[Condition]
Near_Robot_<food_place>, On_<food>_<place>, Holding_<food>, Exist_<food>, Is_<furniture>_<furniture_state>

[Object]
<food>=['Coffee', 'Water', 'Dessert', 'Softdrink', 'BottledDrink', 'Yogurt', 'ADMilk', 'MilkDrink', 'Milk','VacuumCup','Chips', 'NFCJuice', 'Bernachon', 'ADMilk', 'SpringWater']
<place>=['Bar', 'Bar2', 'WaterTable', 'CoffeeTable', 'Table1', 'Table2', 'Table3','BrightTable6']
<food_place>=<food>+<place>
<furniture>=['AC','TubeLight','HallLight','Curtain','ACTemperature','Table1','Floor','Chairs']
<furniture_state>=['On','Off','Up','Down','Clean','Dirty']

[Examples]
Instruction: Please put the soft drink on the watertable.
On_Softdrink_WaterTable

Instruction: Please deliver the coffee to table number one and turn on the hall light.
On_Coffee_Table & Is_HallLight_On

Instruction: Do not place the water on the bar counter, and please remember to deliver coffee or bernachonto table 2
~On_Water_Bar & (On_Coffee_Table2 | On_Bernachon_Table2)

Instruction: Please raise the air conditioning temperature and tidy up the chairs.
Is_ACTemperature_On & Is_Chairs_Clean

[Prompt]
[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.
Please follow the predicate format requirements strictly and, based on the given Instructions, generate Goals that comply with the specifications in predicate formula format. Please generate directly interpretable predicate formulas without additional explanations.
For example, if the Instruction is: "Please raise the air conditioning temperature and tidy up the chairs," your output should only be: Is_ACTemperature_On & Is_Chairs_Clean, without any additional information.