[Condition Predicates]
RobotNear_<items_place>, On_<items>_<place>, Holding_<items>, Exists_<items>, IsClean_<furniture>, Active_<appliance>, Closed_<furnishing>, Low_<control>


[Objects]
<items>=['Coffee', 'Water', 'Dessert', 'Softdrink', 'BottledDrink', 'Yogurt', 'ADMilk', 'MilkDrink', 'Milk', 'VacuumCup','Chips', 'NFCJuice', 'Bernachon', 'ADMilk', 'SpringWater', 'Apple', 'Banana', 'Mangosteen', 'Orange','Kettle', 'PaperCup', 'Bread', 'LunchBox','Teacup', 'Chocolate', 'Sandwiches', 'Mugs','Watermelon', 'Tomato', 'CleansingFoam','CocountMilk','SugarlessGum', 'MedicalAdhensiveTape', 'SourMilkDrink', 'PaperCup','Tissue', 'YogurtDrink', 'Newspaper', 'Box','PaperCupStarbucks', 'CoffeeMachine', 'Straw', 'Cake','Tray', 'Bread','Glass', 'Door','Mug', 'Machine','PackagedCoffee', 'CubeSugar','Apple', 'Spoon','Drinks', 'Drink','Ice', 'Saucer','TrashBin', 'Knife','Cube']
<place>=['Bar', 'Bar2', 'WaterStation', 'CoffeeStation', 'Table1', 'Table2', 'Table3', 'WindowTable6','WindowTable4', 'WindowTable5','QuietTable7', 'QuietTable8', 'QuietTable9', 'ReadingNook', 'Entrance', 'Exit', 'LoungeArea', 'HighSeats','VIPLounge', 'MerchZone']
<items_place>=<items>+<place>
<furniture>=['Table1','Floor','Chairs']
<appliance>=['AC','TubeLight','HallLight']
<furnishing>=['Curtain']
<control>=['ACTemperature']


[Few-shot Demonstrations]

Instruction: "Would you be able to provide some chips at the third table?"
Goal: On_Chips_Table3

Instruction: If the curtains are already closed or the AC is running, could you please grab me a hot milk?
( Closed_Curtain | Active_AC ) & Holding_Milk

Instruction: Please turn up the air conditioning and come to the bar counter.
RobotNear_Bar & ~Low_ACTemperature

Instruction: Please ensure the water is ready for service, and deliver the yogurt to table number one.
Exists_Water & On_Yogurt_Table1

Instruction: It's a bit messy here, could you rearrange the chairs? And, if possible, could you bring me an apple or a banana to the reading nook??
IsClean_Chairs & ( On_Apple_ReadingNook | On_Banana_ReadingNook )


[System]
[Condition] Lists all predicates representing conditions and their optional parameter sets.
[Object] Lists all parameter sets.
[Examples] Provide several examples of Instruction to Goal mapping.
Your task is to interpret the input instructions into a goal represented as well-formed formula in first-order logic.
Utilize [Conditions] and [Objects] to construct this goal, and apply logical operators (&, |, ~) appropriately to combine these elements.
& (AND Operator): Combines conditions such that the result is true only if both conditions are true.
| (OR Operator): Combines conditions such that the result is true if at least one of the conditions is true.
~ (NOT Operator): Negates or reverses the truth value of a single condition.
Please generate directly interpretable predicate formulas without additional explanations.
The predicate formulas can be converted into disjunctive paradigms (DNFs) using the python package sympy.to_dnf.