mirror of https://github.com/StanfordVL/bddl.git
refactor wip
This commit is contained in:
sanjanasrivastava
parent
13e74c2367
commit
9b5a37d17e
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@ -7,5 +7,5 @@
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**/*.pdf
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**/*.csv
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.idea
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tasknet/task_conditions/parsing_tests/sample.pddl
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tasknet/sample_natural_condition.txt
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behavior/task_conditions/parsing_tests/sample.pddl
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behavior/sample_natural_condition.txt
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@ -0,0 +1,26 @@
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from behavior.backend_abc import BEHAVIORBackend
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_AVAILABLE_BACKENDS = ["iGibson"]
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_backend = None
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def set_backend(backend_name):
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global _backend
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if backend_name == "iGibson":
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from gibson2.task.behavior_backend import IGibsonBEHAVIORBackend
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_backend = IGibsonBEHAVIORBackend()
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else:
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raise ValueError("Invalid backend. Currently supported backends: %s." % ", ".join(_AVAILABLE_BACKENDS))
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if not isinstance(_backend, BEHAVIORBackend):
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raise ValueError("Backends must implement behavior.backend_abc.BEHAVIORBackend.")
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def get_backend():
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if _backend is None:
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raise ValueError(
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"Before calling behavior functions, a backend must be set using behavior.set_backend(backend_name). "
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"Available backend names: %s." % ", ".join(_AVAILABLE_BACKENDS))
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return _backend
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@ -0,0 +1,78 @@
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(define
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(problem assembling_gift_baskets_0)
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(:domain igibson)
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(:objects
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hamper1 hamper2 hamper3 hamper4 - hamper
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shelf1 - shelf
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lotion1 lotion2 lotion3 lotion4 - lotion
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top_cabinet1 - top_cabinet
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soap1 soap2 soap3 soap4 - soap
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shampoo1 shampoo2 shampoo3 shampoo4 - shampoo
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conditioner1 conditioner2 conditioner3 conditioner4 - conditioner
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photograph1 photograph2 photograph3 photograph4 - photograph
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table1 - table
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)
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(:init
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(ontop hamper1 shelf1)
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(ontop hamper2 shelf1)
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(ontop hamper3 shelf1)
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(ontop hamper4 shelf1)
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(inside lotion1 top_cabinet1)
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(inside lotion2 top_cabinet1)
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(inside lotion3 top_cabinet1)
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(inside lotion4 top_cabinet1)
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(inside soap1 top_cabinet1)
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(inside soap2 top_cabinet1)
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(inside soap3 top_cabinet1)
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(inside soap4 top_cabinet1)
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(inside shampoo1 top_cabinet1)
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(inside shampoo2 top_cabinet1)
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(inside shampoo3 top_cabinet1)
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(inside shampoo4 top_cabinet1)
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(inside conditioner1 top_cabinet1)
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(inside conditioner2 top_cabinet1)
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(inside conditioner3 top_cabinet1)
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(inside conditioner4 top_cabinet1)
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(ontop photograph1 table1)
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(ontop photograph2 table1)
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(ontop photograph3 table1)
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(ontop photograph4 table1)
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)
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(:goal
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(and
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(exists
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(?table - table)
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(forall
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(?hamper - hamper)
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(ontop ?hamper ?table)
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)
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)
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(forpairs
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(?hamper - hamper)
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(?conditioner - conditioner)
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(inside ?conditioner ?hamper)
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)
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(forpairs
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(?hamper - hamper)
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(?shampoo - shampoo)
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(inside ?shampoo ?hamper)
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)
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(forpairs
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(?hamper - hamper)
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(?lotion - lotion)
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(inside ?lotion ?hamper)
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)
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(forpairs
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(?hamper - hamper)
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(?photograph - photograph)
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(inside ?photograph ?hamper)
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)
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(forpairs
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(?hamper - hamper)
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(?soap - soap)
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(inside ?soap ?hamper)
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)
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)
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)
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)
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(define (problem assembling_gift_baskets_1)
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(:domain igibson)
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(:objects
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hamper1 hamper2 hamper3 hamper4 - hamper
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table1 - table
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notebook1 notebook2 notebook3 notebook4 - notebook
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wine_bottle1 wine_bottle2 - wine_bottle
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cheddar1 cheddar2 cheddar3 cheddar4 - cheddar
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photograph1 photograph2 - photograph
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chocolate_box1 chocolate_box2 - chocolate_box
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cracker_box1 cracker_box2 cracker_box3 cracker_box4 - cracker_box
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candy_cane1 candy_cane2 - candy_cane
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carpet1 - carpet
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sofa1 - sofa
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)
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(:init
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(and
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(ontop hamper1 table1)
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(ontop hamper2 table1)
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(ontop hamper3 table1)
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(ontop hamper4 table1)
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)
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(and
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(under notebook1 table1)
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(under notebook2 table1)
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(under notebook3 table1)
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(under notebook4 table1)
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)
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(and
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(ontop wine_bottle1 table1)
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(ontop wine_bottle2 table1)
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)
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(and
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(ontop cheddar1 table1)
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(ontop cheddar2 table1)
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(ontop cheddar3 table1)
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(ontop cheddar4 table1)
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)
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(and
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(ontop photograph1 table1)
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(ontop photograph2 table1)
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)
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(and
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(ontop chocolate_box1 table1)
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(ontop chocolate_box2 table1)
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)
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(and
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(ontop cracker_box1 table1)
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(ontop cracker_box2 table1)
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(ontop cracker_box3 table1)
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(ontop cracker_box4 table1)
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)
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(and
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(ontop candy_cane1 table1)
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(ontop candy_cane2 table1)
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)
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(inroom table1 living_room)
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(inroom carpet1 living_room)
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(inroom sofa1 living_room)
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)
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(:goal
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(and
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(forn
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(2)
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(?hamper - hamper)
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(and
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(forn
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(2)
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(?notebook - notebook)
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(inside ?notebook ?hamper)
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)
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(forn
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(2)
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(?cracker_box - cracker_box)
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(inside ?cracker_box ?hamper)
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)
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(exists
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(?candy_cane - candy_cane)
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(exists
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(?cracker_box - cracker_box)
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(nextto ?candy_cane ?cracker_box)
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)
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)
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(exists
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(?cheddar - cheddar)
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(exists
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(?candy_cane - candy_cane)
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(nextto ?cheddar ?candy_cane)
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)
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)
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)
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)
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(forn
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(2)
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(?hamper - hamper)
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(and
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(forn
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(2)
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(?notebook - notebook)
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(inside ?notebook ?hamper)
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)
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(exists
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(?wine_bottle - wine_bottle)
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(exists
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(?cheddar - cheddar)
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(nextto ?cheddar ?wine_bottle)
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)
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)
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(exists
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(?chocolate_box - chocolate_box)
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(exists
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(?notebook - notebook)
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(ontop ?chocolate_box ?notebook)
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)
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)
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(exists
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(?cracker_box - cracker_box)
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(exists
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(?chocolate_box - chocolate_box)
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(nextto ?cracker_box ?chocolate_box)
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)
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)
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)
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)
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)
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)
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)
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@ -0,0 +1,63 @@
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(define
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(problem assembling_gift_baskets_0)
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(:domain igibson)
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(:objects
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cabinet.n.01_1 - cabinet.n.01
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table.n.02_1 - table.n.02
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; shelf.n.01_1 - shelf.n.01
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basket.n.01_1 basket.n.01_2 - basket.n.01
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lotion.n.01_1 lotion.n.01_2 - lotion.n.01
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soap.n.01_1 soap.n.01_2 - soap.n.01
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shampoo.n.01_1 shampoo.n.01_2 - shampoo.n.01
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envelope.n.01_1 envelope.n.01_2 - envelope.n.01
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)
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(:init
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(ontop basket.n.01_1 table.n.02_1)
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(ontop basket.n.01_2 table.n.02_1)
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(ontop lotion.n.01_1 table.n.02_1)
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(ontop lotion.n.01_2 table.n.02_1)
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(ontop shampoo.n.01_1 table.n.02_1)
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(ontop shampoo.n.01_2 table.n.02_1)
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(inside soap.n.01_1 cabinet.n.01_1)
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(inside soap.n.01_2 cabinet.n.01_1)
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(inside envelope.n.01_1 cabinet.n.01_1)
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(inside envelope.n.01_2 cabinet.n.01_1)
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; (inroom shelf.n.01_1 living_room)
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(inroom cabinet.n.01_1 living_room)
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(inroom table.n.02_1 living_room)
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)
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(:goal
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(and
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(exists
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(?table.n.02 - table.n.02)
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(forall
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(?basket.n.01 - basket.n.01)
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(ontop ?basket.n.01 ?table.n.02)
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)
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)
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(forpairs
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(?basket.n.01 - basket.n.01)
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(?shampoo.n.01 - shampoo.n.01)
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(inside ?shampoo.n.01 ?basket.n.01)
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)
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(forpairs
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(?basket.n.01 - basket.n.01)
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(?lotion.n.01 - lotion.n.01)
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(inside ?lotion.n.01 ?basket.n.01)
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)
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(forpairs
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(?basket.n.01 - basket.n.01)
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(?envelope.n.01 - envelope.n.01)
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(inside ?envelope.n.01 ?basket.n.01)
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)
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(forpairs
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(?basket.n.01 - basket.n.01)
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(?soap.n.01 - soap.n.01)
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(inside ?soap.n.01 ?basket.n.01)
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)
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)
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)
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)
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@ -0,0 +1,38 @@
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(define
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(problem assembling_gift_baskets_1)
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(:domain igibson)
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(:objects
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basket.n.01_1 - basket.n.01
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table.n.02_1 - table.n.02
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wine_bottle.n.01_1 - wine_bottle.n.01
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candy_cane.n.01_1 - candy_cane.n.01
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shelf.n.01_1 - shelf.n.01
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)
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(:init
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(ontop basket.n.01_1 table.n.02_1)
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(ontop wine_bottle.n.01_1 shelf.n.01_1)
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(inside candy_cane.n.01_1 shelf.n.01_1)
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(inroom table.n.02_1 living_room)
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(inroom shelf.n.01_1 living_room)
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)
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(:goal
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(and
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(forall
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(?basket.n.01 - basket.n.01)
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(and
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(exists
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(?candy_cane.n.01 - candy_cane.n.01)
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(inside ?candy_cane.n.01 ?basket.n.01)
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)
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(exists
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(?wine_bottle.n.01 - wine_bottle.n.01)
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(inside ?wine_bottle.n.01 ?basket.n.01)
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)
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)
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)
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)
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)
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)
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@ -0,0 +1,17 @@
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(define (problem packlunch)
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(:domain igibson)
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(:objects
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chip.n.04_1 - chip.n.04
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table.n.02_1 table.n.02_2 - table.n.02
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)
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(:init
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(inRoom table.n.02_1 living_room)
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(inRoom table.n.02_2 living_room)
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(onTop chip.n.04_1 table.n.02_1)
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)
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(:goal
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(and
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(onTop chip.n.04_1 table.n.02_2)
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)
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)
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)
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@ -0,0 +1,21 @@
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(define (problem packlunch)
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(:domain igibson)
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(:objects
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chip.n.04_1 chip.n.04_2 chip.n.04_3 - chip.n.04
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table.n.02_1 table.n.02_2 - table.n.02
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)
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(:init
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(inRoom table.n.02_1 living_room)
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(inRoom table.n.02_2 living_room)
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(onTop chip.n.04_1 table.n.02_1)
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(onTop chip.n.04_2 table.n.02_1)
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(onTop chip.n.04_3 table.n.02_1)
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)
|
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(:goal
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(and
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(onTop chip.n.04_1 table.n.02_2)
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(onTop chip.n.04_2 table.n.02_2)
|
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(onTop chip.n.04_3 table.n.02_2)
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||||
)
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)
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)
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@ -0,0 +1,67 @@
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(define (problem checking_test)
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(:domain igibson)
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(:objects
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chicken1 chicken2 chicken3 chicken4 - chicken
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apple1 apple2 apple3 - apple
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)
|
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(:init
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(nextto chicken1 chicken2)
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(not
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(cooked chicken1)
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)
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(not
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(cooked chicken2)
|
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)
|
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(not
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(cooked chicken3)
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)
|
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(not
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(cooked chicken4)
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)
|
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(not
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(cooked apple1)
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)
|
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(not
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(cooked apple2)
|
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)
|
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(not
|
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(cooked apple3)
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)
|
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(or
|
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(nextto apple1 chicken1)
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(nextto apple1 chicken4)
|
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)
|
||||
)
|
||||
(:goal
|
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(and
|
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(forall
|
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(?chicken - chicken)
|
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(cooked ?chicken)
|
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)
|
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(forn
|
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(2)
|
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(?chicken - chicken)
|
||||
(cooked ?chicken)
|
||||
)
|
||||
(exists
|
||||
(?chicken - chicken)
|
||||
(cooked ?chicken)
|
||||
)
|
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(exists
|
||||
(?apple - apple)
|
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(not
|
||||
(cooked ?apple)
|
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)
|
||||
)
|
||||
(or
|
||||
(cooked apple1)
|
||||
(cooked apple2)
|
||||
)
|
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(imply
|
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(cooked apple1)
|
||||
(cooked apple2)
|
||||
)
|
||||
)
|
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)
|
||||
)
|
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|
|
@ -0,0 +1,43 @@
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(define (problem cleaning_microwave_oven_1)
|
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(:domain igibson)
|
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|
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(:objects
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microwave1 - microwave
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counter1 - counter
|
||||
floor1 - floor
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crumb1 crumb2 crumb3 crumb4 crumb5 - crumb
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soap1 - soap
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scrub_brush1 - scrub_brush
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popcorn1 - popcorn
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receptacle1 - receptacle
|
||||
)
|
||||
|
||||
(:init
|
||||
(dusty microwave1)
|
||||
(inside crumb1 microwave1)
|
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(inside crumb2 microwave1)
|
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(inside crumb3 microwave1)
|
||||
(inside crumb4 microwave1)
|
||||
(inside crumb5 microwave1)
|
||||
(inside soap1 microwave1)
|
||||
(ontop scrub_brush1 counter1)
|
||||
(inside popcorn1 microwave1)
|
||||
(ontop receptacle1 floor1)
|
||||
(inroom microwave1 kitchen)
|
||||
(inroom floor1 kitchen)
|
||||
(inroom counter1 kitchen)
|
||||
)
|
||||
|
||||
(:goal
|
||||
(and
|
||||
(forall
|
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(?crumb - crumb)
|
||||
(inside ?crumb ?receptacle1)
|
||||
)
|
||||
(inside ?popcorn1 ?receptacle1)
|
||||
(scrubbed ?microwave1)
|
||||
(ontop ?scrub_brush1 ?counter1)
|
||||
(ontop ?receptacle1 ?floor1)
|
||||
)
|
||||
)
|
||||
)
|
||||
|
|
@ -0,0 +1,168 @@
|
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(define (problem cleaning_out_drawers_1)
|
||||
(:domain igibson)
|
||||
|
||||
(:objects
|
||||
bath_towel.n.01_1 bath_towel.n.01_2 - bath_towel.n.01
|
||||
drawer1 drawer2 drawer3 drawer4 drawer5 drawer6 - drawer
|
||||
jean.n.01_1 jean.n.01_2 jean.n.01_3 jean.n.01_4 - jean.n.01
|
||||
pajama.n.02_1 - pajama.n.02
|
||||
jersey.n.03_1 jersey.n.03_2 jersey.n.03_3 jersey.n.03_4 jersey.n.03_5 jersey.n.03_6 - jersey.n.03
|
||||
sweater1 sweater2 - sweater
|
||||
sock.n.01_1 sock.n.01_2 sock.n.01_3 sock.n.01_4 sock.n.01_5 sock.n.01_6 - sock.n.01
|
||||
pomade1 - pomade
|
||||
watch1 - watch
|
||||
shaver1 - shaver
|
||||
paper_clip.n.01_1 paper_clip.n.01_2 paper_clip.n.01_3 - paper_clip.n.01
|
||||
necktie1 necktie2 - necktie
|
||||
underwear.n.01_1 underwear.n.01_2 underwear.n.01_3 - underwear
|
||||
cabinet.n.01_1 - cabinet.n.01
|
||||
shelf.n.01_1 shelf.n.01_2 - shelf.n.01
|
||||
)
|
||||
|
||||
(:init
|
||||
(inside bath_towel.n.01_1 drawer2)
|
||||
(inside bath_towel.n.01_2 drawer1)
|
||||
(inside jean.n.01_1 drawer6)
|
||||
(inside jean.n.01_2 drawer5)
|
||||
(inside jean.n.01_3 drawer4)
|
||||
(inside jean.n.01_4 drawer3)
|
||||
(inside pajama.n.02_1 drawer2)
|
||||
(inside jersey.n.03_1 drawer1)
|
||||
(inside jersey.n.03_2 drawer6)
|
||||
(inside jersey.n.03_3 drawer5)
|
||||
(inside jersey.n.03_4 drawer4)
|
||||
(inside jersey.n.03_5 drawer3)
|
||||
(inside jersey.n.03_6 drawer2)
|
||||
(inside sweater1 drawer1)
|
||||
(inside sweater2 drawer6)
|
||||
(inside sock.n.01_1 drawer5)
|
||||
(inside sock.n.01_2 drawer4)
|
||||
(inside sock.n.01_3 drawer3)
|
||||
(inside sock.n.01_4 drawer2)
|
||||
(inside sock.n.01_5 drawer1)
|
||||
(inside sock.n.01_6 drawer6)
|
||||
(inside pomade1 drawer5)
|
||||
(inside watch1 drawer4)
|
||||
(inside shaver1 drawer3)
|
||||
(inside paper_clip.n.01_1 drawer2)
|
||||
(inside paper_clip.n.01_2 drawer1)
|
||||
(inside paper_clip.n.01_3 drawer6)
|
||||
(inside necktie1 drawer5)
|
||||
(inside necktie2 drawer4)
|
||||
(inside underwear.n.01_1 drawer3)
|
||||
(inside underwear.n.01_2 drawer2)
|
||||
(inside underwear.n.01_3 drawer6)
|
||||
(inside drawer1 cabinet.n.01_1)
|
||||
(inside drawer2 cabinet.n.01_1)
|
||||
(inside drawer3 cabinet.n.01_1)
|
||||
(inside drawer4 cabinet.n.01_1)
|
||||
(inside drawer5 cabinet.n.01_1)
|
||||
(inside drawer6 cabinet.n.01_1)
|
||||
(inside bath_towel.n.01_1 cabinet.n.01_1)
|
||||
(inside bath_towel.n.01_2 cabinet.n.01_1)
|
||||
(inside jean.n.01_1 cabinet.n.01_1)
|
||||
(inside jean.n.01_2 cabinet.n.01_1)
|
||||
(inside jean.n.01_3 cabinet.n.01_1)
|
||||
(inside jean.n.01_4 cabinet.n.01_1)
|
||||
(inside pajama.n.02_1 cabinet.n.01_1)
|
||||
(inside jersey.n.03_1 cabinet.n.01_1)
|
||||
(inside jersey.n.03_2 cabinet.n.01_1)
|
||||
(inside jersey.n.03_3 cabinet.n.01_1)
|
||||
(inside jersey.n.03_4 cabinet.n.01_1)
|
||||
(inside jersey.n.03_5 cabinet.n.01_1)
|
||||
(inside jersey.n.03_6 cabinet.n.01_1)
|
||||
(inside sweater1 cabinet.n.01_1)
|
||||
(inside sweater2 cabinet.n.01_1)
|
||||
(inside sock.n.01_1 cabinet.n.01_1)
|
||||
(inside sock.n.01_2 cabinet.n.01_1)
|
||||
(inside sock.n.01_3 cabinet.n.01_1)
|
||||
(inside sock.n.01_4 cabinet.n.01_1)
|
||||
(inside sock.n.01_5 cabinet.n.01_1)
|
||||
(inside sock.n.01_6 cabinet.n.01_1)
|
||||
(inside pomade1 cabinet.n.01_1)
|
||||
(inside watch1 cabinet.n.01_1)
|
||||
(inside shaver1 cabinet.n.01_1)
|
||||
(inside paper_clip.n.01_1 cabinet.n.01_1)
|
||||
(inside paper_clip.n.01_2 cabinet.n.01_1)
|
||||
(inside paper_clip.n.01_3 cabinet.n.01_1)
|
||||
(inside necktie1 cabinet.n.01_1)
|
||||
(inside necktie2 cabinet.n.01_1)
|
||||
(inside underwear.n.01_1 cabinet.n.01_1)
|
||||
(inside underwear.n.01_2 cabinet.n.01_1)
|
||||
(inside underwear.n.01_3 cabinet.n.01_1)
|
||||
(inroom cabinet.n.01_1 bedroom)
|
||||
(inroom shelf.n.01_1 bedroom)
|
||||
(inroom shelf.n.01_2 bedroom)
|
||||
)
|
||||
|
||||
(:goal
|
||||
(and
|
||||
(exists
|
||||
(?drawer - drawer)
|
||||
(forall
|
||||
(?jean.n.01 - jean.n.01)
|
||||
(inside ?jean.n.01 ?drawer)
|
||||
)
|
||||
)
|
||||
(exists
|
||||
(?drawer - drawer)
|
||||
(forall
|
||||
(?pajama.n.02 - pajama.n.02)
|
||||
(inside ?pajama.n.02 ?drawer)
|
||||
)
|
||||
)
|
||||
(exists
|
||||
(?drawer - drawer)
|
||||
(forall
|
||||
(?jersey.n.03 - jersey.n.03)
|
||||
(inside ?jersey.n.03 ?drawer)
|
||||
)
|
||||
)
|
||||
(exists
|
||||
(?drawer - drawer)
|
||||
(forall
|
||||
(?sweater - sweater)
|
||||
(inside ?sweater ?drawer)
|
||||
)
|
||||
)
|
||||
(exists
|
||||
(?drawer - drawer)
|
||||
(forall
|
||||
(?sock.n.01 - sock.n.01)
|
||||
(inside ?sock.n.01 ?drawer)
|
||||
)
|
||||
)
|
||||
(ontop ?pomade1 ?shelf.n.01_1)
|
||||
(ontop ?watch1 ?shelf.n.01_1)
|
||||
(ontop ?shaver1 ?shelf.n.01_1)
|
||||
(exists
|
||||
(?shelf.n.01 - shelf.n.01)
|
||||
(forall
|
||||
(?paper_clip.n.01 - paper_clip.n.01)
|
||||
(ontop ?paper_clip.n.01 ?shelf.n.01)
|
||||
)
|
||||
)
|
||||
(exists
|
||||
(?drawer - drawer)
|
||||
(forall
|
||||
(?necktie - necktie)
|
||||
(inside ?necktie ?drawer)
|
||||
)
|
||||
)
|
||||
(exists
|
||||
(?drawer - drawer)
|
||||
(forall
|
||||
(?underwear.n.01 - underwear.n.01)
|
||||
(inside ?underwear.n.01 ?drawer)
|
||||
)
|
||||
)
|
||||
(exists
|
||||
(?shelf.n.01 - shelf.n.01)
|
||||
(forall
|
||||
(?bath_towel.n.01 - bath_towel.n.01)
|
||||
(ontop ?bath_towel.n.01 ?shelf.n.01)
|
||||
)
|
||||
)
|
||||
)
|
||||
)
|
||||
)
|
||||
|
|
@ -0,0 +1,42 @@
|
|||
(define (problem cleaning_out_drawers_0)
|
||||
(:domain igibson)
|
||||
|
||||
(:objects
|
||||
cabinet.n.01_1 - cabinet.n.01
|
||||
jean.n.01_1 jean.n.01_2 jean.n.01_3 - jean.n.01
|
||||
underwear.n.01_1 underwear.n.01_2 underwear.n.01_3 - underwear.n.01
|
||||
bed.n.01_1 - bed.n.01
|
||||
)
|
||||
|
||||
(:init
|
||||
(inside jean.n.01_1 cabinet.n.01_1)
|
||||
(inside jean.n.01_2 cabinet.n.01_1)
|
||||
(inside jean.n.01_3 cabinet.n.01_1)
|
||||
(inside underwear.n.01_2 cabinet.n.01_1)
|
||||
(inside underwear.n.01_1 cabinet.n.01_1)
|
||||
(inside underwear.n.01_3 cabinet.n.01_1)
|
||||
(inroom cabinet.n.01_1 bedroom)
|
||||
(inroom bed.n.01_1 bedroom)
|
||||
)
|
||||
|
||||
(:goal
|
||||
(and
|
||||
(exists
|
||||
(?cabinet.n.01 - cabinet.n.01)
|
||||
(forall
|
||||
(?underwear.n.01 - underwear.n.01)
|
||||
(ontop ?underwear.n.01 ?bed.n.01)
|
||||
)
|
||||
)
|
||||
)
|
||||
(and
|
||||
(exists
|
||||
(?cabinet.n.01 - cabinet.n.01)
|
||||
(forall
|
||||
(?jean.n.01 - jean.n.01)
|
||||
(ontop ?jean.n.01 ?bed.n.01)
|
||||
)
|
||||
)
|
||||
)
|
||||
)
|
||||
)
|
||||
|
|
@ -0,0 +1,64 @@
|
|||
(define (problem cleaning_out_drawers_1)
|
||||
(:domain igibson)
|
||||
|
||||
(:objects
|
||||
jean.n.01_1 jean.n.01_2 jean.n.01_3 jean.n.01_4 - jean.n.01
|
||||
pajama.n.02_1 - pajama.n.02
|
||||
sock.n.01_1 sock.n.01_2 sock.n.01_3 sock.n.01_4 sock.n.01_5 sock.n.01_6 - sock.n.01
|
||||
underwear.n.01_1 underwear.n.01_2 underwear.n.01_3 - underwear.n.01
|
||||
cabinet.n.01_1 - cabinet.n.01
|
||||
bed.n.01_1 - bed.n.01
|
||||
)
|
||||
|
||||
(:init
|
||||
(inside jean.n.01_1 cabinet.n.01_1)
|
||||
(inside jean.n.01_2 cabinet.n.01_1)
|
||||
(inside jean.n.01_3 cabinet.n.01_1)
|
||||
(inside jean.n.01_4 cabinet.n.01_1)
|
||||
(inside pajama.n.02_1 cabinet.n.01_1)
|
||||
(inside sock.n.01_1 cabinet.n.01_1)
|
||||
(inside sock.n.01_2 cabinet.n.01_1)
|
||||
(inside sock.n.01_3 cabinet.n.01_1)
|
||||
(inside sock.n.01_4 cabinet.n.01_1)
|
||||
(inside sock.n.01_5 cabinet.n.01_1)
|
||||
(inside sock.n.01_6 cabinet.n.01_1)
|
||||
(inside underwear.n.01_1 cabinet.n.01_1)
|
||||
(inside underwear.n.01_2 cabinet.n.01_1)
|
||||
(inside underwear.n.01_3 cabinet.n.01_1)
|
||||
(inroom cabinet.n.01_1 bedroom)
|
||||
(inroom bed.n.01_1 bedroom)
|
||||
)
|
||||
|
||||
(:goal
|
||||
(and
|
||||
(exists
|
||||
(?bed.n.01 - bed.n.01)
|
||||
(forall
|
||||
(?jean.n.01 - jean.n.01)
|
||||
(inside ?jean.n.01 ?bed.n.01)
|
||||
)
|
||||
)
|
||||
(exists
|
||||
(?bed.n.01 - bed.n.01)
|
||||
(forall
|
||||
(?pajama.n.02 - pajama.n.02)
|
||||
(inside ?pajama.n.02 ?bed.n.01)
|
||||
)
|
||||
)
|
||||
(exists
|
||||
(?bed.n.01 - bed.n.01)
|
||||
(forall
|
||||
(?sock.n.01 - sock.n.01)
|
||||
(inside ?sock.n.01 ?bed.n.01)
|
||||
)
|
||||
)
|
||||
(exists
|
||||
(?bed.n.01 - bed.n.01)
|
||||
(forall
|
||||
(?underwear.n.01 - underwear.n.01)
|
||||
(inside ?underwear.n.01 ?bed.n.01)
|
||||
)
|
||||
)
|
||||
)
|
||||
)
|
||||
)
|
||||
|
|
@ -0,0 +1,36 @@
|
|||
(define (problem cleaning_out_drawers_0)
|
||||
(:domain igibson)
|
||||
|
||||
(:objects
|
||||
cabinet.n.01_1 - cabinet.n.01
|
||||
jean.n.01_1 - jean.n.01
|
||||
hat.n.01_1 - hat.n.01
|
||||
scarf.n.01_1 - scarf.n.01
|
||||
bed.n.01_1 - bed.n.01
|
||||
)
|
||||
|
||||
(:init
|
||||
(inside jean.n.01_1 cabinet.n.01_1)
|
||||
(inside hat.n.01_1 cabinet.n.01_1)
|
||||
(inside scarf.n.01_1 cabinet.n.01_1)
|
||||
(inroom cabinet.n.01_1 bedroom)
|
||||
(inroom bed.n.01_1 bedroom)
|
||||
)
|
||||
|
||||
(:goal
|
||||
(and
|
||||
(forall
|
||||
(?jean.n.01 - jean.n.01)
|
||||
(ontop ?jean.n.01 ?bed.n.01_1)
|
||||
)
|
||||
(forall
|
||||
(?hat.n.01 - hat.n.01)
|
||||
(ontop ?hat.n.01 ?bed.n.01_1)
|
||||
)
|
||||
(forall
|
||||
(?scarf.n.01 - scarf.n.01)
|
||||
(ontop ?scarf.n.01 ?bed.n.01_1)
|
||||
)
|
||||
)
|
||||
)
|
||||
)
|
||||
|
|
@ -0,0 +1,40 @@
|
|||
(define (problem cleaning_out_drawers_1)
|
||||
(:domain igibson)
|
||||
|
||||
(:objects
|
||||
pajama.n.02_1 - pajama.n.02
|
||||
sock.n.01_1 sock.n.01_2 sock.n.01_3 sock.n.01_4 - sock.n.01
|
||||
underwear.n.01_1 underwear.n.01_2 - underwear.n.01
|
||||
cabinet.n.01_1 - cabinet.n.01
|
||||
bed.n.01_1 - bed.n.01
|
||||
)
|
||||
|
||||
(:init
|
||||
(inside pajama.n.02_1 cabinet.n.01_1)
|
||||
(inside sock.n.01_1 cabinet.n.01_1)
|
||||
(inside sock.n.01_2 cabinet.n.01_1)
|
||||
(inside sock.n.01_3 cabinet.n.01_1)
|
||||
(inside sock.n.01_4 cabinet.n.01_1)
|
||||
(inside underwear.n.01_1 cabinet.n.01_1)
|
||||
(inside underwear.n.01_2 cabinet.n.01_1)
|
||||
(inroom cabinet.n.01_1 bedroom)
|
||||
(inroom bed.n.01_1 bedroom)
|
||||
)
|
||||
|
||||
(:goal
|
||||
(and
|
||||
(forall
|
||||
(?pajama.n.02 - pajama.n.02)
|
||||
(ontop ?pajama.n.02 ?bed.n.01_1)
|
||||
)
|
||||
(forall
|
||||
(?sock.n.01 - sock.n.01)
|
||||
(ontop ?sock.n.01 ?bed.n.01_1)
|
||||
)
|
||||
(forall
|
||||
(?underwear.n.01 - underwear.n.01)
|
||||
(ontop ?underwear.n.01 ?bed.n.01_1)
|
||||
)
|
||||
)
|
||||
)
|
||||
)
|
||||
|
|
@ -0,0 +1,122 @@
|
|||
(define (problem cleaning_refrigerator_0)
|
||||
(:domain igibson)
|
||||
|
||||
(:objects
|
||||
fridge1 - fridge
|
||||
counter1 - counter
|
||||
receptacle1 - receptacle
|
||||
fruit1 fruit2 fruit3 fruit4 fruit5 - fruit
|
||||
mold1 mold2 mold3 - mold
|
||||
condiment1 condiment2 - condiment
|
||||
tray1 - tray
|
||||
dessert1 - dessert
|
||||
vessel1 - vessel
|
||||
soap1 - soap
|
||||
water1 - water
|
||||
rag1 - rag
|
||||
brush1 - brush
|
||||
)
|
||||
|
||||
(:init
|
||||
(and
|
||||
(nextto fridge1 counter1)
|
||||
(open fridge1)
|
||||
(dusty fridge1)
|
||||
(not
|
||||
(scrubbed fridge1)
|
||||
)
|
||||
(nextto receptacle1 fridge1)
|
||||
)
|
||||
(and
|
||||
(and
|
||||
(inside fruit1 fridge1)
|
||||
(ontop mold1 fruit1)
|
||||
(under fridge1 mold1)
|
||||
)
|
||||
(and
|
||||
(inside fruit2 fridge1)
|
||||
(ontop mold2 fruit2)
|
||||
(under fridge1 mold2)
|
||||
)
|
||||
(and
|
||||
(inside fruit3 fridge1)
|
||||
(ontop mold3 fruit3)
|
||||
(under fridge1 mold3)
|
||||
)
|
||||
(and
|
||||
(inside fruit4 fridge1)
|
||||
(inside fruit5 fridge1)
|
||||
(inside condiment1 fridge1)
|
||||
(inside condiment2 fridge1)
|
||||
(ontop tray1 counter1)
|
||||
(ontop dessert1 counter1)
|
||||
)
|
||||
(and
|
||||
(ontop vessel1 counter1)
|
||||
(inside soap1 vessel1)
|
||||
(under counter1 soap1)
|
||||
(inside water1 vessel1)
|
||||
(under counter1 water1)
|
||||
)
|
||||
(ontop rag1 counter1)
|
||||
(not
|
||||
(soaked rag1)
|
||||
)
|
||||
(ontop brush1 counter1)
|
||||
)
|
||||
(inroom fridge1 kitchen)
|
||||
(inroom counter1 kitchen)
|
||||
)
|
||||
|
||||
(:goal
|
||||
(and
|
||||
(and
|
||||
(scrubbed ?fridge1)
|
||||
(not
|
||||
(open ?fridge1)
|
||||
)
|
||||
(not
|
||||
(dusty ?fridge1)
|
||||
)
|
||||
)
|
||||
(forall
|
||||
(?fruit - fruit)
|
||||
(and
|
||||
(imply
|
||||
(exists
|
||||
(?mold - mold)
|
||||
(ontop ?mold ?fruit)
|
||||
)
|
||||
(inside ?fruit ?receptacle1)
|
||||
)
|
||||
(imply
|
||||
(not
|
||||
(exists
|
||||
(?mold - mold)
|
||||
(ontop ?mold ?fruit)
|
||||
)
|
||||
)
|
||||
(inside ?fruit ?fridge1)
|
||||
)
|
||||
)
|
||||
)
|
||||
(and
|
||||
(and
|
||||
(ontop ?rag1 ?counter1)
|
||||
(soaked ?rag1)
|
||||
)
|
||||
(inside ?brush1 ?vessel1)
|
||||
(inside ?water1 ?vessel1)
|
||||
(inside ?soap1 ?vessel1)
|
||||
)
|
||||
(and
|
||||
(forall
|
||||
(?condiment - condiment)
|
||||
(inside ?condiment ?fridge1)
|
||||
)
|
||||
(inside ?tray1 ?fridge1)
|
||||
(inside ?dessert1 ?fridge1)
|
||||
)
|
||||
)
|
||||
)
|
||||
)
|
||||
|
|
@ -0,0 +1,183 @@
|
|||
(define (problem clearing_the_table_after_dinner_1)
|
||||
(:domain igibson)
|
||||
|
||||
(:objects
|
||||
knife1 knife2 knife3 knife4 - knife
|
||||
table1 - table
|
||||
dish1 dish2 dish3 dish4 - dish
|
||||
cup1 cup2 cup3 cup4 - cup
|
||||
fork1 fork2 fork3 fork4 - fork
|
||||
garbage1 - garbage
|
||||
dishwasher1 - dishwasher
|
||||
mustard1 - mustard
|
||||
catsup1 - catsup
|
||||
refrigerator1 - refrigerator
|
||||
crumb1 crumb2 crumb3 crumb4 crumb5 crumb6 - crumb
|
||||
)
|
||||
|
||||
(:init
|
||||
(and
|
||||
(and
|
||||
(ontop knife1 table1)
|
||||
(not
|
||||
(scrubbed knife1)
|
||||
)
|
||||
)
|
||||
(and
|
||||
(ontop knife2 table1)
|
||||
(not
|
||||
(scrubbed knife2)
|
||||
)
|
||||
)
|
||||
(and
|
||||
(ontop knife3 table1)
|
||||
(not
|
||||
(scrubbed knife3)
|
||||
)
|
||||
)
|
||||
(and
|
||||
(ontop knife4 table1)
|
||||
(not
|
||||
(scrubbed knife4)
|
||||
)
|
||||
)
|
||||
(and
|
||||
(ontop dish1 table1)
|
||||
(not
|
||||
(scrubbed dish1)
|
||||
)
|
||||
)
|
||||
(and
|
||||
(ontop dish2 table1)
|
||||
(not
|
||||
(scrubbed dish2)
|
||||
)
|
||||
)
|
||||
(and
|
||||
(ontop dish3 table1)
|
||||
(not
|
||||
(scrubbed dish3)
|
||||
)
|
||||
)
|
||||
(and
|
||||
(ontop dish4 table1)
|
||||
(not
|
||||
(scrubbed dish4)
|
||||
)
|
||||
)
|
||||
(and
|
||||
(ontop cup1 table1)
|
||||
(not
|
||||
(scrubbed cup1)
|
||||
)
|
||||
)
|
||||
(and
|
||||
(ontop cup2 table1)
|
||||
(not
|
||||
(scrubbed cup2)
|
||||
)
|
||||
)
|
||||
(and
|
||||
(ontop cup3 table1)
|
||||
(not
|
||||
(scrubbed cup3)
|
||||
)
|
||||
)
|
||||
(and
|
||||
(ontop cup4 table1)
|
||||
(not
|
||||
(scrubbed cup4)
|
||||
)
|
||||
)
|
||||
(and
|
||||
(ontop fork1 table1)
|
||||
(not
|
||||
(scrubbed fork1)
|
||||
)
|
||||
)
|
||||
(and
|
||||
(ontop fork2 table1)
|
||||
(not
|
||||
(scrubbed fork2)
|
||||
)
|
||||
)
|
||||
(and
|
||||
(ontop fork3 table1)
|
||||
(not
|
||||
(scrubbed fork3)
|
||||
)
|
||||
)
|
||||
(and
|
||||
(ontop fork4 table1)
|
||||
(not
|
||||
(scrubbed fork4)
|
||||
)
|
||||
)
|
||||
)
|
||||
(and
|
||||
(nextto garbage1 dishwasher1)
|
||||
(ontop mustard1 table1)
|
||||
(ontop catsup1 table1)
|
||||
(nextto refrigerator1 dishwasher1)
|
||||
)
|
||||
(and
|
||||
(ontop crumb6 table1)
|
||||
(ontop crumb5 table1)
|
||||
(ontop crumb4 table1)
|
||||
(ontop crumb3 table1)
|
||||
(ontop crumb2 table1)
|
||||
(ontop crumb1 table1)
|
||||
(open dishwasher1)
|
||||
)
|
||||
(inroom dishwasher1 kitchen)
|
||||
(inroom table1 diningroom)
|
||||
)
|
||||
|
||||
(:goal
|
||||
(and
|
||||
(forall
|
||||
(?knife - knife)
|
||||
(and
|
||||
(inside ?knife ?dishwasher1)
|
||||
(scrubbed ?knife)
|
||||
)
|
||||
)
|
||||
(forall
|
||||
(?dish - dish)
|
||||
(and
|
||||
(inside ?dish ?dishwasher1)
|
||||
(scrubbed ?knife)
|
||||
)
|
||||
)
|
||||
(forall
|
||||
(?cup - cup)
|
||||
(and
|
||||
(inside ?cup ?dishwasher1)
|
||||
(scrubbed ?knife)
|
||||
)
|
||||
)
|
||||
(forall
|
||||
(?fork - fork)
|
||||
(and
|
||||
(inside ?fork ?dishwasher1)
|
||||
(scrubbed ?knife)
|
||||
)
|
||||
)
|
||||
(not
|
||||
(open ?dishwasher1)
|
||||
)
|
||||
(and
|
||||
(inside ?catsup1 ?refrigerator1)
|
||||
(inside ?mustard1 ?refrigerator1)
|
||||
(not
|
||||
(open ?refrigerator1)
|
||||
)
|
||||
)
|
||||
(forall
|
||||
(?crumb - crumb)
|
||||
(inside ?crumb ?garbage1)
|
||||
)
|
||||
(scrubbed ?table1)
|
||||
)
|
||||
)
|
||||
)
|
||||
|
|
@ -0,0 +1,108 @@
|
|||
(define (problem decorating_the_Christmas_tree_0)
|
||||
(:domain igibson)
|
||||
|
||||
(:objects
|
||||
tree1 - tree
|
||||
stand1 - stand
|
||||
window1 - window
|
||||
box1 - box
|
||||
carpet1 - carpet
|
||||
light1 light2 light3 - light
|
||||
bell1 bell2 bell3 bell4 - bell
|
||||
tinsel1 tinsel2 - tinsel
|
||||
wreath1 - wreath
|
||||
topper1 - topper
|
||||
skirt1 - skirt
|
||||
)
|
||||
|
||||
(:init
|
||||
(and
|
||||
(inside tree1 stand1)
|
||||
(nextto tree1 window1)
|
||||
)
|
||||
(and
|
||||
(ontop box1 carpet1)
|
||||
(open box1)
|
||||
)
|
||||
(and
|
||||
(and
|
||||
(inside light1 box1)
|
||||
(under carpet1 light1)
|
||||
)
|
||||
(and
|
||||
(inside light2 box1)
|
||||
(under carpet1 light2)
|
||||
)
|
||||
(and
|
||||
(inside light3 box1)
|
||||
(under carpet1 light3)
|
||||
)
|
||||
)
|
||||
(and
|
||||
(and
|
||||
(inside bell1 box1)
|
||||
(under carpet1 bell1)
|
||||
)
|
||||
(and
|
||||
(inside bell2 box1)
|
||||
(under carpet1 bell2)
|
||||
)
|
||||
(and
|
||||
(inside bell3 box1)
|
||||
(under carpet1 bell3)
|
||||
)
|
||||
(and
|
||||
(inside bell4 box1)
|
||||
(under carpet1 bell4)
|
||||
)
|
||||
)
|
||||
(and
|
||||
(and
|
||||
(inside tinsel1 box1)
|
||||
(under carpet1 tinsel1)
|
||||
)
|
||||
(and
|
||||
(inside tinsel2 box1)
|
||||
(under carpet1 tinsel2)
|
||||
)
|
||||
)
|
||||
(and
|
||||
(ontop wreath1 carpet1)
|
||||
(ontop stand1 carpet1)
|
||||
(ontop topper1 carpet1)
|
||||
(ontop skirt1 carpet1)
|
||||
)
|
||||
(inroom window1 living room)
|
||||
(inroom carpet1 living room)
|
||||
)
|
||||
|
||||
(:goal
|
||||
(and
|
||||
(and
|
||||
(ontop ?stand1 ?carpet)
|
||||
(ontop ?skirt1 ?stand1)
|
||||
(under ?skirt1 ?tree1)
|
||||
(inside ?tree1 ?stand1)
|
||||
(nextto ?tree1 ?window1)
|
||||
)
|
||||
(and
|
||||
(forall
|
||||
(?light - light)
|
||||
(ontop ?light ?tree1)
|
||||
)
|
||||
(forall
|
||||
(?bell - bell)
|
||||
(ontop ?bell ?tree1)
|
||||
)
|
||||
(forall
|
||||
(?tinsel - tinsel)
|
||||
(ontop ?tinsel ?tree1)
|
||||
)
|
||||
)
|
||||
(and
|
||||
(ontop ?wreath1 ?tree1)
|
||||
(ontop ?topper1 ?tree1)
|
||||
)
|
||||
)
|
||||
)
|
||||
)
|
||||
|
|
@ -0,0 +1,56 @@
|
|||
(define (problem decorating_the_Christmas_tree_1)
|
||||
(:domain igibson)
|
||||
|
||||
(:objects
|
||||
tree1 - tree
|
||||
floor1 - floor
|
||||
bell1 bell2 bell3 - bell
|
||||
table1 - table
|
||||
berry1 berry2 berry3 berry4 berry5 - berry
|
||||
light_bulb1 light_bulb2 light_bulb3 light_bulb4 light_bulb5 light_bulb6 - light_bulb
|
||||
bead1 bead2 - bead
|
||||
)
|
||||
|
||||
(:init
|
||||
(ontop tree1 floor1)
|
||||
(ontop bell1 table1)
|
||||
(ontop bell2 table1)
|
||||
(ontop bell3 table1)
|
||||
(ontop berry1 table1)
|
||||
(ontop berry2 table1)
|
||||
(ontop berry3 table1)
|
||||
(ontop berry4 table1)
|
||||
(ontop berry5 table1)
|
||||
(ontop light_bulb1 table1)
|
||||
(ontop light_bulb2 table1)
|
||||
(ontop light_bulb3 table1)
|
||||
(ontop light_bulb4 table1)
|
||||
(ontop light_bulb5 table1)
|
||||
(ontop light_bulb6 table1)
|
||||
(ontop bead1 table1)
|
||||
(ontop bead2 table1)
|
||||
(inroom floor1 living room)
|
||||
(inroom table1 living room)
|
||||
)
|
||||
|
||||
(:goal
|
||||
(and
|
||||
(forall
|
||||
(?bell - bell)
|
||||
(ontop ?bell ?tree1)
|
||||
)
|
||||
(forall
|
||||
(?berry - berry)
|
||||
(ontop ?berry ?tree1)
|
||||
)
|
||||
(forall
|
||||
(?light_bulb - light_bulb)
|
||||
(ontop ?light_bulb ?tree1)
|
||||
)
|
||||
(forall
|
||||
(?bead - bead)
|
||||
(ontop ?bead ?tree1)
|
||||
)
|
||||
)
|
||||
)
|
||||
)
|
||||
|
|
@ -0,0 +1,2 @@
|
|||
dairy 3
|
||||
fruit_veg 1
|
||||
|
|
@ -0,0 +1 @@
|
|||
fruit_veg nextTo dairy
|
||||
|
|
@ -0,0 +1,4 @@
|
|||
table 1
|
||||
chair 1
|
||||
dairy 3
|
||||
fruit_veg 1
|
||||
|
|
@ -0,0 +1,109 @@
|
|||
(define (problem filling_an_Easter_basket_1)
|
||||
(:domain igibson)
|
||||
|
||||
(:objects
|
||||
basket1 basket2 basket3 basket4 - basket
|
||||
cabinet1 - cabinet
|
||||
coloring_material1 coloring_material2 coloring_material3 coloring_material4 - coloring_material
|
||||
shelf1 - shelf
|
||||
egg1 egg2 egg3 egg4 egg5 egg6 egg7 egg8 - egg
|
||||
counter1 - counter
|
||||
chocolate1 chocolate2 chocolate3 chocolate4 - chocolate
|
||||
crayon1 crayon2 crayon3 crayon4 crayon5 crayon6 crayon7 crayon8 - crayon
|
||||
)
|
||||
|
||||
(:init
|
||||
(inside basket1 cabinet1)
|
||||
(inside basket2 cabinet1)
|
||||
(inside basket3 cabinet1)
|
||||
(inside basket4 cabinet1)
|
||||
(ontop coloring_material1 shelf1)
|
||||
(ontop coloring_material2 shelf1)
|
||||
(ontop coloring_material3 shelf1)
|
||||
(ontop coloring_material4 shelf1)
|
||||
(not
|
||||
(cooked egg1)
|
||||
)
|
||||
(not
|
||||
(cooked egg2)
|
||||
)
|
||||
(not
|
||||
(cooked egg3)
|
||||
)
|
||||
(not
|
||||
(cooked egg4)
|
||||
)
|
||||
(not
|
||||
(cooked egg5)
|
||||
)
|
||||
(not
|
||||
(cooked egg6)
|
||||
)
|
||||
(not
|
||||
(cooked egg7)
|
||||
)
|
||||
(not
|
||||
(cooked egg8)
|
||||
)
|
||||
(and
|
||||
(ontop egg1 counter1)
|
||||
(ontop egg2 counter1)
|
||||
(ontop egg3 counter1)
|
||||
(ontop egg4 counter1)
|
||||
(ontop egg5 counter1)
|
||||
(ontop egg6 counter1)
|
||||
(ontop egg7 counter1)
|
||||
(ontop egg8 counter1)
|
||||
)
|
||||
(and
|
||||
(ontop chocolate1 counter1)
|
||||
(ontop chocolate2 counter1)
|
||||
(ontop chocolate3 counter1)
|
||||
(ontop chocolate4 counter1)
|
||||
)
|
||||
(and
|
||||
(ontop crayon1 shelf1)
|
||||
(ontop crayon2 shelf1)
|
||||
(ontop crayon3 shelf1)
|
||||
(ontop crayon4 shelf1)
|
||||
(ontop crayon5 shelf1)
|
||||
(ontop crayon6 shelf1)
|
||||
(ontop crayon7 shelf1)
|
||||
(ontop crayon8 shelf1)
|
||||
)
|
||||
(inroom cabinet1 kitchen)
|
||||
(inroom shelf1 kitchen)
|
||||
(inroom counter1 kitchen)
|
||||
)
|
||||
|
||||
(:goal
|
||||
(and
|
||||
(forall
|
||||
(?basket - basket)
|
||||
(forn
|
||||
(2)
|
||||
(?egg - egg)
|
||||
(inside ?egg ?basket)
|
||||
)
|
||||
)
|
||||
(forpairs
|
||||
(?chocolate - chocolate)
|
||||
(?basket - basket)
|
||||
(inside ?chocolate ?basket)
|
||||
)
|
||||
(forpairs
|
||||
(?coloring_material - coloring_material)
|
||||
(?basket - basket)
|
||||
(inside ?coloring_material ?basket)
|
||||
)
|
||||
(forall
|
||||
(?basket - basket)
|
||||
(forn
|
||||
(2)
|
||||
(?crayon - crayon)
|
||||
(inside ?crayon ?basket)
|
||||
)
|
||||
)
|
||||
)
|
||||
)
|
||||
)
|
||||
|
|
@ -0,0 +1,82 @@
|
|||
(define (problem serving_hors_d_oeuvres_1)
|
||||
(:domain igibson)
|
||||
|
||||
(:objects
|
||||
tray.n.01_1 tray.n.01_2 - tray.n.01
|
||||
countertop.n.01_1 - countertop.n.01
|
||||
oven.n.01_1 - oven.n.01
|
||||
sausage.n.01_1 sausage.n.01_2 - sausage.n.01
|
||||
cherry.n.03_1 cherry.n.03_2 - cherry.n.03
|
||||
electric_refrigerator.n.01_1 - electric_refrigerator.n.01
|
||||
)
|
||||
|
||||
(:init
|
||||
(ontop tray.n.01_1 countertop.n.01_1)
|
||||
(ontop tray.n.01_2 countertop.n.01_1)
|
||||
(inside sausage.n.01_1 oven.n.01_1)
|
||||
(inside sausage.n.01_2 oven.n.01_1)
|
||||
(inside cherry.n.03_1 electric_refrigerator.n.01_1)
|
||||
(inside cherry.n.03_2 electric_refrigerator.n.01_1)
|
||||
(inroom oven.n.01_1 kitchen)
|
||||
(inroom electric_refrigerator.n.01_1 kitchen)
|
||||
(inroom countertop.n.01_1 kitchen)
|
||||
)
|
||||
|
||||
(:goal
|
||||
(and
|
||||
(and
|
||||
(ontop ?cherry.n.03_1 ?tray.n.01_1)
|
||||
(ontop ?cherry.n.03_2 ?tray.n.01_1)
|
||||
)
|
||||
(or
|
||||
(ontop ?cherry.n.03_1 ?tray.n.01_1)
|
||||
(ontop ?cherry.n.03_2 ?tray.n.01_1)
|
||||
)
|
||||
(not
|
||||
(and
|
||||
(ontop ?cherry.n.03_1 ?tray.n.01_1)
|
||||
(ontop ?cherry.n.03_2 ?tray.n.01_1)
|
||||
)
|
||||
)
|
||||
(not
|
||||
(or
|
||||
(ontop ?cherry.n.03_1 ?tray.n.01_1)
|
||||
(ontop ?cherry.n.03_2 ?tray.n.01_1)
|
||||
)
|
||||
)
|
||||
(not
|
||||
(ontop ?cherry.n.03_1 ?tray.n.01_1)
|
||||
)
|
||||
(exists
|
||||
(?tray.n.01 - tray.n.01)
|
||||
(ontop ?sausage.n.01_1 ?tray.n.01)
|
||||
)
|
||||
(forall
|
||||
(?tray.n.01 - tray.n.01)
|
||||
(ontop ?sausage.n.01_1 ?tray.n.01)
|
||||
)
|
||||
(forn
|
||||
(1)
|
||||
(?cherry.n.03 - cherry.n.03)
|
||||
(nextto ?cherry.n.03 ?sausage.n.01_1)
|
||||
)
|
||||
(forpairs
|
||||
(?cherry.n.03 - cherry.n.03)
|
||||
(?tray.n.01 - tray.n.01)
|
||||
(inside ?cherry.n.03 ?tray.n.01)
|
||||
)
|
||||
(fornpairs
|
||||
(1)
|
||||
(?cherry.n.03 - cherry.n.03)
|
||||
(?tray.n.01 - tray.n.01)
|
||||
(under ?cherry.n.03 ?tray.n.01)
|
||||
)
|
||||
(fornpairs
|
||||
(2)
|
||||
(?cherry.n.03 - cherry.n.03)
|
||||
(?tray.n.01 - tray.n.01)
|
||||
(under ?cherry.n.03 ?tray.n.01)
|
||||
)
|
||||
)
|
||||
)
|
||||
)
|
||||
|
|
@ -0,0 +1,53 @@
|
|||
(define (problem test)
|
||||
(:domain igibson)
|
||||
(:objects
|
||||
chip.n.04_1 chip.n.04_2 chip.n.04_3 chip.n.04_4 chip.n.04_5 chip.n.04_6 chip.n.04_7 chip.n.04_8 chip.n.04_9 chip.n.04_10 chip.n.04_11 chip.n.04_12 chip.n.04_13 chip.n.04_14 chip.n.04_15 chip.n.04_16 chip.n.04_17 chip.n.04_18 chip.n.04_19 chip.n.04_20 chip.n.04_21 chip.n.04_22 chip.n.04_23 chip.n.04_24 chip.n.04_25 chip.n.04_26 chip.n.04_27 chip.n.04_28 chip.n.04_29 chip.n.04_30 - chip.n.04
|
||||
; chip.n.04_1 chip.n.04_2 chip.n.04_3 - chip.n.04
|
||||
table.n.02_1 table.n.02_2 - table.n.02
|
||||
)
|
||||
(:init
|
||||
(inRoom table.n.02_1 living_room)
|
||||
(inRoom table.n.02_2 living_room)
|
||||
(onTop chip.n.04_1 table.n.02_1)
|
||||
(onTop chip.n.04_2 table.n.02_1)
|
||||
(onTop chip.n.04_3 table.n.02_1)
|
||||
(onTop chip.n.04_4 table.n.02_1)
|
||||
(onTop chip.n.04_5 table.n.02_1)
|
||||
(onTop chip.n.04_6 table.n.02_1)
|
||||
(onTop chip.n.04_7 table.n.02_1)
|
||||
(onTop chip.n.04_8 table.n.02_1)
|
||||
(onTop chip.n.04_9 table.n.02_1)
|
||||
(onTop chip.n.04_10 table.n.02_1)
|
||||
(onTop chip.n.04_11 table.n.02_1)
|
||||
(onTop chip.n.04_12 table.n.02_1)
|
||||
(onTop chip.n.04_13 table.n.02_1)
|
||||
(onTop chip.n.04_14 table.n.02_1)
|
||||
(onTop chip.n.04_15 table.n.02_1)
|
||||
(onTop chip.n.04_16 table.n.02_2)
|
||||
(onTop chip.n.04_17 table.n.02_2)
|
||||
(onTop chip.n.04_18 table.n.02_2)
|
||||
(onTop chip.n.04_19 table.n.02_2)
|
||||
(onTop chip.n.04_20 table.n.02_2)
|
||||
(onTop chip.n.04_21 table.n.02_2)
|
||||
(onTop chip.n.04_22 table.n.02_2)
|
||||
(onTop chip.n.04_23 table.n.02_2)
|
||||
(onTop chip.n.04_24 table.n.02_2)
|
||||
(onTop chip.n.04_25 table.n.02_2)
|
||||
(onTop chip.n.04_26 table.n.02_2)
|
||||
(onTop chip.n.04_27 table.n.02_2)
|
||||
(onTop chip.n.04_28 table.n.02_2)
|
||||
(onTop chip.n.04_29 table.n.02_2)
|
||||
(onTop chip.n.04_30 table.n.02_2)
|
||||
)
|
||||
(:goal
|
||||
(and
|
||||
(forall
|
||||
(?chip.n.04 - chip.n.04)
|
||||
(exists
|
||||
(?table.n.02 - table.n.02)
|
||||
(onTop ?chip.n.04 ?table.n.02)
|
||||
)
|
||||
)
|
||||
)
|
||||
)
|
||||
)
|
||||
|
|
@ -0,0 +1,88 @@
|
|||
(define (problem test)
|
||||
(:domain igibson)
|
||||
(:objects
|
||||
chip.n.04_1 chip.n.04_2 chip.n.04_3 chip.n.04_4 chip.n.04_5 chip.n.04_6 chip.n.04_7 chip.n.04_8 chip.n.04_9 chip.n.04_10 chip.n.04_11 chip.n.04_12 chip.n.04_13 chip.n.04_14 chip.n.04_15 chip.n.04_16 chip.n.04_17 chip.n.04_18 chip.n.04_19 chip.n.04_20 chip.n.04_21 chip.n.04_22 chip.n.04_23 chip.n.04_24 chip.n.04_25 chip.n.04_26 chip.n.04_27 chip.n.04_28 chip.n.04_29 chip.n.04_30 - chip.n.04
|
||||
apple.n.01_1 apple.n.01_2 apple.n.01_3 apple.n.01_4 apple.n.01_5 apple.n.01_6 apple.n.01_7 apple.n.01_8 apple.n.01_9 apple.n.01_10 apple.n.01_11 apple.n.01_12 apple.n.01_13 apple.n.01_14 apple.n.01_15 apple.n.01_16 apple.n.01_17 apple.n.01_18 apple.n.01_19 apple.n.01_20 apple.n.01_21 apple.n.01_22 apple.n.01_23 apple.n.01_24 apple.n.01_25 apple.n.01_26 apple.n.01_27 apple.n.01_28 apple.n.01_29 apple.n.01_30 - apple.n.01
|
||||
; chip.n.04_1 chip.n.04_2 chip.n.04_3 - chip.n.04
|
||||
table.n.02_1 table.n.02_2 - table.n.02
|
||||
)
|
||||
(:init
|
||||
(inRoom table.n.02_1 living_room)
|
||||
(inRoom table.n.02_2 living_room)
|
||||
(onTop chip.n.04_1 table.n.02_1)
|
||||
(onTop chip.n.04_2 table.n.02_1)
|
||||
(onTop chip.n.04_3 table.n.02_1)
|
||||
(onTop chip.n.04_4 table.n.02_1)
|
||||
(onTop chip.n.04_5 table.n.02_1)
|
||||
(onTop chip.n.04_6 table.n.02_1)
|
||||
(onTop chip.n.04_7 table.n.02_1)
|
||||
(onTop chip.n.04_8 table.n.02_1)
|
||||
(onTop chip.n.04_9 table.n.02_1)
|
||||
(onTop chip.n.04_10 table.n.02_1)
|
||||
(onTop chip.n.04_11 table.n.02_1)
|
||||
(onTop chip.n.04_12 table.n.02_1)
|
||||
(onTop chip.n.04_13 table.n.02_1)
|
||||
(onTop chip.n.04_14 table.n.02_1)
|
||||
(onTop chip.n.04_15 table.n.02_1)
|
||||
(onTop chip.n.04_16 table.n.02_2)
|
||||
(onTop chip.n.04_17 table.n.02_2)
|
||||
(onTop chip.n.04_18 table.n.02_2)
|
||||
(onTop chip.n.04_19 table.n.02_2)
|
||||
(onTop chip.n.04_20 table.n.02_2)
|
||||
(onTop chip.n.04_21 table.n.02_2)
|
||||
(onTop chip.n.04_22 table.n.02_2)
|
||||
(onTop chip.n.04_23 table.n.02_2)
|
||||
(onTop chip.n.04_24 table.n.02_2)
|
||||
(onTop chip.n.04_25 table.n.02_2)
|
||||
(onTop chip.n.04_26 table.n.02_2)
|
||||
(onTop chip.n.04_27 table.n.02_2)
|
||||
(onTop chip.n.04_28 table.n.02_2)
|
||||
(onTop chip.n.04_29 table.n.02_2)
|
||||
(onTop chip.n.04_30 table.n.02_2)
|
||||
(onTop apple.n.01_1 table.n.02_1)
|
||||
(onTop apple.n.01_2 table.n.02_1)
|
||||
(onTop apple.n.01_3 table.n.02_1)
|
||||
(onTop apple.n.01_4 table.n.02_1)
|
||||
(onTop apple.n.01_5 table.n.02_1)
|
||||
(onTop apple.n.01_6 table.n.02_1)
|
||||
(onTop apple.n.01_7 table.n.02_1)
|
||||
(onTop apple.n.01_8 table.n.02_1)
|
||||
(onTop apple.n.01_9 table.n.02_1)
|
||||
(onTop apple.n.01_10 table.n.02_1)
|
||||
(onTop apple.n.01_11 table.n.02_1)
|
||||
(onTop apple.n.01_12 table.n.02_1)
|
||||
(onTop apple.n.01_13 table.n.02_1)
|
||||
(onTop apple.n.01_14 table.n.02_1)
|
||||
(onTop apple.n.01_15 table.n.02_1)
|
||||
(onTop apple.n.01_16 table.n.02_2)
|
||||
(onTop apple.n.01_17 table.n.02_2)
|
||||
(onTop apple.n.01_18 table.n.02_2)
|
||||
(onTop apple.n.01_19 table.n.02_2)
|
||||
(onTop apple.n.01_20 table.n.02_2)
|
||||
(onTop apple.n.01_21 table.n.02_2)
|
||||
(onTop apple.n.01_22 table.n.02_2)
|
||||
(onTop apple.n.01_23 table.n.02_2)
|
||||
(onTop apple.n.01_24 table.n.02_2)
|
||||
(onTop apple.n.01_25 table.n.02_2)
|
||||
(onTop apple.n.01_26 table.n.02_2)
|
||||
(onTop apple.n.01_27 table.n.02_2)
|
||||
(onTop apple.n.01_28 table.n.02_2)
|
||||
(onTop apple.n.01_29 table.n.02_2)
|
||||
(onTop apple.n.01_30 table.n.02_2)
|
||||
)
|
||||
(:goal
|
||||
(and
|
||||
(forpairs
|
||||
(?chip.n.04 - chip.n.04)
|
||||
(?apple.n.01 - apple.n.01)
|
||||
(exists
|
||||
(?table.n.02 - table.n.02)
|
||||
(and
|
||||
(onTop ?chip.n.04 ?table.n.02)
|
||||
(onTop ?apple.n.01 ?table.n.02)
|
||||
)
|
||||
)
|
||||
)
|
||||
)
|
||||
)
|
||||
)
|
||||
|
|
@ -0,0 +1,12 @@
|
|||
(define (domain packlunch)
|
||||
(:requirements :strips)
|
||||
(:predicates
|
||||
(chips ?ch - chip)
|
||||
(fruit ?fr - fruit)
|
||||
(container ?con - container)
|
||||
(shelf ?sh - shelf)
|
||||
(counter ?cou - counter)
|
||||
(inside ?obj1 ?obj2)
|
||||
(nextTo ?obj2 ?obj2)
|
||||
)
|
||||
)
|
||||
|
|
@ -0,0 +1 @@
|
|||
dairy 2
|
||||
|
|
@ -0,0 +1,45 @@
|
|||
(define (problem packlunch2)
|
||||
(:domain packlunch)
|
||||
(:objects
|
||||
chips1 chips2 chips3 - chips
|
||||
fruit1 fruit2 fruit3 - fruit
|
||||
container1 container2 container3 - container
|
||||
shelf1 - shelf
|
||||
counter1 - counter
|
||||
)
|
||||
(:init
|
||||
(inside chips1 shelf1)
|
||||
(inside chips2 shelf1)
|
||||
(inside chips3 shelf1)
|
||||
(inside fruit1 shelf1)
|
||||
(inside fruit2 shelf1)
|
||||
(inside fruit3 shelf1)
|
||||
(or (nextTo container1 container2)
|
||||
(nextTo container2 container3))
|
||||
)
|
||||
(:goal
|
||||
(and (forall (?ch - chip) (exists (?con - container) (not (inside ?ch ?con))))
|
||||
(forall (?fr - fruit) (exists (?con - container) (inside ?fr ?con)))
|
||||
(forall (?con1 - container) (exists (?con2 - container) (nextTo ?con1 ?con2)))
|
||||
(not (inside chips1 shelf1))
|
||||
)
|
||||
)
|
||||
)
|
||||
|
||||
|
||||
|
||||
|
||||
; 3 fruit exist
|
||||
; 3 chips exist
|
||||
; 3 container exist
|
||||
; 1 shelf exists
|
||||
; 1 counter exists
|
||||
; if chips then inside shelf
|
||||
; if fruit then inside shelf
|
||||
; if container then next to another container
|
||||
|
||||
; (:goal (imply (container ?containerX) (and (nextTo ?containerX ?containerY) (container ?containerY)))
|
||||
; (imply (chips ?chipsX) (inside ?chipsX ?containerX))
|
||||
; (imply (fruit ?fruitX) (inside ?fruitX ?containerX))
|
||||
; (imply (soda ?sodaX) (inside ?sodaX ?containerX)))
|
||||
; )
|
||||
|
|
@ -0,0 +1,67 @@
|
|||
(define (problem laying_linoleum_floors_0)
|
||||
(:domain igibson)
|
||||
|
||||
(:objects
|
||||
cutter1 - cutter
|
||||
cabinet1 - cabinet
|
||||
tool1 - tool
|
||||
laminate1 laminate10 laminate11 laminate12 laminate13 laminate14 laminate15 laminate16 laminate17 laminate18 laminate19 laminate2 laminate20 laminate21 laminate22 laminate23 laminate24 laminate25 laminate26 laminate27 laminate28 laminate29 laminate3 laminate30 laminate4 laminate5 laminate6 laminate7 laminate8 laminate9 - laminate
|
||||
)
|
||||
|
||||
(:init
|
||||
(inside cutter1 cabinet1)
|
||||
(inside edge_tool1 cabinet1)
|
||||
(inside laminate1 cabinet1)
|
||||
(inside laminate21 cabinet1)
|
||||
(inside laminate22 cabinet1)
|
||||
(inside laminate23 cabinet1)
|
||||
(inside laminate24 cabinet1)
|
||||
(inside laminate25 cabinet1)
|
||||
(inside laminate26 cabinet1)
|
||||
(inside laminate27 cabinet1)
|
||||
(inside laminate28 cabinet1)
|
||||
(inside laminate29 cabinet1)
|
||||
(inside laminate2 cabinet1)
|
||||
(inside laminate30 cabinet1)
|
||||
(inside laminate16 cabinet1)
|
||||
(inside laminate18 cabinet1)
|
||||
(inside laminate19 cabinet1)
|
||||
(inside laminate20 cabinet1)
|
||||
(inside laminate3 cabinet1)
|
||||
(inside laminate4 cabinet1)
|
||||
(inside laminate5 cabinet1)
|
||||
(inside laminate6 cabinet1)
|
||||
(inside laminate7 cabinet1)
|
||||
(inside laminate8 cabinet1)
|
||||
(inside laminate9 cabinet1)
|
||||
(inside laminate10 cabinet1)
|
||||
(inside laminate11 cabinet1)
|
||||
(inside laminate12 cabinet1)
|
||||
(inside laminate17 cabinet1)
|
||||
(inside laminate13 cabinet1)
|
||||
(inside laminate14 cabinet1)
|
||||
(inside laminate15 cabinet1)
|
||||
)
|
||||
|
||||
(:goal
|
||||
(and
|
||||
(forn
|
||||
(30)
|
||||
(?laminate - laminate)
|
||||
(ontop ?laminate ?carpet)
|
||||
)
|
||||
(forall
|
||||
(?edge_tool - edge_tool)
|
||||
(not
|
||||
(inside ?edge_tool ?cabinet)
|
||||
)
|
||||
)
|
||||
(forall
|
||||
(?cutter - cutter)
|
||||
(not
|
||||
(inside ?cutter ?cabinet)
|
||||
)
|
||||
)
|
||||
)
|
||||
)
|
||||
)
|
||||
|
|
@ -0,0 +1,67 @@
|
|||
(define (problem laying_linoleum_floors_0)
|
||||
(:domain igibson)
|
||||
|
||||
(:objects
|
||||
carving_knife1 - carving_knife
|
||||
cabinet1 - cabinet
|
||||
screwdriver1 - screwdriver
|
||||
plywood1 plywood10 plywood11 plywood12 plywood13 plywood14 plywood15 plywood16 plywood17 plywood18 plywood19 plywood2 plywood20 plywood21 plywood22 plywood23 plywood24 plywood25 plywood26 plywood27 plywood28 plywood29 plywood3 plywood30 plywood4 plywood5 plywood6 plywood7 plywood8 plywood9 - plywood
|
||||
)
|
||||
|
||||
(:init
|
||||
(inside carving_knife1 cabinet1)
|
||||
(inside screwdriver1 cabinet1)
|
||||
(inside plywood1 cabinet1)
|
||||
(inside plywood21 cabinet1)
|
||||
(inside plywood22 cabinet1)
|
||||
(inside plywood23 cabinet1)
|
||||
(inside plywood24 cabinet1)
|
||||
(inside plywood25 cabinet1)
|
||||
(inside plywood26 cabinet1)
|
||||
(inside plywood27 cabinet1)
|
||||
(inside plywood28 cabinet1)
|
||||
(inside plywood29 cabinet1)
|
||||
(inside plywood2 cabinet1)
|
||||
(inside plywood30 cabinet1)
|
||||
(inside plywood16 cabinet1)
|
||||
(inside plywood18 cabinet1)
|
||||
(inside plywood19 cabinet1)
|
||||
(inside plywood20 cabinet1)
|
||||
(inside plywood3 cabinet1)
|
||||
(inside plywood4 cabinet1)
|
||||
(inside plywood5 cabinet1)
|
||||
(inside plywood6 cabinet1)
|
||||
(inside plywood7 cabinet1)
|
||||
(inside plywood8 cabinet1)
|
||||
(inside plywood9 cabinet1)
|
||||
(inside plywood10 cabinet1)
|
||||
(inside plywood11 cabinet1)
|
||||
(inside plywood12 cabinet1)
|
||||
(inside plywood17 cabinet1)
|
||||
(inside plywood13 cabinet1)
|
||||
(inside plywood14 cabinet1)
|
||||
(inside plywood15 cabinet1)
|
||||
)
|
||||
|
||||
(:goal
|
||||
(and
|
||||
(forn
|
||||
(30)
|
||||
(?plywood - plywood)
|
||||
(ontop ?plywood ?carpet)
|
||||
)
|
||||
(forall
|
||||
(?screwdriver - screwdriver)
|
||||
(not
|
||||
(inside ?screwdriver ?cabinet)
|
||||
)
|
||||
)
|
||||
(forall
|
||||
(?carving_knife - carving_knife)
|
||||
(not
|
||||
(inside ?carving_knife ?cabinet)
|
||||
)
|
||||
)
|
||||
)
|
||||
)
|
||||
)
|
||||
|
|
@ -0,0 +1,67 @@
|
|||
(define (problem laying_linoleum_floors_0)
|
||||
(:domain igibson)
|
||||
|
||||
(:objects
|
||||
carving_knife1 - carving_knife
|
||||
top_cabinet1 - top_cabinet
|
||||
screwdriver1 - screwdriver
|
||||
plywood1 plywood10 plywood11 plywood12 plywood13 plywood14 plywood15 plywood16 plywood17 plywood18 plywood19 plywood2 plywood20 plywood21 plywood22 plywood23 plywood24 plywood25 plywood26 plywood27 plywood28 plywood29 plywood3 plywood30 plywood4 plywood5 plywood6 plywood7 plywood8 plywood9 - plywood
|
||||
)
|
||||
|
||||
(:init
|
||||
(inside carving_knife1 top_cabinet1)
|
||||
(inside screwdriver1 top_cabinet1)
|
||||
(inside plywood1 top_cabinet1)
|
||||
(inside plywood21 top_cabinet1)
|
||||
(inside plywood22 top_cabinet1)
|
||||
(inside plywood23 top_cabinet1)
|
||||
(inside plywood24 top_cabinet1)
|
||||
(inside plywood25 top_cabinet1)
|
||||
(inside plywood26 top_cabinet1)
|
||||
(inside plywood27 top_cabinet1)
|
||||
(inside plywood28 top_cabinet1)
|
||||
(inside plywood29 top_cabinet1)
|
||||
(inside plywood2 top_cabinet1)
|
||||
(inside plywood30 top_cabinet1)
|
||||
(inside plywood16 top_cabinet1)
|
||||
(inside plywood18 top_cabinet1)
|
||||
(inside plywood19 top_cabinet1)
|
||||
(inside plywood20 top_cabinet1)
|
||||
(inside plywood3 top_cabinet1)
|
||||
(inside plywood4 top_cabinet1)
|
||||
(inside plywood5 top_cabinet1)
|
||||
(inside plywood6 top_cabinet1)
|
||||
(inside plywood7 top_cabinet1)
|
||||
(inside plywood8 top_cabinet1)
|
||||
(inside plywood9 top_cabinet1)
|
||||
(inside plywood10 top_cabinet1)
|
||||
(inside plywood11 top_cabinet1)
|
||||
(inside plywood12 top_cabinet1)
|
||||
(inside plywood17 top_cabinet1)
|
||||
(inside plywood13 top_cabinet1)
|
||||
(inside plywood14 top_cabinet1)
|
||||
(inside plywood15 top_cabinet1)
|
||||
)
|
||||
|
||||
(:goal
|
||||
(and
|
||||
(forn
|
||||
(30)
|
||||
(?plywood - plywood)
|
||||
(ontop ?plywood ?carpet)
|
||||
)
|
||||
(forall
|
||||
(?screwdriver - screwdriver)
|
||||
(not
|
||||
(inside ?screwdriver ?top_cabinet)
|
||||
)
|
||||
)
|
||||
(forall
|
||||
(?carving_knife - carving_knife)
|
||||
(not
|
||||
(inside ?carving_knife ?top_cabinet)
|
||||
)
|
||||
)
|
||||
)
|
||||
)
|
||||
)
|
||||
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Reference in New Issue