diff --git a/robowaiter/behavior_tree/dataset/goal_states.txt b/robowaiter/behavior_tree/dataset/goal_states.txt index 85c913a..784a813 100644 --- a/robowaiter/behavior_tree/dataset/goal_states.txt +++ b/robowaiter/behavior_tree/dataset/goal_states.txt @@ -747,7 +747,7 @@ {At(Robot,Table1)} {At(Robot,Table2)} {At(Robot,Table3)} -{At(Robot, Table3)} +{At(Robot, CoffeeTable)} {On(Softdrink,Bar)} {On(Softdrink,WaterTable)} {On(Softdrink,CoffeeTable)} @@ -797,13 +797,6 @@ {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)} @@ -853,13 +846,6 @@ {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)} @@ -909,13 +895,6 @@ {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)} @@ -965,13 +944,6 @@ {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)} @@ -1021,13 +993,6 @@ {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)} @@ -1077,13 +1042,6 @@ {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)} @@ -1133,13 +1091,6 @@ {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)} @@ -1189,13 +1140,6 @@ {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)} @@ -1245,13 +1189,6 @@ {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)} @@ -1301,13 +1238,6 @@ {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)} @@ -1357,13 +1287,6 @@ {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)} @@ -1413,13 +1336,6 @@ {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)} @@ -1469,325 +1385,119 @@ {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(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(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(VacuumCup, Bar)} +{On(Softdrink, Table3)} {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)} +{On(Softdrink, CoffeeTable)} +{On(BottledDrink, WaterTable)} +{On(BottledDrink, Table3)} +{On(Yogurt, Table1)} +{On(Softdrink, WaterTable)} +{On(Softdrink, CoffeeTable)} +{On(ADMilk, Bar2)} +{On(Softdrink, CoffeeTable)} +{On(Milk, WaterTable)} +{On(Milk, Table3)} +{On(Milk, WaterTable)} +{On(Softdrink, Bar)} {Is(AC,Off)} {Is(AC,On)} {Is(ACTemperature,Up)} @@ -1798,6 +1508,12 @@ {Is(TubeLight,On)} {Is(Curtain,Off)} {Is(Curtain,On)} +{Is(Chairs,Dirty)} +{Is(Chairs,Clean)} +{Is(Floor,Dirty)} +{Is(Floor,Clean)} +{Is(Table,Dirty)} +{Is(Table,Clean)} {Is(AC,Off)} {Is(AC,On)} {Is(ACTemperature,Up)} @@ -1808,6 +1524,12 @@ {Is(TubeLight,On)} {Is(Curtain,Off)} {Is(Curtain,On)} +{Is(Chairs,Dirty)} +{Is(Chairs,Clean)} +{Is(Floor,Dirty)} +{Is(Floor,Clean)} +{Is(Table,Dirty)} +{Is(Table,Clean)} {Is(AC,Off)} {Is(AC,On)} {Is(ACTemperature,Up)} @@ -1818,6 +1540,12 @@ {Is(TubeLight,On)} {Is(Curtain,Off)} {Is(Curtain,On)} +{Is(Chairs,Dirty)} +{Is(Chairs,Clean)} +{Is(Floor,Dirty)} +{Is(Floor,Clean)} +{Is(Table,Dirty)} +{Is(Table,Clean)} {Is(AC,Off)} {Is(AC,On)} {Is(ACTemperature,Up)} @@ -1828,6 +1556,12 @@ {Is(TubeLight,On)} {Is(Curtain,Off)} {Is(Curtain,On)} +{Is(Chairs,Dirty)} +{Is(Chairs,Clean)} +{Is(Floor,Dirty)} +{Is(Floor,Clean)} +{Is(Table,Dirty)} +{Is(Table,Clean)} {Is(AC,Off)} {Is(AC,On)} {Is(ACTemperature,Up)} @@ -1838,6 +1572,12 @@ {Is(TubeLight,On)} {Is(Curtain,Off)} {Is(Curtain,On)} +{Is(Chairs,Dirty)} +{Is(Chairs,Clean)} +{Is(Floor,Dirty)} +{Is(Floor,Clean)} +{Is(Table,Dirty)} +{Is(Table,Clean)} {Is(AC,Off)} {Is(AC,On)} {Is(ACTemperature,Up)} @@ -1848,6 +1588,12 @@ {Is(TubeLight,On)} {Is(Curtain,Off)} {Is(Curtain,On)} +{Is(Chairs,Dirty)} +{Is(Chairs,Clean)} +{Is(Floor,Dirty)} +{Is(Floor,Clean)} +{Is(Table,Dirty)} +{Is(Table,Clean)} {Is(AC,Off)} {Is(AC,On)} {Is(ACTemperature,Up)} @@ -1858,6 +1604,12 @@ {Is(TubeLight,On)} {Is(Curtain,Off)} {Is(Curtain,On)} +{Is(Chairs,Dirty)} +{Is(Chairs,Clean)} +{Is(Floor,Dirty)} +{Is(Floor,Clean)} +{Is(Table,Dirty)} +{Is(Table,Clean)} {Is(AC,Off)} {Is(AC,On)} {Is(ACTemperature,Up)} @@ -1868,6 +1620,12 @@ {Is(TubeLight,On)} {Is(Curtain,Off)} {Is(Curtain,On)} +{Is(Chairs,Dirty)} +{Is(Chairs,Clean)} +{Is(Floor,Dirty)} +{Is(Floor,Clean)} +{Is(Table,Dirty)} +{Is(Table,Clean)} {Is(AC,Off)} {Is(AC,On)} {Is(ACTemperature,Up)} @@ -1878,6 +1636,12 @@ {Is(TubeLight,On)} {Is(Curtain,Off)} {Is(Curtain,On)} +{Is(Chairs,Dirty)} +{Is(Chairs,Clean)} +{Is(Floor,Dirty)} +{Is(Floor,Clean)} +{Is(Table,Dirty)} +{Is(Table,Clean)} {Is(AC,Off)} {Is(AC,On)} {Is(ACTemperature,Up)} @@ -1888,6 +1652,12 @@ {Is(TubeLight,On)} {Is(Curtain,Off)} {Is(Curtain,On)} +{Is(Chairs,Dirty)} +{Is(Chairs,Clean)} +{Is(Floor,Dirty)} +{Is(Floor,Clean)} +{Is(Table,Dirty)} +{Is(Table,Clean)} {Is(AC,Off)} {Is(AC,On)} {Is(ACTemperature,Up)} @@ -1898,6 +1668,12 @@ {Is(TubeLight,On)} {Is(Curtain,Off)} {Is(Curtain,On)} +{Is(Chairs,Dirty)} +{Is(Chairs,Clean)} +{Is(Floor,Dirty)} +{Is(Floor,Clean)} +{Is(Table,Dirty)} +{Is(Table,Clean)} {Is(AC,Off)} {Is(AC,On)} {Is(ACTemperature,Up)} @@ -1908,6 +1684,12 @@ {Is(TubeLight,On)} {Is(Curtain,Off)} {Is(Curtain,On)} +{Is(Chairs,Dirty)} +{Is(Chairs,Clean)} +{Is(Floor,Dirty)} +{Is(Floor,Clean)} +{Is(Table,Dirty)} +{Is(Table,Clean)} {Is(AC,Off)} {Is(AC,On)} {Is(ACTemperature,Up)} @@ -1918,6 +1700,12 @@ {Is(TubeLight,On)} {Is(Curtain,Off)} {Is(Curtain,On)} +{Is(Chairs,Dirty)} +{Is(Chairs,Clean)} +{Is(Floor,Dirty)} +{Is(Floor,Clean)} +{Is(Table,Dirty)} +{Is(Table,Clean)} {Is(AC,Off)} {Is(AC,On)} {Is(ACTemperature,Up)} @@ -1928,6 +1716,12 @@ {Is(TubeLight,On)} {Is(Curtain,Off)} {Is(Curtain,On)} +{Is(Chairs,Dirty)} +{Is(Chairs,Clean)} +{Is(Floor,Dirty)} +{Is(Floor,Clean)} +{Is(Table,Dirty)} +{Is(Table,Clean)} {Is(AC,Off)} {Is(AC,On)} {Is(ACTemperature,Up)} @@ -1938,6 +1732,12 @@ {Is(TubeLight,On)} {Is(Curtain,Off)} {Is(Curtain,On)} +{Is(Chairs,Dirty)} +{Is(Chairs,Clean)} +{Is(Floor,Dirty)} +{Is(Floor,Clean)} +{Is(Table,Dirty)} +{Is(Table,Clean)} {Is(AC,Off)} {Is(AC,On)} {Is(ACTemperature,Up)} @@ -1948,6 +1748,12 @@ {Is(TubeLight,On)} {Is(Curtain,Off)} {Is(Curtain,On)} +{Is(Chairs,Dirty)} +{Is(Chairs,Clean)} +{Is(Floor,Dirty)} +{Is(Floor,Clean)} +{Is(Table,Dirty)} +{Is(Table,Clean)} {Is(AC,Off)} {Is(AC,On)} {Is(ACTemperature,Up)} @@ -1958,6 +1764,12 @@ {Is(TubeLight,On)} {Is(Curtain,Off)} {Is(Curtain,On)} +{Is(Chairs,Dirty)} +{Is(Chairs,Clean)} +{Is(Floor,Dirty)} +{Is(Floor,Clean)} +{Is(Table,Dirty)} +{Is(Table,Clean)} {Is(AC,Off)} {Is(AC,On)} {Is(ACTemperature,Up)} @@ -1968,6 +1780,12 @@ {Is(TubeLight,On)} {Is(Curtain,Off)} {Is(Curtain,On)} +{Is(Chairs,Dirty)} +{Is(Chairs,Clean)} +{Is(Floor,Dirty)} +{Is(Floor,Clean)} +{Is(Table,Dirty)} +{Is(Table,Clean)} {Is(AC,Off)} {Is(AC,On)} {Is(ACTemperature,Up)} @@ -1978,6 +1796,12 @@ {Is(TubeLight,On)} {Is(Curtain,Off)} {Is(Curtain,On)} +{Is(Chairs,Dirty)} +{Is(Chairs,Clean)} +{Is(Floor,Dirty)} +{Is(Floor,Clean)} +{Is(Table,Dirty)} +{Is(Table,Clean)} {Is(AC,Off)} {Is(AC,On)} {Is(ACTemperature,Up)} @@ -1988,6 +1812,12 @@ {Is(TubeLight,On)} {Is(Curtain,Off)} {Is(Curtain,On)} +{Is(Chairs,Dirty)} +{Is(Chairs,Clean)} +{Is(Floor,Dirty)} +{Is(Floor,Clean)} +{Is(Table,Dirty)} +{Is(Table,Clean)} {Is(AC,Off)} {Is(AC,On)} {Is(ACTemperature,Up)} @@ -1998,6 +1828,12 @@ {Is(TubeLight,On)} {Is(Curtain,Off)} {Is(Curtain,On)} +{Is(Chairs,Dirty)} +{Is(Chairs,Clean)} +{Is(Floor,Dirty)} +{Is(Floor,Clean)} +{Is(Table,Dirty)} +{Is(Table,Clean)} {Is(AC,Off)} {Is(AC,On)} {Is(ACTemperature,Up)} @@ -2008,6 +1844,12 @@ {Is(TubeLight,On)} {Is(Curtain,Off)} {Is(Curtain,On)} +{Is(Chairs,Dirty)} +{Is(Chairs,Clean)} +{Is(Floor,Dirty)} +{Is(Floor,Clean)} +{Is(Table,Dirty)} +{Is(Table,Clean)} {Is(AC,Off)} {Is(AC,On)} {Is(ACTemperature,Up)} @@ -2018,6 +1860,12 @@ {Is(TubeLight,On)} {Is(Curtain,Off)} {Is(Curtain,On)} +{Is(Chairs,Dirty)} +{Is(Chairs,Clean)} +{Is(Floor,Dirty)} +{Is(Floor,Clean)} +{Is(Table,Dirty)} +{Is(Table,Clean)} {Is(AC,Off)} {Is(AC,On)} {Is(ACTemperature,Up)} @@ -2028,6 +1876,12 @@ {Is(TubeLight,On)} {Is(Curtain,Off)} {Is(Curtain,On)} +{Is(Chairs,Dirty)} +{Is(Chairs,Clean)} +{Is(Floor,Dirty)} +{Is(Floor,Clean)} +{Is(Table,Dirty)} +{Is(Table,Clean)} {Is(AC,Off)} {Is(AC,On)} {Is(ACTemperature,Up)} @@ -2038,6 +1892,12 @@ {Is(TubeLight,On)} {Is(Curtain,Off)} {Is(Curtain,On)} +{Is(Chairs,Dirty)} +{Is(Chairs,Clean)} +{Is(Floor,Dirty)} +{Is(Floor,Clean)} +{Is(Table,Dirty)} +{Is(Table,Clean)} {Is(AC,Off)} {Is(AC,On)} {Is(ACTemperature,Up)} @@ -2048,6 +1908,12 @@ {Is(TubeLight,On)} {Is(Curtain,Off)} {Is(Curtain,On)} +{Is(Chairs,Dirty)} +{Is(Chairs,Clean)} +{Is(Floor,Dirty)} +{Is(Floor,Clean)} +{Is(Table,Dirty)} +{Is(Table,Clean)} {Is(AC,Off)} {Is(AC,On)} {Is(ACTemperature,Up)} @@ -2058,6 +1924,12 @@ {Is(TubeLight,On)} {Is(Curtain,Off)} {Is(Curtain,On)} +{Is(Chairs,Dirty)} +{Is(Chairs,Clean)} +{Is(Floor,Dirty)} +{Is(Floor,Clean)} +{Is(Table,Dirty)} +{Is(Table,Clean)} {Is(AC,Off)} {Is(AC,On)} {Is(ACTemperature,Up)} @@ -2068,6 +1940,12 @@ {Is(TubeLight,On)} {Is(Curtain,Off)} {Is(Curtain,On)} +{Is(Chairs,Dirty)} +{Is(Chairs,Clean)} +{Is(Floor,Dirty)} +{Is(Floor,Clean)} +{Is(Table,Dirty)} +{Is(Table,Clean)} {Is(AC,Off)} {Is(AC,On)} {Is(ACTemperature,Up)} @@ -2078,6 +1956,12 @@ {Is(TubeLight,On)} {Is(Curtain,Off)} {Is(Curtain,On)} +{Is(Chairs,Dirty)} +{Is(Chairs,Clean)} +{Is(Floor,Dirty)} +{Is(Floor,Clean)} +{Is(Table,Dirty)} +{Is(Table,Clean)} {Is(AC,Off)} {Is(AC,On)} {Is(ACTemperature,Up)} @@ -2088,6 +1972,12 @@ {Is(TubeLight,On)} {Is(Curtain,Off)} {Is(Curtain,On)} +{Is(Chairs,Dirty)} +{Is(Chairs,Clean)} +{Is(Floor,Dirty)} +{Is(Floor,Clean)} +{Is(Table,Dirty)} +{Is(Table,Clean)} {Is(AC,Off)} {Is(AC,On)} {Is(ACTemperature,Up)} @@ -2098,6 +1988,12 @@ {Is(TubeLight,On)} {Is(Curtain,Off)} {Is(Curtain,On)} +{Is(Chairs,Dirty)} +{Is(Chairs,Clean)} +{Is(Floor,Dirty)} +{Is(Floor,Clean)} +{Is(Table,Dirty)} +{Is(Table,Clean)} {Is(AC,Off)} {Is(AC,On)} {Is(ACTemperature,Up)} @@ -2108,6 +2004,12 @@ {Is(TubeLight,On)} {Is(Curtain,Off)} {Is(Curtain,On)} +{Is(Chairs,Dirty)} +{Is(Chairs,Clean)} +{Is(Floor,Dirty)} +{Is(Floor,Clean)} +{Is(Table,Dirty)} +{Is(Table,Clean)} {Is(AC,Off)} {Is(AC,On)} {Is(ACTemperature,Up)} @@ -2118,6 +2020,12 @@ {Is(TubeLight,On)} {Is(Curtain,Off)} {Is(Curtain,On)} +{Is(Chairs,Dirty)} +{Is(Chairs,Clean)} +{Is(Floor,Dirty)} +{Is(Floor,Clean)} +{Is(Table,Dirty)} +{Is(Table,Clean)} {Is(AC,Off)} {Is(AC,On)} {Is(ACTemperature,Up)} @@ -2128,6 +2036,12 @@ {Is(TubeLight,On)} {Is(Curtain,Off)} {Is(Curtain,On)} +{Is(Chairs,Dirty)} +{Is(Chairs,Clean)} +{Is(Floor,Dirty)} +{Is(Floor,Clean)} +{Is(Table,Dirty)} +{Is(Table,Clean)} {Is(AC,Off)} {Is(AC,On)} {Is(ACTemperature,Up)} @@ -2138,6 +2052,12 @@ {Is(TubeLight,On)} {Is(Curtain,Off)} {Is(Curtain,On)} +{Is(Chairs,Dirty)} +{Is(Chairs,Clean)} +{Is(Floor,Dirty)} +{Is(Floor,Clean)} +{Is(Table,Dirty)} +{Is(Table,Clean)} {Is(AC,Off)} {Is(AC,On)} {Is(ACTemperature,Up)} @@ -2148,6 +2068,12 @@ {Is(TubeLight,On)} {Is(Curtain,Off)} {Is(Curtain,On)} +{Is(Chairs,Dirty)} +{Is(Chairs,Clean)} +{Is(Floor,Dirty)} +{Is(Floor,Clean)} +{Is(Table,Dirty)} +{Is(Table,Clean)} {Is(AC,Off)} {Is(AC,On)} {Is(ACTemperature,Up)} @@ -2158,6 +2084,12 @@ {Is(TubeLight,On)} {Is(Curtain,Off)} {Is(Curtain,On)} +{Is(Chairs,Dirty)} +{Is(Chairs,Clean)} +{Is(Floor,Dirty)} +{Is(Floor,Clean)} +{Is(Table,Dirty)} +{Is(Table,Clean)} {Is(AC,Off)} {Is(AC,On)} {Is(ACTemperature,Up)} @@ -2168,6 +2100,12 @@ {Is(TubeLight,On)} {Is(Curtain,Off)} {Is(Curtain,On)} +{Is(Chairs,Dirty)} +{Is(Chairs,Clean)} +{Is(Floor,Dirty)} +{Is(Floor,Clean)} +{Is(Table,Dirty)} +{Is(Table,Clean)} {Is(AC,Off)} {Is(AC,On)} {Is(ACTemperature,Up)} @@ -2178,6 +2116,12 @@ {Is(TubeLight,On)} {Is(Curtain,Off)} {Is(Curtain,On)} +{Is(Chairs,Dirty)} +{Is(Chairs,Clean)} +{Is(Floor,Dirty)} +{Is(Floor,Clean)} +{Is(Table,Dirty)} +{Is(Table,Clean)} {Is(AC,Off)} {Is(AC,On)} {Is(ACTemperature,Up)} @@ -2188,6 +2132,12 @@ {Is(TubeLight,On)} {Is(Curtain,Off)} {Is(Curtain,On)} +{Is(Chairs,Dirty)} +{Is(Chairs,Clean)} +{Is(Floor,Dirty)} +{Is(Floor,Clean)} +{Is(Table,Dirty)} +{Is(Table,Clean)} {Is(AC,Off)} {Is(AC,On)} {Is(ACTemperature,Up)} @@ -2198,6 +2148,12 @@ {Is(TubeLight,On)} {Is(Curtain,Off)} {Is(Curtain,On)} +{Is(Chairs,Dirty)} +{Is(Chairs,Clean)} +{Is(Floor,Dirty)} +{Is(Floor,Clean)} +{Is(Table,Dirty)} +{Is(Table,Clean)} {Is(AC,Off)} {Is(AC,On)} {Is(ACTemperature,Up)} @@ -2208,6 +2164,12 @@ {Is(TubeLight,On)} {Is(Curtain,Off)} {Is(Curtain,On)} +{Is(Chairs,Dirty)} +{Is(Chairs,Clean)} +{Is(Floor,Dirty)} +{Is(Floor,Clean)} +{Is(Table,Dirty)} +{Is(Table,Clean)} {Is(AC,Off)} {Is(AC,On)} {Is(ACTemperature,Up)} @@ -2218,6 +2180,12 @@ {Is(TubeLight,On)} {Is(Curtain,Off)} {Is(Curtain,On)} +{Is(Chairs,Dirty)} +{Is(Chairs,Clean)} +{Is(Floor,Dirty)} +{Is(Floor,Clean)} +{Is(Table,Dirty)} +{Is(Table,Clean)} {Is(AC,Off)} {Is(AC,On)} {Is(ACTemperature,Up)} @@ -2228,6 +2196,12 @@ {Is(TubeLight,On)} {Is(Curtain,Off)} {Is(Curtain,On)} +{Is(Chairs,Dirty)} +{Is(Chairs,Clean)} +{Is(Floor,Dirty)} +{Is(Floor,Clean)} +{Is(Table,Dirty)} +{Is(Table,Clean)} {Is(AC,Off)} {Is(AC,On)} {Is(ACTemperature,Up)} @@ -2238,6 +2212,12 @@ {Is(TubeLight,On)} {Is(Curtain,Off)} {Is(Curtain,On)} +{Is(Chairs,Dirty)} +{Is(Chairs,Clean)} +{Is(Floor,Dirty)} +{Is(Floor,Clean)} +{Is(Table,Dirty)} +{Is(Table,Clean)} {Is(AC,Off)} {Is(AC,On)} {Is(ACTemperature,Up)} @@ -2248,6 +2228,26 @@ {Is(TubeLight,On)} {Is(Curtain,Off)} {Is(Curtain,On)} +{Is(Chairs,Dirty)} +{Is(Chairs,Clean)} +{Is(Floor,Dirty)} +{Is(Floor,Clean)} +{Is(Table,Dirty)} +{Is(Table,Clean)} +{Is(Chairs, Clean)} +{Is(AC, On)} +{Is(Floor, Clean)} +{Is(Chairs, Clean)} +{Is(Curtain, On)} +{Is(TubeLight, On)} +{Is(HallLight, Off)} +{Is(Table, Clean)} +{Is(Curtain, On)} +{Is(AC, Off)} +{Is(Table, Clean)} +{Is(HallLight, On)} +{Is(Curtain, Off)} +{Is(Chairs, Clean)} {Holding(Softdrink)} {Holding(BottledDrink)} {Holding(Yogurt)} @@ -2744,10 +2744,10 @@ {Holding(Milk)} {Holding(VacuumCup)} {Holding(Nothing)} -{Holding(Softdrink)} +{Holding(ADMilk)} +{Holding(VacuumCup)} +{Holding(Milk)} {Holding(Milk)} -{Holding(BottledDrink)} -{Holding(Nothing)} {On(Coffee,Bar)} {On(Coffee,WaterTable)} {On(Coffee,CoffeeTable)} @@ -3483,21 +3483,21 @@ {On(Dessert,Table1)} {On(Dessert,Table2)} {On(Dessert,Table3)} -{On(Coffee, CoffeeTable)} +{On(Water, Table3)} +{On(Coffee, Bar)} +{On(Coffee, Bar2)} +{On(Water, Table1)} +{On(Coffee, Bar)} +{On(Water, Bar)} +{On(Water, WaterTable)} +{On(Dessert, CoffeeTable)} +{On(Water, Table1)} +{On(Dessert, WaterTable)} +{On(Coffee, WaterTable)} +{On(Coffee, Table3)} +{On(Coffee, Table1)} {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)} @@ -3547,13 +3547,6 @@ {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)} @@ -3603,13 +3596,6 @@ {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)} @@ -3659,13 +3645,6 @@ {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)} @@ -3715,13 +3694,6 @@ {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)} @@ -3771,13 +3743,6 @@ {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)} @@ -3827,13 +3792,6 @@ {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)} @@ -3883,13 +3841,6 @@ {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)} @@ -3939,13 +3890,6 @@ {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)} @@ -3995,9 +3939,65 @@ {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,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,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,Bar),Is(AC,Off)} {At(Robot,Bar),Is(AC,On)} {At(Robot,Bar),Is(ACTemperature,Up)} @@ -4008,6 +4008,12 @@ {At(Robot,Bar),Is(TubeLight,On)} {At(Robot,Bar),Is(Curtain,Off)} {At(Robot,Bar),Is(Curtain,On)} +{At(Robot,Bar),Is(Chairs,Dirty)} +{At(Robot,Bar),Is(Chairs,Clean)} +{At(Robot,Bar),Is(Floor,Dirty)} +{At(Robot,Bar),Is(Floor,Clean)} +{At(Robot,Bar),Is(Table,Dirty)} +{At(Robot,Bar),Is(Table,Clean)} {At(Robot,WaterTable),Is(AC,Off)} {At(Robot,WaterTable),Is(AC,On)} {At(Robot,WaterTable),Is(ACTemperature,Up)} @@ -4018,6 +4024,12 @@ {At(Robot,WaterTable),Is(TubeLight,On)} {At(Robot,WaterTable),Is(Curtain,Off)} {At(Robot,WaterTable),Is(Curtain,On)} +{At(Robot,WaterTable),Is(Chairs,Dirty)} +{At(Robot,WaterTable),Is(Chairs,Clean)} +{At(Robot,WaterTable),Is(Floor,Dirty)} +{At(Robot,WaterTable),Is(Floor,Clean)} +{At(Robot,WaterTable),Is(Table,Dirty)} +{At(Robot,WaterTable),Is(Table,Clean)} {At(Robot,CoffeeTable),Is(AC,Off)} {At(Robot,CoffeeTable),Is(AC,On)} {At(Robot,CoffeeTable),Is(ACTemperature,Up)} @@ -4028,6 +4040,12 @@ {At(Robot,CoffeeTable),Is(TubeLight,On)} {At(Robot,CoffeeTable),Is(Curtain,Off)} {At(Robot,CoffeeTable),Is(Curtain,On)} +{At(Robot,CoffeeTable),Is(Chairs,Dirty)} +{At(Robot,CoffeeTable),Is(Chairs,Clean)} +{At(Robot,CoffeeTable),Is(Floor,Dirty)} +{At(Robot,CoffeeTable),Is(Floor,Clean)} +{At(Robot,CoffeeTable),Is(Table,Dirty)} +{At(Robot,CoffeeTable),Is(Table,Clean)} {At(Robot,Bar2),Is(AC,Off)} {At(Robot,Bar2),Is(AC,On)} {At(Robot,Bar2),Is(ACTemperature,Up)} @@ -4038,6 +4056,12 @@ {At(Robot,Bar2),Is(TubeLight,On)} {At(Robot,Bar2),Is(Curtain,Off)} {At(Robot,Bar2),Is(Curtain,On)} +{At(Robot,Bar2),Is(Chairs,Dirty)} +{At(Robot,Bar2),Is(Chairs,Clean)} +{At(Robot,Bar2),Is(Floor,Dirty)} +{At(Robot,Bar2),Is(Floor,Clean)} +{At(Robot,Bar2),Is(Table,Dirty)} +{At(Robot,Bar2),Is(Table,Clean)} {At(Robot,TableOn),Is(AC,Off)} {At(Robot,TableOn),Is(AC,On)} {At(Robot,TableDown),Is(ACTemperature,Up)} @@ -4048,6 +4072,12 @@ {At(Robot,TableOn),Is(TubeLight,On)} {At(Robot,TableOn),Is(Curtain,Off)} {At(Robot,TableOn),Is(Curtain,On)} +{At(Robot,TableClean),Is(Chairs,Dirty)} +{At(Robot,TableClean),Is(Chairs,Clean)} +{At(Robot,TableClean),Is(Floor,Dirty)} +{At(Robot,TableClean),Is(Floor,Clean)} +{At(Robot,TableClean),Is(Table,Dirty)} +{At(Robot,TableClean),Is(Table,Clean)} {At(Robot,Table2),Is(AC,Off)} {At(Robot,Table2),Is(AC,On)} {At(Robot,Table2),Is(ACTemperature,Up)} @@ -4058,6 +4088,12 @@ {At(Robot,Table2),Is(TubeLight,On)} {At(Robot,Table2),Is(Curtain,Off)} {At(Robot,Table2),Is(Curtain,On)} +{At(Robot,Table2),Is(Chairs,Dirty)} +{At(Robot,Table2),Is(Chairs,Clean)} +{At(Robot,Table2),Is(Floor,Dirty)} +{At(Robot,Table2),Is(Floor,Clean)} +{At(Robot,Table2),Is(Table,Dirty)} +{At(Robot,Table2),Is(Table,Clean)} {At(Robot,Table3),Is(AC,Off)} {At(Robot,Table3),Is(AC,On)} {At(Robot,Table3),Is(ACTemperature,Up)} @@ -4068,6 +4104,12 @@ {At(Robot,Table3),Is(TubeLight,On)} {At(Robot,Table3),Is(Curtain,Off)} {At(Robot,Table3),Is(Curtain,On)} +{At(Robot,Table3),Is(Chairs,Dirty)} +{At(Robot,Table3),Is(Chairs,Clean)} +{At(Robot,Table3),Is(Floor,Dirty)} +{At(Robot,Table3),Is(Floor,Clean)} +{At(Robot,Table3),Is(Table,Dirty)} +{At(Robot,Table3),Is(Table,Clean)} {At(Robot,Bar),Is(AC,Off)} {At(Robot,Bar),Is(AC,On)} {At(Robot,Bar),Is(ACTemperature,Up)} @@ -4078,6 +4120,12 @@ {At(Robot,Bar),Is(TubeLight,On)} {At(Robot,Bar),Is(Curtain,Off)} {At(Robot,Bar),Is(Curtain,On)} +{At(Robot,Bar),Is(Chairs,Dirty)} +{At(Robot,Bar),Is(Chairs,Clean)} +{At(Robot,Bar),Is(Floor,Dirty)} +{At(Robot,Bar),Is(Floor,Clean)} +{At(Robot,Bar),Is(Table,Dirty)} +{At(Robot,Bar),Is(Table,Clean)} {At(Robot,WaterTable),Is(AC,Off)} {At(Robot,WaterTable),Is(AC,On)} {At(Robot,WaterTable),Is(ACTemperature,Up)} @@ -4088,6 +4136,12 @@ {At(Robot,WaterTable),Is(TubeLight,On)} {At(Robot,WaterTable),Is(Curtain,Off)} {At(Robot,WaterTable),Is(Curtain,On)} +{At(Robot,WaterTable),Is(Chairs,Dirty)} +{At(Robot,WaterTable),Is(Chairs,Clean)} +{At(Robot,WaterTable),Is(Floor,Dirty)} +{At(Robot,WaterTable),Is(Floor,Clean)} +{At(Robot,WaterTable),Is(Table,Dirty)} +{At(Robot,WaterTable),Is(Table,Clean)} {At(Robot,CoffeeTable),Is(AC,Off)} {At(Robot,CoffeeTable),Is(AC,On)} {At(Robot,CoffeeTable),Is(ACTemperature,Up)} @@ -4098,6 +4152,12 @@ {At(Robot,CoffeeTable),Is(TubeLight,On)} {At(Robot,CoffeeTable),Is(Curtain,Off)} {At(Robot,CoffeeTable),Is(Curtain,On)} +{At(Robot,CoffeeTable),Is(Chairs,Dirty)} +{At(Robot,CoffeeTable),Is(Chairs,Clean)} +{At(Robot,CoffeeTable),Is(Floor,Dirty)} +{At(Robot,CoffeeTable),Is(Floor,Clean)} +{At(Robot,CoffeeTable),Is(Table,Dirty)} +{At(Robot,CoffeeTable),Is(Table,Clean)} {At(Robot,Bar2),Is(AC,Off)} {At(Robot,Bar2),Is(AC,On)} {At(Robot,Bar2),Is(ACTemperature,Up)} @@ -4108,6 +4168,12 @@ {At(Robot,Bar2),Is(TubeLight,On)} {At(Robot,Bar2),Is(Curtain,Off)} {At(Robot,Bar2),Is(Curtain,On)} +{At(Robot,Bar2),Is(Chairs,Dirty)} +{At(Robot,Bar2),Is(Chairs,Clean)} +{At(Robot,Bar2),Is(Floor,Dirty)} +{At(Robot,Bar2),Is(Floor,Clean)} +{At(Robot,Bar2),Is(Table,Dirty)} +{At(Robot,Bar2),Is(Table,Clean)} {At(Robot,TableOn),Is(AC,Off)} {At(Robot,TableOn),Is(AC,On)} {At(Robot,TableDown),Is(ACTemperature,Up)} @@ -4118,6 +4184,12 @@ {At(Robot,TableOn),Is(TubeLight,On)} {At(Robot,TableOn),Is(Curtain,Off)} {At(Robot,TableOn),Is(Curtain,On)} +{At(Robot,TableClean),Is(Chairs,Dirty)} +{At(Robot,TableClean),Is(Chairs,Clean)} +{At(Robot,TableClean),Is(Floor,Dirty)} +{At(Robot,TableClean),Is(Floor,Clean)} +{At(Robot,TableClean),Is(Table,Dirty)} +{At(Robot,TableClean),Is(Table,Clean)} {At(Robot,Table2),Is(AC,Off)} {At(Robot,Table2),Is(AC,On)} {At(Robot,Table2),Is(ACTemperature,Up)} @@ -4128,6 +4200,12 @@ {At(Robot,Table2),Is(TubeLight,On)} {At(Robot,Table2),Is(Curtain,Off)} {At(Robot,Table2),Is(Curtain,On)} +{At(Robot,Table2),Is(Chairs,Dirty)} +{At(Robot,Table2),Is(Chairs,Clean)} +{At(Robot,Table2),Is(Floor,Dirty)} +{At(Robot,Table2),Is(Floor,Clean)} +{At(Robot,Table2),Is(Table,Dirty)} +{At(Robot,Table2),Is(Table,Clean)} {At(Robot,Table3),Is(AC,Off)} {At(Robot,Table3),Is(AC,On)} {At(Robot,Table3),Is(ACTemperature,Up)} @@ -4138,6 +4216,12 @@ {At(Robot,Table3),Is(TubeLight,On)} {At(Robot,Table3),Is(Curtain,Off)} {At(Robot,Table3),Is(Curtain,On)} +{At(Robot,Table3),Is(Chairs,Dirty)} +{At(Robot,Table3),Is(Chairs,Clean)} +{At(Robot,Table3),Is(Floor,Dirty)} +{At(Robot,Table3),Is(Floor,Clean)} +{At(Robot,Table3),Is(Table,Dirty)} +{At(Robot,Table3),Is(Table,Clean)} {At(Robot,Bar),Is(AC,Off)} {At(Robot,Bar),Is(AC,On)} {At(Robot,Bar),Is(ACTemperature,Up)} @@ -4148,6 +4232,12 @@ {At(Robot,Bar),Is(TubeLight,On)} {At(Robot,Bar),Is(Curtain,Off)} {At(Robot,Bar),Is(Curtain,On)} +{At(Robot,Bar),Is(Chairs,Dirty)} +{At(Robot,Bar),Is(Chairs,Clean)} +{At(Robot,Bar),Is(Floor,Dirty)} +{At(Robot,Bar),Is(Floor,Clean)} +{At(Robot,Bar),Is(Table,Dirty)} +{At(Robot,Bar),Is(Table,Clean)} {At(Robot,WaterTable),Is(AC,Off)} {At(Robot,WaterTable),Is(AC,On)} {At(Robot,WaterTable),Is(ACTemperature,Up)} @@ -4158,6 +4248,12 @@ {At(Robot,WaterTable),Is(TubeLight,On)} {At(Robot,WaterTable),Is(Curtain,Off)} {At(Robot,WaterTable),Is(Curtain,On)} +{At(Robot,WaterTable),Is(Chairs,Dirty)} +{At(Robot,WaterTable),Is(Chairs,Clean)} +{At(Robot,WaterTable),Is(Floor,Dirty)} +{At(Robot,WaterTable),Is(Floor,Clean)} +{At(Robot,WaterTable),Is(Table,Dirty)} +{At(Robot,WaterTable),Is(Table,Clean)} {At(Robot,CoffeeTable),Is(AC,Off)} {At(Robot,CoffeeTable),Is(AC,On)} {At(Robot,CoffeeTable),Is(ACTemperature,Up)} @@ -4168,6 +4264,12 @@ {At(Robot,CoffeeTable),Is(TubeLight,On)} {At(Robot,CoffeeTable),Is(Curtain,Off)} {At(Robot,CoffeeTable),Is(Curtain,On)} +{At(Robot,CoffeeTable),Is(Chairs,Dirty)} +{At(Robot,CoffeeTable),Is(Chairs,Clean)} +{At(Robot,CoffeeTable),Is(Floor,Dirty)} +{At(Robot,CoffeeTable),Is(Floor,Clean)} +{At(Robot,CoffeeTable),Is(Table,Dirty)} +{At(Robot,CoffeeTable),Is(Table,Clean)} {At(Robot,Bar2),Is(AC,Off)} {At(Robot,Bar2),Is(AC,On)} {At(Robot,Bar2),Is(ACTemperature,Up)} @@ -4178,6 +4280,12 @@ {At(Robot,Bar2),Is(TubeLight,On)} {At(Robot,Bar2),Is(Curtain,Off)} {At(Robot,Bar2),Is(Curtain,On)} +{At(Robot,Bar2),Is(Chairs,Dirty)} +{At(Robot,Bar2),Is(Chairs,Clean)} +{At(Robot,Bar2),Is(Floor,Dirty)} +{At(Robot,Bar2),Is(Floor,Clean)} +{At(Robot,Bar2),Is(Table,Dirty)} +{At(Robot,Bar2),Is(Table,Clean)} {At(Robot,TableOn),Is(AC,Off)} {At(Robot,TableOn),Is(AC,On)} {At(Robot,TableDown),Is(ACTemperature,Up)} @@ -4188,6 +4296,12 @@ {At(Robot,TableOn),Is(TubeLight,On)} {At(Robot,TableOn),Is(Curtain,Off)} {At(Robot,TableOn),Is(Curtain,On)} +{At(Robot,TableClean),Is(Chairs,Dirty)} +{At(Robot,TableClean),Is(Chairs,Clean)} +{At(Robot,TableClean),Is(Floor,Dirty)} +{At(Robot,TableClean),Is(Floor,Clean)} +{At(Robot,TableClean),Is(Table,Dirty)} +{At(Robot,TableClean),Is(Table,Clean)} {At(Robot,Table2),Is(AC,Off)} {At(Robot,Table2),Is(AC,On)} {At(Robot,Table2),Is(ACTemperature,Up)} @@ -4198,6 +4312,12 @@ {At(Robot,Table2),Is(TubeLight,On)} {At(Robot,Table2),Is(Curtain,Off)} {At(Robot,Table2),Is(Curtain,On)} +{At(Robot,Table2),Is(Chairs,Dirty)} +{At(Robot,Table2),Is(Chairs,Clean)} +{At(Robot,Table2),Is(Floor,Dirty)} +{At(Robot,Table2),Is(Floor,Clean)} +{At(Robot,Table2),Is(Table,Dirty)} +{At(Robot,Table2),Is(Table,Clean)} {At(Robot,Table3),Is(AC,Off)} {At(Robot,Table3),Is(AC,On)} {At(Robot,Table3),Is(ACTemperature,Up)} @@ -4208,6 +4328,12 @@ {At(Robot,Table3),Is(TubeLight,On)} {At(Robot,Table3),Is(Curtain,Off)} {At(Robot,Table3),Is(Curtain,On)} +{At(Robot,Table3),Is(Chairs,Dirty)} +{At(Robot,Table3),Is(Chairs,Clean)} +{At(Robot,Table3),Is(Floor,Dirty)} +{At(Robot,Table3),Is(Floor,Clean)} +{At(Robot,Table3),Is(Table,Dirty)} +{At(Robot,Table3),Is(Table,Clean)} {At(Robot,Bar),Is(AC,Off)} {At(Robot,Bar),Is(AC,On)} {At(Robot,Bar),Is(ACTemperature,Up)} @@ -4218,6 +4344,12 @@ {At(Robot,Bar),Is(TubeLight,On)} {At(Robot,Bar),Is(Curtain,Off)} {At(Robot,Bar),Is(Curtain,On)} +{At(Robot,Bar),Is(Chairs,Dirty)} +{At(Robot,Bar),Is(Chairs,Clean)} +{At(Robot,Bar),Is(Floor,Dirty)} +{At(Robot,Bar),Is(Floor,Clean)} +{At(Robot,Bar),Is(Table,Dirty)} +{At(Robot,Bar),Is(Table,Clean)} {At(Robot,WaterTable),Is(AC,Off)} {At(Robot,WaterTable),Is(AC,On)} {At(Robot,WaterTable),Is(ACTemperature,Up)} @@ -4228,6 +4360,12 @@ {At(Robot,WaterTable),Is(TubeLight,On)} {At(Robot,WaterTable),Is(Curtain,Off)} {At(Robot,WaterTable),Is(Curtain,On)} +{At(Robot,WaterTable),Is(Chairs,Dirty)} +{At(Robot,WaterTable),Is(Chairs,Clean)} +{At(Robot,WaterTable),Is(Floor,Dirty)} +{At(Robot,WaterTable),Is(Floor,Clean)} +{At(Robot,WaterTable),Is(Table,Dirty)} +{At(Robot,WaterTable),Is(Table,Clean)} {At(Robot,CoffeeTable),Is(AC,Off)} {At(Robot,CoffeeTable),Is(AC,On)} {At(Robot,CoffeeTable),Is(ACTemperature,Up)} @@ -4238,6 +4376,12 @@ {At(Robot,CoffeeTable),Is(TubeLight,On)} {At(Robot,CoffeeTable),Is(Curtain,Off)} {At(Robot,CoffeeTable),Is(Curtain,On)} +{At(Robot,CoffeeTable),Is(Chairs,Dirty)} +{At(Robot,CoffeeTable),Is(Chairs,Clean)} +{At(Robot,CoffeeTable),Is(Floor,Dirty)} +{At(Robot,CoffeeTable),Is(Floor,Clean)} +{At(Robot,CoffeeTable),Is(Table,Dirty)} +{At(Robot,CoffeeTable),Is(Table,Clean)} {At(Robot,Bar2),Is(AC,Off)} {At(Robot,Bar2),Is(AC,On)} {At(Robot,Bar2),Is(ACTemperature,Up)} @@ -4248,6 +4392,12 @@ {At(Robot,Bar2),Is(TubeLight,On)} {At(Robot,Bar2),Is(Curtain,Off)} {At(Robot,Bar2),Is(Curtain,On)} +{At(Robot,Bar2),Is(Chairs,Dirty)} +{At(Robot,Bar2),Is(Chairs,Clean)} +{At(Robot,Bar2),Is(Floor,Dirty)} +{At(Robot,Bar2),Is(Floor,Clean)} +{At(Robot,Bar2),Is(Table,Dirty)} +{At(Robot,Bar2),Is(Table,Clean)} {At(Robot,TableOn),Is(AC,Off)} {At(Robot,TableOn),Is(AC,On)} {At(Robot,TableDown),Is(ACTemperature,Up)} @@ -4258,6 +4408,12 @@ {At(Robot,TableOn),Is(TubeLight,On)} {At(Robot,TableOn),Is(Curtain,Off)} {At(Robot,TableOn),Is(Curtain,On)} +{At(Robot,TableClean),Is(Chairs,Dirty)} +{At(Robot,TableClean),Is(Chairs,Clean)} +{At(Robot,TableClean),Is(Floor,Dirty)} +{At(Robot,TableClean),Is(Floor,Clean)} +{At(Robot,TableClean),Is(Table,Dirty)} +{At(Robot,TableClean),Is(Table,Clean)} {At(Robot,Table2),Is(AC,Off)} {At(Robot,Table2),Is(AC,On)} {At(Robot,Table2),Is(ACTemperature,Up)} @@ -4268,6 +4424,12 @@ {At(Robot,Table2),Is(TubeLight,On)} {At(Robot,Table2),Is(Curtain,Off)} {At(Robot,Table2),Is(Curtain,On)} +{At(Robot,Table2),Is(Chairs,Dirty)} +{At(Robot,Table2),Is(Chairs,Clean)} +{At(Robot,Table2),Is(Floor,Dirty)} +{At(Robot,Table2),Is(Floor,Clean)} +{At(Robot,Table2),Is(Table,Dirty)} +{At(Robot,Table2),Is(Table,Clean)} {At(Robot,Table3),Is(AC,Off)} {At(Robot,Table3),Is(AC,On)} {At(Robot,Table3),Is(ACTemperature,Up)} @@ -4278,6 +4440,12 @@ {At(Robot,Table3),Is(TubeLight,On)} {At(Robot,Table3),Is(Curtain,Off)} {At(Robot,Table3),Is(Curtain,On)} +{At(Robot,Table3),Is(Chairs,Dirty)} +{At(Robot,Table3),Is(Chairs,Clean)} +{At(Robot,Table3),Is(Floor,Dirty)} +{At(Robot,Table3),Is(Floor,Clean)} +{At(Robot,Table3),Is(Table,Dirty)} +{At(Robot,Table3),Is(Table,Clean)} {At(Robot,Bar),Is(AC,Off)} {At(Robot,Bar),Is(AC,On)} {At(Robot,Bar),Is(ACTemperature,Up)} @@ -4288,6 +4456,12 @@ {At(Robot,Bar),Is(TubeLight,On)} {At(Robot,Bar),Is(Curtain,Off)} {At(Robot,Bar),Is(Curtain,On)} +{At(Robot,Bar),Is(Chairs,Dirty)} +{At(Robot,Bar),Is(Chairs,Clean)} +{At(Robot,Bar),Is(Floor,Dirty)} +{At(Robot,Bar),Is(Floor,Clean)} +{At(Robot,Bar),Is(Table,Dirty)} +{At(Robot,Bar),Is(Table,Clean)} {At(Robot,WaterTable),Is(AC,Off)} {At(Robot,WaterTable),Is(AC,On)} {At(Robot,WaterTable),Is(ACTemperature,Up)} @@ -4298,6 +4472,12 @@ {At(Robot,WaterTable),Is(TubeLight,On)} {At(Robot,WaterTable),Is(Curtain,Off)} {At(Robot,WaterTable),Is(Curtain,On)} +{At(Robot,WaterTable),Is(Chairs,Dirty)} +{At(Robot,WaterTable),Is(Chairs,Clean)} +{At(Robot,WaterTable),Is(Floor,Dirty)} +{At(Robot,WaterTable),Is(Floor,Clean)} +{At(Robot,WaterTable),Is(Table,Dirty)} +{At(Robot,WaterTable),Is(Table,Clean)} {At(Robot,CoffeeTable),Is(AC,Off)} {At(Robot,CoffeeTable),Is(AC,On)} {At(Robot,CoffeeTable),Is(ACTemperature,Up)} @@ -4308,196 +4488,16 @@ {At(Robot,CoffeeTable),Is(TubeLight,On)} {At(Robot,CoffeeTable),Is(Curtain,Off)} {At(Robot,CoffeeTable),Is(Curtain,On)} +{At(Robot,CoffeeTable),Is(Chairs,Dirty)} +{At(Robot,CoffeeTable),Is(Chairs,Clean)} +{At(Robot,CoffeeTable),Is(Floor,Dirty)} +{At(Robot,CoffeeTable),Is(Floor,Clean)} +{At(Robot,CoffeeTable),Is(Table,Dirty)} +{At(Robot,CoffeeTable),Is(Table,Clean)} {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)} @@ -4508,6 +4508,12 @@ {On(Coffee,Bar),Is(TubeLight,On)} {On(Coffee,Bar),Is(Curtain,Off)} {On(Coffee,Bar),Is(Curtain,On)} +{On(Coffee,Bar),Is(Chairs,Dirty)} +{On(Coffee,Bar),Is(Chairs,Clean)} +{On(Coffee,Bar),Is(Floor,Dirty)} +{On(Coffee,Bar),Is(Floor,Clean)} +{On(Coffee,Bar),Is(Table,Dirty)} +{On(Coffee,Bar),Is(Table,Clean)} {On(Coffee,WaterTable),Is(AC,Off)} {On(Coffee,WaterTable),Is(AC,On)} {On(Coffee,WaterTable),Is(ACTemperature,Up)} @@ -4518,6 +4524,12 @@ {On(Coffee,WaterTable),Is(TubeLight,On)} {On(Coffee,WaterTable),Is(Curtain,Off)} {On(Coffee,WaterTable),Is(Curtain,On)} +{On(Coffee,WaterTable),Is(Chairs,Dirty)} +{On(Coffee,WaterTable),Is(Chairs,Clean)} +{On(Coffee,WaterTable),Is(Floor,Dirty)} +{On(Coffee,WaterTable),Is(Floor,Clean)} +{On(Coffee,WaterTable),Is(Table,Dirty)} +{On(Coffee,WaterTable),Is(Table,Clean)} {On(Coffee,CoffeeTable),Is(AC,Off)} {On(Coffee,CoffeeTable),Is(AC,On)} {On(Coffee,CoffeeTable),Is(ACTemperature,Up)} @@ -4528,6 +4540,12 @@ {On(Coffee,CoffeeTable),Is(TubeLight,On)} {On(Coffee,CoffeeTable),Is(Curtain,Off)} {On(Coffee,CoffeeTable),Is(Curtain,On)} +{On(Coffee,CoffeeTable),Is(Chairs,Dirty)} +{On(Coffee,CoffeeTable),Is(Chairs,Clean)} +{On(Coffee,CoffeeTable),Is(Floor,Dirty)} +{On(Coffee,CoffeeTable),Is(Floor,Clean)} +{On(Coffee,CoffeeTable),Is(Table,Dirty)} +{On(Coffee,CoffeeTable),Is(Table,Clean)} {On(Coffee,Bar2),Is(AC,Off)} {On(Coffee,Bar2),Is(AC,On)} {On(Coffee,Bar2),Is(ACTemperature,Up)} @@ -4538,6 +4556,12 @@ {On(Coffee,Bar2),Is(TubeLight,On)} {On(Coffee,Bar2),Is(Curtain,Off)} {On(Coffee,Bar2),Is(Curtain,On)} +{On(Coffee,Bar2),Is(Chairs,Dirty)} +{On(Coffee,Bar2),Is(Chairs,Clean)} +{On(Coffee,Bar2),Is(Floor,Dirty)} +{On(Coffee,Bar2),Is(Floor,Clean)} +{On(Coffee,Bar2),Is(Table,Dirty)} +{On(Coffee,Bar2),Is(Table,Clean)} {On(Coffee,TableOn),Is(AC,Off)} {On(Coffee,TableOn),Is(AC,On)} {On(Coffee,TableDown),Is(ACTemperature,Up)} @@ -4548,6 +4572,12 @@ {On(Coffee,TableOn),Is(TubeLight,On)} {On(Coffee,TableOn),Is(Curtain,Off)} {On(Coffee,TableOn),Is(Curtain,On)} +{On(Coffee,TableClean),Is(Chairs,Dirty)} +{On(Coffee,TableClean),Is(Chairs,Clean)} +{On(Coffee,TableClean),Is(Floor,Dirty)} +{On(Coffee,TableClean),Is(Floor,Clean)} +{On(Coffee,TableClean),Is(Table,Dirty)} +{On(Coffee,TableClean),Is(Table,Clean)} {On(Coffee,Table2),Is(AC,Off)} {On(Coffee,Table2),Is(AC,On)} {On(Coffee,Table2),Is(ACTemperature,Up)} @@ -4558,6 +4588,12 @@ {On(Coffee,Table2),Is(TubeLight,On)} {On(Coffee,Table2),Is(Curtain,Off)} {On(Coffee,Table2),Is(Curtain,On)} +{On(Coffee,Table2),Is(Chairs,Dirty)} +{On(Coffee,Table2),Is(Chairs,Clean)} +{On(Coffee,Table2),Is(Floor,Dirty)} +{On(Coffee,Table2),Is(Floor,Clean)} +{On(Coffee,Table2),Is(Table,Dirty)} +{On(Coffee,Table2),Is(Table,Clean)} {On(Coffee,Table3),Is(AC,Off)} {On(Coffee,Table3),Is(AC,On)} {On(Coffee,Table3),Is(ACTemperature,Up)} @@ -4568,6 +4604,12 @@ {On(Coffee,Table3),Is(TubeLight,On)} {On(Coffee,Table3),Is(Curtain,Off)} {On(Coffee,Table3),Is(Curtain,On)} +{On(Coffee,Table3),Is(Chairs,Dirty)} +{On(Coffee,Table3),Is(Chairs,Clean)} +{On(Coffee,Table3),Is(Floor,Dirty)} +{On(Coffee,Table3),Is(Floor,Clean)} +{On(Coffee,Table3),Is(Table,Dirty)} +{On(Coffee,Table3),Is(Table,Clean)} {On(Water,Bar),Is(AC,Off)} {On(Water,Bar),Is(AC,On)} {On(Water,Bar),Is(ACTemperature,Up)} @@ -4578,6 +4620,12 @@ {On(Water,Bar),Is(TubeLight,On)} {On(Water,Bar),Is(Curtain,Off)} {On(Water,Bar),Is(Curtain,On)} +{On(Water,Bar),Is(Chairs,Dirty)} +{On(Water,Bar),Is(Chairs,Clean)} +{On(Water,Bar),Is(Floor,Dirty)} +{On(Water,Bar),Is(Floor,Clean)} +{On(Water,Bar),Is(Table,Dirty)} +{On(Water,Bar),Is(Table,Clean)} {On(Water,WaterTable),Is(AC,Off)} {On(Water,WaterTable),Is(AC,On)} {On(Water,WaterTable),Is(ACTemperature,Up)} @@ -4588,6 +4636,12 @@ {On(Water,WaterTable),Is(TubeLight,On)} {On(Water,WaterTable),Is(Curtain,Off)} {On(Water,WaterTable),Is(Curtain,On)} +{On(Water,WaterTable),Is(Chairs,Dirty)} +{On(Water,WaterTable),Is(Chairs,Clean)} +{On(Water,WaterTable),Is(Floor,Dirty)} +{On(Water,WaterTable),Is(Floor,Clean)} +{On(Water,WaterTable),Is(Table,Dirty)} +{On(Water,WaterTable),Is(Table,Clean)} {On(Water,CoffeeTable),Is(AC,Off)} {On(Water,CoffeeTable),Is(AC,On)} {On(Water,CoffeeTable),Is(ACTemperature,Up)} @@ -4598,6 +4652,12 @@ {On(Water,CoffeeTable),Is(TubeLight,On)} {On(Water,CoffeeTable),Is(Curtain,Off)} {On(Water,CoffeeTable),Is(Curtain,On)} +{On(Water,CoffeeTable),Is(Chairs,Dirty)} +{On(Water,CoffeeTable),Is(Chairs,Clean)} +{On(Water,CoffeeTable),Is(Floor,Dirty)} +{On(Water,CoffeeTable),Is(Floor,Clean)} +{On(Water,CoffeeTable),Is(Table,Dirty)} +{On(Water,CoffeeTable),Is(Table,Clean)} {On(Water,Bar2),Is(AC,Off)} {On(Water,Bar2),Is(AC,On)} {On(Water,Bar2),Is(ACTemperature,Up)} @@ -4608,6 +4668,12 @@ {On(Water,Bar2),Is(TubeLight,On)} {On(Water,Bar2),Is(Curtain,Off)} {On(Water,Bar2),Is(Curtain,On)} +{On(Water,Bar2),Is(Chairs,Dirty)} +{On(Water,Bar2),Is(Chairs,Clean)} +{On(Water,Bar2),Is(Floor,Dirty)} +{On(Water,Bar2),Is(Floor,Clean)} +{On(Water,Bar2),Is(Table,Dirty)} +{On(Water,Bar2),Is(Table,Clean)} {On(Water,TableOn),Is(AC,Off)} {On(Water,TableOn),Is(AC,On)} {On(Water,TableDown),Is(ACTemperature,Up)} @@ -4618,6 +4684,12 @@ {On(Water,TableOn),Is(TubeLight,On)} {On(Water,TableOn),Is(Curtain,Off)} {On(Water,TableOn),Is(Curtain,On)} +{On(Water,TableClean),Is(Chairs,Dirty)} +{On(Water,TableClean),Is(Chairs,Clean)} +{On(Water,TableClean),Is(Floor,Dirty)} +{On(Water,TableClean),Is(Floor,Clean)} +{On(Water,TableClean),Is(Table,Dirty)} +{On(Water,TableClean),Is(Table,Clean)} {On(Water,Table2),Is(AC,Off)} {On(Water,Table2),Is(AC,On)} {On(Water,Table2),Is(ACTemperature,Up)} @@ -4628,6 +4700,12 @@ {On(Water,Table2),Is(TubeLight,On)} {On(Water,Table2),Is(Curtain,Off)} {On(Water,Table2),Is(Curtain,On)} +{On(Water,Table2),Is(Chairs,Dirty)} +{On(Water,Table2),Is(Chairs,Clean)} +{On(Water,Table2),Is(Floor,Dirty)} +{On(Water,Table2),Is(Floor,Clean)} +{On(Water,Table2),Is(Table,Dirty)} +{On(Water,Table2),Is(Table,Clean)} {On(Water,Table3),Is(AC,Off)} {On(Water,Table3),Is(AC,On)} {On(Water,Table3),Is(ACTemperature,Up)} @@ -4638,6 +4716,12 @@ {On(Water,Table3),Is(TubeLight,On)} {On(Water,Table3),Is(Curtain,Off)} {On(Water,Table3),Is(Curtain,On)} +{On(Water,Table3),Is(Chairs,Dirty)} +{On(Water,Table3),Is(Chairs,Clean)} +{On(Water,Table3),Is(Floor,Dirty)} +{On(Water,Table3),Is(Floor,Clean)} +{On(Water,Table3),Is(Table,Dirty)} +{On(Water,Table3),Is(Table,Clean)} {On(Dessert,Bar),Is(AC,Off)} {On(Dessert,Bar),Is(AC,On)} {On(Dessert,Bar),Is(ACTemperature,Up)} @@ -4648,6 +4732,12 @@ {On(Dessert,Bar),Is(TubeLight,On)} {On(Dessert,Bar),Is(Curtain,Off)} {On(Dessert,Bar),Is(Curtain,On)} +{On(Dessert,Bar),Is(Chairs,Dirty)} +{On(Dessert,Bar),Is(Chairs,Clean)} +{On(Dessert,Bar),Is(Floor,Dirty)} +{On(Dessert,Bar),Is(Floor,Clean)} +{On(Dessert,Bar),Is(Table,Dirty)} +{On(Dessert,Bar),Is(Table,Clean)} {On(Dessert,WaterTable),Is(AC,Off)} {On(Dessert,WaterTable),Is(AC,On)} {On(Dessert,WaterTable),Is(ACTemperature,Up)} @@ -4658,6 +4748,12 @@ {On(Dessert,WaterTable),Is(TubeLight,On)} {On(Dessert,WaterTable),Is(Curtain,Off)} {On(Dessert,WaterTable),Is(Curtain,On)} +{On(Dessert,WaterTable),Is(Chairs,Dirty)} +{On(Dessert,WaterTable),Is(Chairs,Clean)} +{On(Dessert,WaterTable),Is(Floor,Dirty)} +{On(Dessert,WaterTable),Is(Floor,Clean)} +{On(Dessert,WaterTable),Is(Table,Dirty)} +{On(Dessert,WaterTable),Is(Table,Clean)} {On(Dessert,CoffeeTable),Is(AC,Off)} {On(Dessert,CoffeeTable),Is(AC,On)} {On(Dessert,CoffeeTable),Is(ACTemperature,Up)} @@ -4668,6 +4764,12 @@ {On(Dessert,CoffeeTable),Is(TubeLight,On)} {On(Dessert,CoffeeTable),Is(Curtain,Off)} {On(Dessert,CoffeeTable),Is(Curtain,On)} +{On(Dessert,CoffeeTable),Is(Chairs,Dirty)} +{On(Dessert,CoffeeTable),Is(Chairs,Clean)} +{On(Dessert,CoffeeTable),Is(Floor,Dirty)} +{On(Dessert,CoffeeTable),Is(Floor,Clean)} +{On(Dessert,CoffeeTable),Is(Table,Dirty)} +{On(Dessert,CoffeeTable),Is(Table,Clean)} {On(Dessert,Bar2),Is(AC,Off)} {On(Dessert,Bar2),Is(AC,On)} {On(Dessert,Bar2),Is(ACTemperature,Up)} @@ -4678,6 +4780,12 @@ {On(Dessert,Bar2),Is(TubeLight,On)} {On(Dessert,Bar2),Is(Curtain,Off)} {On(Dessert,Bar2),Is(Curtain,On)} +{On(Dessert,Bar2),Is(Chairs,Dirty)} +{On(Dessert,Bar2),Is(Chairs,Clean)} +{On(Dessert,Bar2),Is(Floor,Dirty)} +{On(Dessert,Bar2),Is(Floor,Clean)} +{On(Dessert,Bar2),Is(Table,Dirty)} +{On(Dessert,Bar2),Is(Table,Clean)} {On(Dessert,TableOn),Is(AC,Off)} {On(Dessert,TableOn),Is(AC,On)} {On(Dessert,TableDown),Is(ACTemperature,Up)} @@ -4688,6 +4796,12 @@ {On(Dessert,TableOn),Is(TubeLight,On)} {On(Dessert,TableOn),Is(Curtain,Off)} {On(Dessert,TableOn),Is(Curtain,On)} +{On(Dessert,TableClean),Is(Chairs,Dirty)} +{On(Dessert,TableClean),Is(Chairs,Clean)} +{On(Dessert,TableClean),Is(Floor,Dirty)} +{On(Dessert,TableClean),Is(Floor,Clean)} +{On(Dessert,TableClean),Is(Table,Dirty)} +{On(Dessert,TableClean),Is(Table,Clean)} {On(Dessert,Table2),Is(AC,Off)} {On(Dessert,Table2),Is(AC,On)} {On(Dessert,Table2),Is(ACTemperature,Up)} @@ -4698,6 +4812,12 @@ {On(Dessert,Table2),Is(TubeLight,On)} {On(Dessert,Table2),Is(Curtain,Off)} {On(Dessert,Table2),Is(Curtain,On)} +{On(Dessert,Table2),Is(Chairs,Dirty)} +{On(Dessert,Table2),Is(Chairs,Clean)} +{On(Dessert,Table2),Is(Floor,Dirty)} +{On(Dessert,Table2),Is(Floor,Clean)} +{On(Dessert,Table2),Is(Table,Dirty)} +{On(Dessert,Table2),Is(Table,Clean)} {On(Dessert,Table3),Is(AC,Off)} {On(Dessert,Table3),Is(AC,On)} {On(Dessert,Table3),Is(ACTemperature,Up)} @@ -4708,6 +4828,12 @@ {On(Dessert,Table3),Is(TubeLight,On)} {On(Dessert,Table3),Is(Curtain,Off)} {On(Dessert,Table3),Is(Curtain,On)} +{On(Dessert,Table3),Is(Chairs,Dirty)} +{On(Dessert,Table3),Is(Chairs,Clean)} +{On(Dessert,Table3),Is(Floor,Dirty)} +{On(Dessert,Table3),Is(Floor,Clean)} +{On(Dessert,Table3),Is(Table,Dirty)} +{On(Dessert,Table3),Is(Table,Clean)} {On(Coffee,Bar),Is(AC,Off)} {On(Coffee,Bar),Is(AC,On)} {On(Coffee,Bar),Is(ACTemperature,Up)} @@ -4718,6 +4844,12 @@ {On(Coffee,Bar),Is(TubeLight,On)} {On(Coffee,Bar),Is(Curtain,Off)} {On(Coffee,Bar),Is(Curtain,On)} +{On(Coffee,Bar),Is(Chairs,Dirty)} +{On(Coffee,Bar),Is(Chairs,Clean)} +{On(Coffee,Bar),Is(Floor,Dirty)} +{On(Coffee,Bar),Is(Floor,Clean)} +{On(Coffee,Bar),Is(Table,Dirty)} +{On(Coffee,Bar),Is(Table,Clean)} {On(Coffee,WaterTable),Is(AC,Off)} {On(Coffee,WaterTable),Is(AC,On)} {On(Coffee,WaterTable),Is(ACTemperature,Up)} @@ -4728,6 +4860,12 @@ {On(Coffee,WaterTable),Is(TubeLight,On)} {On(Coffee,WaterTable),Is(Curtain,Off)} {On(Coffee,WaterTable),Is(Curtain,On)} +{On(Coffee,WaterTable),Is(Chairs,Dirty)} +{On(Coffee,WaterTable),Is(Chairs,Clean)} +{On(Coffee,WaterTable),Is(Floor,Dirty)} +{On(Coffee,WaterTable),Is(Floor,Clean)} +{On(Coffee,WaterTable),Is(Table,Dirty)} +{On(Coffee,WaterTable),Is(Table,Clean)} {On(Coffee,CoffeeTable),Is(AC,Off)} {On(Coffee,CoffeeTable),Is(AC,On)} {On(Coffee,CoffeeTable),Is(ACTemperature,Up)} @@ -4738,6 +4876,12 @@ {On(Coffee,CoffeeTable),Is(TubeLight,On)} {On(Coffee,CoffeeTable),Is(Curtain,Off)} {On(Coffee,CoffeeTable),Is(Curtain,On)} +{On(Coffee,CoffeeTable),Is(Chairs,Dirty)} +{On(Coffee,CoffeeTable),Is(Chairs,Clean)} +{On(Coffee,CoffeeTable),Is(Floor,Dirty)} +{On(Coffee,CoffeeTable),Is(Floor,Clean)} +{On(Coffee,CoffeeTable),Is(Table,Dirty)} +{On(Coffee,CoffeeTable),Is(Table,Clean)} {On(Coffee,Bar2),Is(AC,Off)} {On(Coffee,Bar2),Is(AC,On)} {On(Coffee,Bar2),Is(ACTemperature,Up)} @@ -4748,6 +4892,12 @@ {On(Coffee,Bar2),Is(TubeLight,On)} {On(Coffee,Bar2),Is(Curtain,Off)} {On(Coffee,Bar2),Is(Curtain,On)} +{On(Coffee,Bar2),Is(Chairs,Dirty)} +{On(Coffee,Bar2),Is(Chairs,Clean)} +{On(Coffee,Bar2),Is(Floor,Dirty)} +{On(Coffee,Bar2),Is(Floor,Clean)} +{On(Coffee,Bar2),Is(Table,Dirty)} +{On(Coffee,Bar2),Is(Table,Clean)} {On(Coffee,TableOn),Is(AC,Off)} {On(Coffee,TableOn),Is(AC,On)} {On(Coffee,TableDown),Is(ACTemperature,Up)} @@ -4758,6 +4908,12 @@ {On(Coffee,TableOn),Is(TubeLight,On)} {On(Coffee,TableOn),Is(Curtain,Off)} {On(Coffee,TableOn),Is(Curtain,On)} +{On(Coffee,TableClean),Is(Chairs,Dirty)} +{On(Coffee,TableClean),Is(Chairs,Clean)} +{On(Coffee,TableClean),Is(Floor,Dirty)} +{On(Coffee,TableClean),Is(Floor,Clean)} +{On(Coffee,TableClean),Is(Table,Dirty)} +{On(Coffee,TableClean),Is(Table,Clean)} {On(Coffee,Table2),Is(AC,Off)} {On(Coffee,Table2),Is(AC,On)} {On(Coffee,Table2),Is(ACTemperature,Up)} @@ -4768,6 +4924,12 @@ {On(Coffee,Table2),Is(TubeLight,On)} {On(Coffee,Table2),Is(Curtain,Off)} {On(Coffee,Table2),Is(Curtain,On)} +{On(Coffee,Table2),Is(Chairs,Dirty)} +{On(Coffee,Table2),Is(Chairs,Clean)} +{On(Coffee,Table2),Is(Floor,Dirty)} +{On(Coffee,Table2),Is(Floor,Clean)} +{On(Coffee,Table2),Is(Table,Dirty)} +{On(Coffee,Table2),Is(Table,Clean)} {On(Coffee,Table3),Is(AC,Off)} {On(Coffee,Table3),Is(AC,On)} {On(Coffee,Table3),Is(ACTemperature,Up)} @@ -4778,6 +4940,12 @@ {On(Coffee,Table3),Is(TubeLight,On)} {On(Coffee,Table3),Is(Curtain,Off)} {On(Coffee,Table3),Is(Curtain,On)} +{On(Coffee,Table3),Is(Chairs,Dirty)} +{On(Coffee,Table3),Is(Chairs,Clean)} +{On(Coffee,Table3),Is(Floor,Dirty)} +{On(Coffee,Table3),Is(Floor,Clean)} +{On(Coffee,Table3),Is(Table,Dirty)} +{On(Coffee,Table3),Is(Table,Clean)} {On(Water,Bar),Is(AC,Off)} {On(Water,Bar),Is(AC,On)} {On(Water,Bar),Is(ACTemperature,Up)} @@ -4788,6 +4956,12 @@ {On(Water,Bar),Is(TubeLight,On)} {On(Water,Bar),Is(Curtain,Off)} {On(Water,Bar),Is(Curtain,On)} +{On(Water,Bar),Is(Chairs,Dirty)} +{On(Water,Bar),Is(Chairs,Clean)} +{On(Water,Bar),Is(Floor,Dirty)} +{On(Water,Bar),Is(Floor,Clean)} +{On(Water,Bar),Is(Table,Dirty)} +{On(Water,Bar),Is(Table,Clean)} {On(Water,WaterTable),Is(AC,Off)} {On(Water,WaterTable),Is(AC,On)} {On(Water,WaterTable),Is(ACTemperature,Up)} @@ -4798,6 +4972,12 @@ {On(Water,WaterTable),Is(TubeLight,On)} {On(Water,WaterTable),Is(Curtain,Off)} {On(Water,WaterTable),Is(Curtain,On)} +{On(Water,WaterTable),Is(Chairs,Dirty)} +{On(Water,WaterTable),Is(Chairs,Clean)} +{On(Water,WaterTable),Is(Floor,Dirty)} +{On(Water,WaterTable),Is(Floor,Clean)} +{On(Water,WaterTable),Is(Table,Dirty)} +{On(Water,WaterTable),Is(Table,Clean)} {On(Water,CoffeeTable),Is(AC,Off)} {On(Water,CoffeeTable),Is(AC,On)} {On(Water,CoffeeTable),Is(ACTemperature,Up)} @@ -4808,193 +4988,13 @@ {On(Water,CoffeeTable),Is(TubeLight,On)} {On(Water,CoffeeTable),Is(Curtain,Off)} {On(Water,CoffeeTable),Is(Curtain,On)} +{On(Water,CoffeeTable),Is(Chairs,Dirty)} +{On(Water,CoffeeTable),Is(Chairs,Clean)} +{On(Water,CoffeeTable),Is(Floor,Dirty)} +{On(Water,CoffeeTable),Is(Floor,Clean)} +{On(Water,CoffeeTable),Is(Table,Dirty)} +{On(Water,CoffeeTable),Is(Table,Clean)} {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 f03dfba..d686e48 100644 --- a/robowaiter/behavior_tree/dataset/goal_states_generation.py +++ b/robowaiter/behavior_tree/dataset/goal_states_generation.py @@ -2,7 +2,7 @@ import os import re -Object = ['Softdrink', 'BottledDrink', 'Yogurt', 'ADMilk', 'MilkDrink', 'Milk', 'VacuumCup', 'Nothing'] +Object = ['Softdrink', 'BottledDrink', 'Yogurt', 'ADMilk', 'MilkDrink', 'Milk', 'VacuumCup'] Cookable = ['Coffee', 'Water', 'Dessert'] @@ -10,7 +10,7 @@ Place = ['Bar', 'WaterTable', 'CoffeeTable', 'Bar2', 'Table1', 'Table2', 'Table3 Entity = ['Robot', 'Customer'] -Operable = ['AC', 'ACTemperature', 'HallLight', 'TubeLight', 'Curtain'] +Operable = ['AC', 'ACTemperature', 'HallLight', 'TubeLight', 'Curtain', 'Chairs', 'Floor', 'Table'] import random @@ -96,7 +96,6 @@ def generate_goal_states(vln_num: int, vlm_num: int, opentask_num: int): def enumerate_goal_states(total: int): - res = [] point_15 = int(total * .15) @@ -104,7 +103,7 @@ def enumerate_goal_states(total: int): # goal states for VLN, .15 count_vln, list_vln = enumerate_predict(['Robot'], Place, 'at') - list_vln = ['{%s}'%i for i in list_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)): @@ -131,7 +130,7 @@ def enumerate_goal_states(total: int): res += list_vlm_2 # goal states for VLM-3, 0.1 - count_vlm_3, list_vlm_3 = enumerate_predict(Object, None, 'hold') + count_vlm_3, list_vlm_3 = enumerate_predict(Object + ['Nothing'], 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 @@ -157,7 +156,7 @@ def enumerate_goal_states(total: int): 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)] + list_tmp += list_tmp[0:point_10 - len(list_tmp)] else: list_tmp = list_tmp[:point_10] res += list_tmp @@ -208,8 +207,12 @@ def enumerate_goal_states(total: int): 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) + elif 'Is' in i and ('Chairs' in i or 'Floor' in i or 'Table' in i): + i = re.sub('0', 'Dirty', i) + i = re.sub('1', 'Clean', i) + + file.write(i + '\n') - file.write(i+'\n') # generate_goal_states(30, 6, 6) enumerate_goal_states(5000) diff --git a/run_robowaiter.py b/run_robowaiter.py index 1c11b81..dda629e 100644 --- a/run_robowaiter.py +++ b/run_robowaiter.py @@ -8,9 +8,9 @@ project_path = "./robowaiter" ptml_path = os.path.join(project_path, 'robot/Default.ptml') behavior_lib_path = os.path.join(project_path, 'behavior_lib') -robot = Robot(ptml_path,behavior_lib_path) +robot = Robot(ptml_path, behavior_lib_path) # create task task = task_map[TASK_NAME](robot) task.reset() -task.run() \ No newline at end of file +task.run() diff --git a/sub_task.ptml b/sub_task.ptml index 2b7fc48..b6150f6 100644 --- a/sub_task.ptml +++ b/sub_task.ptml @@ -10,460 +10,340 @@ cond Holding(Coffee) act MoveTo(Bar) } sequence{ -cond Holding(Nothing) +cond At(Robot,Bar) cond At(Robot,Coffee) - cond At(Robot,Bar) + cond Holding(Nothing) act PickUp(Coffee) } sequence{ -cond Holding(Nothing) - cond At(Robot,Coffee) +cond At(Robot,Coffee) + cond Holding(Nothing) act PickUp(Coffee) } sequence{ +cond At(Robot,Bar) + cond At(Robot,Coffee) + cond Holding(Yogurt) + cond At(Robot,WaterTable) +act PutDown(Yogurt,WaterTable) +} +sequence{ +cond At(Robot,CoffeeTable) + cond At(Robot,Bar) + cond At(Robot,Coffee) + cond Holding(Yogurt) +act PutDown(Yogurt,CoffeeTable) +} +sequence{ +cond At(Robot,Coffee) + cond At(Robot,Bar) + cond At(Robot,Table1) + cond Holding(Yogurt) +act PutDown(Yogurt,Table1) +} +sequence{ +cond At(Robot,Bar) + cond At(Robot,Coffee) + cond Holding(Yogurt) +act PutDown(Yogurt,Bar) +} +sequence{ +cond At(Robot,Bar) + cond At(Robot,Coffee) + cond Holding(MilkDrink) + cond At(Robot,WaterTable) +act PutDown(MilkDrink,WaterTable) +} +sequence{ +cond At(Robot,CoffeeTable) + cond At(Robot,Bar) + cond At(Robot,Coffee) + cond Holding(MilkDrink) +act PutDown(MilkDrink,CoffeeTable) +} +sequence{ +cond At(Robot,Coffee) + cond At(Robot,Bar) + cond At(Robot,Table1) + cond Holding(MilkDrink) +act PutDown(MilkDrink,Table1) +} +sequence{ +cond At(Robot,Bar) + cond At(Robot,Coffee) + cond Holding(MilkDrink) +act PutDown(MilkDrink,Bar) +} +sequence{ +cond At(Robot,Bar) + cond At(Robot,Coffee) + cond Holding(Milk) + cond At(Robot,WaterTable) +act PutDown(Milk,WaterTable) +} +sequence{ +cond At(Robot,CoffeeTable) + cond At(Robot,Bar) + cond At(Robot,Coffee) + cond Holding(Milk) +act PutDown(Milk,CoffeeTable) +} +sequence{ +cond At(Robot,Coffee) + cond At(Robot,Bar) + cond At(Robot,Table1) + cond Holding(Milk) +act PutDown(Milk,Table1) +} +sequence{ +cond At(Robot,Bar) + cond At(Robot,Coffee) + cond Holding(Milk) +act PutDown(Milk,Bar) +} +sequence{ +cond At(Robot,Bar) + cond At(Robot,Coffee) + cond Holding(ADMilk) + cond At(Robot,WaterTable) +act PutDown(ADMilk,WaterTable) +} +sequence{ +cond At(Robot,CoffeeTable) + cond At(Robot,Bar) + cond At(Robot,Coffee) + cond Holding(ADMilk) +act PutDown(ADMilk,CoffeeTable) +} +sequence{ +cond At(Robot,Coffee) + cond At(Robot,Bar) + cond At(Robot,Table1) + cond Holding(ADMilk) +act PutDown(ADMilk,Table1) +} +sequence{ +cond At(Robot,Bar) + cond At(Robot,Coffee) + cond Holding(ADMilk) +act PutDown(ADMilk,Bar) +} +sequence{ +cond Holding(Water) + cond At(Robot,Bar) + cond At(Robot,Coffee) + cond At(Robot,WaterTable) +act PutDown(Water,WaterTable) +} +sequence{ cond At(Robot,CoffeeTable) cond Holding(Water) - cond At(Robot,Coffee) cond At(Robot,Bar) + cond At(Robot,Coffee) act PutDown(Water,CoffeeTable) } sequence{ -cond Holding(Water) - cond At(Robot,Table1) - cond At(Robot,Coffee) +cond At(Robot,Coffee) + cond Holding(Water) cond At(Robot,Bar) + cond At(Robot,Table1) 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 Holding(VacuumCup) 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) + cond At(Robot,WaterTable) +act PutDown(VacuumCup,WaterTable) } 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) + cond At(Robot,Bar) + cond At(Robot,Coffee) act PutDown(VacuumCup,CoffeeTable) } sequence{ -cond At(Robot,Bar) - cond At(Robot,Table1) +cond Holding(VacuumCup) cond At(Robot,Coffee) - cond Holding(VacuumCup) + cond At(Robot,Bar) + cond At(Robot,Table1) act PutDown(VacuumCup,Table1) } sequence{ -cond At(Robot,Coffee) - cond Holding(VacuumCup) - cond At(Robot,Bar2) +cond Holding(VacuumCup) 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 Holding(BottledDrink) + cond At(Robot,Bar) 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) + cond At(Robot,WaterTable) +act PutDown(BottledDrink,WaterTable) } sequence{ cond At(Robot,CoffeeTable) cond Holding(BottledDrink) - cond At(Robot,Coffee) cond At(Robot,Bar) + cond At(Robot,Coffee) act PutDown(BottledDrink,CoffeeTable) } sequence{ cond Holding(BottledDrink) - cond At(Robot,Table1) cond At(Robot,Coffee) cond At(Robot,Bar) + cond At(Robot,Table1) 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(Dessert) + cond At(Robot,Bar) + cond At(Robot,Coffee) + cond At(Robot,WaterTable) +act PutDown(Dessert,WaterTable) +} +sequence{ +cond Holding(Dessert) + cond At(Robot,CoffeeTable) + cond At(Robot,Bar) + cond At(Robot,Coffee) +act PutDown(Dessert,CoffeeTable) +} +sequence{ +cond Holding(Dessert) + cond At(Robot,Coffee) + cond At(Robot,Bar) + cond At(Robot,Table1) +act PutDown(Dessert,Table1) +} +sequence{ +cond Holding(Dessert) + cond At(Robot,Bar) + cond At(Robot,Coffee) +act PutDown(Dessert,Bar) +} +sequence{ +cond At(Robot,Coffee) + cond At(Robot,Bar) + cond Holding(Softdrink) + cond At(Robot,WaterTable) +act PutDown(Softdrink,WaterTable) +} +sequence{ +cond At(Robot,CoffeeTable) + cond At(Robot,Coffee) + cond At(Robot,Bar) + cond Holding(Softdrink) +act PutDown(Softdrink,CoffeeTable) +} +sequence{ +cond At(Robot,Coffee) + cond At(Robot,Table1) + cond At(Robot,Bar) + cond Holding(Softdrink) +act PutDown(Softdrink,Table1) +} +sequence{ +cond At(Robot,Coffee) + cond At(Robot,Bar) + cond Holding(Softdrink) +act PutDown(Softdrink,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,Coffee) + cond Holding(Yogurt) cond At(Robot,WaterTable) -act PutDown(Water,WaterTable) +act PutDown(Yogurt,WaterTable) } sequence{ cond At(Robot,CoffeeTable) - cond Holding(Softdrink) cond At(Robot,Coffee) -act PutDown(Softdrink,CoffeeTable) + cond Holding(Yogurt) +act PutDown(Yogurt,CoffeeTable) } sequence{ -cond Holding(Softdrink) - cond At(Robot,Table1) +cond At(Robot,Table1) cond At(Robot,Coffee) -act PutDown(Softdrink,Table1) + cond Holding(Yogurt) +act PutDown(Yogurt,Table1) } sequence{ -cond Holding(Softdrink) +cond At(Robot,Table3) cond At(Robot,Coffee) - cond At(Robot,Bar2) -act PutDown(Softdrink,Bar2) + cond Holding(Yogurt) +act PutDown(Yogurt,Table3) } sequence{ -cond Holding(Softdrink) - cond At(Robot,Table3) +cond At(Robot,Bar2) cond At(Robot,Coffee) -act PutDown(Softdrink,Table3) + cond Holding(Yogurt) +act PutDown(Yogurt,Bar2) } sequence{ -cond Holding(Softdrink) - cond At(Robot,Coffee) +cond At(Robot,Coffee) + cond Holding(Yogurt) cond At(Robot,Table2) -act PutDown(Softdrink,Table2) +act PutDown(Yogurt,Table2) } sequence{ -cond Holding(Softdrink) - cond At(Robot,Coffee) +cond At(Robot,Coffee) + cond Holding(MilkDrink) cond At(Robot,WaterTable) -act PutDown(Softdrink,WaterTable) +act PutDown(MilkDrink,WaterTable) +} +sequence{ +cond At(Robot,CoffeeTable) + cond At(Robot,Coffee) + cond Holding(MilkDrink) +act PutDown(MilkDrink,CoffeeTable) +} +sequence{ +cond At(Robot,Table1) + cond At(Robot,Coffee) + cond Holding(MilkDrink) +act PutDown(MilkDrink,Table1) +} +sequence{ +cond At(Robot,Table3) + cond At(Robot,Coffee) + cond Holding(MilkDrink) +act PutDown(MilkDrink,Table3) +} +sequence{ +cond At(Robot,Bar2) + cond At(Robot,Coffee) + cond Holding(MilkDrink) +act PutDown(MilkDrink,Bar2) +} +sequence{ +cond At(Robot,Coffee) + cond Holding(MilkDrink) + cond At(Robot,Table2) +act PutDown(MilkDrink,Table2) +} +sequence{ +cond At(Robot,Coffee) + cond Holding(Milk) + cond At(Robot,WaterTable) +act PutDown(Milk,WaterTable) } sequence{ cond At(Robot,CoffeeTable) @@ -478,130 +358,94 @@ cond At(Robot,Table1) 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,Bar2) cond At(Robot,Coffee) cond Holding(Milk) +act PutDown(Milk,Bar2) +} +sequence{ +cond At(Robot,Coffee) + cond Holding(Milk) + cond At(Robot,Table2) 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,Coffee) + cond Holding(ADMilk) 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) +act PutDown(ADMilk,WaterTable) } sequence{ cond At(Robot,CoffeeTable) cond At(Robot,Coffee) - cond Holding(VacuumCup) -act PutDown(VacuumCup,CoffeeTable) + cond Holding(ADMilk) +act PutDown(ADMilk,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) + cond Holding(ADMilk) +act PutDown(ADMilk,Table1) } sequence{ cond At(Robot,Table3) cond At(Robot,Coffee) - cond Holding(VacuumCup) -act PutDown(VacuumCup,Table3) + cond Holding(ADMilk) +act PutDown(ADMilk,Table3) } sequence{ -cond Holding(VacuumCup) +cond At(Robot,Bar2) + cond At(Robot,Coffee) + cond Holding(ADMilk) +act PutDown(ADMilk,Bar2) +} +sequence{ +cond At(Robot,Coffee) + cond Holding(ADMilk) + cond At(Robot,Table2) +act PutDown(ADMilk,Table2) +} +sequence{ +cond Holding(Water) + cond At(Robot,Coffee) + cond At(Robot,WaterTable) +act PutDown(Water,WaterTable) +} +sequence{ +cond At(Robot,CoffeeTable) + cond Holding(Water) + cond At(Robot,Coffee) +act PutDown(Water,CoffeeTable) +} +sequence{ +cond At(Robot,Table1) + cond Holding(Water) + cond At(Robot,Coffee) +act PutDown(Water,Table1) +} +sequence{ +cond Holding(Water) + cond At(Robot,Table3) + cond At(Robot,Coffee) +act PutDown(Water,Table3) +} +sequence{ +cond At(Robot,Bar2) + cond Holding(Water) + cond At(Robot,Coffee) +act PutDown(Water,Bar2) +} +sequence{ +cond Holding(Water) cond At(Robot,Coffee) cond At(Robot,Table2) -act PutDown(VacuumCup,Table2) +act PutDown(Water,Table2) } sequence{ cond Holding(VacuumCup) @@ -611,75 +455,39 @@ act PutDown(VacuumCup,WaterTable) } sequence{ cond At(Robot,CoffeeTable) - cond Holding(Dessert) + cond Holding(VacuumCup) cond At(Robot,Coffee) -act PutDown(Dessert,CoffeeTable) +act PutDown(VacuumCup,CoffeeTable) } sequence{ -cond Holding(Dessert) +cond Holding(VacuumCup) cond At(Robot,Table1) cond At(Robot,Coffee) -act PutDown(Dessert,Table1) +act PutDown(VacuumCup,Table1) +} +sequence{ +cond Holding(VacuumCup) + cond At(Robot,Table3) + cond At(Robot,Coffee) +act PutDown(VacuumCup,Table3) } sequence{ cond At(Robot,Bar2) - cond Holding(Dessert) + cond Holding(VacuumCup) cond At(Robot,Coffee) -act PutDown(Dessert,Bar2) +act PutDown(VacuumCup,Bar2) } sequence{ -cond Holding(Dessert) - cond At(Robot,Table3) - cond At(Robot,Coffee) -act PutDown(Dessert,Table3) -} -sequence{ -cond Holding(Dessert) +cond Holding(VacuumCup) cond At(Robot,Coffee) cond At(Robot,Table2) -act PutDown(Dessert,Table2) +act PutDown(VacuumCup,Table2) } sequence{ -cond Holding(Dessert) +cond Holding(BottledDrink) 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) +act PutDown(BottledDrink,WaterTable) } sequence{ cond At(Robot,CoffeeTable) @@ -694,28 +502,239 @@ cond Holding(BottledDrink) 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 At(Robot,Bar2) + cond Holding(BottledDrink) + cond At(Robot,Coffee) +act PutDown(BottledDrink,Bar2) +} +sequence{ cond Holding(BottledDrink) cond At(Robot,Coffee) cond At(Robot,Table2) act PutDown(BottledDrink,Table2) } sequence{ -cond Holding(BottledDrink) +cond Holding(Dessert) cond At(Robot,Coffee) cond At(Robot,WaterTable) -act PutDown(BottledDrink,WaterTable) +act PutDown(Dessert,WaterTable) +} +sequence{ +cond Holding(Dessert) + cond At(Robot,CoffeeTable) + 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 Holding(Dessert) + cond At(Robot,Table3) + cond At(Robot,Coffee) +act PutDown(Dessert,Table3) +} +sequence{ +cond Holding(Dessert) + cond At(Robot,Bar2) + cond At(Robot,Coffee) +act PutDown(Dessert,Bar2) +} +sequence{ +cond Holding(Dessert) + cond At(Robot,Coffee) + cond At(Robot,Table2) +act PutDown(Dessert,Table2) +} +sequence{ +cond Holding(Softdrink) + cond At(Robot,Coffee) + cond At(Robot,WaterTable) +act PutDown(Softdrink,WaterTable) +} +sequence{ +cond At(Robot,CoffeeTable) + cond Holding(Softdrink) + cond At(Robot,Coffee) +act PutDown(Softdrink,CoffeeTable) +} +sequence{ +cond At(Robot,Table1) + cond Holding(Softdrink) + cond At(Robot,Coffee) +act PutDown(Softdrink,Table1) +} +sequence{ +cond Holding(Softdrink) + cond At(Robot,Table3) + cond At(Robot,Coffee) +act PutDown(Softdrink,Table3) +} +sequence{ +cond At(Robot,Bar2) + cond Holding(Softdrink) + cond At(Robot,Coffee) +act PutDown(Softdrink,Bar2) +} +sequence{ +cond Holding(Softdrink) + cond At(Robot,Coffee) + cond At(Robot,Table2) +act PutDown(Softdrink,Table2) +} +sequence{ +cond Holding(Yogurt) + cond At(Robot,WaterTable) +act PutDown(Yogurt,WaterTable) +} +sequence{ +cond At(Robot,CoffeeTable) + cond Holding(Yogurt) +act PutDown(Yogurt,CoffeeTable) +} +sequence{ +cond At(Robot,Table1) + cond Holding(Yogurt) +act PutDown(Yogurt,Table1) +} +sequence{ +cond At(Robot,Bar) + cond Holding(Yogurt) +act PutDown(Yogurt,Bar) +} +sequence{ +cond At(Robot,Table3) + cond Holding(Yogurt) +act PutDown(Yogurt,Table3) +} +sequence{ +cond At(Robot,Bar2) + cond Holding(Yogurt) +act PutDown(Yogurt,Bar2) +} +sequence{ +cond Holding(Yogurt) + cond At(Robot,Table2) +act PutDown(Yogurt,Table2) +} +sequence{ +cond Holding(MilkDrink) + cond At(Robot,WaterTable) +act PutDown(MilkDrink,WaterTable) +} +sequence{ +cond At(Robot,CoffeeTable) + cond Holding(MilkDrink) +act PutDown(MilkDrink,CoffeeTable) +} +sequence{ +cond At(Robot,Table1) + cond Holding(MilkDrink) +act PutDown(MilkDrink,Table1) +} +sequence{ +cond At(Robot,Bar) + cond Holding(MilkDrink) +act PutDown(MilkDrink,Bar) +} +sequence{ +cond At(Robot,Table3) + cond Holding(MilkDrink) +act PutDown(MilkDrink,Table3) +} +sequence{ +cond At(Robot,Bar2) + cond Holding(MilkDrink) +act PutDown(MilkDrink,Bar2) +} +sequence{ +cond Holding(MilkDrink) + cond At(Robot,Table2) +act PutDown(MilkDrink,Table2) +} +sequence{ +cond Holding(Milk) + cond At(Robot,WaterTable) +act PutDown(Milk,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,Bar) + cond Holding(Milk) +act PutDown(Milk,Bar) +} +sequence{ +cond At(Robot,Table3) + cond Holding(Milk) +act PutDown(Milk,Table3) +} +sequence{ +cond At(Robot,Bar2) + cond Holding(Milk) +act PutDown(Milk,Bar2) +} +sequence{ +cond Holding(Milk) + cond At(Robot,Table2) +act PutDown(Milk,Table2) +} +sequence{ +cond Holding(ADMilk) + cond At(Robot,WaterTable) +act PutDown(ADMilk,WaterTable) +} +sequence{ +cond At(Robot,CoffeeTable) + cond Holding(ADMilk) +act PutDown(ADMilk,CoffeeTable) +} +sequence{ +cond At(Robot,Table1) + cond Holding(ADMilk) +act PutDown(ADMilk,Table1) +} +sequence{ +cond At(Robot,Bar) + cond Holding(ADMilk) +act PutDown(ADMilk,Bar) +} +sequence{ +cond At(Robot,Table3) + cond Holding(ADMilk) +act PutDown(ADMilk,Table3) +} +sequence{ +cond At(Robot,Bar2) + cond Holding(ADMilk) +act PutDown(ADMilk,Bar2) +} +sequence{ +cond Holding(ADMilk) + cond At(Robot,Table2) +act PutDown(ADMilk,Table2) +} +sequence{ +cond Holding(Water) + cond At(Robot,WaterTable) +act PutDown(Water,WaterTable) } sequence{ cond At(Robot,CoffeeTable) @@ -728,199 +747,24 @@ cond Holding(Water) 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) +act PutDown(Water,Table3) } sequence{ cond At(Robot,Bar2) - cond Holding(Milk) -act PutDown(Milk,Bar2) + cond Holding(Water) +act PutDown(Water,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 Holding(Water) 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) +act PutDown(Water,Table2) } sequence{ cond Holding(VacuumCup) @@ -929,73 +773,38 @@ act PutDown(VacuumCup,WaterTable) } sequence{ cond At(Robot,CoffeeTable) - cond Holding(Dessert) -act PutDown(Dessert,CoffeeTable) + cond Holding(VacuumCup) +act PutDown(VacuumCup,CoffeeTable) } sequence{ -cond At(Robot,Table1) - cond Holding(Dessert) -act PutDown(Dessert,Table1) +cond Holding(VacuumCup) + cond At(Robot,Table1) +act PutDown(VacuumCup,Table1) +} +sequence{ +cond Holding(VacuumCup) + cond At(Robot,Bar) +act PutDown(VacuumCup,Bar) +} +sequence{ +cond Holding(VacuumCup) + cond At(Robot,Table3) +act PutDown(VacuumCup,Table3) } sequence{ cond At(Robot,Bar2) - cond Holding(Dessert) -act PutDown(Dessert,Bar2) + cond Holding(VacuumCup) +act PutDown(VacuumCup,Bar2) } sequence{ -cond At(Robot,Table3) - cond Holding(Dessert) -act PutDown(Dessert,Table3) -} -sequence{ -cond Holding(Dessert) +cond Holding(VacuumCup) cond At(Robot,Table2) -act PutDown(Dessert,Table2) +act PutDown(VacuumCup,Table2) } sequence{ -cond Holding(Dessert) - cond At(Robot,Bar) -act PutDown(Dessert,Bar) -} -sequence{ -cond Holding(Dessert) +cond Holding(BottledDrink) 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) +act PutDown(BottledDrink,WaterTable) } sequence{ cond At(Robot,CoffeeTable) @@ -1009,8 +818,8 @@ act PutDown(BottledDrink,Table1) } sequence{ cond Holding(BottledDrink) - cond At(Robot,Bar2) -act PutDown(BottledDrink,Bar2) + cond At(Robot,Bar) +act PutDown(BottledDrink,Bar) } sequence{ cond Holding(BottledDrink) @@ -1018,54 +827,119 @@ cond Holding(BottledDrink) act PutDown(BottledDrink,Table3) } sequence{ +cond At(Robot,Bar2) + cond Holding(BottledDrink) +act PutDown(BottledDrink,Bar2) +} +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 Holding(Dessert) 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) +act PutDown(Dessert,WaterTable) } sequence{ cond Holding(Dessert) -act MoveTo(CoffeeTable) + cond At(Robot,CoffeeTable) +act PutDown(Dessert,CoffeeTable) +} +sequence{ +cond Holding(Dessert) + cond At(Robot,Table1) +act PutDown(Dessert,Table1) +} +sequence{ +cond Holding(Dessert) + cond At(Robot,Bar) +act PutDown(Dessert,Bar) +} +sequence{ +cond Holding(Dessert) + cond At(Robot,Table3) +act PutDown(Dessert,Table3) +} +sequence{ +cond Holding(Dessert) + cond At(Robot,Bar2) +act PutDown(Dessert,Bar2) +} +sequence{ +cond Holding(Dessert) + cond At(Robot,Table2) +act PutDown(Dessert,Table2) +} +sequence{ +cond Holding(Softdrink) + cond At(Robot,WaterTable) +act PutDown(Softdrink,WaterTable) +} +sequence{ +cond At(Robot,CoffeeTable) + cond Holding(Softdrink) +act PutDown(Softdrink,CoffeeTable) +} +sequence{ +cond At(Robot,Table1) + cond Holding(Softdrink) +act PutDown(Softdrink,Table1) +} +sequence{ +cond At(Robot,Bar) + cond Holding(Softdrink) +act PutDown(Softdrink,Bar) +} +sequence{ +cond At(Robot,Table3) + cond Holding(Softdrink) +act PutDown(Softdrink,Table3) +} +sequence{ +cond At(Robot,Bar2) + cond Holding(Softdrink) +act PutDown(Softdrink,Bar2) +} +sequence{ +cond Holding(Softdrink) + cond At(Robot,Table2) +act PutDown(Softdrink,Table2) +} +sequence{ +cond Holding(Yogurt) +act MoveTo(WaterTable) +} +sequence{ +cond Holding(MilkDrink) +act MoveTo(WaterTable) +} +sequence{ +cond Holding(Milk) +act MoveTo(WaterTable) } sequence{ cond Holding(ADMilk) -act MoveTo(CoffeeTable) +act MoveTo(WaterTable) +} +sequence{ +cond Holding(Water) +act MoveTo(WaterTable) +} +sequence{ +cond Holding(VacuumCup) +act MoveTo(WaterTable) } sequence{ cond Holding(BottledDrink) -act MoveTo(CoffeeTable) +act MoveTo(WaterTable) +} +sequence{ +cond Holding(Dessert) +act MoveTo(WaterTable) +} +sequence{ +cond Holding(Softdrink) +act MoveTo(WaterTable) } }