From cbd910a77686e76adf48066c602c3556bc771724 Mon Sep 17 00:00:00 2001 From: Caiyishuai <39987654+Caiyishuai@users.noreply.github.com> Date: Tue, 14 Nov 2023 21:53:30 +0800 Subject: [PATCH] =?UTF-8?q?=E6=9B=B4=E6=96=B0=E4=BA=86=20goal=5Fstates=20?= =?UTF-8?q?=E7=9B=B8=E5=85=B3=E6=96=87=E4=BB=B6?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .../behavior_tree/dataset/goal_states.txt | 514 +++++++++--------- .../dataset/goal_states_generation.py | 2 +- 2 files changed, 258 insertions(+), 258 deletions(-) diff --git a/robowaiter/behavior_tree/dataset/goal_states.txt b/robowaiter/behavior_tree/dataset/goal_states.txt index 8bfc62d..03903d0 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, Table1)} {On(Softdrink,Bar)} {On(Softdrink,WaterTable)} {On(Softdrink,CoffeeTable)} @@ -1483,21 +1483,21 @@ {On(VacuumCup,Table1)} {On(VacuumCup,Table2)} {On(VacuumCup,Table3)} -{On(MilkDrink, Bar2)} -{On(BottledDrink, Bar2)} -{On(VacuumCup, CoffeeTable)} -{On(BottledDrink, Bar)} +{On(Milk, Table1)} +{On(ADMilk, CoffeeTable)} {On(VacuumCup, Bar2)} -{On(BottledDrink, Table2)} -{On(Yogurt, Table1)} -{On(Yogurt, CoffeeTable)} -{On(BottledDrink, CoffeeTable)} -{On(BottledDrink, Bar2)} +{On(Yogurt, WaterTable)} +{On(Softdrink, WaterTable)} +{On(Softdrink, Bar)} +{On(Softdrink, Table2)} +{On(Softdrink, Table1)} +{On(ADMilk, Bar2)} +{On(Milk, Table1)} +{On(Milk, Table1)} {On(Milk, Bar2)} -{On(ADMilk, Bar)} -{On(Milk, Table2)} -{On(Yogurt, Bar2)} -{On(ADMilk, WaterTable)} +{On(VacuumCup, Bar)} +{On(ADMilk, Table3)} +{On(VacuumCup, Bar2)} {Is(AC,Off)} {Is(AC,On)} {Is(ACTemperature,Up)} @@ -1512,8 +1512,8 @@ {Is(Chairs,Clean)} {Is(Floor,Dirty)} {Is(Floor,Clean)} -{Is(Table,Dirty)} -{Is(Table,Clean)} +{Is(Table1,Dirty)} +{Is(Table1,Clean)} {Is(AC,Off)} {Is(AC,On)} {Is(ACTemperature,Up)} @@ -1528,8 +1528,8 @@ {Is(Chairs,Clean)} {Is(Floor,Dirty)} {Is(Floor,Clean)} -{Is(Table,Dirty)} -{Is(Table,Clean)} +{Is(Table1,Dirty)} +{Is(Table1,Clean)} {Is(AC,Off)} {Is(AC,On)} {Is(ACTemperature,Up)} @@ -1544,8 +1544,8 @@ {Is(Chairs,Clean)} {Is(Floor,Dirty)} {Is(Floor,Clean)} -{Is(Table,Dirty)} -{Is(Table,Clean)} +{Is(Table1,Dirty)} +{Is(Table1,Clean)} {Is(AC,Off)} {Is(AC,On)} {Is(ACTemperature,Up)} @@ -1560,8 +1560,8 @@ {Is(Chairs,Clean)} {Is(Floor,Dirty)} {Is(Floor,Clean)} -{Is(Table,Dirty)} -{Is(Table,Clean)} +{Is(Table1,Dirty)} +{Is(Table1,Clean)} {Is(AC,Off)} {Is(AC,On)} {Is(ACTemperature,Up)} @@ -1576,8 +1576,8 @@ {Is(Chairs,Clean)} {Is(Floor,Dirty)} {Is(Floor,Clean)} -{Is(Table,Dirty)} -{Is(Table,Clean)} +{Is(Table1,Dirty)} +{Is(Table1,Clean)} {Is(AC,Off)} {Is(AC,On)} {Is(ACTemperature,Up)} @@ -1592,8 +1592,8 @@ {Is(Chairs,Clean)} {Is(Floor,Dirty)} {Is(Floor,Clean)} -{Is(Table,Dirty)} -{Is(Table,Clean)} +{Is(Table1,Dirty)} +{Is(Table1,Clean)} {Is(AC,Off)} {Is(AC,On)} {Is(ACTemperature,Up)} @@ -1608,8 +1608,8 @@ {Is(Chairs,Clean)} {Is(Floor,Dirty)} {Is(Floor,Clean)} -{Is(Table,Dirty)} -{Is(Table,Clean)} +{Is(Table1,Dirty)} +{Is(Table1,Clean)} {Is(AC,Off)} {Is(AC,On)} {Is(ACTemperature,Up)} @@ -1624,8 +1624,8 @@ {Is(Chairs,Clean)} {Is(Floor,Dirty)} {Is(Floor,Clean)} -{Is(Table,Dirty)} -{Is(Table,Clean)} +{Is(Table1,Dirty)} +{Is(Table1,Clean)} {Is(AC,Off)} {Is(AC,On)} {Is(ACTemperature,Up)} @@ -1640,8 +1640,8 @@ {Is(Chairs,Clean)} {Is(Floor,Dirty)} {Is(Floor,Clean)} -{Is(Table,Dirty)} -{Is(Table,Clean)} +{Is(Table1,Dirty)} +{Is(Table1,Clean)} {Is(AC,Off)} {Is(AC,On)} {Is(ACTemperature,Up)} @@ -1656,8 +1656,8 @@ {Is(Chairs,Clean)} {Is(Floor,Dirty)} {Is(Floor,Clean)} -{Is(Table,Dirty)} -{Is(Table,Clean)} +{Is(Table1,Dirty)} +{Is(Table1,Clean)} {Is(AC,Off)} {Is(AC,On)} {Is(ACTemperature,Up)} @@ -1672,8 +1672,8 @@ {Is(Chairs,Clean)} {Is(Floor,Dirty)} {Is(Floor,Clean)} -{Is(Table,Dirty)} -{Is(Table,Clean)} +{Is(Table1,Dirty)} +{Is(Table1,Clean)} {Is(AC,Off)} {Is(AC,On)} {Is(ACTemperature,Up)} @@ -1688,8 +1688,8 @@ {Is(Chairs,Clean)} {Is(Floor,Dirty)} {Is(Floor,Clean)} -{Is(Table,Dirty)} -{Is(Table,Clean)} +{Is(Table1,Dirty)} +{Is(Table1,Clean)} {Is(AC,Off)} {Is(AC,On)} {Is(ACTemperature,Up)} @@ -1704,8 +1704,8 @@ {Is(Chairs,Clean)} {Is(Floor,Dirty)} {Is(Floor,Clean)} -{Is(Table,Dirty)} -{Is(Table,Clean)} +{Is(Table1,Dirty)} +{Is(Table1,Clean)} {Is(AC,Off)} {Is(AC,On)} {Is(ACTemperature,Up)} @@ -1720,8 +1720,8 @@ {Is(Chairs,Clean)} {Is(Floor,Dirty)} {Is(Floor,Clean)} -{Is(Table,Dirty)} -{Is(Table,Clean)} +{Is(Table1,Dirty)} +{Is(Table1,Clean)} {Is(AC,Off)} {Is(AC,On)} {Is(ACTemperature,Up)} @@ -1736,8 +1736,8 @@ {Is(Chairs,Clean)} {Is(Floor,Dirty)} {Is(Floor,Clean)} -{Is(Table,Dirty)} -{Is(Table,Clean)} +{Is(Table1,Dirty)} +{Is(Table1,Clean)} {Is(AC,Off)} {Is(AC,On)} {Is(ACTemperature,Up)} @@ -1752,8 +1752,8 @@ {Is(Chairs,Clean)} {Is(Floor,Dirty)} {Is(Floor,Clean)} -{Is(Table,Dirty)} -{Is(Table,Clean)} +{Is(Table1,Dirty)} +{Is(Table1,Clean)} {Is(AC,Off)} {Is(AC,On)} {Is(ACTemperature,Up)} @@ -1768,8 +1768,8 @@ {Is(Chairs,Clean)} {Is(Floor,Dirty)} {Is(Floor,Clean)} -{Is(Table,Dirty)} -{Is(Table,Clean)} +{Is(Table1,Dirty)} +{Is(Table1,Clean)} {Is(AC,Off)} {Is(AC,On)} {Is(ACTemperature,Up)} @@ -1784,8 +1784,8 @@ {Is(Chairs,Clean)} {Is(Floor,Dirty)} {Is(Floor,Clean)} -{Is(Table,Dirty)} -{Is(Table,Clean)} +{Is(Table1,Dirty)} +{Is(Table1,Clean)} {Is(AC,Off)} {Is(AC,On)} {Is(ACTemperature,Up)} @@ -1800,8 +1800,8 @@ {Is(Chairs,Clean)} {Is(Floor,Dirty)} {Is(Floor,Clean)} -{Is(Table,Dirty)} -{Is(Table,Clean)} +{Is(Table1,Dirty)} +{Is(Table1,Clean)} {Is(AC,Off)} {Is(AC,On)} {Is(ACTemperature,Up)} @@ -1816,8 +1816,8 @@ {Is(Chairs,Clean)} {Is(Floor,Dirty)} {Is(Floor,Clean)} -{Is(Table,Dirty)} -{Is(Table,Clean)} +{Is(Table1,Dirty)} +{Is(Table1,Clean)} {Is(AC,Off)} {Is(AC,On)} {Is(ACTemperature,Up)} @@ -1832,8 +1832,8 @@ {Is(Chairs,Clean)} {Is(Floor,Dirty)} {Is(Floor,Clean)} -{Is(Table,Dirty)} -{Is(Table,Clean)} +{Is(Table1,Dirty)} +{Is(Table1,Clean)} {Is(AC,Off)} {Is(AC,On)} {Is(ACTemperature,Up)} @@ -1848,8 +1848,8 @@ {Is(Chairs,Clean)} {Is(Floor,Dirty)} {Is(Floor,Clean)} -{Is(Table,Dirty)} -{Is(Table,Clean)} +{Is(Table1,Dirty)} +{Is(Table1,Clean)} {Is(AC,Off)} {Is(AC,On)} {Is(ACTemperature,Up)} @@ -1864,8 +1864,8 @@ {Is(Chairs,Clean)} {Is(Floor,Dirty)} {Is(Floor,Clean)} -{Is(Table,Dirty)} -{Is(Table,Clean)} +{Is(Table1,Dirty)} +{Is(Table1,Clean)} {Is(AC,Off)} {Is(AC,On)} {Is(ACTemperature,Up)} @@ -1880,8 +1880,8 @@ {Is(Chairs,Clean)} {Is(Floor,Dirty)} {Is(Floor,Clean)} -{Is(Table,Dirty)} -{Is(Table,Clean)} +{Is(Table1,Dirty)} +{Is(Table1,Clean)} {Is(AC,Off)} {Is(AC,On)} {Is(ACTemperature,Up)} @@ -1896,8 +1896,8 @@ {Is(Chairs,Clean)} {Is(Floor,Dirty)} {Is(Floor,Clean)} -{Is(Table,Dirty)} -{Is(Table,Clean)} +{Is(Table1,Dirty)} +{Is(Table1,Clean)} {Is(AC,Off)} {Is(AC,On)} {Is(ACTemperature,Up)} @@ -1912,8 +1912,8 @@ {Is(Chairs,Clean)} {Is(Floor,Dirty)} {Is(Floor,Clean)} -{Is(Table,Dirty)} -{Is(Table,Clean)} +{Is(Table1,Dirty)} +{Is(Table1,Clean)} {Is(AC,Off)} {Is(AC,On)} {Is(ACTemperature,Up)} @@ -1928,8 +1928,8 @@ {Is(Chairs,Clean)} {Is(Floor,Dirty)} {Is(Floor,Clean)} -{Is(Table,Dirty)} -{Is(Table,Clean)} +{Is(Table1,Dirty)} +{Is(Table1,Clean)} {Is(AC,Off)} {Is(AC,On)} {Is(ACTemperature,Up)} @@ -1944,8 +1944,8 @@ {Is(Chairs,Clean)} {Is(Floor,Dirty)} {Is(Floor,Clean)} -{Is(Table,Dirty)} -{Is(Table,Clean)} +{Is(Table1,Dirty)} +{Is(Table1,Clean)} {Is(AC,Off)} {Is(AC,On)} {Is(ACTemperature,Up)} @@ -1960,8 +1960,8 @@ {Is(Chairs,Clean)} {Is(Floor,Dirty)} {Is(Floor,Clean)} -{Is(Table,Dirty)} -{Is(Table,Clean)} +{Is(Table1,Dirty)} +{Is(Table1,Clean)} {Is(AC,Off)} {Is(AC,On)} {Is(ACTemperature,Up)} @@ -1976,8 +1976,8 @@ {Is(Chairs,Clean)} {Is(Floor,Dirty)} {Is(Floor,Clean)} -{Is(Table,Dirty)} -{Is(Table,Clean)} +{Is(Table1,Dirty)} +{Is(Table1,Clean)} {Is(AC,Off)} {Is(AC,On)} {Is(ACTemperature,Up)} @@ -1992,8 +1992,8 @@ {Is(Chairs,Clean)} {Is(Floor,Dirty)} {Is(Floor,Clean)} -{Is(Table,Dirty)} -{Is(Table,Clean)} +{Is(Table1,Dirty)} +{Is(Table1,Clean)} {Is(AC,Off)} {Is(AC,On)} {Is(ACTemperature,Up)} @@ -2008,8 +2008,8 @@ {Is(Chairs,Clean)} {Is(Floor,Dirty)} {Is(Floor,Clean)} -{Is(Table,Dirty)} -{Is(Table,Clean)} +{Is(Table1,Dirty)} +{Is(Table1,Clean)} {Is(AC,Off)} {Is(AC,On)} {Is(ACTemperature,Up)} @@ -2024,8 +2024,8 @@ {Is(Chairs,Clean)} {Is(Floor,Dirty)} {Is(Floor,Clean)} -{Is(Table,Dirty)} -{Is(Table,Clean)} +{Is(Table1,Dirty)} +{Is(Table1,Clean)} {Is(AC,Off)} {Is(AC,On)} {Is(ACTemperature,Up)} @@ -2040,8 +2040,8 @@ {Is(Chairs,Clean)} {Is(Floor,Dirty)} {Is(Floor,Clean)} -{Is(Table,Dirty)} -{Is(Table,Clean)} +{Is(Table1,Dirty)} +{Is(Table1,Clean)} {Is(AC,Off)} {Is(AC,On)} {Is(ACTemperature,Up)} @@ -2056,8 +2056,8 @@ {Is(Chairs,Clean)} {Is(Floor,Dirty)} {Is(Floor,Clean)} -{Is(Table,Dirty)} -{Is(Table,Clean)} +{Is(Table1,Dirty)} +{Is(Table1,Clean)} {Is(AC,Off)} {Is(AC,On)} {Is(ACTemperature,Up)} @@ -2072,8 +2072,8 @@ {Is(Chairs,Clean)} {Is(Floor,Dirty)} {Is(Floor,Clean)} -{Is(Table,Dirty)} -{Is(Table,Clean)} +{Is(Table1,Dirty)} +{Is(Table1,Clean)} {Is(AC,Off)} {Is(AC,On)} {Is(ACTemperature,Up)} @@ -2088,8 +2088,8 @@ {Is(Chairs,Clean)} {Is(Floor,Dirty)} {Is(Floor,Clean)} -{Is(Table,Dirty)} -{Is(Table,Clean)} +{Is(Table1,Dirty)} +{Is(Table1,Clean)} {Is(AC,Off)} {Is(AC,On)} {Is(ACTemperature,Up)} @@ -2104,8 +2104,8 @@ {Is(Chairs,Clean)} {Is(Floor,Dirty)} {Is(Floor,Clean)} -{Is(Table,Dirty)} -{Is(Table,Clean)} +{Is(Table1,Dirty)} +{Is(Table1,Clean)} {Is(AC,Off)} {Is(AC,On)} {Is(ACTemperature,Up)} @@ -2120,8 +2120,8 @@ {Is(Chairs,Clean)} {Is(Floor,Dirty)} {Is(Floor,Clean)} -{Is(Table,Dirty)} -{Is(Table,Clean)} +{Is(Table1,Dirty)} +{Is(Table1,Clean)} {Is(AC,Off)} {Is(AC,On)} {Is(ACTemperature,Up)} @@ -2136,8 +2136,8 @@ {Is(Chairs,Clean)} {Is(Floor,Dirty)} {Is(Floor,Clean)} -{Is(Table,Dirty)} -{Is(Table,Clean)} +{Is(Table1,Dirty)} +{Is(Table1,Clean)} {Is(AC,Off)} {Is(AC,On)} {Is(ACTemperature,Up)} @@ -2152,8 +2152,8 @@ {Is(Chairs,Clean)} {Is(Floor,Dirty)} {Is(Floor,Clean)} -{Is(Table,Dirty)} -{Is(Table,Clean)} +{Is(Table1,Dirty)} +{Is(Table1,Clean)} {Is(AC,Off)} {Is(AC,On)} {Is(ACTemperature,Up)} @@ -2168,8 +2168,8 @@ {Is(Chairs,Clean)} {Is(Floor,Dirty)} {Is(Floor,Clean)} -{Is(Table,Dirty)} -{Is(Table,Clean)} +{Is(Table1,Dirty)} +{Is(Table1,Clean)} {Is(AC,Off)} {Is(AC,On)} {Is(ACTemperature,Up)} @@ -2184,8 +2184,8 @@ {Is(Chairs,Clean)} {Is(Floor,Dirty)} {Is(Floor,Clean)} -{Is(Table,Dirty)} -{Is(Table,Clean)} +{Is(Table1,Dirty)} +{Is(Table1,Clean)} {Is(AC,Off)} {Is(AC,On)} {Is(ACTemperature,Up)} @@ -2200,8 +2200,8 @@ {Is(Chairs,Clean)} {Is(Floor,Dirty)} {Is(Floor,Clean)} -{Is(Table,Dirty)} -{Is(Table,Clean)} +{Is(Table1,Dirty)} +{Is(Table1,Clean)} {Is(AC,Off)} {Is(AC,On)} {Is(ACTemperature,Up)} @@ -2216,8 +2216,8 @@ {Is(Chairs,Clean)} {Is(Floor,Dirty)} {Is(Floor,Clean)} -{Is(Table,Dirty)} -{Is(Table,Clean)} +{Is(Table1,Dirty)} +{Is(Table1,Clean)} {Is(AC,Off)} {Is(AC,On)} {Is(ACTemperature,Up)} @@ -2232,22 +2232,22 @@ {Is(Chairs,Clean)} {Is(Floor,Dirty)} {Is(Floor,Clean)} -{Is(Table,Dirty)} -{Is(Table,Clean)} -{Is(AC, 1)} -{Is(HallLight, 0)} -{Is(HallLight, 0)} -{Is(AC, 0)} +{Is(Table1,Dirty)} +{Is(Table1,Clean)} +{Is(ACTemperature, 0)} {Is(Chairs, 1)} -{Is(Table, 1)} -{Is(HallLight, 1)} -{Is(AC, 1)} -{Is(Floor, 1)} +{Is(TubeLight, 0)} +{Is(HallLight, 0)} +{Is(Chairs, 0)} +{Is(Floor, 0)} +{Is(Floor, 0)} {Is(HallLight, 1)} {Is(Chairs, 0)} -{Is(Table, 0)} {Is(TubeLight, 1)} -{Is(HallLight, 1)} +{Is(TubeLight, 0)} +{Is(Table1, 0)} +{Is(AC, 0)} +{Is(ACTemperature, 1)} {Holding(Softdrink)} {Holding(BottledDrink)} {Holding(Yogurt)} @@ -2744,10 +2744,10 @@ {Holding(Milk)} {Holding(VacuumCup)} {Holding(Nothing)} -{Holding(BottledDrink)} -{Holding(Yogurt)} -{Holding(BottledDrink)} {Holding(Softdrink)} +{Holding(VacuumCup)} +{Holding(Yogurt)} +{Holding(VacuumCup)} {On(Coffee,Bar)} {On(Coffee,WaterTable)} {On(Coffee,CoffeeTable)} @@ -3483,21 +3483,21 @@ {On(Dessert,Table1)} {On(Dessert,Table2)} {On(Dessert,Table3)} -{On(Coffee, Bar)} -{On(Coffee, Bar)} +{On(Dessert, Table2)} +{On(Dessert, Bar2)} +{On(Water, Table2)} +{On(Dessert, Table3)} +{On(Coffee, WaterTable)} +{On(Coffee, CoffeeTable)} +{On(Coffee, WaterTable)} +{On(Dessert, Bar2)} +{On(Water, CoffeeTable)} +{On(Water, Bar2)} +{On(Dessert, Table2)} {On(Coffee, Bar2)} -{On(Coffee, Table1)} -{On(Water, Bar)} -{On(Coffee, Table1)} -{On(Coffee, Table1)} -{On(Water, Bar)} -{On(Dessert, Table2)} -{On(Water, WaterTable)} -{On(Dessert, WaterTable)} -{On(Water, Bar)} -{On(Dessert, Table2)} -{On(Coffee, Table1)} -{On(Coffee, Table1)} +{On(Coffee, Bar)} +{On(Dessert, Bar)} +{On(Water, Table2)} {At(Robot,Bar),On(Softdrink,Bar)} {At(Robot,Bar),On(Softdrink,WaterTable)} {At(Robot,Bar),On(Softdrink,CoffeeTable)} @@ -4012,8 +4012,8 @@ {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,Bar),Is(Table1,Dirty)} +{At(Robot,Bar),Is(Table1,Clean)} {At(Robot,WaterTable),Is(AC,Off)} {At(Robot,WaterTable),Is(AC,On)} {At(Robot,WaterTable),Is(ACTemperature,Up)} @@ -4028,8 +4028,8 @@ {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,WaterTable),Is(Table1,Dirty)} +{At(Robot,WaterTable),Is(Table1,Clean)} {At(Robot,CoffeeTable),Is(AC,Off)} {At(Robot,CoffeeTable),Is(AC,On)} {At(Robot,CoffeeTable),Is(ACTemperature,Up)} @@ -4044,8 +4044,8 @@ {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,CoffeeTable),Is(Table1,Dirty)} +{At(Robot,CoffeeTable),Is(Table1,Clean)} {At(Robot,Bar2),Is(AC,Off)} {At(Robot,Bar2),Is(AC,On)} {At(Robot,Bar2),Is(ACTemperature,Up)} @@ -4060,8 +4060,8 @@ {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,Bar2),Is(Table1,Dirty)} +{At(Robot,Bar2),Is(Table1,Clean)} {At(Robot,Table1),Is(AC,Off)} {At(Robot,Table1),Is(AC,On)} {At(Robot,Table1),Is(ACTemperature,Up)} @@ -4076,8 +4076,8 @@ {At(Robot,Table1),Is(Chairs,Clean)} {At(Robot,Table1),Is(Floor,Dirty)} {At(Robot,Table1),Is(Floor,Clean)} -{At(Robot,Table1),Is(Table,Dirty)} -{At(Robot,Table1),Is(Table,Clean)} +{At(Robot,Table1),Is(Table1,Dirty)} +{At(Robot,Table1),Is(Table1,Clean)} {At(Robot,Table2),Is(AC,Off)} {At(Robot,Table2),Is(AC,On)} {At(Robot,Table2),Is(ACTemperature,Up)} @@ -4092,8 +4092,8 @@ {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,Table2),Is(Table1,Dirty)} +{At(Robot,Table2),Is(Table1,Clean)} {At(Robot,Table3),Is(AC,Off)} {At(Robot,Table3),Is(AC,On)} {At(Robot,Table3),Is(ACTemperature,Up)} @@ -4108,8 +4108,8 @@ {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,Table3),Is(Table1,Dirty)} +{At(Robot,Table3),Is(Table1,Clean)} {At(Robot,Bar),Is(AC,Off)} {At(Robot,Bar),Is(AC,On)} {At(Robot,Bar),Is(ACTemperature,Up)} @@ -4124,8 +4124,8 @@ {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,Bar),Is(Table1,Dirty)} +{At(Robot,Bar),Is(Table1,Clean)} {At(Robot,WaterTable),Is(AC,Off)} {At(Robot,WaterTable),Is(AC,On)} {At(Robot,WaterTable),Is(ACTemperature,Up)} @@ -4140,8 +4140,8 @@ {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,WaterTable),Is(Table1,Dirty)} +{At(Robot,WaterTable),Is(Table1,Clean)} {At(Robot,CoffeeTable),Is(AC,Off)} {At(Robot,CoffeeTable),Is(AC,On)} {At(Robot,CoffeeTable),Is(ACTemperature,Up)} @@ -4156,8 +4156,8 @@ {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,CoffeeTable),Is(Table1,Dirty)} +{At(Robot,CoffeeTable),Is(Table1,Clean)} {At(Robot,Bar2),Is(AC,Off)} {At(Robot,Bar2),Is(AC,On)} {At(Robot,Bar2),Is(ACTemperature,Up)} @@ -4172,8 +4172,8 @@ {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,Bar2),Is(Table1,Dirty)} +{At(Robot,Bar2),Is(Table1,Clean)} {At(Robot,Table1),Is(AC,Off)} {At(Robot,Table1),Is(AC,On)} {At(Robot,Table1),Is(ACTemperature,Up)} @@ -4188,8 +4188,8 @@ {At(Robot,Table1),Is(Chairs,Clean)} {At(Robot,Table1),Is(Floor,Dirty)} {At(Robot,Table1),Is(Floor,Clean)} -{At(Robot,Table1),Is(Table,Dirty)} -{At(Robot,Table1),Is(Table,Clean)} +{At(Robot,Table1),Is(Table1,Dirty)} +{At(Robot,Table1),Is(Table1,Clean)} {At(Robot,Table2),Is(AC,Off)} {At(Robot,Table2),Is(AC,On)} {At(Robot,Table2),Is(ACTemperature,Up)} @@ -4204,8 +4204,8 @@ {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,Table2),Is(Table1,Dirty)} +{At(Robot,Table2),Is(Table1,Clean)} {At(Robot,Table3),Is(AC,Off)} {At(Robot,Table3),Is(AC,On)} {At(Robot,Table3),Is(ACTemperature,Up)} @@ -4220,8 +4220,8 @@ {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,Table3),Is(Table1,Dirty)} +{At(Robot,Table3),Is(Table1,Clean)} {At(Robot,Bar),Is(AC,Off)} {At(Robot,Bar),Is(AC,On)} {At(Robot,Bar),Is(ACTemperature,Up)} @@ -4236,8 +4236,8 @@ {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,Bar),Is(Table1,Dirty)} +{At(Robot,Bar),Is(Table1,Clean)} {At(Robot,WaterTable),Is(AC,Off)} {At(Robot,WaterTable),Is(AC,On)} {At(Robot,WaterTable),Is(ACTemperature,Up)} @@ -4252,8 +4252,8 @@ {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,WaterTable),Is(Table1,Dirty)} +{At(Robot,WaterTable),Is(Table1,Clean)} {At(Robot,CoffeeTable),Is(AC,Off)} {At(Robot,CoffeeTable),Is(AC,On)} {At(Robot,CoffeeTable),Is(ACTemperature,Up)} @@ -4268,8 +4268,8 @@ {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,CoffeeTable),Is(Table1,Dirty)} +{At(Robot,CoffeeTable),Is(Table1,Clean)} {At(Robot,Bar2),Is(AC,Off)} {At(Robot,Bar2),Is(AC,On)} {At(Robot,Bar2),Is(ACTemperature,Up)} @@ -4284,8 +4284,8 @@ {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,Bar2),Is(Table1,Dirty)} +{At(Robot,Bar2),Is(Table1,Clean)} {At(Robot,Table1),Is(AC,Off)} {At(Robot,Table1),Is(AC,On)} {At(Robot,Table1),Is(ACTemperature,Up)} @@ -4300,8 +4300,8 @@ {At(Robot,Table1),Is(Chairs,Clean)} {At(Robot,Table1),Is(Floor,Dirty)} {At(Robot,Table1),Is(Floor,Clean)} -{At(Robot,Table1),Is(Table,Dirty)} -{At(Robot,Table1),Is(Table,Clean)} +{At(Robot,Table1),Is(Table1,Dirty)} +{At(Robot,Table1),Is(Table1,Clean)} {At(Robot,Table2),Is(AC,Off)} {At(Robot,Table2),Is(AC,On)} {At(Robot,Table2),Is(ACTemperature,Up)} @@ -4316,8 +4316,8 @@ {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,Table2),Is(Table1,Dirty)} +{At(Robot,Table2),Is(Table1,Clean)} {At(Robot,Table3),Is(AC,Off)} {At(Robot,Table3),Is(AC,On)} {At(Robot,Table3),Is(ACTemperature,Up)} @@ -4332,8 +4332,8 @@ {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,Table3),Is(Table1,Dirty)} +{At(Robot,Table3),Is(Table1,Clean)} {At(Robot,Bar),Is(AC,Off)} {At(Robot,Bar),Is(AC,On)} {At(Robot,Bar),Is(ACTemperature,Up)} @@ -4348,8 +4348,8 @@ {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,Bar),Is(Table1,Dirty)} +{At(Robot,Bar),Is(Table1,Clean)} {At(Robot,WaterTable),Is(AC,Off)} {At(Robot,WaterTable),Is(AC,On)} {At(Robot,WaterTable),Is(ACTemperature,Up)} @@ -4364,8 +4364,8 @@ {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,WaterTable),Is(Table1,Dirty)} +{At(Robot,WaterTable),Is(Table1,Clean)} {At(Robot,CoffeeTable),Is(AC,Off)} {At(Robot,CoffeeTable),Is(AC,On)} {At(Robot,CoffeeTable),Is(ACTemperature,Up)} @@ -4380,8 +4380,8 @@ {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,CoffeeTable),Is(Table1,Dirty)} +{At(Robot,CoffeeTable),Is(Table1,Clean)} {At(Robot,Bar2),Is(AC,Off)} {At(Robot,Bar2),Is(AC,On)} {At(Robot,Bar2),Is(ACTemperature,Up)} @@ -4396,8 +4396,8 @@ {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,Bar2),Is(Table1,Dirty)} +{At(Robot,Bar2),Is(Table1,Clean)} {At(Robot,Table1),Is(AC,Off)} {At(Robot,Table1),Is(AC,On)} {At(Robot,Table1),Is(ACTemperature,Up)} @@ -4412,8 +4412,8 @@ {At(Robot,Table1),Is(Chairs,Clean)} {At(Robot,Table1),Is(Floor,Dirty)} {At(Robot,Table1),Is(Floor,Clean)} -{At(Robot,Table1),Is(Table,Dirty)} -{At(Robot,Table1),Is(Table,Clean)} +{At(Robot,Table1),Is(Table1,Dirty)} +{At(Robot,Table1),Is(Table1,Clean)} {At(Robot,Table2),Is(AC,Off)} {At(Robot,Table2),Is(AC,On)} {At(Robot,Table2),Is(ACTemperature,Up)} @@ -4428,8 +4428,8 @@ {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,Table2),Is(Table1,Dirty)} +{At(Robot,Table2),Is(Table1,Clean)} {At(Robot,Table3),Is(AC,Off)} {At(Robot,Table3),Is(AC,On)} {At(Robot,Table3),Is(ACTemperature,Up)} @@ -4444,8 +4444,8 @@ {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,Table3),Is(Table1,Dirty)} +{At(Robot,Table3),Is(Table1,Clean)} {At(Robot,Bar),Is(AC,Off)} {At(Robot,Bar),Is(AC,On)} {At(Robot,Bar),Is(ACTemperature,Up)} @@ -4460,8 +4460,8 @@ {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,Bar),Is(Table1,Dirty)} +{At(Robot,Bar),Is(Table1,Clean)} {At(Robot,WaterTable),Is(AC,Off)} {At(Robot,WaterTable),Is(AC,On)} {At(Robot,WaterTable),Is(ACTemperature,Up)} @@ -4476,8 +4476,8 @@ {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,WaterTable),Is(Table1,Dirty)} +{At(Robot,WaterTable),Is(Table1,Clean)} {At(Robot,CoffeeTable),Is(AC,Off)} {At(Robot,CoffeeTable),Is(AC,On)} {At(Robot,CoffeeTable),Is(ACTemperature,Up)} @@ -4492,8 +4492,8 @@ {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,CoffeeTable),Is(Table1,Dirty)} +{At(Robot,CoffeeTable),Is(Table1,Clean)} {At(Robot,Bar2),Is(AC,Off)} {At(Robot,Bar2),Is(AC,On)} {At(Robot,Bar2),Is(ACTemperature,Up)} @@ -4512,8 +4512,8 @@ {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,Bar),Is(Table1,Dirty)} +{On(Coffee,Bar),Is(Table1,Clean)} {On(Coffee,WaterTable),Is(AC,Off)} {On(Coffee,WaterTable),Is(AC,On)} {On(Coffee,WaterTable),Is(ACTemperature,Up)} @@ -4528,8 +4528,8 @@ {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,WaterTable),Is(Table1,Dirty)} +{On(Coffee,WaterTable),Is(Table1,Clean)} {On(Coffee,CoffeeTable),Is(AC,Off)} {On(Coffee,CoffeeTable),Is(AC,On)} {On(Coffee,CoffeeTable),Is(ACTemperature,Up)} @@ -4544,8 +4544,8 @@ {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,CoffeeTable),Is(Table1,Dirty)} +{On(Coffee,CoffeeTable),Is(Table1,Clean)} {On(Coffee,Bar2),Is(AC,Off)} {On(Coffee,Bar2),Is(AC,On)} {On(Coffee,Bar2),Is(ACTemperature,Up)} @@ -4560,8 +4560,8 @@ {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,Bar2),Is(Table1,Dirty)} +{On(Coffee,Bar2),Is(Table1,Clean)} {On(Coffee,Table1),Is(AC,Off)} {On(Coffee,Table1),Is(AC,On)} {On(Coffee,Table1),Is(ACTemperature,Up)} @@ -4576,8 +4576,8 @@ {On(Coffee,Table1),Is(Chairs,Clean)} {On(Coffee,Table1),Is(Floor,Dirty)} {On(Coffee,Table1),Is(Floor,Clean)} -{On(Coffee,Table1),Is(Table,Dirty)} -{On(Coffee,Table1),Is(Table,Clean)} +{On(Coffee,Table1),Is(Table1,Dirty)} +{On(Coffee,Table1),Is(Table1,Clean)} {On(Coffee,Table2),Is(AC,Off)} {On(Coffee,Table2),Is(AC,On)} {On(Coffee,Table2),Is(ACTemperature,Up)} @@ -4592,8 +4592,8 @@ {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,Table2),Is(Table1,Dirty)} +{On(Coffee,Table2),Is(Table1,Clean)} {On(Coffee,Table3),Is(AC,Off)} {On(Coffee,Table3),Is(AC,On)} {On(Coffee,Table3),Is(ACTemperature,Up)} @@ -4608,8 +4608,8 @@ {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(Coffee,Table3),Is(Table1,Dirty)} +{On(Coffee,Table3),Is(Table1,Clean)} {On(Water,Bar),Is(AC,Off)} {On(Water,Bar),Is(AC,On)} {On(Water,Bar),Is(ACTemperature,Up)} @@ -4624,8 +4624,8 @@ {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,Bar),Is(Table1,Dirty)} +{On(Water,Bar),Is(Table1,Clean)} {On(Water,WaterTable),Is(AC,Off)} {On(Water,WaterTable),Is(AC,On)} {On(Water,WaterTable),Is(ACTemperature,Up)} @@ -4640,8 +4640,8 @@ {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,WaterTable),Is(Table1,Dirty)} +{On(Water,WaterTable),Is(Table1,Clean)} {On(Water,CoffeeTable),Is(AC,Off)} {On(Water,CoffeeTable),Is(AC,On)} {On(Water,CoffeeTable),Is(ACTemperature,Up)} @@ -4656,8 +4656,8 @@ {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,CoffeeTable),Is(Table1,Dirty)} +{On(Water,CoffeeTable),Is(Table1,Clean)} {On(Water,Bar2),Is(AC,Off)} {On(Water,Bar2),Is(AC,On)} {On(Water,Bar2),Is(ACTemperature,Up)} @@ -4672,8 +4672,8 @@ {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,Bar2),Is(Table1,Dirty)} +{On(Water,Bar2),Is(Table1,Clean)} {On(Water,Table1),Is(AC,Off)} {On(Water,Table1),Is(AC,On)} {On(Water,Table1),Is(ACTemperature,Up)} @@ -4688,8 +4688,8 @@ {On(Water,Table1),Is(Chairs,Clean)} {On(Water,Table1),Is(Floor,Dirty)} {On(Water,Table1),Is(Floor,Clean)} -{On(Water,Table1),Is(Table,Dirty)} -{On(Water,Table1),Is(Table,Clean)} +{On(Water,Table1),Is(Table1,Dirty)} +{On(Water,Table1),Is(Table1,Clean)} {On(Water,Table2),Is(AC,Off)} {On(Water,Table2),Is(AC,On)} {On(Water,Table2),Is(ACTemperature,Up)} @@ -4704,8 +4704,8 @@ {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,Table2),Is(Table1,Dirty)} +{On(Water,Table2),Is(Table1,Clean)} {On(Water,Table3),Is(AC,Off)} {On(Water,Table3),Is(AC,On)} {On(Water,Table3),Is(ACTemperature,Up)} @@ -4720,8 +4720,8 @@ {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(Water,Table3),Is(Table1,Dirty)} +{On(Water,Table3),Is(Table1,Clean)} {On(Dessert,Bar),Is(AC,Off)} {On(Dessert,Bar),Is(AC,On)} {On(Dessert,Bar),Is(ACTemperature,Up)} @@ -4736,8 +4736,8 @@ {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,Bar),Is(Table1,Dirty)} +{On(Dessert,Bar),Is(Table1,Clean)} {On(Dessert,WaterTable),Is(AC,Off)} {On(Dessert,WaterTable),Is(AC,On)} {On(Dessert,WaterTable),Is(ACTemperature,Up)} @@ -4752,8 +4752,8 @@ {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,WaterTable),Is(Table1,Dirty)} +{On(Dessert,WaterTable),Is(Table1,Clean)} {On(Dessert,CoffeeTable),Is(AC,Off)} {On(Dessert,CoffeeTable),Is(AC,On)} {On(Dessert,CoffeeTable),Is(ACTemperature,Up)} @@ -4768,8 +4768,8 @@ {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,CoffeeTable),Is(Table1,Dirty)} +{On(Dessert,CoffeeTable),Is(Table1,Clean)} {On(Dessert,Bar2),Is(AC,Off)} {On(Dessert,Bar2),Is(AC,On)} {On(Dessert,Bar2),Is(ACTemperature,Up)} @@ -4784,8 +4784,8 @@ {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,Bar2),Is(Table1,Dirty)} +{On(Dessert,Bar2),Is(Table1,Clean)} {On(Dessert,Table1),Is(AC,Off)} {On(Dessert,Table1),Is(AC,On)} {On(Dessert,Table1),Is(ACTemperature,Up)} @@ -4800,8 +4800,8 @@ {On(Dessert,Table1),Is(Chairs,Clean)} {On(Dessert,Table1),Is(Floor,Dirty)} {On(Dessert,Table1),Is(Floor,Clean)} -{On(Dessert,Table1),Is(Table,Dirty)} -{On(Dessert,Table1),Is(Table,Clean)} +{On(Dessert,Table1),Is(Table1,Dirty)} +{On(Dessert,Table1),Is(Table1,Clean)} {On(Dessert,Table2),Is(AC,Off)} {On(Dessert,Table2),Is(AC,On)} {On(Dessert,Table2),Is(ACTemperature,Up)} @@ -4816,8 +4816,8 @@ {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,Table2),Is(Table1,Dirty)} +{On(Dessert,Table2),Is(Table1,Clean)} {On(Dessert,Table3),Is(AC,Off)} {On(Dessert,Table3),Is(AC,On)} {On(Dessert,Table3),Is(ACTemperature,Up)} @@ -4832,8 +4832,8 @@ {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(Dessert,Table3),Is(Table1,Dirty)} +{On(Dessert,Table3),Is(Table1,Clean)} {On(Coffee,Bar),Is(AC,Off)} {On(Coffee,Bar),Is(AC,On)} {On(Coffee,Bar),Is(ACTemperature,Up)} @@ -4848,8 +4848,8 @@ {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,Bar),Is(Table1,Dirty)} +{On(Coffee,Bar),Is(Table1,Clean)} {On(Coffee,WaterTable),Is(AC,Off)} {On(Coffee,WaterTable),Is(AC,On)} {On(Coffee,WaterTable),Is(ACTemperature,Up)} @@ -4864,8 +4864,8 @@ {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,WaterTable),Is(Table1,Dirty)} +{On(Coffee,WaterTable),Is(Table1,Clean)} {On(Coffee,CoffeeTable),Is(AC,Off)} {On(Coffee,CoffeeTable),Is(AC,On)} {On(Coffee,CoffeeTable),Is(ACTemperature,Up)} @@ -4880,8 +4880,8 @@ {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,CoffeeTable),Is(Table1,Dirty)} +{On(Coffee,CoffeeTable),Is(Table1,Clean)} {On(Coffee,Bar2),Is(AC,Off)} {On(Coffee,Bar2),Is(AC,On)} {On(Coffee,Bar2),Is(ACTemperature,Up)} @@ -4896,8 +4896,8 @@ {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,Bar2),Is(Table1,Dirty)} +{On(Coffee,Bar2),Is(Table1,Clean)} {On(Coffee,Table1),Is(AC,Off)} {On(Coffee,Table1),Is(AC,On)} {On(Coffee,Table1),Is(ACTemperature,Up)} @@ -4912,8 +4912,8 @@ {On(Coffee,Table1),Is(Chairs,Clean)} {On(Coffee,Table1),Is(Floor,Dirty)} {On(Coffee,Table1),Is(Floor,Clean)} -{On(Coffee,Table1),Is(Table,Dirty)} -{On(Coffee,Table1),Is(Table,Clean)} +{On(Coffee,Table1),Is(Table1,Dirty)} +{On(Coffee,Table1),Is(Table1,Clean)} {On(Coffee,Table2),Is(AC,Off)} {On(Coffee,Table2),Is(AC,On)} {On(Coffee,Table2),Is(ACTemperature,Up)} @@ -4928,8 +4928,8 @@ {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,Table2),Is(Table1,Dirty)} +{On(Coffee,Table2),Is(Table1,Clean)} {On(Coffee,Table3),Is(AC,Off)} {On(Coffee,Table3),Is(AC,On)} {On(Coffee,Table3),Is(ACTemperature,Up)} @@ -4944,8 +4944,8 @@ {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(Coffee,Table3),Is(Table1,Dirty)} +{On(Coffee,Table3),Is(Table1,Clean)} {On(Water,Bar),Is(AC,Off)} {On(Water,Bar),Is(AC,On)} {On(Water,Bar),Is(ACTemperature,Up)} @@ -4960,8 +4960,8 @@ {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,Bar),Is(Table1,Dirty)} +{On(Water,Bar),Is(Table1,Clean)} {On(Water,WaterTable),Is(AC,Off)} {On(Water,WaterTable),Is(AC,On)} {On(Water,WaterTable),Is(ACTemperature,Up)} @@ -4976,8 +4976,8 @@ {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,WaterTable),Is(Table1,Dirty)} +{On(Water,WaterTable),Is(Table1,Clean)} {On(Water,CoffeeTable),Is(AC,Off)} {On(Water,CoffeeTable),Is(AC,On)} {On(Water,CoffeeTable),Is(ACTemperature,Up)} @@ -4992,8 +4992,8 @@ {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,CoffeeTable),Is(Table1,Dirty)} +{On(Water,CoffeeTable),Is(Table1,Clean)} {On(Water,Bar2),Is(AC,Off)} {On(Water,Bar2),Is(AC,On)} {On(Water,Bar2),Is(ACTemperature,Up)} diff --git a/robowaiter/behavior_tree/dataset/goal_states_generation.py b/robowaiter/behavior_tree/dataset/goal_states_generation.py index 5016610..458260e 100644 --- a/robowaiter/behavior_tree/dataset/goal_states_generation.py +++ b/robowaiter/behavior_tree/dataset/goal_states_generation.py @@ -10,7 +10,7 @@ Place = ['Bar', 'WaterTable', 'CoffeeTable', 'Bar2', 'Table1', 'Table2', 'Table3 Entity = ['Robot', 'Customer'] -Operable = ['AC', 'ACTemperature', 'HallLight', 'TubeLight', 'Curtain', 'Chairs', 'Floor', 'Table'] +Operable = ['AC', 'ACTemperature', 'HallLight', 'TubeLight', 'Curtain', 'Chairs', 'Floor', 'Table1'] import random