bar__minus_02_dot_26 CounterTop_bar__plus_00_dot_23_bar__plus_00_dot_95_bar__minus_02_dot_00)\n (inReceptacle PepperShaker_bar__minus_01_dot_07_bar__plus_00_dot_91_bar__minus_02_dot_22 CounterTop_bar__plus_00_dot_23_bar__plus_00_dot_95_bar__minus_02_dot_00)\n (inReceptacle Spatula_bar__minus_00_dot_63_bar__plus_00_dot_90_bar__minus_02_dot_18 CounterTop_bar__plus_00_dot_23_bar__plus_00_dot_95_bar__minus_02_dot_00)\n (inReceptacle SoapBottle_bar__plus_00_dot_46_bar__plus_00_dot_91_bar__minus_02_dot_17 CounterTop_bar__plus_00_dot_23_bar__plus_00_dot_95_bar__minus_02_dot_00)\n (inReceptacle Cup_bar__plus_01_dot_46_bar__plus_00_dot_88_bar__plus_02_dot_54 Shelf_bar__plus_01_dot_55_bar__plus_00_dot_87_bar__plus_02_dot_48)\n (inReceptacle DishSponge_bar__plus_01_dot_88_bar__plus_00_dot_55_bar__plus_02_dot_53 Shelf_bar__plus_01_dot_55_bar__plus_00_dot_54_bar__plus_02_dot_48)\n (inReceptacle Apple_bar__minus_01_dot_32_bar__plus_01_dot_09_bar__minus_01_dot_64 Microwave_bar__minus_01_dot_23_bar__plus_00_dot_90_bar__minus_01_dot_68)\n (inReceptacle Potato_bar__minus_01_dot_61_bar__plus_01_dot_53_bar__minus_00_dot_91 Fridge_bar__minus_01_dot_50_bar__plus_00_dot_00_bar__minus_00_dot_70)\n (inReceptacle Lettuce_bar__minus_01_dot_55_bar__plus_01_dot_26_bar__minus_00_dot_70 Fridge_bar__minus_01_dot_50_bar__plus_00_dot_00_bar__minus_00_dot_70)\n (inReceptacle Cup_bar__minus_01_dot_32_bar__plus_01_dot_18_bar__minus_00_dot_60 Fridge_bar__minus_01_dot_50_bar__plus_00_dot_00_bar__minus_00_dot_70)\n (inReceptacle Egg_bar__minus_01_dot_53_bar__plus_01_dot_56_bar__minus_00_dot_91 Fridge_bar__minus_01_dot_50_bar__plus_00_dot_00_bar__minus_00_dot_70)\n (inReceptacle Potato_bar__minus_01_dot_44_bar__plus_01_dot_21_bar__minus_00_dot_39 Fridge_bar__minus_01_dot_50_bar__plus_00_dot_00_bar__minus_00_dot_70)\n (inReceptacle Egg_bar__minus_01_dot_55_bar__plus_00_dot_91_bar__minus_00_dot_60 Fridge_bar__minus_01_dot_50_bar__plus_00_dot_00_bar__minus_00_dot_70)\n (inReceptacle Tomato_bar__minus_01_dot_44_bar__plus_00_dot_91_bar__minus_00_dot_60 Fridge_bar__minus_01_dot_50_bar__plus_00_dot_00_bar__minus_00_dot_70)\n (inReceptacle Egg_bar__plus_00_dot_01_bar__plus_00_dot_82_bar__minus_01_dot_94 Sink_bar__minus_00_dot_11_bar__plus_00_dot_89_bar__minus_02_dot_01_bar_SinkBasin)\n (inReceptacle Fork_bar__minus_00_dot_21_bar__plus_00_dot_77_bar__minus_02_dot_07 Sink_bar__minus_00_dot_11_bar__plus_00_dot_89_bar__minus_02_dot_01_bar_SinkBasin)\n (inReceptacle Mug_bar__minus_00_dot_14_bar__plus_00_dot_76_bar__minus_01_dot_98 Sink_bar__minus_00_dot_11_bar__plus_00_dot_89_bar__minus_02_dot_01_bar_SinkBasin)\n (inReceptacle Apple_bar__minus_00_dot_36_bar__plus_00_dot_84_bar__minus_01_dot_94 Sink_bar__minus_00_dot_11_bar__plus_00_dot_89_bar__minus_02_dot_01_bar_SinkBasin)\n \n \n (receptacleAtLocation Cabinet_bar__plus_00_dot_20_bar__plus_02_dot_02_bar__minus_02_dot_00 loc_bar_1_bar__minus_5_bar_2_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__plus_01_dot_18_bar__plus_02_dot_02_bar__minus_02_dot_00 loc_bar_4_bar__minus_5_bar_2_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__plus_01_dot_38_bar__plus_00_dot_47_bar__minus_01_dot_69 loc_bar_3_bar__minus_3_bar_2_bar_45)\n (receptacleAtLocation Cabinet_bar__plus_01_dot_39_bar__plus_00_dot_47_bar__minus_01_dot_06 loc_bar_2_bar__minus_5_bar_1_bar_60)\n (receptacleAtLocation Cabinet_bar__plus_01_dot_72_bar__plus_02_dot_02_bar__minus_02_dot_00 loc_bar_4_bar__minus_5_bar_2_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__plus_01_dot_75_bar__plus_02_dot_02_bar__minus_01_dot_03 loc_bar_4_bar__minus_4_bar_1_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__plus_01_dot_75_bar__plus_02_dot_02_bar__minus_01_dot_40 loc_bar_4_bar__minus_5_bar_1_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_46_bar__plus_02_dot_27_bar__minus_02_dot_00 loc_bar__minus_1_bar__minus_5_bar_2_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_82_bar__plus_00_dot_47_bar__minus_01_dot_69 loc_bar__minus_1_bar__minus_3_bar_2_bar_45)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_84_bar__plus_00_dot_47_bar__minus_01_dot_67 loc_bar_0_bar__minus_4_bar_3_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_01_dot_10_bar__plus_02_dot_02_bar__minus_02_dot_00 loc_bar__minus_2_bar__minus_4_bar_2_bar__minus_15)\n (receptacleAtLocation Cabinet_bar__minus_01_dot_15_bar__plus_02_dot_02_bar__minus_01_dot_98 loc_bar__minus_1_bar__minus_5_bar_3_bar__minus_15)\n (receptacleAtLocation Cabinet_bar__minus_01_dot_15_bar__plus_02_dot_27_bar__minus_00_dot_83 loc_bar__minus_2_bar__minus_3_bar_3_bar__minus_30)\n (receptacleAtLocation CoffeeMachine_bar__plus_01_dot_37_bar__plus_00_dot_90_bar__minus_02_dot_11 loc_bar_4_bar__minus_5_bar_2_bar_45)\n (receptacleAtLocation CounterTop_bar__plus_00_dot_23_bar__plus_00_dot_95_bar__minus_02_dot_00 loc_bar_3_bar__minus_5_bar_2_bar_45)\n (receptacleAtLocation DiningTable_bar__plus_00_dot_42_bar__plus_00_dot_01_bar__plus_00_dot_68 loc_bar__minus_4_bar_3_bar_1_bar_45)\n (receptacleAtLocation Drawer_bar__minus_00_dot_82_bar__plus_00_dot_75_bar__minus_01_dot_69 loc_bar__minus_1_bar__minus_5_bar_3_bar_60)\n (receptacleAtLocation Fridge_bar__minus_01_dot_50_bar__plus_00_dot_00_bar__minus_00_dot_70 loc_bar__minus_2_bar__minus_3_bar_3_bar_60)\n (receptacleAtLocation GarbageCan_bar__plus_01_dot_87_bar__plus_00_dot_00_bar__plus_00_dot_13 loc_bar_5_bar_1_bar_1_bar_60)\n (receptacleAtLocation Microwave_bar__minus_01_dot_23_bar__plus_00_dot_90_bar__minus_01_dot_68 loc_bar__minus_1_bar__minus_5_bar_3_bar_30)\n (receptacleAtLocation Shelf_bar__plus_01_dot_55_bar__plus_00_dot_16_bar__plus_02_dot_48 loc_bar_4_bar_6_bar_0_bar_60)\n (receptacleAtLocation Shelf_bar__plus_01_dot_55_bar__plus_00_dot_54_bar__plus_02_dot_48 loc_bar_5_bar_5_bar_0_bar_45)\n (receptacleAtLocation Shelf_bar__plus_01_dot_55_bar__plus_00_dot_87_bar__plus_02_dot_48 loc_bar_6_bar_8_bar_0_bar_60)\n (receptacleAtLocation Sink_bar__minus_00_dot_11_bar__plus_00_dot_89_bar__minus_02_dot_01_bar_SinkBasin loc_bar__minus_1_bar__minus_5_bar_2_bar_45)\n (receptacleAtLocation StoveBurner_bar__plus_01_dot_57_bar__plus_00_dot_94_bar__minus_00_dot_36 loc_bar_4_bar__minus_1_bar_1_bar_45)\n (receptacleAtLocation StoveBurner_bar__plus_01_dot_57_bar__plus_00_dot_94_bar__minus_00_dot_76 loc_bar_4_bar__minus_3_bar_1_bar_45)\n (receptacleAtLocation StoveBurner_bar__plus_01_dot_85_bar__plus_00_dot_94_bar__minus_00_dot_36 loc_bar_4_bar__minus_1_bar_1_bar_45)\n (receptacleAtLocation StoveBurner_bar__plus_01_dot_85_bar__plus_00_dot_94_bar__minus_00_dot_76 loc_bar_4_bar__minus_3_bar_1_bar_45)\n (receptacleAtLocation Toaster_bar__plus_00_dot_78_bar__plus_00_dot_90_bar__minus_02_dot_08 loc_bar_3_bar__minus_5_bar_2_bar_45)\n (objectAtLocation Mug_bar__minus_00_dot_14_bar__plus_00_dot_76_bar__minus_01_dot_98 loc_bar__minus_1_bar__minus_5_bar_2_bar_45)\n (objectAtLocation Knife_bar__minus_00_dot_05_bar__plus_00_dot_95_bar__plus_00_dot_76 loc_bar__minus_4_bar_3_bar_1_bar_45)\n (objectAtLocation Spoon_bar__minus_01_dot_00_bar__plus_00_dot_91_bar__minus_02_dot_15 loc_bar_3_bar__minus_5_bar_2_bar_45)\n (objectAtLocation Egg_bar__plus_00_dot_01_bar__plus_00_dot_82_bar__minus_01_dot_94 loc_bar__minus_1_bar__minus_5_bar_2_bar_45)\n (objectAtLocation DishSponge_bar__plus_01_dot_26_bar__plus_00_dot_12_bar__minus_01_dot_86 loc_bar_3_bar__minus_3_bar_2_bar_45)\n (objectAtLocation Tomato_bar__plus_00_dot_18_bar__plus_00_dot_98_bar__plus_00_dot_31 loc_bar__minus_4_bar_3_bar_1_bar_45)\n (objectAtLocation ButterKnife_bar__plus_00_dot_41_bar__plus_00_dot_93_bar__plus_00_dot_76 loc_bar__minus_4_bar_3_bar_1_bar_45)\n (objectAtLocation PepperShaker_bar__minus_01_dot_07_bar__plus_00_dot_91_bar__minus_02_dot_22 loc_bar_3_bar__minus_5_bar_2_bar_45)\n (objectAtLocation Cup_bar__plus_00_dot_07_bar__plus_00_dot_93_bar__plus_00_dot_08 loc_bar__minus_4_bar_3_bar_1_bar_45)\n (objectAtLocation Plate_bar__plus_01_dot_40_bar__plus_01_dot_66_bar__minus_02_dot_16 loc_bar_4_bar__minus_5_bar_2_bar__minus_30)\n (objectAtLocation Spatula_bar__minus_00_dot_63_bar__plus_00_dot_90_bar__minus_02_dot_18 loc_bar_3_bar__minus_5_bar_2_bar_45)\n (objectAtLocation Ladle_bar__plus_01_dot_83_bar__plus_00_dot_96_bar__minus_01_dot_45 loc_bar_3_bar__minus_5_bar_2_bar_45)\n (objectAtLocation Fork_bar__minus_00_dot_05_bar__plus_00_dot_93_bar__plus_00_dot_31 loc_bar__minus_4_bar_3_bar_1_bar_45)\n (objectAtLocation SoapBottle_bar__plus_00_dot_46_bar__plus_00_dot_91_bar__minus_02_dot_17 loc_bar_3_bar__minus_5_bar_2_bar_45)\n (objectAtLocation Bowl_bar__plus_01_dot_83_bar__plus_00_dot_91_bar__minus_01_dot_10 loc_bar_3_bar__minus_5_bar_2_bar_45)\n (objectAtLocation Potato_bar__minus_01_dot_44_bar__plus_01_dot_21_bar__minus_00_dot_39 loc_bar__minus_2_bar__minus_3_bar_3_bar_60)\n (objectAtLocation Apple_bar__plus_00_dot_29_bar__plus_01_dot_00_bar__plus_01_dot_22 loc_bar__minus_4_bar_3_bar_1_bar_45)\n (objectAtLocation Apple_bar__minus_00_dot_36_bar__plus_00_dot_84_bar__minus_01_dot_94 loc_bar__minus_1_bar__minus_5_bar_2_bar_45)\n (objectAtLocation Cup_bar__plus_01_dot_46_bar__plus_00_dot_88_bar__plus_02_dot_54 loc_bar_6_bar_8_bar_0_bar_60)\n (objectAtLocation Egg_bar__minus_01_dot_53_bar__plus_01_dot_56_bar__minus_00_dot_91 loc_bar__minus_2_bar__minus_3_bar_3_bar_60)\n (objectAtLocation Spatula_bar__plus_00_dot_41_bar__plus_00_dot_95_bar__plus_00_dot_76 loc_bar__minus_4_bar_3_bar_1_bar_45)\n (objectAtLocation ButterKnife_bar__plus_01_dot_85_bar__plus_00_dot_91_bar__minus_02_dot_09 loc_bar_3_bar__minus_5_bar_2_bar_45)\n (objectAtLocation Ladle_bar__plus_00_dot_18_bar__plus_00_dot_98_bar__plus_01_dot_45 loc_bar__minus_4_bar_3_bar_1_bar_45)\n (objectAtLocation Potato_bar__minus_01_dot_61_bar__plus_01_dot_53_bar__minus_00_dot_91 loc_bar__minus_2_bar__minus_3_bar_3_bar_60)\n (objectAtLocation Sink_bar__minus_00_dot_11_bar__plus_00_dot_89_bar__minus_02_dot_01 loc_bar_0_bar__minus_5_bar_2_bar_45)\n (objectAtLocation Apple_bar__minus_01_dot_32_bar__plus_01_dot_09_bar__minus_01_dot_64 loc_bar__minus_1_bar__minus_5_bar_3_bar_30)\n (objectAtLocation Potato_bar__minus_00_dot_93_bar__plus_00_dot_94_bar__minus_02_dot_26 loc_bar_3_bar__minus_5_bar_2_bar_45)\n (objectAtLocation Bowl_bar__minus_00_dot_05_bar__plus_00_dot_93_bar__plus_01_dot_22 loc_bar__minus_4_bar_3_bar_1_bar_45)\n (objectAtLocation SoapBottle_bar__plus_00_dot_18_bar__plus_00_dot_93_bar__plus_00_dot_53 loc_bar__minus_4_bar_3_bar_1_bar_45)\n (objectAtLocation Fork_bar__minus_00_dot_21_bar__plus_00_dot_77_bar__minus_02_dot_07 loc_bar__minus_1_bar__minus_5_bar_2_bar_45)\n (objectAtLocation LightSwitch_bar__plus_00_dot_11_bar__plus_01_dot_32_bar__plus_02_dot_75 loc_bar_1_bar_9_bar_0_bar_30)\n (objectAtLocation Ladle_bar__plus_01_dot_91_bar__plus_01_dot_70_bar__minus_01_dot_20 loc_bar_4_bar__minus_4_bar_1_bar__minus_30)\n (objectAtLocation Bread_bar__plus_00_dot_40_bar__plus_00_dot_96_bar__plus_00_dot_11 loc_bar__minus_4_bar_3_bar_1_bar_45)\n (objectAtLocation Lettuce_bar__minus_01_dot_55_bar__plus_01_dot_26_bar__minus_00_dot_70 loc_bar__minus_2_bar__minus_3_bar_3_bar_60)\n (objectAtLocation Window_bar__plus_02_dot_11_bar__plus_01_dot_50_bar__plus_01_dot_07 loc_bar_6_bar_4_bar_1_bar_15)\n (objectAtLocation WineBottle_bar__minus_00_dot_66_bar__plus_00_dot_11_bar__minus_01_dot_96 loc_bar__minus_1_bar__minus_3_bar_2_bar_45)\n (objectAtLocation Spatula_bar__plus_00_dot_52_bar__plus_00_dot_94_bar__plus_01_dot_22 loc_bar__minus_4_bar_3_bar_1_bar_45)\n (objectAtLocation Plate_bar__plus_00_dot_18_bar__plus_00_dot_93_bar__plus_00_dot_99 loc_bar__minus_4_bar_3_bar_1_bar_45)\n (objectAtLocation SaltShaker_bar__minus_00_dot_72_bar__plus_00_dot_91_bar__minus_02_dot_23 loc_bar_3_bar__minus_5_bar_2_bar_45)\n (objectAtLocation Pot_bar__plus_01_dot_57_bar__plus_00_dot_95_bar__minus_00_dot_76 loc_bar_4_bar__minus_3_bar_1_bar_45)\n (objectAtLocation Cup_bar__minus_01_dot_32_bar__plus_01_dot_18_bar__minus_00_dot_60 loc_bar__minus_2_bar__minus_3_bar_3_bar_60)\n (objectAtLocation PepperShaker_bar__plus_00_dot_41_bar__plus_00_dot_93_bar__plus_00_dot_53 loc_bar__minus_4_bar_3_bar_1_bar_45)\n (objectAtLocation Pan_bar__plus_01_dot_82_bar__plus_00_dot_95_bar__minus_00_dot_35 loc_bar_4_bar__minus_3_bar_1_bar_45)\n (objectAtLocation ButterKnife_bar__minus_00_dot_72_bar__plus_00_dot_91_bar__minus_02_dot_17 loc_bar_3_bar__minus_5_bar_2_bar_45)\n (objectAtLocation StoveKnob_bar__plus_02_dot_04_bar__plus_01_dot_09_bar__minus_00_dot_41 loc_bar_4_bar__minus_2_bar_1_bar_30)\n (objectAtLocation StoveKnob_bar__plus_02_dot_04_bar__plus_01_dot_09_bar__minus_00_dot_25 loc_bar_4_bar__minus_1_bar_1_bar_30)\n (objectAtLocation StoveKnob_bar__plus_02_dot_04_bar__plus_01_dot_09_bar__minus_00_dot_65 loc_bar_4_bar__minus_3_bar_1_bar_30)\n (objectAtLocation StoveKnob_bar__plus_02_dot_04_bar__plus_01_dot_09_bar__minus_00_dot_82 loc_bar_4_bar__minus_3_bar_1_bar_30)\n (objectAtLocation Tomato_bar__minus_01_dot_44_bar__plus_00_dot_91_bar__minus_00_dot_60 loc_bar__minus_2_bar__minus_3_bar_3_bar_60)\n (objectAtLocation Chair_bar__minus_00_dot_54_bar__plus_00_dot_61_bar__plus_01_dot_26 loc_bar__minus_4_bar_5_bar_1_bar_60)\n (objectAtLocation DishSponge_bar__plus_01_dot_88_bar__plus_00_dot_55_bar__plus_02_dot_53 loc_bar_5_bar_5_bar_0_bar_45)\n (objectAtLocation Egg_bar__minus_01_dot_55_bar__plus_00_dot_91_bar__minus_00_dot_60 loc_bar__minus_2_bar__minus_3_bar_3_bar_60)\n (objectAtLocation Spoon_bar__plus_00_dot_29_bar__plus_00_dot_93_bar__plus_00_dot_53 loc_bar__minus_4_bar_3_bar_1_bar_45)\n (objectAtLocation Knife_bar__plus_01_dot_62_bar__plus_00_dot_94_bar__minus_02_dot_00 loc_bar_3_bar__minus_5_bar_2_bar_45)\n (objectAtLocation Mug_bar__plus_00_dot_07_bar__plus_00_dot_93_bar__plus_00_dot_53 loc_bar__minus_4_bar_3_bar_1_bar_45)\n )\n \n\n (:goal\n (and\n (exists (?r - receptacle)\n (exists (?o - object)\n (and\n (cleanable ?o)\n (objectType ?o TomatoType)\n (receptacleType ?r FridgeType)\n (isClean ?o)\n (inReceptacle ?o ?r)\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to fridge 1", "open fridge 1", "take tomato 2 from fridge 1", "go to sinkbasin 1", "clean tomato 2 with sinkbasin 1", "go to fridge 1", "move tomato 2 to fridge 1"]}
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alfworld__pick_cool_then_place_in_recep__10
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pick_cool_then_place_in_recep
|
pick_cool_then_place_in_recep-Bowl-None-Shelf-1/trial_T20190907_073835_452186/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 cool bowl in shelf.\"\n }\n ],\n\n \"GotoLocation.feedback\": [\n {\n \"rhs\": \"You arrive at {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"OpenObject.feedback\": [\n {\n \"rhs\": \"You open the {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"CloseObject.feedback\": [\n {\n \"rhs\": \"You close the {r.name}.\"\n }\n ],\n\n \"PickupObject.feedback\": [\n {\n \"rhs\": \"You pick up the {o.name} from the {r.name}.\"\n }\n ],\n\n \"PickupObjectFromReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupObjectFromReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupEmptyReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupEmptyReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupFullReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupFullReceptacleObject: You pick up the {outerr.name}.\"\n }\n ],\n\n \"PutObject.feedback\": [\n {\n \"rhs\": \"You move the {o.name} to the {r.name}.\"\n }\n ],\n\n \"PutObjectInReceptacleObject.feedback\": [\n {\n \"rhs\": \"PutObjectInReceptacleObject: You put the {o.name} in the {outero.name}.\"\n }\n ],\n\n \"PutEmptyReceptacleObjectinReceptacle.feedback\": [\n {\n \"rhs\": \"PutEmptyReceptacleObjectinReceptacle: You put the {o.name} in the {r.name}.\"\n }\n ],\n\n \"PutFullReceptacleObjectInReceptacle.feedback\": [\n {\n \"rhs\": \"PutFullReceptacleObjectInReceptacle: You put the {outero.name} in the {r.name}.\"\n }\n ],\n\n \"inventory.feedback\": [\n {\n \"condition\": \"holdsany(a:agent)\",\n \"rhs\": \"You are carrying: [{o.indefinite + ' ' + o.name | holds(a:agent, o:object)}].\"\n },\n {\n \"rhs\": \"You are not carrying anything.\"\n }\n ],\n\n \"examineReceptacle.feedback\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \"The {r.name} is open. In it, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \"The {r.name} is closed.\"\n },\n {\n \"rhs\": \"On the {r.name}, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n }\n ],\n\n \"examineObject.feedback\": [\n {\n \"condition\": \"isreceptacleobject(o:object)\",\n \"rhs\": \"This is a normal {o.name}. In it, you see [{o2.indefinite + ' ' + o2.name | inreceptacleobject(o2:object, o:object)}].\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a clean sliced {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot sliced {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object)\",\n \"rhs\": \"This is a hot and clean {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object)\",\n \"rhs\": \"This is a cool and clean {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object)\",\n \"rhs\": \"This is a hot {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object)\",\n \"rhs\": \"This is a clean {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object)\",\n \"rhs\": \"This is a cold {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"This {o.name} is on.\"\n },\n {\n \"condition\": \"toggleable(o:object) & not_istoggled(o:object)\",\n \"rhs\": \"This {o.name} is off.\"\n },\n {\n \"condition\": \"sliceable(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a sliced {o.name}.\"\n },\n {\n \"rhs\": \"There's nothing special about {o.name}.\"\n }\n ]\n }\n\"\"\";\n\naction GotoLocation {\n template :: \"go to [{r.name | receptacleatlocation(r:receptacle, lend:location)}]\";\n feedback :: \"#GotoLocation.feedback#\";\n}\n\naction OpenObject {\n template :: \"open {r}\";\n feedback :: \"#OpenObject.feedback#\";\n}\n\naction CloseObject {\n template :: \"close {r}\";\n feedback :: \"#CloseObject.feedback#\";\n}\n\naction PickupObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObject.feedback#\";\n}\n\naction PickupObjectFromReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObjectFromReceptacleObject.feedback#\";\n}\n\naction PickupEmptyReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupEmptyReceptacleObject.feedback#\";\n}\n\naction PickupFullReceptacleObject {\n template :: \"take {outerr} from {r}\";\n feedback :: \"#PickupFullReceptacleObject.feedback#\";\n}\n\naction PutObject {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutObject.feedback#\";\n}\n\naction PutObjectInReceptacleObject {\n template :: \"put {o} into {outero}\";\n feedback :: \"#PutObjectInReceptacleObject.feedback#\";\n}\n\naction PutEmptyReceptacleObjectinReceptacle {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutEmptyReceptacleObjectinReceptacle.feedback#\";\n}\n\naction PutFullReceptacleObjectInReceptacle {\n template :: \"put {outero} in {r}\";\n feedback :: \"#PutFullReceptacleObjectInReceptacle.feedback#\";\n}\n\naction inventory {\n template :: \"inventory\";\n feedback :: \"#inventory.feedback#\";\n}\n\naction examineReceptacle {\n template :: \"examine {r}\";\n feedback :: \"#examineReceptacle.feedback#\";\n}\n\naction examineObject {\n template :: \"examine {o}\";\n feedback :: \"#examineObject.feedback#\";\n}\n\naction ToggleObject {\n template :: \"use {o}\";\n feedback :: \"#toggleObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"toggleObject.feedback\": [\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"You turn on the {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object)\",\n \"rhs\": \"You turn off the {o.name}.\"\n },\n {\n \"rhs\": \"You don't see any switch on the {o.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction HeatObject {\n template :: \"heat {o} with {r}\";\n feedback :: \"#heatObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"heatObject.feedback\": [\n {\n \"rhs\": \"You heat the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CleanObject {\n template :: \"clean {o} with {r}\";\n feedback :: \"#cleanObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"cleanObject.feedback\": [\n {\n \"rhs\": \"You clean the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CoolObject {\n template :: \"cool {o} with {r}\";\n feedback :: \"#coolObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"coolObject.feedback\": [\n {\n \"rhs\": \"You cool the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction SliceObject {\n template :: \"slice {co} with {ko}\";\n feedback :: \"#sliceObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"sliceObject.feedback\": [\n {\n \"rhs\": \"You sliced the {co.name} with the {ko.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction look {\n template :: \"look\";\n feedback :: \"#look.feedback#\";\n\n grammar :: \"\"\"\n {\n \"look.feedback\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"#look-variations#. Next to it, you see #list_objects_on_the_floor#.\"\n },\n {\n \"rhs\": \"You are in the middle of a room. Looking quickly around you, you see #list_appliances#.\"\n }\n ],\n\n \"look-variations\": [\n {\n \"rhs\": \"You are facing the [{r.name | atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)}]\"\n }\n ],\n\n \"list_objects_on_the_floor\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)\",\n \"rhs\": \"[{#overview(o)# | atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"list_appliances\": [\n {\n \"condition\": \"receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"[{#overview(r)# | receptacleatlocation(r:receptacle, l:location)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"overview(o, r)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name} (in/on the {r.name})}\"\n }\n ],\n\n \"overview(o)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name}\"\n }\n ],\n \"overview(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}\"\n }\n ],\n \"overview_with_state(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}#overview_state(r)#\"\n }\n ],\n \"overview_state(r)\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \" (it is open)\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \" (it is closed)\"\n },\n {\n \"rhs\": \"\"\n }\n ],\n\n \"list_empty\": [\n {\n \"rhs\": \"nothing\"\n }\n ],\n \"list_separator\": [\n {\n \"rhs\": \", \"\n }\n ],\n \"list_last_separator\": [\n {\n \"rhs\": \", and \"\n }\n ]\n }\n \"\"\";\n}\n\naction help {\n template :: \"help\";\n feedback :: \"\nAvailable commands:\n look: look around your current location\n inventory: check your current inventory\n go to (receptacle): move to a receptacle\n open (receptacle): open a receptacle\n close (receptacle): close a receptacle\n take (object) from (receptacle): take an object from a receptacle\n move (object) to (receptacle): place an object in or on a receptacle\n examine (something): examine a receptacle or an object\n use (object): use an object\n heat (object) with (receptacle): heat an object using a receptacle\n clean (object) with (receptacle): clean an object using a receptacle\n cool (object) with (receptacle): cool an object using a receptacle\n slice (object) with (object): slice an object using a sharp object\n\";\n}\n", "pddl_problem": "\n(define (problem plan_trial_T20190907_073835_452186)\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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Mug_bar__plus_01_dot_89_bar__plus_00_dot_55_bar__minus_02_dot_51)\n (coolable Tomato_bar__minus_01_dot_85_bar__plus_00_dot_81_bar__minus_01_dot_41)\n (coolable Potato_bar__minus_00_dot_17_bar__plus_01_dot_82_bar__minus_02_dot_55)\n (coolable Egg_bar__minus_02_dot_11_bar__plus_01_dot_34_bar__plus_00_dot_93)\n (coolable WineBottle_bar__minus_01_dot_81_bar__plus_00_dot_13_bar__plus_00_dot_11)\n (coolable Pot_bar__minus_00_dot_04_bar__plus_00_dot_95_bar__minus_02_dot_58)\n \n \n \n \n \n (sliceable Potato_bar__minus_02_dot_02_bar__plus_00_dot_94_bar__minus_02_dot_15)\n (sliceable Apple_bar__minus_01_dot_77_bar__plus_00_dot_96_bar__minus_00_dot_51)\n (sliceable Lettuce_bar__minus_01_dot_81_bar__plus_00_dot_97_bar__minus_00_dot_94)\n (sliceable Tomato_bar__minus_01_dot_85_bar__plus_00_dot_81_bar__minus_01_dot_24)\n (sliceable Egg_bar__minus_01_dot_94_bar__plus_00_dot_08_bar__plus_02_dot_17)\n (sliceable Bread_bar__plus_00_dot_08_bar__plus_01_dot_18_bar__plus_00_dot_25)\n (sliceable 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Kettle_bar__plus_00_dot_08_bar__plus_01_dot_11_bar__minus_00_dot_51 CounterTop_bar__minus_00_dot_08_bar__plus_01_dot_15_bar_00_dot_00)\n (inReceptacle Glassbottle_bar__minus_00_dot_47_bar__plus_01_dot_11_bar__plus_00_dot_76 CounterTop_bar__minus_00_dot_08_bar__plus_01_dot_15_bar_00_dot_00)\n (inReceptacle Statue_bar__plus_00_dot_22_bar__plus_01_dot_11_bar__minus_00_dot_25 CounterTop_bar__minus_00_dot_08_bar__plus_01_dot_15_bar_00_dot_00)\n (inReceptacle Bread_bar__plus_00_dot_08_bar__plus_01_dot_18_bar__plus_00_dot_25 CounterTop_bar__minus_00_dot_08_bar__plus_01_dot_15_bar_00_dot_00)\n (inReceptacle Bowl_bar__minus_00_dot_47_bar__plus_01_dot_11_bar__minus_00_dot_51 CounterTop_bar__minus_00_dot_08_bar__plus_01_dot_15_bar_00_dot_00)\n (inReceptacle Glassbottle_bar__minus_00_dot_20_bar__plus_01_dot_11_bar__plus_00_dot_25 CounterTop_bar__minus_00_dot_08_bar__plus_01_dot_15_bar_00_dot_00)\n (inReceptacle PaperTowelRoll_bar__plus_00_dot_22_bar__plus_01_dot_22_bar__minus_00_dot_51 CounterTop_bar__minus_00_dot_08_bar__plus_01_dot_15_bar_00_dot_00)\n (inReceptacle Book_bar__plus_00_dot_16_bar__plus_01_dot_10_bar__plus_00_dot_62 CounterTop_bar__minus_00_dot_08_bar__plus_01_dot_15_bar_00_dot_00)\n (inReceptacle SoapBottle_bar__minus_00_dot_47_bar__plus_01_dot_11_bar_00_dot_00 CounterTop_bar__minus_00_dot_08_bar__plus_01_dot_15_bar_00_dot_00)\n (inReceptacle Knife_bar__plus_00_dot_22_bar__plus_01_dot_14_bar_00_dot_00 CounterTop_bar__minus_00_dot_08_bar__plus_01_dot_15_bar_00_dot_00)\n (inReceptacle Plate_bar__minus_00_dot_20_bar__plus_01_dot_11_bar__minus_00_dot_25 CounterTop_bar__minus_00_dot_08_bar__plus_01_dot_15_bar_00_dot_00)\n (inReceptacle Vase_bar__minus_01_dot_76_bar__plus_00_dot_14_bar__minus_01_dot_27 Cabinet_bar__minus_01_dot_55_bar__plus_00_dot_50_bar__minus_01_dot_97)\n (inReceptacle Vase_bar__plus_00_dot_97_bar__plus_00_dot_91_bar__minus_02_dot_33 CounterTop_bar__plus_00_dot_69_bar__plus_00_dot_95_bar__minus_02_dot_48)\n (inReceptacle Mug_bar__plus_00_dot_58_bar__plus_00_dot_91_bar__minus_02_dot_25 CounterTop_bar__plus_00_dot_69_bar__plus_00_dot_95_bar__minus_02_dot_48)\n (inReceptacle Spatula_bar__plus_00_dot_45_bar__plus_00_dot_93_bar__minus_02_dot_56 CounterTop_bar__plus_00_dot_69_bar__plus_00_dot_95_bar__minus_02_dot_48)\n (inReceptacle ButterKnife_bar__plus_00_dot_58_bar__plus_00_dot_91_bar__minus_02_dot_56 CounterTop_bar__plus_00_dot_69_bar__plus_00_dot_95_bar__minus_02_dot_48)\n (inReceptacle Pan_bar__plus_00_dot_72_bar__plus_00_dot_90_bar__minus_02_dot_42 CounterTop_bar__plus_00_dot_69_bar__plus_00_dot_95_bar__minus_02_dot_48)\n (inReceptacle Pot_bar__minus_00_dot_04_bar__plus_00_dot_95_bar__minus_02_dot_58 StoveBurner_bar__minus_00_dot_04_bar__plus_00_dot_92_bar__minus_02_dot_58)\n (inReceptacle Spoon_bar__plus_00_dot_89_bar__plus_00_dot_32_bar__minus_02_dot_33 Drawer_bar__plus_00_dot_95_bar__plus_00_dot_39_bar__minus_02_dot_20)\n (inReceptacle WineBottle_bar__minus_01_dot_81_bar__plus_00_dot_13_bar__plus_00_dot_11 Cabinet_bar__minus_01_dot_55_bar__plus_00_dot_50_bar__plus_00_dot_38)\n (inReceptacle Pan_bar__minus_00_dot_47_bar__plus_00_dot_95_bar__minus_02_dot_58 StoveBurner_bar__minus_00_dot_47_bar__plus_00_dot_92_bar__minus_02_dot_58)\n (inReceptacle CreditCard_bar__minus_01_dot_74_bar__plus_00_dot_48_bar__minus_00_dot_05 Drawer_bar__minus_01_dot_56_bar__plus_00_dot_66_bar__minus_00_dot_20)\n (inReceptacle Pot_bar__minus_01_dot_10_bar__plus_00_dot_14_bar__minus_02_dot_40 Cabinet_bar__minus_01_dot_18_bar__plus_00_dot_50_bar__minus_02_dot_20)\n (inReceptacle Spatula_bar__plus_00_dot_95_bar__plus_00_dot_16_bar__minus_02_dot_29 Drawer_bar__plus_00_dot_95_bar__plus_00_dot_22_bar__minus_02_dot_20)\n (inReceptacle CreditCard_bar__plus_01_dot_06_bar__plus_00_dot_14_bar__minus_02_dot_38 Drawer_bar__plus_00_dot_95_bar__plus_00_dot_22_bar__minus_02_dot_20)\n (inReceptacle Fork_bar__plus_00_dot_89_bar__plus_00_dot_14_bar__minus_02_dot_38 Drawer_bar__plus_00_dot_95_bar__plus_00_dot_22_bar__minus_02_dot_20)\n (inReceptacle SaltShaker_bar__plus_01_dot_06_bar__plus_00_dot_14_bar__minus_02_dot_48 Drawer_bar__plus_00_dot_95_bar__plus_00_dot_22_bar__minus_02_dot_20)\n (inReceptacle SaltShaker_bar__plus_00_dot_78_bar__plus_01_dot_66_bar__minus_02_dot_53 Cabinet_bar__plus_00_dot_72_bar__plus_02_dot_02_bar__minus_02_dot_46)\n (inReceptacle Spatula_bar__minus_01_dot_83_bar__plus_00_dot_17_bar__minus_00_dot_29 Drawer_bar__minus_01_dot_56_bar__plus_00_dot_33_bar__minus_00_dot_20)\n (inReceptacle Plate_bar__minus_01_dot_00_bar__plus_00_dot_91_bar__minus_02_dot_48 CounterTop_bar__minus_01_dot_87_bar__plus_00_dot_95_bar__minus_01_dot_21)\n (inReceptacle HousePlant_bar__minus_01_dot_95_bar__plus_00_dot_90_bar__minus_02_dot_52 CounterTop_bar__minus_01_dot_87_bar__plus_00_dot_95_bar__minus_01_dot_21)\n (inReceptacle DishSponge_bar__minus_01_dot_77_bar__plus_00_dot_91_bar__minus_02_dot_04 CounterTop_bar__minus_01_dot_87_bar__plus_00_dot_95_bar__minus_01_dot_21)\n (inReceptacle Potato_bar__minus_02_dot_02_bar__plus_00_dot_94_bar__minus_02_dot_15 CounterTop_bar__minus_01_dot_87_bar__plus_00_dot_95_bar__minus_01_dot_21)\n (inReceptacle Spoon_bar__minus_01_dot_59_bar__plus_00_dot_91_bar__minus_02_dot_33 CounterTop_bar__minus_01_dot_87_bar__plus_00_dot_95_bar__minus_01_dot_21)\n (inReceptacle Pan_bar__minus_00_dot_47_bar__plus_00_dot_95_bar__minus_02_dot_58 CounterTop_bar__minus_01_dot_87_bar__plus_00_dot_95_bar__minus_01_dot_21)\n (inReceptacle Knife_bar__minus_01_dot_77_bar__plus_00_dot_94_bar__minus_02_dot_37 CounterTop_bar__minus_01_dot_87_bar__plus_00_dot_95_bar__minus_01_dot_21)\n (inReceptacle Apple_bar__minus_01_dot_77_bar__plus_00_dot_96_bar__minus_00_dot_51 CounterTop_bar__minus_01_dot_87_bar__plus_00_dot_95_bar__minus_01_dot_21)\n (inReceptacle Lettuce_bar__minus_01_dot_81_bar__plus_00_dot_97_bar__minus_00_dot_94 CounterTop_bar__minus_01_dot_87_bar__plus_00_dot_95_bar__minus_01_dot_21)\n (inReceptacle PepperShaker_bar__minus_01_dot_94_bar__plus_00_dot_91_bar__minus_00_dot_51 CounterTop_bar__minus_01_dot_87_bar__plus_00_dot_95_bar__minus_01_dot_21)\n (inReceptacle Fork_bar__minus_01_dot_59_bar__plus_00_dot_91_bar__minus_01_dot_31 CounterTop_bar__minus_01_dot_87_bar__plus_00_dot_95_bar__minus_01_dot_21)\n (inReceptacle Egg_bar__minus_00_dot_12_bar__plus_01_dot_83_bar__minus_02_dot_48 Microwave_bar__minus_00_dot_24_bar__plus_01_dot_69_bar__minus_02_dot_53)\n (inReceptacle Potato_bar__minus_00_dot_17_bar__plus_01_dot_82_bar__minus_02_dot_55 Microwave_bar__minus_00_dot_24_bar__plus_01_dot_69_bar__minus_02_dot_53)\n (inReceptacle PepperShaker_bar__plus_02_dot_10_bar__plus_00_dot_88_bar__minus_02_dot_51 Shelf_bar__plus_01_dot_80_bar__plus_00_dot_87_bar__minus_02_dot_56)\n (inReceptacle PepperShaker_bar__plus_01_dot_89_bar__plus_00_dot_55_bar__minus_02_dot_61 Shelf_bar__plus_01_dot_80_bar__plus_00_dot_54_bar__minus_02_dot_56)\n (inReceptacle Cup_bar__plus_01_dot_48_bar__plus_00_dot_55_bar__minus_02_dot_51 Shelf_bar__plus_01_dot_80_bar__plus_00_dot_54_bar__minus_02_dot_56)\n (inReceptacle Mug_bar__plus_01_dot_89_bar__plus_00_dot_55_bar__minus_02_dot_51 Shelf_bar__plus_01_dot_80_bar__plus_00_dot_54_bar__minus_02_dot_56)\n (inReceptacle Vase_bar__plus_02_dot_10_bar__plus_00_dot_55_bar__minus_02_dot_67 Shelf_bar__plus_01_dot_80_bar__plus_00_dot_54_bar__minus_02_dot_56)\n (inReceptacle SoapBottle_bar__plus_01_dot_69_bar__plus_00_dot_55_bar__minus_02_dot_61 Shelf_bar__plus_01_dot_80_bar__plus_00_dot_54_bar__minus_02_dot_56)\n (inReceptacle WineBottle_bar__minus_01_dot_94_bar__plus_00_dot_05_bar__plus_01_dot_93 GarbageCan_bar__minus_01_dot_94_bar__plus_00_dot_00_bar__plus_02_dot_03)\n (inReceptacle Egg_bar__minus_01_dot_94_bar__plus_00_dot_08_bar__plus_02_dot_17 GarbageCan_bar__minus_01_dot_94_bar__plus_00_dot_00_bar__plus_02_dot_03)\n (inReceptacle Apple_bar__minus_02_dot_04_bar__plus_01_dot_55_bar__plus_01_dot_01 Fridge_bar__minus_02_dot_10_bar__plus_00_dot_00_bar__plus_01_dot_09)\n (inReceptacle Egg_bar__minus_02_dot_11_bar__plus_01_dot_34_bar__plus_00_dot_93 Fridge_bar__minus_02_dot_10_bar__plus_00_dot_00_bar__plus_01_dot_09)\n (inReceptacle Bread_bar__minus_02_dot_07_bar__plus_01_dot_38_bar__plus_01_dot_09 Fridge_bar__minus_02_dot_10_bar__plus_00_dot_00_bar__plus_01_dot_09)\n (inReceptacle Glassbottle_bar__minus_02_dot_00_bar__plus_00_dot_23_bar__plus_01_dot_25 Fridge_bar__minus_02_dot_10_bar__plus_00_dot_00_bar__plus_01_dot_09)\n (inReceptacle Potato_bar__minus_02_dot_16_bar__plus_01_dot_53_bar__plus_01_dot_34 Fridge_bar__minus_02_dot_10_bar__plus_00_dot_00_bar__plus_01_dot_09)\n (inReceptacle DishSponge_bar__minus_01_dot_85_bar__plus_00_dot_77_bar__minus_01_dot_59 Sink_bar__minus_01_dot_90_bar__plus_00_dot_97_bar__minus_01_dot_50_bar_SinkBasin)\n (inReceptacle Tomato_bar__minus_01_dot_85_bar__plus_00_dot_81_bar__minus_01_dot_41 Sink_bar__minus_01_dot_90_bar__plus_00_dot_97_bar__minus_01_dot_50_bar_SinkBasin)\n (inReceptacle Tomato_bar__minus_02_dot_02_bar__plus_00_dot_81_bar__minus_01_dot_41 Sink_bar__minus_01_dot_90_bar__plus_00_dot_97_bar__minus_01_dot_50_bar_SinkBasin)\n (inReceptacle Mug_bar__minus_01_dot_91_bar__plus_00_dot_76_bar__minus_01_dot_76 Sink_bar__minus_01_dot_90_bar__plus_00_dot_97_bar__minus_01_dot_50_bar_SinkBasin)\n (inReceptacle Tomato_bar__minus_01_dot_85_bar__plus_00_dot_81_bar__minus_01_dot_24 Sink_bar__minus_01_dot_90_bar__plus_00_dot_97_bar__minus_01_dot_50_bar_SinkBasin)\n (inReceptacle Cup_bar__minus_02_dot_02_bar__plus_00_dot_77_bar__minus_01_dot_67 Sink_bar__minus_01_dot_90_bar__plus_00_dot_97_bar__minus_01_dot_50_bar_SinkBasin)\n \n \n (receptacleAtLocation Cabinet_bar__plus_00_dot_68_bar__plus_00_dot_50_bar__minus_02_dot_20 loc_bar_0_bar__minus_5_bar_2_bar_45)\n (receptacleAtLocation Cabinet_bar__plus_00_dot_68_bar__plus_02_dot_02_bar__minus_02_dot_46 loc_bar_2_bar__minus_7_bar_2_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__plus_00_dot_72_bar__plus_02_dot_02_bar__minus_02_dot_46 loc_bar_4_bar__minus_7_bar_2_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_73_bar__plus_02_dot_02_bar__minus_02_dot_46 loc_bar__minus_4_bar__minus_7_bar_2_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_01_dot_18_bar__plus_00_dot_50_bar__minus_02_dot_20 loc_bar__minus_5_bar__minus_5_bar_2_bar_45)\n (receptacleAtLocation Cabinet_bar__minus_01_dot_55_bar__plus_00_dot_50_bar__plus_00_dot_38 loc_bar__minus_4_bar_2_bar_3_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_01_dot_55_bar__plus_00_dot_50_bar__minus_01_dot_97 loc_bar__minus_3_bar__minus_6_bar_3_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_01_dot_69_bar__plus_02_dot_02_bar__minus_02_dot_46 loc_bar__minus_5_bar__minus_7_bar_2_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_01_dot_85_bar__plus_02_dot_02_bar__plus_00_dot_38 loc_bar__minus_5_bar_2_bar_3_bar__minus_30)\n (receptacleAtLocation CoffeeMachine_bar__minus_02_dot_00_bar__plus_00_dot_90_bar__minus_00_dot_17 loc_bar__minus_5_bar__minus_1_bar_3_bar_45)\n (receptacleAtLocation CounterTop_bar__plus_00_dot_69_bar__plus_00_dot_95_bar__minus_02_dot_48 loc_bar_3_bar__minus_7_bar_2_bar_45)\n (receptacleAtLocation CounterTop_bar__minus_00_dot_08_bar__plus_01_dot_15_bar_00_dot_00 loc_bar_3_bar_0_bar_3_bar_30)\n (receptacleAtLocation CounterTop_bar__minus_01_dot_87_bar__plus_00_dot_95_bar__minus_01_dot_21 loc_bar__minus_5_bar__minus_7_bar_3_bar_45)\n (receptacleAtLocation Drawer_bar__plus_00_dot_95_bar__plus_00_dot_22_bar__minus_02_dot_20 loc_bar_6_bar__minus_4_bar_2_bar_45)\n (receptacleAtLocation Drawer_bar__plus_00_dot_95_bar__plus_00_dot_39_bar__minus_02_dot_20 loc_bar_6_bar__minus_4_bar_2_bar_45)\n (receptacleAtLocation Drawer_bar__plus_00_dot_95_bar__plus_00_dot_56_bar__minus_02_dot_20 loc_bar_2_bar__minus_5_bar_2_bar_45)\n (receptacleAtLocation Drawer_bar__plus_00_dot_95_bar__plus_00_dot_71_bar__minus_02_dot_20 loc_bar_7_bar__minus_7_bar_3_bar_45)\n (receptacleAtLocation Drawer_bar__plus_00_dot_95_bar__plus_00_dot_83_bar__minus_02_dot_20 loc_bar_1_bar__minus_7_bar_1_bar_45)\n (receptacleAtLocation Drawer_bar__minus_01_dot_56_bar__plus_00_dot_33_bar__minus_00_dot_20 loc_bar__minus_4_bar_3_bar_2_bar_60)\n (receptacleAtLocation Drawer_bar__minus_01_dot_56_bar__plus_00_dot_66_bar__minus_00_dot_20 loc_bar__minus_5_bar__minus_1_bar_3_bar_60)\n (receptacleAtLocation Drawer_bar__minus_01_dot_56_bar__plus_00_dot_84_bar__plus_00_dot_20 loc_bar__minus_4_bar_4_bar_2_bar_45)\n (receptacleAtLocation Drawer_bar__minus_01_dot_56_bar__plus_00_dot_84_bar__minus_00_dot_20 loc_bar__minus_4_bar__minus_4_bar_0_bar_45)\n (receptacleAtLocation Fridge_bar__minus_02_dot_10_bar__plus_00_dot_00_bar__plus_01_dot_09 loc_bar__minus_4_bar_4_bar_3_bar_60)\n (receptacleAtLocation GarbageCan_bar__minus_01_dot_94_bar__plus_00_dot_00_bar__plus_02_dot_03 loc_bar__minus_5_bar_7_bar_3_bar_60)\n (receptacleAtLocation Microwave_bar__minus_00_dot_24_bar__plus_01_dot_69_bar__minus_02_dot_53 loc_bar__minus_1_bar__minus_7_bar_2_bar_0)\n (receptacleAtLocation Shelf_bar__plus_01_dot_80_bar__plus_00_dot_16_bar__minus_02_dot_56 loc_bar_7_bar__minus_8_bar_2_bar_60)\n (receptacleAtLocation Shelf_bar__plus_01_dot_80_bar__plus_00_dot_54_bar__minus_02_dot_56 loc_bar_5_bar__minus_6_bar_2_bar_45)\n (receptacleAtLocation Shelf_bar__plus_01_dot_80_bar__plus_00_dot_87_bar__minus_02_dot_56 loc_bar_7_bar__minus_5_bar_2_bar_30)\n (receptacleAtLocation Sink_bar__minus_01_dot_90_bar__plus_00_dot_97_bar__minus_01_dot_50_bar_SinkBasin loc_bar__minus_5_bar__minus_6_bar_3_bar_60)\n (receptacleAtLocation StoveBurner_bar__minus_00_dot_04_bar__plus_00_dot_92_bar__minus_02_dot_37 loc_bar_0_bar__minus_7_bar_2_bar_45)\n (receptacleAtLocation StoveBurner_bar__minus_00_dot_04_bar__plus_00_dot_92_bar__minus_02_dot_58 loc_bar_0_bar__minus_7_bar_2_bar_45)\n (receptacleAtLocation StoveBurner_bar__minus_00_dot_47_bar__plus_00_dot_92_bar__minus_02_dot_37 loc_bar__minus_2_bar__minus_7_bar_2_bar_45)\n (receptacleAtLocation StoveBurner_bar__minus_00_dot_47_bar__plus_00_dot_92_bar__minus_02_dot_58 loc_bar__minus_2_bar__minus_7_bar_2_bar_45)\n (receptacleAtLocation Toaster_bar__minus_01_dot_84_bar__plus_00_dot_90_bar__plus_00_dot_13 loc_bar__minus_5_bar_1_bar_3_bar_45)\n (objectAtLocation Mug_bar__minus_01_dot_91_bar__plus_00_dot_76_bar__minus_01_dot_76 loc_bar__minus_5_bar__minus_6_bar_3_bar_60)\n (objectAtLocation Spoon_bar__plus_00_dot_89_bar__plus_00_dot_32_bar__minus_02_dot_33 loc_bar_6_bar__minus_4_bar_2_bar_45)\n (objectAtLocation DishSponge_bar__minus_01_dot_85_bar__plus_00_dot_77_bar__minus_01_dot_59 loc_bar__minus_5_bar__minus_6_bar_3_bar_60)\n (objectAtLocation Apple_bar__minus_02_dot_04_bar__plus_01_dot_55_bar__plus_01_dot_01 loc_bar__minus_4_bar_4_bar_3_bar_60)\n (objectAtLocation PepperShaker_bar__plus_01_dot_89_bar__plus_00_dot_55_bar__minus_02_dot_61 loc_bar_5_bar__minus_6_bar_2_bar_45)\n (objectAtLocation SaltShaker_bar__plus_01_dot_06_bar__plus_00_dot_14_bar__minus_02_dot_48 loc_bar_6_bar__minus_4_bar_2_bar_45)\n (objectAtLocation Vase_bar__plus_00_dot_97_bar__plus_00_dot_91_bar__minus_02_dot_33 loc_bar_3_bar__minus_7_bar_2_bar_45)\n (objectAtLocation Cup_bar__minus_02_dot_02_bar__plus_00_dot_77_bar__minus_01_dot_67 loc_bar__minus_5_bar__minus_6_bar_3_bar_60)\n (objectAtLocation Spatula_bar__minus_01_dot_83_bar__plus_00_dot_17_bar__minus_00_dot_29 loc_bar__minus_4_bar_3_bar_2_bar_60)\n (objectAtLocation Pot_bar__minus_01_dot_10_bar__plus_00_dot_14_bar__minus_02_dot_40 loc_bar__minus_5_bar__minus_5_bar_2_bar_45)\n (objectAtLocation WineBottle_bar__minus_01_dot_94_bar__plus_00_dot_05_bar__plus_01_dot_93 loc_bar__minus_5_bar_7_bar_3_bar_60)\n (objectAtLocation CreditCard_bar__minus_01_dot_74_bar__plus_00_dot_48_bar__minus_00_dot_05 loc_bar__minus_5_bar__minus_1_bar_3_bar_60)\n (objectAtLocation Egg_bar__minus_01_dot_94_bar__plus_00_dot_08_bar__plus_02_dot_17 loc_bar__minus_5_bar_7_bar_3_bar_60)\n (objectAtLocation Tomato_bar__minus_01_dot_85_bar__plus_00_dot_81_bar__minus_01_dot_41 loc_bar__minus_5_bar__minus_6_bar_3_bar_60)\n (objectAtLocation Plate_bar__minus_00_dot_20_bar__plus_01_dot_11_bar__minus_00_dot_25 loc_bar_3_bar_0_bar_3_bar_30)\n (objectAtLocation Pan_bar__plus_00_dot_72_bar__plus_00_dot_90_bar__minus_02_dot_42 loc_bar_3_bar__minus_7_bar_2_bar_45)\n (objectAtLocation SoapBottle_bar__minus_00_dot_47_bar__plus_01_dot_11_bar_00_dot_00 loc_bar_3_bar_0_bar_3_bar_30)\n (objectAtLocation Potato_bar__minus_02_dot_02_bar__plus_00_dot_94_bar__minus_02_dot_15 loc_bar__minus_5_bar__minus_7_bar_3_bar_45)\n (objectAtLocation Fork_bar__minus_01_dot_59_bar__plus_00_dot_91_bar__minus_01_dot_31 loc_bar__minus_5_bar__minus_7_bar_3_bar_45)\n (objectAtLocation Bread_bar__plus_00_dot_08_bar__plus_01_dot_18_bar__plus_00_dot_25 loc_bar_3_bar_0_bar_3_bar_30)\n (objectAtLocation Knife_bar__minus_01_dot_77_bar__plus_00_dot_94_bar__minus_02_dot_37 loc_bar__minus_5_bar__minus_7_bar_3_bar_45)\n (objectAtLocation Glassbottle_bar__minus_00_dot_47_bar__plus_01_dot_11_bar__plus_00_dot_76 loc_bar_3_bar_0_bar_3_bar_30)\n (objectAtLocation Glassbottle_bar__minus_00_dot_20_bar__plus_01_dot_11_bar__plus_00_dot_25 loc_bar_3_bar_0_bar_3_bar_30)\n (objectAtLocation Spatula_bar__plus_00_dot_95_bar__plus_00_dot_16_bar__minus_02_dot_29 loc_bar_6_bar__minus_4_bar_2_bar_45)\n (objectAtLocation Mug_bar__plus_01_dot_89_bar__plus_00_dot_55_bar__minus_02_dot_51 loc_bar_5_bar__minus_6_bar_2_bar_45)\n (objectAtLocation Fork_bar__plus_00_dot_89_bar__plus_00_dot_14_bar__minus_02_dot_38 loc_bar_6_bar__minus_4_bar_2_bar_45)\n (objectAtLocation PepperShaker_bar__plus_02_dot_10_bar__plus_00_dot_88_bar__minus_02_dot_51 loc_bar_7_bar__minus_5_bar_2_bar_30)\n (objectAtLocation Tomato_bar__minus_01_dot_85_bar__plus_00_dot_81_bar__minus_01_dot_24 loc_bar__minus_5_bar__minus_6_bar_3_bar_60)\n (objectAtLocation Egg_bar__minus_00_dot_12_bar__plus_01_dot_83_bar__minus_02_dot_48 loc_bar__minus_1_bar__minus_7_bar_2_bar_0)\n (objectAtLocation CreditCard_bar__minus_01_dot_74_bar__plus_00_dot_79_bar__plus_00_dot_29 loc_bar__minus_4_bar_4_bar_2_bar_45)\n (objectAtLocation Potato_bar__minus_00_dot_17_bar__plus_01_dot_82_bar__minus_02_dot_55 loc_bar__minus_1_bar__minus_7_bar_2_bar_0)\n (objectAtLocation StoveKnob_bar__minus_00_dot_02_bar__plus_00_dot_88_bar__minus_02_dot_19 loc_bar_0_bar__minus_7_bar_2_bar_60)\n (objectAtLocation Window_bar__minus_02_dot_23_bar__plus_01_dot_43_bar__minus_01_dot_20 loc_bar__minus_5_bar__minus_5_bar_3_bar_15)\n (objectAtLocation StoveKnob_bar__minus_00_dot_48_bar__plus_00_dot_88_bar__minus_02_dot_19 loc_bar__minus_2_bar__minus_7_bar_2_bar_60)\n (objectAtLocation Sink_bar__minus_01_dot_90_bar__plus_00_dot_97_bar__minus_01_dot_50 loc_bar__minus_5_bar__minus_6_bar_3_bar_45)\n (objectAtLocation StoveKnob_bar__minus_00_dot_33_bar__plus_00_dot_88_bar__minus_02_dot_19 loc_bar__minus_1_bar__minus_7_bar_2_bar_60)\n (objectAtLocation StoveKnob_bar__minus_00_dot_18_bar__plus_00_dot_88_bar__minus_02_dot_19 loc_bar__minus_1_bar__minus_7_bar_2_bar_60)\n (objectAtLocation Book_bar__plus_00_dot_16_bar__plus_01_dot_10_bar__plus_00_dot_62 loc_bar_3_bar_0_bar_3_bar_30)\n (objectAtLocation Chair_bar__plus_00_dot_67_bar__plus_00_dot_73_bar__plus_00_dot_56 loc_bar_3_bar_0_bar_0_bar_60)\n (objectAtLocation Glassbottle_bar__minus_02_dot_00_bar__plus_00_dot_23_bar__plus_01_dot_25 loc_bar__minus_4_bar_4_bar_3_bar_60)\n (objectAtLocation Knife_bar__plus_00_dot_22_bar__plus_01_dot_14_bar_00_dot_00 loc_bar_3_bar_0_bar_3_bar_30)\n (objectAtLocation Bread_bar__minus_02_dot_07_bar__plus_01_dot_38_bar__plus_01_dot_09 loc_bar__minus_4_bar_4_bar_3_bar_60)\n (objectAtLocation Fork_bar__plus_01_dot_06_bar__plus_00_dot_78_bar__minus_02_dot_38 loc_bar_1_bar__minus_7_bar_1_bar_45)\n (objectAtLocation Potato_bar__minus_02_dot_16_bar__plus_01_dot_53_bar__plus_01_dot_34 loc_bar__minus_4_bar_4_bar_3_bar_60)\n (objectAtLocation HousePlant_bar__minus_01_dot_95_bar__plus_00_dot_90_bar__minus_02_dot_52 loc_bar__minus_5_bar__minus_7_bar_3_bar_45)\n (objectAtLocation SoapBottle_bar__plus_01_dot_69_bar__plus_00_dot_55_bar__minus_02_dot_61 loc_bar_5_bar__minus_6_bar_2_bar_45)\n (objectAtLocation Kettle_bar__plus_00_dot_08_bar__plus_01_dot_11_bar__minus_00_dot_51 loc_bar_3_bar_0_bar_3_bar_30)\n (objectAtLocation Pan_bar__minus_00_dot_47_bar__plus_00_dot_95_bar__minus_02_dot_58 loc_bar__minus_5_bar__minus_7_bar_3_bar_45)\n (objectAtLocation Plate_bar__minus_01_dot_00_bar__plus_00_dot_91_bar__minus_02_dot_48 loc_bar__minus_5_bar__minus_7_bar_3_bar_45)\n (objectAtLocation Tomato_bar__minus_02_dot_02_bar__plus_00_dot_81_bar__minus_01_dot_41 loc_bar__minus_5_bar__minus_6_bar_3_bar_60)\n (objectAtLocation Vase_bar__minus_01_dot_76_bar__plus_00_dot_14_bar__minus_01_dot_27 loc_bar__minus_3_bar__minus_6_bar_3_bar_60)\n (objectAtLocation Egg_bar__minus_02_dot_11_bar__plus_01_dot_34_bar__plus_00_dot_93 loc_bar__minus_4_bar_4_bar_3_bar_60)\n (objectAtLocation CreditCard_bar__plus_01_dot_06_bar__plus_00_dot_14_bar__minus_02_dot_38 loc_bar_6_bar__minus_4_bar_2_bar_45)\n (objectAtLocation Statue_bar__plus_00_dot_22_bar__plus_01_dot_11_bar__minus_00_dot_25 loc_bar_3_bar_0_bar_3_bar_30)\n (objectAtLocation Chair_bar__plus_00_dot_62_bar__plus_00_dot_73_bar__minus_00_dot_51 loc_bar_5_bar__minus_2_bar_3_bar_60)\n (objectAtLocation WineBottle_bar__minus_01_dot_81_bar__plus_00_dot_13_bar__plus_00_dot_11 loc_bar__minus_4_bar_2_bar_3_bar_60)\n (objectAtLocation Pot_bar__minus_00_dot_04_bar__plus_00_dot_95_bar__minus_02_dot_58 loc_bar_0_bar__minus_7_bar_2_bar_45)\n (objectAtLocation Spatula_bar__plus_00_dot_45_bar__plus_00_dot_93_bar__minus_02_dot_56 loc_bar_3_bar__minus_7_bar_2_bar_45)\n (objectAtLocation PaperTowelRoll_bar__plus_00_dot_22_bar__plus_01_dot_22_bar__minus_00_dot_51 loc_bar_3_bar_0_bar_3_bar_30)\n (objectAtLocation Cup_bar__plus_01_dot_48_bar__plus_00_dot_55_bar__minus_02_dot_51 loc_bar_5_bar__minus_6_bar_2_bar_45)\n (objectAtLocation Vase_bar__plus_02_dot_10_bar__plus_00_dot_55_bar__minus_02_dot_67 loc_bar_5_bar__minus_6_bar_2_bar_45)\n (objectAtLocation Bowl_bar__minus_00_dot_47_bar__plus_01_dot_11_bar__minus_00_dot_51 loc_bar_3_bar_0_bar_3_bar_30)\n (objectAtLocation SaltShaker_bar__plus_00_dot_78_bar__plus_01_dot_66_bar__minus_02_dot_53 loc_bar_4_bar__minus_7_bar_2_bar__minus_30)\n (objectAtLocation PepperShaker_bar__minus_01_dot_94_bar__plus_00_dot_91_bar__minus_00_dot_51 loc_bar__minus_5_bar__minus_7_bar_3_bar_45)\n (objectAtLocation Lettuce_bar__minus_01_dot_81_bar__plus_00_dot_97_bar__minus_00_dot_94 loc_bar__minus_5_bar__minus_7_bar_3_bar_45)\n (objectAtLocation ButterKnife_bar__plus_00_dot_58_bar__plus_00_dot_91_bar__minus_02_dot_56 loc_bar_3_bar__minus_7_bar_2_bar_45)\n (objectAtLocation Apple_bar__minus_01_dot_77_bar__plus_00_dot_96_bar__minus_00_dot_51 loc_bar__minus_5_bar__minus_7_bar_3_bar_45)\n (objectAtLocation DishSponge_bar__minus_01_dot_77_bar__plus_00_dot_91_bar__minus_02_dot_04 loc_bar__minus_5_bar__minus_7_bar_3_bar_45)\n (objectAtLocation Spoon_bar__minus_01_dot_59_bar__plus_00_dot_91_bar__minus_02_dot_33 loc_bar__minus_5_bar__minus_7_bar_3_bar_45)\n (objectAtLocation LightSwitch_bar__plus_02_dot_33_bar__plus_01_dot_31_bar__minus_00_dot_16 loc_bar_7_bar__minus_1_bar_1_bar_30)\n (objectAtLocation Mug_bar__plus_00_dot_58_bar__plus_00_dot_91_bar__minus_02_dot_25 loc_bar_3_bar__minus_7_bar_2_bar_45)\n )\n \n\n (:goal\n (and\n (exists (?r - receptacle)\n (exists (?o - object)\n (and\n (coolable ?o)\n (objectType ?o BowlType)\n (receptacleType ?r ShelfType)\n (isCool ?o)\n (inReceptacle ?o ?r)\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to countertop 3", "take bowl 1 from countertop 3", "go to fridge 1", "cool bowl 1 with fridge 1", "go to shelf 2", "move bowl 1 to shelf 2"]}
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alfworld__pick_cool_then_place_in_recep__11
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pick_cool_then_place_in_recep
|
pick_cool_then_place_in_recep-Bowl-None-Shelf-1/trial_T20190907_073907_658108/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 bowl and put it in shelf.\"\n }\n ],\n\n \"GotoLocation.feedback\": [\n {\n \"rhs\": \"You arrive at {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"OpenObject.feedback\": [\n {\n \"rhs\": \"You open the {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"CloseObject.feedback\": [\n {\n \"rhs\": \"You close the {r.name}.\"\n }\n ],\n\n \"PickupObject.feedback\": [\n {\n \"rhs\": \"You pick up the {o.name} from the {r.name}.\"\n }\n ],\n\n \"PickupObjectFromReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupObjectFromReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupEmptyReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupEmptyReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupFullReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupFullReceptacleObject: You pick up the {outerr.name}.\"\n }\n ],\n\n \"PutObject.feedback\": [\n {\n \"rhs\": \"You move the {o.name} to the {r.name}.\"\n }\n ],\n\n \"PutObjectInReceptacleObject.feedback\": [\n {\n \"rhs\": \"PutObjectInReceptacleObject: You put the {o.name} in the {outero.name}.\"\n }\n ],\n\n \"PutEmptyReceptacleObjectinReceptacle.feedback\": [\n {\n \"rhs\": \"PutEmptyReceptacleObjectinReceptacle: You put the {o.name} in the {r.name}.\"\n }\n ],\n\n \"PutFullReceptacleObjectInReceptacle.feedback\": [\n {\n \"rhs\": \"PutFullReceptacleObjectInReceptacle: You put the {outero.name} in the {r.name}.\"\n }\n ],\n\n \"inventory.feedback\": [\n {\n \"condition\": \"holdsany(a:agent)\",\n \"rhs\": \"You are carrying: [{o.indefinite + ' ' + o.name | holds(a:agent, o:object)}].\"\n },\n {\n \"rhs\": \"You are not carrying anything.\"\n }\n ],\n\n \"examineReceptacle.feedback\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \"The {r.name} is open. In it, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \"The {r.name} is closed.\"\n },\n {\n \"rhs\": \"On the {r.name}, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n }\n ],\n\n \"examineObject.feedback\": [\n {\n \"condition\": \"isreceptacleobject(o:object)\",\n \"rhs\": \"This is a normal {o.name}. In it, you see [{o2.indefinite + ' ' + o2.name | inreceptacleobject(o2:object, o:object)}].\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a clean sliced {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot sliced {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object)\",\n \"rhs\": \"This is a hot and clean {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object)\",\n \"rhs\": \"This is a cool and clean {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object)\",\n \"rhs\": \"This is a hot {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object)\",\n \"rhs\": \"This is a clean {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object)\",\n \"rhs\": \"This is a cold {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"This {o.name} is on.\"\n },\n {\n \"condition\": \"toggleable(o:object) & not_istoggled(o:object)\",\n \"rhs\": \"This {o.name} is off.\"\n },\n {\n \"condition\": \"sliceable(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a sliced {o.name}.\"\n },\n {\n \"rhs\": \"There's nothing special about {o.name}.\"\n }\n ]\n }\n\"\"\";\n\naction GotoLocation {\n template :: \"go to [{r.name | receptacleatlocation(r:receptacle, lend:location)}]\";\n feedback :: \"#GotoLocation.feedback#\";\n}\n\naction OpenObject {\n template :: \"open {r}\";\n feedback :: \"#OpenObject.feedback#\";\n}\n\naction CloseObject {\n template :: \"close {r}\";\n feedback :: \"#CloseObject.feedback#\";\n}\n\naction PickupObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObject.feedback#\";\n}\n\naction PickupObjectFromReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObjectFromReceptacleObject.feedback#\";\n}\n\naction PickupEmptyReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupEmptyReceptacleObject.feedback#\";\n}\n\naction PickupFullReceptacleObject {\n template :: \"take {outerr} from {r}\";\n feedback :: \"#PickupFullReceptacleObject.feedback#\";\n}\n\naction PutObject {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutObject.feedback#\";\n}\n\naction PutObjectInReceptacleObject {\n template :: \"put {o} into {outero}\";\n feedback :: \"#PutObjectInReceptacleObject.feedback#\";\n}\n\naction PutEmptyReceptacleObjectinReceptacle {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutEmptyReceptacleObjectinReceptacle.feedback#\";\n}\n\naction PutFullReceptacleObjectInReceptacle {\n template :: \"put {outero} in {r}\";\n feedback :: \"#PutFullReceptacleObjectInReceptacle.feedback#\";\n}\n\naction inventory {\n template :: \"inventory\";\n feedback :: \"#inventory.feedback#\";\n}\n\naction examineReceptacle {\n template :: \"examine {r}\";\n feedback :: \"#examineReceptacle.feedback#\";\n}\n\naction examineObject {\n template :: \"examine {o}\";\n feedback :: \"#examineObject.feedback#\";\n}\n\naction ToggleObject {\n template :: \"use {o}\";\n feedback :: \"#toggleObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"toggleObject.feedback\": [\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"You turn on the {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object)\",\n \"rhs\": \"You turn off the {o.name}.\"\n },\n {\n \"rhs\": \"You don't see any switch on the {o.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction HeatObject {\n template :: \"heat {o} with {r}\";\n feedback :: \"#heatObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"heatObject.feedback\": [\n {\n \"rhs\": \"You heat the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CleanObject {\n template :: \"clean {o} with {r}\";\n feedback :: \"#cleanObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"cleanObject.feedback\": [\n {\n \"rhs\": \"You clean the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CoolObject {\n template :: \"cool {o} with {r}\";\n feedback :: \"#coolObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"coolObject.feedback\": [\n {\n \"rhs\": \"You cool the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction SliceObject {\n template :: \"slice {co} with {ko}\";\n feedback :: \"#sliceObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"sliceObject.feedback\": [\n {\n \"rhs\": \"You sliced the {co.name} with the {ko.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction look {\n template :: \"look\";\n feedback :: \"#look.feedback#\";\n\n grammar :: \"\"\"\n {\n \"look.feedback\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"#look-variations#. Next to it, you see #list_objects_on_the_floor#.\"\n },\n {\n \"rhs\": \"You are in the middle of a room. Looking quickly around you, you see #list_appliances#.\"\n }\n ],\n\n \"look-variations\": [\n {\n \"rhs\": \"You are facing the [{r.name | atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)}]\"\n }\n ],\n\n \"list_objects_on_the_floor\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)\",\n \"rhs\": \"[{#overview(o)# | atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"list_appliances\": [\n {\n \"condition\": \"receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"[{#overview(r)# | receptacleatlocation(r:receptacle, l:location)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"overview(o, r)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name} (in/on the {r.name})}\"\n }\n ],\n\n \"overview(o)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name}\"\n }\n ],\n \"overview(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}\"\n }\n ],\n \"overview_with_state(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}#overview_state(r)#\"\n }\n ],\n \"overview_state(r)\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \" (it is open)\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \" (it is closed)\"\n },\n {\n \"rhs\": \"\"\n }\n ],\n\n \"list_empty\": [\n {\n \"rhs\": \"nothing\"\n }\n ],\n \"list_separator\": [\n {\n \"rhs\": \", \"\n }\n ],\n \"list_last_separator\": [\n {\n \"rhs\": \", and \"\n }\n ]\n }\n \"\"\";\n}\n\naction help {\n template :: \"help\";\n feedback :: \"\nAvailable commands:\n look: look around your current location\n inventory: check your current inventory\n go to (receptacle): move to a receptacle\n open (receptacle): open a receptacle\n close (receptacle): close a receptacle\n take (object) from (receptacle): take an object from a receptacle\n move (object) to (receptacle): place an object in or on a receptacle\n examine (something): examine a receptacle or an object\n use (object): use an object\n heat (object) with (receptacle): heat an object using a receptacle\n clean (object) with (receptacle): clean an object using a receptacle\n cool (object) with (receptacle): cool an object using a receptacle\n slice (object) with (object): slice an object using a sharp object\n\";\n}\n", "pddl_problem": "\n(define (problem plan_trial_T20190907_073907_658108)\n(:domain alfred)\n(:objects\nagent1 - agent\nSaltShaker - object\n HousePlant - object\n Candle - object\n SprayBottle - object\n Bowl - object\n Window - object\n CD - object\n Egg - object\n Glassbottle - object\n Sink - object\n Pillow - object\n Spoon - object\n SoapBottle - object\n TeddyBear - object\n ButterKnife - object\n Cup - object\n Plate - object\n RemoteControl - object\n Tomato - object\n Statue - object\n HandTowel - object\n Knife - object\n StoveKnob - object\n LightSwitch - object\n Pen - object\n Painting - object\n DishSponge - object\n Vase - object\n Mug - object\n ToiletPaper - object\n Box - object\n Mirror - object\n Ladle - object\n Fork - object\n Blinds - object\n Footstool - object\n KeyChain - object\n Cloth - object\n Laptop - object\n TissueBox - object\n PepperShaker - object\n FloorLamp - object\n WateringCan - object\n Apple - object\n Pan - object\n PaperTowel - object\n PaperTowelRoll - object\n Newspaper - object\n Television - object\n Chair - object\n CellPhone - object\n CreditCard - object\n Lettuce - object\n BasketBall - object\n Potato - object\n Curtains - object\n Boots - object\n Pencil - object\n AlarmClock - object\n ToiletPaperRoll - object\n Spatula - object\n Book - object\n Bread - object\n SoapBar - object\n Watch - object\n DeskLamp - object\n Kettle - object\n Pot - object\n ScrubBrush - object\n WineBottle - object\n ShowerDoor - object\n Bathtub - object\n LaundryHamperLid - object\n ShowerGlass - object\n Poster - object\n TennisRacket - object\n BaseballBat - object\n Towel - object\n Plunger - object\nSaltShakerType - otype\n HousePlantType - otype\n CandleType - otype\n SprayBottleType - otype\n BowlType - otype\n WindowType - otype\n CDType - otype\n EggType - otype\n GlassbottleType - otype\n SinkType - otype\n PillowType - otype\n SpoonType - otype\n SoapBottleType - otype\n TeddyBearType - otype\n ButterKnifeType - otype\n CupType - otype\n PlateType - otype\n RemoteControlType - otype\n TomatoType - otype\n StatueType - otype\n HandTowelType - otype\n KnifeType - otype\n StoveKnobType - otype\n LightSwitchType - otype\n PenType - otype\n PaintingType - otype\n DishSpongeType - otype\n VaseType - otype\n MugType - otype\n ToiletPaperType - otype\n BoxType - otype\n MirrorType - otype\n LadleType - otype\n ForkType - otype\n BlindsType - otype\n FootstoolType - otype\n KeyChainType - otype\n ClothType - otype\n LaptopType - otype\n TissueBoxType - otype\n PepperShakerType - otype\n FloorLampType - otype\n WateringCanType - otype\n AppleType - otype\n PanType - otype\n PaperTowelType - otype\n PaperTowelRollType - otype\n NewspaperType - otype\n TelevisionType - otype\n ChairType - otype\n CellPhoneType - otype\n CreditCardType - otype\n LettuceType - otype\n BasketBallType - otype\n PotatoType - otype\n CurtainsType - otype\n BootsType - otype\n PencilType - otype\n AlarmClockType - otype\n ToiletPaperRollType - otype\n SpatulaType - otype\n BookType - otype\n BreadType - otype\n SoapBarType - otype\n WatchType - otype\n DeskLampType - otype\n KettleType - otype\n PotType - otype\n ScrubBrushType - otype\n WineBottleType - otype\n ShowerDoorType - otype\n BathtubType - otype\n LaundryHamperLidType - otype\n ShowerGlassType - otype\n PosterType - otype\n TennisRacketType - otype\n BaseballBatType - otype\n TowelType - otype\n PlungerType - otype\nSafeType - rtype\n DrawerType - rtype\n CoffeeMachineType - rtype\n HandTowelHolderType - rtype\n SinkBasinType - rtype\n DresserType - rtype\n LaundryHamperType - rtype\n TVStandType - rtype\n BathtubBasinType - rtype\n CabinetType - rtype\n FridgeType - rtype\n DeskType - rtype\n ToiletType - rtype\n CartType - rtype\n SideTableType - rtype\n SofaType - rtype\n CoffeeTableType - rtype\n DiningTableType - rtype\n CounterTopType - rtype\n GarbageCanType - rtype\n ArmChairType - rtype\n ShelfType - rtype\n MicrowaveType - rtype\n ToasterType - rtype\n BedType - rtype\n PaintingHangerType - rtype\n TowelHolderType - rtype\n ToiletPaperHangerType - rtype\n StoveBurnerType - rtype\n OttomanType - rtype\n\n\n Apple_bar__minus_00_dot_28_bar__plus_01_dot_84_bar__minus_02_dot_55 - object\n Apple_bar__minus_01_dot_77_bar__plus_00_dot_96_bar__minus_00_dot_51 - object\n Book_bar__plus_00_dot_16_bar__plus_01_dot_10_bar__plus_00_dot_62 - object\n 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Kettle_bar__minus_00_dot_47_bar__plus_00_dot_95_bar__minus_02_dot_37 StoveBurner_bar__minus_00_dot_47_bar__plus_00_dot_92_bar__minus_02_dot_37)\n (inReceptacle Bowl_bar__plus_00_dot_08_bar__plus_01_dot_11_bar__minus_00_dot_76 CounterTop_bar__minus_00_dot_08_bar__plus_01_dot_15_bar_00_dot_00)\n (inReceptacle Vase_bar__plus_00_dot_36_bar__plus_01_dot_11_bar__minus_00_dot_25 CounterTop_bar__minus_00_dot_08_bar__plus_01_dot_15_bar_00_dot_00)\n (inReceptacle Lettuce_bar__minus_00_dot_34_bar__plus_01_dot_19_bar__plus_00_dot_50 CounterTop_bar__minus_00_dot_08_bar__plus_01_dot_15_bar_00_dot_00)\n (inReceptacle CreditCard_bar__plus_00_dot_22_bar__plus_01_dot_11_bar_00_dot_00 CounterTop_bar__minus_00_dot_08_bar__plus_01_dot_15_bar_00_dot_00)\n (inReceptacle SaltShaker_bar__minus_00_dot_20_bar__plus_01_dot_11_bar__minus_00_dot_51 CounterTop_bar__minus_00_dot_08_bar__plus_01_dot_15_bar_00_dot_00)\n (inReceptacle Pot_bar__minus_00_dot_20_bar__plus_01_dot_12_bar_00_dot_00 CounterTop_bar__minus_00_dot_08_bar__plus_01_dot_15_bar_00_dot_00)\n (inReceptacle SoapBottle_bar__minus_00_dot_06_bar__plus_01_dot_11_bar__minus_00_dot_51 CounterTop_bar__minus_00_dot_08_bar__plus_01_dot_15_bar_00_dot_00)\n (inReceptacle Book_bar__plus_00_dot_16_bar__plus_01_dot_10_bar__plus_00_dot_62 CounterTop_bar__minus_00_dot_08_bar__plus_01_dot_15_bar_00_dot_00)\n (inReceptacle Lettuce_bar__plus_00_dot_22_bar__plus_01_dot_19_bar_00_dot_00 CounterTop_bar__minus_00_dot_08_bar__plus_01_dot_15_bar_00_dot_00)\n (inReceptacle Bread_bar__minus_00_dot_34_bar__plus_01_dot_18_bar__plus_00_dot_25 CounterTop_bar__minus_00_dot_08_bar__plus_01_dot_15_bar_00_dot_00)\n (inReceptacle Mug_bar__minus_01_dot_86_bar__plus_00_dot_13_bar__minus_01_dot_74 Cabinet_bar__minus_01_dot_55_bar__plus_00_dot_50_bar__minus_01_dot_97)\n (inReceptacle WineBottle_bar__minus_01_dot_81_bar__plus_00_dot_14_bar__minus_01_dot_51 Cabinet_bar__minus_01_dot_55_bar__plus_00_dot_50_bar__minus_01_dot_97)\n (inReceptacle Fork_bar__plus_00_dot_45_bar__plus_00_dot_91_bar__minus_02_dot_33 CounterTop_bar__plus_00_dot_69_bar__plus_00_dot_95_bar__minus_02_dot_48)\n (inReceptacle ButterKnife_bar__plus_00_dot_58_bar__plus_00_dot_91_bar__minus_02_dot_56 CounterTop_bar__plus_00_dot_69_bar__plus_00_dot_95_bar__minus_02_dot_48)\n (inReceptacle PepperShaker_bar__plus_00_dot_32_bar__plus_00_dot_91_bar__minus_02_dot_71 CounterTop_bar__plus_00_dot_69_bar__plus_00_dot_95_bar__minus_02_dot_48)\n (inReceptacle Tomato_bar__plus_01_dot_10_bar__plus_00_dot_95_bar__minus_02_dot_64 CounterTop_bar__plus_00_dot_69_bar__plus_00_dot_95_bar__minus_02_dot_48)\n (inReceptacle Pot_bar__plus_00_dot_97_bar__plus_00_dot_91_bar__minus_02_dot_48 CounterTop_bar__plus_00_dot_69_bar__plus_00_dot_95_bar__minus_02_dot_48)\n (inReceptacle Spoon_bar__plus_00_dot_95_bar__plus_00_dot_65_bar__minus_02_dot_38 Drawer_bar__plus_00_dot_95_bar__plus_00_dot_71_bar__minus_02_dot_20)\n (inReceptacle PepperShaker_bar__minus_01_dot_91_bar__plus_00_dot_13_bar__plus_00_dot_11 Cabinet_bar__minus_01_dot_55_bar__plus_00_dot_50_bar__plus_00_dot_38)\n (inReceptacle SaltShaker_bar__minus_01_dot_77_bar__plus_00_dot_13_bar__plus_00_dot_34 Cabinet_bar__minus_01_dot_55_bar__plus_00_dot_50_bar__plus_00_dot_38)\n (inReceptacle PepperShaker_bar__plus_00_dot_84_bar__plus_00_dot_48_bar__minus_02_dot_28 Drawer_bar__plus_00_dot_95_bar__plus_00_dot_56_bar__minus_02_dot_20)\n (inReceptacle CreditCard_bar__plus_00_dot_95_bar__plus_00_dot_48_bar__minus_02_dot_48 Drawer_bar__plus_00_dot_95_bar__plus_00_dot_56_bar__minus_02_dot_20)\n (inReceptacle SaltShaker_bar__minus_01_dot_01_bar__plus_01_dot_65_bar__minus_02_dot_68 Cabinet_bar__minus_00_dot_73_bar__plus_02_dot_02_bar__minus_02_dot_46)\n (inReceptacle DishSponge_bar__minus_01_dot_10_bar__plus_00_dot_14_bar__minus_02_dot_45 Cabinet_bar__minus_01_dot_18_bar__plus_00_dot_50_bar__minus_02_dot_20)\n (inReceptacle CreditCard_bar__plus_01_dot_06_bar__plus_00_dot_14_bar__minus_02_dot_48 Drawer_bar__plus_00_dot_95_bar__plus_00_dot_22_bar__minus_02_dot_20)\n (inReceptacle Knife_bar__minus_01_dot_14_bar__plus_00_dot_94_bar__minus_02_dot_25 CounterTop_bar__minus_01_dot_87_bar__plus_00_dot_95_bar__minus_01_dot_21)\n (inReceptacle HousePlant_bar__minus_01_dot_95_bar__plus_00_dot_90_bar__minus_02_dot_52 CounterTop_bar__minus_01_dot_87_bar__plus_00_dot_95_bar__minus_01_dot_21)\n (inReceptacle Spatula_bar__minus_01_dot_69_bar__plus_00_dot_93_bar__minus_02_dot_70 CounterTop_bar__minus_01_dot_87_bar__plus_00_dot_95_bar__minus_01_dot_21)\n (inReceptacle DishSponge_bar__minus_00_dot_85_bar__plus_00_dot_91_bar__minus_02_dot_48 CounterTop_bar__minus_01_dot_87_bar__plus_00_dot_95_bar__minus_01_dot_21)\n (inReceptacle Glassbottle_bar__minus_01_dot_59_bar__plus_00_dot_91_bar__minus_02_dot_33 CounterTop_bar__minus_01_dot_87_bar__plus_00_dot_95_bar__minus_01_dot_21)\n (inReceptacle Bowl_bar__minus_01_dot_00_bar__plus_00_dot_91_bar__minus_02_dot_33 CounterTop_bar__minus_01_dot_87_bar__plus_00_dot_95_bar__minus_01_dot_21)\n (inReceptacle Pan_bar__minus_01_dot_86_bar__plus_00_dot_91_bar__minus_02_dot_26 CounterTop_bar__minus_01_dot_87_bar__plus_00_dot_95_bar__minus_01_dot_21)\n (inReceptacle Egg_bar__minus_01_dot_69_bar__plus_00_dot_95_bar__minus_00_dot_70 CounterTop_bar__minus_01_dot_87_bar__plus_00_dot_95_bar__minus_01_dot_21)\n (inReceptacle Lettuce_bar__minus_02_dot_02_bar__plus_00_dot_99_bar__minus_00_dot_70 CounterTop_bar__minus_01_dot_87_bar__plus_00_dot_95_bar__minus_01_dot_21)\n (inReceptacle Apple_bar__minus_01_dot_77_bar__plus_00_dot_96_bar__minus_00_dot_51 CounterTop_bar__minus_01_dot_87_bar__plus_00_dot_95_bar__minus_01_dot_21)\n (inReceptacle ButterKnife_bar__minus_01_dot_00_bar__plus_00_dot_91_bar__minus_02_dot_56 CounterTop_bar__minus_01_dot_87_bar__plus_00_dot_95_bar__minus_01_dot_21)\n (inReceptacle Mug_bar__minus_01_dot_73_bar__plus_00_dot_96_bar__minus_00_dot_17 CounterTop_bar__minus_01_dot_87_bar__plus_00_dot_95_bar__minus_01_dot_21)\n (inReceptacle Potato_bar__minus_00_dot_07_bar__plus_01_dot_82_bar__minus_02_dot_61 Microwave_bar__minus_00_dot_24_bar__plus_01_dot_69_bar__minus_02_dot_53)\n (inReceptacle Apple_bar__minus_00_dot_28_bar__plus_01_dot_84_bar__minus_02_dot_55 Microwave_bar__minus_00_dot_24_bar__plus_01_dot_69_bar__minus_02_dot_53)\n (inReceptacle Mug_bar__plus_01_dot_89_bar__plus_00_dot_88_bar__minus_02_dot_54 Shelf_bar__plus_01_dot_80_bar__plus_00_dot_87_bar__minus_02_dot_56)\n (inReceptacle Cup_bar__plus_01_dot_79_bar__plus_00_dot_88_bar__minus_02_dot_54 Shelf_bar__plus_01_dot_80_bar__plus_00_dot_87_bar__minus_02_dot_56)\n (inReceptacle PaperTowelRoll_bar__plus_01_dot_79_bar__plus_00_dot_66_bar__minus_02_dot_61 Shelf_bar__plus_01_dot_80_bar__plus_00_dot_54_bar__minus_02_dot_56)\n (inReceptacle SoapBottle_bar__plus_01_dot_48_bar__plus_00_dot_55_bar__minus_02_dot_41 Shelf_bar__plus_01_dot_80_bar__plus_00_dot_54_bar__minus_02_dot_56)\n (inReceptacle Vase_bar__plus_02_dot_04_bar__plus_00_dot_54_bar__minus_02_dot_50 Shelf_bar__plus_01_dot_80_bar__plus_00_dot_54_bar__minus_02_dot_56)\n (inReceptacle SoapBottle_bar__minus_01_dot_91_bar__plus_00_dot_05_bar__plus_01_dot_93 GarbageCan_bar__minus_01_dot_94_bar__plus_00_dot_00_bar__plus_02_dot_03)\n (inReceptacle Statue_bar__plus_01_dot_96_bar__plus_00_dot_17_bar__minus_02_dot_54 Shelf_bar__plus_01_dot_80_bar__plus_00_dot_16_bar__minus_02_dot_56)\n (inReceptacle Tomato_bar__minus_02_dot_08_bar__plus_01_dot_54_bar__plus_01_dot_26 Fridge_bar__minus_02_dot_10_bar__plus_00_dot_00_bar__plus_01_dot_09)\n (inReceptacle Egg_bar__minus_02_dot_20_bar__plus_01_dot_54_bar__plus_00_dot_93 Fridge_bar__minus_02_dot_10_bar__plus_00_dot_00_bar__plus_01_dot_09)\n (inReceptacle Egg_bar__minus_02_dot_20_bar__plus_00_dot_36_bar__plus_00_dot_84 Fridge_bar__minus_02_dot_10_bar__plus_00_dot_00_bar__plus_01_dot_09)\n (inReceptacle Cup_bar__minus_02_dot_16_bar__plus_01_dot_30_bar__plus_01_dot_18 Fridge_bar__minus_02_dot_10_bar__plus_00_dot_00_bar__plus_01_dot_09)\n (inReceptacle Mug_bar__minus_01_dot_73_bar__plus_00_dot_96_bar__minus_00_dot_17 CoffeeMachine_bar__minus_02_dot_00_bar__plus_00_dot_90_bar__minus_00_dot_17)\n (inReceptacle Spatula_bar__minus_01_dot_96_bar__plus_00_dot_78_bar__minus_01_dot_33 Sink_bar__minus_01_dot_90_bar__plus_00_dot_97_bar__minus_01_dot_50_bar_SinkBasin)\n (inReceptacle Knife_bar__minus_01_dot_91_bar__plus_00_dot_80_bar__minus_01_dot_41 Sink_bar__minus_01_dot_90_bar__plus_00_dot_97_bar__minus_01_dot_50_bar_SinkBasin)\n (inReceptacle DishSponge_bar__minus_02_dot_02_bar__plus_00_dot_77_bar__minus_01_dot_50 Sink_bar__minus_01_dot_90_bar__plus_00_dot_97_bar__minus_01_dot_50_bar_SinkBasin)\n (inReceptacle Spatula_bar__minus_01_dot_85_bar__plus_00_dot_78_bar__minus_01_dot_24 Sink_bar__minus_01_dot_90_bar__plus_00_dot_97_bar__minus_01_dot_50_bar_SinkBasin)\n (inReceptacle Potato_bar__minus_01_dot_85_bar__plus_00_dot_80_bar__minus_01_dot_50 Sink_bar__minus_01_dot_90_bar__plus_00_dot_97_bar__minus_01_dot_50_bar_SinkBasin)\n (inReceptacle Kettle_bar__minus_01_dot_85_bar__plus_00_dot_77_bar__minus_01_dot_67 Sink_bar__minus_01_dot_90_bar__plus_00_dot_97_bar__minus_01_dot_50_bar_SinkBasin)\n (inReceptacle Cup_bar__minus_02_dot_02_bar__plus_00_dot_77_bar__minus_01_dot_59 Sink_bar__minus_01_dot_90_bar__plus_00_dot_97_bar__minus_01_dot_50_bar_SinkBasin)\n \n \n (receptacleAtLocation Cabinet_bar__plus_00_dot_68_bar__plus_00_dot_50_bar__minus_02_dot_20 loc_bar_0_bar__minus_5_bar_2_bar_45)\n (receptacleAtLocation Cabinet_bar__plus_00_dot_68_bar__plus_02_dot_02_bar__minus_02_dot_46 loc_bar_2_bar__minus_7_bar_2_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__plus_00_dot_72_bar__plus_02_dot_02_bar__minus_02_dot_46 loc_bar_4_bar__minus_7_bar_2_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_73_bar__plus_02_dot_02_bar__minus_02_dot_46 loc_bar__minus_4_bar__minus_7_bar_2_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_01_dot_18_bar__plus_00_dot_50_bar__minus_02_dot_20 loc_bar__minus_5_bar__minus_5_bar_2_bar_45)\n (receptacleAtLocation Cabinet_bar__minus_01_dot_55_bar__plus_00_dot_50_bar__plus_00_dot_38 loc_bar__minus_4_bar_2_bar_3_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_01_dot_55_bar__plus_00_dot_50_bar__minus_01_dot_97 loc_bar__minus_3_bar__minus_6_bar_3_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_01_dot_69_bar__plus_02_dot_02_bar__minus_02_dot_46 loc_bar__minus_5_bar__minus_7_bar_2_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_01_dot_85_bar__plus_02_dot_02_bar__plus_00_dot_38 loc_bar__minus_5_bar_2_bar_3_bar__minus_30)\n (receptacleAtLocation CoffeeMachine_bar__minus_02_dot_00_bar__plus_00_dot_90_bar__minus_00_dot_17 loc_bar__minus_5_bar__minus_1_bar_3_bar_45)\n (receptacleAtLocation CounterTop_bar__plus_00_dot_69_bar__plus_00_dot_95_bar__minus_02_dot_48 loc_bar_3_bar__minus_7_bar_2_bar_45)\n (receptacleAtLocation CounterTop_bar__minus_00_dot_08_bar__plus_01_dot_15_bar_00_dot_00 loc_bar_3_bar_0_bar_3_bar_30)\n (receptacleAtLocation CounterTop_bar__minus_01_dot_87_bar__plus_00_dot_95_bar__minus_01_dot_21 loc_bar__minus_5_bar__minus_7_bar_3_bar_45)\n (receptacleAtLocation Drawer_bar__plus_00_dot_95_bar__plus_00_dot_22_bar__minus_02_dot_20 loc_bar_6_bar__minus_4_bar_2_bar_45)\n (receptacleAtLocation Drawer_bar__plus_00_dot_95_bar__plus_00_dot_39_bar__minus_02_dot_20 loc_bar_6_bar__minus_4_bar_2_bar_45)\n (receptacleAtLocation Drawer_bar__plus_00_dot_95_bar__plus_00_dot_56_bar__minus_02_dot_20 loc_bar_2_bar__minus_5_bar_2_bar_45)\n (receptacleAtLocation Drawer_bar__plus_00_dot_95_bar__plus_00_dot_71_bar__minus_02_dot_20 loc_bar_7_bar__minus_7_bar_3_bar_45)\n (receptacleAtLocation Drawer_bar__plus_00_dot_95_bar__plus_00_dot_83_bar__minus_02_dot_20 loc_bar_1_bar__minus_7_bar_1_bar_45)\n (receptacleAtLocation 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loc_bar_7_bar__minus_8_bar_2_bar_60)\n (receptacleAtLocation Shelf_bar__plus_01_dot_80_bar__plus_00_dot_54_bar__minus_02_dot_56 loc_bar_5_bar__minus_6_bar_2_bar_45)\n (receptacleAtLocation Shelf_bar__plus_01_dot_80_bar__plus_00_dot_87_bar__minus_02_dot_56 loc_bar_7_bar__minus_5_bar_2_bar_30)\n (receptacleAtLocation Sink_bar__minus_01_dot_90_bar__plus_00_dot_97_bar__minus_01_dot_50_bar_SinkBasin loc_bar__minus_5_bar__minus_6_bar_3_bar_60)\n (receptacleAtLocation StoveBurner_bar__minus_00_dot_04_bar__plus_00_dot_92_bar__minus_02_dot_37 loc_bar_0_bar__minus_7_bar_2_bar_45)\n (receptacleAtLocation StoveBurner_bar__minus_00_dot_04_bar__plus_00_dot_92_bar__minus_02_dot_58 loc_bar_0_bar__minus_7_bar_2_bar_45)\n (receptacleAtLocation StoveBurner_bar__minus_00_dot_47_bar__plus_00_dot_92_bar__minus_02_dot_37 loc_bar__minus_2_bar__minus_7_bar_2_bar_45)\n (receptacleAtLocation StoveBurner_bar__minus_00_dot_47_bar__plus_00_dot_92_bar__minus_02_dot_58 loc_bar__minus_2_bar__minus_7_bar_2_bar_45)\n (receptacleAtLocation Toaster_bar__minus_01_dot_84_bar__plus_00_dot_90_bar__plus_00_dot_13 loc_bar__minus_5_bar_1_bar_3_bar_45)\n (objectAtLocation Mug_bar__plus_01_dot_89_bar__plus_00_dot_88_bar__minus_02_dot_54 loc_bar_7_bar__minus_5_bar_2_bar_30)\n (objectAtLocation DishSponge_bar__minus_02_dot_02_bar__plus_00_dot_77_bar__minus_01_dot_50 loc_bar__minus_5_bar__minus_6_bar_3_bar_60)\n (objectAtLocation Apple_bar__minus_00_dot_28_bar__plus_01_dot_84_bar__minus_02_dot_55 loc_bar__minus_1_bar__minus_7_bar_2_bar_0)\n (objectAtLocation ButterKnife_bar__minus_01_dot_00_bar__plus_00_dot_91_bar__minus_02_dot_56 loc_bar__minus_5_bar__minus_7_bar_3_bar_45)\n (objectAtLocation Lettuce_bar__minus_00_dot_34_bar__plus_01_dot_19_bar__plus_00_dot_50 loc_bar_3_bar_0_bar_3_bar_30)\n (objectAtLocation PepperShaker_bar__plus_00_dot_32_bar__plus_00_dot_91_bar__minus_02_dot_71 loc_bar_3_bar__minus_7_bar_2_bar_45)\n (objectAtLocation SaltShaker_bar__minus_01_dot_77_bar__plus_00_dot_13_bar__plus_00_dot_34 loc_bar__minus_4_bar_2_bar_3_bar_60)\n (objectAtLocation Bowl_bar__plus_00_dot_08_bar__plus_01_dot_11_bar__minus_00_dot_76 loc_bar_3_bar_0_bar_3_bar_30)\n (objectAtLocation Cup_bar__plus_01_dot_79_bar__plus_00_dot_88_bar__minus_02_dot_54 loc_bar_7_bar__minus_5_bar_2_bar_30)\n (objectAtLocation Spatula_bar__minus_01_dot_69_bar__plus_00_dot_93_bar__minus_02_dot_70 loc_bar__minus_5_bar__minus_7_bar_3_bar_45)\n (objectAtLocation Pot_bar__minus_00_dot_20_bar__plus_01_dot_12_bar_00_dot_00 loc_bar_3_bar_0_bar_3_bar_30)\n (objectAtLocation CreditCard_bar__plus_00_dot_95_bar__plus_00_dot_48_bar__minus_02_dot_48 loc_bar_2_bar__minus_5_bar_2_bar_45)\n (objectAtLocation Egg_bar__minus_02_dot_20_bar__plus_01_dot_54_bar__plus_00_dot_93 loc_bar__minus_4_bar_4_bar_3_bar_60)\n (objectAtLocation Tomato_bar__plus_01_dot_10_bar__plus_00_dot_95_bar__minus_02_dot_64 loc_bar_3_bar__minus_7_bar_2_bar_45)\n (objectAtLocation Kettle_bar__minus_01_dot_85_bar__plus_00_dot_77_bar__minus_01_dot_67 loc_bar__minus_5_bar__minus_6_bar_3_bar_60)\n (objectAtLocation SoapBottle_bar__plus_01_dot_48_bar__plus_00_dot_55_bar__minus_02_dot_41 loc_bar_5_bar__minus_6_bar_2_bar_45)\n (objectAtLocation Potato_bar__minus_01_dot_85_bar__plus_00_dot_80_bar__minus_01_dot_50 loc_bar__minus_5_bar__minus_6_bar_3_bar_60)\n (objectAtLocation Knife_bar__minus_01_dot_14_bar__plus_00_dot_94_bar__minus_02_dot_25 loc_bar__minus_5_bar__minus_7_bar_3_bar_45)\n (objectAtLocation DishSponge_bar__minus_00_dot_85_bar__plus_00_dot_91_bar__minus_02_dot_48 loc_bar__minus_5_bar__minus_7_bar_3_bar_45)\n (objectAtLocation Pot_bar__plus_00_dot_97_bar__plus_00_dot_91_bar__minus_02_dot_48 loc_bar_3_bar__minus_7_bar_2_bar_45)\n (objectAtLocation Spatula_bar__minus_01_dot_96_bar__plus_00_dot_78_bar__minus_01_dot_33 loc_bar__minus_5_bar__minus_6_bar_3_bar_60)\n (objectAtLocation Mug_bar__minus_01_dot_73_bar__plus_00_dot_96_bar__minus_00_dot_17 loc_bar__minus_5_bar__minus_1_bar_3_bar_45)\n (objectAtLocation Lettuce_bar__plus_00_dot_22_bar__plus_01_dot_19_bar_00_dot_00 loc_bar_3_bar_0_bar_3_bar_30)\n (objectAtLocation PepperShaker_bar__minus_01_dot_91_bar__plus_00_dot_13_bar__plus_00_dot_11 loc_bar__minus_4_bar_2_bar_3_bar_60)\n (objectAtLocation SaltShaker_bar__minus_01_dot_01_bar__plus_01_dot_65_bar__minus_02_dot_68 loc_bar__minus_4_bar__minus_7_bar_2_bar__minus_30)\n (objectAtLocation SoapBottle_bar__minus_01_dot_91_bar__plus_00_dot_05_bar__plus_01_dot_93 loc_bar__minus_5_bar_7_bar_3_bar_60)\n (objectAtLocation Egg_bar__minus_01_dot_69_bar__plus_00_dot_95_bar__minus_00_dot_70 loc_bar__minus_5_bar__minus_7_bar_3_bar_45)\n (objectAtLocation Cup_bar__minus_02_dot_16_bar__plus_01_dot_30_bar__plus_01_dot_18 loc_bar__minus_4_bar_4_bar_3_bar_60)\n (objectAtLocation CreditCard_bar__plus_00_dot_22_bar__plus_01_dot_11_bar_00_dot_00 loc_bar_3_bar_0_bar_3_bar_30)\n (objectAtLocation StoveKnob_bar__minus_00_dot_02_bar__plus_00_dot_88_bar__minus_02_dot_19 loc_bar_0_bar__minus_7_bar_2_bar_60)\n (objectAtLocation Window_bar__minus_02_dot_23_bar__plus_01_dot_43_bar__minus_01_dot_20 loc_bar__minus_5_bar__minus_5_bar_3_bar_15)\n (objectAtLocation StoveKnob_bar__minus_00_dot_48_bar__plus_00_dot_88_bar__minus_02_dot_19 loc_bar__minus_2_bar__minus_7_bar_2_bar_60)\n (objectAtLocation Sink_bar__minus_01_dot_90_bar__plus_00_dot_97_bar__minus_01_dot_50 loc_bar__minus_5_bar__minus_6_bar_3_bar_45)\n (objectAtLocation StoveKnob_bar__minus_00_dot_33_bar__plus_00_dot_88_bar__minus_02_dot_19 loc_bar__minus_1_bar__minus_7_bar_2_bar_60)\n (objectAtLocation StoveKnob_bar__minus_00_dot_18_bar__plus_00_dot_88_bar__minus_02_dot_19 loc_bar__minus_1_bar__minus_7_bar_2_bar_60)\n (objectAtLocation Book_bar__plus_00_dot_16_bar__plus_01_dot_10_bar__plus_00_dot_62 loc_bar_3_bar_0_bar_3_bar_30)\n (objectAtLocation Chair_bar__plus_00_dot_67_bar__plus_00_dot_73_bar__plus_00_dot_56 loc_bar_3_bar_0_bar_0_bar_60)\n (objectAtLocation Glassbottle_bar__minus_01_dot_59_bar__plus_00_dot_91_bar__minus_02_dot_33 loc_bar__minus_5_bar__minus_7_bar_3_bar_45)\n (objectAtLocation Knife_bar__minus_01_dot_91_bar__plus_00_dot_80_bar__minus_01_dot_41 loc_bar__minus_5_bar__minus_6_bar_3_bar_60)\n (objectAtLocation Bread_bar__minus_00_dot_34_bar__plus_01_dot_18_bar__plus_00_dot_25 loc_bar_3_bar_0_bar_3_bar_30)\n (objectAtLocation Fork_bar__plus_00_dot_45_bar__plus_00_dot_91_bar__minus_02_dot_33 loc_bar_3_bar__minus_7_bar_2_bar_45)\n (objectAtLocation Potato_bar__minus_00_dot_07_bar__plus_01_dot_82_bar__minus_02_dot_61 loc_bar__minus_1_bar__minus_7_bar_2_bar_0)\n (objectAtLocation HousePlant_bar__minus_01_dot_95_bar__plus_00_dot_90_bar__minus_02_dot_52 loc_bar__minus_5_bar__minus_7_bar_3_bar_45)\n (objectAtLocation SoapBottle_bar__minus_00_dot_06_bar__plus_01_dot_11_bar__minus_00_dot_51 loc_bar_3_bar_0_bar_3_bar_30)\n (objectAtLocation Kettle_bar__minus_00_dot_47_bar__plus_00_dot_95_bar__minus_02_dot_37 loc_bar__minus_2_bar__minus_7_bar_2_bar_45)\n (objectAtLocation Pan_bar__minus_01_dot_86_bar__plus_00_dot_91_bar__minus_02_dot_26 loc_bar__minus_5_bar__minus_7_bar_3_bar_45)\n (objectAtLocation Plate_bar__plus_00_dot_51_bar__plus_00_dot_14_bar__minus_02_dot_39 loc_bar_2_bar__minus_7_bar_2_bar_60)\n (objectAtLocation Tomato_bar__minus_02_dot_08_bar__plus_01_dot_54_bar__plus_01_dot_26 loc_bar__minus_4_bar_4_bar_3_bar_60)\n (objectAtLocation Vase_bar__plus_02_dot_04_bar__plus_00_dot_54_bar__minus_02_dot_50 loc_bar_5_bar__minus_6_bar_2_bar_45)\n (objectAtLocation Egg_bar__minus_02_dot_20_bar__plus_00_dot_36_bar__plus_00_dot_84 loc_bar__minus_4_bar_4_bar_3_bar_60)\n (objectAtLocation CreditCard_bar__plus_01_dot_06_bar__plus_00_dot_14_bar__minus_02_dot_48 loc_bar_6_bar__minus_4_bar_2_bar_45)\n (objectAtLocation Statue_bar__plus_01_dot_96_bar__plus_00_dot_17_bar__minus_02_dot_54 loc_bar_7_bar__minus_8_bar_2_bar_60)\n (objectAtLocation Chair_bar__plus_00_dot_62_bar__plus_00_dot_73_bar__minus_00_dot_51 loc_bar_5_bar__minus_2_bar_3_bar_60)\n (objectAtLocation WineBottle_bar__minus_01_dot_81_bar__plus_00_dot_14_bar__minus_01_dot_51 loc_bar__minus_3_bar__minus_6_bar_3_bar_60)\n (objectAtLocation Pot_bar__minus_00_dot_04_bar__plus_00_dot_95_bar__minus_02_dot_37 loc_bar_0_bar__minus_7_bar_2_bar_45)\n (objectAtLocation Spatula_bar__minus_01_dot_85_bar__plus_00_dot_78_bar__minus_01_dot_24 loc_bar__minus_5_bar__minus_6_bar_3_bar_60)\n (objectAtLocation PaperTowelRoll_bar__plus_01_dot_79_bar__plus_00_dot_66_bar__minus_02_dot_61 loc_bar_5_bar__minus_6_bar_2_bar_45)\n (objectAtLocation Cup_bar__minus_02_dot_02_bar__plus_00_dot_77_bar__minus_01_dot_59 loc_bar__minus_5_bar__minus_6_bar_3_bar_60)\n (objectAtLocation Vase_bar__plus_00_dot_36_bar__plus_01_dot_11_bar__minus_00_dot_25 loc_bar_3_bar_0_bar_3_bar_30)\n (objectAtLocation Bowl_bar__minus_01_dot_00_bar__plus_00_dot_91_bar__minus_02_dot_33 loc_bar__minus_5_bar__minus_7_bar_3_bar_45)\n (objectAtLocation SaltShaker_bar__minus_00_dot_20_bar__plus_01_dot_11_bar__minus_00_dot_51 loc_bar_3_bar_0_bar_3_bar_30)\n (objectAtLocation PepperShaker_bar__plus_00_dot_84_bar__plus_00_dot_48_bar__minus_02_dot_28 loc_bar_2_bar__minus_5_bar_2_bar_45)\n (objectAtLocation Lettuce_bar__minus_02_dot_02_bar__plus_00_dot_99_bar__minus_00_dot_70 loc_bar__minus_5_bar__minus_7_bar_3_bar_45)\n (objectAtLocation ButterKnife_bar__plus_00_dot_58_bar__plus_00_dot_91_bar__minus_02_dot_56 loc_bar_3_bar__minus_7_bar_2_bar_45)\n (objectAtLocation Apple_bar__minus_01_dot_77_bar__plus_00_dot_96_bar__minus_00_dot_51 loc_bar__minus_5_bar__minus_7_bar_3_bar_45)\n (objectAtLocation DishSponge_bar__minus_01_dot_10_bar__plus_00_dot_14_bar__minus_02_dot_45 loc_bar__minus_5_bar__minus_5_bar_2_bar_45)\n (objectAtLocation Spoon_bar__plus_00_dot_95_bar__plus_00_dot_65_bar__minus_02_dot_38 loc_bar_7_bar__minus_7_bar_3_bar_45)\n (objectAtLocation LightSwitch_bar__plus_02_dot_33_bar__plus_01_dot_31_bar__minus_00_dot_16 loc_bar_7_bar__minus_1_bar_1_bar_30)\n (objectAtLocation Mug_bar__minus_01_dot_86_bar__plus_00_dot_13_bar__minus_01_dot_74 loc_bar__minus_3_bar__minus_6_bar_3_bar_60)\n )\n \n\n (:goal\n (and\n (exists (?r - receptacle)\n (exists (?o - object)\n (and\n (coolable ?o)\n (objectType ?o BowlType)\n (receptacleType ?r ShelfType)\n (isCool ?o)\n (inReceptacle ?o ?r)\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to countertop 3", "take bowl 1 from countertop 3", "go to fridge 1", "cool bowl 1 with fridge 1", "go to shelf 2", "move bowl 1 to shelf 2"]}
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alfworld__pick_cool_then_place_in_recep__12
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pick_cool_then_place_in_recep
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pick_cool_then_place_in_recep-Bowl-None-Shelf-1/trial_T20190907_073805_220745/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 bowl and put it in shelf.\"\n }\n ],\n\n \"GotoLocation.feedback\": [\n {\n \"rhs\": \"You arrive at {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"OpenObject.feedback\": [\n {\n \"rhs\": \"You open the {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"CloseObject.feedback\": [\n {\n \"rhs\": \"You close the {r.name}.\"\n }\n ],\n\n \"PickupObject.feedback\": [\n {\n \"rhs\": \"You pick up the {o.name} from the {r.name}.\"\n }\n ],\n\n \"PickupObjectFromReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupObjectFromReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupEmptyReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupEmptyReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupFullReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupFullReceptacleObject: You pick up the {outerr.name}.\"\n }\n ],\n\n \"PutObject.feedback\": [\n {\n \"rhs\": \"You move the {o.name} to the {r.name}.\"\n }\n ],\n\n \"PutObjectInReceptacleObject.feedback\": [\n {\n \"rhs\": \"PutObjectInReceptacleObject: You put the {o.name} in the {outero.name}.\"\n }\n ],\n\n \"PutEmptyReceptacleObjectinReceptacle.feedback\": [\n {\n \"rhs\": \"PutEmptyReceptacleObjectinReceptacle: You put the {o.name} in the {r.name}.\"\n }\n ],\n\n \"PutFullReceptacleObjectInReceptacle.feedback\": [\n {\n \"rhs\": \"PutFullReceptacleObjectInReceptacle: You put the {outero.name} in the {r.name}.\"\n }\n ],\n\n \"inventory.feedback\": [\n {\n \"condition\": \"holdsany(a:agent)\",\n \"rhs\": \"You are carrying: [{o.indefinite + ' ' + o.name | holds(a:agent, o:object)}].\"\n },\n {\n \"rhs\": \"You are not carrying anything.\"\n }\n ],\n\n \"examineReceptacle.feedback\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \"The {r.name} is open. In it, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \"The {r.name} is closed.\"\n },\n {\n \"rhs\": \"On the {r.name}, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n }\n ],\n\n \"examineObject.feedback\": [\n {\n \"condition\": \"isreceptacleobject(o:object)\",\n \"rhs\": \"This is a normal {o.name}. In it, you see [{o2.indefinite + ' ' + o2.name | inreceptacleobject(o2:object, o:object)}].\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a clean sliced {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot sliced {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object)\",\n \"rhs\": \"This is a hot and clean {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object)\",\n \"rhs\": \"This is a cool and clean {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object)\",\n \"rhs\": \"This is a hot {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object)\",\n \"rhs\": \"This is a clean {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object)\",\n \"rhs\": \"This is a cold {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"This {o.name} is on.\"\n },\n {\n \"condition\": \"toggleable(o:object) & not_istoggled(o:object)\",\n \"rhs\": \"This {o.name} is off.\"\n },\n {\n \"condition\": \"sliceable(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a sliced {o.name}.\"\n },\n {\n \"rhs\": \"There's nothing special about {o.name}.\"\n }\n ]\n }\n\"\"\";\n\naction GotoLocation {\n template :: \"go to [{r.name | receptacleatlocation(r:receptacle, lend:location)}]\";\n feedback :: \"#GotoLocation.feedback#\";\n}\n\naction OpenObject {\n template :: \"open {r}\";\n feedback :: \"#OpenObject.feedback#\";\n}\n\naction CloseObject {\n template :: \"close {r}\";\n feedback :: \"#CloseObject.feedback#\";\n}\n\naction PickupObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObject.feedback#\";\n}\n\naction PickupObjectFromReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObjectFromReceptacleObject.feedback#\";\n}\n\naction PickupEmptyReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupEmptyReceptacleObject.feedback#\";\n}\n\naction PickupFullReceptacleObject {\n template :: \"take {outerr} from {r}\";\n feedback :: \"#PickupFullReceptacleObject.feedback#\";\n}\n\naction PutObject {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutObject.feedback#\";\n}\n\naction PutObjectInReceptacleObject {\n template :: \"put {o} into {outero}\";\n feedback :: \"#PutObjectInReceptacleObject.feedback#\";\n}\n\naction PutEmptyReceptacleObjectinReceptacle {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutEmptyReceptacleObjectinReceptacle.feedback#\";\n}\n\naction PutFullReceptacleObjectInReceptacle {\n template :: \"put {outero} in {r}\";\n feedback :: \"#PutFullReceptacleObjectInReceptacle.feedback#\";\n}\n\naction inventory {\n template :: \"inventory\";\n feedback :: \"#inventory.feedback#\";\n}\n\naction examineReceptacle {\n template :: \"examine {r}\";\n feedback :: \"#examineReceptacle.feedback#\";\n}\n\naction examineObject {\n template :: \"examine {o}\";\n feedback :: \"#examineObject.feedback#\";\n}\n\naction ToggleObject {\n template :: \"use {o}\";\n feedback :: \"#toggleObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"toggleObject.feedback\": [\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"You turn on the {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object)\",\n \"rhs\": \"You turn off the {o.name}.\"\n },\n {\n \"rhs\": \"You don't see any switch on the {o.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction HeatObject {\n template :: \"heat {o} with {r}\";\n feedback :: \"#heatObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"heatObject.feedback\": [\n {\n \"rhs\": \"You heat the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CleanObject {\n template :: \"clean {o} with {r}\";\n feedback :: \"#cleanObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"cleanObject.feedback\": [\n {\n \"rhs\": \"You clean the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CoolObject {\n template :: \"cool {o} with {r}\";\n feedback :: \"#coolObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"coolObject.feedback\": [\n {\n \"rhs\": \"You cool the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction SliceObject {\n template :: \"slice {co} with {ko}\";\n feedback :: \"#sliceObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"sliceObject.feedback\": [\n {\n \"rhs\": \"You sliced the {co.name} with the {ko.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction look {\n template :: \"look\";\n feedback :: \"#look.feedback#\";\n\n grammar :: \"\"\"\n {\n \"look.feedback\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"#look-variations#. Next to it, you see #list_objects_on_the_floor#.\"\n },\n {\n \"rhs\": \"You are in the middle of a room. Looking quickly around you, you see #list_appliances#.\"\n }\n ],\n\n \"look-variations\": [\n {\n \"rhs\": \"You are facing the [{r.name | atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)}]\"\n }\n ],\n\n \"list_objects_on_the_floor\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)\",\n \"rhs\": \"[{#overview(o)# | atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"list_appliances\": [\n {\n \"condition\": \"receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"[{#overview(r)# | receptacleatlocation(r:receptacle, l:location)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"overview(o, r)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name} (in/on the {r.name})}\"\n }\n ],\n\n \"overview(o)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name}\"\n }\n ],\n \"overview(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}\"\n }\n ],\n \"overview_with_state(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}#overview_state(r)#\"\n }\n ],\n \"overview_state(r)\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \" (it is open)\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \" (it is closed)\"\n },\n {\n \"rhs\": \"\"\n }\n ],\n\n \"list_empty\": [\n {\n \"rhs\": \"nothing\"\n }\n ],\n \"list_separator\": [\n {\n \"rhs\": \", \"\n }\n ],\n \"list_last_separator\": [\n {\n \"rhs\": \", and \"\n }\n ]\n }\n \"\"\";\n}\n\naction help {\n template :: \"help\";\n feedback :: \"\nAvailable commands:\n look: look around your current location\n inventory: check your current inventory\n go to (receptacle): move to a receptacle\n open (receptacle): open a receptacle\n close (receptacle): close a receptacle\n take (object) from (receptacle): take an object from a receptacle\n move (object) to (receptacle): place an object in or on a receptacle\n examine (something): examine a receptacle or an object\n use (object): use an object\n heat (object) with (receptacle): heat an object using a receptacle\n clean (object) with (receptacle): clean an object using a receptacle\n cool (object) with (receptacle): cool an object using a receptacle\n slice (object) with (object): slice an object using a sharp object\n\";\n}\n", "pddl_problem": "\n(define (problem plan_trial_T20190907_073805_220745)\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_10_bar__plus_00_dot_96_bar__minus_02_dot_33 - object\n Book_bar__plus_00_dot_16_bar__plus_01_dot_10_bar__plus_00_dot_62 - object\n Bowl_bar__minus_01_dot_59_bar__plus_00_dot_91_bar__minus_02_dot_48 - object\n Bread_bar__minus_00_dot_20_bar__plus_01_dot_18_bar__plus_00_dot_76 - object\n ButterKnife_bar__minus_00_dot_34_bar__plus_01_dot_11_bar__plus_00_dot_25 - object\n ButterKnife_bar__minus_01_dot_91_bar__plus_00_dot_77_bar__minus_01_dot_33 - object\n ButterKnife_bar__minus_01_dot_94_bar__plus_00_dot_91_bar__minus_00_dot_51 - object\n Chair_bar__plus_00_dot_62_bar__plus_00_dot_73_bar__minus_00_dot_51 - object\n Chair_bar__plus_00_dot_67_bar__plus_00_dot_73_bar__plus_00_dot_56 - object\n CreditCard_bar__minus_01_dot_78_bar__plus_00_dot_79_bar__plus_00_dot_20 - object\n Cup_bar__minus_01_dot_80_bar__plus_00_dot_77_bar__minus_01_dot_33 - object\n DishSponge_bar__plus_00_dot_89_bar__plus_00_dot_48_bar__minus_02_dot_48 - object\n DishSponge_bar__plus_01_dot_48_bar__plus_00_dot_55_bar__minus_02_dot_46 - object\n DishSponge_bar__minus_01_dot_65_bar__plus_00_dot_15_bar__minus_00_dot_29 - object\n Egg_bar__minus_01_dot_94_bar__plus_00_dot_95_bar__minus_02_dot_37 - object\n Egg_bar__minus_02_dot_02_bar__plus_00_dot_80_bar__minus_01_dot_41 - object\n Egg_bar__minus_02_dot_04_bar__plus_01_dot_54_bar__plus_00_dot_93 - object\n Faucet_bar__minus_02_dot_07_bar__plus_01_dot_13_bar__minus_01_dot_51 - object\n Fork_bar__plus_00_dot_95_bar__plus_00_dot_32_bar__minus_02_dot_33 - object\n Fork_bar__plus_01_dot_06_bar__plus_00_dot_78_bar__minus_02_dot_33 - object\n Glassbottle_bar__plus_00_dot_36_bar__plus_01_dot_11_bar__plus_00_dot_25 - object\n Glassbottle_bar__minus_01_dot_91_bar__plus_00_dot_05_bar__plus_02_dot_12 - object\n HousePlant_bar__minus_01_dot_95_bar__plus_00_dot_90_bar__minus_02_dot_52 - object\n Kettle_bar__minus_00_dot_47_bar__plus_00_dot_95_bar__minus_02_dot_58 - object\n Knife_bar__plus_00_dot_45_bar__plus_00_dot_94_bar__minus_02_dot_41 - object\n Knife_bar__minus_00_dot_06_bar__plus_01_dot_14_bar__minus_00_dot_51 - object\n Knife_bar__minus_01_dot_91_bar__plus_00_dot_80_bar__minus_01_dot_59 - object\n 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Bread_bar__minus_00_dot_20_bar__plus_01_dot_18_bar__plus_00_dot_76 CounterTop_bar__minus_00_dot_08_bar__plus_01_dot_15_bar_00_dot_00)\n (inReceptacle Statue_bar__minus_00_dot_34_bar__plus_01_dot_11_bar__plus_00_dot_76 CounterTop_bar__minus_00_dot_08_bar__plus_01_dot_15_bar_00_dot_00)\n (inReceptacle Plate_bar__minus_00_dot_47_bar__plus_01_dot_11_bar__minus_00_dot_25 CounterTop_bar__minus_00_dot_08_bar__plus_01_dot_15_bar_00_dot_00)\n (inReceptacle Book_bar__plus_00_dot_16_bar__plus_01_dot_10_bar__plus_00_dot_62 CounterTop_bar__minus_00_dot_08_bar__plus_01_dot_15_bar_00_dot_00)\n (inReceptacle Pan_bar__minus_01_dot_76_bar__plus_00_dot_14_bar__minus_01_dot_39 Cabinet_bar__minus_01_dot_55_bar__plus_00_dot_50_bar__minus_01_dot_97)\n (inReceptacle Apple_bar__plus_01_dot_10_bar__plus_00_dot_96_bar__minus_02_dot_33 CounterTop_bar__plus_00_dot_69_bar__plus_00_dot_95_bar__minus_02_dot_48)\n (inReceptacle Spatula_bar__plus_00_dot_84_bar__plus_00_dot_93_bar__minus_02_dot_56 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loc_bar__minus_5_bar__minus_5_bar_2_bar_45)\n (objectAtLocation Tomato_bar__plus_00_dot_97_bar__plus_00_dot_95_bar__minus_02_dot_33 loc_bar_3_bar__minus_7_bar_2_bar_45)\n (objectAtLocation Vase_bar__plus_02_dot_04_bar__plus_00_dot_54_bar__minus_02_dot_50 loc_bar_5_bar__minus_6_bar_2_bar_45)\n (objectAtLocation Egg_bar__minus_02_dot_02_bar__plus_00_dot_80_bar__minus_01_dot_41 loc_bar__minus_5_bar__minus_6_bar_3_bar_60)\n (objectAtLocation CreditCard_bar__minus_01_dot_78_bar__plus_00_dot_79_bar__plus_00_dot_20 loc_bar__minus_4_bar_4_bar_2_bar_45)\n (objectAtLocation Statue_bar__minus_00_dot_34_bar__plus_01_dot_11_bar__plus_00_dot_76 loc_bar_3_bar_0_bar_3_bar_30)\n (objectAtLocation Chair_bar__plus_00_dot_62_bar__plus_00_dot_73_bar__minus_00_dot_51 loc_bar_5_bar__minus_2_bar_3_bar_60)\n (objectAtLocation WineBottle_bar__minus_01_dot_81_bar__plus_00_dot_13_bar__plus_00_dot_16 loc_bar__minus_4_bar_2_bar_3_bar_60)\n (objectAtLocation Pot_bar__minus_00_dot_04_bar__plus_00_dot_95_bar__minus_02_dot_37 loc_bar_0_bar__minus_7_bar_2_bar_45)\n (objectAtLocation Spatula_bar__plus_00_dot_84_bar__plus_00_dot_93_bar__minus_02_dot_56 loc_bar_3_bar__minus_7_bar_2_bar_45)\n (objectAtLocation PaperTowelRoll_bar__plus_00_dot_45_bar__plus_01_dot_01_bar__minus_02_dot_25 loc_bar_3_bar__minus_7_bar_2_bar_45)\n (objectAtLocation Cup_bar__minus_01_dot_80_bar__plus_00_dot_77_bar__minus_01_dot_33 loc_bar__minus_5_bar__minus_6_bar_3_bar_60)\n (objectAtLocation Vase_bar__plus_00_dot_51_bar__plus_00_dot_14_bar__minus_02_dot_29 loc_bar_0_bar__minus_5_bar_2_bar_45)\n (objectAtLocation Bowl_bar__minus_01_dot_59_bar__plus_00_dot_91_bar__minus_02_dot_48 loc_bar__minus_5_bar__minus_7_bar_3_bar_45)\n (objectAtLocation SaltShaker_bar__minus_00_dot_06_bar__plus_01_dot_11_bar__plus_00_dot_76 loc_bar_3_bar_0_bar_3_bar_30)\n (objectAtLocation PepperShaker_bar__plus_01_dot_12_bar__plus_01_dot_66_bar__minus_02_dot_67 loc_bar_4_bar__minus_7_bar_2_bar__minus_30)\n (objectAtLocation Lettuce_bar__plus_00_dot_97_bar__plus_00_dot_99_bar__minus_02_dot_64 loc_bar_3_bar__minus_7_bar_2_bar_45)\n (objectAtLocation ButterKnife_bar__minus_00_dot_34_bar__plus_01_dot_11_bar__plus_00_dot_25 loc_bar_3_bar_0_bar_3_bar_30)\n (objectAtLocation Apple_bar__plus_01_dot_10_bar__plus_00_dot_96_bar__minus_02_dot_33 loc_bar_3_bar__minus_7_bar_2_bar_45)\n (objectAtLocation DishSponge_bar__minus_01_dot_65_bar__plus_00_dot_15_bar__minus_00_dot_29 loc_bar__minus_4_bar_3_bar_2_bar_60)\n (objectAtLocation Spoon_bar__minus_01_dot_85_bar__plus_00_dot_77_bar__minus_01_dot_50 loc_bar__minus_5_bar__minus_6_bar_3_bar_60)\n (objectAtLocation LightSwitch_bar__plus_02_dot_33_bar__plus_01_dot_31_bar__minus_00_dot_16 loc_bar_7_bar__minus_1_bar_1_bar_30)\n (objectAtLocation Mug_bar__minus_00_dot_17_bar__plus_01_dot_79_bar__minus_02_dot_51 loc_bar__minus_1_bar__minus_7_bar_2_bar_0)\n )\n \n\n (:goal\n (and\n (exists (?r - receptacle)\n (exists (?o - object)\n (and\n (coolable ?o)\n (objectType ?o BowlType)\n (receptacleType ?r ShelfType)\n (isCool ?o)\n (inReceptacle ?o ?r)\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to countertop 2", "take bowl 1 from countertop 2", "go to fridge 1", "cool bowl 1 with fridge 1", "go to shelf 2", "move bowl 1 to shelf 2"]}
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alfworld__pick_clean_then_place_in_recep__17
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pick_clean_then_place_in_recep
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pick_clean_then_place_in_recep-Cloth-None-Toilet-408/trial_T20190906_221206_329930/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 cloth and put it 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_T20190906_221206_329930)\n(:domain alfred)\n(:objects\nagent1 - agent\nSaltShaker - object\n HousePlant - object\n Candle - object\n SprayBottle - object\n Bowl - object\n Window - object\n CD - object\n Egg - object\n Glassbottle - object\n Sink - object\n Pillow - object\n Spoon - object\n SoapBottle - object\n TeddyBear - object\n ButterKnife - object\n Cup - object\n Plate - object\n RemoteControl - object\n Tomato - object\n Statue - object\n HandTowel - object\n Knife - object\n StoveKnob - object\n LightSwitch - object\n Pen - object\n Painting - object\n DishSponge - object\n Vase - object\n Mug - object\n ToiletPaper - object\n Box - object\n Mirror - object\n Ladle - object\n Fork - object\n Blinds - object\n Footstool - object\n KeyChain - object\n Cloth - object\n Laptop - object\n TissueBox - object\n PepperShaker - object\n FloorLamp - object\n WateringCan - object\n Apple - object\n Pan - object\n PaperTowel - object\n PaperTowelRoll - object\n Newspaper - object\n Television - object\n Chair - object\n CellPhone - object\n CreditCard - object\n Lettuce - object\n BasketBall - object\n Potato - object\n Curtains - object\n Boots - object\n Pencil - object\n AlarmClock - object\n ToiletPaperRoll - object\n Spatula - object\n Book - object\n Bread - object\n SoapBar - object\n Watch - object\n DeskLamp - object\n Kettle - object\n Pot - object\n ScrubBrush - object\n WineBottle - object\n ShowerDoor - object\n Bathtub - object\n LaundryHamperLid - object\n ShowerGlass - object\n Poster - object\n TennisRacket - object\n BaseballBat - object\n Towel - object\n Plunger - object\nSaltShakerType - otype\n HousePlantType - otype\n CandleType - otype\n SprayBottleType - otype\n BowlType - otype\n WindowType - otype\n CDType - otype\n EggType - otype\n GlassbottleType - otype\n SinkType - otype\n PillowType - otype\n SpoonType - otype\n SoapBottleType - otype\n TeddyBearType - otype\n ButterKnifeType - otype\n CupType - otype\n PlateType - otype\n RemoteControlType - otype\n TomatoType - otype\n StatueType - otype\n HandTowelType - otype\n KnifeType - otype\n StoveKnobType - otype\n LightSwitchType - otype\n PenType - otype\n PaintingType - otype\n DishSpongeType - otype\n VaseType - otype\n MugType - otype\n ToiletPaperType - otype\n BoxType - otype\n MirrorType - otype\n LadleType - otype\n ForkType - otype\n BlindsType - otype\n FootstoolType - otype\n KeyChainType - otype\n ClothType - otype\n LaptopType - otype\n TissueBoxType - otype\n PepperShakerType - otype\n FloorLampType - otype\n WateringCanType - otype\n AppleType - otype\n PanType - otype\n PaperTowelType - otype\n PaperTowelRollType - otype\n NewspaperType - otype\n TelevisionType - otype\n ChairType - otype\n CellPhoneType - otype\n CreditCardType - otype\n LettuceType - otype\n BasketBallType - otype\n PotatoType - otype\n CurtainsType - otype\n BootsType - otype\n PencilType - otype\n AlarmClockType - otype\n ToiletPaperRollType - otype\n SpatulaType - otype\n BookType - otype\n BreadType - otype\n SoapBarType - otype\n WatchType - otype\n DeskLampType - otype\n KettleType - otype\n PotType - otype\n ScrubBrushType - otype\n WineBottleType - otype\n ShowerDoorType - otype\n BathtubType - otype\n LaundryHamperLidType - otype\n ShowerGlassType - otype\n PosterType - otype\n TennisRacketType - otype\n BaseballBatType - otype\n TowelType - otype\n PlungerType - otype\nSafeType - rtype\n DrawerType - rtype\n CoffeeMachineType - rtype\n HandTowelHolderType - rtype\n SinkBasinType - rtype\n DresserType - rtype\n LaundryHamperType - rtype\n TVStandType - rtype\n BathtubBasinType - rtype\n CabinetType - rtype\n FridgeType - rtype\n DeskType - rtype\n ToiletType - rtype\n CartType - rtype\n SideTableType - rtype\n SofaType - rtype\n CoffeeTableType - rtype\n DiningTableType - rtype\n CounterTopType - rtype\n GarbageCanType - rtype\n ArmChairType - rtype\n ShelfType - rtype\n MicrowaveType - rtype\n ToasterType - rtype\n BedType - rtype\n PaintingHangerType - rtype\n TowelHolderType - rtype\n ToiletPaperHangerType - rtype\n StoveBurnerType - rtype\n OttomanType - rtype\n\n\n Bathtub_bar__plus_00_dot_29_bar__plus_00_dot_29_bar__minus_00_dot_08 - object\n Candle_bar__minus_00_dot_19_bar__plus_00_dot_56_bar__plus_00_dot_69 - object\n Candle_bar__minus_01_dot_64_bar__plus_00_dot_12_bar__plus_00_dot_57 - object\n Candle_bar__minus_03_dot_05_bar__plus_01_dot_00_bar__plus_00_dot_63 - object\n Cloth_bar__plus_00_dot_21_bar__plus_00_dot_03_bar__plus_00_dot_34 - object\n Cloth_bar__minus_01_dot_73_bar__plus_00_dot_08_bar__plus_00_dot_83 - object\n Cloth_bar__minus_02_dot_50_bar__plus_00_dot_08_bar__plus_00_dot_76 - object\n Faucet_bar__plus_00_dot_27_bar__plus_00_dot_67_bar__plus_00_dot_91 - object\n Faucet_bar__minus_01_dot_92_bar__plus_01_dot_02_bar__plus_00_dot_89 - object\n Faucet_bar__minus_02_dot_68_bar__plus_01_dot_02_bar__plus_00_dot_89 - object\n HandTowel_bar__minus_03_dot_10_bar__plus_01_dot_59_bar__plus_00_dot_74 - object\n LightSwitch_bar__minus_01_dot_39_bar__plus_01_dot_26_bar__minus_01_dot_69 - object\n Mirror_bar__minus_02_dot_31_bar__plus_01_dot_53_bar__plus_01_dot_00 - object\n Plunger_bar__minus_00_dot_71_bar__plus_00_dot_00_bar__plus_00_dot_83 - object\n ScrubBrush_bar__minus_00_dot_49_bar__plus_00_dot_00_bar__plus_00_dot_87 - object\n ShowerCurtain_bar__minus_00_dot_29_bar__plus_01_dot_89_bar__minus_01_dot_03 - object\n Sink_bar__minus_01_dot_92_bar__plus_00_dot_93_bar__plus_00_dot_68 - object\n Sink_bar__minus_02_dot_68_bar__plus_00_dot_93_bar__plus_00_dot_68 - object\n SoapBar_bar__plus_00_dot_56_bar__plus_00_dot_03_bar__minus_00_dot_32 - object\n SoapBar_bar__minus_02_dot_59_bar__plus_00_dot_08_bar__plus_00_dot_50 - object\n SoapBar_bar__minus_02_dot_96_bar__plus_00_dot_18_bar__minus_01_dot_54 - object\n SoapBottle_bar__minus_00_dot_17_bar__plus_00_dot_52_bar__plus_00_dot_18 - object\n SoapBottle_bar__minus_00_dot_17_bar__plus_00_dot_52_bar__minus_00_dot_08 - object\n SprayBottle_bar__minus_00_dot_93_bar__plus_01_dot_05_bar__plus_00_dot_78 - object\n SprayBottle_bar__minus_02_dot_00_bar__plus_00_dot_08_bar__plus_00_dot_57 - object\n SprayBottle_bar__minus_02_dot_86_bar__plus_00_dot_08_bar__plus_00_dot_83 - object\n ToiletPaper_bar__minus_01_dot_42_bar__plus_00_dot_82_bar__plus_00_dot_67 - object\n ToiletPaper_bar__minus_02_dot_09_bar__plus_00_dot_08_bar__plus_00_dot_89 - object\n Towel_bar__minus_00_dot_49_bar__plus_01_dot_37_bar__plus_00_dot_90 - object\n Bathtub_bar__plus_00_dot_29_bar__plus_00_dot_29_bar__minus_00_dot_08_bar_BathtubBasin - receptacle\n Cabinet_bar__minus_01_dot_50_bar__plus_00_dot_42_bar__plus_00_dot_43 - receptacle\n Cabinet_bar__minus_02_dot_29_bar__plus_00_dot_39_bar__plus_00_dot_42 - receptacle\n Cabinet_bar__minus_02_dot_31_bar__plus_00_dot_42_bar__plus_00_dot_43 - receptacle\n Cabinet_bar__minus_03_dot_09_bar__plus_00_dot_39_bar__plus_00_dot_42 - receptacle\n CounterTop_bar__minus_02_dot_30_bar__plus_00_dot_95_bar__plus_00_dot_69 - receptacle\n GarbageCan_bar__minus_02_dot_92_bar__plus_00_dot_00_bar__minus_01_dot_56 - receptacle\n HandTowelHolder_bar__minus_03_dot_13_bar__plus_01_dot_69_bar__plus_00_dot_74 - receptacle\n Sink_bar__minus_01_dot_92_bar__plus_00_dot_93_bar__plus_00_dot_68_bar_SinkBasin - receptacle\n Sink_bar__minus_02_dot_68_bar__plus_00_dot_93_bar__plus_00_dot_68_bar_SinkBasin - receptacle\n ToiletPaperHanger_bar__minus_01_dot_49_bar__plus_00_dot_81_bar__plus_00_dot_69 - receptacle\n Toilet_bar__minus_01_dot_05_bar__plus_00_dot_00_bar__plus_00_dot_55 - receptacle\n TowelHolder_bar__minus_00_dot_49_bar__plus_01_dot_35_bar__plus_01_dot_01 - receptacle\n loc_bar__minus_6_bar_0_bar_0_bar_45 - location\n loc_bar__minus_9_bar__minus_2_bar_2_bar_60 - location\n loc_bar__minus_6_bar__minus_4_bar_2_bar_30 - location\n loc_bar__minus_8_bar_0_bar_0_bar_45 - location\n loc_bar__minus_9_bar__minus_2_bar_0_bar_60 - location\n loc_bar__minus_10_bar_0_bar_0_bar_0 - location\n loc_bar__minus_2_bar_2_bar_3_bar_60 - location\n loc_bar__minus_2_bar_0_bar_1_bar_60 - location\n loc_bar__minus_3_bar__minus_1_bar_1_bar_60 - location\n loc_bar__minus_2_bar_2_bar_0_bar_60 - location\n loc_bar__minus_8_bar__minus_2_bar_0_bar_60 - location\n loc_bar__minus_7_bar_0_bar_0_bar_45 - location\n loc_bar__minus_10_bar_0_bar_0_bar_45 - location\n loc_bar__minus_6_bar__minus_2_bar_0_bar_60 - location\n loc_bar__minus_9_bar_0_bar_0_bar_0 - location\n loc_bar__minus_2_bar_2_bar_0_bar_30 - location\n loc_bar__minus_4_bar__minus_1_bar_3_bar_30 - location\n )\n \n\n(:init\n\n\n (receptacleType GarbageCan_bar__minus_02_dot_92_bar__plus_00_dot_00_bar__minus_01_dot_56 GarbageCanType)\n (receptacleType Cabinet_bar__minus_03_dot_09_bar__plus_00_dot_39_bar__plus_00_dot_42 CabinetType)\n (receptacleType Cabinet_bar__minus_02_dot_31_bar__plus_00_dot_42_bar__plus_00_dot_43 CabinetType)\n (receptacleType Toilet_bar__minus_01_dot_05_bar__plus_00_dot_00_bar__plus_00_dot_55 ToiletType)\n (receptacleType Bathtub_bar__plus_00_dot_29_bar__plus_00_dot_29_bar__minus_00_dot_08_bar_BathtubBasin BathtubBasinType)\n (receptacleType HandTowelHolder_bar__minus_03_dot_13_bar__plus_01_dot_69_bar__plus_00_dot_74 HandTowelHolderType)\n (receptacleType CounterTop_bar__minus_02_dot_30_bar__plus_00_dot_95_bar__plus_00_dot_69 CounterTopType)\n (receptacleType Cabinet_bar__minus_01_dot_50_bar__plus_00_dot_42_bar__plus_00_dot_43 CabinetType)\n (receptacleType TowelHolder_bar__minus_00_dot_49_bar__plus_01_dot_35_bar__plus_01_dot_01 TowelHolderType)\n (receptacleType Sink_bar__minus_01_dot_92_bar__plus_00_dot_93_bar__plus_00_dot_68_bar_SinkBasin SinkBasinType)\n (receptacleType Cabinet_bar__minus_02_dot_29_bar__plus_00_dot_39_bar__plus_00_dot_42 CabinetType)\n (receptacleType ToiletPaperHanger_bar__minus_01_dot_49_bar__plus_00_dot_81_bar__plus_00_dot_69 ToiletPaperHangerType)\n (receptacleType Sink_bar__minus_02_dot_68_bar__plus_00_dot_93_bar__plus_00_dot_68_bar_SinkBasin SinkBasinType)\n (objectType Mirror_bar__minus_02_dot_31_bar__plus_01_dot_53_bar__plus_01_dot_00 MirrorType)\n (objectType LightSwitch_bar__minus_01_dot_39_bar__plus_01_dot_26_bar__minus_01_dot_69 LightSwitchType)\n (objectType Candle_bar__minus_03_dot_05_bar__plus_01_dot_00_bar__plus_00_dot_63 CandleType)\n (objectType SprayBottle_bar__minus_00_dot_93_bar__plus_01_dot_05_bar__plus_00_dot_78 SprayBottleType)\n (objectType HandTowel_bar__minus_03_dot_10_bar__plus_01_dot_59_bar__plus_00_dot_74 HandTowelType)\n (objectType Cloth_bar__minus_02_dot_50_bar__plus_00_dot_08_bar__plus_00_dot_76 ClothType)\n (objectType Cloth_bar__plus_00_dot_21_bar__plus_00_dot_03_bar__plus_00_dot_34 ClothType)\n (objectType SprayBottle_bar__minus_02_dot_86_bar__plus_00_dot_08_bar__plus_00_dot_83 SprayBottleType)\n (objectType Sink_bar__minus_02_dot_68_bar__plus_00_dot_93_bar__plus_00_dot_68 SinkType)\n (objectType Bathtub_bar__plus_00_dot_29_bar__plus_00_dot_29_bar__minus_00_dot_08 BathtubType)\n (objectType ToiletPaper_bar__minus_01_dot_42_bar__plus_00_dot_82_bar__plus_00_dot_67 ToiletPaperType)\n (objectType ToiletPaper_bar__minus_02_dot_09_bar__plus_00_dot_08_bar__plus_00_dot_89 ToiletPaperType)\n (objectType SoapBar_bar__minus_02_dot_96_bar__plus_00_dot_18_bar__minus_01_dot_54 SoapBarType)\n (objectType Cloth_bar__minus_01_dot_73_bar__plus_00_dot_08_bar__plus_00_dot_83 ClothType)\n (objectType Candle_bar__minus_01_dot_64_bar__plus_00_dot_12_bar__plus_00_dot_57 CandleType)\n (objectType SoapBottle_bar__minus_00_dot_17_bar__plus_00_dot_52_bar__minus_00_dot_08 SoapBottleType)\n (objectType SoapBar_bar__minus_02_dot_59_bar__plus_00_dot_08_bar__plus_00_dot_50 SoapBarType)\n (objectType Sink_bar__minus_01_dot_92_bar__plus_00_dot_93_bar__plus_00_dot_68 SinkType)\n (objectType SoapBar_bar__plus_00_dot_56_bar__plus_00_dot_03_bar__minus_00_dot_32 SoapBarType)\n (objectType Towel_bar__minus_00_dot_49_bar__plus_01_dot_37_bar__plus_00_dot_90 TowelType)\n (objectType SprayBottle_bar__minus_02_dot_00_bar__plus_00_dot_08_bar__plus_00_dot_57 SprayBottleType)\n (objectType SoapBottle_bar__minus_00_dot_17_bar__plus_00_dot_52_bar__plus_00_dot_18 SoapBottleType)\n (objectType Candle_bar__minus_00_dot_19_bar__plus_00_dot_56_bar__plus_00_dot_69 CandleType)\n (objectType ScrubBrush_bar__minus_00_dot_49_bar__plus_00_dot_00_bar__plus_00_dot_87 ScrubBrushType)\n (objectType Plunger_bar__minus_00_dot_71_bar__plus_00_dot_00_bar__plus_00_dot_83 PlungerType)\n (canContain GarbageCanType SoapBarType)\n (canContain GarbageCanType SprayBottleType)\n (canContain GarbageCanType ToiletPaperType)\n (canContain GarbageCanType SoapBottleType)\n (canContain GarbageCanType ClothType)\n (canContain GarbageCanType HandTowelType)\n (canContain CabinetType CandleType)\n (canContain CabinetType SoapBarType)\n (canContain CabinetType SprayBottleType)\n (canContain CabinetType ToiletPaperType)\n (canContain CabinetType SoapBottleType)\n (canContain CabinetType ClothType)\n (canContain CabinetType HandTowelType)\n (canContain CabinetType PlungerType)\n (canContain CabinetType CandleType)\n (canContain CabinetType SoapBarType)\n (canContain CabinetType SprayBottleType)\n (canContain CabinetType ToiletPaperType)\n (canContain CabinetType SoapBottleType)\n (canContain CabinetType ClothType)\n (canContain CabinetType HandTowelType)\n (canContain CabinetType PlungerType)\n (canContain ToiletType SoapBottleType)\n (canContain ToiletType HandTowelType)\n (canContain ToiletType ToiletPaperType)\n (canContain ToiletType ClothType)\n (canContain ToiletType CandleType)\n (canContain ToiletType SoapBarType)\n (canContain ToiletType SprayBottleType)\n (canContain BathtubBasinType ClothType)\n (canContain BathtubBasinType HandTowelType)\n (canContain BathtubBasinType SoapBarType)\n (canContain HandTowelHolderType HandTowelType)\n (canContain CounterTopType CandleType)\n (canContain CounterTopType SoapBarType)\n (canContain CounterTopType SprayBottleType)\n (canContain CounterTopType ToiletPaperType)\n (canContain CounterTopType SoapBottleType)\n (canContain CounterTopType ClothType)\n (canContain CounterTopType HandTowelType)\n (canContain CabinetType CandleType)\n (canContain CabinetType SoapBarType)\n (canContain CabinetType SprayBottleType)\n (canContain CabinetType ToiletPaperType)\n (canContain CabinetType SoapBottleType)\n (canContain CabinetType ClothType)\n (canContain CabinetType HandTowelType)\n (canContain CabinetType PlungerType)\n (canContain TowelHolderType TowelType)\n (canContain SinkBasinType SoapBarType)\n (canContain SinkBasinType ClothType)\n (canContain SinkBasinType HandTowelType)\n (canContain CabinetType CandleType)\n (canContain CabinetType SoapBarType)\n (canContain CabinetType SprayBottleType)\n (canContain CabinetType ToiletPaperType)\n (canContain CabinetType SoapBottleType)\n (canContain CabinetType ClothType)\n (canContain CabinetType HandTowelType)\n (canContain CabinetType PlungerType)\n (canContain ToiletPaperHangerType ToiletPaperType)\n (canContain SinkBasinType SoapBarType)\n (canContain SinkBasinType ClothType)\n (canContain SinkBasinType HandTowelType)\n (pickupable Candle_bar__minus_03_dot_05_bar__plus_01_dot_00_bar__plus_00_dot_63)\n (pickupable SprayBottle_bar__minus_00_dot_93_bar__plus_01_dot_05_bar__plus_00_dot_78)\n (pickupable HandTowel_bar__minus_03_dot_10_bar__plus_01_dot_59_bar__plus_00_dot_74)\n (pickupable Cloth_bar__minus_02_dot_50_bar__plus_00_dot_08_bar__plus_00_dot_76)\n (pickupable Cloth_bar__plus_00_dot_21_bar__plus_00_dot_03_bar__plus_00_dot_34)\n (pickupable SprayBottle_bar__minus_02_dot_86_bar__plus_00_dot_08_bar__plus_00_dot_83)\n (pickupable ToiletPaper_bar__minus_01_dot_42_bar__plus_00_dot_82_bar__plus_00_dot_67)\n (pickupable ToiletPaper_bar__minus_02_dot_09_bar__plus_00_dot_08_bar__plus_00_dot_89)\n (pickupable SoapBar_bar__minus_02_dot_96_bar__plus_00_dot_18_bar__minus_01_dot_54)\n (pickupable Cloth_bar__minus_01_dot_73_bar__plus_00_dot_08_bar__plus_00_dot_83)\n (pickupable Candle_bar__minus_01_dot_64_bar__plus_00_dot_12_bar__plus_00_dot_57)\n (pickupable SoapBottle_bar__minus_00_dot_17_bar__plus_00_dot_52_bar__minus_00_dot_08)\n (pickupable SoapBar_bar__minus_02_dot_59_bar__plus_00_dot_08_bar__plus_00_dot_50)\n (pickupable SoapBar_bar__plus_00_dot_56_bar__plus_00_dot_03_bar__minus_00_dot_32)\n (pickupable Towel_bar__minus_00_dot_49_bar__plus_01_dot_37_bar__plus_00_dot_90)\n (pickupable SprayBottle_bar__minus_02_dot_00_bar__plus_00_dot_08_bar__plus_00_dot_57)\n (pickupable SoapBottle_bar__minus_00_dot_17_bar__plus_00_dot_52_bar__plus_00_dot_18)\n (pickupable Candle_bar__minus_00_dot_19_bar__plus_00_dot_56_bar__plus_00_dot_69)\n (pickupable ScrubBrush_bar__minus_00_dot_49_bar__plus_00_dot_00_bar__plus_00_dot_87)\n (pickupable Plunger_bar__minus_00_dot_71_bar__plus_00_dot_00_bar__plus_00_dot_83)\n \n (openable Cabinet_bar__minus_03_dot_09_bar__plus_00_dot_39_bar__plus_00_dot_42)\n (openable Cabinet_bar__minus_02_dot_31_bar__plus_00_dot_42_bar__plus_00_dot_43)\n (openable Cabinet_bar__minus_01_dot_50_bar__plus_00_dot_42_bar__plus_00_dot_43)\n (openable Cabinet_bar__minus_02_dot_29_bar__plus_00_dot_39_bar__plus_00_dot_42)\n \n (atLocation agent1 loc_bar__minus_4_bar__minus_1_bar_3_bar_30)\n \n (cleanable Cloth_bar__minus_02_dot_50_bar__plus_00_dot_08_bar__plus_00_dot_76)\n (cleanable Cloth_bar__plus_00_dot_21_bar__plus_00_dot_03_bar__plus_00_dot_34)\n (cleanable SoapBar_bar__minus_02_dot_96_bar__plus_00_dot_18_bar__minus_01_dot_54)\n (cleanable Cloth_bar__minus_01_dot_73_bar__plus_00_dot_08_bar__plus_00_dot_83)\n (cleanable SoapBar_bar__minus_02_dot_59_bar__plus_00_dot_08_bar__plus_00_dot_50)\n (cleanable SoapBar_bar__plus_00_dot_56_bar__plus_00_dot_03_bar__minus_00_dot_32)\n \n \n \n \n \n \n \n \n \n \n (inReceptacle SprayBottle_bar__minus_02_dot_86_bar__plus_00_dot_08_bar__plus_00_dot_83 Cabinet_bar__minus_03_dot_09_bar__plus_00_dot_39_bar__plus_00_dot_42)\n (inReceptacle Candle_bar__minus_03_dot_05_bar__plus_01_dot_00_bar__plus_00_dot_63 CounterTop_bar__minus_02_dot_30_bar__plus_00_dot_95_bar__plus_00_dot_69)\n (inReceptacle SoapBar_bar__minus_02_dot_59_bar__plus_00_dot_08_bar__plus_00_dot_50 Cabinet_bar__minus_02_dot_31_bar__plus_00_dot_42_bar__plus_00_dot_43)\n (inReceptacle Cloth_bar__minus_02_dot_50_bar__plus_00_dot_08_bar__plus_00_dot_76 Cabinet_bar__minus_02_dot_31_bar__plus_00_dot_42_bar__plus_00_dot_43)\n (inReceptacle Candle_bar__minus_01_dot_64_bar__plus_00_dot_12_bar__plus_00_dot_57 Cabinet_bar__minus_01_dot_50_bar__plus_00_dot_42_bar__plus_00_dot_43)\n (inReceptacle Cloth_bar__minus_01_dot_73_bar__plus_00_dot_08_bar__plus_00_dot_83 Cabinet_bar__minus_01_dot_50_bar__plus_00_dot_42_bar__plus_00_dot_43)\n (inReceptacle SprayBottle_bar__minus_02_dot_00_bar__plus_00_dot_08_bar__plus_00_dot_57 Cabinet_bar__minus_02_dot_29_bar__plus_00_dot_39_bar__plus_00_dot_42)\n (inReceptacle ToiletPaper_bar__minus_02_dot_09_bar__plus_00_dot_08_bar__plus_00_dot_89 Cabinet_bar__minus_02_dot_29_bar__plus_00_dot_39_bar__plus_00_dot_42)\n (inReceptacle SoapBar_bar__minus_02_dot_96_bar__plus_00_dot_18_bar__minus_01_dot_54 GarbageCan_bar__minus_02_dot_92_bar__plus_00_dot_00_bar__minus_01_dot_56)\n (inReceptacle Towel_bar__minus_00_dot_49_bar__plus_01_dot_37_bar__plus_00_dot_90 TowelHolder_bar__minus_00_dot_49_bar__plus_01_dot_35_bar__plus_01_dot_01)\n (inReceptacle Cloth_bar__plus_00_dot_21_bar__plus_00_dot_03_bar__plus_00_dot_34 Bathtub_bar__plus_00_dot_29_bar__plus_00_dot_29_bar__minus_00_dot_08_bar_BathtubBasin)\n (inReceptacle SoapBar_bar__plus_00_dot_56_bar__plus_00_dot_03_bar__minus_00_dot_32 Bathtub_bar__plus_00_dot_29_bar__plus_00_dot_29_bar__minus_00_dot_08_bar_BathtubBasin)\n (inReceptacle HandTowel_bar__minus_03_dot_10_bar__plus_01_dot_59_bar__plus_00_dot_74 HandTowelHolder_bar__minus_03_dot_13_bar__plus_01_dot_69_bar__plus_00_dot_74)\n (inReceptacle ToiletPaper_bar__minus_01_dot_42_bar__plus_00_dot_82_bar__plus_00_dot_67 ToiletPaperHanger_bar__minus_01_dot_49_bar__plus_00_dot_81_bar__plus_00_dot_69)\n (inReceptacle SprayBottle_bar__minus_00_dot_93_bar__plus_01_dot_05_bar__plus_00_dot_78 Toilet_bar__minus_01_dot_05_bar__plus_00_dot_00_bar__plus_00_dot_55)\n \n \n (receptacleAtLocation Bathtub_bar__plus_00_dot_29_bar__plus_00_dot_29_bar__minus_00_dot_08_bar_BathtubBasin loc_bar__minus_3_bar__minus_1_bar_1_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_01_dot_50_bar__plus_00_dot_42_bar__plus_00_dot_43 loc_bar__minus_9_bar__minus_2_bar_0_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_02_dot_29_bar__plus_00_dot_39_bar__plus_00_dot_42 loc_bar__minus_6_bar__minus_2_bar_0_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_02_dot_31_bar__plus_00_dot_42_bar__plus_00_dot_43 loc_bar__minus_8_bar__minus_2_bar_0_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_03_dot_09_bar__plus_00_dot_39_bar__plus_00_dot_42 loc_bar__minus_9_bar__minus_2_bar_0_bar_60)\n (receptacleAtLocation CounterTop_bar__minus_02_dot_30_bar__plus_00_dot_95_bar__plus_00_dot_69 loc_bar__minus_8_bar_0_bar_0_bar_45)\n (receptacleAtLocation GarbageCan_bar__minus_02_dot_92_bar__plus_00_dot_00_bar__minus_01_dot_56 loc_bar__minus_9_bar__minus_2_bar_2_bar_60)\n (receptacleAtLocation HandTowelHolder_bar__minus_03_dot_13_bar__plus_01_dot_69_bar__plus_00_dot_74 loc_bar__minus_10_bar_0_bar_0_bar_0)\n (receptacleAtLocation Sink_bar__minus_01_dot_92_bar__plus_00_dot_93_bar__plus_00_dot_68_bar_SinkBasin loc_bar__minus_7_bar_0_bar_0_bar_45)\n (receptacleAtLocation Sink_bar__minus_02_dot_68_bar__plus_00_dot_93_bar__plus_00_dot_68_bar_SinkBasin loc_bar__minus_10_bar_0_bar_0_bar_45)\n (receptacleAtLocation ToiletPaperHanger_bar__minus_01_dot_49_bar__plus_00_dot_81_bar__plus_00_dot_69 loc_bar__minus_6_bar_0_bar_0_bar_45)\n (receptacleAtLocation Toilet_bar__minus_01_dot_05_bar__plus_00_dot_00_bar__plus_00_dot_55 loc_bar__minus_2_bar_2_bar_3_bar_60)\n (receptacleAtLocation TowelHolder_bar__minus_00_dot_49_bar__plus_01_dot_35_bar__plus_01_dot_01 loc_bar__minus_2_bar_2_bar_0_bar_30)\n (objectAtLocation SoapBottle_bar__minus_00_dot_17_bar__plus_00_dot_52_bar__minus_00_dot_08 loc_bar__minus_3_bar__minus_1_bar_1_bar_60)\n (objectAtLocation SprayBottle_bar__minus_02_dot_00_bar__plus_00_dot_08_bar__plus_00_dot_57 loc_bar__minus_6_bar__minus_2_bar_0_bar_60)\n (objectAtLocation Cloth_bar__minus_02_dot_50_bar__plus_00_dot_08_bar__plus_00_dot_76 loc_bar__minus_8_bar__minus_2_bar_0_bar_60)\n (objectAtLocation SoapBar_bar__plus_00_dot_56_bar__plus_00_dot_03_bar__minus_00_dot_32 loc_bar__minus_3_bar__minus_1_bar_1_bar_60)\n (objectAtLocation Candle_bar__minus_00_dot_19_bar__plus_00_dot_56_bar__plus_00_dot_69 loc_bar__minus_3_bar__minus_1_bar_1_bar_60)\n (objectAtLocation SprayBottle_bar__minus_02_dot_86_bar__plus_00_dot_08_bar__plus_00_dot_83 loc_bar__minus_9_bar__minus_2_bar_0_bar_60)\n (objectAtLocation SoapBar_bar__minus_02_dot_96_bar__plus_00_dot_18_bar__minus_01_dot_54 loc_bar__minus_9_bar__minus_2_bar_2_bar_60)\n (objectAtLocation Candle_bar__minus_01_dot_64_bar__plus_00_dot_12_bar__plus_00_dot_57 loc_bar__minus_9_bar__minus_2_bar_0_bar_60)\n (objectAtLocation Cloth_bar__minus_01_dot_73_bar__plus_00_dot_08_bar__plus_00_dot_83 loc_bar__minus_9_bar__minus_2_bar_0_bar_60)\n (objectAtLocation Bathtub_bar__plus_00_dot_29_bar__plus_00_dot_29_bar__minus_00_dot_08 loc_bar__minus_2_bar_0_bar_1_bar_60)\n (objectAtLocation Sink_bar__minus_01_dot_92_bar__plus_00_dot_93_bar__plus_00_dot_68 loc_bar__minus_8_bar_0_bar_0_bar_45)\n (objectAtLocation Mirror_bar__minus_02_dot_31_bar__plus_01_dot_53_bar__plus_01_dot_00 loc_bar__minus_9_bar_0_bar_0_bar_0)\n (objectAtLocation Sink_bar__minus_02_dot_68_bar__plus_00_dot_93_bar__plus_00_dot_68 loc_bar__minus_10_bar_0_bar_0_bar_45)\n (objectAtLocation Towel_bar__minus_00_dot_49_bar__plus_01_dot_37_bar__plus_00_dot_90 loc_bar__minus_2_bar_2_bar_0_bar_30)\n (objectAtLocation Candle_bar__minus_03_dot_05_bar__plus_01_dot_00_bar__plus_00_dot_63 loc_bar__minus_8_bar_0_bar_0_bar_45)\n (objectAtLocation LightSwitch_bar__minus_01_dot_39_bar__plus_01_dot_26_bar__minus_01_dot_69 loc_bar__minus_6_bar__minus_4_bar_2_bar_30)\n (objectAtLocation HandTowel_bar__minus_03_dot_10_bar__plus_01_dot_59_bar__plus_00_dot_74 loc_bar__minus_10_bar_0_bar_0_bar_0)\n (objectAtLocation SoapBar_bar__minus_02_dot_59_bar__plus_00_dot_08_bar__plus_00_dot_50 loc_bar__minus_8_bar__minus_2_bar_0_bar_60)\n (objectAtLocation ToiletPaper_bar__minus_01_dot_42_bar__plus_00_dot_82_bar__plus_00_dot_67 loc_bar__minus_6_bar_0_bar_0_bar_45)\n (objectAtLocation Cloth_bar__plus_00_dot_21_bar__plus_00_dot_03_bar__plus_00_dot_34 loc_bar__minus_3_bar__minus_1_bar_1_bar_60)\n (objectAtLocation ToiletPaper_bar__minus_02_dot_09_bar__plus_00_dot_08_bar__plus_00_dot_89 loc_bar__minus_6_bar__minus_2_bar_0_bar_60)\n (objectAtLocation SprayBottle_bar__minus_00_dot_93_bar__plus_01_dot_05_bar__plus_00_dot_78 loc_bar__minus_2_bar_2_bar_3_bar_60)\n (objectAtLocation ScrubBrush_bar__minus_00_dot_49_bar__plus_00_dot_00_bar__plus_00_dot_87 loc_bar__minus_2_bar_2_bar_0_bar_60)\n (objectAtLocation SoapBottle_bar__minus_00_dot_17_bar__plus_00_dot_52_bar__plus_00_dot_18 loc_bar__minus_3_bar__minus_1_bar_1_bar_60)\n (objectAtLocation Plunger_bar__minus_00_dot_71_bar__plus_00_dot_00_bar__plus_00_dot_83 loc_bar__minus_2_bar_2_bar_0_bar_60)\n )\n \n\n (:goal\n (and\n (exists (?r - receptacle)\n (exists (?o - object)\n (and\n (cleanable ?o)\n (objectType ?o ClothType)\n (receptacleType ?r ToiletType)\n (isClean ?o)\n (inReceptacle ?o ?r)\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to bathtubbasin 1", "take cloth 1 from bathtubbasin 1", "go to sinkbasin 1", "clean cloth 1 with sinkbasin 1", "go to toilet 1", "move cloth 1 to toilet 1"]}
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alfworld__pick_clean_then_place_in_recep__18
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pick_clean_then_place_in_recep
|
pick_clean_then_place_in_recep-Cloth-None-Toilet-408/trial_T20190906_221232_742691/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: clean some cloth and put it 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_T20190906_221232_742691)\n(:domain alfred)\n(:objects\nagent1 - agent\nSaltShaker - object\n HousePlant - object\n Candle - object\n SprayBottle - object\n Bowl - object\n Window - object\n CD - object\n Egg - object\n Glassbottle - object\n Sink - object\n Pillow - object\n Spoon - object\n SoapBottle - object\n TeddyBear - object\n ButterKnife - object\n Cup - object\n Plate - object\n RemoteControl - object\n Tomato - object\n Statue - object\n HandTowel - object\n Knife - object\n StoveKnob - object\n LightSwitch - object\n Pen - object\n Painting - object\n DishSponge - object\n Vase - object\n Mug - object\n ToiletPaper - object\n Box - object\n Mirror - object\n Ladle - object\n Fork - object\n Blinds - object\n Footstool - object\n KeyChain - object\n Cloth - object\n Laptop - object\n TissueBox - object\n PepperShaker - object\n FloorLamp - object\n WateringCan - object\n Apple - object\n Pan - object\n PaperTowel - object\n PaperTowelRoll - object\n Newspaper - object\n Television - object\n Chair - object\n CellPhone - object\n CreditCard - object\n Lettuce - object\n BasketBall - object\n Potato - object\n Curtains - object\n Boots - object\n Pencil - object\n AlarmClock - object\n ToiletPaperRoll - object\n Spatula - object\n Book - object\n Bread - object\n SoapBar - object\n Watch - object\n DeskLamp - object\n Kettle - object\n Pot - object\n ScrubBrush - object\n WineBottle - object\n ShowerDoor - object\n Bathtub - object\n LaundryHamperLid - object\n ShowerGlass - object\n Poster - object\n TennisRacket - object\n BaseballBat - object\n Towel - object\n Plunger - object\nSaltShakerType - otype\n HousePlantType - otype\n CandleType - otype\n SprayBottleType - otype\n BowlType - otype\n WindowType - otype\n CDType - otype\n EggType - otype\n GlassbottleType - otype\n SinkType - otype\n PillowType - otype\n SpoonType - otype\n SoapBottleType - otype\n TeddyBearType - otype\n ButterKnifeType - otype\n CupType - otype\n PlateType - otype\n RemoteControlType - otype\n TomatoType - otype\n StatueType - otype\n HandTowelType - otype\n KnifeType - otype\n StoveKnobType - otype\n LightSwitchType - otype\n PenType - otype\n PaintingType - otype\n DishSpongeType - otype\n VaseType - otype\n MugType - otype\n ToiletPaperType - otype\n BoxType - otype\n MirrorType - otype\n LadleType - otype\n ForkType - otype\n BlindsType - otype\n FootstoolType - otype\n KeyChainType - otype\n ClothType - otype\n LaptopType - otype\n TissueBoxType - otype\n PepperShakerType - otype\n FloorLampType - otype\n WateringCanType - otype\n AppleType - otype\n PanType - otype\n PaperTowelType - otype\n PaperTowelRollType - otype\n NewspaperType - otype\n TelevisionType - otype\n ChairType - otype\n CellPhoneType - otype\n CreditCardType - otype\n LettuceType - otype\n BasketBallType - otype\n PotatoType - otype\n CurtainsType - otype\n BootsType - otype\n PencilType - otype\n AlarmClockType - otype\n ToiletPaperRollType - otype\n SpatulaType - otype\n BookType - otype\n BreadType - otype\n SoapBarType - otype\n WatchType - otype\n DeskLampType - otype\n KettleType - otype\n PotType - otype\n ScrubBrushType - otype\n WineBottleType - otype\n ShowerDoorType - otype\n BathtubType - otype\n LaundryHamperLidType - otype\n ShowerGlassType - otype\n PosterType - otype\n TennisRacketType - otype\n BaseballBatType - otype\n TowelType - otype\n PlungerType - otype\nSafeType - rtype\n DrawerType - rtype\n CoffeeMachineType - rtype\n HandTowelHolderType - rtype\n SinkBasinType - rtype\n DresserType - rtype\n LaundryHamperType - rtype\n TVStandType - rtype\n BathtubBasinType - rtype\n CabinetType - rtype\n FridgeType - rtype\n DeskType - rtype\n ToiletType - rtype\n CartType - rtype\n SideTableType - rtype\n SofaType - rtype\n CoffeeTableType - rtype\n DiningTableType - rtype\n CounterTopType - rtype\n GarbageCanType - rtype\n ArmChairType - rtype\n ShelfType - rtype\n MicrowaveType - rtype\n ToasterType - rtype\n BedType - rtype\n PaintingHangerType - rtype\n TowelHolderType - rtype\n ToiletPaperHangerType - rtype\n StoveBurnerType - rtype\n OttomanType - rtype\n\n\n Bathtub_bar__plus_00_dot_29_bar__plus_00_dot_29_bar__minus_00_dot_08 - object\n Candle_bar__minus_01_dot_64_bar__plus_00_dot_12_bar__plus_00_dot_89 - object\n Cloth_bar__plus_00_dot_42_bar__plus_00_dot_03_bar__plus_00_dot_34 - object\n Cloth_bar__plus_00_dot_42_bar__plus_00_dot_03_bar__minus_00_dot_55 - object\n Cloth_bar__minus_01_dot_78_bar__plus_00_dot_08_bar__plus_00_dot_57 - object\n Faucet_bar__plus_00_dot_27_bar__plus_00_dot_67_bar__plus_00_dot_91 - object\n Faucet_bar__minus_01_dot_92_bar__plus_01_dot_02_bar__plus_00_dot_89 - object\n Faucet_bar__minus_02_dot_68_bar__plus_01_dot_02_bar__plus_00_dot_89 - object\n HandTowel_bar__minus_03_dot_10_bar__plus_01_dot_59_bar__plus_00_dot_74 - object\n LightSwitch_bar__minus_01_dot_39_bar__plus_01_dot_26_bar__minus_01_dot_69 - object\n Mirror_bar__minus_02_dot_31_bar__plus_01_dot_53_bar__plus_01_dot_00 - object\n Plunger_bar__minus_00_dot_71_bar__plus_00_dot_00_bar__plus_00_dot_83 - object\n ScrubBrush_bar__minus_00_dot_49_bar__plus_00_dot_00_bar__plus_00_dot_87 - object\n ShowerCurtain_bar__minus_00_dot_29_bar__plus_01_dot_89_bar__minus_01_dot_03 - object\n Sink_bar__minus_01_dot_92_bar__plus_00_dot_93_bar__plus_00_dot_68 - object\n Sink_bar__minus_02_dot_68_bar__plus_00_dot_93_bar__plus_00_dot_68 - object\n SoapBar_bar__minus_00_dot_17_bar__plus_00_dot_52_bar__minus_00_dot_33 - object\n SoapBottle_bar__minus_02_dot_90_bar__plus_00_dot_08_bar__plus_00_dot_89 - object\n SoapBottle_bar__minus_02_dot_96_bar__plus_00_dot_18_bar__minus_01_dot_56 - object\n SoapBottle_bar__minus_02_dot_99_bar__plus_00_dot_08_bar__plus_00_dot_57 - object\n SprayBottle_bar__minus_00_dot_93_bar__plus_01_dot_05_bar__plus_00_dot_81 - object\n SprayBottle_bar__minus_02_dot_81_bar__plus_00_dot_08_bar__plus_00_dot_50 - object\n SprayBottle_bar__minus_02_dot_89_bar__plus_00_dot_18_bar__minus_01_dot_56 - object\n ToiletPaper_bar__minus_00_dot_87_bar__plus_01_dot_04_bar__plus_00_dot_95 - object\n ToiletPaper_bar__minus_03_dot_07_bar__plus_00_dot_96_bar__plus_00_dot_49 - object\n Towel_bar__minus_00_dot_49_bar__plus_01_dot_37_bar__plus_00_dot_90 - object\n Bathtub_bar__plus_00_dot_29_bar__plus_00_dot_29_bar__minus_00_dot_08_bar_BathtubBasin - receptacle\n Cabinet_bar__minus_01_dot_50_bar__plus_00_dot_42_bar__plus_00_dot_43 - receptacle\n Cabinet_bar__minus_02_dot_29_bar__plus_00_dot_39_bar__plus_00_dot_42 - receptacle\n Cabinet_bar__minus_02_dot_31_bar__plus_00_dot_42_bar__plus_00_dot_43 - receptacle\n Cabinet_bar__minus_03_dot_09_bar__plus_00_dot_39_bar__plus_00_dot_42 - receptacle\n CounterTop_bar__minus_02_dot_30_bar__plus_00_dot_95_bar__plus_00_dot_69 - receptacle\n GarbageCan_bar__minus_02_dot_92_bar__plus_00_dot_00_bar__minus_01_dot_56 - receptacle\n HandTowelHolder_bar__minus_03_dot_13_bar__plus_01_dot_69_bar__plus_00_dot_74 - receptacle\n Sink_bar__minus_01_dot_92_bar__plus_00_dot_93_bar__plus_00_dot_68_bar_SinkBasin - receptacle\n Sink_bar__minus_02_dot_68_bar__plus_00_dot_93_bar__plus_00_dot_68_bar_SinkBasin - receptacle\n ToiletPaperHanger_bar__minus_01_dot_49_bar__plus_00_dot_81_bar__plus_00_dot_69 - receptacle\n Toilet_bar__minus_01_dot_05_bar__plus_00_dot_00_bar__plus_00_dot_55 - receptacle\n TowelHolder_bar__minus_00_dot_49_bar__plus_01_dot_35_bar__plus_01_dot_01 - receptacle\n loc_bar__minus_6_bar_0_bar_0_bar_45 - location\n loc_bar__minus_9_bar__minus_2_bar_2_bar_60 - location\n loc_bar__minus_6_bar__minus_4_bar_2_bar_30 - location\n loc_bar__minus_8_bar_0_bar_0_bar_45 - location\n loc_bar__minus_9_bar__minus_2_bar_0_bar_60 - location\n loc_bar__minus_10_bar_0_bar_0_bar_0 - location\n loc_bar__minus_2_bar_2_bar_3_bar_60 - location\n loc_bar__minus_2_bar_0_bar_1_bar_60 - location\n loc_bar__minus_3_bar__minus_1_bar_1_bar_60 - location\n loc_bar__minus_2_bar_2_bar_0_bar_60 - location\n loc_bar__minus_8_bar__minus_2_bar_0_bar_60 - location\n loc_bar__minus_7_bar_0_bar_0_bar_45 - location\n loc_bar__minus_10_bar_0_bar_0_bar_45 - location\n loc_bar__minus_6_bar__minus_2_bar_0_bar_60 - location\n loc_bar__minus_9_bar_0_bar_0_bar_0 - location\n loc_bar__minus_2_bar_2_bar_0_bar_30 - location\n loc_bar__minus_6_bar_0_bar_1_bar_30 - location\n )\n \n\n(:init\n\n\n (receptacleType GarbageCan_bar__minus_02_dot_92_bar__plus_00_dot_00_bar__minus_01_dot_56 GarbageCanType)\n (receptacleType Cabinet_bar__minus_03_dot_09_bar__plus_00_dot_39_bar__plus_00_dot_42 CabinetType)\n (receptacleType Cabinet_bar__minus_02_dot_31_bar__plus_00_dot_42_bar__plus_00_dot_43 CabinetType)\n (receptacleType Toilet_bar__minus_01_dot_05_bar__plus_00_dot_00_bar__plus_00_dot_55 ToiletType)\n (receptacleType Bathtub_bar__plus_00_dot_29_bar__plus_00_dot_29_bar__minus_00_dot_08_bar_BathtubBasin BathtubBasinType)\n (receptacleType HandTowelHolder_bar__minus_03_dot_13_bar__plus_01_dot_69_bar__plus_00_dot_74 HandTowelHolderType)\n (receptacleType CounterTop_bar__minus_02_dot_30_bar__plus_00_dot_95_bar__plus_00_dot_69 CounterTopType)\n (receptacleType Cabinet_bar__minus_01_dot_50_bar__plus_00_dot_42_bar__plus_00_dot_43 CabinetType)\n (receptacleType TowelHolder_bar__minus_00_dot_49_bar__plus_01_dot_35_bar__plus_01_dot_01 TowelHolderType)\n (receptacleType Sink_bar__minus_01_dot_92_bar__plus_00_dot_93_bar__plus_00_dot_68_bar_SinkBasin SinkBasinType)\n (receptacleType Cabinet_bar__minus_02_dot_29_bar__plus_00_dot_39_bar__plus_00_dot_42 CabinetType)\n (receptacleType ToiletPaperHanger_bar__minus_01_dot_49_bar__plus_00_dot_81_bar__plus_00_dot_69 ToiletPaperHangerType)\n (receptacleType Sink_bar__minus_02_dot_68_bar__plus_00_dot_93_bar__plus_00_dot_68_bar_SinkBasin SinkBasinType)\n (objectType Mirror_bar__minus_02_dot_31_bar__plus_01_dot_53_bar__plus_01_dot_00 MirrorType)\n (objectType SprayBottle_bar__minus_02_dot_89_bar__plus_00_dot_18_bar__minus_01_dot_56 SprayBottleType)\n (objectType Cloth_bar__plus_00_dot_42_bar__plus_00_dot_03_bar__plus_00_dot_34 ClothType)\n (objectType LightSwitch_bar__minus_01_dot_39_bar__plus_01_dot_26_bar__minus_01_dot_69 LightSwitchType)\n (objectType SprayBottle_bar__minus_02_dot_81_bar__plus_00_dot_08_bar__plus_00_dot_50 SprayBottleType)\n (objectType HandTowel_bar__minus_03_dot_10_bar__plus_01_dot_59_bar__plus_00_dot_74 HandTowelType)\n (objectType ToiletPaper_bar__minus_00_dot_87_bar__plus_01_dot_04_bar__plus_00_dot_95 ToiletPaperType)\n (objectType SoapBottle_bar__minus_02_dot_96_bar__plus_00_dot_18_bar__minus_01_dot_56 SoapBottleType)\n (objectType Sink_bar__minus_02_dot_68_bar__plus_00_dot_93_bar__plus_00_dot_68 SinkType)\n (objectType Bathtub_bar__plus_00_dot_29_bar__plus_00_dot_29_bar__minus_00_dot_08 BathtubType)\n (objectType SoapBottle_bar__minus_02_dot_99_bar__plus_00_dot_08_bar__plus_00_dot_57 SoapBottleType)\n (objectType Cloth_bar__plus_00_dot_42_bar__plus_00_dot_03_bar__minus_00_dot_55 ClothType)\n (objectType Cloth_bar__minus_01_dot_78_bar__plus_00_dot_08_bar__plus_00_dot_57 ClothType)\n (objectType SoapBar_bar__minus_00_dot_17_bar__plus_00_dot_52_bar__minus_00_dot_33 SoapBarType)\n (objectType Sink_bar__minus_01_dot_92_bar__plus_00_dot_93_bar__plus_00_dot_68 SinkType)\n (objectType Towel_bar__minus_00_dot_49_bar__plus_01_dot_37_bar__plus_00_dot_90 TowelType)\n (objectType SprayBottle_bar__minus_00_dot_93_bar__plus_01_dot_05_bar__plus_00_dot_81 SprayBottleType)\n (objectType SoapBottle_bar__minus_02_dot_90_bar__plus_00_dot_08_bar__plus_00_dot_89 SoapBottleType)\n (objectType Candle_bar__minus_01_dot_64_bar__plus_00_dot_12_bar__plus_00_dot_89 CandleType)\n (objectType ToiletPaper_bar__minus_03_dot_07_bar__plus_00_dot_96_bar__plus_00_dot_49 ToiletPaperType)\n (objectType ScrubBrush_bar__minus_00_dot_49_bar__plus_00_dot_00_bar__plus_00_dot_87 ScrubBrushType)\n (objectType Plunger_bar__minus_00_dot_71_bar__plus_00_dot_00_bar__plus_00_dot_83 PlungerType)\n (canContain GarbageCanType SoapBarType)\n (canContain GarbageCanType SprayBottleType)\n (canContain GarbageCanType ToiletPaperType)\n (canContain GarbageCanType SoapBottleType)\n (canContain GarbageCanType ClothType)\n (canContain GarbageCanType HandTowelType)\n (canContain CabinetType CandleType)\n (canContain CabinetType SoapBarType)\n (canContain CabinetType SprayBottleType)\n (canContain CabinetType ToiletPaperType)\n (canContain CabinetType SoapBottleType)\n (canContain CabinetType ClothType)\n (canContain CabinetType HandTowelType)\n (canContain CabinetType PlungerType)\n (canContain CabinetType CandleType)\n (canContain CabinetType SoapBarType)\n (canContain CabinetType SprayBottleType)\n (canContain CabinetType ToiletPaperType)\n (canContain CabinetType SoapBottleType)\n (canContain CabinetType ClothType)\n (canContain CabinetType HandTowelType)\n (canContain CabinetType PlungerType)\n (canContain ToiletType SoapBottleType)\n (canContain ToiletType HandTowelType)\n (canContain ToiletType ToiletPaperType)\n (canContain ToiletType ClothType)\n (canContain ToiletType CandleType)\n (canContain ToiletType SoapBarType)\n (canContain ToiletType SprayBottleType)\n (canContain BathtubBasinType ClothType)\n (canContain BathtubBasinType HandTowelType)\n (canContain BathtubBasinType SoapBarType)\n (canContain HandTowelHolderType HandTowelType)\n (canContain CounterTopType CandleType)\n (canContain CounterTopType SoapBarType)\n (canContain CounterTopType SprayBottleType)\n (canContain CounterTopType ToiletPaperType)\n (canContain CounterTopType SoapBottleType)\n (canContain CounterTopType ClothType)\n (canContain CounterTopType HandTowelType)\n (canContain CabinetType CandleType)\n (canContain CabinetType SoapBarType)\n (canContain CabinetType SprayBottleType)\n (canContain CabinetType ToiletPaperType)\n (canContain CabinetType SoapBottleType)\n (canContain CabinetType ClothType)\n (canContain CabinetType HandTowelType)\n (canContain CabinetType PlungerType)\n (canContain TowelHolderType TowelType)\n (canContain SinkBasinType SoapBarType)\n (canContain SinkBasinType ClothType)\n (canContain SinkBasinType HandTowelType)\n (canContain CabinetType CandleType)\n (canContain CabinetType SoapBarType)\n (canContain CabinetType SprayBottleType)\n (canContain CabinetType ToiletPaperType)\n (canContain CabinetType SoapBottleType)\n (canContain CabinetType ClothType)\n (canContain CabinetType HandTowelType)\n (canContain CabinetType PlungerType)\n (canContain ToiletPaperHangerType ToiletPaperType)\n (canContain SinkBasinType SoapBarType)\n (canContain SinkBasinType ClothType)\n (canContain SinkBasinType HandTowelType)\n (pickupable SprayBottle_bar__minus_02_dot_89_bar__plus_00_dot_18_bar__minus_01_dot_56)\n (pickupable Cloth_bar__plus_00_dot_42_bar__plus_00_dot_03_bar__plus_00_dot_34)\n (pickupable SprayBottle_bar__minus_02_dot_81_bar__plus_00_dot_08_bar__plus_00_dot_50)\n (pickupable HandTowel_bar__minus_03_dot_10_bar__plus_01_dot_59_bar__plus_00_dot_74)\n (pickupable ToiletPaper_bar__minus_00_dot_87_bar__plus_01_dot_04_bar__plus_00_dot_95)\n (pickupable SoapBottle_bar__minus_02_dot_96_bar__plus_00_dot_18_bar__minus_01_dot_56)\n (pickupable SoapBottle_bar__minus_02_dot_99_bar__plus_00_dot_08_bar__plus_00_dot_57)\n (pickupable Cloth_bar__plus_00_dot_42_bar__plus_00_dot_03_bar__minus_00_dot_55)\n (pickupable Cloth_bar__minus_01_dot_78_bar__plus_00_dot_08_bar__plus_00_dot_57)\n (pickupable SoapBar_bar__minus_00_dot_17_bar__plus_00_dot_52_bar__minus_00_dot_33)\n (pickupable Towel_bar__minus_00_dot_49_bar__plus_01_dot_37_bar__plus_00_dot_90)\n (pickupable SprayBottle_bar__minus_00_dot_93_bar__plus_01_dot_05_bar__plus_00_dot_81)\n (pickupable SoapBottle_bar__minus_02_dot_90_bar__plus_00_dot_08_bar__plus_00_dot_89)\n (pickupable Candle_bar__minus_01_dot_64_bar__plus_00_dot_12_bar__plus_00_dot_89)\n (pickupable ToiletPaper_bar__minus_03_dot_07_bar__plus_00_dot_96_bar__plus_00_dot_49)\n (pickupable ScrubBrush_bar__minus_00_dot_49_bar__plus_00_dot_00_bar__plus_00_dot_87)\n (pickupable Plunger_bar__minus_00_dot_71_bar__plus_00_dot_00_bar__plus_00_dot_83)\n \n (openable Cabinet_bar__minus_03_dot_09_bar__plus_00_dot_39_bar__plus_00_dot_42)\n (openable Cabinet_bar__minus_02_dot_31_bar__plus_00_dot_42_bar__plus_00_dot_43)\n (openable Cabinet_bar__minus_01_dot_50_bar__plus_00_dot_42_bar__plus_00_dot_43)\n (openable Cabinet_bar__minus_02_dot_29_bar__plus_00_dot_39_bar__plus_00_dot_42)\n \n (atLocation agent1 loc_bar__minus_6_bar_0_bar_1_bar_30)\n \n (cleanable Cloth_bar__plus_00_dot_42_bar__plus_00_dot_03_bar__plus_00_dot_34)\n (cleanable Cloth_bar__plus_00_dot_42_bar__plus_00_dot_03_bar__minus_00_dot_55)\n (cleanable Cloth_bar__minus_01_dot_78_bar__plus_00_dot_08_bar__plus_00_dot_57)\n (cleanable SoapBar_bar__minus_00_dot_17_bar__plus_00_dot_52_bar__minus_00_dot_33)\n \n \n \n \n \n \n \n \n \n \n (inReceptacle SoapBottle_bar__minus_02_dot_90_bar__plus_00_dot_08_bar__plus_00_dot_89 Cabinet_bar__minus_03_dot_09_bar__plus_00_dot_39_bar__plus_00_dot_42)\n (inReceptacle SprayBottle_bar__minus_02_dot_81_bar__plus_00_dot_08_bar__plus_00_dot_50 Cabinet_bar__minus_03_dot_09_bar__plus_00_dot_39_bar__plus_00_dot_42)\n (inReceptacle SoapBottle_bar__minus_02_dot_99_bar__plus_00_dot_08_bar__plus_00_dot_57 Cabinet_bar__minus_03_dot_09_bar__plus_00_dot_39_bar__plus_00_dot_42)\n (inReceptacle ToiletPaper_bar__minus_03_dot_07_bar__plus_00_dot_96_bar__plus_00_dot_49 CounterTop_bar__minus_02_dot_30_bar__plus_00_dot_95_bar__plus_00_dot_69)\n (inReceptacle Candle_bar__minus_01_dot_64_bar__plus_00_dot_12_bar__plus_00_dot_89 Cabinet_bar__minus_01_dot_50_bar__plus_00_dot_42_bar__plus_00_dot_43)\n (inReceptacle Cloth_bar__minus_01_dot_78_bar__plus_00_dot_08_bar__plus_00_dot_57 Cabinet_bar__minus_01_dot_50_bar__plus_00_dot_42_bar__plus_00_dot_43)\n (inReceptacle SoapBottle_bar__minus_02_dot_96_bar__plus_00_dot_18_bar__minus_01_dot_56 GarbageCan_bar__minus_02_dot_92_bar__plus_00_dot_00_bar__minus_01_dot_56)\n (inReceptacle SprayBottle_bar__minus_02_dot_89_bar__plus_00_dot_18_bar__minus_01_dot_56 GarbageCan_bar__minus_02_dot_92_bar__plus_00_dot_00_bar__minus_01_dot_56)\n (inReceptacle Towel_bar__minus_00_dot_49_bar__plus_01_dot_37_bar__plus_00_dot_90 TowelHolder_bar__minus_00_dot_49_bar__plus_01_dot_35_bar__plus_01_dot_01)\n (inReceptacle Cloth_bar__plus_00_dot_42_bar__plus_00_dot_03_bar__minus_00_dot_55 Bathtub_bar__plus_00_dot_29_bar__plus_00_dot_29_bar__minus_00_dot_08_bar_BathtubBasin)\n (inReceptacle Cloth_bar__plus_00_dot_42_bar__plus_00_dot_03_bar__plus_00_dot_34 Bathtub_bar__plus_00_dot_29_bar__plus_00_dot_29_bar__minus_00_dot_08_bar_BathtubBasin)\n (inReceptacle HandTowel_bar__minus_03_dot_10_bar__plus_01_dot_59_bar__plus_00_dot_74 HandTowelHolder_bar__minus_03_dot_13_bar__plus_01_dot_69_bar__plus_00_dot_74)\n (inReceptacle ToiletPaper_bar__minus_00_dot_87_bar__plus_01_dot_04_bar__plus_00_dot_95 Toilet_bar__minus_01_dot_05_bar__plus_00_dot_00_bar__plus_00_dot_55)\n (inReceptacle SprayBottle_bar__minus_00_dot_93_bar__plus_01_dot_05_bar__plus_00_dot_81 Toilet_bar__minus_01_dot_05_bar__plus_00_dot_00_bar__plus_00_dot_55)\n \n \n (receptacleAtLocation Bathtub_bar__plus_00_dot_29_bar__plus_00_dot_29_bar__minus_00_dot_08_bar_BathtubBasin loc_bar__minus_3_bar__minus_1_bar_1_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_01_dot_50_bar__plus_00_dot_42_bar__plus_00_dot_43 loc_bar__minus_9_bar__minus_2_bar_0_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_02_dot_29_bar__plus_00_dot_39_bar__plus_00_dot_42 loc_bar__minus_6_bar__minus_2_bar_0_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_02_dot_31_bar__plus_00_dot_42_bar__plus_00_dot_43 loc_bar__minus_8_bar__minus_2_bar_0_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_03_dot_09_bar__plus_00_dot_39_bar__plus_00_dot_42 loc_bar__minus_9_bar__minus_2_bar_0_bar_60)\n (receptacleAtLocation CounterTop_bar__minus_02_dot_30_bar__plus_00_dot_95_bar__plus_00_dot_69 loc_bar__minus_8_bar_0_bar_0_bar_45)\n (receptacleAtLocation GarbageCan_bar__minus_02_dot_92_bar__plus_00_dot_00_bar__minus_01_dot_56 loc_bar__minus_9_bar__minus_2_bar_2_bar_60)\n (receptacleAtLocation HandTowelHolder_bar__minus_03_dot_13_bar__plus_01_dot_69_bar__plus_00_dot_74 loc_bar__minus_10_bar_0_bar_0_bar_0)\n (receptacleAtLocation Sink_bar__minus_01_dot_92_bar__plus_00_dot_93_bar__plus_00_dot_68_bar_SinkBasin loc_bar__minus_7_bar_0_bar_0_bar_45)\n (receptacleAtLocation Sink_bar__minus_02_dot_68_bar__plus_00_dot_93_bar__plus_00_dot_68_bar_SinkBasin loc_bar__minus_10_bar_0_bar_0_bar_45)\n (receptacleAtLocation ToiletPaperHanger_bar__minus_01_dot_49_bar__plus_00_dot_81_bar__plus_00_dot_69 loc_bar__minus_6_bar_0_bar_0_bar_45)\n (receptacleAtLocation Toilet_bar__minus_01_dot_05_bar__plus_00_dot_00_bar__plus_00_dot_55 loc_bar__minus_2_bar_2_bar_3_bar_60)\n (receptacleAtLocation TowelHolder_bar__minus_00_dot_49_bar__plus_01_dot_35_bar__plus_01_dot_01 loc_bar__minus_2_bar_2_bar_0_bar_30)\n (objectAtLocation SoapBottle_bar__minus_02_dot_96_bar__plus_00_dot_18_bar__minus_01_dot_56 loc_bar__minus_9_bar__minus_2_bar_2_bar_60)\n (objectAtLocation SprayBottle_bar__minus_02_dot_89_bar__plus_00_dot_18_bar__minus_01_dot_56 loc_bar__minus_9_bar__minus_2_bar_2_bar_60)\n (objectAtLocation Cloth_bar__minus_01_dot_78_bar__plus_00_dot_08_bar__plus_00_dot_57 loc_bar__minus_9_bar__minus_2_bar_0_bar_60)\n (objectAtLocation SoapBottle_bar__minus_02_dot_90_bar__plus_00_dot_08_bar__plus_00_dot_89 loc_bar__minus_9_bar__minus_2_bar_0_bar_60)\n (objectAtLocation SprayBottle_bar__minus_00_dot_93_bar__plus_01_dot_05_bar__plus_00_dot_81 loc_bar__minus_2_bar_2_bar_3_bar_60)\n (objectAtLocation Cloth_bar__plus_00_dot_42_bar__plus_00_dot_03_bar__plus_00_dot_34 loc_bar__minus_3_bar__minus_1_bar_1_bar_60)\n (objectAtLocation Bathtub_bar__plus_00_dot_29_bar__plus_00_dot_29_bar__minus_00_dot_08 loc_bar__minus_2_bar_0_bar_1_bar_60)\n (objectAtLocation Sink_bar__minus_01_dot_92_bar__plus_00_dot_93_bar__plus_00_dot_68 loc_bar__minus_8_bar_0_bar_0_bar_45)\n (objectAtLocation Mirror_bar__minus_02_dot_31_bar__plus_01_dot_53_bar__plus_01_dot_00 loc_bar__minus_9_bar_0_bar_0_bar_0)\n (objectAtLocation Sink_bar__minus_02_dot_68_bar__plus_00_dot_93_bar__plus_00_dot_68 loc_bar__minus_10_bar_0_bar_0_bar_45)\n (objectAtLocation Towel_bar__minus_00_dot_49_bar__plus_01_dot_37_bar__plus_00_dot_90 loc_bar__minus_2_bar_2_bar_0_bar_30)\n (objectAtLocation Candle_bar__minus_01_dot_64_bar__plus_00_dot_12_bar__plus_00_dot_89 loc_bar__minus_9_bar__minus_2_bar_0_bar_60)\n (objectAtLocation LightSwitch_bar__minus_01_dot_39_bar__plus_01_dot_26_bar__minus_01_dot_69 loc_bar__minus_6_bar__minus_4_bar_2_bar_30)\n (objectAtLocation HandTowel_bar__minus_03_dot_10_bar__plus_01_dot_59_bar__plus_00_dot_74 loc_bar__minus_10_bar_0_bar_0_bar_0)\n (objectAtLocation SoapBar_bar__minus_00_dot_17_bar__plus_00_dot_52_bar__minus_00_dot_33 loc_bar__minus_3_bar__minus_1_bar_1_bar_60)\n (objectAtLocation ToiletPaper_bar__minus_03_dot_07_bar__plus_00_dot_96_bar__plus_00_dot_49 loc_bar__minus_8_bar_0_bar_0_bar_45)\n (objectAtLocation Cloth_bar__plus_00_dot_42_bar__plus_00_dot_03_bar__minus_00_dot_55 loc_bar__minus_3_bar__minus_1_bar_1_bar_60)\n (objectAtLocation ToiletPaper_bar__minus_00_dot_87_bar__plus_01_dot_04_bar__plus_00_dot_95 loc_bar__minus_2_bar_2_bar_3_bar_60)\n (objectAtLocation SprayBottle_bar__minus_02_dot_81_bar__plus_00_dot_08_bar__plus_00_dot_50 loc_bar__minus_9_bar__minus_2_bar_0_bar_60)\n (objectAtLocation ScrubBrush_bar__minus_00_dot_49_bar__plus_00_dot_00_bar__plus_00_dot_87 loc_bar__minus_2_bar_2_bar_0_bar_60)\n (objectAtLocation SoapBottle_bar__minus_02_dot_99_bar__plus_00_dot_08_bar__plus_00_dot_57 loc_bar__minus_9_bar__minus_2_bar_0_bar_60)\n (objectAtLocation Plunger_bar__minus_00_dot_71_bar__plus_00_dot_00_bar__plus_00_dot_83 loc_bar__minus_2_bar_2_bar_0_bar_60)\n )\n \n\n (:goal\n (and\n (exists (?r - receptacle)\n (exists (?o - object)\n (and\n (cleanable ?o)\n (objectType ?o ClothType)\n (receptacleType ?r ToiletType)\n (isClean ?o)\n (inReceptacle ?o ?r)\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to bathtubbasin 1", "take cloth 2 from bathtubbasin 1", "go to sinkbasin 1", "clean cloth 2 with sinkbasin 1", "go to toilet 1", "move cloth 2 to toilet 1"]}
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alfworld__pick_clean_then_place_in_recep__19
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pick_clean_then_place_in_recep
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pick_clean_then_place_in_recep-Cloth-None-Toilet-408/trial_T20190906_221323_589436/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 cloth 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_T20190906_221323_589436)\n(:domain alfred)\n(:objects\nagent1 - agent\nSaltShaker - object\n HousePlant - object\n Candle - object\n SprayBottle - object\n Bowl - object\n Window - object\n CD - object\n Egg - object\n Glassbottle - object\n Sink - object\n Pillow - object\n Spoon - object\n SoapBottle - object\n TeddyBear - object\n ButterKnife - object\n Cup - object\n Plate - object\n RemoteControl - object\n Tomato - object\n Statue - object\n HandTowel - object\n Knife - object\n StoveKnob - object\n LightSwitch - object\n Pen - object\n Painting - object\n DishSponge - object\n Vase - object\n Mug - object\n ToiletPaper - object\n Box - object\n Mirror - object\n Ladle - object\n Fork - object\n Blinds - object\n Footstool - object\n KeyChain - object\n Cloth - object\n Laptop - object\n TissueBox - object\n PepperShaker - object\n FloorLamp - object\n WateringCan - object\n Apple - object\n Pan - object\n PaperTowel - object\n PaperTowelRoll - object\n Newspaper - object\n Television - object\n Chair - object\n CellPhone - object\n CreditCard - object\n Lettuce - object\n BasketBall - object\n Potato - object\n Curtains - object\n Boots - object\n Pencil - object\n AlarmClock - object\n ToiletPaperRoll - object\n Spatula - object\n Book - object\n Bread - object\n SoapBar - object\n Watch - object\n DeskLamp - object\n Kettle - object\n Pot - object\n ScrubBrush - object\n WineBottle - object\n ShowerDoor - object\n Bathtub - object\n LaundryHamperLid - object\n ShowerGlass - object\n Poster - object\n TennisRacket - object\n BaseballBat - object\n Towel - object\n Plunger - object\nSaltShakerType - otype\n HousePlantType - otype\n CandleType - otype\n SprayBottleType - otype\n BowlType - otype\n WindowType - otype\n CDType - otype\n EggType - otype\n GlassbottleType - otype\n SinkType - otype\n PillowType - otype\n SpoonType - otype\n SoapBottleType - otype\n TeddyBearType - otype\n ButterKnifeType - otype\n CupType - otype\n PlateType - otype\n RemoteControlType - otype\n TomatoType - otype\n StatueType - otype\n HandTowelType - otype\n KnifeType - otype\n StoveKnobType - otype\n LightSwitchType - otype\n PenType - otype\n PaintingType - otype\n DishSpongeType - otype\n VaseType - otype\n MugType - otype\n ToiletPaperType - otype\n BoxType - otype\n MirrorType - otype\n LadleType - otype\n ForkType - otype\n BlindsType - otype\n FootstoolType - otype\n KeyChainType - otype\n ClothType - otype\n LaptopType - otype\n TissueBoxType - otype\n PepperShakerType - otype\n FloorLampType - otype\n WateringCanType - otype\n AppleType - otype\n PanType - otype\n PaperTowelType - otype\n PaperTowelRollType - otype\n NewspaperType - otype\n TelevisionType - otype\n ChairType - otype\n CellPhoneType - otype\n CreditCardType - otype\n LettuceType - otype\n BasketBallType - otype\n PotatoType - otype\n CurtainsType - otype\n BootsType - otype\n PencilType - otype\n AlarmClockType - otype\n ToiletPaperRollType - otype\n SpatulaType - otype\n BookType - otype\n BreadType - otype\n SoapBarType - otype\n WatchType - otype\n DeskLampType - otype\n KettleType - otype\n PotType - otype\n ScrubBrushType - otype\n WineBottleType - otype\n ShowerDoorType - otype\n BathtubType - otype\n LaundryHamperLidType - otype\n ShowerGlassType - otype\n PosterType - otype\n TennisRacketType - otype\n BaseballBatType - otype\n TowelType - otype\n PlungerType - otype\nSafeType - rtype\n DrawerType - rtype\n CoffeeMachineType - rtype\n HandTowelHolderType - rtype\n SinkBasinType - rtype\n DresserType - rtype\n LaundryHamperType - rtype\n TVStandType - rtype\n BathtubBasinType - rtype\n CabinetType - rtype\n FridgeType - rtype\n DeskType - rtype\n ToiletType - rtype\n CartType - rtype\n SideTableType - rtype\n SofaType - rtype\n CoffeeTableType - rtype\n DiningTableType - rtype\n CounterTopType - rtype\n GarbageCanType - rtype\n ArmChairType - rtype\n ShelfType - rtype\n MicrowaveType - rtype\n ToasterType - rtype\n BedType - rtype\n PaintingHangerType - rtype\n TowelHolderType - rtype\n ToiletPaperHangerType - rtype\n StoveBurnerType - rtype\n OttomanType - rtype\n\n\n Bathtub_bar__plus_00_dot_29_bar__plus_00_dot_29_bar__minus_00_dot_08 - object\n Candle_bar__minus_00_dot_17_bar__plus_00_dot_56_bar__plus_00_dot_18 - object\n Cloth_bar__plus_00_dot_21_bar__plus_00_dot_03_bar__minus_00_dot_77 - object\n Cloth_bar__plus_00_dot_42_bar__plus_00_dot_03_bar__minus_00_dot_10 - object\n Cloth_bar__minus_02_dot_54_bar__plus_00_dot_08_bar__plus_00_dot_76 - object\n Faucet_bar__plus_00_dot_27_bar__plus_00_dot_67_bar__plus_00_dot_91 - object\n Faucet_bar__minus_01_dot_92_bar__plus_01_dot_02_bar__plus_00_dot_89 - object\n Faucet_bar__minus_02_dot_68_bar__plus_01_dot_02_bar__plus_00_dot_89 - object\n HandTowel_bar__minus_03_dot_10_bar__plus_01_dot_59_bar__plus_00_dot_74 - object\n LightSwitch_bar__minus_01_dot_39_bar__plus_01_dot_26_bar__minus_01_dot_69 - object\n Mirror_bar__minus_02_dot_31_bar__plus_01_dot_53_bar__plus_01_dot_00 - object\n Plunger_bar__minus_00_dot_71_bar__plus_00_dot_00_bar__plus_00_dot_83 - object\n ScrubBrush_bar__minus_00_dot_49_bar__plus_00_dot_00_bar__plus_00_dot_87 - object\n ShowerCurtain_bar__minus_00_dot_29_bar__plus_01_dot_89_bar__minus_01_dot_03 - object\n Sink_bar__minus_01_dot_92_bar__plus_00_dot_93_bar__plus_00_dot_68 - object\n Sink_bar__minus_02_dot_68_bar__plus_00_dot_93_bar__plus_00_dot_68 - object\n SoapBar_bar__plus_00_dot_14_bar__plus_00_dot_03_bar__minus_00_dot_10 - object\n SoapBottle_bar__minus_02_dot_45_bar__plus_00_dot_08_bar__plus_00_dot_50 - object\n SprayBottle_bar__minus_02_dot_14_bar__plus_00_dot_08_bar__plus_00_dot_63 - object\n ToiletPaper_bar__minus_02_dot_99_bar__plus_00_dot_08_bar__plus_00_dot_89 - object\n ToiletPaper_bar__minus_03_dot_07_bar__plus_00_dot_96_bar__plus_00_dot_63 - object\n Towel_bar__minus_00_dot_49_bar__plus_01_dot_37_bar__plus_00_dot_90 - object\n Bathtub_bar__plus_00_dot_29_bar__plus_00_dot_29_bar__minus_00_dot_08_bar_BathtubBasin - receptacle\n Cabinet_bar__minus_01_dot_50_bar__plus_00_dot_42_bar__plus_00_dot_43 - receptacle\n Cabinet_bar__minus_02_dot_29_bar__plus_00_dot_39_bar__plus_00_dot_42 - receptacle\n Cabinet_bar__minus_02_dot_31_bar__plus_00_dot_42_bar__plus_00_dot_43 - receptacle\n Cabinet_bar__minus_03_dot_09_bar__plus_00_dot_39_bar__plus_00_dot_42 - receptacle\n CounterTop_bar__minus_02_dot_30_bar__plus_00_dot_95_bar__plus_00_dot_69 - receptacle\n GarbageCan_bar__minus_02_dot_92_bar__plus_00_dot_00_bar__minus_01_dot_56 - receptacle\n HandTowelHolder_bar__minus_03_dot_13_bar__plus_01_dot_69_bar__plus_00_dot_74 - receptacle\n Sink_bar__minus_01_dot_92_bar__plus_00_dot_93_bar__plus_00_dot_68_bar_SinkBasin - receptacle\n Sink_bar__minus_02_dot_68_bar__plus_00_dot_93_bar__plus_00_dot_68_bar_SinkBasin - receptacle\n ToiletPaperHanger_bar__minus_01_dot_49_bar__plus_00_dot_81_bar__plus_00_dot_69 - receptacle\n Toilet_bar__minus_01_dot_05_bar__plus_00_dot_00_bar__plus_00_dot_55 - receptacle\n TowelHolder_bar__minus_00_dot_49_bar__plus_01_dot_35_bar__plus_01_dot_01 - receptacle\n loc_bar__minus_6_bar_0_bar_0_bar_45 - location\n loc_bar__minus_9_bar__minus_2_bar_2_bar_60 - location\n loc_bar__minus_6_bar__minus_4_bar_2_bar_30 - location\n loc_bar__minus_8_bar_0_bar_0_bar_45 - location\n loc_bar__minus_9_bar__minus_2_bar_0_bar_60 - location\n loc_bar__minus_10_bar_0_bar_0_bar_0 - location\n loc_bar__minus_2_bar_2_bar_3_bar_60 - location\n loc_bar__minus_2_bar_0_bar_1_bar_60 - location\n loc_bar__minus_3_bar__minus_1_bar_1_bar_60 - location\n loc_bar__minus_2_bar_2_bar_0_bar_60 - location\n loc_bar__minus_8_bar__minus_2_bar_0_bar_60 - location\n loc_bar__minus_7_bar_0_bar_0_bar_45 - location\n loc_bar__minus_10_bar_0_bar_0_bar_45 - location\n loc_bar__minus_6_bar__minus_2_bar_0_bar_60 - location\n loc_bar__minus_9_bar_0_bar_0_bar_0 - location\n loc_bar__minus_2_bar_2_bar_0_bar_30 - location\n loc_bar__minus_2_bar__minus_2_bar_2_bar_30 - location\n )\n \n\n(:init\n\n\n (receptacleType GarbageCan_bar__minus_02_dot_92_bar__plus_00_dot_00_bar__minus_01_dot_56 GarbageCanType)\n (receptacleType Cabinet_bar__minus_03_dot_09_bar__plus_00_dot_39_bar__plus_00_dot_42 CabinetType)\n (receptacleType Cabinet_bar__minus_02_dot_31_bar__plus_00_dot_42_bar__plus_00_dot_43 CabinetType)\n (receptacleType Toilet_bar__minus_01_dot_05_bar__plus_00_dot_00_bar__plus_00_dot_55 ToiletType)\n (receptacleType Bathtub_bar__plus_00_dot_29_bar__plus_00_dot_29_bar__minus_00_dot_08_bar_BathtubBasin BathtubBasinType)\n (receptacleType HandTowelHolder_bar__minus_03_dot_13_bar__plus_01_dot_69_bar__plus_00_dot_74 HandTowelHolderType)\n (receptacleType CounterTop_bar__minus_02_dot_30_bar__plus_00_dot_95_bar__plus_00_dot_69 CounterTopType)\n (receptacleType Cabinet_bar__minus_01_dot_50_bar__plus_00_dot_42_bar__plus_00_dot_43 CabinetType)\n (receptacleType TowelHolder_bar__minus_00_dot_49_bar__plus_01_dot_35_bar__plus_01_dot_01 TowelHolderType)\n (receptacleType Sink_bar__minus_01_dot_92_bar__plus_00_dot_93_bar__plus_00_dot_68_bar_SinkBasin SinkBasinType)\n (receptacleType Cabinet_bar__minus_02_dot_29_bar__plus_00_dot_39_bar__plus_00_dot_42 CabinetType)\n (receptacleType ToiletPaperHanger_bar__minus_01_dot_49_bar__plus_00_dot_81_bar__plus_00_dot_69 ToiletPaperHangerType)\n (receptacleType Sink_bar__minus_02_dot_68_bar__plus_00_dot_93_bar__plus_00_dot_68_bar_SinkBasin SinkBasinType)\n (objectType Mirror_bar__minus_02_dot_31_bar__plus_01_dot_53_bar__plus_01_dot_00 MirrorType)\n (objectType LightSwitch_bar__minus_01_dot_39_bar__plus_01_dot_26_bar__minus_01_dot_69 LightSwitchType)\n (objectType HandTowel_bar__minus_03_dot_10_bar__plus_01_dot_59_bar__plus_00_dot_74 HandTowelType)\n (objectType Sink_bar__minus_02_dot_68_bar__plus_00_dot_93_bar__plus_00_dot_68 SinkType)\n (objectType Bathtub_bar__plus_00_dot_29_bar__plus_00_dot_29_bar__minus_00_dot_08 BathtubType)\n (objectType Cloth_bar__plus_00_dot_42_bar__plus_00_dot_03_bar__minus_00_dot_10 ClothType)\n (objectType Candle_bar__minus_00_dot_17_bar__plus_00_dot_56_bar__plus_00_dot_18 CandleType)\n (objectType ToiletPaper_bar__minus_03_dot_07_bar__plus_00_dot_96_bar__plus_00_dot_63 ToiletPaperType)\n (objectType Cloth_bar__plus_00_dot_21_bar__plus_00_dot_03_bar__minus_00_dot_77 ClothType)\n (objectType Sink_bar__minus_01_dot_92_bar__plus_00_dot_93_bar__plus_00_dot_68 SinkType)\n (objectType Towel_bar__minus_00_dot_49_bar__plus_01_dot_37_bar__plus_00_dot_90 TowelType)\n (objectType ToiletPaper_bar__minus_02_dot_99_bar__plus_00_dot_08_bar__plus_00_dot_89 ToiletPaperType)\n (objectType Cloth_bar__minus_02_dot_54_bar__plus_00_dot_08_bar__plus_00_dot_76 ClothType)\n (objectType SprayBottle_bar__minus_02_dot_14_bar__plus_00_dot_08_bar__plus_00_dot_63 SprayBottleType)\n (objectType SoapBottle_bar__minus_02_dot_45_bar__plus_00_dot_08_bar__plus_00_dot_50 SoapBottleType)\n (objectType SoapBar_bar__plus_00_dot_14_bar__plus_00_dot_03_bar__minus_00_dot_10 SoapBarType)\n (objectType ScrubBrush_bar__minus_00_dot_49_bar__plus_00_dot_00_bar__plus_00_dot_87 ScrubBrushType)\n (objectType Plunger_bar__minus_00_dot_71_bar__plus_00_dot_00_bar__plus_00_dot_83 PlungerType)\n (canContain GarbageCanType SoapBarType)\n (canContain GarbageCanType SprayBottleType)\n (canContain GarbageCanType ToiletPaperType)\n (canContain GarbageCanType SoapBottleType)\n (canContain GarbageCanType ClothType)\n (canContain GarbageCanType HandTowelType)\n (canContain CabinetType CandleType)\n (canContain CabinetType SoapBarType)\n (canContain CabinetType SprayBottleType)\n (canContain CabinetType ToiletPaperType)\n (canContain CabinetType SoapBottleType)\n (canContain CabinetType ClothType)\n (canContain CabinetType HandTowelType)\n (canContain CabinetType PlungerType)\n (canContain CabinetType CandleType)\n (canContain CabinetType SoapBarType)\n (canContain CabinetType SprayBottleType)\n (canContain CabinetType ToiletPaperType)\n (canContain CabinetType SoapBottleType)\n (canContain CabinetType ClothType)\n (canContain CabinetType HandTowelType)\n (canContain CabinetType PlungerType)\n (canContain ToiletType SoapBottleType)\n (canContain ToiletType HandTowelType)\n (canContain ToiletType ToiletPaperType)\n (canContain ToiletType ClothType)\n (canContain ToiletType CandleType)\n (canContain ToiletType SoapBarType)\n (canContain ToiletType SprayBottleType)\n (canContain BathtubBasinType ClothType)\n (canContain BathtubBasinType HandTowelType)\n (canContain BathtubBasinType SoapBarType)\n (canContain HandTowelHolderType HandTowelType)\n (canContain CounterTopType CandleType)\n (canContain CounterTopType SoapBarType)\n (canContain CounterTopType SprayBottleType)\n (canContain CounterTopType ToiletPaperType)\n (canContain CounterTopType SoapBottleType)\n (canContain CounterTopType ClothType)\n (canContain CounterTopType HandTowelType)\n (canContain CabinetType CandleType)\n (canContain CabinetType SoapBarType)\n (canContain CabinetType SprayBottleType)\n (canContain CabinetType ToiletPaperType)\n (canContain CabinetType SoapBottleType)\n (canContain CabinetType ClothType)\n (canContain CabinetType HandTowelType)\n (canContain CabinetType PlungerType)\n (canContain TowelHolderType TowelType)\n (canContain SinkBasinType SoapBarType)\n (canContain SinkBasinType ClothType)\n (canContain SinkBasinType HandTowelType)\n (canContain CabinetType CandleType)\n (canContain CabinetType SoapBarType)\n (canContain CabinetType SprayBottleType)\n (canContain CabinetType ToiletPaperType)\n (canContain CabinetType SoapBottleType)\n (canContain CabinetType ClothType)\n (canContain CabinetType HandTowelType)\n (canContain CabinetType PlungerType)\n (canContain ToiletPaperHangerType ToiletPaperType)\n (canContain SinkBasinType SoapBarType)\n (canContain SinkBasinType ClothType)\n (canContain SinkBasinType HandTowelType)\n (pickupable HandTowel_bar__minus_03_dot_10_bar__plus_01_dot_59_bar__plus_00_dot_74)\n (pickupable Cloth_bar__plus_00_dot_42_bar__plus_00_dot_03_bar__minus_00_dot_10)\n (pickupable Candle_bar__minus_00_dot_17_bar__plus_00_dot_56_bar__plus_00_dot_18)\n (pickupable ToiletPaper_bar__minus_03_dot_07_bar__plus_00_dot_96_bar__plus_00_dot_63)\n (pickupable Cloth_bar__plus_00_dot_21_bar__plus_00_dot_03_bar__minus_00_dot_77)\n (pickupable Towel_bar__minus_00_dot_49_bar__plus_01_dot_37_bar__plus_00_dot_90)\n (pickupable ToiletPaper_bar__minus_02_dot_99_bar__plus_00_dot_08_bar__plus_00_dot_89)\n (pickupable Cloth_bar__minus_02_dot_54_bar__plus_00_dot_08_bar__plus_00_dot_76)\n (pickupable SprayBottle_bar__minus_02_dot_14_bar__plus_00_dot_08_bar__plus_00_dot_63)\n (pickupable SoapBottle_bar__minus_02_dot_45_bar__plus_00_dot_08_bar__plus_00_dot_50)\n (pickupable SoapBar_bar__plus_00_dot_14_bar__plus_00_dot_03_bar__minus_00_dot_10)\n (pickupable ScrubBrush_bar__minus_00_dot_49_bar__plus_00_dot_00_bar__plus_00_dot_87)\n (pickupable Plunger_bar__minus_00_dot_71_bar__plus_00_dot_00_bar__plus_00_dot_83)\n \n (openable Cabinet_bar__minus_03_dot_09_bar__plus_00_dot_39_bar__plus_00_dot_42)\n (openable Cabinet_bar__minus_02_dot_31_bar__plus_00_dot_42_bar__plus_00_dot_43)\n (openable Cabinet_bar__minus_01_dot_50_bar__plus_00_dot_42_bar__plus_00_dot_43)\n (openable Cabinet_bar__minus_02_dot_29_bar__plus_00_dot_39_bar__plus_00_dot_42)\n \n (atLocation agent1 loc_bar__minus_2_bar__minus_2_bar_2_bar_30)\n \n (cleanable Cloth_bar__plus_00_dot_42_bar__plus_00_dot_03_bar__minus_00_dot_10)\n (cleanable Cloth_bar__plus_00_dot_21_bar__plus_00_dot_03_bar__minus_00_dot_77)\n (cleanable Cloth_bar__minus_02_dot_54_bar__plus_00_dot_08_bar__plus_00_dot_76)\n (cleanable SoapBar_bar__plus_00_dot_14_bar__plus_00_dot_03_bar__minus_00_dot_10)\n \n \n \n \n \n \n \n \n \n \n (inReceptacle ToiletPaper_bar__minus_02_dot_99_bar__plus_00_dot_08_bar__plus_00_dot_89 Cabinet_bar__minus_03_dot_09_bar__plus_00_dot_39_bar__plus_00_dot_42)\n (inReceptacle ToiletPaper_bar__minus_03_dot_07_bar__plus_00_dot_96_bar__plus_00_dot_63 CounterTop_bar__minus_02_dot_30_bar__plus_00_dot_95_bar__plus_00_dot_69)\n (inReceptacle Cloth_bar__minus_02_dot_54_bar__plus_00_dot_08_bar__plus_00_dot_76 Cabinet_bar__minus_02_dot_31_bar__plus_00_dot_42_bar__plus_00_dot_43)\n (inReceptacle SoapBottle_bar__minus_02_dot_45_bar__plus_00_dot_08_bar__plus_00_dot_50 Cabinet_bar__minus_02_dot_31_bar__plus_00_dot_42_bar__plus_00_dot_43)\n (inReceptacle SprayBottle_bar__minus_02_dot_14_bar__plus_00_dot_08_bar__plus_00_dot_63 Cabinet_bar__minus_02_dot_29_bar__plus_00_dot_39_bar__plus_00_dot_42)\n (inReceptacle Towel_bar__minus_00_dot_49_bar__plus_01_dot_37_bar__plus_00_dot_90 TowelHolder_bar__minus_00_dot_49_bar__plus_01_dot_35_bar__plus_01_dot_01)\n (inReceptacle Cloth_bar__plus_00_dot_42_bar__plus_00_dot_03_bar__minus_00_dot_10 Bathtub_bar__plus_00_dot_29_bar__plus_00_dot_29_bar__minus_00_dot_08_bar_BathtubBasin)\n (inReceptacle SoapBar_bar__plus_00_dot_14_bar__plus_00_dot_03_bar__minus_00_dot_10 Bathtub_bar__plus_00_dot_29_bar__plus_00_dot_29_bar__minus_00_dot_08_bar_BathtubBasin)\n (inReceptacle Cloth_bar__plus_00_dot_21_bar__plus_00_dot_03_bar__minus_00_dot_77 Bathtub_bar__plus_00_dot_29_bar__plus_00_dot_29_bar__minus_00_dot_08_bar_BathtubBasin)\n (inReceptacle HandTowel_bar__minus_03_dot_10_bar__plus_01_dot_59_bar__plus_00_dot_74 HandTowelHolder_bar__minus_03_dot_13_bar__plus_01_dot_69_bar__plus_00_dot_74)\n \n \n (receptacleAtLocation Bathtub_bar__plus_00_dot_29_bar__plus_00_dot_29_bar__minus_00_dot_08_bar_BathtubBasin loc_bar__minus_3_bar__minus_1_bar_1_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_01_dot_50_bar__plus_00_dot_42_bar__plus_00_dot_43 loc_bar__minus_9_bar__minus_2_bar_0_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_02_dot_29_bar__plus_00_dot_39_bar__plus_00_dot_42 loc_bar__minus_6_bar__minus_2_bar_0_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_02_dot_31_bar__plus_00_dot_42_bar__plus_00_dot_43 loc_bar__minus_8_bar__minus_2_bar_0_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_03_dot_09_bar__plus_00_dot_39_bar__plus_00_dot_42 loc_bar__minus_9_bar__minus_2_bar_0_bar_60)\n (receptacleAtLocation CounterTop_bar__minus_02_dot_30_bar__plus_00_dot_95_bar__plus_00_dot_69 loc_bar__minus_8_bar_0_bar_0_bar_45)\n (receptacleAtLocation GarbageCan_bar__minus_02_dot_92_bar__plus_00_dot_00_bar__minus_01_dot_56 loc_bar__minus_9_bar__minus_2_bar_2_bar_60)\n (receptacleAtLocation HandTowelHolder_bar__minus_03_dot_13_bar__plus_01_dot_69_bar__plus_00_dot_74 loc_bar__minus_10_bar_0_bar_0_bar_0)\n (receptacleAtLocation Sink_bar__minus_01_dot_92_bar__plus_00_dot_93_bar__plus_00_dot_68_bar_SinkBasin loc_bar__minus_7_bar_0_bar_0_bar_45)\n (receptacleAtLocation Sink_bar__minus_02_dot_68_bar__plus_00_dot_93_bar__plus_00_dot_68_bar_SinkBasin loc_bar__minus_10_bar_0_bar_0_bar_45)\n (receptacleAtLocation ToiletPaperHanger_bar__minus_01_dot_49_bar__plus_00_dot_81_bar__plus_00_dot_69 loc_bar__minus_6_bar_0_bar_0_bar_45)\n (receptacleAtLocation Toilet_bar__minus_01_dot_05_bar__plus_00_dot_00_bar__plus_00_dot_55 loc_bar__minus_2_bar_2_bar_3_bar_60)\n (receptacleAtLocation TowelHolder_bar__minus_00_dot_49_bar__plus_01_dot_35_bar__plus_01_dot_01 loc_bar__minus_2_bar_2_bar_0_bar_30)\n (objectAtLocation Cloth_bar__plus_00_dot_21_bar__plus_00_dot_03_bar__minus_00_dot_77 loc_bar__minus_3_bar__minus_1_bar_1_bar_60)\n (objectAtLocation Cloth_bar__plus_00_dot_42_bar__plus_00_dot_03_bar__minus_00_dot_10 loc_bar__minus_3_bar__minus_1_bar_1_bar_60)\n (objectAtLocation Bathtub_bar__plus_00_dot_29_bar__plus_00_dot_29_bar__minus_00_dot_08 loc_bar__minus_2_bar_0_bar_1_bar_60)\n (objectAtLocation Sink_bar__minus_01_dot_92_bar__plus_00_dot_93_bar__plus_00_dot_68 loc_bar__minus_8_bar_0_bar_0_bar_45)\n (objectAtLocation Mirror_bar__minus_02_dot_31_bar__plus_01_dot_53_bar__plus_01_dot_00 loc_bar__minus_9_bar_0_bar_0_bar_0)\n (objectAtLocation Sink_bar__minus_02_dot_68_bar__plus_00_dot_93_bar__plus_00_dot_68 loc_bar__minus_10_bar_0_bar_0_bar_45)\n (objectAtLocation Towel_bar__minus_00_dot_49_bar__plus_01_dot_37_bar__plus_00_dot_90 loc_bar__minus_2_bar_2_bar_0_bar_30)\n (objectAtLocation Candle_bar__minus_00_dot_17_bar__plus_00_dot_56_bar__plus_00_dot_18 loc_bar__minus_3_bar__minus_1_bar_1_bar_60)\n (objectAtLocation LightSwitch_bar__minus_01_dot_39_bar__plus_01_dot_26_bar__minus_01_dot_69 loc_bar__minus_6_bar__minus_4_bar_2_bar_30)\n (objectAtLocation HandTowel_bar__minus_03_dot_10_bar__plus_01_dot_59_bar__plus_00_dot_74 loc_bar__minus_10_bar_0_bar_0_bar_0)\n (objectAtLocation SoapBar_bar__plus_00_dot_14_bar__plus_00_dot_03_bar__minus_00_dot_10 loc_bar__minus_3_bar__minus_1_bar_1_bar_60)\n (objectAtLocation ToiletPaper_bar__minus_02_dot_99_bar__plus_00_dot_08_bar__plus_00_dot_89 loc_bar__minus_9_bar__minus_2_bar_0_bar_60)\n (objectAtLocation Cloth_bar__minus_02_dot_54_bar__plus_00_dot_08_bar__plus_00_dot_76 loc_bar__minus_8_bar__minus_2_bar_0_bar_60)\n (objectAtLocation ToiletPaper_bar__minus_03_dot_07_bar__plus_00_dot_96_bar__plus_00_dot_63 loc_bar__minus_8_bar_0_bar_0_bar_45)\n (objectAtLocation SprayBottle_bar__minus_02_dot_14_bar__plus_00_dot_08_bar__plus_00_dot_63 loc_bar__minus_6_bar__minus_2_bar_0_bar_60)\n (objectAtLocation ScrubBrush_bar__minus_00_dot_49_bar__plus_00_dot_00_bar__plus_00_dot_87 loc_bar__minus_2_bar_2_bar_0_bar_60)\n (objectAtLocation SoapBottle_bar__minus_02_dot_45_bar__plus_00_dot_08_bar__plus_00_dot_50 loc_bar__minus_8_bar__minus_2_bar_0_bar_60)\n (objectAtLocation Plunger_bar__minus_00_dot_71_bar__plus_00_dot_00_bar__plus_00_dot_83 loc_bar__minus_2_bar_2_bar_0_bar_60)\n )\n \n\n (:goal\n (and\n (exists (?r - receptacle)\n (exists (?o - object)\n (and\n (cleanable ?o)\n (objectType ?o ClothType)\n (receptacleType ?r ToiletType)\n (isClean ?o)\n (inReceptacle ?o ?r)\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to bathtubbasin 1", "take cloth 2 from bathtubbasin 1", "go to sinkbasin 1", "clean cloth 2 with sinkbasin 1", "go to toilet 1", "move cloth 2 to toilet 1"]}
|
alfworld__pick_and_place_simple__18
|
pick_and_place_simple
|
pick_and_place_simple-CellPhone-None-Desk-305/trial_T20190907_230951_698317/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 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_T20190907_230951_698317)\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_26_bar__plus_00_dot_69_bar__minus_01_dot_66 - object\n AlarmClock_bar__plus_01_dot_31_bar__plus_01_dot_14_bar__plus_01_dot_09 - object\n AlarmClock_bar__plus_01_dot_31_bar__plus_01_dot_14_bar__plus_01_dot_40 - object\n BaseballBat_bar__minus_01_dot_72_bar__plus_00_dot_71_bar__minus_00_dot_68 - object\n BasketBall_bar__minus_01_dot_64_bar__plus_00_dot_13_bar__minus_01_dot_65 - object\n Blinds_bar__minus_00_dot_15_bar__plus_01_dot_68_bar__minus_01_dot_99 - object\n Book_bar__plus_00_dot_70_bar__plus_00_dot_78_bar__plus_00_dot_11 - object\n Bowl_bar__plus_01_dot_35_bar__plus_00_dot_72_bar__plus_00_dot_89 - object\n Box_bar__minus_01_dot_23_bar__plus_00_dot_26_bar__minus_01_dot_44 - object\n CD_bar__plus_01_dot_10_bar__plus_00_dot_08_bar__plus_00_dot_56 - object\n CD_bar__plus_01_dot_22_bar__plus_00_dot_73_bar__plus_00_dot_90 - object\n CD_bar__plus_01_dot_22_bar__plus_00_dot_73_bar__plus_01_dot_07 - object\n CellPhone_bar__plus_01_dot_21_bar__plus_00_dot_78_bar__minus_01_dot_54 - object\n CellPhone_bar__plus_01_dot_33_bar__plus_00_dot_78_bar__plus_00_dot_11 - object\n CellPhone_bar__minus_00_dot_21_bar__plus_00_dot_69_bar__minus_01_dot_71 - object\n Chair_bar__plus_01_dot_13_bar__plus_00_dot_00_bar__plus_01_dot_05 - object\n CreditCard_bar__plus_01_dot_02_bar__plus_00_dot_73_bar__plus_01_dot_89 - object\n CreditCard_bar__plus_01_dot_21_bar__plus_00_dot_08_bar__plus_01_dot_52 - object\n CreditCard_bar__minus_00_dot_09_bar__plus_00_dot_10_bar__minus_01_dot_59 - object\n DeskLamp_bar__minus_00_dot_40_bar__plus_00_dot_69_bar__minus_01_dot_67 - object\n KeyChain_bar__plus_01_dot_17_bar__plus_00_dot_08_bar__plus_01_dot_67 - object\n KeyChain_bar__plus_01_dot_22_bar__plus_00_dot_73_bar__plus_01_dot_73 - object\n KeyChain_bar__plus_01_dot_29_bar__plus_00_dot_73_bar__plus_01_dot_73 - object\n Laptop_bar__plus_00_dot_70_bar__plus_00_dot_78_bar__minus_00_dot_99 - object\n Laptop_bar__plus_01_dot_21_bar__plus_00_dot_78_bar__minus_00_dot_17 - object\n Laptop_bar__plus_01_dot_22_bar__plus_00_dot_72_bar__plus_01_dot_34 - object\n LaundryHamperLid_bar__minus_01_dot_60_bar__plus_00_dot_48_bar__plus_01_dot_84 - object\n LightSwitch_bar__plus_00_dot_55_bar__plus_01_dot_16_bar__plus_02_dot_08 - object\n Mirror_bar__minus_00_dot_88_bar__plus_01_dot_35_bar__plus_02_dot_09 - object\n Mug_bar__plus_00_dot_02_bar__plus_00_dot_69_bar__minus_01_dot_66 - object\n Mug_bar__plus_00_dot_02_bar__plus_00_dot_69_bar__minus_01_dot_79 - object\n Mug_bar__plus_00_dot_16_bar__plus_00_dot_69_bar__minus_01_dot_81 - object\n Pencil_bar__plus_01_dot_08_bar__plus_00_dot_73_bar__plus_01_dot_89 - object\n Pencil_bar__plus_01_dot_31_bar__plus_01_dot_14_bar__plus_01_dot_56 - object\n Pen_bar__plus_01_dot_10_bar__plus_00_dot_56_bar__plus_01_dot_74 - object\n Pen_bar__plus_01_dot_29_bar__plus_00_dot_73_bar__plus_01_dot_89 - object\n Pen_bar__minus_00_dot_21_bar__plus_00_dot_70_bar__minus_01_dot_57 - object\n Pillow_bar__plus_00_dot_87_bar__plus_00_dot_82_bar__minus_01_dot_51 - object\n Poster_bar__plus_00_dot_98_bar__plus_01_dot_97_bar__minus_01_dot_87 - object\n Poster_bar__plus_01_dot_48_bar__plus_01_dot_50_bar__minus_00_dot_13 - object\n Poster_bar__plus_01_dot_48_bar__plus_01_dot_98_bar__minus_01_dot_21 - object\n Poster_bar__plus_01_dot_48_bar__plus_02_dot_14_bar__minus_00_dot_13 - object\n Window_bar__minus_00_dot_18_bar__plus_01_dot_01_bar__minus_02_dot_01 - object\n Bed_bar__plus_00_dot_96_bar__plus_00_dot_00_bar__minus_00_dot_72 - receptacle\n Desk_bar__plus_01_dot_19_bar__plus_00_dot_00_bar__plus_01_dot_30 - receptacle\n Drawer_bar__plus_01_dot_13_bar__plus_00_dot_16_bar__plus_01_dot_74 - receptacle\n Drawer_bar__plus_01_dot_13_bar__plus_00_dot_40_bar__plus_01_dot_74 - receptacle\n Drawer_bar__plus_01_dot_13_bar__plus_00_dot_62_bar__plus_01_dot_74 - receptacle\n Drawer_bar__minus_00_dot_09_bar__plus_00_dot_19_bar__minus_01_dot_63 - receptacle\n Drawer_bar__minus_00_dot_09_bar__plus_00_dot_48_bar__minus_01_dot_63 - receptacle\n Dresser_bar__minus_00_dot_09_bar__plus_00_dot_02_bar__minus_01_dot_72 - receptacle\n GarbageCan_bar__plus_01_dot_13_bar__plus_00_dot_03_bar__plus_00_dot_59 - receptacle\n LaundryHamper_bar__minus_01_dot_60_bar__plus_00_dot_01_bar__plus_01_dot_84 - receptacle\n Shelf_bar__plus_01_dot_34_bar__plus_01_dot_13_bar__plus_01_dot_38 - receptacle\n loc_bar_2_bar_3_bar_1_bar_60 - location\n loc_bar_0_bar__minus_2_bar_1_bar_60 - location\n loc_bar__minus_5_bar__minus_4_bar_2_bar_60 - location\n loc_bar_0_bar_5_bar_1_bar_60 - location\n loc_bar_1_bar__minus_5_bar_1_bar__minus_15 - location\n loc_bar_1_bar_6_bar_1_bar_45 - location\n loc_bar_0_bar__minus_4_bar_2_bar_60 - location\n loc_bar_2_bar_5_bar_1_bar_60 - location\n loc_bar_1_bar__minus_5_bar_1_bar__minus_30 - location\n loc_bar_1_bar__minus_1_bar_1_bar_0 - location\n loc_bar__minus_1_bar__minus_5_bar_2_bar_45 - location\n loc_bar__minus_5_bar_6_bar_3_bar_60 - location\n loc_bar_2_bar_4_bar_1_bar_60 - location\n loc_bar_0_bar__minus_5_bar_2_bar_60 - location\n loc_bar__minus_1_bar__minus_5_bar_2_bar_0 - location\n loc_bar_2_bar_6_bar_0_bar_45 - location\n loc_bar_1_bar__minus_1_bar_1_bar__minus_15 - location\n loc_bar__minus_4_bar_6_bar_0_bar_30 - location\n loc_bar_0_bar_5_bar_1_bar_45 - location\n loc_bar_2_bar_6_bar_1_bar_30 - location\n loc_bar__minus_5_bar__minus_3_bar_3_bar_60 - location\n loc_bar__minus_4_bar_0_bar_2_bar_30 - location\n )\n \n\n(:init\n\n\n (receptacleType Dresser_bar__minus_00_dot_09_bar__plus_00_dot_02_bar__minus_01_dot_72 DresserType)\n (receptacleType Drawer_bar__minus_00_dot_09_bar__plus_00_dot_48_bar__minus_01_dot_63 DrawerType)\n (receptacleType Desk_bar__plus_01_dot_19_bar__plus_00_dot_00_bar__plus_01_dot_30 DeskType)\n (receptacleType Shelf_bar__plus_01_dot_34_bar__plus_01_dot_13_bar__plus_01_dot_38 ShelfType)\n (receptacleType Bed_bar__plus_00_dot_96_bar__plus_00_dot_00_bar__minus_00_dot_72 BedType)\n (receptacleType Drawer_bar__plus_01_dot_13_bar__plus_00_dot_40_bar__plus_01_dot_74 DrawerType)\n (receptacleType LaundryHamper_bar__minus_01_dot_60_bar__plus_00_dot_01_bar__plus_01_dot_84 LaundryHamperType)\n (receptacleType Drawer_bar__plus_01_dot_13_bar__plus_00_dot_62_bar__plus_01_dot_74 DrawerType)\n (receptacleType Drawer_bar__minus_00_dot_09_bar__plus_00_dot_19_bar__minus_01_dot_63 DrawerType)\n (receptacleType Drawer_bar__plus_01_dot_13_bar__plus_00_dot_16_bar__plus_01_dot_74 DrawerType)\n (receptacleType GarbageCan_bar__plus_01_dot_13_bar__plus_00_dot_03_bar__plus_00_dot_59 GarbageCanType)\n (objectType Book_bar__plus_00_dot_70_bar__plus_00_dot_78_bar__plus_00_dot_11 BookType)\n (objectType Laptop_bar__plus_01_dot_22_bar__plus_00_dot_72_bar__plus_01_dot_34 LaptopType)\n (objectType CellPhone_bar__minus_00_dot_21_bar__plus_00_dot_69_bar__minus_01_dot_71 CellPhoneType)\n (objectType CD_bar__plus_01_dot_22_bar__plus_00_dot_73_bar__plus_01_dot_07 CDType)\n (objectType CD_bar__plus_01_dot_10_bar__plus_00_dot_08_bar__plus_00_dot_56 CDType)\n (objectType Mirror_bar__minus_00_dot_88_bar__plus_01_dot_35_bar__plus_02_dot_09 MirrorType)\n (objectType LaundryHamperLid_bar__minus_01_dot_60_bar__plus_00_dot_48_bar__plus_01_dot_84 LaundryHamperLidType)\n (objectType Chair_bar__plus_01_dot_13_bar__plus_00_dot_00_bar__plus_01_dot_05 ChairType)\n (objectType CellPhone_bar__plus_01_dot_33_bar__plus_00_dot_78_bar__plus_00_dot_11 CellPhoneType)\n (objectType CreditCard_bar__minus_00_dot_09_bar__plus_00_dot_10_bar__minus_01_dot_59 CreditCardType)\n (objectType Pencil_bar__plus_01_dot_31_bar__plus_01_dot_14_bar__plus_01_dot_56 PencilType)\n (objectType Pen_bar__plus_01_dot_10_bar__plus_00_dot_56_bar__plus_01_dot_74 PenType)\n (objectType Bowl_bar__plus_01_dot_35_bar__plus_00_dot_72_bar__plus_00_dot_89 BowlType)\n (objectType Mug_bar__plus_00_dot_02_bar__plus_00_dot_69_bar__minus_01_dot_79 MugType)\n (objectType Poster_bar__plus_01_dot_48_bar__plus_02_dot_14_bar__minus_00_dot_13 PosterType)\n (objectType Pillow_bar__plus_00_dot_87_bar__plus_00_dot_82_bar__minus_01_dot_51 PillowType)\n (objectType Mug_bar__plus_00_dot_02_bar__plus_00_dot_69_bar__minus_01_dot_66 MugType)\n (objectType Pen_bar__plus_01_dot_29_bar__plus_00_dot_73_bar__plus_01_dot_89 PenType)\n (objectType Pencil_bar__plus_01_dot_08_bar__plus_00_dot_73_bar__plus_01_dot_89 PencilType)\n (objectType BaseballBat_bar__minus_01_dot_72_bar__plus_00_dot_71_bar__minus_00_dot_68 BaseballBatType)\n (objectType Poster_bar__plus_01_dot_48_bar__plus_01_dot_50_bar__minus_00_dot_13 PosterType)\n (objectType CD_bar__plus_01_dot_22_bar__plus_00_dot_73_bar__plus_00_dot_90 CDType)\n (objectType CreditCard_bar__plus_01_dot_02_bar__plus_00_dot_73_bar__plus_01_dot_89 CreditCardType)\n (objectType Pen_bar__minus_00_dot_21_bar__plus_00_dot_70_bar__minus_01_dot_57 PenType)\n (objectType Box_bar__minus_01_dot_23_bar__plus_00_dot_26_bar__minus_01_dot_44 BoxType)\n (objectType BasketBall_bar__minus_01_dot_64_bar__plus_00_dot_13_bar__minus_01_dot_65 BasketBallType)\n (objectType CellPhone_bar__plus_01_dot_21_bar__plus_00_dot_78_bar__minus_01_dot_54 CellPhoneType)\n (objectType Poster_bar__plus_00_dot_98_bar__plus_01_dot_97_bar__minus_01_dot_87 PosterType)\n (objectType Blinds_bar__minus_00_dot_15_bar__plus_01_dot_68_bar__minus_01_dot_99 BlindsType)\n (objectType AlarmClock_bar__plus_01_dot_31_bar__plus_01_dot_14_bar__plus_01_dot_09 AlarmClockType)\n (objectType KeyChain_bar__plus_01_dot_22_bar__plus_00_dot_73_bar__plus_01_dot_73 KeyChainType)\n (objectType AlarmClock_bar__plus_01_dot_31_bar__plus_01_dot_14_bar__plus_01_dot_40 AlarmClockType)\n (objectType Window_bar__minus_00_dot_18_bar__plus_01_dot_01_bar__minus_02_dot_01 WindowType)\n (objectType AlarmClock_bar__plus_00_dot_26_bar__plus_00_dot_69_bar__minus_01_dot_66 AlarmClockType)\n (objectType CreditCard_bar__plus_01_dot_21_bar__plus_00_dot_08_bar__plus_01_dot_52 CreditCardType)\n (objectType Poster_bar__plus_01_dot_48_bar__plus_01_dot_98_bar__minus_01_dot_21 PosterType)\n (objectType Laptop_bar__plus_01_dot_21_bar__plus_00_dot_78_bar__minus_00_dot_17 LaptopType)\n (objectType LightSwitch_bar__plus_00_dot_55_bar__plus_01_dot_16_bar__plus_02_dot_08 LightSwitchType)\n (objectType Laptop_bar__plus_00_dot_70_bar__plus_00_dot_78_bar__minus_00_dot_99 LaptopType)\n (objectType DeskLamp_bar__minus_00_dot_40_bar__plus_00_dot_69_bar__minus_01_dot_67 DeskLampType)\n (objectType KeyChain_bar__plus_01_dot_17_bar__plus_00_dot_08_bar__plus_01_dot_67 KeyChainType)\n (objectType Mug_bar__plus_00_dot_16_bar__plus_00_dot_69_bar__minus_01_dot_81 MugType)\n (objectType KeyChain_bar__plus_01_dot_29_bar__plus_00_dot_73_bar__plus_01_dot_73 KeyChainType)\n (canContain DresserType PenType)\n (canContain DresserType BookType)\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 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 DeskType PenType)\n (canContain DeskType BookType)\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 AlarmClockType)\n (canContain ShelfType PenType)\n (canContain ShelfType BookType)\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 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 (canContain DrawerType 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 GarbageCanType PenType)\n (canContain GarbageCanType CDType)\n (canContain GarbageCanType PencilType)\n (pickupable Book_bar__plus_00_dot_70_bar__plus_00_dot_78_bar__plus_00_dot_11)\n (pickupable Laptop_bar__plus_01_dot_22_bar__plus_00_dot_72_bar__plus_01_dot_34)\n (pickupable CellPhone_bar__minus_00_dot_21_bar__plus_00_dot_69_bar__minus_01_dot_71)\n (pickupable CD_bar__plus_01_dot_22_bar__plus_00_dot_73_bar__plus_01_dot_07)\n (pickupable CD_bar__plus_01_dot_10_bar__plus_00_dot_08_bar__plus_00_dot_56)\n (pickupable CellPhone_bar__plus_01_dot_33_bar__plus_00_dot_78_bar__plus_00_dot_11)\n (pickupable CreditCard_bar__minus_00_dot_09_bar__plus_00_dot_10_bar__minus_01_dot_59)\n (pickupable Pencil_bar__plus_01_dot_31_bar__plus_01_dot_14_bar__plus_01_dot_56)\n (pickupable Pen_bar__plus_01_dot_10_bar__plus_00_dot_56_bar__plus_01_dot_74)\n (pickupable Bowl_bar__plus_01_dot_35_bar__plus_00_dot_72_bar__plus_00_dot_89)\n (pickupable Mug_bar__plus_00_dot_02_bar__plus_00_dot_69_bar__minus_01_dot_79)\n (pickupable Pillow_bar__plus_00_dot_87_bar__plus_00_dot_82_bar__minus_01_dot_51)\n (pickupable Mug_bar__plus_00_dot_02_bar__plus_00_dot_69_bar__minus_01_dot_66)\n (pickupable Pen_bar__plus_01_dot_29_bar__plus_00_dot_73_bar__plus_01_dot_89)\n (pickupable Pencil_bar__plus_01_dot_08_bar__plus_00_dot_73_bar__plus_01_dot_89)\n (pickupable BaseballBat_bar__minus_01_dot_72_bar__plus_00_dot_71_bar__minus_00_dot_68)\n (pickupable CD_bar__plus_01_dot_22_bar__plus_00_dot_73_bar__plus_00_dot_90)\n (pickupable CreditCard_bar__plus_01_dot_02_bar__plus_00_dot_73_bar__plus_01_dot_89)\n (pickupable Pen_bar__minus_00_dot_21_bar__plus_00_dot_70_bar__minus_01_dot_57)\n (pickupable Box_bar__minus_01_dot_23_bar__plus_00_dot_26_bar__minus_01_dot_44)\n (pickupable BasketBall_bar__minus_01_dot_64_bar__plus_00_dot_13_bar__minus_01_dot_65)\n (pickupable CellPhone_bar__plus_01_dot_21_bar__plus_00_dot_78_bar__minus_01_dot_54)\n (pickupable AlarmClock_bar__plus_01_dot_31_bar__plus_01_dot_14_bar__plus_01_dot_09)\n (pickupable KeyChain_bar__plus_01_dot_22_bar__plus_00_dot_73_bar__plus_01_dot_73)\n (pickupable AlarmClock_bar__plus_01_dot_31_bar__plus_01_dot_14_bar__plus_01_dot_40)\n (pickupable AlarmClock_bar__plus_00_dot_26_bar__plus_00_dot_69_bar__minus_01_dot_66)\n (pickupable CreditCard_bar__plus_01_dot_21_bar__plus_00_dot_08_bar__plus_01_dot_52)\n (pickupable Laptop_bar__plus_01_dot_21_bar__plus_00_dot_78_bar__minus_00_dot_17)\n (pickupable Laptop_bar__plus_00_dot_70_bar__plus_00_dot_78_bar__minus_00_dot_99)\n (pickupable KeyChain_bar__plus_01_dot_17_bar__plus_00_dot_08_bar__plus_01_dot_67)\n (pickupable Mug_bar__plus_00_dot_16_bar__plus_00_dot_69_bar__minus_01_dot_81)\n (pickupable KeyChain_bar__plus_01_dot_29_bar__plus_00_dot_73_bar__plus_01_dot_73)\n (isReceptacleObject Bowl_bar__plus_01_dot_35_bar__plus_00_dot_72_bar__plus_00_dot_89)\n (isReceptacleObject Mug_bar__plus_00_dot_02_bar__plus_00_dot_69_bar__minus_01_dot_79)\n (isReceptacleObject Mug_bar__plus_00_dot_02_bar__plus_00_dot_69_bar__minus_01_dot_66)\n (isReceptacleObject Box_bar__minus_01_dot_23_bar__plus_00_dot_26_bar__minus_01_dot_44)\n (isReceptacleObject Mug_bar__plus_00_dot_16_bar__plus_00_dot_69_bar__minus_01_dot_81)\n (openable Drawer_bar__plus_01_dot_13_bar__plus_00_dot_40_bar__plus_01_dot_74)\n (openable Drawer_bar__plus_01_dot_13_bar__plus_00_dot_62_bar__plus_01_dot_74)\n (openable Drawer_bar__plus_01_dot_13_bar__plus_00_dot_16_bar__plus_01_dot_74)\n \n (atLocation agent1 loc_bar__minus_4_bar_0_bar_2_bar_30)\n \n (cleanable Bowl_bar__plus_01_dot_35_bar__plus_00_dot_72_bar__plus_00_dot_89)\n (cleanable Mug_bar__plus_00_dot_02_bar__plus_00_dot_69_bar__minus_01_dot_79)\n (cleanable Mug_bar__plus_00_dot_02_bar__plus_00_dot_69_bar__minus_01_dot_66)\n (cleanable Mug_bar__plus_00_dot_16_bar__plus_00_dot_69_bar__minus_01_dot_81)\n \n (heatable Mug_bar__plus_00_dot_02_bar__plus_00_dot_69_bar__minus_01_dot_79)\n (heatable Mug_bar__plus_00_dot_02_bar__plus_00_dot_69_bar__minus_01_dot_66)\n (heatable Mug_bar__plus_00_dot_16_bar__plus_00_dot_69_bar__minus_01_dot_81)\n (coolable Bowl_bar__plus_01_dot_35_bar__plus_00_dot_72_bar__plus_00_dot_89)\n (coolable Mug_bar__plus_00_dot_02_bar__plus_00_dot_69_bar__minus_01_dot_79)\n (coolable Mug_bar__plus_00_dot_02_bar__plus_00_dot_69_bar__minus_01_dot_66)\n (coolable Mug_bar__plus_00_dot_16_bar__plus_00_dot_69_bar__minus_01_dot_81)\n \n \n (toggleable DeskLamp_bar__minus_00_dot_40_bar__plus_00_dot_69_bar__minus_01_dot_67)\n \n \n \n \n (inReceptacle Bowl_bar__plus_01_dot_35_bar__plus_00_dot_72_bar__plus_00_dot_89 Desk_bar__plus_01_dot_19_bar__plus_00_dot_00_bar__plus_01_dot_30)\n (inReceptacle KeyChain_bar__plus_01_dot_22_bar__plus_00_dot_73_bar__plus_01_dot_73 Desk_bar__plus_01_dot_19_bar__plus_00_dot_00_bar__plus_01_dot_30)\n (inReceptacle Pen_bar__plus_01_dot_29_bar__plus_00_dot_73_bar__plus_01_dot_89 Desk_bar__plus_01_dot_19_bar__plus_00_dot_00_bar__plus_01_dot_30)\n (inReceptacle Pencil_bar__plus_01_dot_08_bar__plus_00_dot_73_bar__plus_01_dot_89 Desk_bar__plus_01_dot_19_bar__plus_00_dot_00_bar__plus_01_dot_30)\n (inReceptacle CD_bar__plus_01_dot_22_bar__plus_00_dot_73_bar__plus_00_dot_90 Desk_bar__plus_01_dot_19_bar__plus_00_dot_00_bar__plus_01_dot_30)\n (inReceptacle Laptop_bar__plus_01_dot_22_bar__plus_00_dot_72_bar__plus_01_dot_34 Desk_bar__plus_01_dot_19_bar__plus_00_dot_00_bar__plus_01_dot_30)\n (inReceptacle CreditCard_bar__plus_01_dot_02_bar__plus_00_dot_73_bar__plus_01_dot_89 Desk_bar__plus_01_dot_19_bar__plus_00_dot_00_bar__plus_01_dot_30)\n (inReceptacle CD_bar__plus_01_dot_22_bar__plus_00_dot_73_bar__plus_01_dot_07 Desk_bar__plus_01_dot_19_bar__plus_00_dot_00_bar__plus_01_dot_30)\n (inReceptacle KeyChain_bar__plus_01_dot_29_bar__plus_00_dot_73_bar__plus_01_dot_73 Desk_bar__plus_01_dot_19_bar__plus_00_dot_00_bar__plus_01_dot_30)\n (inReceptacle CreditCard_bar__minus_00_dot_09_bar__plus_00_dot_10_bar__minus_01_dot_59 Drawer_bar__minus_00_dot_09_bar__plus_00_dot_19_bar__minus_01_dot_63)\n (inReceptacle CreditCard_bar__plus_01_dot_21_bar__plus_00_dot_08_bar__plus_01_dot_52 Drawer_bar__plus_01_dot_13_bar__plus_00_dot_16_bar__plus_01_dot_74)\n (inReceptacle KeyChain_bar__plus_01_dot_17_bar__plus_00_dot_08_bar__plus_01_dot_67 Drawer_bar__plus_01_dot_13_bar__plus_00_dot_16_bar__plus_01_dot_74)\n (inReceptacle Pen_bar__plus_01_dot_10_bar__plus_00_dot_56_bar__plus_01_dot_74 Drawer_bar__plus_01_dot_13_bar__plus_00_dot_62_bar__plus_01_dot_74)\n (inReceptacle CellPhone_bar__plus_01_dot_21_bar__plus_00_dot_78_bar__minus_01_dot_54 Bed_bar__plus_00_dot_96_bar__plus_00_dot_00_bar__minus_00_dot_72)\n (inReceptacle Pillow_bar__plus_00_dot_87_bar__plus_00_dot_82_bar__minus_01_dot_51 Bed_bar__plus_00_dot_96_bar__plus_00_dot_00_bar__minus_00_dot_72)\n (inReceptacle Laptop_bar__plus_00_dot_70_bar__plus_00_dot_78_bar__minus_00_dot_99 Bed_bar__plus_00_dot_96_bar__plus_00_dot_00_bar__minus_00_dot_72)\n (inReceptacle Book_bar__plus_00_dot_70_bar__plus_00_dot_78_bar__plus_00_dot_11 Bed_bar__plus_00_dot_96_bar__plus_00_dot_00_bar__minus_00_dot_72)\n (inReceptacle Laptop_bar__plus_01_dot_21_bar__plus_00_dot_78_bar__minus_00_dot_17 Bed_bar__plus_00_dot_96_bar__plus_00_dot_00_bar__minus_00_dot_72)\n (inReceptacle CellPhone_bar__plus_01_dot_33_bar__plus_00_dot_78_bar__plus_00_dot_11 Bed_bar__plus_00_dot_96_bar__plus_00_dot_00_bar__minus_00_dot_72)\n (inReceptacle Mug_bar__plus_00_dot_02_bar__plus_00_dot_69_bar__minus_01_dot_79 Dresser_bar__minus_00_dot_09_bar__plus_00_dot_02_bar__minus_01_dot_72)\n (inReceptacle Mug_bar__plus_00_dot_02_bar__plus_00_dot_69_bar__minus_01_dot_66 Dresser_bar__minus_00_dot_09_bar__plus_00_dot_02_bar__minus_01_dot_72)\n (inReceptacle AlarmClock_bar__plus_00_dot_26_bar__plus_00_dot_69_bar__minus_01_dot_66 Dresser_bar__minus_00_dot_09_bar__plus_00_dot_02_bar__minus_01_dot_72)\n (inReceptacle Pen_bar__minus_00_dot_21_bar__plus_00_dot_70_bar__minus_01_dot_57 Dresser_bar__minus_00_dot_09_bar__plus_00_dot_02_bar__minus_01_dot_72)\n (inReceptacle CellPhone_bar__minus_00_dot_21_bar__plus_00_dot_69_bar__minus_01_dot_71 Dresser_bar__minus_00_dot_09_bar__plus_00_dot_02_bar__minus_01_dot_72)\n (inReceptacle DeskLamp_bar__minus_00_dot_40_bar__plus_00_dot_69_bar__minus_01_dot_67 Dresser_bar__minus_00_dot_09_bar__plus_00_dot_02_bar__minus_01_dot_72)\n (inReceptacle Mug_bar__plus_00_dot_16_bar__plus_00_dot_69_bar__minus_01_dot_81 Dresser_bar__minus_00_dot_09_bar__plus_00_dot_02_bar__minus_01_dot_72)\n (inReceptacle AlarmClock_bar__plus_01_dot_31_bar__plus_01_dot_14_bar__plus_01_dot_40 Shelf_bar__plus_01_dot_34_bar__plus_01_dot_13_bar__plus_01_dot_38)\n (inReceptacle AlarmClock_bar__plus_01_dot_31_bar__plus_01_dot_14_bar__plus_01_dot_09 Shelf_bar__plus_01_dot_34_bar__plus_01_dot_13_bar__plus_01_dot_38)\n (inReceptacle Pencil_bar__plus_01_dot_31_bar__plus_01_dot_14_bar__plus_01_dot_56 Shelf_bar__plus_01_dot_34_bar__plus_01_dot_13_bar__plus_01_dot_38)\n \n \n (receptacleAtLocation Bed_bar__plus_00_dot_96_bar__plus_00_dot_00_bar__minus_00_dot_72 loc_bar_0_bar__minus_2_bar_1_bar_60)\n (receptacleAtLocation Desk_bar__plus_01_dot_19_bar__plus_00_dot_00_bar__plus_01_dot_30 loc_bar_2_bar_5_bar_1_bar_60)\n (receptacleAtLocation Drawer_bar__plus_01_dot_13_bar__plus_00_dot_16_bar__plus_01_dot_74 loc_bar_0_bar_5_bar_1_bar_60)\n (receptacleAtLocation Drawer_bar__plus_01_dot_13_bar__plus_00_dot_40_bar__plus_01_dot_74 loc_bar_0_bar_5_bar_1_bar_45)\n (receptacleAtLocation Drawer_bar__plus_01_dot_13_bar__plus_00_dot_62_bar__plus_01_dot_74 loc_bar_1_bar_6_bar_1_bar_45)\n (receptacleAtLocation Drawer_bar__minus_00_dot_09_bar__plus_00_dot_19_bar__minus_01_dot_63 loc_bar_0_bar__minus_5_bar_2_bar_60)\n (receptacleAtLocation Drawer_bar__minus_00_dot_09_bar__plus_00_dot_48_bar__minus_01_dot_63 loc_bar_0_bar__minus_5_bar_2_bar_60)\n (receptacleAtLocation Dresser_bar__minus_00_dot_09_bar__plus_00_dot_02_bar__minus_01_dot_72 loc_bar_0_bar__minus_4_bar_2_bar_60)\n (receptacleAtLocation GarbageCan_bar__plus_01_dot_13_bar__plus_00_dot_03_bar__plus_00_dot_59 loc_bar_2_bar_3_bar_1_bar_60)\n (receptacleAtLocation LaundryHamper_bar__minus_01_dot_60_bar__plus_00_dot_01_bar__plus_01_dot_84 loc_bar__minus_5_bar_6_bar_3_bar_60)\n (receptacleAtLocation Shelf_bar__plus_01_dot_34_bar__plus_01_dot_13_bar__plus_01_dot_38 loc_bar_2_bar_6_bar_1_bar_30)\n (objectAtLocation Mug_bar__plus_00_dot_16_bar__plus_00_dot_69_bar__minus_01_dot_81 loc_bar_0_bar__minus_4_bar_2_bar_60)\n (objectAtLocation Pen_bar__plus_01_dot_29_bar__plus_00_dot_73_bar__plus_01_dot_89 loc_bar_2_bar_5_bar_1_bar_60)\n (objectAtLocation CD_bar__plus_01_dot_10_bar__plus_00_dot_08_bar__plus_00_dot_56 loc_bar_2_bar_3_bar_1_bar_60)\n (objectAtLocation Pencil_bar__plus_01_dot_08_bar__plus_00_dot_73_bar__plus_01_dot_89 loc_bar_2_bar_5_bar_1_bar_60)\n (objectAtLocation AlarmClock_bar__plus_00_dot_26_bar__plus_00_dot_69_bar__minus_01_dot_66 loc_bar_0_bar__minus_4_bar_2_bar_60)\n (objectAtLocation KeyChain_bar__plus_01_dot_17_bar__plus_00_dot_08_bar__plus_01_dot_67 loc_bar_0_bar_5_bar_1_bar_60)\n (objectAtLocation CreditCard_bar__minus_00_dot_09_bar__plus_00_dot_10_bar__minus_01_dot_59 loc_bar_0_bar__minus_5_bar_2_bar_60)\n (objectAtLocation Laptop_bar__plus_01_dot_22_bar__plus_00_dot_72_bar__plus_01_dot_34 loc_bar_2_bar_5_bar_1_bar_60)\n (objectAtLocation CellPhone_bar__plus_01_dot_33_bar__plus_00_dot_78_bar__plus_00_dot_11 loc_bar_0_bar__minus_2_bar_1_bar_60)\n (objectAtLocation Laptop_bar__plus_00_dot_70_bar__plus_00_dot_78_bar__minus_00_dot_99 loc_bar_0_bar__minus_2_bar_1_bar_60)\n (objectAtLocation AlarmClock_bar__plus_01_dot_31_bar__plus_01_dot_14_bar__plus_01_dot_40 loc_bar_2_bar_6_bar_1_bar_30)\n (objectAtLocation KeyChain_bar__plus_01_dot_22_bar__plus_00_dot_73_bar__plus_01_dot_73 loc_bar_2_bar_5_bar_1_bar_60)\n (objectAtLocation CreditCard_bar__plus_01_dot_21_bar__plus_00_dot_08_bar__plus_01_dot_52 loc_bar_0_bar_5_bar_1_bar_60)\n (objectAtLocation Pen_bar__plus_01_dot_10_bar__plus_00_dot_56_bar__plus_01_dot_74 loc_bar_1_bar_6_bar_1_bar_45)\n (objectAtLocation CellPhone_bar__plus_01_dot_21_bar__plus_00_dot_78_bar__minus_01_dot_54 loc_bar_0_bar__minus_2_bar_1_bar_60)\n (objectAtLocation CD_bar__plus_01_dot_22_bar__plus_00_dot_73_bar__plus_01_dot_07 loc_bar_2_bar_5_bar_1_bar_60)\n (objectAtLocation Mug_bar__plus_00_dot_02_bar__plus_00_dot_69_bar__minus_01_dot_79 loc_bar_0_bar__minus_4_bar_2_bar_60)\n (objectAtLocation Poster_bar__plus_00_dot_98_bar__plus_01_dot_97_bar__minus_01_dot_87 loc_bar_1_bar__minus_5_bar_1_bar__minus_30)\n (objectAtLocation Chair_bar__plus_01_dot_13_bar__plus_00_dot_00_bar__plus_01_dot_05 loc_bar_2_bar_4_bar_1_bar_60)\n (objectAtLocation Mirror_bar__minus_00_dot_88_bar__plus_01_dot_35_bar__plus_02_dot_09 loc_bar__minus_4_bar_6_bar_0_bar_30)\n (objectAtLocation Book_bar__plus_00_dot_70_bar__plus_00_dot_78_bar__plus_00_dot_11 loc_bar_0_bar__minus_2_bar_1_bar_60)\n (objectAtLocation Poster_bar__plus_01_dot_48_bar__plus_01_dot_98_bar__minus_01_dot_21 loc_bar_1_bar__minus_5_bar_1_bar__minus_15)\n (objectAtLocation Poster_bar__plus_01_dot_48_bar__plus_01_dot_50_bar__minus_00_dot_13 loc_bar_1_bar__minus_1_bar_1_bar_0)\n (objectAtLocation Poster_bar__plus_01_dot_48_bar__plus_02_dot_14_bar__minus_00_dot_13 loc_bar_1_bar__minus_1_bar_1_bar__minus_15)\n (objectAtLocation LaundryHamperLid_bar__minus_01_dot_60_bar__plus_00_dot_48_bar__plus_01_dot_84 loc_bar__minus_5_bar_6_bar_3_bar_60)\n (objectAtLocation Box_bar__minus_01_dot_23_bar__plus_00_dot_26_bar__minus_01_dot_44 loc_bar__minus_5_bar__minus_4_bar_2_bar_60)\n (objectAtLocation CellPhone_bar__minus_00_dot_21_bar__plus_00_dot_69_bar__minus_01_dot_71 loc_bar_0_bar__minus_4_bar_2_bar_60)\n (objectAtLocation BaseballBat_bar__minus_01_dot_72_bar__plus_00_dot_71_bar__minus_00_dot_68 loc_bar__minus_5_bar__minus_3_bar_3_bar_60)\n (objectAtLocation Bowl_bar__plus_01_dot_35_bar__plus_00_dot_72_bar__plus_00_dot_89 loc_bar_2_bar_5_bar_1_bar_60)\n (objectAtLocation BasketBall_bar__minus_01_dot_64_bar__plus_00_dot_13_bar__minus_01_dot_65 loc_bar__minus_5_bar__minus_4_bar_2_bar_60)\n (objectAtLocation Laptop_bar__plus_01_dot_21_bar__plus_00_dot_78_bar__minus_00_dot_17 loc_bar_0_bar__minus_2_bar_1_bar_60)\n (objectAtLocation CreditCard_bar__plus_01_dot_02_bar__plus_00_dot_73_bar__plus_01_dot_89 loc_bar_2_bar_5_bar_1_bar_60)\n (objectAtLocation DeskLamp_bar__minus_00_dot_40_bar__plus_00_dot_69_bar__minus_01_dot_67 loc_bar_0_bar__minus_4_bar_2_bar_60)\n (objectAtLocation KeyChain_bar__plus_01_dot_29_bar__plus_00_dot_73_bar__plus_01_dot_73 loc_bar_2_bar_5_bar_1_bar_60)\n (objectAtLocation AlarmClock_bar__plus_01_dot_31_bar__plus_01_dot_14_bar__plus_01_dot_09 loc_bar_2_bar_6_bar_1_bar_30)\n (objectAtLocation LightSwitch_bar__plus_00_dot_55_bar__plus_01_dot_16_bar__plus_02_dot_08 loc_bar_2_bar_6_bar_0_bar_45)\n (objectAtLocation Pencil_bar__plus_01_dot_31_bar__plus_01_dot_14_bar__plus_01_dot_56 loc_bar_2_bar_6_bar_1_bar_30)\n (objectAtLocation Pillow_bar__plus_00_dot_87_bar__plus_00_dot_82_bar__minus_01_dot_51 loc_bar_0_bar__minus_2_bar_1_bar_60)\n (objectAtLocation CD_bar__plus_01_dot_22_bar__plus_00_dot_73_bar__plus_00_dot_90 loc_bar_2_bar_5_bar_1_bar_60)\n (objectAtLocation Pen_bar__minus_00_dot_21_bar__plus_00_dot_70_bar__minus_01_dot_57 loc_bar_0_bar__minus_4_bar_2_bar_60)\n (objectAtLocation Window_bar__minus_00_dot_18_bar__plus_01_dot_01_bar__minus_02_dot_01 loc_bar__minus_1_bar__minus_5_bar_2_bar_45)\n (objectAtLocation Mug_bar__plus_00_dot_02_bar__plus_00_dot_69_bar__minus_01_dot_66 loc_bar_0_bar__minus_4_bar_2_bar_60)\n (objectAtLocation Blinds_bar__minus_00_dot_15_bar__plus_01_dot_68_bar__minus_01_dot_99 loc_bar__minus_1_bar__minus_5_bar_2_bar_0)\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 DeskType)\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to bed 1", "take cellphone 2 from bed 1", "go to desk 1", "move cellphone 2 to desk 1"]}
|
alfworld__pick_and_place_simple__19
|
pick_and_place_simple
|
pick_and_place_simple-CellPhone-None-Desk-305/trial_T20190907_231028_856423/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 cellphone on desk.\"\n }\n ],\n\n \"GotoLocation.feedback\": [\n {\n \"rhs\": \"You arrive at {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"OpenObject.feedback\": [\n {\n \"rhs\": \"You open the {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"CloseObject.feedback\": [\n {\n \"rhs\": \"You close the {r.name}.\"\n }\n ],\n\n \"PickupObject.feedback\": [\n {\n \"rhs\": \"You pick up the {o.name} from the {r.name}.\"\n }\n ],\n\n \"PickupObjectFromReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupObjectFromReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupEmptyReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupEmptyReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupFullReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupFullReceptacleObject: You pick up the {outerr.name}.\"\n }\n ],\n\n \"PutObject.feedback\": [\n {\n \"rhs\": \"You move the {o.name} to the {r.name}.\"\n }\n ],\n\n \"PutObjectInReceptacleObject.feedback\": [\n {\n \"rhs\": \"PutObjectInReceptacleObject: You put the {o.name} in the {outero.name}.\"\n }\n ],\n\n \"PutEmptyReceptacleObjectinReceptacle.feedback\": [\n {\n \"rhs\": \"PutEmptyReceptacleObjectinReceptacle: You put the {o.name} in the {r.name}.\"\n }\n ],\n\n \"PutFullReceptacleObjectInReceptacle.feedback\": [\n {\n \"rhs\": \"PutFullReceptacleObjectInReceptacle: You put the {outero.name} in the {r.name}.\"\n }\n ],\n\n \"inventory.feedback\": [\n {\n \"condition\": \"holdsany(a:agent)\",\n \"rhs\": \"You are carrying: [{o.indefinite + ' ' + o.name | holds(a:agent, o:object)}].\"\n },\n {\n \"rhs\": \"You are not carrying anything.\"\n }\n ],\n\n \"examineReceptacle.feedback\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \"The {r.name} is open. In it, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \"The {r.name} is closed.\"\n },\n {\n \"rhs\": \"On the {r.name}, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n }\n ],\n\n \"examineObject.feedback\": [\n {\n \"condition\": \"isreceptacleobject(o:object)\",\n \"rhs\": \"This is a normal {o.name}. In it, you see [{o2.indefinite + ' ' + o2.name | inreceptacleobject(o2:object, o:object)}].\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a clean sliced {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot sliced {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object)\",\n \"rhs\": \"This is a hot and clean {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object)\",\n \"rhs\": \"This is a cool and clean {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object)\",\n \"rhs\": \"This is a hot {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object)\",\n \"rhs\": \"This is a clean {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object)\",\n \"rhs\": \"This is a cold {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"This {o.name} is on.\"\n },\n {\n \"condition\": \"toggleable(o:object) & not_istoggled(o:object)\",\n \"rhs\": \"This {o.name} is off.\"\n },\n {\n \"condition\": \"sliceable(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a sliced {o.name}.\"\n },\n {\n \"rhs\": \"There's nothing special about {o.name}.\"\n }\n ]\n }\n\"\"\";\n\naction GotoLocation {\n template :: \"go to [{r.name | receptacleatlocation(r:receptacle, lend:location)}]\";\n feedback :: \"#GotoLocation.feedback#\";\n}\n\naction OpenObject {\n template :: \"open {r}\";\n feedback :: \"#OpenObject.feedback#\";\n}\n\naction CloseObject {\n template :: \"close {r}\";\n feedback :: \"#CloseObject.feedback#\";\n}\n\naction PickupObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObject.feedback#\";\n}\n\naction PickupObjectFromReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObjectFromReceptacleObject.feedback#\";\n}\n\naction PickupEmptyReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupEmptyReceptacleObject.feedback#\";\n}\n\naction PickupFullReceptacleObject {\n template :: \"take {outerr} from {r}\";\n feedback :: \"#PickupFullReceptacleObject.feedback#\";\n}\n\naction PutObject {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutObject.feedback#\";\n}\n\naction PutObjectInReceptacleObject {\n template :: \"put {o} into {outero}\";\n feedback :: \"#PutObjectInReceptacleObject.feedback#\";\n}\n\naction PutEmptyReceptacleObjectinReceptacle {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutEmptyReceptacleObjectinReceptacle.feedback#\";\n}\n\naction PutFullReceptacleObjectInReceptacle {\n template :: \"put {outero} in {r}\";\n feedback :: \"#PutFullReceptacleObjectInReceptacle.feedback#\";\n}\n\naction inventory {\n template :: \"inventory\";\n feedback :: \"#inventory.feedback#\";\n}\n\naction examineReceptacle {\n template :: \"examine {r}\";\n feedback :: \"#examineReceptacle.feedback#\";\n}\n\naction examineObject {\n template :: \"examine {o}\";\n feedback :: \"#examineObject.feedback#\";\n}\n\naction ToggleObject {\n template :: \"use {o}\";\n feedback :: \"#toggleObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"toggleObject.feedback\": [\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"You turn on the {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object)\",\n \"rhs\": \"You turn off the {o.name}.\"\n },\n {\n \"rhs\": \"You don't see any switch on the {o.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction HeatObject {\n template :: \"heat {o} with {r}\";\n feedback :: \"#heatObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"heatObject.feedback\": [\n {\n \"rhs\": \"You heat the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CleanObject {\n template :: \"clean {o} with {r}\";\n feedback :: \"#cleanObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"cleanObject.feedback\": [\n {\n \"rhs\": \"You clean the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CoolObject {\n template :: \"cool {o} with {r}\";\n feedback :: \"#coolObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"coolObject.feedback\": [\n {\n \"rhs\": \"You cool the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction SliceObject {\n template :: \"slice {co} with {ko}\";\n feedback :: \"#sliceObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"sliceObject.feedback\": [\n {\n \"rhs\": \"You sliced the {co.name} with the {ko.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction look {\n template :: \"look\";\n feedback :: \"#look.feedback#\";\n\n grammar :: \"\"\"\n {\n \"look.feedback\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"#look-variations#. Next to it, you see #list_objects_on_the_floor#.\"\n },\n {\n \"rhs\": \"You are in the middle of a room. Looking quickly around you, you see #list_appliances#.\"\n }\n ],\n\n \"look-variations\": [\n {\n \"rhs\": \"You are facing the [{r.name | atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)}]\"\n }\n ],\n\n \"list_objects_on_the_floor\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)\",\n \"rhs\": \"[{#overview(o)# | atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"list_appliances\": [\n {\n \"condition\": \"receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"[{#overview(r)# | receptacleatlocation(r:receptacle, l:location)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"overview(o, r)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name} (in/on the {r.name})}\"\n }\n ],\n\n \"overview(o)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name}\"\n }\n ],\n \"overview(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}\"\n }\n ],\n \"overview_with_state(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}#overview_state(r)#\"\n }\n ],\n \"overview_state(r)\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \" (it is open)\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \" (it is closed)\"\n },\n {\n \"rhs\": \"\"\n }\n ],\n\n \"list_empty\": [\n {\n \"rhs\": \"nothing\"\n }\n ],\n \"list_separator\": [\n {\n \"rhs\": \", \"\n }\n ],\n \"list_last_separator\": [\n {\n \"rhs\": \", and \"\n }\n ]\n }\n \"\"\";\n}\n\naction help {\n template :: \"help\";\n feedback :: \"\nAvailable commands:\n look: look around your current location\n inventory: check your current inventory\n go to (receptacle): move to a receptacle\n open (receptacle): open a receptacle\n close (receptacle): close a receptacle\n take (object) from (receptacle): take an object from a receptacle\n move (object) to (receptacle): place an object in or on a receptacle\n examine (something): examine a receptacle or an object\n use (object): use an object\n heat (object) with (receptacle): heat an object using a receptacle\n clean (object) with (receptacle): clean an object using a receptacle\n cool (object) with (receptacle): cool an object using a receptacle\n slice (object) with (object): slice an object using a sharp object\n\";\n}\n", "pddl_problem": "\n(define (problem plan_trial_T20190907_231028_856423)\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_26_bar__plus_00_dot_69_bar__minus_01_dot_57 - object\n AlarmClock_bar__plus_01_dot_34_bar__plus_01_dot_13_bar__plus_00_dot_96 - object\n BaseballBat_bar__minus_01_dot_72_bar__plus_00_dot_71_bar__minus_00_dot_68 - object\n BasketBall_bar__minus_01_dot_64_bar__plus_00_dot_13_bar__minus_01_dot_65 - object\n Blinds_bar__minus_00_dot_15_bar__plus_01_dot_68_bar__minus_01_dot_99 - object\n Book_bar__plus_01_dot_15_bar__plus_00_dot_72_bar__plus_01_dot_81 - object\n Bowl_bar__plus_01_dot_35_bar__plus_00_dot_72_bar__plus_00_dot_89 - object\n Box_bar__minus_01_dot_23_bar__plus_00_dot_26_bar__minus_01_dot_44 - object\n CD_bar__plus_01_dot_08_bar__plus_00_dot_73_bar__plus_00_dot_90 - object\n CellPhone_bar__plus_01_dot_21_bar__plus_00_dot_78_bar__minus_01_dot_54 - object\n CellPhone_bar__minus_00_dot_10_bar__plus_00_dot_70_bar__minus_01_dot_71 - object\n Chair_bar__plus_01_dot_13_bar__plus_00_dot_00_bar__plus_01_dot_05 - object\n CreditCard_bar__plus_01_dot_17_bar__plus_00_dot_32_bar__plus_01_dot_60 - object\n DeskLamp_bar__minus_00_dot_40_bar__plus_00_dot_69_bar__minus_01_dot_67 - object\n KeyChain_bar__plus_01_dot_02_bar__plus_00_dot_08_bar__plus_01_dot_81 - object\n KeyChain_bar__plus_01_dot_28_bar__plus_01_dot_14_bar__plus_01_dot_25 - object\n KeyChain_bar__plus_01_dot_42_bar__plus_00_dot_73_bar__plus_01_dot_07 - object\n Laptop_bar__plus_01_dot_22_bar__plus_00_dot_72_bar__plus_01_dot_34 - object\n LaundryHamperLid_bar__minus_01_dot_60_bar__plus_00_dot_48_bar__plus_01_dot_84 - object\n LightSwitch_bar__plus_00_dot_55_bar__plus_01_dot_16_bar__plus_02_dot_08 - object\n Mirror_bar__minus_00_dot_88_bar__plus_01_dot_35_bar__plus_02_dot_09 - object\n Mug_bar__plus_00_dot_02_bar__plus_00_dot_69_bar__minus_01_dot_66 - object\n Mug_bar__plus_00_dot_16_bar__plus_00_dot_69_bar__minus_01_dot_81 - object\n Pencil_bar__plus_01_dot_28_bar__plus_01_dot_14_bar__plus_01_dot_56 - object\n Pencil_bar__plus_01_dot_37_bar__plus_01_dot_14_bar__plus_01_dot_09 - object\n Pen_bar__plus_01_dot_14_bar__plus_00_dot_32_bar__plus_01_dot_74 - object\n Pen_bar__plus_01_dot_25_bar__plus_01_dot_14_bar__plus_01_dot_40 - object\n Pen_bar__minus_00_dot_21_bar__plus_00_dot_70_bar__minus_01_dot_57 - object\n Pillow_bar__plus_00_dot_83_bar__plus_00_dot_85_bar__minus_00_dot_71 - object\n Pillow_bar__plus_01_dot_08_bar__plus_00_dot_85_bar__plus_00_dot_11 - object\n Pillow_bar__plus_01_dot_21_bar__plus_00_dot_85_bar__minus_00_dot_99 - object\n Poster_bar__plus_00_dot_98_bar__plus_01_dot_97_bar__minus_01_dot_87 - object\n Poster_bar__plus_01_dot_48_bar__plus_01_dot_50_bar__minus_00_dot_13 - object\n Poster_bar__plus_01_dot_48_bar__plus_01_dot_98_bar__minus_01_dot_21 - object\n Poster_bar__plus_01_dot_48_bar__plus_02_dot_14_bar__minus_00_dot_13 - object\n Window_bar__minus_00_dot_18_bar__plus_01_dot_01_bar__minus_02_dot_01 - object\n Bed_bar__plus_00_dot_96_bar__plus_00_dot_00_bar__minus_00_dot_72 - receptacle\n Desk_bar__plus_01_dot_19_bar__plus_00_dot_00_bar__plus_01_dot_30 - receptacle\n Drawer_bar__plus_01_dot_13_bar__plus_00_dot_16_bar__plus_01_dot_74 - receptacle\n Drawer_bar__plus_01_dot_13_bar__plus_00_dot_40_bar__plus_01_dot_74 - receptacle\n Drawer_bar__plus_01_dot_13_bar__plus_00_dot_62_bar__plus_01_dot_74 - receptacle\n Drawer_bar__minus_00_dot_09_bar__plus_00_dot_19_bar__minus_01_dot_63 - receptacle\n Drawer_bar__minus_00_dot_09_bar__plus_00_dot_48_bar__minus_01_dot_63 - receptacle\n Dresser_bar__minus_00_dot_09_bar__plus_00_dot_02_bar__minus_01_dot_72 - receptacle\n GarbageCan_bar__plus_01_dot_13_bar__plus_00_dot_03_bar__plus_00_dot_59 - receptacle\n LaundryHamper_bar__minus_01_dot_60_bar__plus_00_dot_01_bar__plus_01_dot_84 - receptacle\n Shelf_bar__plus_01_dot_34_bar__plus_01_dot_13_bar__plus_01_dot_38 - receptacle\n loc_bar_2_bar_3_bar_1_bar_60 - location\n loc_bar_0_bar__minus_2_bar_1_bar_60 - location\n loc_bar__minus_5_bar__minus_4_bar_2_bar_60 - location\n loc_bar_0_bar_5_bar_1_bar_60 - location\n loc_bar_1_bar__minus_5_bar_1_bar__minus_15 - location\n loc_bar_1_bar_6_bar_1_bar_45 - location\n loc_bar_0_bar__minus_4_bar_2_bar_60 - location\n loc_bar_2_bar_5_bar_1_bar_60 - location\n loc_bar_1_bar__minus_5_bar_1_bar__minus_30 - location\n loc_bar_1_bar__minus_1_bar_1_bar_0 - location\n loc_bar__minus_1_bar__minus_5_bar_2_bar_45 - location\n loc_bar__minus_5_bar_6_bar_3_bar_60 - location\n loc_bar_2_bar_4_bar_1_bar_60 - location\n loc_bar_0_bar__minus_5_bar_2_bar_60 - location\n loc_bar__minus_1_bar__minus_5_bar_2_bar_0 - location\n loc_bar_2_bar_6_bar_0_bar_45 - location\n loc_bar_1_bar__minus_1_bar_1_bar__minus_15 - location\n loc_bar__minus_4_bar_6_bar_0_bar_30 - location\n loc_bar_0_bar_5_bar_1_bar_45 - location\n loc_bar_2_bar_6_bar_1_bar_30 - location\n loc_bar__minus_5_bar__minus_3_bar_3_bar_60 - location\n loc_bar__minus_1_bar__minus_4_bar_1_bar_30 - location\n )\n \n\n(:init\n\n\n (receptacleType Dresser_bar__minus_00_dot_09_bar__plus_00_dot_02_bar__minus_01_dot_72 DresserType)\n (receptacleType Drawer_bar__minus_00_dot_09_bar__plus_00_dot_48_bar__minus_01_dot_63 DrawerType)\n (receptacleType Desk_bar__plus_01_dot_19_bar__plus_00_dot_00_bar__plus_01_dot_30 DeskType)\n (receptacleType Shelf_bar__plus_01_dot_34_bar__plus_01_dot_13_bar__plus_01_dot_38 ShelfType)\n (receptacleType Bed_bar__plus_00_dot_96_bar__plus_00_dot_00_bar__minus_00_dot_72 BedType)\n (receptacleType Drawer_bar__plus_01_dot_13_bar__plus_00_dot_40_bar__plus_01_dot_74 DrawerType)\n (receptacleType LaundryHamper_bar__minus_01_dot_60_bar__plus_00_dot_01_bar__plus_01_dot_84 LaundryHamperType)\n (receptacleType Drawer_bar__plus_01_dot_13_bar__plus_00_dot_62_bar__plus_01_dot_74 DrawerType)\n (receptacleType Drawer_bar__minus_00_dot_09_bar__plus_00_dot_19_bar__minus_01_dot_63 DrawerType)\n (receptacleType Drawer_bar__plus_01_dot_13_bar__plus_00_dot_16_bar__plus_01_dot_74 DrawerType)\n (receptacleType GarbageCan_bar__plus_01_dot_13_bar__plus_00_dot_03_bar__plus_00_dot_59 GarbageCanType)\n (objectType Laptop_bar__plus_01_dot_22_bar__plus_00_dot_72_bar__plus_01_dot_34 LaptopType)\n (objectType Book_bar__plus_01_dot_15_bar__plus_00_dot_72_bar__plus_01_dot_81 BookType)\n (objectType CellPhone_bar__minus_00_dot_10_bar__plus_00_dot_70_bar__minus_01_dot_71 CellPhoneType)\n (objectType Pen_bar__plus_01_dot_14_bar__plus_00_dot_32_bar__plus_01_dot_74 PenType)\n (objectType Mirror_bar__minus_00_dot_88_bar__plus_01_dot_35_bar__plus_02_dot_09 MirrorType)\n (objectType Pencil_bar__plus_01_dot_28_bar__plus_01_dot_14_bar__plus_01_dot_56 PencilType)\n (objectType LaundryHamperLid_bar__minus_01_dot_60_bar__plus_00_dot_48_bar__plus_01_dot_84 LaundryHamperLidType)\n (objectType Chair_bar__plus_01_dot_13_bar__plus_00_dot_00_bar__plus_01_dot_05 ChairType)\n (objectType KeyChain_bar__plus_01_dot_42_bar__plus_00_dot_73_bar__plus_01_dot_07 KeyChainType)\n (objectType Bowl_bar__plus_01_dot_35_bar__plus_00_dot_72_bar__plus_00_dot_89 BowlType)\n (objectType Poster_bar__plus_01_dot_48_bar__plus_02_dot_14_bar__minus_00_dot_13 PosterType)\n (objectType Mug_bar__plus_00_dot_02_bar__plus_00_dot_69_bar__minus_01_dot_66 MugType)\n (objectType Pen_bar__plus_01_dot_25_bar__plus_01_dot_14_bar__plus_01_dot_40 PenType)\n (objectType BaseballBat_bar__minus_01_dot_72_bar__plus_00_dot_71_bar__minus_00_dot_68 BaseballBatType)\n (objectType Poster_bar__plus_01_dot_48_bar__plus_01_dot_50_bar__minus_00_dot_13 PosterType)\n (objectType Pen_bar__minus_00_dot_21_bar__plus_00_dot_70_bar__minus_01_dot_57 PenType)\n (objectType Box_bar__minus_01_dot_23_bar__plus_00_dot_26_bar__minus_01_dot_44 BoxType)\n (objectType AlarmClock_bar__plus_01_dot_34_bar__plus_01_dot_13_bar__plus_00_dot_96 AlarmClockType)\n (objectType BasketBall_bar__minus_01_dot_64_bar__plus_00_dot_13_bar__minus_01_dot_65 BasketBallType)\n (objectType Pillow_bar__plus_01_dot_08_bar__plus_00_dot_85_bar__plus_00_dot_11 PillowType)\n (objectType AlarmClock_bar__plus_00_dot_26_bar__plus_00_dot_69_bar__minus_01_dot_57 AlarmClockType)\n (objectType CellPhone_bar__plus_01_dot_21_bar__plus_00_dot_78_bar__minus_01_dot_54 CellPhoneType)\n (objectType Poster_bar__plus_00_dot_98_bar__plus_01_dot_97_bar__minus_01_dot_87 PosterType)\n (objectType CreditCard_bar__plus_01_dot_17_bar__plus_00_dot_32_bar__plus_01_dot_60 CreditCardType)\n (objectType Blinds_bar__minus_00_dot_15_bar__plus_01_dot_68_bar__minus_01_dot_99 BlindsType)\n (objectType Window_bar__minus_00_dot_18_bar__plus_01_dot_01_bar__minus_02_dot_01 WindowType)\n (objectType Poster_bar__plus_01_dot_48_bar__plus_01_dot_98_bar__minus_01_dot_21 PosterType)\n (objectType CD_bar__plus_01_dot_08_bar__plus_00_dot_73_bar__plus_00_dot_90 CDType)\n (objectType LightSwitch_bar__plus_00_dot_55_bar__plus_01_dot_16_bar__plus_02_dot_08 LightSwitchType)\n (objectType Pillow_bar__plus_01_dot_21_bar__plus_00_dot_85_bar__minus_00_dot_99 PillowType)\n (objectType KeyChain_bar__plus_01_dot_02_bar__plus_00_dot_08_bar__plus_01_dot_81 KeyChainType)\n (objectType Pencil_bar__plus_01_dot_37_bar__plus_01_dot_14_bar__plus_01_dot_09 PencilType)\n (objectType DeskLamp_bar__minus_00_dot_40_bar__plus_00_dot_69_bar__minus_01_dot_67 DeskLampType)\n (objectType Pillow_bar__plus_00_dot_83_bar__plus_00_dot_85_bar__minus_00_dot_71 PillowType)\n (objectType KeyChain_bar__plus_01_dot_28_bar__plus_01_dot_14_bar__plus_01_dot_25 KeyChainType)\n (objectType Mug_bar__plus_00_dot_16_bar__plus_00_dot_69_bar__minus_01_dot_81 MugType)\n (canContain DresserType PenType)\n (canContain DresserType BookType)\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 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 DeskType PenType)\n (canContain DeskType BookType)\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 AlarmClockType)\n (canContain ShelfType PenType)\n (canContain ShelfType BookType)\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 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 (canContain DrawerType 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 GarbageCanType PenType)\n (canContain GarbageCanType CDType)\n (canContain GarbageCanType PencilType)\n (pickupable Laptop_bar__plus_01_dot_22_bar__plus_00_dot_72_bar__plus_01_dot_34)\n (pickupable Book_bar__plus_01_dot_15_bar__plus_00_dot_72_bar__plus_01_dot_81)\n (pickupable CellPhone_bar__minus_00_dot_10_bar__plus_00_dot_70_bar__minus_01_dot_71)\n (pickupable Pen_bar__plus_01_dot_14_bar__plus_00_dot_32_bar__plus_01_dot_74)\n (pickupable Pencil_bar__plus_01_dot_28_bar__plus_01_dot_14_bar__plus_01_dot_56)\n (pickupable KeyChain_bar__plus_01_dot_42_bar__plus_00_dot_73_bar__plus_01_dot_07)\n (pickupable Bowl_bar__plus_01_dot_35_bar__plus_00_dot_72_bar__plus_00_dot_89)\n (pickupable Mug_bar__plus_00_dot_02_bar__plus_00_dot_69_bar__minus_01_dot_66)\n (pickupable Pen_bar__plus_01_dot_25_bar__plus_01_dot_14_bar__plus_01_dot_40)\n (pickupable BaseballBat_bar__minus_01_dot_72_bar__plus_00_dot_71_bar__minus_00_dot_68)\n (pickupable Pen_bar__minus_00_dot_21_bar__plus_00_dot_70_bar__minus_01_dot_57)\n (pickupable Box_bar__minus_01_dot_23_bar__plus_00_dot_26_bar__minus_01_dot_44)\n (pickupable AlarmClock_bar__plus_01_dot_34_bar__plus_01_dot_13_bar__plus_00_dot_96)\n (pickupable BasketBall_bar__minus_01_dot_64_bar__plus_00_dot_13_bar__minus_01_dot_65)\n (pickupable Pillow_bar__plus_01_dot_08_bar__plus_00_dot_85_bar__plus_00_dot_11)\n (pickupable AlarmClock_bar__plus_00_dot_26_bar__plus_00_dot_69_bar__minus_01_dot_57)\n (pickupable CellPhone_bar__plus_01_dot_21_bar__plus_00_dot_78_bar__minus_01_dot_54)\n (pickupable CreditCard_bar__plus_01_dot_17_bar__plus_00_dot_32_bar__plus_01_dot_60)\n (pickupable CD_bar__plus_01_dot_08_bar__plus_00_dot_73_bar__plus_00_dot_90)\n (pickupable Pillow_bar__plus_01_dot_21_bar__plus_00_dot_85_bar__minus_00_dot_99)\n (pickupable KeyChain_bar__plus_01_dot_02_bar__plus_00_dot_08_bar__plus_01_dot_81)\n (pickupable Pencil_bar__plus_01_dot_37_bar__plus_01_dot_14_bar__plus_01_dot_09)\n (pickupable Pillow_bar__plus_00_dot_83_bar__plus_00_dot_85_bar__minus_00_dot_71)\n (pickupable KeyChain_bar__plus_01_dot_28_bar__plus_01_dot_14_bar__plus_01_dot_25)\n (pickupable Mug_bar__plus_00_dot_16_bar__plus_00_dot_69_bar__minus_01_dot_81)\n (isReceptacleObject Bowl_bar__plus_01_dot_35_bar__plus_00_dot_72_bar__plus_00_dot_89)\n (isReceptacleObject Mug_bar__plus_00_dot_02_bar__plus_00_dot_69_bar__minus_01_dot_66)\n (isReceptacleObject Box_bar__minus_01_dot_23_bar__plus_00_dot_26_bar__minus_01_dot_44)\n (isReceptacleObject Mug_bar__plus_00_dot_16_bar__plus_00_dot_69_bar__minus_01_dot_81)\n (openable Drawer_bar__plus_01_dot_13_bar__plus_00_dot_40_bar__plus_01_dot_74)\n (openable Drawer_bar__plus_01_dot_13_bar__plus_00_dot_62_bar__plus_01_dot_74)\n (openable Drawer_bar__plus_01_dot_13_bar__plus_00_dot_16_bar__plus_01_dot_74)\n \n (atLocation agent1 loc_bar__minus_1_bar__minus_4_bar_1_bar_30)\n \n (cleanable Bowl_bar__plus_01_dot_35_bar__plus_00_dot_72_bar__plus_00_dot_89)\n (cleanable Mug_bar__plus_00_dot_02_bar__plus_00_dot_69_bar__minus_01_dot_66)\n (cleanable Mug_bar__plus_00_dot_16_bar__plus_00_dot_69_bar__minus_01_dot_81)\n \n (heatable Mug_bar__plus_00_dot_02_bar__plus_00_dot_69_bar__minus_01_dot_66)\n (heatable Mug_bar__plus_00_dot_16_bar__plus_00_dot_69_bar__minus_01_dot_81)\n (coolable Bowl_bar__plus_01_dot_35_bar__plus_00_dot_72_bar__plus_00_dot_89)\n (coolable Mug_bar__plus_00_dot_02_bar__plus_00_dot_69_bar__minus_01_dot_66)\n (coolable Mug_bar__plus_00_dot_16_bar__plus_00_dot_69_bar__minus_01_dot_81)\n \n \n (toggleable DeskLamp_bar__minus_00_dot_40_bar__plus_00_dot_69_bar__minus_01_dot_67)\n \n \n \n \n (inReceptacle CreditCard_bar__plus_01_dot_17_bar__plus_00_dot_32_bar__plus_01_dot_60 Drawer_bar__plus_01_dot_13_bar__plus_00_dot_40_bar__plus_01_dot_74)\n (inReceptacle Pen_bar__plus_01_dot_14_bar__plus_00_dot_32_bar__plus_01_dot_74 Drawer_bar__plus_01_dot_13_bar__plus_00_dot_40_bar__plus_01_dot_74)\n (inReceptacle Bowl_bar__plus_01_dot_35_bar__plus_00_dot_72_bar__plus_00_dot_89 Desk_bar__plus_01_dot_19_bar__plus_00_dot_00_bar__plus_01_dot_30)\n (inReceptacle Laptop_bar__plus_01_dot_22_bar__plus_00_dot_72_bar__plus_01_dot_34 Desk_bar__plus_01_dot_19_bar__plus_00_dot_00_bar__plus_01_dot_30)\n (inReceptacle Book_bar__plus_01_dot_15_bar__plus_00_dot_72_bar__plus_01_dot_81 Desk_bar__plus_01_dot_19_bar__plus_00_dot_00_bar__plus_01_dot_30)\n (inReceptacle CD_bar__plus_01_dot_08_bar__plus_00_dot_73_bar__plus_00_dot_90 Desk_bar__plus_01_dot_19_bar__plus_00_dot_00_bar__plus_01_dot_30)\n (inReceptacle KeyChain_bar__plus_01_dot_42_bar__plus_00_dot_73_bar__plus_01_dot_07 Desk_bar__plus_01_dot_19_bar__plus_00_dot_00_bar__plus_01_dot_30)\n (inReceptacle KeyChain_bar__plus_01_dot_02_bar__plus_00_dot_08_bar__plus_01_dot_81 Drawer_bar__plus_01_dot_13_bar__plus_00_dot_16_bar__plus_01_dot_74)\n (inReceptacle CellPhone_bar__plus_01_dot_21_bar__plus_00_dot_78_bar__minus_01_dot_54 Bed_bar__plus_00_dot_96_bar__plus_00_dot_00_bar__minus_00_dot_72)\n (inReceptacle Pillow_bar__plus_00_dot_83_bar__plus_00_dot_85_bar__minus_00_dot_71 Bed_bar__plus_00_dot_96_bar__plus_00_dot_00_bar__minus_00_dot_72)\n (inReceptacle Pillow_bar__plus_01_dot_08_bar__plus_00_dot_85_bar__plus_00_dot_11 Bed_bar__plus_00_dot_96_bar__plus_00_dot_00_bar__minus_00_dot_72)\n (inReceptacle Pillow_bar__plus_01_dot_21_bar__plus_00_dot_85_bar__minus_00_dot_99 Bed_bar__plus_00_dot_96_bar__plus_00_dot_00_bar__minus_00_dot_72)\n (inReceptacle Mug_bar__plus_00_dot_02_bar__plus_00_dot_69_bar__minus_01_dot_66 Dresser_bar__minus_00_dot_09_bar__plus_00_dot_02_bar__minus_01_dot_72)\n (inReceptacle Pen_bar__minus_00_dot_21_bar__plus_00_dot_70_bar__minus_01_dot_57 Dresser_bar__minus_00_dot_09_bar__plus_00_dot_02_bar__minus_01_dot_72)\n (inReceptacle CellPhone_bar__minus_00_dot_10_bar__plus_00_dot_70_bar__minus_01_dot_71 Dresser_bar__minus_00_dot_09_bar__plus_00_dot_02_bar__minus_01_dot_72)\n (inReceptacle DeskLamp_bar__minus_00_dot_40_bar__plus_00_dot_69_bar__minus_01_dot_67 Dresser_bar__minus_00_dot_09_bar__plus_00_dot_02_bar__minus_01_dot_72)\n (inReceptacle Mug_bar__plus_00_dot_16_bar__plus_00_dot_69_bar__minus_01_dot_81 Dresser_bar__minus_00_dot_09_bar__plus_00_dot_02_bar__minus_01_dot_72)\n (inReceptacle AlarmClock_bar__plus_00_dot_26_bar__plus_00_dot_69_bar__minus_01_dot_57 Dresser_bar__minus_00_dot_09_bar__plus_00_dot_02_bar__minus_01_dot_72)\n (inReceptacle Pen_bar__plus_01_dot_25_bar__plus_01_dot_14_bar__plus_01_dot_40 Shelf_bar__plus_01_dot_34_bar__plus_01_dot_13_bar__plus_01_dot_38)\n (inReceptacle Pencil_bar__plus_01_dot_37_bar__plus_01_dot_14_bar__plus_01_dot_09 Shelf_bar__plus_01_dot_34_bar__plus_01_dot_13_bar__plus_01_dot_38)\n (inReceptacle Pencil_bar__plus_01_dot_28_bar__plus_01_dot_14_bar__plus_01_dot_56 Shelf_bar__plus_01_dot_34_bar__plus_01_dot_13_bar__plus_01_dot_38)\n (inReceptacle KeyChain_bar__plus_01_dot_28_bar__plus_01_dot_14_bar__plus_01_dot_25 Shelf_bar__plus_01_dot_34_bar__plus_01_dot_13_bar__plus_01_dot_38)\n (inReceptacle AlarmClock_bar__plus_01_dot_34_bar__plus_01_dot_13_bar__plus_00_dot_96 Shelf_bar__plus_01_dot_34_bar__plus_01_dot_13_bar__plus_01_dot_38)\n \n \n (receptacleAtLocation Bed_bar__plus_00_dot_96_bar__plus_00_dot_00_bar__minus_00_dot_72 loc_bar_0_bar__minus_2_bar_1_bar_60)\n (receptacleAtLocation Desk_bar__plus_01_dot_19_bar__plus_00_dot_00_bar__plus_01_dot_30 loc_bar_2_bar_5_bar_1_bar_60)\n (receptacleAtLocation Drawer_bar__plus_01_dot_13_bar__plus_00_dot_16_bar__plus_01_dot_74 loc_bar_0_bar_5_bar_1_bar_60)\n (receptacleAtLocation Drawer_bar__plus_01_dot_13_bar__plus_00_dot_40_bar__plus_01_dot_74 loc_bar_0_bar_5_bar_1_bar_45)\n (receptacleAtLocation Drawer_bar__plus_01_dot_13_bar__plus_00_dot_62_bar__plus_01_dot_74 loc_bar_1_bar_6_bar_1_bar_45)\n (receptacleAtLocation Drawer_bar__minus_00_dot_09_bar__plus_00_dot_19_bar__minus_01_dot_63 loc_bar_0_bar__minus_5_bar_2_bar_60)\n (receptacleAtLocation Drawer_bar__minus_00_dot_09_bar__plus_00_dot_48_bar__minus_01_dot_63 loc_bar_0_bar__minus_5_bar_2_bar_60)\n (receptacleAtLocation Dresser_bar__minus_00_dot_09_bar__plus_00_dot_02_bar__minus_01_dot_72 loc_bar_0_bar__minus_4_bar_2_bar_60)\n (receptacleAtLocation GarbageCan_bar__plus_01_dot_13_bar__plus_00_dot_03_bar__plus_00_dot_59 loc_bar_2_bar_3_bar_1_bar_60)\n (receptacleAtLocation LaundryHamper_bar__minus_01_dot_60_bar__plus_00_dot_01_bar__plus_01_dot_84 loc_bar__minus_5_bar_6_bar_3_bar_60)\n (receptacleAtLocation Shelf_bar__plus_01_dot_34_bar__plus_01_dot_13_bar__plus_01_dot_38 loc_bar_2_bar_6_bar_1_bar_30)\n (objectAtLocation Mug_bar__plus_00_dot_16_bar__plus_00_dot_69_bar__minus_01_dot_81 loc_bar_0_bar__minus_4_bar_2_bar_60)\n (objectAtLocation Pen_bar__minus_00_dot_21_bar__plus_00_dot_70_bar__minus_01_dot_57 loc_bar_0_bar__minus_4_bar_2_bar_60)\n (objectAtLocation Pillow_bar__plus_01_dot_08_bar__plus_00_dot_85_bar__plus_00_dot_11 loc_bar_0_bar__minus_2_bar_1_bar_60)\n (objectAtLocation Pencil_bar__plus_01_dot_37_bar__plus_01_dot_14_bar__plus_01_dot_09 loc_bar_2_bar_6_bar_1_bar_30)\n (objectAtLocation AlarmClock_bar__plus_01_dot_34_bar__plus_01_dot_13_bar__plus_00_dot_96 loc_bar_2_bar_6_bar_1_bar_30)\n (objectAtLocation KeyChain_bar__plus_01_dot_42_bar__plus_00_dot_73_bar__plus_01_dot_07 loc_bar_2_bar_5_bar_1_bar_60)\n (objectAtLocation CellPhone_bar__plus_01_dot_21_bar__plus_00_dot_78_bar__minus_01_dot_54 loc_bar_0_bar__minus_2_bar_1_bar_60)\n (objectAtLocation Pillow_bar__plus_01_dot_21_bar__plus_00_dot_85_bar__minus_00_dot_99 loc_bar_0_bar__minus_2_bar_1_bar_60)\n (objectAtLocation KeyChain_bar__plus_01_dot_02_bar__plus_00_dot_08_bar__plus_01_dot_81 loc_bar_0_bar_5_bar_1_bar_60)\n (objectAtLocation Pen_bar__plus_01_dot_14_bar__plus_00_dot_32_bar__plus_01_dot_74 loc_bar_0_bar_5_bar_1_bar_45)\n (objectAtLocation Poster_bar__plus_00_dot_98_bar__plus_01_dot_97_bar__minus_01_dot_87 loc_bar_1_bar__minus_5_bar_1_bar__minus_30)\n (objectAtLocation Chair_bar__plus_01_dot_13_bar__plus_00_dot_00_bar__plus_01_dot_05 loc_bar_2_bar_4_bar_1_bar_60)\n (objectAtLocation Mirror_bar__minus_00_dot_88_bar__plus_01_dot_35_bar__plus_02_dot_09 loc_bar__minus_4_bar_6_bar_0_bar_30)\n (objectAtLocation Book_bar__plus_01_dot_15_bar__plus_00_dot_72_bar__plus_01_dot_81 loc_bar_2_bar_5_bar_1_bar_60)\n (objectAtLocation Poster_bar__plus_01_dot_48_bar__plus_01_dot_98_bar__minus_01_dot_21 loc_bar_1_bar__minus_5_bar_1_bar__minus_15)\n (objectAtLocation Poster_bar__plus_01_dot_48_bar__plus_01_dot_50_bar__minus_00_dot_13 loc_bar_1_bar__minus_1_bar_1_bar_0)\n (objectAtLocation Poster_bar__plus_01_dot_48_bar__plus_02_dot_14_bar__minus_00_dot_13 loc_bar_1_bar__minus_1_bar_1_bar__minus_15)\n (objectAtLocation LaundryHamperLid_bar__minus_01_dot_60_bar__plus_00_dot_48_bar__plus_01_dot_84 loc_bar__minus_5_bar_6_bar_3_bar_60)\n (objectAtLocation Box_bar__minus_01_dot_23_bar__plus_00_dot_26_bar__minus_01_dot_44 loc_bar__minus_5_bar__minus_4_bar_2_bar_60)\n (objectAtLocation CellPhone_bar__minus_00_dot_10_bar__plus_00_dot_70_bar__minus_01_dot_71 loc_bar_0_bar__minus_4_bar_2_bar_60)\n (objectAtLocation BaseballBat_bar__minus_01_dot_72_bar__plus_00_dot_71_bar__minus_00_dot_68 loc_bar__minus_5_bar__minus_3_bar_3_bar_60)\n (objectAtLocation Bowl_bar__plus_01_dot_35_bar__plus_00_dot_72_bar__plus_00_dot_89 loc_bar_2_bar_5_bar_1_bar_60)\n (objectAtLocation BasketBall_bar__minus_01_dot_64_bar__plus_00_dot_13_bar__minus_01_dot_65 loc_bar__minus_5_bar__minus_4_bar_2_bar_60)\n (objectAtLocation Laptop_bar__plus_01_dot_22_bar__plus_00_dot_72_bar__plus_01_dot_34 loc_bar_2_bar_5_bar_1_bar_60)\n (objectAtLocation CreditCard_bar__plus_01_dot_17_bar__plus_00_dot_32_bar__plus_01_dot_60 loc_bar_0_bar_5_bar_1_bar_45)\n (objectAtLocation DeskLamp_bar__minus_00_dot_40_bar__plus_00_dot_69_bar__minus_01_dot_67 loc_bar_0_bar__minus_4_bar_2_bar_60)\n (objectAtLocation KeyChain_bar__plus_01_dot_28_bar__plus_01_dot_14_bar__plus_01_dot_25 loc_bar_2_bar_6_bar_1_bar_30)\n (objectAtLocation AlarmClock_bar__plus_00_dot_26_bar__plus_00_dot_69_bar__minus_01_dot_57 loc_bar_0_bar__minus_4_bar_2_bar_60)\n (objectAtLocation LightSwitch_bar__plus_00_dot_55_bar__plus_01_dot_16_bar__plus_02_dot_08 loc_bar_2_bar_6_bar_0_bar_45)\n (objectAtLocation Pencil_bar__plus_01_dot_28_bar__plus_01_dot_14_bar__plus_01_dot_56 loc_bar_2_bar_6_bar_1_bar_30)\n (objectAtLocation Pillow_bar__plus_00_dot_83_bar__plus_00_dot_85_bar__minus_00_dot_71 loc_bar_0_bar__minus_2_bar_1_bar_60)\n (objectAtLocation CD_bar__plus_01_dot_08_bar__plus_00_dot_73_bar__plus_00_dot_90 loc_bar_2_bar_5_bar_1_bar_60)\n (objectAtLocation Pen_bar__plus_01_dot_25_bar__plus_01_dot_14_bar__plus_01_dot_40 loc_bar_2_bar_6_bar_1_bar_30)\n (objectAtLocation Window_bar__minus_00_dot_18_bar__plus_01_dot_01_bar__minus_02_dot_01 loc_bar__minus_1_bar__minus_5_bar_2_bar_45)\n (objectAtLocation Mug_bar__plus_00_dot_02_bar__plus_00_dot_69_bar__minus_01_dot_66 loc_bar_0_bar__minus_4_bar_2_bar_60)\n (objectAtLocation Blinds_bar__minus_00_dot_15_bar__plus_01_dot_68_bar__minus_01_dot_99 loc_bar__minus_1_bar__minus_5_bar_2_bar_0)\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 DeskType)\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to bed 1", "take cellphone 1 from bed 1", "go to desk 1", "move cellphone 1 to desk 1"]}
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