diff --git a/robowaiter/behavior_lib/act/PutDown.py b/robowaiter/behavior_lib/act/PutDown.py
index 30a6476..532fd31 100644
--- a/robowaiter/behavior_lib/act/PutDown.py
+++ b/robowaiter/behavior_lib/act/PutDown.py
@@ -21,7 +21,7 @@ class PutDown(Act):
         info = {}
         info["pre"] = {f'Holding({arg[0]})',f'At(Robot,{arg[1]})'}
         info["add"] = {f'Holding(Nothing)',f'At({arg[0]},{arg[1]})'}
-        info["del_set"] = {f'Holding(Nothing)'}
+        info["del_set"] = {f'Holding({arg[0]})'}
         return info
 
 
diff --git a/robowaiter/behavior_lib/act/Turn.py b/robowaiter/behavior_lib/act/Turn.py
index 73d0551..b499e24 100644
--- a/robowaiter/behavior_lib/act/Turn.py
+++ b/robowaiter/behavior_lib/act/Turn.py
@@ -41,29 +41,33 @@ class Turn(Act):
                 self.op_type = 10
         elif self.target_obj=="Curtain":
             if self.op == 'On':
-                self.op_type = 11
-            elif self.op == 'Off':
                 self.op_type = 12
+            elif self.op == 'Off':
+                self.op_type = 11
 
     @classmethod
     def get_info(cls,*arg):
         info = {}
+        info["pre"] = set()
         if arg[0]=="TubeLight" or arg[0]=="HallLight" or arg[0]=="Curtain" or arg[0]=='AC':
+            if arg[0]!="Curtain":
+                info["pre"] |= {f'Holding(Nothing)'}
             if arg[1]=="On":
-                info["pre"] = {f'Is({arg[0]},Off)'}
+                info["pre"] |= {f'Is({arg[0]},Off)'}
                 info["add"] = {f'Is({arg[0]},On)'}
                 info["del_set"] = {f'Is({arg[0]},Off)'}
             elif arg[1]=="Off":
-                info["pre"] = {f'Is({arg[0]},On)'}
+                info["pre"] |= {f'Is({arg[0]},On)'}
                 info["add"] = {f'Is({arg[0]},Off)'}
                 info["del_set"] = {f'Is({arg[0]},On)'}
         elif arg[0]=='ACTemperature':
+            info["pre"] = {f'Holding(Nothing)'}
             if arg[1]=="Up":
-                info["pre"] = {f'Is({arg[0]},Down)'}
+                info["pre"] |= {f'Is({arg[0]},Down)'}
                 info["add"] = {f'Is({arg[0]},Up)'}
                 info["del_set"] = {f'Is({arg[0]},Down)'}
-            elif arg[1]=="Donw":
-                info["pre"] = {f'Is({arg[0]},Up)'}
+            elif arg[1]=="Down":
+                info["pre"] |= {f'Is({arg[0]},Up)'}
                 info["add"] = {f'Is({arg[0]},Down)'}
                 info["del_set"] = {f'Is({arg[0]},Up)'}
         return info
diff --git a/robowaiter/behavior_lib/cond/HasSubTask.py b/robowaiter/behavior_lib/cond/HasSubTask.py
index 3bbc52f..571c8c0 100644
--- a/robowaiter/behavior_lib/cond/HasSubTask.py
+++ b/robowaiter/behavior_lib/cond/HasSubTask.py
@@ -8,7 +8,7 @@ class HasSubTask(Cond):
 
     def _update(self) -> ptree.common.Status:
         # if self.scene.status?
-        if self.scene.sub_task_seq.children == []:
+        if not self.scene.sub_task_seq or not self.scene.sub_task_seq.children:
             return ptree.common.Status.FAILURE
         else:
             return ptree.common.Status.SUCCESS
diff --git a/robowaiter/behavior_tree/dataset/goal_states.txt b/robowaiter/behavior_tree/dataset/goal_states.txt
new file mode 100644
index 0000000..85c913a
--- /dev/null
+++ b/robowaiter/behavior_tree/dataset/goal_states.txt
@@ -0,0 +1,5000 @@
+{At(Robot,Bar)}
+{At(Robot,WaterTable)}
+{At(Robot,CoffeeTable)}
+{At(Robot,Bar2)}
+{At(Robot,Table1)}
+{At(Robot,Table2)}
+{At(Robot,Table3)}
+{At(Robot,Bar)}
+{At(Robot,WaterTable)}
+{At(Robot,CoffeeTable)}
+{At(Robot,Bar2)}
+{At(Robot,Table1)}
+{At(Robot,Table2)}
+{At(Robot,Table3)}
+{At(Robot,Bar)}
+{At(Robot,WaterTable)}
+{At(Robot,CoffeeTable)}
+{At(Robot,Bar2)}
+{At(Robot,Table1)}
+{At(Robot,Table2)}
+{At(Robot,Table3)}
+{At(Robot,Bar)}
+{At(Robot,WaterTable)}
+{At(Robot,CoffeeTable)}
+{At(Robot,Bar2)}
+{At(Robot,Table1)}
+{At(Robot,Table2)}
+{At(Robot,Table3)}
+{At(Robot,Bar)}
+{At(Robot,WaterTable)}
+{At(Robot,CoffeeTable)}
+{At(Robot,Bar2)}
+{At(Robot,Table1)}
+{At(Robot,Table2)}
+{At(Robot,Table3)}
+{At(Robot,Bar)}
+{At(Robot,WaterTable)}
+{At(Robot,CoffeeTable)}
+{At(Robot,Bar2)}
+{At(Robot,Table1)}
+{At(Robot,Table2)}
+{At(Robot,Table3)}
+{At(Robot,Bar)}
+{At(Robot,WaterTable)}
+{At(Robot,CoffeeTable)}
+{At(Robot,Bar2)}
+{At(Robot,Table1)}
+{At(Robot,Table2)}
+{At(Robot,Table3)}
+{At(Robot,Bar)}
+{At(Robot,WaterTable)}
+{At(Robot,CoffeeTable)}
+{At(Robot,Bar2)}
+{At(Robot,Table1)}
+{At(Robot,Table2)}
+{At(Robot,Table3)}
+{At(Robot,Bar)}
+{At(Robot,WaterTable)}
+{At(Robot,CoffeeTable)}
+{At(Robot,Bar2)}
+{At(Robot,Table1)}
+{At(Robot,Table2)}
+{At(Robot,Table3)}
+{At(Robot,Bar)}
+{At(Robot,WaterTable)}
+{At(Robot,CoffeeTable)}
+{At(Robot,Bar2)}
+{At(Robot,Table1)}
+{At(Robot,Table2)}
+{At(Robot,Table3)}
+{At(Robot,Bar)}
+{At(Robot,WaterTable)}
+{At(Robot,CoffeeTable)}
+{At(Robot,Bar2)}
+{At(Robot,Table1)}
+{At(Robot,Table2)}
+{At(Robot,Table3)}
+{At(Robot,Bar)}
+{At(Robot,WaterTable)}
+{At(Robot,CoffeeTable)}
+{At(Robot,Bar2)}
+{At(Robot,Table1)}
+{At(Robot,Table2)}
+{At(Robot,Table3)}
+{At(Robot,Bar)}
+{At(Robot,WaterTable)}
+{At(Robot,CoffeeTable)}
+{At(Robot,Bar2)}
+{At(Robot,Table1)}
+{At(Robot,Table2)}
+{At(Robot,Table3)}
+{At(Robot,Bar)}
+{At(Robot,WaterTable)}
+{At(Robot,CoffeeTable)}
+{At(Robot,Bar2)}
+{At(Robot,Table1)}
+{At(Robot,Table2)}
+{At(Robot,Table3)}
+{At(Robot,Bar)}
+{At(Robot,WaterTable)}
+{At(Robot,CoffeeTable)}
+{At(Robot,Bar2)}
+{At(Robot,Table1)}
+{At(Robot,Table2)}
+{At(Robot,Table3)}
+{At(Robot,Bar)}
+{At(Robot,WaterTable)}
+{At(Robot,CoffeeTable)}
+{At(Robot,Bar2)}
+{At(Robot,Table1)}
+{At(Robot,Table2)}
+{At(Robot,Table3)}
+{At(Robot,Bar)}
+{At(Robot,WaterTable)}
+{At(Robot,CoffeeTable)}
+{At(Robot,Bar2)}
+{At(Robot,Table1)}
+{At(Robot,Table2)}
+{At(Robot,Table3)}
+{At(Robot,Bar)}
+{At(Robot,WaterTable)}
+{At(Robot,CoffeeTable)}
+{At(Robot,Bar2)}
+{At(Robot,Table1)}
+{At(Robot,Table2)}
+{At(Robot,Table3)}
+{At(Robot,Bar)}
+{At(Robot,WaterTable)}
+{At(Robot,CoffeeTable)}
+{At(Robot,Bar2)}
+{At(Robot,Table1)}
+{At(Robot,Table2)}
+{At(Robot,Table3)}
+{At(Robot,Bar)}
+{At(Robot,WaterTable)}
+{At(Robot,CoffeeTable)}
+{At(Robot,Bar2)}
+{At(Robot,Table1)}
+{At(Robot,Table2)}
+{At(Robot,Table3)}
+{At(Robot,Bar)}
+{At(Robot,WaterTable)}
+{At(Robot,CoffeeTable)}
+{At(Robot,Bar2)}
+{At(Robot,Table1)}
+{At(Robot,Table2)}
+{At(Robot,Table3)}
+{At(Robot,Bar)}
+{At(Robot,WaterTable)}
+{At(Robot,CoffeeTable)}
+{At(Robot,Bar2)}
+{At(Robot,Table1)}
+{At(Robot,Table2)}
+{At(Robot,Table3)}
+{At(Robot,Bar)}
+{At(Robot,WaterTable)}
+{At(Robot,CoffeeTable)}
+{At(Robot,Bar2)}
+{At(Robot,Table1)}
+{At(Robot,Table2)}
+{At(Robot,Table3)}
+{At(Robot,Bar)}
+{At(Robot,WaterTable)}
+{At(Robot,CoffeeTable)}
+{At(Robot,Bar2)}
+{At(Robot,Table1)}
+{At(Robot,Table2)}
+{At(Robot,Table3)}
+{At(Robot,Bar)}
+{At(Robot,WaterTable)}
+{At(Robot,CoffeeTable)}
+{At(Robot,Bar2)}
+{At(Robot,Table1)}
+{At(Robot,Table2)}
+{At(Robot,Table3)}
+{At(Robot,Bar)}
+{At(Robot,WaterTable)}
+{At(Robot,CoffeeTable)}
+{At(Robot,Bar2)}
+{At(Robot,Table1)}
+{At(Robot,Table2)}
+{At(Robot,Table3)}
+{At(Robot,Bar)}
+{At(Robot,WaterTable)}
+{At(Robot,CoffeeTable)}
+{At(Robot,Bar2)}
+{At(Robot,Table1)}
+{At(Robot,Table2)}
+{At(Robot,Table3)}
+{At(Robot,Bar)}
+{At(Robot,WaterTable)}
+{At(Robot,CoffeeTable)}
+{At(Robot,Bar2)}
+{At(Robot,Table1)}
+{At(Robot,Table2)}
+{At(Robot,Table3)}
+{At(Robot,Bar)}
+{At(Robot,WaterTable)}
+{At(Robot,CoffeeTable)}
+{At(Robot,Bar2)}
+{At(Robot,Table1)}
+{At(Robot,Table2)}
+{At(Robot,Table3)}
+{At(Robot,Bar)}
+{At(Robot,WaterTable)}
+{At(Robot,CoffeeTable)}
+{At(Robot,Bar2)}
+{At(Robot,Table1)}
+{At(Robot,Table2)}
+{At(Robot,Table3)}
+{At(Robot,Bar)}
+{At(Robot,WaterTable)}
+{At(Robot,CoffeeTable)}
+{At(Robot,Bar2)}
+{At(Robot,Table1)}
+{At(Robot,Table2)}
+{At(Robot,Table3)}
+{At(Robot,Bar)}
+{At(Robot,WaterTable)}
+{At(Robot,CoffeeTable)}
+{At(Robot,Bar2)}
+{At(Robot,Table1)}
+{At(Robot,Table2)}
+{At(Robot,Table3)}
+{At(Robot,Bar)}
+{At(Robot,WaterTable)}
+{At(Robot,CoffeeTable)}
+{At(Robot,Bar2)}
+{At(Robot,Table1)}
+{At(Robot,Table2)}
+{At(Robot,Table3)}
+{At(Robot,Bar)}
+{At(Robot,WaterTable)}
+{At(Robot,CoffeeTable)}
+{At(Robot,Bar2)}
+{At(Robot,Table1)}
+{At(Robot,Table2)}
+{At(Robot,Table3)}
+{At(Robot,Bar)}
+{At(Robot,WaterTable)}
+{At(Robot,CoffeeTable)}
+{At(Robot,Bar2)}
+{At(Robot,Table1)}
+{At(Robot,Table2)}
+{At(Robot,Table3)}
+{At(Robot,Bar)}
+{At(Robot,WaterTable)}
+{At(Robot,CoffeeTable)}
+{At(Robot,Bar2)}
+{At(Robot,Table1)}
+{At(Robot,Table2)}
+{At(Robot,Table3)}
+{At(Robot,Bar)}
+{At(Robot,WaterTable)}
+{At(Robot,CoffeeTable)}
+{At(Robot,Bar2)}
+{At(Robot,Table1)}
+{At(Robot,Table2)}
+{At(Robot,Table3)}
+{At(Robot,Bar)}
+{At(Robot,WaterTable)}
+{At(Robot,CoffeeTable)}
+{At(Robot,Bar2)}
+{At(Robot,Table1)}
+{At(Robot,Table2)}
+{At(Robot,Table3)}
+{At(Robot,Bar)}
+{At(Robot,WaterTable)}
+{At(Robot,CoffeeTable)}
+{At(Robot,Bar2)}
+{At(Robot,Table1)}
+{At(Robot,Table2)}
+{At(Robot,Table3)}
+{At(Robot,Bar)}
+{At(Robot,WaterTable)}
+{At(Robot,CoffeeTable)}
+{At(Robot,Bar2)}
+{At(Robot,Table1)}
+{At(Robot,Table2)}
+{At(Robot,Table3)}
+{At(Robot,Bar)}
+{At(Robot,WaterTable)}
+{At(Robot,CoffeeTable)}
+{At(Robot,Bar2)}
+{At(Robot,Table1)}
+{At(Robot,Table2)}
+{At(Robot,Table3)}
+{At(Robot,Bar)}
+{At(Robot,WaterTable)}
+{At(Robot,CoffeeTable)}
+{At(Robot,Bar2)}
+{At(Robot,Table1)}
+{At(Robot,Table2)}
+{At(Robot,Table3)}
+{At(Robot,Bar)}
+{At(Robot,WaterTable)}
+{At(Robot,CoffeeTable)}
+{At(Robot,Bar2)}
+{At(Robot,Table1)}
+{At(Robot,Table2)}
+{At(Robot,Table3)}
+{At(Robot,Bar)}
+{At(Robot,WaterTable)}
+{At(Robot,CoffeeTable)}
+{At(Robot,Bar2)}
+{At(Robot,Table1)}
+{At(Robot,Table2)}
+{At(Robot,Table3)}
+{At(Robot,Bar)}
+{At(Robot,WaterTable)}
+{At(Robot,CoffeeTable)}
+{At(Robot,Bar2)}
+{At(Robot,Table1)}
+{At(Robot,Table2)}
+{At(Robot,Table3)}
+{At(Robot,Bar)}
+{At(Robot,WaterTable)}
+{At(Robot,CoffeeTable)}
+{At(Robot,Bar2)}
+{At(Robot,Table1)}
+{At(Robot,Table2)}
+{At(Robot,Table3)}
+{At(Robot,Bar)}
+{At(Robot,WaterTable)}
+{At(Robot,CoffeeTable)}
+{At(Robot,Bar2)}
+{At(Robot,Table1)}
+{At(Robot,Table2)}
+{At(Robot,Table3)}
+{At(Robot,Bar)}
+{At(Robot,WaterTable)}
+{At(Robot,CoffeeTable)}
+{At(Robot,Bar2)}
+{At(Robot,Table1)}
+{At(Robot,Table2)}
+{At(Robot,Table3)}
+{At(Robot,Bar)}
+{At(Robot,WaterTable)}
+{At(Robot,CoffeeTable)}
+{At(Robot,Bar2)}
+{At(Robot,Table1)}
+{At(Robot,Table2)}
+{At(Robot,Table3)}
+{At(Robot,Bar)}
+{At(Robot,WaterTable)}
+{At(Robot,CoffeeTable)}
+{At(Robot,Bar2)}
+{At(Robot,Table1)}
+{At(Robot,Table2)}
+{At(Robot,Table3)}
+{At(Robot,Bar)}
+{At(Robot,WaterTable)}
+{At(Robot,CoffeeTable)}
+{At(Robot,Bar2)}
+{At(Robot,Table1)}
+{At(Robot,Table2)}
+{At(Robot,Table3)}
+{At(Robot,Bar)}
+{At(Robot,WaterTable)}
+{At(Robot,CoffeeTable)}
+{At(Robot,Bar2)}
+{At(Robot,Table1)}
+{At(Robot,Table2)}
+{At(Robot,Table3)}
+{At(Robot,Bar)}
+{At(Robot,WaterTable)}
+{At(Robot,CoffeeTable)}
+{At(Robot,Bar2)}
+{At(Robot,Table1)}
+{At(Robot,Table2)}
+{At(Robot,Table3)}
+{At(Robot,Bar)}
+{At(Robot,WaterTable)}
+{At(Robot,CoffeeTable)}
+{At(Robot,Bar2)}
+{At(Robot,Table1)}
+{At(Robot,Table2)}
+{At(Robot,Table3)}
+{At(Robot,Bar)}
+{At(Robot,WaterTable)}
+{At(Robot,CoffeeTable)}
+{At(Robot,Bar2)}
+{At(Robot,Table1)}
+{At(Robot,Table2)}
+{At(Robot,Table3)}
+{At(Robot,Bar)}
+{At(Robot,WaterTable)}
+{At(Robot,CoffeeTable)}
+{At(Robot,Bar2)}
+{At(Robot,Table1)}
+{At(Robot,Table2)}
+{At(Robot,Table3)}
+{At(Robot,Bar)}
+{At(Robot,WaterTable)}
+{At(Robot,CoffeeTable)}
+{At(Robot,Bar2)}
+{At(Robot,Table1)}
+{At(Robot,Table2)}
+{At(Robot,Table3)}
+{At(Robot,Bar)}
+{At(Robot,WaterTable)}
+{At(Robot,CoffeeTable)}
+{At(Robot,Bar2)}
+{At(Robot,Table1)}
+{At(Robot,Table2)}
+{At(Robot,Table3)}
+{At(Robot,Bar)}
+{At(Robot,WaterTable)}
+{At(Robot,CoffeeTable)}
+{At(Robot,Bar2)}
+{At(Robot,Table1)}
+{At(Robot,Table2)}
+{At(Robot,Table3)}
+{At(Robot,Bar)}
+{At(Robot,WaterTable)}
+{At(Robot,CoffeeTable)}
+{At(Robot,Bar2)}
+{At(Robot,Table1)}
+{At(Robot,Table2)}
+{At(Robot,Table3)}
+{At(Robot,Bar)}
+{At(Robot,WaterTable)}
+{At(Robot,CoffeeTable)}
+{At(Robot,Bar2)}
+{At(Robot,Table1)}
+{At(Robot,Table2)}
+{At(Robot,Table3)}
+{At(Robot,Bar)}
+{At(Robot,WaterTable)}
+{At(Robot,CoffeeTable)}
+{At(Robot,Bar2)}
+{At(Robot,Table1)}
+{At(Robot,Table2)}
+{At(Robot,Table3)}
+{At(Robot,Bar)}
+{At(Robot,WaterTable)}
+{At(Robot,CoffeeTable)}
+{At(Robot,Bar2)}
+{At(Robot,Table1)}
+{At(Robot,Table2)}
+{At(Robot,Table3)}
+{At(Robot,Bar)}
+{At(Robot,WaterTable)}
+{At(Robot,CoffeeTable)}
+{At(Robot,Bar2)}
+{At(Robot,Table1)}
+{At(Robot,Table2)}
+{At(Robot,Table3)}
+{At(Robot,Bar)}
+{At(Robot,WaterTable)}
+{At(Robot,CoffeeTable)}
+{At(Robot,Bar2)}
+{At(Robot,Table1)}
+{At(Robot,Table2)}
+{At(Robot,Table3)}
+{At(Robot,Bar)}
+{At(Robot,WaterTable)}
+{At(Robot,CoffeeTable)}
+{At(Robot,Bar2)}
+{At(Robot,Table1)}
+{At(Robot,Table2)}
+{At(Robot,Table3)}
+{At(Robot,Bar)}
+{At(Robot,WaterTable)}
+{At(Robot,CoffeeTable)}
+{At(Robot,Bar2)}
+{At(Robot,Table1)}
+{At(Robot,Table2)}
+{At(Robot,Table3)}
+{At(Robot,Bar)}
+{At(Robot,WaterTable)}
+{At(Robot,CoffeeTable)}
+{At(Robot,Bar2)}
+{At(Robot,Table1)}
+{At(Robot,Table2)}
+{At(Robot,Table3)}
+{At(Robot,Bar)}
+{At(Robot,WaterTable)}
+{At(Robot,CoffeeTable)}
+{At(Robot,Bar2)}
+{At(Robot,Table1)}
+{At(Robot,Table2)}
+{At(Robot,Table3)}
+{At(Robot,Bar)}
+{At(Robot,WaterTable)}
+{At(Robot,CoffeeTable)}
+{At(Robot,Bar2)}
+{At(Robot,Table1)}
+{At(Robot,Table2)}
+{At(Robot,Table3)}
+{At(Robot,Bar)}
+{At(Robot,WaterTable)}
+{At(Robot,CoffeeTable)}
+{At(Robot,Bar2)}
+{At(Robot,Table1)}
+{At(Robot,Table2)}
+{At(Robot,Table3)}
+{At(Robot,Bar)}
+{At(Robot,WaterTable)}
+{At(Robot,CoffeeTable)}
+{At(Robot,Bar2)}
+{At(Robot,Table1)}
+{At(Robot,Table2)}
+{At(Robot,Table3)}
+{At(Robot,Bar)}
+{At(Robot,WaterTable)}
+{At(Robot,CoffeeTable)}
+{At(Robot,Bar2)}
+{At(Robot,Table1)}
+{At(Robot,Table2)}
+{At(Robot,Table3)}
+{At(Robot,Bar)}
+{At(Robot,WaterTable)}
+{At(Robot,CoffeeTable)}
+{At(Robot,Bar2)}
+{At(Robot,Table1)}
+{At(Robot,Table2)}
+{At(Robot,Table3)}
+{At(Robot,Bar)}
+{At(Robot,WaterTable)}
+{At(Robot,CoffeeTable)}
+{At(Robot,Bar2)}
+{At(Robot,Table1)}
+{At(Robot,Table2)}
+{At(Robot,Table3)}
+{At(Robot,Bar)}
+{At(Robot,WaterTable)}
+{At(Robot,CoffeeTable)}
+{At(Robot,Bar2)}
+{At(Robot,Table1)}
+{At(Robot,Table2)}
+{At(Robot,Table3)}
+{At(Robot,Bar)}
+{At(Robot,WaterTable)}
+{At(Robot,CoffeeTable)}
+{At(Robot,Bar2)}
+{At(Robot,Table1)}
+{At(Robot,Table2)}
+{At(Robot,Table3)}
+{At(Robot,Bar)}
+{At(Robot,WaterTable)}
+{At(Robot,CoffeeTable)}
+{At(Robot,Bar2)}
+{At(Robot,Table1)}
+{At(Robot,Table2)}
+{At(Robot,Table3)}
+{At(Robot,Bar)}
+{At(Robot,WaterTable)}
+{At(Robot,CoffeeTable)}
+{At(Robot,Bar2)}
+{At(Robot,Table1)}
+{At(Robot,Table2)}
+{At(Robot,Table3)}
+{At(Robot,Bar)}
+{At(Robot,WaterTable)}
+{At(Robot,CoffeeTable)}
+{At(Robot,Bar2)}
+{At(Robot,Table1)}
+{At(Robot,Table2)}
+{At(Robot,Table3)}
+{At(Robot,Bar)}
+{At(Robot,WaterTable)}
+{At(Robot,CoffeeTable)}
+{At(Robot,Bar2)}
+{At(Robot,Table1)}
+{At(Robot,Table2)}
+{At(Robot,Table3)}
+{At(Robot,Bar)}
+{At(Robot,WaterTable)}
+{At(Robot,CoffeeTable)}
+{At(Robot,Bar2)}
+{At(Robot,Table1)}
+{At(Robot,Table2)}
+{At(Robot,Table3)}
+{At(Robot,Bar)}
+{At(Robot,WaterTable)}
+{At(Robot,CoffeeTable)}
+{At(Robot,Bar2)}
+{At(Robot,Table1)}
+{At(Robot,Table2)}
+{At(Robot,Table3)}
+{At(Robot,Bar)}
+{At(Robot,WaterTable)}
+{At(Robot,CoffeeTable)}
+{At(Robot,Bar2)}
+{At(Robot,Table1)}
+{At(Robot,Table2)}
+{At(Robot,Table3)}
+{At(Robot,Bar)}
+{At(Robot,WaterTable)}
+{At(Robot,CoffeeTable)}
+{At(Robot,Bar2)}
+{At(Robot,Table1)}
+{At(Robot,Table2)}
+{At(Robot,Table3)}
+{At(Robot,Bar)}
+{At(Robot,WaterTable)}
+{At(Robot,CoffeeTable)}
+{At(Robot,Bar2)}
+{At(Robot,Table1)}
+{At(Robot,Table2)}
+{At(Robot,Table3)}
+{At(Robot,Bar)}
+{At(Robot,WaterTable)}
+{At(Robot,CoffeeTable)}
+{At(Robot,Bar2)}
+{At(Robot,Table1)}
+{At(Robot,Table2)}
+{At(Robot,Table3)}
+{At(Robot,Bar)}
+{At(Robot,WaterTable)}
+{At(Robot,CoffeeTable)}
+{At(Robot,Bar2)}
+{At(Robot,Table1)}
+{At(Robot,Table2)}
+{At(Robot,Table3)}
+{At(Robot,Bar)}
+{At(Robot,WaterTable)}
+{At(Robot,CoffeeTable)}
+{At(Robot,Bar2)}
+{At(Robot,Table1)}
+{At(Robot,Table2)}
+{At(Robot,Table3)}
+{At(Robot,Bar)}
+{At(Robot,WaterTable)}
+{At(Robot,CoffeeTable)}
+{At(Robot,Bar2)}
+{At(Robot,Table1)}
+{At(Robot,Table2)}
+{At(Robot,Table3)}
+{At(Robot,Bar)}
+{At(Robot,WaterTable)}
+{At(Robot,CoffeeTable)}
+{At(Robot,Bar2)}
+{At(Robot,Table1)}
+{At(Robot,Table2)}
+{At(Robot,Table3)}
+{At(Robot,Bar)}
+{At(Robot,WaterTable)}
+{At(Robot,CoffeeTable)}
+{At(Robot,Bar2)}
+{At(Robot,Table1)}
+{At(Robot,Table2)}
+{At(Robot,Table3)}
+{At(Robot,Bar)}
+{At(Robot,WaterTable)}
+{At(Robot,CoffeeTable)}
+{At(Robot,Bar2)}
+{At(Robot,Table1)}
+{At(Robot,Table2)}
+{At(Robot,Table3)}
+{At(Robot,Bar)}
+{At(Robot,WaterTable)}
+{At(Robot,CoffeeTable)}
+{At(Robot,Bar2)}
+{At(Robot,Table1)}
+{At(Robot,Table2)}
+{At(Robot,Table3)}
+{At(Robot,Bar)}
+{At(Robot,WaterTable)}
+{At(Robot,CoffeeTable)}
+{At(Robot,Bar2)}
+{At(Robot,Table1)}
+{At(Robot,Table2)}
+{At(Robot,Table3)}
+{At(Robot,Bar)}
+{At(Robot,WaterTable)}
+{At(Robot,CoffeeTable)}
+{At(Robot,Bar2)}
+{At(Robot,Table1)}
+{At(Robot,Table2)}
+{At(Robot,Table3)}
+{At(Robot,Bar)}
+{At(Robot,WaterTable)}
+{At(Robot,CoffeeTable)}
+{At(Robot,Bar2)}
+{At(Robot,Table1)}
+{At(Robot,Table2)}
+{At(Robot,Table3)}
+{At(Robot,Bar)}
+{At(Robot,WaterTable)}
+{At(Robot,CoffeeTable)}
+{At(Robot,Bar2)}
+{At(Robot,Table1)}
+{At(Robot,Table2)}
+{At(Robot,Table3)}
+{At(Robot,Bar)}
+{At(Robot,WaterTable)}
+{At(Robot,CoffeeTable)}
+{At(Robot,Bar2)}
+{At(Robot,Table1)}
+{At(Robot,Table2)}
+{At(Robot,Table3)}
+{At(Robot,Bar)}
+{At(Robot,WaterTable)}
+{At(Robot,CoffeeTable)}
+{At(Robot,Bar2)}
+{At(Robot,Table1)}
+{At(Robot,Table2)}
+{At(Robot,Table3)}
+{At(Robot,Bar)}
+{At(Robot,WaterTable)}
+{At(Robot,CoffeeTable)}
+{At(Robot,Bar2)}
+{At(Robot,Table1)}
+{At(Robot,Table2)}
+{At(Robot,Table3)}
+{At(Robot,Bar)}
+{At(Robot,WaterTable)}
+{At(Robot,CoffeeTable)}
+{At(Robot,Bar2)}
+{At(Robot,Table1)}
+{At(Robot,Table2)}
+{At(Robot,Table3)}
+{At(Robot,Bar)}
+{At(Robot,WaterTable)}
+{At(Robot,CoffeeTable)}
+{At(Robot,Bar2)}
+{At(Robot,Table1)}
+{At(Robot,Table2)}
+{At(Robot,Table3)}
+{At(Robot,Bar)}
+{At(Robot,WaterTable)}
+{At(Robot,CoffeeTable)}
+{At(Robot,Bar2)}
+{At(Robot,Table1)}
+{At(Robot,Table2)}
+{At(Robot,Table3)}
+{At(Robot,Bar)}
+{At(Robot,WaterTable)}
+{At(Robot,CoffeeTable)}
+{At(Robot,Bar2)}
+{At(Robot,Table1)}
+{At(Robot,Table2)}
+{At(Robot,Table3)}
+{At(Robot,Bar)}
+{At(Robot,WaterTable)}
+{At(Robot,CoffeeTable)}
+{At(Robot,Bar2)}
+{At(Robot,Table1)}
+{At(Robot,Table2)}
+{At(Robot,Table3)}
+{At(Robot,Bar)}
+{At(Robot,WaterTable)}
+{At(Robot,CoffeeTable)}
+{At(Robot,Bar2)}
+{At(Robot,Table1)}
+{At(Robot,Table2)}
+{At(Robot,Table3)}
+{At(Robot, Table3)}
+{On(Softdrink,Bar)}
+{On(Softdrink,WaterTable)}
+{On(Softdrink,CoffeeTable)}
+{On(Softdrink,Bar2)}
+{On(Softdrink,Table1)}
+{On(Softdrink,Table2)}
+{On(Softdrink,Table3)}
+{On(BottledDrink,Bar)}
+{On(BottledDrink,WaterTable)}
+{On(BottledDrink,CoffeeTable)}
+{On(BottledDrink,Bar2)}
+{On(BottledDrink,Table1)}
+{On(BottledDrink,Table2)}
+{On(BottledDrink,Table3)}
+{On(Yogurt,Bar)}
+{On(Yogurt,WaterTable)}
+{On(Yogurt,CoffeeTable)}
+{On(Yogurt,Bar2)}
+{On(Yogurt,Table1)}
+{On(Yogurt,Table2)}
+{On(Yogurt,Table3)}
+{On(ADMilk,Bar)}
+{On(ADMilk,WaterTable)}
+{On(ADMilk,CoffeeTable)}
+{On(ADMilk,Bar2)}
+{On(ADMilk,Table1)}
+{On(ADMilk,Table2)}
+{On(ADMilk,Table3)}
+{On(MilkDrink,Bar)}
+{On(MilkDrink,WaterTable)}
+{On(MilkDrink,CoffeeTable)}
+{On(MilkDrink,Bar2)}
+{On(MilkDrink,Table1)}
+{On(MilkDrink,Table2)}
+{On(MilkDrink,Table3)}
+{On(Milk,Bar)}
+{On(Milk,WaterTable)}
+{On(Milk,CoffeeTable)}
+{On(Milk,Bar2)}
+{On(Milk,Table1)}
+{On(Milk,Table2)}
+{On(Milk,Table3)}
+{On(VacuumCup,Bar)}
+{On(VacuumCup,WaterTable)}
+{On(VacuumCup,CoffeeTable)}
+{On(VacuumCup,Bar2)}
+{On(VacuumCup,Table1)}
+{On(VacuumCup,Table2)}
+{On(VacuumCup,Table3)}
+{On(Nothing,Bar)}
+{On(Nothing,WaterTable)}
+{On(Nothing,CoffeeTable)}
+{On(Nothing,Bar2)}
+{On(Nothing,Table1)}
+{On(Nothing,Table2)}
+{On(Nothing,Table3)}
+{On(Softdrink,Bar)}
+{On(Softdrink,WaterTable)}
+{On(Softdrink,CoffeeTable)}
+{On(Softdrink,Bar2)}
+{On(Softdrink,Table1)}
+{On(Softdrink,Table2)}
+{On(Softdrink,Table3)}
+{On(BottledDrink,Bar)}
+{On(BottledDrink,WaterTable)}
+{On(BottledDrink,CoffeeTable)}
+{On(BottledDrink,Bar2)}
+{On(BottledDrink,Table1)}
+{On(BottledDrink,Table2)}
+{On(BottledDrink,Table3)}
+{On(Yogurt,Bar)}
+{On(Yogurt,WaterTable)}
+{On(Yogurt,CoffeeTable)}
+{On(Yogurt,Bar2)}
+{On(Yogurt,Table1)}
+{On(Yogurt,Table2)}
+{On(Yogurt,Table3)}
+{On(ADMilk,Bar)}
+{On(ADMilk,WaterTable)}
+{On(ADMilk,CoffeeTable)}
+{On(ADMilk,Bar2)}
+{On(ADMilk,Table1)}
+{On(ADMilk,Table2)}
+{On(ADMilk,Table3)}
+{On(MilkDrink,Bar)}
+{On(MilkDrink,WaterTable)}
+{On(MilkDrink,CoffeeTable)}
+{On(MilkDrink,Bar2)}
+{On(MilkDrink,Table1)}
+{On(MilkDrink,Table2)}
+{On(MilkDrink,Table3)}
+{On(Milk,Bar)}
+{On(Milk,WaterTable)}
+{On(Milk,CoffeeTable)}
+{On(Milk,Bar2)}
+{On(Milk,Table1)}
+{On(Milk,Table2)}
+{On(Milk,Table3)}
+{On(VacuumCup,Bar)}
+{On(VacuumCup,WaterTable)}
+{On(VacuumCup,CoffeeTable)}
+{On(VacuumCup,Bar2)}
+{On(VacuumCup,Table1)}
+{On(VacuumCup,Table2)}
+{On(VacuumCup,Table3)}
+{On(Nothing,Bar)}
+{On(Nothing,WaterTable)}
+{On(Nothing,CoffeeTable)}
+{On(Nothing,Bar2)}
+{On(Nothing,Table1)}
+{On(Nothing,Table2)}
+{On(Nothing,Table3)}
+{On(Softdrink,Bar)}
+{On(Softdrink,WaterTable)}
+{On(Softdrink,CoffeeTable)}
+{On(Softdrink,Bar2)}
+{On(Softdrink,Table1)}
+{On(Softdrink,Table2)}
+{On(Softdrink,Table3)}
+{On(BottledDrink,Bar)}
+{On(BottledDrink,WaterTable)}
+{On(BottledDrink,CoffeeTable)}
+{On(BottledDrink,Bar2)}
+{On(BottledDrink,Table1)}
+{On(BottledDrink,Table2)}
+{On(BottledDrink,Table3)}
+{On(Yogurt,Bar)}
+{On(Yogurt,WaterTable)}
+{On(Yogurt,CoffeeTable)}
+{On(Yogurt,Bar2)}
+{On(Yogurt,Table1)}
+{On(Yogurt,Table2)}
+{On(Yogurt,Table3)}
+{On(ADMilk,Bar)}
+{On(ADMilk,WaterTable)}
+{On(ADMilk,CoffeeTable)}
+{On(ADMilk,Bar2)}
+{On(ADMilk,Table1)}
+{On(ADMilk,Table2)}
+{On(ADMilk,Table3)}
+{On(MilkDrink,Bar)}
+{On(MilkDrink,WaterTable)}
+{On(MilkDrink,CoffeeTable)}
+{On(MilkDrink,Bar2)}
+{On(MilkDrink,Table1)}
+{On(MilkDrink,Table2)}
+{On(MilkDrink,Table3)}
+{On(Milk,Bar)}
+{On(Milk,WaterTable)}
+{On(Milk,CoffeeTable)}
+{On(Milk,Bar2)}
+{On(Milk,Table1)}
+{On(Milk,Table2)}
+{On(Milk,Table3)}
+{On(VacuumCup,Bar)}
+{On(VacuumCup,WaterTable)}
+{On(VacuumCup,CoffeeTable)}
+{On(VacuumCup,Bar2)}
+{On(VacuumCup,Table1)}
+{On(VacuumCup,Table2)}
+{On(VacuumCup,Table3)}
+{On(Nothing,Bar)}
+{On(Nothing,WaterTable)}
+{On(Nothing,CoffeeTable)}
+{On(Nothing,Bar2)}
+{On(Nothing,Table1)}
+{On(Nothing,Table2)}
+{On(Nothing,Table3)}
+{On(Softdrink,Bar)}
+{On(Softdrink,WaterTable)}
+{On(Softdrink,CoffeeTable)}
+{On(Softdrink,Bar2)}
+{On(Softdrink,Table1)}
+{On(Softdrink,Table2)}
+{On(Softdrink,Table3)}
+{On(BottledDrink,Bar)}
+{On(BottledDrink,WaterTable)}
+{On(BottledDrink,CoffeeTable)}
+{On(BottledDrink,Bar2)}
+{On(BottledDrink,Table1)}
+{On(BottledDrink,Table2)}
+{On(BottledDrink,Table3)}
+{On(Yogurt,Bar)}
+{On(Yogurt,WaterTable)}
+{On(Yogurt,CoffeeTable)}
+{On(Yogurt,Bar2)}
+{On(Yogurt,Table1)}
+{On(Yogurt,Table2)}
+{On(Yogurt,Table3)}
+{On(ADMilk,Bar)}
+{On(ADMilk,WaterTable)}
+{On(ADMilk,CoffeeTable)}
+{On(ADMilk,Bar2)}
+{On(ADMilk,Table1)}
+{On(ADMilk,Table2)}
+{On(ADMilk,Table3)}
+{On(MilkDrink,Bar)}
+{On(MilkDrink,WaterTable)}
+{On(MilkDrink,CoffeeTable)}
+{On(MilkDrink,Bar2)}
+{On(MilkDrink,Table1)}
+{On(MilkDrink,Table2)}
+{On(MilkDrink,Table3)}
+{On(Milk,Bar)}
+{On(Milk,WaterTable)}
+{On(Milk,CoffeeTable)}
+{On(Milk,Bar2)}
+{On(Milk,Table1)}
+{On(Milk,Table2)}
+{On(Milk,Table3)}
+{On(VacuumCup,Bar)}
+{On(VacuumCup,WaterTable)}
+{On(VacuumCup,CoffeeTable)}
+{On(VacuumCup,Bar2)}
+{On(VacuumCup,Table1)}
+{On(VacuumCup,Table2)}
+{On(VacuumCup,Table3)}
+{On(Nothing,Bar)}
+{On(Nothing,WaterTable)}
+{On(Nothing,CoffeeTable)}
+{On(Nothing,Bar2)}
+{On(Nothing,Table1)}
+{On(Nothing,Table2)}
+{On(Nothing,Table3)}
+{On(Softdrink,Bar)}
+{On(Softdrink,WaterTable)}
+{On(Softdrink,CoffeeTable)}
+{On(Softdrink,Bar2)}
+{On(Softdrink,Table1)}
+{On(Softdrink,Table2)}
+{On(Softdrink,Table3)}
+{On(BottledDrink,Bar)}
+{On(BottledDrink,WaterTable)}
+{On(BottledDrink,CoffeeTable)}
+{On(BottledDrink,Bar2)}
+{On(BottledDrink,Table1)}
+{On(BottledDrink,Table2)}
+{On(BottledDrink,Table3)}
+{On(Yogurt,Bar)}
+{On(Yogurt,WaterTable)}
+{On(Yogurt,CoffeeTable)}
+{On(Yogurt,Bar2)}
+{On(Yogurt,Table1)}
+{On(Yogurt,Table2)}
+{On(Yogurt,Table3)}
+{On(ADMilk,Bar)}
+{On(ADMilk,WaterTable)}
+{On(ADMilk,CoffeeTable)}
+{On(ADMilk,Bar2)}
+{On(ADMilk,Table1)}
+{On(ADMilk,Table2)}
+{On(ADMilk,Table3)}
+{On(MilkDrink,Bar)}
+{On(MilkDrink,WaterTable)}
+{On(MilkDrink,CoffeeTable)}
+{On(MilkDrink,Bar2)}
+{On(MilkDrink,Table1)}
+{On(MilkDrink,Table2)}
+{On(MilkDrink,Table3)}
+{On(Milk,Bar)}
+{On(Milk,WaterTable)}
+{On(Milk,CoffeeTable)}
+{On(Milk,Bar2)}
+{On(Milk,Table1)}
+{On(Milk,Table2)}
+{On(Milk,Table3)}
+{On(VacuumCup,Bar)}
+{On(VacuumCup,WaterTable)}
+{On(VacuumCup,CoffeeTable)}
+{On(VacuumCup,Bar2)}
+{On(VacuumCup,Table1)}
+{On(VacuumCup,Table2)}
+{On(VacuumCup,Table3)}
+{On(Nothing,Bar)}
+{On(Nothing,WaterTable)}
+{On(Nothing,CoffeeTable)}
+{On(Nothing,Bar2)}
+{On(Nothing,Table1)}
+{On(Nothing,Table2)}
+{On(Nothing,Table3)}
+{On(Softdrink,Bar)}
+{On(Softdrink,WaterTable)}
+{On(Softdrink,CoffeeTable)}
+{On(Softdrink,Bar2)}
+{On(Softdrink,Table1)}
+{On(Softdrink,Table2)}
+{On(Softdrink,Table3)}
+{On(BottledDrink,Bar)}
+{On(BottledDrink,WaterTable)}
+{On(BottledDrink,CoffeeTable)}
+{On(BottledDrink,Bar2)}
+{On(BottledDrink,Table1)}
+{On(BottledDrink,Table2)}
+{On(BottledDrink,Table3)}
+{On(Yogurt,Bar)}
+{On(Yogurt,WaterTable)}
+{On(Yogurt,CoffeeTable)}
+{On(Yogurt,Bar2)}
+{On(Yogurt,Table1)}
+{On(Yogurt,Table2)}
+{On(Yogurt,Table3)}
+{On(ADMilk,Bar)}
+{On(ADMilk,WaterTable)}
+{On(ADMilk,CoffeeTable)}
+{On(ADMilk,Bar2)}
+{On(ADMilk,Table1)}
+{On(ADMilk,Table2)}
+{On(ADMilk,Table3)}
+{On(MilkDrink,Bar)}
+{On(MilkDrink,WaterTable)}
+{On(MilkDrink,CoffeeTable)}
+{On(MilkDrink,Bar2)}
+{On(MilkDrink,Table1)}
+{On(MilkDrink,Table2)}
+{On(MilkDrink,Table3)}
+{On(Milk,Bar)}
+{On(Milk,WaterTable)}
+{On(Milk,CoffeeTable)}
+{On(Milk,Bar2)}
+{On(Milk,Table1)}
+{On(Milk,Table2)}
+{On(Milk,Table3)}
+{On(VacuumCup,Bar)}
+{On(VacuumCup,WaterTable)}
+{On(VacuumCup,CoffeeTable)}
+{On(VacuumCup,Bar2)}
+{On(VacuumCup,Table1)}
+{On(VacuumCup,Table2)}
+{On(VacuumCup,Table3)}
+{On(Nothing,Bar)}
+{On(Nothing,WaterTable)}
+{On(Nothing,CoffeeTable)}
+{On(Nothing,Bar2)}
+{On(Nothing,Table1)}
+{On(Nothing,Table2)}
+{On(Nothing,Table3)}
+{On(Softdrink,Bar)}
+{On(Softdrink,WaterTable)}
+{On(Softdrink,CoffeeTable)}
+{On(Softdrink,Bar2)}
+{On(Softdrink,Table1)}
+{On(Softdrink,Table2)}
+{On(Softdrink,Table3)}
+{On(BottledDrink,Bar)}
+{On(BottledDrink,WaterTable)}
+{On(BottledDrink,CoffeeTable)}
+{On(BottledDrink,Bar2)}
+{On(BottledDrink,Table1)}
+{On(BottledDrink,Table2)}
+{On(BottledDrink,Table3)}
+{On(Yogurt,Bar)}
+{On(Yogurt,WaterTable)}
+{On(Yogurt,CoffeeTable)}
+{On(Yogurt,Bar2)}
+{On(Yogurt,Table1)}
+{On(Yogurt,Table2)}
+{On(Yogurt,Table3)}
+{On(ADMilk,Bar)}
+{On(ADMilk,WaterTable)}
+{On(ADMilk,CoffeeTable)}
+{On(ADMilk,Bar2)}
+{On(ADMilk,Table1)}
+{On(ADMilk,Table2)}
+{On(ADMilk,Table3)}
+{On(MilkDrink,Bar)}
+{On(MilkDrink,WaterTable)}
+{On(MilkDrink,CoffeeTable)}
+{On(MilkDrink,Bar2)}
+{On(MilkDrink,Table1)}
+{On(MilkDrink,Table2)}
+{On(MilkDrink,Table3)}
+{On(Milk,Bar)}
+{On(Milk,WaterTable)}
+{On(Milk,CoffeeTable)}
+{On(Milk,Bar2)}
+{On(Milk,Table1)}
+{On(Milk,Table2)}
+{On(Milk,Table3)}
+{On(VacuumCup,Bar)}
+{On(VacuumCup,WaterTable)}
+{On(VacuumCup,CoffeeTable)}
+{On(VacuumCup,Bar2)}
+{On(VacuumCup,Table1)}
+{On(VacuumCup,Table2)}
+{On(VacuumCup,Table3)}
+{On(Nothing,Bar)}
+{On(Nothing,WaterTable)}
+{On(Nothing,CoffeeTable)}
+{On(Nothing,Bar2)}
+{On(Nothing,Table1)}
+{On(Nothing,Table2)}
+{On(Nothing,Table3)}
+{On(Softdrink,Bar)}
+{On(Softdrink,WaterTable)}
+{On(Softdrink,CoffeeTable)}
+{On(Softdrink,Bar2)}
+{On(Softdrink,Table1)}
+{On(Softdrink,Table2)}
+{On(Softdrink,Table3)}
+{On(BottledDrink,Bar)}
+{On(BottledDrink,WaterTable)}
+{On(BottledDrink,CoffeeTable)}
+{On(BottledDrink,Bar2)}
+{On(BottledDrink,Table1)}
+{On(BottledDrink,Table2)}
+{On(BottledDrink,Table3)}
+{On(Yogurt,Bar)}
+{On(Yogurt,WaterTable)}
+{On(Yogurt,CoffeeTable)}
+{On(Yogurt,Bar2)}
+{On(Yogurt,Table1)}
+{On(Yogurt,Table2)}
+{On(Yogurt,Table3)}
+{On(ADMilk,Bar)}
+{On(ADMilk,WaterTable)}
+{On(ADMilk,CoffeeTable)}
+{On(ADMilk,Bar2)}
+{On(ADMilk,Table1)}
+{On(ADMilk,Table2)}
+{On(ADMilk,Table3)}
+{On(MilkDrink,Bar)}
+{On(MilkDrink,WaterTable)}
+{On(MilkDrink,CoffeeTable)}
+{On(MilkDrink,Bar2)}
+{On(MilkDrink,Table1)}
+{On(MilkDrink,Table2)}
+{On(MilkDrink,Table3)}
+{On(Milk,Bar)}
+{On(Milk,WaterTable)}
+{On(Milk,CoffeeTable)}
+{On(Milk,Bar2)}
+{On(Milk,Table1)}
+{On(Milk,Table2)}
+{On(Milk,Table3)}
+{On(VacuumCup,Bar)}
+{On(VacuumCup,WaterTable)}
+{On(VacuumCup,CoffeeTable)}
+{On(VacuumCup,Bar2)}
+{On(VacuumCup,Table1)}
+{On(VacuumCup,Table2)}
+{On(VacuumCup,Table3)}
+{On(Nothing,Bar)}
+{On(Nothing,WaterTable)}
+{On(Nothing,CoffeeTable)}
+{On(Nothing,Bar2)}
+{On(Nothing,Table1)}
+{On(Nothing,Table2)}
+{On(Nothing,Table3)}
+{On(Softdrink,Bar)}
+{On(Softdrink,WaterTable)}
+{On(Softdrink,CoffeeTable)}
+{On(Softdrink,Bar2)}
+{On(Softdrink,Table1)}
+{On(Softdrink,Table2)}
+{On(Softdrink,Table3)}
+{On(BottledDrink,Bar)}
+{On(BottledDrink,WaterTable)}
+{On(BottledDrink,CoffeeTable)}
+{On(BottledDrink,Bar2)}
+{On(BottledDrink,Table1)}
+{On(BottledDrink,Table2)}
+{On(BottledDrink,Table3)}
+{On(Yogurt,Bar)}
+{On(Yogurt,WaterTable)}
+{On(Yogurt,CoffeeTable)}
+{On(Yogurt,Bar2)}
+{On(Yogurt,Table1)}
+{On(Yogurt,Table2)}
+{On(Yogurt,Table3)}
+{On(ADMilk,Bar)}
+{On(ADMilk,WaterTable)}
+{On(ADMilk,CoffeeTable)}
+{On(ADMilk,Bar2)}
+{On(ADMilk,Table1)}
+{On(ADMilk,Table2)}
+{On(ADMilk,Table3)}
+{On(MilkDrink,Bar)}
+{On(MilkDrink,WaterTable)}
+{On(MilkDrink,CoffeeTable)}
+{On(MilkDrink,Bar2)}
+{On(MilkDrink,Table1)}
+{On(MilkDrink,Table2)}
+{On(MilkDrink,Table3)}
+{On(Milk,Bar)}
+{On(Milk,WaterTable)}
+{On(Milk,CoffeeTable)}
+{On(Milk,Bar2)}
+{On(Milk,Table1)}
+{On(Milk,Table2)}
+{On(Milk,Table3)}
+{On(VacuumCup,Bar)}
+{On(VacuumCup,WaterTable)}
+{On(VacuumCup,CoffeeTable)}
+{On(VacuumCup,Bar2)}
+{On(VacuumCup,Table1)}
+{On(VacuumCup,Table2)}
+{On(VacuumCup,Table3)}
+{On(Nothing,Bar)}
+{On(Nothing,WaterTable)}
+{On(Nothing,CoffeeTable)}
+{On(Nothing,Bar2)}
+{On(Nothing,Table1)}
+{On(Nothing,Table2)}
+{On(Nothing,Table3)}
+{On(Softdrink,Bar)}
+{On(Softdrink,WaterTable)}
+{On(Softdrink,CoffeeTable)}
+{On(Softdrink,Bar2)}
+{On(Softdrink,Table1)}
+{On(Softdrink,Table2)}
+{On(Softdrink,Table3)}
+{On(BottledDrink,Bar)}
+{On(BottledDrink,WaterTable)}
+{On(BottledDrink,CoffeeTable)}
+{On(BottledDrink,Bar2)}
+{On(BottledDrink,Table1)}
+{On(BottledDrink,Table2)}
+{On(BottledDrink,Table3)}
+{On(Yogurt,Bar)}
+{On(Yogurt,WaterTable)}
+{On(Yogurt,CoffeeTable)}
+{On(Yogurt,Bar2)}
+{On(Yogurt,Table1)}
+{On(Yogurt,Table2)}
+{On(Yogurt,Table3)}
+{On(ADMilk,Bar)}
+{On(ADMilk,WaterTable)}
+{On(ADMilk,CoffeeTable)}
+{On(ADMilk,Bar2)}
+{On(ADMilk,Table1)}
+{On(ADMilk,Table2)}
+{On(ADMilk,Table3)}
+{On(MilkDrink,Bar)}
+{On(MilkDrink,WaterTable)}
+{On(MilkDrink,CoffeeTable)}
+{On(MilkDrink,Bar2)}
+{On(MilkDrink,Table1)}
+{On(MilkDrink,Table2)}
+{On(MilkDrink,Table3)}
+{On(Milk,Bar)}
+{On(Milk,WaterTable)}
+{On(Milk,CoffeeTable)}
+{On(Milk,Bar2)}
+{On(Milk,Table1)}
+{On(Milk,Table2)}
+{On(Milk,Table3)}
+{On(VacuumCup,Bar)}
+{On(VacuumCup,WaterTable)}
+{On(VacuumCup,CoffeeTable)}
+{On(VacuumCup,Bar2)}
+{On(VacuumCup,Table1)}
+{On(VacuumCup,Table2)}
+{On(VacuumCup,Table3)}
+{On(Nothing,Bar)}
+{On(Nothing,WaterTable)}
+{On(Nothing,CoffeeTable)}
+{On(Nothing,Bar2)}
+{On(Nothing,Table1)}
+{On(Nothing,Table2)}
+{On(Nothing,Table3)}
+{On(Softdrink,Bar)}
+{On(Softdrink,WaterTable)}
+{On(Softdrink,CoffeeTable)}
+{On(Softdrink,Bar2)}
+{On(Softdrink,Table1)}
+{On(Softdrink,Table2)}
+{On(Softdrink,Table3)}
+{On(BottledDrink,Bar)}
+{On(BottledDrink,WaterTable)}
+{On(BottledDrink,CoffeeTable)}
+{On(BottledDrink,Bar2)}
+{On(BottledDrink,Table1)}
+{On(BottledDrink,Table2)}
+{On(BottledDrink,Table3)}
+{On(Yogurt,Bar)}
+{On(Yogurt,WaterTable)}
+{On(Yogurt,CoffeeTable)}
+{On(Yogurt,Bar2)}
+{On(Yogurt,Table1)}
+{On(Yogurt,Table2)}
+{On(Yogurt,Table3)}
+{On(ADMilk,Bar)}
+{On(ADMilk,WaterTable)}
+{On(ADMilk,CoffeeTable)}
+{On(ADMilk,Bar2)}
+{On(ADMilk,Table1)}
+{On(ADMilk,Table2)}
+{On(ADMilk,Table3)}
+{On(MilkDrink,Bar)}
+{On(MilkDrink,WaterTable)}
+{On(MilkDrink,CoffeeTable)}
+{On(MilkDrink,Bar2)}
+{On(MilkDrink,Table1)}
+{On(MilkDrink,Table2)}
+{On(MilkDrink,Table3)}
+{On(Milk,Bar)}
+{On(Milk,WaterTable)}
+{On(Milk,CoffeeTable)}
+{On(Milk,Bar2)}
+{On(Milk,Table1)}
+{On(Milk,Table2)}
+{On(Milk,Table3)}
+{On(VacuumCup,Bar)}
+{On(VacuumCup,WaterTable)}
+{On(VacuumCup,CoffeeTable)}
+{On(VacuumCup,Bar2)}
+{On(VacuumCup,Table1)}
+{On(VacuumCup,Table2)}
+{On(VacuumCup,Table3)}
+{On(Nothing,Bar)}
+{On(Nothing,WaterTable)}
+{On(Nothing,CoffeeTable)}
+{On(Nothing,Bar2)}
+{On(Nothing,Table1)}
+{On(Nothing,Table2)}
+{On(Nothing,Table3)}
+{On(Softdrink,Bar)}
+{On(Softdrink,WaterTable)}
+{On(Softdrink,CoffeeTable)}
+{On(Softdrink,Bar2)}
+{On(Softdrink,Table1)}
+{On(Softdrink,Table2)}
+{On(Softdrink,Table3)}
+{On(BottledDrink,Bar)}
+{On(BottledDrink,WaterTable)}
+{On(BottledDrink,CoffeeTable)}
+{On(BottledDrink,Bar2)}
+{On(BottledDrink,Table1)}
+{On(BottledDrink,Table2)}
+{On(BottledDrink,Table3)}
+{On(Yogurt,Bar)}
+{On(Yogurt,WaterTable)}
+{On(Yogurt,CoffeeTable)}
+{On(Yogurt,Bar2)}
+{On(Yogurt,Table1)}
+{On(Yogurt,Table2)}
+{On(Yogurt,Table3)}
+{On(ADMilk,Bar)}
+{On(ADMilk,WaterTable)}
+{On(ADMilk,CoffeeTable)}
+{On(ADMilk,Bar2)}
+{On(ADMilk,Table1)}
+{On(ADMilk,Table2)}
+{On(ADMilk,Table3)}
+{On(MilkDrink,Bar)}
+{On(MilkDrink,WaterTable)}
+{On(MilkDrink,CoffeeTable)}
+{On(MilkDrink,Bar2)}
+{On(MilkDrink,Table1)}
+{On(MilkDrink,Table2)}
+{On(MilkDrink,Table3)}
+{On(Milk,Bar)}
+{On(Milk,WaterTable)}
+{On(Milk,CoffeeTable)}
+{On(Milk,Bar2)}
+{On(Milk,Table1)}
+{On(Milk,Table2)}
+{On(Milk,Table3)}
+{On(VacuumCup,Bar)}
+{On(VacuumCup,WaterTable)}
+{On(VacuumCup,CoffeeTable)}
+{On(VacuumCup,Bar2)}
+{On(VacuumCup,Table1)}
+{On(VacuumCup,Table2)}
+{On(VacuumCup,Table3)}
+{On(Nothing,Bar)}
+{On(Nothing,WaterTable)}
+{On(Nothing,CoffeeTable)}
+{On(Nothing,Bar2)}
+{On(Nothing,Table1)}
+{On(Nothing,Table2)}
+{On(Nothing,Table3)}
+{On(Softdrink,Bar)}
+{On(Softdrink,WaterTable)}
+{On(Softdrink,CoffeeTable)}
+{On(Softdrink,Bar2)}
+{On(Softdrink,Table1)}
+{On(Softdrink,Table2)}
+{On(Softdrink,Table3)}
+{On(BottledDrink,Bar)}
+{On(BottledDrink,WaterTable)}
+{On(BottledDrink,CoffeeTable)}
+{On(BottledDrink,Bar2)}
+{On(BottledDrink,Table1)}
+{On(BottledDrink,Table2)}
+{On(BottledDrink,Table3)}
+{On(Yogurt,Bar)}
+{On(Yogurt,WaterTable)}
+{On(Yogurt,CoffeeTable)}
+{On(Yogurt,Bar2)}
+{On(Yogurt,Table1)}
+{On(Yogurt,Table2)}
+{On(Yogurt,Table3)}
+{On(ADMilk,Bar)}
+{On(ADMilk,WaterTable)}
+{On(ADMilk,CoffeeTable)}
+{On(ADMilk,Bar2)}
+{On(ADMilk,Table1)}
+{On(ADMilk,Table2)}
+{On(ADMilk,Table3)}
+{On(MilkDrink,Bar)}
+{On(MilkDrink,WaterTable)}
+{On(MilkDrink,CoffeeTable)}
+{On(MilkDrink,Bar2)}
+{On(MilkDrink,Table1)}
+{On(MilkDrink,Table2)}
+{On(MilkDrink,Table3)}
+{On(Milk,Bar)}
+{On(Milk,WaterTable)}
+{On(Milk,CoffeeTable)}
+{On(Milk,Bar2)}
+{On(Milk,Table1)}
+{On(Milk,Table2)}
+{On(Milk,Table3)}
+{On(VacuumCup,Bar)}
+{On(VacuumCup,WaterTable)}
+{On(VacuumCup,CoffeeTable)}
+{On(VacuumCup,Bar2)}
+{On(VacuumCup,Table1)}
+{On(VacuumCup,Table2)}
+{On(VacuumCup,Table3)}
+{On(Nothing,Bar)}
+{On(Nothing,WaterTable)}
+{On(Nothing,CoffeeTable)}
+{On(Nothing,Bar2)}
+{On(Nothing,Table1)}
+{On(Nothing,Table2)}
+{On(Nothing,Table3)}
+{On(VacuumCup, Table2)}
+{On(VacuumCup, WaterTable)}
+{On(BottledDrink, Table2)}
+{On(MilkDrink, Table2)}
+{On(ADMilk, CoffeeTable)}
+{On(Softdrink, Table2)}
+{On(Nothing, WaterTable)}
+{On(Milk, Bar)}
+{On(Milk, WaterTable)}
+{On(Nothing, Bar2)}
+{On(BottledDrink, CoffeeTable)}
+{On(Nothing, Table3)}
+{On(Softdrink, Table2)}
+{On(Nothing, WaterTable)}
+{On(BottledDrink, WaterTable)}
+{On(Milk, Table3)}
+{On(Milk, CoffeeTable)}
+{On(Nothing, Table1)}
+{On(MilkDrink, Bar2)}
+{On(ADMilk, Table3)}
+{On(BottledDrink, Table1)}
+{On(Yogurt, WaterTable)}
+{Is(AC,Off)}
+{Is(AC,On)}
+{Is(ACTemperature,Up)}
+{Is(ACTemperature,Down)}
+{Is(HallLight,Off)}
+{Is(HallLight,On)}
+{Is(TubeLight,Off)}
+{Is(TubeLight,On)}
+{Is(Curtain,Off)}
+{Is(Curtain,On)}
+{Is(AC,Off)}
+{Is(AC,On)}
+{Is(ACTemperature,Up)}
+{Is(ACTemperature,Down)}
+{Is(HallLight,Off)}
+{Is(HallLight,On)}
+{Is(TubeLight,Off)}
+{Is(TubeLight,On)}
+{Is(Curtain,Off)}
+{Is(Curtain,On)}
+{Is(AC,Off)}
+{Is(AC,On)}
+{Is(ACTemperature,Up)}
+{Is(ACTemperature,Down)}
+{Is(HallLight,Off)}
+{Is(HallLight,On)}
+{Is(TubeLight,Off)}
+{Is(TubeLight,On)}
+{Is(Curtain,Off)}
+{Is(Curtain,On)}
+{Is(AC,Off)}
+{Is(AC,On)}
+{Is(ACTemperature,Up)}
+{Is(ACTemperature,Down)}
+{Is(HallLight,Off)}
+{Is(HallLight,On)}
+{Is(TubeLight,Off)}
+{Is(TubeLight,On)}
+{Is(Curtain,Off)}
+{Is(Curtain,On)}
+{Is(AC,Off)}
+{Is(AC,On)}
+{Is(ACTemperature,Up)}
+{Is(ACTemperature,Down)}
+{Is(HallLight,Off)}
+{Is(HallLight,On)}
+{Is(TubeLight,Off)}
+{Is(TubeLight,On)}
+{Is(Curtain,Off)}
+{Is(Curtain,On)}
+{Is(AC,Off)}
+{Is(AC,On)}
+{Is(ACTemperature,Up)}
+{Is(ACTemperature,Down)}
+{Is(HallLight,Off)}
+{Is(HallLight,On)}
+{Is(TubeLight,Off)}
+{Is(TubeLight,On)}
+{Is(Curtain,Off)}
+{Is(Curtain,On)}
+{Is(AC,Off)}
+{Is(AC,On)}
+{Is(ACTemperature,Up)}
+{Is(ACTemperature,Down)}
+{Is(HallLight,Off)}
+{Is(HallLight,On)}
+{Is(TubeLight,Off)}
+{Is(TubeLight,On)}
+{Is(Curtain,Off)}
+{Is(Curtain,On)}
+{Is(AC,Off)}
+{Is(AC,On)}
+{Is(ACTemperature,Up)}
+{Is(ACTemperature,Down)}
+{Is(HallLight,Off)}
+{Is(HallLight,On)}
+{Is(TubeLight,Off)}
+{Is(TubeLight,On)}
+{Is(Curtain,Off)}
+{Is(Curtain,On)}
+{Is(AC,Off)}
+{Is(AC,On)}
+{Is(ACTemperature,Up)}
+{Is(ACTemperature,Down)}
+{Is(HallLight,Off)}
+{Is(HallLight,On)}
+{Is(TubeLight,Off)}
+{Is(TubeLight,On)}
+{Is(Curtain,Off)}
+{Is(Curtain,On)}
+{Is(AC,Off)}
+{Is(AC,On)}
+{Is(ACTemperature,Up)}
+{Is(ACTemperature,Down)}
+{Is(HallLight,Off)}
+{Is(HallLight,On)}
+{Is(TubeLight,Off)}
+{Is(TubeLight,On)}
+{Is(Curtain,Off)}
+{Is(Curtain,On)}
+{Is(AC,Off)}
+{Is(AC,On)}
+{Is(ACTemperature,Up)}
+{Is(ACTemperature,Down)}
+{Is(HallLight,Off)}
+{Is(HallLight,On)}
+{Is(TubeLight,Off)}
+{Is(TubeLight,On)}
+{Is(Curtain,Off)}
+{Is(Curtain,On)}
+{Is(AC,Off)}
+{Is(AC,On)}
+{Is(ACTemperature,Up)}
+{Is(ACTemperature,Down)}
+{Is(HallLight,Off)}
+{Is(HallLight,On)}
+{Is(TubeLight,Off)}
+{Is(TubeLight,On)}
+{Is(Curtain,Off)}
+{Is(Curtain,On)}
+{Is(AC,Off)}
+{Is(AC,On)}
+{Is(ACTemperature,Up)}
+{Is(ACTemperature,Down)}
+{Is(HallLight,Off)}
+{Is(HallLight,On)}
+{Is(TubeLight,Off)}
+{Is(TubeLight,On)}
+{Is(Curtain,Off)}
+{Is(Curtain,On)}
+{Is(AC,Off)}
+{Is(AC,On)}
+{Is(ACTemperature,Up)}
+{Is(ACTemperature,Down)}
+{Is(HallLight,Off)}
+{Is(HallLight,On)}
+{Is(TubeLight,Off)}
+{Is(TubeLight,On)}
+{Is(Curtain,Off)}
+{Is(Curtain,On)}
+{Is(AC,Off)}
+{Is(AC,On)}
+{Is(ACTemperature,Up)}
+{Is(ACTemperature,Down)}
+{Is(HallLight,Off)}
+{Is(HallLight,On)}
+{Is(TubeLight,Off)}
+{Is(TubeLight,On)}
+{Is(Curtain,Off)}
+{Is(Curtain,On)}
+{Is(AC,Off)}
+{Is(AC,On)}
+{Is(ACTemperature,Up)}
+{Is(ACTemperature,Down)}
+{Is(HallLight,Off)}
+{Is(HallLight,On)}
+{Is(TubeLight,Off)}
+{Is(TubeLight,On)}
+{Is(Curtain,Off)}
+{Is(Curtain,On)}
+{Is(AC,Off)}
+{Is(AC,On)}
+{Is(ACTemperature,Up)}
+{Is(ACTemperature,Down)}
+{Is(HallLight,Off)}
+{Is(HallLight,On)}
+{Is(TubeLight,Off)}
+{Is(TubeLight,On)}
+{Is(Curtain,Off)}
+{Is(Curtain,On)}
+{Is(AC,Off)}
+{Is(AC,On)}
+{Is(ACTemperature,Up)}
+{Is(ACTemperature,Down)}
+{Is(HallLight,Off)}
+{Is(HallLight,On)}
+{Is(TubeLight,Off)}
+{Is(TubeLight,On)}
+{Is(Curtain,Off)}
+{Is(Curtain,On)}
+{Is(AC,Off)}
+{Is(AC,On)}
+{Is(ACTemperature,Up)}
+{Is(ACTemperature,Down)}
+{Is(HallLight,Off)}
+{Is(HallLight,On)}
+{Is(TubeLight,Off)}
+{Is(TubeLight,On)}
+{Is(Curtain,Off)}
+{Is(Curtain,On)}
+{Is(AC,Off)}
+{Is(AC,On)}
+{Is(ACTemperature,Up)}
+{Is(ACTemperature,Down)}
+{Is(HallLight,Off)}
+{Is(HallLight,On)}
+{Is(TubeLight,Off)}
+{Is(TubeLight,On)}
+{Is(Curtain,Off)}
+{Is(Curtain,On)}
+{Is(AC,Off)}
+{Is(AC,On)}
+{Is(ACTemperature,Up)}
+{Is(ACTemperature,Down)}
+{Is(HallLight,Off)}
+{Is(HallLight,On)}
+{Is(TubeLight,Off)}
+{Is(TubeLight,On)}
+{Is(Curtain,Off)}
+{Is(Curtain,On)}
+{Is(AC,Off)}
+{Is(AC,On)}
+{Is(ACTemperature,Up)}
+{Is(ACTemperature,Down)}
+{Is(HallLight,Off)}
+{Is(HallLight,On)}
+{Is(TubeLight,Off)}
+{Is(TubeLight,On)}
+{Is(Curtain,Off)}
+{Is(Curtain,On)}
+{Is(AC,Off)}
+{Is(AC,On)}
+{Is(ACTemperature,Up)}
+{Is(ACTemperature,Down)}
+{Is(HallLight,Off)}
+{Is(HallLight,On)}
+{Is(TubeLight,Off)}
+{Is(TubeLight,On)}
+{Is(Curtain,Off)}
+{Is(Curtain,On)}
+{Is(AC,Off)}
+{Is(AC,On)}
+{Is(ACTemperature,Up)}
+{Is(ACTemperature,Down)}
+{Is(HallLight,Off)}
+{Is(HallLight,On)}
+{Is(TubeLight,Off)}
+{Is(TubeLight,On)}
+{Is(Curtain,Off)}
+{Is(Curtain,On)}
+{Is(AC,Off)}
+{Is(AC,On)}
+{Is(ACTemperature,Up)}
+{Is(ACTemperature,Down)}
+{Is(HallLight,Off)}
+{Is(HallLight,On)}
+{Is(TubeLight,Off)}
+{Is(TubeLight,On)}
+{Is(Curtain,Off)}
+{Is(Curtain,On)}
+{Is(AC,Off)}
+{Is(AC,On)}
+{Is(ACTemperature,Up)}
+{Is(ACTemperature,Down)}
+{Is(HallLight,Off)}
+{Is(HallLight,On)}
+{Is(TubeLight,Off)}
+{Is(TubeLight,On)}
+{Is(Curtain,Off)}
+{Is(Curtain,On)}
+{Is(AC,Off)}
+{Is(AC,On)}
+{Is(ACTemperature,Up)}
+{Is(ACTemperature,Down)}
+{Is(HallLight,Off)}
+{Is(HallLight,On)}
+{Is(TubeLight,Off)}
+{Is(TubeLight,On)}
+{Is(Curtain,Off)}
+{Is(Curtain,On)}
+{Is(AC,Off)}
+{Is(AC,On)}
+{Is(ACTemperature,Up)}
+{Is(ACTemperature,Down)}
+{Is(HallLight,Off)}
+{Is(HallLight,On)}
+{Is(TubeLight,Off)}
+{Is(TubeLight,On)}
+{Is(Curtain,Off)}
+{Is(Curtain,On)}
+{Is(AC,Off)}
+{Is(AC,On)}
+{Is(ACTemperature,Up)}
+{Is(ACTemperature,Down)}
+{Is(HallLight,Off)}
+{Is(HallLight,On)}
+{Is(TubeLight,Off)}
+{Is(TubeLight,On)}
+{Is(Curtain,Off)}
+{Is(Curtain,On)}
+{Is(AC,Off)}
+{Is(AC,On)}
+{Is(ACTemperature,Up)}
+{Is(ACTemperature,Down)}
+{Is(HallLight,Off)}
+{Is(HallLight,On)}
+{Is(TubeLight,Off)}
+{Is(TubeLight,On)}
+{Is(Curtain,Off)}
+{Is(Curtain,On)}
+{Is(AC,Off)}
+{Is(AC,On)}
+{Is(ACTemperature,Up)}
+{Is(ACTemperature,Down)}
+{Is(HallLight,Off)}
+{Is(HallLight,On)}
+{Is(TubeLight,Off)}
+{Is(TubeLight,On)}
+{Is(Curtain,Off)}
+{Is(Curtain,On)}
+{Is(AC,Off)}
+{Is(AC,On)}
+{Is(ACTemperature,Up)}
+{Is(ACTemperature,Down)}
+{Is(HallLight,Off)}
+{Is(HallLight,On)}
+{Is(TubeLight,Off)}
+{Is(TubeLight,On)}
+{Is(Curtain,Off)}
+{Is(Curtain,On)}
+{Is(AC,Off)}
+{Is(AC,On)}
+{Is(ACTemperature,Up)}
+{Is(ACTemperature,Down)}
+{Is(HallLight,Off)}
+{Is(HallLight,On)}
+{Is(TubeLight,Off)}
+{Is(TubeLight,On)}
+{Is(Curtain,Off)}
+{Is(Curtain,On)}
+{Is(AC,Off)}
+{Is(AC,On)}
+{Is(ACTemperature,Up)}
+{Is(ACTemperature,Down)}
+{Is(HallLight,Off)}
+{Is(HallLight,On)}
+{Is(TubeLight,Off)}
+{Is(TubeLight,On)}
+{Is(Curtain,Off)}
+{Is(Curtain,On)}
+{Is(AC,Off)}
+{Is(AC,On)}
+{Is(ACTemperature,Up)}
+{Is(ACTemperature,Down)}
+{Is(HallLight,Off)}
+{Is(HallLight,On)}
+{Is(TubeLight,Off)}
+{Is(TubeLight,On)}
+{Is(Curtain,Off)}
+{Is(Curtain,On)}
+{Is(AC,Off)}
+{Is(AC,On)}
+{Is(ACTemperature,Up)}
+{Is(ACTemperature,Down)}
+{Is(HallLight,Off)}
+{Is(HallLight,On)}
+{Is(TubeLight,Off)}
+{Is(TubeLight,On)}
+{Is(Curtain,Off)}
+{Is(Curtain,On)}
+{Is(AC,Off)}
+{Is(AC,On)}
+{Is(ACTemperature,Up)}
+{Is(ACTemperature,Down)}
+{Is(HallLight,Off)}
+{Is(HallLight,On)}
+{Is(TubeLight,Off)}
+{Is(TubeLight,On)}
+{Is(Curtain,Off)}
+{Is(Curtain,On)}
+{Is(AC,Off)}
+{Is(AC,On)}
+{Is(ACTemperature,Up)}
+{Is(ACTemperature,Down)}
+{Is(HallLight,Off)}
+{Is(HallLight,On)}
+{Is(TubeLight,Off)}
+{Is(TubeLight,On)}
+{Is(Curtain,Off)}
+{Is(Curtain,On)}
+{Is(AC,Off)}
+{Is(AC,On)}
+{Is(ACTemperature,Up)}
+{Is(ACTemperature,Down)}
+{Is(HallLight,Off)}
+{Is(HallLight,On)}
+{Is(TubeLight,Off)}
+{Is(TubeLight,On)}
+{Is(Curtain,Off)}
+{Is(Curtain,On)}
+{Is(AC,Off)}
+{Is(AC,On)}
+{Is(ACTemperature,Up)}
+{Is(ACTemperature,Down)}
+{Is(HallLight,Off)}
+{Is(HallLight,On)}
+{Is(TubeLight,Off)}
+{Is(TubeLight,On)}
+{Is(Curtain,Off)}
+{Is(Curtain,On)}
+{Is(AC,Off)}
+{Is(AC,On)}
+{Is(ACTemperature,Up)}
+{Is(ACTemperature,Down)}
+{Is(HallLight,Off)}
+{Is(HallLight,On)}
+{Is(TubeLight,Off)}
+{Is(TubeLight,On)}
+{Is(Curtain,Off)}
+{Is(Curtain,On)}
+{Is(AC,Off)}
+{Is(AC,On)}
+{Is(ACTemperature,Up)}
+{Is(ACTemperature,Down)}
+{Is(HallLight,Off)}
+{Is(HallLight,On)}
+{Is(TubeLight,Off)}
+{Is(TubeLight,On)}
+{Is(Curtain,Off)}
+{Is(Curtain,On)}
+{Is(AC,Off)}
+{Is(AC,On)}
+{Is(ACTemperature,Up)}
+{Is(ACTemperature,Down)}
+{Is(HallLight,Off)}
+{Is(HallLight,On)}
+{Is(TubeLight,Off)}
+{Is(TubeLight,On)}
+{Is(Curtain,Off)}
+{Is(Curtain,On)}
+{Is(AC,Off)}
+{Is(AC,On)}
+{Is(ACTemperature,Up)}
+{Is(ACTemperature,Down)}
+{Is(HallLight,Off)}
+{Is(HallLight,On)}
+{Is(TubeLight,Off)}
+{Is(TubeLight,On)}
+{Is(Curtain,Off)}
+{Is(Curtain,On)}
+{Is(AC,Off)}
+{Is(AC,On)}
+{Is(ACTemperature,Up)}
+{Is(ACTemperature,Down)}
+{Is(HallLight,Off)}
+{Is(HallLight,On)}
+{Is(TubeLight,Off)}
+{Is(TubeLight,On)}
+{Is(Curtain,Off)}
+{Is(Curtain,On)}
+{Is(AC,Off)}
+{Is(AC,On)}
+{Is(ACTemperature,Up)}
+{Is(ACTemperature,Down)}
+{Is(HallLight,Off)}
+{Is(HallLight,On)}
+{Is(TubeLight,Off)}
+{Is(TubeLight,On)}
+{Is(Curtain,Off)}
+{Is(Curtain,On)}
+{Is(AC,Off)}
+{Is(AC,On)}
+{Is(ACTemperature,Up)}
+{Is(ACTemperature,Down)}
+{Is(HallLight,Off)}
+{Is(HallLight,On)}
+{Is(TubeLight,Off)}
+{Is(TubeLight,On)}
+{Is(Curtain,Off)}
+{Is(Curtain,On)}
+{Is(AC,Off)}
+{Is(AC,On)}
+{Is(ACTemperature,Up)}
+{Is(ACTemperature,Down)}
+{Is(HallLight,Off)}
+{Is(HallLight,On)}
+{Is(TubeLight,Off)}
+{Is(TubeLight,On)}
+{Is(Curtain,Off)}
+{Is(Curtain,On)}
+{Is(AC,Off)}
+{Is(AC,On)}
+{Is(ACTemperature,Up)}
+{Is(ACTemperature,Down)}
+{Is(HallLight,Off)}
+{Is(HallLight,On)}
+{Is(TubeLight,Off)}
+{Is(TubeLight,On)}
+{Is(Curtain,Off)}
+{Is(Curtain,On)}
+{Is(AC,Off)}
+{Is(AC,On)}
+{Is(ACTemperature,Up)}
+{Is(ACTemperature,Down)}
+{Is(HallLight,Off)}
+{Is(HallLight,On)}
+{Is(TubeLight,Off)}
+{Is(TubeLight,On)}
+{Is(Curtain,Off)}
+{Is(Curtain,On)}
+{Is(AC,Off)}
+{Is(AC,On)}
+{Is(ACTemperature,Up)}
+{Is(ACTemperature,Down)}
+{Is(HallLight,Off)}
+{Is(HallLight,On)}
+{Is(TubeLight,Off)}
+{Is(TubeLight,On)}
+{Is(Curtain,Off)}
+{Is(Curtain,On)}
+{Is(AC,Off)}
+{Is(AC,On)}
+{Is(ACTemperature,Up)}
+{Is(ACTemperature,Down)}
+{Is(HallLight,Off)}
+{Is(HallLight,On)}
+{Is(TubeLight,Off)}
+{Is(TubeLight,On)}
+{Is(Curtain,Off)}
+{Is(Curtain,On)}
+{Is(AC,Off)}
+{Is(AC,On)}
+{Is(ACTemperature,Up)}
+{Is(ACTemperature,Down)}
+{Is(HallLight,Off)}
+{Is(HallLight,On)}
+{Is(TubeLight,Off)}
+{Is(TubeLight,On)}
+{Is(Curtain,Off)}
+{Is(Curtain,On)}
+{Is(AC,Off)}
+{Is(AC,On)}
+{Is(ACTemperature,Up)}
+{Is(ACTemperature,Down)}
+{Is(HallLight,Off)}
+{Is(HallLight,On)}
+{Is(TubeLight,Off)}
+{Is(TubeLight,On)}
+{Is(Curtain,Off)}
+{Is(Curtain,On)}
+{Is(AC,Off)}
+{Is(AC,On)}
+{Is(ACTemperature,Up)}
+{Is(ACTemperature,Down)}
+{Is(HallLight,Off)}
+{Is(HallLight,On)}
+{Is(TubeLight,Off)}
+{Is(TubeLight,On)}
+{Is(Curtain,Off)}
+{Is(Curtain,On)}
+{Is(AC,Off)}
+{Is(AC,On)}
+{Is(ACTemperature,Up)}
+{Is(ACTemperature,Down)}
+{Is(HallLight,Off)}
+{Is(HallLight,On)}
+{Is(TubeLight,Off)}
+{Is(TubeLight,On)}
+{Is(Curtain,Off)}
+{Is(Curtain,On)}
+{Is(AC,Off)}
+{Is(AC,On)}
+{Is(ACTemperature,Up)}
+{Is(ACTemperature,Down)}
+{Is(HallLight,Off)}
+{Is(HallLight,On)}
+{Is(TubeLight,Off)}
+{Is(TubeLight,On)}
+{Is(Curtain,Off)}
+{Is(Curtain,On)}
+{Is(AC,Off)}
+{Is(AC,On)}
+{Is(ACTemperature,Up)}
+{Is(ACTemperature,Down)}
+{Is(HallLight,Off)}
+{Is(HallLight,On)}
+{Is(TubeLight,Off)}
+{Is(TubeLight,On)}
+{Is(Curtain,Off)}
+{Is(Curtain,On)}
+{Is(AC,Off)}
+{Is(AC,On)}
+{Is(ACTemperature,Up)}
+{Is(ACTemperature,Down)}
+{Is(HallLight,Off)}
+{Is(HallLight,On)}
+{Is(TubeLight,Off)}
+{Is(TubeLight,On)}
+{Is(Curtain,Off)}
+{Is(Curtain,On)}
+{Is(AC,Off)}
+{Is(AC,On)}
+{Is(ACTemperature,Up)}
+{Is(ACTemperature,Down)}
+{Is(HallLight,Off)}
+{Is(HallLight,On)}
+{Is(TubeLight,Off)}
+{Is(TubeLight,On)}
+{Is(Curtain,Off)}
+{Is(Curtain,On)}
+{Is(AC,Off)}
+{Is(AC,On)}
+{Is(ACTemperature,Up)}
+{Is(ACTemperature,Down)}
+{Is(HallLight,Off)}
+{Is(HallLight,On)}
+{Is(TubeLight,Off)}
+{Is(TubeLight,On)}
+{Is(Curtain,Off)}
+{Is(Curtain,On)}
+{Is(AC,Off)}
+{Is(AC,On)}
+{Is(ACTemperature,Up)}
+{Is(ACTemperature,Down)}
+{Is(HallLight,Off)}
+{Is(HallLight,On)}
+{Is(TubeLight,Off)}
+{Is(TubeLight,On)}
+{Is(Curtain,Off)}
+{Is(Curtain,On)}
+{Is(AC,Off)}
+{Is(AC,On)}
+{Is(ACTemperature,Up)}
+{Is(ACTemperature,Down)}
+{Is(HallLight,Off)}
+{Is(HallLight,On)}
+{Is(TubeLight,Off)}
+{Is(TubeLight,On)}
+{Is(Curtain,Off)}
+{Is(Curtain,On)}
+{Is(AC,Off)}
+{Is(AC,On)}
+{Is(ACTemperature,Up)}
+{Is(ACTemperature,Down)}
+{Is(HallLight,Off)}
+{Is(HallLight,On)}
+{Is(TubeLight,Off)}
+{Is(TubeLight,On)}
+{Is(Curtain,Off)}
+{Is(Curtain,On)}
+{Is(AC,Off)}
+{Is(AC,On)}
+{Is(ACTemperature,Up)}
+{Is(ACTemperature,Down)}
+{Is(HallLight,Off)}
+{Is(HallLight,On)}
+{Is(TubeLight,Off)}
+{Is(TubeLight,On)}
+{Is(Curtain,Off)}
+{Is(Curtain,On)}
+{Is(AC,Off)}
+{Is(AC,On)}
+{Is(ACTemperature,Up)}
+{Is(ACTemperature,Down)}
+{Is(HallLight,Off)}
+{Is(HallLight,On)}
+{Is(TubeLight,Off)}
+{Is(TubeLight,On)}
+{Is(Curtain,Off)}
+{Is(Curtain,On)}
+{Is(AC,Off)}
+{Is(AC,On)}
+{Is(ACTemperature,Up)}
+{Is(ACTemperature,Down)}
+{Is(HallLight,Off)}
+{Is(HallLight,On)}
+{Is(TubeLight,Off)}
+{Is(TubeLight,On)}
+{Is(Curtain,Off)}
+{Is(Curtain,On)}
+{Is(AC,Off)}
+{Is(AC,On)}
+{Is(ACTemperature,Up)}
+{Is(ACTemperature,Down)}
+{Is(HallLight,Off)}
+{Is(HallLight,On)}
+{Is(TubeLight,Off)}
+{Is(TubeLight,On)}
+{Is(Curtain,Off)}
+{Is(Curtain,On)}
+{Is(AC,Off)}
+{Is(AC,On)}
+{Is(ACTemperature,Up)}
+{Is(ACTemperature,Down)}
+{Is(HallLight,Off)}
+{Is(HallLight,On)}
+{Is(TubeLight,Off)}
+{Is(TubeLight,On)}
+{Is(Curtain,Off)}
+{Is(Curtain,On)}
+{Is(AC,Off)}
+{Is(AC,On)}
+{Is(ACTemperature,Up)}
+{Is(ACTemperature,Down)}
+{Is(HallLight,Off)}
+{Is(HallLight,On)}
+{Is(TubeLight,Off)}
+{Is(TubeLight,On)}
+{Is(Curtain,Off)}
+{Is(Curtain,On)}
+{Is(AC,Off)}
+{Is(AC,On)}
+{Is(ACTemperature,Up)}
+{Is(ACTemperature,Down)}
+{Is(HallLight,Off)}
+{Is(HallLight,On)}
+{Is(TubeLight,Off)}
+{Is(TubeLight,On)}
+{Is(Curtain,Off)}
+{Is(Curtain,On)}
+{Is(AC,Off)}
+{Is(AC,On)}
+{Is(ACTemperature,Up)}
+{Is(ACTemperature,Down)}
+{Is(HallLight,Off)}
+{Is(HallLight,On)}
+{Is(TubeLight,Off)}
+{Is(TubeLight,On)}
+{Is(Curtain,Off)}
+{Is(Curtain,On)}
+{Is(AC,Off)}
+{Is(AC,On)}
+{Is(ACTemperature,Up)}
+{Is(ACTemperature,Down)}
+{Is(HallLight,Off)}
+{Is(HallLight,On)}
+{Is(TubeLight,Off)}
+{Is(TubeLight,On)}
+{Is(Curtain,Off)}
+{Is(Curtain,On)}
+{Is(AC,Off)}
+{Is(AC,On)}
+{Is(ACTemperature,Up)}
+{Is(ACTemperature,Down)}
+{Is(HallLight,Off)}
+{Is(HallLight,On)}
+{Is(TubeLight,Off)}
+{Is(TubeLight,On)}
+{Is(Curtain,Off)}
+{Is(Curtain,On)}
+{Is(AC,Off)}
+{Is(AC,On)}
+{Is(ACTemperature,Up)}
+{Is(ACTemperature,Down)}
+{Is(HallLight,Off)}
+{Is(HallLight,On)}
+{Is(TubeLight,Off)}
+{Is(TubeLight,On)}
+{Is(Curtain,Off)}
+{Is(Curtain,On)}
+{Holding(Softdrink)}
+{Holding(BottledDrink)}
+{Holding(Yogurt)}
+{Holding(ADMilk)}
+{Holding(MilkDrink)}
+{Holding(Milk)}
+{Holding(VacuumCup)}
+{Holding(Nothing)}
+{Holding(Softdrink)}
+{Holding(BottledDrink)}
+{Holding(Yogurt)}
+{Holding(ADMilk)}
+{Holding(MilkDrink)}
+{Holding(Milk)}
+{Holding(VacuumCup)}
+{Holding(Nothing)}
+{Holding(Softdrink)}
+{Holding(BottledDrink)}
+{Holding(Yogurt)}
+{Holding(ADMilk)}
+{Holding(MilkDrink)}
+{Holding(Milk)}
+{Holding(VacuumCup)}
+{Holding(Nothing)}
+{Holding(Softdrink)}
+{Holding(BottledDrink)}
+{Holding(Yogurt)}
+{Holding(ADMilk)}
+{Holding(MilkDrink)}
+{Holding(Milk)}
+{Holding(VacuumCup)}
+{Holding(Nothing)}
+{Holding(Softdrink)}
+{Holding(BottledDrink)}
+{Holding(Yogurt)}
+{Holding(ADMilk)}
+{Holding(MilkDrink)}
+{Holding(Milk)}
+{Holding(VacuumCup)}
+{Holding(Nothing)}
+{Holding(Softdrink)}
+{Holding(BottledDrink)}
+{Holding(Yogurt)}
+{Holding(ADMilk)}
+{Holding(MilkDrink)}
+{Holding(Milk)}
+{Holding(VacuumCup)}
+{Holding(Nothing)}
+{Holding(Softdrink)}
+{Holding(BottledDrink)}
+{Holding(Yogurt)}
+{Holding(ADMilk)}
+{Holding(MilkDrink)}
+{Holding(Milk)}
+{Holding(VacuumCup)}
+{Holding(Nothing)}
+{Holding(Softdrink)}
+{Holding(BottledDrink)}
+{Holding(Yogurt)}
+{Holding(ADMilk)}
+{Holding(MilkDrink)}
+{Holding(Milk)}
+{Holding(VacuumCup)}
+{Holding(Nothing)}
+{Holding(Softdrink)}
+{Holding(BottledDrink)}
+{Holding(Yogurt)}
+{Holding(ADMilk)}
+{Holding(MilkDrink)}
+{Holding(Milk)}
+{Holding(VacuumCup)}
+{Holding(Nothing)}
+{Holding(Softdrink)}
+{Holding(BottledDrink)}
+{Holding(Yogurt)}
+{Holding(ADMilk)}
+{Holding(MilkDrink)}
+{Holding(Milk)}
+{Holding(VacuumCup)}
+{Holding(Nothing)}
+{Holding(Softdrink)}
+{Holding(BottledDrink)}
+{Holding(Yogurt)}
+{Holding(ADMilk)}
+{Holding(MilkDrink)}
+{Holding(Milk)}
+{Holding(VacuumCup)}
+{Holding(Nothing)}
+{Holding(Softdrink)}
+{Holding(BottledDrink)}
+{Holding(Yogurt)}
+{Holding(ADMilk)}
+{Holding(MilkDrink)}
+{Holding(Milk)}
+{Holding(VacuumCup)}
+{Holding(Nothing)}
+{Holding(Softdrink)}
+{Holding(BottledDrink)}
+{Holding(Yogurt)}
+{Holding(ADMilk)}
+{Holding(MilkDrink)}
+{Holding(Milk)}
+{Holding(VacuumCup)}
+{Holding(Nothing)}
+{Holding(Softdrink)}
+{Holding(BottledDrink)}
+{Holding(Yogurt)}
+{Holding(ADMilk)}
+{Holding(MilkDrink)}
+{Holding(Milk)}
+{Holding(VacuumCup)}
+{Holding(Nothing)}
+{Holding(Softdrink)}
+{Holding(BottledDrink)}
+{Holding(Yogurt)}
+{Holding(ADMilk)}
+{Holding(MilkDrink)}
+{Holding(Milk)}
+{Holding(VacuumCup)}
+{Holding(Nothing)}
+{Holding(Softdrink)}
+{Holding(BottledDrink)}
+{Holding(Yogurt)}
+{Holding(ADMilk)}
+{Holding(MilkDrink)}
+{Holding(Milk)}
+{Holding(VacuumCup)}
+{Holding(Nothing)}
+{Holding(Softdrink)}
+{Holding(BottledDrink)}
+{Holding(Yogurt)}
+{Holding(ADMilk)}
+{Holding(MilkDrink)}
+{Holding(Milk)}
+{Holding(VacuumCup)}
+{Holding(Nothing)}
+{Holding(Softdrink)}
+{Holding(BottledDrink)}
+{Holding(Yogurt)}
+{Holding(ADMilk)}
+{Holding(MilkDrink)}
+{Holding(Milk)}
+{Holding(VacuumCup)}
+{Holding(Nothing)}
+{Holding(Softdrink)}
+{Holding(BottledDrink)}
+{Holding(Yogurt)}
+{Holding(ADMilk)}
+{Holding(MilkDrink)}
+{Holding(Milk)}
+{Holding(VacuumCup)}
+{Holding(Nothing)}
+{Holding(Softdrink)}
+{Holding(BottledDrink)}
+{Holding(Yogurt)}
+{Holding(ADMilk)}
+{Holding(MilkDrink)}
+{Holding(Milk)}
+{Holding(VacuumCup)}
+{Holding(Nothing)}
+{Holding(Softdrink)}
+{Holding(BottledDrink)}
+{Holding(Yogurt)}
+{Holding(ADMilk)}
+{Holding(MilkDrink)}
+{Holding(Milk)}
+{Holding(VacuumCup)}
+{Holding(Nothing)}
+{Holding(Softdrink)}
+{Holding(BottledDrink)}
+{Holding(Yogurt)}
+{Holding(ADMilk)}
+{Holding(MilkDrink)}
+{Holding(Milk)}
+{Holding(VacuumCup)}
+{Holding(Nothing)}
+{Holding(Softdrink)}
+{Holding(BottledDrink)}
+{Holding(Yogurt)}
+{Holding(ADMilk)}
+{Holding(MilkDrink)}
+{Holding(Milk)}
+{Holding(VacuumCup)}
+{Holding(Nothing)}
+{Holding(Softdrink)}
+{Holding(BottledDrink)}
+{Holding(Yogurt)}
+{Holding(ADMilk)}
+{Holding(MilkDrink)}
+{Holding(Milk)}
+{Holding(VacuumCup)}
+{Holding(Nothing)}
+{Holding(Softdrink)}
+{Holding(BottledDrink)}
+{Holding(Yogurt)}
+{Holding(ADMilk)}
+{Holding(MilkDrink)}
+{Holding(Milk)}
+{Holding(VacuumCup)}
+{Holding(Nothing)}
+{Holding(Softdrink)}
+{Holding(BottledDrink)}
+{Holding(Yogurt)}
+{Holding(ADMilk)}
+{Holding(MilkDrink)}
+{Holding(Milk)}
+{Holding(VacuumCup)}
+{Holding(Nothing)}
+{Holding(Softdrink)}
+{Holding(BottledDrink)}
+{Holding(Yogurt)}
+{Holding(ADMilk)}
+{Holding(MilkDrink)}
+{Holding(Milk)}
+{Holding(VacuumCup)}
+{Holding(Nothing)}
+{Holding(Softdrink)}
+{Holding(BottledDrink)}
+{Holding(Yogurt)}
+{Holding(ADMilk)}
+{Holding(MilkDrink)}
+{Holding(Milk)}
+{Holding(VacuumCup)}
+{Holding(Nothing)}
+{Holding(Softdrink)}
+{Holding(BottledDrink)}
+{Holding(Yogurt)}
+{Holding(ADMilk)}
+{Holding(MilkDrink)}
+{Holding(Milk)}
+{Holding(VacuumCup)}
+{Holding(Nothing)}
+{Holding(Softdrink)}
+{Holding(BottledDrink)}
+{Holding(Yogurt)}
+{Holding(ADMilk)}
+{Holding(MilkDrink)}
+{Holding(Milk)}
+{Holding(VacuumCup)}
+{Holding(Nothing)}
+{Holding(Softdrink)}
+{Holding(BottledDrink)}
+{Holding(Yogurt)}
+{Holding(ADMilk)}
+{Holding(MilkDrink)}
+{Holding(Milk)}
+{Holding(VacuumCup)}
+{Holding(Nothing)}
+{Holding(Softdrink)}
+{Holding(BottledDrink)}
+{Holding(Yogurt)}
+{Holding(ADMilk)}
+{Holding(MilkDrink)}
+{Holding(Milk)}
+{Holding(VacuumCup)}
+{Holding(Nothing)}
+{Holding(Softdrink)}
+{Holding(BottledDrink)}
+{Holding(Yogurt)}
+{Holding(ADMilk)}
+{Holding(MilkDrink)}
+{Holding(Milk)}
+{Holding(VacuumCup)}
+{Holding(Nothing)}
+{Holding(Softdrink)}
+{Holding(BottledDrink)}
+{Holding(Yogurt)}
+{Holding(ADMilk)}
+{Holding(MilkDrink)}
+{Holding(Milk)}
+{Holding(VacuumCup)}
+{Holding(Nothing)}
+{Holding(Softdrink)}
+{Holding(BottledDrink)}
+{Holding(Yogurt)}
+{Holding(ADMilk)}
+{Holding(MilkDrink)}
+{Holding(Milk)}
+{Holding(VacuumCup)}
+{Holding(Nothing)}
+{Holding(Softdrink)}
+{Holding(BottledDrink)}
+{Holding(Yogurt)}
+{Holding(ADMilk)}
+{Holding(MilkDrink)}
+{Holding(Milk)}
+{Holding(VacuumCup)}
+{Holding(Nothing)}
+{Holding(Softdrink)}
+{Holding(BottledDrink)}
+{Holding(Yogurt)}
+{Holding(ADMilk)}
+{Holding(MilkDrink)}
+{Holding(Milk)}
+{Holding(VacuumCup)}
+{Holding(Nothing)}
+{Holding(Softdrink)}
+{Holding(BottledDrink)}
+{Holding(Yogurt)}
+{Holding(ADMilk)}
+{Holding(MilkDrink)}
+{Holding(Milk)}
+{Holding(VacuumCup)}
+{Holding(Nothing)}
+{Holding(Softdrink)}
+{Holding(BottledDrink)}
+{Holding(Yogurt)}
+{Holding(ADMilk)}
+{Holding(MilkDrink)}
+{Holding(Milk)}
+{Holding(VacuumCup)}
+{Holding(Nothing)}
+{Holding(Softdrink)}
+{Holding(BottledDrink)}
+{Holding(Yogurt)}
+{Holding(ADMilk)}
+{Holding(MilkDrink)}
+{Holding(Milk)}
+{Holding(VacuumCup)}
+{Holding(Nothing)}
+{Holding(Softdrink)}
+{Holding(BottledDrink)}
+{Holding(Yogurt)}
+{Holding(ADMilk)}
+{Holding(MilkDrink)}
+{Holding(Milk)}
+{Holding(VacuumCup)}
+{Holding(Nothing)}
+{Holding(Softdrink)}
+{Holding(BottledDrink)}
+{Holding(Yogurt)}
+{Holding(ADMilk)}
+{Holding(MilkDrink)}
+{Holding(Milk)}
+{Holding(VacuumCup)}
+{Holding(Nothing)}
+{Holding(Softdrink)}
+{Holding(BottledDrink)}
+{Holding(Yogurt)}
+{Holding(ADMilk)}
+{Holding(MilkDrink)}
+{Holding(Milk)}
+{Holding(VacuumCup)}
+{Holding(Nothing)}
+{Holding(Softdrink)}
+{Holding(BottledDrink)}
+{Holding(Yogurt)}
+{Holding(ADMilk)}
+{Holding(MilkDrink)}
+{Holding(Milk)}
+{Holding(VacuumCup)}
+{Holding(Nothing)}
+{Holding(Softdrink)}
+{Holding(BottledDrink)}
+{Holding(Yogurt)}
+{Holding(ADMilk)}
+{Holding(MilkDrink)}
+{Holding(Milk)}
+{Holding(VacuumCup)}
+{Holding(Nothing)}
+{Holding(Softdrink)}
+{Holding(BottledDrink)}
+{Holding(Yogurt)}
+{Holding(ADMilk)}
+{Holding(MilkDrink)}
+{Holding(Milk)}
+{Holding(VacuumCup)}
+{Holding(Nothing)}
+{Holding(Softdrink)}
+{Holding(BottledDrink)}
+{Holding(Yogurt)}
+{Holding(ADMilk)}
+{Holding(MilkDrink)}
+{Holding(Milk)}
+{Holding(VacuumCup)}
+{Holding(Nothing)}
+{Holding(Softdrink)}
+{Holding(BottledDrink)}
+{Holding(Yogurt)}
+{Holding(ADMilk)}
+{Holding(MilkDrink)}
+{Holding(Milk)}
+{Holding(VacuumCup)}
+{Holding(Nothing)}
+{Holding(Softdrink)}
+{Holding(BottledDrink)}
+{Holding(Yogurt)}
+{Holding(ADMilk)}
+{Holding(MilkDrink)}
+{Holding(Milk)}
+{Holding(VacuumCup)}
+{Holding(Nothing)}
+{Holding(Softdrink)}
+{Holding(BottledDrink)}
+{Holding(Yogurt)}
+{Holding(ADMilk)}
+{Holding(MilkDrink)}
+{Holding(Milk)}
+{Holding(VacuumCup)}
+{Holding(Nothing)}
+{Holding(Softdrink)}
+{Holding(BottledDrink)}
+{Holding(Yogurt)}
+{Holding(ADMilk)}
+{Holding(MilkDrink)}
+{Holding(Milk)}
+{Holding(VacuumCup)}
+{Holding(Nothing)}
+{Holding(Softdrink)}
+{Holding(BottledDrink)}
+{Holding(Yogurt)}
+{Holding(ADMilk)}
+{Holding(MilkDrink)}
+{Holding(Milk)}
+{Holding(VacuumCup)}
+{Holding(Nothing)}
+{Holding(Softdrink)}
+{Holding(BottledDrink)}
+{Holding(Yogurt)}
+{Holding(ADMilk)}
+{Holding(MilkDrink)}
+{Holding(Milk)}
+{Holding(VacuumCup)}
+{Holding(Nothing)}
+{Holding(Softdrink)}
+{Holding(BottledDrink)}
+{Holding(Yogurt)}
+{Holding(ADMilk)}
+{Holding(MilkDrink)}
+{Holding(Milk)}
+{Holding(VacuumCup)}
+{Holding(Nothing)}
+{Holding(Softdrink)}
+{Holding(BottledDrink)}
+{Holding(Yogurt)}
+{Holding(ADMilk)}
+{Holding(MilkDrink)}
+{Holding(Milk)}
+{Holding(VacuumCup)}
+{Holding(Nothing)}
+{Holding(Softdrink)}
+{Holding(BottledDrink)}
+{Holding(Yogurt)}
+{Holding(ADMilk)}
+{Holding(MilkDrink)}
+{Holding(Milk)}
+{Holding(VacuumCup)}
+{Holding(Nothing)}
+{Holding(Softdrink)}
+{Holding(BottledDrink)}
+{Holding(Yogurt)}
+{Holding(ADMilk)}
+{Holding(MilkDrink)}
+{Holding(Milk)}
+{Holding(VacuumCup)}
+{Holding(Nothing)}
+{Holding(Softdrink)}
+{Holding(BottledDrink)}
+{Holding(Yogurt)}
+{Holding(ADMilk)}
+{Holding(MilkDrink)}
+{Holding(Milk)}
+{Holding(VacuumCup)}
+{Holding(Nothing)}
+{Holding(Softdrink)}
+{Holding(BottledDrink)}
+{Holding(Yogurt)}
+{Holding(ADMilk)}
+{Holding(MilkDrink)}
+{Holding(Milk)}
+{Holding(VacuumCup)}
+{Holding(Nothing)}
+{Holding(Softdrink)}
+{Holding(BottledDrink)}
+{Holding(Yogurt)}
+{Holding(ADMilk)}
+{Holding(MilkDrink)}
+{Holding(Milk)}
+{Holding(VacuumCup)}
+{Holding(Nothing)}
+{Holding(Softdrink)}
+{Holding(BottledDrink)}
+{Holding(Yogurt)}
+{Holding(ADMilk)}
+{Holding(MilkDrink)}
+{Holding(Milk)}
+{Holding(VacuumCup)}
+{Holding(Nothing)}
+{Holding(Softdrink)}
+{Holding(BottledDrink)}
+{Holding(Yogurt)}
+{Holding(ADMilk)}
+{Holding(MilkDrink)}
+{Holding(Milk)}
+{Holding(VacuumCup)}
+{Holding(Nothing)}
+{Holding(Softdrink)}
+{Holding(Milk)}
+{Holding(BottledDrink)}
+{Holding(Nothing)}
+{On(Coffee,Bar)}
+{On(Coffee,WaterTable)}
+{On(Coffee,CoffeeTable)}
+{On(Coffee,Bar2)}
+{On(Coffee,Table1)}
+{On(Coffee,Table2)}
+{On(Coffee,Table3)}
+{On(Water,Bar)}
+{On(Water,WaterTable)}
+{On(Water,CoffeeTable)}
+{On(Water,Bar2)}
+{On(Water,Table1)}
+{On(Water,Table2)}
+{On(Water,Table3)}
+{On(Dessert,Bar)}
+{On(Dessert,WaterTable)}
+{On(Dessert,CoffeeTable)}
+{On(Dessert,Bar2)}
+{On(Dessert,Table1)}
+{On(Dessert,Table2)}
+{On(Dessert,Table3)}
+{On(Coffee,Bar)}
+{On(Coffee,WaterTable)}
+{On(Coffee,CoffeeTable)}
+{On(Coffee,Bar2)}
+{On(Coffee,Table1)}
+{On(Coffee,Table2)}
+{On(Coffee,Table3)}
+{On(Water,Bar)}
+{On(Water,WaterTable)}
+{On(Water,CoffeeTable)}
+{On(Water,Bar2)}
+{On(Water,Table1)}
+{On(Water,Table2)}
+{On(Water,Table3)}
+{On(Dessert,Bar)}
+{On(Dessert,WaterTable)}
+{On(Dessert,CoffeeTable)}
+{On(Dessert,Bar2)}
+{On(Dessert,Table1)}
+{On(Dessert,Table2)}
+{On(Dessert,Table3)}
+{On(Coffee,Bar)}
+{On(Coffee,WaterTable)}
+{On(Coffee,CoffeeTable)}
+{On(Coffee,Bar2)}
+{On(Coffee,Table1)}
+{On(Coffee,Table2)}
+{On(Coffee,Table3)}
+{On(Water,Bar)}
+{On(Water,WaterTable)}
+{On(Water,CoffeeTable)}
+{On(Water,Bar2)}
+{On(Water,Table1)}
+{On(Water,Table2)}
+{On(Water,Table3)}
+{On(Dessert,Bar)}
+{On(Dessert,WaterTable)}
+{On(Dessert,CoffeeTable)}
+{On(Dessert,Bar2)}
+{On(Dessert,Table1)}
+{On(Dessert,Table2)}
+{On(Dessert,Table3)}
+{On(Coffee,Bar)}
+{On(Coffee,WaterTable)}
+{On(Coffee,CoffeeTable)}
+{On(Coffee,Bar2)}
+{On(Coffee,Table1)}
+{On(Coffee,Table2)}
+{On(Coffee,Table3)}
+{On(Water,Bar)}
+{On(Water,WaterTable)}
+{On(Water,CoffeeTable)}
+{On(Water,Bar2)}
+{On(Water,Table1)}
+{On(Water,Table2)}
+{On(Water,Table3)}
+{On(Dessert,Bar)}
+{On(Dessert,WaterTable)}
+{On(Dessert,CoffeeTable)}
+{On(Dessert,Bar2)}
+{On(Dessert,Table1)}
+{On(Dessert,Table2)}
+{On(Dessert,Table3)}
+{On(Coffee,Bar)}
+{On(Coffee,WaterTable)}
+{On(Coffee,CoffeeTable)}
+{On(Coffee,Bar2)}
+{On(Coffee,Table1)}
+{On(Coffee,Table2)}
+{On(Coffee,Table3)}
+{On(Water,Bar)}
+{On(Water,WaterTable)}
+{On(Water,CoffeeTable)}
+{On(Water,Bar2)}
+{On(Water,Table1)}
+{On(Water,Table2)}
+{On(Water,Table3)}
+{On(Dessert,Bar)}
+{On(Dessert,WaterTable)}
+{On(Dessert,CoffeeTable)}
+{On(Dessert,Bar2)}
+{On(Dessert,Table1)}
+{On(Dessert,Table2)}
+{On(Dessert,Table3)}
+{On(Coffee,Bar)}
+{On(Coffee,WaterTable)}
+{On(Coffee,CoffeeTable)}
+{On(Coffee,Bar2)}
+{On(Coffee,Table1)}
+{On(Coffee,Table2)}
+{On(Coffee,Table3)}
+{On(Water,Bar)}
+{On(Water,WaterTable)}
+{On(Water,CoffeeTable)}
+{On(Water,Bar2)}
+{On(Water,Table1)}
+{On(Water,Table2)}
+{On(Water,Table3)}
+{On(Dessert,Bar)}
+{On(Dessert,WaterTable)}
+{On(Dessert,CoffeeTable)}
+{On(Dessert,Bar2)}
+{On(Dessert,Table1)}
+{On(Dessert,Table2)}
+{On(Dessert,Table3)}
+{On(Coffee,Bar)}
+{On(Coffee,WaterTable)}
+{On(Coffee,CoffeeTable)}
+{On(Coffee,Bar2)}
+{On(Coffee,Table1)}
+{On(Coffee,Table2)}
+{On(Coffee,Table3)}
+{On(Water,Bar)}
+{On(Water,WaterTable)}
+{On(Water,CoffeeTable)}
+{On(Water,Bar2)}
+{On(Water,Table1)}
+{On(Water,Table2)}
+{On(Water,Table3)}
+{On(Dessert,Bar)}
+{On(Dessert,WaterTable)}
+{On(Dessert,CoffeeTable)}
+{On(Dessert,Bar2)}
+{On(Dessert,Table1)}
+{On(Dessert,Table2)}
+{On(Dessert,Table3)}
+{On(Coffee,Bar)}
+{On(Coffee,WaterTable)}
+{On(Coffee,CoffeeTable)}
+{On(Coffee,Bar2)}
+{On(Coffee,Table1)}
+{On(Coffee,Table2)}
+{On(Coffee,Table3)}
+{On(Water,Bar)}
+{On(Water,WaterTable)}
+{On(Water,CoffeeTable)}
+{On(Water,Bar2)}
+{On(Water,Table1)}
+{On(Water,Table2)}
+{On(Water,Table3)}
+{On(Dessert,Bar)}
+{On(Dessert,WaterTable)}
+{On(Dessert,CoffeeTable)}
+{On(Dessert,Bar2)}
+{On(Dessert,Table1)}
+{On(Dessert,Table2)}
+{On(Dessert,Table3)}
+{On(Coffee,Bar)}
+{On(Coffee,WaterTable)}
+{On(Coffee,CoffeeTable)}
+{On(Coffee,Bar2)}
+{On(Coffee,Table1)}
+{On(Coffee,Table2)}
+{On(Coffee,Table3)}
+{On(Water,Bar)}
+{On(Water,WaterTable)}
+{On(Water,CoffeeTable)}
+{On(Water,Bar2)}
+{On(Water,Table1)}
+{On(Water,Table2)}
+{On(Water,Table3)}
+{On(Dessert,Bar)}
+{On(Dessert,WaterTable)}
+{On(Dessert,CoffeeTable)}
+{On(Dessert,Bar2)}
+{On(Dessert,Table1)}
+{On(Dessert,Table2)}
+{On(Dessert,Table3)}
+{On(Coffee,Bar)}
+{On(Coffee,WaterTable)}
+{On(Coffee,CoffeeTable)}
+{On(Coffee,Bar2)}
+{On(Coffee,Table1)}
+{On(Coffee,Table2)}
+{On(Coffee,Table3)}
+{On(Water,Bar)}
+{On(Water,WaterTable)}
+{On(Water,CoffeeTable)}
+{On(Water,Bar2)}
+{On(Water,Table1)}
+{On(Water,Table2)}
+{On(Water,Table3)}
+{On(Dessert,Bar)}
+{On(Dessert,WaterTable)}
+{On(Dessert,CoffeeTable)}
+{On(Dessert,Bar2)}
+{On(Dessert,Table1)}
+{On(Dessert,Table2)}
+{On(Dessert,Table3)}
+{On(Coffee,Bar)}
+{On(Coffee,WaterTable)}
+{On(Coffee,CoffeeTable)}
+{On(Coffee,Bar2)}
+{On(Coffee,Table1)}
+{On(Coffee,Table2)}
+{On(Coffee,Table3)}
+{On(Water,Bar)}
+{On(Water,WaterTable)}
+{On(Water,CoffeeTable)}
+{On(Water,Bar2)}
+{On(Water,Table1)}
+{On(Water,Table2)}
+{On(Water,Table3)}
+{On(Dessert,Bar)}
+{On(Dessert,WaterTable)}
+{On(Dessert,CoffeeTable)}
+{On(Dessert,Bar2)}
+{On(Dessert,Table1)}
+{On(Dessert,Table2)}
+{On(Dessert,Table3)}
+{On(Coffee,Bar)}
+{On(Coffee,WaterTable)}
+{On(Coffee,CoffeeTable)}
+{On(Coffee,Bar2)}
+{On(Coffee,Table1)}
+{On(Coffee,Table2)}
+{On(Coffee,Table3)}
+{On(Water,Bar)}
+{On(Water,WaterTable)}
+{On(Water,CoffeeTable)}
+{On(Water,Bar2)}
+{On(Water,Table1)}
+{On(Water,Table2)}
+{On(Water,Table3)}
+{On(Dessert,Bar)}
+{On(Dessert,WaterTable)}
+{On(Dessert,CoffeeTable)}
+{On(Dessert,Bar2)}
+{On(Dessert,Table1)}
+{On(Dessert,Table2)}
+{On(Dessert,Table3)}
+{On(Coffee,Bar)}
+{On(Coffee,WaterTable)}
+{On(Coffee,CoffeeTable)}
+{On(Coffee,Bar2)}
+{On(Coffee,Table1)}
+{On(Coffee,Table2)}
+{On(Coffee,Table3)}
+{On(Water,Bar)}
+{On(Water,WaterTable)}
+{On(Water,CoffeeTable)}
+{On(Water,Bar2)}
+{On(Water,Table1)}
+{On(Water,Table2)}
+{On(Water,Table3)}
+{On(Dessert,Bar)}
+{On(Dessert,WaterTable)}
+{On(Dessert,CoffeeTable)}
+{On(Dessert,Bar2)}
+{On(Dessert,Table1)}
+{On(Dessert,Table2)}
+{On(Dessert,Table3)}
+{On(Coffee,Bar)}
+{On(Coffee,WaterTable)}
+{On(Coffee,CoffeeTable)}
+{On(Coffee,Bar2)}
+{On(Coffee,Table1)}
+{On(Coffee,Table2)}
+{On(Coffee,Table3)}
+{On(Water,Bar)}
+{On(Water,WaterTable)}
+{On(Water,CoffeeTable)}
+{On(Water,Bar2)}
+{On(Water,Table1)}
+{On(Water,Table2)}
+{On(Water,Table3)}
+{On(Dessert,Bar)}
+{On(Dessert,WaterTable)}
+{On(Dessert,CoffeeTable)}
+{On(Dessert,Bar2)}
+{On(Dessert,Table1)}
+{On(Dessert,Table2)}
+{On(Dessert,Table3)}
+{On(Coffee,Bar)}
+{On(Coffee,WaterTable)}
+{On(Coffee,CoffeeTable)}
+{On(Coffee,Bar2)}
+{On(Coffee,Table1)}
+{On(Coffee,Table2)}
+{On(Coffee,Table3)}
+{On(Water,Bar)}
+{On(Water,WaterTable)}
+{On(Water,CoffeeTable)}
+{On(Water,Bar2)}
+{On(Water,Table1)}
+{On(Water,Table2)}
+{On(Water,Table3)}
+{On(Dessert,Bar)}
+{On(Dessert,WaterTable)}
+{On(Dessert,CoffeeTable)}
+{On(Dessert,Bar2)}
+{On(Dessert,Table1)}
+{On(Dessert,Table2)}
+{On(Dessert,Table3)}
+{On(Coffee,Bar)}
+{On(Coffee,WaterTable)}
+{On(Coffee,CoffeeTable)}
+{On(Coffee,Bar2)}
+{On(Coffee,Table1)}
+{On(Coffee,Table2)}
+{On(Coffee,Table3)}
+{On(Water,Bar)}
+{On(Water,WaterTable)}
+{On(Water,CoffeeTable)}
+{On(Water,Bar2)}
+{On(Water,Table1)}
+{On(Water,Table2)}
+{On(Water,Table3)}
+{On(Dessert,Bar)}
+{On(Dessert,WaterTable)}
+{On(Dessert,CoffeeTable)}
+{On(Dessert,Bar2)}
+{On(Dessert,Table1)}
+{On(Dessert,Table2)}
+{On(Dessert,Table3)}
+{On(Coffee,Bar)}
+{On(Coffee,WaterTable)}
+{On(Coffee,CoffeeTable)}
+{On(Coffee,Bar2)}
+{On(Coffee,Table1)}
+{On(Coffee,Table2)}
+{On(Coffee,Table3)}
+{On(Water,Bar)}
+{On(Water,WaterTable)}
+{On(Water,CoffeeTable)}
+{On(Water,Bar2)}
+{On(Water,Table1)}
+{On(Water,Table2)}
+{On(Water,Table3)}
+{On(Dessert,Bar)}
+{On(Dessert,WaterTable)}
+{On(Dessert,CoffeeTable)}
+{On(Dessert,Bar2)}
+{On(Dessert,Table1)}
+{On(Dessert,Table2)}
+{On(Dessert,Table3)}
+{On(Coffee,Bar)}
+{On(Coffee,WaterTable)}
+{On(Coffee,CoffeeTable)}
+{On(Coffee,Bar2)}
+{On(Coffee,Table1)}
+{On(Coffee,Table2)}
+{On(Coffee,Table3)}
+{On(Water,Bar)}
+{On(Water,WaterTable)}
+{On(Water,CoffeeTable)}
+{On(Water,Bar2)}
+{On(Water,Table1)}
+{On(Water,Table2)}
+{On(Water,Table3)}
+{On(Dessert,Bar)}
+{On(Dessert,WaterTable)}
+{On(Dessert,CoffeeTable)}
+{On(Dessert,Bar2)}
+{On(Dessert,Table1)}
+{On(Dessert,Table2)}
+{On(Dessert,Table3)}
+{On(Coffee,Bar)}
+{On(Coffee,WaterTable)}
+{On(Coffee,CoffeeTable)}
+{On(Coffee,Bar2)}
+{On(Coffee,Table1)}
+{On(Coffee,Table2)}
+{On(Coffee,Table3)}
+{On(Water,Bar)}
+{On(Water,WaterTable)}
+{On(Water,CoffeeTable)}
+{On(Water,Bar2)}
+{On(Water,Table1)}
+{On(Water,Table2)}
+{On(Water,Table3)}
+{On(Dessert,Bar)}
+{On(Dessert,WaterTable)}
+{On(Dessert,CoffeeTable)}
+{On(Dessert,Bar2)}
+{On(Dessert,Table1)}
+{On(Dessert,Table2)}
+{On(Dessert,Table3)}
+{On(Coffee,Bar)}
+{On(Coffee,WaterTable)}
+{On(Coffee,CoffeeTable)}
+{On(Coffee,Bar2)}
+{On(Coffee,Table1)}
+{On(Coffee,Table2)}
+{On(Coffee,Table3)}
+{On(Water,Bar)}
+{On(Water,WaterTable)}
+{On(Water,CoffeeTable)}
+{On(Water,Bar2)}
+{On(Water,Table1)}
+{On(Water,Table2)}
+{On(Water,Table3)}
+{On(Dessert,Bar)}
+{On(Dessert,WaterTable)}
+{On(Dessert,CoffeeTable)}
+{On(Dessert,Bar2)}
+{On(Dessert,Table1)}
+{On(Dessert,Table2)}
+{On(Dessert,Table3)}
+{On(Coffee,Bar)}
+{On(Coffee,WaterTable)}
+{On(Coffee,CoffeeTable)}
+{On(Coffee,Bar2)}
+{On(Coffee,Table1)}
+{On(Coffee,Table2)}
+{On(Coffee,Table3)}
+{On(Water,Bar)}
+{On(Water,WaterTable)}
+{On(Water,CoffeeTable)}
+{On(Water,Bar2)}
+{On(Water,Table1)}
+{On(Water,Table2)}
+{On(Water,Table3)}
+{On(Dessert,Bar)}
+{On(Dessert,WaterTable)}
+{On(Dessert,CoffeeTable)}
+{On(Dessert,Bar2)}
+{On(Dessert,Table1)}
+{On(Dessert,Table2)}
+{On(Dessert,Table3)}
+{On(Coffee,Bar)}
+{On(Coffee,WaterTable)}
+{On(Coffee,CoffeeTable)}
+{On(Coffee,Bar2)}
+{On(Coffee,Table1)}
+{On(Coffee,Table2)}
+{On(Coffee,Table3)}
+{On(Water,Bar)}
+{On(Water,WaterTable)}
+{On(Water,CoffeeTable)}
+{On(Water,Bar2)}
+{On(Water,Table1)}
+{On(Water,Table2)}
+{On(Water,Table3)}
+{On(Dessert,Bar)}
+{On(Dessert,WaterTable)}
+{On(Dessert,CoffeeTable)}
+{On(Dessert,Bar2)}
+{On(Dessert,Table1)}
+{On(Dessert,Table2)}
+{On(Dessert,Table3)}
+{On(Coffee,Bar)}
+{On(Coffee,WaterTable)}
+{On(Coffee,CoffeeTable)}
+{On(Coffee,Bar2)}
+{On(Coffee,Table1)}
+{On(Coffee,Table2)}
+{On(Coffee,Table3)}
+{On(Water,Bar)}
+{On(Water,WaterTable)}
+{On(Water,CoffeeTable)}
+{On(Water,Bar2)}
+{On(Water,Table1)}
+{On(Water,Table2)}
+{On(Water,Table3)}
+{On(Dessert,Bar)}
+{On(Dessert,WaterTable)}
+{On(Dessert,CoffeeTable)}
+{On(Dessert,Bar2)}
+{On(Dessert,Table1)}
+{On(Dessert,Table2)}
+{On(Dessert,Table3)}
+{On(Coffee,Bar)}
+{On(Coffee,WaterTable)}
+{On(Coffee,CoffeeTable)}
+{On(Coffee,Bar2)}
+{On(Coffee,Table1)}
+{On(Coffee,Table2)}
+{On(Coffee,Table3)}
+{On(Water,Bar)}
+{On(Water,WaterTable)}
+{On(Water,CoffeeTable)}
+{On(Water,Bar2)}
+{On(Water,Table1)}
+{On(Water,Table2)}
+{On(Water,Table3)}
+{On(Dessert,Bar)}
+{On(Dessert,WaterTable)}
+{On(Dessert,CoffeeTable)}
+{On(Dessert,Bar2)}
+{On(Dessert,Table1)}
+{On(Dessert,Table2)}
+{On(Dessert,Table3)}
+{On(Coffee,Bar)}
+{On(Coffee,WaterTable)}
+{On(Coffee,CoffeeTable)}
+{On(Coffee,Bar2)}
+{On(Coffee,Table1)}
+{On(Coffee,Table2)}
+{On(Coffee,Table3)}
+{On(Water,Bar)}
+{On(Water,WaterTable)}
+{On(Water,CoffeeTable)}
+{On(Water,Bar2)}
+{On(Water,Table1)}
+{On(Water,Table2)}
+{On(Water,Table3)}
+{On(Dessert,Bar)}
+{On(Dessert,WaterTable)}
+{On(Dessert,CoffeeTable)}
+{On(Dessert,Bar2)}
+{On(Dessert,Table1)}
+{On(Dessert,Table2)}
+{On(Dessert,Table3)}
+{On(Coffee,Bar)}
+{On(Coffee,WaterTable)}
+{On(Coffee,CoffeeTable)}
+{On(Coffee,Bar2)}
+{On(Coffee,Table1)}
+{On(Coffee,Table2)}
+{On(Coffee,Table3)}
+{On(Water,Bar)}
+{On(Water,WaterTable)}
+{On(Water,CoffeeTable)}
+{On(Water,Bar2)}
+{On(Water,Table1)}
+{On(Water,Table2)}
+{On(Water,Table3)}
+{On(Dessert,Bar)}
+{On(Dessert,WaterTable)}
+{On(Dessert,CoffeeTable)}
+{On(Dessert,Bar2)}
+{On(Dessert,Table1)}
+{On(Dessert,Table2)}
+{On(Dessert,Table3)}
+{On(Coffee,Bar)}
+{On(Coffee,WaterTable)}
+{On(Coffee,CoffeeTable)}
+{On(Coffee,Bar2)}
+{On(Coffee,Table1)}
+{On(Coffee,Table2)}
+{On(Coffee,Table3)}
+{On(Water,Bar)}
+{On(Water,WaterTable)}
+{On(Water,CoffeeTable)}
+{On(Water,Bar2)}
+{On(Water,Table1)}
+{On(Water,Table2)}
+{On(Water,Table3)}
+{On(Dessert,Bar)}
+{On(Dessert,WaterTable)}
+{On(Dessert,CoffeeTable)}
+{On(Dessert,Bar2)}
+{On(Dessert,Table1)}
+{On(Dessert,Table2)}
+{On(Dessert,Table3)}
+{On(Coffee,Bar)}
+{On(Coffee,WaterTable)}
+{On(Coffee,CoffeeTable)}
+{On(Coffee,Bar2)}
+{On(Coffee,Table1)}
+{On(Coffee,Table2)}
+{On(Coffee,Table3)}
+{On(Water,Bar)}
+{On(Water,WaterTable)}
+{On(Water,CoffeeTable)}
+{On(Water,Bar2)}
+{On(Water,Table1)}
+{On(Water,Table2)}
+{On(Water,Table3)}
+{On(Dessert,Bar)}
+{On(Dessert,WaterTable)}
+{On(Dessert,CoffeeTable)}
+{On(Dessert,Bar2)}
+{On(Dessert,Table1)}
+{On(Dessert,Table2)}
+{On(Dessert,Table3)}
+{On(Coffee,Bar)}
+{On(Coffee,WaterTable)}
+{On(Coffee,CoffeeTable)}
+{On(Coffee,Bar2)}
+{On(Coffee,Table1)}
+{On(Coffee,Table2)}
+{On(Coffee,Table3)}
+{On(Water,Bar)}
+{On(Water,WaterTable)}
+{On(Water,CoffeeTable)}
+{On(Water,Bar2)}
+{On(Water,Table1)}
+{On(Water,Table2)}
+{On(Water,Table3)}
+{On(Dessert,Bar)}
+{On(Dessert,WaterTable)}
+{On(Dessert,CoffeeTable)}
+{On(Dessert,Bar2)}
+{On(Dessert,Table1)}
+{On(Dessert,Table2)}
+{On(Dessert,Table3)}
+{On(Coffee,Bar)}
+{On(Coffee,WaterTable)}
+{On(Coffee,CoffeeTable)}
+{On(Coffee,Bar2)}
+{On(Coffee,Table1)}
+{On(Coffee,Table2)}
+{On(Coffee,Table3)}
+{On(Water,Bar)}
+{On(Water,WaterTable)}
+{On(Water,CoffeeTable)}
+{On(Water,Bar2)}
+{On(Water,Table1)}
+{On(Water,Table2)}
+{On(Water,Table3)}
+{On(Dessert,Bar)}
+{On(Dessert,WaterTable)}
+{On(Dessert,CoffeeTable)}
+{On(Dessert,Bar2)}
+{On(Dessert,Table1)}
+{On(Dessert,Table2)}
+{On(Dessert,Table3)}
+{On(Coffee,Bar)}
+{On(Coffee,WaterTable)}
+{On(Coffee,CoffeeTable)}
+{On(Coffee,Bar2)}
+{On(Coffee,Table1)}
+{On(Coffee,Table2)}
+{On(Coffee,Table3)}
+{On(Water,Bar)}
+{On(Water,WaterTable)}
+{On(Water,CoffeeTable)}
+{On(Water,Bar2)}
+{On(Water,Table1)}
+{On(Water,Table2)}
+{On(Water,Table3)}
+{On(Dessert,Bar)}
+{On(Dessert,WaterTable)}
+{On(Dessert,CoffeeTable)}
+{On(Dessert,Bar2)}
+{On(Dessert,Table1)}
+{On(Dessert,Table2)}
+{On(Dessert,Table3)}
+{On(Coffee,Bar)}
+{On(Coffee,WaterTable)}
+{On(Coffee,CoffeeTable)}
+{On(Coffee,Bar2)}
+{On(Coffee,Table1)}
+{On(Coffee,Table2)}
+{On(Coffee,Table3)}
+{On(Water,Bar)}
+{On(Water,WaterTable)}
+{On(Water,CoffeeTable)}
+{On(Water,Bar2)}
+{On(Water,Table1)}
+{On(Water,Table2)}
+{On(Water,Table3)}
+{On(Dessert,Bar)}
+{On(Dessert,WaterTable)}
+{On(Dessert,CoffeeTable)}
+{On(Dessert,Bar2)}
+{On(Dessert,Table1)}
+{On(Dessert,Table2)}
+{On(Dessert,Table3)}
+{On(Coffee,Bar)}
+{On(Coffee,WaterTable)}
+{On(Coffee,CoffeeTable)}
+{On(Coffee,Bar2)}
+{On(Coffee,Table1)}
+{On(Coffee,Table2)}
+{On(Coffee,Table3)}
+{On(Water,Bar)}
+{On(Water,WaterTable)}
+{On(Water,CoffeeTable)}
+{On(Water,Bar2)}
+{On(Water,Table1)}
+{On(Water,Table2)}
+{On(Water,Table3)}
+{On(Dessert,Bar)}
+{On(Dessert,WaterTable)}
+{On(Dessert,CoffeeTable)}
+{On(Dessert,Bar2)}
+{On(Dessert,Table1)}
+{On(Dessert,Table2)}
+{On(Dessert,Table3)}
+{On(Coffee,Bar)}
+{On(Coffee,WaterTable)}
+{On(Coffee,CoffeeTable)}
+{On(Coffee,Bar2)}
+{On(Coffee,Table1)}
+{On(Coffee,Table2)}
+{On(Coffee,Table3)}
+{On(Water,Bar)}
+{On(Water,WaterTable)}
+{On(Water,CoffeeTable)}
+{On(Water,Bar2)}
+{On(Water,Table1)}
+{On(Water,Table2)}
+{On(Water,Table3)}
+{On(Dessert,Bar)}
+{On(Dessert,WaterTable)}
+{On(Dessert,CoffeeTable)}
+{On(Dessert,Bar2)}
+{On(Dessert,Table1)}
+{On(Dessert,Table2)}
+{On(Dessert,Table3)}
+{On(Coffee,Bar)}
+{On(Coffee,WaterTable)}
+{On(Coffee,CoffeeTable)}
+{On(Coffee,Bar2)}
+{On(Coffee,Table1)}
+{On(Coffee,Table2)}
+{On(Coffee,Table3)}
+{On(Water,Bar)}
+{On(Water,WaterTable)}
+{On(Water,CoffeeTable)}
+{On(Water,Bar2)}
+{On(Water,Table1)}
+{On(Water,Table2)}
+{On(Water,Table3)}
+{On(Dessert,Bar)}
+{On(Dessert,WaterTable)}
+{On(Dessert,CoffeeTable)}
+{On(Dessert,Bar2)}
+{On(Dessert,Table1)}
+{On(Dessert,Table2)}
+{On(Dessert,Table3)}
+{On(Coffee, CoffeeTable)}
+{On(Water, WaterTable)}
+{On(Water, CoffeeTable)}
+{On(Dessert, WaterTable)}
+{On(Water, Table1)}
+{On(Coffee, WaterTable)}
+{On(Water, CoffeeTable)}
+{On(Dessert, Table1)}
+{On(Coffee, Bar)}
+{On(Coffee, Table3)}
+{On(Coffee, Bar2)}
+{On(Coffee, Table2)}
+{On(Water, Bar2)}
+{On(Dessert, Bar)}
+{On(Coffee, WaterTable)}
+{At(Robot,Bar),On(Softdrink,Bar)}
+{At(Robot,Bar),On(Softdrink,WaterTable)}
+{At(Robot,Bar),On(Softdrink,CoffeeTable)}
+{At(Robot,Bar),On(Softdrink,Bar2)}
+{At(Robot,Bar),On(Softdrink,Table1)}
+{At(Robot,Bar),On(Softdrink,Table2)}
+{At(Robot,Bar),On(Softdrink,Table3)}
+{At(Robot,Bar),On(BottledDrink,Bar)}
+{At(Robot,Bar),On(BottledDrink,WaterTable)}
+{At(Robot,Bar),On(BottledDrink,CoffeeTable)}
+{At(Robot,Bar),On(BottledDrink,Bar2)}
+{At(Robot,Bar),On(BottledDrink,Table1)}
+{At(Robot,Bar),On(BottledDrink,Table2)}
+{At(Robot,Bar),On(BottledDrink,Table3)}
+{At(Robot,Bar),On(Yogurt,Bar)}
+{At(Robot,Bar),On(Yogurt,WaterTable)}
+{At(Robot,Bar),On(Yogurt,CoffeeTable)}
+{At(Robot,Bar),On(Yogurt,Bar2)}
+{At(Robot,Bar),On(Yogurt,Table1)}
+{At(Robot,Bar),On(Yogurt,Table2)}
+{At(Robot,Bar),On(Yogurt,Table3)}
+{At(Robot,Bar),On(ADMilk,Bar)}
+{At(Robot,Bar),On(ADMilk,WaterTable)}
+{At(Robot,Bar),On(ADMilk,CoffeeTable)}
+{At(Robot,Bar),On(ADMilk,Bar2)}
+{At(Robot,Bar),On(ADMilk,Table1)}
+{At(Robot,Bar),On(ADMilk,Table2)}
+{At(Robot,Bar),On(ADMilk,Table3)}
+{At(Robot,Bar),On(MilkDrink,Bar)}
+{At(Robot,Bar),On(MilkDrink,WaterTable)}
+{At(Robot,Bar),On(MilkDrink,CoffeeTable)}
+{At(Robot,Bar),On(MilkDrink,Bar2)}
+{At(Robot,Bar),On(MilkDrink,Table1)}
+{At(Robot,Bar),On(MilkDrink,Table2)}
+{At(Robot,Bar),On(MilkDrink,Table3)}
+{At(Robot,Bar),On(Milk,Bar)}
+{At(Robot,Bar),On(Milk,WaterTable)}
+{At(Robot,Bar),On(Milk,CoffeeTable)}
+{At(Robot,Bar),On(Milk,Bar2)}
+{At(Robot,Bar),On(Milk,Table1)}
+{At(Robot,Bar),On(Milk,Table2)}
+{At(Robot,Bar),On(Milk,Table3)}
+{At(Robot,Bar),On(VacuumCup,Bar)}
+{At(Robot,Bar),On(VacuumCup,WaterTable)}
+{At(Robot,Bar),On(VacuumCup,CoffeeTable)}
+{At(Robot,Bar),On(VacuumCup,Bar2)}
+{At(Robot,Bar),On(VacuumCup,Table1)}
+{At(Robot,Bar),On(VacuumCup,Table2)}
+{At(Robot,Bar),On(VacuumCup,Table3)}
+{At(Robot,Bar),On(Nothing,Bar)}
+{At(Robot,Bar),On(Nothing,WaterTable)}
+{At(Robot,Bar),On(Nothing,CoffeeTable)}
+{At(Robot,Bar),On(Nothing,Bar2)}
+{At(Robot,Bar),On(Nothing,Table1)}
+{At(Robot,Bar),On(Nothing,Table2)}
+{At(Robot,Bar),On(Nothing,Table3)}
+{At(Robot,WaterTable),On(Softdrink,Bar)}
+{At(Robot,WaterTable),On(Softdrink,WaterTable)}
+{At(Robot,WaterTable),On(Softdrink,CoffeeTable)}
+{At(Robot,WaterTable),On(Softdrink,Bar2)}
+{At(Robot,WaterTable),On(Softdrink,Table1)}
+{At(Robot,WaterTable),On(Softdrink,Table2)}
+{At(Robot,WaterTable),On(Softdrink,Table3)}
+{At(Robot,WaterTable),On(BottledDrink,Bar)}
+{At(Robot,WaterTable),On(BottledDrink,WaterTable)}
+{At(Robot,WaterTable),On(BottledDrink,CoffeeTable)}
+{At(Robot,WaterTable),On(BottledDrink,Bar2)}
+{At(Robot,WaterTable),On(BottledDrink,Table1)}
+{At(Robot,WaterTable),On(BottledDrink,Table2)}
+{At(Robot,WaterTable),On(BottledDrink,Table3)}
+{At(Robot,WaterTable),On(Yogurt,Bar)}
+{At(Robot,WaterTable),On(Yogurt,WaterTable)}
+{At(Robot,WaterTable),On(Yogurt,CoffeeTable)}
+{At(Robot,WaterTable),On(Yogurt,Bar2)}
+{At(Robot,WaterTable),On(Yogurt,Table1)}
+{At(Robot,WaterTable),On(Yogurt,Table2)}
+{At(Robot,WaterTable),On(Yogurt,Table3)}
+{At(Robot,WaterTable),On(ADMilk,Bar)}
+{At(Robot,WaterTable),On(ADMilk,WaterTable)}
+{At(Robot,WaterTable),On(ADMilk,CoffeeTable)}
+{At(Robot,WaterTable),On(ADMilk,Bar2)}
+{At(Robot,WaterTable),On(ADMilk,Table1)}
+{At(Robot,WaterTable),On(ADMilk,Table2)}
+{At(Robot,WaterTable),On(ADMilk,Table3)}
+{At(Robot,WaterTable),On(MilkDrink,Bar)}
+{At(Robot,WaterTable),On(MilkDrink,WaterTable)}
+{At(Robot,WaterTable),On(MilkDrink,CoffeeTable)}
+{At(Robot,WaterTable),On(MilkDrink,Bar2)}
+{At(Robot,WaterTable),On(MilkDrink,Table1)}
+{At(Robot,WaterTable),On(MilkDrink,Table2)}
+{At(Robot,WaterTable),On(MilkDrink,Table3)}
+{At(Robot,WaterTable),On(Milk,Bar)}
+{At(Robot,WaterTable),On(Milk,WaterTable)}
+{At(Robot,WaterTable),On(Milk,CoffeeTable)}
+{At(Robot,WaterTable),On(Milk,Bar2)}
+{At(Robot,WaterTable),On(Milk,Table1)}
+{At(Robot,WaterTable),On(Milk,Table2)}
+{At(Robot,WaterTable),On(Milk,Table3)}
+{At(Robot,WaterTable),On(VacuumCup,Bar)}
+{At(Robot,WaterTable),On(VacuumCup,WaterTable)}
+{At(Robot,WaterTable),On(VacuumCup,CoffeeTable)}
+{At(Robot,WaterTable),On(VacuumCup,Bar2)}
+{At(Robot,WaterTable),On(VacuumCup,Table1)}
+{At(Robot,WaterTable),On(VacuumCup,Table2)}
+{At(Robot,WaterTable),On(VacuumCup,Table3)}
+{At(Robot,WaterTable),On(Nothing,Bar)}
+{At(Robot,WaterTable),On(Nothing,WaterTable)}
+{At(Robot,WaterTable),On(Nothing,CoffeeTable)}
+{At(Robot,WaterTable),On(Nothing,Bar2)}
+{At(Robot,WaterTable),On(Nothing,Table1)}
+{At(Robot,WaterTable),On(Nothing,Table2)}
+{At(Robot,WaterTable),On(Nothing,Table3)}
+{At(Robot,CoffeeTable),On(Softdrink,Bar)}
+{At(Robot,CoffeeTable),On(Softdrink,WaterTable)}
+{At(Robot,CoffeeTable),On(Softdrink,CoffeeTable)}
+{At(Robot,CoffeeTable),On(Softdrink,Bar2)}
+{At(Robot,CoffeeTable),On(Softdrink,Table1)}
+{At(Robot,CoffeeTable),On(Softdrink,Table2)}
+{At(Robot,CoffeeTable),On(Softdrink,Table3)}
+{At(Robot,CoffeeTable),On(BottledDrink,Bar)}
+{At(Robot,CoffeeTable),On(BottledDrink,WaterTable)}
+{At(Robot,CoffeeTable),On(BottledDrink,CoffeeTable)}
+{At(Robot,CoffeeTable),On(BottledDrink,Bar2)}
+{At(Robot,CoffeeTable),On(BottledDrink,Table1)}
+{At(Robot,CoffeeTable),On(BottledDrink,Table2)}
+{At(Robot,CoffeeTable),On(BottledDrink,Table3)}
+{At(Robot,CoffeeTable),On(Yogurt,Bar)}
+{At(Robot,CoffeeTable),On(Yogurt,WaterTable)}
+{At(Robot,CoffeeTable),On(Yogurt,CoffeeTable)}
+{At(Robot,CoffeeTable),On(Yogurt,Bar2)}
+{At(Robot,CoffeeTable),On(Yogurt,Table1)}
+{At(Robot,CoffeeTable),On(Yogurt,Table2)}
+{At(Robot,CoffeeTable),On(Yogurt,Table3)}
+{At(Robot,CoffeeTable),On(ADMilk,Bar)}
+{At(Robot,CoffeeTable),On(ADMilk,WaterTable)}
+{At(Robot,CoffeeTable),On(ADMilk,CoffeeTable)}
+{At(Robot,CoffeeTable),On(ADMilk,Bar2)}
+{At(Robot,CoffeeTable),On(ADMilk,Table1)}
+{At(Robot,CoffeeTable),On(ADMilk,Table2)}
+{At(Robot,CoffeeTable),On(ADMilk,Table3)}
+{At(Robot,CoffeeTable),On(MilkDrink,Bar)}
+{At(Robot,CoffeeTable),On(MilkDrink,WaterTable)}
+{At(Robot,CoffeeTable),On(MilkDrink,CoffeeTable)}
+{At(Robot,CoffeeTable),On(MilkDrink,Bar2)}
+{At(Robot,CoffeeTable),On(MilkDrink,Table1)}
+{At(Robot,CoffeeTable),On(MilkDrink,Table2)}
+{At(Robot,CoffeeTable),On(MilkDrink,Table3)}
+{At(Robot,CoffeeTable),On(Milk,Bar)}
+{At(Robot,CoffeeTable),On(Milk,WaterTable)}
+{At(Robot,CoffeeTable),On(Milk,CoffeeTable)}
+{At(Robot,CoffeeTable),On(Milk,Bar2)}
+{At(Robot,CoffeeTable),On(Milk,Table1)}
+{At(Robot,CoffeeTable),On(Milk,Table2)}
+{At(Robot,CoffeeTable),On(Milk,Table3)}
+{At(Robot,CoffeeTable),On(VacuumCup,Bar)}
+{At(Robot,CoffeeTable),On(VacuumCup,WaterTable)}
+{At(Robot,CoffeeTable),On(VacuumCup,CoffeeTable)}
+{At(Robot,CoffeeTable),On(VacuumCup,Bar2)}
+{At(Robot,CoffeeTable),On(VacuumCup,Table1)}
+{At(Robot,CoffeeTable),On(VacuumCup,Table2)}
+{At(Robot,CoffeeTable),On(VacuumCup,Table3)}
+{At(Robot,CoffeeTable),On(Nothing,Bar)}
+{At(Robot,CoffeeTable),On(Nothing,WaterTable)}
+{At(Robot,CoffeeTable),On(Nothing,CoffeeTable)}
+{At(Robot,CoffeeTable),On(Nothing,Bar2)}
+{At(Robot,CoffeeTable),On(Nothing,Table1)}
+{At(Robot,CoffeeTable),On(Nothing,Table2)}
+{At(Robot,CoffeeTable),On(Nothing,Table3)}
+{At(Robot,Bar2),On(Softdrink,Bar)}
+{At(Robot,Bar2),On(Softdrink,WaterTable)}
+{At(Robot,Bar2),On(Softdrink,CoffeeTable)}
+{At(Robot,Bar2),On(Softdrink,Bar2)}
+{At(Robot,Bar2),On(Softdrink,Table1)}
+{At(Robot,Bar2),On(Softdrink,Table2)}
+{At(Robot,Bar2),On(Softdrink,Table3)}
+{At(Robot,Bar2),On(BottledDrink,Bar)}
+{At(Robot,Bar2),On(BottledDrink,WaterTable)}
+{At(Robot,Bar2),On(BottledDrink,CoffeeTable)}
+{At(Robot,Bar2),On(BottledDrink,Bar2)}
+{At(Robot,Bar2),On(BottledDrink,Table1)}
+{At(Robot,Bar2),On(BottledDrink,Table2)}
+{At(Robot,Bar2),On(BottledDrink,Table3)}
+{At(Robot,Bar2),On(Yogurt,Bar)}
+{At(Robot,Bar2),On(Yogurt,WaterTable)}
+{At(Robot,Bar2),On(Yogurt,CoffeeTable)}
+{At(Robot,Bar2),On(Yogurt,Bar2)}
+{At(Robot,Bar2),On(Yogurt,Table1)}
+{At(Robot,Bar2),On(Yogurt,Table2)}
+{At(Robot,Bar2),On(Yogurt,Table3)}
+{At(Robot,Bar2),On(ADMilk,Bar)}
+{At(Robot,Bar2),On(ADMilk,WaterTable)}
+{At(Robot,Bar2),On(ADMilk,CoffeeTable)}
+{At(Robot,Bar2),On(ADMilk,Bar2)}
+{At(Robot,Bar2),On(ADMilk,Table1)}
+{At(Robot,Bar2),On(ADMilk,Table2)}
+{At(Robot,Bar2),On(ADMilk,Table3)}
+{At(Robot,Bar2),On(MilkDrink,Bar)}
+{At(Robot,Bar2),On(MilkDrink,WaterTable)}
+{At(Robot,Bar2),On(MilkDrink,CoffeeTable)}
+{At(Robot,Bar2),On(MilkDrink,Bar2)}
+{At(Robot,Bar2),On(MilkDrink,Table1)}
+{At(Robot,Bar2),On(MilkDrink,Table2)}
+{At(Robot,Bar2),On(MilkDrink,Table3)}
+{At(Robot,Bar2),On(Milk,Bar)}
+{At(Robot,Bar2),On(Milk,WaterTable)}
+{At(Robot,Bar2),On(Milk,CoffeeTable)}
+{At(Robot,Bar2),On(Milk,Bar2)}
+{At(Robot,Bar2),On(Milk,Table1)}
+{At(Robot,Bar2),On(Milk,Table2)}
+{At(Robot,Bar2),On(Milk,Table3)}
+{At(Robot,Bar2),On(VacuumCup,Bar)}
+{At(Robot,Bar2),On(VacuumCup,WaterTable)}
+{At(Robot,Bar2),On(VacuumCup,CoffeeTable)}
+{At(Robot,Bar2),On(VacuumCup,Bar2)}
+{At(Robot,Bar2),On(VacuumCup,Table1)}
+{At(Robot,Bar2),On(VacuumCup,Table2)}
+{At(Robot,Bar2),On(VacuumCup,Table3)}
+{At(Robot,Bar2),On(Nothing,Bar)}
+{At(Robot,Bar2),On(Nothing,WaterTable)}
+{At(Robot,Bar2),On(Nothing,CoffeeTable)}
+{At(Robot,Bar2),On(Nothing,Bar2)}
+{At(Robot,Bar2),On(Nothing,Table1)}
+{At(Robot,Bar2),On(Nothing,Table2)}
+{At(Robot,Bar2),On(Nothing,Table3)}
+{At(Robot,Table1),On(Softdrink,Bar)}
+{At(Robot,Table1),On(Softdrink,WaterTable)}
+{At(Robot,Table1),On(Softdrink,CoffeeTable)}
+{At(Robot,Table1),On(Softdrink,Bar2)}
+{At(Robot,Table1),On(Softdrink,Table1)}
+{At(Robot,Table1),On(Softdrink,Table2)}
+{At(Robot,Table1),On(Softdrink,Table3)}
+{At(Robot,Table1),On(BottledDrink,Bar)}
+{At(Robot,Table1),On(BottledDrink,WaterTable)}
+{At(Robot,Table1),On(BottledDrink,CoffeeTable)}
+{At(Robot,Table1),On(BottledDrink,Bar2)}
+{At(Robot,Table1),On(BottledDrink,Table1)}
+{At(Robot,Table1),On(BottledDrink,Table2)}
+{At(Robot,Table1),On(BottledDrink,Table3)}
+{At(Robot,Table1),On(Yogurt,Bar)}
+{At(Robot,Table1),On(Yogurt,WaterTable)}
+{At(Robot,Table1),On(Yogurt,CoffeeTable)}
+{At(Robot,Table1),On(Yogurt,Bar2)}
+{At(Robot,Table1),On(Yogurt,Table1)}
+{At(Robot,Table1),On(Yogurt,Table2)}
+{At(Robot,Table1),On(Yogurt,Table3)}
+{At(Robot,Table1),On(ADMilk,Bar)}
+{At(Robot,Table1),On(ADMilk,WaterTable)}
+{At(Robot,Table1),On(ADMilk,CoffeeTable)}
+{At(Robot,Table1),On(ADMilk,Bar2)}
+{At(Robot,Table1),On(ADMilk,Table1)}
+{At(Robot,Table1),On(ADMilk,Table2)}
+{At(Robot,Table1),On(ADMilk,Table3)}
+{At(Robot,Table1),On(MilkDrink,Bar)}
+{At(Robot,Table1),On(MilkDrink,WaterTable)}
+{At(Robot,Table1),On(MilkDrink,CoffeeTable)}
+{At(Robot,Table1),On(MilkDrink,Bar2)}
+{At(Robot,Table1),On(MilkDrink,Table1)}
+{At(Robot,Table1),On(MilkDrink,Table2)}
+{At(Robot,Table1),On(MilkDrink,Table3)}
+{At(Robot,Table1),On(Milk,Bar)}
+{At(Robot,Table1),On(Milk,WaterTable)}
+{At(Robot,Table1),On(Milk,CoffeeTable)}
+{At(Robot,Table1),On(Milk,Bar2)}
+{At(Robot,Table1),On(Milk,Table1)}
+{At(Robot,Table1),On(Milk,Table2)}
+{At(Robot,Table1),On(Milk,Table3)}
+{At(Robot,Table1),On(VacuumCup,Bar)}
+{At(Robot,Table1),On(VacuumCup,WaterTable)}
+{At(Robot,Table1),On(VacuumCup,CoffeeTable)}
+{At(Robot,Table1),On(VacuumCup,Bar2)}
+{At(Robot,Table1),On(VacuumCup,Table1)}
+{At(Robot,Table1),On(VacuumCup,Table2)}
+{At(Robot,Table1),On(VacuumCup,Table3)}
+{At(Robot,Table1),On(Nothing,Bar)}
+{At(Robot,Table1),On(Nothing,WaterTable)}
+{At(Robot,Table1),On(Nothing,CoffeeTable)}
+{At(Robot,Table1),On(Nothing,Bar2)}
+{At(Robot,Table1),On(Nothing,Table1)}
+{At(Robot,Table1),On(Nothing,Table2)}
+{At(Robot,Table1),On(Nothing,Table3)}
+{At(Robot,Table2),On(Softdrink,Bar)}
+{At(Robot,Table2),On(Softdrink,WaterTable)}
+{At(Robot,Table2),On(Softdrink,CoffeeTable)}
+{At(Robot,Table2),On(Softdrink,Bar2)}
+{At(Robot,Table2),On(Softdrink,Table1)}
+{At(Robot,Table2),On(Softdrink,Table2)}
+{At(Robot,Table2),On(Softdrink,Table3)}
+{At(Robot,Table2),On(BottledDrink,Bar)}
+{At(Robot,Table2),On(BottledDrink,WaterTable)}
+{At(Robot,Table2),On(BottledDrink,CoffeeTable)}
+{At(Robot,Table2),On(BottledDrink,Bar2)}
+{At(Robot,Table2),On(BottledDrink,Table1)}
+{At(Robot,Table2),On(BottledDrink,Table2)}
+{At(Robot,Table2),On(BottledDrink,Table3)}
+{At(Robot,Table2),On(Yogurt,Bar)}
+{At(Robot,Table2),On(Yogurt,WaterTable)}
+{At(Robot,Table2),On(Yogurt,CoffeeTable)}
+{At(Robot,Table2),On(Yogurt,Bar2)}
+{At(Robot,Table2),On(Yogurt,Table1)}
+{At(Robot,Table2),On(Yogurt,Table2)}
+{At(Robot,Table2),On(Yogurt,Table3)}
+{At(Robot,Table2),On(ADMilk,Bar)}
+{At(Robot,Table2),On(ADMilk,WaterTable)}
+{At(Robot,Table2),On(ADMilk,CoffeeTable)}
+{At(Robot,Table2),On(ADMilk,Bar2)}
+{At(Robot,Table2),On(ADMilk,Table1)}
+{At(Robot,Table2),On(ADMilk,Table2)}
+{At(Robot,Table2),On(ADMilk,Table3)}
+{At(Robot,Table2),On(MilkDrink,Bar)}
+{At(Robot,Table2),On(MilkDrink,WaterTable)}
+{At(Robot,Table2),On(MilkDrink,CoffeeTable)}
+{At(Robot,Table2),On(MilkDrink,Bar2)}
+{At(Robot,Table2),On(MilkDrink,Table1)}
+{At(Robot,Table2),On(MilkDrink,Table2)}
+{At(Robot,Table2),On(MilkDrink,Table3)}
+{At(Robot,Table2),On(Milk,Bar)}
+{At(Robot,Table2),On(Milk,WaterTable)}
+{At(Robot,Table2),On(Milk,CoffeeTable)}
+{At(Robot,Table2),On(Milk,Bar2)}
+{At(Robot,Table2),On(Milk,Table1)}
+{At(Robot,Table2),On(Milk,Table2)}
+{At(Robot,Table2),On(Milk,Table3)}
+{At(Robot,Table2),On(VacuumCup,Bar)}
+{At(Robot,Table2),On(VacuumCup,WaterTable)}
+{At(Robot,Table2),On(VacuumCup,CoffeeTable)}
+{At(Robot,Table2),On(VacuumCup,Bar2)}
+{At(Robot,Table2),On(VacuumCup,Table1)}
+{At(Robot,Table2),On(VacuumCup,Table2)}
+{At(Robot,Table2),On(VacuumCup,Table3)}
+{At(Robot,Table2),On(Nothing,Bar)}
+{At(Robot,Table2),On(Nothing,WaterTable)}
+{At(Robot,Table2),On(Nothing,CoffeeTable)}
+{At(Robot,Table2),On(Nothing,Bar2)}
+{At(Robot,Table2),On(Nothing,Table1)}
+{At(Robot,Table2),On(Nothing,Table2)}
+{At(Robot,Table2),On(Nothing,Table3)}
+{At(Robot,Table3),On(Softdrink,Bar)}
+{At(Robot,Table3),On(Softdrink,WaterTable)}
+{At(Robot,Table3),On(Softdrink,CoffeeTable)}
+{At(Robot,Table3),On(Softdrink,Bar2)}
+{At(Robot,Table3),On(Softdrink,Table1)}
+{At(Robot,Table3),On(Softdrink,Table2)}
+{At(Robot,Table3),On(Softdrink,Table3)}
+{At(Robot,Table3),On(BottledDrink,Bar)}
+{At(Robot,Table3),On(BottledDrink,WaterTable)}
+{At(Robot,Table3),On(BottledDrink,CoffeeTable)}
+{At(Robot,Table3),On(BottledDrink,Bar2)}
+{At(Robot,Table3),On(BottledDrink,Table1)}
+{At(Robot,Table3),On(BottledDrink,Table2)}
+{At(Robot,Table3),On(BottledDrink,Table3)}
+{At(Robot,Table3),On(Yogurt,Bar)}
+{At(Robot,Table3),On(Yogurt,WaterTable)}
+{At(Robot,Table3),On(Yogurt,CoffeeTable)}
+{At(Robot,Table3),On(Yogurt,Bar2)}
+{At(Robot,Table3),On(Yogurt,Table1)}
+{At(Robot,Table3),On(Yogurt,Table2)}
+{At(Robot,Table3),On(Yogurt,Table3)}
+{At(Robot,Table3),On(ADMilk,Bar)}
+{At(Robot,Table3),On(ADMilk,WaterTable)}
+{At(Robot,Table3),On(ADMilk,CoffeeTable)}
+{At(Robot,Table3),On(ADMilk,Bar2)}
+{At(Robot,Table3),On(ADMilk,Table1)}
+{At(Robot,Table3),On(ADMilk,Table2)}
+{At(Robot,Table3),On(ADMilk,Table3)}
+{At(Robot,Table3),On(MilkDrink,Bar)}
+{At(Robot,Table3),On(MilkDrink,WaterTable)}
+{At(Robot,Table3),On(MilkDrink,CoffeeTable)}
+{At(Robot,Table3),On(MilkDrink,Bar2)}
+{At(Robot,Table3),On(MilkDrink,Table1)}
+{At(Robot,Table3),On(MilkDrink,Table2)}
+{At(Robot,Table3),On(MilkDrink,Table3)}
+{At(Robot,Table3),On(Milk,Bar)}
+{At(Robot,Table3),On(Milk,WaterTable)}
+{At(Robot,Table3),On(Milk,CoffeeTable)}
+{At(Robot,Table3),On(Milk,Bar2)}
+{At(Robot,Table3),On(Milk,Table1)}
+{At(Robot,Table3),On(Milk,Table2)}
+{At(Robot,Table3),On(Milk,Table3)}
+{At(Robot,Table3),On(VacuumCup,Bar)}
+{At(Robot,Table3),On(VacuumCup,WaterTable)}
+{At(Robot,Table3),On(VacuumCup,CoffeeTable)}
+{At(Robot,Table3),On(VacuumCup,Bar2)}
+{At(Robot,Table3),On(VacuumCup,Table1)}
+{At(Robot,Table3),On(VacuumCup,Table2)}
+{At(Robot,Table3),On(VacuumCup,Table3)}
+{At(Robot,Table3),On(Nothing,Bar)}
+{At(Robot,Table3),On(Nothing,WaterTable)}
+{At(Robot,Table3),On(Nothing,CoffeeTable)}
+{At(Robot,Table3),On(Nothing,Bar2)}
+{At(Robot,Table3),On(Nothing,Table1)}
+{At(Robot,Table3),On(Nothing,Table2)}
+{At(Robot,Table3),On(Nothing,Table3)}
+{At(Robot,Bar),On(Softdrink,Bar)}
+{At(Robot,Bar),On(Softdrink,WaterTable)}
+{At(Robot,Bar),On(Softdrink,CoffeeTable)}
+{At(Robot,Bar),On(Softdrink,Bar2)}
+{At(Robot,Bar),On(Softdrink,Table1)}
+{At(Robot,Bar),On(Softdrink,Table2)}
+{At(Robot,Bar),On(Softdrink,Table3)}
+{At(Robot,Bar),On(BottledDrink,Bar)}
+{At(Robot,Bar),On(BottledDrink,WaterTable)}
+{At(Robot,Bar),On(BottledDrink,CoffeeTable)}
+{At(Robot,Bar),On(BottledDrink,Bar2)}
+{At(Robot,Bar),On(BottledDrink,Table1)}
+{At(Robot,Bar),On(BottledDrink,Table2)}
+{At(Robot,Bar),On(BottledDrink,Table3)}
+{At(Robot,Bar),On(Yogurt,Bar)}
+{At(Robot,Bar),On(Yogurt,WaterTable)}
+{At(Robot,Bar),On(Yogurt,CoffeeTable)}
+{At(Robot,Bar),On(Yogurt,Bar2)}
+{At(Robot,Bar),On(Yogurt,Table1)}
+{At(Robot,Bar),On(Yogurt,Table2)}
+{At(Robot,Bar),On(Yogurt,Table3)}
+{At(Robot,Bar),On(ADMilk,Bar)}
+{At(Robot,Bar),On(ADMilk,WaterTable)}
+{At(Robot,Bar),On(ADMilk,CoffeeTable)}
+{At(Robot,Bar),On(ADMilk,Bar2)}
+{At(Robot,Bar),On(ADMilk,Table1)}
+{At(Robot,Bar),On(ADMilk,Table2)}
+{At(Robot,Bar),On(ADMilk,Table3)}
+{At(Robot,Bar),On(MilkDrink,Bar)}
+{At(Robot,Bar),On(MilkDrink,WaterTable)}
+{At(Robot,Bar),On(MilkDrink,CoffeeTable)}
+{At(Robot,Bar),On(MilkDrink,Bar2)}
+{At(Robot,Bar),On(MilkDrink,Table1)}
+{At(Robot,Bar),On(MilkDrink,Table2)}
+{At(Robot,Bar),On(MilkDrink,Table3)}
+{At(Robot,Bar),On(Milk,Bar)}
+{At(Robot,Bar),On(Milk,WaterTable)}
+{At(Robot,Bar),On(Milk,CoffeeTable)}
+{At(Robot,Bar),On(Milk,Bar2)}
+{At(Robot,Bar),On(Milk,Table1)}
+{At(Robot,Bar),On(Milk,Table2)}
+{At(Robot,Bar),On(Milk,Table3)}
+{At(Robot,Bar),On(VacuumCup,Bar)}
+{At(Robot,Bar),On(VacuumCup,WaterTable)}
+{At(Robot,Bar),On(VacuumCup,CoffeeTable)}
+{At(Robot,Bar),On(VacuumCup,Bar2)}
+{At(Robot,Bar),On(VacuumCup,Table1)}
+{At(Robot,Bar),On(VacuumCup,Table2)}
+{At(Robot,Bar),On(VacuumCup,Table3)}
+{At(Robot,Bar),On(Nothing,Bar)}
+{At(Robot,Bar),On(Nothing,WaterTable)}
+{At(Robot,Bar),On(Nothing,CoffeeTable)}
+{At(Robot,Bar),On(Nothing,Bar2)}
+{At(Robot,Bar),On(Nothing,Table1)}
+{At(Robot,Bar),On(Nothing,Table2)}
+{At(Robot,Bar),On(Nothing,Table3)}
+{At(Robot,WaterTable),On(Softdrink,Bar)}
+{At(Robot,WaterTable),On(Softdrink,WaterTable)}
+{At(Robot,WaterTable),On(Softdrink,CoffeeTable)}
+{At(Robot,WaterTable),On(Softdrink,Bar2)}
+{At(Robot,WaterTable),On(Softdrink,Table1)}
+{At(Robot,WaterTable),On(Softdrink,Table2)}
+{At(Robot,WaterTable),On(Softdrink,Table3)}
+{At(Robot,WaterTable),On(BottledDrink,Bar)}
+{At(Robot,WaterTable),On(BottledDrink,WaterTable)}
+{At(Robot,WaterTable),On(BottledDrink,CoffeeTable)}
+{At(Robot,WaterTable),On(BottledDrink,Bar2)}
+{At(Robot,WaterTable),On(BottledDrink,Table1)}
+{At(Robot,WaterTable),On(BottledDrink,Table2)}
+{At(Robot,WaterTable),On(BottledDrink,Table3)}
+{At(Robot,WaterTable),On(Yogurt,Bar)}
+{At(Robot,WaterTable),On(Yogurt,WaterTable)}
+{At(Robot,WaterTable),On(Yogurt,CoffeeTable)}
+{At(Robot,WaterTable),On(Yogurt,Bar2)}
+{At(Robot,WaterTable),On(Yogurt,Table1)}
+{At(Robot,WaterTable),On(Yogurt,Table2)}
+{At(Robot,WaterTable),On(Yogurt,Table3)}
+{At(Robot,WaterTable),On(ADMilk,Bar)}
+{At(Robot,WaterTable),On(ADMilk,WaterTable)}
+{At(Robot,WaterTable),On(ADMilk,CoffeeTable)}
+{At(Robot,WaterTable),On(ADMilk,Bar2)}
+{At(Robot,WaterTable),On(ADMilk,Table1)}
+{At(Robot,WaterTable),On(ADMilk,Table2)}
+{At(Robot,WaterTable),On(ADMilk,Table3)}
+{At(Robot,WaterTable),On(MilkDrink,Bar)}
+{At(Robot,WaterTable),On(MilkDrink,WaterTable)}
+{At(Robot,WaterTable),On(MilkDrink,CoffeeTable)}
+{At(Robot,WaterTable),On(MilkDrink,Bar2)}
+{At(Robot,WaterTable),On(MilkDrink,Table1)}
+{At(Robot,WaterTable),On(MilkDrink,Table2)}
+{At(Robot,WaterTable),On(MilkDrink,Table3)}
+{At(Robot,WaterTable),On(Milk,Bar)}
+{At(Robot,WaterTable),On(Milk,WaterTable)}
+{At(Robot,WaterTable),On(Milk,CoffeeTable)}
+{At(Robot,WaterTable),On(Milk,Bar2)}
+{At(Robot,WaterTable),On(Milk,Table1)}
+{At(Robot,WaterTable),On(Milk,Table2)}
+{At(Robot,WaterTable),On(Milk,Table3)}
+{At(Robot,WaterTable),On(VacuumCup,Bar)}
+{At(Robot,WaterTable),On(VacuumCup,WaterTable)}
+{At(Robot,WaterTable),On(VacuumCup,CoffeeTable)}
+{At(Robot,WaterTable),On(VacuumCup,Bar2)}
+{At(Robot,WaterTable),On(VacuumCup,Table1)}
+{At(Robot,WaterTable),On(VacuumCup,Table2)}
+{At(Robot,WaterTable),On(VacuumCup,Table3)}
+{At(Robot,WaterTable),On(Nothing,Bar)}
+{At(Robot,WaterTable),On(Nothing,WaterTable)}
+{At(Robot,WaterTable),On(Nothing,CoffeeTable)}
+{At(Robot,Bar),Is(AC,Off)}
+{At(Robot,Bar),Is(AC,On)}
+{At(Robot,Bar),Is(ACTemperature,Up)}
+{At(Robot,Bar),Is(ACTemperature,Down)}
+{At(Robot,Bar),Is(HallLight,Off)}
+{At(Robot,Bar),Is(HallLight,On)}
+{At(Robot,Bar),Is(TubeLight,Off)}
+{At(Robot,Bar),Is(TubeLight,On)}
+{At(Robot,Bar),Is(Curtain,Off)}
+{At(Robot,Bar),Is(Curtain,On)}
+{At(Robot,WaterTable),Is(AC,Off)}
+{At(Robot,WaterTable),Is(AC,On)}
+{At(Robot,WaterTable),Is(ACTemperature,Up)}
+{At(Robot,WaterTable),Is(ACTemperature,Down)}
+{At(Robot,WaterTable),Is(HallLight,Off)}
+{At(Robot,WaterTable),Is(HallLight,On)}
+{At(Robot,WaterTable),Is(TubeLight,Off)}
+{At(Robot,WaterTable),Is(TubeLight,On)}
+{At(Robot,WaterTable),Is(Curtain,Off)}
+{At(Robot,WaterTable),Is(Curtain,On)}
+{At(Robot,CoffeeTable),Is(AC,Off)}
+{At(Robot,CoffeeTable),Is(AC,On)}
+{At(Robot,CoffeeTable),Is(ACTemperature,Up)}
+{At(Robot,CoffeeTable),Is(ACTemperature,Down)}
+{At(Robot,CoffeeTable),Is(HallLight,Off)}
+{At(Robot,CoffeeTable),Is(HallLight,On)}
+{At(Robot,CoffeeTable),Is(TubeLight,Off)}
+{At(Robot,CoffeeTable),Is(TubeLight,On)}
+{At(Robot,CoffeeTable),Is(Curtain,Off)}
+{At(Robot,CoffeeTable),Is(Curtain,On)}
+{At(Robot,Bar2),Is(AC,Off)}
+{At(Robot,Bar2),Is(AC,On)}
+{At(Robot,Bar2),Is(ACTemperature,Up)}
+{At(Robot,Bar2),Is(ACTemperature,Down)}
+{At(Robot,Bar2),Is(HallLight,Off)}
+{At(Robot,Bar2),Is(HallLight,On)}
+{At(Robot,Bar2),Is(TubeLight,Off)}
+{At(Robot,Bar2),Is(TubeLight,On)}
+{At(Robot,Bar2),Is(Curtain,Off)}
+{At(Robot,Bar2),Is(Curtain,On)}
+{At(Robot,TableOn),Is(AC,Off)}
+{At(Robot,TableOn),Is(AC,On)}
+{At(Robot,TableDown),Is(ACTemperature,Up)}
+{At(Robot,TableDown),Is(ACTemperature,Down)}
+{At(Robot,TableOn),Is(HallLight,Off)}
+{At(Robot,TableOn),Is(HallLight,On)}
+{At(Robot,TableOn),Is(TubeLight,Off)}
+{At(Robot,TableOn),Is(TubeLight,On)}
+{At(Robot,TableOn),Is(Curtain,Off)}
+{At(Robot,TableOn),Is(Curtain,On)}
+{At(Robot,Table2),Is(AC,Off)}
+{At(Robot,Table2),Is(AC,On)}
+{At(Robot,Table2),Is(ACTemperature,Up)}
+{At(Robot,Table2),Is(ACTemperature,Down)}
+{At(Robot,Table2),Is(HallLight,Off)}
+{At(Robot,Table2),Is(HallLight,On)}
+{At(Robot,Table2),Is(TubeLight,Off)}
+{At(Robot,Table2),Is(TubeLight,On)}
+{At(Robot,Table2),Is(Curtain,Off)}
+{At(Robot,Table2),Is(Curtain,On)}
+{At(Robot,Table3),Is(AC,Off)}
+{At(Robot,Table3),Is(AC,On)}
+{At(Robot,Table3),Is(ACTemperature,Up)}
+{At(Robot,Table3),Is(ACTemperature,Down)}
+{At(Robot,Table3),Is(HallLight,Off)}
+{At(Robot,Table3),Is(HallLight,On)}
+{At(Robot,Table3),Is(TubeLight,Off)}
+{At(Robot,Table3),Is(TubeLight,On)}
+{At(Robot,Table3),Is(Curtain,Off)}
+{At(Robot,Table3),Is(Curtain,On)}
+{At(Robot,Bar),Is(AC,Off)}
+{At(Robot,Bar),Is(AC,On)}
+{At(Robot,Bar),Is(ACTemperature,Up)}
+{At(Robot,Bar),Is(ACTemperature,Down)}
+{At(Robot,Bar),Is(HallLight,Off)}
+{At(Robot,Bar),Is(HallLight,On)}
+{At(Robot,Bar),Is(TubeLight,Off)}
+{At(Robot,Bar),Is(TubeLight,On)}
+{At(Robot,Bar),Is(Curtain,Off)}
+{At(Robot,Bar),Is(Curtain,On)}
+{At(Robot,WaterTable),Is(AC,Off)}
+{At(Robot,WaterTable),Is(AC,On)}
+{At(Robot,WaterTable),Is(ACTemperature,Up)}
+{At(Robot,WaterTable),Is(ACTemperature,Down)}
+{At(Robot,WaterTable),Is(HallLight,Off)}
+{At(Robot,WaterTable),Is(HallLight,On)}
+{At(Robot,WaterTable),Is(TubeLight,Off)}
+{At(Robot,WaterTable),Is(TubeLight,On)}
+{At(Robot,WaterTable),Is(Curtain,Off)}
+{At(Robot,WaterTable),Is(Curtain,On)}
+{At(Robot,CoffeeTable),Is(AC,Off)}
+{At(Robot,CoffeeTable),Is(AC,On)}
+{At(Robot,CoffeeTable),Is(ACTemperature,Up)}
+{At(Robot,CoffeeTable),Is(ACTemperature,Down)}
+{At(Robot,CoffeeTable),Is(HallLight,Off)}
+{At(Robot,CoffeeTable),Is(HallLight,On)}
+{At(Robot,CoffeeTable),Is(TubeLight,Off)}
+{At(Robot,CoffeeTable),Is(TubeLight,On)}
+{At(Robot,CoffeeTable),Is(Curtain,Off)}
+{At(Robot,CoffeeTable),Is(Curtain,On)}
+{At(Robot,Bar2),Is(AC,Off)}
+{At(Robot,Bar2),Is(AC,On)}
+{At(Robot,Bar2),Is(ACTemperature,Up)}
+{At(Robot,Bar2),Is(ACTemperature,Down)}
+{At(Robot,Bar2),Is(HallLight,Off)}
+{At(Robot,Bar2),Is(HallLight,On)}
+{At(Robot,Bar2),Is(TubeLight,Off)}
+{At(Robot,Bar2),Is(TubeLight,On)}
+{At(Robot,Bar2),Is(Curtain,Off)}
+{At(Robot,Bar2),Is(Curtain,On)}
+{At(Robot,TableOn),Is(AC,Off)}
+{At(Robot,TableOn),Is(AC,On)}
+{At(Robot,TableDown),Is(ACTemperature,Up)}
+{At(Robot,TableDown),Is(ACTemperature,Down)}
+{At(Robot,TableOn),Is(HallLight,Off)}
+{At(Robot,TableOn),Is(HallLight,On)}
+{At(Robot,TableOn),Is(TubeLight,Off)}
+{At(Robot,TableOn),Is(TubeLight,On)}
+{At(Robot,TableOn),Is(Curtain,Off)}
+{At(Robot,TableOn),Is(Curtain,On)}
+{At(Robot,Table2),Is(AC,Off)}
+{At(Robot,Table2),Is(AC,On)}
+{At(Robot,Table2),Is(ACTemperature,Up)}
+{At(Robot,Table2),Is(ACTemperature,Down)}
+{At(Robot,Table2),Is(HallLight,Off)}
+{At(Robot,Table2),Is(HallLight,On)}
+{At(Robot,Table2),Is(TubeLight,Off)}
+{At(Robot,Table2),Is(TubeLight,On)}
+{At(Robot,Table2),Is(Curtain,Off)}
+{At(Robot,Table2),Is(Curtain,On)}
+{At(Robot,Table3),Is(AC,Off)}
+{At(Robot,Table3),Is(AC,On)}
+{At(Robot,Table3),Is(ACTemperature,Up)}
+{At(Robot,Table3),Is(ACTemperature,Down)}
+{At(Robot,Table3),Is(HallLight,Off)}
+{At(Robot,Table3),Is(HallLight,On)}
+{At(Robot,Table3),Is(TubeLight,Off)}
+{At(Robot,Table3),Is(TubeLight,On)}
+{At(Robot,Table3),Is(Curtain,Off)}
+{At(Robot,Table3),Is(Curtain,On)}
+{At(Robot,Bar),Is(AC,Off)}
+{At(Robot,Bar),Is(AC,On)}
+{At(Robot,Bar),Is(ACTemperature,Up)}
+{At(Robot,Bar),Is(ACTemperature,Down)}
+{At(Robot,Bar),Is(HallLight,Off)}
+{At(Robot,Bar),Is(HallLight,On)}
+{At(Robot,Bar),Is(TubeLight,Off)}
+{At(Robot,Bar),Is(TubeLight,On)}
+{At(Robot,Bar),Is(Curtain,Off)}
+{At(Robot,Bar),Is(Curtain,On)}
+{At(Robot,WaterTable),Is(AC,Off)}
+{At(Robot,WaterTable),Is(AC,On)}
+{At(Robot,WaterTable),Is(ACTemperature,Up)}
+{At(Robot,WaterTable),Is(ACTemperature,Down)}
+{At(Robot,WaterTable),Is(HallLight,Off)}
+{At(Robot,WaterTable),Is(HallLight,On)}
+{At(Robot,WaterTable),Is(TubeLight,Off)}
+{At(Robot,WaterTable),Is(TubeLight,On)}
+{At(Robot,WaterTable),Is(Curtain,Off)}
+{At(Robot,WaterTable),Is(Curtain,On)}
+{At(Robot,CoffeeTable),Is(AC,Off)}
+{At(Robot,CoffeeTable),Is(AC,On)}
+{At(Robot,CoffeeTable),Is(ACTemperature,Up)}
+{At(Robot,CoffeeTable),Is(ACTemperature,Down)}
+{At(Robot,CoffeeTable),Is(HallLight,Off)}
+{At(Robot,CoffeeTable),Is(HallLight,On)}
+{At(Robot,CoffeeTable),Is(TubeLight,Off)}
+{At(Robot,CoffeeTable),Is(TubeLight,On)}
+{At(Robot,CoffeeTable),Is(Curtain,Off)}
+{At(Robot,CoffeeTable),Is(Curtain,On)}
+{At(Robot,Bar2),Is(AC,Off)}
+{At(Robot,Bar2),Is(AC,On)}
+{At(Robot,Bar2),Is(ACTemperature,Up)}
+{At(Robot,Bar2),Is(ACTemperature,Down)}
+{At(Robot,Bar2),Is(HallLight,Off)}
+{At(Robot,Bar2),Is(HallLight,On)}
+{At(Robot,Bar2),Is(TubeLight,Off)}
+{At(Robot,Bar2),Is(TubeLight,On)}
+{At(Robot,Bar2),Is(Curtain,Off)}
+{At(Robot,Bar2),Is(Curtain,On)}
+{At(Robot,TableOn),Is(AC,Off)}
+{At(Robot,TableOn),Is(AC,On)}
+{At(Robot,TableDown),Is(ACTemperature,Up)}
+{At(Robot,TableDown),Is(ACTemperature,Down)}
+{At(Robot,TableOn),Is(HallLight,Off)}
+{At(Robot,TableOn),Is(HallLight,On)}
+{At(Robot,TableOn),Is(TubeLight,Off)}
+{At(Robot,TableOn),Is(TubeLight,On)}
+{At(Robot,TableOn),Is(Curtain,Off)}
+{At(Robot,TableOn),Is(Curtain,On)}
+{At(Robot,Table2),Is(AC,Off)}
+{At(Robot,Table2),Is(AC,On)}
+{At(Robot,Table2),Is(ACTemperature,Up)}
+{At(Robot,Table2),Is(ACTemperature,Down)}
+{At(Robot,Table2),Is(HallLight,Off)}
+{At(Robot,Table2),Is(HallLight,On)}
+{At(Robot,Table2),Is(TubeLight,Off)}
+{At(Robot,Table2),Is(TubeLight,On)}
+{At(Robot,Table2),Is(Curtain,Off)}
+{At(Robot,Table2),Is(Curtain,On)}
+{At(Robot,Table3),Is(AC,Off)}
+{At(Robot,Table3),Is(AC,On)}
+{At(Robot,Table3),Is(ACTemperature,Up)}
+{At(Robot,Table3),Is(ACTemperature,Down)}
+{At(Robot,Table3),Is(HallLight,Off)}
+{At(Robot,Table3),Is(HallLight,On)}
+{At(Robot,Table3),Is(TubeLight,Off)}
+{At(Robot,Table3),Is(TubeLight,On)}
+{At(Robot,Table3),Is(Curtain,Off)}
+{At(Robot,Table3),Is(Curtain,On)}
+{At(Robot,Bar),Is(AC,Off)}
+{At(Robot,Bar),Is(AC,On)}
+{At(Robot,Bar),Is(ACTemperature,Up)}
+{At(Robot,Bar),Is(ACTemperature,Down)}
+{At(Robot,Bar),Is(HallLight,Off)}
+{At(Robot,Bar),Is(HallLight,On)}
+{At(Robot,Bar),Is(TubeLight,Off)}
+{At(Robot,Bar),Is(TubeLight,On)}
+{At(Robot,Bar),Is(Curtain,Off)}
+{At(Robot,Bar),Is(Curtain,On)}
+{At(Robot,WaterTable),Is(AC,Off)}
+{At(Robot,WaterTable),Is(AC,On)}
+{At(Robot,WaterTable),Is(ACTemperature,Up)}
+{At(Robot,WaterTable),Is(ACTemperature,Down)}
+{At(Robot,WaterTable),Is(HallLight,Off)}
+{At(Robot,WaterTable),Is(HallLight,On)}
+{At(Robot,WaterTable),Is(TubeLight,Off)}
+{At(Robot,WaterTable),Is(TubeLight,On)}
+{At(Robot,WaterTable),Is(Curtain,Off)}
+{At(Robot,WaterTable),Is(Curtain,On)}
+{At(Robot,CoffeeTable),Is(AC,Off)}
+{At(Robot,CoffeeTable),Is(AC,On)}
+{At(Robot,CoffeeTable),Is(ACTemperature,Up)}
+{At(Robot,CoffeeTable),Is(ACTemperature,Down)}
+{At(Robot,CoffeeTable),Is(HallLight,Off)}
+{At(Robot,CoffeeTable),Is(HallLight,On)}
+{At(Robot,CoffeeTable),Is(TubeLight,Off)}
+{At(Robot,CoffeeTable),Is(TubeLight,On)}
+{At(Robot,CoffeeTable),Is(Curtain,Off)}
+{At(Robot,CoffeeTable),Is(Curtain,On)}
+{At(Robot,Bar2),Is(AC,Off)}
+{At(Robot,Bar2),Is(AC,On)}
+{At(Robot,Bar2),Is(ACTemperature,Up)}
+{At(Robot,Bar2),Is(ACTemperature,Down)}
+{At(Robot,Bar2),Is(HallLight,Off)}
+{At(Robot,Bar2),Is(HallLight,On)}
+{At(Robot,Bar2),Is(TubeLight,Off)}
+{At(Robot,Bar2),Is(TubeLight,On)}
+{At(Robot,Bar2),Is(Curtain,Off)}
+{At(Robot,Bar2),Is(Curtain,On)}
+{At(Robot,TableOn),Is(AC,Off)}
+{At(Robot,TableOn),Is(AC,On)}
+{At(Robot,TableDown),Is(ACTemperature,Up)}
+{At(Robot,TableDown),Is(ACTemperature,Down)}
+{At(Robot,TableOn),Is(HallLight,Off)}
+{At(Robot,TableOn),Is(HallLight,On)}
+{At(Robot,TableOn),Is(TubeLight,Off)}
+{At(Robot,TableOn),Is(TubeLight,On)}
+{At(Robot,TableOn),Is(Curtain,Off)}
+{At(Robot,TableOn),Is(Curtain,On)}
+{At(Robot,Table2),Is(AC,Off)}
+{At(Robot,Table2),Is(AC,On)}
+{At(Robot,Table2),Is(ACTemperature,Up)}
+{At(Robot,Table2),Is(ACTemperature,Down)}
+{At(Robot,Table2),Is(HallLight,Off)}
+{At(Robot,Table2),Is(HallLight,On)}
+{At(Robot,Table2),Is(TubeLight,Off)}
+{At(Robot,Table2),Is(TubeLight,On)}
+{At(Robot,Table2),Is(Curtain,Off)}
+{At(Robot,Table2),Is(Curtain,On)}
+{At(Robot,Table3),Is(AC,Off)}
+{At(Robot,Table3),Is(AC,On)}
+{At(Robot,Table3),Is(ACTemperature,Up)}
+{At(Robot,Table3),Is(ACTemperature,Down)}
+{At(Robot,Table3),Is(HallLight,Off)}
+{At(Robot,Table3),Is(HallLight,On)}
+{At(Robot,Table3),Is(TubeLight,Off)}
+{At(Robot,Table3),Is(TubeLight,On)}
+{At(Robot,Table3),Is(Curtain,Off)}
+{At(Robot,Table3),Is(Curtain,On)}
+{At(Robot,Bar),Is(AC,Off)}
+{At(Robot,Bar),Is(AC,On)}
+{At(Robot,Bar),Is(ACTemperature,Up)}
+{At(Robot,Bar),Is(ACTemperature,Down)}
+{At(Robot,Bar),Is(HallLight,Off)}
+{At(Robot,Bar),Is(HallLight,On)}
+{At(Robot,Bar),Is(TubeLight,Off)}
+{At(Robot,Bar),Is(TubeLight,On)}
+{At(Robot,Bar),Is(Curtain,Off)}
+{At(Robot,Bar),Is(Curtain,On)}
+{At(Robot,WaterTable),Is(AC,Off)}
+{At(Robot,WaterTable),Is(AC,On)}
+{At(Robot,WaterTable),Is(ACTemperature,Up)}
+{At(Robot,WaterTable),Is(ACTemperature,Down)}
+{At(Robot,WaterTable),Is(HallLight,Off)}
+{At(Robot,WaterTable),Is(HallLight,On)}
+{At(Robot,WaterTable),Is(TubeLight,Off)}
+{At(Robot,WaterTable),Is(TubeLight,On)}
+{At(Robot,WaterTable),Is(Curtain,Off)}
+{At(Robot,WaterTable),Is(Curtain,On)}
+{At(Robot,CoffeeTable),Is(AC,Off)}
+{At(Robot,CoffeeTable),Is(AC,On)}
+{At(Robot,CoffeeTable),Is(ACTemperature,Up)}
+{At(Robot,CoffeeTable),Is(ACTemperature,Down)}
+{At(Robot,CoffeeTable),Is(HallLight,Off)}
+{At(Robot,CoffeeTable),Is(HallLight,On)}
+{At(Robot,CoffeeTable),Is(TubeLight,Off)}
+{At(Robot,CoffeeTable),Is(TubeLight,On)}
+{At(Robot,CoffeeTable),Is(Curtain,Off)}
+{At(Robot,CoffeeTable),Is(Curtain,On)}
+{At(Robot,Bar2),Is(AC,Off)}
+{At(Robot,Bar2),Is(AC,On)}
+{At(Robot,Bar2),Is(ACTemperature,Up)}
+{At(Robot,Bar2),Is(ACTemperature,Down)}
+{At(Robot,Bar2),Is(HallLight,Off)}
+{At(Robot,Bar2),Is(HallLight,On)}
+{At(Robot,Bar2),Is(TubeLight,Off)}
+{At(Robot,Bar2),Is(TubeLight,On)}
+{At(Robot,Bar2),Is(Curtain,Off)}
+{At(Robot,Bar2),Is(Curtain,On)}
+{At(Robot,TableOn),Is(AC,Off)}
+{At(Robot,TableOn),Is(AC,On)}
+{At(Robot,TableDown),Is(ACTemperature,Up)}
+{At(Robot,TableDown),Is(ACTemperature,Down)}
+{At(Robot,TableOn),Is(HallLight,Off)}
+{At(Robot,TableOn),Is(HallLight,On)}
+{At(Robot,TableOn),Is(TubeLight,Off)}
+{At(Robot,TableOn),Is(TubeLight,On)}
+{At(Robot,TableOn),Is(Curtain,Off)}
+{At(Robot,TableOn),Is(Curtain,On)}
+{At(Robot,Table2),Is(AC,Off)}
+{At(Robot,Table2),Is(AC,On)}
+{At(Robot,Table2),Is(ACTemperature,Up)}
+{At(Robot,Table2),Is(ACTemperature,Down)}
+{At(Robot,Table2),Is(HallLight,Off)}
+{At(Robot,Table2),Is(HallLight,On)}
+{At(Robot,Table2),Is(TubeLight,Off)}
+{At(Robot,Table2),Is(TubeLight,On)}
+{At(Robot,Table2),Is(Curtain,Off)}
+{At(Robot,Table2),Is(Curtain,On)}
+{At(Robot,Table3),Is(AC,Off)}
+{At(Robot,Table3),Is(AC,On)}
+{At(Robot,Table3),Is(ACTemperature,Up)}
+{At(Robot,Table3),Is(ACTemperature,Down)}
+{At(Robot,Table3),Is(HallLight,Off)}
+{At(Robot,Table3),Is(HallLight,On)}
+{At(Robot,Table3),Is(TubeLight,Off)}
+{At(Robot,Table3),Is(TubeLight,On)}
+{At(Robot,Table3),Is(Curtain,Off)}
+{At(Robot,Table3),Is(Curtain,On)}
+{At(Robot,Bar),Is(AC,Off)}
+{At(Robot,Bar),Is(AC,On)}
+{At(Robot,Bar),Is(ACTemperature,Up)}
+{At(Robot,Bar),Is(ACTemperature,Down)}
+{At(Robot,Bar),Is(HallLight,Off)}
+{At(Robot,Bar),Is(HallLight,On)}
+{At(Robot,Bar),Is(TubeLight,Off)}
+{At(Robot,Bar),Is(TubeLight,On)}
+{At(Robot,Bar),Is(Curtain,Off)}
+{At(Robot,Bar),Is(Curtain,On)}
+{At(Robot,WaterTable),Is(AC,Off)}
+{At(Robot,WaterTable),Is(AC,On)}
+{At(Robot,WaterTable),Is(ACTemperature,Up)}
+{At(Robot,WaterTable),Is(ACTemperature,Down)}
+{At(Robot,WaterTable),Is(HallLight,Off)}
+{At(Robot,WaterTable),Is(HallLight,On)}
+{At(Robot,WaterTable),Is(TubeLight,Off)}
+{At(Robot,WaterTable),Is(TubeLight,On)}
+{At(Robot,WaterTable),Is(Curtain,Off)}
+{At(Robot,WaterTable),Is(Curtain,On)}
+{At(Robot,CoffeeTable),Is(AC,Off)}
+{At(Robot,CoffeeTable),Is(AC,On)}
+{At(Robot,CoffeeTable),Is(ACTemperature,Up)}
+{At(Robot,CoffeeTable),Is(ACTemperature,Down)}
+{At(Robot,CoffeeTable),Is(HallLight,Off)}
+{At(Robot,CoffeeTable),Is(HallLight,On)}
+{At(Robot,CoffeeTable),Is(TubeLight,Off)}
+{At(Robot,CoffeeTable),Is(TubeLight,On)}
+{At(Robot,CoffeeTable),Is(Curtain,Off)}
+{At(Robot,CoffeeTable),Is(Curtain,On)}
+{At(Robot,Bar2),Is(AC,Off)}
+{At(Robot,Bar2),Is(AC,On)}
+{At(Robot,Bar2),Is(ACTemperature,Up)}
+{At(Robot,Bar2),Is(ACTemperature,Down)}
+{At(Robot,Bar2),Is(HallLight,Off)}
+{At(Robot,Bar2),Is(HallLight,On)}
+{At(Robot,Bar2),Is(TubeLight,Off)}
+{At(Robot,Bar2),Is(TubeLight,On)}
+{At(Robot,Bar2),Is(Curtain,Off)}
+{At(Robot,Bar2),Is(Curtain,On)}
+{At(Robot,TableOn),Is(AC,Off)}
+{At(Robot,TableOn),Is(AC,On)}
+{At(Robot,TableDown),Is(ACTemperature,Up)}
+{At(Robot,TableDown),Is(ACTemperature,Down)}
+{At(Robot,TableOn),Is(HallLight,Off)}
+{At(Robot,TableOn),Is(HallLight,On)}
+{At(Robot,TableOn),Is(TubeLight,Off)}
+{At(Robot,TableOn),Is(TubeLight,On)}
+{At(Robot,TableOn),Is(Curtain,Off)}
+{At(Robot,TableOn),Is(Curtain,On)}
+{At(Robot,Table2),Is(AC,Off)}
+{At(Robot,Table2),Is(AC,On)}
+{At(Robot,Table2),Is(ACTemperature,Up)}
+{At(Robot,Table2),Is(ACTemperature,Down)}
+{At(Robot,Table2),Is(HallLight,Off)}
+{At(Robot,Table2),Is(HallLight,On)}
+{At(Robot,Table2),Is(TubeLight,Off)}
+{At(Robot,Table2),Is(TubeLight,On)}
+{At(Robot,Table2),Is(Curtain,Off)}
+{At(Robot,Table2),Is(Curtain,On)}
+{At(Robot,Table3),Is(AC,Off)}
+{At(Robot,Table3),Is(AC,On)}
+{At(Robot,Table3),Is(ACTemperature,Up)}
+{At(Robot,Table3),Is(ACTemperature,Down)}
+{At(Robot,Table3),Is(HallLight,Off)}
+{At(Robot,Table3),Is(HallLight,On)}
+{At(Robot,Table3),Is(TubeLight,Off)}
+{At(Robot,Table3),Is(TubeLight,On)}
+{At(Robot,Table3),Is(Curtain,Off)}
+{At(Robot,Table3),Is(Curtain,On)}
+{At(Robot,Bar),Is(AC,Off)}
+{At(Robot,Bar),Is(AC,On)}
+{At(Robot,Bar),Is(ACTemperature,Up)}
+{At(Robot,Bar),Is(ACTemperature,Down)}
+{At(Robot,Bar),Is(HallLight,Off)}
+{At(Robot,Bar),Is(HallLight,On)}
+{At(Robot,Bar),Is(TubeLight,Off)}
+{At(Robot,Bar),Is(TubeLight,On)}
+{At(Robot,Bar),Is(Curtain,Off)}
+{At(Robot,Bar),Is(Curtain,On)}
+{At(Robot,WaterTable),Is(AC,Off)}
+{At(Robot,WaterTable),Is(AC,On)}
+{At(Robot,WaterTable),Is(ACTemperature,Up)}
+{At(Robot,WaterTable),Is(ACTemperature,Down)}
+{At(Robot,WaterTable),Is(HallLight,Off)}
+{At(Robot,WaterTable),Is(HallLight,On)}
+{At(Robot,WaterTable),Is(TubeLight,Off)}
+{At(Robot,WaterTable),Is(TubeLight,On)}
+{At(Robot,WaterTable),Is(Curtain,Off)}
+{At(Robot,WaterTable),Is(Curtain,On)}
+{At(Robot,CoffeeTable),Is(AC,Off)}
+{At(Robot,CoffeeTable),Is(AC,On)}
+{At(Robot,CoffeeTable),Is(ACTemperature,Up)}
+{At(Robot,CoffeeTable),Is(ACTemperature,Down)}
+{At(Robot,CoffeeTable),Is(HallLight,Off)}
+{At(Robot,CoffeeTable),Is(HallLight,On)}
+{At(Robot,CoffeeTable),Is(TubeLight,Off)}
+{At(Robot,CoffeeTable),Is(TubeLight,On)}
+{At(Robot,CoffeeTable),Is(Curtain,Off)}
+{At(Robot,CoffeeTable),Is(Curtain,On)}
+{At(Robot,Bar2),Is(AC,Off)}
+{At(Robot,Bar2),Is(AC,On)}
+{At(Robot,Bar2),Is(ACTemperature,Up)}
+{At(Robot,Bar2),Is(ACTemperature,Down)}
+{At(Robot,Bar2),Is(HallLight,Off)}
+{At(Robot,Bar2),Is(HallLight,On)}
+{At(Robot,Bar2),Is(TubeLight,Off)}
+{At(Robot,Bar2),Is(TubeLight,On)}
+{At(Robot,Bar2),Is(Curtain,Off)}
+{At(Robot,Bar2),Is(Curtain,On)}
+{At(Robot,TableOn),Is(AC,Off)}
+{At(Robot,TableOn),Is(AC,On)}
+{At(Robot,TableDown),Is(ACTemperature,Up)}
+{At(Robot,TableDown),Is(ACTemperature,Down)}
+{At(Robot,TableOn),Is(HallLight,Off)}
+{At(Robot,TableOn),Is(HallLight,On)}
+{At(Robot,TableOn),Is(TubeLight,Off)}
+{At(Robot,TableOn),Is(TubeLight,On)}
+{At(Robot,TableOn),Is(Curtain,Off)}
+{At(Robot,TableOn),Is(Curtain,On)}
+{At(Robot,Table2),Is(AC,Off)}
+{At(Robot,Table2),Is(AC,On)}
+{At(Robot,Table2),Is(ACTemperature,Up)}
+{At(Robot,Table2),Is(ACTemperature,Down)}
+{At(Robot,Table2),Is(HallLight,Off)}
+{At(Robot,Table2),Is(HallLight,On)}
+{At(Robot,Table2),Is(TubeLight,Off)}
+{At(Robot,Table2),Is(TubeLight,On)}
+{At(Robot,Table2),Is(Curtain,Off)}
+{At(Robot,Table2),Is(Curtain,On)}
+{At(Robot,Table3),Is(AC,Off)}
+{At(Robot,Table3),Is(AC,On)}
+{At(Robot,Table3),Is(ACTemperature,Up)}
+{At(Robot,Table3),Is(ACTemperature,Down)}
+{At(Robot,Table3),Is(HallLight,Off)}
+{At(Robot,Table3),Is(HallLight,On)}
+{At(Robot,Table3),Is(TubeLight,Off)}
+{At(Robot,Table3),Is(TubeLight,On)}
+{At(Robot,Table3),Is(Curtain,Off)}
+{At(Robot,Table3),Is(Curtain,On)}
+{At(Robot,Bar),Is(AC,Off)}
+{At(Robot,Bar),Is(AC,On)}
+{At(Robot,Bar),Is(ACTemperature,Up)}
+{At(Robot,Bar),Is(ACTemperature,Down)}
+{At(Robot,Bar),Is(HallLight,Off)}
+{At(Robot,Bar),Is(HallLight,On)}
+{At(Robot,Bar),Is(TubeLight,Off)}
+{At(Robot,Bar),Is(TubeLight,On)}
+{At(Robot,Bar),Is(Curtain,Off)}
+{At(Robot,Bar),Is(Curtain,On)}
+{On(Coffee,Bar),Is(AC,Off)}
+{On(Coffee,Bar),Is(AC,On)}
+{On(Coffee,Bar),Is(ACTemperature,Up)}
+{On(Coffee,Bar),Is(ACTemperature,Down)}
+{On(Coffee,Bar),Is(HallLight,Off)}
+{On(Coffee,Bar),Is(HallLight,On)}
+{On(Coffee,Bar),Is(TubeLight,Off)}
+{On(Coffee,Bar),Is(TubeLight,On)}
+{On(Coffee,Bar),Is(Curtain,Off)}
+{On(Coffee,Bar),Is(Curtain,On)}
+{On(Coffee,WaterTable),Is(AC,Off)}
+{On(Coffee,WaterTable),Is(AC,On)}
+{On(Coffee,WaterTable),Is(ACTemperature,Up)}
+{On(Coffee,WaterTable),Is(ACTemperature,Down)}
+{On(Coffee,WaterTable),Is(HallLight,Off)}
+{On(Coffee,WaterTable),Is(HallLight,On)}
+{On(Coffee,WaterTable),Is(TubeLight,Off)}
+{On(Coffee,WaterTable),Is(TubeLight,On)}
+{On(Coffee,WaterTable),Is(Curtain,Off)}
+{On(Coffee,WaterTable),Is(Curtain,On)}
+{On(Coffee,CoffeeTable),Is(AC,Off)}
+{On(Coffee,CoffeeTable),Is(AC,On)}
+{On(Coffee,CoffeeTable),Is(ACTemperature,Up)}
+{On(Coffee,CoffeeTable),Is(ACTemperature,Down)}
+{On(Coffee,CoffeeTable),Is(HallLight,Off)}
+{On(Coffee,CoffeeTable),Is(HallLight,On)}
+{On(Coffee,CoffeeTable),Is(TubeLight,Off)}
+{On(Coffee,CoffeeTable),Is(TubeLight,On)}
+{On(Coffee,CoffeeTable),Is(Curtain,Off)}
+{On(Coffee,CoffeeTable),Is(Curtain,On)}
+{On(Coffee,Bar2),Is(AC,Off)}
+{On(Coffee,Bar2),Is(AC,On)}
+{On(Coffee,Bar2),Is(ACTemperature,Up)}
+{On(Coffee,Bar2),Is(ACTemperature,Down)}
+{On(Coffee,Bar2),Is(HallLight,Off)}
+{On(Coffee,Bar2),Is(HallLight,On)}
+{On(Coffee,Bar2),Is(TubeLight,Off)}
+{On(Coffee,Bar2),Is(TubeLight,On)}
+{On(Coffee,Bar2),Is(Curtain,Off)}
+{On(Coffee,Bar2),Is(Curtain,On)}
+{On(Coffee,TableOn),Is(AC,Off)}
+{On(Coffee,TableOn),Is(AC,On)}
+{On(Coffee,TableDown),Is(ACTemperature,Up)}
+{On(Coffee,TableDown),Is(ACTemperature,Down)}
+{On(Coffee,TableOn),Is(HallLight,Off)}
+{On(Coffee,TableOn),Is(HallLight,On)}
+{On(Coffee,TableOn),Is(TubeLight,Off)}
+{On(Coffee,TableOn),Is(TubeLight,On)}
+{On(Coffee,TableOn),Is(Curtain,Off)}
+{On(Coffee,TableOn),Is(Curtain,On)}
+{On(Coffee,Table2),Is(AC,Off)}
+{On(Coffee,Table2),Is(AC,On)}
+{On(Coffee,Table2),Is(ACTemperature,Up)}
+{On(Coffee,Table2),Is(ACTemperature,Down)}
+{On(Coffee,Table2),Is(HallLight,Off)}
+{On(Coffee,Table2),Is(HallLight,On)}
+{On(Coffee,Table2),Is(TubeLight,Off)}
+{On(Coffee,Table2),Is(TubeLight,On)}
+{On(Coffee,Table2),Is(Curtain,Off)}
+{On(Coffee,Table2),Is(Curtain,On)}
+{On(Coffee,Table3),Is(AC,Off)}
+{On(Coffee,Table3),Is(AC,On)}
+{On(Coffee,Table3),Is(ACTemperature,Up)}
+{On(Coffee,Table3),Is(ACTemperature,Down)}
+{On(Coffee,Table3),Is(HallLight,Off)}
+{On(Coffee,Table3),Is(HallLight,On)}
+{On(Coffee,Table3),Is(TubeLight,Off)}
+{On(Coffee,Table3),Is(TubeLight,On)}
+{On(Coffee,Table3),Is(Curtain,Off)}
+{On(Coffee,Table3),Is(Curtain,On)}
+{On(Water,Bar),Is(AC,Off)}
+{On(Water,Bar),Is(AC,On)}
+{On(Water,Bar),Is(ACTemperature,Up)}
+{On(Water,Bar),Is(ACTemperature,Down)}
+{On(Water,Bar),Is(HallLight,Off)}
+{On(Water,Bar),Is(HallLight,On)}
+{On(Water,Bar),Is(TubeLight,Off)}
+{On(Water,Bar),Is(TubeLight,On)}
+{On(Water,Bar),Is(Curtain,Off)}
+{On(Water,Bar),Is(Curtain,On)}
+{On(Water,WaterTable),Is(AC,Off)}
+{On(Water,WaterTable),Is(AC,On)}
+{On(Water,WaterTable),Is(ACTemperature,Up)}
+{On(Water,WaterTable),Is(ACTemperature,Down)}
+{On(Water,WaterTable),Is(HallLight,Off)}
+{On(Water,WaterTable),Is(HallLight,On)}
+{On(Water,WaterTable),Is(TubeLight,Off)}
+{On(Water,WaterTable),Is(TubeLight,On)}
+{On(Water,WaterTable),Is(Curtain,Off)}
+{On(Water,WaterTable),Is(Curtain,On)}
+{On(Water,CoffeeTable),Is(AC,Off)}
+{On(Water,CoffeeTable),Is(AC,On)}
+{On(Water,CoffeeTable),Is(ACTemperature,Up)}
+{On(Water,CoffeeTable),Is(ACTemperature,Down)}
+{On(Water,CoffeeTable),Is(HallLight,Off)}
+{On(Water,CoffeeTable),Is(HallLight,On)}
+{On(Water,CoffeeTable),Is(TubeLight,Off)}
+{On(Water,CoffeeTable),Is(TubeLight,On)}
+{On(Water,CoffeeTable),Is(Curtain,Off)}
+{On(Water,CoffeeTable),Is(Curtain,On)}
+{On(Water,Bar2),Is(AC,Off)}
+{On(Water,Bar2),Is(AC,On)}
+{On(Water,Bar2),Is(ACTemperature,Up)}
+{On(Water,Bar2),Is(ACTemperature,Down)}
+{On(Water,Bar2),Is(HallLight,Off)}
+{On(Water,Bar2),Is(HallLight,On)}
+{On(Water,Bar2),Is(TubeLight,Off)}
+{On(Water,Bar2),Is(TubeLight,On)}
+{On(Water,Bar2),Is(Curtain,Off)}
+{On(Water,Bar2),Is(Curtain,On)}
+{On(Water,TableOn),Is(AC,Off)}
+{On(Water,TableOn),Is(AC,On)}
+{On(Water,TableDown),Is(ACTemperature,Up)}
+{On(Water,TableDown),Is(ACTemperature,Down)}
+{On(Water,TableOn),Is(HallLight,Off)}
+{On(Water,TableOn),Is(HallLight,On)}
+{On(Water,TableOn),Is(TubeLight,Off)}
+{On(Water,TableOn),Is(TubeLight,On)}
+{On(Water,TableOn),Is(Curtain,Off)}
+{On(Water,TableOn),Is(Curtain,On)}
+{On(Water,Table2),Is(AC,Off)}
+{On(Water,Table2),Is(AC,On)}
+{On(Water,Table2),Is(ACTemperature,Up)}
+{On(Water,Table2),Is(ACTemperature,Down)}
+{On(Water,Table2),Is(HallLight,Off)}
+{On(Water,Table2),Is(HallLight,On)}
+{On(Water,Table2),Is(TubeLight,Off)}
+{On(Water,Table2),Is(TubeLight,On)}
+{On(Water,Table2),Is(Curtain,Off)}
+{On(Water,Table2),Is(Curtain,On)}
+{On(Water,Table3),Is(AC,Off)}
+{On(Water,Table3),Is(AC,On)}
+{On(Water,Table3),Is(ACTemperature,Up)}
+{On(Water,Table3),Is(ACTemperature,Down)}
+{On(Water,Table3),Is(HallLight,Off)}
+{On(Water,Table3),Is(HallLight,On)}
+{On(Water,Table3),Is(TubeLight,Off)}
+{On(Water,Table3),Is(TubeLight,On)}
+{On(Water,Table3),Is(Curtain,Off)}
+{On(Water,Table3),Is(Curtain,On)}
+{On(Dessert,Bar),Is(AC,Off)}
+{On(Dessert,Bar),Is(AC,On)}
+{On(Dessert,Bar),Is(ACTemperature,Up)}
+{On(Dessert,Bar),Is(ACTemperature,Down)}
+{On(Dessert,Bar),Is(HallLight,Off)}
+{On(Dessert,Bar),Is(HallLight,On)}
+{On(Dessert,Bar),Is(TubeLight,Off)}
+{On(Dessert,Bar),Is(TubeLight,On)}
+{On(Dessert,Bar),Is(Curtain,Off)}
+{On(Dessert,Bar),Is(Curtain,On)}
+{On(Dessert,WaterTable),Is(AC,Off)}
+{On(Dessert,WaterTable),Is(AC,On)}
+{On(Dessert,WaterTable),Is(ACTemperature,Up)}
+{On(Dessert,WaterTable),Is(ACTemperature,Down)}
+{On(Dessert,WaterTable),Is(HallLight,Off)}
+{On(Dessert,WaterTable),Is(HallLight,On)}
+{On(Dessert,WaterTable),Is(TubeLight,Off)}
+{On(Dessert,WaterTable),Is(TubeLight,On)}
+{On(Dessert,WaterTable),Is(Curtain,Off)}
+{On(Dessert,WaterTable),Is(Curtain,On)}
+{On(Dessert,CoffeeTable),Is(AC,Off)}
+{On(Dessert,CoffeeTable),Is(AC,On)}
+{On(Dessert,CoffeeTable),Is(ACTemperature,Up)}
+{On(Dessert,CoffeeTable),Is(ACTemperature,Down)}
+{On(Dessert,CoffeeTable),Is(HallLight,Off)}
+{On(Dessert,CoffeeTable),Is(HallLight,On)}
+{On(Dessert,CoffeeTable),Is(TubeLight,Off)}
+{On(Dessert,CoffeeTable),Is(TubeLight,On)}
+{On(Dessert,CoffeeTable),Is(Curtain,Off)}
+{On(Dessert,CoffeeTable),Is(Curtain,On)}
+{On(Dessert,Bar2),Is(AC,Off)}
+{On(Dessert,Bar2),Is(AC,On)}
+{On(Dessert,Bar2),Is(ACTemperature,Up)}
+{On(Dessert,Bar2),Is(ACTemperature,Down)}
+{On(Dessert,Bar2),Is(HallLight,Off)}
+{On(Dessert,Bar2),Is(HallLight,On)}
+{On(Dessert,Bar2),Is(TubeLight,Off)}
+{On(Dessert,Bar2),Is(TubeLight,On)}
+{On(Dessert,Bar2),Is(Curtain,Off)}
+{On(Dessert,Bar2),Is(Curtain,On)}
+{On(Dessert,TableOn),Is(AC,Off)}
+{On(Dessert,TableOn),Is(AC,On)}
+{On(Dessert,TableDown),Is(ACTemperature,Up)}
+{On(Dessert,TableDown),Is(ACTemperature,Down)}
+{On(Dessert,TableOn),Is(HallLight,Off)}
+{On(Dessert,TableOn),Is(HallLight,On)}
+{On(Dessert,TableOn),Is(TubeLight,Off)}
+{On(Dessert,TableOn),Is(TubeLight,On)}
+{On(Dessert,TableOn),Is(Curtain,Off)}
+{On(Dessert,TableOn),Is(Curtain,On)}
+{On(Dessert,Table2),Is(AC,Off)}
+{On(Dessert,Table2),Is(AC,On)}
+{On(Dessert,Table2),Is(ACTemperature,Up)}
+{On(Dessert,Table2),Is(ACTemperature,Down)}
+{On(Dessert,Table2),Is(HallLight,Off)}
+{On(Dessert,Table2),Is(HallLight,On)}
+{On(Dessert,Table2),Is(TubeLight,Off)}
+{On(Dessert,Table2),Is(TubeLight,On)}
+{On(Dessert,Table2),Is(Curtain,Off)}
+{On(Dessert,Table2),Is(Curtain,On)}
+{On(Dessert,Table3),Is(AC,Off)}
+{On(Dessert,Table3),Is(AC,On)}
+{On(Dessert,Table3),Is(ACTemperature,Up)}
+{On(Dessert,Table3),Is(ACTemperature,Down)}
+{On(Dessert,Table3),Is(HallLight,Off)}
+{On(Dessert,Table3),Is(HallLight,On)}
+{On(Dessert,Table3),Is(TubeLight,Off)}
+{On(Dessert,Table3),Is(TubeLight,On)}
+{On(Dessert,Table3),Is(Curtain,Off)}
+{On(Dessert,Table3),Is(Curtain,On)}
+{On(Coffee,Bar),Is(AC,Off)}
+{On(Coffee,Bar),Is(AC,On)}
+{On(Coffee,Bar),Is(ACTemperature,Up)}
+{On(Coffee,Bar),Is(ACTemperature,Down)}
+{On(Coffee,Bar),Is(HallLight,Off)}
+{On(Coffee,Bar),Is(HallLight,On)}
+{On(Coffee,Bar),Is(TubeLight,Off)}
+{On(Coffee,Bar),Is(TubeLight,On)}
+{On(Coffee,Bar),Is(Curtain,Off)}
+{On(Coffee,Bar),Is(Curtain,On)}
+{On(Coffee,WaterTable),Is(AC,Off)}
+{On(Coffee,WaterTable),Is(AC,On)}
+{On(Coffee,WaterTable),Is(ACTemperature,Up)}
+{On(Coffee,WaterTable),Is(ACTemperature,Down)}
+{On(Coffee,WaterTable),Is(HallLight,Off)}
+{On(Coffee,WaterTable),Is(HallLight,On)}
+{On(Coffee,WaterTable),Is(TubeLight,Off)}
+{On(Coffee,WaterTable),Is(TubeLight,On)}
+{On(Coffee,WaterTable),Is(Curtain,Off)}
+{On(Coffee,WaterTable),Is(Curtain,On)}
+{On(Coffee,CoffeeTable),Is(AC,Off)}
+{On(Coffee,CoffeeTable),Is(AC,On)}
+{On(Coffee,CoffeeTable),Is(ACTemperature,Up)}
+{On(Coffee,CoffeeTable),Is(ACTemperature,Down)}
+{On(Coffee,CoffeeTable),Is(HallLight,Off)}
+{On(Coffee,CoffeeTable),Is(HallLight,On)}
+{On(Coffee,CoffeeTable),Is(TubeLight,Off)}
+{On(Coffee,CoffeeTable),Is(TubeLight,On)}
+{On(Coffee,CoffeeTable),Is(Curtain,Off)}
+{On(Coffee,CoffeeTable),Is(Curtain,On)}
+{On(Coffee,Bar2),Is(AC,Off)}
+{On(Coffee,Bar2),Is(AC,On)}
+{On(Coffee,Bar2),Is(ACTemperature,Up)}
+{On(Coffee,Bar2),Is(ACTemperature,Down)}
+{On(Coffee,Bar2),Is(HallLight,Off)}
+{On(Coffee,Bar2),Is(HallLight,On)}
+{On(Coffee,Bar2),Is(TubeLight,Off)}
+{On(Coffee,Bar2),Is(TubeLight,On)}
+{On(Coffee,Bar2),Is(Curtain,Off)}
+{On(Coffee,Bar2),Is(Curtain,On)}
+{On(Coffee,TableOn),Is(AC,Off)}
+{On(Coffee,TableOn),Is(AC,On)}
+{On(Coffee,TableDown),Is(ACTemperature,Up)}
+{On(Coffee,TableDown),Is(ACTemperature,Down)}
+{On(Coffee,TableOn),Is(HallLight,Off)}
+{On(Coffee,TableOn),Is(HallLight,On)}
+{On(Coffee,TableOn),Is(TubeLight,Off)}
+{On(Coffee,TableOn),Is(TubeLight,On)}
+{On(Coffee,TableOn),Is(Curtain,Off)}
+{On(Coffee,TableOn),Is(Curtain,On)}
+{On(Coffee,Table2),Is(AC,Off)}
+{On(Coffee,Table2),Is(AC,On)}
+{On(Coffee,Table2),Is(ACTemperature,Up)}
+{On(Coffee,Table2),Is(ACTemperature,Down)}
+{On(Coffee,Table2),Is(HallLight,Off)}
+{On(Coffee,Table2),Is(HallLight,On)}
+{On(Coffee,Table2),Is(TubeLight,Off)}
+{On(Coffee,Table2),Is(TubeLight,On)}
+{On(Coffee,Table2),Is(Curtain,Off)}
+{On(Coffee,Table2),Is(Curtain,On)}
+{On(Coffee,Table3),Is(AC,Off)}
+{On(Coffee,Table3),Is(AC,On)}
+{On(Coffee,Table3),Is(ACTemperature,Up)}
+{On(Coffee,Table3),Is(ACTemperature,Down)}
+{On(Coffee,Table3),Is(HallLight,Off)}
+{On(Coffee,Table3),Is(HallLight,On)}
+{On(Coffee,Table3),Is(TubeLight,Off)}
+{On(Coffee,Table3),Is(TubeLight,On)}
+{On(Coffee,Table3),Is(Curtain,Off)}
+{On(Coffee,Table3),Is(Curtain,On)}
+{On(Water,Bar),Is(AC,Off)}
+{On(Water,Bar),Is(AC,On)}
+{On(Water,Bar),Is(ACTemperature,Up)}
+{On(Water,Bar),Is(ACTemperature,Down)}
+{On(Water,Bar),Is(HallLight,Off)}
+{On(Water,Bar),Is(HallLight,On)}
+{On(Water,Bar),Is(TubeLight,Off)}
+{On(Water,Bar),Is(TubeLight,On)}
+{On(Water,Bar),Is(Curtain,Off)}
+{On(Water,Bar),Is(Curtain,On)}
+{On(Water,WaterTable),Is(AC,Off)}
+{On(Water,WaterTable),Is(AC,On)}
+{On(Water,WaterTable),Is(ACTemperature,Up)}
+{On(Water,WaterTable),Is(ACTemperature,Down)}
+{On(Water,WaterTable),Is(HallLight,Off)}
+{On(Water,WaterTable),Is(HallLight,On)}
+{On(Water,WaterTable),Is(TubeLight,Off)}
+{On(Water,WaterTable),Is(TubeLight,On)}
+{On(Water,WaterTable),Is(Curtain,Off)}
+{On(Water,WaterTable),Is(Curtain,On)}
+{On(Water,CoffeeTable),Is(AC,Off)}
+{On(Water,CoffeeTable),Is(AC,On)}
+{On(Water,CoffeeTable),Is(ACTemperature,Up)}
+{On(Water,CoffeeTable),Is(ACTemperature,Down)}
+{On(Water,CoffeeTable),Is(HallLight,Off)}
+{On(Water,CoffeeTable),Is(HallLight,On)}
+{On(Water,CoffeeTable),Is(TubeLight,Off)}
+{On(Water,CoffeeTable),Is(TubeLight,On)}
+{On(Water,CoffeeTable),Is(Curtain,Off)}
+{On(Water,CoffeeTable),Is(Curtain,On)}
+{On(Water,Bar2),Is(AC,Off)}
+{On(Water,Bar2),Is(AC,On)}
+{On(Water,Bar2),Is(ACTemperature,Up)}
+{On(Water,Bar2),Is(ACTemperature,Down)}
+{On(Water,Bar2),Is(HallLight,Off)}
+{On(Water,Bar2),Is(HallLight,On)}
+{On(Water,Bar2),Is(TubeLight,Off)}
+{On(Water,Bar2),Is(TubeLight,On)}
+{On(Water,Bar2),Is(Curtain,Off)}
+{On(Water,Bar2),Is(Curtain,On)}
+{On(Water,TableOn),Is(AC,Off)}
+{On(Water,TableOn),Is(AC,On)}
+{On(Water,TableDown),Is(ACTemperature,Up)}
+{On(Water,TableDown),Is(ACTemperature,Down)}
+{On(Water,TableOn),Is(HallLight,Off)}
+{On(Water,TableOn),Is(HallLight,On)}
+{On(Water,TableOn),Is(TubeLight,Off)}
+{On(Water,TableOn),Is(TubeLight,On)}
+{On(Water,TableOn),Is(Curtain,Off)}
+{On(Water,TableOn),Is(Curtain,On)}
+{On(Water,Table2),Is(AC,Off)}
+{On(Water,Table2),Is(AC,On)}
+{On(Water,Table2),Is(ACTemperature,Up)}
+{On(Water,Table2),Is(ACTemperature,Down)}
+{On(Water,Table2),Is(HallLight,Off)}
+{On(Water,Table2),Is(HallLight,On)}
+{On(Water,Table2),Is(TubeLight,Off)}
+{On(Water,Table2),Is(TubeLight,On)}
+{On(Water,Table2),Is(Curtain,Off)}
+{On(Water,Table2),Is(Curtain,On)}
+{On(Water,Table3),Is(AC,Off)}
+{On(Water,Table3),Is(AC,On)}
+{On(Water,Table3),Is(ACTemperature,Up)}
+{On(Water,Table3),Is(ACTemperature,Down)}
+{On(Water,Table3),Is(HallLight,Off)}
+{On(Water,Table3),Is(HallLight,On)}
+{On(Water,Table3),Is(TubeLight,Off)}
+{On(Water,Table3),Is(TubeLight,On)}
+{On(Water,Table3),Is(Curtain,Off)}
+{On(Water,Table3),Is(Curtain,On)}
+{On(Dessert,Bar),Is(AC,Off)}
+{On(Dessert,Bar),Is(AC,On)}
+{On(Dessert,Bar),Is(ACTemperature,Up)}
+{On(Dessert,Bar),Is(ACTemperature,Down)}
+{On(Dessert,Bar),Is(HallLight,Off)}
+{On(Dessert,Bar),Is(HallLight,On)}
+{On(Dessert,Bar),Is(TubeLight,Off)}
+{On(Dessert,Bar),Is(TubeLight,On)}
+{On(Dessert,Bar),Is(Curtain,Off)}
+{On(Dessert,Bar),Is(Curtain,On)}
+{On(Dessert,WaterTable),Is(AC,Off)}
+{On(Dessert,WaterTable),Is(AC,On)}
+{On(Dessert,WaterTable),Is(ACTemperature,Up)}
+{On(Dessert,WaterTable),Is(ACTemperature,Down)}
+{On(Dessert,WaterTable),Is(HallLight,Off)}
+{On(Dessert,WaterTable),Is(HallLight,On)}
+{On(Dessert,WaterTable),Is(TubeLight,Off)}
+{On(Dessert,WaterTable),Is(TubeLight,On)}
+{On(Dessert,WaterTable),Is(Curtain,Off)}
+{On(Dessert,WaterTable),Is(Curtain,On)}
+{On(Dessert,CoffeeTable),Is(AC,Off)}
+{On(Dessert,CoffeeTable),Is(AC,On)}
+{On(Dessert,CoffeeTable),Is(ACTemperature,Up)}
+{On(Dessert,CoffeeTable),Is(ACTemperature,Down)}
+{On(Dessert,CoffeeTable),Is(HallLight,Off)}
+{On(Dessert,CoffeeTable),Is(HallLight,On)}
+{On(Dessert,CoffeeTable),Is(TubeLight,Off)}
+{On(Dessert,CoffeeTable),Is(TubeLight,On)}
+{On(Dessert,CoffeeTable),Is(Curtain,Off)}
+{On(Dessert,CoffeeTable),Is(Curtain,On)}
+{On(Dessert,Bar2),Is(AC,Off)}
+{On(Dessert,Bar2),Is(AC,On)}
+{On(Dessert,Bar2),Is(ACTemperature,Up)}
+{On(Dessert,Bar2),Is(ACTemperature,Down)}
+{On(Dessert,Bar2),Is(HallLight,Off)}
+{On(Dessert,Bar2),Is(HallLight,On)}
+{On(Dessert,Bar2),Is(TubeLight,Off)}
+{On(Dessert,Bar2),Is(TubeLight,On)}
+{On(Dessert,Bar2),Is(Curtain,Off)}
+{On(Dessert,Bar2),Is(Curtain,On)}
+{On(Dessert,TableOn),Is(AC,Off)}
+{On(Dessert,TableOn),Is(AC,On)}
+{On(Dessert,TableDown),Is(ACTemperature,Up)}
+{On(Dessert,TableDown),Is(ACTemperature,Down)}
+{On(Dessert,TableOn),Is(HallLight,Off)}
+{On(Dessert,TableOn),Is(HallLight,On)}
+{On(Dessert,TableOn),Is(TubeLight,Off)}
+{On(Dessert,TableOn),Is(TubeLight,On)}
+{On(Dessert,TableOn),Is(Curtain,Off)}
+{On(Dessert,TableOn),Is(Curtain,On)}
+{On(Dessert,Table2),Is(AC,Off)}
+{On(Dessert,Table2),Is(AC,On)}
+{On(Dessert,Table2),Is(ACTemperature,Up)}
+{On(Dessert,Table2),Is(ACTemperature,Down)}
+{On(Dessert,Table2),Is(HallLight,Off)}
+{On(Dessert,Table2),Is(HallLight,On)}
+{On(Dessert,Table2),Is(TubeLight,Off)}
+{On(Dessert,Table2),Is(TubeLight,On)}
+{On(Dessert,Table2),Is(Curtain,Off)}
+{On(Dessert,Table2),Is(Curtain,On)}
+{On(Dessert,Table3),Is(AC,Off)}
+{On(Dessert,Table3),Is(AC,On)}
+{On(Dessert,Table3),Is(ACTemperature,Up)}
+{On(Dessert,Table3),Is(ACTemperature,Down)}
+{On(Dessert,Table3),Is(HallLight,Off)}
+{On(Dessert,Table3),Is(HallLight,On)}
+{On(Dessert,Table3),Is(TubeLight,Off)}
+{On(Dessert,Table3),Is(TubeLight,On)}
+{On(Dessert,Table3),Is(Curtain,Off)}
+{On(Dessert,Table3),Is(Curtain,On)}
+{On(Coffee,Bar),Is(AC,Off)}
+{On(Coffee,Bar),Is(AC,On)}
+{On(Coffee,Bar),Is(ACTemperature,Up)}
+{On(Coffee,Bar),Is(ACTemperature,Down)}
+{On(Coffee,Bar),Is(HallLight,Off)}
+{On(Coffee,Bar),Is(HallLight,On)}
+{On(Coffee,Bar),Is(TubeLight,Off)}
+{On(Coffee,Bar),Is(TubeLight,On)}
+{On(Coffee,Bar),Is(Curtain,Off)}
+{On(Coffee,Bar),Is(Curtain,On)}
+{On(Coffee,WaterTable),Is(AC,Off)}
+{On(Coffee,WaterTable),Is(AC,On)}
+{On(Coffee,WaterTable),Is(ACTemperature,Up)}
+{On(Coffee,WaterTable),Is(ACTemperature,Down)}
+{On(Coffee,WaterTable),Is(HallLight,Off)}
+{On(Coffee,WaterTable),Is(HallLight,On)}
+{On(Coffee,WaterTable),Is(TubeLight,Off)}
+{On(Coffee,WaterTable),Is(TubeLight,On)}
+{On(Coffee,WaterTable),Is(Curtain,Off)}
+{On(Coffee,WaterTable),Is(Curtain,On)}
+{On(Coffee,CoffeeTable),Is(AC,Off)}
+{On(Coffee,CoffeeTable),Is(AC,On)}
+{On(Coffee,CoffeeTable),Is(ACTemperature,Up)}
+{On(Coffee,CoffeeTable),Is(ACTemperature,Down)}
+{On(Coffee,CoffeeTable),Is(HallLight,Off)}
+{On(Coffee,CoffeeTable),Is(HallLight,On)}
+{On(Coffee,CoffeeTable),Is(TubeLight,Off)}
+{On(Coffee,CoffeeTable),Is(TubeLight,On)}
+{On(Coffee,CoffeeTable),Is(Curtain,Off)}
+{On(Coffee,CoffeeTable),Is(Curtain,On)}
+{On(Coffee,Bar2),Is(AC,Off)}
+{On(Coffee,Bar2),Is(AC,On)}
+{On(Coffee,Bar2),Is(ACTemperature,Up)}
+{On(Coffee,Bar2),Is(ACTemperature,Down)}
+{On(Coffee,Bar2),Is(HallLight,Off)}
+{On(Coffee,Bar2),Is(HallLight,On)}
+{On(Coffee,Bar2),Is(TubeLight,Off)}
+{On(Coffee,Bar2),Is(TubeLight,On)}
+{On(Coffee,Bar2),Is(Curtain,Off)}
+{On(Coffee,Bar2),Is(Curtain,On)}
+{On(Coffee,TableOn),Is(AC,Off)}
+{On(Coffee,TableOn),Is(AC,On)}
+{On(Coffee,TableDown),Is(ACTemperature,Up)}
+{On(Coffee,TableDown),Is(ACTemperature,Down)}
+{On(Coffee,TableOn),Is(HallLight,Off)}
+{On(Coffee,TableOn),Is(HallLight,On)}
+{On(Coffee,TableOn),Is(TubeLight,Off)}
+{On(Coffee,TableOn),Is(TubeLight,On)}
+{On(Coffee,TableOn),Is(Curtain,Off)}
+{On(Coffee,TableOn),Is(Curtain,On)}
+{On(Coffee,Table2),Is(AC,Off)}
+{On(Coffee,Table2),Is(AC,On)}
+{On(Coffee,Table2),Is(ACTemperature,Up)}
+{On(Coffee,Table2),Is(ACTemperature,Down)}
+{On(Coffee,Table2),Is(HallLight,Off)}
+{On(Coffee,Table2),Is(HallLight,On)}
+{On(Coffee,Table2),Is(TubeLight,Off)}
+{On(Coffee,Table2),Is(TubeLight,On)}
+{On(Coffee,Table2),Is(Curtain,Off)}
+{On(Coffee,Table2),Is(Curtain,On)}
+{On(Coffee,Table3),Is(AC,Off)}
+{On(Coffee,Table3),Is(AC,On)}
+{On(Coffee,Table3),Is(ACTemperature,Up)}
+{On(Coffee,Table3),Is(ACTemperature,Down)}
+{On(Coffee,Table3),Is(HallLight,Off)}
+{On(Coffee,Table3),Is(HallLight,On)}
+{On(Coffee,Table3),Is(TubeLight,Off)}
+{On(Coffee,Table3),Is(TubeLight,On)}
+{On(Coffee,Table3),Is(Curtain,Off)}
+{On(Coffee,Table3),Is(Curtain,On)}
+{On(Water,Bar),Is(AC,Off)}
+{On(Water,Bar),Is(AC,On)}
+{On(Water,Bar),Is(ACTemperature,Up)}
+{On(Water,Bar),Is(ACTemperature,Down)}
+{On(Water,Bar),Is(HallLight,Off)}
+{On(Water,Bar),Is(HallLight,On)}
+{On(Water,Bar),Is(TubeLight,Off)}
+{On(Water,Bar),Is(TubeLight,On)}
+{On(Water,Bar),Is(Curtain,Off)}
+{On(Water,Bar),Is(Curtain,On)}
diff --git a/robowaiter/behavior_tree/dataset/goal_states_generation.py b/robowaiter/behavior_tree/dataset/goal_states_generation.py
index 3cc2770..f03dfba 100644
--- a/robowaiter/behavior_tree/dataset/goal_states_generation.py
+++ b/robowaiter/behavior_tree/dataset/goal_states_generation.py
@@ -1,6 +1,10 @@
 # the empty string '' represents robot holds nothing
-Object = ['Coffee', 'Water', 'Dessert', 'Softdrink', 'BottledDrink', 'Yogurt', 'ADMilk', 'MilkDrink', 'Milk',
-          'VacuumCup', '']
+import os
+import re
+
+Object = ['Softdrink', 'BottledDrink', 'Yogurt', 'ADMilk', 'MilkDrink', 'Milk', 'VacuumCup', 'Nothing']
+
+Cookable = ['Coffee', 'Water', 'Dessert']
 
 Place = ['Bar', 'WaterTable', 'CoffeeTable', 'Bar2', 'Table1', 'Table2', 'Table3']
 
@@ -35,13 +39,13 @@ def enumerate_predict(oplist_1, oplist_2, predict_pattern) -> [int, list]:
 
     match predict_pattern:
         case 'at':
-            pattern = f'At(%s, %s)'
+            pattern = f'At(%s,%s)'
         case 'is':
-            pattern = f'Is(%s, %s)'
+            pattern = f'Is(%s,%s)'
         case 'hold':
             pattern = f'Holding(%s)'
         case 'on':
-            pattern = f'On(%s, %s)'
+            pattern = f'On(%s,%s)'
         case _:
             raise RuntimeError('Incorrect predict pattern!')
 
@@ -49,10 +53,10 @@ def enumerate_predict(oplist_1, oplist_2, predict_pattern) -> [int, list]:
         if oplist_2:
             for str_2 in oplist_2:
                 count += 1
-                res.append({pattern % (str_1, str_2)})
+                res.append(pattern % (str_1, str_2))
         else:
             count += 1
-            res.append({pattern % str_1})
+            res.append(pattern % str_1)
 
     return count, res
 
@@ -85,27 +89,127 @@ def generate_goal_states(vln_num: int, vlm_num: int, opentask_num: int):
                 }
             )
 
-    # print(res)
-    # print(len(res))
+    print(res)
+    print(len(res))
 
     return res
 
 
-def enumerate_goal_states():
-    # goal states for VLN
+def enumerate_goal_states(total: int):
+
+    res = []
+
+    point_15 = int(total * .15)
+    point_10 = int(total * .10)
+
+    # goal states for VLN, .15
     count_vln, list_vln = enumerate_predict(['Robot'], Place, 'at')
-    print(f'VLN 任务的目标状态数：{count_vln}')
+    list_vln = ['{%s}'%i for i in list_vln]
+    if count_vln < point_15:
+        list_vln *= point_15 // count_vln
+        for i in range(0, point_15 - len(list_vln)):
+            list_vln.append('{%s}' % single_predict_generation(['Robot'], Place, 'at'))
+    # print(f'VLN 任务的目标状态数：{count_vln}')
+    res += list_vln
 
-    # goal states for VLM
-    count_vlm_1, list_vlm_1 = enumerate_predict(['Robot'], Place, 'at')
+    # goal states for VLM-1, 0.15
+    count_vlm_1, list_vlm_1 = enumerate_predict(Object, Place, 'on')
+    list_vlm_1 = ['{%s}' % i for i in list_vlm_1]
+    if count_vlm_1 < point_15:
+        list_vlm_1 *= point_15 // count_vlm_1
+        for i in range(0, point_15 - len(list_vlm_1)):
+            list_vlm_1.append('{%s}' % (single_predict_generation(Object, Place, 'on')))
+    res += list_vlm_1
+
+    # goal states for VLM-2, 0.15
     count_vlm_2, list_vlm_2 = enumerate_predict(Operable, ['0', '1'], 'is')
-    print(f'VLM 任务的目标状态数：{count_vlm_1 * count_vlm_2}')
+    list_vlm_2 = ['{%s}' % i for i in list_vlm_2]
+    if count_vlm_2 < point_15:
+        list_vlm_2 *= point_15 // count_vlm_2
+        for i in range(0, point_15 - len(list_vlm_2)):
+            list_vlm_2.append('{%s}' % single_predict_generation(Operable, ['0', '1'], 'is'))
+    res += list_vlm_2
 
-    # goal states for open-task
-    count_opentask_1, list_opentask_1 = enumerate_predict(['Robot'], Place, 'at')
-    count_opentask_2, list_opentask_2 = enumerate_predict(Object, Place, 'on')
-    print(f'Open-task-1 任务的目标状态数：{count_opentask_1 * count_opentask_2}')
+    # goal states for VLM-3, 0.1
+    count_vlm_3, list_vlm_3 = enumerate_predict(Object, None, 'hold')
+    list_vlm_3 = ['{%s}' % i for i in list_vlm_3]
+    if count_vlm_3 < point_10:
+        list_vlm_3 *= point_10 // count_vlm_3
+        for i in range(0, point_10 - len(list_vlm_3)):
+            list_vlm_3.append('{%s}' % single_predict_generation(Object, None, 'hold'))
+    res += list_vlm_3
 
+    # goal states for OT, 0.15
+    count_ot, list_ot = enumerate_predict(Cookable, Place, 'on')
+    list_ot = ['{%s}' % i for i in list_ot]
+    if count_ot < point_15:
+        list_ot *= point_15 // count_ot
+        for i in range(0, point_15 - len(list_ot)):
+            list_ot.append('{%s}' % single_predict_generation(Cookable, Place, 'on'))
+    res += list_ot
+
+    # goal states for compound-1, 0.1
+    count_1, list_1 = enumerate_predict(['Robot'], Place, 'at')
+    count_2, list_2 = enumerate_predict(Object, Place, 'on')
+    list_tmp = []
+    for i in list_1:
+        for j in list_2:
+            list_tmp.append('{%s,%s}' % (i, j))
+    if len(list_tmp) < point_10:
+        list_tmp *= point_10 // len(list_tmp)
+        list_tmp += list_tmp[0:point_10-len(list_tmp)]
+    else:
+        list_tmp = list_tmp[:point_10]
+    res += list_tmp
+
+    # goal states for compound-2, 0.1
+    count_1, list_1 = enumerate_predict(['Robot'], Place, 'at')
+    count_2, list_2 = enumerate_predict(Operable, ['0', '1'], 'is')
+    list_tmp = []
+    for i in list_1:
+        for j in list_2:
+            list_tmp.append('{%s,%s}' % (i, j))
+    if len(list_tmp) < point_10:
+        list_tmp *= point_10 // len(list_tmp)
+        list_tmp += list_tmp[0:point_10 - len(list_tmp)]
+    else:
+        list_tmp = list_tmp[:point_10]
+    res += list_tmp
+
+    # goal states for compound-3, 0.1
+    count_1, list_1 = enumerate_predict(Cookable, Place, 'on')
+    count_2, list_2 = enumerate_predict(Operable, ['0', '1'], 'is')
+    list_tmp = []
+    for i in list_1:
+        for j in list_2:
+            list_tmp.append('{%s,%s}' % (i, j))
+    if len(list_tmp) < point_10:
+        list_tmp *= point_10 // len(list_tmp)
+        list_tmp += list_tmp[0:point_10 - len(list_tmp)]
+    else:
+        list_tmp = list_tmp[:point_10]
+    res += list_tmp
+
+    # # goal states for VLM-1, 0.15
+    # count_vlm_1, list_vlm_1 = enumerate_predict(['Robot'], Place, 'at')
+    # count_vlm_2, list_vlm_2 = enumerate_predict(Operable, ['0', '1'], 'is')
+    # print(f'VLM 任务的目标状态数：{count_vlm_1 * count_vlm_2}')
+    #
+    # # goal states for open-task
+    # count_opentask_1, list_opentask_1 = enumerate_predict(['Robot'], Place, 'at')
+    # count_opentask_2, list_opentask_2 = enumerate_predict(Object, Place, 'on')
+    # print(f'Open-task-1 任务的目标状态数：{count_opentask_1 * count_opentask_2}')
+
+    with open(os.path.join('./goal_states.txt'), 'w+') as file:
+        for i in res:
+            if 'Is' in i and 'ACTemperature' in i:
+                i = re.sub('0', 'Up', i)
+                i = re.sub('1', 'Down', i)
+            elif 'Is' in i and ('AC' in i or 'HallLight' in i or 'TubeLight' in i or 'Curtain' in i):
+                i = re.sub('0', 'Off', i)
+                i = re.sub('1', 'On', i)
+
+            file.write(i+'\n')
 
 # generate_goal_states(30, 6, 6)
-enumerate_goal_states()
+enumerate_goal_states(5000)
diff --git a/robowaiter/behavior_tree/obtea/OptimalBTExpansionAlgorithm.py b/robowaiter/behavior_tree/obtea/OptimalBTExpansionAlgorithm.py
index 333a644..fba4325 100644
--- a/robowaiter/behavior_tree/obtea/OptimalBTExpansionAlgorithm.py
+++ b/robowaiter/behavior_tree/obtea/OptimalBTExpansionAlgorithm.py
@@ -183,7 +183,7 @@ class OptBTExpAlgorithm:
             if isinstance(child, Leaf):
                 if child.type == 'cond':
                     self.ptml_string += "cond "
-                    c_set_str = ', '.join(map(str, child.content)) + "\n"
+                    c_set_str = '\n cond '.join(map(str, child.content)) + "\n"
                     self.ptml_string += c_set_str
                 elif child.type == 'act':
                     if '(' not in child.content.name:
diff --git a/robowaiter/llm_client/data/test_questions.txt b/robowaiter/llm_client/data/test_questions.txt
index 42f5756..44b4914 100644
--- a/robowaiter/llm_client/data/test_questions.txt
+++ b/robowaiter/llm_client/data/test_questions.txt
@@ -1 +1 @@
-{"测试VLM：做一杯咖啡": {"Answer": "测试VLM：做一杯咖啡", "Goal": "{\"At(Coffee,Bar)\"}"}, "测试VLM：前往桌子2": {"Answer": " 测试VLM：前往桌子2", "Goal": "{\"At(Robot,Table2)\"}"}, "测试AEM": {"Answer": "测试AEM", "Goal": "{\"EnvExplored()\"}"}, "测试VLM：倒一杯水": {"Answer": "测试VLM：倒一杯水", "Goal": "{\"On(Water,WaterTable)\"}"}, "测试VLM：开空调": {"Answer": "测试VLM：开空调", "Goal": "{\"Is(AC,On)\"}"}, "测试VLM：关大厅灯": {"Answer": "测试VLM：关大厅灯", "Goal": "{\"Is(HallLight,Off)\"}"}, "测试VLM：关筒灯": {"Answer": "测试VLM：关筒灯", "Goal": "{\"Is(TubeLight,Off)\"}"}, "测试VLM：关窗帘": {"Answer": "测试VLM：关窗", "Goal": "{\"Is(Curtain,Off)\"}"}, "测试VLM：拖地": {"Answer": "测试VLM：拖地", "Goal": "{\"Is(Floor,Clean)\"}"}, "测试VLM：擦桌子": {"Answer": "测试VLM：擦桌子", "Goal": "{\"Is(Table1,Clean)\"}"}, "测试VLM：把冰红茶放到Table2": {"Answer": "测试VLM：把冰红茶放到Table2", "Goal": "{\"On(BottledDrink,Table2)\"}"}}
+{"测试VLM：做一杯咖啡": {"Answer": "测试VLM：做一杯咖啡", "Goal": "{\"At(Coffee,Bar)\"}"}, "测试VLM：前往桌子2": {"Answer": " 测试VLM：前往桌子2", "Goal": "{\"At(Robot,Table2)\"}"}, "测试AEM": {"Answer": "测试AEM", "Goal": "{\"EnvExplored()\"}"}, "测试VLM：倒一杯水": {"Answer": "测试VLM：倒一杯水", "Goal": "{\"On(Water,WaterTable)\"}"}, "测试VLM：开空调": {"Answer": "测试VLM：开空调", "Goal": "{\"Is(AC,On)\"}"}, "测试VLM：关空调": {"Answer": "测试VLM：关空调", "Goal": "{\"Is(AC,Off)\"}"}, "测试VLM：关大厅灯": {"Answer": "测试VLM：关大厅灯", "Goal": "{\"Is(HallLight,Off)\"}"}, "测试VLM：开大厅灯": {"Answer": "测试VLM：开大厅灯", "Goal": "{\"Is(HallLight,On)\"}"}, "测试VLM：关筒灯": {"Answer": "测试VLM：关筒灯", "Goal": "{\"Is(TubeLight,Off)\"}"}, "测试VLM：开筒灯": {"Answer": "测试VLM：开筒灯", "Goal": "{\"Is(TubeLight,On)\"}"}, "测试VLM：关窗帘": {"Answer": "测试VLM：关窗帘", "Goal": "{\"Is(Curtain,Off)\"}"}, "测试VLM：开窗帘": {"Answer": "测试VLM：开窗帘", "Goal": "{\"Is(Curtain,On)\"}"}, "测试VLM：拖地": {"Answer": "测试VLM：拖地", "Goal": "{\"Is(Floor,Clean)\"}"}, "测试VLM：擦桌子": {"Answer": "测试VLM：擦桌子", "Goal": "{\"Is(Table1,Clean)\"}"}, "测试VLM：整理椅子": {"Answer": "测试VLM：整理椅子", "Goal": "{\"Is(Chairs,Clean)\"}"}, "测试VLM：把冰红茶放到Table2": {"Answer": "测试VLM：把冰红茶放到Table2", "Goal": "{\"On(BottledDrink,Table2)\"}"}}
diff --git a/robowaiter/llm_client/data_raw/test_questions.csv b/robowaiter/llm_client/data_raw/test_questions.csv
index fda2291..9313d61 100644
--- a/robowaiter/llm_client/data_raw/test_questions.csv
+++ b/robowaiter/llm_client/data_raw/test_questions.csv
@@ -4,9 +4,14 @@ Question,Answer,Goal
 ����AEM,����AEM,"{""EnvExplored()""}"
 ����VLM����һ��ˮ,����VLM����һ��ˮ,"{""On(Water,WaterTable)""}"
 ����VLM�����յ�,����VLM�����յ�,"{""Is(AC,On)""}"
+����VLM���ؿյ�,����VLM���ؿյ�,"{""Is(AC,Off)""}"
 ����VLM���ش�����,����VLM���ش�����,"{""Is(HallLight,Off)""}"
+����VLM����������,����VLM����������,"{""Is(HallLight,On)""}"
 ����VLM����Ͳ��,����VLM����Ͳ��,"{""Is(TubeLight,Off)""}"
-����VLM���ش���,����VLM���ش�,"{""Is(Curtain,Off)""}"
+����VLM����Ͳ��,����VLM����Ͳ��,"{""Is(TubeLight,On)""}"
+����VLM���ش���,����VLM���ش���,"{""Is(Curtain,Off)""}"
+����VLM��������,����VLM��������,"{""Is(Curtain,On)""}"
 ����VLM���ϵ�,����VLM���ϵ�,"{""Is(Floor,Clean)""}"
 ����VLM��������,����VLM��������,"{""Is(Table1,Clean)""}"
+����VLM����������,����VLM����������,"{""Is(Chairs,Clean)""}"
 ����VLM���ѱ����ŵ�Table2,����VLM���ѱ����ŵ�Table2,"{""On(BottledDrink,Table2)""}"
diff --git a/robowaiter/robot/robot.py b/robowaiter/robot/robot.py
index 6d7b275..ec2dadd 100644
--- a/robowaiter/robot/robot.py
+++ b/robowaiter/robot/robot.py
@@ -48,7 +48,8 @@ class Robot(object):
             print("\n--------------------")
             print(f"首次运行行为树扩展算法，收集到{len(self.action_list)}个有效动作:")
             for a in self.action_list:
-                print(a.name)
+                if "Turn" in a.name:
+                    print(a.name)
             print("--------------------\n")
 
 
@@ -70,7 +71,11 @@ class Robot(object):
         del_sub_tree.set_scene(self.scene)
         seq.add_child(del_sub_tree)
 
-        self.scene.sub_task_seq.add_child(seq)
+        if self.scene.sub_task_seq:
+            self.scene.sub_task_seq.add_child(seq)
+        else:
+            print('Warning: have none sub task sequence')
+            self.scene.sub_task_seq = seq
         print("当前行为树为：")
         print_tree_from_root(self.bt.root)
 
diff --git a/robowaiter/scene/scene.py b/robowaiter/scene/scene.py
index 17a0ccd..3c350b8 100644
--- a/robowaiter/scene/scene.py
+++ b/robowaiter/scene/scene.py
@@ -416,13 +416,14 @@ class Scene:
         self.robo_recover()
         return True
 
-    def gen_obj(self,h=100):
+    def gen_obj(self,type=5,h=100):
         # 4;冰红(盒) 5;酸奶  7:保温杯 9;冰红(瓶) 13:代语词典  14:cake 61:甜牛奶
+        type= 5  #9
         scene = stub.Observe(GrabSim_pb2.SceneID(value=self.sceneID))
         ginger_loc = [scene.location.X, scene.location.Y, scene.location.Z]
-        obj_list = [GrabSim_pb2.ObjectList.Object(x=ginger_loc[0] - 55, y=ginger_loc[1] - 40, z = 95, roll=0, pitch=0, yaw=0, type=9),
+        obj_list = [GrabSim_pb2.ObjectList.Object(x=ginger_loc[0] - 55, y=ginger_loc[1] - 40, z = 95, roll=0, pitch=0, yaw=0, type=5),
                     # GrabSim_pb2.ObjectList.Object(x=ginger_loc[0] - 50, y=ginger_loc[1] - 40, z=h, roll=0, pitch=0, yaw=0, type=9),
-                    GrabSim_pb2.ObjectList.Object(x=340, y=960, z = 88, roll=0, pitch=0, yaw=0, type=7),
+                    GrabSim_pb2.ObjectList.Object(x=340, y=960, z = 88, roll=0, pitch=0, yaw=0, type=9),
                     ]
         scene = stub.AddObjects(GrabSim_pb2.ObjectList(objects=obj_list, scene=self.sceneID))
         time.sleep(1.0)
diff --git a/robowaiter/scene/tasks/VLM.py b/robowaiter/scene/tasks/VLM.py
index 85052d5..2bf37f2 100644
--- a/robowaiter/scene/tasks/VLM.py
+++ b/robowaiter/scene/tasks/VLM.py
@@ -11,16 +11,30 @@ class SceneVLM(Scene):
         super().__init__(robot)
         # 在这里加入场景中发生的事件， (事件发生的时间，事件函数)
         self.event_list = [
-            # (5, self.create_chat_event("测试VLM：做一杯咖啡")),
+            (5, self.create_chat_event("测试VLM：做一杯咖啡")),
             # (5, self.create_chat_event("测试VLM：倒一杯水")),
-            (5, self.create_chat_event("测试VLM：开空调")),
+            # (5, self.create_chat_event("测试VLM：开空调")),
+            # (5, self.create_chat_event("测试VLM：关空调")),
+            # (5, self.create_chat_event("测试VLM：开大厅灯")),
+            # (5, self.create_chat_event("测试VLM：拖地")),
+            # (5, self.create_chat_event("测试VLM：擦桌子")),
+            # (5, self.create_chat_event("测试VLM：整理椅子")),
+            # (5, self.create_chat_event("测试VLM：把冰红茶放到Table2")),
+            # (5, self.create_chat_event("测试VLM：关大厅灯"))
         ]
 
     def _reset(self):
-        self.state["condition_set"] = {'At(Robot,Bar)','Holding(Nothing)','Is(AC,Off)'}
+        self.state["condition_set"] = {'At(Robot,Bar)','Is(AC,Off)', 'Holding(Nothing)',  # 'Holding(Yogurt)', #'Holding(Nothing)',
+                                       'Is(HallLight,Off)','Is(TubeLight,On)','Is(Curtain,On)',
+                                       'Is(Table1,Dirty)','Is(Floor,Dirty)','Is(Chairs,Dirty)'}
+        # self.gen_obj(type=5)
+        # # self.gen_obj(type=9)
+        # self.op_task_execute(op_type=16, obj_id=0)
+        # self.move_task_area(op_type=4)
         pass
 
-    def _run(self, op_type=7):
+    def _run(self, op_type=10):
+
         # 共17个操作
         # "制作咖啡","倒水","夹点心","拖地","擦桌子","开筒灯","搬椅子",    # 1-7
         # "关筒灯","开大厅灯","关大厅灯","关闭窗帘","打开窗帘",            # 8-12
diff --git a/sub_task.ptml b/sub_task.ptml
index e2a81fa..2b7fc48 100644
--- a/sub_task.ptml
+++ b/sub_task.ptml
@@ -1,7 +1,1071 @@
 selector{
-cond Is(AC,On)
+cond At(Coffee,Bar)
 sequence{
-cond Is(AC,Off)
-act Turn(AC,On)
+cond Holding(Coffee)
+ cond At(Robot,Bar)
+act PutDown(Coffee,Bar)
+}
+sequence{
+cond Holding(Coffee)
+act MoveTo(Bar)
+}
+sequence{
+cond Holding(Nothing)
+ cond At(Robot,Coffee)
+ cond At(Robot,Bar)
+act PickUp(Coffee)
+}
+sequence{
+cond Holding(Nothing)
+ cond At(Robot,Coffee)
+act PickUp(Coffee)
+}
+sequence{
+cond At(Robot,CoffeeTable)
+ cond Holding(Water)
+ cond At(Robot,Coffee)
+ cond At(Robot,Bar)
+act PutDown(Water,CoffeeTable)
+}
+sequence{
+cond Holding(Water)
+ cond At(Robot,Table1)
+ cond At(Robot,Coffee)
+ cond At(Robot,Bar)
+act PutDown(Water,Table1)
+}
+sequence{
+cond Holding(Water)
+ cond At(Robot,Bar)
+ cond At(Robot,Coffee)
+ cond At(Robot,Bar2)
+act PutDown(Water,Bar2)
+}
+sequence{
+cond Holding(Water)
+ cond At(Robot,Table3)
+ cond At(Robot,Coffee)
+ cond At(Robot,Bar)
+act PutDown(Water,Table3)
+}
+sequence{
+cond Holding(Water)
+ cond At(Robot,Table2)
+ cond At(Robot,Coffee)
+ cond At(Robot,Bar)
+act PutDown(Water,Table2)
+}
+sequence{
+cond Holding(Water)
+ cond At(Robot,Coffee)
+ cond At(Robot,Bar)
+act PutDown(Water,Bar)
+}
+sequence{
+cond At(Robot,CoffeeTable)
+ cond Holding(Softdrink)
+ cond At(Robot,Coffee)
+ cond At(Robot,Bar)
+act PutDown(Softdrink,CoffeeTable)
+}
+sequence{
+cond Holding(Softdrink)
+ cond At(Robot,Table1)
+ cond At(Robot,Coffee)
+ cond At(Robot,Bar)
+act PutDown(Softdrink,Table1)
+}
+sequence{
+cond Holding(Softdrink)
+ cond At(Robot,Bar)
+ cond At(Robot,Coffee)
+ cond At(Robot,Bar2)
+act PutDown(Softdrink,Bar2)
+}
+sequence{
+cond Holding(Softdrink)
+ cond At(Robot,Table3)
+ cond At(Robot,Coffee)
+ cond At(Robot,Bar)
+act PutDown(Softdrink,Table3)
+}
+sequence{
+cond Holding(Softdrink)
+ cond At(Robot,Table2)
+ cond At(Robot,Coffee)
+ cond At(Robot,Bar)
+act PutDown(Softdrink,Table2)
+}
+sequence{
+cond Holding(Softdrink)
+ cond At(Robot,Coffee)
+ cond At(Robot,Bar)
+act PutDown(Softdrink,Bar)
+}
+sequence{
+cond At(Robot,CoffeeTable)
+ cond Holding(Milk)
+ cond At(Robot,Coffee)
+ cond At(Robot,Bar)
+act PutDown(Milk,CoffeeTable)
+}
+sequence{
+cond Holding(Milk)
+ cond At(Robot,Table1)
+ cond At(Robot,Coffee)
+ cond At(Robot,Bar)
+act PutDown(Milk,Table1)
+}
+sequence{
+cond At(Robot,Coffee)
+ cond Holding(Milk)
+ cond At(Robot,Bar2)
+ cond At(Robot,Bar)
+act PutDown(Milk,Bar2)
+}
+sequence{
+cond Holding(Milk)
+ cond At(Robot,Table3)
+ cond At(Robot,Coffee)
+ cond At(Robot,Bar)
+act PutDown(Milk,Table3)
+}
+sequence{
+cond At(Robot,Table2)
+ cond Holding(Milk)
+ cond At(Robot,Coffee)
+ cond At(Robot,Bar)
+act PutDown(Milk,Table2)
+}
+sequence{
+cond Holding(Milk)
+ cond At(Robot,Coffee)
+ cond At(Robot,Bar)
+act PutDown(Milk,Bar)
+}
+sequence{
+cond Holding(Yogurt)
+ cond At(Robot,CoffeeTable)
+ cond At(Robot,Coffee)
+ cond At(Robot,Bar)
+act PutDown(Yogurt,CoffeeTable)
+}
+sequence{
+cond Holding(Yogurt)
+ cond At(Robot,Table1)
+ cond At(Robot,Coffee)
+ cond At(Robot,Bar)
+act PutDown(Yogurt,Table1)
+}
+sequence{
+cond Holding(Yogurt)
+ cond At(Robot,Coffee)
+ cond At(Robot,Bar2)
+ cond At(Robot,Bar)
+act PutDown(Yogurt,Bar2)
+}
+sequence{
+cond Holding(Yogurt)
+ cond At(Robot,Table3)
+ cond At(Robot,Coffee)
+ cond At(Robot,Bar)
+act PutDown(Yogurt,Table3)
+}
+sequence{
+cond Holding(Yogurt)
+ cond At(Robot,Table2)
+ cond At(Robot,Coffee)
+ cond At(Robot,Bar)
+act PutDown(Yogurt,Table2)
+}
+sequence{
+cond Holding(Yogurt)
+ cond At(Robot,Coffee)
+ cond At(Robot,Bar)
+act PutDown(Yogurt,Bar)
+}
+sequence{
+cond Holding(MilkDrink)
+ cond At(Robot,CoffeeTable)
+ cond At(Robot,Coffee)
+ cond At(Robot,Bar)
+act PutDown(MilkDrink,CoffeeTable)
+}
+sequence{
+cond Holding(MilkDrink)
+ cond At(Robot,Table1)
+ cond At(Robot,Coffee)
+ cond At(Robot,Bar)
+act PutDown(MilkDrink,Table1)
+}
+sequence{
+cond Holding(MilkDrink)
+ cond At(Robot,Coffee)
+ cond At(Robot,Bar2)
+ cond At(Robot,Bar)
+act PutDown(MilkDrink,Bar2)
+}
+sequence{
+cond Holding(MilkDrink)
+ cond At(Robot,Table3)
+ cond At(Robot,Coffee)
+ cond At(Robot,Bar)
+act PutDown(MilkDrink,Table3)
+}
+sequence{
+cond Holding(MilkDrink)
+ cond At(Robot,Table2)
+ cond At(Robot,Coffee)
+ cond At(Robot,Bar)
+act PutDown(MilkDrink,Table2)
+}
+sequence{
+cond Holding(MilkDrink)
+ cond At(Robot,Coffee)
+ cond At(Robot,Bar)
+act PutDown(MilkDrink,Bar)
+}
+sequence{
+cond At(Robot,CoffeeTable)
+ cond At(Robot,Bar)
+ cond At(Robot,Coffee)
+ cond Holding(VacuumCup)
+act PutDown(VacuumCup,CoffeeTable)
+}
+sequence{
+cond At(Robot,Bar)
+ cond At(Robot,Table1)
+ cond At(Robot,Coffee)
+ cond Holding(VacuumCup)
+act PutDown(VacuumCup,Table1)
+}
+sequence{
+cond At(Robot,Coffee)
+ cond Holding(VacuumCup)
+ cond At(Robot,Bar2)
+ cond At(Robot,Bar)
+act PutDown(VacuumCup,Bar2)
+}
+sequence{
+cond At(Robot,Bar)
+ cond At(Robot,Table3)
+ cond At(Robot,Coffee)
+ cond Holding(VacuumCup)
+act PutDown(VacuumCup,Table3)
+}
+sequence{
+cond At(Robot,Coffee)
+ cond At(Robot,Table2)
+ cond Holding(VacuumCup)
+ cond At(Robot,Bar)
+act PutDown(VacuumCup,Table2)
+}
+sequence{
+cond At(Robot,Bar)
+ cond At(Robot,Coffee)
+ cond Holding(VacuumCup)
+act PutDown(VacuumCup,Bar)
+}
+sequence{
+cond At(Robot,CoffeeTable)
+ cond At(Robot,Coffee)
+ cond Holding(Dessert)
+ cond At(Robot,Bar)
+act PutDown(Dessert,CoffeeTable)
+}
+sequence{
+cond At(Robot,Coffee)
+ cond At(Robot,Table1)
+ cond Holding(Dessert)
+ cond At(Robot,Bar)
+act PutDown(Dessert,Table1)
+}
+sequence{
+cond At(Robot,Coffee)
+ cond Holding(Dessert)
+ cond At(Robot,Bar2)
+ cond At(Robot,Bar)
+act PutDown(Dessert,Bar2)
+}
+sequence{
+cond At(Robot,Coffee)
+ cond At(Robot,Table3)
+ cond Holding(Dessert)
+ cond At(Robot,Bar)
+act PutDown(Dessert,Table3)
+}
+sequence{
+cond At(Robot,Coffee)
+ cond At(Robot,Table2)
+ cond Holding(Dessert)
+ cond At(Robot,Bar)
+act PutDown(Dessert,Table2)
+}
+sequence{
+cond At(Robot,Coffee)
+ cond Holding(Dessert)
+ cond At(Robot,Bar)
+act PutDown(Dessert,Bar)
+}
+sequence{
+cond At(Robot,CoffeeTable)
+ cond Holding(ADMilk)
+ cond At(Robot,Coffee)
+ cond At(Robot,Bar)
+act PutDown(ADMilk,CoffeeTable)
+}
+sequence{
+cond Holding(ADMilk)
+ cond At(Robot,Table1)
+ cond At(Robot,Coffee)
+ cond At(Robot,Bar)
+act PutDown(ADMilk,Table1)
+}
+sequence{
+cond At(Robot,Coffee)
+ cond Holding(ADMilk)
+ cond At(Robot,Bar2)
+ cond At(Robot,Bar)
+act PutDown(ADMilk,Bar2)
+}
+sequence{
+cond Holding(ADMilk)
+ cond At(Robot,Table3)
+ cond At(Robot,Coffee)
+ cond At(Robot,Bar)
+act PutDown(ADMilk,Table3)
+}
+sequence{
+cond Holding(ADMilk)
+ cond At(Robot,Table2)
+ cond At(Robot,Coffee)
+ cond At(Robot,Bar)
+act PutDown(ADMilk,Table2)
+}
+sequence{
+cond Holding(ADMilk)
+ cond At(Robot,Coffee)
+ cond At(Robot,Bar)
+act PutDown(ADMilk,Bar)
+}
+sequence{
+cond At(Robot,CoffeeTable)
+ cond Holding(BottledDrink)
+ cond At(Robot,Coffee)
+ cond At(Robot,Bar)
+act PutDown(BottledDrink,CoffeeTable)
+}
+sequence{
+cond Holding(BottledDrink)
+ cond At(Robot,Table1)
+ cond At(Robot,Coffee)
+ cond At(Robot,Bar)
+act PutDown(BottledDrink,Table1)
+}
+sequence{
+cond At(Robot,Coffee)
+ cond Holding(BottledDrink)
+ cond At(Robot,Bar2)
+ cond At(Robot,Bar)
+act PutDown(BottledDrink,Bar2)
+}
+sequence{
+cond Holding(BottledDrink)
+ cond At(Robot,Table3)
+ cond At(Robot,Coffee)
+ cond At(Robot,Bar)
+act PutDown(BottledDrink,Table3)
+}
+sequence{
+cond Holding(BottledDrink)
+ cond At(Robot,Table2)
+ cond At(Robot,Coffee)
+ cond At(Robot,Bar)
+act PutDown(BottledDrink,Table2)
+}
+sequence{
+cond Holding(BottledDrink)
+ cond At(Robot,Coffee)
+ cond At(Robot,Bar)
+act PutDown(BottledDrink,Bar)
+}
+sequence{
+cond Holding(Nothing)
+act MoveTo(Coffee)
+}
+sequence{
+cond At(Robot,CoffeeTable)
+ cond Holding(Water)
+ cond At(Robot,Coffee)
+act PutDown(Water,CoffeeTable)
+}
+sequence{
+cond Holding(Water)
+ cond At(Robot,Table1)
+ cond At(Robot,Coffee)
+act PutDown(Water,Table1)
+}
+sequence{
+cond Holding(Water)
+ cond At(Robot,Coffee)
+ cond At(Robot,Bar2)
+act PutDown(Water,Bar2)
+}
+sequence{
+cond Holding(Water)
+ cond At(Robot,Table3)
+ cond At(Robot,Coffee)
+act PutDown(Water,Table3)
+}
+sequence{
+cond Holding(Water)
+ cond At(Robot,Coffee)
+ cond At(Robot,Table2)
+act PutDown(Water,Table2)
+}
+sequence{
+cond Holding(Water)
+ cond At(Robot,Coffee)
+ cond At(Robot,WaterTable)
+act PutDown(Water,WaterTable)
+}
+sequence{
+cond At(Robot,CoffeeTable)
+ cond Holding(Softdrink)
+ cond At(Robot,Coffee)
+act PutDown(Softdrink,CoffeeTable)
+}
+sequence{
+cond Holding(Softdrink)
+ cond At(Robot,Table1)
+ cond At(Robot,Coffee)
+act PutDown(Softdrink,Table1)
+}
+sequence{
+cond Holding(Softdrink)
+ cond At(Robot,Coffee)
+ cond At(Robot,Bar2)
+act PutDown(Softdrink,Bar2)
+}
+sequence{
+cond Holding(Softdrink)
+ cond At(Robot,Table3)
+ cond At(Robot,Coffee)
+act PutDown(Softdrink,Table3)
+}
+sequence{
+cond Holding(Softdrink)
+ cond At(Robot,Coffee)
+ cond At(Robot,Table2)
+act PutDown(Softdrink,Table2)
+}
+sequence{
+cond Holding(Softdrink)
+ cond At(Robot,Coffee)
+ cond At(Robot,WaterTable)
+act PutDown(Softdrink,WaterTable)
+}
+sequence{
+cond At(Robot,CoffeeTable)
+ cond At(Robot,Coffee)
+ cond Holding(Milk)
+act PutDown(Milk,CoffeeTable)
+}
+sequence{
+cond At(Robot,Table1)
+ cond At(Robot,Coffee)
+ cond Holding(Milk)
+act PutDown(Milk,Table1)
+}
+sequence{
+cond At(Robot,Bar2)
+ cond At(Robot,Coffee)
+ cond Holding(Milk)
+act PutDown(Milk,Bar2)
+}
+sequence{
+cond At(Robot,Table3)
+ cond At(Robot,Coffee)
+ cond Holding(Milk)
+act PutDown(Milk,Table3)
+}
+sequence{
+cond At(Robot,Table2)
+ cond At(Robot,Coffee)
+ cond Holding(Milk)
+act PutDown(Milk,Table2)
+}
+sequence{
+cond At(Robot,WaterTable)
+ cond At(Robot,Coffee)
+ cond Holding(Milk)
+act PutDown(Milk,WaterTable)
+}
+sequence{
+cond Holding(Yogurt)
+ cond At(Robot,CoffeeTable)
+ cond At(Robot,Coffee)
+act PutDown(Yogurt,CoffeeTable)
+}
+sequence{
+cond Holding(Yogurt)
+ cond At(Robot,Table1)
+ cond At(Robot,Coffee)
+act PutDown(Yogurt,Table1)
+}
+sequence{
+cond Holding(Yogurt)
+ cond At(Robot,Bar2)
+ cond At(Robot,Coffee)
+act PutDown(Yogurt,Bar2)
+}
+sequence{
+cond Holding(Yogurt)
+ cond At(Robot,Table3)
+ cond At(Robot,Coffee)
+act PutDown(Yogurt,Table3)
+}
+sequence{
+cond Holding(Yogurt)
+ cond At(Robot,Coffee)
+ cond At(Robot,Table2)
+act PutDown(Yogurt,Table2)
+}
+sequence{
+cond Holding(Yogurt)
+ cond At(Robot,Coffee)
+ cond At(Robot,WaterTable)
+act PutDown(Yogurt,WaterTable)
+}
+sequence{
+cond Holding(MilkDrink)
+ cond At(Robot,CoffeeTable)
+ cond At(Robot,Coffee)
+act PutDown(MilkDrink,CoffeeTable)
+}
+sequence{
+cond Holding(MilkDrink)
+ cond At(Robot,Table1)
+ cond At(Robot,Coffee)
+act PutDown(MilkDrink,Table1)
+}
+sequence{
+cond Holding(MilkDrink)
+ cond At(Robot,Bar2)
+ cond At(Robot,Coffee)
+act PutDown(MilkDrink,Bar2)
+}
+sequence{
+cond Holding(MilkDrink)
+ cond At(Robot,Table3)
+ cond At(Robot,Coffee)
+act PutDown(MilkDrink,Table3)
+}
+sequence{
+cond Holding(MilkDrink)
+ cond At(Robot,Coffee)
+ cond At(Robot,Table2)
+act PutDown(MilkDrink,Table2)
+}
+sequence{
+cond Holding(MilkDrink)
+ cond At(Robot,Coffee)
+ cond At(Robot,WaterTable)
+act PutDown(MilkDrink,WaterTable)
+}
+sequence{
+cond At(Robot,CoffeeTable)
+ cond At(Robot,Coffee)
+ cond Holding(VacuumCup)
+act PutDown(VacuumCup,CoffeeTable)
+}
+sequence{
+cond At(Robot,Table1)
+ cond At(Robot,Coffee)
+ cond Holding(VacuumCup)
+act PutDown(VacuumCup,Table1)
+}
+sequence{
+cond At(Robot,Bar2)
+ cond At(Robot,Coffee)
+ cond Holding(VacuumCup)
+act PutDown(VacuumCup,Bar2)
+}
+sequence{
+cond At(Robot,Table3)
+ cond At(Robot,Coffee)
+ cond Holding(VacuumCup)
+act PutDown(VacuumCup,Table3)
+}
+sequence{
+cond Holding(VacuumCup)
+ cond At(Robot,Coffee)
+ cond At(Robot,Table2)
+act PutDown(VacuumCup,Table2)
+}
+sequence{
+cond Holding(VacuumCup)
+ cond At(Robot,Coffee)
+ cond At(Robot,WaterTable)
+act PutDown(VacuumCup,WaterTable)
+}
+sequence{
+cond At(Robot,CoffeeTable)
+ cond Holding(Dessert)
+ cond At(Robot,Coffee)
+act PutDown(Dessert,CoffeeTable)
+}
+sequence{
+cond Holding(Dessert)
+ cond At(Robot,Table1)
+ cond At(Robot,Coffee)
+act PutDown(Dessert,Table1)
+}
+sequence{
+cond At(Robot,Bar2)
+ cond Holding(Dessert)
+ cond At(Robot,Coffee)
+act PutDown(Dessert,Bar2)
+}
+sequence{
+cond Holding(Dessert)
+ cond At(Robot,Table3)
+ cond At(Robot,Coffee)
+act PutDown(Dessert,Table3)
+}
+sequence{
+cond Holding(Dessert)
+ cond At(Robot,Coffee)
+ cond At(Robot,Table2)
+act PutDown(Dessert,Table2)
+}
+sequence{
+cond Holding(Dessert)
+ cond At(Robot,Coffee)
+ cond At(Robot,WaterTable)
+act PutDown(Dessert,WaterTable)
+}
+sequence{
+cond At(Robot,CoffeeTable)
+ cond Holding(ADMilk)
+ cond At(Robot,Coffee)
+act PutDown(ADMilk,CoffeeTable)
+}
+sequence{
+cond Holding(ADMilk)
+ cond At(Robot,Table1)
+ cond At(Robot,Coffee)
+act PutDown(ADMilk,Table1)
+}
+sequence{
+cond At(Robot,Bar2)
+ cond Holding(ADMilk)
+ cond At(Robot,Coffee)
+act PutDown(ADMilk,Bar2)
+}
+sequence{
+cond Holding(ADMilk)
+ cond At(Robot,Table3)
+ cond At(Robot,Coffee)
+act PutDown(ADMilk,Table3)
+}
+sequence{
+cond Holding(ADMilk)
+ cond At(Robot,Coffee)
+ cond At(Robot,Table2)
+act PutDown(ADMilk,Table2)
+}
+sequence{
+cond Holding(ADMilk)
+ cond At(Robot,Coffee)
+ cond At(Robot,WaterTable)
+act PutDown(ADMilk,WaterTable)
+}
+sequence{
+cond At(Robot,CoffeeTable)
+ cond Holding(BottledDrink)
+ cond At(Robot,Coffee)
+act PutDown(BottledDrink,CoffeeTable)
+}
+sequence{
+cond Holding(BottledDrink)
+ cond At(Robot,Table1)
+ cond At(Robot,Coffee)
+act PutDown(BottledDrink,Table1)
+}
+sequence{
+cond At(Robot,Bar2)
+ cond Holding(BottledDrink)
+ cond At(Robot,Coffee)
+act PutDown(BottledDrink,Bar2)
+}
+sequence{
+cond Holding(BottledDrink)
+ cond At(Robot,Table3)
+ cond At(Robot,Coffee)
+act PutDown(BottledDrink,Table3)
+}
+sequence{
+cond Holding(BottledDrink)
+ cond At(Robot,Coffee)
+ cond At(Robot,Table2)
+act PutDown(BottledDrink,Table2)
+}
+sequence{
+cond Holding(BottledDrink)
+ cond At(Robot,Coffee)
+ cond At(Robot,WaterTable)
+act PutDown(BottledDrink,WaterTable)
+}
+sequence{
+cond At(Robot,CoffeeTable)
+ cond Holding(Water)
+act PutDown(Water,CoffeeTable)
+}
+sequence{
+cond Holding(Water)
+ cond At(Robot,Table1)
+act PutDown(Water,Table1)
+}
+sequence{
+cond Holding(Water)
+ cond At(Robot,Bar2)
+act PutDown(Water,Bar2)
+}
+sequence{
+cond Holding(Water)
+ cond At(Robot,Table3)
+act PutDown(Water,Table3)
+}
+sequence{
+cond Holding(Water)
+ cond At(Robot,Table2)
+act PutDown(Water,Table2)
+}
+sequence{
+cond Holding(Water)
+ cond At(Robot,Bar)
+act PutDown(Water,Bar)
+}
+sequence{
+cond Holding(Water)
+ cond At(Robot,WaterTable)
+act PutDown(Water,WaterTable)
+}
+sequence{
+cond At(Robot,CoffeeTable)
+ cond Holding(Softdrink)
+act PutDown(Softdrink,CoffeeTable)
+}
+sequence{
+cond Holding(Softdrink)
+ cond At(Robot,Table1)
+act PutDown(Softdrink,Table1)
+}
+sequence{
+cond Holding(Softdrink)
+ cond At(Robot,Bar2)
+act PutDown(Softdrink,Bar2)
+}
+sequence{
+cond Holding(Softdrink)
+ cond At(Robot,Table3)
+act PutDown(Softdrink,Table3)
+}
+sequence{
+cond Holding(Softdrink)
+ cond At(Robot,Table2)
+act PutDown(Softdrink,Table2)
+}
+sequence{
+cond Holding(Softdrink)
+ cond At(Robot,Bar)
+act PutDown(Softdrink,Bar)
+}
+sequence{
+cond Holding(Softdrink)
+ cond At(Robot,WaterTable)
+act PutDown(Softdrink,WaterTable)
+}
+sequence{
+cond At(Robot,CoffeeTable)
+ cond Holding(Milk)
+act PutDown(Milk,CoffeeTable)
+}
+sequence{
+cond At(Robot,Table1)
+ cond Holding(Milk)
+act PutDown(Milk,Table1)
+}
+sequence{
+cond At(Robot,Bar2)
+ cond Holding(Milk)
+act PutDown(Milk,Bar2)
+}
+sequence{
+cond At(Robot,Table3)
+ cond Holding(Milk)
+act PutDown(Milk,Table3)
+}
+sequence{
+cond At(Robot,Table2)
+ cond Holding(Milk)
+act PutDown(Milk,Table2)
+}
+sequence{
+cond At(Robot,Bar)
+ cond Holding(Milk)
+act PutDown(Milk,Bar)
+}
+sequence{
+cond At(Robot,WaterTable)
+ cond Holding(Milk)
+act PutDown(Milk,WaterTable)
+}
+sequence{
+cond Holding(Yogurt)
+ cond At(Robot,CoffeeTable)
+act PutDown(Yogurt,CoffeeTable)
+}
+sequence{
+cond Holding(Yogurt)
+ cond At(Robot,Table1)
+act PutDown(Yogurt,Table1)
+}
+sequence{
+cond Holding(Yogurt)
+ cond At(Robot,Bar2)
+act PutDown(Yogurt,Bar2)
+}
+sequence{
+cond Holding(Yogurt)
+ cond At(Robot,Table3)
+act PutDown(Yogurt,Table3)
+}
+sequence{
+cond Holding(Yogurt)
+ cond At(Robot,Table2)
+act PutDown(Yogurt,Table2)
+}
+sequence{
+cond Holding(Yogurt)
+ cond At(Robot,Bar)
+act PutDown(Yogurt,Bar)
+}
+sequence{
+cond Holding(Yogurt)
+ cond At(Robot,WaterTable)
+act PutDown(Yogurt,WaterTable)
+}
+sequence{
+cond Holding(MilkDrink)
+ cond At(Robot,CoffeeTable)
+act PutDown(MilkDrink,CoffeeTable)
+}
+sequence{
+cond Holding(MilkDrink)
+ cond At(Robot,Table1)
+act PutDown(MilkDrink,Table1)
+}
+sequence{
+cond Holding(MilkDrink)
+ cond At(Robot,Bar2)
+act PutDown(MilkDrink,Bar2)
+}
+sequence{
+cond Holding(MilkDrink)
+ cond At(Robot,Table3)
+act PutDown(MilkDrink,Table3)
+}
+sequence{
+cond Holding(MilkDrink)
+ cond At(Robot,Table2)
+act PutDown(MilkDrink,Table2)
+}
+sequence{
+cond Holding(MilkDrink)
+ cond At(Robot,Bar)
+act PutDown(MilkDrink,Bar)
+}
+sequence{
+cond Holding(MilkDrink)
+ cond At(Robot,WaterTable)
+act PutDown(MilkDrink,WaterTable)
+}
+sequence{
+cond At(Robot,CoffeeTable)
+ cond Holding(VacuumCup)
+act PutDown(VacuumCup,CoffeeTable)
+}
+sequence{
+cond At(Robot,Table1)
+ cond Holding(VacuumCup)
+act PutDown(VacuumCup,Table1)
+}
+sequence{
+cond At(Robot,Bar2)
+ cond Holding(VacuumCup)
+act PutDown(VacuumCup,Bar2)
+}
+sequence{
+cond At(Robot,Table3)
+ cond Holding(VacuumCup)
+act PutDown(VacuumCup,Table3)
+}
+sequence{
+cond Holding(VacuumCup)
+ cond At(Robot,Table2)
+act PutDown(VacuumCup,Table2)
+}
+sequence{
+cond Holding(VacuumCup)
+ cond At(Robot,Bar)
+act PutDown(VacuumCup,Bar)
+}
+sequence{
+cond Holding(VacuumCup)
+ cond At(Robot,WaterTable)
+act PutDown(VacuumCup,WaterTable)
+}
+sequence{
+cond At(Robot,CoffeeTable)
+ cond Holding(Dessert)
+act PutDown(Dessert,CoffeeTable)
+}
+sequence{
+cond At(Robot,Table1)
+ cond Holding(Dessert)
+act PutDown(Dessert,Table1)
+}
+sequence{
+cond At(Robot,Bar2)
+ cond Holding(Dessert)
+act PutDown(Dessert,Bar2)
+}
+sequence{
+cond At(Robot,Table3)
+ cond Holding(Dessert)
+act PutDown(Dessert,Table3)
+}
+sequence{
+cond Holding(Dessert)
+ cond At(Robot,Table2)
+act PutDown(Dessert,Table2)
+}
+sequence{
+cond Holding(Dessert)
+ cond At(Robot,Bar)
+act PutDown(Dessert,Bar)
+}
+sequence{
+cond Holding(Dessert)
+ cond At(Robot,WaterTable)
+act PutDown(Dessert,WaterTable)
+}
+sequence{
+cond At(Robot,CoffeeTable)
+ cond Holding(ADMilk)
+act PutDown(ADMilk,CoffeeTable)
+}
+sequence{
+cond Holding(ADMilk)
+ cond At(Robot,Table1)
+act PutDown(ADMilk,Table1)
+}
+sequence{
+cond Holding(ADMilk)
+ cond At(Robot,Bar2)
+act PutDown(ADMilk,Bar2)
+}
+sequence{
+cond Holding(ADMilk)
+ cond At(Robot,Table3)
+act PutDown(ADMilk,Table3)
+}
+sequence{
+cond Holding(ADMilk)
+ cond At(Robot,Table2)
+act PutDown(ADMilk,Table2)
+}
+sequence{
+cond Holding(ADMilk)
+ cond At(Robot,Bar)
+act PutDown(ADMilk,Bar)
+}
+sequence{
+cond Holding(ADMilk)
+ cond At(Robot,WaterTable)
+act PutDown(ADMilk,WaterTable)
+}
+sequence{
+cond At(Robot,CoffeeTable)
+ cond Holding(BottledDrink)
+act PutDown(BottledDrink,CoffeeTable)
+}
+sequence{
+cond Holding(BottledDrink)
+ cond At(Robot,Table1)
+act PutDown(BottledDrink,Table1)
+}
+sequence{
+cond Holding(BottledDrink)
+ cond At(Robot,Bar2)
+act PutDown(BottledDrink,Bar2)
+}
+sequence{
+cond Holding(BottledDrink)
+ cond At(Robot,Table3)
+act PutDown(BottledDrink,Table3)
+}
+sequence{
+cond Holding(BottledDrink)
+ cond At(Robot,Table2)
+act PutDown(BottledDrink,Table2)
+}
+sequence{
+cond Holding(BottledDrink)
+ cond At(Robot,Bar)
+act PutDown(BottledDrink,Bar)
+}
+sequence{
+cond Holding(BottledDrink)
+ cond At(Robot,WaterTable)
+act PutDown(BottledDrink,WaterTable)
+}
+sequence{
+cond Holding(Water)
+act MoveTo(CoffeeTable)
+}
+sequence{
+cond Holding(Softdrink)
+act MoveTo(CoffeeTable)
+}
+sequence{
+cond Holding(Milk)
+act MoveTo(CoffeeTable)
+}
+sequence{
+cond Holding(Yogurt)
+act MoveTo(CoffeeTable)
+}
+sequence{
+cond Holding(MilkDrink)
+act MoveTo(CoffeeTable)
+}
+sequence{
+cond Holding(VacuumCup)
+act MoveTo(CoffeeTable)
+}
+sequence{
+cond Holding(Dessert)
+act MoveTo(CoffeeTable)
+}
+sequence{
+cond Holding(ADMilk)
+act MoveTo(CoffeeTable)
+}
+sequence{
+cond Holding(BottledDrink)
+act MoveTo(CoffeeTable)
 }
 }