From a012fabf6d42c198ccda71572d623f2e35ce7318 Mon Sep 17 00:00:00 2001 From: Caiyishuai <39987654+Caiyishuai@users.noreply.github.com> Date: Tue, 14 Nov 2023 19:30:06 +0800 Subject: [PATCH] =?UTF-8?q?=E6=9B=B4=E6=94=B9=E4=BA=86=20ptml=20=E8=BE=93?= =?UTF-8?q?=E5=87=BA=E6=A0=BC=E5=BC=8F?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .../obtea/OptimalBTExpansionAlgorithm.py | 2 +- robowaiter/scene/tasks/VLM.py | 4 +- sub_task.ptml | 1326 +++++++++++++---- 3 files changed, 1038 insertions(+), 294 deletions(-) diff --git a/robowaiter/behavior_tree/obtea/OptimalBTExpansionAlgorithm.py b/robowaiter/behavior_tree/obtea/OptimalBTExpansionAlgorithm.py index 333a644..fba4325 100644 --- a/robowaiter/behavior_tree/obtea/OptimalBTExpansionAlgorithm.py +++ b/robowaiter/behavior_tree/obtea/OptimalBTExpansionAlgorithm.py @@ -183,7 +183,7 @@ class OptBTExpAlgorithm: if isinstance(child, Leaf): if child.type == 'cond': self.ptml_string += "cond " - c_set_str = ', '.join(map(str, child.content)) + "\n" + c_set_str = '\n cond '.join(map(str, child.content)) + "\n" self.ptml_string += c_set_str elif child.type == 'act': if '(' not in child.content.name: diff --git a/robowaiter/scene/tasks/VLM.py b/robowaiter/scene/tasks/VLM.py index eae59a5..2bf37f2 100644 --- a/robowaiter/scene/tasks/VLM.py +++ b/robowaiter/scene/tasks/VLM.py @@ -11,12 +11,12 @@ class SceneVLM(Scene): super().__init__(robot) # 在这里加入场景中发生的事件， (事件发生的时间，事件函数) self.event_list = [ - # (5, self.create_chat_event("测试VLM：做一杯咖啡")), + (5, self.create_chat_event("测试VLM：做一杯咖啡")), # (5, self.create_chat_event("测试VLM：倒一杯水")), # (5, self.create_chat_event("测试VLM：开空调")), # (5, self.create_chat_event("测试VLM：关空调")), # (5, self.create_chat_event("测试VLM：开大厅灯")), - (5, self.create_chat_event("测试VLM：拖地")), + # (5, self.create_chat_event("测试VLM：拖地")), # (5, self.create_chat_event("测试VLM：擦桌子")), # (5, self.create_chat_event("测试VLM：整理椅子")), # (5, self.create_chat_event("测试VLM：把冰红茶放到Table2")), diff --git a/sub_task.ptml b/sub_task.ptml index 7671dad..2b7fc48 100644 --- a/sub_task.ptml +++ b/sub_task.ptml @@ -1,327 +1,1071 @@ selector{ -cond Is(Floor,Clean) +cond At(Coffee,Bar) sequence{ -cond Holding(Nothing) -act Clean(Floor) -} -sequence{ -cond Holding(Milk), At(Robot,Table2) -act PutDown(Milk,Table2) -} -sequence{ -cond Holding(Milk), At(Robot,WaterTable) -act PutDown(Milk,WaterTable) -} -sequence{ -cond At(Robot,CoffeeTable), Holding(Milk) -act PutDown(Milk,CoffeeTable) -} -sequence{ -cond At(Robot,Bar), Holding(Milk) -act PutDown(Milk,Bar) -} -sequence{ -cond Holding(Milk), At(Robot,Table1) -act PutDown(Milk,Table1) -} -sequence{ -cond At(Robot,Table3), Holding(Milk) -act PutDown(Milk,Table3) -} -sequence{ -cond Holding(Milk), At(Robot,Bar2) -act PutDown(Milk,Bar2) -} -sequence{ -cond Holding(Coffee), At(Robot,Table2) -act PutDown(Coffee,Table2) -} -sequence{ -cond At(Robot,WaterTable), Holding(Coffee) -act PutDown(Coffee,WaterTable) -} -sequence{ -cond At(Robot,CoffeeTable), Holding(Coffee) -act PutDown(Coffee,CoffeeTable) -} -sequence{ -cond At(Robot,Bar), Holding(Coffee) +cond Holding(Coffee) + cond At(Robot,Bar) act PutDown(Coffee,Bar) } sequence{ -cond At(Robot,Table1), Holding(Coffee) -act PutDown(Coffee,Table1) +cond Holding(Coffee) +act MoveTo(Bar) } sequence{ -cond At(Robot,Table3), Holding(Coffee) -act PutDown(Coffee,Table3) +cond Holding(Nothing) + cond At(Robot,Coffee) + cond At(Robot,Bar) +act PickUp(Coffee) } sequence{ -cond At(Robot,Bar2), Holding(Coffee) -act PutDown(Coffee,Bar2) +cond Holding(Nothing) + cond At(Robot,Coffee) +act PickUp(Coffee) } sequence{ -cond Holding(Softdrink), At(Robot,Table2) -act PutDown(Softdrink,Table2) -} -sequence{ -cond Holding(Softdrink), At(Robot,WaterTable) -act PutDown(Softdrink,WaterTable) -} -sequence{ -cond At(Robot,CoffeeTable), Holding(Softdrink) -act PutDown(Softdrink,CoffeeTable) -} -sequence{ -cond At(Robot,Bar), Holding(Softdrink) -act PutDown(Softdrink,Bar) -} -sequence{ -cond Holding(Softdrink), At(Robot,Table1) -act PutDown(Softdrink,Table1) -} -sequence{ -cond At(Robot,Table3), Holding(Softdrink) -act PutDown(Softdrink,Table3) -} -sequence{ -cond Holding(Softdrink), At(Robot,Bar2) -act PutDown(Softdrink,Bar2) -} -sequence{ -cond Holding(MilkDrink), At(Robot,Table2) -act PutDown(MilkDrink,Table2) -} -sequence{ -cond Holding(MilkDrink), At(Robot,WaterTable) -act PutDown(MilkDrink,WaterTable) -} -sequence{ -cond At(Robot,CoffeeTable), Holding(MilkDrink) -act PutDown(MilkDrink,CoffeeTable) -} -sequence{ -cond At(Robot,Bar), Holding(MilkDrink) -act PutDown(MilkDrink,Bar) -} -sequence{ -cond Holding(MilkDrink), At(Robot,Table1) -act PutDown(MilkDrink,Table1) -} -sequence{ -cond At(Robot,Table3), Holding(MilkDrink) -act PutDown(MilkDrink,Table3) -} -sequence{ -cond Holding(MilkDrink), At(Robot,Bar2) -act PutDown(MilkDrink,Bar2) -} -sequence{ -cond Holding(Water), At(Robot,Table2) -act PutDown(Water,Table2) -} -sequence{ -cond Holding(Water), At(Robot,WaterTable) -act PutDown(Water,WaterTable) -} -sequence{ -cond At(Robot,CoffeeTable), Holding(Water) +cond At(Robot,CoffeeTable) + cond Holding(Water) + cond At(Robot,Coffee) + cond At(Robot,Bar) act PutDown(Water,CoffeeTable) } sequence{ -cond At(Robot,Bar), Holding(Water) -act PutDown(Water,Bar) -} -sequence{ -cond Holding(Water), At(Robot,Table1) +cond Holding(Water) + cond At(Robot,Table1) + cond At(Robot,Coffee) + cond At(Robot,Bar) act PutDown(Water,Table1) } sequence{ -cond At(Robot,Table3), Holding(Water) -act PutDown(Water,Table3) -} -sequence{ -cond Holding(Water), At(Robot,Bar2) +cond Holding(Water) + cond At(Robot,Bar) + cond At(Robot,Coffee) + cond At(Robot,Bar2) act PutDown(Water,Bar2) } sequence{ -cond Holding(ADMilk), At(Robot,Table2) -act PutDown(ADMilk,Table2) -} -sequence{ -cond At(Robot,WaterTable), Holding(ADMilk) -act PutDown(ADMilk,WaterTable) -} -sequence{ -cond At(Robot,CoffeeTable), Holding(ADMilk) -act PutDown(ADMilk,CoffeeTable) -} -sequence{ -cond At(Robot,Bar), Holding(ADMilk) -act PutDown(ADMilk,Bar) -} -sequence{ -cond At(Robot,Table1), Holding(ADMilk) -act PutDown(ADMilk,Table1) -} -sequence{ -cond At(Robot,Table3), Holding(ADMilk) -act PutDown(ADMilk,Table3) -} -sequence{ -cond At(Robot,Bar2), Holding(ADMilk) -act PutDown(ADMilk,Bar2) -} -sequence{ -cond At(Robot,Table2), Holding(VacuumCup) -act PutDown(VacuumCup,Table2) -} -sequence{ -cond At(Robot,WaterTable), Holding(VacuumCup) -act PutDown(VacuumCup,WaterTable) -} -sequence{ -cond At(Robot,CoffeeTable), Holding(VacuumCup) -act PutDown(VacuumCup,CoffeeTable) -} -sequence{ -cond At(Robot,Bar), Holding(VacuumCup) -act PutDown(VacuumCup,Bar) -} -sequence{ -cond At(Robot,Table1), Holding(VacuumCup) -act PutDown(VacuumCup,Table1) -} -sequence{ -cond At(Robot,Table3), Holding(VacuumCup) -act PutDown(VacuumCup,Table3) -} -sequence{ -cond At(Robot,Bar2), Holding(VacuumCup) -act PutDown(VacuumCup,Bar2) -} -sequence{ -cond Holding(BottledDrink), At(Robot,Table2) -act PutDown(BottledDrink,Table2) -} -sequence{ -cond Holding(BottledDrink), At(Robot,WaterTable) -act PutDown(BottledDrink,WaterTable) -} -sequence{ -cond At(Robot,CoffeeTable), Holding(BottledDrink) -act PutDown(BottledDrink,CoffeeTable) -} -sequence{ -cond At(Robot,Bar), Holding(BottledDrink) -act PutDown(BottledDrink,Bar) -} -sequence{ -cond Holding(BottledDrink), At(Robot,Table1) -act PutDown(BottledDrink,Table1) -} -sequence{ -cond At(Robot,Table3), Holding(BottledDrink) -act PutDown(BottledDrink,Table3) -} -sequence{ -cond Holding(BottledDrink), At(Robot,Bar2) -act PutDown(BottledDrink,Bar2) -} -sequence{ -cond Holding(Dessert), At(Robot,Table2) -act PutDown(Dessert,Table2) -} -sequence{ -cond Holding(Dessert), At(Robot,WaterTable) -act PutDown(Dessert,WaterTable) -} -sequence{ -cond Holding(Dessert), At(Robot,CoffeeTable) -act PutDown(Dessert,CoffeeTable) -} -sequence{ -cond At(Robot,Bar), Holding(Dessert) -act PutDown(Dessert,Bar) -} -sequence{ -cond Holding(Dessert), At(Robot,Table1) -act PutDown(Dessert,Table1) -} -sequence{ -cond At(Robot,Table3), Holding(Dessert) -act PutDown(Dessert,Table3) -} -sequence{ -cond Holding(Dessert), At(Robot,Bar2) -act PutDown(Dessert,Bar2) -} -sequence{ -cond Holding(Yogurt), At(Robot,Table2) -act PutDown(Yogurt,Table2) -} -sequence{ -cond Holding(Yogurt), At(Robot,WaterTable) -act PutDown(Yogurt,WaterTable) -} -sequence{ -cond Holding(Yogurt), At(Robot,CoffeeTable) -act PutDown(Yogurt,CoffeeTable) -} -sequence{ -cond At(Robot,Bar), Holding(Yogurt) -act PutDown(Yogurt,Bar) -} -sequence{ -cond Holding(Yogurt), At(Robot,Table1) -act PutDown(Yogurt,Table1) -} -sequence{ -cond At(Robot,Table3), Holding(Yogurt) -act PutDown(Yogurt,Table3) -} -sequence{ -cond Holding(Yogurt), At(Robot,Bar2) -act PutDown(Yogurt,Bar2) -} -sequence{ -cond Holding(Milk) -act MoveTo(Table2) -} -sequence{ -cond Holding(Coffee) -act MoveTo(Table2) -} -sequence{ -cond Holding(Softdrink) -act MoveTo(Table2) -} -sequence{ -cond Holding(MilkDrink) -act MoveTo(Table2) +cond Holding(Water) + cond At(Robot,Table3) + cond At(Robot,Coffee) + cond At(Robot,Bar) +act PutDown(Water,Table3) } sequence{ cond Holding(Water) -act MoveTo(Table2) + cond At(Robot,Table2) + cond At(Robot,Coffee) + cond At(Robot,Bar) +act PutDown(Water,Table2) } sequence{ -cond Holding(ADMilk) -act MoveTo(Table2) +cond Holding(Water) + cond At(Robot,Coffee) + cond At(Robot,Bar) +act PutDown(Water,Bar) } sequence{ -cond Holding(VacuumCup) -act MoveTo(Table2) +cond At(Robot,CoffeeTable) + cond Holding(Softdrink) + cond At(Robot,Coffee) + cond At(Robot,Bar) +act PutDown(Softdrink,CoffeeTable) } sequence{ -cond Holding(BottledDrink) -act MoveTo(Table2) +cond Holding(Softdrink) + cond At(Robot,Table1) + cond At(Robot,Coffee) + cond At(Robot,Bar) +act PutDown(Softdrink,Table1) } sequence{ -cond Holding(Dessert) -act MoveTo(Table2) +cond Holding(Softdrink) + cond At(Robot,Bar) + cond At(Robot,Coffee) + cond At(Robot,Bar2) +act PutDown(Softdrink,Bar2) +} +sequence{ +cond Holding(Softdrink) + cond At(Robot,Table3) + cond At(Robot,Coffee) + cond At(Robot,Bar) +act PutDown(Softdrink,Table3) +} +sequence{ +cond Holding(Softdrink) + cond At(Robot,Table2) + cond At(Robot,Coffee) + cond At(Robot,Bar) +act PutDown(Softdrink,Table2) +} +sequence{ +cond Holding(Softdrink) + cond At(Robot,Coffee) + cond At(Robot,Bar) +act PutDown(Softdrink,Bar) +} +sequence{ +cond At(Robot,CoffeeTable) + cond Holding(Milk) + cond At(Robot,Coffee) + cond At(Robot,Bar) +act PutDown(Milk,CoffeeTable) +} +sequence{ +cond Holding(Milk) + cond At(Robot,Table1) + cond At(Robot,Coffee) + cond At(Robot,Bar) +act PutDown(Milk,Table1) +} +sequence{ +cond At(Robot,Coffee) + cond Holding(Milk) + cond At(Robot,Bar2) + cond At(Robot,Bar) +act PutDown(Milk,Bar2) +} +sequence{ +cond Holding(Milk) + cond At(Robot,Table3) + cond At(Robot,Coffee) + cond At(Robot,Bar) +act PutDown(Milk,Table3) +} +sequence{ +cond At(Robot,Table2) + cond Holding(Milk) + cond At(Robot,Coffee) + cond At(Robot,Bar) +act PutDown(Milk,Table2) +} +sequence{ +cond Holding(Milk) + cond At(Robot,Coffee) + cond At(Robot,Bar) +act PutDown(Milk,Bar) } sequence{ cond Holding(Yogurt) -act MoveTo(Table2) + cond At(Robot,CoffeeTable) + cond At(Robot,Coffee) + cond At(Robot,Bar) +act PutDown(Yogurt,CoffeeTable) +} +sequence{ +cond Holding(Yogurt) + cond At(Robot,Table1) + cond At(Robot,Coffee) + cond At(Robot,Bar) +act PutDown(Yogurt,Table1) +} +sequence{ +cond Holding(Yogurt) + cond At(Robot,Coffee) + cond At(Robot,Bar2) + cond At(Robot,Bar) +act PutDown(Yogurt,Bar2) +} +sequence{ +cond Holding(Yogurt) + cond At(Robot,Table3) + cond At(Robot,Coffee) + cond At(Robot,Bar) +act PutDown(Yogurt,Table3) +} +sequence{ +cond Holding(Yogurt) + cond At(Robot,Table2) + cond At(Robot,Coffee) + cond At(Robot,Bar) +act PutDown(Yogurt,Table2) +} +sequence{ +cond Holding(Yogurt) + cond At(Robot,Coffee) + cond At(Robot,Bar) +act PutDown(Yogurt,Bar) +} +sequence{ +cond Holding(MilkDrink) + cond At(Robot,CoffeeTable) + cond At(Robot,Coffee) + cond At(Robot,Bar) +act PutDown(MilkDrink,CoffeeTable) +} +sequence{ +cond Holding(MilkDrink) + cond At(Robot,Table1) + cond At(Robot,Coffee) + cond At(Robot,Bar) +act PutDown(MilkDrink,Table1) +} +sequence{ +cond Holding(MilkDrink) + cond At(Robot,Coffee) + cond At(Robot,Bar2) + cond At(Robot,Bar) +act PutDown(MilkDrink,Bar2) +} +sequence{ +cond Holding(MilkDrink) + cond At(Robot,Table3) + cond At(Robot,Coffee) + cond At(Robot,Bar) +act PutDown(MilkDrink,Table3) +} +sequence{ +cond Holding(MilkDrink) + cond At(Robot,Table2) + cond At(Robot,Coffee) + cond At(Robot,Bar) +act PutDown(MilkDrink,Table2) +} +sequence{ +cond Holding(MilkDrink) + cond At(Robot,Coffee) + cond At(Robot,Bar) +act PutDown(MilkDrink,Bar) +} +sequence{ +cond At(Robot,CoffeeTable) + cond At(Robot,Bar) + cond At(Robot,Coffee) + cond Holding(VacuumCup) +act PutDown(VacuumCup,CoffeeTable) +} +sequence{ +cond At(Robot,Bar) + cond At(Robot,Table1) + cond At(Robot,Coffee) + cond Holding(VacuumCup) +act PutDown(VacuumCup,Table1) +} +sequence{ +cond At(Robot,Coffee) + cond Holding(VacuumCup) + cond At(Robot,Bar2) + cond At(Robot,Bar) +act PutDown(VacuumCup,Bar2) +} +sequence{ +cond At(Robot,Bar) + cond At(Robot,Table3) + cond At(Robot,Coffee) + cond Holding(VacuumCup) +act PutDown(VacuumCup,Table3) +} +sequence{ +cond At(Robot,Coffee) + cond At(Robot,Table2) + cond Holding(VacuumCup) + cond At(Robot,Bar) +act PutDown(VacuumCup,Table2) +} +sequence{ +cond At(Robot,Bar) + cond At(Robot,Coffee) + cond Holding(VacuumCup) +act PutDown(VacuumCup,Bar) +} +sequence{ +cond At(Robot,CoffeeTable) + cond At(Robot,Coffee) + cond Holding(Dessert) + cond At(Robot,Bar) +act PutDown(Dessert,CoffeeTable) +} +sequence{ +cond At(Robot,Coffee) + cond At(Robot,Table1) + cond Holding(Dessert) + cond At(Robot,Bar) +act PutDown(Dessert,Table1) +} +sequence{ +cond At(Robot,Coffee) + cond Holding(Dessert) + cond At(Robot,Bar2) + cond At(Robot,Bar) +act PutDown(Dessert,Bar2) +} +sequence{ +cond At(Robot,Coffee) + cond At(Robot,Table3) + cond Holding(Dessert) + cond At(Robot,Bar) +act PutDown(Dessert,Table3) +} +sequence{ +cond At(Robot,Coffee) + cond At(Robot,Table2) + cond Holding(Dessert) + cond At(Robot,Bar) +act PutDown(Dessert,Table2) +} +sequence{ +cond At(Robot,Coffee) + cond Holding(Dessert) + cond At(Robot,Bar) +act PutDown(Dessert,Bar) +} +sequence{ +cond At(Robot,CoffeeTable) + cond Holding(ADMilk) + cond At(Robot,Coffee) + cond At(Robot,Bar) +act PutDown(ADMilk,CoffeeTable) +} +sequence{ +cond Holding(ADMilk) + cond At(Robot,Table1) + cond At(Robot,Coffee) + cond At(Robot,Bar) +act PutDown(ADMilk,Table1) +} +sequence{ +cond At(Robot,Coffee) + cond Holding(ADMilk) + cond At(Robot,Bar2) + cond At(Robot,Bar) +act PutDown(ADMilk,Bar2) +} +sequence{ +cond Holding(ADMilk) + cond At(Robot,Table3) + cond At(Robot,Coffee) + cond At(Robot,Bar) +act PutDown(ADMilk,Table3) +} +sequence{ +cond Holding(ADMilk) + cond At(Robot,Table2) + cond At(Robot,Coffee) + cond At(Robot,Bar) +act PutDown(ADMilk,Table2) +} +sequence{ +cond Holding(ADMilk) + cond At(Robot,Coffee) + cond At(Robot,Bar) +act PutDown(ADMilk,Bar) +} +sequence{ +cond At(Robot,CoffeeTable) + cond Holding(BottledDrink) + cond At(Robot,Coffee) + cond At(Robot,Bar) +act PutDown(BottledDrink,CoffeeTable) +} +sequence{ +cond Holding(BottledDrink) + cond At(Robot,Table1) + cond At(Robot,Coffee) + cond At(Robot,Bar) +act PutDown(BottledDrink,Table1) +} +sequence{ +cond At(Robot,Coffee) + cond Holding(BottledDrink) + cond At(Robot,Bar2) + cond At(Robot,Bar) +act PutDown(BottledDrink,Bar2) +} +sequence{ +cond Holding(BottledDrink) + cond At(Robot,Table3) + cond At(Robot,Coffee) + cond At(Robot,Bar) +act PutDown(BottledDrink,Table3) +} +sequence{ +cond Holding(BottledDrink) + cond At(Robot,Table2) + cond At(Robot,Coffee) + cond At(Robot,Bar) +act PutDown(BottledDrink,Table2) +} +sequence{ +cond Holding(BottledDrink) + cond At(Robot,Coffee) + cond At(Robot,Bar) +act PutDown(BottledDrink,Bar) +} +sequence{ +cond Holding(Nothing) +act MoveTo(Coffee) +} +sequence{ +cond At(Robot,CoffeeTable) + cond Holding(Water) + cond At(Robot,Coffee) +act PutDown(Water,CoffeeTable) +} +sequence{ +cond Holding(Water) + cond At(Robot,Table1) + cond At(Robot,Coffee) +act PutDown(Water,Table1) +} +sequence{ +cond Holding(Water) + cond At(Robot,Coffee) + cond At(Robot,Bar2) +act PutDown(Water,Bar2) +} +sequence{ +cond Holding(Water) + cond At(Robot,Table3) + cond At(Robot,Coffee) +act PutDown(Water,Table3) +} +sequence{ +cond Holding(Water) + cond At(Robot,Coffee) + cond At(Robot,Table2) +act PutDown(Water,Table2) +} +sequence{ +cond Holding(Water) + cond At(Robot,Coffee) + cond At(Robot,WaterTable) +act PutDown(Water,WaterTable) +} +sequence{ +cond At(Robot,CoffeeTable) + cond Holding(Softdrink) + cond At(Robot,Coffee) +act PutDown(Softdrink,CoffeeTable) +} +sequence{ +cond Holding(Softdrink) + cond At(Robot,Table1) + cond At(Robot,Coffee) +act PutDown(Softdrink,Table1) +} +sequence{ +cond Holding(Softdrink) + cond At(Robot,Coffee) + cond At(Robot,Bar2) +act PutDown(Softdrink,Bar2) +} +sequence{ +cond Holding(Softdrink) + cond At(Robot,Table3) + cond At(Robot,Coffee) +act PutDown(Softdrink,Table3) +} +sequence{ +cond Holding(Softdrink) + cond At(Robot,Coffee) + cond At(Robot,Table2) +act PutDown(Softdrink,Table2) +} +sequence{ +cond Holding(Softdrink) + cond At(Robot,Coffee) + cond At(Robot,WaterTable) +act PutDown(Softdrink,WaterTable) +} +sequence{ +cond At(Robot,CoffeeTable) + cond At(Robot,Coffee) + cond Holding(Milk) +act PutDown(Milk,CoffeeTable) +} +sequence{ +cond At(Robot,Table1) + cond At(Robot,Coffee) + cond Holding(Milk) +act PutDown(Milk,Table1) +} +sequence{ +cond At(Robot,Bar2) + cond At(Robot,Coffee) + cond Holding(Milk) +act PutDown(Milk,Bar2) +} +sequence{ +cond At(Robot,Table3) + cond At(Robot,Coffee) + cond Holding(Milk) +act PutDown(Milk,Table3) +} +sequence{ +cond At(Robot,Table2) + cond At(Robot,Coffee) + cond Holding(Milk) +act PutDown(Milk,Table2) +} +sequence{ +cond At(Robot,WaterTable) + cond At(Robot,Coffee) + cond Holding(Milk) +act PutDown(Milk,WaterTable) +} +sequence{ +cond Holding(Yogurt) + cond At(Robot,CoffeeTable) + cond At(Robot,Coffee) +act PutDown(Yogurt,CoffeeTable) +} +sequence{ +cond Holding(Yogurt) + cond At(Robot,Table1) + cond At(Robot,Coffee) +act PutDown(Yogurt,Table1) +} +sequence{ +cond Holding(Yogurt) + cond At(Robot,Bar2) + cond At(Robot,Coffee) +act PutDown(Yogurt,Bar2) +} +sequence{ +cond Holding(Yogurt) + cond At(Robot,Table3) + cond At(Robot,Coffee) +act PutDown(Yogurt,Table3) +} +sequence{ +cond Holding(Yogurt) + cond At(Robot,Coffee) + cond At(Robot,Table2) +act PutDown(Yogurt,Table2) +} +sequence{ +cond Holding(Yogurt) + cond At(Robot,Coffee) + cond At(Robot,WaterTable) +act PutDown(Yogurt,WaterTable) +} +sequence{ +cond Holding(MilkDrink) + cond At(Robot,CoffeeTable) + cond At(Robot,Coffee) +act PutDown(MilkDrink,CoffeeTable) +} +sequence{ +cond Holding(MilkDrink) + cond At(Robot,Table1) + cond At(Robot,Coffee) +act PutDown(MilkDrink,Table1) +} +sequence{ +cond Holding(MilkDrink) + cond At(Robot,Bar2) + cond At(Robot,Coffee) +act PutDown(MilkDrink,Bar2) +} +sequence{ +cond Holding(MilkDrink) + cond At(Robot,Table3) + cond At(Robot,Coffee) +act PutDown(MilkDrink,Table3) +} +sequence{ +cond Holding(MilkDrink) + cond At(Robot,Coffee) + cond At(Robot,Table2) +act PutDown(MilkDrink,Table2) +} +sequence{ +cond Holding(MilkDrink) + cond At(Robot,Coffee) + cond At(Robot,WaterTable) +act PutDown(MilkDrink,WaterTable) +} +sequence{ +cond At(Robot,CoffeeTable) + cond At(Robot,Coffee) + cond Holding(VacuumCup) +act PutDown(VacuumCup,CoffeeTable) +} +sequence{ +cond At(Robot,Table1) + cond At(Robot,Coffee) + cond Holding(VacuumCup) +act PutDown(VacuumCup,Table1) +} +sequence{ +cond At(Robot,Bar2) + cond At(Robot,Coffee) + cond Holding(VacuumCup) +act PutDown(VacuumCup,Bar2) +} +sequence{ +cond At(Robot,Table3) + cond At(Robot,Coffee) + cond Holding(VacuumCup) +act PutDown(VacuumCup,Table3) +} +sequence{ +cond Holding(VacuumCup) + cond At(Robot,Coffee) + cond At(Robot,Table2) +act PutDown(VacuumCup,Table2) +} +sequence{ +cond Holding(VacuumCup) + cond At(Robot,Coffee) + cond At(Robot,WaterTable) +act PutDown(VacuumCup,WaterTable) +} +sequence{ +cond At(Robot,CoffeeTable) + cond Holding(Dessert) + cond At(Robot,Coffee) +act PutDown(Dessert,CoffeeTable) +} +sequence{ +cond Holding(Dessert) + cond At(Robot,Table1) + cond At(Robot,Coffee) +act PutDown(Dessert,Table1) +} +sequence{ +cond At(Robot,Bar2) + cond Holding(Dessert) + cond At(Robot,Coffee) +act PutDown(Dessert,Bar2) +} +sequence{ +cond Holding(Dessert) + cond At(Robot,Table3) + cond At(Robot,Coffee) +act PutDown(Dessert,Table3) +} +sequence{ +cond Holding(Dessert) + cond At(Robot,Coffee) + cond At(Robot,Table2) +act PutDown(Dessert,Table2) +} +sequence{ +cond Holding(Dessert) + cond At(Robot,Coffee) + cond At(Robot,WaterTable) +act PutDown(Dessert,WaterTable) +} +sequence{ +cond At(Robot,CoffeeTable) + cond Holding(ADMilk) + cond At(Robot,Coffee) +act PutDown(ADMilk,CoffeeTable) +} +sequence{ +cond Holding(ADMilk) + cond At(Robot,Table1) + cond At(Robot,Coffee) +act PutDown(ADMilk,Table1) +} +sequence{ +cond At(Robot,Bar2) + cond Holding(ADMilk) + cond At(Robot,Coffee) +act PutDown(ADMilk,Bar2) +} +sequence{ +cond Holding(ADMilk) + cond At(Robot,Table3) + cond At(Robot,Coffee) +act PutDown(ADMilk,Table3) +} +sequence{ +cond Holding(ADMilk) + cond At(Robot,Coffee) + cond At(Robot,Table2) +act PutDown(ADMilk,Table2) +} +sequence{ +cond Holding(ADMilk) + cond At(Robot,Coffee) + cond At(Robot,WaterTable) +act PutDown(ADMilk,WaterTable) +} +sequence{ +cond At(Robot,CoffeeTable) + cond Holding(BottledDrink) + cond At(Robot,Coffee) +act PutDown(BottledDrink,CoffeeTable) +} +sequence{ +cond Holding(BottledDrink) + cond At(Robot,Table1) + cond At(Robot,Coffee) +act PutDown(BottledDrink,Table1) +} +sequence{ +cond At(Robot,Bar2) + cond Holding(BottledDrink) + cond At(Robot,Coffee) +act PutDown(BottledDrink,Bar2) +} +sequence{ +cond Holding(BottledDrink) + cond At(Robot,Table3) + cond At(Robot,Coffee) +act PutDown(BottledDrink,Table3) +} +sequence{ +cond Holding(BottledDrink) + cond At(Robot,Coffee) + cond At(Robot,Table2) +act PutDown(BottledDrink,Table2) +} +sequence{ +cond Holding(BottledDrink) + cond At(Robot,Coffee) + cond At(Robot,WaterTable) +act PutDown(BottledDrink,WaterTable) +} +sequence{ +cond At(Robot,CoffeeTable) + cond Holding(Water) +act PutDown(Water,CoffeeTable) +} +sequence{ +cond Holding(Water) + cond At(Robot,Table1) +act PutDown(Water,Table1) +} +sequence{ +cond Holding(Water) + cond At(Robot,Bar2) +act PutDown(Water,Bar2) +} +sequence{ +cond Holding(Water) + cond At(Robot,Table3) +act PutDown(Water,Table3) +} +sequence{ +cond Holding(Water) + cond At(Robot,Table2) +act PutDown(Water,Table2) +} +sequence{ +cond Holding(Water) + cond At(Robot,Bar) +act PutDown(Water,Bar) +} +sequence{ +cond Holding(Water) + cond At(Robot,WaterTable) +act PutDown(Water,WaterTable) +} +sequence{ +cond At(Robot,CoffeeTable) + cond Holding(Softdrink) +act PutDown(Softdrink,CoffeeTable) +} +sequence{ +cond Holding(Softdrink) + cond At(Robot,Table1) +act PutDown(Softdrink,Table1) +} +sequence{ +cond Holding(Softdrink) + cond At(Robot,Bar2) +act PutDown(Softdrink,Bar2) +} +sequence{ +cond Holding(Softdrink) + cond At(Robot,Table3) +act PutDown(Softdrink,Table3) +} +sequence{ +cond Holding(Softdrink) + cond At(Robot,Table2) +act PutDown(Softdrink,Table2) +} +sequence{ +cond Holding(Softdrink) + cond At(Robot,Bar) +act PutDown(Softdrink,Bar) +} +sequence{ +cond Holding(Softdrink) + cond At(Robot,WaterTable) +act PutDown(Softdrink,WaterTable) +} +sequence{ +cond At(Robot,CoffeeTable) + cond Holding(Milk) +act PutDown(Milk,CoffeeTable) +} +sequence{ +cond At(Robot,Table1) + cond Holding(Milk) +act PutDown(Milk,Table1) +} +sequence{ +cond At(Robot,Bar2) + cond Holding(Milk) +act PutDown(Milk,Bar2) +} +sequence{ +cond At(Robot,Table3) + cond Holding(Milk) +act PutDown(Milk,Table3) +} +sequence{ +cond At(Robot,Table2) + cond Holding(Milk) +act PutDown(Milk,Table2) +} +sequence{ +cond At(Robot,Bar) + cond Holding(Milk) +act PutDown(Milk,Bar) +} +sequence{ +cond At(Robot,WaterTable) + cond Holding(Milk) +act PutDown(Milk,WaterTable) +} +sequence{ +cond Holding(Yogurt) + cond At(Robot,CoffeeTable) +act PutDown(Yogurt,CoffeeTable) +} +sequence{ +cond Holding(Yogurt) + cond At(Robot,Table1) +act PutDown(Yogurt,Table1) +} +sequence{ +cond Holding(Yogurt) + cond At(Robot,Bar2) +act PutDown(Yogurt,Bar2) +} +sequence{ +cond Holding(Yogurt) + cond At(Robot,Table3) +act PutDown(Yogurt,Table3) +} +sequence{ +cond Holding(Yogurt) + cond At(Robot,Table2) +act PutDown(Yogurt,Table2) +} +sequence{ +cond Holding(Yogurt) + cond At(Robot,Bar) +act PutDown(Yogurt,Bar) +} +sequence{ +cond Holding(Yogurt) + cond At(Robot,WaterTable) +act PutDown(Yogurt,WaterTable) +} +sequence{ +cond Holding(MilkDrink) + cond At(Robot,CoffeeTable) +act PutDown(MilkDrink,CoffeeTable) +} +sequence{ +cond Holding(MilkDrink) + cond At(Robot,Table1) +act PutDown(MilkDrink,Table1) +} +sequence{ +cond Holding(MilkDrink) + cond At(Robot,Bar2) +act PutDown(MilkDrink,Bar2) +} +sequence{ +cond Holding(MilkDrink) + cond At(Robot,Table3) +act PutDown(MilkDrink,Table3) +} +sequence{ +cond Holding(MilkDrink) + cond At(Robot,Table2) +act PutDown(MilkDrink,Table2) +} +sequence{ +cond Holding(MilkDrink) + cond At(Robot,Bar) +act PutDown(MilkDrink,Bar) +} +sequence{ +cond Holding(MilkDrink) + cond At(Robot,WaterTable) +act PutDown(MilkDrink,WaterTable) +} +sequence{ +cond At(Robot,CoffeeTable) + cond Holding(VacuumCup) +act PutDown(VacuumCup,CoffeeTable) +} +sequence{ +cond At(Robot,Table1) + cond Holding(VacuumCup) +act PutDown(VacuumCup,Table1) +} +sequence{ +cond At(Robot,Bar2) + cond Holding(VacuumCup) +act PutDown(VacuumCup,Bar2) +} +sequence{ +cond At(Robot,Table3) + cond Holding(VacuumCup) +act PutDown(VacuumCup,Table3) +} +sequence{ +cond Holding(VacuumCup) + cond At(Robot,Table2) +act PutDown(VacuumCup,Table2) +} +sequence{ +cond Holding(VacuumCup) + cond At(Robot,Bar) +act PutDown(VacuumCup,Bar) +} +sequence{ +cond Holding(VacuumCup) + cond At(Robot,WaterTable) +act PutDown(VacuumCup,WaterTable) +} +sequence{ +cond At(Robot,CoffeeTable) + cond Holding(Dessert) +act PutDown(Dessert,CoffeeTable) +} +sequence{ +cond At(Robot,Table1) + cond Holding(Dessert) +act PutDown(Dessert,Table1) +} +sequence{ +cond At(Robot,Bar2) + cond Holding(Dessert) +act PutDown(Dessert,Bar2) +} +sequence{ +cond At(Robot,Table3) + cond Holding(Dessert) +act PutDown(Dessert,Table3) +} +sequence{ +cond Holding(Dessert) + cond At(Robot,Table2) +act PutDown(Dessert,Table2) +} +sequence{ +cond Holding(Dessert) + cond At(Robot,Bar) +act PutDown(Dessert,Bar) +} +sequence{ +cond Holding(Dessert) + cond At(Robot,WaterTable) +act PutDown(Dessert,WaterTable) +} +sequence{ +cond At(Robot,CoffeeTable) + cond Holding(ADMilk) +act PutDown(ADMilk,CoffeeTable) +} +sequence{ +cond Holding(ADMilk) + cond At(Robot,Table1) +act PutDown(ADMilk,Table1) +} +sequence{ +cond Holding(ADMilk) + cond At(Robot,Bar2) +act PutDown(ADMilk,Bar2) +} +sequence{ +cond Holding(ADMilk) + cond At(Robot,Table3) +act PutDown(ADMilk,Table3) +} +sequence{ +cond Holding(ADMilk) + cond At(Robot,Table2) +act PutDown(ADMilk,Table2) +} +sequence{ +cond Holding(ADMilk) + cond At(Robot,Bar) +act PutDown(ADMilk,Bar) +} +sequence{ +cond Holding(ADMilk) + cond At(Robot,WaterTable) +act PutDown(ADMilk,WaterTable) +} +sequence{ +cond At(Robot,CoffeeTable) + cond Holding(BottledDrink) +act PutDown(BottledDrink,CoffeeTable) +} +sequence{ +cond Holding(BottledDrink) + cond At(Robot,Table1) +act PutDown(BottledDrink,Table1) +} +sequence{ +cond Holding(BottledDrink) + cond At(Robot,Bar2) +act PutDown(BottledDrink,Bar2) +} +sequence{ +cond Holding(BottledDrink) + cond At(Robot,Table3) +act PutDown(BottledDrink,Table3) +} +sequence{ +cond Holding(BottledDrink) + cond At(Robot,Table2) +act PutDown(BottledDrink,Table2) +} +sequence{ +cond Holding(BottledDrink) + cond At(Robot,Bar) +act PutDown(BottledDrink,Bar) +} +sequence{ +cond Holding(BottledDrink) + cond At(Robot,WaterTable) +act PutDown(BottledDrink,WaterTable) +} +sequence{ +cond Holding(Water) +act MoveTo(CoffeeTable) +} +sequence{ +cond Holding(Softdrink) +act MoveTo(CoffeeTable) +} +sequence{ +cond Holding(Milk) +act MoveTo(CoffeeTable) +} +sequence{ +cond Holding(Yogurt) +act MoveTo(CoffeeTable) +} +sequence{ +cond Holding(MilkDrink) +act MoveTo(CoffeeTable) +} +sequence{ +cond Holding(VacuumCup) +act MoveTo(CoffeeTable) +} +sequence{ +cond Holding(Dessert) +act MoveTo(CoffeeTable) +} +sequence{ +cond Holding(ADMilk) +act MoveTo(CoffeeTable) +} +sequence{ +cond Holding(BottledDrink) +act MoveTo(CoffeeTable) } }